Control device and robot system

Abstract

The invention provides a control device capable of reliably sucking and conveying only an object as a conveying object at a position suitable for conveying by a sucking hand. This robot control device controls the operation of a robot that sucks, lifts, and transports an object by means of a manipulator. The control device is provided with: at least one processor; and at least one storage device capable of storing a program executed by at least one processor, the processor integrating the negative pressure information of the plurality of suction pads from a robot having a plurality of suction pads using the negative pressure, and changing the movement of the robot with respect to the object according to the integrated negative pressure information when the object is sucked, and the robot having the plurality of suction pads using the negative pressure.

Description

Technical Field

[0001] This disclosure relates to a control device and a robot system, and more particularly to a control device for controlling the actions of a robot that uses a robotic arm to pick up, lift, and transport objects, and a robot system comprising the control device and the robot. Background Technology

[0002] A technique for enabling a robot to stably hold and transport objects is described in Patent Documents 1 and 2.

[0003] Patent document 1 describes a track generating device for generating tracks for a robot used to transport objects.

[0004] Specifically, the track generation device described in Patent Document 1 includes: a path condition acquisition unit that acquires path condition information, the path condition information including at least the coordinates of a first transit point, which is the position of the adsorption nozzle as a reference point when the adsorption nozzle of the robot contacts an object, the velocity, acceleration, and jerk of the adsorption nozzle at the first transit point; a pressure distance / coordinate calculation unit that calculates the coordinates of a second transit point, which is the position of the reference point when the adsorption nozzle is pushed into the object, based on the path condition information; and a track generation unit that generates a track of the adsorption nozzle that satisfies the path condition information and reaches the endpoint from a predetermined starting point via the first transit point and the second transit point.

[0005] Patent document 2 describes a control device for a moving machine that implements a method for preventing the falling or breakage of an object being held.

[0006] Specifically, Patent Document 2 is a control device for a mobile machine. The mobile machine has a hand that holds an object. The control device has a processor and a storage unit. The storage unit stores strength information representing the strength of the holding part of the object when it is held by the hand. The processor generates multiple combinations of a picking action for an object placed at a first position and a placement action at a second position different from the first position. Based on the strength information, the processor calculates the evaluation value of the generated picking action and placement action. For each of the generated combinations of picking action and placement action, a movement action is generated from the end point of the picking action to the start point of the placement action. Based on the strength information, the evaluation value of the movement action is calculated. Based on the evaluation value, any one of the combinations of picking action, placement action and movement action is selected.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Patent Application Publication No. 2020-157408

[0010] Patent Document 2: Japanese Patent Application Publication No. 2022-72752 Summary of the Invention

[0011] The problem that the invention aims to solve

[0012] When using a robotic arm to pick up and move objects, it is essential to ensure that the objects are firmly picked up to prevent them from falling off during transport.

[0013] When there are objects to be transported and objects not to be transported, if the suction surface of the robot arm is larger than that of the object to be transported, it may sometimes inadvertently suction objects other than the object to be transported.

[0014] Therefore, there is a need for a control device and robotic system that can reliably pick up and move the object to be moved in a suitable location.

[0015] Methods for solving problems

[0016] A representative first aspect of this disclosure is a control device that controls the actions of a robot that uses a robotic arm to pick up, lift, and transport an object, wherein the control device comprises:

[0017] At least one processor; and

[0018] At least one storage device capable of storing a program executed by the at least one processor.

[0019] The processor integrates negative pressure information from multiple suction pads of the robotic arm. When adsorbing the object, it changes the movement of the robotic arm relative to the object based on the integrated negative pressure information. The robotic arm has multiple suction pads that use negative pressure.

[0020] A representative second aspect of this disclosure is a robot system comprising: a control device of the first aspect described above; and a robot controlled by the control device. Attached Figure Description

[0021] Figure 1 This is a configuration diagram showing an example of the configuration of the robot system according to the first embodiment of this disclosure.

[0022] Figure 2 This is a bottom view of the adsorption hand as seen from the side where multiple adsorption pads are arranged.

[0023] Figure 3 This is a top view showing an example of a configuration of three goods placed on a pallet.

[0024] Figure 4 This is a diagram illustrating a configuration example of the control device according to the first embodiment.

[0025] Figure 5 This is a diagram showing an example of a configuration of goods relative to the suction hand, viewed from the pallet side.

[0026] Figure 6 This is a diagram showing the position of the goods being transported, as viewed from the pallet side, deviating from the center of the suction hand in the X direction.

[0027] Figure 7 This diagram shows the position of the goods being transported, viewed from the pallet side, roughly at the center of the suction hand.

[0028] Figure 8 Viewed from the side of the pallet Figure 7 The diagram shows the state of the adsorption hand adsorbing the goods being transported in the configuration shown.

[0029] Figure 9 This is a diagram showing the vertical movement of goods as observed from the goods side, with the goods being transported being held by the suction hand.

[0030] Figure 10 This diagram illustrates the transfer of goods between pallets using suction hands.

[0031] Figure 11 This is a flowchart illustrating the control actions of the control device when the adsorption hand adsorbs the goods being transported.

[0032] Figure 12 The diagram sequentially illustrates the suction action of the suction hand on the package to be transported, the detachment action of the package other than the package to be transported, and the transport action of the package to be transported, as performed by the suction hand in the second embodiment of this disclosure.

[0033] Figure 13 This is a diagram showing the state of the package being transported when it is being held in place, as observed from the pallet side.

[0034] Figure 14 This is a diagram showing the state of the package rising vertically when the suction hand has attached the package to it.

[0035] Figure 15 This is a flowchart illustrating the actions of adsorbing a package that is being transported, detaching a package from the package being transported, and transporting the package that is being transported.

[0036] Figure 16 The diagram sequentially illustrates the suction action of the suction hand on the mail to be transported, the detachment action of the mail other than the mail to be transported, and the transport action of the mail to be transported, as performed by the suction hand in the third embodiment of this disclosure.

[0037] Figure 17This is a diagram showing the state of multiple emails positioned under the suction cup, viewed from the tray side.

[0038] Figure 18 This is a diagram showing the state of the mail being transferred, as observed from the pallet side, during the suction process.

[0039] Figure 19 This is a diagram showing the state of an email being moved when it leaves the recipient's location, as observed from the email side.

[0040] Figure 20 This is a diagram showing the state of the package rising vertically when the suction hand has picked up the mail being transported, as observed from the mail side.

[0041] Figure 21 This is a flowchart illustrating the actions of the suction hand in detaching from and transporting a package.

[0042] Figure 22 This is a diagram showing the state of the second embodiment where the action of switching the blowing in the blowing range of the third embodiment to adsorption and setting it as the adsorption range is applied from the package side.

[0043] Figure 23 This is a block diagram illustrating a configuration example where a computer is used as the control device. Detailed Implementation

[0044] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0045] (First Embodiment)

[0046] Figure 1 This is a configuration diagram showing an example of the configuration of the robot system according to the first embodiment of this disclosure.

[0047] like Figure 1 As shown, the robot system 10 includes: a robot 100 for transporting goods on a pallet 500A, such as goods 400B from goods 400A, 400B, and 400C; a control device 200 for controlling the movement of the robot 100; and a camera 300 for detecting goods 400A, 400B, and 400C on the pallet 500A. The robot 100 and the control device 200 are connected via a cable.

[0048] The robot 100 includes a robot mechanism 101 and an adhesive hand 102 mounted on the front end of the robot mechanism 101. The adhesive hand 102 is a robotic arm.

[0049] The robot mechanism 101 has multiple joint axes, each equipped with a motor. Each motor is controlled by motion commands from the control device 200. By controlling each motor, the robot mechanism 101 can move the suction hand 102 in the plumb line and horizontal direction.

[0050] The suction hand 102 includes a vacuum generator, a regulator for generating negative pressure (a pressure difference in the negative direction relative to atmospheric pressure), and multiple negative pressure sensors for measuring the negative pressure. The suction hand 102 has multiple suction pads that create an internal negative pressure through the vacuum generator and regulator. Each suction pad can be individually switched between internal negative pressure and vacuum-breaking air (positive pressure). By creating negative pressure within the suction pads, the multiple suction pads attract the surface of the goods, thus transporting them. The mechanism for switching between negative pressure and vacuum-breaking air (positive pressure) can be set individually for each suction pad, or the multiple suction pads can be divided into multiple sections, for example, 3×3. In the following description, we assume that the goods to be transported (the object to be transported) are goods 400B. Goods 400B is the object to be transported.

[0051] Although the suction handle 102 has an regulator to control the values ​​of negative and positive pressure, the negative pressure may vary depending on the shape of the goods being transported, the holding state of the suction handle 102, and the surrounding conditions. When the negative pressure changes, the force (hereinafter referred to as the suction force) by which the suction handle 102 adsorbs the goods 400B will also change. The value of the negative pressure represents the value of the suction force.

[0052] Figure 2 This is a bottom view of the adsorption hand as seen from the side where multiple adsorption pads are arranged.

[0053] Figure 2 The shown adsorption hand 102 has 64 adsorption pads P11 to P88 arranged in 8 columns and 8 rows. Furthermore, the adsorption pad located in the m-th column and n-th row is labeled as adsorption pad Pmn (m and n are natural numbers). Although the number of adsorption pads is appropriately set, in... Figure 2 The diagram shows the cases where m=8 and n=8. Figure 2 Only the absorbent pads P11, P18, P81, and P88 are shown in the diagram. Each absorbent pad from P11 to P88 is equipped with a negative pressure sensor, which measures the negative pressure of each pad. Alternatively, a negative pressure sensor can be installed for each of multiple absorbent pads.

[0054] A regulating valve is installed in each of the adsorption pads P11 to P88. The regulating valve closes when the pressure increases to suppress leakage between the adsorption pad and the goods. Even if there is an adsorption pad that is not opposite to the goods, it can still prevent the negative pressure from dropping, allowing the goods to be transported.

[0055] Figure 3This is a top view of three goods placed on a pallet.

[0056] like Figure 3 As shown, on pallet 500A, there are goods 400A and 400C that are quadrilateral in shape when viewed from above, and L-shaped goods 400B that are to be transported.

[0057] The dimensions of the suction handle 102 include the dimensions of all goods 400A, 400B, and 400C. The dimensions of the suction handle 102 only need to be larger than the goods being transported; in this case, it only needs to be larger than goods 400B.

[0058] Figure 4 This is a diagram showing one configuration example of the control device 200.

[0059] The control device 200 includes a camera information acquisition unit 201, a negative pressure information acquisition unit 202, a negative pressure information integration unit 203, a robot mechanism control unit 204, and a pressure control unit 205. Alternatively, the control device 200 may not include the robot mechanism control unit 204. In this case, the control device 200 transmits motion commands to the externally located robot mechanism control unit 204, which controls the robot mechanism unit 101.

[0060] The camera information acquisition unit 201 acquires camera information (image information) from the camera 300, including cargo 400A, 400B and 400C.

[0061] The negative pressure information acquisition unit 202 acquires negative pressure information from each negative pressure sensor that is provided corresponding to the adsorption pads P11 to P88 of the adsorption hand 102.

[0062] The negative pressure information integration unit 203 calculates at least one of the following: the position, shape, and size of the goods 400B on the suction pads P11 to P88 of the suction hand 102, based on the camera information output from the camera information acquisition unit 201 and the negative pressure information output from each negative pressure sensor. The position of the goods 400B is the position of the object. The position of the goods 400B includes the position of its center of gravity. The position of the center of gravity can be calculated based on the integrated negative pressure information, determining the case where the negative pressure of the suction pad is at its highest. The position of the center of gravity can also be calculated using dynamic calculations based on the torque information of the robot 100's motor. Since torque can be obtained by multiplying the torque constant by the current value, the control device 200 can calculate the position of the center of gravity by detecting the current flowing through the motor and determining the motor torque.

[0063] The negative pressure information integration unit 203 calculates a correction amount for the movement of the suction hand 102 relative to the position of the goods 400B on the suction pads P11 to P88 of the suction hand 102, and transmits the change instruction along with the position correction amount to the robot mechanism control unit 204. Furthermore, when the negative pressure information integration unit 203 instructs the suction hand 102 to move relative to the position of the goods 400B, it correspondingly instructs the pressure control unit 205 to change the suction pad among the suction pads P11 to P88 that require negative pressure.

[0064] The robot mechanism control unit 204 controls the robot mechanism unit 101 based on the correction amount of the position of the suction hand 102 output from the negative pressure information integration unit 203.

[0065] The pressure control unit 205 changes the absorbent pad to be negative pressure according to the change instruction for the absorbent pad to be negative pressure output from the negative pressure information integration unit 203, so as to absorb the goods 400B.

[0066] As explained above, when adsorbing cargo 400B, the negative pressure information integration unit 203 modifies the movement of the adsorption hand 102 relative to cargo 400B based on the integrated negative pressure information. This modification of the adsorption hand 102's movement relative to cargo 400B may include changing the adsorption field to more accurately grasp the shape of cargo 400B, or changing the contact surface between cargo 400B and adsorption hand 102 to enhance the adsorption force.

[0067] The following is a further explanation of the operation of the negative pressure information integration unit 203.

[0068] When viewed from pallet 500A, as long as the goods 400A, 400B, and 400C are configured relative to the suction pads P11~P88 ​​of the suction hand 102, as follows: Figure 5 In the configuration shown, since the position of the L-shaped cargo 400B is offset in the Y direction relative to the positions of cargoes 400A and 400C, the negative pressure information integration unit 203 can determine at least one of the position, shape, and size of cargo 400B using only the negative pressure information from the suction pads P11 to P88 obtained from the negative pressure information acquisition unit 202. Furthermore, even if the height of cargo 400B is greater than the height of cargoes 400A and 400C, and the detected negative pressure difference is sufficient, the configuration of cargoes 400A to 400C will be optimized. Figure 3 The configuration shown still allows for the determination of at least one of the positions, shapes, and dimensions of goods 400B using only the negative pressure information of the absorbent pads P11 to P88 obtained from the negative pressure information acquisition unit 202.

[0069] Therefore, since the negative pressure information integration unit 203 can determine at least one of the position, shape, and size of the cargo 400B without using image information from the camera information acquisition unit 201, the camera information acquisition unit 201 may not be required. In the following description, an example of moving the suction hand 102 based on the position of the cargo 400B will be explained.

[0070] On the other hand, if the goods 400A, 400B, and 400C on pallet 500A are configured as follows: Figure 3 With the configuration shown and the height difference being small, since the L-shaped cargo 400B and cargo 400C are in the same range in the Y direction, the negative pressure information integration unit 203 can only obtain the negative pressure information from the suction pads P11 to P88 of the suction hand 102, making it difficult to grasp the length of cargo 400B in the X direction.

[0071] Therefore, the negative pressure information integration unit 203 uses camera information (image information) from the camera information acquisition unit 201 to determine the approximate position of the L-shaped cargo 400B, and combines the approximate position with the negative pressure information of the adsorption pads P11 to P88 to determine the position of the cargo 400B.

[0072] The negative pressure information integration unit 203 issues control commands to the robot mechanism control unit 204 and the pressure control unit 205 based on the determined position of the cargo 400B. For example, Figure 6 As shown, when the position of the goods 400B deviates from the position suitable for transporting by the suction hand 102 (e.g., the center of the suction hand 102), for example, when it deviates from the center of the suction hand 102 in the X direction, the negative pressure information integration unit 203 instructs the robot mechanism control unit 204 to move the suction hand 102, so as... Figure 7 As shown, the cargo 400B is positioned almost at the center of the suction handle 102 (including the area containing the suction pads P43~P46, P53~P56, and P65~P66). In this way, by adjusting the position of the suction handle 102 relative to the cargo 400B, the center of gravity of the cargo 400B is positioned almost at the center of the suction handle 102, which stabilizes the handling of the cargo 400B.

[0073] Negative pressure information integration unit 203 controls pressure control unit 205, such as Figure 8 As shown, adsorption is performed on the adsorption pad corresponding to cargo 400B, as follows. Figure 9 As shown, with cargo 400A and cargo 400C separated from the suction hand 102, cargo 400B is raised vertically. Figure 8 In the diagram, the adsorption pad, which is under negative pressure and adsorbs substances, is represented by a circle marked with a slanted shading. Figure 8In subsequent figures, the adsorption pads under negative pressure and undergoing adsorption will be represented by circles marked with slanted shading lines.

[0074] The following uses Figure 10 This describes the cargo handling action performed by the suction hand.

[0075] Figure 10 This diagram illustrates the transfer of goods 400B between pallets using a suction hand. Figure 10 In the diagram, positions A1, A2, B2, and B1 represent the center positions of the upper surface of the goods 400B that are contacted by the suction hand 102. Positions A1, A2, B2, and B1 will change when the goods being transported are changed, and the transport path of the goods will also change.

[0076] The negative pressure information integration unit 203 controls the conveying action of the goods 400B performed by the suction hand 102, as well as the suction and detachment actions of the goods 400B performed by the suction hand 102, via the robot mechanism control unit 204 and the pressure control unit 205.

[0077] like Figure 10 As shown, the suction hand 102 moves the goods 400B placed on the pallet 500A to the pallet 500B in the order of positions A1, A2, B2, B1.

[0078] At position A1, the suction hand 102 is used to suction the cargo 400B via the control device 200. Between positions A1 and A2, the suction hand 102 moves (lifts) the cargo 400B in the vertical direction.

[0079] Subsequently, via the control device 200, the suction hand 102 is used to move the cargo 400B horizontally between positions A2-B2, and to move (lower) the cargo 400B vertically between positions B2-B1. At position B1, the control device 200 also controls the suction hand 102 to load, detach, and place the cargo 400B.

[0080] exist Figure 10 Although the initial action of the suction hand 102 loading cargo 400B is shown when there is no cargo on the pallet 500B, in the second and subsequent actions of the suction hand 102 loading other cargo, such as cargo 400A or 400C, the state becomes when cargo 400B is loaded on the pallet 500B.

[0081] The following describes the control actions of the control device.

[0082] Figure 11This is a flowchart illustrating the control operation of the control device when the suction hand suctions the goods to be transported. Here, an example is given of suctioning the goods 400B at a position suitable for the transport of the suction hand 102 (e.g., the center).

[0083] In step S10, the negative pressure information integration unit 203 obtains camera information from the camera 300 showing that the goods 400A, 400B, and 400C on the pallet 500A have been photographed. Based on the camera information, the robot mechanism control unit 204 moves the suction hand 102 onto the goods 400A, 400B, and 400C, and the pressure control unit 205 uses the suction hand 102 to pick up the goods 400A, 400B, and 400C. If the positions of the goods 400A, 400B, and 400C on the pallet 500A are predetermined and known, the robot mechanism control unit 204 can also move the suction hand 102 to those positions.

[0084] In step S11, the negative pressure information integration unit 203 obtains the negative pressure values ​​measured by the negative pressure sensors corresponding to each adsorption pad P11 to P88 when the adsorption pads P11 to P88 of the adsorption hand 102 adsorb goods 400A, 400B and 400C, and uses them as negative pressure information.

[0085] In step S12, the negative pressure information integration unit 203 integrates the negative pressure information corresponding to the suction pads P11 to P88. The negative pressure information integration unit 203 uses the integrated negative pressure information and camera information to detect the arrangement of the goods 400B (the object to be transported) relative to the suction pads P11 to P88. Alternatively, the negative pressure information integration unit 203 can detect the arrangement of the goods 400B relative to the suction pads P11 to P88 using the integrated negative pressure information without using camera information.

[0086] In step S13, the negative pressure information integration unit 203 determines whether the suction hand 102 is in a position suitable for transport relative to the configuration of the goods 400B. If it is not in a suitable position for transport, the process proceeds to step S14. If it is in a suitable position for transport, the process proceeds to step S15.

[0087] In step S14, the negative pressure information integration unit 203 moves the suction hand 102 to a position suitable for transport relative to the configuration of the goods 400B.

[0088] In step S15, the negative pressure information integration unit 203 adsorbs the goods 400B of the object to be transported.

[0089] Through the actions of steps S10 to S14 above, cargo 300400B becomes available for transport by suction hand 102.

[0090] The following effects can be obtained from the above-described embodiment.

[0091] (1) Since it becomes impossible to attract other objects (e.g., goods) besides the object being transported, the selection of the hand is not limited by the size of the object being transported.

[0092] (2) By using an adsorption hand with an adsorption part that is larger than the object being transported, the adsorption force will not be concentrated on a single point of the object being transported, and deformation or damage to the object being transported and a reduction in the cost of the hand can be expected.

[0093] (3) Since it does not adsorb other transported items, it can prevent damage to other transported items.

[0094] (4) Since it can prevent objects other than the transported object from falling, it will not interfere with other systems, but the cycle time will increase.

[0095] (5) Since a suction hand that is larger than the object being transported can be used, the suction force of the negative pressure is not limited when the object is being transported, so the object can be held satisfactorily.

[0096] (6) Even if the camera's perception of the size of the transported object deviates, adsorption can still be carried out stably.

[0097] (7) By adsorbing the entire surface of the adsorption hand, which is larger than the size of the object being transported, the risk of the object being transported being accidentally dropped can be reduced even when negative pressure changes occur.

[0098] (Second Implementation)

[0099] This implementation method uses... Figures 12-15 This describes a control device that, when multiple packages are configured, can only pick up and stably transport the packages intended for transport. Due to the different configurations of the control device and robot system used in this embodiment... Figure 4 The control device 200 shown and Figure 1 The robot system 10 shown has the same configuration, so the same symbols are used for description.

[0100] Figure 12 The diagrams sequentially illustrate the suction action of the suction hand on the package being transported, the detachment action of the package other than the package being transported, and the transport action of the package being transported. Figure 13 This is a diagram showing the state of the package being transported when it is being held in place, as observed from the pallet side. Figure 14 This is a diagram showing the state of the package rising vertically when the suction hand has attached the package to it.

[0101] When using the suction hand 102 to suction package 410B, the area of ​​package 410B obtained from the image captured by camera 300 and the integrated negative pressure information is defined as the suction range. Package 410B is the object to be transported. Since the suction range is obtained from the image captured by camera 300 and the integrated negative pressure information, it is sometimes larger than the actual size of package 410B. In this case, if the distance between packages adjacent to package 410B is close, or if adjacent packages are adjacent, package 410A or package 410C may sometimes be included within the suction range.

[0102] Therefore, as Figure 12 and Figure 13 As shown, during the adsorption operation with packages 410A, 410B, and 410C positioned on the tray 500A, to reduce the adsorption force on packages 410B and 410C, the pressure control unit 205 sets a positive pressure inside the adsorption pad to perform a blowing operation on packages 410B and 410C. That is, package 410B is adsorbed within the adsorption range, and outside the adsorption range, a larger area than the adsorption range is defined as the blowing range to blow on packages 410A or 410C. Figure 13 In the diagram, the suction pad that performs the blowing action is represented by a circle marked with parallel shading lines. Figure 13 In later diagrams, the suction pads that perform the blowing action will be represented by circles marked with parallel shaded lines.

[0103] Next, in Figure 12 In the detachment action shown, the suction hand 102 maintains the suction range of package 410B while blowing over a blowing range larger than the suction range, raising package 410B to a range where it would not cause a problem even if package 410A or package 410C detaches and falls, and then stops. Because the suction force on package 410A or package 410C is weakened by blowing, even if a part of package 410A or package 410C is lifted, it will fall due to gravity.

[0104] Next, in Figure 12 and Figure 14 In the conveying action shown, the suction hand 102 stops pushing within the blowing range when it is in the stop position, and then raises the package 410B while maintaining the suction range of the package 410B.

[0105] The following describes the control actions of the control device.

[0106] Figure 15This is a flowchart illustrating the actions of adsorbing the package being transported, detaching packages from other packages being transported, and transporting the package being transported. Figure 15 middle, Figure 11 Step S15 is replaced by steps S16 and S17. Because the actions of steps S10-S14 prior to step S16 are... Figure 11 The flowcharts are the same, therefore in Figure 15 The illustrations and explanations of steps S10 to S14 are omitted.

[0107] In step S16, the negative pressure information integration unit 203, via the pressure control unit 205, performs an adsorption action to adsorb the wrapping 410B within the adsorption range, and outside the adsorption range, a range larger than the adsorption range is defined as the blowing range for blowing.

[0108] In step S17, as a detachment action, the negative pressure information integration unit 203, while maintaining the blowing state, raises the adsorption hand 102 and stops pushing. Then, as a conveying action, the negative pressure information integration unit 203, while maintaining the adsorption range of the package 410B, raises the package 410B.

[0109] In this embodiment described above, the same effects as those described in the first embodiment can be achieved. Furthermore, in addition to the effects of the first embodiment, the following effects are also achieved: depending on the configuration of the packages, even if packages other than the package to be transported are adsorbed, packages other than the package to be transported can still be detached, and only the package to be transported can be transported.

[0110] (Third implementation)

[0111] In this embodiment, the following is used: Figures 16-20 This describes a control device that, when multiple emails are configured, can selectively pick up and reliably transport only the emails intended for transfer. The configuration of the control device and robot system used in this embodiment differs from... Figure 4 The control device 200 shown and Figure 1 The robot system 10 shown has the same configuration, so the same symbols are used for description.

[0112] Figure 16 The diagrams sequentially illustrate the actions of the suction hand in suctioning emails that are to be transferred, the action of detaching emails that are not to be transferred, and the action of transferring emails that are to be transferred. Figure 17 This is a diagram showing the state of multiple emails positioned under the suction cup, viewed from the tray side. Figure 18 This is a diagram showing the state of mail being picked up during transport, viewed from the side of the pallet. Figure 19This is a diagram showing the status of emails other than those being moved when they are removed, as observed from the email side. Figure 20 This is a diagram showing the state of the package rising vertically when the suction hand has picked up the mail being transported, as observed from the mail side.

[0113] When multiple emails are configured to be in thin envelopes or similar formats, sometimes parts of the emails may overlap.

[0114] In this embodiment, when using the suction hand 102 to absorb mail 420B, the suction range is defined as a range wider than the size range of mail 420B obtained from the image captured by camera 300 and the negative pressure integration information. This suction range is a margin-based suction range. Mail 420B is the object to be transported. The size of mail 420B obtained from the image captured by camera 300 and the negative pressure integration information may sometimes be larger than the actual size of mail 420B. In this case, such as Figure 17 As shown, sometimes email 420B overlaps with email 420A or email 420C, and a portion of email 420A or email 420C configured under email 420B may be included in the snapping area.

[0115] Therefore, as Figure 16 and Figure 18 As shown, during the adsorption operation with mail 420A, mail 420B, and mail 420C positioned on tray 500A, a blowing operation is performed on mail 420B and mail 420C to reduce the adsorption force on them. Specifically, mail 420B is adsorbed within the adsorption range, and mail 420A or mail 420C is blown outwards from the adsorption range, extending to a predetermined area larger than the adsorption range. Although blowing is performed within this predetermined area, adsorption can also be stopped. The following explanation describes the blowing operation.

[0116] Next, in Figure 16 In the detachment action shown, while maintaining the suction range of mail 420B and the blowing range larger than the suction range, the suction hand 102 raises mail 420B to a range where it will not cause problems even if mail 420A or mail 420C detaches and falls, and then stops. Then, as... Figure 19 As shown, the outer adsorption pad is changed from adsorption to blowing. The adsorption range is the area inside the circumference of the object's size, and the blowing range is a predetermined range outside the area inside the circumference of the object's size. By blowing the area closer to mail 420B, the adsorption force on mail 420A or mail 420C is weakened by the blowing, causing mail 420A or mail 420C to fall off.

[0117] Next, in Figure 16 and Figure 20 In the conveying action shown, the suction hand 102 stops pushing within the blowing range when it is in the stop position, and switches the outer suction pad from blowing to suction, expanding the suction range to the already described suction range with a margin. Then, while maintaining the mail 420B in the suction state within the expanded suction range, the mail 420B is raised. This action of expanding the suction range to the margin is intended to be performed before moving (conveying) the mail 420B in the horizontal direction. This is because, in the case of horizontal movement, the horizontal movement is generally longer and the speed variation is greater than in the vertical direction, and there is a possibility that the mail 420B may fall due to the force applied by acceleration and deceleration.

[0118] The following reasons are used to expand the suction range of mail 420B and raise mail 420B to carry out the transfer action.

[0119] Mail is typically smaller than the parcel described in the second embodiment, and the number of absorbent pads is usually less for mail than for parcels. Furthermore, it is envisioned that the negative pressure value is set relatively low to prevent deformation caused by the absorption of mail. Therefore, if the absorption area is significantly smaller than the size of the mail 420B, the absorption force of the mail 420B will be insufficient, and there is a possibility that the mail 420B may fall due to changes in negative pressure or during acceleration or deceleration during transport. Moreover, the action of expanding the absorption area and raising the transported item to perform the transport operation is not limited to mail and can be applied to any transported item that may fall during transport.

[0120] The following describes the control actions of the control device.

[0121] Figure 21 This is a flowchart illustrating the actions of the suction handle in detaching from and transporting a package. Figure 21 middle, Figure 11 Step S15 is replaced by steps S18, S19, and S20. Because the actions of steps S10-S14 prior to step S18 are... Figure 11 The flowcharts are the same, therefore in Figure 21 The illustrations and explanations of steps S10 to S14 are omitted.

[0122] In step S18, the negative pressure information integration unit 203 adsorbs the mail 420B within an adsorption range with a margin, and outside the adsorption range, a range larger than the adsorption range is defined as the blowing range for blowing.

[0123] In step S19, while maintaining the blowing state, the negative pressure information integration unit 203 raises the adsorption hand 102 and pushes the outer adsorption pad from the adsorption setting.

[0124] In step S20, the negative pressure information integration unit 203 sets the outer adsorption pad from blowing to adsorption.

[0125] In the embodiment described above, the same effects as those described in the first and second embodiments can be achieved. Furthermore, in addition to the effects of the first and second embodiments, the following effects are also achieved: by raising the suction hand and changing the outer suction pad from suction to push, mail other than the mail to be transported can be reliably detached; furthermore, by changing the outer suction pad from push to suction, the mail to be transported can be prevented from falling, and transport can be carried out reliably.

[0126] In this embodiment, when the adsorption hand 102 stops at the stop position within the blowing range, the operation of switching the blowing within the blowing range to adsorption and setting it as the adsorption range, as described in this embodiment, can also be performed as follows: Figure 22 This is applied in the second embodiment. This is because if the adsorption range is smaller than the size of the package 410B, the adsorption force of the package 410B will be insufficient, and there is a possibility that the package 410B will fall off due to changes in negative pressure or the acceleration and deceleration of the conveyor.

[0127] The components of the control device in the various embodiments described above can be implemented using hardware, software, or a combination thereof. Here, implementation using software means implementation by reading and executing a program on a computer.

[0128] To implement the components included in the control device through software or a combination thereof, the control device includes a processor such as a CPU (Central Processing Unit). The processor functions as an execution unit. The control device may also have multiple processors operating in parallel. Additionally, the robot control device also includes auxiliary storage devices such as HDDs (Hard Disk Drives) storing various programs such as application software or operating systems (OS), and a processor... Figures 5-11 , Figures 12-15 or Figures 16-22The description refers to main storage devices such as RAM (Random Access Memory) used to store programs and temporarily required data for executing the functions and actions of the control device. The control device may also have multiple main storage devices. The stored data is, for example, information about the transport path from location A1 (location 1) to location B1 (location 2). This information includes the coordinates of locations A1, A2, B2, and B1. Locations A1, A2, B2, and B1 may change when the transported goods change, and the transport path of the goods will also change.

[0129] Then, regarding the control device, the processor reads application software or operating system from the auxiliary storage device, expands the read application software or operating system on the main storage device, and performs calculations based on these application software or operating system. Furthermore, the various hardware components of the control device are controlled according to the calculation results. Thus, the functional blocks of this embodiment are implemented.

[0130] Figure 23 This is a block diagram illustrating a configuration example where a computer is used to construct the control device.

[0131] like Figure 23 As shown, the computer, serving as a control device, includes a main storage device, namely a memory 211, a CPU 212, a processor, an I / O unit 213 for connecting to the robot 100 via a cable, an auxiliary storage device, namely a disk drive such as an HDD 214, and a display unit 215. The display unit 215 displays information such as the number of times goods are moved and their loading status.

[0132] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), opto-magnetic recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAMs (Random Access Memory)). Additionally, programs can also be supplied to a computer using various types of transient computer-readable media.

[0133] The effect of the control device and robot system described above in each embodiment is that the suction hand can reliably suction and transport only the object to be transported at a suitable position.

[0134] The above describes the present disclosure, but the present disclosure is not limited to the various embodiments described above. These embodiments may include various additions, substitutions, modifications, partial deletions, etc., without departing from the spirit of the present disclosure, or without departing from the spirit of the present disclosure derived from the content described in the scope of the claimed patent protection and its equivalents.

[0135] Alternatively, these implementation methods can be combined and implemented. For example, in the above-described implementation methods, the order of the actions or the order of the processes is shown as an example and is not limited to these orders.

[0136] The following notes further disclose the above-described embodiments.

[0137] (Note 1)

[0138] A control device (200) controls the actions of a robot that uses a robotic arm (102) to pick up, lift, and transport an object, wherein the control device comprises:

[0139] At least one processor (212); and

[0140] At least one storage device (211) capable of storing a program executed by the at least one processor,

[0141] The processor integrates negative pressure information from multiple suction pads of the robotic arm. When adsorbing the object, it changes the movement of the robotic arm relative to the object based on the integrated negative pressure information. The robotic arm has multiple suction pads that use negative pressure.

[0142] (Note 2)

[0143] According to the control device described in Appendix 1, when changing the action of the robotic arm (102), the at least one processor (212) uses the integrated negative pressure information to calculate at least one of the position of the object relative to the robotic arm, the shape of the object, and the size of the object.

[0144] (Note 3)

[0145] According to the control device described in Appendix 1 or 2, the at least one processor (212) performs adsorption of the object by means of the robotic arm (102), performs lifting action of the object, adsorbs within a range of the object's size, and performs blowing action or adsorption stop action within a predetermined range outside the range.

[0146] (Note 4)

[0147] According to the control device described in Appendix 1, when adsorbing the object, the at least one processor (212) adsorbs within a range with a margin left according to the size of the object.

[0148] (Note 5)

[0149] According to the control device described in Appendix 4, the at least one processor (212) performs adsorption again within the range of the margin before moving the object in the horizontal direction.

[0150] (Note 6)

[0151] According to the control device described in Appendix 2, the position of the object includes the position of the object's center of gravity.

[0152] (Note 7)

[0153] A robot system (10) includes: a control device (200) as described in any one of notes 1 to 6; and a robot controlled by the control device.

[0154] Symbol Explanation

[0155] 10 Robot Systems

[0156] 100 robots

[0157] 101 Robotics Department

[0158] 102 Adsorption Hand (Robotic Hand)

[0159] 200 control device

[0160] 201 Camera Information Acquisition Department

[0161] 202 Negative Pressure Information Acquisition Department

[0162] 203 Negative Pressure Information Integration Department

[0163] 204 Robot Functional Control Department

[0164] 205 Pressure Control Department

[0165] 211 Memory (Storage Device)

[0166] 212 CPU (Processor)

[0167] 213 I / O Department

[0168] 214 disk devices

[0169] 215 Display Unit

[0170] P11~P88 ​​Adsorption Pads

[0171] Goods 400A, 400B, and 400C

[0172] Packages 410A, 410B, and 410C

[0173] Emails 420A, 420B, and 420C.

Claims

1. A control device for controlling the actions of a robot that uses a robotic arm to pick up, lift, and transport an object, characterized in that, The control device includes: At least one processor; as well as At least one storage device capable of storing a program executed by the at least one processor. The processor integrates negative pressure information from multiple suction pads of the robotic arm. When adsorbing the object, it changes the movement of the robotic arm relative to the object based on the integrated negative pressure information. The robotic arm has multiple suction pads that use negative pressure.

2. The control device according to claim 1, characterized in that, When changing the movement of the robotic arm, the at least one processor uses the integrated negative pressure information to calculate at least one of the following: the position of the object relative to the robotic arm, the shape of the object, and the size of the object.

3. The control device according to claim 1 or 2, characterized in that, The at least one processor uses the robotic arm to adsorb the object, lift the object, adsorb within a circumference of the object's size, and blow or stop adsorption within a predetermined range outside that range.

4. The control device according to claim 1, characterized in that, When adsorbing the object, the at least one processor allows for a margin based on the size of the object and adsorbs within the range that allows for that margin.

5. The control device according to claim 4, characterized in that, Before moving the object horizontally, the at least one processor performs adsorption again within the range of the margin.

6. The control device according to claim 2, characterized in that, The position of the object includes the position of the object's center of gravity.

7. A robot system, characterized in that, have: The control device according to any one of claims 1 to 6; and The robot is controlled by this control device.

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