Gripping device and method

Abstract

To provide a gripping device and a method, in which a structure can be simplified and a hand which is suitable for a kind of an article is used so as to improve conveying performance.SOLUTION: The gripping device is provided with: a gripping device main body; an upper surface adsorbing part that can be attached to and detached from the gripping device main body and has a first adsorbing surface that can be adsorbed on an upper surface of an article; a side surface gripping part that can be attached to and detached from the gripping device main body and has a first gripping part and a second gripping part which can grip an outer side surface of the article; and a control device that selects either of the upper surface adsorbing part and the side surface gripping part on the basis of data on an article to be conveyed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a gripping device and method for gripping an object. [Background technology]

[0002] There is known a conveying device such as a palletizing device that stacks items on a tray such as a pallet. The palletizing device is, for example, a robot having an articulated arm. The articulated arm has a hand attached to the tip thereof for picking up an item. Known hands include an adsorption part that can adsorb to the top surface of an item and a pair of gripping parts that can grip the sides of an item. For example, a palletizing device having multiple types of hands is described in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7127830 Summary of the Invention [Problem to be solved by the invention]

[0004] The palletizing device in Patent Document 1 is provided with a suction head and a pair of grippers on a hand body and can handle multiple types of articles. However, the palletizing device in Patent Document 1 has a problem in that the structure is complicated because the hand body is provided with a suction head and a pair of grippers.

[0005] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a gripping device and method that simplifies the structure and improves transport capacity by using an appropriate hand depending on the type of item. [Means for solving the problem]

[0006] In order to achieve the above-mentioned objective, the gripping device of the present disclosure comprises a gripping device main body, an upper surface adsorption portion which is detachable from the gripping device main body and has a first adsorption surface which can be adsorbed to the upper surface of an object, a side gripping portion which is detachable from the gripping device main body and has first and second gripping portions which can grip the outer surface of the object, and a control device which selects either the upper surface adsorption portion or the side gripping portion based on transport target data of the object.

[0007] In addition, the gripping method disclosed herein includes a gripping device main body, an upper surface adsorption portion having a first adsorption surface that is detachable from the gripping device main body and can be adsorbed to the upper surface of an article, and a side gripping portion having a first gripping portion and a second gripping portion that is detachable from the gripping device main body and can grip the outer surface of the article, and includes a step of selecting either the upper surface adsorption portion or the side gripping portion based on transport target data of the article, and a step of attaching the selected upper surface adsorption portion or the side gripping portion to the gripping device main body. Effect of the Invention

[0008] According to the gripping device and method disclosed herein, it is possible to simplify the structure and improve the transport capacity by using an appropriate hand depending on the type of item. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram illustrating a gripping device according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the gripping device of the first embodiment. [Diagram 3] FIG. 3 is a schematic diagram showing a selection process map of a hand for each type of article. [Figure 4] FIG. 4 is a flowchart showing a process flow of the control device. [Diagram 5] FIG. 5 is a flowchart showing a process flow of a control device in the gripping device according to the second embodiment. [Figure 6]FIG. 6 is a block diagram showing a gripping device according to the third embodiment. [Figure 7] FIG. 7 is a flowchart showing a process flow of the control device. [Figure 8] FIG. 8 is a flowchart showing a process flow of the control device in the gripping device according to the fourth embodiment. [Figure 9] FIG. 9 is a schematic diagram for explaining the judgment index of an article. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments according to the present disclosure will be described in detail with reference to the drawings. Note that the present invention is not limited to these embodiments. In addition, the components in the following embodiments include those that are replaceable and easy for a person skilled in the art, those that are substantially the same, or those that are equivalent. Furthermore, the components in the following embodiments can be omitted, replaced, or modified in various ways without departing from the gist of the present disclosure. In the following embodiments, the components necessary for illustrating the embodiments will be described, and other components will be omitted, and the same components will be given the same reference numerals, and different components will be given different reference numerals.

[0011] [First embodiment] <Configuration of the gripping device> FIG. 1 is a schematic diagram illustrating a gripping device according to a first embodiment.

[0012] As shown in FIG. 1, a gripping device 10 according to the first embodiment is attached to the tip of an arm of a palletizing device (not shown). The palletizing device is, for example, a robot having a multi-joint arm, and the gripping device 10 is attached to the tip of the multi-joint arm. The gripping device 10 includes a base (gripping device main body) 11, an upper surface suction part 12, and a side gripping part 13. The base 11 is attached to the tip of the multi-joint arm. The upper surface suction part 12 and the side gripping part 13 function as a hand that picks up an article R. The upper surface suction part 12 and the side gripping part 13 are detachable from the base 11, and appropriate ones are selectively attached depending on the shape of the article R.

[0013] In this embodiment, item R is stacked on a pallet (not shown), with the upper vertical surface being the top surface Ra, the horizontal surface perpendicular to the vertical surface being the side surface (outer surface) Rb, and the lower vertical surface being the bottom surface Rc.

[0014] The base 11 is attached to the tip of the articulated arm. The base 11 is supported to be rotatable about a rotation axis O1 relative to the tip of the articulated arm. The base 11 can be raised and lowered in the vertical direction in response to the movement of the articulated arm.

[0015] The upper surface adsorption portion 12 is provided so as to be detachable from the base 11. The base 11 has an attachment / detachment mechanism (not shown) by which the upper surface adsorption portion 12 can be attached or detached. The upper surface adsorption portion 12 has a first opposing surface 12a on its underside that faces the upper surface Ra of the article R. The upper surface adsorption portion 12 is attached to the base 11 so that the first opposing surface 12a is a surface perpendicular to the pivot axis O1. The upper surface adsorption portion 12 rotates in accordance with the rotational movement of the base 11 and rises and falls in accordance with the lifting and lowering movement. The upper surface adsorption portion 12 has a first suction portion 21 on the first opposing surface 12a that can adsorb the upper surface Ra of the article R.

[0016] The first suction portion 21 is, for example, one or more suction pads protruding downward from the first opposing surface 12a of the upper surface suction portion 12. The first suction portion 21 has a first suction surface 21a on its lower surface. When a suction force acts with the first suction surface 21a in contact with the upper surface Ra of the article R, the first suction surface 21a of the first suction portion 21 can be adsorbed to the upper surface Ra of the article R.

[0017] The side gripping portion 13 is provided so as to be freely attached and detached to the base portion 11. The side gripping portion 13 can be attached or detached to the base portion 11 by an attachment / detachment mechanism. The side gripping portion 13 has a first gripping portion 22 and a second gripping portion 23 capable of gripping the side surface Rb of an article. The side gripping portion 13 is arranged so that the first gripping portion 22 and the second gripping portion 23 hang down vertically downward. The upper ends of the first gripping portion 22 and the second gripping portion 23 are supported by the side gripping portion 13 so as to be freely movable. The first gripping portion 22 and the second gripping portion 23 are supported by the side gripping portion 13 so as to be able to approach and move away from each other. The first gripping portion 22 and the second gripping portion 23 have almost the same configuration.

[0018] The first gripping portion 22 and the second gripping portion 23 have a first gripping surface 22a and a second gripping surface 23a that face the left and right side surfaces Rb of the article R, respectively. The first gripping surface 22a and the second gripping surface 23a face each other and are parallel surfaces. The side gripping portion 13 is attached to the base 11 so that the first gripping surface 22a and the second gripping surface 23a are parallel to the pivot axis O1. The side gripping portion 13 rotates in accordance with the pivoting operation of the base 11 and moves up and down in accordance with the lifting and lowering operation. When the first gripping surface 22a of the first gripping portion 22 and the second gripping surface 23a of the second gripping portion 23 are in contact with the left and right side surfaces Rb of the article R, respectively, and a pressing force acts on the article R so that the first gripping surface 22a and the second gripping surface 23a approach each other, the side gripping portion 13 can grip the article R by sandwiching the side surface Rb of the article R between the first gripping surface 22a and the second gripping surface 23a.

[0019] The side gripping portion 13 is not limited to the above-mentioned configuration. The side gripping portion 13 may have a first gripping portion 22 and a second gripping portion 23 capable of gripping the side surface Rb of an article, and the upper ends of the first gripping portion 22 and the second gripping portion 23 may be supported so as to be rotatable relative to the side gripping portion 13. In this case, the first gripping portion 22 and the second gripping portion 23 rotate downward relative to the side gripping portion 13, and when a pressing force acts on the article R so that the first gripping surface 22a and the second gripping surface 23a approach each other, the side surface Rb of the article R can be gripped so as to be sandwiched between the first gripping surface 22a and the second gripping surface 23a.

[0020] The gripping device 10 may include a side surface adsorption unit 14. The side surface adsorption unit 14 functions as a hand that picks up the article R together with the upper surface adsorption unit 12. The side surface adsorption unit 14 is attached to the upper surface adsorption unit 12, but may be detachable from the base 11 separately from the upper surface adsorption unit 12. The side surface adsorption unit 14 is attached to the side of the upper surface adsorption unit 12 by a rotation mechanism 24 so as to be rotatable up and down. The side surface adsorption unit 14 is rotatable by the rotation mechanism 24 between a position along the vertical direction and an inclined position rotated upward from the vertical direction. That is, the side surface adsorption unit 14 is supported by the rotation mechanism 24 so as to be able to approach and move away from the side surface Rb of the article R.

[0021] The side surface adsorption portion 14 has a second opposing surface 14a that faces the side surface Rb of the article R. The side surface adsorption portion 14 is attached to the base 11 such that the second opposing surface 14a is parallel to the pivot axis O1 when the side surface adsorption portion 14 is stopped at a position along the vertical direction by the rotation mechanism 24. The side surface adsorption portion 14 rotates in accordance with the pivoting operation of the base 11 and rises and falls in accordance with the lifting and lowering operation. The side surface adsorption portion 14 has a second suction portion 25 on the second opposing surface 14a that is capable of adsorbing the side surface Rb of the article R.

[0022] The second suction portion 25 is, for example, one or more suction pads protruding laterally from the second opposing surface 14a of the side surface suction portion 14. The second suction portion 25 has a second suction surface 25a on a side surface. When a suction force acts with the second suction surface 25a in contact with the side surface Rb of the article R, the second suction portion 25 can be attached to the side surface Rb of the article R.

[0023] The gripping device 10 may include a lower surface support part 15. The lower surface support part 15 functions as a hand that picks up the article R together with the upper surface adsorption part 12 and the side surface gripping part 13. The lower surface support part 15 may be supported by the upper surface adsorption part 12 or the side surface gripping part 13, or may be detachably attached to the base part 11 separately from the upper surface adsorption part 12 and the side surface gripping part 13. The lower surface support part 15 has a first support part 26 and a second support part 27 that can support the lower surface Rc of the article. The first support part 26 and the second support part 27 are supported by the lower surface support part 15 so that they can be raised and lowered and can move toward and away from each other.

[0024] The lower surface support part 15 rotates in accordance with the rotating operation of the base part 11, and moves up and down in accordance with the lifting and lowering operation. In the lower surface support part 15, the first support part 26 and the second support part 27 can support the lower surface Rc of the article R in a state in which the first support part 26 and the second support part 27 are positioned below the lower surface Rc of the article R.

[0025] FIG. 2 is a block diagram showing the gripping device of the first embodiment.

[0026] As shown in FIGS. 1 and 2, the gripping device 10 further includes a turning mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism , a gripping mechanism 35, and a support mechanism .

[0027] The turning mechanism 31 turns the base 11 around a turning axis O1. For example, if the palletizing device is a multi-axis robot, the turning of the base 11 by the turning mechanism 31 corresponds to the operation of the multi-axis robot. The turning mechanism 31 is realized by a well-known mechanism such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, a wire or link mechanism, or the like.

[0028] The lifting mechanism 32 moves the base 11 in the vertical direction. For example, if the palletizing device is a multi-axis robot, the movement of the base 11 by the lifting mechanism 32 is achieved by cooperative operation of multiple axes of the multi-axis robot. If the palletizing device is a Cartesian coordinate robot, the movement of the base 11 by the lifting mechanism 32 corresponds to the operation of a linear joint in the vertical direction of the Cartesian coordinate robot. In this case, the lifting mechanism 32 is achieved by a well-known mechanism such as a linear actuator including a motor, an air cylinder, etc., or a rack and pinion mechanism.

[0029] The first suction mechanism 33 can operate the upper surface suction unit 12. The first suction mechanism 33 includes, for example, a vacuum generator that is connected to the first suction surface 21a via an air pipe (not shown) and sucks air from the first suction surface 21a. For example, when the first suction unit 21 is composed of a plurality of suction pads, each suction pad is connected to the first suction mechanism 33, which is a vacuum generator, via an air pipe.

[0030] The second suction mechanism 34 is capable of operating the side suction portion 14. The second suction mechanism 34 includes, for example, a vacuum generator that is connected to the second suction surface 25a via an air pipe (not shown) and sucks air from the second suction surface 25a. For example, when the second suction portion 25 is composed of a plurality of suction pads, each suction pad is connected to the second suction mechanism 34, which is a vacuum generator, via an air pipe.

[0031] The gripping mechanism 35 is capable of actuating the side gripping portion 13. The gripping mechanism 35 moves the first gripping portion 22 and the second gripping portion 23 so that they can approach or move away from each other. The gripping mechanism 35 is realized by a well-known mechanism such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0032] The support mechanism 36 is capable of operating the lower support portion 15. The support mechanism 36 is capable of raising and lowering the first support portion 26 and the second support portion 27, and also moves them toward and away from each other. The support mechanism 36 is realized by a well-known mechanism such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0033] The gripping device 1 also includes a control device 41, an imaging device 42, an input / output device 43, and a storage unit 44. In this embodiment, the gripping device 10 including the control device 41, the imaging device 42, the input / output device 43, and the storage unit 44 also includes a mode in which the functions of each device are configured as part of a palletizing device to which the gripping device 10 is attached, or a transport system in which the palletizing device is installed.

[0034] The imaging device 42 captures images of at least the articles R stacked on the pallet, and outputs image data capable of identifying the positions and individuals of the imaged objects to the control device 41. The imaging device 42 is disposed in a position where it can observe at least the articles R stacked on the pallet. In this case, the imaging device 42 may be attached to the gripping device 10, or may be disposed separately from the gripping device 10. The imaging device 42 includes one or more cameras.

[0035] The input / output device 43 includes an input device through which an operator inputs various pieces of information for operating the gripping device 10, and an output device for presenting various pieces of information to the operator. The input device is realized by, for example, a keyboard, a mouse, a physical switch, a button, a touch panel, or the like. The output device is realized by, for example, a display device including a liquid crystal display device, an organic EL (Electro Luminescence) display device, or the like, a light-emitting device including an LED (Light Emitting Diode), or a speaker, or the like. The input / output device 43 may be an information terminal capable of inputting and outputting various pieces of information.

[0036] The storage unit 44 is connected to the control device 41 and transmits and receives various data to and from the control device 41. The storage unit 44 stores transport parameters (minimum operating conditions) for the operating condition items. The control device 41 can rewrite the transport parameters in the storage unit 44 at any time.

[0037] The control device 41 is a computer that controls the gripping device 10. The control device 41 has a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54. The control device 41 is connected to a management device 61. The communication unit 51 is a module used by the control unit 53 to communicate with an external device such as the management device 61, and may include, for example, an antenna. In this embodiment, the communication method by the communication unit 51 is assumed to be wireless communication, but the communication method may be arbitrary. The storage unit 52 is a memory that stores the calculation contents and programs of the control unit 53, and various information acquired from the management device 61 via the communication unit 51, and includes, for example, at least one of a RAM (Random Access Memory), a main storage device such as a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive).

[0038] The control unit 53 is an arithmetic processing device, and includes an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 53 executes various processes by reading and executing programs (software) from the storage unit 52. The control unit 53 may execute processes using one CPU, or may be provided with multiple CPUs and execute processes using the multiple CPUs.

[0039] The control unit 53 acquires upstream data from the management device 61 via the communication unit 51. The upstream data includes, for example, data on the objects to be transported, such as the type, weight, dimensions, presence (length) of perforations in the box, presence (length) of a zipper, number of glue points, side flaps, and packaging (presence or absence of shrink wrap) of the objects R to be stacked on the pallet. The control unit 53 causes the imaging device 42 to capture an image at any timing, and acquires image data. The control unit 53 processes the acquired image data to recognize the state of the objects R present in the image data.

[0040] The control unit 53 determines transport parameters of the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15 based on the image data and the transport target data. In this case, the image data does not need to be used. Here, the transport parameters include the rotation speed and rotation acceleration of the rotation mechanism 31, the rising speed and rising acceleration of the lifting mechanism 32, the suction pressure and suction time of the article R by the first suction mechanism 33, the suction pressure and suction time of the article R by the second suction mechanism 34, the pressing pressure and pressing time of the article R by the gripping mechanism 35, the support time of the article R by the support mechanism 36, etc.

[0041] Note that reference values ​​of the transport parameters for the transport object data are set in advance. The control unit 53 controls the turning mechanism 31, the lifting mechanism 32, the first suction mechanism 33, the second suction mechanism 34, the gripping mechanism 35, and the support mechanism 36 based on the set transport parameters. The control unit 53 also executes control for moving the gripping device 10 itself in the horizontal direction in the palletizing device to which the gripping device 10 is attached. When the palletizing device is a multi-joint robot, the horizontal movement of the gripping device 10 itself is realized by the cooperative operation of multiple axes of the multi-joint robot.

[0042] The determination unit 54 is an arithmetic processing device similar to the control unit 53, and includes an arithmetic circuit such as a CPU (Central Processing Unit). The determination unit 54 executes various processes by reading and executing a program (software) from the storage unit 52. The determination unit 54 may be integrated with the control unit 53 and provided as one of the functions of the control unit 53.

[0043] The determination unit 54 selects the most suitable hand for picking the article R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the transport target data of the article R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base unit 11. In the first embodiment, the transport target data of the article R includes data such as the type, weight, dimensions, presence or absence (length) of perforations on the box, presence or absence (length) of a zipper, number of glue points, side flaps, and packaging (presence or absence of shrink wrap) of the article R acquired as upstream data from the management device 61. However, the transport target data of the article R is not limited to these.

[0044] The judgment unit 54 estimates the difficulty of adsorption by the upper surface suction unit 12, i.e., the difficulty of adsorption, based on the transport target data of the item R, and judges whether the item R can be picked by the upper surface suction unit 12 alone, whether the side suction unit 14 is required in addition to the upper surface suction unit 12, whether the item cannot be picked by both the upper surface suction unit 12 and the side suction unit 14 and therefore whether a side gripping unit 13 is required, or whether a lower surface support unit 15 is required.

[0045] For example, the difficulty of the upper surface suction portion 12 to adsorb the item R is set according to the type of the item R. Here, when the item R is a cardboard box, the upper surface suction portion 12 easily adsorbs the item R. When the item R is vinyl wrapped, the upper surface suction portion 12 easily adsorbs the item R. When the item R is a stack of sheets, the upper surface suction portion 12 does not easily adsorb the item R. When the item R is a bag, the upper surface suction portion 12 easily adsorbs the item R. When the item R is a wooden box, the upper surface suction portion 12 does not easily adsorb the item R. When the item R is a freezer box, the upper surface suction portion 12 easily adsorbs the item R. That is, when the first suction surface 21a of the upper surface suction portion 12 abuts against the upper surface Ra of the item R and a suction force acts on the first suction surface 21a, if the suction force leaks from the first suction surface 21a according to the shape of the upper surface Ra of the item R, it becomes difficult to adsorb the item R.

[0046] Furthermore, the heavier the item R, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R. The larger the dimensions of the item R, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R. The longer the length and the more perforations there are on the box of the item R, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R. The longer the length and the more zipper there is on the box of the item R, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R. The more glue points there are on the item R, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R. The more side flaps there are on the item R, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R. If the item R is shrink-wrapped, the more difficult it is for the upper surface adsorption portion 12 to adsorb the item R.

[0047] The determination unit 54 selects and determines the appropriate hand for picking up the item R from among the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15, based on the transport object data such as the type, weight, and dimensions of the item R. The determination unit 54 selects the appropriate hand based on one or more pieces of data from the transport object data.

[0048] Furthermore, the determination unit 54 may estimate the difficulty of the upper surface suction unit 12 to pick up the article R, i.e., the hardness of the article R, based on the transport target data of the article R, and select a hand appropriate for picking up the article R from among the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15. In other words, as the hardness of the article R decreases, it becomes more difficult for the upper surface suction unit 12 to pick up the article R.

[0049] FIG. 3 is a schematic diagram showing a selection process map of a hand for each type of article.

[0050] FIG. 3 is a map for selecting and processing a hand based on the relationship between the hardness of the article R and the unevenness of the top surface. The hardness of the article R is the hardness of the top surface Ra, and is estimated based on data such as the type of the article R, the dimensions, the presence or absence (length) of perforations on the box, the presence or absence (length) of a zipper, the number of glued points, the side flaps, and the packaging (presence or absence of shrink wrap). The unevenness of the top surface of the article R is the height of the unevenness of the top surface Ra, and is estimated based on data such as the type of the article R, the presence or absence (length) of perforations on the box, the presence or absence (length) of a zipper, and the packaging (presence or absence of shrink wrap).

[0051] 3, the higher the hardness (strength) value of the article R and the lower the upper surface unevenness value, the easier it is for the upper surface suction portion 12 to suction the upper surface Ra of the article R, and therefore the area of ​​pattern P1 is selected as the hand for the upper surface suction portion 12. The lower the hardness (strength) value of the article R and the higher the upper surface unevenness value, the harder it is for the upper surface suction portion 12 to suction the upper surface Ra of the article R, and therefore the area of ​​pattern P3 is selected as the hand for the side gripping portion 13. Then, in the area of ​​pattern P2 between the area of ​​pattern P1 and the area of ​​pattern P3, the upper surface suction portion 12 and the side surface suction portion 14 are selected.

[0052] The management device 61 is a system that manages the operation of each device in a logistics management facility in which the gripping device 10 of this embodiment is deployed. The management device 61 is, for example, a WCS (Warehouse Control System) or a WMS (Warehouse Management System), but is not limited to a WCS or a WMS and may be any system, for example, a back-end system such as other production management systems. The location at which the management device 61 is installed is arbitrary, and it may be installed in the facility in which the gripping device 10 is deployed, or may be installed at a location remote from the facility to manage the facility from the remote location.

[0053] <Control device processing> FIG. 4 is a flowchart showing a process flow of the control device.

[0054] The following describes a process flow in which the control device 41 selects an appropriate hand for picking up the item R from the upper surface suction portion 12, the side surface gripping portion 13, the side surface suction portion 14, and the lower surface support portion 15 as a hand during transportation by the gripping device 10. The process shown in Fig. 4 is executed by the control device 41 based on a program and data previously stored in the storage unit 52. For example, upon receiving a predetermined control signal from the management device 61 instructing the driving of the gripping device 10, the control device 41 proceeds to step S11 shown in Fig. 4 and starts the process.

[0055] 1, 2, and 4, in step S11, the control device 41 acquires transport object data. In this embodiment, the control device 41 acquires the transport object data from the management device 61 via the communication unit 51. In this process, the transport object data includes data such as the type, weight, and dimensions of the item R, the presence (length) of perforations in the box, the presence (length) of a zipper, the number of glued parts, side flaps, and packaging (presence or absence of shrink wrap).

[0056] In step S12, the control device 41 acquires captured image data. In this embodiment, the control device 41 causes the imaging device 42 to capture an image of a predetermined area including the article R. In this case, the imaging device 42 outputs captured image data indicating data of the captured image to the control device 41. The captured image data may be linked to coordinate data of a coordinate system based on a predetermined position of the gripping device 10 or a facility in which the gripping device 10 is installed, for example. The control device 41 performs image processing on the captured image data to recognize the shape, etc. of the article R.

[0057] In step S13, the control device 41 selects a hand (at least one of the upper surface suction portion 12, the side gripping portion 13, the side suction portion 14, and the lower surface support portion 15) to be attached to the base 11 based on the transport object data. In this case, for example, if the upper surface Ra of the article R is easily suctioned based on the transport object data, the control device 41 selects the upper surface suction portion 12, and if the upper surface Ra of the article R is not easily suctioned based on the transport object data, the control device 41 selects the side gripping portion 13.

[0058] In step S14, the control device 41 determines transport parameters. The transport parameters are data corresponding to the selected hand (at least one of the upper surface suction portion 12, the side gripping portion 13, the side surface suction portion 14, and the lower surface support portion 15). The transport parameters are the rotation speed and rotation acceleration of the rotation mechanism 31, the rising speed and rising acceleration of the lifting mechanism 32, the suction pressure and suction time of the first suction mechanism 33, the suction pressure and suction time of the second suction mechanism 34, the pressing force and pressing time of the gripping mechanism 35, and the support time of the support mechanism 36, and are set based on the transport target data acquired in step S11.

[0059] In step S15, the article R is transported (unloaded). That is, the control device 41 controls the devices corresponding to the selected hand (upper surface suction portion 12, side gripping portion 13, side surface suction portion 14, lower surface support portion 15), that is, the turning mechanism 31, the lifting mechanism 32, the first suction mechanism 33, the second suction mechanism 34, the gripping mechanism 35, and the support mechanism 36.

[0060] [Second embodiment] Fig. 5 is a flow chart showing the process flow of the control device in the gripping device according to the second embodiment. The basic configuration of the second embodiment is the same as that of the first embodiment described above, and will be described using Fig. 1 and Fig. 2. The same reference numerals are used to designate members having the same functions as those of the first embodiment described above, and detailed description thereof will be omitted.

[0061] 1 and 2, the gripping device 10 includes a base 11, an upper surface suction portion 12, a side gripping portion 13, a rotation mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, a support mechanism 36, a control device 41, an imaging device 42, an input / output device 43, and a storage unit 44. The control device 41 includes a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54.

[0062] The determination unit 54 selects the optimal hand for picking up the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the characteristic data of the item R as well as the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base 11. In the second embodiment, the characteristic data of the item R is transport performance data and is accumulated in the accumulation unit 44.

[0063] The transport performance data is set, for example, in correspondence with the transport target data. The transport target data includes data such as the type, weight, dimensions, whether or not the box has perforations (length), whether or not there is a zipper (length), the number of glued pieces, side flaps, and packaging (whether or not shrink-wrapped). The transport performance data is data for selecting the optimal hand (upper surface suction unit 12, side surface gripping unit 13, side surface suction unit 14, lower surface support unit 15) in accordance with the transport target data.

[0064] The transport performance data is set based on the verification data of the manufacturer of the gripping device 10 and the operation records (including troubles) when the user (customer) uses the gripping device 10. In other words, the transport performance data is the type of hand in the gripping device 10 that can transport the article R without dropping it, based on the verification data of the gripping device 10 and past operating records. Note that the transport performance data may be set by machine learning the verification data of the manufacturer of the gripping device 10 and the operation records (including troubles) when the user (customer) uses the gripping device 10.

[0065] 1, 2, and 5, in step S11, the control device 41 acquires transport target data. In this embodiment, the control device 41 acquires the transport target data from the management device 61 via the communication unit 51. In step S12, the control device 41 acquires captured image data.

[0066] In step S21, the control device 41 acquires the transport performance data. The transport performance data is accumulated in the accumulation unit 44, and the control device 41 acquires the transport performance data from the accumulation unit 44.

[0067] In step S13, the control device 41 selects a hand (at least one of the upper surface suction part 12, the side gripping part 13, the side surface suction part 14, and the lower surface support part 15) to be attached to the base part 11 based on the transport target data and the transport record data. In this case, the control device 41, for example, checks the hand selected based on the transport target data based on the transport record data, and changes it if necessary.

[0068] In step S14, the control device 41 determines the transport parameters. In step S15, the article R is transported (unloaded).

[0069] [Third embodiment] Fig. 6 is a block diagram showing a gripping device of the third embodiment, and Fig. 7 is a flowchart showing a processing flow of the control device. The basic configuration of the third embodiment is the same as that of the first embodiment described above, and will be described using Fig. 1. Members having the same functions as those of the first embodiment described above are given the same reference numerals and detailed description will be omitted.

[0070] 1 and 6, the gripping device 10 includes a base 11, an upper surface suction unit 12, a side gripping unit 13, a rotation mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, a support mechanism 36, a control device 41, an imaging device 42, an input / output device 43, an accumulation unit 44, a moisture detector 45, and a shape detector 46. The control device 41 includes a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54.

[0071] The determination unit 54 selects the optimal hand for picking up the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the characteristic data as well as the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base unit 11. In the third embodiment, the characteristic data of the item R is transport performance data, and is accumulated in the accumulation unit 44. In addition, the characteristic data of the item R is moisture content data and deformation amount data of the item R, and is detected by the moisture detector 45 and the shape detector 46.

[0072] The gripping device 10 is provided with a moisture detector 45 and a shape detector 46. The moisture detector 45 and the shape detector 46 are provided separately from the gripping device 10 or the gripping device 10. The moisture detector 45 acquires moisture content data of the cardboard box constituting the item R. The shape detector 46 acquires deformation amount data of the cardboard box constituting the item R. The moisture detector 45 is, for example, a contact or non-contact moisture sensor, and detects the moisture content of the cardboard box. The shape detector 46 is, for example, a contact displacement meter or a non-contact laser displacement meter, and detects the deformation amount (deformation rate) from the shape of the cardboard box.

[0073] The determination unit 54 estimates the difficulty of the upper surface suction unit 12 to pick up the article R, i.e., the difficulty of suction, based on, for example, the moisture amount data and the deformation amount data of the article R, and determines whether the article R can be picked up by the upper surface suction unit 12 alone or whether it cannot be picked up without the side grip unit 13. For example, if the moisture amount of the article R is greater than a preset determination value, it determines that the upper surface suction unit 12 is difficult to suction the article R because the article R is low in hardness and weak. Also, if the deformation amount of the article R is greater than a preset determination value, it determines that the upper surface suction unit 12 is difficult to suction the article R because the article R is deformed and the upper surface Ra is not flat.

[0074] 1, 6 and 7, in step S11, the control device 41 acquires transport target data. In this embodiment, the control device 41 acquires the transport target data from the management device 61 via the communication unit 51. In step S12, the control device 41 acquires captured image data.

[0075] In step S21, the control device 41 acquires transport performance data. The transport performance data is accumulated in the accumulation unit 44, and the control device 41 acquires the transport performance data from the accumulation unit 44. In step S22, the control device 41 acquires detection data. The detection data is moisture content data of the item R detected by the moisture detector 45 and deformation amount data of the item R detected by the shape detector 46. The control device 41 acquires the moisture content data of the item R detected by the moisture detector 45 and the deformation amount data of the item R detected by the shape detector 46.

[0076] In step S13, the control device 41 selects a hand (at least one of the upper surface suction portion 12, the side gripping portion 13, the side surface suction portion 14, and the lower surface support portion 15) to be attached to the base 11 based on the transport target data, the transport performance data, the moisture content data, and the deformation amount data. In this case, the control device 41 checks the hand selected based on the transport target data based on the transport performance data, for example, and changes it if necessary. The control device 41 also checks the changed hand based on the moisture content data and the deformation amount data, and changes it if necessary.

[0077] In step S14, the control device 41 determines the transport parameters. In step S15, the article R is transported (unloaded).

[0078] [Fourth embodiment] Fig. 8 is a flow chart showing the process flow of the control device in the gripping device according to the fourth embodiment, and Fig. 9 is a schematic diagram for explaining the judgment index of the article. The basic configuration of the fourth embodiment is the same as that of the first embodiment described above, and will be explained using Fig. 1 and Fig. 2. Members having the same functions as those of the first embodiment described above are given the same reference numerals and detailed explanations will be omitted.

[0079] 1 and 2, the gripping device 10 includes a base 11, an upper surface suction portion 12, a side gripping portion 13, a rotation mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, a support mechanism 36, a control device 41, an imaging device 42, an input / output device 43, and a storage unit 44. The control device 41 includes a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54.

[0080] The determination unit 54 selects the optimal hand for picking the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the characteristic data as well as the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base unit 11. In the first embodiment, the characteristic data of the item R is moisture content data and deformation amount data of the item R, which are detected by the moisture detector 45 and the shape detector 46.

[0081] The judgment unit 54 calculates a judgment index which indicates the difficulty of the upper surface suction portion 12 to adsorb the item R based on the transport target data and characteristic data of the item R, and judges based on the judgment index whether the item R can be picked by the upper surface suction portion 12 alone, or whether it cannot be picked without the side gripping portion 13.

[0082] As shown in FIG. 9, the transport parameters of the item R include the type of the item R, weight, dimensions, whether or not the box has perforations (length), whether or not the box has a zipper (length), side flaps, packaging (whether or not it has shrink wrap), breathability, moisture, glue to prevent the load from collapsing, shaking of the beverage inside the box, number of glued pieces, bulging of the box, and holes and scratches on the top surface. The type of the item R, weight, dimensions, whether or not the box has perforations (length), whether or not the zipper (length), side flaps, packaging (whether or not it has shrink wrap), and number of glued pieces are transport target data of the item R. Breathability is estimated from the type of the item R. Moisture is moisture amount data. The glue to prevent the load from collapsing is estimated from the type of the item R or image data obtained by the imaging device 42. Shaking of the beverage inside the box is estimated from the type of the item R. Bulging of the box is deformation amount data. Holes and scratches on the top surface are estimated from the type of the item R or image data obtained by the imaging device 42.

[0083] A judgment index, which is an index of the difficulty of adsorption of the item R, is determined for each of the multiple items R1 and R2 for each of the transport parameters. A judgment index of 1 is an index of the highest adsorption, and a judgment index of 3 is an index of the lowest adsorption. The judgment index of the item R is the sum of the judgment indexes determined for each of the multiple items R1 and R2 for each of the transport parameters. If all of the transport parameters are judgment index 1, the judgment index of the item R is 14, and if all of the transport parameters are judgment index 3, the judgment index of the item R is 42. A judgment value is set between the judgment index 14 and the judgment index 42, and if the judgment index is equal to or less than the judgment value, the upper surface suction portion 12 is selected, and if the judgment index is greater than the judgment value, the side gripping portion 13 is selected.

[0084] 1, 2, and 8, in step S11, the control device 41 acquires transport target data. In this embodiment, the control device 41 acquires the transport target data from the management device 61 via the communication unit 51. In step S12, the control device 41 acquires captured image data.

[0085] In step S22, the control device 41 acquires the detection data. The detection data is moisture content data of the item R detected by the moisture detector 45 and deformation amount data of the item R detected by the shape detector 46. The control device 41 acquires the moisture content data of the item R detected by the moisture detector 45 and deformation amount data of the item R detected by the shape detector 46. In step S23, the control device 41 calculates and acquires a judgment index.

[0086] In step S13, the control device 41 selects a hand (at least one of the upper surface suction portion 12, the side gripping portion 13, the side surface suction portion 14, and the lower surface support portion 15) to be attached to the base portion 11 based on the judgment index. In step S14, the control device 41 determines transport parameters. In step S15, the article R is transported (unloaded).

[0087] [Effects of this embodiment] The gripping device of the first embodiment comprises a base (gripping device main body) 11, an upper surface adsorption portion 12 which is detachable from the base 11 and has a first adsorption surface 21a capable of adsorbing to the upper surface Ra of the article R, a side gripping portion 13 which is detachable from the base 11 and has a first gripping portion 22 and a second gripping portion 23 capable of gripping the side surface Rb of the article R, and a control device 41 which selects either the upper surface adsorption portion 12 or the side gripping portion 13 based on the transport target data of the article R.

[0088] According to the gripping device of the first aspect, the upper surface suction part 12 or the side gripping part 13 is selected based on the transport target data of the article R, and the selected hand is attached to the base 11. Therefore, either the upper surface suction part 12 or the side gripping part 13 is attached to the base 11, which simplifies the structure. Also, an appropriate hand can be used depending on the type of the article R, which prevents the article R from falling and improves the transport capacity.

[0089] The gripping device according to the second aspect is the gripping device according to the first aspect, and further includes a storage unit 44 that stores transport performance data as characteristic data of the article R, and the control device 41 selects either the upper surface suction unit 12 or the side gripping unit 13 based on the transport performance data. This allows the upper surface suction unit 12 or the side gripping unit 13 to be selected based on the transport target data of the article R as well as the transport performance data, thereby improving the accuracy of hand selection.

[0090] The gripping device according to the third aspect is the gripping device according to the first or second aspect, and further includes a moisture detector 45 that acquires moisture content data as characteristic data of the article R, and the control device 41 selects either the upper surface suction part 12 or the side gripping part 13 based on the moisture content data. As a result, the upper surface suction part 12 or the side gripping part 13 is selected based on the moisture content data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0091] The gripping device according to the fourth aspect is the gripping device according to any one of the first to third aspects, and further includes a shape detector 46 that acquires deformation amount data as characteristic data of the article R, and the control device 41 selects either the upper surface suction part 12 or the side gripping part 13 based on the deformation amount data. As a result, the upper surface suction part 12 or the side gripping part 13 is selected based on the deformation amount data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0092] The gripping device according to the fifth aspect is the gripping device according to the first or fourth aspect, and further, the control device 41 calculates a judgment index indicating the difficulty of the upper surface suction part 12 to pick up the article R based on the transport target data of the article R, and selects either the upper surface suction part 12 or the side gripping part 13 based on the judgment index. As a result, since the upper surface suction part 12 or the side gripping part 13 is selected based on the judgment index calculated based on the transport target data of the article R, it is possible to simplify the process and improve the accuracy of hand selection.

[0093] The gripping device according to the sixth aspect is the gripping device according to the first or fifth aspect, and further, the control device 41 generates a selection process map according to the hardness of the article R and the unevenness of the upper surface Ra of the article R, and selects either the upper surface suction unit 12 or the side gripping unit 13 based on the selection process map. As a result, the upper surface suction unit 12 or the side gripping unit 13 is selected based on the selection process map, which can simplify the process.

[0094] The gripping device according to the seventh aspect is the gripping device according to the first or sixth aspect, and further includes a side suction unit 14 that is detachable from the base 11 and has a second suction surface 25a that can be attached to the side surface Rb of the article R, and the control device 41 determines the necessity of the side suction unit 14 based on the transport target data of the article R. As a result, by providing the side suction unit 14 and using an appropriate hand depending on the type of article R, it is possible to prevent the article R from falling.

[0095] The gripping device according to the eighth aspect is the gripping device according to the first or seventh aspect, and further includes a bottom surface support part 15 having a first support part 26 and a second support part 27 that are detachable from the base part 11 and capable of supporting the bottom surface Rc of the article R, and the control device 41 determines the necessity of the bottom surface support part 15 based on the transport target data of the article R. As a result, by providing the bottom surface support part 15, it is possible to prevent the article R from falling by using an appropriate hand according to the type of article R.

[0096] The gripping device according to the ninth aspect is the gripping device according to the eighth aspect, and further includes a moisture detector 45 that acquires moisture content data as characteristic data of the article R, and the control device 41 determines the necessity of the lower surface support part 15 based on the moisture content data. This allows the necessity of the lower surface support part to be determined based on the moisture content data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0097] The gripping device according to the tenth aspect is the gripping device according to the eighth aspect, and further includes a shape detector 46 that acquires deformation amount data as characteristic data of the article R, and the control device 41 determines the necessity of the lower surface support part 15 based on the deformation amount data. As a result, the necessity of the lower surface support part 15 is determined based on the deformation amount data in addition to the transport target data of the article R, and therefore the accuracy of hand selection can be improved.

[0098] The gripping method according to the eleventh aspect includes a step of selecting either the upper surface suction part 12 or the side gripping part 13 based on the transport target data of the article R, and a step of attaching the selected upper surface suction part 12 or the side gripping part 13 to the base 11. As a result, either the upper surface suction part 12 or the side gripping part 13 is attached to the base 11, which can simplify the structure. Also, an appropriate hand can be used depending on the type of the article R, which can prevent the article R from falling and improve the transport capacity. [Explanation of symbols]

[0099] 10 Gripping device 11 Base (gripping device body) 12 Top suction part 13 Side grip part 14 Side suction part 15 Bottom support part 21 1st suction part 22 1st grip part 23 Second grip part 24 Rotating mechanism 25 2nd suction part 26 1st support part 27 Second support part 31 Swivel mechanism 32 Lifting mechanism 33 1st adsorption mechanism 34 Second suction mechanism 35 Gripping mechanism 36 Support mechanism 41 Control device 42 Imaging device 43 Input / Output Devices 44 Storage section 45 Moisture Detector 46 Shape detector 51 Communications Department 52 Storage section 53 Control section 54 Judgment section 61 Management device R Goods Ra top surface Rb side

Claims

1. The gripping device body and An upper suction portion having a first suction surface that is detachably attached to the main body of the gripping device and capable of adsorbing onto the upper surface of an article, A side gripping portion having a first gripping portion and a second gripping portion that are detachably attached to the main body of the gripping device and capable of gripping the outer surface of the article, A control device that selects either the top suction part or the side gripping part based on the transport target data of the aforementioned article, and sets the transport parameters for the selected top suction part or the side gripping part, A gripping device equipped with the following features.

2. The control device has a storage unit for storing transport performance data as characteristic data of the article, and selects either the top suction unit or the side gripping unit based on the transport performance data. The gripping device according to claim 1.

3. The control device has a moisture detector that acquires moisture content data as characteristic data of the article, and selects either the top adsorption portion or the side gripping portion based on the moisture content data. A gripping device according to claim 1 or claim 2.

4. The control device has a shape detector that acquires deformation amount data as characteristic data of the article, and selects either the top surface suction part or the side surface gripping part based on the deformation amount data. A gripping device according to claim 1 or claim 2.

5. The control device calculates a determination index based on the data of the item to be transported, which indicates how difficult it is for the top suction part to pick up the item, and selects either the top suction part or the side gripping part based on the determination index. The gripping device according to claim 1.

6. The control device generates a selection processing map corresponding to the hardness of the article and the irregularities of the upper surface of the article, and selects either the upper surface suction portion or the side gripping portion based on the selection processing map. The gripping device according to claim 1.

7. The gripping device has a side suction portion that is detachably attached to the main body of the gripping device and has a second suction surface capable of adhering to the side surface of the article, and the control device determines the necessity of the side suction portion based on the transport target data of the article. The gripping device according to claim 1.

8. The gripping device has a lower support portion that is detachably attached to the main body of the gripping device and has a support portion capable of supporting the lower surface of the article, and the control device determines the necessity of the lower support portion based on the transport target data of the article. The gripping device according to claim 1.

9. The control device has a moisture detector that acquires moisture content data as characteristic data of the article, and determines the necessity of the lower support based on the moisture content data. The gripping device according to claim 8.

10. The control device has a shape detector that acquires deformation amount data as characteristic data of the article, and determines the necessity of the lower support part based on the deformation amount data. The gripping device according to claim 8.

11. The gripping device body and An upper suction portion having a first suction surface that is detachably attached to the main body of the gripping device and capable of adsorbing onto the upper surface of an article, A side gripping portion having a first gripping portion and a second gripping portion that are detachably attached to the main body of the gripping device and capable of gripping the outer surface of the article, Equipped with, A step of selecting either the upper suction portion or the side gripping portion based on the data of the item to be transported, The steps include setting the transport parameters for the selected upper suction portion or the side gripping portion, The steps include: attaching the selected upper suction portion or the side gripping portion to the gripping device body; A gripping method having

Images