阅读说明：本技术 机器人手、机器人以及机器人系统 (Robot hand, robot, and robot system ) 是由 东健太郎 石崎敬之 吉田将崇 冈光信 镰田智志 于 2020-04-09 设计创作，主要内容包括：移动物品的机器人手(120；120A；120B；120C)具备：第一输送机(130),具有形成输送所述物品的第一输送面(134a)的无接头状的第一输送带(134)并驱动所述第一输送带；和引入装置(140；140A),与所述物品接触,将所述物品引入至所述第一输送面上,所述引入装置在所述引入装置的引入方向的相反方向、和将所述物品装载至所述第一输送面上时的所述第一输送面的移动方向的相反方向中的至少一个方向上,比所述第一输送机突出。(A robot hand (120; 120A; 120B; 120C) for moving an article is provided with: a first conveyor (130) that has a first endless conveyor belt (134) forming a first conveying surface (134a) on which the article is conveyed and that drives the first conveyor belt; and an introducing device (140; 140A) that comes into contact with the article and introduces the article onto the first conveying surface, the introducing device protruding from the first conveyor in at least one of a direction opposite to a direction of introduction by the introducing device and a direction opposite to a direction of movement of the first conveying surface when the article is loaded onto the first conveying surface.)

1. A robot hand, moving an article, characterized in that,

the disclosed device is provided with:

a first conveyor that has a first endless conveyor belt that forms a first conveying surface on which the article is conveyed and that drives the first conveyor belt; and

an introducing device in contact with the articles to introduce the articles onto the first conveying surface,

the introducing device protrudes from the first conveyor in at least one of a direction opposite to an introducing direction of the introducing device and a direction opposite to a moving direction of the first conveying surface when the article is loaded on the first conveying surface.

2. A robotic hand as claimed in claim 1 in which,

the introducing device includes a second conveyor having a jointless second conveyor belt forming a second conveying surface for conveying the articles and driving the second conveyor belt,

the second conveying surface is opposed to the first conveying surface,

the second conveyor is configured to protrude from the first conveyor in a direction opposite to a direction of movement of the second conveying surface when the article is introduced.

3. A robotic hand as claimed in claim 2 in which,

the first conveyor and the second conveyor are respectively provided with a conveyor driving motor for driving the first conveyor belt and the second conveyor belt.

4. A robotic hand as claimed in claim 2 or 3 in which,

the device is also provided with a first moving device,

at least one of the first conveyor and the second conveyor is movable in a direction in which the first conveyor approaches each other and in a direction in which the first conveyor separates from each other, that is, a first conveyor moving direction,

the first moving device moves at least one of the first conveyor and the second conveyor in the first conveyor moving direction.

5. A robotic hand as claimed in any one of claims 2 to 4 in which,

the device is also provided with a second moving device,

at least one of the first conveyor and the second conveyor is movable in a second conveyor moving direction which is at least one of a moving direction of the first conveying surface and a moving direction of the second conveying surface,

the second moving device moves at least one of the first conveyor and the second conveyor in the second conveyor moving direction.

6. A robotic hand as claimed in any one of claims 2 to 5 in which,

the length of the second conveyor in the moving direction of the second conveying surface is greater than the length of the first conveyor in the moving direction of the first conveying surface.

7. A robotic hand as claimed in any one of claims 1 to 6 in which,

the device further comprises a detection device for detecting that the introducing device has contacted the article.

8. A robotic hand as claimed in claim 7 in which,

the robot hand is connected to a robot arm having a plurality of joints driven by an arm driving device having a servo motor,

the detection device acquires information on the operation of the arm drive device, and detects that the drawing device has contacted the article using the information on the operation of the arm drive device.

9. A robot is characterized by comprising:

the robotic hand of any one of claims 1 to 8;

a robot arm connected to the robot hand; and

and a control device for controlling the actions of the robot hand and the robot arm.

10. The robot of claim 9,

the robot arm has a plurality of joints driven by an arm driving device having a servo motor,

the first conveyor has a servo motor as a conveyor driving motor that generates a driving force,

the drawing device has a servo motor generating a driving force,

the control device controls the operation of the servomotor of the first conveyor, the operation of the servomotor of the drawing device, and the operation of the servomotor of the arm drive device, and draws the article onto the first conveying surface by driving the drawing device that has contacted the article.

11. A robot system is characterized by comprising:

the robot of claim 9 or 10; and

an operating device for operating the robot.

Technical Field

The present disclosure relates to a robot hand, a robot, and a robot system.

Background

Transfer robots for transferring articles have been known in the related art. For example, patent document 1 discloses an industrial robot including a belt conveyor at the end of a hand. The robot of patent document 1 is a belt conveyor that transfers a workpiece transferred by a conveyor such as a production line to the end of a hand. After the transfer, the robot moves the belt conveyor to the transfer location, and moves the belt conveyor backward while feeding out the workpiece by the belt conveyor, thereby transferring the workpiece.

Patent document 1: japanese patent laid-open publication No. 2002-

The robot of patent document 1 can load a workpiece conveyed by a conveyor or the like onto a belt conveyor, but cannot load a stationary workpiece such as a stacked workpiece onto a belt conveyor.

Disclosure of Invention

Accordingly, an object of the present disclosure is to provide a robot hand, a robot, and a robot system capable of loading and moving a stationary article on a conveyor.

In order to achieve the above object, a robot hand according to one aspect of the present disclosure is a robot hand that moves an article, including: a first conveyor that has a first endless conveyor belt and drives the first conveyor belt, the first conveyor belt forming a first conveying surface on which the article is conveyed; and an introducing device that comes into contact with the article and introduces the article onto the first conveying surface, wherein the introducing device protrudes from the first conveyor in at least one direction of a direction opposite to an introduction direction of the introducing device and a direction opposite to a moving direction of the first conveying surface when the article is loaded onto the first conveying surface.

A robot according to an aspect of the present disclosure includes: a robot hand according to one embodiment of the present disclosure; a robot arm connected to the robot hand; and a control device for controlling the operation of the robot hand and the robot arm.

A robot system according to an aspect of the present disclosure includes: a robot according to one embodiment of the present disclosure; and an operating device for operating the robot.

According to the technique of the present disclosure, a stationary article can be loaded onto a conveyor of a robot hand and moved.

Drawings

Fig. 1 is a diagram showing an example of a configuration of a robot system according to an embodiment.

Fig. 2 is a side view showing an example of the configuration of the robot according to the embodiment.

Fig. 3 is a side view showing an example of the configuration of the robot hand according to the embodiment.

Fig. 4 is a block diagram showing an example of a functional configuration of the control device according to the embodiment.

Fig. 5 is a block diagram showing an example of the configuration of the control device and each driving device according to the embodiment.

Fig. 6 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 7 is a side view showing one operation of the robot system according to the embodiment.

Fig. 8 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 9 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 10 is a side view showing an example of the configuration of the robot hand according to modification 1.

Fig. 11 is a side view showing an example of the configuration of the robot hand according to modification 2.

Fig. 12 is a side view showing an example of the configuration of the robot hand according to modification 3.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are all general or specific examples. Among the components in the following embodiments, components not described in the technical means representing the highest concept will be described as arbitrary components. Each of the drawings is a schematic diagram and is not necessarily strictly illustrated. In the drawings, substantially the same components are denoted by the same reference numerals, and redundant description may be omitted or simplified.

< robot System 1 >

Fig. 1 is a diagram showing an example of a configuration of a robot system 1 according to an embodiment. As shown in fig. 1, in the present embodiment, a robot system 1 is a system that transports an article a using a robot 100. For example, the robot 100 can place and stack the article a conveyed by a conveyor or the like at a predetermined place. The robot 100 takes out the article a from the stack of articles a stacked in a predetermined place and places the article a on another device or the like. Hereinafter, the article a conveyed by the robot 100 will be described assuming a rectangular parallelepiped corrugated cardboard box, but the present invention is not limited thereto. The article to be conveyed may be any object that can be placed on the first conveyor 130 described below, and may be another object having a predetermined shape or an object having no predetermined shape such as a rock.

The robot system 1 includes: a robot 100; and an operating device 210 for operating the robot 100. The operation device 210 is disposed apart from the robot 100, and the operator P can remotely operate the robot 100 by inputting to the operation device 210. The robot system 1 further includes: an imaging device 220 that images the operating state of the robot 100; and an output device 230 that outputs information captured by the imaging device 220. The robot system 1 further includes a transport vehicle 240 to which the robot arm 110 of the robot 100 is fixed. In the present embodiment, the transport vehicle 240 includes a servomotor that drives the transport vehicle 240 using electric power as a power source, although this is not limitative. The transport Vehicle 240 may also be an AGV (Automated Guided Vehicle), for example. In addition, not all of the above-described components of the robot system 1 are necessary.

< robot 100 >

As shown in fig. 1, the robot 100 includes: a robot arm 110; a robot hand 120 mounted to a distal end of the robot arm 110; and a control device 170 for controlling the operation of the robot arm 110 and the robot hand 120. In the present embodiment, the robot 100 is configured as a vertical articulated robot, but is not limited thereto.

< operating device 210 >

As shown in fig. 1, the operation device 210 remotely operates the robot 100 and the transport vehicle 240 based on a command input by the operator P. The specific configuration of the operation device 210 is not particularly limited, but the operation device 210 includes an input device that receives an input by the operator P. Examples of the input device include, but are not limited to, a handle, an operation lever, a pedal, a button, a touch panel, a microphone, and a camera. The operation device 210 outputs a command corresponding to an operation input via the input device to the control device 170. The operation device 210 is connected to the control device 170 via wired communication or wireless communication. The form of wired and wireless communication may be any form.

The operation device 210 may output a command corresponding to each operation of the manual operation input by the operator P to the control device 170. Alternatively, the operation device 210 may output a command corresponding to the operation content of the automatic operation input by the operator P to the control device 170. For example, the operation device 210 may receive, as an input command, a displacement, a direction, a speed, an operation force, and the like of a handle, a joystick, and the like, may receive a press of a button, may receive a contact, a contact trajectory, a contact pressure, and the like on a screen of a touch panel, may receive an audio signal collected by a speaker, and may receive an analysis result of an image of the operator P captured by a camera. The operation force is a force applied to a handle or a joystick or the like by the operator P. The contact pressure is a pressing force of a finger or the like against the touch panel. The analysis result of the image of the operator P includes an instruction represented by a gesture or the like of the operator P.

< camera 220 >

As shown in fig. 1, the imaging device 220 images the operating state of the robot 100, the transport vehicle 240, and the like, and outputs a signal of the captured image to the output device 230. The image captured by the image capturing device 220 may be a still image or a moving image. Examples of the photographing device 220 are a digital still camera and a digital video camera. The imaging device 220 is connected to the operation device 210 and the output device 230 via wired communication or wireless communication. The imaging device 220 may perform operations such as execution and stop of imaging and change of imaging direction in accordance with an instruction input to the operation device 210.

< output device 230 >

As shown in fig. 1, the output device 230 is a display device that outputs a signal of an image acquired from the imaging device 220 as an image and displays the image to the operator P. Examples of the output device 230 include, but are not limited to, a Liquid Crystal Display (Liquid Crystal Display) and an organic or inorganic EL Display (Electro-Luminescence Display). The output device 230 may display an image for operation or the like output by the control device 170.

Detailed Structure of robot 100

[ Structure of the robot arm 110 ]

A detailed structure of the robot arm 110 of the robot 100 will be described. Fig. 2 is a side view showing an example of the configuration of the robot 100 according to the embodiment. As shown in fig. 2, the robot arm 110 of the robot 100 is fixed to the transport vehicle 240 by its base end portion. A robot hand 120 is connected to a distal end portion of the robot arm 110. The articulated robot arm 110 has 6 joint shafts JT1 to JT6 and 6 links 110a to 110f connected in sequence by these joint shafts. The robot arm 110 includes arm drive devices AM1 to AM6 that rotationally drive joint shafts JT1 to JT6, respectively. The operations of the arm driving devices AM1 to AM6 are controlled by the control device 170. In the present embodiment, the arm driving devices AM1 to AM6 each have a servomotor as an electric motor for driving them using electric power as a power source, although the invention is not limited thereto. The number of joint axes of the robot arm 110 is not limited to 6, and may be 7 or more, or 1 or more and 5 or less.

The joint shaft JT1 connects the upper surface of the base 241 of the transport vehicle 240 and the base end portion of the link 110a so as to be rotatable about a vertical axis perpendicular to the upper surface. The joint shaft JT2 connects the distal end portion of the link 110a and the base end portion of the link 110b to be rotatable about a horizontal axis. The joint shaft JT3 connects the distal end portion of the link 110b and the base end portion of the link 110c to be rotatable about a horizontal axis. The joint shaft JT4 connects the distal end portion of the link 110c and the base end portion of the link 110d so as to be rotatable about the longitudinal axis of the link 110 c. The joint shaft JT5 connects the distal end portion of the link 110d and the base end portion of the link 110e to each other so as to be rotatable about an axis in a direction orthogonal to the longitudinal direction of the link 110 d. The joint shaft JT6 connects the distal end portion of the link 110e and the base end portion of the link 110f so as to be rotatable in torsion with respect to the link 110 e. A robot hand 120 is attached to the distal end portion of the link 110 f.

[ Structure of robot hand 120 ]

The detailed structure of the robot hand 120 of the robot 100 will be described. Fig. 3 is a side view showing an example of the configuration of the robot hand 120 according to the embodiment. As shown in fig. 1 and 3, the robot hand 120 includes a first conveyor 130, a second conveyor 140, a base 150, and support portions 161 and 162.

The base 150 is mounted to a distal end portion of the link 110f of the robot arm 110. The base 150 has a plate-like shape. The base 150 supports the first conveyor 130 on the main surface 150a of the opposing main surfaces 150a and 150b, and is connected to the link 110f through the main surface 150 b.

The first conveyor 130 is disposed on the main surface 150a and fixed to the base 150. The second conveyor 140 is disposed apart from the first conveyor 130 in a first direction D1a, which is a direction perpendicular to the main surface 150 a. The first direction D1a is a direction away from the main surface 150a, and the second direction D1b, which is a direction opposite to the first direction D1a, is a direction toward the main surface 150 a.

The first conveyor 130 and the second conveyor 140 are belt conveyors. Although not limited to this, in the present embodiment, the length of the first conveyor 130 in the first conveying direction D2b described below is equal to the length of the second conveyor 140 in the second conveying direction D3b described below.

The first conveyor 130 can convey the article a loaded on the first conveying surface 134a in the first conveying directions D2a and D2b, which are opposite directions to each other. The first conveying surface 134a is a surface facing the first direction D1a, i.e., the second conveyor 140. The first conveyance directions D2a and D2b are the moving directions of the first conveyance surface 134a. For example, the first conveying direction D2a is a moving direction when the article a is moved and loaded on the first conveying surface 134a, and the first conveying direction D2b is a moving direction when the article a on the first conveying surface 134a is removed from the first conveying surface 134a.

The first conveyor 130 includes a drive roller 131, 1 or more driven rollers 132, a support bracket 133, a first conveyor belt 134, and a first driving device 135. The rollers 131 and 132 are aligned in the first conveying direction D2a or D2 b. The support bracket 133 supports the rollers 131 and 132. The first conveyor belt 134 is an endless belt, and is mounted around the rollers 131 and 132. The first conveyor belt 134 forms a first conveyor surface 134a, and the first conveyor surface 134a is an outer peripheral surface of a portion of the first conveyor belt 134 located in the first direction D1a with respect to the rollers 131 and 132.

In the present embodiment, the first driving device 135 includes a servomotor as an electric motor that drives the servomotor using electric power as a power source, although the present invention is not limited thereto. A servo motor is an example of a conveyor drive motor. The first driving device 135 drives the first conveyor belt 134 in a circulating manner by rotationally driving the drive roller 131. The first driving device 135 and the drive roller 131 are disposed at the end 130a of the first conveyor 130. The end 130a is the end of the first conveyor 130 in the first conveying direction D2a, and the end 130b is the end of the first conveyor 130 in the first conveying direction D2 b. The operation of the first driving means 135 is controlled by the control means 170. The first driving device 135 may receive power supply from the robot 100, a power supply source of the robot 100, another power supply source, or the like.

The first driving device 135 drives the drive roller 131 to rotate in one direction to rotate the first conveyor belt 134 in one direction around the rollers 131 and 132, thereby moving the first conveyor surface 134a in the first conveying direction D2 a. The first driving device 135 drives the drive roller 131 to rotate in the opposite direction, and the first conveyor belt 134 is looped in the opposite direction, thereby moving the first conveyor surface 134a in the first conveying direction D2 b.

The second conveyor 140 can convey the article a loaded on the second conveying surface 144a in the second conveying directions D3a and D3b, which are opposite directions to each other. The second conveyance surface 144a has a different orientation than the first conveyance surface 134a. Specifically, the second conveying surface 144a is a surface facing the first conveyor 130 in the second direction D1b, and faces the first conveying surface 134a. The second conveying directions D3a and D3b are the moving directions of the second conveying surface 144a. For example, the second conveying direction D3a is a moving direction when the article a is moved onto the second conveying surface 144a, and the second conveying direction D3b is a moving direction when the article a on the second conveying surface 144a is removed from the second conveying surface 144a.

The second conveyor 140 includes a drive roller 141, 1 or more driven rollers 142, a support bracket 143, a second conveyor belt 144, and a second driving device 145. The rollers 141 and 142 are aligned in the second conveying direction D3a or D3 b. The support bracket 143 extends in the second conveyance direction D3a or D3b, and supports the rollers 141 and 142. The second conveyor belt 144 is an endless belt, and is stretched around the rollers 141 and 142. The second conveyor belt 144 forms a second conveyor surface 144a, and the second conveyor surface 144a is an outer peripheral surface of a portion of the second conveyor belt 144 located in the second direction D1b with respect to the rollers 141 and 142.

In the present embodiment, the second driving device 145 includes a servomotor as an electric motor that drives the servomotor using electric power as a power source, although the present invention is not limited thereto. A servo motor is an example of a conveyor drive motor. The second driving device 145 drives the second conveyor belt 144 in a circulating manner by rotationally driving the drive roller 141. The second driving device 145 and the roller 141 are disposed at the end 140a of the second conveyor 140. The end 140a is the end of the second conveyor 140 in the second conveying direction D3a, and the end 140b is the end of the second conveyor 140 in the second conveying direction D3 b. The operation of the second drive device 145 is controlled by the control device 170. The second driving device 145 may receive power supply from the robot 100, a power supply source of the robot 100, another power supply source, or the like.

The second driving device 145 rotates the drive roller 141 in one direction to cause the second conveyor belt 144 to wrap around the rollers 141 and 142 in one direction, thereby moving the second conveyor surface 144a in the second conveying direction D3 a. The second driving device 145 rotates the drive roller 141 in the opposite direction to rotate the second conveyor belt 144 in the opposite direction, thereby moving the second conveyor surface 144a in the second conveying direction D3 b.

The support portions 161 and 162 are plate-shaped members extending from the base 150 in the first direction D1a, but are not limited thereto. The support portions 161 and 162 are fixed to and supported by the base 150. The support portions 161 and 162 are disposed on both sides of the second conveyor 140 with respect to the second conveying directions D3a and D3b, and disposed on both sides of the first conveyor 130 with respect to the first conveying directions D2a and D2 b. The support portions 161 and 162 are connected to the second conveyor 140 and support the second conveyor 140. The support portions 161 and 162 maintain the second conveyor 140 in a state of being separated from the first conveyor 130 in the first direction D1 a. The support portions 161 and 162 may be connected to the first conveyor 130 to support the first conveyor 130.

In the present embodiment, the distance between the first conveyance surface 134a and the second conveyance surface 144a is set to a distance enough for the article a to pass through. For example, the distance between the first conveyance surface 134a and the second conveyance surface 144a is set to a distance at which the article a can contact both the first conveyance surface 134a and the second conveyance surface 144a when the article a is positioned between the first conveyance surface 134a and the second conveyance surface 144a. However, the distance between the first conveying surface 134a and the second conveying surface 144a may be equal to or greater than the above distance.

In the present embodiment, the first conveyance directions D2a and D2b are substantially parallel to the second conveyance directions D3a and D3b, and the first conveyance surface 134a is substantially parallel to the second conveyance surface 144a, although not limited thereto. The first conveying directions D2a and D2b and the second conveying directions D3a and D3b are substantially perpendicular to the first direction D1a and the second direction D1 b. However, the first conveying directions D2a and D2b may be inclined with respect to the second conveying directions D3a and D3b, or may be inclined with respect to the first direction D1a and the second direction D1 b.

For example, the first conveyance directions D2a and D2b may be inclined with respect to the second conveyance directions D3a and D3b so that the first conveyance surface 134a and the second conveyance surface 144a approach or separate from each other as they go toward the first conveyance direction D2 a. That is, when projected onto a plane parallel to the first conveyance directions D2a and D2b and perpendicular to the first conveyance surface 134a, the first conveyance directions D2a and D2b may be inclined with respect to the second conveyance directions D3a and D3 b. Alternatively, the first conveyance directions D2a and D2b may be inclined or orthogonal to the second conveyance directions D3a and D3b when projected on a plane parallel to the first conveyance surface 134a or the second conveyance surface 144a. Alternatively, both of them may be used.

The second conveyor 140 is disposed so as to protrude from the first conveyor 130 in the second conveying direction D3b of the second conveyor belt 144. In the present embodiment, the second conveyor 140 is disposed so as to protrude from the first conveyor 130 in the first conveying direction D2b of the first conveyor belt 134. That is, the end 140b of the second conveyor 140 protrudes beyond the end 130b of the first conveyor 130. In addition, when the first conveying direction D2b and the second conveying direction D3b intersect obliquely or are orthogonal to each other, the second conveyor 140 may protrude from the first conveyor 130 in the first conveying direction D2b or the second conveying direction D3 b. Thereby, the second conveyor 140 protrudes from the first conveyor 130 in at least one of the first conveying direction D2b and the second conveying direction D3 b. Here, the second conveyor 140 is an example of an introducing device, and the second conveying direction D3a is an example of an introducing direction and a moving direction of the second conveying surface 144a at the time of introducing an article. The first conveying direction D2a is an example of the moving direction of the first conveying surface 134a when loading the article on the first conveying surface 134a.

The first conveyor 130 is provided with a first sensor 136, and the second conveyor 140 is provided with a second sensor 146. The first sensor 136 detects the article a on the first conveyance surface 134a. The second sensor 146 detects the article a on the second conveying surface 144a. The first sensor 136 and the second sensor 146 output detection signals to the control device 170. The first sensor 136 and the second sensor 146 are not required.

For example, the first sensor 136 may be disposed near the end 130b of the first conveyor 130, and a direction intersecting the first conveying surface 134a perpendicular to the first conveying directions D2a and D2b and the first direction D1a and the second direction D1b may be the detection target direction. The first sensor 136 continuously detects the articles a on the first conveyance surface 134a, thereby detecting whether or not the entire articles a are loaded on the first conveyance surface 134a.

For example, the second sensor 146 may be disposed near the end 140a of the second conveyor 140, and may set a direction crossing the second conveying surface 144a, which is perpendicular to the second conveying directions D3a and D3b and the first direction D1a and the second direction D1b, as the detection target direction. The second sensor 146 detects the article a on the second conveying surface 144a, thereby detecting whether or not the article a has reached the vicinity of the end 140a.

The first sensor 136 and the second sensor 146 are sensors for detecting the approach of an object such as the article a to the sensors. In the present embodiment, the sensors 136 and 146 are non-contact sensors, but the present invention is not limited thereto. For example, the proximity sensor may be a sensor that detects the proximity of an object by detecting the proximity or distance to the object, such as a photoelectric sensor (also referred to as a "beam sensor"), a laser sensor, a Lidar (Lidar), or an ultrasonic sensor.

< control device 170 >

The configuration of the control device 170 will be explained. The control device 170 controls the operations of the robot arm 110, the robot hand 120, and the transport vehicle 240 in accordance with a program stored in advance in a storage unit (not shown) based on an operation command or the like received from the operation device 210. The control device 170 controls the operations of the robot arm 110, the robot hand 120, and the transport vehicle 240 in association with each other, not individually, but in cooperation with each other. For example, the control device 170 reflects information acquired from the other 2 in one control of the robot arm 110, the robot hand 120, and the transport vehicle 240.

Fig. 4 is a block diagram showing an example of a functional configuration of the control device 170 according to the embodiment. The control device 170 includes, as functional components, an operation information processing unit 170a, an information output unit 170b, a first conveyor control unit 170c, a second conveyor control unit 170d, a transport vehicle control unit 170e, a transport vehicle position detection unit 170f, a hand position detection unit 170g, an arm control unit 170h, an arm position detection unit 170i, and a storage unit 170 j. These functional components perform operations linked to the operations of other components using information output from other components. In addition, not all of the above functional structural elements are necessary.

The functions of the respective components of the operation information Processing unit 170a, the information output unit 170b, the first conveyor control unit 170c, the second conveyor control unit 170d, the transport vehicle control unit 170e, the transport vehicle position detection unit 170f, the hand position detection unit 170g, the arm control unit 170h, and the arm position detection unit 170i may be realized by a computer system (not shown) including a processor such as a cpu (central Processing unit), a volatile Memory such as a ram (random Access Memory), and a non-volatile Memory such as a ROM (Read-Only Memory). Some or all of the functions of the above-described components may be realized by the CPU executing a program recorded in the ROM using the RAM as a work area. In addition, a part or all of the functions of the components may be realized by the computer system, may be realized by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or may be realized by a combination of a computer system and a hardware circuit.

The storage unit 170j can store various information and read the stored information. The storage unit 170j is implemented by a semiconductor memory such as a volatile memory or a nonvolatile memory, or a storage device such as a hard disk or ssd (solid State drive). The storage unit 170j stores parameters, thresholds, and the like used for the respective components. The storage unit 170j may store programs executed by the respective components.

The operation information processing unit 170a outputs an instruction of an operation acquired from the operation device 210 to each component of the control device 170. Each component operates according to a program corresponding to the instruction.

The information output unit 170b outputs output information such as operation results and detection results of the respective components of the control device 170 to the operation device 210 and/or the output device 230. The information output unit 170b outputs a screen for operation of the robot 100 to the operation device 210 and/or the output device 230.

The first conveyor control unit 170c controls the operation of the first driving device 135 of the first conveyor 130 in accordance with the instruction obtained via the operation information processing unit 170 a. Specifically, the first conveyor controller 170c controls the circulating driving operation of the first conveyor belt 134 by the first driving device 135 for moving the first conveyor surface 134a in the first conveying direction D2a or D2 b. For example, it may be: when the first sensor 136 detects the article a, the first conveyor controller 170c activates the first driving device 135 to move the first conveying surface 134a in the first conveying direction D2 a. Further, it may be: when the first sensor 136 that detects the article a does not detect the article a, the first conveyor control unit 170c stops the first driving device 135. Alternatively, it may be: when the second sensor 146 detects the article a, the first conveyor controller 170c stops the first driving device 135.

The second conveyor control unit 170d controls the operation of the second driving device 145 of the second conveyor 140 in accordance with the instruction obtained via the operation information processing unit 170 a. Specifically, the second conveyor controller 170D controls the circulating driving operation of the second conveyor belt 144 by the second driving device 145 for moving the second conveyor surface 144a in the second conveying direction D3a or D3 b. For example, it may be: when the hand position detection unit 170g detects contact between the second conveyor 140 and the article a, the second conveyor control unit 170D activates the second driving device 145 to move the second conveying surface 144a in the second conveying direction D3 a. Further, it may be: when the second sensor 146 detects the article a, the second conveyor control unit 170d stops the second driving device 145. Alternatively, it may be: when the first sensor 136 that detects the article a does not detect the article a, the second conveyor control unit 170d stops the second driving device 145.

The hand position detection unit 170g and the control device 170 are examples of detection devices. The hand position detecting unit 170g detects the position of the second conveyor 140 with respect to the article a. Specifically, the hand position detector 170g obtains the output current signals from the arm driving devices AM1 to AM6 of the robot arm 110, and detects the output loads generated in the arm driving devices AM1 to AM6. The hand position detection unit 170g obtains information of input loads to be generated in the arm driving devices AM1 to AM6 from the arm control unit 170 h. The hand position detecting unit 170g detects whether or not the second conveyor 140 is in contact with the article a based on the difference between the output load and the input load of each of the arm driving devices AM1 to AM6. For example, it may be: when the difference between the loads of the arm driving devices AM1 to AM6 is equal to or greater than the threshold value, the hand position detecting unit 170g detects that the second conveyor 140 is in contact with the article a.

Here, the output currents, the input loads, and the output loads of the arm driving devices AM1 to AM6 are examples of information on the operations of the arm driving devices AM1 to AM6. The information on the operations of the arm drive devices AM1 to AM6 may include the amounts of deformation of the joint shafts JT1 to JT6 and the links 110a to 110 f. The presence or absence of contact between the second conveyor 140 and the article a can also be detected using the amount of deformation.

The hand position detecting unit 170g acquires information such as the position, posture, moving direction, and moving speed of the link 110f of the robot arm 110 from the arm position detecting unit 170i, and acquires information of the position, posture, moving direction, and moving speed of the robot hand 120 using the information. The hand position detecting unit 170g detects the position and posture of the second conveyor 140 using the above information. For example, the hand position detecting unit 170g may detect whether or not the second conveying surface 144a is in contact with the article a based on whether or not the second conveyor 140 is in contact with the article a, and the position and posture of the second conveyor 140.

The arm control unit 170h controls the operations of the arm driving devices AM1 to AM6 in accordance with the command acquired via the operation information processing unit 170a, thereby causing the robot arm 110 to perform the corresponding operation. The arm control unit 170h operates the robot arm 110 based on the position, posture, moving direction, moving speed, and the like of each link 110a to 110f of the robot arm 110 acquired from the arm position detection unit 170 i.

The arm position detection unit 170i detects the position and posture of each link 110a to 110f of the robot arm 110. Specifically, the arm position detecting unit 170i acquires information on the amount of movement such as the amount of rotation from the arm driving devices AM1 to AM6, and detects the position and posture of each of the links 110a to 110f based on the amount of movement. The arm position detection unit 170i detects the movement direction and movement speed of each link 110a to 110f based on the change in the position and posture of each link 110a to 110 f.

The transport vehicle control unit 170e controls the operation of the transport drive device 240a of the transport vehicle 240 in accordance with the command acquired via the operation information processing unit 170a, thereby causing the transport vehicle 240 to perform a corresponding operation. The transport vehicle control unit 170e operates the transport vehicle 240 based on the position, the orientation, and the like of the transport vehicle 240 acquired from the transport vehicle position detection unit 170 f.

The transport vehicle position detection unit 170f detects the position and the direction of the transport vehicle 240. Specifically, the transport vehicle position detection unit 170f acquires information on the amount of operation such as the amount of rotation of the servomotor from the transport drive device 240a, and detects the position and the direction of the transport vehicle 240 based on the amount of operation. The transport vehicle 240 may also include a position measuring device such as a gps (global Positioning system) receiver and an IMU (Inertial Measurement Unit). The transport vehicle position detection unit 170f may detect the position and orientation of the transport vehicle 240 using a received signal of the GPS receiver or acceleration, angular velocity, or the like measured by the IMU. The transport vehicle position detection unit 170f may detect a weak induced current from, for example, an electric wire buried in the ground, and detect the position and the direction of the transport vehicle 240 based on the detected value.

An example of the relationship between the control device 170 and each driving device will be described. Fig. 5 is a block diagram showing an example of the configuration of the control device 170 and each driving device according to the embodiment. As shown in fig. 5, the control device 170 is configured to input/output information and commands to/from the servo motors of the arm driving devices AM1 to AM6, the servo motor of the first driving device 135, the servo motor of the second driving device 145, and the servo motor of the transport driving device 240 a. The controller 170 controls the operations of all the servomotors of the arm drivers AM1 to AM6, the first driver 135, the second driver 145, and the transport driver 240 a.

Each servomotor includes: an electric motor; and an encoder that detects a rotation angle of a rotor of the electric motor. Each servo motor operates the electric motor in accordance with a command and information output from the control device 170, and outputs a detection value of the encoder to the control device 170. The control device 170 detects the rotation amount, rotation speed, and the like of the rotor of each servomotor based on the detection value of the encoder fed back from the servomotor, and controls the start of rotation, stop of rotation, rotation speed, and rotation torque of the servomotor using the detection results. Thus, the control device 170 can stop each servomotor at an arbitrary rotational position, rotate each servomotor at an arbitrary rotational speed, and operate each servomotor at an arbitrary rotational torque. Accordingly, the control device 170 can operate the robot arm 110, the robot hand 120, and the transport vehicle 240 in various and fine manners.

< actions of the robot System 1 >

An example of the operation of the robot system 1 will be described. Specifically, an example of a loading operation in which the robot 100 loads the uppermost article a1 of the articles a stacked vertically on the robot hand 120 will be described. The operation is assumed to be a master-slave operation in which the operator P uses the operation device 210 to cause the robot 100 and the transport vehicle 240 to perform the respective operations. In this case, for example, the master arm located at the hand of the operator P may be configured by the operation device 210, and the remote slave arm may be configured by the robot 100. Then, the slave arm is configured to follow the movement of the master arm given by the operator P. This makes it easy to cause the slave arm to accurately perform the operation desired by the operator P. Further, the operator P can easily sense the movement of the slave arm via the master arm.

Fig. 6 to 9 are side views each showing one of the operations of the robot system 1 according to the embodiment. As shown in fig. 1, first, in the robot moving step, the operator P inputs a command to the operation device 210 to move the transport vehicle 240 to the stack of articles a including the article a1 to be carried out. At this time, the operator P may input the position information of the destination to the operation device 210, and the control device 170 may automatically run the transport vehicle 240 according to the information. Alternatively, the operator P may operate the operation device 210 to run the transport vehicle 240 while visually checking it through a screen or the like displayed on the output device 230.

Next, as shown in the hand moving step of fig. 6, after the transport vehicle 240 reaches the front of the article a1, the operator P operates the operation device 21 while visually checking it via the screen of the output device 230, and operates the robot arm 110 to move the robot hand 120 above the article a 1. Specifically, robot hand 120 is moved such that second conveyor 140 is positioned above article a1 and first conveyor 130 is positioned to the side of article a1, with second conveyor 140 positioned above first conveyor 130. The control device 170 outputs the posture information of the robot hand 120 to the operation device 210 and the like, and the operator P adjusts the posture of the robot hand 120 based on the posture information.

Next, as shown in the pressing step of fig. 7, the operator P moves the robot hand 120 downward, and presses the second conveying surface 144a of the end portion 140b of the second conveyor 140 from above while contacting the upper surface of the article a 1. The control device 170 outputs information indicating whether or not the second conveyor 140 is in contact with the article a1 to the operation device 210 and the like. The operator P stops the lowering of the robot hand 120 in a pressed state. Further, it may be: when the control device 170 detects contact or pressing of the second conveyor 140 with the article a1, the lowering of the robot hand 120 is automatically stopped. At this time, the first conveyor 130 is positioned laterally below the article a 1.

Next, as shown in the drawing step of fig. 8, the operator P activates the second driving device 145 of the second conveyor 140 after the descent of the robot hand 120 is stopped. The second driving device 145 drives the second conveyor belt 144 to move the second conveying surface 144a in the second conveying direction D3 a. As a result, the article a1 is moved, i.e., drawn, in the second conveying direction D3a by the frictional force between the second conveyor belt 144 and the article a1 and loaded on the first conveying surface 134a of the first conveyor 130. The coefficient of friction between second conveyor belt 144 and article a1 is preferably greater than the coefficient of friction between article a1 and the underlying article a to enable second conveyor belt 144 to stably induct article a 1. The control device 170 may automatically activate the second driving device 145.

Next, as shown in the placing step of fig. 9, when at least a part of the article a1 is placed on the first conveying surface 134a, the operator P activates the first driving device 135 of the first conveyor 130. The first driving device 135 drives the first conveyor belt 134 to move the first conveying surface 134a in the first conveying direction D2 a. When the first sensor 136 detects the article a1, the control device 170 outputs the detection result to the operation device 210 and the like. The operator P may also activate the first driving device 135 based on the detection result of the first sensor 136. Alternatively, the control device 170 may automatically activate the first driving device 135 based on the detection result of the first sensor 136.

Similarly to the arm driving devices AM1 to AM6, the control device 170 may detect contact between the article a1 and the first conveyor belt 134 based on a difference between an output load and an input load of the second driving device 145, and determine that at least a part of the article a1 is loaded on the first conveyor surface 134a based on the detection result.

The first conveyor belt 134 driven by the first driving device 135 moves the article a1 in the first conveying direction D2a, and the article a1 is loaded on the first conveying surface 134a as a whole. Meanwhile, the first sensor 136 continuously detects the article a 1. When the article a1 is mounted on the first conveying surface 134a in its entirety and the first sensor 136 fails to detect the article a1, the controller 170 outputs the detection result to the operation device 210 and the like. When the second sensor 146 detects the article a1, the control device 170 outputs the detection result to the operation device 210 and the like.

In addition, the second driving device 145 may be operated or stopped during the operation of the first driving device 135. That is, the article a1 may be drawn onto the first conveying surface 134a by the first driving device 135 alone, or may be drawn by the first driving device 135 and the second driving device 145 in cooperation. In this example, the first driving device 135 and the second driving device 145 are coupled to each other.

The operator P stops the first driving device 135 and the second driving device 145 based on the detection result indicating non-detection of the first sensor 136 or the detection result indicating detection of the second sensor 146. The stop time points of the first driving device 135 and the second driving device 145 may be different. For example, the second driving device 145 may be stopped first, and the stop time of the second driving device 145 may be an output time indicating a non-detection result of the first sensor 136. Further, the control device 170 may automatically stop the first driving device 135 and the second driving device 145 based on a detection result indicating non-detection of the first sensor 136 or a detection result indicating detection of the second sensor 146.

Next, in the carry-out step, after the placement of the article a1 on the first conveying surface 134a is completed, the operator P operates the robot arm 110 to carry out the article a1 placed on the robot hand 120 from the stack of articles a and move the article a1 to the carry-out destination.

In the above, at least one of the operations of the respective steps or at least a part of a series of the operations from the moving step to the carrying-out step may be automatically performed by the control device 170.

< Effect etc. >

As described above, the robot hand 120 according to the embodiment includes: a first conveyor 130 that has a first endless belt 134 forming a first conveying surface 134a on which articles are conveyed and drives the first belt 134; and a second conveyor 140 as an introducing device that comes into contact with the article to introduce the article onto the first conveying surface 134a. The second conveyor 140 protrudes from the first conveyor 130 in at least one of a second conveying direction D3b, which is a direction opposite to the second conveying direction D3a as a direction of drawing the articles, and a first conveying direction D2b, which is a direction opposite to the first conveying direction D2a, which is a direction of moving the first conveying surface 134a when the articles are loaded on the first conveying surface 134a.

According to the above configuration, the robot hand 120 can bring the second conveyor 140 into contact with the article before the first conveyor 130, and can pull the article onto the first conveying surface 134a. For example, it is difficult to move and load an article placed on another article onto the first conveying surface 134a only by using the first conveyor 130. The robot hand 120 presses the second conveyor belt 144 of the second conveyor 140 against the top surface of the article, for example, to operate the second conveyor 140. The second conveyor 140 is able to move the articles into contact with the first conveyor belt 134 by the action of friction between the second conveyor belt 144 and the articles. The robot hand 120 operates the first conveyor 130, and can load the article onto the first conveying surface 134a by the action of the frictional force between the first conveyor belt 134 and the article. Thereby, the robot hand 120 can load and move the stationary article onto the first conveyor 130.

In the robot hand 120 according to the embodiment, the following may be used: the second conveyor 140 has a second endless belt 144 forming a second conveying surface 144a on which the article is conveyed, and drives the second belt 144, and the second conveying surface 144a faces the first conveying surface 134a. The second conveyor 140 may be disposed to protrude from the first conveyor 130 in a second conveying direction D3b, which is a direction opposite to the second conveying direction D3a, which is a moving direction of the second conveying surface 144a when articles are introduced. According to the above configuration, the robot hand 120 can pull the article onto the first conveying surface 134a by pressing the second conveyor belt 144 on the upper surface of the article. Thus, the robot hand 120 can load the first conveyor 130 with an article having no space on the side.

In the robot hand 120 according to the embodiment, the first conveyor 130 and the second conveyor 140 may have the first driving device 135 and the second driving device 145, respectively, each including a conveyor driving motor that drives the first conveyor belt 134 and the second conveyor belt 144. According to the above configuration, the robot hand 120 drives the first conveyor 130 and the second conveyor 140 using electric power as a power source. Therefore, the robot hand 120 does not require piping required for the case where air pressure, hydraulic pressure, or the like is used as a drive source. The robot hand 120 can receive power supply from a power supply source of the robot 100 or the like. This improves the degree of freedom in setting and moving the robot hand 120.

The robot hand 120 according to the embodiment may further include the control device 170 as a detection device for detecting that the second conveyor 140 has contacted the article. According to the above configuration, the second conveyor 140 and the article can be reliably brought into contact.

The robot hand 120 according to the embodiment may be connected to the robot arm 110 having a plurality of joints driven by the arm driving devices AM1 to AM6 having servo motors, and the control device 170 may acquire information on the operations of the arm driving devices AM1 to AM6 and detect that the second conveyor 140 has contacted the article using the information. According to the above structure, a dedicated device for detecting the contact of the second conveyor 140 with the article is not required. This can simplify the structure of the robot hand 120.

Further, the robot 100 according to the embodiment includes: a robot hand 120; a robot arm 110 connected to the robot hand 120; and a control device 170 for controlling the operation of the robot hand 120 and the robot arm 110. With the above configuration, the same effects as those of the robot hand 120 according to the embodiment can be obtained.

In the robot 100 according to the embodiment, the robot arm 110 may have a plurality of joints driven by the arm driving devices AM1 to AM6 each having a servo motor, the first conveyor 130 may have a servo motor as a conveyor driving motor for generating a driving force, and the second conveyor 140 may have a servo motor as a conveyor driving motor for generating a driving force. The controller 170 may control the operation of the servo motor of the first conveyor 130, the operation of the servo motor of the second conveyor 140, and the operation of the servo motors of the arm driving devices AM1 to AM6 to drive the second conveyor 140 that has contacted the article, thereby drawing the article onto the first conveying surface 134a. According to the above configuration, the robot 100 can smoothly move the second conveyor 140 to the first conveyor 130 while contacting the article. The servomotor can stop the rotor at an arbitrary rotational position, can rotationally drive the rotor at an arbitrary rotational speed, and can generate an arbitrary rotational torque. Accordingly, the first conveyor 130, the second conveyor 140, and the robot arm 110 can perform various and fine operations.

Further, the robot system 1 according to the embodiment includes: a robot 100; and an operating device 210 for operating the robot 100. With the above configuration, the same effects as those of the robot hand 120 according to the embodiment can be obtained.

(modification 1)

A robot hand 120A according to modification 1 of the embodiment will be described. In the robot hand 120A according to modification 1, the length of the second conveyor 140A is greater than the length of the first conveyor 130. Hereinafter, modified example 1 will be described with respect to points different from those of the embodiment, and description of points similar to those of the embodiment will be appropriately omitted.

Fig. 10 is a side view showing an example of the configuration of a robot hand 120A according to modification 1. As shown in fig. 10, the length of the second conveyor 140A of the robot hand 120A in the second conveying direction D3b is greater than the length of the first conveyor 130 in the first conveying direction D2 b. The end 140Aa of the second conveyor 140A is located at the same position as the end 130A of the first conveyor 130 in the first conveying direction D2a and the second conveying direction D3a, and the end 140Aa faces the end 130A. The end 140Ab of the second conveyor 140A is positioned to protrude from the end 130b of the first conveyor 130 in the first conveying direction D2b and the second conveying direction D3 b. The second sensor 146 is disposed near the end 140Aa of the second conveyor 140A.

According to the robot hand 120A of the modification 1 as described above, the same effects as those of the robot hand 120 of the embodiment can be obtained. In the robot hand 120A, the length of the second conveyor 140A in the second conveying direction D3b may be longer than the length of the first conveyor 130 in the first conveying direction D2 b. With the above configuration, the region where the first conveyance surface 134a and the second conveyance surface 144a face each other can be enlarged. Thus, the first conveyor 130 and the second conveyor 140A can efficiently pull the article a1 onto the first conveying surface 134a of the first conveyor 130 by engagement.

(modification 2)

A robot hand 120B according to modification 2 of the embodiment will be described. The robot hand 120B according to modification 2 includes a first moving device 180 that moves the second conveyor 140 in the directions D1a and D1B with respect to the first conveyor 130. Hereinafter, modified example 2 will be described with a focus on points different from those of embodiment and modified example 1, and description of points similar to those of embodiment and modified example 1 will be omitted as appropriate.

Fig. 11 is a side view showing an example of the configuration of a robot hand 120B according to modification 2. As shown in fig. 11, the robot hand 120B includes first moving devices 180 on both sides of the first conveyor 130 and the second conveyor 140 instead of the support portions 161 and 162 of the robot hand 120 according to the embodiment. The first moving device 180 constitutes a lifting device that lifts and lowers the second conveyor 140 in the approaching and separating directions, i.e., the approaching and separating directions, with respect to the first conveyor 130. The directions D1a and D1b are examples of approaching and separating directions.

The first moving device 180 has a lower member 181 fixed to the base 150, and an upper member 182 connected to the second conveyor 140. The lower member 181 and the upper member 182 are plate-shaped members, but are not limited thereto. The upper part 182 includes 2 feet 182a extending towards the second direction D1b towards the lower part 181. The 2 leg portions 182a are slidably fitted into 2 grooves 181a formed in the lower member 181 and extending in the second direction D1 b. Thereby, the upper member 182 is supported by the lower member 181 so as to be slidable in the directions D1a and D1 b. Further, the groove 181a may be a hole.

The first displacement device 180 has a threaded shaft 182b extending from the upper member 182 to the lower member 181 in a second direction D1 b. The screw shaft 182b is fixed to the upper member 182 and is slidable in the directions D1a and D1b together with the upper member 182.

The first moving device 180 includes an actuator 181b, a speed reducer 181c, a pulley 181d, a pulley 181e, a nut 181f, and an endless belt 181g in the lower member 181. The actuator 181b and the reducer 181c are fixed to the lower member 181. The nut 181f is rotatably fixed to the lower member 181 and connected to rotate integrally with the pulley 181 e. The actuator 181b may be provided on at least one of both sides of the first conveyor 130 and the second conveyor 140.

The threaded shaft 182b is screwed to the nut 181 f. In the present modification, the threaded shaft 182b and the nut 181f constitute a ball screw, and the thread groove of the threaded hole of the nut 181f is screwed into the thread groove on the outer peripheral surface of the threaded shaft 182b via balls (not shown). The endless belt 181g is mounted on the pulleys 181d and 181 e. The pulleys 181D and 181e and the nut 181f rotate about the axis of the threaded shaft 182b in the first direction D1 a.

The actuator 181b rotationally drives the pulley 181d via a speed reducer 181 c. In the present modification, the actuator 181b includes a servomotor as an electric motor that is driven by electric power as a power source, although the present modification is not limited thereto. The actuator 181b may receive power supply from the robot 100, a power supply source of the robot 100, another power supply source, or the like. The speed reducer 181c reduces the rotational speed of the rotational driving force of the actuator 181b and transmits the rotational driving force to the pulley 181 d.

According to the above configuration, the nut 181f is rotated in one direction by the rotational driving force in one direction generated by the actuator 181b, and thereby the screw shaft 182b, the upper member 182, and the second conveyor 140 are raised in the first direction D1a together. The nut 181f is rotated in the opposite direction by the rotational driving force in the opposite direction generated by the actuator 181b, and thereby the screw shaft 182b, the upper member 182, and the second conveyor 140 are lowered in the same direction as the second direction D1 b. The first direction D1a and the second direction D1b are examples of the moving direction of the first conveyor.

The first moving device 180 is not limited to the above configuration as long as it can move the second conveyor 140 in the directions D1a and D1b with respect to the first conveyor 130. For example, the upper member 182 may be directly moved by the actuator 181b without providing the screw shaft 182 b. Examples of such an actuator 181b include an electric linear actuator, a pneumatic cylinder, and a hydraulic cylinder.

Alternatively, for example, the first moving device 180 may be configured to include a rotating body such as a roller or a gear (pinion) that abuts against or engages with the upper member 182, and a driving device that rotationally drives the rotating body. The rotating body is rotationally driven, and thereby the upper member 182 and the second conveyor 140 move in the direction D1a or D1b together. Alternatively, the first moving device 180 may be configured to include a jointless belt or chain extending in the direction D1a or D1b and a driving device for driving the belt or chain in a circulating manner. The endless belt or chain is driven to rotate, whereby the upper member 182 and the second conveyor 140 move in the direction D1a or D1 b.

According to the robot hand 120B of the modification 2 described above, the same effects as those of the robot hand 120 according to the embodiment can be obtained. Further, it may be: the robot hand 120B includes the first moving device 180, and the second conveyor 140 is movable in the first direction D1a and the second direction D1B, which are the first conveyor moving direction as the direction of approaching and separating from the first conveyor 130. The first moving device 180 may also move the second conveyor 140 in the first conveyor moving direction. According to the above configuration, the robot hand 120B can change the interval between the first conveyor 130 and the second conveyor 140. For example, the robot hand 120B can set the interval between the first conveyor 130 and the second conveyor 140 to an interval corresponding to the size of the conveyance target article. Thus, the first conveyor 130 and the second conveyor 140 can guide the article onto the first conveying surface 134a in accordance with the size of the article. The robot hand 120B may have the configuration of the robot hand 120A according to modification 1.

The robot hand 120B according to modification 2 is configured to move the second conveyor 140 relative to the first conveyor 130, but is not limited to this. The robot hand 120B may be configured to move the first conveyor 130 relative to the second conveyor 140, or may be configured to move both the first conveyor 130 and the second conveyor 140.

(modification 3)

A robot hand 120C according to modification 3 of the embodiment will be described. The robot hand 120C according to modification 3 includes the second moving device 190, and the second moving device 190 moves the second conveyor 140 in the second conveying directions D3a and D3b with respect to the first conveyor 130. Modification 3 will be described below with reference to the points different from those of embodiments and modifications 1 to 2, and the description of the points similar to those of embodiments and modifications 1 to 2 will be omitted as appropriate.

Fig. 12 is a side view showing an example of the configuration of a robot hand 120C according to modification 3. As shown in fig. 12, the robot hand 120C includes a second moving device 190 at least one of the support portions 161 and 162 of the robot hand 120 according to the embodiment. The second moving device 190 slidably moves the second conveyor 140 in the second conveying directions D3a and D3b with respect to the first conveyor 130.

The support portions 161 and 162 support the second conveyor 140 so as to be slidable in the second conveying directions D3a and D3 b. The support portions 161 and 162 may support the support bracket 143C of the second conveyor 140 so as to be slidable through, for example, a groove or a protrusion engaged with or fitted to the support bracket 143C.

The second moving device 190 has an actuator 191, a speed reducer 192, a pinion 193, and a rack 194. The actuator 191 and the speed reducer 192 are fixed to the support portion 161 or 162. The rack 194 is fixed to the second conveyor 140 and extends in the second conveying direction D3a or D3 b. For example, the rack 194 may be fixed to the support bracket 143C, or may be integrated with the support bracket 143C as in the present modification. The pinion gear 193 is connected to the speed reducer 192, and is gear-engaged with the rack 194. The pinion gear 193 is rotationally driven by the actuator 191 via the speed reducer 192. In the present modification, the actuator 191 includes a servomotor as an electric motor that is driven by electric power as a power source, although the present modification is not limited thereto. The actuator 191 may receive power supply from the robot 100, a power supply source of the robot 100, another power supply source, or the like.

According to the above configuration, the pinion 193 is rotated in one direction by the rotational driving force in one direction generated by the actuator 191, and thereby the rack 194 and the second conveyor 140 are slid in the second conveying direction D3a in the same direction. The pinion 193 is rotated in the opposite direction by the rotational driving force in the opposite direction generated by the actuator 191, whereby the rack 194 and the second conveyor 140 slide in the same direction in the second conveying direction D3 b. In this way, the second moving device 190 slides the second conveyor 140 in the second conveying directions D3a and D3b by using a rack and pinion mechanism.

The second moving device 190 is not limited to the above configuration as long as it can move the second conveyor 140 in the second conveying directions D3a and D3b with respect to the first conveyor 130. For example, the pinion 193 and the rack 194 may not be provided, and the actuator 191 may directly move the second conveyor 140. Examples of such an actuator 191 are an electric linear actuator, a pneumatic cylinder, a hydraulic cylinder, and the like.

Alternatively, for example, the second moving device 190 may have a roller that engages with the support bracket 143C or the like and is driven to rotate by the actuator 191, instead of the pinion gear 193 and the rack gear 194. Alternatively, the second moving device 190 may have a screw shaft and a nut as in the first moving device 180, and the screw shaft and the second conveyor 140 may be moved in the second conveying directions D3a and D3b by rotating the nut by the actuator 191. Alternatively, the second moving device 190 may be configured to include a jointless belt or chain extending in the second conveying direction D3a or D3b and a driving device for driving the belt or chain in a circulating manner. The endless belt or chain moves the second conveyor 140 in the second conveying direction D3a or D3b by being driven in a loop.

According to the robot hand 120C according to the modification 3, the same effects as those of the robot hand 120 according to the embodiment can be obtained. Further, it may be: the robot hand 120C includes the second moving device 190, and the second conveyor 140 is movable in the second conveying directions D3a and D3b as the second conveyor moving direction. The second moving device 190 may move the second conveyor 140 in the second conveyor moving direction. According to the above configuration, the robot hand 120C can change the amount of projection of the second conveyor 140 with respect to the first conveyor 130. For example, the robot hand 120C can make the protruding amount of the second conveyor 140 correspond to the size of the conveyance target article. Thereby, the second conveyor 140 can contact the article with a sufficient area and introduce the article to the first conveying surface 134a. The robot hand 120C may have the configuration of the robot hand according to modification 1 and/or modification 2.

The robot hand 120C according to modification 3 is configured to move the second conveyor 140 relative to the first conveyor 130, but is not limited to this. The robot hand 120C may be configured to move the first conveyor 130 relative to the second conveyor 140, or may be configured to move both the first conveyor 130 and the second conveyor 140. For example, the first conveyor 130 may be configured to move in the first conveying directions D2a and D2b with respect to the base 150.

In the robot hand 120C according to the modification 3, the second conveyor 140 is configured to move in the second conveying directions D3a and D3b, but may be configured to move in the first conveying directions D2a and D2 b. When the first conveyor 130 is movable, the first conveyor 130 may be movable in the first conveyance directions D2a and D2b, or in the second conveyance directions D3a and D3 b. The first conveying directions D2a and D2b and the second conveying directions D3a and D3b are examples of the moving direction of the second conveyor.

(other embodiments)

While the embodiments of the present disclosure have been described above, the present disclosure is not limited to the embodiments and the modifications. That is, various modifications and improvements can be made within the scope of the present disclosure. For example, a mode obtained by performing various modifications to the embodiment and the modification and a mode constructed by combining the constituent elements in different embodiments and modifications are also included in the scope of the present disclosure.

For example, in the robot hand according to the embodiment and the modified examples, the robot arm 110 is connected to the first conveyor via the base 150, but the robot hand is not limited to this and may be connected to the second conveyor.

In the robot hand according to the embodiment and the modification, the first conveyor and the second conveyor are arranged such that the first conveying surface 134a and the second conveying surface 144a face each other, but the present invention is not limited to this. The first conveyor and the second conveyor may be arranged so that the orientation of the first conveying surface 134a is different from the orientation of the second conveying surface 144a. In this case, the second conveyance surface 144a may face the article on the first conveyance surface 134a. For example, the first conveying surface 134a may be oriented substantially perpendicular to the second conveying surface 144a, and the second conveying surface 144a may be laterally in contact with the article on the first conveying surface 134a.

The robot hand according to the embodiment and the modified examples may have an introduction portion at the end portion 130b of the first conveyor 130, which is insertable into a gap between adjacent articles and/or a gap between an article and the floor surface. The introduction portion may also have a tapered surface to lift the article obliquely upward when inserted into the gap. The shape of the introduction portion may be a shape whose thickness is substantially constant as it separates from the end portion 130b in the first conveying direction D2b, or may be a shape whose thickness becomes tapered. The robot hand draws the article onto the first conveying surface 134a while contacting the conveyor belt 134 of the first conveyor 130 in a state where the article is drawn onto the introduction portion and lifted by using the second conveyor. Such a robot hand can be easily introduced onto the first conveying surface 134a even for an article placed on the floor surface.

In the embodiment and the modification, the control device 170 detects contact of the second conveyor with the article based on changes in the loads of the arm driving devices AM1 to AM6 of the robot arm 110, but the invention is not limited to this. For example, a force sensor for detecting the magnitude and direction of the force may be provided in the links 110a to 110f such as the link 110f of the robot arm 110. Then, the control device 170 may detect the contact of the second conveyor based on the detection signal of the force sensor.

Alternatively, a non-contact sensor such as a photoelectric sensor, a laser radar, or an ultrasonic sensor may be provided at or near the end of the second conveyor. The control device 170 may also detect the contact of the second conveyor based on the detection signal of the non-contact sensor.

Alternatively, an imaging device for imaging the end of the second conveyor and the vicinity thereof may be provided. Examples of the imaging device are a digital still camera and a digital video camera. The cameras may also be respectively configured to be capable of capturing images including the end of the second conveyor and the articles proximate the end. The control device 170 may detect the article by analyzing the image captured by the imaging device, and detect the positional relationship such as the distance between the end of the second conveyor and the article.

In the embodiment and the modification, the control device 170 detects whether or not the article is in contact with the first conveyor belt 134 based on the change in the load of the second drive device 145, but the present invention is not limited to this. For example, the control device 170 may use the loads of the arm driving devices AM1 to AM6 of the robot arm 110, the detection signals of the force sensors provided in the robot arm 110, and the like in combination with or instead of the load of the second driving device 145. Alternatively, an imaging device for imaging the end of the first conveyor and the vicinity thereof may be provided as in the case of the second conveyor. The control device 170 may detect whether or not the article is in contact with the first conveyor belt 134 by analyzing the image captured by the imaging device.

In the robot hands according to modifications 2 and 3, the first and second moving devices 180 and 190 may be configured without the actuators 181b and 191, respectively, and may simply move the second conveyor 140 relative to the first conveyor 130. In this case, the second conveyor 140 may be manually moved.

The robot hand according to the embodiment and the modified examples includes the second conveyor 140 or 140A as the drawing device for drawing the article into the first conveyor 130, but the drawing device is not limited to this. For example, the drawing device may be configured to grip an article and draw the article into the first conveyor 130. Such a drawing device may also be provided with an arm for holding the article. Alternatively, the drawing device may be configured to have an engaging portion that engages with the article on the side opposite to the drawing direction, and the article may be drawn into the first conveyor 130 by moving the engaging portion in the drawing direction.

In the embodiment and the modification examples, the robot 100 is a vertical articulated robot, but the robot is not limited to this. For example, the robot 100 may be configured as a polar coordinate robot, a cylindrical coordinate robot, a rectangular coordinate robot, a horizontal articulated robot, or another robot.

In the embodiment and the modification, the robot 100 is mounted on the transport vehicle 240 so as to be movable, but the robot is not limited to this and may be fixed to the floor or the like.

In the embodiment and the modifications, the robot system 1 includes the imaging device 220 and the output device 230, but is not limited thereto. For example, the robot system 1 may be configured not to include the imaging device 220 and the output device 230, but to be directly visually checked by the operator P.

In the embodiment and the modification, the robot system 1 is configured such that the operator P uses the operation device 210 to operate the robot 100 and the transport vehicle 240 in a master-slave manner, but the present invention is not limited to this. For example, the robot system 1 may be configured to operate the robot 100 and the transport vehicle 240 in a fully automatic manner. In this case, for example, the robot 100 and the transport vehicle 240 may be automatically operated only by the operator P inputting a command indicating the work content or the like to the operation device 210. In such a fully automatic robot system, for example, the control device may control the operation of each of the robot arm and the robot hand based on a detection signal of a proximity sensor provided at the end of the robot arm, an analysis value of an image of a camera provided at the end of the robot arm, and the like.

Description of the reference numerals

A robotic system; a robot; a robotic arm; 120. 120A, 120B, 120c.. robot hand; a first conveyor; a first conveyor belt; a first conveying surface; a first drive (conveyor drive motor); 140. 140a.. second conveyor (intake device); a second conveyor belt; a second conveying surface; a second drive (conveyor drive motor); a control device (detection device); a first mobile device; a second mobile device; operating means; AM1 to AM6.