Suction hand for robot, robot, and waste product processing system

Abstract

To provide a suction hand for a robot which can easily place a centroid position of the suction hand for the robot and a waste product within a range of a mass load capability of the robot.SOLUTION: A suction hand 23 for a robot includes: a suction part 231 which suctions a bin B treated as a waste product; a support part 232 which supports the suction part 231 and may move in a vertical direction; biasing members 234 which bias the support part 232 downward; and retaining part 235 for retaining the compressed state of the biasing members 234 in a case where the biasing members 234 are pushed upward and compressed when the suction port 231 is moved down to a predetermined height and suctions the bin B treated as the waste product.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to a suction hand for a robot, a robot, and a waste treatment system, and more particularly to a suction hand for a robot that sucks up waste, a robot, and a waste treatment system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a suction hand for a robot that sucks an object has been known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses an end effector that adsorbs an object as a suction hand for a robot. This end effector includes a suction cup that adsorbs an object, a suction shaft that connects to the suction cup, and a displacement return mechanism. This displacement return mechanism is a biasing mechanism such as a compression spring, and applies a biasing force to return the suction cup to its initial position downward after it has been displaced upward by contacting an object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6832599 Summary of the Invention [Problem to be solved by the invention]

[0005] In the end effector described in the above Patent Document 1, the center of gravity between the end effector and the object after the object is adsorbed is located lower than the center of gravity of the end effector alone before the object is adsorbed, due to the addition of the mass of the object. Although a range of mass load capacity within which the center of gravity between the end effector and the object should fall is set for the robot, there is a problem that if the center of gravity between the end effector and the object is located lower, the center of gravity between the end effector and the object may not fall within the range of the robot's mass load capacity.

[0006] This disclosure has been made to solve the problems described above, and one objective of this disclosure is to provide a robot suction hand, a robot, and a waste treatment system that can easily keep the center of gravity of the robot suction hand and waste within the range of the robot's mass load capacity. [Means for solving the problem]

[0007] In order to achieve the above object, a suction hand for a robot according to a first aspect of this disclosure comprises an suction section that suctions waste, a support section that supports the suction section and is movable in an up and down direction, a biasing member that biases the support section downward, and a holding section for maintaining the biasing member in a contracted state when the biasing member is pushed upward when the suction section descends to a predetermined height to suction the waste and the biasing member contracts.

[0008] In the robot suction hand according to the first aspect of this disclosure, a holding part is provided for holding the urging member in a contracted state when the suction part is pushed upward and contracts when it descends to a predetermined height to suction waste. This allows the urging member to be held in a contracted state by the holding part, so that the position of the center of gravity between the robot suction hand and the waste can be raised compared to when the urging member returns to an extended state after contracting. As a result, the position of the center of gravity between the robot suction hand and the waste can be easily kept within the range of the mass load capacity of the robot.

[0009] In order to achieve the above object, a robot according to a second aspect of this disclosure includes an arm and a robot suction hand connected to the tip side of the arm, and the robot suction hand includes a suction section that suctions waste, a support section that supports the suction section and is movable in the vertical direction, a biasing member that urges the support section downward, and a holding section for maintaining the biasing member in a contracted state when the biasing member is pushed upward when the suction section descends to a predetermined height to suction the waste and the biasing member contracts.

[0010] In the robot according to the second aspect of this disclosure, a holding part is provided for holding the urging member in a contracted state when the suction part is pushed upward and contracts when it descends to a predetermined height to suction waste. This allows the urging member to be held in a contracted state by the holding part, so that the position of the center of gravity between the robot suction hand and the waste can be raised compared to when the urging member returns to an extended state after contracting. As a result, a robot can be provided that can easily keep the position of the center of gravity between the robot suction hand and the waste within the range of the robot's mass load capacity.

[0011] In order to achieve the above-mentioned object, a waste treatment system according to a third aspect of this disclosure includes a transporting unit that transports waste, an imaging unit that images the waste transported by the transporting unit, and a robot that sorts the waste transported by the transporting unit based on images of the waste captured by the imaging unit, wherein the robot includes an arm and a robot suction hand connected to the tip side of the arm, and the robot suction hand has an suction unit that adsorbs the waste, a support unit that supports the suction unit and is movable in the vertical direction, a biasing member that biases the support unit downward, and a holding unit for maintaining the biasing member in a contracted state when the biasing member is pressed upward when the suction unit descends to a predetermined height to adsorb the waste.

[0012] In the waste disposal system according to a third aspect of the disclosure, a holding part is provided for holding the urging member in a contracted state when the suction part is pushed upward and contracts when it descends to a predetermined height to suction waste. This allows the urging member to be held in a contracted state by the holding part, so that the position of the center of gravity between the robot suction hand and the waste can be raised compared to when the urging member returns to an extended state after contracting. As a result, a waste disposal system can be provided in which the position of the center of gravity between the robot suction hand and the waste can be easily kept within the range of the mass load capacity of the robot. Effect of the Invention

[0013] According to the present disclosure, as described above, the position of the center of gravity between the robot suction hand and the waste can be easily placed within the range of the mass load capacity of the robot. [Brief description of the drawings]

[0014] [Figure 1] 1 is a diagram showing an overall configuration of a waste treatment facility provided with a waste treatment system according to a first embodiment of the present disclosure. [Diagram 2] 1 is a plan view showing an outline of a waste treatment system provided with a robot according to a first embodiment of the present disclosure. [Diagram 3] FIG. 1 is a block diagram showing a control configuration of a waste treatment system provided with a robot according to a first embodiment of the present disclosure. [Figure 4] FIG. 1 is a side view showing a robot according to a first embodiment of the present disclosure. [Diagram 5] 4A to 4C are diagrams for explaining the range of mass loading capacity of the robot according to the first embodiment of the present disclosure. [Figure 6] FIG. 1 is a perspective view showing a robot suction hand according to a first embodiment of the present disclosure. [Figure 7] 1 is a side view showing a state in which a biasing member of a robot suction hand according to a first embodiment of the present disclosure is extended. FIG. [Figure 8] 1 is a side view showing a state in which a biasing member of a robot suction hand according to a first embodiment of the present disclosure is contracted. FIG. [Figure 9] 3A to 3C are cross-sectional views showing a holding state and a holding release state of a holding portion of a robot suction hand according to the first embodiment of the present disclosure. [Figure 10] 1 is a perspective view showing a state in which an upper end of a shaft of a robot suction hand according to a first embodiment of the present disclosure is inserted into a hole in a hand attachment part. FIG. [Figure 11] FIG. 11 is a side view showing a robot suction hand according to a second embodiment of the present disclosure. [Figure 12] 13 is a top view showing a holding unit, a first driving unit, and a second driving unit of a robot suction hand according to a second embodiment of the present disclosure. FIG. [Figure 13]FIG. 11 is a perspective view showing a holding state of a holding portion of a robot suction hand according to a second embodiment of the present disclosure. [Figure 14] FIG. 11 is a perspective view showing a holding portion of a robot suction hand in a released state according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, specific embodiments of the present disclosure will be described with reference to the drawings.

[0016] [First embodiment] The configuration of a waste treatment system 100 according to a first embodiment of the present disclosure will be described with reference to FIGS.

[0017] (Overall configuration of waste treatment facility) As shown in Fig. 1, a waste treatment system 100 according to a first embodiment of the present disclosure is provided in a waste treatment facility 200. The waste treatment facility 200 is configured to sort and process collected waste. Specifically, in the waste treatment facility 200, bottles B (see Fig. 2) as waste are sorted, and the sorted bottles B are each processed. The waste treatment facility 200 includes an unsuitable material removal section 210, a container inverting device 220, a container transport section 230a, a bottle transport section 230b, and a container cleaning section 240.

[0018] In the unsuitable object removal section 210, a worker W removes unsuitable objects other than the bottles B from the waste contained in the container 201. The unsuitable objects are, for example, plastic waste such as PET bottles, metal waste, etc. Note that the unsuitable objects do not have to be completely removed in the unsuitable object removal section 210. In other words, the unsuitable object removal section 210 removes noticeable waste other than the bottles B. The container 201 from which the unsuitable objects have been removed is transported to the container inversion device 220 by the container transport section 230a.

[0019] The container inverting device 220 inverts the container 201 and transfers bottles B, which are waste materials contained in the container 201, onto the bottle conveying section 230b. The container 201 inverted by the container inverting device 220 is conveyed again by the container conveying section 230a and moved to the container cleaning section 240. The container cleaning section 240 is configured to clean the container 201.

[0020] The bottle conveying unit 230b is configured to convey the bottles B as waste toward the waste treatment system 100. The bottle conveying unit 230b conveys the bottles B as waste from a lower floor where the bottles B as waste contained in the container 201 are brought in, to an upper floor where the sorting work of the waste treatment system 100 is carried out.

[0021] (Configuration of waste treatment system) In the waste disposal system 100, bottles B (see FIG. 2) as waste are sorted by glass color for disposal. That is, the waste includes bottles B of multiple colors. The waste also includes bottles B of different shapes. The waste also includes bottles B of different sizes. In the waste disposal system 100, the bottles B are sorted by color regardless of the size and shape of the bottles B. For example, in the waste disposal system 100, the bottles B are sorted into the storage section 50 by color, such as brown, colorless, green, blue, etc. In the waste disposal system 100, the bottles B may be sorted by color into brown, colorless, green, and other colors. The storage section 50 includes a cullet storage section 51 in which cullet (glass scraps) of other colors are sorted, a cullet storage section 52 in which brown cullet is sorted, a cullet storage section 53 in which colorless cullet is sorted, and a residue storage section 54 in which residue that has not been sorted due to cracks or the like is stored. The storage unit 50 is located on a lower floor than the upper floor where the sorting work is carried out. In other words, the bottles B as the sorted waste are dropped on the lower floor and stored in the storage unit 50.

[0022] As shown in Figs. 1 and 2, the waste treatment system 100 includes a transport unit 10, a robot 20, a system control unit 30, an imaging unit 40, and a chute 50a.

[0023] The transport unit 10 is configured to transport bottles B as multiple types of waste. The transport unit 10 is configured with a conveyor.

[0024] The robot 20 is configured to sort bottles B as waste transported by the transport unit 10. Specifically, the robot 20 includes a robot control unit 21, an arm 22, a robot suction hand 23, and a negative pressure generator 24, as shown in FIG.

[0025] The robot control unit 21 is configured to control the operation of the arm 22. Specifically, the robot control unit 21 includes a CPU 21a as a central processing unit and a non-volatile memory 21b. The robot control unit 21 is configured to control the operation of the arm 22 by executing a program stored in the memory 21b by the CPU 21a.

[0026] The robot control unit 21 is also configured to control the operation of the arm 22, which sorts the waste bottles B according to color, based on a sorting command including position information transmitted from the system control unit 30. That is, the robot control unit 21 is configured to control the arm 22 to move to a position for holding the bottles B, based on the sorting command transmitted from the system control unit 30. The robot control unit 21 is also configured to control the operation of the arm 22 by controlling the drive of the arm drive unit 22a. The arm drive unit 22a includes a motor and an encoder for detecting the drive amount (rotation angle) of the motor.

[0027] As shown in FIG. 4, the robot 20 is a delta-type parallel link robot in which three arms 22 are arranged in parallel. The robot 20 includes a main body 25, a hand attachment 26, and three arms 22 that connect the main body 25 to the hand attachment 26. A robot suction hand 23 is attached to the hand attachment 26 arranged on the tip side of the three arms 22. Each of the three arms 22 has a first link 221 and a second link 222. The first link 221 is connected to an arm drive 22a arranged on the main body 25, and rotates relative to the main body 25 by the drive force of the arm drive 22a. The second link 222 is connected to the first link 221 and the hand attachment 26, and rotates relative to the first link 221 in response to the rotation of the first link 221. By rotating the first link portion 221 and the second link portion 222 of each of the three arms 22, it is possible to move the robot suction hand 23 to a desired horizontal position and a desired vertical position.

[0028] The robot suction hand 23 picks up the bottles B as waste. The detailed configuration of the robot suction hand 23 will be described later.

[0029] The negative pressure generator 24 generates a negative pressure in the robot suction hand 23 for suctioning the bottles B as waste materials.

[0030] 2, the system control unit 30 is configured to use machine learning to identify waste based on images of waste captured by the imaging unit 40, and to cause the robot 20 to sort the waste. Specifically, the system control unit 30 is configured to use machine learning to identify the color of bottle B, and to cause the robot 20 to sort the bottle B as waste according to its color.

[0031] 3, the system control unit 30 includes a CPU 31 as a central processing unit, and a non-volatile memory 32. The system control unit 30 is configured to execute a program stored in the memory 32 by the CPU 31 to perform processing.

[0032] The system control unit 30 uses machine learning to identify the waste and specify the location of the identified waste based on the image of the waste captured by the imaging unit 40. The system control unit 30 also transmits a sorting command including location information of the identified waste to the robot control unit 21.

[0033] The system control unit 30 controls the imaging process by the imaging unit 40. The system control unit 30 causes the imaging unit 40 to capture images of the waste on the transport unit 10 at predetermined time intervals. The system control unit 30 also acquires images of the waste captured by the imaging unit 40.

[0034] The system control unit 30 acquires the conveying speed of the conveying unit 10 based on a signal from an encoder installed on the conveyor shaft of the conveying unit 10. The system control unit 30 also controls the movement of the arm 22 in the flow direction of the conveying unit 10 so as to synchronize with the conveying speed of the conveying unit 10. The system control unit 30 may control the conveying speed of the waste by the conveying unit 10 to a predetermined speed. The system control unit 30 also calculates position information (coordinate information) of the waste to be picked up by the arm 22 and information on the timing of holding (time information) based on the conveying speed of the conveying unit 10 and position information of the waste based on the image captured by the imaging unit 40, and transmits the calculated information to the robot control unit 21 as a sorting command.

[0035] The machine learning for identifying waste is performed in advance based on images of multiple types of bottles B and instruction information in which a person instructs the color of the bottles B based on the images. This machine learning may be performed in advance by the system control unit 30, or may be performed by a separate control unit, and the results of the machine learning may be reflected in the system control unit 30.

[0036] As shown in FIG. 2, the imaging unit 40 is configured to capture an image of the waste transported by the transport unit 10. The imaging unit 40 is provided above the transport unit 10. The imaging unit 40 is also provided upstream of the robot 20 in the transport direction of the transport unit 10. The imaging unit 40 is configured to capture an image of an imaging range 40a in one image capture. The imaging unit 40 is configured to transmit the captured image to the system control unit 30. The imaging unit 40 is configured to capture images at time intervals depending on the transport speed of the transport unit 10.

[0037] The chute 50a is configured to receive the bottles B as waste sorted by the robot 20. The chute 50a is connected to a corresponding storage unit 50 such as the cullet storage unit 51, 52, or 53, and is configured to guide the received waste to the corresponding storage unit 50.

[0038] (Robot mass load capacity range) As shown in Fig. 5, the robot 20 is set with a mass load capacity range AR within which the center of gravity of the robot suction hand 23 and the bottle B as waste should fall after suctioning the bottle B as waste. The mass load capacity range AR is defined by the vertical distance D from the hand attachment part 26 downward and the horizontal distance L from the hand attachment part 26. The mass load capacity range AR differs depending on the mass of the robot suction hand 23 and the bottle B as waste, and becomes smaller as the mass increases. Note that the mass shown in Fig. 5 is an example and is not particularly limited.

[0039] (Structure of robot suction hand) The robot suction hand 23 is configured to suck and hold bottles B as waste. The robot suction hand 23 is configured to suck bottles B as waste by negative pressure generated at the lower tip. Negative pressure is generated in the robot suction hand 23 by a negative pressure generator 24. In the following, the up-down direction is defined as the Z direction, the upward direction is defined as the Z1 direction, and the downward direction is defined as the Z2 direction.

[0040] As shown in FIGS. 6 to 8, the robot suction hand 23 includes a suction portion 231, a support portion 232, a shaft 233, a biasing member 234, and a holding portion 235. As shown in FIG.

[0041] The suction portion 231 sucks up a bottle B as waste. The suction portion 231 includes a pad portion 231a. The pad portion 231a comes into contact with and sucks up a bottle B as waste. The pad portion 231a is provided at the tip of the suction portion 231 on the Z2 direction side. The pad portion 231a has a bellows shape. The pad portion 231a is made of an elastically deformable material such as rubber and is expandable and contractible. A plurality of suction portions 231 are provided. Specifically, seven suction portions 231 are provided. The other six suction portions 231 are arranged circumferentially around one suction portion 231. The plurality of suction portions 231 suck up one bottle B.

[0042] The support portion 232 supports the adsorption portion 231. Specifically, the support portion 232 supports the plurality of adsorption portions 231. The support portion 232 is provided on the Z1 direction side of the plurality of adsorption portions 231, and supports the upper ends of each of the plurality of adsorption portions 231. The support portion 232 is configured to be movable in the Z direction.

[0043] The shaft 233 supports the support part 232. The shaft 233 is provided so as to extend in the Z direction, and a lower end of the shaft 233 is attached to the support part 232. The shaft 233 is configured to be movable in the Z direction. A plurality of shafts 233 are provided. Specifically, three shafts 233 are provided. The plurality of shafts 233 are disposed at predetermined angular intervals in a plan view. Specifically, the three shafts 233 are disposed at equal angular intervals of 120 degrees in a plan view.

[0044] The biasing member 234 biases the support portion 232 in the Z2 direction. The biasing member 234 is provided between the support portion 232 and a connecting member 237 described later in the Z direction. The biasing member 234 expands and contracts in response to movement of the shaft 233 in the Z direction. A plurality of biasing members 234 are provided corresponding to the plurality of shafts 233. Specifically, three biasing members 234 are provided. Each of the plurality of biasing members 234 is a compression coil spring, and is provided so as to be wound around the outer periphery of the corresponding shaft 233.

[0045] The shaft 233 and the biasing member 234 function as a buffer section that allows the suction section 231 to move in the Z direction. Specifically, when the suction section 231 is suctioning the bottle B as waste, the suction section 231 and the bottle B come into contact with each other and the suction section 231 is pushed in the Z1 direction. In this case, the shaft 233 and the biasing member 234 are pushed in the Z1 direction via the support section 232, so that the shaft 233 is moved in the Z1 direction and the biasing member 234 is compressed in the Z1 direction. This allows the suction section 231 to move in the Z1 direction. Also, as described later, when the suction section 231 is released from the suction of the bottle B as waste, the biasing member 234 biases the support section 232 in the Z2 direction, so that the support section 232 and the shaft 233 are moved in the Z2 direction. This allows the suction section 231 to move in the Z1 direction and the suction section 231 returns to its original position. This buffer function makes it possible to absorb differences in the sizes of bins B and adsorb bins B of different sizes, even when the robot suction hand 23 is always lowered to a constant height regardless of the size of the bin B because the height of the bin B cannot be recognized.

[0046] In this embodiment, the holding portion 235 is provided to hold the urging member 234 in a contracted state when the suction portion 231 is pushed in the Z1 direction and contracts when it descends to a predetermined height to suction a bottle B as waste. Specifically, the holding portion 235 is capable of holding the urging member 234 in a contracted state, and is also capable of releasing the holding of the urging member 234 in the contracted state.

[0047] 9, the holding portion 235 is switchable between a holding state in which the shaft 233 is held so as to prevent the shaft 233 from moving in the Z2 direction, and a holding release state in which the holding of the shaft 233 is released so as to allow the shaft 233 to move in both the Z1 direction and the Z2 direction. The holding portion 235 includes a first ring 235a, a second ring 235b, a roller 235c, and a ring biasing member 235d.

[0048] The first ring 235a is a hollow cylindrical member and has a tapered portion 235aa on the inside that gradually tapers toward the Z2 direction. The second ring 235b is a hollow cylindrical member having a smaller diameter than the first ring 235a and is disposed inside the first ring 235a. The shaft 233 is disposed inside the second ring 235b. The roller 235c is rotatably held by the second ring 235b. The ring biasing member 235d biases the second ring 235b in the Z2 direction.

[0049] The second ring 235b is biased in the Z2 direction by the ring biasing member 235d, so that the roller 235c is disposed between the tapered portion 235aa of the first ring 235a and the shaft 233, and the holding portion 235 is in a holding state. In the holding state, when the shaft 233 tries to move in the Z2 direction, the roller 235c is pressed against the outer periphery of the shaft 233 by the tapered portion 235aa, so that the shaft 233 cannot move in the Z2 direction. On the other hand, when the shaft 233 tries to move in the Z1 direction, the roller 235c is not pressed against the outer periphery of the shaft 233 by the tapered portion 235aa, so that the shaft 233 can move in the Z1 direction. Therefore, when the suction portion 231 adsorbs the bottle B as waste, the shaft 233 moves in the Z1 direction, and the biasing member 234 can be contracted. In addition, when the shaft 233 moves in the Z1 direction and the biasing member 234 is contracted, the shaft 233 cannot move in the Z2 direction, and therefore it is possible for the shaft 233 to move in the Z1 direction and maintain the contracted state of the biasing member 234.

[0050] In addition, the second ring 235b is pushed in the Z1 direction and the ring biasing member 235d is contracted, so that the roller 235c is no longer disposed between the tapered portion 235aa of the first ring 235a and the shaft 233, and the holding portion 235 is in a release state. In the release state, even if the shaft 233 tries to move in either the Z1 direction or the Z2 direction, the roller 235c is not pressed against the outer periphery of the shaft 233 by the tapered portion 235aa, so that the shaft 233 can move in both the Z1 direction and the Z2 direction. Therefore, when the suction portion 231 releases the suction of the bottle B as waste, the shaft 233 moves in the Z2 direction, and the biasing member 234 can return to the extended state.

[0051] 6 to 8, in this embodiment, a plurality of holding parts 235 are provided corresponding to the plurality of shafts 233. Specifically, three holding parts 235 are provided. The robot suction hand 23 further includes a drive part 236 provided in common to the plurality of holding parts 235 and driving the plurality of holding parts 235 simultaneously to a holding release state, and a connection member 237 provided in common to the plurality of holding parts 235 and connecting the plurality of holding parts 235 and the drive part 236.

[0052] The driving unit 236 drives the connection member 237 to simultaneously drive the multiple holding units 235 to a hold release state. The driving unit 236 also drives the multiple holding units 235 to switch between a hold state and a hold release state. The driving unit 236 is an air cylinder, and includes a rod 236a connected to the connection member 237. The driving unit 236 drives the connection member 237 in the Z direction by moving the rod 236a back and forth, thereby switching between a hold state and a hold release state of the multiple holding units 235. The driving unit 236 is also arranged surrounded by the multiple shafts 233 in a plan view. Specifically, the driving unit 236 is arranged at the center of the multiple shafts 233 in a plan view.

[0053] In addition, in the Z direction, a ring member 238 is provided between the connection member 237 and each of the second rings 235b of the multiple holding parts 235. When the rod 236a of the driving part 236 moves in the Z1 direction, which is the backward direction, the connection member 237 is moved in the Z1 direction, and the multiple ring members 238 are moved in the Z1 direction together with the connection member 237. Then, the multiple second rings 235b are moved in the Z1 direction together with the multiple ring members 238. As a result, the multiple holding parts 235 are simultaneously in a holding release state. When the rod 236a of the driving part 236 moves in the Z2 direction, which is the forward direction, the connection member 237 is moved in the Z2 direction, and the multiple ring members 238 are moved in the Z2 direction together with the connection member 237. Then, the second ring 235b is moved in the Z2 direction together with the ring member 238. As a result, the multiple holding parts 235 are simultaneously in a holding state.

[0054] In this embodiment, as shown in FIG. 10, the shafts 233 are arranged at positions corresponding to the holes 26a provided in the hand attachment portion 26 of the robot 20. Specifically, the shafts 233 are arranged at positions overlapping the holes 26a in a plan view. The upper ends of the shafts 233 are configured to be inserted into the holes 26a when moved in the Z1 direction. The holes 26a are hollow holes for reducing the weight of the robot 20. When the upper ends of the shafts 233 can be inserted into the holes 26a, the center of gravity of the robot suction hand 23 and the bottle B as waste can be moved higher than when the upper ends of the shafts 233 cannot be inserted into the holes 26a. As a result, the center of gravity of the robot suction hand 23 and the bottle B as waste can be more easily placed within the range AR of the mass load capacity of the robot 20.

[0055] (Waste adsorption) When the robot suction hand 23 picks up the bottle B as waste, the robot control unit 21 controls the robot suction hand 23 to lower toward the bottle B as waste by the arm 22 and to pick up the bottle B as waste by the robot suction hand 23. Specifically, the robot control unit 21 controls the robot suction hand 23 to lower to a certain height from the belt conveyor surface of the transport unit 10 by the arm 22. At this time, the suction unit 231 comes into contact with the bottle B as waste, and the shaft 233 is moved in the Z1 direction and the biasing member 234 is contracted in the Z1 direction. Since the holding unit 235 is in the holding state, the shaft 233 is moved in the Z1 direction and the biasing member 234 is held in the contracted state. Therefore, it is possible to position the center of gravity of the robot suction hand 23 and the bottle B as waste on the Z1 direction side, compared to when the biasing member 234 returns to the extended state after contracting.

[0056] Then, the robot control unit 21 controls the arm 22 to move the robot suction hand 23, which has adsorbed the bottle B as waste, toward the chute 50a while the shaft 233 is moved in the Z1 direction by the holding unit 235 and the biasing member 234 is held in the contracted state. The robot control unit 21 then controls the robot suction hand 23 to release the adsorption of the bottle B as waste and to feed the bottle B as waste into the chute 50a. After the robot suction hand 23 releases the adsorption of the bottle B as waste, the robot control unit 21 controls the drive unit 236 to drive the holding unit 235 to the release state. Since the holding unit 235 is in the release state, the shaft 233 is moved in the Z2 direction together with the support unit 232 by the biasing force of the biasing member 234, and the biasing member 234 returns to the extended state. Then, the robot control unit 21 controls the drive unit 236 to drive the holder 235 to the holding state before the robot suction hand 23 picks up bottle B as the next waste. Since the holder 235 is in the holding state, when the robot suction hand 23 picks up bottle B as the next waste, the shaft 233 is moved in the Z1 direction and the biasing member 234 can be maintained in a contracted state.

[0057] (Effects of the first embodiment) In the first embodiment, the following effects can be obtained.

[0058] In the first embodiment, as described above, when the suction unit 231 descends to a predetermined height to suction a bottle B as waste and is pushed upward to contract the urging member 234, the holding unit 235 is provided to hold the urging member 234 in the contracted state. This allows the holding unit 235 to hold the urging member 234 in the contracted state, so that the center of gravity between the robot suction hand 23 and the bottle B as waste can be raised higher than when the urging member 234 returns to an extended state after contracting. As a result, the center of gravity between the robot suction hand 23 and the bottle B as waste can be easily kept within the range AR of the mass load capacity of the robot 20.

[0059] In the first embodiment, as described above, the holder 235 can hold the urging member 234 in a contracted state, and can release the urging member 234 from the contracted state. This allows the urging member 234 to be released from the contracted state after the bottle B as waste is released from adsorption, so that the urging member 234 can be returned to its initial extended state. As a result, the next bottle B as waste can be adsorbed while the urging member 234 is contracted.

[0060] In the first embodiment, as described above, the device further includes the shaft 233 that supports the support portion and is movable in the vertical direction, the biasing member 234 expands and contracts in response to the vertical movement of the shaft 233, and the holding portion 235 is switchable between a holding state in which the shaft 233 is held so that the shaft 233 cannot move downward, and a holding release state in which the shaft 233 is released so that the shaft 233 can move both upward and downward. In this way, by switching the holding portion 235 to the holding state, the shaft 233 cannot be moved downward, and the biasing member 234 can be held in a contracted state. In addition, by switching the holding portion 235 to the holding release state, the shaft 233 can be moved downward, and the biasing member 234 can be returned to the initial state in which it is extended, and the shaft 233 can be moved upward, and the bottle B as the next waste can be adsorbed while the biasing member 234 is contracted.

[0061] In the first embodiment, as described above, a plurality of shafts 233 are provided, a plurality of holding portions 235 are provided corresponding to the plurality of shafts 233, and a drive portion 236 is provided in common to the plurality of holding portions 235 and drives the plurality of holding portions 235 simultaneously to the hold release state. As a result, the plurality of holding portions 235 can be driven simultaneously to the hold release state by the drive portion 236, and therefore the number of parts can be reduced and the structure can be simplified compared to the case where a plurality of drive portions are provided corresponding to the plurality of holding portions 235.

[0062] Moreover, in the first embodiment, as described above, a connecting member 237 is provided in common to the multiple holding parts 235 and connects the multiple holding parts 235 and the driving part 236, and the driving part 236 drives the multiple holding parts 235 simultaneously to the hold release state by driving the connecting member 237. Thus, with a simple configuration in which the driving part 236 only drives the connecting member 237, the multiple holding parts 235 can be simultaneously driven to the hold release state.

[0063] In the first embodiment, as described above, the multiple shafts 233 are arranged at predetermined angular intervals in a plan view, and the driving unit 236 is arranged surrounded by the multiple shafts 233 in a plan view. This allows the multiple shafts 233 and the driving units 236 to be arranged in a well-balanced manner, making it possible to prevent the position of the center of gravity of the robot suction hand 23 from being shifted due to the arrangement of the multiple shafts 233 and the driving units 236.

[0064] In the first embodiment, as described above, the drive unit 236 drives the multiple holding units 235 to switch between the holding state and the holding release state. This allows the drive unit 236 to drive the multiple holding units 235 to switch between the holding state and the holding release state, so there is no need to provide a drive unit for switching to the holding state and a drive unit for switching to the holding release state separately. As a result, the number of parts can be reduced and the structure can be simplified.

[0065] In the first embodiment, as described above, the driving unit 236 is an air cylinder. This allows the driving unit 236 to be configured with an air cylinder having a simple structure, and therefore makes it easy to perform maintenance of the driving unit 236.

[0066] In the first embodiment, as described above, a plurality of suction parts 231 are provided, and the support part 232 supports the plurality of suction parts 231. This allows the plurality of suction parts 231 to reliably suction bottles B as waste, and allows the support part 232 to reliably support the plurality of suction parts 231.

[0067] In the first embodiment, as described above, the robot suction hand 23 is attached to the parallel link robot. This allows the center of gravity between the robot suction hand 23 and the bin B as waste to be located upward in a parallel link robot that is a high-speed picking robot and has a relatively small range AR of mass load capacity, so that the center of gravity between the robot suction hand 23 and the bin B as waste can be effectively kept within the range AR of the mass load capacity of the robot 20.

[0068] In the first embodiment, as described above, the waste includes bottles B of multiple colors, and the robot 20 sorts the bottles B as waste according to their colors. This allows the robot 20 to sort the bottles B of multiple colors as waste.

[0069] [Second embodiment] A robot suction hand 323 according to the second embodiment will be described with reference to Figures 11 to 14. Note that the same components as those in the first embodiment are given the same reference numerals and detailed description thereof will be omitted.

[0070] 11 to 14, the robot suction hand 323 is attached to the hand attachment portion 26 of the robot 20 in place of the robot suction hand 23 of the first embodiment. The robot suction hand 323 includes a suction portion 231, a support portion 232, a shaft 233, a biasing member 234, a holder 335, a first drive portion 336, and a second drive portion 337.

[0071] The holding portion 335 is provided to maintain the urging member 234 in a contracted state when the suction portion 231 is pushed in the Z1 direction and contracts when it descends to a predetermined height to adsorb a bin B as a disposal portion. Specifically, the holding portion 335 is capable of maintaining the urging member 234 in a contracted state, and is also capable of releasing the retention of the urging member 234 in the contracted state.

[0072] The holding portion 335 is switchable between a holding state in which the shaft 233 is held so as to prevent the shaft 233 from moving in the Z2 direction, and a holding release state in which the holding of the shaft 233 is released so that the shaft 233 can move in both the Z1 direction and the Z2 direction. The holding portion 335 includes a first holding member 335a and a second holding member 335b provided in common to the multiple shafts 233.

[0073] The first holding member 335a includes a plurality of extensions 335aa and a half-split portion 335ab. Each of the plurality of extensions 335aa is provided so as to extend from the center of the first holding member 335a toward each of the plurality of shafts 233. Each of the plurality of extensions 335aa is arranged at a predetermined angular interval in a plan view. Specifically, three extensions 335aa are provided, and the three extensions 335aa are arranged at equal angular intervals of 120 degrees in a plan view. The half-split portion 335ab is provided at the tip of each of the plurality of extensions 335aa. The half-split portion 335ab has a semi-cylindrical shape extending in the Z direction.

[0074] The second holding member 335b includes a plurality of extensions 335ba and a half-split portion 335bb. Each of the plurality of extensions 335ba is provided so as to extend from the center of the second holding member 335b toward each of the plurality of shafts 233. Each of the plurality of extensions 335ba is arranged at a predetermined angular interval in a plan view. Specifically, three extensions 335ba are provided, and the three extensions 335ba are arranged at equal angular intervals of 120 degrees in a plan view. The half-split portion 335bb is provided at the tip of each of the plurality of extensions 335ba. The half-split portion 335bb has a semi-cylindrical shape extending in the Z direction.

[0075] The first holding member 335a and the second holding member 335b are arranged such that the half-split portions 335ab and 335bb face each other across the shaft 233. The half-split portions 335ab and 335bb, which face each other across the shaft 233, are moved in a direction approaching each other, so that the shaft 233 is held between the half-split portions 335ab and 335bb, and the holding portion 335 is in a holding state. In the holding state, even if the shaft 233 tries to move in either the Z1 direction or the Z2 direction, the shaft 233 is held between the half-split portions 335ab and 335bb, so that the shaft 233 cannot move in both the Z1 direction and the Z2 direction. Therefore, when the suction portion 231 suctions the bottle B as waste, the shaft 233 moves in the Z1 direction, and the urging member 234 can be kept in a contracted state.

[0076] Moreover, when the halves 335ab and 335bb, which face each other across the shaft 233, are moved away from each other, the shaft 233 is released from the hold of the shaft 233 by the halves 335ab and 335bb, and the holder 335 is in a hold-release state. In the hold-release state, the shaft 233 is not held by the halves 335ab and 335bb regardless of whether the shaft 233 moves in the Z1 direction or the Z2 direction, so the shaft 233 can move in both the Z1 direction and the Z2 direction. Therefore, when the suction part 231 releases the suction of the bottle B as waste, the shaft 233 moves in the Z2 direction, and the biasing member 234 can return to the extended state.

[0077] The first driving unit 336 is provided for the first holding member 335a and drives the first holding member 335a. The second driving unit 337 is provided for the second holding member 335b and drives the second holding member 335b. The first driving unit 336 and the second driving unit 337 simultaneously drive the first holding member 335a and the second holding member 335b to drive the holding unit 335 to the holding release state. The first driving unit 336 is an air cylinder and includes a rod 336a connected to the first holding member 335a. The first driving unit 336 drives the first holding member 335a by moving the rod 336a forward and backward. The second driving unit 337 is an air cylinder and includes a rod 337a connected to the second holding member 335b. The second driving unit 337 drives the second holding member 335b by moving the rod 337a forward and backward.

[0078] When both the rod 336a of the first driving unit 336 and the rod 337a of the second driving unit 337 move in the backward direction, the first holding member 335a and the second holding member 335b are moved so that the halves 335ab and 335bb facing each other across the shaft 233 move away from each other. This causes the holding unit 335 to enter a release state. Also, when both the rod 336a of the first driving unit 336 and the rod 337a of the second driving unit 337 move in the forward direction, the first holding member 335a and the second holding member 335b are moved so that the halves 335ab and 335bb facing each other across the shaft 233 move closer to each other. This causes the holding unit 335 to enter a holding state.

[0079] (Effects of the second embodiment) In the second embodiment, as described above, when the suction unit 231 descends to a predetermined height to suction a bottle B as waste and is pushed upward to contract the urging member 234, a holding unit 335 is provided to hold the urging member 234 in the contracted state. This allows the urging member 234 to be held in the contracted state by the holding unit 335, so that the center of gravity between the robot suction hand 323 and the bottle B as waste can be raised higher than when the urging member 234 returns to an extended state after contracting. As a result, the center of gravity between the robot suction hand 323 and the bottle B as waste can be easily placed within the range AR of the mass load capacity of the robot 20.

[0080] In the second embodiment, as described above, a plurality of shafts 233 are provided, and the holding unit 335 includes a first holding member 335a and a second holding member 335b provided in common to the plurality of shafts 233, and further includes a first driving unit 336 provided for the first holding member 335a and driving the first holding member 335a, and a second driving unit 337 provided for the second holding member 335b and driving the second holding member 335b, and the first driving unit 336 and the second driving unit 337 simultaneously drive the first holding member 335a and the second holding member 335b to drive the holding unit 335 to the holding release state. As a result, even when the holding unit 335 is not provided for each of the plurality of shafts 233, the holding unit 335 can be driven to the holding release state with a simple configuration using the first and second holding members 335b provided in common to the plurality of shafts 233.

[0081] (Modification) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0082] For example, in the above first and second embodiments, an example was given in which the robot was a parallel link robot, but the present disclosure is not limited to this. In the present disclosure, the robot may be a robot other than a parallel link robot.

[0083] In the above first and second embodiments, examples of configurations in which bottles as waste are sorted by color are shown, but the present disclosure is not limited to this. In the present disclosure, the waste may be something other than bottles. For example, the waste may be plastic, metal, non-burnable garbage, PET bottles, or cans. The waste may also be sorted by material or size.

[0084] In the above first and second embodiments, an example of a configuration in which a system control unit that distinguishes waste and a robot control unit that controls the operation of the robot are provided separately has been shown, but the present disclosure is not limited to this. In the present disclosure, the system control unit and the robot control unit may be a common unit, and the system control unit that distinguishes waste may control the operation of the robot.

[0085] In addition, in the above first and second embodiments, an example in which seven suction parts are provided has been shown, but the present disclosure is not limited to this. In the present disclosure, one to six suction parts, or eight or more suction parts may be provided.

[0086] In addition, in the above first and second embodiments, an example in which three shafts are provided has been shown, but the present disclosure is not limited to this. In the present disclosure, one, two, or four or more shafts may be provided.

[0087] In the above first and second embodiments, the multiple shafts are disposed at positions corresponding to the multiple holes of the hand attachment part of the robot, but the present disclosure is not limited to this. In the present disclosure, the multiple shafts do not have to be disposed at positions corresponding to the multiple holes of the hand attachment part of the robot.

[0088] In the above first and second embodiments, the driving unit, the first driving unit, and the second driving unit are air cylinders, but the present disclosure is not limited to this. In the present disclosure, the driving unit, the first driving unit, and the second driving unit may be electric motors or the like other than air cylinders.

[0089] In the above-described first embodiment, an example has been described in which the driving unit is provided in common to the multiple holding units, but the present disclosure is not limited to this. In the present disclosure, the driving unit may be provided individually to each of the multiple holding units.

[0090] In the above embodiment, an example of a configuration in which waste is placed in a container and collected at a waste treatment facility in which a waste treatment system is installed is shown, but the present disclosure is not limited to this. In the present disclosure, waste may be collected in something other than a container. For example, waste may be collected in a bag, or directly loaded onto a truck or the like. In this case, the configuration of the previous stage for feeding waste into the transport section of the waste treatment system may be appropriately changed according to the form of waste collection.

[0091] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0092] (Item 1) An adsorption unit that adsorbs waste; A support part that supports the adsorption part and is movable in a vertical direction; A biasing member that biases the support portion downward; A suction hand for a robot comprising: a holding portion for maintaining the urging member in a contracted state when the suction portion is pushed upward and contracts when it descends to a predetermined height to suction waste.

[0093] (Item 2) 2. The suction hand for a robot according to claim 1, wherein the holding portion is capable of holding the urging member in a contracted state and is capable of releasing the urging member from the contracted state.

[0094] (Item 3) A shaft is further provided to support the support portion and to be movable in the up and down direction. The biasing member expands and contracts in response to the vertical movement of the shaft, 3. The suction hand for a robot according to claim 1, wherein the holding portion is switchable between a holding state in which the shaft is held so that the shaft cannot move downward, and a holding release state in which the holding of the shaft is released so that the shaft can move both upward and downward.

[0095] (Item 4) The shaft is provided in plurality, The holding portion is provided in plurality so as to correspond to the plurality of shafts, 4. The robot suction hand according to item 3, further comprising a drive unit provided in common to the plurality of holding units and configured to drive the plurality of holding units simultaneously to the holding release state.

[0096] (Item 5) a connecting member provided in common to the plurality of holding portions and connecting the plurality of holding portions and the driving portion; 5. The robot suction hand according to claim 4, wherein the drive unit drives the connection member to simultaneously drive the multiple holders to the release state.

[0097] (Item 6) The plurality of shafts are disposed at predetermined angular intervals in a plan view, 6. The robot suction hand according to claim 4, wherein the drive unit is arranged to be surrounded by the plurality of shafts in a plan view.

[0098] (Item 7) 7. The suction hand for a robot according to any one of items 4 to 6, wherein the drive unit drives the plurality of holders so as to switch between the holding state and the holding release state.

[0099] (Item 8) 8. The suction hand for a robot according to any one of items 4 to 7, wherein the drive unit is an air cylinder.

[0100] (Item 9) The shaft is provided in plurality, the holding portion includes first and second holding members provided in common for the plurality of shafts, a first drive unit provided for the first holding member and configured to drive the first holding member; a second drive unit provided for the second holding member and configured to drive the second holding member; 4. The suction hand for a robot according to claim 3, wherein the first and second driving units drive the first and second holding members simultaneously to drive the holding unit to the holding release state.

[0101] (Item 10) The adsorption portion is provided in plurality, 10. The robot suction hand according to any one of items 1 to 9, wherein the support portion supports the plurality of suction portions.

[0102] (Item 11) 11. The suction hand for a robot according to any one of items 1 to 10, which is attached to a parallel link robot.

[0103] (Item 12) An arm, a robot suction hand connected to a tip side of the arm, The robot suction hand includes an suction section that suctions waste, a support section that supports the suction section and is movable in an up and down direction, a biasing member that biases the support section downward, and a holding section for maintaining the biasing member in a contracted state when the biasing member is pushed upward when the suction section descends to a predetermined height to suction the waste and the biasing member contracts.

[0104] (Item 13) A transport unit that transports waste; an imaging unit that images the waste transported by the transport unit; a robot that sorts the waste transported by the transport unit based on an image of the waste captured by the imaging unit, the robot includes an arm and a robot suction hand connected to a tip side of the arm, The robot suction hand includes a suction section that suctions waste, a support section that supports the suction section and is movable in the vertical direction, a biasing member that biases the support section downward, and a holding section for maintaining the biasing member in a contracted state when the biasing member is pushed upward when the suction section descends to a predetermined height to suction waste and the biasing member contracts, in a waste treatment system.

[0105] (Item 14) The waste includes multiple colored bins, Item 14. The waste treatment system according to item 13, wherein the robot sorts waste bottles according to color. [Explanation of symbols]

[0106] 10. Conveyor 20. Robot 22 Arm 23, 323 Robot suction hand 26 Hand attachment part 40 Imaging unit 100 Waste Treatment System 231 Adsorption part 232 Support part 233 Shaft 234 Pressing member 235, 335 Holding part 236 Drive Unit 237 Connecting members 335a First holding member 335b Second holding member 336 First Drive Unit 337 Second Drive Unit B Bottle (waste)

Claims

1. An adsorption unit that adsorbs waste; A support part that supports the adsorption part and is movable in a vertical direction; A biasing member that biases the support portion downward; A suction hand for a robot comprising: a holding portion for maintaining the urging member in a contracted state when the suction portion is pushed upward and contracts when it descends to a predetermined height to suction waste.

2. The suction hand for a robot according to claim 1 , wherein the holding portion is capable of holding the urging member in a contracted state and is capable of releasing the urging member from the contracted state.

3. A shaft is further provided to support the support portion and to be movable in the up and down direction. The biasing member expands and contracts in response to the vertical movement of the shaft, 2. The suction hand for a robot according to claim 1, wherein the holding portion is switchable between a holding state in which the shaft is held so that the shaft cannot move downward, and a holding release state in which the holding of the shaft is released so that the shaft can move both upward and downward.

4. The shaft is provided in plurality, The holding portion is provided in plurality so as to correspond to the plurality of shafts, The robot suction hand according to claim 3 , further comprising a drive unit provided in common with respect to the plurality of holders, for driving the plurality of holders simultaneously to the hold release state.

5. a connecting member provided in common to the plurality of holding portions and connecting the plurality of holding portions and the driving portion; The robot suction hand according to claim 4 , wherein the drive unit drives the connection member to simultaneously drive the plurality of holders to the hold release state.

6. The plurality of shafts are disposed at predetermined angular intervals in a plan view, The robot suction hand according to claim 4 , wherein the drive unit is disposed so as to be surrounded by the plurality of shafts in a plan view.

7. The suction hand for a robot according to claim 4 , wherein the drive unit drives the plurality of holders so as to switch between the holding state and the holding release state.

8. The robot suction hand according to claim 4 , wherein the driving unit is an air cylinder.

9. The shaft is provided in plurality, the holding portion includes first and second holding members provided in common for the plurality of shafts, a first drive unit provided for the first holding member and configured to drive the first holding member; A second drive unit is provided for the second holding member and drives the second holding member, The robot suction hand according to claim 3 , wherein the first and second drive units drive the first and second holding members simultaneously to drive the holding unit to the holding release state.

10. The adsorption portion is provided in plurality, The robot suction hand according to claim 1 , wherein the support portion supports the plurality of suction portions.

11. The suction hand for a robot according to claim 1 , which is attached to a parallel link robot.

12. An arm, a robot suction hand connected to a tip side of the arm, The robot suction hand includes an suction section that suctions waste, a support section that supports the suction section and is movable in an up and down direction, a biasing member that biases the support section downward, and a holding section for maintaining the biasing member in a contracted state when the biasing member is pushed upward when the suction section descends to a predetermined height to suction the waste and the biasing member contracts.

13. A transport unit that transports waste; an imaging unit that images the waste transported by the transport unit; a robot that sorts the waste transported by the transport unit based on an image of the waste captured by the imaging unit, the robot includes an arm and a robot suction hand connected to a tip side of the arm, The robot suction hand includes a suction section that suctions waste, a support section that supports the suction section and is movable in the vertical direction, a biasing member that biases the support section downward, and a holding section for maintaining the biasing member in a contracted state when the biasing member is pushed upward when the suction section descends to a predetermined height to suction waste and the biasing member contracts, in a waste treatment system.

14. The waste includes multiple colored bins, 14. The waste treatment system of claim 13, wherein the robot sorts waste bottles according to color.

Images