Robot system

Abstract

To provide a robot system which can hold a workpiece arranged in a container without largely moving its robot arm.SOLUTION: A robot system 100 comprises: a robot arm 11; a hand 12 which is attached to the robot arm 11 to hold a workpiece 1; a container 20 including a workpiece housing space S surrounded by a pair of first inclined planes 21 in contact with a side 21a of a bottom edge on a straight line A extending along an X-direction, when viewed from above, and by a pair of second inclined planes 22 each having a pair of sides 22a connected to edges of the side 21a of the bottom edge of the pair of first inclined planes 21; and a controller 16 for executing control of holding the workpiece 1 arranged in the workpiece housing space S of the container 20 by using the hand 12.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This disclosure relates to a robot system.

Background Art

[0002] Conventionally, a robot system has been disclosed in which a hand for holding a workpiece placed in a container is attached. Patent Document 1 discloses a robot system for holding stacked workpieces. This robot system includes a chuck-type hand for holding a workpiece and a robot arm to which the hand is attached. In Patent Document 1, the workpiece is placed in a container. The bottom surface of the container includes a square bottom surface along the horizontal direction and four inclined surfaces connected to each side of the square bottom surface and intersecting the bottom surface. As a result, since the container includes the inclined surfaces, the stacked workpieces gather at the central portion of the bottom surface of the container. Therefore, it becomes possible to hold the workpieces gathered at the central portion of the bottom surface by the hand without the robot arm moving significantly.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The bottom surface of the container disclosed in Patent Document 1 includes a square bottom surface along the horizontal direction and four inclined surfaces connected to each side of the square bottom surface and intersecting the bottom surface. In this case, the workpiece may stop near the boundary between the bottom surface along the horizontal direction and the inclined surface and may not move to the bottom surface along the horizontal direction. Also, since the bottom surface is along the horizontal direction, it is not determined at which position on the bottom surface along the horizontal direction the workpiece stops. Thus, due to the variation in the position of the workpiece, there is a problem that the robot arm has to be moved relatively largely in order to hold the workpiece with the hand.

[0005] This disclosure has been made to solve the above-described problems, and one object of this disclosure is to provide a robot system capable of holding a workpiece placed in a container without largely moving the robot arm.

Means for Solving the Problems

[0006] A robot system according to one aspect of this disclosure includes a robot arm, a hand attached to the robot arm for holding a workpiece, a pair of first inclined surfaces whose lower edges are in contact with each other on a straight line extending along a predetermined direction when viewed from above, and a pair of second inclined surfaces each having a pair of sides connected to the ends of the lower edges of the pair of first inclined surfaces, and a container including a workpiece accommodation space surrounded by the pair of second inclined surfaces, and a control unit that executes control to hold the workpiece disposed in the workpiece accommodation space of the container by the hand.

[0007] According to one aspect of this disclosure, a robot system, as described above, includes a work accommodation space surrounded by a pair of first inclined surfaces where the lower edges are in contact with each other on a straight line extending along a predetermined direction when viewed from above, and a pair of second inclined surfaces each having a pair of sides connected to the ends of the lower edges of the pair of first inclined surfaces. As a result, since the work accommodation space has a shape with a downwardly pointed tip formed by the pair of first inclined surfaces where the lower edges are in contact with each other, unlike the case of having a bottom surface along the horizontal direction, the work moves to a relatively fixed position which is the portion where the lower edges of the pair of first inclined surfaces are in contact with each other along the first inclined surface or the second inclined surface. Thereby, the work placed in the container can be held without significantly moving the robot arm.

Advantages of the Invention

[0008] The robot system of this disclosure can hold the work placed in the container without significantly moving the robot arm.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

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Figure 16

Embodiments for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present disclosure embodying the present disclosure will be described with reference to the drawings. In the present specification, the vertical direction is the Z direction. The upper side is the Z1 side, and the lower side is the Z2 side. The direction orthogonal to the Z direction is the X direction. One side in the X direction is the X1 side, and the other side is the X2 side. The direction orthogonal to the Z direction and the X direction is the Y direction. One side in the Y direction is the Y1 side, and the other side is the Y2 side. Note that the X direction is an example of a predetermined direction.

[0011] The configuration of the robot system 100 will be described. As shown in FIG. 1, the robot system 100 includes a robot 10 and a container 20. The robot system 100 executes an operation of holding the workpiece 1 arranged in the container 20 and transferring it to another container 30. The workpiece 1 is, for example, a fastening member such as a bolt. In addition, a container supply unit 40 is arranged in the vicinity of the robot 10 and the container 20.

[0012] (Container) The configuration of the container 20 will be described. As shown in FIG. 2, in this embodiment, the container 20 includes a pair of first inclined surfaces 21 and a pair of second inclined surfaces 22. The pair of first inclined surfaces 21 has a trapezoidal shape. Also, the pair of second inclined surfaces 22 has a triangular shape. The lower edge 21a of each of the pair of first inclined surfaces 21 contacts a straight line A extending along the X direction when viewed from above. As shown in FIG. 1, when the sides of the box-shaped container 20 are arranged along the X direction, the direction in which the straight line A extends is the X direction, but the direction in which the straight line A extends changes depending on the arrangement direction of the container 20. Further, the first inclined surface 21 includes an upper edge 21b facing the lower edge 21a and a side edge 21c connecting the lower edge 21a and the upper edge 21b to each other. Also, the pair of second inclined surfaces 22 each have a pair of sides 22a connected to the ends of the lower edge 21a of the pair of first inclined surfaces 21. Note that the end of the lower edge 21a of the first inclined surface 21 means the ends on the X1 side and the X2 side of the lower edge 21a. Further, the second inclined surface 22 includes an upper edge 22b connected to the pair of sides 22a. And as shown in FIG. 3, the container 20 includes a work accommodation space S surrounded by the pair of first inclined surfaces 21 and the pair of second inclined surfaces 22. The work accommodation space S has a shape that is recessed on the Z2 direction side. The pair of first inclined surfaces 21 are the same shape. Also, the pair of second inclined surfaces 22 are the same shape. Note that in FIG. 2, the lower edge 21a of the first inclined surface 21 and the side 22a of the second inclined surface 22 are shown by the same line segment. Note that in FIG. 2 and the like, the label 24 described later is omitted.

[0013] Also, as shown in FIG. 1, the container 20 includes a box-shaped main body portion 23 in which the pair of first inclined surfaces 21 and the pair of second inclined surfaces 22 are arranged. The pair of first inclined surfaces 21, the pair of second inclined surfaces 22, and the main body portion 23 may be integrally formed or may be formed as separate bodies.

[0014] In this embodiment, as shown in FIG. 4, the container 20 includes a label 24 disposed so as to straddle a pair of first inclined surfaces 21 and a pair of second inclined surfaces 22. Specifically, the label 24 is disposed so as to straddle the side 21a at the lower end of each of the pair of first inclined surfaces 21 and the portion on the Z2 side of the pair of sides 22a of each of the pair of second inclined surfaces 22. Further, the label 24 has a rectangular shape when viewed from the Z1 direction side.

[0015] Also, in this embodiment, the label 24 includes paint applied to the container 20. For example, the paint is paint or the like. And the color of the label 24 is different from the colors of the pair of first inclined surfaces 21 and the pair of second inclined surfaces 22. For example, the color of the label 24 is green, and the colors of the pair of first inclined surfaces 21 and the pair of second inclined surfaces 22 are white. In FIG. 4, the color of the label 24 is represented by hatching.

[0016] (Robot) The configuration of the robot 10 will be described. As shown in FIG. 5, the robot 10 includes a robot arm 11, a hand 12, an imaging unit 13, a carriage unit 14, a moving unit 15, and a control unit 16. The robot arm 11 is a vertically articulated robot arm having a plurality of joints. For example, the robot arm 11 is a 6-axis vertically articulated arm. The robot arm 11 has a drive unit 11a shown in FIG. 7 that serves as a drive source for the plurality of joints for each of the plurality of joints. The drive source of the robot arm 11 includes, for example, a servo motor.

[0017] The hand 12 is an end effector disposed at the tip of the robot arm 11. The hand 12 holds the workpiece 1. In the present embodiment, the hand 12 includes a chuck 12a. When a pair of claw portions of the chuck 12a are arranged along the X direction, the chuck 12a opens and closes along the X direction. As shown in FIG. 6, the length L2 of the opening / closing range of the chuck 12a along the X direction is equal to or greater than the length L1 of the side 21a at the lower end of the first inclined surface 21 of the container 20 shown in FIG. 2. The length L2 of the opening / closing range of the chuck 12a along the X direction is the length between the pair of claw portions. Further, the hand 12 includes a drive unit 12b shown in FIG. 7 that opens and closes the chuck 12a. The drive unit 12b includes a servo motor, an encoder, and a speed reducer.

[0018] As shown in FIG. 5, in the present embodiment, the imaging unit 13 captures a two-dimensional image of the workpiece 1 and the label 24 disposed in the container 20. The imaging unit 13 includes an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The imaging unit 13 is disposed, for example, on the hand 12. The two-dimensional image captured by the imaging unit 13 is transmitted to the control unit 16.

[0019] The carriage unit 14 is a box-shaped housing. The moving unit 15 moves the carriage unit 14. The moving unit 15 has a plurality of wheels that rotate while supporting the carriage unit 14, and a servo motor that drives the plurality of wheels. Further, the robot arm 11 is disposed on the upper surface of the carriage unit 14. The control unit 16 executes a process of moving the robot arm 11 to the vicinity of the container 20 by the moving unit 15. For example, the control unit 16 executes a process of moving the robot arm 11 to the vicinity of the workbench 50 shown in FIG. 11 on which the container 20 is placed by the moving unit 15.

[0020] The configuration of the control unit 16 will be described. The control unit 16 is a robot controller. As shown in FIG. 7, the control unit 16 includes a main control unit 16a, a servo control unit 16b, a drive circuit unit 16c, and a storage unit 16d. The main control unit 16a and the servo control unit 16b include, for example, a CPU (Central Processing Unit). The main control unit 16a controls the drive unit 11a of the robot arm 11 and the drive unit 12b of the hand 12. The servo control unit 16b controls the power supplied to the drive unit 11a of the robot arm 11 and the drive unit 12b of the hand 12 based on a command from the main control unit 16a. The drive circuit unit 16c supplies drive power to the drive unit 11a of the robot arm 11 and the drive unit 12b of the hand 12. The drive circuit unit 16c is arranged for each of the drive units 11a of the robot arm 11. Each drive unit 11a includes a servo motor, an encoder, and a speed reducer. Programs and the like executed by the control unit 16 are stored in the storage unit 16d.

[0021] In this embodiment, the control unit 16 executes control to hold the workpiece 1 disposed in the workpiece accommodation space S of the container 20 by the hand 12. Specifically, as shown in FIG. 8, the control unit 16 executes a process of holding the workpiece 1 disposed at the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other by the chuck 12a. That is, the control unit 16 is not configured to detect the position and shape of the workpiece 1 by a 3D camera or the like, but is pre-taught to hold the workpiece 1 at the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other. That is, the control unit 16 executes control to repeat the operation of holding the workpiece 1 disposed at the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other and the operation of moving the held workpiece 1 to another container 30. The position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other is a line segment where the side 21a at the lower end of the first inclined surface 21 disposed on the Y1 side and the side 21a at the lower end of the first inclined surface 21 disposed on the Y2 side are in contact with each other when viewed from above. Further, since the length L2 of the opening / closing range of the chuck 12a is equal to or greater than the length L1 of the side 21a at the lower end of the first inclined surface 21 of the container 20, the workpiece 1 can be held by the chuck 12a regardless of the position of the line segment P where the workpiece 1 is disposed. Further, since the container 20 includes the first inclined surface 21 and the second inclined surface 22, when one workpiece 1 is moved from the container 20 to the container 30, another workpiece 1 different from the moved workpiece 1 moves to the position P. As a result, a plurality of workpieces 1 are continuously held and moved at the position P.

[0022] In this embodiment, the control unit 16 determines whether or not the workpiece 1 is placed on the label 24 based on the two-dimensional images of the workpiece 1 and the label 24 placed in the container 20 captured by the imaging unit 13. Specifically, as shown in FIG. 9, the shape of the image of the label 24 in a state where the workpiece 1 is not placed on the label 24 is stored in the storage unit 16d in advance. The control unit 16 extracts the shape of the label 24 from the image captured by the imaging unit 13. When the shape of the extracted label 24 does not match the shape of the image of the label 24 stored in the storage unit 16d, the control unit 16 determines that the workpiece 1 is placed on the label 24. For example, as shown in FIG. 10, when the workpiece 1 is placed on the label 24, the shape of the extracted label 24 becomes a shape in which a portion corresponding to the shape of the workpiece 1 is cut out. When the shape of the extracted label 24 matches the shape of the image of the label 24 stored in the storage unit 16d, the control unit 16 determines that the workpiece 1 is not placed on the label 24. That is, the control unit 16 determines that no workpiece 1 remains in the container 20.

[0023] In this embodiment, when the control unit 16 determines that the workpiece 1 is not placed on the label 24, it causes the robot arm 11 to execute an operation of replenishing the workpiece 1. Specifically, as shown in FIG. 11, a container supply unit 40 in which a new container 20 containing the workpiece 1 is arranged is disposed near the robot arm 11. Rollers 41 are arranged in the container supply unit 40, and the container 20 is placed on the rollers 41. The container supply unit 40 is rotatable about the rotation axis B. Further, a weight 42 is attached to the container supply unit 40. Then, when the control unit 16 determines that the workpiece 1 is not placed on the label 24, it moves the empty container 20 to a predetermined location. Note that the robot 10 may be moved by the moving unit 15 to move the container 20 to a predetermined location. Then, as shown in FIG. 12, the control unit 16 tilts the container supply unit 40 by the robot arm 11 and the hand 12. For example, the hand 12 presses the container supply unit 40 downward. As a result, the container 20 slides on the rollers 41 and is moved to the upper surface of the workbench 50. When the pressing of the container supply unit 40 by the hand 12 is released, the container supply unit 40 returns to the horizontal state due to the weight of the weight 42. Another container 20 containing the workpiece 1 is replenished to the container supply unit 40 that has returned to the horizontal state.

[0024] In this embodiment, when the control unit 16 determines, based on the image captured by the imaging unit 13, that the workpiece 1 is placed at a position deviated from the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other, the control unit 16 executes a process of moving the workpiece 1 to the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other by the chuck 12a. For example, as shown in FIG. 13, there may be a case where the workpiece 1 stops at a position deviated to the Y1 side from the position P. The control unit 16 determines from the image captured by the imaging unit 13 by image processing or the like that the workpiece 1 is deviated from the position P. Then, the control unit 16 executes a process of moving the robot arm 11 and moving the workpiece 1 to the position P by the chuck 12a. For example, the chuck 12a slides the workpiece 1 to the position P.

[0025] In this embodiment, when the control unit 16 determines based on the image captured by the imaging unit 13 that the workpiece 1 is disposed at a position where the pair of first inclined surfaces 21 and the second inclined surface 22 are in contact, the control unit 16 executes a process of moving the workpiece 1 by the chuck 12a to a position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other. For example, as shown in FIG. 14, there may be a case where the workpiece 1 stops at a position where the side 21c on the side of the first inclined surface 21 and the side 22a of the second inclined surface 22 are in contact. The control unit 16 determines from the image captured by the imaging unit 13 through image processing or the like that the workpiece 1 is displaced from the position P. Then, the control unit 16 executes a process of moving the robot arm 11 to move the workpiece 1 to the position P by the chuck 12a. For example, by bringing the chuck 12a into contact with the workpiece 1, the workpiece 1 falls to the position P due to its own weight.

[0026] [Effects of this Embodiment] The container 20 includes a workpiece accommodation space S surrounded by a pair of first inclined surfaces 21 having lower ends 21a in contact with a straight line A extending along the X direction when viewed from above, and a pair of second inclined surfaces 22 each having a pair of sides 22a connected to the ends of the lower ends 21a of the pair of first inclined surfaces 21. As a result, the workpiece accommodation space S has a shape with a downwardly pointed tip by the pair of first inclined surfaces 21 where the lower ends 21a are in contact with each other. Therefore, the workpiece 1 moves to a relatively fixed position P which is the portion where the lower ends 21a of the pair of first inclined surfaces 21 are in contact with each other along the first inclined surface 21 or the second inclined surface 22. Thereby, the workpiece 1 disposed in the container 20 can be held without significantly moving the robot arm 11.

[0027] The pair of first inclined surfaces 21 have a trapezoidal shape, and the pair of second inclined surfaces 22 have a triangular shape. Thereby, the workpiece accommodation space S can be easily formed by connecting the side surfaces 21c connecting the lower end sides 21a and the upper end sides 21b of each of the pair of trapezoidal first inclined surfaces 22 with the second inclined surfaces 22.

[0028] The hand 12 includes a chuck 12a that opens and closes along the X direction, and the length L2 of the opening and closing range of the chuck 12a along the X direction is equal to or greater than the length L1 of the side 21a at the lower end of the first inclined surface 21. Thereby, no matter at which position on the side 21a at the lower end of the first inclined surface 21 the workpiece 1 is disposed, the workpiece 1 can be held by the chuck 12a.

[0029] The control unit 16 executes a process of causing the chuck 12a to hold the workpiece 1 disposed at the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other. Thereby, since the holding position by the chuck 12a is fixed, unlike the case where the position of the workpiece 1 is detected by a 3D camera or the like and the robot arm 11 is moved to hold the workpiece 1 by the chuck 12a, the control burden on the control unit 16 can be reduced.

[0030] The robot system 100 includes an imaging unit 13 that captures a two-dimensional image of the workpiece 1 disposed in the container 20. When the control unit 16 determines based on the image captured by the imaging unit 13 that the workpiece 1 is disposed at a position deviated from the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other, the control unit 16 executes a process of moving the workpiece 1 to the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other by the chuck 12a. Thereby, even when the workpiece 1 is disposed at a position deviated from the position P, the workpiece 1 can be moved and held.

[0031] The robot system 100 includes an imaging unit 13 that captures a two-dimensional image of the workpiece 1 disposed in the container 20. When the control unit 16 determines based on the image captured by the imaging unit 13 that the workpiece 1 is disposed at the position P where the pair of first inclined surfaces 21 and the second inclined surface 22 are in contact with each other, the control unit 16 executes a process of moving the workpiece 1 to the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other by the chuck 12a. Thereby, even when the workpiece 1 is disposed at a position deviated from the position P, the workpiece 1 can be moved and held.

[0032] The container 20 includes a label 24 arranged so as to straddle a pair of first inclined surfaces 21 and a pair of second inclined surfaces 22. The robot system 100 includes an imaging unit 13 that captures a two-dimensional image of the workpiece 1 and the label 24 arranged on the container 20. The control unit 16 determines whether or not the workpiece 1 is placed on the label 24 based on the image captured by the imaging unit 13. Thereby, unlike the case of determining the presence or absence of the workpiece 1 based on a 3D image captured by a 3D camera or the like, the control burden on the control unit 16 can be reduced.

[0033] When the control unit 16 determines that the workpiece 1 is not placed on the label 24, the control unit 16 causes the robot arm 11 to execute an operation of replenishing the workpiece 1. As a result, since the workpiece 1 is automatically replenished by the robot arm 11, the burden of the operation of replenishing the workpiece 1 by the operator can be reduced.

[0034] The label 24 includes paint applied to the container 20. The color of the label 24 is different from the colors of the pair of first inclined surfaces 21 and the pair of second inclined surfaces 22. Thereby, unlike the case where the label 24 is attached to the container 20 such as a tape, it is possible to prevent the workpiece 1 from getting caught on the label 24 and moving to a position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other. Further, since the color of the label 24 is different from the colors of the pair of first inclined surfaces 21 and the pair of second inclined surfaces 22, the control unit 16 can easily determine whether or not the workpiece 1 is placed on the label 24 based on the image captured by the imaging unit 13.

[0035] The robot system 100 includes a carriage unit 14 on which the robot arm 11 is placed and a moving unit 15 that moves the carriage unit 14. The control unit 16 executes a process of moving the robot arm 11 to the vicinity of the container 20 by the moving unit 15. Thereby, since the robot arm 11 is not fixed, even if the container 20 is placed at a separated location, the moving unit 15 can move the robot arm 11 to perform an operation of holding the workpiece 1. Further, even when a plurality of containers 20 are located at separated locations from each other, an operation of holding the workpiece 1 can be performed by one robot arm 11.

[0036] [Modification Example] It should be noted that the embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the above embodiments, and further includes all changes (modification examples) within the meaning and scope equivalent to the claims.

[0037] In the above embodiment, an example where the robot arm 11 is a 6-axis vertical articulated robot arm is shown, but the present disclosure is not limited to this. For example, the robot arm 11 may be a vertical articulated robot arm having an axis number other than 6 or a horizontal articulated robot arm.

[0038] In the above embodiment, an example where the pair of first inclined surfaces 21 have the same shape and the pair of second inclined surfaces 22 have the same shape is shown, but the present disclosure is not limited to this. For example, like the container 120 according to the modification example shown in FIG. 15, the shapes of the pair of first inclined surfaces 121 may be different. Thereby, as shown in FIG. 15, a container 120 having a relatively large length in the Y direction can be formed.

[0039] In the above embodiment, an example where the hand 12 has a chuck 12a is shown, but the present disclosure is not limited to this. For example, an adsorption part other than the chuck 12a may be arranged on the hand 12.

[0040] In the above embodiment, an example where the control unit 16 executes a process of holding the workpiece 1 arranged at the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other by the chuck 12a is shown, but the present disclosure is not limited to this. For example, the control unit 16 may execute a process of holding the workpiece 1 arranged at a position slightly deviated from the position P where the sides 21a at the lower ends are in contact with each other by the chuck 12a.

[0041] In the above embodiment, when the control unit 16 determines that the workpiece 1 is arranged at a position deviated from the position P where the sides 21a at the lower ends of the pair of first inclined surfaces 21 are in contact with each other based on the image captured by the imaging unit 13, and when the control unit 16 determines that the workpiece 1 is arranged at the position where the pair of first inclined surfaces 21 and the second inclined surface 22 are in contact with each other, an example of moving the workpiece 1 by the chuck 12a is shown. However, the present disclosure is not limited to this. For example, when the control unit 16 makes the above determination, a process of operating the chuck 12a to stir the workpiece 1 may be executed.

[0042] In the above embodiment, an example of determining that no workpiece 1 remains in the container 20 by determining whether the workpiece 1 is arranged on the label 24 based on the two-dimensional image of the label 24 captured by the imaging unit 13 is shown. However, the present disclosure is not limited to this. For example, the control unit 16 may determine that no workpiece 1 remains in the container 20 based on the image of the inside of the container 20 captured by a 3D camera.

[0043] In the above embodiment, when the control unit 16 determines that the workpiece 1 is not arranged on the label 24, an example of executing an operation of replenishing the workpiece 1 by the robot arm 11 is shown. However, the present disclosure is not limited to this. For example, when the control unit 16 determines that the workpiece 1 is not arranged on the label 24, the control unit 16 may notify the operator that no workpiece 1 remains in the container 20.

[0044] In the above embodiment, when it is determined that the workpiece 1 is not arranged on the label 24, as shown in FIG. 12, an example is shown in which the control unit 16 tilts the container supply unit 40 by the robot arm 11 and the hand 12 to move the container 20 to the upper surface of the workbench 50. However, the present disclosure is not limited to this. For example, as shown in FIG. 16, the control unit 16 may tilt the container housing unit 140 in which the workpiece 1 is housed by the robot arm 11 and the hand 12 to supply the workpiece 1 from the container housing unit 140 to the container 20. Thereby, only one container 20 including an inclined surface needs to be prepared.

[0045] In the above-described embodiment, an example where the label 24 is paint applied to the container 20 has been shown, but the present disclosure is not limited thereto. For example, the label 24 may be a tape or the like attached to the container 20.

[0046] In the above-described embodiment, an example where the robot arm 11 is placed on the carriage unit 14 has been shown, but the present disclosure is not limited thereto. For example, the robot arm 11 may be fixed to the floor surface, a non-movable stand, or the like.

[0047] The functions of the elements disclosed in this specification can be executed using a circuit or processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a combination thereof that is configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, a unit, or a means is hardware that executes the recited functions, or hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification, or other known hardware that is programmed or configured to execute the recited functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for configuring the hardware and / or the processor.

[0048] [Aspect] Those skilled in the art will understand that the above-described exemplary embodiments are specific examples of the following aspects.

[0049] (Aspect 1) A robot arm, and A hand attached to the robot arm for holding a workpiece, and When viewed from above, a pair of first inclined surfaces whose lower edges are in contact, and a pair of second inclined surfaces each having a pair of sides connected to the ends of the lower edges of the pair of first inclined surfaces, enclosing a work accommodation space, and a container including the work accommodation space; A control unit that executes control to hold the work disposed in the work accommodation space of the container by the hand, a robot system comprising the control unit.

[0050] (Aspect 2) The pair of first inclined surfaces have a trapezoidal shape, The pair of second inclined surfaces have a triangular shape, the robot system according to Aspect 1.

[0051] (Aspect 3) The hand includes a chuck that opens and closes along the predetermined direction, The length of the opening and closing range of the chuck along the predetermined direction is equal to or greater than the length of the lower edge of the first inclined surface, the robot system according to Aspect 1 or Aspect 2.

[0052] (Aspect 4) The control unit executes a process of holding the work disposed at a position where the lower edges of the pair of first inclined surfaces are in contact by the chuck, the robot system according to Aspect 3.

[0053] (Aspect 5) An imaging unit that captures a two-dimensional image of the work disposed in the container, When the control unit determines based on the image captured by the imaging unit that the work is disposed at a position deviated from the position where the lower edges of the pair of first inclined surfaces are in contact, the control unit executes a process of moving the work to the position where the lower edges of the pair of first inclined surfaces are in contact by the chuck, the robot system according to Aspect 4.

[0054] (Aspect 6) An imaging unit that captures a two-dimensional image of the work disposed in the container, When the control unit determines, based on the image captured by the imaging unit, that the workpiece is disposed at a position where the pair of first inclined surfaces and the second inclined surface are in contact, the robot system according to aspect 4 or aspect 5 executes a process of moving the workpiece by the chuck to a position where the sides at the lower ends of the pair of first inclined surfaces are in contact with each other.

[0055] (Aspect 7) The container includes a label disposed so as to straddle the pair of first inclined surfaces and the pair of second inclined surfaces. The apparatus includes an imaging unit that captures a two-dimensional image of the workpiece and the label disposed in the container. The control unit determines, based on the image captured by the imaging unit, whether or not the workpiece is disposed on the label. The robot system according to any one of aspects 1 to 6.

[0056] (Aspect 8) When the control unit determines that the workpiece is not disposed on the label, the robot system according to aspect 7 causes the robot arm to execute an operation of replenishing the workpiece.

[0057] (Aspect 9) The label includes paint applied to the container. The color of the label is different from the colors of the pair of first inclined surfaces and the pair of second inclined surfaces. The robot system according to aspect 7 or aspect 8.

[0058] (Aspect 10) A cart unit on which the robot arm is placed; A moving unit that moves the cart unit; and The control unit executes a process of moving the robot arm to the vicinity of the container by the moving unit. The robot system according to any one of aspects 1 to 9. Description of Reference Numerals

[0059] 1 Workpiece 11 Robot Arm 12 hands 12a chuck 13 imaging unit 14 cart unit 15 moving unit 16 control unit 20 container 21 first inclined surface 21a side at the lower end of the first inclined surface 22 second inclined surface 22a side of the second inclined surface 24 label 100 robot system A straight line L1 length of the side at the lower end of the first inclined surface L2 length of the opening and closing range of the chuck P position where the sides at the lower ends of the first inclined surfaces are in contact S work accommodation space X predetermined direction

Claims

1. A robot arm, A hand attached to the robot arm for holding a workpiece, A container including a workpiece accommodation space surrounded by a pair of first inclined surfaces whose lower edges are in contact with a straight line extending along a predetermined direction when viewed from above, and a pair of second inclined surfaces each having a side connected to an end of the lower edge of the pair of first inclined surfaces, And a control unit that executes control to hold the workpiece disposed in the workpiece accommodation space of the container by the hand. A robot system.

2. The pair of first inclined surfaces have a trapezoidal shape, The pair of second inclined surfaces have a triangular shape. The robot system according to claim 1.

3. The hand includes a chuck that opens and closes along the predetermined direction, The length of the opening and closing range of the chuck along the predetermined direction is equal to or greater than the length of the lower edge of the first inclined surface. The robot system according to claim 1.

4. The control unit executes a process of holding the workpiece disposed at a position where the lower edges of the pair of first inclined surfaces are in contact with each other by the chuck. The robot system according to claim 3.

5. The container is provided with an imaging unit for imaging a two-dimensional image of the workpiece disposed therein, When the control unit determines based on the image captured by the imaging unit that the workpiece is disposed at a position deviated from the position where the lower edges of the pair of first inclined surfaces are in contact with each other, the control unit moves the workpiece to the position where the lower edges of the pair of first inclined surfaces are in contact with each other by the chuck. The robot system according to claim 4.

6. The container is provided with an imaging unit for imaging a two-dimensional image of the workpiece disposed therein, When the control unit determines, based on the image captured by the imaging unit, that the workpiece is disposed at a position where the pair of first inclined surfaces and the second inclined surface are in contact, the robot system according to claim 4, which executes a process of moving the workpiece by the chuck to a position where the sides at the lower ends of the pair of first inclined surfaces are in contact with each other.

7. The container includes a label disposed so as to straddle the pair of first inclined surfaces and the pair of second inclined surfaces. The container is provided with an imaging unit that images a two-dimensional image of the workpiece and the label disposed on the container. The control unit determines, based on the image captured by the imaging unit, whether or not the workpiece is disposed on the label. The robot system according to claim 1.

8. When the control unit determines that the workpiece is not disposed on the label, the robot system according to claim 7, which executes an operation of replenishing the workpiece by the robot arm.

9. The label includes paint applied to the container. The color of the label is different from the colors of the pair of first inclined surfaces and the pair of second inclined surfaces. The robot system according to claim 7.

10. A cart unit on which the robot arm is mounted. A moving unit that moves the cart unit, and is provided with. The control unit executes a process of moving the robot arm to the vicinity of the container by the moving unit. The robot system according to claim 1.

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