Robot system, movement path generation device, and movement path generation method

Abstract

In the robot system (100), the control device (50) evaluates the generated plurality of candidates of holding postures in accordance with an index of difficulty of interference with a surrounding object of at least one of the robot arm (11) and the hand (20) at the time of holding the workpiece (2), and generates a movement path (P).

Description

Technical Field

[0001] This invention relates to robot systems, movement path generation devices, and movement path generation methods. Background Technology

[0002] Previously, a technique for generating movement paths for at least one of the robotic arm and the hand was known. For example, in Patent Document 1, multiple gripping postures of the gripping mechanism and the moving mechanism were pre-stored in a database. It was determined whether the gripping mechanism would collide with surrounding workpieces or surrounding structures. If it was determined that the gripping mechanism would not collide with surrounding workpieces or surrounding structures, a movement path for gripping the workpiece by the gripping mechanism was generated for the gripping posture that was determined not to collide.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-132086 Summary of the Invention

[0006] However, the technology described in Patent Document 1 has room for further improvement. For example, in determining whether the gripping mechanism collides with surrounding workpieces or structures, errors in the modeling of the robot arm, hand, and surrounding structures, as well as errors in the position or size of the workpieces and structures measured in three dimensions, may reduce the accuracy of the collision determination. In this case, if the robot arm or hand is moved through a generated movement path based on a gripping posture determined not to collide, the robot arm or hand may interfere with the workpiece or surrounding structures.

[0007] The present invention is proposed to solve the above-mentioned problems. One object of the present invention is to generate a movement path of at least one of the robot arm and hand while further suppressing interference between the robot arm and hand and the surrounding objects.

[0008] The robot system disclosed herein comprises: a hand having a workpiece holding part for holding a workpiece; a robot arm equipped with the hand; a camera unit for capturing images of the workpiece; and a control unit, which generates multiple candidate holding postures of at least one of the robot arm and the hand capable of holding the workpiece based on information about the position of the hand relative to the workpiece captured by the camera unit, evaluates the multiple candidate holding postures based on an index of the difficulty of interference of the robot arm and at least one of the hand with surrounding objects at the moment of holding the workpiece, and generates a movement path for selecting the holding posture of at least one of the robot arm and the hand from the evaluated multiple candidate holding postures.

[0009] According to the robot system of the first aspect of this disclosure, since the control unit evaluates multiple candidate holding postures based on an index including the difficulty of interference between at least one of the robot arm and hand and surrounding objects when holding a workpiece, it can select a candidate holding posture with less interference from holding postures that can hold the workpiece. As a result, interference between at least one of the robot arm and hand and surrounding objects can be further suppressed. Therefore, it is possible to generate a movement path for at least one of the robot arm and hand while further suppressing interference between at least one of the robot arm and hand and surrounding objects.

[0010] The second aspect of this disclosure discloses a movement path generation apparatus for a robot system. It includes a hand with a workpiece holding part for holding a workpiece, a robot arm with the hand attached, and a camera unit for capturing images of the workpiece. It also includes a control unit that generates multiple candidate holding postures for at least one of the robot arm and hand capable of holding the workpiece based on information about the position of the hand relative to the workpiece captured by the camera unit. The control unit evaluates the generated multiple candidate holding postures based on an index of the difficulty of interference between the robot arm and at least one of the hand and surrounding objects at the moment of holding the workpiece, and generates a movement path for selecting the holding posture from the evaluated multiple candidate holding postures.

[0011] According to the movement path generation apparatus of the second aspect of this disclosure, since the control unit evaluates multiple candidate holding postures generated based on an index of the difficulty of interference between at least one of the robot arm and hand and surrounding objects at the moment of holding the workpiece, a candidate holding posture with less interference can be selected from holding postures capable of holding the workpiece. As a result, interference between at least one of the robot arm and hand and surrounding objects can be further suppressed. Therefore, a movement path of at least one of the robot arm and hand can be generated while further suppressing interference between at least one of the robot arm and hand and surrounding objects.

[0012] The third aspect of this disclosure describes a method for generating a movement path, comprising: a step of photographing a workpiece; a step of generating a plurality of candidate holding postures for a robot arm and at least one of the hand capable of holding the workpiece, based on information about the position of a hand having a workpiece holding part for holding the workpiece relative to the photographed workpiece; a step of evaluating the plurality of candidate holding postures generated based on an index including the difficulty of interference of the robot arm and at least one of the hand with the hand to surrounding objects at the moment of holding the workpiece; and a step of generating a movement path for the robot arm and at least one of the hand with the holding posture selected from the evaluated plurality of candidate holding postures.

[0013] According to the motion path generation method of the third aspect of this disclosure, since multiple candidate holding postures are generated based on an index of the difficulty of interference between the robot arm with a hand and at least one of the hands at the moment of holding the workpiece and surrounding objects, it is possible to select a candidate holding posture with less interference from holding postures that can hold the workpiece. As a result, interference between the robot arm and at least one of the hands and surrounding objects can be further suppressed. Therefore, it is possible to generate a motion path for the robot arm and at least one of the hands while further suppressing interference between the robot arm and at least one of the hands and surrounding objects.

[0014] The robot system of the fourth aspect of this disclosure comprises: a hand having a plurality of workpiece holding parts for holding a workpiece; a robot arm on which the hand is mounted; a camera unit for capturing images of the workpiece; and a control unit, wherein the control unit generates, for each of the plurality of workpiece holding parts, a plurality of candidate holding postures for at least one of the robot arm and the hand capable of holding the workpiece based on information about the position of the hand relative to the workpiece captured by the camera unit; evaluates the generated plurality of candidate holding postures based on an index including whether the robot arm and the hand interfere with surrounding objects at the moment of holding the workpiece; generates a movement path for at least one of the robot arm and the hand for holding postures of one of the plurality of workpiece holding parts selected from the evaluated candidate holding postures; holds the workpiece along the generated movement path by one workpiece holding part; after holding the workpiece by one workpiece holding part, generates a plurality of candidate holding postures for other workpiece holding parts among the plurality of workpiece holding parts; evaluates the generated plurality of candidate holding postures based on an index including whether interference exists; generates a movement path for holding postures selected from the evaluated candidate holding postures; and holds the workpiece along the generated movement path by other workpiece holding parts.

[0015] According to the robot system of the fourth aspect of this disclosure, since multiple workpieces can be continuously removed by one hand, interference between at least one of the robot arm and the hand and surrounding objects can be further suppressed, and a movement path of at least one of the robot arm and the hand can be generated, thereby shortening the time for moving multiple workpieces. Attached Figure Description

[0016] Figure 1 This is a diagram showing the structure of the robot system according to the first embodiment.

[0017] Figure 2 It is a diagram showing a hand and a workpiece.

[0018] Figure 3 This is a diagram showing a hand mounted on a robot arm.

[0019] Figure 4 It means and Figure 3Diagrams of different replaceable hands shown

[0020] Figure 5 Diagram showing the structure of the control device

[0021] Figure 6 Diagram for explaining candidates for holding postures Figure 6 (a) of Figure 6 (b) of Figure 6 (c) of is a diagram showing an example of holding a workpiece with one suction part

[0022] Figure 7 Diagram for explaining candidates for holding postures Figure 7 (a) of Figure 7 (b) of and Figure 7 (c) of is a diagram showing an example of holding a workpiece with other suction parts

[0023] Figure 8 Diagram for explaining the evaluation of the holding posture of the height position of the flange Figure 8 (a) of is a diagram showing the case where the position of the flange is low Figure 8 (b) of is a diagram showing the case where the position of the flange is high

[0024] Figure 9 Diagram for explaining the evaluation of the holding posture of the distance between the flange and the base Figure 9 (a) of is a diagram showing the case where the flange is away from the base Figure 9 (b) of is a diagram showing the case where the flange is close to the base

[0025] Figure 10 Diagram for explaining the generation of the movement path

[0026] Figure 11 Flowchart for explaining the operation of the control device

[0027] Figure 12 Diagram showing the operation of the control device of the second embodiment Figure 12 (a) of is a diagram showing the photographing of the workpiece Figure 12 (b) of is a diagram showing the generation of candidates for holding postures Figure 12 (c) of is a diagram showing the evaluation of candidates for holding postures Figure 12 (d) of is a diagram showing the generation of the movement path for the selected holding posture Figure 12 (e) of is a diagram showing the state of retracting the held workpiece

[0028] Figure 13 Diagram showing the state of retracting the workpiece held by one suction part of the second embodiment

[0029] Figure 14 This is a diagram for explaining the model of the workpiece in the second embodiment.

[0030] Figure 15 This is a diagram showing the state in which the workpiece is held by other suction parts in the second embodiment.

[0031] Figure 16 This is a diagram showing the hand of a modified example.

[0032] Figure 17 This is a diagram showing the operation of the control device of a modified example. Figure 17 (a) of this is a diagram showing the photographing of the workpiece. Figure 17 (b) of this is a diagram showing the generation of candidates for holding poses.

[0033] Figure 17 (c) of this is a diagram showing the evaluation of candidates for holding poses. Figure 17 (d) of this is a diagram showing the generation of the movement path for the selected holding pose. Detailed Embodiment

[0034] [First Embodiment]

[0035] Refer to Figures 1-10 , the structure of the robot system 100 according to the first embodiment will be described. In addition, the robot system 100 is configured to hold a plurality of workpieces 2 arranged in the box 1 and move the held workpieces 2.

[0036] As Figure 1 and Figure 2 shown, the robot system 100 includes a robot 10, a robot controller 30, a camera unit 40, and a control device 50. In addition, the control device 50 is an example of a movement path generation device.

[0037] The robot 10 includes a robot arm 11. The robot 10 is, for example, a vertically articulated robot. In addition, a hand 20 is attached to the tip of the robot arm 11.

[0038] In the first embodiment, as Figure 3 shown, the hand 20 has at least one of a structure including a transfer mechanism 22 and being deformable and a structure provided with a plurality of suction parts 23. Specifically, in the first embodiment, the hand 20 has both a structure including a transfer mechanism 22 and being deformable and a structure provided with a plurality of suction parts 23. In addition, the suction part 23 is an example of a workpiece holding part.

[0039] Specifically, the hand 20 includes a support 21 and a transfer mechanism 22. The support 21 is mounted on the front end of the robot arm 11. The support 21 is arranged to extend from the front end of the robot arm 11. The transfer mechanism 22 is configured to move relative to the support 21. The transfer mechanism 22 includes a pair of sprockets 22a and a chain 22b wound around the pair of sprockets 22a. The sprockets 22a are rotated by a motor (not shown), and the chain 22b rotates as the sprockets 22a rotate. Furthermore, the sprockets 22a are also referred to as chain rollers.

[0040] Multiple adsorption portions 23 are provided on the hand 20. In the first embodiment, two adsorption portions 23a and 23b are provided on the hand 20. The adsorption portions 23 are, for example, composed of an adsorption pad. Alternatively, the adsorption portions 23 may be composed of a magnet or the like. The adsorption portions 23 are mounted on a chain 22b and rotate relative to the support portion 21 together with the chain 22b. Furthermore, two chains 22b are provided in a manner corresponding to the adsorption portions 23a and 23b. The adsorption portions 23a are directly mounted on the chain 22b. Thus, the adsorption portions 23a are configured such that the position of the hand 20 can be changed by rotating the chain 22b. Furthermore, the adsorption portions 23b are mounted on the chain 22b via a link portion 24. Thus, the adsorption portions 23b are configured such that the position of the hand 20 can be changed by rotating the chain 22b and rotating the link portion 24. In this way, by moving the adsorption portions 23a and 23b at the hand 20, the hand 20 can be deformed. Furthermore, the adsorption section 23a and the adsorption section 23b are examples of workpiece holding sections.

[0041] A hand-changing mechanism 25 is provided at the front end of the robot arm 11. Through the hand-changing mechanism 25, the hand 20 can be replaced with a different type of hand. Figure 4 The hand shown is 60.

[0042] like Figure 4 As shown, the hand 60 is provided with, for example, an adsorption part 63a and a gripping part 63b. The gripping part 63b is, for example, a chuck. Alternatively, the gripping part 63b may be a hand with an articulation. The adsorption part 63a and the gripping part 63b are mounted on a chain 62b. By rotating the chain 62b, the adsorption part 63a and the gripping part 63b move relative to the support part 61. Furthermore, the adsorption part 63a and the gripping part 63b are examples of workpiece holding parts.

[0043] like Figure 1 As shown, the robot controller 30 controls the actions of the robot 10. Specifically, the control device 50 inputs data to the robot controller 30 to cause the robot 10 to move. Figure 10 The movement path P is shown. The robot controller 30 drives the drive unit of the robot 10 according to the input movement path P, thereby controlling the movement of the robot 10.

[0044] The drive unit is implemented, for example, by multiple servo motors. Each servo motor is equipped with a position sensor, such as an encoder, to detect the rotational angle position of the servo motor. Here, the rotational angle position is the angular position of each joint in the joint coordinate system of each servo motor. The robot controller 30 is configured to control the robot arm 11 to any posture by performing position control on the servo motors.

[0045] The camera unit 40 is configured to capture images of the workpiece 2. The camera unit 40 is, for example, a 3D camera. Based on the captured images of the workpiece 2, the camera unit 40 calculates the 3D coordinates of the workpiece 2. Furthermore, the 3D coordinates of the workpiece 2 are, for example, the coordinates of the upper surface of the workpiece 2. Figure 6 The coordinates of the center point C are shown. Specifically, the coordinates of the center point C and a vector representing the direction of the surface containing the center point C are calculated. The camera unit 40 is positioned above the box 1 on which the workpiece 2 is disposed. Furthermore, a frame 41 is provided for positioning the camera unit 40 above the box 1 on which the workpiece 2 is disposed.

[0046] The control device 50 is separate from the robot controller 30. The control device 50 is, for example, a PC (personal computer). The three-dimensional coordinates of the workpiece 2 are input from the camera unit 40 to the control device 50.

[0047] like Figure 5 As shown, the control device 50 includes a storage unit 51, a posture candidate generation unit 52, a posture evaluation unit 53, and a movement path generation unit 54. Furthermore, while the opponent 20 is described below, the opponent 60 also performs the same processing. The posture candidate generation unit 52, the posture evaluation unit 53, and the movement path generation unit 54 are examples of the control unit.

[0048] The storage unit 51 stores information about the hand 20. In the first embodiment, the information about the hand 20 includes at least one of the type of hand that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part that holds the workpiece 2, and the position of the workpiece holding part. Specifically, in the first embodiment, the information about the hand 20 includes all of the types of hands that can be exchanged by the hand exchange mechanism 25, the types of workpiece holding parts that hold the workpiece 2, and the positions of the workpiece holding parts. The type of hand is, for example, hand 20, hand 60, etc. The type of workpiece holding part is, for example, suction part 23, gripping part 63b, etc.

[0049] In the first embodiment, the position of the adsorption portion 23, which is configured to be movable within the hand 20, includes the adsorption portion 23 within the hand 20. Figure 3 The dashed arrows indicate multiple positions within the movable range. Furthermore, the information for hand 20 also includes the movable range of the suction unit 23.

[0050] Furthermore, in the first embodiment, as Figure 6As shown, the posture candidate generation unit 52 generates multiple candidate postures for holding at least one of the robot arm 11 and the hand 20 that can hold the workpiece 2, based on information about the position of the hand 20 relative to the position of the workpiece 2 captured by the camera unit 40. In the first embodiment, multiple candidate postures for holding both the robot arm 11 and the hand 20 that can hold the workpiece 2 are generated. Specifically, at least two of the following are generated as candidate postures when they correspond to each other: the type of hand that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part that holds the workpiece 2, and the position of the workpiece holding part. Specifically, in the first embodiment, candidate postures are generated when all the types of hands that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part that holds the workpiece 2, and the position of the workpiece holding part correspond to each other. For example, a table is generated to establish a correspondence between the type of hand, the type of workpiece holding part, and the position of the workpiece holding part. Furthermore, the holding posture includes the angle of the joint of the robot arm 11, the value of the movable axis when the hand 20 has a movable axis, the workpiece holding part used for holding when there are multiple workpiece holding parts, and the type of hand when there are multiple hands 20, etc. Alternatively, a table can be generated by establishing a correspondence between only two of the following: the type of hand, the type of workpiece holder, and the position of the workpiece holder.

[0051] In the first embodiment, a plurality of adsorption portions 23a and 23b are provided on the hand 20, and the posture candidate generation unit 52 generates a plurality of posture candidates for each of the plurality of adsorption portions 23a and 23b. Similarly, the posture candidate generation unit 52 also generates a plurality of posture candidates for the hand 60.

[0052] Specifically, for each of the adsorption units 23a and 23b, N values ​​for the movable axes of the hand 20 are discretely prepared within the movable range of the hand 20. Furthermore, by combining the adsorption units 23a and 23b with joint angles Ψ, the positions of the wrists at the front ends of multiple robot arms 11 are generated for a single workpiece 2. The movable axes of the hand 20 refer to... Figure 3 The movable axes A1 and A2. The values ​​of the movable axes of hand 20 are expressed by the joint angle Ψ = {ψ}. i}express.

[0053] Specifically, based on the following formula, an inverse transformation is performed from the position of the wrist at the front end of the robot arm 11 to the joint angle Ψ, thereby generating multiple candidates for maintaining the posture.

[0054] θ i =IK[(pp off )×R -1 (ψ i )-p w2j ]

[0055] Here, θ iIt is a candidate for maintaining the posture. IK is the inverse transform function of the robot arm 11. p is the position of workpiece 2 output from camera 40. The position of workpiece 2 is in three-dimensional coordinates. off It is the position vector from the movable axis A1 of the hand 20 to the adsorption part 23a. Furthermore, p off R is the position vector from the movable axis A2 of the hand 20 to the adsorption part 23b. R is the rotation matrix corresponding to the values ​​of the movable axes A1 and A2 of the hand 20. w2j It is the position vector from the position of the wrist at the front end of the robot arm 11 to the movable axis A1 or A2 of the hand 20.

[0056] A schematic diagram is shown below when the number of joint angles N of the hand 20, which has two adsorption parts 23a and 23b, is 3. Figure 6 As shown. The posture candidate generation unit 52 generates three posture candidates for the adsorption unit 23a. Figure 6 of (a), Figure 6 (b) and Figure 6 In (c), among the three candidates for maintaining the posture, the posture of the robot arm 11, the angle of the support portion 21 of the hand 20 relative to the vertical direction, and the position of the adsorption portion 23a in the support portion 21 are different from each other.

[0057] Similarly, the posture-maintaining candidate generation section 52 is similar to the adsorption section 23b, as... Figure 7 As shown in (a), (b), and (c), three candidate holding postures are generated. Thus, the candidate holding postures are not generated continuously for all positions of the movable adsorption parts 23a and 23b, but rather for several discrete positions. Furthermore, the number of candidate holding postures can be set arbitrarily.

[0058] In this first embodiment, the holding posture evaluation unit 53 of the control device 50 evaluates multiple candidate holding postures based on an index of the difficulty of interference between at least one of the robot arm 11 and hand 20 and surrounding objects at the moment of holding the workpiece 2. Specifically, in the first embodiment, the multiple candidate holding postures are evaluated based on an index of the difficulty of interference between both the robot arm 11 and hand 20 and surrounding objects. Furthermore, the holding posture evaluation unit 53 determines whether the multiple candidate holding postures interfere with surrounding objects, and evaluates the candidate holding postures determined not to interfere with surrounding objects based on an index of the difficulty of interference. Furthermore, the surrounding objects are the workpiece 2, the box 1, etc., surrounding the workpiece 2 being held. Figure 6 In this case, the workpiece 2, which is the object being held, is the workpiece 2 located at the corner of the box 1. Furthermore, in Figure 6 and Figure 7 In the example, because the robot arm 11 interferes with the box 1, Figure 6 of (a), Figure 6 (b) and Figure 7 The holding posture shown in (a) is not an evaluation object based on indicators. The moment when workpiece 2 is held refers to the instant when adsorption part 23a or adsorption part 23b holds workpiece 2.

[0059] like Figure 8 As shown, the difficulty of interference refers to the margin of interference that the hand 20 or robotic arm 11 can provide with the surrounding objects. Furthermore, in Figure 8 The shape of the hand 20 is simplified and described in the diagram. Furthermore, the interference margin refers to the distance L1 between the hand 20 or robot arm 11 and surrounding objects. For example, in... Figure 8 In the example shown, with Figure 8 Compared to (a), Figure 8 In case (b), the flange 26, which serves as the mounting position for the hand 20 at the front end of the robot arm 11, is located further away from the bottom surface 1a of the box 1. Therefore, Figure 8 Option (b) was judged to be more difficult to intervene in. That is, not choosing... Figure 8 (a) maintaining posture, while choosing Figure 8 (b) The posture of holding the position.

[0060] In addition, it is possible to repeatedly generate one candidate for holding a pose and evaluate that one candidate for holding a pose, or to aggregate and evaluate multiple candidates for holding poses after generating multiple candidates for holding poses.

[0061] In the first embodiment, in addition to the difficulty of at least one of the robot arm 11 and hand 20 interfering with surrounding objects, the metric also includes the movement time of at least one of the robot arm 11 and hand 20 before holding the workpiece 2. Specifically, in the first embodiment, in addition to the difficulty of both the robot arm 11 and hand 20 interfering with surrounding objects, the metric also includes the movement time of both the robot arm 11 and hand 20 before holding the workpiece 2. That is, the movement time of the robot arm 11 and hand 20 from their initial positions to their respective transitions to multiple holding postures determined not to interfere with surrounding objects is calculated. Furthermore, the holding posture with the shorter movement time is evaluated as the appropriate holding posture.

[0062] In the first embodiment, such as Figure 9As shown, in addition to the difficulty of interfering with surrounding objects and the movement time, the index also includes the naturalness of the posture of at least one of the robot arm 11 and hand 20. Specifically, in the first embodiment, the index also includes the naturalness of the posture of the robot arm 11. The naturalness of the posture of at least one of the robot arm 11 and hand 20 includes the sense of incoordination of the posture according to human experience rules, the naturalness of the action of holding the workpiece 2, and the naturalness of the action of the hand 20 or the robot arm 11. Even if the posture of holding the workpiece 2 is not problematic in itself, a posture that appears incoordination to a human will be considered for re-evaluation with other postures due to the discovery of collisions with known objects in the subsequently generated movement path P, or the addition of relay points and the time spent moving. Furthermore, in Figure 9 The shape of the hand 20 is described in a simplified manner. For example, as shown... Figure 9 As shown, the posture of the robot arm 11 is based on the distance L2 between the positions of the base 12 and the flange 26 of the robot 10. Specifically, distance L2 represents the distance L2 between the origin of the base coordinate system of the base 12 and the center of the flange 26. Furthermore, as... Figure 9 As shown in (b), the distance L2 between the base 12 of robot 10 and the flange 26 is greater than that between the base 12 and the flange 26 of robot 10. Figure 9 In the case of (a) being small, the evaluation is Figure 9 The posture of the robot arm 11 shown in (b) is appropriate.

[0063] In the first embodiment, the posture evaluation unit 53 evaluates multiple candidate postures generated after weighting the indicators. Specifically, the candidate postures θ are evaluated based on the following formula. ＊ .

[0064] θ ＊ =argmin J(θ)

[0065] J(θ)=Σw i x i (θ), (i = 1, 2, 3)

[0066] Here, w i This refers to the weights of each indicator. For example, w1:w2:w3 is 2:2:1. i The difficulty lies in the interference between the robot arm 11 and the hand 20. In other words, x i x1 is the interference margin between the robot arm 11 and hand 20 and the surrounding objects. x2 is the movement time of the robot arm 11 and hand 20 until the turning and holding the posture. x3 is the posture of the robot arm 11 and hand 20.

[0067] Furthermore, in the first embodiment, the movement path generation unit 54 generates a movement path P for at least one of the robot arm 11 and hand 20 selected from one or more candidate holding postures evaluated. Specifically, in the first embodiment, movement paths P are generated for both the robot arm 11 and hand 20. Additionally, as... Figure 10 As shown, the movement path P includes the path from the initial position of the robot arm 11 and hand 20 to the selected holding posture, and the path from the removal of workpiece 2 from the box 1 to the designated position. The initial position refers to... Figure 10 The positions of the robot arm 11 and hand 20 on the right side. The specified positions refer to... Figure 10 The positions of the robot arm 11 and hand 20 on the left.

[0068] In the first embodiment, such as Figure 2 As shown, multiple workpieces 2 are arranged inside the box 1. Furthermore, the hand 20 can hold multiple workpieces 2 via multiple adsorption parts 23. "Can hold" means that the hand 20 can hold multiple workpieces 2, or hold only one workpiece 2. Specifically, in the first embodiment, the hand 20 can hold two workpieces 2. Then, the holding posture candidate generation unit 52 of the control device 50 generates candidate holding postures for the multiple workpieces 2. Moreover, when the holding posture evaluation unit 53 selects, for example, adsorption part 23a as one of the adsorption parts 23 for one of the multiple workpieces 2, it does not generate and evaluate candidate holding postures for the adsorption part 23a for the other workpieces 2, but instead generates and evaluates candidate holding postures for the other adsorption parts 23b.

[0069] Next, refer to Figure 11 The method for generating the movement paths of the robot arm 11 and hand 20 will be explained. The generation of the movement path P of the hand 20 is performed by the control device 50. Furthermore, the hand 20 will be described below, but the hand 60 will be processed in the same way.

[0070] In step S1, workpiece 2 is photographed. Workpiece 2 is photographed by camera unit 40. In addition, camera unit 40 outputs the three-dimensional coordinates of workpiece 2.

[0071] In step S2, for the position of the photographed workpiece 2, multiple candidate holding postures that can hold the workpiece 2 are generated based on the information of the hand 20 having the adsorption part 23 for holding the workpiece 2.

[0072] In step S3, it is determined whether the multiple generated pose-holding candidates interfere with surrounding objects. If the result in step S3 is "No", proceed to step S4. If the result in step S3 is "Yes", return to step S3.

[0073] In step S4, candidates for a holding posture that is determined not to interfere with surrounding objects are evaluated based on an index of the difficulty of interference between at least one of the robotic arm 11 with the hand 20 and the hand 20. In the first embodiment, candidates for holding postures are evaluated based on an index of the difficulty of interference between both the robotic arm 11 and the hand 20 and surrounding objects.

[0074] In step S5, for the selected holding posture from the multiple candidate holding postures evaluated, a movement path P is generated for at least one of the robot arm 11 and the hand 20. In the first embodiment, movement paths P are generated for both the robot arm 11 and the hand 20.

[0075] [Effects of the First Embodiment]

[0076] In the first embodiment, the following effects can be obtained. Furthermore, the following description is based on the case where the hand 20 is mounted on the robot arm 11, but the same effects can be obtained even when the hand 60 is mounted on the robot arm 11.

[0077] In the first embodiment, as described above, the control device 50 evaluates the generated candidate holding postures based on an index of the difficulty of interference between at least one of the robot arm 11 and hand 20 and surrounding objects. Therefore, a candidate holding posture with a lower interference difficulty can be selected from those holding postures capable of holding the workpiece 2. As a result, interference between at least one of the robot arm 11 and hand 20 and surrounding objects can be further suppressed. Thus, a movement path P for at least one of the robot arm 11 and hand 20 can be generated while further suppressing interference between at least one of the robot arm 11 and hand 20 and surrounding objects.

[0078] In the first embodiment, as described above, the control device 50 determines whether any of the multiple generated candidate holding postures interfere with surrounding objects, and evaluates candidates for holding postures that do not interfere with surrounding objects based on an index that includes the difficulty of interference. Thus, it is possible to appropriately select holding postures that do not interfere with surrounding objects and are more likely to suppress interference with surrounding objects.

[0079] In the first embodiment, as described above, in addition to the difficulty of interference between at least one of the robot arm 11 and the hand 20 and surrounding objects, the metric also includes the movement time of at least one of the robot arm 11 and the hand 20 until the workpiece 2 is held. Therefore, it is possible to select a holding posture that can quickly hold the workpiece 2 while further suppressing interference with surrounding objects. Furthermore, since a holding posture that can quickly hold the workpiece 2 can be selected, the operation time for holding the workpiece 2 can be shortened.

[0080] In the first embodiment, as described above, in addition to the difficulty of interference with surrounding objects and the movement time, the index also includes the posture of at least one of the robot arm 11 and hand 20. Therefore, since the posture of at least one of the robot arm 11 and hand 20 is included in the index, it is possible to select a holding posture that makes it difficult to apply load to at least one of the robot arm 11 and hand 20. As a result, it is possible to quickly hold the workpiece 2 while further suppressing interference with surrounding objects, and it is possible to select a holding posture that makes it difficult to apply load to at least one of the robot arm 11 and hand 20.

[0081] In the first embodiment, as described above, the control device 50 evaluates the generated candidate poses by weighting the indicators. Therefore, when multiple indicators exist, the contribution of each indicator to the evaluation of the pose can be adjusted by changing the weights assigned to the indicators.

[0082] In the first embodiment, as described above, the information of the hand 20 includes at least one of the type of hand that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part, and the position of the workpiece holding part. Therefore, candidates for holding postures can be appropriately generated based on at least one of the information of the type of hand that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part, and the position of the workpiece holding part.

[0083] In the first embodiment, as described above, candidates for holding postures are generated based on at least two corresponding states among the type of hand that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part, and the position of the workpiece holding part. Therefore, candidates for holding postures can be easily evaluated based on the correspondence between the type of hand that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part, and the position of the workpiece holding part.

[0084] In the first embodiment, as described above, the adsorption part 23 is configured to be movable within the hand 20, and the position of the adsorption part 23 includes multiple positions within the movable range of the adsorption part 23 in the hand 20. Therefore, even if the position of the adsorption part 23 in the hand 20 moves, candidates for holding the workpiece 2 can be appropriately generated based on the multiple positions of the adsorption part 23 within the movable range of the hand 20.

[0085] In the first embodiment, as described above, the hand 20 has at least one of the following structures: a deformable structure including movable shafts A1 and A2, and a structure provided with multiple adsorption portions 23. Therefore, multiple candidate holding postures generated based on information about the hand 20 having a deformable structure including movable shafts A1 and A2 and a structure provided with multiple adsorption portions 23 are evaluated. Thus, while further suppressing interference between the deformable hand structure including movable shafts A1 and A2 and the hand 20 having a structure provided with multiple adsorption portions 23 and surrounding objects, a movement path P of at least one of the robot arm 11 and the hand 20 can be generated. Furthermore, by configuring the hand 20 to include movable shafts A1 and A2 and be deformable, workpieces 2 that are difficult to hold with a fixed-shape hand 20, such as those positioned at the corners of the box 1, can be held by deforming the hand 20. Furthermore, by providing multiple adsorption portions 23 on the hand 20, multiple workpieces 2 can be held with one hand 20, thus shortening the operation time for holding the workpieces 2 and moving them to a predetermined position.

[0086] In the first embodiment, as described above, a plurality of workpieces 2 are provided, and a plurality of suction portions 23 are provided on the hand 20 to hold the plurality of workpieces 2. The control device 50 generates candidate holding postures for the plurality of workpieces 2. Thus, even when the hand 20 is provided with a plurality of suction portions 23, an appropriate holding posture can be selected.

[0087] In the first embodiment, as described above, when the control device 50 selects one of the multiple adsorption sections 23 for one of the multiple workpieces 2, it does not generate and evaluate candidates for holding postures for the other multiple workpieces 2, but instead generates and evaluates candidates for holding postures for the other adsorption sections 23. Therefore, since the workpiece 2 is not generated and evaluated for holding postures for the multiple adsorption sections 23, the control burden on the control device 50 is reduced.

[0088] In the first embodiment, as described above, an adsorption part 23 is provided on the hand 20, which can generate a movement path P for the hand 20 with the adsorption part 23 while further suppressing interference with surrounding objects.

[0089] [Second Implementation]

[0090] The robot system 100 of the second embodiment will be described. In the second embodiment, the workpiece 2 is continuously held by the two suction parts 23a and 23b of the hand 20.

[0091] like Figure 12 As shown in (a), the workpiece 2, positioned inside box 1, is photographed. Next, as... Figure 12As shown in (b), the holding posture candidate generation unit 52 generates multiple holding posture candidates for the two adsorption units 23a and 23b based on the captured images of the workpiece 2. The holding posture candidate generation unit 52 models the robot arm 11 and hand 20 based on CAD data, etc. The holding posture candidates are generated based on the modeled robot arm 11 and hand 20. The workpiece 2 is modeled based on 3D images captured by the camera unit 40 or CAD data, etc.

[0092] Next, as Figure 12 As shown in (c), the holding posture evaluation unit 53 evaluates multiple candidate holding postures based on an index of the difficulty of interference between the robot arm 11 and hand 20 and surrounding objects at the moment of holding the workpiece 2. For example, it is assumed that the holding posture of the adsorption unit 23b is selected based on the evaluation based on the index of difficulty of interference. Figure 12 As shown in (d), the movement path generation unit 54 generates a movement path P for the selected holding posture. The control device 50 holds the workpiece 2 using the adsorption unit 23b according to the generated movement path P.

[0093] In the second embodiment, such as Figure 12 (e) and Figure 13 As shown, the adsorption portions 23a and 23b are configured to move within the hand 20. After holding the workpiece 2 using the adsorption portion 23b, the control device 50 moves the adsorption portion 23b to retract the held workpiece 2. The control device 50 moves the adsorption portion 23b within the hand 20 by rotating the chain 22b, thereby retracting the workpiece 2 held by the adsorption portion 23b.

[0094] In the second embodiment, after the control device 50 holds the workpiece 2 using the adsorption part 23b, it moves the adsorption part 23b to retract the held workpiece 2 away from the remaining workpiece 2. The remaining workpiece 2 is not held by the adsorption part 23b and remains in the box 1. The control device 50 retracts the workpiece 2 back to above the position where the workpiece 2 is held by the adsorption part 23b.

[0095] In the second embodiment, after holding the workpiece 2 using the adsorption part 23b, the control device 50 moves the adsorption part 23b to retract the held workpiece 2 back to the side of the hand 20. The side of the hand 20 refers to the side of the hand 20 in the horizontal direction. Furthermore, the workpiece 2 retracts to a position between the front end and the base end of the hand 20.

[0096] Next, in the second embodiment, after holding the workpiece 2 using the adsorption unit 23b, the holding posture candidate generation unit 52 generates multiple holding posture candidates for the adsorption unit 23a. The holding posture candidate generation unit 52 can generate holding posture candidates based on an image of the workpiece 2 re-captured by the imaging unit 40, or it can generate holding posture candidates based on a previously captured image without re-capture. That is, as... Figure 12 As shown in (e), after retracting workpiece 2, as Figure 12 As shown in (a), workpiece 2 is re-photographed, or not. Figure 12 (a) photography and entry Figure 12 (b) Using an image taken to hold the first workpiece 2, a candidate holding posture for holding the workpiece 2 by the adsorption unit 23a is generated. Furthermore, when generating the candidate holding posture for this purpose, the candidate holding posture for the adsorption unit 23b is not generated.

[0097] Next, the posture evaluation unit 53 evaluates multiple candidate postures. In the second embodiment, the candidate postures are evaluated with the retracted workpiece 2 as a component of the robot 10.

[0098] In the second embodiment, such as Figure 14 As shown, after holding the workpiece 2 using the adsorption unit 23b, the posture candidate generation unit 52 evaluates the candidates for holding postures for the adsorption unit 23a in a state where the model M of the workpiece 2 held by the adsorption unit 23b is larger than the size of the workpiece 2. That is, the three-dimensional model M of the workpiece 2 is larger than the size of the workpiece 2 based on the three-dimensional image or CAD data captured by the imaging unit 40.

[0099] In the second embodiment, the workpiece 2 has a cuboid shape. The holding posture candidate generation unit 52 of the control device 50, based on the length of the diagonal L11 of each face S of the cuboid shape, makes the model M of the workpiece 2 held by the adsorption unit 23b larger than the size of the workpiece 2. For example, the holding posture candidate generation unit 52 generates a square with a diagonal L11 as one side for each face S of the cuboid shape. A cube composed of the six generated squares serves as the model M of the workpiece 2.

[0100] The posture evaluation unit 53 considers the workpiece 2 as a component of the robot 10 and evaluates multiple posture candidates using a model M of the workpiece 2 that is larger than the actual workpiece 2. The posture evaluation unit 53 evaluates based on an index of the difficulty of interference between the robot arm 11 and hand 20, both at the moment of holding the workpiece 2, and surrounding objects. Furthermore, in the above structure, an example is shown where the retracted workpiece 2 is evaluated as a component of the robot 10 when evaluating posture candidates; however, the retracted workpiece 2 can also be included as a component of the robot 10 during the stage of generating posture candidates. That is, posture candidates can also be generated in a manner that includes the retracted workpiece 2 as a component of the robot 10.

[0101] Next, the movement path generation unit 54 generates a movement path P for the selected holding posture. For example... Figure 15 As shown, the control device 50 holds the workpiece 2 using the suction unit 23a according to the generated movement path P. Finally, while holding the workpiece 2 using both the suction unit 23a and the suction unit 23b, the control device 50 moves the robot arm 11. Thus, the two workpieces 2 are transported to the designated position.

[0102] In the above description, an example was given in which the workpiece 2 was initially held by the adsorption part 23b, but the workpiece 2 may also be initially held by the adsorption part 23a.

[0103] [Effects of the Second Implementation]

[0104] In the second embodiment, the following effects can be obtained.

[0105] In the second embodiment, the control device 50 generates multiple candidate holding postures for the multiple adsorption units 23, evaluates the multiple candidate holding postures, and holds the workpiece 2 using one of the multiple adsorption units 23. After holding the workpiece 2 using one adsorption unit 23, it generates multiple candidate holding postures for the other adsorption units 23 among the multiple adsorption units 23, evaluates the multiple candidate holding postures, and holds the workpiece 2 using the other adsorption units 23. As a result, multiple workpieces 2 can be continuously removed by a single hand 20, thus shortening the time required to move multiple workpieces 2.

[0106] In the second embodiment, the plurality of adsorption portions 23 are configured to be movable within the hand 20. After holding the workpiece 2 with one adsorption portion 23, the control device 50 moves the adsorption portion 23 to retract the held workpiece 2. Thus, since the workpiece 2 held by one adsorption portion 23 is retracted, it is possible to prevent the workpiece 2 held by one adsorption portion 23 from interfering with the operation of holding the workpiece 2 by another adsorption portion 23.

[0107] In the second embodiment, after holding the workpiece 2 with one adsorption part 23, the control device 50 moves the adsorption part 23 to retract the held workpiece 2 and move it away from the remaining workpiece 2. Therefore, since the workpiece 2 held by one adsorption part 23 moves away from the remaining workpiece 2, it is possible to further suppress the workpiece 2 held by one adsorption part 23 from interfering with the operation of holding the workpiece 2 by other adsorption parts 23.

[0108] In the second embodiment, after holding the workpiece 2 with one adsorption part 23, the control device 50 moves one adsorption part 23 to retract the held workpiece 2 back to the side of the hand 20. Thus, since the workpiece 2 held by one adsorption part 23 is retracted to the side of the hand 20, other adsorption parts 23 can be moved to the front end of the hand 20, and the workpiece 2 can be held by other adsorption parts 23.

[0109] In the second embodiment, after holding the workpiece 2 with one adsorption part 23, the control device 50 evaluates candidates for holding postures for the other adsorption parts 23 among the plurality of adsorption parts 23, in a state where the workpiece 2 held in one adsorption part 23 is a component of the robot 10. Therefore, by evaluating candidates for holding postures in a state where the workpiece 2 held in one adsorption part 23 is a component of the robot 10, interference between the workpiece 2 held by one adsorption part 23 and surrounding objects can be easily suppressed.

[0110] In the second embodiment, after holding the workpiece 2 with one adsorption part 23, the control device 50 evaluates the candidate holding postures for the other adsorption parts 23 among the plurality of adsorption parts 23, with the model M of the workpiece 2 held by one adsorption part 23 being larger than the size of the workpiece 2. In reality, the part of the workpiece 2 held by one adsorption part 23 is not necessarily in an ideal position such as the center part. Furthermore, sometimes the model M of the workpiece 2 deviates from the actual size of the workpiece 2. Therefore, even if the workpiece 2 is held according to the generated candidate holding posture, when the workpiece 2 held by one adsorption part 23 is moved, the workpiece 2 may sometimes collide with surrounding objects. Therefore, by evaluating the candidate holding postures with the model M of the workpiece 2 held by one adsorption part 23 being larger than the size of the workpiece 2, it is possible to suppress the collision between the workpiece 2 held by one adsorption part 23 and surrounding objects.

[0111] In the second embodiment, the workpiece 2 has a cuboid shape, and the control device 50, based on the length of the diagonal L11 of each face S of the cuboid shape, makes the model M of the workpiece 2 held on an adsorption part 23 larger than the size of the workpiece 2. Therefore, it is easy to make the model M of the workpiece 2 relatively large, thus easily suppressing collisions between the workpiece 2, which is held and moved by an adsorption part 23, and surrounding objects.

[0112] [Variation Example]

[0113] Furthermore, the embodiments disclosed herein should be considered illustrative rather than restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the above embodiments, and includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0114] For example, in the first and second embodiments described above, examples are shown where a plurality of adsorption portions 23 are provided on the hand 20, or where an adsorption portion 63a and a gripping portion 63b are provided on the hand 60, but this disclosure is not limited thereto. Figure 16 As shown, this disclosure can also be applied to a structure in which an adsorption portion 73 is provided on the hand 70. Furthermore, in Figure 16 In the hand 70 shown, the connecting rod 74 is configured to rotate about the movable shaft A3. That is, the hand 70 is configured to be deformable. Furthermore, the suction part 73 is an example of a workpiece holding part.

[0115] Then, as Figure 17 As shown in (a), the workpiece 2, positioned inside box 1, is photographed. Furthermore, as... Figure 17 As shown in (b), multiple candidate holding postures for holding the workpiece 2 are generated for a hand 70 with an adsorption part 73 and a robot arm 11. Then, as... Figure 17 As shown in (c), the generated candidates for maintaining poses are evaluated. Then, as... Figure 17 As shown in (d), a movement path P is generated for the selected holding posture. Furthermore, in Figure 17 The example shown describes how, after generating a candidate for a pose, the candidate for that pose is evaluated, and then other candidates for poses are generated. However, it is also possible to evaluate multiple candidates for poses after generating multiple candidates for poses.

[0116] Furthermore, in the first and second embodiments described above, examples were shown of generating candidate holding postures for both the robot arm 11 and the hand 20, evaluating the holding postures, and generating a movement path P, but this disclosure is not limited thereto. For example, it is also possible to generate candidate holding postures for one of the robot arm 11 and the hand 20, evaluate the holding postures, and generate a movement path P.

[0117] Furthermore, in the first and second embodiments described above, examples of holding postures deemed not to interfere with surrounding objects were shown based on index evaluation, but this disclosure is not limited thereto. For example, holding postures deemed to interfere with surrounding objects can also be evaluated based on indexes.

[0118] Furthermore, in the first and second embodiments described above, examples are shown where the indicators include the difficulty of the interference, the movement time, and the posture of the robotic arm 11 and the hand 20, but this disclosure is not limited thereto. For example, the indicators may also include only the difficulty of the interference. Furthermore, the indicators may also include only the difficulty of the interference and the movement time. Furthermore, the indicators may also include only the difficulty of the interference, the posture of the hand 20, and the posture of the hand 60.

[0119] Furthermore, in the first and second embodiments described above, examples were shown where the difficulty of interference between the robot arm 11 and the hand 20 and surrounding objects was used as an indicator, but this disclosure is not limited thereto. For example, the difficulty of interference between one of the robot arm 11 and the hand 20 and surrounding objects could also be used as an indicator.

[0120] Furthermore, in the first and second embodiments described above, examples were shown using the movement time of both the robot arm 11 and the hand 20 as indicators, but this disclosure is not limited thereto. For example, the movement time of either the robot arm 11 or the hand 20 may also be used as an indicator.

[0121] Furthermore, in the first and second embodiments described above, examples using the posture of the robotic arm 11 as an indicator are shown, but this disclosure is not limited thereto. For example, the posture of both the robotic arm 11 and the hand 20, or only the hand 20, may also be used as an indicator.

[0122] Furthermore, in the first and second embodiments described above, examples of evaluating candidates for maintaining a posture with weighted indicators were shown, but this disclosure is not limited thereto. In this disclosure, candidates for maintaining a posture can be evaluated without weighting the indicators. That is, the weighting of the indicators can also be the same.

[0123] Furthermore, in the first and second embodiments described above, examples were shown of all of the following: the type of hand 20 that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part, and the position of the workpiece holding part; however, this disclosure is not limited thereto. In this disclosure, the information of the hand 20 may also include one or both of the type of hand 20 that can be exchanged by the hand exchange mechanism 25, the type of workpiece holding part, and the position of the workpiece holding part.

[0124] Furthermore, in the first and second embodiments described above, examples were shown where, when one of the multiple workpieces 2 selected an adsorption portion 23a from among the multiple adsorption portions 23, the generation and evaluation of candidate holding postures for the adsorption portion 23a were not performed for the other workpieces 2 among the multiple workpieces 2. However, this disclosure is not limited thereto. In this disclosure, even when an adsorption portion 23a from among the multiple adsorption portions 23 is selected, candidate holding postures for the adsorption portion 23a can still be generated and evaluated for the other workpieces 2 among the multiple workpieces 2.

[0125] Furthermore, in the first and second embodiments described above, examples of respectively equipping a robot controller 30 and a control device 50 are shown, but this disclosure is not limited thereto. For example, the functions of the control device 50 of this disclosure can also be implemented by the robot controller 30.

[0126] Furthermore, in the second embodiment described above, an example is shown where two adsorption portions 23a and 23b are arranged on the hand 20, but this disclosure is not limited thereto. For example, three or more adsorption portions may be arranged on the hand 20 to continuously hold three or more workpieces 2.

[0127] Furthermore, in the second embodiment described above, an example is shown where the initially held workpiece 2 is retracted to the side of the hand 20, but this disclosure is not limited thereto. The initially held workpiece 2 can also be retracted to a position other than the side of the hand 20, as long as it is in a position that does not obstruct the subsequent holding of the workpiece 2.

[0128] Furthermore, in the second embodiment described above, an example was shown of generating a candidate holding posture for holding the next workpiece 2 while including the initially held workpiece 2 as a component of the robot 10; however, this disclosure is not limited thereto. Alternatively, the initially held workpiece 2 may not be considered as a component of the robot 10, but rather as workpiece 2 itself, and a candidate holding posture for holding the next workpiece 2 may be generated.

[0129] Furthermore, in the second embodiment described above, an example is shown where the model M of the workpiece 2 is made larger than the actual size of the workpiece 2 based on the length of the diagonal L11 of each face S of the cuboid shape; however, this disclosure is not limited thereto. For example, the model M of the workpiece 2 may also be made larger than the actual size of the workpiece 2 by a predetermined constant magnification such as 1.5 times.

[0130] Furthermore, in the second embodiment described above, an example of workpiece 2 having a cuboid shape is shown, but this disclosure is not limited thereto. The shape of workpiece 2 may also be a shape other than a cuboid, such as a cylindrical shape.

[0131] Furthermore, in the second embodiment described above, an example was shown of generating multiple candidate holding postures for the two adsorption units 23a and 23b respectively, and evaluating the generated multiple candidate holding postures based on an index including the difficulty of interference, but this disclosure is not limited thereto. For example, it is also possible that the holding posture candidate generation unit 52 generates multiple candidate holding postures for the two adsorption units 23a and 23b respectively, and the holding posture evaluation unit 53 evaluates the generated multiple candidate holding postures based on an index including whether at least one of the robot arm 11 and hand 20 interferes with the surrounding objects at the moment of holding the workpiece 2. Then, the movement path generation unit 54 generates a movement path P for at least one of the robot arm 11 and hand 20 holding one of the two adsorption units 23a and 23b selected from the evaluated multiple candidate holding postures. One of the adsorption units 23a and 23b holds the workpiece 2 along the generated movement path P. After holding the workpiece 2 by one of the adsorption units 23a and 23b, the holding posture candidate generation unit 52 generates multiple candidate holding postures for the other of the adsorption units 23a and 23b. The posture evaluation unit 53 evaluates the generated candidate postures based on an index including whether interference occurs. The movement path generation unit 54 generates a movement path P for selecting the posture from the evaluated candidate postures. The other of the adsorption units 23a and 23b holds the workpiece 2 along the generated movement path P. In this way, since multiple workpieces 2 can be continuously removed by a single hand 20, while further suppressing interference between at least one of the robot arm 11 and the hand 20 and surrounding objects, the time required to move multiple workpieces 2 can be shortened.

[0132] The functions of the components disclosed in this specification can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this invention, a circuit, unit, or device is hardware that performs the exemplified functions or is hardware programmed to perform the exemplified functions. The hardware can be the hardware disclosed in this specification, or it can be other known hardware configured or adapted to perform the exemplified functions. Where the hardware is a processor considered a type of circuit, the circuit, device, or unit is a combination of hardware and software, with the software used to structure the hardware and / or processor.

[0133] Explanation of reference numerals in the attached figures

[0134] 2 workpieces

[0135] 10 robots

[0136] 11 robotic arms

[0137] 20, 60, 70 lots

[0138] 23, 23a, 23b, 63a, 73 Adsorption section (workpiece holding section)

[0139] 25-hand exchange agency

[0140] 40 Camera Department

[0141] 50 Controller (Movement Path Generation Device)

[0142] 52. Posture Candidate Generation Unit (Control Unit)

[0143] 53 Posture Evaluation Department (Control Department)

[0144] 54. Movement Path Generation Unit (Control Unit)

[0145] 63b Holding part (workpiece holding part)

[0146] 100 Robot Systems

[0147] A1, A2, A3 movable shafts

[0148] L11 diagonal

[0149] M-model

[0150] P movement path

Claims

1. A robot system, characterized in that, have: A hand with a workpiece holding part for holding the workpiece; A robotic arm equipped with the aforementioned hand; A camera unit for photographing the workpiece; and Control Department The control unit performs the following actions: Based on the position information of the hand relative to the workpiece captured by the camera, multiple candidate holding postures for at least one of the robotic arm and the hand capable of holding the workpiece are generated. The generated candidate holding postures are evaluated based on an index of the difficulty of interference between at least one of the robotic arm and the hand with surrounding objects at the moment the workpiece is held. Generate a movement path for at least one of the robotic arm and the hand for the selected holding posture from the plurality of candidates for holding posture evaluation. The hand also includes a support and a transfer mechanism, the transfer mechanism being movable relative to the support, the transfer mechanism including a sprocket and a chain wound on the sprocket, the sprocket driving the chain to rotate by a motor, such that the workpiece holding part is configured to move in the hand, and the control unit generating candidate holding postures for multiple positions of the workpiece holding part.

2. The robot system according to claim 1, characterized in that, The control unit performs the following actions: Determine whether the generated candidates for maintaining the pose interfere with the surrounding objects. Candidates for the holding posture that are judged not to interfere with the surrounding objects are evaluated based on the index that includes the difficulty of interference.

3. The robot system according to claim 1, characterized in that, In addition to the difficulty of interference between the robotic arm and at least one of the hands with the surrounding objects, the metric also includes the movement time of at least one of the robotic arm and the hands until the workpiece is held.

4. The robot system according to claim 3, characterized in that, In addition to the difficulty of interfering with the surrounding objects and the movement time, the indicators also include the naturalness of the posture of at least one of the robotic arm and the hand.

5. The robot system according to claim 3, characterized in that, The control unit evaluates the generated candidate poses after weighting the indicators.

6. The robot system according to claim 1, characterized in that, The information about the hand includes at least one of the following: the type of hand that can be exchanged by the hand-exchange mechanism, the type of the workpiece holder, and the position of the workpiece holder.

7. The robot system according to claim 6, characterized in that, Candidates for the holding posture are generated from at least two corresponding states among the type of hand that can be exchanged by the hand-changing mechanism, the type of the workpiece holding part, and the position of the workpiece holding part.

8. The robot system according to claim 7, characterized in that, The position of the workpiece holding part includes multiple positions within the movable range of the workpiece holding part in the hand.

9. The robot system according to claim 1, characterized in that, The hand has at least one of the following structures: a structure including a movable shaft and capable of deformation, and a structure having a plurality of workpiece holding portions.

10. The robot system according to claim 1, characterized in that, Multiple workpieces are provided. The hand is provided with a plurality of workpiece holding portions to enable the holding of the plurality of workpieces. The control unit generates candidates for the holding posture of the plurality of workpieces.

11. The robot system according to claim 10, characterized in that, When a workpiece holder is selected from among the plurality of workpiece holders for one of the plurality of workpieces, the control unit does not generate and evaluate candidates for the holding posture for the one workpiece holder for the other workpieces, but generates and evaluates candidates for the holding posture for the other workpiece holders.

12. The robot system according to claim 10, characterized in that, The control unit performs the following actions: Candidate holding postures for the plurality of workpiece holding parts are generated, the candidate holding postures are evaluated, and the workpiece is held by one of the plurality of workpiece holding parts. After holding the workpiece by one workpiece holding part, multiple candidates for holding postures for other workpiece holding parts among the multiple workpiece holding parts are generated, the multiple candidates for holding postures are evaluated, and the workpiece is held by the other workpiece holding parts.

13. The robot system according to claim 12, characterized in that, The plurality of workpiece holding parts are configured to be movable in the hand. After holding the workpiece by the workpiece holding part, the control unit moves the workpiece holding part to retract the held workpiece.

14. The robot system according to claim 13, characterized in that, After holding the workpiece by the workpiece holding part, the control unit moves the workpiece holding part to retract the held workpiece so as to leave the remaining workpiece.

15. The robot system according to claim 14, characterized in that, After holding the workpiece by the workpiece holding part, the control unit moves the workpiece holding part to retract the held workpiece back to the side of the hand.

16. The robot system according to claim 12, characterized in that, After holding the workpiece by the one workpiece holding part, the control unit generates candidate holding postures for the other workpiece holding parts among the plurality of workpiece holding parts in a manner that includes the workpiece held on the one workpiece holding part as a component of the robot, or evaluates the candidate holding postures in a state that includes the workpiece held on the one workpiece holding part as a component of the robot.

17. The robot system according to claim 12, characterized in that, After holding the workpiece by the one workpiece holding part, the control unit generates multiple candidate holding postures for the other workpiece holding parts among the plurality of workpiece holding parts, in a state where the model of the workpiece held by the one workpiece holding part is larger than the size of the workpiece, or evaluates the candidate holding postures in a state where the model of the workpiece held by the one workpiece holding part is larger than the size of the workpiece.

18. The robot system according to claim 17, characterized in that, The workpiece has a cuboid shape. The control unit adjusts the model of the workpiece held by the workpiece holding unit to be larger than the size of the workpiece based on the length of the diagonal of each face of the cuboid shape.

19. The robot system according to claim 1, characterized in that, The workpiece holding part includes at least one of a holding part and an adsorption part.

20. A movement path generation device, which is a movement path generation device for a robot system, comprising a hand having a workpiece holding part for holding a workpiece, a robot arm on which the hand is mounted, and a camera part for capturing images of the workpiece, characterized in that, Equipped with a control unit, The control unit performs the following actions: Based on the position information of the hand relative to the workpiece captured by the camera, multiple candidate holding postures for at least one of the robotic arm and the hand capable of holding the workpiece are generated. The generated candidate holding postures are evaluated based on an index of the difficulty of interference between at least one of the robotic arm and the hand with surrounding objects at the moment the workpiece is held. Generate a movement path for at least one of the robotic arm and the hand for the selected holding posture from the plurality of candidates for holding posture evaluation. The hand also includes a support and a transfer mechanism, the transfer mechanism being movable relative to the support, the transfer mechanism including a sprocket and a chain wound on the sprocket, the sprocket driving the chain to rotate by a motor, such that the workpiece holding part is configured to move in the hand, and the control unit generating candidate holding postures for multiple positions of the workpiece holding part.

21. A method for generating a movement path, characterized in that, Includes the following steps: Steps for photographing the workpiece; Based on information about the position of a hand with a workpiece holding part for holding the workpiece relative to the photographed workpiece, a plurality of candidate holding postures for holding at least one of the robotic arm and the hand that can hold the workpiece are generated. The generated candidate steps of the plurality of holding postures are evaluated based on an index of the difficulty of interference between the robotic arm with the hand and at least one of the hands with the surrounding objects at the moment of holding the workpiece. The step of generating a movement path for at least one of the robotic arm and the hand in the selected holding posture from the plurality of candidates for holding posture; as well as The step of generating candidate holding postures for multiple positions of the workpiece holding part. The hand also includes a support portion and a transfer mechanism. The transfer mechanism is configured to move relative to the support portion. The transfer mechanism includes a sprocket and a chain wound on the sprocket. The sprocket drives the chain to rotate via a motor, so that the workpiece holding portion is configured to move in the hand.

22. A robot system, characterized in that, have: A hand with multiple workpiece holding parts for holding the workpiece; A robotic arm equipped with the aforementioned hand; A camera unit for photographing the workpiece; and Control Department The control unit performs the following actions: Based on the information regarding the position of the hand relative to the workpiece captured by the camera, for each of the plurality of workpiece holding units, a plurality of candidate holding postures for at least one of the robotic arm and the hand capable of holding the workpiece are generated. The generated candidates of the plurality of holding postures are evaluated based on an index including whether at least one of the robotic arm and the hand interferes with surrounding objects at the moment of holding the workpiece. Generate a movement path for at least one of the robot arm and the hand for the holding posture of one of the plurality of workpiece holding parts selected from the evaluated plurality of holding posture candidates. The workpiece is held by the workpiece holder along the generated movement path. After holding the workpiece by the one workpiece holding part, candidate holding postures for the other workpiece holding parts among the plurality of workpiece holding parts are generated. The generated candidates for the multiple poses to be maintained are evaluated based on an index that includes whether the interference exists. Generate the movement path for selecting the holding posture from the evaluated candidates of the plurality of holding postures. The other workpiece holding part holds the workpiece along the generated movement path. The hand also includes a support and a transfer mechanism, the transfer mechanism being movable relative to the support, the transfer mechanism including a sprocket and a chain wound on the sprocket, the sprocket driving the chain to rotate by a motor, such that the workpiece holding part is configured to move in the hand, and the control unit generating candidate holding postures for multiple positions of the workpiece holding part.

Images