JP6946247B2 - Holding mechanism, transfer device, and handling robot system - Google Patents

Description

Relevant to holding mechanisms, transfer devices, and handling robot systems.

In recent years, in the domestic logistics field, the quantity of goods (also called goods, luggage, work, etc.) has been increasing due to the spread of electronic commerce, but it has become difficult to secure a labor force at logistics sites due to the declining birthrate and aging population. ing. Therefore, each logistics company is working on the automation of logistics facilities in order to realize high quality services, and is actively introducing automation equipment. In the latest distribution centers, material handling equipment is used for automatic storage, warehousing / delivery, transportation, sorting, and the like. The holding mechanism of the material handling device is arranged at the tip of the articulated manipulator, and a mechanism for sucking and holding an article with a suction pad or the like connected to a vacuum pump is often adopted. This is because the work of picking an article from a shelf or the like requires holding and transporting a wide variety of articles at high speed, and thus suction by a suction pad is suitable for holding the article.

However, conventionally, the flow path joint for the suction pad and the drive unit have been prototyped as separate designs, and the holding mechanism tends to be large. Therefore, it has been difficult to miniaturize the holding mechanism while securing a large flow rate flow path. Further, in the conventional fluid coupling, since the fluid coupling is connected by a rotation axis orthogonal to the traveling direction of the flow path, the fluid loss is large in any posture of the fluid coupling. Further, on the rotation axis orthogonal to the traveling direction of the flow path, the weight of the product always acts on the rotation axis. Therefore, in the conventional holding mechanism, the energy loss of the drive unit around the rotating shaft is large. When the fluid loss is large, it is necessary to introduce a large pump or compressor in order to secure the desired flow velocity, which causes an increase in the cost and size of the entire equipment. Therefore, the holding mechanism cannot be inserted into a narrow space such as a shelf, which hinders the automation of picking work. Therefore, as a fluid coupling, a flow path and a drive unit are integrally formed in order to reduce the size and weight, and it is desired that the weight of the article is supported by the joint structure in order to reduce the energy loss of the drive unit. ..

JP-A-2017-26117 Japanese Unexamined Patent Publication No. 2016-014455 Japanese Unexamined Patent Publication No. 2008-023076

An object to be solved by the present invention is to provide a holding mechanism, a transfer device, and a handling robot system in which a flow path and a drive unit are integrated and can pick an article placed in a narrow space.

The holding mechanism of the present invention is connected to a first support portion having one and the other and one of the first support portions, and is rotatable around the first support portion by a rotation shaft in the first direction. A second support unit that is connected to the other of the first drive unit and is rotatable by the drive of the first drive unit on a rotation shaft in the second direction that intersects the first direction. A first holding portion connected to the second support portion, connected to the first drive portion and the second support portion, and interlocking the rotation of the first drive portion and the rotation of the second support portion. It is provided with a connecting portion.

It is the schematic which shows an example of the handling robot system using the holding mechanism which concerns on 1st Embodiment. It is a figure which shows an example of the holding mechanism which concerns on 1st Embodiment. It is a figure which shows an example of the 1st drive part which concerns on 1st Embodiment. It is a figure which shows the relationship between the holding mechanism and the pressure source which concerns on 1st Embodiment. It is a block diagram which shows the relationship between the structure of a control device, various sensors and a holding mechanism. It is a flow figure which shows an example of the operation of a handling robot system. It is the schematic which shows an example of the holding procedure which holds the article placed in the shelf. It is a flow figure which shows an example of the transfer process of the article of the handling robot system which concerns on 1st Embodiment. It is a figure which shows the holding mechanism which concerns on the modification of 1st Embodiment. It is a figure which shows the holding mechanism which concerns on the modification of 1st Embodiment. It is a figure which shows the holding mechanism which concerns on the modification of 1st Embodiment. It is a figure which shows the holding mechanism which concerns on the modification of 1st Embodiment. It is a figure which shows an example of the holding mechanism which concerns on 2nd Embodiment. It is a figure which shows the holding mechanism which concerns on the modification of the 2nd Embodiment. It is a figure which shows the holding mechanism which concerns on the modification of the 2nd Embodiment.

Hereinafter, the holding mechanism and the handling robot system according to the embodiment will be described with reference to the drawings. Those with the same reference numerals indicate similar ones. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part and the ratio coefficient of the size between the parts are not always the same as the actual ones. Further, even when the same part is represented, the dimensions and ratio coefficients may be represented differently depending on the drawing.

(First Embodiment)
The first embodiment will be described with reference to FIG. FIG. 1 is a schematic view showing an example of a handling robot system using the holding mechanism 1 according to the first embodiment.

As shown in FIG. 1, the handling robot system 100 includes a transfer device 110, a control device 120, a recognition device 130, and a transfer device 140.

The handling robot system 100 recognizes a plurality of articles G placed in the mounting area 150 by the recognition unit of the first image sensor 131 to the third image sensor 133 of the recognition device 130 and the holding mechanism 1 described later. Then, using the recognition result, the control device 120 holds the article G by driving the transfer device 110, and transfers the article G to the automatic conveyor 141 of the transfer device 140. Further, the article G located on the automatic conveyor 141 of the transport device 140 is held by the transfer device 110, and the article G is placed in the loading area 150. The article G includes a product placed on a shelf or the like, a packaged product, or the product itself.

First, the transfer device 110 will be described.

As shown in FIG. 1, the transfer device 110 includes a manipulator 111, a base portion 112 for fixing the manipulator 111, and a holding mechanism 1 arranged at the tip of the manipulator 111 to hold the article G.

The manipulator 111 includes at least two links and a plurality of joints connecting the ends of the links. The joint portion is composed of, for example, a motor, an encoder, a speed reducer, or the like. The manipulator 111 can rotate or linearly move each link by driving a motor. As a result, the holding mechanism 1 arranged at the tip is moved. The joint portion is not limited to rotation in the uniaxial direction, but includes rotation in the multiaxial direction. The manipulator 111 is a so-called vertical articulated robot. Further, the manipulator 111 may have a configuration in which a linear motion mechanism in the three-axis (XYZ-axis) direction, a rotation axis for rotating the link, and a joint portion are combined.

The base portion 112 fixes the end portion of the manipulator 111. The base portion 112 is installed on the floor or the ground. The base portion 112 may be, for example, a movable trolley or the like, and the transfer device 110 may be movable on the floor surface.

The holding mechanism 1 has a holding portion capable of holding the article G. The holding portion is installed in the support mechanism, and the article G can be moved by operating the support mechanism. The drive unit of the support mechanism is operated according to the position of the article G, and the holding portion is moved to the position of the article G to hold the article G.

Next, the configuration of the holding mechanism according to the present embodiment will be described in detail with reference to FIG.

FIG. 2 is a side view showing an example of the holding mechanism 1 according to the present embodiment. FIG. 2A shows a state in which the holding mechanism 1 is extended. FIG. 2B shows a state in which the holding mechanism 1 is bent.

The "extended state" of the holding mechanism 1 means a state in which the first support portion 10 and the second support portion 12 are linearly connected. At this time, the fluid loss of the fluid flowing through the internal flow path of the holding mechanism 1 is minimized. Further, the "bent state" of the holding mechanism 1 means a state in which the second supporting portion 12 is not located on the extension of the first supporting portion 10 and the holding mechanism 1 is not in a straight line. At this time, the fluid loss of the fluid flowing through the internal flow path of the holding mechanism 1 becomes larger. The state in which the holding mechanism 1 is extended may be referred to as an initial state.

Here, for convenience of explanation, the + X direction, the −X direction, the + Y direction, the −Y direction, the + Z direction, and the −Z direction are defined. The + X direction, the −X direction, the + Y direction, and the −Y direction are, for example, directions along a substantially horizontal plane. The −X direction is the opposite of the + X direction. In the embodiment, the + X direction and the −X direction are “straight directions in the extended state of the holding mechanism”. The + Y direction is a direction that intersects with the + X direction (for example, a direction that is substantially orthogonal). The −Y direction is the opposite of the + Y direction. The + Z direction is a direction that intersects the + X direction and the + Y direction (for example, a direction that is substantially orthogonal to each other), and is, for example, a substantially vertical downward direction. The −Z direction is the opposite direction to the + Z direction, for example, a substantially vertical upward direction.

As shown in FIG. 2, the holding mechanism 1 includes a first support portion 10, a second support portion 12, a holding portion 15, a first drive portion 14, and a first connecting portion 17.

The first support portion 10 has one and the other. One of the first support portions 10 is a place where the first drive portion 14 is installed, and is arranged along the X-axis direction (also referred to as the first direction). Since the first support portion 10 supports other configurations of the holding mechanism 1, it is preferable that the first support portion 10 is a member having high rigidity. One of the first support portions 10 is connected to the tip of the manipulator 111.

The second support portion 12 is rotatably connected to the other of the first support portion 10. The portion where the first support portion 10 and the second support portion 12 are connected is such that the oblique cross section of the first support portion 10 and the oblique cross section of the second support portion 12 are overlapped with each other. The second support portion 12 can rotate around a rotation axis in the second direction that intersects the first direction from one of the first support portions 10 to the other. The second support portion 12 is driven by the first drive portion 14 to rotate around a rotation axis in the second direction. The rotation axis in the second direction is a direction inclined with respect to the first direction (X-axis direction). For example, as shown by the alternate long and short dash line in FIG. 1A, assuming that the rotation axis in the first direction is A and the rotation axis in the second direction is B, the rotation axis in the first direction is in the second direction with respect to the rotation axis A in the first direction. The inclination angle θ (degrees) with respect to the rotation axis B is larger than 0 degrees and smaller than 90 degrees. It is typically 45 degrees. Since the second support portion 12 supports another configuration of the holding mechanism 1, it is preferable that the second support portion 12 is a member having high rigidity.

The holding portion 15 is connected to the second supporting portion 12. The holding portion 15 is, for example, a suction pad. The holding portion 15 is a place for holding the article G. The holding portion 15 is connected to a vacuum pump via, for example, a tube, and holds the article G by depressurizing the space between the suction pad and the article G by the vacuum pump. The holding portion 15 can approach and contact the article G by the operation of the support mechanism 1. The number of suction pads is not limited to one, and may be two or more. It can be appropriately changed depending on the size and form of the article G to be held. Further, it may be determined whether or not the holding unit 15 has succeeded in holding the article G, for example, based on the measured values of the pressure sensor or the flow rate sensor connected via the tube, or from the image data or the like. This may be performed based on the measured deformation amount of the suction pad. When performing based on the image data, the recognition result of the recognition unit described later may be used. Further, a contact sensor or a proximity sensor may be installed on the suction pad to make a judgment based on a change in the sensor output. The information measured by these sensors is transmitted to the control device 120 described later.

The first drive unit 14 is installed on one of the first support units. The first drive unit 14 rotates around the first support unit 10 on a rotation shaft in the first direction from one of the first support units 10 to the other. The first drive unit 14 is connected to the second support unit 12 via the first connecting unit 17. One end of the first connecting portion 17 is connected to the second supporting portion 12, and the connecting portion is fixed. Further, the other end of the first connecting portion 17 is connected to the first driving portion 14, and the connecting portion is fixed. Therefore, when the first drive unit 14 rotates, the second support unit 12 rotates in the same direction as the first drive unit 14 in conjunction with the first drive unit 14. The rotation angle of the second support unit 12 is determined based on the rotation amount of the first drive unit 14. A sensor or the like for measuring the rotation angle may be provided around the rotation axis in the second direction. In order to measure the load measurement value, a load sensor using a strain gauge or the like may be provided in the vicinity of the portion where the first support portion 10 and the second support portion 12 are connected. The mass of the article G may be calculated from the rotation amount of the second support portion 12 and the measured load value, and the acceleration when the article G is transported by the holding portion 15 may be set.

The first drive unit 14 may be any as long as it can obtain a driving force for rotating the second support unit 12. For example, a pneumatic drive motor, a pneumatic cylinder, or the like may be used, or a reduction mechanism may be combined.

Although the first drive unit 14 has been described as a rotation mechanism, it includes a pneumatic motor arranged coaxially around the X-axis and an encoder (not shown), and can rotate around the X-axis. It may be a mechanism. The encoder measures the rotation angle of the pneumatic motor (rotational displacement of the motor), the number of rotations, the speed of the motor, the load of the motor, and the like. The encoder is arranged to measure the driving state of the pneumatic motor. If the driving state of the pneumatic motor is known, the driving state is not limited to the encoder, and for example, a displacement sensor, an ultrasonic sensor, a variable resistance, a capacitance sensor, a pulse coder, a fiber sensor, a laser displacement sensor, or the like may be used. Further, another sensor that outputs a voltage or current according to the distance may be used. The information measured by these sensors is transmitted to the control device 120. Further, the pneumatic motor may be provided with a speed reducer. The speed reducer reduces the rotation speed of the motor and determines the rotation speed of the second support portion 12. The reduction ratio is appropriately adjusted according to the rotation speed of the pneumatic motor and the like. When adjusting the rotation speed on the pneumatic motor side, the speed reducer is not an indispensable configuration.

FIG. 3 shows a pneumatic drive motor used for the first drive unit 14.

FIG. 3A is a perspective view of the pneumatic drive motor, and FIG. 3B is a view of the inside of the pneumatic drive motor.

From FIG. 3A, for example, in the pneumatic drive motor, air flows in from the inflow port 72a, and the air passes through the inside of the pneumatic drive motor and flows out from the inflow port 72b. At this time, the rotating portion 71 connected to the base 70 rotates counterclockwise around the shaft 75. On the contrary, when the air flows in from the inflow port 72b and the air flows out from the inflow port 72a, the rotating portion 71 rotates clockwise around the shaft 75.

FIG. 3B shows the inside of the pneumatic drive motor with the rotating portion 71 removed so that the inside can be seen. Inside the pneumatic drive motor, a movable portion 74 connected to the rotating portion 71 is provided. When air flows in from either the inflow port 72a or 72b, the movable portion 74 is pushed by the air and rotates around the shaft 75. By rotating the movable portion 74 around the shaft 75, the rotating portion 71 can also rotate. The movable portion 74 abuts on the stopper 73 to stop the rotational operation.

Further, inside the pneumatic drive motor, the movable portion 74 may completely block the air flow. In this case, as the air flows in from the inflow port 72a, the pressure in the closed space inside the pneumatic drive motor formed by the base portion 70, the rotating portion 71, the inflow port 72a, the stopper 73, and the movable portion 74 increases. When the pressure inside the pneumatic drive motor exceeds a certain level, the movable portion 74 rotates around the shaft 75, so that the rotating portion 71 can also rotate. At this time, the air in the closed space inside the pneumatic drive motor formed by the base 70, the rotating portion 71, the inflow port 72b, the stopper 73, and the movable portion 74 flows out from the inflow port 72b. In this configuration, the rotation operation differs depending on the load acting on the rotating portion 71. When the load is small, the rotating unit 71 rotates at high speed with low torque, and when the load is large, the rotating unit 71 rotates at low speed with high torque. As a result, the optimum rotation operation can be automatically realized according to the load.

One end of the first connecting portion 17 is connected to the second supporting portion 12, and the other end of the first connecting portion 17 is connected to the first driving unit 14. The first connecting portion 17 transmits rotational power from the first driving portion 14 to the second supporting portion 12. The first connecting portion 17 is, for example, an elastic body. Since the first connecting portion 17 is arranged in accordance with the rotation of the second supporting portion 12 and the first driving portion 14, it is preferable that the first connecting portion 17 can be expanded and contracted and bent.

As shown in FIG. 2A, the first support portion 10 and the second support portion 12 are provided along the X-axis direction at the initial position where the first drive unit 14 is not rotating. On the other hand, as shown in FIG. 2B, when the first drive unit 14 rotates, the second support unit 12 is provided along the direction intersecting the X-axis direction. For example, in FIG. 2B, since the first support portion 10 is along the X-axis direction and the second support portion 12 is along the Z-axis direction, there is a space between the first support portion 10 and the second support portion 12. The angle is 90 degrees. The position of the second support portion 12 is determined to be an arbitrary position depending on the amount of rotation of the first drive portion 14.

The inside of the first support portion 10 and the second support portion 12 is a cavity, and the cavity is connected to the holding portion 15. A tube connected to the holding portion 15 is provided in the internal cavity of the first supporting portion 10 and the second supporting portion 12. Further, it is not necessary to provide a tube in the cavity inside the first support portion 10 and the second support portion 12. The cavity becomes a flow path through which a fluid such as air flows. In this case, it is desirable to ensure airtightness inside the first support portion 10 and the second support portion 12.

FIG. 4 is an example showing the connection between the holding mechanism 1 and the pressure source 30 according to the present embodiment.

The pressure source 30 includes a pressurizing device 30A, a depressurizing device 30B, and a direction switching valve 30C. The pressure source 30 is connected to the first support unit 10 and the first drive unit 14 via the pressure sensor 32.

The pressurizing device 30A increases the internal pressure of the holding portion 15 by supplying a fluid to the inside of the holding portion 15. The fluid is, for example, air. As a result, when the holding portion 15 holds the article G, the article G can be released. Further, the pressurizing device 30A rotates the first drive unit 14 by supplying a fluid to the inside of the first drive unit 14. As a result, the second support portion 12 rotates in accordance with the rotation of the first drive portion 14. A compressor may be used for the pressurizing device 30A. In addition to the compressor, the pressurizing device 30A may be used, for example, by taking in air from an air supply unit (air pipe or the like) in the factory.

The decompression device 30B reduces the internal pressure of the holding unit 15 by sucking the fluid inside the holding unit 15. As a result, the holding portion 15 can adsorb and hold the article G. Further, the decompression device 30B rotates the first drive unit 14 by sucking the fluid inside the first drive unit 14. As a result, the second support portion 12 rotates in accordance with the rotation of the first drive portion 14. A pump may be used as the decompression device 30B. In addition to the pump, for example, the decompression device 30B may be obtained by combining the pressurizing device 30A and the vacuum generator to generate a negative pressure. Here, the fluid includes not only air but also liquids such as water and oil, such as gases other than air.

The direction switching valve 30C is connected to the inflow ports 72a and 72b of the first support portion 10 and the first drive portion 14 by a tube via the pressure sensor 32. Further, the direction switching valve 30C is connected to the pressurizing device 30A and the depressurizing device 30B. The direction switching valve 30C switches whether the tubes of the first support unit 10 and the first drive unit 14 are connected to either the pressurizing device 30A or the depressurizing device 30B. Alternatively, in the direction switching valve 30C, the tubes of the first support unit 10 and the first drive unit 14 are connected to the pressurizing device 30A, connected to the depressurizing device 30B, or connected to either the pressurizing device 30A and the depressurizing device 30B. You may switch between the three states of no and no.

Although the holding mechanism 1 has been described as a configuration including the pressure source 30, the holding mechanism 1 is not limited thereto. The pressure source 30 may be provided at an arbitrary position.

The tube is formed of a hollow elastic body, and a fluid such as air can flow inside. In the initial state of the holding mechanism 1, the tubes are arranged substantially parallel to the X-axis direction. The tube moves according to the movement of the holding mechanism 1, and the direction of the holding portion 15 is changed. Further, due to the rotation of the second support portion 12, the tube bends along the first support portion 10 and the second support portion 12. The tube is preferably made of a material that is rigid in the axial direction and flexible in the bending direction. Further, since the first support portion 10 and the second support portion 12 are formed of a metal cylinder and the outer shell has high rigidity, the tube is prevented from buckling in a bent state.

As described above, the tube is connected to the pressure source 30 to reduce the pressure between the holding portion 15 and the article G. For example, a nozzle may be provided in a part of the tube and connected to the pressure source 30 via the nozzle. In addition to the vacuum pump, a negative pressure generator may be combined with a pressurizing unit and a vacuum generator to generate a negative pressure. Further, a switching valve may be installed in the middle of the piping between the holding portion 15 and the pressure source 30 to arbitrarily control the start and stop of suction. The switching valve may be a valve of a type driven by an electromagnetic valve or an electric motor, or a valve of a type driven by air pressure. Further, a pressurization generator such as a compressor may be piped to the switching valve. In a configuration in which the holding unit 15 and the switching valve are piped, and the switching valve is piped with a negative pressure generator and a pressure generating device, the holding unit 15 is in a negative pressure state and a positive pressure state at an arbitrary timing by controlling the switching valve. Can be switched. As a result, the holding portion 15 can be smoothly sucked and released. When a plurality of holding units 15 are provided, a control valve for switching On and Off may be installed in each of the holding units 15.

A recognition unit (not shown) may be arranged on the holding mechanism 1. The recognition unit is installed in the vicinity of the holding unit 15, and recognizes, for example, the arrangement of the article G in the shelf. As the recognition unit, a camera capable of measuring a three-dimensional position such as a distance image sensor or an infrared dot pattern projection camera can be used. The infrared dot pattern projection method camera projects an infrared dot pattern onto a target object and captures an infrared image of the target object in this state. It is possible to obtain three-dimensional information of the target object by analyzing the infrared image. The infrared dot pattern projection camera may be capable of capturing a color image or a monochrome image. Alternatively, the recognition unit may further include an optical sensor such as a camera that acquires a color image or a monochrome image in addition to the infrared dot pattern projection type camera. Further, the recognition unit may have a plurality of cameras. The recognition result recognized by the recognition unit is transmitted to the control device 120, and the shape, distance, article information, and the like of the article G are derived by the control device 120. The recognition result may be image data including distance information. The image data may be, for example, commonly used image data such as jpg, gif, png or bmp. The recognition unit may be arranged inside the suction pad, or may be arranged not only inside the suction pad but also on the side surface of the first support portion 10 or the second support portion 12, and may be arranged in any other place. You may. Further, the recognition unit is not limited to one location and may be arranged at a plurality of locations.

Next, the control device 120 will be described.

FIG. 5 is a block diagram showing the relationship between the configuration of the control device 120 and various sensors and holding mechanisms. The inside of the frame of the broken line portion in FIG. 5 shows the configuration of the control device 120.

The control device 120 includes an input unit 80, a command generation unit 81, a target value generation unit 83 for generating a target command value, a drive control unit 84, a driver 86, a signal processing unit 87, and a determination unit 85. To be equipped.

The input unit 80 is a place where the operation command information of the holding mechanism is input. The input to the input unit 80 may be directly input by, for example, a touch panel or a monitor, or may be input from a remote place wirelessly or by wire. When communicating wirelessly, the input unit 80 functions as a communication unit. The communication unit receives operation command information from an external computer or server. A wireless communication device is preferable, but other than that, the communication device may be configured as a communication network. As the communication network, for example, the Internet, an intranet, an extranet, a LAN, an ISDN, a VAN, a CATV communication network, a virtual private network, a telephone line network, a mobile communication network, a satellite communication network, etc. can be used. be. The transmission medium constituting the communication network is not particularly limited, and for example, even wired such as IEEE1394, USB, power line carrier, cable TV line, telephone line, ADSL line, infrared rays such as IrDA and remote controller, and Bluetooth (registered trademark). ), 802.11 radio, HDR, mobile phone network, satellite line, terrestrial digital network and other radios. The input unit 80 transmits the operation command information to the command generation unit 81. Alternatively, a microphone is installed in the input unit 80, and the operation command information can be input by the voice of the operator (user). The input unit 80 is not necessarily a necessary configuration when the handling robot system automatically recognizes and drives the article G.

The command generation unit 81 performs an operation procedure required in each operation process based on the operation command information, the recognition result by the recognition unit installed in the holding mechanism 1, and the recognition result of the article G by the recognition device 130 described later. Generated as an operation command. The command generation unit 81 generates each operation mode information according to the operation command to be executed. The operation command is a command related to a series of operations of the holding mechanism, and is, for example, information as a program. The operation mode information is information related to individual operations. For example, it is an operation such as "changing the direction" or "sucking" the holding mechanism 1. The command generation unit 81 has a storage unit that stores operation mode information and the like. The storage unit also stores in advance attribute data such as the shape, weight, and flexibility of the article to be held. As a storage unit, for example, a tape system such as a magnetic tape or a cassette tape, a disk system including a magnetic disk such as a floppy (registered trademark) disk / hard disk, or an optical disk such as a CD-ROM / MO / MD / DVD / CD-R. A card system such as an IC card (including a memory card) / optical card, or a semiconductor memory system such as a mask ROM / EPROM / EEPROM / flash ROM can be used. The command generation unit 81 outputs an operation command to the target value generation unit 83. Further, the command generation unit 81 links each operation mode of the operation command with the actual operation information stored in the storage unit and outputs the output to the determination unit 85.

The target value generation unit 83 receives an operation command for the manipulator 111 and the holding mechanism 1 from the command generation unit 81. The target value generation unit 83 generates the target command value of the manipulator 111 and the holding mechanism 1. The target command value is output to the drive control unit 84.

The drive control unit 84 inputs the target command values of the manipulator 111 and the holding mechanism 1 from the target value generating unit 83, and generates drive command information for driving the manipulator 111 and the holding mechanism 1 according to the target command values. The drive command information is output to the driver 86.

The driver 86 receives drive command information for the manipulator 111 and the holding mechanism 1 from the drive control unit 84, and generates a drive output. The manipulator 111 and the holding mechanism 1 receive a drive output from the driver 86 and operate an actuator or the like to adjust the drive amount. As the actuator, for example, a combination of a motor and a feed screw, a pneumatic motor, or the like can be used.

The signal processing unit 87 receives signals of various sensors (first drive unit 14, sensors attached to the holding unit 15, etc.) driven by the manipulator 111 and the holding mechanism 1, and performs signal amplification processing on the sensor signals. Performs analog-to-digital conversion processing, etc.

The sensor signal converted by the signal processing unit 87 is input to the determination unit 85. The determination unit 85 determines the adjustment of the driving amount of the holding mechanism 1, the presence / absence of inclination of the mounting environment, the posture of the article, the holding state of the article, and the like according to the sensor signal. The determination unit 85 receives the operation information of the manipulator 111 and the holding mechanism 1 corresponding to the operation command from the command generation unit 81. The determination unit 85 compares this operation information with the information obtained by the sensor signal. Based on this comparison result, the determination unit 85 generates operation commands such as stopping the drive of the manipulator 111 and the holding mechanism 1 and correcting the posture of the manipulator 111 according to the state of the article. The determination unit 85 outputs a return value command for modifying the operation command to the command generation unit 81. The command generation unit 81 can correct the operation command by the return value command and execute a processing operation suitable for the operation command information input by the input unit. This improves the reliability and certainty of the operation of the holding mechanism 1.

The command generation unit 81, the target value generation unit 83, the drive control unit 84, the signal processing unit 87, and the determination unit 85 include, for example, a CPU (Central Processing Unit: Central Processing Unit), a memory, an auxiliary storage unit, and the like. To execute. In addition, all or a part may be realized by using hardware such as ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), and FPGA (Field Programmable Gate Array).

Next, the recognition device 130 will be described.

As shown in FIG. 1, the recognition device 130 recognizes a plurality of articles G placed in the mounting area 150.

The recognition device 130 includes a first image sensor 131 to a third image sensor 133, and a computer 134 connected to each of the image sensors.

The first image sensor 131 to the third image sensor 133 are located, for example, diagonally forward, upward, and diagonally rearward with respect to a plurality of articles G placed in the mounting area 150. The first image sensor 131 to the third image sensor 133 may be movable. As the first image sensor 131 to the third image sensor 133, a camera capable of measuring a three-dimensional position such as a distance image sensor or an infrared dot pattern projection camera can be used. The infrared dot pattern projection method camera projects an infrared dot pattern onto the target article, and in that state, captures an infrared image of the article G placed in the mounting area 150. It is possible to obtain three-dimensional information of the article G by analyzing the infrared image. The infrared dot pattern projection camera may be capable of capturing a color image or a monochrome image. Further, in addition to the infrared dot pattern projection type camera, an optical sensor such as a camera that acquires a color image or a monochrome image may be included. The image may be, for example, commonly used image data such as jpg, gif, png or bmp. Although three image sensors have been described, the number of image sensors is not limited to three, and at least one or more image sensors may be used. Further, it may be a plurality of three or more.

The computer 134 derives the position information of the article G based on the data output from the first image sensor 131 to the third image sensor 133. The three-dimensional position information of the article G is output to the control device 120. The control device 120 controls the transfer device 110 based on the position information of the article G. The computer 134 includes, for example, a CPU, a memory, an auxiliary storage unit, and the like, and executes a program or the like. In addition, all or a part may be realized by using hardware such as ASIC, PLD and FPGA. Further, the computer 134 may be included in the control device 120.

Next, the transport device 140 will be described.

As shown in FIG. 1, the transport device 140 is a place where the article G held by the transfer device 110 is placed and transported.

The transport device 140 includes, for example, a belt conveyor (automatic conveyor) 141 in which a plurality of rollers are arranged in a predetermined direction and a belt is wound, and a transport control device 142. The belt conveyor 141 drives the belt by rotating a plurality of rollers in a predetermined direction, and conveys the article G. The transport control device 142 controls the drive of the belt conveyor. For example, the transport speed and the transport direction are controlled. The transport device 140 is connected to the control device 120.

The transport device 140 is not limited to the belt conveyor, and includes a roller conveyor, other sorters, and the like. The transport control device 142 is, for example, a computer provided with a CPU, a memory, and an auxiliary storage unit. The operation of the transfer device 140 is automatically controlled by the transfer control device 142 by a preset program, but it may be controlled by the operator manually operating the transfer control device 142. The transfer control device 142 may be included in the control device 120.

The loading area 150 is a place where the article G is loaded or placed. The mounting area 150 may be a shelf, a basket trolley, a steel trolley, a box pallet, a pallet, or the like. The mounting area may be movable.

Next, an example of the operation of the handling robot system according to the present embodiment will be described.

FIG. 6 is a flow chart showing an example of the operation of the handling robot system.

First, the transport control device 142 of the transport device 140 transmits the article position request signal to the computer 134 of the recognition device 130 when the article G of the belt conveyor 141 is ready to be received (step 501). When the computer 134 receives the article position request signal from the transport control device 142, the computer 134 starts the position recognition of the article G by using the first image sensor 131 to the third image sensor 133 (step 502). The computer 134 measures the position information of the article G based on the recognition results of the first image sensor 131 to the third image sensor 133 (step 503). If no article G is detected (step 503, No), the computer 134 transmits an error signal to the transport control device 142 (step 504). When the article G is detected (in the case of step 503, Yes), the computer 134 transmits the position information of the article to the control device 120 (step 505).

When the control device 120 receives the position information from the computer 134, the control device 120 derives a procedure for taking out the article G that can be transferred by the transfer device 110 based on the position information (step 506). The control device 120 operates the holding mechanism 1 of the transfer device 110 to transfer the article G from the loading area 150 onto the belt conveyor 141 (step 507). When all the transfer is completed, the control device 120 transmits the transfer completion signal to the recognition device 130 (step 508). The recognition device 130 measures the position of the article G again in order to confirm whether the article G remains on the mounting area 150 (step 509). If the article G remains (in the case of step 509, Yes), the computer 134 transmits the position information to the control device 120, and the article G is transferred (returns to step 505). When the article G does not remain (step 509, No), the transfer completion signal is transmitted to the transfer control device 142. Upon receiving the transfer completion signal, the transfer control device 142 stops the belt conveyor 141 and completes the process (step 510). Further, when the transfer control device 142 receives the transfer completion signal, it may issue an alarm or the like to notify the operator. The worker who hears the alarm may replace the mounting area (for example, a shelf) where the article G has disappeared with a mounting area (for example, a shelf) on which the article G is placed. In the handling robot system of the present embodiment, among the plurality of articles G placed on the shelf mounting area 150, it is preferable that the articles G in front of the article G, which is easy to be held by the holding mechanism 1, are transferred in order. The work of replacing a shelf or the like on which the article G has disappeared with another shelf or the like on which the article G is placed may be automated by using an automatic conveyor or the like that conveys the shelf or the like. When the loading area 150 is a cardboard box or the like, it is preferable that the articles G in the uppermost stage, which are easy to be held by the holding mechanism 1, are transferred in order from the plurality of articles G placed.

Next, the holding procedure when the handling robot system holds the article by the holding mechanism 1 will be described.

FIG. 7 is a schematic view showing an example of a holding procedure for holding an article placed inside the shelf. It is sectional drawing which looked at the inside of a shelf from the side.

As shown in FIG. 7A, the article G1 is placed behind the large article G2. When the article G1 is an article to be held, can the control device 120 acquire the position information of the articles G1 and G2 by using the recognition device 130 and the recognition unit (not shown) of the holding mechanism 1 to hold the article G1? Judge whether or not. When the control device 120 determines that the article G1 can be held, the transfer device 110 is controlled to move to the operation of holding the article G1. When the holding target article G1 is in a position that cannot be recognized by the recognition device 130, the control device 120 causes the holding mechanism 1 to enter the inside of the shelf from the upper surface of the article G2 in advance, and causes the recognition unit 9 to recognize the state inside the shelf. Is also good.

The control device 120 drives the manipulator 111 based on the recognition result of the recognition unit or the like to allow the holding mechanism 1 to enter the inside of the shelf from the upper surface of the article G2. At this time, the holding mechanism 1 is in an extended state. When the position and attitude information of the article G2 is accurately derived based on the recognition result of the recognition unit or the like, the control device 120 stops the approaching operation before the holding mechanism 1 comes into contact with the upper surface of the article G2. When the position information of the article G2 is not accurately derived based on the recognition result, the control device 120 detects the contact by, for example, the contact sensor arranged on the surface of the holding mechanism 1 contacts the upper surface of the article G2. You may. Further, the contact between the holding mechanism 1 and the article G2 may be monitored by the recognition device 130 or the like. In this way, the control device 120 causes the holding mechanism 1 to enter the inside of the shelf while preventing the holding mechanism 1 from coming into contact with the article G2.

Next, as shown in FIG. 7B, the control device 120 rotates the second support portion 12 of the holding mechanism 1 and directs the holding portion 15 in the direction in which the article G1 is located. At this time, the control device 120 may determine the rotation angle of the first drive unit 14 based on the position and attitude information of the article G1 by the recognition unit or the like.

Next, as shown in FIG. 7C, the holding mechanism 1 is lowered by the robot arm. When the position and attitude information of the article G1 is accurately derived based on the recognition result, the control device 120 stops the lowering operation at the same time when the holding unit 15 comes into contact with the holding surface of the article G1. When the position and posture information of the article G1 is not accurately derived based on the recognition result, the holding unit 15 may come into contact with the article G1 and detect the contact by a contact sensor or the like. Further, the measurement value of the pressure sensor or the flow rate sensor of the suction pad may be used as a substitute for sensing the contact state with the article. As a result, it is possible to detect that the holding portion 15 has come into contact with the article G1 and immediately stop the lowering operation. Further, the operations of FIGS. 7 (b) and 7 (c) may be repeated. At this time, the second support portion 12 of the holding mechanism 1 is rotated to bring the holding portion 15 into contact with the article G1. Contact is detected by a contact sensor or a proximity sensor provided on the holding unit 15, and the output value of the contact sensor is compared with a predetermined threshold value. When the output value is equal to or less than the threshold value, the holding mechanism 1 is raised by the robot arm, the angle of the second support portion 12 is changed, and the holding portion 15 is lowered again to bring the holding portion 15 into contact with the article G1. A series of operations may be repeated until the output value of the contact sensor becomes equal to or higher than the threshold value to search for the optimum position and posture for holding the article G1.

Next, as shown in FIG. 7D, the control device 120 raises the article G1 while the holding unit 15 holds the article G1. At this time, the control device 120 may determine the amount of lift of the robot arm based on the position and posture of the article G1. When the actuator of the manipulator is electric, the overload current acting by the inertial force may be detected to stop the ascending operation. Further, the amount of increase may be determined based on the recognition result of the recognition unit or the like.

Next, as shown in FIG. 7 (e), the control device 120 is operated so as to pull out the article G1 out of the shelf while the holding mechanism 1 holds the article G1. The second support portion 12 of the holding mechanism 1 is rotated to the position at the time of approach (horizontal direction with respect to the first support portion 10), and the posture is changed so that the article G1 does not come into contact with the article G2. At this time, the angle of the second support portion 12 that the article G1 does not come into contact with may be determined based on the position / orientation information of the article G2 recognized in advance.

As shown in FIG. 7 (f), the control device 120 drives the manipulator 111 so as to operate the holding mechanism 1 in the horizontal direction, and pulls out the article G1 and the holding mechanism 1 from the inside of the shelf.

FIG. 7 shows an operation procedure when there is a space for pulling out the article G1 above the article G2. However, when there is a space for pulling out the article G on the side surface of the article G2, the article G may be pulled out from the side surface of the article G2. ..

FIG. 8 is a flow chart showing an example of an article transfer process of the handling robot system according to the present embodiment.

First, the control device 120 selects the article to be held based on the recognition results of the recognition device 130 and the recognition unit 9 (S701).

The control device 120 derives the shape of the article to be held (S702).

If the shape of the article to be held cannot be derived (S702, No), another article is selected.

When the shape of the article to be held is derived (in the case of S702 and Yes), the control device 120 derives a candidate surface that can be adsorbed from the surface of the article to be retained (S703).

The control device 120 determines whether or not the upper surface of the adsorbable candidate surfaces can be adsorbed (S704). When the upper surface of the article to be held is adsorbable (in the case of S704 and Yes), the control device 120 rotates the second support portion 12 to hold the article to be held, and holds the holding portion 15 on the upper surface of the article to be held. Turn to. Then, the control device 120 drives the robot arm to lower the holding mechanism 1 (S705).

When the upper surface of the article to be held cannot be sucked (S704, No), the control device 120 changes the position and orientation of the second support portion 12 and the holding portion 15. For example, the holding portion 15 and the like can be switched to a posture capable of holding the inclined portion of the article to be held (S706).

The control device 120 drives the robot arm to lower the holding mechanism 1 (S707).

The control device 120 determines whether or not the object to be held has a shape based on the recognition result (S708).

When the object to be held has an assumed shape (in the case of S708 and Yes), the control device 120 determines whether or not the article to be held can be adsorbed and held (S709). This determination uses a pressure sensor, a flow rate sensor, a contact sensor, a proximity sensor, or the like provided in the holding unit 15. If the object to be retained does not have the expected shape (S708, No), another article to be retained is selected.

The control device 120 determines that the article to be held can be held (in the case of S709 and Yes), and performs a transfer operation of the article to be held (S710). When the control device 120 determines that the holding target article cannot be held (S709, No), the control device 120 selects another holding target article.

The transfer operation includes an ascending / descending operation of the robot arm and a rotating operation of the second support portion 12. The control device 120 determines whether or not the article to be held can be transferred (S711).

When the control device 120 determines that the holding target article cannot be transferred (S711, No), the control device 120 selects another holding target article.

When the control device 120 determines that the holding target article can be transferred (in the case of S711 and Yes), the control device 120 transfers the holding target article to the transport device 140 (S712).

After that, the transfer process ends. The control device 120 may repeat the above flow as many times as the number of articles to be held.

Since the holding mechanism 1 according to the present embodiment has the second support portion 12, the first drive portion 14 rotates the second support portion 12 even for an article located outside the drive range of the manipulator 111. Can be retained. Further, the holding mechanism 1 can freely change the direction of the holding unit 15 along the rotation axis in the second direction by driving the first driving unit 14.

Further, by using the tube, even if the holding mechanism 1 is bent, the flow path to the holding portion 15 can be surely secured.

Further, even when the article G located inside the shelf is located on the back side of another article, the holding mechanism 1 has an elongated shape, and the position of the holding portion 15 can be freely changed by driving the first driving portion 14. Goods can be held efficiently.

Further, since the holding mechanism 1 has the recognition unit, the position information of the article can be accurately recognized even when the article G is located on the back side of the other article.

Further, since the rotation axis between the first support portion 10 and the second support portion 12 is inclined, the weight of the article G when it is held can be supported by the structure, and the load on the actuator can be reduced. ..

Further, the handling robot system according to the present embodiment can recognize the placed state of the article G from various angles by the recognition unit 130 and the recognition unit of the holding mechanism 1.

The handling robot system according to the present embodiment has a transfer device 110, a control device 120, and a recognition device 130, and autonomously moves to a shelf or the like on which the article G is placed to pick and inspect the article G. Includes picking equipment and inspection equipment. Further, the handling robot system according to the present embodiment includes a loading platform containing the article G, and includes a loading device and a loading device for delivering the article G from the loading platform to a shelf or the like.

The holding mechanism 1 according to the present embodiment has a flow path connected to the holding portion 15 inside the first supporting portion 10 and the second supporting portion 12, and the first driving portion 14 is provided in the first supporting portion 10. It is provided. Therefore, since the flow path and the drive unit are integrally formed, it is possible to realize a small holding mechanism capable of picking an article placed in a narrow space. Further, since the second support portion 12 rotates on the rotation shaft in the second direction intersecting the first direction, the weight of the article G when it is held can be supported by the structure, and the load on the actuator can be reduced. .. Therefore, it is possible to provide a transfer device and a handling robot system provided with the holding mechanism 1 according to the present embodiment.

(Modified example of the first embodiment)
A modified example of the first embodiment will be described with reference to FIGS. 9 to 12.

FIG. 9 is a diagram showing an example of the holding mechanism 1a according to the modified example of the first embodiment.

As shown in FIG. 9A, the holding mechanism 1a uses a link mechanism for the first connecting portion 17a. Other configurations are the same as those of the holding mechanism 1 according to the first embodiment.

The link mechanism includes a rotating shaft 41 and a telescopic shaft 43. The link mechanism rotates and expands and contracts with the rotation of the first drive unit 14. As a result, the rotational power of the first drive unit 14 is transmitted to the second support unit 12. FIG. 9A shows a state in which the holding mechanism 1a is extended, and FIG. 9B shows a state in which the holding mechanism 1a is bent.

Since the link mechanism is a rigid body, the holding mechanism 1 according to the present embodiment has a link mechanism, so that the stability of the rotational force transmitted from the first drive unit 14 to the second support unit 12 can be improved.

Next, another modified example of the first embodiment will be described with reference to FIG.

FIG. 10 is a diagram showing an example of the holding mechanism 1b according to the modified example of the first embodiment.

As shown in FIG. 10A, the first connecting portion 17b of the holding mechanism 1b is composed of a plurality of connecting members 79. Other configurations are the same as those of the holding mechanism 1 according to the first embodiment.

The first connecting portion 17b has a chain structure including a plurality of connecting members 79. The connecting member 79 includes a rotating shaft. As the first drive unit 14 rotates, the connecting member bends and extends due to the rotation. As a result, the rotational power of the first drive unit 14 is transmitted to the second support unit 12. FIG. 10A shows a state in which the holding mechanism 1b is extended, and FIG. 10B shows a state in which the holding mechanism 1b is bent. In the extended state of the holding mechanism 1b, the connecting members 79 of the first connecting portion 17b are folded. When the holding mechanism 1b is bent, the connecting members 79 of the first connecting portion 17b are arranged in a substantially linear shape.

Since the first connecting portion 17b is a rigid body, the holding mechanism 1b according to the present embodiment can improve the stability of the rotational force transmitted from the first driving portion 14 to the second supporting portion 12. Further, since each connecting member 79 has the same rotating shaft, the structure can be simplified, and further cost reduction by mass production can be expected.

Next, another modified example of the first embodiment will be described with reference to FIG.

FIG. 11 is a diagram showing an example of the holding mechanism 1c according to the modified example of the first embodiment.

The holding mechanism 1c includes a bevel gear 45 and a spur gear 47 in which the first connecting portion 17c is rotated by an electric motor (not shown). Other configurations are the same as those of the holding mechanism 1 according to the first embodiment.

The bevel gear 45 rotated by the electric motor transmits a rotational force to the spur gear 47, and the spur gear 47 rotates, so that the second support portion 12 rotates.

The electric motor may have a displacement sensor capable of measuring the driving amount. As the displacement sensor, for example, an encoder, a super-note sensor, a variable resistor, a capacitance sensor, a pulse coder, a fiber sensor, a laser displacement sensor and the like are used. Further, another sensor that outputs a voltage or current according to the distance may be used. As a result, the amount of rotation can be controlled and a reliable rotation operation is realized. By having the electric motor, the holding mechanism 1 according to the present embodiment can improve the accuracy of the rotation amount of the second support portion 12.

Next, another modified example of the first embodiment will be described with reference to FIG.

In the holding mechanism 1d, the first connecting portion 17d includes a first connecting member 76 and a second connecting member 77. Other configurations are the same as those of the holding mechanism 1 according to the first embodiment.

The first connecting member 76 is connected to the second support portion 12. The first connecting member 76 is, for example, a columnar member. One of the second connecting members 77 is connected to the first driving unit 14. The other end of the second connecting member 77 is bifurcated and has a first portion 90 and a second portion 91. The other first portion 90 and the second portion 91 of the first connecting member 77 are fixed so as to sandwich the first connecting member 76. When the first drive unit 14 rotates, the second connecting member 77 transmits the rotational power of the first drive unit to the first connecting member 76. As a result, the second support portion 12 rotates.

Since the first connecting portion 17d has a simple structure using two first and second connecting members 76 and 77, the number of parts can be reduced and the cost can be reduced. Further, since the first connecting portion 17d is a rigid body, the stability of the rotational power transmitted from the first driving portion 14 to the second supporting portion 12 can be improved.

As described above, according to the holding mechanisms 1a to 1d of the present embodiment, since the flow path and the drive unit are integrally formed as in the first embodiment, it is possible to pick an article placed in a small space in a small space. A simple holding mechanism can be realized. Further, since the second support portion 12 rotates on the rotation shaft in the second direction intersecting the first direction, the weight of the article G when it is held can be supported by the structure, and the load on the actuator can be reduced. .. Therefore, it is possible to provide a transfer device and a handling robot system provided with the holding mechanisms 1a to 1c according to the present embodiment.

The first connecting portions 17a to 17d described in the present embodiment may be used as the first connecting portion in the second embodiment and the modified examples of the second embodiment described later.

(Second Embodiment)
FIG. 13 is a side view showing an example of the holding mechanism according to the present embodiment. FIG. 13A shows a state in which the holding mechanism 1e is extended. FIG. 13B shows a state in which the holding mechanism 1e is bent.

As shown in FIG. 13, the holding mechanism 1e includes a first support portion 10, a second support portion 12, a third support portion 50, a holding portion 15, a first drive portion 14, and a second drive portion 51. , A first connecting portion 17 and a second connecting portion 53 are provided.

The first support portion 10 has one and the other. One of the first support portions 10 is connected to the second support portion 12. The other end of the first support portion 10 is connected to the third support portion 50. Since the first support portion 10 supports another configuration of the holding mechanism 1e, it is preferable that the first support portion 10 is a member having high rigidity.

One end of the second support portion 12 is connected to one of the first support portions 10. The portion where the first support portion 10 and the second support portion 12 are connected has an oblique cross section of the first support portion 10 and an oblique cross section of the second support portion 12 overlapped with each other. The second support portion 12 can rotate around a rotation axis in the second direction that intersects the first direction from one of the first support portions 10 to the other. The second support portion 12 rotates around a rotation axis by being driven by the first drive portion 14. The rotation axis in the second direction is a direction inclined with respect to the first direction (X-axis direction). For example, as shown by the alternate long and short dash line in FIG. 13A, assuming that the rotation axis in the first direction is A and the rotation axis in the second direction is B, the rotation axis in the first direction is in the second direction with respect to the rotation axis A in the first direction. The inclination angle θ (degrees) with respect to the rotation axis B is larger than 0 degrees and smaller than 90 degrees. It is typically 45 degrees. Since the second support portion 12 supports another configuration of the holding mechanism 1e, it is preferable that the second support portion 12 is a member having high rigidity.

One end of the third support portion 50 is connected to the other end of the first support portion 10. A rotation shaft is provided between the first support portion 10 and the third support portion 50. The portion where the first support portion 10 and the third support portion 50 are connected has a cross section of the first support portion 10 and a cross section of the third support portion 50 overlapped with each other. The first support portion 10 can rotate around a rotation axis in the first direction from one of the first support portions 10 toward the other. The first support portion 10 rotates around a rotation axis by being driven by the second drive portion 51. Since the third support portion 50 supports other configurations of the holding mechanism 1e, it is preferable that the third support portion 50 is a member having high rigidity.

The holding portion 15 is connected to one end of the second supporting portion 12. The holding portion 15 is, for example, a suction pad. The holding unit 15 holds the article G. The holding portion 15 is connected to a vacuum pump via, for example, a tube, and holds the article G by depressurizing the space between the suction pad and the article G by the vacuum pump. The holding portion 15 can approach and contact the article G by the operation of the support mechanism 1. The number of suction pads is not limited to one, and may be two or more, and can be appropriately changed depending on the size and form of the article G to be held. Further, it may be determined whether or not the holding unit 15 has succeeded in holding the article G, for example, based on the measured values of the pressure sensor or the flow rate sensor connected via the tube, or from the image data or the like. This may be performed based on the measured deformation amount of the suction pad. When performing based on the image data, the recognition result of the recognition unit described later may be used. Further, a contact sensor or a proximity sensor may be installed on the suction pad to make a judgment based on a change in the sensor output. The information measured by these sensors is transmitted to the control device 120 described later.

The first drive unit 14 is provided on the third support unit 50. The first drive unit 14 is, for example, the pneumatic drive motor described with reference to FIG. The first drive unit 14 rotates around the third support unit 50 on a rotation shaft in the first direction (X-axis direction). The first drive unit 14 is connected to the second support unit 12 via the first connecting unit 17. One end of the first connecting portion 17 is connected to the second supporting portion 12, and the connecting portion is fixed. Further, the other end of the first connecting portion 17 is connected to the first driving portion 14, and the connecting portion is fixed. Therefore, when the first drive unit 14 rotates, the second support unit 12 rotates in the same direction as the first drive unit 14 in conjunction with the first drive unit 14. The rotation angle of the second support unit 12 is determined based on the rotation amount of the first drive unit 14. A sensor or the like for measuring the rotation angle may be provided around the rotation axis of the second support portion 12. In order to measure the load measurement value, a load sensor using a strain gauge or the like may be provided in the vicinity of the portion where the first support portion 10 and the second support portion 12 are connected. The mass of the article G may be calculated from the rotation amount of the second support portion 12 and the measured load value, and the acceleration when the article G is transported by the holding portion 15 may be set.

The second drive unit 51 is provided on the third support unit 50. The second drive unit 51 is, for example, the pneumatic drive motor described with reference to FIG. The second drive unit 51 rotates around the third support unit 50 on a rotation shaft in the first direction (X-axis direction). The second drive unit 51 is connected to the first support unit 10 via the second connecting unit 53. One end of the second connecting portion 53 is connected to the first supporting portion 10, and the connecting portion is fixed. Further, the other end of the second connecting portion 53 is connected to the second driving portion 51, and the connecting portion is fixed. Therefore, when the second drive unit 51 rotates, the first support unit 10 rotates in the same direction as the second drive unit 51 in conjunction with the second drive unit 51. The first support portion 10 rotates. The rotation angle of the first support unit 10 is determined based on the rotation amount of the second drive unit 51. A sensor or the like for measuring the rotation angle may be provided around the rotation axis of the first support portion 10.

The first drive unit 14 and the second drive unit 51 may be any as long as they can obtain a driving force for rotating the first support unit 10 and the second support unit 12. For example, a pneumatic drive motor, a pneumatic cylinder, or the like may be used, or a reduction mechanism may be combined.

The first drive unit 14 and the second drive unit 51 may be, for example, a mechanism that can rotate around the X-axis in which a pneumatic motor and an encoder (not shown) are combined. The encoder measures the rotation angle of the pneumatic motor (rotational displacement of the motor), the number of rotations, the speed of the motor, the load of the motor, and the like. The encoder is arranged to measure the driving state of the pneumatic motor. If the driving state of the pneumatic motor is known, the driving state is not limited to the encoder, and for example, a displacement sensor, an ultrasonic sensor, a variable resistance, a capacitance sensor, a pulse coder, a fiber sensor, a laser displacement sensor, or the like may be used. Further, another sensor that outputs a voltage or current according to the distance may be used. The information measured by these sensors is transmitted to the control device 120. Further, the pneumatic motor may be provided with a speed reducer. The speed reducer reduces the rotation speed of the motor and determines the rotation speed of the first connection portion. The reduction ratio is appropriately adjusted according to the rotation speed of the pneumatic motor and the like. When adjusting the rotation speed on the pneumatic motor side, the speed reducer is not an indispensable configuration.

Further, in the rotational operation of the first drive unit 14 and the second drive unit 51, a spiral groove is provided on the surface of the third support unit 50, and the first drive unit 14 and the second drive unit 51 are the third support unit. It may move in the X-axis direction while rotating around 50. The first support portion 14 or the second drive portion 51 can rotate the first support portion 10 or the second support portion 12 by rotating along the spiral groove on the surface of the third support portion 50. can. In the third support portion 50, for example, one end of a linear motion mechanism such as a linear actuator or a pneumatic cylinder is connected to the first drive portion 14 or the second drive portion 51, and the other end is connected to the base portion. As the linear motion mechanism extends, the first drive unit 14 and the second drive unit 51 move while rotating along the third support unit 50. Is. Further, the third support unit 50 may be provided with a sensor for detecting that the first drive unit 14 and the second drive unit 51 have reached the end of the third support unit 50. The sensor is, for example, a switch type sensor, an auto switch, or the like. The information measured by these sensors is transmitted to the control device 120 described later.

One end of the first connecting portion 17 is connected to the second supporting portion 12, and the other end of the first connecting portion 17 is connected to the first driving unit 14. The first connecting portion 17 transmits rotational power from the first driving portion 14 to the second supporting portion 12. The first connecting portion 17 is, for example, a rigid body material. Since the first connecting portion 17 is arranged in accordance with the rotation of the second supporting portion 12 and the first driving portion 14, it can be flexed and extended.

One end of the second connecting portion 53 is connected to the first supporting portion 10, and the other end of the second connecting portion 53 is connected to the second driving unit 51. The second connecting portion 53 transmits rotational power from the second driving portion 51 to the first supporting portion 10. The second connecting portion 53 is, for example, a material of a rigid body or an elastic body. Since the second connecting portion 53 is arranged in accordance with the rotation of the first supporting portion 10 and the second driving portion 51, the second connecting portion 53 can be flexed and extended.

The inside of the first support portion 10, the second support portion 12, and the third support portion 50 is a cavity, and the cavity is connected to the holding portion 15. A tube connected to the holding portion 15 is provided in the internal cavity of the first supporting portion 10, the second supporting portion 12, and the third supporting portion 50. Further, it is not necessary to provide a tube in the internal cavity of the first support portion 10, the second support portion 12, and the third support portion 50. The cavity becomes a flow path through which a fluid such as air flows. In this case, it is desirable to ensure airtightness inside the first support portion 10, the second support portion 12, and the third support portion 50.

As shown in FIG. 13A, at the initial position where the first drive unit 14 and the second drive unit 12 are not rotating, the first support unit 10, the second support unit 12, and the third support unit 50 are X. It is provided along the axial direction. On the other hand, as shown in FIG. 13B, when the first drive unit 14 rotates, the second support unit 12 is provided along the direction intersecting the X-axis direction. For example, in FIG. 13B, the first support portion 10 faces the X-axis direction, and the second support portion 12 faces the −Z axis direction. The angle between the first support portion 10 and the second support portion 12 is 90 degrees. Further, in FIG. 13B, the second support portion 12 faces the −Z axis direction, but by rotating the second drive portion 50 and rotating the first support portion 10, the second support portion 12 is supported. The portion 12 can be oriented in the + Z axis direction. As described above, by rotating both the first drive unit 14 and the second drive unit 51 and rotating the first support unit 10 and the second support unit 12, the holding unit 15 is changed in the ± Z direction. It is possible.

By rotating the first drive unit 14 and the second drive unit 51 in opposite directions, the holding unit 15 can be swung up and down along the XZ plane. Therefore, the swinging operation of the holding portion 15 can be smoothly realized even in an environment where there is no space in the Y-axis direction of the holding portion 15. Further, when the posture is changed from the extended state of FIG. 13 (a) to the bent state of FIG. 13 (b), the first drive unit is compared with the case where only the first drive unit 14 is rotated independently. By rotating the 14 and the second drive unit 51 in opposite directions, the posture can be changed to the bent state shown in FIG. 13B with a small amount of rotation. Therefore, the posture change operation can be realized in a shorter time, the picking work time can be shortened, and the performance of the entire handling robot system can be improved. The holding portion 15 according to the above-described embodiment may be, for example, a pneumatically driven gripper-type holding portion or a jamming-type holding portion, regardless of the suction pad. The jamming type holding unit is a general term for a holding device that limits the fluidity of the contents by filling the inside of the bag with the contents such as particles and evacuating the contents, and solidifies the contents according to the shape of the article. In addition, it may be a holding portion of an electric drive mechanism, or a holding portion having a structure in which an adhesive or the like is applied to adhesively hold an article. The structure is not limited to the suction pad as long as it can hold the article.

As described above, according to the holding mechanism 1e of the present embodiment, since the flow path and the driving unit are integrally formed as in the first embodiment, the holding mechanism is small and can pick an article placed in a narrow space. The mechanism can be realized. Further, since the second support portion 12 rotates on the rotation shaft in the second direction intersecting the first direction, the weight of the article G when it is held can be supported by the structure, and the load on the actuator can be reduced. .. Therefore, it is possible to provide a transfer device and a handling robot system provided with the holding mechanism 1e according to the present embodiment.

(Modified example of the second embodiment)
FIG. 14 shows an example in which the first drive unit 14 has a configuration in which a sun gear 60, a planetary gear 61, and an internal gear 63 are combined.

FIG. 14A shows a configuration in which the sun gear 60, the planetary gear 61, and the internal gear 63 are combined. FIG. 14B shows the holding mechanism 1f, and shows the positions when the sun gear 60, the planetary gear 61, and the internal gear 63 are used for the first drive unit 14.

The sun gear 60 is shown by the broken line in FIG. 14 (b). The sun gear 60 and the third support portion 50 are connected so that their central axes coincide with each other. The planetary gear 61 is shown by the dotted line in FIG. 14 (b). The planetary gear 61 meshes with the sun gear 60, and the central axis is fixed to a base (not shown) connected to the manipulator 111. The rotational power of the sun gear 60 is transmitted to the planetary gear 61. The internal gear 63 is shown by the solid line in FIG. 14 (b). The internal gear 63 is outside the sun gear 60 and the planetary gear 61, and meshes with the planetary gear 61. The internal gear 63 is connected to the first connecting portion 17. When the sun gear 60 is rotated by an electric motor or the like, the planetary gear 61 and the internal gear 63 are rotated. The rotational power of the sun gear 60 is transmitted to the internal gear 63 via the planetary gear 61. The internal gear 63 rotates in the direction opposite to that of the sun gear 60.

Next, a modified example of another second embodiment will be described with reference to FIG.

15 (a) and 15 (b) are views showing an example of the holding mechanisms 1g and 1h according to the modified example of the second embodiment.

In FIG. 15A, the holding mechanism 1g uses a pneumatic drive motor for the first drive unit 14 and the second drive unit 51, and replaces the first connecting unit 17 in order to rotate the second support unit 12. A third connecting portion 17e and a fourth connecting portion 17f are provided. Further, the third support portion 50 is provided with a movable portion 78. Other configurations are the same as those of the holding mechanism 1e according to the second embodiment.

One end of the third connecting portion 17e is connected to the first driving portion 14, and the other end of the third connecting portion 17e is connected to the movable portion 78 provided in the third supporting portion 50. Since the third connecting portion 17e is a rigid body, the rotational power of the first driving portion 14 can be transmitted to the movable portion 78. The third connecting portion 17e may have any shape as long as the rotational power of the first driving portion 14 can be transmitted to the movable portion 78.

The fourth connecting portion 17f has the same configuration as the first connecting member 17d described with reference to FIG. 12, and includes the connecting member 76 and the connecting member 77. The connecting member 76 of the fourth connecting portion 17f is connected to the movable portion 78, and the connecting member 77 is connected to the second supporting portion 12. Therefore, the fourth connecting portion 17f can transmit the rotational power of the movable portion 78 to the second supporting portion 12. Therefore, the first drive unit 14 can transmit the rotational power to the second support unit 12 via the third connecting unit 17e and the fourth connecting unit 17f.

In FIG. 15B, the holding mechanism 1h includes a second connecting portion 53 inside the first supporting portion 10 and the third supporting portion 50. Other than that, it has the same configuration as the holding mechanism 1g.

Unlike the holding mechanism 1g, the holding mechanism 1h includes a second connecting portion 53 in a cavity inside the first support portion 10 and the third support portion 50. That is, the second drive unit 51 and the first support unit 10 are connected inside the holding mechanism 1h. Therefore, the second driving unit 51 can directly transmit the driving force to the first support unit 10.

Since the second drive unit 51 and the first support unit 10 are connected inside the holding mechanism 1h, the first drive unit 14 and the second drive unit 51 are driven by the first connecting member 17d and the second connecting unit. 53 does not come into contact. Therefore, the first support portion 10 and the second support portion 12 can rotate 360 degrees.

As described above, according to the holding mechanisms 1f to h of the present embodiment, since the flow path and the driving unit are integrally formed as in the first embodiment, it is possible to pick an article placed in a small space in a small space. A simple holding mechanism can be realized. Further, since the second support portion 12 rotates on the rotation shaft in the second direction intersecting the first direction, the weight of the article G when it is held can be supported by the structure, and the load on the actuator can be reduced. .. Therefore, it is possible to provide a transfer device and a handling robot system provided with the holding mechanisms 1f to h according to the present embodiment.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. This embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope of the invention described in the claims and the equivalent scope thereof, as well as in the scope and gist of the description.

1-1h Holding mechanism 10 1st support 12 2nd support 14 1st drive 15 Holding 17, 17a to 17d 1st connecting 17e 3rd connecting 17f 4th connecting 30 Pressure source 30A Pressurizing device 30B Pressure reducing device 30C Direction switching valve 32 Pressure sensor 40 Link mechanism 41 Rotating shaft 43 Telescopic shaft 45 Bevel gear 47 Spur gear 50 Third support 51 Second drive 53 Second connecting 60 Sun gear 61 Planetary gear 63 Internal gear 70 Base 71 Rotating parts 72a, 72b Inflow port 73 Stopper 74 Movable part 75 Shaft 76 First connecting member 77 Second connecting member 78 Movable part 79 Connecting member 80 Input unit 81 Command generation unit 82 Operation mode storage unit 83 Target generation unit 84 Drive Control unit 85 Judgment unit 86 Driver 87 Signal processing unit 90 First part 91 Second part 100 Handling robot system 110 Transfer device 111 Manipulator 120 Control device 130 Recognition device 131 First image sensor 132 Second image sensor 133 Third image sensor 134 Computer 140 Transfer device 141 Conveyor 142 Transfer control device 150 Mounting area

Claims (20)

A first support having one and the other,
A first drive unit that is connected to one of the first support portions and can rotate around the first support portion with a rotation axis in the first direction.
A second support portion that is connected to the other side of the first support portion and is rotatable by the drive of the first drive portion on a rotation shaft in the second direction that intersects the first direction.
A holding portion connected to the second support portion and
A first connecting portion that is connected to the first driving portion and the second supporting portion and interlocks the rotation of the first driving portion and the rotation of the second supporting portion.
Holding mechanism with. A first support portion having one and the other and being rotatable on a rotation shaft in the first direction,
A second support portion that is connected to one of the first support portions and is rotatable about a rotation shaft in the second direction that intersects the first direction.
With a third support portion connected to the other of the first support portion,
A first drive unit and a second drive unit which are connected to the third support portion and are rotatable around the third support portion by the rotation shaft in the first direction.
A holding portion connected to the second support portion and
A first connecting portion that is connected to the first driving portion and the second supporting portion and interlocks the rotation of the first driving portion and the rotation of the second supporting portion.
A second connecting portion that is connected to the second driving portion and the first supporting portion and interlocks the rotation of the second driving portion with the rotation of the first supporting portion.
Holding mechanism with. The holding mechanism according to claim 2, wherein the first drive unit and the second drive unit can rotate in opposite directions to each other. The holding mechanism according to claim 2 or 3, wherein the second drive unit is a pneumatic drive motor. The holding mechanism according to any one of claims 2 to 4, wherein the second connecting portion is an elastic body. The holding mechanism according to any one of claims 1 to 5, wherein the first connecting portion includes at least one rotating portion and at least one expanding / contracting portion. The holding mechanism according to any one of claims 1 to 5, wherein the first connecting portion has a chain structure having a plurality of connecting members. The holding mechanism according to any one of claims 1 to 5, wherein the first connecting portion includes a bevel gear and a spur gear. The first connecting portion includes a first connecting member and a first portion and a second portion branched into two, and the first portion and the second portion include a second connecting member sandwiching the first connecting member. The holding mechanism according to any one of claims 1 to 5. The holding mechanism according to any one of claims 1 to 9, wherein the first drive unit is a pneumatic drive motor. The holding mechanism according to any one of claims 1 to 9, wherein the first drive unit includes a sun gear, a planetary gear, and an internal gear. The holding mechanism according to any one of claims 1 to 11, further comprising a load sensor on the first support portion or the second support portion. The holding mechanism according to any one of claims 1 to 12, wherein the holding portion is a suction pad. The holding mechanism according to claim 13, further comprising a recognition unit in the holding unit. The holding mechanism according to claim 13 or 14, further comprising a cavity connected to the holding portion inside the first support portion and the second support portion. The holding mechanism according to claim 13 or 14, further comprising a tube connected to the holding portion inside the first support portion and the second support portion. The holding mechanism according to claim 16, further comprising a pneumatic device connected to the tube and changing the pressure in the holding portion. The holding mechanism according to any one of claims 1 to 17,
A manipulator that moves the holding mechanism and
Transfer device equipped with. The transfer device according to claim 18,
A recognition device that recognizes an article held by the transfer device, and
A control device that controls the drive of the transfer device based on the recognition result of the recognition device, and
Handling robot system equipped with. 1st support and
A first drive unit that is connected to the first support portion and can rotate around the first support portion with a rotation shaft in the first direction.
A second support portion that is connected to the first support portion and is rotatable by the drive of the first drive portion on a rotation shaft in the second direction that intersects the first direction.
A holding portion connected to the second support portion and
A first connecting portion that is connected to the first driving portion and the second supporting portion and interlocks the rotation of the first driving portion and the rotation of the second supporting portion.
Holding mechanism with.

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