WO2024047927A1 - Picking system - Google Patents

Picking system Download PDF

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Publication number
WO2024047927A1
WO2024047927A1 PCT/JP2023/015370 JP2023015370W WO2024047927A1 WO 2024047927 A1 WO2024047927 A1 WO 2024047927A1 JP 2023015370 W JP2023015370 W JP 2023015370W WO 2024047927 A1 WO2024047927 A1 WO 2024047927A1
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WO
WIPO (PCT)
Prior art keywords
article
suction pad
pad
suction
diameter
Prior art date
Application number
PCT/JP2023/015370
Other languages
French (fr)
Japanese (ja)
Inventor
翔太郎 森
幸起 廣田
雄太 山内
貴臣 西垣戸
Original Assignee
株式会社日立製作所
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 株式会社日立製作所 filed Critical 株式会社日立製作所
Publication of WO2024047927A1 publication Critical patent/WO2024047927A1/en

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Classifications

    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • 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

Definitions

  • the present invention relates to a picking system equipped with a robot hand.
  • picking systems have been known in which items brought in from an upstream process are held by a transport robot and transported to a predetermined location. Further, the carry-out robot is provided with a robot hand that grips the article.
  • Patent Document 1 describes an article gripping mechanism (robot arm) in which three end effectors consisting of a first gripping part, a second gripping part, and a third gripping part can be replaced.
  • the first gripping section includes a gripping body and a plurality of suction pads.
  • the gripping body is detachably attached to the tip of the article gripping mechanism.
  • the plurality of suction pads are arranged on the grip main body at equal intervals.
  • the second gripping section includes a gripping body and two suction pads.
  • the gripping body is detachably attached to the tip of the article gripping mechanism. Two suction pads are provided on both sides of the grip body.
  • the third gripping section includes a gripping body and a pair of clamping hands.
  • the gripping body is detachably attached to the tip of the article gripping mechanism.
  • the clamping hand is configured to be able to contact the article from both sides. When the clamping hands are in contact with both sides of the article and the distance between the clamping hands is narrowed, the article is clamped by the clamping hands.
  • Patent Document 1 since the first gripping part or the second gripping part described in Patent Document 1 is provided with a plurality or two suction pads of one type, the types of articles that can be gripped are limited.
  • the present purpose is to provide a picking system that can grasp and transport a variety of articles in consideration of the above-mentioned problems.
  • the picking system includes a transport robot, a robot hand that is provided on the transport robot and grips an article, and a control unit that controls the robot hand and the transport robot.
  • the robot hand includes a suction section that suctions and grips an article, finger sections that grip the article by sandwiching it, and a finger driving section that drives the fingers.
  • the suction section has a plurality of types of suction pads lined up in a row, and the direction in which the plurality of types of suction pads are lined up is approximately perpendicular to the driving direction of the finger section.
  • FIG. 1 is a schematic configuration diagram showing a picking system according to an embodiment.
  • FIG. 1 is a perspective view showing a robot hand according to an embodiment.
  • FIG. 2 is a front view showing a state in which the fingers of the robot hand according to one embodiment are opened.
  • FIG. 2 is a front view showing a state in which the finger portions of the robot hand according to one embodiment are closed.
  • FIG. 1 is a side view showing a robot hand according to an embodiment.
  • FIG. 3 is a perspective view showing a state in which the second suction pad of the robot hand according to one embodiment is retracted.
  • FIG. 7 is a perspective view showing a state in which the third suction pad of the robot hand according to one embodiment is retracted.
  • FIG. 1 is a schematic configuration diagram showing a picking system according to an embodiment.
  • FIG. 1 is a perspective view showing a robot hand according to an embodiment.
  • FIG. 2 is a front view showing a state in which the fingers of the robot hand according to one embodiment are
  • FIG. 1 is a schematic configuration diagram of a pneumatic control device of a picking system and a pneumatic control device above a moving mechanism according to an embodiment.
  • A, B are diagrams illustrating a series of flows for transporting heavy articles stored in a carry-in container in a picking system according to an embodiment.
  • A, B are diagrams illustrating a series of flows for transporting heavy articles stored in a carry-in container in a picking system according to an embodiment.
  • FIG. 3 is a diagram showing how a heavy article is gripped using a first suction pad of a robot hand according to an embodiment.
  • FIG. 7 is a diagram showing how a small article is gripped using a second suction pad of a robot hand according to an embodiment.
  • FIG. 7 is a diagram showing how a first example of a bag-like article is gripped using a third suction pad of a robot hand according to an embodiment.
  • FIG. 7 is a diagram showing how a second example of a bag-like article is gripped using a third suction pad of a robot hand according to an embodiment.
  • FIG. 3 is a diagram illustrating how a bottle-shaped article is gripped using fingers of a robot hand according to an embodiment.
  • FIG. 3 is a diagram illustrating how an irregularly shaped article is gripped by utilizing a retraction mechanism of a robot hand according to an embodiment.
  • FIG. 6 is a diagram illustrating how the robot hand grasps another article next to the article by utilizing the retracting mechanism according to one embodiment.
  • FIG. 3 is a diagram illustrating how a robot hand grasps an article near a wall by utilizing a retraction mechanism according to an embodiment.
  • FIG. 3 is a diagram illustrating how a robot hand according to an embodiment grasps an article near a wall by closing the fingers.
  • A, B are diagrams illustrating how an article near a wall is brought to the center and then grasped and conveyed in a picking system according to an embodiment.
  • A, B are diagrams illustrating how an article near a wall is brought to the center and then grasped and conveyed in a picking system according to an embodiment. It is a control flowchart of article conveyance processing performed by the picking system concerning one embodiment.
  • FIG. 1 is a schematic configuration diagram showing the picking system of this example.
  • the picking system 50 includes a transport robot 51, a carry-in conveyor 52 that carries articles 100 into the transport robot 51, a movement mechanism 53, an imaging device 55, and a carry-out conveyor 54.
  • the picking system 50 uses the transport robot 51 to transport the articles 100 in the transport container 200 transported by the transport conveyor 52 to the transport container 56 on the transport conveyor 54 .
  • the transfer robot 51 is, for example, a vertical multi-joint robot having six axes of joints.
  • the arm of the transfer robot 51 is provided with a robot hand 1 that grips the article 100.
  • the transport robot 51 grips the article 100 by suction, or grips the article 100 by sandwiching it. Details of the robot hand 1 will be described later.
  • the picking system 50 includes a transfer robot 51, a carry-in conveyor 52, a movement mechanism 53, a control device 57, and an information storage device 58.
  • the control device 57 corresponds to a control section according to the present invention.
  • the control device 57 controls the driving of the imaging device 55.
  • the information storage device 58 is connected to the control device 57.
  • the information storage device 58 stores information regarding the article 100 such as the shape and size of the article 100 to be handled and the attitude placed on the carry-in conveyor 52.
  • the information stored in the information storage device 58 may lack some or all of the information about the article 100.
  • the imaging device 55 is arranged above the position where the transport robot 51 grips the article 100 using the robot hand 1.
  • the imaging device 55 photographs the article 100 placed in the loading container 200 transported by the loading conveyor 52 .
  • the imaging device 55 then outputs the captured image information to the control device 57.
  • the control device 57 determines information regarding the article 100, such as the position of the article 100 and the size of the article 100, based on the image information acquired from the imaging device 55. Then, the control device 57 controls the operations of the transport robot 51 and the robot hand 1 based on the information regarding the article 100.
  • the imaging device 55 is provided above the position where the article 100 is gripped, but the present invention is not limited to this.
  • the imaging device 55 may be provided on the transport robot 51 or the robot hand 1, or may be placed on the side of the position where the article 100 is gripped.
  • a configuration may be adopted in which the position of the imaging device 55 is changed.
  • an actuator for moving the imaging device 55 may be provided.
  • control device 57 determines the size, type, etc. of the article 100 based on information captured by the imaging device 55
  • the invention is not limited to this.
  • information regarding the size, type, etc. of the article 100 may be stored in advance in the information storage device 58, and the control device 57 may acquire information regarding the article 100 from the information storage device 58.
  • the transfer robot 51 is supported by a moving mechanism 53 so as to be movable in one axis direction.
  • the moving mechanism 53 is arranged between the carry-in conveyor 52 and the carry-out conveyor 54.
  • An incoming conveyor 52 is arranged on one side of the moving mechanism 53 in the moving direction, and an outgoing conveyor 54 is arranged on the other side of the moving mechanism 53 in the moving direction.
  • the carry-in conveyor 52 transports the carry-in container 200 containing the plurality of articles 100 from the upstream process of the picking system 50 to a predetermined position.
  • the article 100 carried out by the transport robot 51 and the robot hand 1 is stored in the carry-out container 56 provided on the carry-out conveyor 54 .
  • the carry-out conveyor 54 transports the carry-out container 56 containing the articles 100 to a predetermined position in the downstream process of the picking system 50.
  • all of the articles 100 stored in the carry-in container 200 may be the same article, or multiple types of articles may be mixed. Moreover, the articles 100 stored in each delivery container 200 may be different.
  • the picking system 50 also includes a pneumatic control device 61 that controls the vacuum of the transfer robot 51 and a moving mechanism upper pneumatic control device 62.
  • the moving mechanism upper pneumatic control device 62 is connected to the robot hand 1 . Therefore, the moving mechanism upper pneumatic control device 62 is installed on the moving mechanism 53 so as to be close to the robot hand 1.
  • the configurations of the pneumatic control device 61 and the moving mechanism top pneumatic control device 62 will be described later using FIG. 8.
  • the picking system according to the present invention is not limited to this, and the transport robot 51 itself may be provided with a moving mechanism, or the transport robot 51 may be fixed.
  • the picking system 50 may, for example, transport the article 100 gripped by the robot hand 1 of the transport robot 51 onto the carry-out conveyor 54 or store it in a storage shelf (not shown), and various other picking systems 50 may also be used. is applicable.
  • the present invention is not limited to this.
  • a two-axis robot that rotates in the horizontal direction and moves in the vertical direction may be used, or various other robots may be used.
  • control device 57 information storage device 58
  • pneumatic control device 61 and moving mechanism upper pneumatic control device 62
  • the present invention provides a system in which the functions of a control device 57, an information storage device 58, a pneumatic control device 61, and a pneumatic control device 62 for a moving mechanism are integrated into the same device, all of which are installed at a location away from the robot. It can also be applied to different systems such as
  • FIG. 2 is a perspective view showing the robot hand 1.
  • FIG. 3 is a front view of the robot hand 1 showing a state in which finger portions, which will be described later, are open.
  • FIG. 4 is a front view of the robot hand 1 showing a state in which finger portions, which will be described later, are closed.
  • FIG. 5 is a side view showing the robot hand 1.
  • FIG. 6 is a perspective view showing a state in which a second suction pad (described later) of the robot hand 1 is retracted.
  • FIG. 7 is a perspective view showing a state in which a third suction pad (described later) of the robot hand 1 is retracted.
  • the robot hand 1 includes a main body 2 attached to a transfer robot 51, a suction unit 3 that suctions an article 100, an extensible mechanism 4, a first finger 5A, and a second finger 5A. It has a finger portion 5B and a finger drive portion 7. Furthermore, the robot hand 1 includes a first driving force transmission mechanism 20A and a second driving force transmission mechanism 20B.
  • the members constituting the robot hand 1 are basically made of aluminum steel plates. Thereby, the weight of the robot hand 1 can be reduced.
  • the main body portion 2 is composed of a substantially T-shaped member.
  • the main body portion 2 includes a base portion 2a that is attached to the transfer robot 51, and a support portion 2b provided at the tip of the base portion 2a.
  • the direction in which the base portion 2a extends will be referred to as the Z direction.
  • the direction in which the support portion extends is defined as the X direction.
  • a direction substantially perpendicular to the X direction and the Z direction is defined as the Y direction.
  • the base portion 2a is connected to an intermediate portion of the support portion 2b in the X direction.
  • a telescopic mechanism 4 is connected to the support portion 2b of the main body portion 2.
  • FIG. 2 shows the telescopic mechanism 4 in a contracted state.
  • a suction unit 3 is connected to the tip of the telescopic mechanism 4 .
  • the expansion/contraction mechanism 4 moves the suction unit 3 in the Z direction.
  • the expansion/contraction mechanism 4 is restricted from rotating around an axis (Z-axis) extending in the Z direction by a guide mechanism (not shown), and prevents the suction unit 3 from rotating around the Z-axis.
  • the telescoping mechanism according to the present invention may be, for example, a linear actuator driven by pneumatic pressure or electric power, or various other telescoping mechanisms such as a gear, a motor, or a cylinder may be used if the same effect can be obtained. It's okay. Further, in this example, an example was described in which a telescoping mechanism 4 for expanding and contracting the suction unit 3 was provided, but the robot hand according to the present invention does not need to be provided with a telescoping mechanism.
  • a finger drive section 7 is installed at one end of the support section 2b in the X direction.
  • the finger drive unit 7 is, for example, a stepping motor, and can control the angle, angular velocity, maximum torque, etc. of its output shaft.
  • the finger drive unit according to the present invention may be another type of actuator such as a DC brushless motor.
  • a main driving force transmission section 8A is provided on the output shaft of the finger drive section 7.
  • the main driving force transmission section 8A is composed of, for example, a gear.
  • the main driving force transmitting section 8A meshes with a first driving force transmitting section 8B, which will be described later, and transmits the driving force of the finger driving section 7 to the first driving force transmitting section 8B.
  • the first driving force transmission mechanism 20A is arranged on one end side of the support part 2b in the X direction, and the second driving force transmission mechanism 20B is arranged on the other end side of the support part 2b in the X direction.
  • a suction unit 3 is arranged between the first driving force transmission mechanism 20A and the second driving force transmission mechanism 20B.
  • the first driving force transmission mechanism 20A is provided with a first finger portion 5A
  • the second driving force transmission mechanism 20B is provided with a second finger portion 5B.
  • the first finger portion 5A and the second finger portion 5B are arranged to face each other in the X direction.
  • the first driving force transmission mechanism 20A includes a first link 6A, a second link 6B, a third link 6C, and a first driving force transmission section 8B.
  • the first driving force transmission section 8B is rotatably supported at one end of the support section 2b in the X direction.
  • the first driving force transmitting section 8B is composed of gears similarly to the main driving force transmitting section 8A.
  • the first driving force transmitting section 8B meshes with a main driving force transmitting section 8A and a second driving force transmitting section 8C, which will be described later.
  • the main body 2 is provided with a gear cover 2c that covers the main driving force transmitting section 8A, the first driving force transmitting section 8B, and the second driving force transmitting section 8C (in FIG. (Cover 2c is omitted).
  • a gear cover 2c that covers the main driving force transmitting section 8A, the first driving force transmitting section 8B, and the second driving force transmitting section 8C (in FIG. (Cover 2c is omitted).
  • the rotating main driving force transmitting part 8A, first driving force transmitting part 8B, and second driving force transmitting part 8C can be prevented from coming into contact with the article 100 or the wall of the carrying-in container 200.
  • a link node 9A which is one end of the first link 6A, is fixed to the first driving force transmission section 8B. Then, as the first driving force transmission section 8B rotates, the first link 6A swings around the link node 9A.
  • a link node 9D which is one end of the second link 6B, is rotatably supported at one end of the support portion 2b in the X direction.
  • the first link 6A and the second link 6B are arranged parallel to each other.
  • a link node 9B, which is the other end of the first link 6A, and a link node 9C, which is the other end of the second link 6B, are rotatably connected to the third link 6C.
  • the third link 6C is provided with a first finger portion 5A.
  • the second driving force transmission mechanism 20B like the first driving force transmission mechanism 20A, includes a first link 6D, a second link 6E, a third link 6F, and a second driving force transmission section 8C. There is.
  • the second driving force transmission section 8C is rotatably supported at the other end of the support section 2b in the X direction.
  • the second driving force transmitting section 8C is composed of gears, similarly to the main driving force transmitting section 8A and the first driving force transmitting section 8B.
  • the second driving force transmitting part 8C meshes with the first driving force transmitting part 8B, and rotates together with the first driving force transmitting part 8B.
  • the invention is not limited to this.
  • various other transmission mechanisms such as a pulley, a belt, a chain, etc. may be applied.
  • a link node 9E which is one end of the first link 6D, is fixed to the second driving force transmission section 8C. Then, as the second driving force transmission section 8C rotates, the first link 6D swings around the link node 9E.
  • the link node 9H which is one end of the second link 6E, is rotatably supported by the other end of the support portion 2b in the X direction.
  • the first link 6D and the second link 6E are arranged parallel to each other.
  • a link node 9F, which is the other end of the first link 6D, and a link node 9G, which is the other end of the second link 6E, are rotatably connected to the third link 6F.
  • the third link 6F is provided with a second finger portion 5B.
  • the first driving force transmitting section 8B rotates counterclockwise
  • the second driving force transmitting section 8C rotates clockwise. Therefore, the first finger part 5A and the second finger part 5B move away from each other in the X direction, as shown in FIG. As a result, the first finger portion 5A and the second finger portion 5B are opened.
  • the first driving force transmitting part 8B and the second driving force transmitting part 8C are constituted by gears having the same number of teeth so that the first finger part 5A and the second finger part 5B open and close at the same speed. .
  • first finger portion 5A and the second finger portion 5B of this example are movably supported by a first driving force transmission mechanism 20A and a second driving force transmission mechanism 20B, which are made of parallel links. Therefore, the clamping surfaces 11A and 11B, which are opposing surfaces of the first finger section 5A and the second finger section 5B, move parallel to each other. That is, the finger parts 5A and 5B move symmetrically with respect to a plane perpendicular to the X direction while always maintaining the same posture.
  • the clamping surfaces 11A and 11B always face each other in the X direction. Thereby, the clamping surfaces 11A and 11B can be pressed against the article 100 from the X direction.
  • the link nodes 9A and 9E of the first links 6A and 6D that constitute the driving force transmitting mechanisms 20A and 20B are directly connected to the first driving force transmitting section 8B or the second driving force transmitting section 8C.
  • the driving force from the finger driving section 7 can be directly transmitted to the first links 6A, 6D via the first driving force transmitting section 8B and the second driving force transmitting section 8C.
  • the driving force from the finger driving section 7 can be reliably transmitted to the first finger section 5A and the second finger section 5B, and a sufficient force for gripping the article 100 can be ensured.
  • the lower end of the suction unit 3 protrudes further downward than the lower ends of the finger parts 5A and 5B (see FIG. 9B).
  • the fingers 5A and 5B can be prevented from interfering with the suction unit 3 suctioning the article 100.
  • the finger parts 5A, 5B are opened to a width greater than the width of the suction unit 3, as shown in FIG. 3, in order to prevent the telescopic mechanism 4 from coming into contact with the finger parts 5A, 5B.
  • the suction unit 3 includes a large-diameter pad base 31, a large-diameter suction pad 32, a large-diameter pad tube 33, a small-diameter pad base 34, a small-diameter suction pad 35, and a small-diameter pad tube guide 36. , a small-diameter pad tube 37 , a bag pad base 38 , a bag suction pad 39 , a bag pad tube guide 40 , and a bag pad tube 41 .
  • FIG. 5 shows the robot hand 1 with the telescopic mechanism 4 extended, except for the first finger portion 5A and the second finger portion 5B.
  • the large diameter pad base 31 is connected to the tip of the expansion and contraction mechanism 4.
  • the large-diameter pad base 31 is formed into a substantially rectangular parallelepiped shape that is long in the Z direction.
  • a first support protrusion 311 is provided on one side of the large-diameter pad base 31 in the Y direction.
  • a small-diameter pad base 34 is rotatably connected to the first support protrusion 311 .
  • a second support protrusion 312 is provided on the other side of the large-diameter pad base 31 in the Y direction.
  • a bag pad base 38 is rotatably connected to the second support protrusion 312 .
  • a large-diameter suction pad 32 is attached to the lower surface of the large-diameter pad base 31.
  • the large-diameter suction pad 32 corresponds to the first suction pad according to the present invention.
  • the large-diameter suction pad 32 is formed in a bellows shape from a flexible member and has a certain degree of hardness.
  • the suction surface of the large-diameter suction pad 32 faces downward, which is one side of the Z direction.
  • a bellows suction pad made of acrylonitrile-butadiene rubber can be used as the large-diameter suction pad 32.
  • the large diameter pad tube 33 is attached to the large diameter pad base 31 via a bracket. One end of the large diameter pad tube 33 is connected to the large diameter suction pad 32, and the other end of the large diameter pad tube 33 is connected to the moving mechanism upper air pressure control device 62 (see FIG. 1).
  • the moving mechanism upper air pressure control device 62 sucks air from the large-diameter suction pad 32 via the large-diameter pad tube 33 . As a result, the large-diameter suction pad 32 can suction the article 100.
  • the small diameter pad base 34 is formed into a rectangular parallelepiped shape. One longitudinal end of the small-diameter pad base 34 is rotatably connected to the first support protrusion 311 via a rotation shaft 341 extending in the X direction. That is, the small-diameter pad base 34 is configured to be rotatable around an axis (X-axis) extending in the X direction.
  • the small-diameter suction pad 35 is attached to the end of the lower surface of the small-diameter pad base 34 on the side opposite to the first support protrusion 311 side.
  • the small diameter suction pad 35 corresponds to the second suction pad according to the present invention.
  • the small diameter pad base 34 and the small diameter suction pad 35 correspond to the suction pad with a retraction mechanism according to the present invention.
  • the small-diameter suction pad 35 is formed into a bellows shape from a flexible member and has a certain degree of hardness.
  • the suction surface of the small-diameter suction pad 35 faces in a direction substantially perpendicular to the lower surface of the small-diameter pad base 34 (downward in FIG. 5).
  • the diameter of the small diameter suction pad 35 is smaller than the diameter of the large diameter suction pad 32. That is, the small-diameter suction pad 35 has a smaller contact area with the article 100 than the large-diameter suction pad 32.
  • a bellows suction pad made of acrylonitrile-butadiene rubber can be used as the small-diameter suction pad 35.
  • the small diameter pad tube guide 36 is provided on the upper surface of the small diameter pad base 34.
  • the small diameter pad tube guide 36 is formed into a pair of plates facing each other in the X direction.
  • the small diameter pad tube guide 36 guides the small diameter pad tube 37 to the small diameter suction pad 35. Further, the small diameter pad tube guide 36 stops the movement of the small diameter pad tube 37 in the X direction. Thereby, when the small-diameter pad base 34 rotates about the rotating shaft 341, the small-diameter pad tube 37 can be prevented from coming off from the top of the small-diameter pad base 34.
  • the moving mechanism upper air pressure control device 62 sucks air from the small-diameter suction pad 35 via the small-diameter pad tube 37 .
  • the small diameter suction pad 35 can suction the article 100.
  • the bag pad base 38 is formed into a rectangular parallelepiped shape. One longitudinal end of the bag pad base 38 is rotatably connected to the second support protrusion 312 via a rotation shaft 381 extending in the X direction. That is, the bag pad base 38 is configured to be rotatable around an axis (X-axis) extending in the X direction.
  • the bag suction pad 39 is attached to the end of the lower surface of the bag pad base 38 on the opposite side to the second support protrusion 312 side.
  • the bag suction pad 39 corresponds to the third suction pad according to the present invention.
  • the bag pad base 38 and the bag suction pad 39 correspond to the suction pad with a retraction mechanism according to the present invention.
  • the suction pad 39 for bags is formed into a bellows shape from a flexible member, and is softer than the large-diameter suction pad 32.
  • the suction surface of the bag suction pad 39 faces in a direction substantially perpendicular to the lower surface of the bag pad base 38 (downward in FIG. 5).
  • the bag suction pad 39 is a suction pad that can be deformed to follow the shape of the article 100.
  • a bellows suction pad made of silicone rubber can be used as the bag suction pad 39.
  • the bag pad tube guide 40 is provided on the upper surface of the bag pad base 38.
  • the bag pad tube guide 40 is formed into a pair of plates facing each other in the Y direction.
  • the bag pad tube guide 40 guides the bag pad tube 41 to the bag suction pad 39. Further, the bag pad tube guide 40 stops the bag pad tube 41 from moving in the Y direction. Thereby, when the bag pad base 38 rotates around the rotating shaft 381, the bag pad tube guide 40 can be prevented from coming off from the bag pad base 38.
  • One end of the bag pad tube 41 is connected to the bag suction pad 39, and the other end of the bag pad tube 41 is connected to the moving mechanism upper air pressure control device 62 (see FIG. 1).
  • the moving mechanism upper air pressure control device 62 sucks air from the bag suction pad 39 via the bag pad tube 41 .
  • the bag suction pad 39 can suction the article 100.
  • the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 are lined up along the Y direction. Then, as shown in FIG. 1, the first finger section 5A and the second finger section 5B move in the X direction. Therefore, the X direction in which the first finger portion 5A and the second finger portion 5B move is approximately perpendicular to the Y direction in which the large diameter suction pad 32, the small diameter suction pad 35, and the bag suction pad 39 are arranged. Thereby, the suction unit 3 can be made compact, and the suction unit 3 can be housed between the first finger part 5A and the second finger part 5B. As a result, the robot hand 1 can be made smaller.
  • the large-diameter suction pad 32 protrudes further in the Z direction than the small-diameter suction pad 35 and bag suction pad 39. That is, in the robot hand 1 in a state where the vertical direction is parallel to the Z direction, the large diameter suction pad 32 protrudes more toward the article 100 than the small diameter suction pad 35 and the bag suction pad 39. Thereby, the article 100 attracted by the large-diameter suction pad 32 does not collide with the small-diameter suction pad 35 or the bag suction pad 39, or hardly collides with it.
  • the robot hand 1 of this example has three suction pads: the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39, the invention is not limited to this.
  • Other suction pads can be used as the robot hand according to the present invention.
  • the number of suction pads provided in the suction unit is not limited to three, but may be two, four or more.
  • the suction unit according to the present invention may be configured to have two suction pads, for example, a large-diameter suction pad 32 and a small-diameter suction pad 35. In this case, although the types of objects that can be gripped are reduced, the robot hand can be made smaller.
  • the suction unit 3 is provided with a small-diameter pad locking mechanism 45 that locks the rotation of the small-diameter pad base 34.
  • the small-diameter pad lock mechanism 45 is composed of a magnet 451 and a magnetic piece 452.
  • the magnet 451 is fixed to the end of the lower surface of the small-diameter pad base 34 on the first support protrusion 311 side.
  • the magnetic piece 452 is made of a magnetic material such as iron or nickel, and a magnetic attraction force is generated between the magnetic piece 452 and the magnet 451 .
  • the magnetic piece 452 is fixed to the first support protrusion 311 . Note that in the adsorption unit according to the present invention, the magnet 451 may be fixed to the first support protrusion 311 and the magnetic piece 452 may be fixed to the small diameter pad base 34.
  • the lower surface of the small-diameter pad base 34 becomes approximately perpendicular to the Z direction.
  • the small-diameter pad base 34 is fixed by the magnetic attraction force with the suction surface of the small-diameter suction pad 35 facing downward.
  • the magnet 451 separates from the magnetic piece 452, and the small-diameter pad base 34 rotates around the rotating shaft 341.
  • the small-diameter suction pad 35 small-diameter pad base 34
  • the small-diameter suction pad 35 (small-diameter pad base 34) does not move.
  • the magnetic attraction force is applied to the small-diameter pad base 34 due to the interference. A force exceeding that is added.
  • the small-diameter suction pad 35 (small-diameter pad base 34) can be retracted.
  • the small diameter pad tube guide 36 prevents the small diameter pad tube 37 from moving in the X direction. Therefore, the small-diameter pad tube 37 is retracted together with the small-diameter suction pad 35 (small-diameter pad base 34).
  • the suction unit 3 is provided with a bag pad locking mechanism 46 that locks the rotation of the bag pad base 38.
  • the bag pad lock mechanism 46 is composed of a magnet 461 and a magnetic piece 462.
  • the magnet 461 is fixed to the end of the lower surface of the bag pad base 38 on the second support protrusion 312 side.
  • the magnetic piece 462 is made of a magnetic material such as iron or nickel, and a magnetic attraction force is generated between the magnetic piece 462 and the magnet 461 .
  • the magnetic piece 462 is fixed to the second support protrusion 312. Note that, in the adsorption unit according to the present invention, the magnet 461 may be fixed to the second support protrusion 312 and the magnetic piece 462 may be fixed to the bag pad base 38.
  • the lower surface of the bag pad base 38 becomes approximately perpendicular to the Z direction.
  • the bag pad base 38 is fixed by the magnetic attraction force with the suction surface of the bag suction pad 39 facing downward.
  • the magnet 461 separates from the magnetic piece 462, and the bag pad base 38 rotates around the rotation shaft 381.
  • the bag suction pad 39 (bag pad base 38) moves away from the large diameter suction pad 32 and retreats upward.
  • the interference causes the bag pad base 38 to A force that exceeds the magnetic attraction force is applied.
  • the bag suction pad 39 (bag pad base 38) can be retracted.
  • the bag pad tube guide 40 stops the bag pad tube 41 from moving in the Y direction. Therefore, the bag pad tube 41 is retracted together with the bag suction pad 39 (bag pad base 38).
  • the robot hand 1 employs a mechanism (retraction mechanism) that retracts the small-diameter suction pad 35 and bag suction pad 39 by rotational movement.
  • a mechanism retraction mechanism
  • a linear motion mechanism or other link mechanism may be adopted.
  • a mechanism that actively performs an evacuating operation using a motor for example, may be adopted.
  • FIG. 8 is a schematic configuration diagram of the pneumatic control device 61 of the picking system 50 and the pneumatic pressure control device 62 above the moving mechanism.
  • the pneumatic control device 61 includes a pressure regulator 611, an air filter 612, and a manual valve 613.
  • a pressure regulator 611 For example, high-pressure compressed air of 0.8 MPa is input to the pressure regulator 611. Then, the pressure regulator 611 outputs low pressure compressed air of 0.6 MPa.
  • the air filter 612 removes moisture and dirt contained in the low-pressure compressed air.
  • Low pressure compressed air is input to the manual valve 613.
  • the downstream side of the manual valve 613 is connected to the moving mechanism upper pneumatic pressure control device 62. Further, the manual valve 613 is configured to be switchable between on and off.
  • the manual valve 613 is on, the input low-pressure compressed air is supplied to the moving mechanism upper air pressure control device 62.
  • the manual valve 613 is in the OFF state, air is discharged from the moving mechanism upper air pressure control device 62 to bring the moving mechanism upper air pressure control device 62 into a normal pressure (atmospheric pressure) state.
  • the moving mechanism upper pneumatic control device 62 includes a vacuum generator 621, a manual switch 622, a pneumatic valve 623A, a pneumatic valve 623B, and a pneumatic valve 623C.
  • the vacuum generator 621 uses the low pressure compressed air input from the air pressure control device 61 to output negative pressure air.
  • the manual switch 622 is a switch type 3-port manual valve. When the manual switch 622 is on, the input negative pressure air is output to the pneumatic valves 623A, 623B, and 623C. On the other hand, when the manual switch 622 is off, the pneumatic valves 623A, 623B, and 623C are opened to the atmosphere, causing vacuum breakdown.
  • the pneumatic valve 623A is connected to the large-diameter suction pad 32 via the large-diameter pad tube 33.
  • the pneumatic valve 623B is connected to the small-diameter suction pad 35 via the small-diameter pad tube 37.
  • the pneumatic valve 623C is connected to the bag suction pad 39 via the bag pad tube 41.
  • the pneumatic valve 623A, the pneumatic valve 623B, and the pneumatic valve 623C are normally open three-port solenoid valves.
  • the pneumatic valve 623A, the pneumatic valve 623B, and the pneumatic valve 623C can each be independently controlled, and any one of the pads can be selected and used. Furthermore, when the manual switch 622 is manually turned off, the pneumatic valves 623A, 623B, and 623C can be vacuum-destructed. This allows the article 100 to be safely separated from the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39, for example, when a problem occurs.
  • the pneumatic pressure control device 61 and the moving mechanism upper pneumatic pressure control device 62 are not limited to the above-mentioned configurations, and it is also possible to adopt another configuration.
  • the pneumatic valve 623A, the pneumatic valve 623B, and the pneumatic valve 623C three vacuum generators 621 may be used. When three vacuum generators are used, the number of components can be reduced. Furthermore, if the pneumatic valve is expensive, the pneumatic pressure control device on the moving mechanism can be constructed at a lower cost by using three vacuum generators 621.
  • the moving mechanism upper pneumatic pressure control device outputs compressed air from the vacuum generator 621 to cause vacuum breakage, thereby controlling the pneumatic valves 623A, 623B, and 623C.
  • the article 100 may be separated.
  • FIGS. 9A and 9B and FIGS. 10A and 10B are diagrams showing a series of flows for transporting heavy articles stored in a carry-in container.
  • the heavy article 100A shown in FIGS. 9A, B and 10A, B has a weight of 2 kg, for example, and is a rectangular parallelepiped long in the height direction.
  • the robot hand 1 is moved by the transfer robot 51 and placed directly above the heavy article 100A (see FIG. 9A).
  • the robot hand 1 extends the telescoping mechanism 4 to move the suction unit 3 downward. Then, negative pressure air is outputted to the large-diameter suction pad 32, and the robot hand 1 is lowered (see FIG. 9B). Thereby, the large-diameter suction pad 32 contacts and adsorbs the heavy article 100A.
  • the robot hand 1 contracts the telescopic mechanism 4 and moves the suction unit 3 upward (see FIG. 10A). As a result, the robot hand 1 lifts up the heavy article 100A that has been sucked by the large-diameter suction pad 32. Next, the robot hand 1 closes the finger parts 5A and 5B and holds the heavy article 100A (see FIG. 10B).
  • the transport robot 51 transports the robot hand 1 holding the heavy article 100A to above the carry-out container 56. Thereafter, the robot hand 1 performs an operation opposite to the operation of lifting the heavy article 100A, and places the heavy article 100A in the carrying-out container 56. This completes the conveyance of the heavy article 100A.
  • the heavy article 100A was held between the fingers 5A and 5B. Thereby, when the robot hand 1 is moved by the transport robot 51, it is possible to prevent or suppress the heavy article 100A from swinging laterally. As a result, the heavy article 100A can be transported stably and at high speed.
  • the fingers 5A and 5B may not be able to hold the heavy article 100A.
  • the robot hand 1 is moved upward by the transport robot 51 while the telescoping mechanism 4 is extended. Then, without holding the heavy article 100A between the fingers 5A and 5B, the heavy article 100A is grasped by suction only by the large-diameter suction pad 32, and is conveyed to the carrying-out container 56. At this time, the moving speed of the robot hand 1 by the transfer robot 51 is slowed down. Thereby, the heavy article 100A can be stably transported.
  • the robot hand 1 has a small-diameter suction pad 35 and a bag suction pad 39. Therefore, various gripping methods can be selected by changing the combination of the pad and the fingers, or the gripping of only the pad. As a result, the picking system 50 is capable of transporting various types of articles.
  • FIG. 11 is a diagram showing how the large-diameter suction pad 32 is used to grip the heavy article 100B.
  • the heavy article 100B shown in FIG. 11 has a weight of 2 kg, for example, and is a rectangular parallelepiped long in the width direction. Since the large-diameter suction pad 32 is hard to some extent and has a large diameter, it can adsorb to the heavy article 100B and grip the heavy article 100B.
  • the suction unit 3 is configured such that the large-diameter suction pad 32 protrudes further downward (toward the heavy article 100B side) than the small-diameter suction pad 35 and the bag suction pad 39. Therefore, the heavy article 100B attracted by the large-diameter suction pad 32 does not or hardly collides with the small-diameter suction pad 35 or the bag suction pad 39. Therefore, it is possible to stably grip the large heavy article 100B using only the large-diameter suction pad 32.
  • FIG. 12 is a diagram showing how the small-diameter suction pad 35 is used to grip the small article 100C.
  • the small article 100C shown in FIG. 12 is formed into an elongated rectangular parallelepiped shape with a small top surface area and long in the height direction.
  • the large-diameter suction pad 32 cannot grip a thin article (having a small top surface area) such as the small article 100C.
  • the small-diameter suction pad 35 When transporting such a small article 100C, the small-diameter suction pad 35 is used to suction it.
  • the payload weight of the small-diameter suction pad 35 is smaller than that of the large-diameter suction pad 32.
  • the small article 100C since a small article such as the small article 100C is light in weight, the small article 100C can be stably gripped only by the small diameter suction pad 35.
  • FIG. 13 is a diagram showing how a first example of a bag-like article is gripped using the bag suction pad 39.
  • a bag-like article 100D shown in FIG. 13 is a bag-like article that changes shape when pressed. Since the large-diameter suction pad 32 and the small-diameter suction pad 35 are made of a somewhat hard material, they do not follow the shape of a soft article like the bag-like article 100D. As a result, a vacuum leak occurs, so the large-diameter suction pad 32 and the small-diameter suction pad 35 cannot adsorb to the bag-like article 100D. Therefore, when transporting the bag-like article 100D, the bag suction pad 39 is used.
  • the bag suction pad 39 has a soft contact portion (suction portion) with the article and follows the shape of the bag-like article 100D. As a result, vacuum leakage is reduced, and the bag suction pad 39 can adsorb to the bag-like article 100D.
  • the bag suction pad 39 of the robot hand 1 is arranged above the large diameter suction pad 32. Therefore, when the bag suction pad 39 is attracted to the bag-like article 100D, there is a concern that the large-diameter suction pad 32 may interfere with the bag-like article 100D. However, as shown in FIG. 13, since the bag-like article 100D is soft, it deforms under its own weight with the portion suctioned by the bag suction pad 39 as the apex. As a result, it is expected that the large-diameter suction pad 32 will not interfere with the bag-like article 100D.
  • the large-diameter suction pad 32 comes into contact with the bag-like article 100D.
  • the bag-like article 100D deforms to some extent, even if the large-diameter suction pad 32 comes into contact with the bag-like article 100D, it does not interfere with the suction by the bag-like suction pad 39. Therefore, the bag-shaped article 100D can be stably gripped only by the bag suction pad 39.
  • FIG. 14 is a diagram showing how a second example of a bag-like article is gripped using the bag suction pad 39.
  • a bag-shaped article 100E shown in FIG. 14 is a harder bag-shaped article than the bag-shaped article 100D shown in FIG. 13. There is a concern that the bag-like article 100E is more difficult to be attracted by the bag-like suction pad 39 than the bag-like article 100D.
  • the robot hand 1 is slightly tilted so that the bag suction pad 39 protrudes downward the most.
  • the large-diameter suction pad 32 does not interfere with the bag-like article 100E.
  • the bag suction pad 39 can easily adsorb to the bag-like article 100E, and the bag-like article 100D can be stably gripped only by the bag suction pad 39.
  • the bag suction pad 39 is easily deformed even when it suctions a heavy article, the suction pad 39 may lose its suction and the heavy article may fall. Therefore, the weight capacity of the bag suction pad 39 is lower than that of the large-diameter suction pad 32. Therefore, the bag suction pad 39 is not suitable for gripping heavy articles 100A and 100B shown in FIGS. 10A and 10B and FIG. 11.
  • the X direction in which the finger parts 5A and 5B move is approximately perpendicular to the Y direction in which the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 are lined up (see FIG. 2). Therefore, no matter which of the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 is used to suction an article, the article can be held between the fingers 5A and 5B.
  • the small-diameter suction pad 35 and the bag suction pad 39 are slightly apart from the finger parts 5A and 5B. Therefore, depending on the size of the article and the suction position, the article may not be able to be held between the fingers 5A and 5B. Therefore, by providing finger portions wider than the finger portions 5A and 5B shown in FIG. 2, a wider variety of articles can be held between the finger portions after suction. Note that there is a trade-off because wide fingers tend to collide with other articles or the loading container 200. Therefore, the fingers may be designed depending on the type of article to be conveyed.
  • FIGS. 12 to 14 Transportation using multiple suction pads
  • multiple suction pads may be used for one article.
  • an article whose upper surface (top surface) has a sufficiently large area may be suctioned by both the large-diameter suction pad 32 and the bag suction pad 39. Thereby, the article can be attracted with a larger force, so that the article can be stably gripped.
  • the position of the suction pads and the amount of shrinkage of the suction pads after suction are different, so the article may be tilted after suction. As a result, it becomes difficult to place the article in the desired position in the shipping container 56.
  • a plurality of suction pads are used during transportation, but when placing the article in the carry-out container 56, all but one suction pad may be vacuum-destructed and the article may be placed using only one suction pad.
  • FIG. 15 is a diagram showing how a bottle-shaped article is gripped using the finger parts 5A and 5B of the robot hand 1.
  • a bottle-shaped article 100F is an example of an article that has a small top surface area and is heavy. It is difficult to suction the top surface of the bottle-shaped article 100F with the large-diameter suction pad 32 or the small-diameter suction pad 35. In this case, the neck portion of the bottle-shaped article 100F is held between the fingers 5A and 5B. Thereby, the robot hand 1 can grasp the bottle-shaped article 100F and transport it to the carry-out container 56.
  • the large-diameter suction pad 32 or the bag suction pad 39 may It is also possible to adsorb it to the bottle-shaped article 100F using . Thereby, the robot hand 1 can grasp the bottle-shaped article 100F and transport it to the carry-out container 56. Furthermore, when using the large-diameter suction pad 32 or the bag suction pad 39, the bottle-shaped article 100F may be held between the fingers 5A and 5B.
  • FIG. 16 is a diagram showing how an irregularly shaped article is gripped by utilizing the retraction mechanism of the robot hand 1.
  • the upper surface of the irregularly shaped article 100G is formed with a surface higher than the surface to be suctioned by the large-diameter suction pad 32. Therefore, when attempting to suction the irregularly shaped article 100G with the large diameter suction pad 32, the bag suction pad 39 collides with the upper surface of the irregularly shaped article 100G. At this time, when the bag suction pad 39 receives a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7), the bag pad base 38 rotates and the bag suction pad 39 retreats. As a result, the robot hand 1 can safely grip the irregularly shaped article 100G using the large-diameter suction pad 32.
  • the small-diameter suction pad 35 collides with the top surface of the irregularly shaped article 100G
  • the small-diameter suction pad 35 receives a force exceeding the magnetic attraction force of the magnet 451 (see FIG. 6)
  • the small-diameter pad base 34 rotates, and the small-diameter suction pad 35 evacuates.
  • the robot hand 1 can safely grip the irregularly shaped article 100G using the large-diameter suction pad 32.
  • the irregularly shaped article 100G When the irregularly shaped article 100G is placed in the carry-out container 56, the irregularly shaped article 100G is separated from the small diameter suction pad 35.
  • the small diameter pad base 34 rotates due to its own weight. As a result, the suction unit 3 returns to the posture shown in FIG. 5 in which the small-diameter suction pad 35 faces downward.
  • the bag suction pad 39 may be deformed or the bag suction pad 39 may be placed higher. By doing so, it does not interfere with the irregular shaped article 100G.
  • the large-diameter suction pad 32 can suction the irregularly shaped article 100G.
  • the irregularly shaped article 100G may be crushed, or when the irregularly shaped article 100G is lifted, the posture of the irregularly shaped article 100G is changed due to being pushed by the bag suction pad 39. I end up doing it. Therefore, it becomes difficult to calculate the motion for placing the gripped amorphous article 100G in the carry-out container 56.
  • FIG. 17 is a diagram showing how the evacuation mechanism of the robot hand 1 is utilized to grasp another article next to the article.
  • An article 100I is placed next to the article 100H shown in FIG.
  • the height of article 100I is higher than the height of article 100H. Therefore, when attempting to suction the article 100H with the large-diameter suction pad 32, the bag suction pad 39 collides with the upper surface of the article 100I. At this time, if a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7) is applied, the bag pad base 38 rotates and the bag suction pad 39 retreats. As a result, the robot hand 1 can safely grip the article 100H using the large-diameter suction pad 32.
  • the robot hand 1 can safely grip the irregularly shaped article 100G using the large-diameter suction pad 32.
  • the bag-like article 100D When the bag-like article 100D is placed in the carry-out container 56, the bag-like article 100D is separated from the bag suction pad 39.
  • the small diameter pad base 34 rotates due to its own weight.
  • the suction unit 3 returns to the posture shown in FIG. 5 in which the small-diameter suction pad 35 faces downward.
  • the control device 57 calculates a trajectory to avoid collisions between the transfer robot 51 and the robot hand 1 and the article 100, the loading container 200, the loading container 56, etc. do.
  • a trajectory calculation may be performed that precisely simulates the movement of the retraction mechanism due to the force at the time of collision.
  • the time required for trajectory calculation becomes longer.
  • the position of the small-diameter suction pad 35 and the bag suction pad 39 may be ignored when calculating the trajectory.
  • the robot hand 1 approaches the article 100H from above. Therefore, when the bag suction pad 39 receives a force, the force is basically applied from below, and a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7) is applied. Therefore, even if the above-mentioned simple calculation is performed, the evacuation mechanism can be utilized.
  • the trajectory of the transport robot 51 may be calculated using the shape of the suction unit 3 when the small-diameter suction pad 35 and bag suction pad 39 are retracted.
  • the robot hand 1 includes a plurality of suction pads 32, 35, 39 and finger parts 5A, 5B.
  • the suction pads 32, 35, 39 and the finger portions 5A, 5B tend to interfere with the articles, the carrying-in container 200, and the like. Therefore, it is relatively difficult to grasp articles placed near the wall of the carrying-in container 200 or articles arranged randomly inside the carrying-in container 200.
  • the robot hand 1 according to this embodiment is capable of grasping an object even under the above-described circumstances.
  • FIG. 18 is a diagram illustrating how the evacuation mechanism of the robot hand 1 is utilized to grasp an article near the wall of the carrying-in container 200.
  • the article 100J shown in FIG. 18 is placed near the wall of the loading container 200.
  • the large-diameter suction pad 32 is used to suction the article 100J
  • the robot hand 1 if the robot hand 1 approaches the article 100J from above and below (vertical direction), the small-diameter suction pad 35 (bag suction pad 39) collides with the wall of the loading container 200. In this case, even if the small-diameter suction pad 35 is retracted, the robot hand 1 cannot be lowered until the large-diameter suction pad 32 contacts the top surface of the article 100J.
  • the robot hand 1 is tilted and approaches the article 100J.
  • the small-diameter suction pad 35 collides with the inner wall surface of the carrying-in container 200 and moves away.
  • the large-diameter suction pad 32 moves to the wall of the carrying-in container 200 and comes into contact with the upper surface of the article 100J.
  • the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
  • the small-diameter suction pad 35 separates from the inner wall surface of the carrying-in container 200.
  • the bag pad base 38 rotates due to its own weight.
  • the suction unit 3 returns to the position shown in FIG. 5 in which the bag suction pad 39 faces downward.
  • FIG. 19 is a diagram showing how the robot hand 1 grips an article 100J near a wall by closing the finger parts 5A and 5B.
  • the large-diameter suction pad 32 suctions the article 100J placed near the wall of the loading container 200, if the robot hand 1 approaches the article 100J from diagonally above with fingers 5A and 5B open. , the fingers 5A and 5B collide with the wall of the loading container 200.
  • the fingers 5A and 5B are closed as much as possible. Then, the robot hand 1 is tilted and approaches the article 100J. As a result, the large-diameter suction pad 32 moves to the wall of the carrying-in container 200 and comes into contact with the upper surface of the article 100J. As a result, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
  • the robot hand 1 when grasping an article at the four corners of the carrying-in container 200, there is a possibility that the large-diameter suction pad 32 collides with the wall on the near side of the paper in FIG. In this case, the robot hand 1 is tilted further toward the back of the paper surface of the article. Thereby, the large-diameter suction pads 32 can be moved to the four corners of the carrying-in container 200 while the small-diameter suction pads 35 are being retracted. As a result, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
  • FIGS. 20A and 20A and 21A and 21B are diagrams showing how an article near a wall is brought to the center and then gripped and conveyed.
  • the article 100K shown in FIGS. 20A, B and 21A, B has a suitable weight (for example, 1 kg), and even if it is suctioned by the small-diameter suction pad 35, there is a possibility that the suction may come off when lifted or during transportation. . Therefore, it is preferable that the article 100K is adsorbed by the large-diameter suction pad 32, which has a larger adsorption force than the small-diameter suction pad 35.
  • the area of the top surface of the article 100K is small. Therefore, even if the robot hand 1 is tilted diagonally, the entire suction surface of the large-diameter suction pad 32 cannot be brought into contact with the top surface of the article 100K.
  • the top surface of the article 100K is suctioned using the small-diameter suction pad 35 (see FIG. 20A).
  • the transfer robot 51 is operated to move the robot hand 1 above the center of the carry-in container 200 (see FIG. 20B).
  • the article 100K attracted to the small-diameter suction pad 35 is dragged over the carrying-in container 200 and moved to the approximate center of the carrying-in container 200.
  • the transfer robot 51 is operated to move the robot hand 1 to a position away from the loading container 200 (see FIG. 21A). Subsequently, the imaging device 55 takes another picture of the interior of the carrying-in container 200, and the position of the moved article 100K is re-recognized. Then, the transfer robot 51 is operated to bring the large-diameter suction pad 32 of the robot hand 1 into contact with the top surface of the article 100K (see FIG. 21B). Thereby, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
  • the robot hand 1 moves the article 100K to approximately the center of the carrying-in container 200, and then the imaging device 55 re-photographs the interior of the carrying-in container 200.
  • re-imaging by the imaging device 55 does not necessarily have to be performed. That is, after dragging the article 100K from the wall of the carrying-in container 200, the position and orientation of the article 100K may be predicted from the position of the robot hand 1, and the robot hand 1 may perform a suction operation for the article 100K based on the prediction.
  • the method of gripping the article 100K described above is not limited to the illustrated procedure, and another gripping method may be used.
  • the article 100K can be held between the fingers 5A and 5B.
  • the robot hand 1 can be tilted diagonally to approach a bottle-shaped article placed near a wall, and the bottle-shaped article can be held between the fingers 5A and 5B. .
  • the above-described grasping method is not limited to grasping articles near the wall of the carrying-in container 200, but can be utilized, for example, when grasping articles that are randomly arranged inside the carrying-in container 200.
  • the wall of the carry-in container 200 is exemplified as an obstacle, but if the articles are arranged in a disorderly manner in the carry-in container 200, articles other than the object to be grasped become obstacles. Therefore, it is possible to approach the object to be grasped diagonally while avoiding objects other than the object to be grasped, or to utilize the evacuation mechanism.
  • trajectory calculation is performed in several patterns, and the grasping method with the highest priority among the executable grasping methods (movements) is selected.
  • FIG. 22 is a control flowchart of article conveyance processing performed by the picking system.
  • control device 57 controls the imaging device 55 to photograph the inside of the loading container 200 (S11).
  • control device 57 performs image recognition processing on the image taken by the imaging device 55, and selects the article 100 to be gripped and the gripping method (S12).
  • step S12 when the control device 57 performs image recognition processing, it is possible to extract article arrangement information such as the shape, position, and orientation of each article in the delivery container 200.
  • the control device 57 collates the article arrangement information with data stored in the information storage device 58 to identify the type of each article. Then, the control device 57 selects one article 100 to be gripped from among the plurality of articles 100 in the carry-in container 200.
  • the article 100 to be gripped is selected from the specified types of articles 100. If the type of article 100 to be transported is not specified, for example, the tallest article 100 is selected. Thereby, the articles 100 that are likely to become obstacles can be transported to the unloading container 56 first. Furthermore, the priority of the types of articles 100 to be transported may be determined in advance. In this case, the items 100 are selected in order of priority.
  • control device 57 controls the gripping section (fingertip) used to grip the article 100 based on the article placement information obtained through the image recognition process and information specific to the type of article 100 stored in the information storage device 58. 5A, 5B, large-diameter suction pad 32, small-diameter suction pad 35, bag suction pad 39), and the gripping method such as which part of the article 100 is to be gripped.
  • the suction surface For example, if the article 100 is a rectangular parallelepiped, the surface whose normal line is most facing upward is the suction surface. Then, a suction point is set at the center of the suction surface, and if the width of the suction surface is a certain value or more, the large-diameter suction pad 32 is determined as the gripping portion to be used. If the width of the suction surface is less than a certain value and the weight is less than a predetermined value, the small-diameter suction pad 35 is determined as the gripping portion to be used. Further, if it is stored in the information storage device 58 that the selected article 100 is a bag-like article, the bag suction pad 39 is determined as the gripping section to be used. Note that there may be cases where a plurality of candidates for the gripping portion to be used are considered. In this case, a predetermined one with the highest priority, a combination of a plurality of gripping parts, etc. can be determined as the gripping part.
  • control device 57 performs a trajectory simulation for gripping the article 100 in the carry-in container 200 and transporting it to the carry-out container 56 (S13).
  • a trajectory is generated in which the robot hand 1 and the transport robot 51 do not collide with the carrying-in container 200, the carrying-out container 56, other articles, etc.
  • the trajectory of the robot hand 1 and the transfer robot 51 is to approach the article 100 from a direction perpendicular to the top surface of the article 100, grasp the article 100, and move the article 100 in a direction perpendicular to the placement surface of the carry-out container 56.
  • the first option is to place it in a horizontal position.
  • the robot hand 1 may be approached on a diagonal trajectory, or another trajectory may be used when placing the article in the carrying-out container 56. Attempt to generate .
  • the trajectory is calculated in order of priority, such as giving priority to an approach from a direction that avoids the wall. This makes it possible to reduce trajectory calculation time.
  • control device 57 determines whether or not the article 100 can be transported on the generated trajectory (S14). When it is determined in step S14 that it is possible to transport the article 100 on the generated trajectory (YES in S14), the control device 57 controls the drive of the robot hand 1 and the transport robot 51 to 100 gripping and conveying operations are performed (S15). After the process in step S15, the control device 57 ends the article conveyance process.
  • step S14 when it is determined that transporting the article 100 is not possible with the generated trajectory (NO determination in S14), that is, it is difficult to grasp the article 100 even if the trajectory that tilts the robot hand 1 is adopted.
  • the control device 57 adds a trajectory for shifting the position of the article 100 to the candidates and performs a trajectory simulation (S16).
  • the small-diameter suction pad 35 can be used to shift the position of the article 100 to be gripped. By shifting the position of the object 100 to be gripped, the object 100 to be gripped may be able to be suctioned (grasped) by the large-diameter suction pad 32 .
  • control device 57 determines whether it is possible to move (position shift) the article 100 on the generated trajectory (S17). When it is determined in step S17 that it is possible to move (position shift) the article 100 on the generated trajectory (YES in S17), the control device 57 controls the driving of the robot hand 1 and the transfer robot 51. Then, the position of the article 100 is shifted (S18). After the processing in step S18, the control device 57 evacuates the robot hand 1 and the transfer robot 51 from the carrying-in container 200, and returns the processing to step S11.
  • the method (trajectory) for shifting the position of the object 100 to be gripped is set to have the lowest priority. Thereby, a decrease in conveyance efficiency can be suppressed.
  • step S17 When it is determined in step S17 that transporting the article 100 is not possible on the generated trajectory (NO determination in S17), the control device 57 excludes the article 100 to be grasped selected in step S12 (S19) . After the process in step S19, the control device 57 returns the process to step S12. That is, the control device 57 selects another article 100 as the article 100 to be gripped.
  • the currently carried-in carrying-in container 200 is replaced with another carrying-in container 200 containing the target article 100, and the above-mentioned control flow is executed. It is a good idea to do this. Further, the delivery container 200, which was difficult to hold, is moved to a place where a person changes the arrangement of the articles, and the article 100 is manually rearranged. Then, the carry-in container 200 in which the articles 100 have been rearranged is returned to the picking system 50 again.
  • the picking system 50 includes a transfer robot 51, a robot hand 1 that is provided on the transfer robot 51 and grips an article 100, and a control device 57 ( control unit).
  • the robot hand 1 includes a suction unit 3 (suction section) that suctions and grips the article 100, finger sections 5A and 5B that grip the article 100, and a finger drive section 7 that drives the finger sections 5A and 5B.
  • the suction unit 3 has a plurality of types of suction pads 32, 35, and 39 arranged in a line, and the direction in which the plurality of types of suction pads 32, 35, and 39 are lined up is approximately parallel to the driving direction of the finger parts 5A and 5B. Orthogonal.
  • the suction unit 3 can be made compact and can be housed between the first finger portion 5A and the second finger portion 5B. As a result, the robot hand 1 can be made smaller.
  • the plurality of types of suction pads according to the embodiment described above include a large-diameter suction pad 32 (first suction pad) and a small-diameter suction pad 35 whose contact area with the article 100 is smaller than that of the large-diameter suction pad 32. (second suction pad).
  • first suction pad a large-diameter suction pad 32
  • second suction pad a small-diameter suction pad 35 whose contact area with the article 100 is smaller than that of the large-diameter suction pad 32.
  • the plurality of types of suction pads according to the embodiments described above include a bag suction pad 39 (third suction pad) that has a softer contact area with the article than the large-diameter suction pad 32 (first suction pad). include.
  • the suction pad can be changed depending on the shape and form of the article 100. As a result, various articles 100 can be gripped (adsorbed) and transported.
  • the large-diameter suction pad 32 (first suction pad) is more suitable for holding articles than the small-diameter suction pad 35 and the bag suction pad 39 (other suction pads). It is arranged so as to protrude toward the 100 side. Thereby, the article 100 attracted by the large-diameter suction pad 32 does not collide with the small-diameter suction pad 35 or the bag suction pad 39, or hardly collides with it. As a result, the article 100 can be stably gripped (adsorbed) only by the large-diameter suction pad 32 .
  • the small-diameter suction pad 35 and the bag suction pad 39 are suction pads with a retraction mechanism. This allows the robot hand 1 to evacuate the small-diameter suction pad 35 and bag suction pad 39 even if the small-diameter suction pad 35 and bag suction pad 39 interfere with an obstacle such as a wall of the loading container 200. be able to. As a result, the robot hand 1 can grip objects in various postures.
  • the small-diameter suction pad 35 and bag suction pad 39 can be retracted.
  • the small-diameter suction pad 35 and bag suction pad 39 do not get in the way, and the article 100 can be safely gripped using the large-diameter suction pad 32.
  • the small-diameter suction pad 35 and the bag suction pad 39 (suction pad with retraction mechanism) according to the embodiments described above include magnets 451 and 461 that lock the retraction movement by magnetic attraction force. Then, when the force applied to the small-diameter suction pad 35 and the bag suction pad 39 is larger than the magnetic attraction force, the small-diameter suction pad 35 and the bag suction pad 39 are retracted. Thereby, when the small-diameter suction pad 35 or the bag suction pad 39 is used to suction and grip the article 100, the small-diameter suction pad 35 or the bag suction pad 39 can be prevented from retreating.
  • control device 57 controls the process of step S18 (first step) of rearranging the position or posture of the article 100 to a different state, and the process of rearranging the rearranged article 100.
  • step S15 of gripping (second step) and the process of step S15 of transporting the gripped article (third step) are executed.
  • the plurality of types of suction pads according to the embodiment described above include a large-diameter suction pad 32 (first suction pad) and a small-diameter suction pad 35 whose contact area with the article 100 is smaller than that of the large-diameter suction pad 32. (second suction pad).
  • the control device 57 uses the small-diameter suction pad 35 to rearrange the position or posture of the article 100 to a different state. Thereby, the position of the article 100 can be easily shifted. Further, when shifting the position of the article 100, the small diameter suction pad 35 that can easily approach the article 100 is used, so the trajectory of the robot hand 1 can be easily calculated. As a result, the time required to shift the position of the article 100 can be shortened.
  • the small-diameter pad locking mechanism 45 of the small-diameter suction pad 35 is composed of a magnet 451 and a magnetic piece 452.
  • the bag pad locking mechanism 46 of the bag suction pad 39 is composed of a magnet 461 and a magnetic piece 462.
  • the locking mechanism according to the present invention may include, for example, a spring member that elastically deforms when a predetermined force is applied, or an engaging portion and an engaged portion that engage removably. Note that when the locking mechanism is configured with a spring member, a spring force is always applied to the retracted suction pad, so that, for example, the suction pad is biased against the article. As a result, there is a fear that the gripped object may be damaged or the gripped object may come off. Therefore, it is preferable that the locking mechanism according to the present invention is composed of a magnet and a magnetic piece.
  • control device 57 that controls the entire picking system 50 is applied as the control device that controls the robot hand 1
  • present invention is not limited to this.
  • a dedicated control device or information storage device for controlling the robot hand 1 may be provided.
  • Pad base for bags 39... Suction pad for bags, 40... Pad tube guide for bags, 41... Pad tube for bags, 45... Small diameter pad lock mechanism, 46... Pad lock mechanism for bags, 50 ...picking system, 51...transport robot, 52...loading conveyor, 53...moving mechanism, 54...loading conveyor, 55...imaging device, 56...loading container, 57...control device, 58...information storage device, 100, 100A to 100K ...article, 200...carry-in container, 311...first support protrusion, 312...second support protrusion, 341, 381...rotating shaft, 451, 461...magnet, 452, 462...magnetic piece, 611...pressure regulator, 612... Air filter, 613...Manual valve, 621...Vacuum generator, 622...Manual switch 623A, 623B, 623C...Pneumatic valve

Abstract

Provided is a picking system that is capable of holding and transporting various types of articles. The picking system comprises: a transport robot; a robot hand that is provided to the transport robot and holds an article; and a control unit that controls the robot hand and the transport robot. The robot hand includes: a suction part that suctions and holds an article; a finger part that pinches and holds the article; and a finger drive part that drives the finger part. The suction part has a plurality of types of suction pads that are aligned in a row. The direction in which the plurality of types of suction pads are aligned is substantially orthogonal to the direction in which the finger part is driven.

Description

ピッキングシステムpicking system
　本発明は、ロボットハンドを備えたピッキングシステムに関する。 The present invention relates to a picking system equipped with a robot hand.
　近年、上流の工程から搬入された物品を搬送ロボットにより保持して、所定の場所まで搬出するピッキングシステムが知られている。また、搬出ロボットには、物品を把持するロボットハンドが設けられている。 In recent years, picking systems have been known in which items brought in from an upstream process are held by a transport robot and transported to a predetermined location. Further, the carry-out robot is provided with a robot hand that grips the article.
　物品を把持するロボットハンドに関する技術としては、例えば、特許文献１に記載されているようなものがある。特許文献１には、第１把持部、第２把持部、及び第３把持部からなる３つのエンドエフェクタを交換可能な物品把持機構（ロボットアーム）が記載されている。 For example, there is a technology related to a robot hand that grips an article as described in Patent Document 1. Patent Document 1 describes an article gripping mechanism (robot arm) in which three end effectors consisting of a first gripping part, a second gripping part, and a third gripping part can be replaced.
　第１把持部は、把持本体と、複数の吸着パッドとを備えている。把持本体は、物品把持機構の先端に対して着脱可能に取り付けられる。複数の吸着パッドは、等間隔に並んで把持本体に設けられている。第２把持部は、把持本体と、２つの吸着パッドとを備えている。把持本体は、物品把持機構の先端に対して着脱可能に取り付けられる。２つの吸着パッドは、把持本体の両側に設けられている。 The first gripping section includes a gripping body and a plurality of suction pads. The gripping body is detachably attached to the tip of the article gripping mechanism. The plurality of suction pads are arranged on the grip main body at equal intervals. The second gripping section includes a gripping body and two suction pads. The gripping body is detachably attached to the tip of the article gripping mechanism. Two suction pads are provided on both sides of the grip body.
　第３把持部は、把持本体と、一対の挟持ハンドとを備えている。把持本体は、物品把持機構の先端に対して着脱可能に取り付けられる。挟持ハンドは、物品に対して両側から接触可能に構成されている。挟持ハンドを物品の両側に接触させた状態において、挟持ハンド相互の間隔を狭めると、挟持ハンドによって物品が挟持される。 The third gripping section includes a gripping body and a pair of clamping hands. The gripping body is detachably attached to the tip of the article gripping mechanism. The clamping hand is configured to be able to contact the article from both sides. When the clamping hands are in contact with both sides of the article and the distance between the clamping hands is narrowed, the article is clamped by the clamping hands.
特開２０２０－０４６１９７号公報JP2020-046197A
　しかしながら、特許文献１に記載された第１把持部或いは第２把持部は、１種類の吸着パッドを複数或いは２つ設けているため、把持可能な物品の種類は限定される。 However, since the first gripping part or the second gripping part described in Patent Document 1 is provided with a plurality or two suction pads of one type, the types of articles that can be gripped are limited.
　本目的は、上記の問題点を考慮し、多様な物品を把持して搬送することが可能なピッキングシステムを提供することにある。 The present purpose is to provide a picking system that can grasp and transport a variety of articles in consideration of the above-mentioned problems.
　上記課題を解決し、目的を達成するため、ピッキングシステムは、搬送ロボットと、搬送ロボットに設けられ、物品を把持するロボットハンドと、ロボットハンド及び搬送ロボットを制御する制御部とを備える。ロボットハンドは、物品を吸着して把持する吸着部と、物品を挟んで把持する指部と、指部を駆動する指駆動部とを有する。吸着部は、一列に並んだ複数種類の吸着パッドを有し、複数種類の吸着パッドが並ぶ方向は、指部の駆動方向に対して略直交している。 In order to solve the above problems and achieve the objectives, the picking system includes a transport robot, a robot hand that is provided on the transport robot and grips an article, and a control unit that controls the robot hand and the transport robot. The robot hand includes a suction section that suctions and grips an article, finger sections that grip the article by sandwiching it, and a finger driving section that drives the fingers. The suction section has a plurality of types of suction pads lined up in a row, and the direction in which the plurality of types of suction pads are lined up is approximately perpendicular to the driving direction of the finger section.
　上記構成のピッキングシステムによれば、多様な物品を把持して搬送することができる。 According to the picking system configured as described above, it is possible to grasp and transport a variety of articles.
一実施形態にかかるピッキングシステムを示す概略構成図である。FIG. 1 is a schematic configuration diagram showing a picking system according to an embodiment. 一実施形態にかかるロボットハンドを示す斜視図である。FIG. 1 is a perspective view showing a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの指部を開いた状態を示す正面図である。FIG. 2 is a front view showing a state in which the fingers of the robot hand according to one embodiment are opened. 一実施形態にかかるロボットハンドの指部を閉じた状態を示す正面図である。FIG. 2 is a front view showing a state in which the finger portions of the robot hand according to one embodiment are closed. 一実施形態にかかるロボットハンドを示す側面図である。FIG. 1 is a side view showing a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの第２吸着パッドが退避した様子を示す斜視図である。FIG. 3 is a perspective view showing a state in which the second suction pad of the robot hand according to one embodiment is retracted. 一実施形態にかかるロボットハンドの第３吸着パッドが退避した様子を示す斜視図である。FIG. 7 is a perspective view showing a state in which the third suction pad of the robot hand according to one embodiment is retracted. 一実施形態にかかるピッキングシステムの空圧制御装置、および移動機構上空圧制御装置の概略構成図である。FIG. 1 is a schematic configuration diagram of a pneumatic control device of a picking system and a pneumatic control device above a moving mechanism according to an embodiment. Ａ，Ｂ　一実施形態にかかるピッキングシステムにおいて、搬入コンテナに収納された重量物品を搬送する一連の流れを示す図である。A, B are diagrams illustrating a series of flows for transporting heavy articles stored in a carry-in container in a picking system according to an embodiment. Ａ，Ｂ　一実施形態にかかるピッキングシステムにおいて、搬入コンテナに収納された重量物品を搬送する一連の流れを示す図である。A, B are diagrams illustrating a series of flows for transporting heavy articles stored in a carry-in container in a picking system according to an embodiment. 一実施形態にかかるロボットハンドの第１吸着パッドを用いて重量物品を把持する様子を示す図である。FIG. 3 is a diagram showing how a heavy article is gripped using a first suction pad of a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの第２吸着パッドを用いて小物品を把持する様子を示す図である。FIG. 7 is a diagram showing how a small article is gripped using a second suction pad of a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの第３吸着パッドを用いて袋状物品の第１の例を把持する様子を示す図である。FIG. 7 is a diagram showing how a first example of a bag-like article is gripped using a third suction pad of a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの第３吸着パッドを用いて袋状物品の第２の例を把持する様子を示す図である。FIG. 7 is a diagram showing how a second example of a bag-like article is gripped using a third suction pad of a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの指部を用いてボトル状物品を把持する様子を示す図である。FIG. 3 is a diagram illustrating how a bottle-shaped article is gripped using fingers of a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの退避機構を活用して、不定形物品を把持する様子を示す図である。FIG. 3 is a diagram illustrating how an irregularly shaped article is gripped by utilizing a retraction mechanism of a robot hand according to an embodiment. 一実施形態にかかるロボットハンドの退避機構を活用して、物品の隣にある別の物品を把持する様子を示す図である。FIG. 6 is a diagram illustrating how the robot hand grasps another article next to the article by utilizing the retracting mechanism according to one embodiment. 一実施形態にかかるロボットハンドの退避機構を活用して、壁際にある物品を把持する様子を示す図である。FIG. 3 is a diagram illustrating how a robot hand grasps an article near a wall by utilizing a retraction mechanism according to an embodiment. 一実施形態にかかるロボットハンドの指部を閉じることで、壁際にある物品を把持する様子を示す図である。FIG. 3 is a diagram illustrating how a robot hand according to an embodiment grasps an article near a wall by closing the fingers. Ａ，Ｂ　一実施形態にかかるピッキングシステムにおいて、壁際にある物品を中央に寄せてから把持及び搬送する様子を示す図である。A, B are diagrams illustrating how an article near a wall is brought to the center and then grasped and conveyed in a picking system according to an embodiment. Ａ，Ｂ　一実施形態にかかるピッキングシステムにおいて、壁際にある物品を中央に寄せてから把持及び搬送する様子を示す図である。A, B are diagrams illustrating how an article near a wall is brought to the center and then grasped and conveyed in a picking system according to an embodiment. 一実施形態にかかるピッキングシステムによって行われる物品搬送処理の制御フローチャートである。It is a control flowchart of article conveyance processing performed by the picking system concerning one embodiment.
　以下、ピッキングシステムの実施形態について、図１～図２２を参照して説明する。なお、各図において共通の部材には、同一の符号を付している。 Hereinafter, embodiments of the picking system will be described with reference to FIGS. 1 to 22. Note that common members in each figure are given the same reference numerals.
［ピッキングシステムの構成例］
　まず、実施の形態例（以下、「本例」という。）にかかるピッキングシステムの構成について図１を参照して説明する。
　図１は、本例のピッキングシステムを示す概略構成図である。 [Picking system configuration example]
First, the configuration of a picking system according to an embodiment (hereinafter referred to as "this example") will be described with reference to FIG. 1.
FIG. 1 is a schematic configuration diagram showing the picking system of this example.
　図１に示すように、ピッキングシステム５０は、搬送ロボット５１と、搬送ロボット５１に物品１００を搬入する搬入コンベア５２と、移動機構５３と、撮像装置５５と、搬出コンベア５４を備えている。ピッキングシステム５０は、搬入コンベア５２によって搬送された搬入コンテナ２００の中の物品１００を、搬送ロボット５１を用いて搬出コンベア５４上の搬出コンテナ５６に搬送する。 As shown in FIG. 1, the picking system 50 includes a transport robot 51, a carry-in conveyor 52 that carries articles 100 into the transport robot 51, a movement mechanism 53, an imaging device 55, and a carry-out conveyor 54. The picking system 50 uses the transport robot 51 to transport the articles 100 in the transport container 200 transported by the transport conveyor 52 to the transport container 56 on the transport conveyor 54 .
　搬送ロボット５１は、例えば、６軸の関節を有する垂直多関節ロボットである。搬送ロボット５１のアームには、物品１００を把持するロボットハンド１が設けられている。搬送ロボット５１は、物品１００を吸着して把持したり、物品１００を挟んで把持したりする。ロボットハンド１の詳細については、後述する。 The transfer robot 51 is, for example, a vertical multi-joint robot having six axes of joints. The arm of the transfer robot 51 is provided with a robot hand 1 that grips the article 100. The transport robot 51 grips the article 100 by suction, or grips the article 100 by sandwiching it. Details of the robot hand 1 will be described later.
　また、ピッキングシステム５０は、搬送ロボット５１と、搬入コンベア５２と、移動機構５３と、制御装置５７と、情報記憶装置５８と、を有している。制御装置５７は、本発明に係る制御部に対応する。制御装置５７は、撮像装置５５の駆動を制御する。 Further, the picking system 50 includes a transfer robot 51, a carry-in conveyor 52, a movement mechanism 53, a control device 57, and an information storage device 58. The control device 57 corresponds to a control section according to the present invention. The control device 57 controls the driving of the imaging device 55.
　情報記憶装置５８は、制御装置５７に接続されている。そして、情報記憶装置５８は、取り扱う物品１００の形状、大きさや搬入コンベア５２に載置されている姿勢等の物品１００に関する情報を格納する。ただし、情報記憶装置５８に格納された情報は、物品１００の一部の情報、あるいは全ての情報が欠けていてもよい。また、物品１００は、複数種類あってもよい。 The information storage device 58 is connected to the control device 57. The information storage device 58 stores information regarding the article 100 such as the shape and size of the article 100 to be handled and the attitude placed on the carry-in conveyor 52. However, the information stored in the information storage device 58 may lack some or all of the information about the article 100. Moreover, there may be multiple types of articles 100.
　撮像装置５５は、搬送ロボット５１がロボットハンド１を用いて物品１００を把持する位置の上方に配置されている。撮像装置５５は、搬入コンベア５２によって搬送された搬入コンテナ２００に配置された物品１００を撮影する。そして、撮像装置５５は、撮影した画像情報を制御装置５７に出力する。制御装置５７は、撮像装置５５から取得した画像情報に基づいて、物品１００の位置や物品１００の大きさ等の物品１００に関する情報を判別する。そして、制御装置５７は、物品１００に関する情報に基づいて、搬送ロボット５１及びロボットハンド１の動作を制御する。 The imaging device 55 is arranged above the position where the transport robot 51 grips the article 100 using the robot hand 1. The imaging device 55 photographs the article 100 placed in the loading container 200 transported by the loading conveyor 52 . The imaging device 55 then outputs the captured image information to the control device 57. The control device 57 determines information regarding the article 100, such as the position of the article 100 and the size of the article 100, based on the image information acquired from the imaging device 55. Then, the control device 57 controls the operations of the transport robot 51 and the robot hand 1 based on the information regarding the article 100.
　なお、本例のピッキングシステム５０では、撮像装置５５を、物品１００を把持する位置の上方に設けた例を説明したが、これに限定されるものではない。例えば、撮像装置５５を搬送ロボット５１やロボットハンド１に設けてもよく、あるいは物品１００を把持する位置の側方等に配置してよい。あるいは撮像装置５５の位置を変える構成を採用してもよい。この場合は、例えば、撮像装置５５を移動させるアクチュエータを設けるとよい。 Note that in the picking system 50 of this example, an example has been described in which the imaging device 55 is provided above the position where the article 100 is gripped, but the present invention is not limited to this. For example, the imaging device 55 may be provided on the transport robot 51 or the robot hand 1, or may be placed on the side of the position where the article 100 is gripped. Alternatively, a configuration may be adopted in which the position of the imaging device 55 is changed. In this case, for example, an actuator for moving the imaging device 55 may be provided.
　さらに、撮像装置５５が撮影した情報に基づいて制御装置５７が物品１００の大きさや種別等を判別する例を説明したが、これに限定されるものではない。例えば、情報記憶装置５８に予め物品１００の大きさや種別等に関する情報を格納し、この情報記憶装置５８から制御装置５７が物品１００に関する情報を取得してもよい。 Further, although an example has been described in which the control device 57 determines the size, type, etc. of the article 100 based on information captured by the imaging device 55, the invention is not limited to this. For example, information regarding the size, type, etc. of the article 100 may be stored in advance in the information storage device 58, and the control device 57 may acquire information regarding the article 100 from the information storage device 58.
　搬送ロボット５１は、移動機構５３により１軸方向に移動可能に支持されている。移動機構５３は、搬入コンベア５２と搬出コンベア５４の間に配置されている。そして、移動機構５３の移動方向の一側には、搬入コンベア５２が配置され、移動機構５３の移動方向の他側には、搬出コンベア５４が配置される。 The transfer robot 51 is supported by a moving mechanism 53 so as to be movable in one axis direction. The moving mechanism 53 is arranged between the carry-in conveyor 52 and the carry-out conveyor 54. An incoming conveyor 52 is arranged on one side of the moving mechanism 53 in the moving direction, and an outgoing conveyor 54 is arranged on the other side of the moving mechanism 53 in the moving direction.
　搬入コンベア５２は、複数の物品１００を収納した搬入コンテナ２００をピッキングシステム５０の上流側の工程から所定の位置まで搬送する。搬出コンベア５４に設けた搬出コンテナ５６には、搬送ロボット５１及びロボットハンド１により搬出された物品１００が収納される。そして、搬出コンベア５４は、物品１００が収納された搬出コンテナ５６をピッキングシステム５０の下流側の工程の所定の位置まで搬送する。 The carry-in conveyor 52 transports the carry-in container 200 containing the plurality of articles 100 from the upstream process of the picking system 50 to a predetermined position. The article 100 carried out by the transport robot 51 and the robot hand 1 is stored in the carry-out container 56 provided on the carry-out conveyor 54 . Then, the carry-out conveyor 54 transports the carry-out container 56 containing the articles 100 to a predetermined position in the downstream process of the picking system 50.
　なお、搬入コンテナ２００に収納された物品１００は、すべて同一の物品であってもよいし、複数種類の物品が混載されていてもよい。また、搬入コンテナ２００毎に、収納されている物品１００が異なっていてもよい。 Note that all of the articles 100 stored in the carry-in container 200 may be the same article, or multiple types of articles may be mixed. Moreover, the articles 100 stored in each delivery container 200 may be different.
　また、ピッキングシステム５０は、搬送ロボット５１の真空を制御する空圧制御装置６１と、移動機構上空圧制御装置６２と、を備える。移動機構上空圧制御装置６２は、ロボットハンド１に接続される。そのため、移動機構上空圧制御装置６２は、ロボットハンド１との距離が近くなるように、移動機構５３上に設置されている。空圧制御装置６１と移動機構上空圧制御装置６２の構成については、図８を用いて後で説明する。 The picking system 50 also includes a pneumatic control device 61 that controls the vacuum of the transfer robot 51 and a moving mechanism upper pneumatic control device 62. The moving mechanism upper pneumatic control device 62 is connected to the robot hand 1 . Therefore, the moving mechanism upper pneumatic control device 62 is installed on the moving mechanism 53 so as to be close to the robot hand 1. The configurations of the pneumatic control device 61 and the moving mechanism top pneumatic control device 62 will be described later using FIG. 8.
　本例では、搬送ロボット５１を移動機構５３により移動させる例を説明した。しかし、本発明に係るピッキングシステムとしては、これに限定されるものではなく、搬送ロボット５１自体に移動機構を設けてもよく、あるいは搬送ロボット５１を固定してもよい。 In this example, an example in which the transfer robot 51 is moved by the movement mechanism 53 has been described. However, the picking system according to the present invention is not limited to this, and the transport robot 51 itself may be provided with a moving mechanism, or the transport robot 51 may be fixed.
　また、ピッキングシステム５０として、物品１００を搬出コンテナ５６に収納する例を説明したが、これに限定されるものではない。ピッキングシステム５０としては、例えば、搬送ロボット５１のロボットハンド１により把持された物品１００を搬出コンベア５４上に搬送したり、図示しない収納棚に収納したりしてもよく、その他各種のピッキングシステム５０が適用されるものである。 Further, although an example has been described in which the articles 100 are stored in the carrying-out container 56 as the picking system 50, the present invention is not limited to this. The picking system 50 may, for example, transport the article 100 gripped by the robot hand 1 of the transport robot 51 onto the carry-out conveyor 54 or store it in a storage shelf (not shown), and various other picking systems 50 may also be used. is applicable.
　また、搬送ロボット５１として、６軸の関節を有する垂直多関節ロボットを適用した例を説明したが、これに限定されるものではない。搬送ロボット５１としては、水平方向の回転と、鉛直方向への移動を行う２軸のロボットを適用してもよく、その他各種のロボットが適用できるものである。 Further, although an example has been described in which a vertical articulated robot having six axes of joints is applied as the transport robot 51, the present invention is not limited to this. As the transfer robot 51, a two-axis robot that rotates in the horizontal direction and moves in the vertical direction may be used, or various other robots may be used.
　なお、制御装置５７、情報記憶装置５８、空圧制御装置６１、移動機構上空圧制御装置６２の設置場所および各々の機能は、上記に限定されるものではない。本発明は、例えば、制御装置５７、情報記憶装置５８、空圧制御装置６１、移動機構上空圧制御装置６２の各機能が同じ装置に集約されているシステム、全てロボットから離れた位置に設置されたシステム等の異なるシステムにも適用できる。 Note that the installation locations and functions of the control device 57, information storage device 58, pneumatic control device 61, and moving mechanism upper pneumatic control device 62 are not limited to those described above. For example, the present invention provides a system in which the functions of a control device 57, an information storage device 58, a pneumatic control device 61, and a pneumatic control device 62 for a moving mechanism are integrated into the same device, all of which are installed at a location away from the robot. It can also be applied to different systems such as
［ロボットハンドの構成例］
　次に、搬送ロボット５１に設けたロボットハンド１の詳細な構成について図２から図７を参照して説明する。
　図２は、ロボットハンド１を示す斜視図である。図３は、ロボットハンド１の後述する指部が開いた状態を示す正面図である。図４は、ロボットハンド１の後述する指部が閉じた状態を示す正面図である。図５は、ロボットハンド１を示す側面図である。図６は、ロボットハンド１の後述する第２吸着パッドが退避した様子を示す斜視図である。図７は、ロボットハンド１の後述する第３吸着パッドが退避した様子を示す斜視図である。 [Configuration example of robot hand]
Next, the detailed configuration of the robot hand 1 provided on the transfer robot 51 will be described with reference to FIGS. 2 to 7.
FIG. 2 is a perspective view showing the robot hand 1. FIG. 3 is a front view of the robot hand 1 showing a state in which finger portions, which will be described later, are open. FIG. 4 is a front view of the robot hand 1 showing a state in which finger portions, which will be described later, are closed. FIG. 5 is a side view showing the robot hand 1. FIG. 6 is a perspective view showing a state in which a second suction pad (described later) of the robot hand 1 is retracted. FIG. 7 is a perspective view showing a state in which a third suction pad (described later) of the robot hand 1 is retracted.
　図２から図４に示すように、ロボットハンド１は、搬送ロボット５１に取り付けられる本体部２と、物品１００を吸着する吸着ユニット３と、伸縮機構４と、第１指部５Ａと、第２指部５Ｂと、指駆動部７とを有している。また、ロボットハンド１は、第１駆動力伝達機構２０Ａと、第２駆動力伝達機構２０Ｂと、を有している。ロボットハンド１を構成する部材は、基本的にはアルミニウム鋼板から形成されている。これにより、ロボットハンド１を軽量化することができる。 As shown in FIGS. 2 to 4, the robot hand 1 includes a main body 2 attached to a transfer robot 51, a suction unit 3 that suctions an article 100, an extensible mechanism 4, a first finger 5A, and a second finger 5A. It has a finger portion 5B and a finger drive portion 7. Furthermore, the robot hand 1 includes a first driving force transmission mechanism 20A and a second driving force transmission mechanism 20B. The members constituting the robot hand 1 are basically made of aluminum steel plates. Thereby, the weight of the robot hand 1 can be reduced.
　本体部２は、略Ｔ字状の部材により構成されている。本体部２は、搬送ロボット５１に取り付けられる基部２ａと、基部２ａの先端部に設けられた支持部２ｂとを有している。
以下、基部２ａが延びる方向をＺ方向とする。また、支持部が延びる方向をＸ方向とする。さらに、Ｘ方向及びＺ方向に略垂直な方向をＹ方向とする。基部２ａは、支持部２ｂにおけるＸ方向の中間部に接続されている。また、本体部２の支持部２ｂには、伸縮機構４が接続されている。 The main body portion 2 is composed of a substantially T-shaped member. The main body portion 2 includes a base portion 2a that is attached to the transfer robot 51, and a support portion 2b provided at the tip of the base portion 2a.
Hereinafter, the direction in which the base portion 2a extends will be referred to as the Z direction. Further, the direction in which the support portion extends is defined as the X direction. Furthermore, a direction substantially perpendicular to the X direction and the Z direction is defined as the Y direction. The base portion 2a is connected to an intermediate portion of the support portion 2b in the X direction. Further, a telescopic mechanism 4 is connected to the support portion 2b of the main body portion 2.
　伸縮機構４としては、例えば、空気圧シリンダが適用される。伸縮機構４は、Ｚ方向に沿って伸縮し、本体部２の支持部２ｂの中間部から基部２ａとは反対方向に向けて突出する。図２は、伸縮機構４が縮んだ状態を表している。伸縮機構４の先端部には、吸着ユニット３が接続されている。そして、伸縮機構４は、吸着ユニット３をＺ方向に移動させる。伸縮機構４は、図示しないガイド機構によりＺ方向に延びる軸（Ｚ軸）を中心とした回転が制限されており、吸着ユニット３がＺ軸周りに回転しないようにしている。 As the expansion and contraction mechanism 4, for example, a pneumatic cylinder is applied. The expansion and contraction mechanism 4 expands and contracts along the Z direction, and protrudes from the intermediate portion of the support portion 2b of the main body portion 2 in a direction opposite to the base portion 2a. FIG. 2 shows the telescopic mechanism 4 in a contracted state. A suction unit 3 is connected to the tip of the telescopic mechanism 4 . Then, the expansion/contraction mechanism 4 moves the suction unit 3 in the Z direction. The expansion/contraction mechanism 4 is restricted from rotating around an axis (Z-axis) extending in the Z direction by a guide mechanism (not shown), and prevents the suction unit 3 from rotating around the Z-axis.
　なお、本発明に係る伸縮機構は、例えば、空圧や電動で駆動されるリニアアクチュエータを適用してもよく、同様な効果が得られればギア及びモータ、シリンダ等その他各種の伸縮機構を適用してもよい。また、本例では、吸着ユニット３を伸縮させる伸縮機構４を設けた例を説明したが、本発明に係るロボットハンドは、伸縮機構を設けなくてもよい。 The telescoping mechanism according to the present invention may be, for example, a linear actuator driven by pneumatic pressure or electric power, or various other telescoping mechanisms such as a gear, a motor, or a cylinder may be used if the same effect can be obtained. It's okay. Further, in this example, an example was described in which a telescoping mechanism 4 for expanding and contracting the suction unit 3 was provided, but the robot hand according to the present invention does not need to be provided with a telescoping mechanism.
　支持部２ｂのＸ方向の一端部には、指駆動部７が設置されている。指駆動部７は、例えば、ステッピングモータであり、その出力軸の角度、角速度、最大トルクなどを制御することができる。なお、本発明に係る指駆動部は、ＤＣブラシレスモータ等の他の種類のアクチュエータでもよい。 A finger drive section 7 is installed at one end of the support section 2b in the X direction. The finger drive unit 7 is, for example, a stepping motor, and can control the angle, angular velocity, maximum torque, etc. of its output shaft. Note that the finger drive unit according to the present invention may be another type of actuator such as a DC brushless motor.
　指駆動部７の出力軸には、主駆動力伝達部８Ａが設けられている。主駆動力伝達部８Ａは、例えば、歯車により構成されている。そして、主駆動力伝達部８Ａは、後述する第１駆動力伝達部８Ｂと噛み合っており、指駆動部７の駆動力を第１駆動力伝達部８Ｂに伝達する。 A main driving force transmission section 8A is provided on the output shaft of the finger drive section 7. The main driving force transmission section 8A is composed of, for example, a gear. The main driving force transmitting section 8A meshes with a first driving force transmitting section 8B, which will be described later, and transmits the driving force of the finger driving section 7 to the first driving force transmitting section 8B.
　第１駆動力伝達機構２０Ａは、支持部２ｂにおけるＸ方向の一端部側に配置され、第２駆動力伝達機構２０Ｂは、支持部２ｂにおけるＸ方向の他端部側に配置されている。第１駆動力伝達機構２０Ａと第２駆動力伝達機構２０Ｂの間には、吸着ユニット３が配置される。第１駆動力伝達機構２０Ａには、第１指部５Ａが設けられており、第２駆動力伝達機構２０Ｂには、第２指部５Ｂが設けられている。そして、第１指部５Ａと第２指部５Ｂは、Ｘ方向において互いに対向して配置される。 The first driving force transmission mechanism 20A is arranged on one end side of the support part 2b in the X direction, and the second driving force transmission mechanism 20B is arranged on the other end side of the support part 2b in the X direction. A suction unit 3 is arranged between the first driving force transmission mechanism 20A and the second driving force transmission mechanism 20B. The first driving force transmission mechanism 20A is provided with a first finger portion 5A, and the second driving force transmission mechanism 20B is provided with a second finger portion 5B. The first finger portion 5A and the second finger portion 5B are arranged to face each other in the X direction.
　第１駆動力伝達機構２０Ａは、第１リンク６Ａと、第２リンク６Ｂと、第３リンク６Ｃと、第１駆動力伝達部８Ｂとを有している。第１駆動力伝達部８Ｂは、支持部２ｂにおけるＸ方向の一端部に回転可能に支持されている。第１駆動力伝達部８Ｂは、主駆動力伝達部８Ａと同様に、歯車により構成されている。そして、第１駆動力伝達部８Ｂは、主駆動力伝達部８Ａと、後述する第２駆動力伝達部８Ｃと噛み合っている。 The first driving force transmission mechanism 20A includes a first link 6A, a second link 6B, a third link 6C, and a first driving force transmission section 8B. The first driving force transmission section 8B is rotatably supported at one end of the support section 2b in the X direction. The first driving force transmitting section 8B is composed of gears similarly to the main driving force transmitting section 8A. The first driving force transmitting section 8B meshes with a main driving force transmitting section 8A and a second driving force transmitting section 8C, which will be described later.
　図２に示すように、本体部２には、主駆動力伝達部８Ａ、第１駆動力伝達部８Ｂ、第２駆動力伝達部８Ｃを覆う歯車カバー２ｃが設けられている（図３では歯車カバー２ｃを省いている）。これにより、回転する主駆動力伝達部８Ａ、第１駆動力伝達部８Ｂ、第２駆動力伝達部８Ｃが、物品１００や搬入コンテナ２００の壁に接触しないようにすることができる。 As shown in FIG. 2, the main body 2 is provided with a gear cover 2c that covers the main driving force transmitting section 8A, the first driving force transmitting section 8B, and the second driving force transmitting section 8C (in FIG. (Cover 2c is omitted). Thereby, the rotating main driving force transmitting part 8A, first driving force transmitting part 8B, and second driving force transmitting part 8C can be prevented from coming into contact with the article 100 or the wall of the carrying-in container 200.
　第１リンク６Ａの一端部であるリンク節９Ａは、第１駆動力伝達部８Ｂに固定されている。そして、第１駆動力伝達部８Ｂが回転することで、第１リンク６Ａは、リンク節９Ａを中心に揺動する。 A link node 9A, which is one end of the first link 6A, is fixed to the first driving force transmission section 8B. Then, as the first driving force transmission section 8B rotates, the first link 6A swings around the link node 9A.
　第２リンク６Ｂの一端部であるリンク節９Ｄは、支持部２ｂにおけるＸ方向の一端部に回転可能に支持されている。そして、第１リンク６Ａと第２リンク６Ｂは、互いに平行に配置されている。第１リンク６Ａの他端部であるリンク節９Ｂと、第２リンク６Ｂの他端部であるリンク節９Ｃは、第３リンク６Ｃに回転可能に接続されている。第３リンク６Ｃには、第１指部５Ａが設けられている。第１駆動力伝達部８Ｂが回転すると、リンク節９Ａ、９Ｂ、９Ｃ、９Ｄを結ぶ四角形が平行四辺形を保った状態で揺動し、第３リンク６Ｃに設けた第１指部５ＡがＸ方向に移動する。 A link node 9D, which is one end of the second link 6B, is rotatably supported at one end of the support portion 2b in the X direction. The first link 6A and the second link 6B are arranged parallel to each other. A link node 9B, which is the other end of the first link 6A, and a link node 9C, which is the other end of the second link 6B, are rotatably connected to the third link 6C. The third link 6C is provided with a first finger portion 5A. When the first driving force transmission section 8B rotates, the quadrangle connecting the link nodes 9A, 9B, 9C, and 9D swings while maintaining a parallelogram, and the first finger section 5A provided on the third link 6C move in the direction.
　第２駆動力伝達機構２０Ｂは、第１駆動力伝達機構２０Ａと同様に、第１リンク６Ｄと、第２リンク６Ｅと、第３リンク６Ｆと、第２駆動力伝達部８Ｃとを有している。第２駆動力伝達部８Ｃは、支持部２ｂにおけるＸ方向の他端部に回転可能に支持されている。第２駆動力伝達部８Ｃは、主駆動力伝達部８Ａ及び第１駆動力伝達部８Ｂと同様に、歯車により構成されている。そして、第２駆動力伝達部８Ｃは、第１駆動力伝達部８Ｂと噛み合っており、第１駆動力伝達部８Ｂが回転することで、共に回転する。なお、主駆動力伝達部８Ａ、第１駆動力伝達部８Ｂ及び第２駆動力伝達部８Ｃを歯車により構成する例を説明したが、これに限定されるものではない。本発明に係る駆動力伝達部としては、例えば、プーリとベルトやチェーン等のその他各種の伝達機構を適用してもよい。 The second driving force transmission mechanism 20B, like the first driving force transmission mechanism 20A, includes a first link 6D, a second link 6E, a third link 6F, and a second driving force transmission section 8C. There is. The second driving force transmission section 8C is rotatably supported at the other end of the support section 2b in the X direction. The second driving force transmitting section 8C is composed of gears, similarly to the main driving force transmitting section 8A and the first driving force transmitting section 8B. The second driving force transmitting part 8C meshes with the first driving force transmitting part 8B, and rotates together with the first driving force transmitting part 8B. Although an example in which the main driving force transmitting section 8A, the first driving force transmitting section 8B, and the second driving force transmitting section 8C are configured by gears has been described, the invention is not limited to this. As the driving force transmission section according to the present invention, for example, various other transmission mechanisms such as a pulley, a belt, a chain, etc. may be applied.
　第１リンク６Ｄの一端部であるリンク節９Ｅは、第２駆動力伝達部８Ｃに固定されている。そして、第２駆動力伝達部８Ｃが回転することで、第１リンク６Ｄは、リンク節９Ｅを中心に揺動する。 A link node 9E, which is one end of the first link 6D, is fixed to the second driving force transmission section 8C. Then, as the second driving force transmission section 8C rotates, the first link 6D swings around the link node 9E.
　第２リンク６Ｅの一端部であるリンク節９Ｈは、支持部２ｂにおけるＸ方向の他端部に回転可能に支持されている。そして、第１リンク６Ｄと第２リンク６Ｅは、互いに平行に配置されている。第１リンク６Ｄの他端部であるリンク節９Ｆと、第２リンク６Ｅの他端部であるリンク節９Ｇは、第３リンク６Ｆに回転可能に接続されている。第３リンク６Ｆには、第２指部５Ｂが設けられている。第２駆動力伝達部８Ｃが回転すると、リンク節９Ｅ、９Ｆ、９Ｇ、９Ｈを結ぶ四角形が平行四辺形を保った状態で揺動し、第３リンク６Ｆに設けた第２指部５ＢがＸ方向に移動する。 The link node 9H, which is one end of the second link 6E, is rotatably supported by the other end of the support portion 2b in the X direction. The first link 6D and the second link 6E are arranged parallel to each other. A link node 9F, which is the other end of the first link 6D, and a link node 9G, which is the other end of the second link 6E, are rotatably connected to the third link 6F. The third link 6F is provided with a second finger portion 5B. When the second driving force transmission section 8C rotates, the quadrangle connecting the link nodes 9E, 9F, 9G, and 9H swings while maintaining a parallelogram, and the second finger section 5B provided on the third link 6F move in the direction.
　図３に示す例では、第１駆動力伝達部８Ｂが時計回りに回転すると、第２駆動力伝達部８Ｃは反時計周りに回転する。そのため、第１指部５Ａ及び第２指部５Ｂは、Ｘ方向において互いに接近するように移動する。その結果、第１指部５Ａと第２指部５Ｂは、閉じられる。 In the example shown in FIG. 3, when the first driving force transmitting section 8B rotates clockwise, the second driving force transmitting section 8C rotates counterclockwise. Therefore, the first finger portion 5A and the second finger portion 5B move toward each other in the X direction. As a result, the first finger portion 5A and the second finger portion 5B are closed.
　これに対して、第１駆動力伝達部８Ｂが反時計回りに回転すると、第２駆動力伝達部８Ｃは、時計回りに回転する。そのため、第１指部５Ａ及び第２指部５Ｂは、図３に示すように、Ｘ方向において互いに離れるように移動する。その結果、第１指部５Ａと第２指部５Ｂが開かれる。このように、本例のロボットハンド１によれば、指駆動部７が駆動することで、第１駆動力伝達機構２０Ａ及び第２駆動力伝達機構２０Ｂにより第１指部５Ａ及び第２指部５Ｂが開閉する。なお、第１指部５Ａと第２指部５Ｂが同じ速度で開閉移動するように、第１駆動力伝達部８Ｂと第２駆動力伝達部８Ｃは、同じ歯数の歯車により構成されている。 On the other hand, when the first driving force transmitting section 8B rotates counterclockwise, the second driving force transmitting section 8C rotates clockwise. Therefore, the first finger part 5A and the second finger part 5B move away from each other in the X direction, as shown in FIG. As a result, the first finger portion 5A and the second finger portion 5B are opened. As described above, according to the robot hand 1 of this example, by driving the finger driving section 7, the first finger section 5A and the second finger section are controlled by the first driving force transmission mechanism 20A and the second driving force transmission mechanism 20B. 5B opens and closes. In addition, the first driving force transmitting part 8B and the second driving force transmitting part 8C are constituted by gears having the same number of teeth so that the first finger part 5A and the second finger part 5B open and close at the same speed. .
　なお、本例の第１指部５Ａ及び第２指部５Ｂは、平行リンクからなる第１駆動力伝達機構２０Ａと第２駆動力伝達機構２０Ｂにより移動可能に支持されている。そのため、第１指部５Ａと第２指部５Ｂにおける互いに対向する面である挟持面１１Ａ、１１Ｂは、互いに平行に移動する。すなわち、指部５Ａ、５Ｂは、常に同じ姿勢を保ちながらＸ方向に垂直な平面に関して対称に移動する。そして、挟持面１１Ａ、１１Ｂは、Ｘ方向において常に対向する。これにより、物品１００に対してＸ方向から挟持面１１Ａ、１１Ｂを押し当てることができる。 Note that the first finger portion 5A and the second finger portion 5B of this example are movably supported by a first driving force transmission mechanism 20A and a second driving force transmission mechanism 20B, which are made of parallel links. Therefore, the clamping surfaces 11A and 11B, which are opposing surfaces of the first finger section 5A and the second finger section 5B, move parallel to each other. That is, the finger parts 5A and 5B move symmetrically with respect to a plane perpendicular to the X direction while always maintaining the same posture. The clamping surfaces 11A and 11B always face each other in the X direction. Thereby, the clamping surfaces 11A and 11B can be pressed against the article 100 from the X direction.
　また、駆動力伝達機構２０Ａ、２０Ｂを構成する第１リンク６Ａ、６Ｄのリンク節９Ａ、９Ｅを第１駆動力伝達部８Ｂ又は第２駆動力伝達部８Ｃに直接接続している。これにより、第１駆動力伝達部８Ｂ及び第２駆動力伝達部８Ｃを介して、指駆動部７からの駆動力を直接第１リンク６Ａ、６Ｄに伝達することができる。その結果、指駆動部７からの駆動力を第１指部５Ａ及び第２指部５Ｂに確実に伝達することができ、物品１００を十分に把持する力を確保することができる。 Furthermore, the link nodes 9A and 9E of the first links 6A and 6D that constitute the driving force transmitting mechanisms 20A and 20B are directly connected to the first driving force transmitting section 8B or the second driving force transmitting section 8C. Thereby, the driving force from the finger driving section 7 can be directly transmitted to the first links 6A, 6D via the first driving force transmitting section 8B and the second driving force transmitting section 8C. As a result, the driving force from the finger driving section 7 can be reliably transmitted to the first finger section 5A and the second finger section 5B, and a sufficient force for gripping the article 100 can be ensured.
　ここで、図４に示すように、伸縮機構４を収縮時に、吸着ユニット３の下端が第１指部５Ａ及び第２指部５Ｂよりも上方に位置している。これにより、図４に示すように、第１指部５Ａ及び第２指部５Ｂを閉じる際に、第１指部５Ａ及び第２指部５Ｂが吸着ユニット３に接触することを防ぐことができる。なお、取り扱う物品１００が吸着ユニット３のＸ方向の長さ以上あることが予めわかっている場合には、指部５Ａ、５Ｂを図４に示すように閉じる必要がない。この場合は、伸縮機構４を収縮時であっても、吸着ユニット３の下端が指部５Ａ、５Ｂより上方になくてもよい。 Here, as shown in FIG. 4, when the telescopic mechanism 4 is contracted, the lower end of the suction unit 3 is located above the first finger portion 5A and the second finger portion 5B. Thereby, as shown in FIG. 4, when closing the first finger part 5A and the second finger part 5B, it is possible to prevent the first finger part 5A and the second finger part 5B from coming into contact with the suction unit 3. . Note that if it is known in advance that the length of the article 100 to be handled is longer than the length of the suction unit 3 in the X direction, it is not necessary to close the finger portions 5A and 5B as shown in FIG. In this case, even when the telescopic mechanism 4 is contracted, the lower end of the suction unit 3 does not need to be above the finger parts 5A, 5B.
　また、伸縮機構４を伸長させた際に、吸着ユニット３の下端は、指部５Ａ、５Ｂの下端よりも下方に向けて突出している（図９Ｂ参照）。これにより、指部５Ａ、５Ｂが吸着ユニット３による物品１００の吸着を妨げないようにすることができる。なお、伸縮機構４の伸長時には、伸縮機構４と指部５Ａ、５Ｂが接触することを防ぐために、図３に示すように、指部５Ａ、５Ｂは、吸着ユニット３の幅以上に開かれる。 Furthermore, when the telescopic mechanism 4 is extended, the lower end of the suction unit 3 protrudes further downward than the lower ends of the finger parts 5A and 5B (see FIG. 9B). Thereby, the fingers 5A and 5B can be prevented from interfering with the suction unit 3 suctioning the article 100. Note that, when the telescopic mechanism 4 is extended, the finger parts 5A, 5B are opened to a width greater than the width of the suction unit 3, as shown in FIG. 3, in order to prevent the telescopic mechanism 4 from coming into contact with the finger parts 5A, 5B.
　図５に示すように、吸着ユニット３は、大径パッド基部３１と、大径吸着パッド３２と、大径パッドチューブ３３と、小径パッド基部３４と、小径吸着パッド３５と、小径パッドチューブガイド３６と、小径パッドチューブ３７と、袋物用パッド基部３８と、袋物用吸着パッド３９と、袋物用パッドチューブガイド４０と、袋物用パッドチューブ４１とを備える。なお、図５では、第１指部５Ａ及び第２指部５Ｂを除いて、伸縮機構４を伸長した状態のロボットハンド１を示している。 As shown in FIG. 5, the suction unit 3 includes a large-diameter pad base 31, a large-diameter suction pad 32, a large-diameter pad tube 33, a small-diameter pad base 34, a small-diameter suction pad 35, and a small-diameter pad tube guide 36. , a small-diameter pad tube 37 , a bag pad base 38 , a bag suction pad 39 , a bag pad tube guide 40 , and a bag pad tube 41 . Note that FIG. 5 shows the robot hand 1 with the telescopic mechanism 4 extended, except for the first finger portion 5A and the second finger portion 5B.
　大径パッド基部３１は、伸縮機構４の先端に接続されている。大径パッド基部３１は、Ｚ方向に長い略直方体状に形成されている。大径パッド基部３１におけるＹ方向の一側の側部には、第１支持突部３１１が設けられている。第１支持突部３１１には、小径パッド基部３４が回転可能に接続される。また、大径パッド基部３１におけるＹ方向の他側の側部には、第２支持突部３１２が設けられている。第２支持突部３１２には、袋物用パッド基部３８が回転可能に接続される。 The large diameter pad base 31 is connected to the tip of the expansion and contraction mechanism 4. The large-diameter pad base 31 is formed into a substantially rectangular parallelepiped shape that is long in the Z direction. A first support protrusion 311 is provided on one side of the large-diameter pad base 31 in the Y direction. A small-diameter pad base 34 is rotatably connected to the first support protrusion 311 . Further, a second support protrusion 312 is provided on the other side of the large-diameter pad base 31 in the Y direction. A bag pad base 38 is rotatably connected to the second support protrusion 312 .
　大径パッド基部３１の下面には、大径吸着パッド３２が取り付けられている。大径吸着パッド３２は、本発明に係る第１吸着パッドに対応する。大径吸着パッド３２は、可撓性を有する部材により蛇腹状に形成されており、ある程度の硬さを有する。大径吸着パッド３２の吸着面は、Ｚ方向の一方である下方を向いている。大径吸着パッド３２としては、例えば、アクリロニトリル・ブタジエンゴムから形成されたベローズ吸着パッドを適用することができる。 A large-diameter suction pad 32 is attached to the lower surface of the large-diameter pad base 31. The large-diameter suction pad 32 corresponds to the first suction pad according to the present invention. The large-diameter suction pad 32 is formed in a bellows shape from a flexible member and has a certain degree of hardness. The suction surface of the large-diameter suction pad 32 faces downward, which is one side of the Z direction. As the large-diameter suction pad 32, for example, a bellows suction pad made of acrylonitrile-butadiene rubber can be used.
　大径パッドチューブ３３は、ブラケットを介して大径パッド基部３１に取り付けられている。大径パッドチューブ３３の一端は、大径吸着パッド３２に接続されており、大径パッドチューブ３３の他端は、移動機構上空圧制御装置６２（図１参照）に接続されている。移動機構上空圧制御装置６２は、大径パッドチューブ３３を介して大径吸着パッド３２から空気を吸い込む。その結果、大径吸着パッド３２は、物品１００を吸着することができる。 The large diameter pad tube 33 is attached to the large diameter pad base 31 via a bracket. One end of the large diameter pad tube 33 is connected to the large diameter suction pad 32, and the other end of the large diameter pad tube 33 is connected to the moving mechanism upper air pressure control device 62 (see FIG. 1). The moving mechanism upper air pressure control device 62 sucks air from the large-diameter suction pad 32 via the large-diameter pad tube 33 . As a result, the large-diameter suction pad 32 can suction the article 100.
　小径パッド基部３４は、直方体状に形成されている。小径パッド基部３４の長手方向の一端は、Ｘ方向に延びる回転軸３４１を介して第１支持突部３１１に回転可能に接続されている。すなわち、小径パッド基部３４は、Ｘ方向に延びる軸（Ｘ軸）周りに回転可能に構成されている。 The small diameter pad base 34 is formed into a rectangular parallelepiped shape. One longitudinal end of the small-diameter pad base 34 is rotatably connected to the first support protrusion 311 via a rotation shaft 341 extending in the X direction. That is, the small-diameter pad base 34 is configured to be rotatable around an axis (X-axis) extending in the X direction.
　小径吸着パッド３５は、小径パッド基部３４の下面における第１支持突部３１１側と反対側の端部に取り付けられている。小径吸着パッド３５は、本発明に係る第２吸着パッドに対応する。また、小径パッド基部３４と小径吸着パッド３５は、本発明に係る退避機構付き吸着パッドに対応する。 The small-diameter suction pad 35 is attached to the end of the lower surface of the small-diameter pad base 34 on the side opposite to the first support protrusion 311 side. The small diameter suction pad 35 corresponds to the second suction pad according to the present invention. Moreover, the small diameter pad base 34 and the small diameter suction pad 35 correspond to the suction pad with a retraction mechanism according to the present invention.
　小径吸着パッド３５は、可撓性を有する部材により蛇腹状に形成されており、ある程度の硬さを有する。小径吸着パッド３５の吸着面は、小径パッド基部３４の下面に対して略垂直な方向（図５では下方）を向いている。小径吸着パッド３５の径は、大径吸着パッド３２の径よりも小さい。つまり、小径吸着パッド３５は、大径吸着パッド３２よりも物品１００との接触面積が小さい。小径吸着パッド３５としては、例えば、アクリロニトリル・ブタジエンゴムから形成されたベローズ吸着パッドを適用することができる。 The small-diameter suction pad 35 is formed into a bellows shape from a flexible member and has a certain degree of hardness. The suction surface of the small-diameter suction pad 35 faces in a direction substantially perpendicular to the lower surface of the small-diameter pad base 34 (downward in FIG. 5). The diameter of the small diameter suction pad 35 is smaller than the diameter of the large diameter suction pad 32. That is, the small-diameter suction pad 35 has a smaller contact area with the article 100 than the large-diameter suction pad 32. As the small-diameter suction pad 35, for example, a bellows suction pad made of acrylonitrile-butadiene rubber can be used.
　小径パッドチューブガイド３６は、小径パッド基部３４の上面に設けられている。小径パッドチューブガイド３６は、Ｘ方向に対向する一対の板状に形成されている。小径パッドチューブガイド３６は、小径パッドチューブ３７を小径吸着パッド３５へ導く。また、小径パッドチューブガイド３６は、小径パッドチューブ３７のＸ方向への移動を係止する。これにより、小径パッド基部３４が回転軸３４１を中心に回転した場合に、小径パッドチューブ３７が小径パッド基部３４上から外れないようにすることができる。 The small diameter pad tube guide 36 is provided on the upper surface of the small diameter pad base 34. The small diameter pad tube guide 36 is formed into a pair of plates facing each other in the X direction. The small diameter pad tube guide 36 guides the small diameter pad tube 37 to the small diameter suction pad 35. Further, the small diameter pad tube guide 36 stops the movement of the small diameter pad tube 37 in the X direction. Thereby, when the small-diameter pad base 34 rotates about the rotating shaft 341, the small-diameter pad tube 37 can be prevented from coming off from the top of the small-diameter pad base 34.
　小径パッドチューブ３７の一端は、小径吸着パッド３５に接続されており、小径パッドチューブ３７の他端は、移動機構上空圧制御装置６２（図１参照）に接続されている。移動機構上空圧制御装置６２は、小径パッドチューブ３７を介して小径吸着パッド３５から空気を吸い込む。その結果、小径吸着パッド３５は、物品１００を吸着することができる。 One end of the small diameter pad tube 37 is connected to the small diameter suction pad 35, and the other end of the small diameter pad tube 37 is connected to the moving mechanism upper air pressure control device 62 (see FIG. 1). The moving mechanism upper air pressure control device 62 sucks air from the small-diameter suction pad 35 via the small-diameter pad tube 37 . As a result, the small diameter suction pad 35 can suction the article 100.
　袋物用パッド基部３８は、直方体状に形成されている。袋物用パッド基部３８の長手方向の一端は、Ｘ方向に延びる回転軸３８１を介して第２支持突部３１２に回転可能に接続されている。すなわち、袋物用パッド基部３８は、Ｘ方向に延びる軸（Ｘ軸）周りに回転可能に構成されている。 The bag pad base 38 is formed into a rectangular parallelepiped shape. One longitudinal end of the bag pad base 38 is rotatably connected to the second support protrusion 312 via a rotation shaft 381 extending in the X direction. That is, the bag pad base 38 is configured to be rotatable around an axis (X-axis) extending in the X direction.
　袋物用吸着パッド３９は、袋物用パッド基部３８の下面における第２支持突部３１２側と反対側の端部に取り付けられている。袋物用吸着パッド３９は、本発明に係る第３吸着パッドに対応する。また、袋物用パッド基部３８と袋物用吸着パッド３９は、本発明に係る退避機構付き吸着パッドに対応する。 The bag suction pad 39 is attached to the end of the lower surface of the bag pad base 38 on the opposite side to the second support protrusion 312 side. The bag suction pad 39 corresponds to the third suction pad according to the present invention. Moreover, the bag pad base 38 and the bag suction pad 39 correspond to the suction pad with a retraction mechanism according to the present invention.
　袋物用吸着パッド３９は、可撓性を有する部材により蛇腹状に形成されており、大径吸着パッド３２よりも柔らかい。袋物用吸着パッド３９の吸着面は、袋物用パッド基部３８の下面に対して略垂直な方向（図５では下方）を向いている。袋物用吸着パッド３９は、形状が変化可能な物品１００に倣って変形可能な吸着パッドである。袋物用吸着パッド３９としては、例えば、シリコンゴムから形成されたベローズ吸着パッドを適用することができる。 The suction pad 39 for bags is formed into a bellows shape from a flexible member, and is softer than the large-diameter suction pad 32. The suction surface of the bag suction pad 39 faces in a direction substantially perpendicular to the lower surface of the bag pad base 38 (downward in FIG. 5). The bag suction pad 39 is a suction pad that can be deformed to follow the shape of the article 100. As the bag suction pad 39, for example, a bellows suction pad made of silicone rubber can be used.
　袋物用パッドチューブガイド４０は、袋物用パッド基部３８の上面に設けられている。
袋物用パッドチューブガイド４０は、Ｙ方向に対向する一対の板状に形成されている。袋物用パッドチューブガイド４０は、袋物用パッドチューブ４１を袋物用吸着パッド３９へ導く。また、袋物用パッドチューブガイド４０は、袋物用パッドチューブ４１のＹ方向への移動を係止する。これにより、袋物用パッド基部３８が回転軸３８１を中心に回転した場合に、袋物用パッドチューブガイド４０が袋物用パッド基部３８上から外れないようにすることができる。 The bag pad tube guide 40 is provided on the upper surface of the bag pad base 38.
The bag pad tube guide 40 is formed into a pair of plates facing each other in the Y direction. The bag pad tube guide 40 guides the bag pad tube 41 to the bag suction pad 39. Further, the bag pad tube guide 40 stops the bag pad tube 41 from moving in the Y direction. Thereby, when the bag pad base 38 rotates around the rotating shaft 381, the bag pad tube guide 40 can be prevented from coming off from the bag pad base 38.
　袋物用パッドチューブ４１の一端は、袋物用吸着パッド３９に接続されており、袋物用パッドチューブ４１の他端は、移動機構上空圧制御装置６２（図１参照）に接続されている。移動機構上空圧制御装置６２は、袋物用パッドチューブ４１を介して袋物用吸着パッド３９から空気を吸い込む。その結果、袋物用吸着パッド３９は、物品１００を吸着することができる。 One end of the bag pad tube 41 is connected to the bag suction pad 39, and the other end of the bag pad tube 41 is connected to the moving mechanism upper air pressure control device 62 (see FIG. 1). The moving mechanism upper air pressure control device 62 sucks air from the bag suction pad 39 via the bag pad tube 41 . As a result, the bag suction pad 39 can suction the article 100.
　図５に示すように、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９は、Ｙ方向に沿って並んでいる。そして、図１に示すように、第１指部５Ａ、及び第２指部５Ｂは、Ｘ方向に移動する。したがって、第１指部５Ａ、及び第２指部５Ｂが移動するＸ方向は、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９が並ぶＹ方向と略直交する。これにより、吸着ユニット３をコンパクトにすることができ、第１指部５Ａと第２指部５Ｂとの間に吸着ユニット３を収めることができる。その結果、ロボットハンド１の小型化することができる。 As shown in FIG. 5, the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 are lined up along the Y direction. Then, as shown in FIG. 1, the first finger section 5A and the second finger section 5B move in the X direction. Therefore, the X direction in which the first finger portion 5A and the second finger portion 5B move is approximately perpendicular to the Y direction in which the large diameter suction pad 32, the small diameter suction pad 35, and the bag suction pad 39 are arranged. Thereby, the suction unit 3 can be made compact, and the suction unit 3 can be housed between the first finger part 5A and the second finger part 5B. As a result, the robot hand 1 can be made smaller.
　また、大径吸着パッド３２は、小径吸着パッド３５及び袋物用吸着パッド３９よりもＺ方向に突出している。すなわち、Ｚ方向と上下方向が平行な状態のロボットハンド１において、大径吸着パッド３２は、小径吸着パッド３５及び袋物用吸着パッド３９よりも物品１００側に突出している。これにより、大径吸着パッド３２によって吸着された物品１００は、小径吸着パッド３５や袋物用吸着パッド３９に衝突しない、或いは衝突しづらい。 Furthermore, the large-diameter suction pad 32 protrudes further in the Z direction than the small-diameter suction pad 35 and bag suction pad 39. That is, in the robot hand 1 in a state where the vertical direction is parallel to the Z direction, the large diameter suction pad 32 protrudes more toward the article 100 than the small diameter suction pad 35 and the bag suction pad 39. Thereby, the article 100 attracted by the large-diameter suction pad 32 does not collide with the small-diameter suction pad 35 or the bag suction pad 39, or hardly collides with it.
　なお、本例のロボットハンド１は、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９の３つの吸着パッドを備える構成としたが、これに限定されるものではない。本発明に係るロボットハンドとしては、他の吸着パッドを用いることができる。
また、吸着ユニットに設ける吸着パッドの数は、３つに限定されるものではなく、２つや４つ以上にすることもできる。本発明に係る吸着ユニットとしては、例えば、大径吸着パッド３２、及び小径吸着パッド３５の２つの吸着パッドを有する構成とすることもできる。この場合は、把持可能な物品の種類は減少するが、ロボットハンドの小型化を図ることができる。 Although the robot hand 1 of this example has three suction pads: the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39, the invention is not limited to this. Other suction pads can be used as the robot hand according to the present invention.
Further, the number of suction pads provided in the suction unit is not limited to three, but may be two, four or more. The suction unit according to the present invention may be configured to have two suction pads, for example, a large-diameter suction pad 32 and a small-diameter suction pad 35. In this case, although the types of objects that can be gripped are reduced, the robot hand can be made smaller.
　図６に示すように、吸着ユニット３には、小径パッド基部３４の回転をロックする小径パッドロック機構４５が設けられている。小径パッドロック機構４５は、磁石４５１と、磁性片４５２から構成されている。 As shown in FIG. 6, the suction unit 3 is provided with a small-diameter pad locking mechanism 45 that locks the rotation of the small-diameter pad base 34. The small-diameter pad lock mechanism 45 is composed of a magnet 451 and a magnetic piece 452.
　磁石４５１は、小径パッド基部３４の下面における第１支持突部３１１側の端部に固定されている。磁性片４５２は、例えば、鉄やニッケル等の磁性体であり、磁石４５１との間に磁気吸引力が生じる。磁性片４５２は、第１支持突部３１１に固定されている。なお、本発明に係る吸着ユニットとしては、磁石４５１を第１支持突部３１１に固定して、磁性片４５２を小径パッド基部３４に固定してもよい。 The magnet 451 is fixed to the end of the lower surface of the small-diameter pad base 34 on the first support protrusion 311 side. The magnetic piece 452 is made of a magnetic material such as iron or nickel, and a magnetic attraction force is generated between the magnetic piece 452 and the magnet 451 . The magnetic piece 452 is fixed to the first support protrusion 311 . Note that in the adsorption unit according to the present invention, the magnet 451 may be fixed to the first support protrusion 311 and the magnetic piece 452 may be fixed to the small diameter pad base 34.
　磁石４５１と磁性片４５２が接触すると、小径パッド基部３４の下面が、Ｚ方向に対して略垂直となる。その結果、小径パッド基部３４は、小径吸着パッド３５の吸着面を下方に向けた姿勢で磁気吸引力によって固定される。そして、小径吸着パッド３５或いは小径パッド基部３４に磁気吸引力を上回る力が加わると、磁石４５１が磁性片４５２から離れて、小径パッド基部３４が回転軸３４１を中心に回転する。これにより、小径吸着パッド３５（小径パッド基部３４）が、大径吸着パッド３２から離れて上方に退避する。 When the magnet 451 and the magnetic piece 452 come into contact, the lower surface of the small-diameter pad base 34 becomes approximately perpendicular to the Z direction. As a result, the small-diameter pad base 34 is fixed by the magnetic attraction force with the suction surface of the small-diameter suction pad 35 facing downward. Then, when a force exceeding the magnetic attraction force is applied to the small-diameter suction pad 35 or the small-diameter pad base 34, the magnet 451 separates from the magnetic piece 452, and the small-diameter pad base 34 rotates around the rotating shaft 341. As a result, the small-diameter suction pad 35 (small-diameter pad base 34) moves away from the large-diameter suction pad 32 and retreats upward.
　搬送ロボット５１によりロボットハンド１を移動させたときに、ロボットハンド１全体が傾く場合やロボットハンド１が加速される場合は、小径パッド基部３４に磁気吸引力を上回る力が加わらない。したがって、小径吸着パッド３５（小径パッド基部３４）は、退避移動しない。 When the robot hand 1 is moved by the transfer robot 51, if the entire robot hand 1 is tilted or if the robot hand 1 is accelerated, no force exceeding the magnetic attraction force is applied to the small diameter pad base 34. Therefore, the small-diameter suction pad 35 (small-diameter pad base 34) does not move.
　例えば、小径吸着パッド３５を物品１００の把持に使用しない場合であって、小径吸着パッド３５が物品１００や搬入コンテナ２００の壁等に干渉する場合は、その干渉によって小径パッド基部３４に磁気吸引力を上回る力が加わる。これにより、小径吸着パッド３５（小径パッド基部３４）を退避移動させることができる。このとき、小径パッドチューブガイド３６は、小径パッドチューブ３７のＸ方向への移動を係止している。したがって、小径パッドチューブ３７は、小径吸着パッド３５（小径パッド基部３４）と一緒に退避する。 For example, when the small-diameter suction pad 35 is not used to grip the article 100 and the small-diameter suction pad 35 interferes with the article 100 or the wall of the loading container 200, the magnetic attraction force is applied to the small-diameter pad base 34 due to the interference. A force exceeding that is added. Thereby, the small-diameter suction pad 35 (small-diameter pad base 34) can be retracted. At this time, the small diameter pad tube guide 36 prevents the small diameter pad tube 37 from moving in the X direction. Therefore, the small-diameter pad tube 37 is retracted together with the small-diameter suction pad 35 (small-diameter pad base 34).
　図７に示すように、吸着ユニット３には、袋物用パッド基部３８の回転をロックする袋物用パッドロック機構４６が設けられている。袋物用パッドロック機構４６は、磁石４６１と、磁性片４６２から構成されている。 As shown in FIG. 7, the suction unit 3 is provided with a bag pad locking mechanism 46 that locks the rotation of the bag pad base 38. The bag pad lock mechanism 46 is composed of a magnet 461 and a magnetic piece 462.
　磁石４６１は、袋物用パッド基部３８の下面における第２支持突部３１２側の端部に固定されている。磁性片４６２は、例えば、鉄やニッケル等の磁性体であり、磁石４６１との間に磁気吸引力が生じる。磁性片４６２は、第２支持突部３１２に固定されている。なお、本発明に係る吸着ユニットとしては、磁石４６１を第２支持突部３１２に固定して、磁性片４６２を袋物用パッド基部３８に固定してもよい。 The magnet 461 is fixed to the end of the lower surface of the bag pad base 38 on the second support protrusion 312 side. The magnetic piece 462 is made of a magnetic material such as iron or nickel, and a magnetic attraction force is generated between the magnetic piece 462 and the magnet 461 . The magnetic piece 462 is fixed to the second support protrusion 312. Note that, in the adsorption unit according to the present invention, the magnet 461 may be fixed to the second support protrusion 312 and the magnetic piece 462 may be fixed to the bag pad base 38.
　磁石４６１と磁性片４６２が接触すると、袋物用パッド基部３８の下面が、Ｚ方向に対して略垂直となる。その結果、袋物用パッド基部３８は、袋物用吸着パッド３９の吸着面を下方に向けた姿勢で磁気吸引力によって固定される。そして、袋物用吸着パッド３９或いは袋物用パッド基部３８に磁気吸引力を上回る力が加わると、磁石４６１が磁性片４６２から離れて、袋物用パッド基部３８が回転軸３８１を中心に回転する。これにより、袋物用吸着パッド３９（袋物用パッド基部３８）が、大径吸着パッド３２から離れて上方に退避する。 When the magnet 461 and the magnetic piece 462 come into contact, the lower surface of the bag pad base 38 becomes approximately perpendicular to the Z direction. As a result, the bag pad base 38 is fixed by the magnetic attraction force with the suction surface of the bag suction pad 39 facing downward. Then, when a force exceeding the magnetic attraction force is applied to the bag suction pad 39 or the bag pad base 38, the magnet 461 separates from the magnetic piece 462, and the bag pad base 38 rotates around the rotation shaft 381. As a result, the bag suction pad 39 (bag pad base 38) moves away from the large diameter suction pad 32 and retreats upward.
　搬送ロボット５１によりロボットハンド１を移動させたときに、ロボットハンド１全体が傾く場合やロボットハンド１が加速される場合は、袋物用パッド基部３８に磁気吸引力を上回る力が加わらない。したがって、袋物用吸着パッド３９（袋物用パッド基部３８）は、退避移動しない。 When the robot hand 1 is moved by the transfer robot 51, if the entire robot hand 1 is tilted or if the robot hand 1 is accelerated, no force exceeding the magnetic attraction force is applied to the bag pad base 38. Therefore, the bag suction pad 39 (bag pad base 38) does not move away.
　例えば、袋物用吸着パッド３９を物品１００の把持に使用しない場合であって、袋物用吸着パッド３９が物品１００や搬入コンテナ２００の壁等に干渉する場合は、その干渉によって袋物用パッド基部３８に磁気吸引力を上回る力が加わる。これにより、袋物用吸着パッド３９（袋物用パッド基部３８）を退避移動させることができる。このとき、袋物用パッドチューブガイド４０は、袋物用パッドチューブ４１のＹ方向への移動を係止している。したがって、袋物用パッドチューブ４１は、袋物用吸着パッド３９（袋物用パッド基部３８）と一緒に退避する。 For example, when the bag suction pad 39 is not used to grip the article 100 and the bag suction pad 39 interferes with the article 100 or the wall of the loading container 200, the interference causes the bag pad base 38 to A force that exceeds the magnetic attraction force is applied. Thereby, the bag suction pad 39 (bag pad base 38) can be retracted. At this time, the bag pad tube guide 40 stops the bag pad tube 41 from moving in the Y direction. Therefore, the bag pad tube 41 is retracted together with the bag suction pad 39 (bag pad base 38).
　ロボットハンド１では、回転移動によって小径吸着パッド３５及び袋物用吸着パッド３９を退避させる機構（退避機構）を採用した。しかし、本発明に係るロボットハンドの退避機構としては、例えば、直動機構や、その他のリンク機構を採用してもよい。また、物品や障害物と衝突したときに受動的に退避する機構だけでなく、例えば、モータを使って能動的に退避動作を行う機構を採用してもよい。 The robot hand 1 employs a mechanism (retraction mechanism) that retracts the small-diameter suction pad 35 and bag suction pad 39 by rotational movement. However, as the retraction mechanism for the robot hand according to the present invention, for example, a linear motion mechanism or other link mechanism may be adopted. Furthermore, in addition to a mechanism that passively evacuates when colliding with an article or an obstacle, a mechanism that actively performs an evacuating operation using a motor, for example, may be adopted.
［空圧制御装置及び移動機構上空圧制御装置の構成例］
　次に、ピッキングシステム５０の空圧制御装置６１及び移動機構上空圧制御装置６２の構成について、図８を参照して説明する。
　図８は、ピッキングシステム５０の空圧制御装置６１及び移動機構上空圧制御装置６２の概略構成図である。 [Example of configuration of pneumatic control device and moving mechanism upper pneumatic control device]
Next, the configurations of the pneumatic control device 61 of the picking system 50 and the pneumatic pressure control device 62 above the moving mechanism will be described with reference to FIG. 8.
FIG. 8 is a schematic configuration diagram of the pneumatic control device 61 of the picking system 50 and the pneumatic pressure control device 62 above the moving mechanism.
　図８に示すように、空圧制御装置６１は、圧力レギュレータ６１１と、エアフィルタ６１２と、手動弁６１３とを備える。圧力レギュレータ６１１には、例えば０．８ＭＰａの高圧圧縮空気が入力される。そして、圧力レギュレータ６１１は、０．６ＭＰａの低圧圧縮空気を出力する。エアフィルタ６１２は、低圧圧縮空気に含む水分やごみを除去する。 As shown in FIG. 8, the pneumatic control device 61 includes a pressure regulator 611, an air filter 612, and a manual valve 613. For example, high-pressure compressed air of 0.8 MPa is input to the pressure regulator 611. Then, the pressure regulator 611 outputs low pressure compressed air of 0.6 MPa. The air filter 612 removes moisture and dirt contained in the low-pressure compressed air.
　手動弁６１３には、低圧圧縮空気が入力される。手動弁６１３の下流側は、移動機構上空圧制御装置６２に接続されている。また、手動弁６１３は、オンとオフを切り替え可能に構成されている。手動弁６１３がオンの状態では、入力された低圧圧縮空気を移動機構上空圧制御装置６２へ供給する。一方、手動弁６１３がオフの状態では、移動機構上空圧制御装置６２から空気を排出して、移動機構上空圧制御装置６２を常圧（大気圧）状態にする。 Low pressure compressed air is input to the manual valve 613. The downstream side of the manual valve 613 is connected to the moving mechanism upper pneumatic pressure control device 62. Further, the manual valve 613 is configured to be switchable between on and off. When the manual valve 613 is on, the input low-pressure compressed air is supplied to the moving mechanism upper air pressure control device 62. On the other hand, when the manual valve 613 is in the OFF state, air is discharged from the moving mechanism upper air pressure control device 62 to bring the moving mechanism upper air pressure control device 62 into a normal pressure (atmospheric pressure) state.
　移動機構上空圧制御装置６２は、真空発生器６２１と、手動スイッチ６２２と、空圧バルブ６２３Ａと、空圧バルブ６２３Ｂと、空圧バルブ６２３Ｃとを備える。真空発生器６２１は、空圧制御装置６１から入力される低圧圧縮空気を使用して、負圧空気を出力する。手動スイッチ６２２は、スイッチ式の３ポート手動弁である。手動スイッチ６２２がオンの状態では、入力された負圧空気を空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、空圧バルブ６２３Ｃへと出力する。一方、手動スイッチ６２２がオフの状態では、空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、空圧バルブ６２３Ｃが大気開放され、真空破壊が生じる。 The moving mechanism upper pneumatic control device 62 includes a vacuum generator 621, a manual switch 622, a pneumatic valve 623A, a pneumatic valve 623B, and a pneumatic valve 623C. The vacuum generator 621 uses the low pressure compressed air input from the air pressure control device 61 to output negative pressure air. The manual switch 622 is a switch type 3-port manual valve. When the manual switch 622 is on, the input negative pressure air is output to the pneumatic valves 623A, 623B, and 623C. On the other hand, when the manual switch 622 is off, the pneumatic valves 623A, 623B, and 623C are opened to the atmosphere, causing vacuum breakdown.
　空圧バルブ６２３Ａは、大径パッドチューブ３３を介して大径吸着パッド３２と接続されている。空圧バルブ６２３Ｂは、小径パッドチューブ３７を介して小径吸着パッド３５と接続されている。空圧バルブ６２３Ｃは、袋物用パッドチューブ４１を介して袋物用吸着パッド３９と接続されている。空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、及び空圧バルブ６２３Ｃは、ノーマリーオープンの３ポート電磁弁である。 The pneumatic valve 623A is connected to the large-diameter suction pad 32 via the large-diameter pad tube 33. The pneumatic valve 623B is connected to the small-diameter suction pad 35 via the small-diameter pad tube 37. The pneumatic valve 623C is connected to the bag suction pad 39 via the bag pad tube 41. The pneumatic valve 623A, the pneumatic valve 623B, and the pneumatic valve 623C are normally open three-port solenoid valves.
　空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、及び空圧バルブ６２３Ｃがオフの状態では、大径吸着パッド３２、小径吸着パッド３５、袋物用吸着パッド３９に負圧空気が出力される。その結果、大径吸着パッド３２、小径吸着パッド３５、袋物用吸着パッド３９は、物品１００を吸着することができる。空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、及び空圧バルブ６２３Ｃがオンの状態では、吸着パッド３２，３５，３９側が大気開放される。
その結果、大径吸着パッド３２、小径吸着パッド３５、袋物用吸着パッド３９は、物品１００を離すことができる。 When the pneumatic valves 623A, 623B, and 623C are off, negative pressure air is output to the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39. As a result, the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 can suction the article 100. When the pneumatic valves 623A, 623B, and 623C are on, the suction pads 32, 35, and 39 sides are opened to the atmosphere.
As a result, the large diameter suction pad 32, the small diameter suction pad 35, and the bag suction pad 39 can separate the article 100.
　空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、及び空圧バルブ６２３Ｃは、それぞれ独立して制御可能であり、いずれかのパッドを選択して使用することができる。また、手動スイッチ６２２を手動でオフの状態にすると、空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、空圧バルブ６２３Ｃを真空破壊することができる。これにより、例えば不具合の発生時に、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９から物品１００を安全に離すことができる。 The pneumatic valve 623A, the pneumatic valve 623B, and the pneumatic valve 623C can each be independently controlled, and any one of the pads can be selected and used. Furthermore, when the manual switch 622 is manually turned off, the pneumatic valves 623A, 623B, and 623C can be vacuum-destructed. This allows the article 100 to be safely separated from the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39, for example, when a problem occurs.
　なお、空圧制御装置６１及び移動機構上空圧制御装置６２は、上記の構成に限定されるものではなく、別の構成を採用することも可能である。例えば、空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、空圧バルブ６２３Ｃを用いるのではなく、真空発生器６２１を３つ用いてもよい。３つの真空発生器を用いる場合は、構成部品の削減を図ることができる。また、空圧バルブが高額な場合は、３つの真空発生器６２１を用いる構成の方が廉価に移動機構上空圧制御装置を構成することができる。 Note that the pneumatic pressure control device 61 and the moving mechanism upper pneumatic pressure control device 62 are not limited to the above-mentioned configurations, and it is also possible to adopt another configuration. For example, instead of using the pneumatic valve 623A, the pneumatic valve 623B, and the pneumatic valve 623C, three vacuum generators 621 may be used. When three vacuum generators are used, the number of components can be reduced. Furthermore, if the pneumatic valve is expensive, the pneumatic pressure control device on the moving mechanism can be constructed at a lower cost by using three vacuum generators 621.
　また、本発明に係る移動機構上空圧制御装置としては、真空発生器６２１から圧縮空気を出力して真空破壊を生じさせることで、空圧バルブ６２３Ａ、空圧バルブ６２３Ｂ、及び空圧バルブ６２３Ｃが物品１００を離すようにしてもよい。 Furthermore, the moving mechanism upper pneumatic pressure control device according to the present invention outputs compressed air from the vacuum generator 621 to cause vacuum breakage, thereby controlling the pneumatic valves 623A, 623B, and 623C. The article 100 may be separated.
［ピッキングシステムの動作例］
　次に、上述した構成を有するピッキングシステム５０の動作例について図９Ａ，Ｂから図２１Ａ，Ｂを参照して説明する。 [Operation example of picking system]
Next, an example of the operation of the picking system 50 having the above-described configuration will be described with reference to FIGS. 9A and 9B to FIGS. 21A and 21B.
（重量物品の搬送）
　図９Ａ，Ｂ及び図１０Ａ，Ｂは、搬入コンテナに収納された重量物品を搬送する一連の流れを示す図である。図９Ａ，Ｂ及び図１０Ａ，Ｂに示す重量物品１００Ａは、例えば、重量が２ｋｇであり、高さ方向に長い直方体である。まず、ロボットハンド１は、搬送ロボット５１によって移動され、重量物品１００Ａの真上に配置される（図９Ａ参照）。 (Transportation of heavy goods)
FIGS. 9A and 9B and FIGS. 10A and 10B are diagrams showing a series of flows for transporting heavy articles stored in a carry-in container. The heavy article 100A shown in FIGS. 9A, B and 10A, B has a weight of 2 kg, for example, and is a rectangular parallelepiped long in the height direction. First, the robot hand 1 is moved by the transfer robot 51 and placed directly above the heavy article 100A (see FIG. 9A).
　次に、ロボットハンド１は、伸縮機構４を伸長して吸着ユニット３を下方へ移動させる。そして、大径吸着パッド３２に負圧空気を出力させると共に、ロボットハンド１を下方へ下ろす（図９Ｂ参照）。これにより、大径吸着パッド３２は、重量物品１００Ａに接触して吸着する。 Next, the robot hand 1 extends the telescoping mechanism 4 to move the suction unit 3 downward. Then, negative pressure air is outputted to the large-diameter suction pad 32, and the robot hand 1 is lowered (see FIG. 9B). Thereby, the large-diameter suction pad 32 contacts and adsorbs the heavy article 100A.
　次に、ロボットハンド１は、伸縮機構４を収縮させて、吸着ユニット３を上方へ移動させる（図１０Ａ参照）。これにより、ロボットハンド１は、大径吸着パッド３２によって吸着した重量物品１００Ａを持ち上げる。次に、ロボットハンド１は、指部５Ａ、５Ｂを閉じて、重量物品１００Ａを挟持する（図１０Ｂ参照）。 Next, the robot hand 1 contracts the telescopic mechanism 4 and moves the suction unit 3 upward (see FIG. 10A). As a result, the robot hand 1 lifts up the heavy article 100A that has been sucked by the large-diameter suction pad 32. Next, the robot hand 1 closes the finger parts 5A and 5B and holds the heavy article 100A (see FIG. 10B).
　次に、搬送ロボット５１は、重量物品１００Ａを把持したロボットハンド１を搬出コンテナ５６の上方まで搬送する。その後、ロボットハンド１は、重量物品１００Ａを持ち上げる動作と逆の動作を行い、重量物品１００Ａを搬出コンテナ５６に配置する。これにより、重量物品１００Ａの搬送を完了する。 Next, the transport robot 51 transports the robot hand 1 holding the heavy article 100A to above the carry-out container 56. Thereafter, the robot hand 1 performs an operation opposite to the operation of lifting the heavy article 100A, and places the heavy article 100A in the carrying-out container 56. This completes the conveyance of the heavy article 100A.
　本例では、大径吸着パッド３２が重量物品１００Ａに吸着した後に、指部５Ａ、５Ｂで重量物品１００Ａを挟持した。これにより、搬送ロボット５１によるロボットハンド１の移動時に、重量物品１００Ａが横に揺れることを防止或いは抑制することができる。その結果、重量物品１００Ａを安定かつ高速に搬送することができる。 In this example, after the large-diameter suction pad 32 adsorbed the heavy article 100A, the heavy article 100A was held between the fingers 5A and 5B. Thereby, when the robot hand 1 is moved by the transport robot 51, it is possible to prevent or suppress the heavy article 100A from swinging laterally. As a result, the heavy article 100A can be transported stably and at high speed.
　しかし、重量物品１００Ａのサイズが大きい場合は、指部５Ａ、５Ｂで重量物品１００Ａを挟持することができない場合がある。この場合は、図９Ｂに示すように、大径吸着パッド３２が重量物品１００Ａに吸着した後に、伸縮機構４を伸長させたまま、搬送ロボット５１によってロボットハンド１を上方に移動させる。そして、指部５Ａ、５Ｂで重量物品１００Ａを挟持せずに、大径吸着パッド３２のみの吸着で重量物品１００Ａを把持して、搬出コンテナ５６へと搬送する。このとき、搬送ロボット５１によるロボットハンド１の移動速度を遅くする。これにより、重量物品１００Ａを安定的に搬送することができる。 However, if the size of the heavy article 100A is large, the fingers 5A and 5B may not be able to hold the heavy article 100A. In this case, as shown in FIG. 9B, after the large-diameter suction pad 32 suctions the heavy article 100A, the robot hand 1 is moved upward by the transport robot 51 while the telescoping mechanism 4 is extended. Then, without holding the heavy article 100A between the fingers 5A and 5B, the heavy article 100A is grasped by suction only by the large-diameter suction pad 32, and is conveyed to the carrying-out container 56. At this time, the moving speed of the robot hand 1 by the transfer robot 51 is slowed down. Thereby, the heavy article 100A can be stably transported.
　ロボットハンド１は、大径吸着パッド３２の他に、小径吸着パッド３５、袋物用吸着パッド３９を有する。したがって、パッドと指部の組み合わせやパッドのみの把持などを変更することで様々な把持方法を選択することができる。その結果、ピッキングシステム５０は、様々な種類の物品の搬送を行うことができる。 In addition to the large-diameter suction pad 32, the robot hand 1 has a small-diameter suction pad 35 and a bag suction pad 39. Therefore, various gripping methods can be selected by changing the combination of the pad and the fingers, or the gripping of only the pad. As a result, the picking system 50 is capable of transporting various types of articles.
（大径吸着パッドを用いた搬送）
　図１１は、大径吸着パッド３２を用いて重量物品１００Ｂを把持する様子を示す図である。図１１に示す重量物品１００Ｂは、例えば、重量が２ｋｇであり、幅方向に長い直方体である。大径吸着パッド３２は、ある程度硬く、径が大きいため、重量物品１００Ｂに吸着して、重量物品１００Ｂを把持することができる。 (Transportation using large diameter suction pad)
FIG. 11 is a diagram showing how the large-diameter suction pad 32 is used to grip the heavy article 100B. The heavy article 100B shown in FIG. 11 has a weight of 2 kg, for example, and is a rectangular parallelepiped long in the width direction. Since the large-diameter suction pad 32 is hard to some extent and has a large diameter, it can adsorb to the heavy article 100B and grip the heavy article 100B.
　また、吸着ユニット３は、大径吸着パッド３２が小径吸着パッド３５や袋物用吸着パッド３９よりも下方（重量物品１００Ｂ側）に突出した構成となっている。そのため、大径吸着パッド３２によって吸着された重量物品１００Ｂは、小径吸着パッド３５や袋物用吸着パッド３９に衝突しない、或いは衝突しづらい。したがって、大径吸着パッド３２のみで大型の重量物品１００Ｂを安定して把持することができる。 Furthermore, the suction unit 3 is configured such that the large-diameter suction pad 32 protrudes further downward (toward the heavy article 100B side) than the small-diameter suction pad 35 and the bag suction pad 39. Therefore, the heavy article 100B attracted by the large-diameter suction pad 32 does not or hardly collides with the small-diameter suction pad 35 or the bag suction pad 39. Therefore, it is possible to stably grip the large heavy article 100B using only the large-diameter suction pad 32.
（小径吸着パッドを用いた搬送）
　図１２は、小径吸着パッド３５を用いて小物品１００Ｃを把持する様子を示す図である。図１２に示す小物品１００Ｃは、天面の面積が小さく高さ方向に長い細長の直方体状に形成されている。大径吸着パッド３２は、小物品１００Ｃのような細い（天面の面積が小さい）物品を把持することができない。 (Transportation using small diameter suction pad)
FIG. 12 is a diagram showing how the small-diameter suction pad 35 is used to grip the small article 100C. The small article 100C shown in FIG. 12 is formed into an elongated rectangular parallelepiped shape with a small top surface area and long in the height direction. The large-diameter suction pad 32 cannot grip a thin article (having a small top surface area) such as the small article 100C.
　このような小物品１００Ｃを搬送する場合は、小径吸着パッド３５を用いて吸着する。
小径吸着パッド３５の可搬重量は、大径吸着パッド３２に比べて小さい。しかし、小物品１００Ｃなどの小さい物品は重量が軽いため、小径吸着パッド３５のみで小物品１００Ｃを安定して把持することができる。 When transporting such a small article 100C, the small-diameter suction pad 35 is used to suction it.
The payload weight of the small-diameter suction pad 35 is smaller than that of the large-diameter suction pad 32. However, since a small article such as the small article 100C is light in weight, the small article 100C can be stably gripped only by the small diameter suction pad 35.
（袋物用吸着パッドを用いた搬送）
　図１３は、袋物用吸着パッド３９を用いて袋状物品の第１の例を把持する様子を示す図である。図１３に示す袋状物品１００Ｄは、押圧されると形状が変化する袋状の物品である。大径吸着パッド３２と小径吸着パッド３５は、ある程度硬い材質であるため、袋状物品１００Ｄのように柔らかい物品の形状に倣わない。その結果、真空のリークが発生してしまうため、大径吸着パッド３２と小径吸着パッド３５は、袋状物品１００Ｄに吸着することができない。そこで、袋状物品１００Ｄを搬送する場合は、袋物用吸着パッド３９を使用する。袋物用吸着パッド３９は、物品との接触部（吸着部）が柔らかく、袋状物品１００Ｄの形状に倣う。その結果、真空リークが少なくなり、袋物用吸着パッド３９は、袋状物品１００Ｄに吸着することができる。 (Transportation using suction pad for bags)
FIG. 13 is a diagram showing how a first example of a bag-like article is gripped using the bag suction pad 39. A bag-like article 100D shown in FIG. 13 is a bag-like article that changes shape when pressed. Since the large-diameter suction pad 32 and the small-diameter suction pad 35 are made of a somewhat hard material, they do not follow the shape of a soft article like the bag-like article 100D. As a result, a vacuum leak occurs, so the large-diameter suction pad 32 and the small-diameter suction pad 35 cannot adsorb to the bag-like article 100D. Therefore, when transporting the bag-like article 100D, the bag suction pad 39 is used. The bag suction pad 39 has a soft contact portion (suction portion) with the article and follows the shape of the bag-like article 100D. As a result, vacuum leakage is reduced, and the bag suction pad 39 can adsorb to the bag-like article 100D.
　ロボットハンド１の袋物用吸着パッド３９は、大径吸着パッド３２よりも上方に配置されている。そのため、袋物用吸着パッド３９が袋状物品１００Ｄに吸着したときに、大径吸着パッド３２が袋状物品１００Ｄに干渉してしまうことが懸念される。しかし、図１３に示すように、袋状物品１００Ｄは柔らかいため、袋物用吸着パッド３９に吸着されている部分を頂点にして自重により変形する。その結果、大径吸着パッド３２が袋状物品１００Ｄに干渉しないことが期待される。 The bag suction pad 39 of the robot hand 1 is arranged above the large diameter suction pad 32. Therefore, when the bag suction pad 39 is attracted to the bag-like article 100D, there is a concern that the large-diameter suction pad 32 may interfere with the bag-like article 100D. However, as shown in FIG. 13, since the bag-like article 100D is soft, it deforms under its own weight with the portion suctioned by the bag suction pad 39 as the apex. As a result, it is expected that the large-diameter suction pad 32 will not interfere with the bag-like article 100D.
　また、ロボットハンド１が搬入コンテナ２００の袋状物品１００Ｄへアプローチする際に、大径吸着パッド３２が袋状物品１００Ｄに接触する。しかし、袋状物品１００Ｄがある程度変形するため、大径吸着パッド３２が袋状物品１００Ｄに接触しても、袋物用吸着パッド３９による吸着を邪魔しない。したがって、袋物用吸着パッド３９のみで袋状物品１００Ｄを安定して把持することができる。 Furthermore, when the robot hand 1 approaches the bag-like article 100D in the carry-in container 200, the large-diameter suction pad 32 comes into contact with the bag-like article 100D. However, since the bag-like article 100D deforms to some extent, even if the large-diameter suction pad 32 comes into contact with the bag-like article 100D, it does not interfere with the suction by the bag-like suction pad 39. Therefore, the bag-shaped article 100D can be stably gripped only by the bag suction pad 39.
　図１４は、袋物用吸着パッド３９を用いて袋状物品の第２の例を把持する様子を示す図である。図１４に示す袋状物品１００Ｅは、図１３に示す袋状物品１００Ｄよりも硬い袋状の物品である。袋状物品１００Ｅは、袋状物品１００Ｄよりも袋物用吸着パッド３９によって吸着しづらいことが懸念される。 FIG. 14 is a diagram showing how a second example of a bag-like article is gripped using the bag suction pad 39. A bag-shaped article 100E shown in FIG. 14 is a harder bag-shaped article than the bag-shaped article 100D shown in FIG. 13. There is a concern that the bag-like article 100E is more difficult to be attracted by the bag-like suction pad 39 than the bag-like article 100D.
　そこで、図１４に示すように、ロボットハンド１を少し斜めに傾けて、袋物用吸着パッド３９が下方に最も突出するようにする。これにより、袋物用吸着パッド３９が袋状物品１００Ｅに吸着した場合に、大径吸着パッド３２が袋状物品１００Ｅに干渉しなくなる。
その結果、袋物用吸着パッド３９が袋状物品１００Ｅに容易に吸着することができ、袋物用吸着パッド３９のみで袋状物品１００Ｄを安定して把持することができる。 Therefore, as shown in FIG. 14, the robot hand 1 is slightly tilted so that the bag suction pad 39 protrudes downward the most. Thereby, when the bag suction pad 39 is attracted to the bag-like article 100E, the large-diameter suction pad 32 does not interfere with the bag-like article 100E.
As a result, the bag suction pad 39 can easily adsorb to the bag-like article 100E, and the bag-like article 100D can be stably gripped only by the bag suction pad 39.
　一方で、袋物用吸着パッド３９は、重量物品に吸着しても変形しやすいため、吸着が外れて重量物品が落下する場合がある。したがって、袋物用吸着パッド３９の可搬重量は、大径吸着パッド３２の可搬重量よりも劣る。そのため、袋物用吸着パッド３９は、図１０Ａ，Ｂや図１１に示す重量物品１００Ａ，１００Ｂの把持には向かない。 On the other hand, since the bag suction pad 39 is easily deformed even when it suctions a heavy article, the suction pad 39 may lose its suction and the heavy article may fall. Therefore, the weight capacity of the bag suction pad 39 is lower than that of the large-diameter suction pad 32. Therefore, the bag suction pad 39 is not suitable for gripping heavy articles 100A and 100B shown in FIGS. 10A and 10B and FIG. 11.
　このように、各吸着パッド３２，３５，３９に適した物品が存在する。そのため、各吸着パッド３２，３５，３９を使い分けることにより様々な種類の物品を把持して搬送することができる。なお、図１０Ｂに示すように、各吸着パッド３２，３５，３９が吸着した物品を指部５Ａ，５Ｂで挟持してもよい。これにより、より安定的に物品を搬送することができる。 In this way, there are articles suitable for each suction pad 32, 35, 39. Therefore, by using the suction pads 32, 35, and 39 properly, various types of articles can be gripped and conveyed. Note that, as shown in FIG. 10B, the articles suctioned by the suction pads 32, 35, and 39 may be held between the fingers 5A and 5B. Thereby, articles can be transported more stably.
　指部５Ａ，５Ｂが移動するＸ方向は、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９が並ぶＹ方向と略直交する（図２参照）。そのため、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９のいずれで物品に吸着しても、指部５Ａ，５Ｂで物品を挟持することが可能である。 The X direction in which the finger parts 5A and 5B move is approximately perpendicular to the Y direction in which the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 are lined up (see FIG. 2). Therefore, no matter which of the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 is used to suction an article, the article can be held between the fingers 5A and 5B.
　ただし、小径吸着パッド３５、及び袋物用吸着パッド３９は、指部５Ａ，５Ｂから若干離れている。そのため、物品のサイズや吸着位置によっては、指部５Ａ，５Ｂによって物品を挟持できない場合がある。そこで、図２に示す指部５Ａ，５Ｂよりも幅の広い指部を設けることにより、より様々な物品を、吸着後に指部で挟持することができる。なお、幅の広い指部は、他の物品や搬入コンテナ２００と衝突しやすくなるため、トレードオフが存在する。したがって、搬送する物品の種類によって指部を設計してもよい。 However, the small-diameter suction pad 35 and the bag suction pad 39 are slightly apart from the finger parts 5A and 5B. Therefore, depending on the size of the article and the suction position, the article may not be able to be held between the fingers 5A and 5B. Therefore, by providing finger portions wider than the finger portions 5A and 5B shown in FIG. 2, a wider variety of articles can be held between the finger portions after suction. Note that there is a trade-off because wide fingers tend to collide with other articles or the loading container 200. Therefore, the fingers may be designed depending on the type of article to be conveyed.
（複数の吸着パッドを用いた搬送）
　図１２から図１４では、大径吸着パッド３２、小径吸着パッド３５、及び袋物用吸着パッド３９のいずれか１つが物品に吸着する例を説明した。しかし、１つの物品に対して複数の吸着パッドを使用してもよい。例えば、上面（天面）の面積が十分大きな物品は、大径吸着パッド３２と袋物用吸着パッド３９の２つで吸着してもよい。これにより、物品をより大きな力で吸着することができるため、物品を安定して把持をすることができる。 (Transportation using multiple suction pads)
In FIGS. 12 to 14, an example has been described in which any one of the large-diameter suction pad 32, the small-diameter suction pad 35, and the bag suction pad 39 adsorbs to the article. However, multiple suction pads may be used for one article. For example, an article whose upper surface (top surface) has a sufficiently large area may be suctioned by both the large-diameter suction pad 32 and the bag suction pad 39. Thereby, the article can be attracted with a larger force, so that the article can be stably gripped.
　複数の吸着パッドを用いる場合は、吸着パッドの位置や、吸着後の吸着パッドの縮み量が異なるため、吸着後に物品が斜めになることがある。その結果、物品を搬出コンテナ５６の所望の位置に置くことが難しくなる。その場合は、搬送時に複数の吸着パッドを用いるが、搬出コンテナ５６に置く際に、１つの吸着パッド以外を真空破壊して、１つの吸着パッドのみを使用して物品を置いてもよい。 When using multiple suction pads, the position of the suction pads and the amount of shrinkage of the suction pads after suction are different, so the article may be tilted after suction. As a result, it becomes difficult to place the article in the desired position in the shipping container 56. In that case, a plurality of suction pads are used during transportation, but when placing the article in the carry-out container 56, all but one suction pad may be vacuum-destructed and the article may be placed using only one suction pad.
（ボトル状物品の搬送）
　図１５は、ロボットハンド１の指部５Ａ，５Ｂを用いてボトル状物品を把持する様子を示す図である。図５に示すように、天面の面積が小さく、かつ重量の重い物品の一例として、ボトル状物品１００Ｆがある。ボトル状物品１００Ｆは、天面を大径吸着パッド３２や小径吸着パッド３５で吸着することは困難である。この場合は、指部５Ａ，５Ｂを用いてボトル状物品１００Ｆのネック部分を挟持する。これにより、ロボットハンド１は、ボトル状物品１００Ｆを把持して、搬出コンテナ５６へ搬送することができる。 (Transportation of bottle-shaped articles)
FIG. 15 is a diagram showing how a bottle-shaped article is gripped using the finger parts 5A and 5B of the robot hand 1. As shown in FIG. 5, a bottle-shaped article 100F is an example of an article that has a small top surface area and is heavy. It is difficult to suction the top surface of the bottle-shaped article 100F with the large-diameter suction pad 32 or the small-diameter suction pad 35. In this case, the neck portion of the bottle-shaped article 100F is held between the fingers 5A and 5B. Thereby, the robot hand 1 can grasp the bottle-shaped article 100F and transport it to the carry-out container 56.
　なお、ボトル状物品１００Ｆが横向きに（倒れた状態で）配置されている場合は、上方を向く面の面積やボトル状物品１００Ｆの重量に応じて、大径吸着パッド３２や袋物用吸着パッド３９を用いてボトル状物品１００Ｆに吸着させることもできる。これにより、ロボットハンド１は、ボトル状物品１００Ｆを把持して、搬出コンテナ５６へ搬送することができる。また、大径吸着パッド３２や袋物用吸着パッド３９を用いる場合は、指部５Ａ，５Ｂでボトル状物品１００Ｆを挟持してもよい。 Note that when the bottle-shaped article 100F is placed sideways (in a fallen state), the large-diameter suction pad 32 or the bag suction pad 39 may It is also possible to adsorb it to the bottle-shaped article 100F using . Thereby, the robot hand 1 can grasp the bottle-shaped article 100F and transport it to the carry-out container 56. Furthermore, when using the large-diameter suction pad 32 or the bag suction pad 39, the bottle-shaped article 100F may be held between the fingers 5A and 5B.
（吸着パッドの退避動作）
　次に、退避機構による吸着パッドの退避動作について説明する。図６、図７に示したように、ロボットハンド１は、小径吸着パッド３５、袋物用吸着パッド３９が大きな力を受けると、小径吸着パッド３５、袋物用吸着パッド３９を回転軸３４１、３８１周りに回転させる退避機構を備える。退避機構は、ロボットハンド１による物品１００の把持において吸着パッド３５，３９が邪魔になる場合に、効果を発揮する。 (Suction pad evacuation operation)
Next, the retraction operation of the suction pad by the retraction mechanism will be explained. As shown in FIGS. 6 and 7, when the small-diameter suction pad 35 and bag suction pad 39 receive a large force, the robot hand 1 moves the small-diameter suction pad 35 and bag suction pad 39 around the rotation shafts 341 and 381. Equipped with an evacuation mechanism that rotates the The retraction mechanism is effective when the suction pads 35 and 39 get in the way of the robot hand 1 grasping the article 100.
　図１６は、ロボットハンド１の退避機構を活用して、不定形物品を把持する様子を示す図である。図１６に示す不定形物品１００Ｇの上面には、段差が存在している。不定形物品１００Ｇの上面には、大径吸着パッド３２で吸着される面よりも高い面が形成されている。そのため、不定形物品１００Ｇを大径吸着パッド３２で吸着することを試みると、袋物用吸着パッド３９が不定形物品１００Ｇの上面に衝突する。このとき、袋物用吸着パッド３９は、磁石４６１（図７参照）の磁気吸引力を上回る力を受けると、袋物用パッド基部３８が回転して、袋物用吸着パッド３９が退避する。その結果、ロボットハンド１は、大径吸着パッド３２を用いて不定形物品１００Ｇを安全に把持することができる。 FIG. 16 is a diagram showing how an irregularly shaped article is gripped by utilizing the retraction mechanism of the robot hand 1. A step exists on the upper surface of the irregularly shaped article 100G shown in FIG. The upper surface of the irregularly shaped article 100G is formed with a surface higher than the surface to be suctioned by the large-diameter suction pad 32. Therefore, when attempting to suction the irregularly shaped article 100G with the large diameter suction pad 32, the bag suction pad 39 collides with the upper surface of the irregularly shaped article 100G. At this time, when the bag suction pad 39 receives a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7), the bag pad base 38 rotates and the bag suction pad 39 retreats. As a result, the robot hand 1 can safely grip the irregularly shaped article 100G using the large-diameter suction pad 32.
　なお、小径吸着パッド３５が不定形物品１００Ｇの上面に衝突する場合は、磁石４５１（図６参照）の磁気吸引力を上回る力を受けると、小径パッド基部３４が回転して、小径吸着パッド３５が退避する。その結果、ロボットハンド１は、大径吸着パッド３２を用いて不定形物品１００Ｇを安全に把持することができる。 In addition, when the small-diameter suction pad 35 collides with the top surface of the irregularly shaped article 100G, when the small-diameter suction pad 35 receives a force exceeding the magnetic attraction force of the magnet 451 (see FIG. 6), the small-diameter pad base 34 rotates, and the small-diameter suction pad 35 evacuates. As a result, the robot hand 1 can safely grip the irregularly shaped article 100G using the large-diameter suction pad 32.
　不定形物品１００Ｇを搬出コンテナ５６に配置すると、不定形物品１００Ｇが小径吸着パッド３５から離れる。そして、小径パッド基部３４は、自重により回転する。その結果、吸着ユニット３は、図５に示す小径吸着パッド３５が下方を向いた姿勢に戻る。 When the irregularly shaped article 100G is placed in the carry-out container 56, the irregularly shaped article 100G is separated from the small diameter suction pad 35. The small diameter pad base 34 rotates due to its own weight. As a result, the suction unit 3 returns to the posture shown in FIG. 5 in which the small-diameter suction pad 35 faces downward.
　仮にロボットハンド１が退避機構を備えておらず、袋物用吸着パッド３９が退避しない構成であったとしても、袋物用吸着パッド３９が変形したり、袋物用吸着パッド３９の方が上方に配置されていることで不定形物品１００Ｇに干渉しなかったりする。この場合は、大径吸着パッド３２で不定形物品１００Ｇを吸着することはできる。しかし、不定形物品１００Ｇの段差が大きい場合は、不定形物品１００Ｇを潰してしまったり、不定形物品１００Ｇを持ち上げた際に、袋物用吸着パッド３９に押されて不定形物品１００Ｇの姿勢が変化してしまったりする。そのため、把持した不定形物品１００Ｇを搬出コンテナ５６に配置するための動作計算が困難となる。 Even if the robot hand 1 does not have a retraction mechanism and the bag suction pad 39 does not retract, the bag suction pad 39 may be deformed or the bag suction pad 39 may be placed higher. By doing so, it does not interfere with the irregular shaped article 100G. In this case, the large-diameter suction pad 32 can suction the irregularly shaped article 100G. However, if the difference in level of the irregularly shaped article 100G is large, the irregularly shaped article 100G may be crushed, or when the irregularly shaped article 100G is lifted, the posture of the irregularly shaped article 100G is changed due to being pushed by the bag suction pad 39. I end up doing it. Therefore, it becomes difficult to calculate the motion for placing the gripped amorphous article 100G in the carry-out container 56.
　図１７は、ロボットハンド１の退避機構を活用して、物品の隣にある別の物品を把持する様子を示す図である。図１７に示す物品１００Ｈの隣には、物品１００Ｉが配置されている。物品１００Ｉの高さは、物品１００Ｈの高さよりも高い。そのため、物品１００Ｈを大径吸着パッド３２で吸着することを試みると、袋物用吸着パッド３９が物品１００Ｉの上面に衝突する。このとき、磁石４６１（図７参照）の磁気吸引力を上回る力を受けると、袋物用パッド基部３８が回転して、袋物用吸着パッド３９が退避する。その結果、ロボットハンド１は、大径吸着パッド３２を用いて物品１００Ｈを安全に把持することができる。 FIG. 17 is a diagram showing how the evacuation mechanism of the robot hand 1 is utilized to grasp another article next to the article. An article 100I is placed next to the article 100H shown in FIG. The height of article 100I is higher than the height of article 100H. Therefore, when attempting to suction the article 100H with the large-diameter suction pad 32, the bag suction pad 39 collides with the upper surface of the article 100I. At this time, if a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7) is applied, the bag pad base 38 rotates and the bag suction pad 39 retreats. As a result, the robot hand 1 can safely grip the article 100H using the large-diameter suction pad 32.
　なお、小径吸着パッド３５が物品１００Ｉの上面に衝突する場合は、磁石４５１（図６参照）の磁気吸引力を上回る力を受けるため、小径パッド基部３４が回転して、小径吸着パッド３５が退避する。その結果、ロボットハンド１は、大径吸着パッド３２を用いて不定形物品１００Ｇを安全に把持することができる。 Note that when the small-diameter suction pad 35 collides with the top surface of the article 100I, the small-diameter pad base 34 rotates and the small-diameter suction pad 35 retreats because it receives a force that exceeds the magnetic attraction force of the magnet 451 (see FIG. 6). do. As a result, the robot hand 1 can safely grip the irregularly shaped article 100G using the large-diameter suction pad 32.
　一方、図１３に示すように、袋物用吸着パッド３９で袋状物品１００Ｄを吸着する場合には、袋状物品１００Ｄに対して袋物用吸着パッド３９をある程度の力で押し付ける必要がある。そこで、ロボットハンド１には、袋物用パッドロック機構４６（磁石４６１と磁性片４６２）が設けられている。これにより、袋物用吸着パッド３９をある程度の力で押し付けても、磁石４６１（図７参照）の磁気吸引力を上回る力が加わるまで、袋物用吸着パッド３９は退避しない。したがって、袋物用吸着パッド３９には、吸着に必要なある程度の押し付け力（磁気吸引力を小さい力）を加えることができる。 On the other hand, as shown in FIG. 13, when suctioning the bag-like article 100D with the bag-like suction pad 39, it is necessary to press the bag-like suction pad 39 against the bag-like article 100D with a certain amount of force. Therefore, the robot hand 1 is provided with a bag pad lock mechanism 46 (magnet 461 and magnetic piece 462). As a result, even if the bag suction pad 39 is pressed with a certain amount of force, the bag suction pad 39 will not retreat until a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7) is applied. Therefore, it is possible to apply a certain amount of pressing force (a force smaller than the magnetic attraction force) necessary for suction to the bag suction pad 39.
　袋状物品１００Ｄを搬出コンテナ５６に配置すると、袋状物品１００Ｄが袋物用吸着パッド３９から離れる。そして、小径パッド基部３４は、自重により回転する。その結果、吸着ユニット３は、図５に示す小径吸着パッド３５が下方を向いた姿勢に戻る。 When the bag-like article 100D is placed in the carry-out container 56, the bag-like article 100D is separated from the bag suction pad 39. The small diameter pad base 34 rotates due to its own weight. As a result, the suction unit 3 returns to the posture shown in FIG. 5 in which the small-diameter suction pad 35 faces downward.
　制御装置５７（図１参照）は、搬送ロボット５１を動作させる際に、搬送ロボット５１やロボットハンド１と、物品１００や搬入コンテナ２００、搬出コンテナ５６などとの衝突を回避するための軌道を計算する。このとき、退避機構を活用することを想定して、衝突時の力による退避機構の運動を精緻にシミュレーションした軌道計算を行ってもよい。
しかし、この場合は、軌道計算に要する時間が長くなってしまう。 When operating the transfer robot 51, the control device 57 (see FIG. 1) calculates a trajectory to avoid collisions between the transfer robot 51 and the robot hand 1 and the article 100, the loading container 200, the loading container 56, etc. do. At this time, assuming that the retraction mechanism is utilized, a trajectory calculation may be performed that precisely simulates the movement of the retraction mechanism due to the force at the time of collision.
However, in this case, the time required for trajectory calculation becomes longer.
　そこで、退避機構の利用を想定して物品１００の把持あるいは配置を行う場合は、小径吸着パッド３５及び袋物用吸着パッド３９の位置を無視して軌道計算を行ってもよい。例えば、図１７に示すように、退避機構を用いたいときには、物品１００Ｈに対してロボットハンド１を上方向からアプローチさせる。そのため、袋物用吸着パッド３９が力を受ける際には、基本的に下方向から力を受けて、磁石４６１（図７参照）の磁気吸引力を上回る力が加わる。したがって、上記のような簡易的な計算を行っても、退避機構を活用することができる。また、小径吸着パッド３５や袋物用吸着パッド３９を退避させた場合の吸着ユニット３の形状を用いて、搬送ロボット５１の軌道計算を行ってもよい。 Therefore, when gripping or placing the article 100 assuming the use of the evacuation mechanism, the position of the small-diameter suction pad 35 and the bag suction pad 39 may be ignored when calculating the trajectory. For example, as shown in FIG. 17, when it is desired to use the evacuation mechanism, the robot hand 1 approaches the article 100H from above. Therefore, when the bag suction pad 39 receives a force, the force is basically applied from below, and a force exceeding the magnetic attraction force of the magnet 461 (see FIG. 7) is applied. Therefore, even if the above-mentioned simple calculation is performed, the evacuation mechanism can be utilized. Alternatively, the trajectory of the transport robot 51 may be calculated using the shape of the suction unit 3 when the small-diameter suction pad 35 and bag suction pad 39 are retracted.
　ロボットハンド１は、複数の吸着パッド３２，３５，３９と、指部５Ａ、５Ｂを備える。これにより、様々な種類の物品を把持可能な一方で、吸着パッド３２，３５，３９と、指部５Ａ、５Ｂが物品や搬入コンテナ２００などに干渉しやすくなる。そのため、搬入コンテナ２００の壁際に配置された物品や、搬入コンテナ２００内に乱雑に配置された物品の把持が比較的難しい。しかし、本実施例によるロボットハンド１は、上記した状況下であっても物品を把持することが可能である。 The robot hand 1 includes a plurality of suction pads 32, 35, 39 and finger parts 5A, 5B. As a result, while it is possible to grip various types of articles, the suction pads 32, 35, 39 and the finger portions 5A, 5B tend to interfere with the articles, the carrying-in container 200, and the like. Therefore, it is relatively difficult to grasp articles placed near the wall of the carrying-in container 200 or articles arranged randomly inside the carrying-in container 200. However, the robot hand 1 according to this embodiment is capable of grasping an object even under the above-described circumstances.
　図１８は、ロボットハンド１の退避機構を活用して、搬入コンテナ２００の壁際にある物品を把持する様子を示す図である。図１８に示す物品１００Ｊは、搬入コンテナ２００の壁際に配置されている。大径吸着パッド３２を用いて物品１００Ｊを吸着する場合に、ロボットハンド１が、上下方向（鉛直方向）から物品１００Ｊに対してアプローチしてしまうと、小径吸着パッド３５（袋物用吸着パッド３９）が搬入コンテナ２００の壁に衝突する。この場合は、小径吸着パッド３５が退避移動しても、大径吸着パッド３２が物品１００Ｊの上面に接触するまで、ロボットハンド１を下降させることができない。 FIG. 18 is a diagram illustrating how the evacuation mechanism of the robot hand 1 is utilized to grasp an article near the wall of the carrying-in container 200. The article 100J shown in FIG. 18 is placed near the wall of the loading container 200. When the large-diameter suction pad 32 is used to suction the article 100J, if the robot hand 1 approaches the article 100J from above and below (vertical direction), the small-diameter suction pad 35 (bag suction pad 39) collides with the wall of the loading container 200. In this case, even if the small-diameter suction pad 35 is retracted, the robot hand 1 cannot be lowered until the large-diameter suction pad 32 contacts the top surface of the article 100J.
　そこで、図１８に示すように、ロボットハンド１を傾けて物品１００Ｊに対してアプローチする。これにより、小径吸着パッド３５が搬入コンテナ２００の内壁面に衝突して、退避移動する。そして、大径吸着パッド３２が、搬入コンテナ２００の壁際まで移動して、物品１００Ｊの上面に接触する。その結果、ロボットハンド１は、大径吸着パッド３２を用いて物品１００Ｊを安全に把持することができる。 Therefore, as shown in FIG. 18, the robot hand 1 is tilted and approaches the article 100J. As a result, the small-diameter suction pad 35 collides with the inner wall surface of the carrying-in container 200 and moves away. Then, the large-diameter suction pad 32 moves to the wall of the carrying-in container 200 and comes into contact with the upper surface of the article 100J. As a result, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
　大径吸着パッド３２で物品１００Ｊを把持した後に、ロボットハンド１を上昇させると、小径吸着パッド３５が搬入コンテナ２００の内壁面から離れる。そして、袋物用パッド基部３８は、自重により回転する。その結果、吸着ユニット３は、図５に示す袋物用吸着パッド３９が下方を向いた姿勢に戻る。 When the robot hand 1 is raised after gripping the article 100J with the large-diameter suction pad 32, the small-diameter suction pad 35 separates from the inner wall surface of the carrying-in container 200. The bag pad base 38 rotates due to its own weight. As a result, the suction unit 3 returns to the position shown in FIG. 5 in which the bag suction pad 39 faces downward.
（指部の退避動作）
　図１９は、ロボットハンド１の指部５Ａ，５Ｂを閉じることで、壁際にある物品１００Ｊを把持する様子を示す図である。搬入コンテナ２００の壁際に配置された物品１００Ｊを大径吸着パッド３２で吸着する場合に、指部５Ａ、５Ｂを開いた状態でロボットハンド１が斜め上方から物品１００Ｊに対してアプローチしてしまうと、指部５Ａ、５Ｂが搬入コンテナ２００の壁に衝突する。 (Finger retraction operation)
FIG. 19 is a diagram showing how the robot hand 1 grips an article 100J near a wall by closing the finger parts 5A and 5B. When the large-diameter suction pad 32 suctions the article 100J placed near the wall of the loading container 200, if the robot hand 1 approaches the article 100J from diagonally above with fingers 5A and 5B open. , the fingers 5A and 5B collide with the wall of the loading container 200.
　そこで、図１９に示すように、伸縮機構４を伸ばしつつ、指部５Ａ，５Ｂを可能な限り閉じる。そして、ロボットハンド１を傾けて物品１００Ｊに対してアプローチする。これにより、大径吸着パッド３２が、搬入コンテナ２００の壁際まで移動して、物品１００Ｊの上面に接触する。その結果、ロボットハンド１は、大径吸着パッド３２を用いて物品１００Ｊを安全に把持することができる。 Therefore, as shown in FIG. 19, while extending the telescopic mechanism 4, the fingers 5A and 5B are closed as much as possible. Then, the robot hand 1 is tilted and approaches the article 100J. As a result, the large-diameter suction pad 32 moves to the wall of the carrying-in container 200 and comes into contact with the upper surface of the article 100J. As a result, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
　また、搬入コンテナ２００の四隅の物品を把持する場合には、図１８の紙面手前側にある壁に大径吸着パッド３２が衝突する可能性がある。この場合は、ロボットハンド１をさらに物品紙面奥側に斜めに傾ける。これにより、小径吸着パッド３５を退避移動させつつ、大径吸着パッド３２を搬入コンテナ２００の四隅に寄せることができる。その結果、ロボットハンド１は、大径吸着パッド３２を用いて物品１００Ｊを安全に把持することができる。 Furthermore, when grasping an article at the four corners of the carrying-in container 200, there is a possibility that the large-diameter suction pad 32 collides with the wall on the near side of the paper in FIG. In this case, the robot hand 1 is tilted further toward the back of the paper surface of the article. Thereby, the large-diameter suction pads 32 can be moved to the four corners of the carrying-in container 200 while the small-diameter suction pads 35 are being retracted. As a result, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
（物品を移動後に把持）
　物品１００Ｊよりもさらに小さな物品が搬入コンテナ２００の壁際に配置されている場合は、ロボットハンド１を斜めにしても大径吸着パッド３２を用いた把持（吸着）が困難である。この場合は、物品を中央に移動させてから把持することもできる。 (Grip the item after moving it)
If an article smaller than the article 100J is placed near the wall of the carry-in container 200, it is difficult to grip (suction) it using the large-diameter suction pad 32 even if the robot hand 1 is tilted. In this case, it is also possible to move the article to the center and then grip it.
　図２０Ａ，Ｂ及び図２１Ａ，Ｂは、壁際にある物品を中央に寄せてから把持及び搬送する様子を示す図である。図２０Ａ，Ｂ及び図２１Ａ，Ｂに示す物品１００Ｋは、適当な重量（例えば、１ｋｇ）があり、小径吸着パッド３５で吸着しても、持ち上げた場合や搬送中に吸着が外れる可能性がある。そのため、物品１００Ｋは、小径吸着パッド３５よりも吸着力が大きい大径吸着パッド３２で吸着することが好ましい。 FIGS. 20A and 20A and 21A and 21B are diagrams showing how an article near a wall is brought to the center and then gripped and conveyed. The article 100K shown in FIGS. 20A, B and 21A, B has a suitable weight (for example, 1 kg), and even if it is suctioned by the small-diameter suction pad 35, there is a possibility that the suction may come off when lifted or during transportation. . Therefore, it is preferable that the article 100K is adsorbed by the large-diameter suction pad 32, which has a larger adsorption force than the small-diameter suction pad 35.
　しかし、物品１００Ｋは、天面の面積が小さい。そのため、ロボットハンド１を斜めに傾けても、大径吸着パッド３２の吸着面全体を物品１００Ｋの天面に接触させることができない。この場合は、まず、小径吸着パッド３５で物品１００Ｋの天面を吸着する（図２０Ａ参照）。次に、搬送ロボット５１を動作させて、ロボットハンド１を搬入コンテナ２００における中央部の上方に移動させる（図２０Ｂ参照）。これにより、小径吸着パッド３５に吸着された物品１００Ｋは、搬入コンテナ２００上を引きずられて、搬入コンテナ２００の略中央部に移動される。 However, the area of the top surface of the article 100K is small. Therefore, even if the robot hand 1 is tilted diagonally, the entire suction surface of the large-diameter suction pad 32 cannot be brought into contact with the top surface of the article 100K. In this case, first, the top surface of the article 100K is suctioned using the small-diameter suction pad 35 (see FIG. 20A). Next, the transfer robot 51 is operated to move the robot hand 1 above the center of the carry-in container 200 (see FIG. 20B). As a result, the article 100K attracted to the small-diameter suction pad 35 is dragged over the carrying-in container 200 and moved to the approximate center of the carrying-in container 200.
　次に、搬送ロボット５１を動作させて、ロボットハンド１を搬入コンテナ２００から離れた位置に移動させる（図２１Ａ参照）。続いて、撮像装置５５が搬入コンテナ２００の内部を再度撮影し、移動された物品１００Ｋの位置を再認識する。そして、搬送ロボット５１を動作させて、ロボットハンド１の大径吸着パッド３２を物品１００Ｋの天面に接触させる（図２１Ｂ参照）。これにより、ロボットハンド１は、大径吸着パッド３２を用いて物品１００Ｊを安全に把持することができる。 Next, the transfer robot 51 is operated to move the robot hand 1 to a position away from the loading container 200 (see FIG. 21A). Subsequently, the imaging device 55 takes another picture of the interior of the carrying-in container 200, and the position of the moved article 100K is re-recognized. Then, the transfer robot 51 is operated to bring the large-diameter suction pad 32 of the robot hand 1 into contact with the top surface of the article 100K (see FIG. 21B). Thereby, the robot hand 1 can safely grip the article 100J using the large-diameter suction pad 32.
　なお、ロボットハンド１で物品１００Ｋを搬入コンテナ２００の略中央部へ移動させた後に、撮像装置５５で搬入コンテナ２００の内部を再撮影する例を説明した。しかし、撮像装置５５による再撮影は、必ずしも行わなくてもよい。つまり、物品１００Ｋを搬入コンテナ２００の壁際から引きずり出した後に、ロボットハンド１の位置から物品１００Ｋの位置及び姿勢を予測し、予測に基づいてロボットハンド１による物品１００Ｋの吸着動作を行ってもよい。 Note that an example has been described in which the robot hand 1 moves the article 100K to approximately the center of the carrying-in container 200, and then the imaging device 55 re-photographs the interior of the carrying-in container 200. However, re-imaging by the imaging device 55 does not necessarily have to be performed. That is, after dragging the article 100K from the wall of the carrying-in container 200, the position and orientation of the article 100K may be predicted from the position of the robot hand 1, and the robot hand 1 may perform a suction operation for the article 100K based on the prediction.
　また、上記した物品１００Ｋの把持方法は、例示した手順に限定されるものではなく、別の把持方法を使用することもできる。例えば、図２０Ａ及び図２０Ｂに示すように、小径吸着パッド３５で物品１００Ｋを搬入コンテナ２００の略中央部へ移動させた後に、指部５Ａ，５Ｂによって物品１００Ｋを挟持することもできる。また、図１８や図１９に示すように、ロボットハンド１を斜めに傾けた状態で壁際に配置されたボトル状物品にアプローチして、ボトル状物品を指部５Ａ，５Ｂによって挟持することもできる。 Furthermore, the method of gripping the article 100K described above is not limited to the illustrated procedure, and another gripping method may be used. For example, as shown in FIGS. 20A and 20B, after the article 100K is moved to the approximate center of the carry-in container 200 using the small-diameter suction pad 35, the article 100K can be held between the fingers 5A and 5B. Furthermore, as shown in FIGS. 18 and 19, the robot hand 1 can be tilted diagonally to approach a bottle-shaped article placed near a wall, and the bottle-shaped article can be held between the fingers 5A and 5B. .
　また、上記した把持方法は、搬入コンテナ２００の壁際の物品を把持することに限定されず、例えば、搬入コンテナ２００内に乱雑に配置された物品を把持する場合に活用することができる。上記では障害物として搬入コンテナ２００の壁を例示したが、搬入コンテナ２００内に物品が乱雑に配置されている場合は、把持対象物品以外の物品が障害物となる。したがって、把持対象物品以外の物品を避けるようにして把持対象物品に斜めにアプローチしたり、退避機構を活用したりすることができる。 Further, the above-described grasping method is not limited to grasping articles near the wall of the carrying-in container 200, but can be utilized, for example, when grasping articles that are randomly arranged inside the carrying-in container 200. In the above, the wall of the carry-in container 200 is exemplified as an obstacle, but if the articles are arranged in a disorderly manner in the carry-in container 200, articles other than the object to be grasped become obstacles. Therefore, it is possible to approach the object to be grasped diagonally while avoiding objects other than the object to be grasped, or to utilize the evacuation mechanism.
　本例では、いくつかの把持方法を説明したが、本発明に係るピッキングシステム５０では、いくつかのパターンで軌道計算を行い、実行可能な把持方法（動作）のうちの最も優先度の高い把持方法（動作）を選択する。 In this example, several grasping methods have been described, but in the picking system 50 according to the present invention, trajectory calculation is performed in several patterns, and the grasping method with the highest priority among the executable grasping methods (movements) is selected. Select a method (action).
（ピッキングシステムによる物品搬送処理）
　次に、ピッキングシステム５０によって行われる物品搬送処理について、図２２を用いて説明する。
　図２２は、ピッキングシステムによって行われる物品搬送処理の制御フローチャートである。 (Goods transport processing using picking system)
Next, the article conveyance process performed by the picking system 50 will be explained using FIG. 22.
FIG. 22 is a control flowchart of article conveyance processing performed by the picking system.
　まず、制御装置５７は、撮像装置５５を制御して搬入コンテナ２００内を撮影する（Ｓ１１）。次に、制御装置５７は、撮像装置５５が撮影した画像に対して画像認識処理を行い、把持する物品１００と、把持方法を選択する（Ｓ１２）。 First, the control device 57 controls the imaging device 55 to photograph the inside of the loading container 200 (S11). Next, the control device 57 performs image recognition processing on the image taken by the imaging device 55, and selects the article 100 to be gripped and the gripping method (S12).
　ステップＳ１２において、制御装置５７が画像認識処理を行うと、搬入コンテナ２００内にある各物品の形状、位置、姿勢などの物品配置情報を抽出できる。制御装置５７は、物品配置情報と、情報記憶装置５８に記憶されたデータと照合し、各々の物品の種類を特定する。そして、制御装置５７は、搬入コンテナ２００内にある複数の物品１００の中から把持対象の物品１００を１つ選定する。 In step S12, when the control device 57 performs image recognition processing, it is possible to extract article arrangement information such as the shape, position, and orientation of each article in the delivery container 200. The control device 57 collates the article arrangement information with data stored in the information storage device 58 to identify the type of each article. Then, the control device 57 selects one article 100 to be gripped from among the plurality of articles 100 in the carry-in container 200.
　選定基準としては、上流の制御装置から搬送する物品１００の種類が指定されている場合は、指定されている物品１００の種類の中から把持対象の物品１００を選択する。搬送する物品１００の種類が指定されていない場合は、例えば、一番背の高い物品１００を選択する。これにより、障害物になりやすい物品１００から先に搬出コンテナ５６へ搬送することができる。また、搬送する物品１００の種類の優先度を予め定めていてもよい。この場合は、優先度の高い種類の物品１００から順に選択する。 As a selection criterion, if the type of article 100 to be transported is specified by an upstream control device, the article 100 to be gripped is selected from the specified types of articles 100. If the type of article 100 to be transported is not specified, for example, the tallest article 100 is selected. Thereby, the articles 100 that are likely to become obstacles can be transported to the unloading container 56 first. Furthermore, the priority of the types of articles 100 to be transported may be determined in advance. In this case, the items 100 are selected in order of priority.
　また、制御装置５７は、画像認識処理により得られた物品配置情報と、情報記憶装置５８に格納された物品１００の種類における固有の情報に基づいて、物品１００の把持に使用する把持部（指部５Ａ，５Ｂ、大径吸着パッド３２、小径吸着パッド３５、袋物用吸着パッド３９）と、物品１００のどの部分を把持するか等の把持方法を決定する。 Furthermore, the control device 57 controls the gripping section (fingertip) used to grip the article 100 based on the article placement information obtained through the image recognition process and information specific to the type of article 100 stored in the information storage device 58. 5A, 5B, large-diameter suction pad 32, small-diameter suction pad 35, bag suction pad 39), and the gripping method such as which part of the article 100 is to be gripped.
　例えば、物品１００が直方体である場合は、法線が最も上を向いている面を吸着面とする。そして、吸着面の中央に吸着点を設定し、吸着面の幅が一定以上であれば、使用する把持部として大径吸着パッド３２を決定する。吸着面の幅が一定未満であって重量が所定値未満であれば、使用する把持部として小径吸着パッド３５を決定する。また、選択した物品１００が袋状物品であると情報記憶装置５８に記憶されていれば、使用する把持部として袋物用吸着パッド３９を決定する。なお、使用する把持部の候補としては、複数考えられる場合もある。この場合は、予め定められた最も優先度が高いもの、複数の把持部の組み合わせ等を把持部として決定することができる。 For example, if the article 100 is a rectangular parallelepiped, the surface whose normal line is most facing upward is the suction surface. Then, a suction point is set at the center of the suction surface, and if the width of the suction surface is a certain value or more, the large-diameter suction pad 32 is determined as the gripping portion to be used. If the width of the suction surface is less than a certain value and the weight is less than a predetermined value, the small-diameter suction pad 35 is determined as the gripping portion to be used. Further, if it is stored in the information storage device 58 that the selected article 100 is a bag-like article, the bag suction pad 39 is determined as the gripping section to be used. Note that there may be cases where a plurality of candidates for the gripping portion to be used are considered. In this case, a predetermined one with the highest priority, a combination of a plurality of gripping parts, etc. can be determined as the gripping part.
　次に、制御装置５７は、搬入コンテナ２００内の物品１００を把持し、搬出コンテナ５６へ搬送する軌道シミュレーションを行う（Ｓ１３）。このとき、ステップＳ１１において撮影した画像情報から、ロボットハンド１や搬送ロボット５１が、搬入コンテナ２００、搬出コンテナ５６、他の物品等に衝突しない軌道を生成する。 Next, the control device 57 performs a trajectory simulation for gripping the article 100 in the carry-in container 200 and transporting it to the carry-out container 56 (S13). At this time, from the image information photographed in step S11, a trajectory is generated in which the robot hand 1 and the transport robot 51 do not collide with the carrying-in container 200, the carrying-out container 56, other articles, etc.
　ロボットハンド１や搬送ロボット５１の軌道は、基本的に物品１００の天面に垂直な方向からアプローチして物品１００を把持し、搬出コンテナ５６の配置面に対して垂直な方向に物品１００を移動させて配置することを第一候補とする。しかし、第一候補では搬入コンテナ２００等に衝突するなどして、物品１００を把持できない場合は、ロボットハンド１を斜めに傾けてアプローチする軌道や、搬出コンテナ５６に配置する際の別の軌道等の生成を試みる。このとき、把持対象の物品１００が搬入コンテナ２００の壁際にある場合には、壁を避ける方向からのアプローチを優先するなど、優先度の順に軌道を計算する。これにより、軌道の計算時間を削減することができる。 Basically, the trajectory of the robot hand 1 and the transfer robot 51 is to approach the article 100 from a direction perpendicular to the top surface of the article 100, grasp the article 100, and move the article 100 in a direction perpendicular to the placement surface of the carry-out container 56. The first option is to place it in a horizontal position. However, if the first candidate cannot grip the article 100 due to collision with the carrying-in container 200 or the like, the robot hand 1 may be approached on a diagonal trajectory, or another trajectory may be used when placing the article in the carrying-out container 56. Attempt to generate . At this time, if the object 100 to be grasped is near the wall of the carrying-in container 200, the trajectory is calculated in order of priority, such as giving priority to an approach from a direction that avoids the wall. This makes it possible to reduce trajectory calculation time.
　次に、制御装置５７は、生成した軌道で物品１００の搬送を実行可能であるか否かを判定する（Ｓ１４）。ステップＳ１４において、生成した軌道で物品１００の搬送を実行可能であると判定したとき（Ｓ１４がＹＥＳ判定の場合）、制御装置５７は、ロボットハンド１や搬送ロボット５１の駆動を制御して、物品１００の把持及び搬送を実行する（Ｓ１５）。ステップＳ１５の処理後、制御装置５７は、物品搬送処理を終了する。 Next, the control device 57 determines whether or not the article 100 can be transported on the generated trajectory (S14). When it is determined in step S14 that it is possible to transport the article 100 on the generated trajectory (YES in S14), the control device 57 controls the drive of the robot hand 1 and the transport robot 51 to 100 gripping and conveying operations are performed (S15). After the process in step S15, the control device 57 ends the article conveyance process.
　ステップＳ１４において、生成した軌道で物品１００の搬送を実行可能でないと判定したとき（Ｓ１４がＮＯ判定の場合）、すなわち、ロボットハンド１を斜めに傾ける軌道を採用しても物品１００の把持が困難な場合に、制御装置５７は、物品１００の位置をずらす軌道を候補に加えて軌道シミュレーションを行う（Ｓ１６）。 In step S14, when it is determined that transporting the article 100 is not possible with the generated trajectory (NO determination in S14), that is, it is difficult to grasp the article 100 even if the trajectory that tilts the robot hand 1 is adopted. In this case, the control device 57 adds a trajectory for shifting the position of the article 100 to the candidates and performs a trajectory simulation (S16).
　例えば、大径吸着パッド３２を用いた吸着（把持）が困難な場合でも、小径吸着パッド３５を用いた吸着が可能な場合がある。この場合は、小径吸着パッド３５を用いて把持対象の物品１００の位置をずらすことができる。そして、把持対象の物品１００の位置をずらすことにより、把持対象の物品１００を大径吸着パッド３２で吸着（把持）することができるようになることがある。 For example, even if suction (grasping) using the large diameter suction pad 32 is difficult, suction using the small diameter suction pad 35 may be possible. In this case, the small-diameter suction pad 35 can be used to shift the position of the article 100 to be gripped. By shifting the position of the object 100 to be gripped, the object 100 to be gripped may be able to be suctioned (grasped) by the large-diameter suction pad 32 .
　次に、制御装置５７は、生成した軌道で物品１００の移動（位置ずらし）を実行可能であるか否かを判定する（Ｓ１７）。ステップＳ１７において、生成した軌道で物品１００の移動（位置ずらし）を実行可能であると判定したとき（Ｓ１７がＹＥＳ判定の場合）、制御装置５７は、ロボットハンド１や搬送ロボット５１の駆動を制御して、物品１００の位置をずらす（Ｓ１８）。ステップＳ１８の処理後、制御装置５７は、ロボットハンド１及び搬送ロボット５１を搬入コンテナ２００から退避させて、処理をステップＳ１１に戻す。 Next, the control device 57 determines whether it is possible to move (position shift) the article 100 on the generated trajectory (S17). When it is determined in step S17 that it is possible to move (position shift) the article 100 on the generated trajectory (YES in S17), the control device 57 controls the driving of the robot hand 1 and the transfer robot 51. Then, the position of the article 100 is shifted (S18). After the processing in step S18, the control device 57 evacuates the robot hand 1 and the transfer robot 51 from the carrying-in container 200, and returns the processing to step S11.
　なお、把持対象の物品１００の位置をずらす場合は、ロボットハンド１及び搬送ロボット５１の動作時間が長くなり、搬送効率が低下する。そのため、上述した制御フローでは、把持対象の物品１００の位置をずらす方法（軌道）の優先度が最も低く設定される。これにより、搬送効率の低下を抑制することができる。 Note that when shifting the position of the article 100 to be gripped, the operating time of the robot hand 1 and the transport robot 51 becomes longer, and the transport efficiency decreases. Therefore, in the control flow described above, the method (trajectory) for shifting the position of the object 100 to be gripped is set to have the lowest priority. Thereby, a decrease in conveyance efficiency can be suppressed.
　ステップＳ１７において、生成した軌道で物品１００の搬送を実行可能でないと判定したとき（Ｓ１７がＮＯ判定の場合）、制御装置５７は、ステップＳ１２において選定した把持対象の物品１００を除外する（Ｓ１９）。ステップＳ１９の処理後、制御装置５７は、処理をステップＳ１２に戻す。すなわち、制御装置５７は、別の物品１００を把持対象の物品１００として選定する。 When it is determined in step S17 that transporting the article 100 is not possible on the generated trajectory (NO determination in S17), the control device 57 excludes the article 100 to be grasped selected in step S12 (S19) . After the process in step S19, the control device 57 returns the process to step S12. That is, the control device 57 selects another article 100 as the article 100 to be gripped.
　このように、本例では、把持対象の物品１００の位置をずらすことができないと判定した場合に、別の物品１００を先に搬出コンテナ５６へ搬送しても問題なければ、別の物品１００を先に搬送する。その結果、搬入コンテナ２００内の物品１００の配置が変わり、元々把持困難だった物品１００が把持可能となる可能性がある。 As described above, in this example, when it is determined that the position of the object 100 to be grasped cannot be shifted, if there is no problem in transporting another object 100 to the carry-out container 56 first, the other object 100 is moved. Transport first. As a result, the arrangement of the articles 100 in the delivery container 200 may change, and the articles 100, which were originally difficult to grasp, may become able to be grasped.
　なお、上述した制御フローを実行しても物品１００が把持困難な場合は、現在搬入されている搬入コンテナ２００を、対象の物品１００が入った別の搬入コンテナ２００と入れ替えて、述した制御フローを実行するとよい。また、把持困難であった搬入コンテナ２００は、人が物品の配置を変更する場所に移動され、人の手によって物品１００を再配置する。そして、物品１００を再配置した搬入コンテナ２００は、再びピッキングシステム５０に戻される。 Note that if the article 100 is difficult to grip even after executing the above-described control flow, the currently carried-in carrying-in container 200 is replaced with another carrying-in container 200 containing the target article 100, and the above-mentioned control flow is executed. It is a good idea to do this. Further, the delivery container 200, which was difficult to hold, is moved to a place where a person changes the arrangement of the articles, and the article 100 is manually rearranged. Then, the carry-in container 200 in which the articles 100 have been rearranged is returned to the picking system 50 again.
［まとめ］
（１）上述した実施形態に係るピッキングシステム５０は、搬送ロボット５１と、搬送ロボット５１に設けられ、物品１００を把持するロボットハンド１と、ロボットハンド１及び搬送ロボット５１を制御する制御装置５７（制御部）とを備える。ロボットハンド１は、物品１００を吸着して把持する吸着ユニット３（吸着部）と、物品１００を挟んで把持する指部５Ａ，５Ｂと、指部５Ａ，５Ｂを駆動する指駆動部７とを有する。吸着ユニット３は、一列に並んだ複数種類の吸着パッド３２，３５，３９を有し、複数種類の吸着パッド３２，３５，３９が並ぶ方向は、指部５Ａ，５Ｂの駆動方向に対して略直交している。
　これにより、複数種類の吸着パッド３２，３５，３９及び指部５Ａ，５Ｂを用いて多様な物品１００を把持して搬送することができる。また、吸着ユニット３をコンパクトにすることができ、第１指部５Ａと第２指部５Ｂとの間に吸着ユニット３を収めることができる。その結果、ロボットハンド１の小型化することができる。 [summary]
(1) The picking system 50 according to the embodiment described above includes a transfer robot 51, a robot hand 1 that is provided on the transfer robot 51 and grips an article 100, and a control device 57 ( control unit). The robot hand 1 includes a suction unit 3 (suction section) that suctions and grips the article 100, finger sections 5A and 5B that grip the article 100, and a finger drive section 7 that drives the finger sections 5A and 5B. have The suction unit 3 has a plurality of types of suction pads 32, 35, and 39 arranged in a line, and the direction in which the plurality of types of suction pads 32, 35, and 39 are lined up is approximately parallel to the driving direction of the finger parts 5A and 5B. Orthogonal.
Thereby, a variety of articles 100 can be gripped and conveyed using a plurality of types of suction pads 32, 35, 39 and finger parts 5A, 5B. Further, the suction unit 3 can be made compact and can be housed between the first finger portion 5A and the second finger portion 5B. As a result, the robot hand 1 can be made smaller.
（２）また、上述した実施形態に係る複数種類の吸着パッドは、大径吸着パッド３２（第１吸着パッド）と、大径吸着パッド３２よりも物品１００との接触面積が小さい小径吸着パッド３５（第２吸着パッド）と、を含む。
　これにより、物品１００における吸着パッドが接触する面の大きさに応じて、吸着パッドを変更することができる。その結果、多様な物品１００を把持（吸着）して搬送することができる。 (2) Furthermore, the plurality of types of suction pads according to the embodiment described above include a large-diameter suction pad 32 (first suction pad) and a small-diameter suction pad 35 whose contact area with the article 100 is smaller than that of the large-diameter suction pad 32. (second suction pad).
Thereby, the suction pad can be changed depending on the size of the surface of the article 100 that the suction pad contacts. As a result, various articles 100 can be gripped (adsorbed) and transported.
（３）また、上述した実施形態に係る複数種類の吸着パッドは、大径吸着パッド３２（第１吸着パッド）よりも物品との接触部分が柔らかい袋物用吸着パッド３９（第３吸着パッド）を含む。
　これにより、物品１００の形状や形態に応じて、吸着パッドを変更することができる。
その結果、多様な物品１００を把持（吸着）して搬送することができる。 (3) The plurality of types of suction pads according to the embodiments described above include a bag suction pad 39 (third suction pad) that has a softer contact area with the article than the large-diameter suction pad 32 (first suction pad). include.
Thereby, the suction pad can be changed depending on the shape and form of the article 100.
As a result, various articles 100 can be gripped (adsorbed) and transported.
（４）また、上述した実施形態に係る複数種類の吸着パッドのうち大径吸着パッド３２（第１吸着パッド）は、小径吸着パッド３５や袋物用吸着パッド３９（他の吸着パッド）よりも物品１００側に突出するように配置されている。
　これにより、大径吸着パッド３２によって吸着された物品１００は、小径吸着パッド３５や袋物用吸着パッド３９に衝突しない、或いは衝突しづらい。その結果、大径吸着パッド３２のみで物品１００を安定して把持（吸着）することができる。 (4) Also, among the plurality of types of suction pads according to the embodiment described above, the large-diameter suction pad 32 (first suction pad) is more suitable for holding articles than the small-diameter suction pad 35 and the bag suction pad 39 (other suction pads). It is arranged so as to protrude toward the 100 side.
Thereby, the article 100 attracted by the large-diameter suction pad 32 does not collide with the small-diameter suction pad 35 or the bag suction pad 39, or hardly collides with it. As a result, the article 100 can be stably gripped (adsorbed) only by the large-diameter suction pad 32 .
（５）また、上述した実施形態に係る小径吸着パッド３５や袋物用吸着パッド３９（複数種類の吸着パッドのうち少なくとも１つ）は、退避機構が設けられた退避機構付き吸着パッドである。
　これにより、ロボットハンド１が、搬入コンテナ２００の壁等の障害物に小径吸着パッド３５や袋物用吸着パッド３９が干渉する姿勢であっても、小径吸着パッド３５や袋物用吸着パッド３９を退避させることができる。その結果、ロボットハンド１は、多様な姿勢で物品の把持を行うことができる。例えば、大径吸着パッド３２（退避機構付き吸着パッドでない吸着パッド）を用いて物品１００を吸着する際に、小径吸着パッド３５や袋物用吸着パッド３９を退避させることができる。その結果、小径吸着パッド３５や袋物用吸着パッド３９が邪魔にならず、大径吸着パッド３２を用いて物品１００を安全に把持することができる。 (5) Furthermore, the small-diameter suction pad 35 and the bag suction pad 39 (at least one of the plurality of types of suction pads) according to the embodiments described above are suction pads with a retraction mechanism.
This allows the robot hand 1 to evacuate the small-diameter suction pad 35 and bag suction pad 39 even if the small-diameter suction pad 35 and bag suction pad 39 interfere with an obstacle such as a wall of the loading container 200. be able to. As a result, the robot hand 1 can grip objects in various postures. For example, when suctioning the article 100 using the large-diameter suction pad 32 (a suction pad that is not a suction pad with a retraction mechanism), the small-diameter suction pad 35 and bag suction pad 39 can be retracted. As a result, the small-diameter suction pad 35 and bag suction pad 39 do not get in the way, and the article 100 can be safely gripped using the large-diameter suction pad 32.
（６）また、上述した実施形態に係る小径吸着パッド３５及び袋物用吸着パッド３９（退避機構付き吸着パッド）は、磁気吸引力により退避移動を係止する磁石４５１，４６１を有する。そして、小径吸着パッド３５や袋物用吸着パッド３９に加わる力が磁気吸引力より大きい場合に、小径吸着パッド３５や袋物用吸着パッド３９が退避移動する。
　これにより、小径吸着パッド３５や袋物用吸着パッド３９を用いて物品１００を吸着して把持する場合は、小径吸着パッド３５や袋物用吸着パッド３９が退避移動しないようにすることができる。 (6) Furthermore, the small-diameter suction pad 35 and the bag suction pad 39 (suction pad with retraction mechanism) according to the embodiments described above include magnets 451 and 461 that lock the retraction movement by magnetic attraction force. Then, when the force applied to the small-diameter suction pad 35 and the bag suction pad 39 is larger than the magnetic attraction force, the small-diameter suction pad 35 and the bag suction pad 39 are retracted.
Thereby, when the small-diameter suction pad 35 or the bag suction pad 39 is used to suction and grip the article 100, the small-diameter suction pad 35 or the bag suction pad 39 can be prevented from retreating.
（７）また、上述した実施形態に係る制御装置５７（制御部）は、物品１００の位置または姿勢を異なる状態に再配置するステップＳ１８の処理（第１ステップ）と、再配置した物品１００を、把持するステップＳ１５の処理（第２ステップ）と、把持した物品を搬送するステップＳ１５の処理（第３ステップ）と、を実行する。
　これにより、障害物が邪魔で把持できなかった物品１００を、把持できる位置に移動させることができる。その結果、物品１００を安全に把持することができる。 (7) Furthermore, the control device 57 (control unit) according to the above-described embodiment performs the process of step S18 (first step) of rearranging the position or posture of the article 100 to a different state, and the process of rearranging the rearranged article 100. , the process of step S15 of gripping (second step) and the process of step S15 of transporting the gripped article (third step) are executed.
Thereby, the article 100 that could not be gripped due to the obstacle can be moved to a position where it can be gripped. As a result, the article 100 can be held safely.
（８）また、上述した実施形態に係る複数種類の吸着パッドは、大径吸着パッド３２（第１吸着パッド）と、大径吸着パッド３２よりも物品１００との接触面積が小さい小径吸着パッド３５（第２吸着パッド）と、を含む。そして、制御装置５７（制御部）は、ステップＳ１８の処理（第１ステップ）において、小径吸着パッド３５を使用して物品１００の位置または姿勢を異なる状態に再配置する。
　これにより、物品１００の位置を容易にずらすことができる。また、物品１００の位置をずらす場合は、物品１００に対してアプローチしやすい小径吸着パッド３５を使用するため、ロボットハンド１の軌道を容易に計算することができる。その結果、物品１００の位置をずらすために要する時間を短くすることができる。 (8) Furthermore, the plurality of types of suction pads according to the embodiment described above include a large-diameter suction pad 32 (first suction pad) and a small-diameter suction pad 35 whose contact area with the article 100 is smaller than that of the large-diameter suction pad 32. (second suction pad). Then, in the process of step S18 (first step), the control device 57 (control unit) uses the small-diameter suction pad 35 to rearrange the position or posture of the article 100 to a different state.
Thereby, the position of the article 100 can be easily shifted. Further, when shifting the position of the article 100, the small diameter suction pad 35 that can easily approach the article 100 is used, so the trajectory of the robot hand 1 can be easily calculated. As a result, the time required to shift the position of the article 100 can be shortened.
　なお、上述しかつ図面に示した実施の形態に限定されるものではなく、請求の範囲に記載した発明の要旨を逸脱しない範囲内で種々の変形実施が可能である。 Note that the present invention is not limited to the embodiments described above and shown in the drawings, and various modifications can be made without departing from the gist of the invention as set forth in the claims.
　上述した実施形態では、小径吸着パッド３５の小径パッドロック機構４５を、磁石４５１と、磁性片４５２から構成した。また、袋物用吸着パッド３９の袋物用パッドロック機構４６を、磁石４６１と、磁性片４６２から構成した。しかし、本発明に係るロック機構としては、例えば、所定の力が加わると弾性変形するバネ部材や、着脱可能に係合する係合部及び被係合部から構成してもよい。なお、ロック機構をバネ部材で構成する場合は、退避した吸着パッドに対して常にばね力が加わるため、例えば、物品に対して吸着パッドが付勢された状態になる。その結果、把持した物品を傷つけたり、把持した物品が外れたりする心配がある。したがって、本発明に係るロック機構としては、磁石と磁性片から構成することが好ましい。 In the embodiment described above, the small-diameter pad locking mechanism 45 of the small-diameter suction pad 35 is composed of a magnet 451 and a magnetic piece 452. Further, the bag pad locking mechanism 46 of the bag suction pad 39 is composed of a magnet 461 and a magnetic piece 462. However, the locking mechanism according to the present invention may include, for example, a spring member that elastically deforms when a predetermined force is applied, or an engaging portion and an engaged portion that engage removably. Note that when the locking mechanism is configured with a spring member, a spring force is always applied to the retracted suction pad, so that, for example, the suction pad is biased against the article. As a result, there is a fear that the gripped object may be damaged or the gripped object may come off. Therefore, it is preferable that the locking mechanism according to the present invention is composed of a magnet and a magnetic piece.
　また、ロボットハンド１を制御する制御装置として、ピッキングシステム５０全体を制御する制御装置５７を適用した例を説明したが、これに限定されるものではない。例えば、ロボットハンド１を制御する専用の制御装置や情報記憶装置を設けてもよい。 Furthermore, although an example has been described in which the control device 57 that controls the entire picking system 50 is applied as the control device that controls the robot hand 1, the present invention is not limited to this. For example, a dedicated control device or information storage device for controlling the robot hand 1 may be provided.
　なお、本明細書において、「平行」及び「直交」等の単語を使用したが、これらは厳密な「平行」及び「直交」のみを意味するものではなく、「平行」及び「直交」を含み、さらにその機能を発揮し得る範囲にある、「略平行」や「略直交」の状態であってもよい。 Note that although words such as "parallel" and "perpendicular" are used in this specification, these do not mean strictly "parallel" and "perpendicular", but include "parallel" and "perpendicular". , and may also be in a "substantially parallel" or "substantially orthogonal" state within the range where the function can be achieved.
　１…ロボットハンド、　２…本体部、　３…吸着ユニット、　４…伸縮機構、　５Ａ、５Ｂ…指部、　６Ａ、６Ｄ…第１リンク、６Ｂ、６Ｅ…第２リンク、　６Ｃ、６Ｆ…第３リンク、　７…指駆動部、　８Ａ…主駆動力伝達部、　８Ｂ、８Ｃ…駆動力伝達部、　９Ａ、９Ｂ、９Ｃ、９Ｄ、９Ｅ、９Ｆ、９Ｇ、９Ｈ…リンク節、　１１Ａ、１１Ｂ…挟持面、　２０Ａ、２０Ｂ…駆動力伝達機構、　３１…大径パッド基部、　３２…大径吸着パッド、　３３…大径パッドチューブ、　３４…小径パッド基部、　３５…小径吸着パッド、　３６…小径パッドチューブガイド、　３７…小径パッドチューブ、　３８…袋物用パッド基部、　３９…袋物用吸着パッド、　４０…袋物用パッドチューブガイド、　４１…袋物用パッドチューブ、　４５…小径パッドロック機構、　４６…袋物用パッドロック機構、　５０…ピッキングシステム、　５１…搬送ロボット、　５２…搬入コンベア、　５３…移動機構、　５４…搬出コンベア、　５５…撮像装置、　５６…搬出コンテナ、　５７…制御装置、　５８…情報記憶装置、　１００、１００Ａ～１００Ｋ…物品、　２００…搬入コンテナ　３１１…第１支持突部、　３１２…第２支持突部、　３４１、３８１…回転軸、　４５１、４６１…磁石、　４５２、４６２…磁性片、　６１１…圧力レギュレータ、　６１２…エアフィルタ、　６１３…手動弁、　６２１…真空発生器、　６２２…手動スイッチ　６２３Ａ、６２３Ｂ、６２３Ｃ…空圧バルブ 1... Robot hand, 2... Main body, 3... Adsorption unit, 4... Telescopic mechanism, 5A, 5B... Finger section, 6A, 6D... First link, 6B, 6E... Second link, 6C, 6F... Third link , 7... Finger drive section, 8A... Main driving force transmission section, 8B, 8C... Driving force transmission section, 9A, 9B, 9C, 9D, 9E, 9F, 9G, 9H... Link node, 11A, 11B... Clamping surface, 20A, 20B... Driving force transmission mechanism, 31... Large diameter pad base, 32... Large diameter suction pad, 33... Large diameter pad tube, 34... Small diameter pad base, 35... Small diameter suction pad, 36... Small diameter pad tube guide, 37 ... Small diameter pad tube, 38... Pad base for bags, 39... Suction pad for bags, 40... Pad tube guide for bags, 41... Pad tube for bags, 45... Small diameter pad lock mechanism, 46... Pad lock mechanism for bags, 50 ...picking system, 51...transport robot, 52...loading conveyor, 53...moving mechanism, 54...loading conveyor, 55...imaging device, 56...loading container, 57...control device, 58...information storage device, 100, 100A to 100K ...article, 200...carry-in container, 311...first support protrusion, 312...second support protrusion, 341, 381...rotating shaft, 451, 461...magnet, 452, 462...magnetic piece, 611...pressure regulator, 612... Air filter, 613...Manual valve, 621...Vacuum generator, 622... Manual switch 623A, 623B, 623C...Pneumatic valve

Claims (8)

  1. 　搬送ロボットと、前記搬送ロボットに設けられ、物品を把持するロボットハンドと、前記ロボットハンド及び前記搬送ロボットを制御する制御部と、を備えるピッキングシステムであって、
    　前記ロボットハンドは、
    　物品を吸着して把持する吸着部と、
    　物品を挟んで把持する指部と、
    　前記指部を駆動する指駆動部と、を有し、
    　前記吸着部は、一列に並んだ複数種類の吸着パッドを有し、
    　前記複数種類の吸着パッドが並ぶ方向は、前記指部の駆動方向に対して略直交している
    　ピッキングシステム。     A picking system comprising: a transport robot; a robot hand provided on the transport robot to grip an article; and a control unit that controls the robot hand and the transport robot.
    The robot hand is
    a suction unit that suctions and grips an article;
    Finger parts that pinch and grip the article;
    a finger driving section that drives the finger section;
    The suction unit has a plurality of types of suction pads arranged in a row,
    In the picking system, the direction in which the plurality of types of suction pads are lined up is substantially perpendicular to the driving direction of the finger section.
  2. 　前記複数種類の吸着パッドは、第１吸着パッドと、前記第１吸着パッドよりも物品との接触面積が小さい第２吸着パッドと、を含む
    　請求項１に記載のピッキングシステム。     The picking system according to claim 1, wherein the plurality of types of suction pads include a first suction pad and a second suction pad that has a smaller contact area with the article than the first suction pad.
  3. 　前記複数種類の吸着パッドは、前記第１吸着パッドよりも物品との接触部分が柔らかい第３吸着パッドを含む
    　請求項２に記載のピッキングシステム。     The picking system according to claim 2, wherein the plurality of types of suction pads include a third suction pad whose contact portion with the article is softer than the first suction pad.
  4. 　前記複数種類の吸着パッドのうち前記第１吸着パッドは、他の吸着パッドよりも物品側に突出するように配置されている
    　請求項２または請求項３に記載のピッキングシステム。     The picking system according to claim 2 or 3, wherein the first suction pad among the plurality of types of suction pads is arranged so as to protrude more toward the article than other suction pads.
  5. 　前記複数種類の吸着パッドのうち少なくとも１つは、退避機構が設けられた退避機構付き吸着パッドである
    　請求項１に記載のピッキングシステム。     The picking system according to claim 1, wherein at least one of the plurality of types of suction pads is a suction pad with a retraction mechanism.
  6. 　前記退避機構付き吸着パッドは、磁気吸引力により退避移動を係止する磁石を有し、
    　前記退避機構付き吸着パッドに加わる力が前記磁気吸引力より大きい場合に、前記退避機構付き吸着パッドが退避移動する
    　請求項５に記載のピッキングシステム。     The suction pad with an evacuation mechanism has a magnet that locks evacuation movement by magnetic attraction force,
    The picking system according to claim 5, wherein when the force applied to the suction pad with a retraction mechanism is larger than the magnetic attraction force, the suction pad with a retraction mechanism moves to retreat.
  7. 　前記制御部は、
    　物品の位置または姿勢を異なる状態に再配置する第１ステップと、
    　前記第１ステップにおいて再配置した物品を把持する第２ステップと、
    　前記第２ステップにおいて把持した物品を搬送する第３ステップと、を実行する
    　請求項１に記載のピッキングシステム。     The control unit includes:
    a first step of rearranging the position or orientation of the article to a different state;
    a second step of grasping the article rearranged in the first step;
    The picking system according to claim 1, further comprising a third step of transporting the article gripped in the second step.
  8. 　前記複数種類の吸着パッドは、第１吸着パッドと、前記第１吸着パッドよりも物品との接触面積が小さい第２吸着パッドと、を含み、
    　前記制御部は、前記第１ステップにおいて、前記第２吸着パッドを使用して物品の位置または姿勢を異なる状態に再配置する
    　請求項７に記載のピッキングシステム。     The plurality of types of suction pads include a first suction pad and a second suction pad having a smaller contact area with the article than the first suction pad,
    The picking system according to claim 7, wherein in the first step, the control unit uses the second suction pad to rearrange the position or posture of the article to a different state.
PCT/JP2023/015370 2022-08-29 2023-04-17 Picking system WO2024047927A1 (en)

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JP2022-135583 2022-08-29
JP2022135583A JP2024032115A (en) 2022-08-29 2022-08-29 picking system

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010005736A (en) * 2008-06-26 2010-01-14 Fuji Heavy Ind Ltd Dangerous object gripping device
JP2019104090A (en) * 2017-12-13 2019-06-27 日本碍子株式会社 Columnar honeycomb structure transfer method and transfer device
JP2020044598A (en) * 2018-09-18 2020-03-26 株式会社東芝 Gripping device and carrying device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010005736A (en) * 2008-06-26 2010-01-14 Fuji Heavy Ind Ltd Dangerous object gripping device
JP2019104090A (en) * 2017-12-13 2019-06-27 日本碍子株式会社 Columnar honeycomb structure transfer method and transfer device
JP2020044598A (en) * 2018-09-18 2020-03-26 株式会社東芝 Gripping device and carrying device

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