Robot system

Abstract

To provide a robot system allowed to reduce the total work time for sorting objects.SOLUTION: A robot system 100 comprises a conveyor 10 that carries objects W, a plurality of carriages 20 that are arranged in a particular state to load / receive objects W, and a robot 30 that loads the object W from the conveyor 10 onto any of the plurality of carriages 20 arranged in the particular state.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This disclosure relates to a robot system including a robot that loads an object from a conveyor onto a cart.

Background Art

[0002] Conventionally, a robot control device including a robot that loads a workpiece from a conveyor onto a pallet is known. For example, Patent Document 1 discloses a robot control device that picks up a workpiece sent by a conveyor with a hand of a robot and conveys it directly above a pallet to stack the workpieces on the pallet.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the robot control device described in Patent Document 1 above, since a workpiece sent by a conveyor is picked up by a hand of a robot and conveyed directly above a pallet to stack the workpieces on the pallet, it is necessary to load workpieces with different destinations on the same pallet. In this case, after the step of loading workpieces with different destinations on the same pallet, it is necessary to manually sort the workpieces with different destinations loaded on the same pallet for each destination, so the overall working time for sorting the workpieces becomes relatively long. For this reason, a configuration capable of shortening the overall working time for sorting workpieces as objects is desired.

[0005] This disclosure has been made to solve the above problems, and one object of this disclosure is to provide a robot system capable of shortening the overall working time for sorting objects.

Means for Solving the Problems

[0006] To achieve the above object, a robot system according to one aspect of this disclosure includes a conveyor for transporting an object, a plurality of carts arranged in a specific state and in which the object is loaded and stored, and a robot for loading the object from the conveyor onto any one of the plurality of carts arranged in a specific state.

[0007] A robot system according to one aspect of this disclosure includes, as described above, a robot for loading an object from a conveyor onto any one of a plurality of carts arranged in a specific state. Thereby, the object can be directly loaded from the conveyor onto a plurality of carts arranged in a specific state for each destination. In this case, compared with the case where, after the step of loading objects with different destinations on the same cart, it is necessary to sort the objects loaded on the same cart for each destination, the overall working time for sorting the objects is relatively short. As a result, the overall working time for sorting the objects can be shortened.

Effects of the Invention

[0008] According to the present disclosure, as described above, it is possible to provide a robot system capable of shortening the overall working time for sorting objects.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0011] [First Embodiment] With reference to FIGS. 1 to 4, the configuration of a robot system 100 according to the first embodiment of the present disclosure will be described.

[0012] (Configuration of Robot System) As shown in FIG. 1, the robot system 100 includes a conveyor 10 that conveys an object W, a plurality of carriages 20 that are arranged in a specific state and in which the object W is loaded and accommodated, and a robot 30 that loads the object W from the conveyor 10 onto any one of the plurality of carriages 20 arranged in a specific state.

[0013] The robot system 100 according to the first embodiment includes, as described above, a robot 30 that loads the object W from the conveyor 10 onto any one of the plurality of carriages 20 arranged in a specific state. As a result, the object W can be directly loaded onto the plurality of carriages 20 arranged in a specific state from the conveyor 10 for each destination. In this case, compared with the case where it is necessary to sort the objects W having different destinations loaded on the same carriage 20 for each destination after the step of loading the objects W having different destinations on the same carriage 20, the overall working time for sorting the objects W is relatively short. As a result, the overall working time for sorting the object W can be shortened.

[0014] In the figure, an example is shown where the robot system 100 includes six carts 20 corresponding to a plurality of different destinations. However, the number of carts 20 included in the robot system 100 is not limited to six as long as it is two or more.

[0015] As shown in FIG. 2, the plurality of carts 20 are arranged in a circular shape so as to surround the robot 30. And the robot 30 loads the object W from the conveyor 10 onto any one of the plurality of carts 20 arranged in a circular shape so as to surround the robot 30. That is, when only a part of the plurality of carts 20 arranged in a circular shape so as to surround the robot 30 is partially viewed, the plurality of carts 20 are arranged in an arc shape. And when only a part of the plurality of carts 20 arranged in a circular shape so as to surround the robot 30 is partially viewed, the robot 30 loads the object W from the conveyor 10 onto any one of the plurality of carts 20 arranged in an arc shape.

[0016] The robot system 100 includes a circular cart placement part 41 for placing the plurality of carts 20 arranged in an arc shape so as to surround the robot 30, and a rotation actuator 42 for rotating the cart placement part 41 arranged in an arc shape.

[0017] As shown in FIG. 1, the robot 30 includes a hand 31 for holding the object W, and a robot motion control part 32 for controlling the hand 31 to grip the object W and load it onto any one of the plurality of carts 20 arranged in a specific state from the conveyor 10. Note that the robot motion control part 32 is an example of a control part.

[0018] The robot motion control part 32 is a circuit board including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc.

[0019] The robot system 100 includes an object imaging part 51 which is a camera for imaging the object W on the conveyor, and a cart imaging part 52 which is a camera for imaging the cart 20.

[0020] (Operation of the robot system) As shown in FIG. 1, first, a plurality of objects W are sequentially conveyed to the end portion of the conveyor 10. Further, the turning actuator 42 turns the cart mounting portion 41 on which the plurality of carts 20 are placed so that a first cart 20 for a predetermined destination is arranged at a position facing the end portion of the conveyor 10.

[0021] Then, as shown in FIG. 3, the robot 30 grips the object W conveyed to the end portion of the conveyor 10, conveys the object W from the end portion of the conveyor 10 to the first cart 20, and loads the object W onto the first cart 20. The robot 30 repeats the conveyance of the object W from the conveyor 10 to the first cart 20 a plurality of times. As a result, the first cart 20 is in a state where a plurality of objects W are loaded.

[0022] Then, as shown in FIG. 4, the turning actuator 42 turns the cart mounting portion 41 on which the plurality of carts 20 are placed so that a second cart 20 for a destination different from the first cart 20 among the plurality of carts 20 is arranged at a position facing the end portion of the conveyor 10.

[0023] Then, the robot 30 repeats the conveyance of the object W from the conveyor 10 to the second cart 20 a plurality of times in the same manner as in the case of conveying the object W from the conveyor 10 to the first cart 20.

[0024] As described above, the turning of the cart mounting portion 41 on which the plurality of carts 20 are placed by the turning actuator 42 and the plurality of times of conveyance of the object W from the conveyor 10 to any one of the plurality of carts 20 are alternately repeated for each destination.

[0025] [Second Embodiment] With reference to FIG. 5, the configuration of the robot system 200 according to the second embodiment of the present invention will be described. In the figure, the same parts as those in the first embodiment are denoted by the same reference numerals.

[0026] The robot system 200 includes a conveyor 10 that conveys an object W, a plurality of carts 20 that are arranged in a specific state and in which the object W is loaded and stored, and a robot 230 that loads the object W from the conveyor 10 onto any one of the plurality of carts 20 arranged in the specific state.

[0027] As described above, the robot system 200 according to the second embodiment includes a robot 230 that loads the object W from the conveyor 10 onto any one of the plurality of carts 20 arranged in a specific state. Thus, similarly to the first embodiment, the overall working time for sorting the object W can be shortened.

[0028] The robot 230 includes a hand 231 that holds the cart 20, and a robot motion control unit 232 that controls the hand 231 to hold the cart 20 so that the object W is loaded onto any one of the plurality of carts 20 arranged in a specific state from the conveyor 10. Note that the robot motion control unit 232 is an example of a control unit.

[0029] (Operation of the robot system) As shown in FIG. 5, first, a plurality of objects W are sequentially conveyed to the end portion of the conveyor 10. Also, the turning actuator 42 turns the cart placement portion 41 on which the plurality of carts 20 are placed so that the first cart 20 among the plurality of carts 20 is arranged at a position facing the end portion of the conveyor 10.

[0030] Then, the robot 230 holds the first cart 20 so that the object W is loaded from the conveyor 10 onto the first cart 20. The robot 230 holds the first cart 20 while adjusting the position of the first cart 20 so that a plurality of objects W are sequentially loaded from the conveyor 10 onto the first cart 20. Then, the first cart 20 is in a state where a plurality of objects W are loaded.

[0031] Then, the robot 230 places the first cart 20 on the cart placement unit 41. Then, the rotation actuator 42 rotates the cart placement unit 41 on which the plurality of carts 20 are placed so that the second cart 20 among the plurality of carts 20 is arranged at a position facing the end of the conveyor 10.

[0032] Then, the robot 230 holds the second cart 20 so that the object W is loaded from the conveyor 10 onto the second cart 20, in the same manner as when the robot 230 holds the first cart 20 so that the object W is loaded from the conveyor 10 onto the first cart 20.

[0033] As described above, the rotation of the cart placement unit 41 on which the plurality of carts 20 are placed by the rotation actuator 42, the holding of any one of the plurality of carts 20 by the robot 230, and the placement of any one of the plurality of carts 20 on the cart placement unit 41 by the robot 230 are alternately repeated in this order.

[0034] Note that other configurations of the second embodiment are the same as those of the first embodiment described above.

[0035] [Modification Example] The embodiments disclosed this time should be considered as illustrative in all respects and not restrictive. The scope of the present disclosure is shown by the claims rather than the description of the above-described embodiments, and further includes all changes (modification examples) within the meaning and scope equivalent to the claims.

[0036] For example, in the first and second embodiments described above, an example is shown in which the plurality of carts 20 are arranged in a circular shape so as to surround the robots 30 and 230, and the robots 30 and 230 load the object W onto any one of the plurality of carts 20 arranged in a circular shape so as to surround the robots 30 and 230 from the conveyor 10, but the present disclosure is not limited to this. In the present disclosure, the plurality of carts may be arranged in an arc shape constituting a part of a circle surrounding the robot, and the robot may load the object from the conveyor onto any one of the plurality of carts arranged in an arc shape constituting a part of a circle surrounding the robot.

[0037] In addition, in the above-described first and second embodiments, an example is shown in which a plurality of carts 20 are arranged in an arc shape, and robots 30 and 230 load an object W onto any one of the plurality of carts 20 arranged in an arc shape from a conveyor 10. However, the present disclosure is not limited to this. In the present disclosure, a plurality of carts may be arranged in an arc shape other than a circular arc shape, and a robot may load an object onto any one of the plurality of carts arranged in an arc shape other than a circular arc shape from a conveyor.

[0038] In addition, in the above-described first and second embodiments, an example is shown in which a plurality of carts 20 are arranged in an arc shape, and robots 30 and 230 load an object W onto any one of the plurality of carts 20 arranged in an arc shape from a conveyor 10. However, the present disclosure is not limited to this. In the present disclosure, a plurality of carts may be arranged in a shape other than an arc shape, and a robot may load an object onto any one of the plurality of carts arranged in a shape other than an arc shape from a conveyor.

[0039] The functions of the elements disclosed in this specification can be executed using a circuit or a 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 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 listed functions or hardware programmed to execute the listed functions. The hardware may be the hardware disclosed in this specification or other known hardware programmed or configured to execute the listed functions. When the hardware is a processor considered to be a type of circuit, the circuit, the means, or the unit is a combination of hardware and software, and the software is used for the configuration of the hardware and / or the processor.

[0040] [Aspect] Those skilled in the art will understand that the above-described exemplary embodiments are specific examples of the following aspects.

[0041] (Item 1) A conveyor for conveying an object, A plurality of carts arranged in a specific state and configured to load and accommodate the object, A robot for loading the object from the conveyor onto any one of the plurality of carts arranged in the specific state. A robot system comprising the same.

[0042] (Item 2) The plurality of carts are arranged in an arc shape, The robot loads the object from the conveyor onto any one of the plurality of carts arranged in the arc shape. The robot system according to Item 1.

[0043] (Item 3) The plurality of carts are arranged in a circular arc shape, The robot loads the object from the conveyor onto any one of the plurality of carts arranged in the circular arc shape. The robot system according to Item 2.

[0044] (Item 4) The plurality of carts are arranged in a circular shape so as to surround the robot, The robot loads the object from the conveyor onto any one of the plurality of carts arranged in a circular shape so as to surround the robot. The robot system according to Item 3.

[0045] (Item 5) A circular cart placement part for placing a plurality of carts arranged in an arc shape so as to surround the robot, A rotation actuator for rotating the cart placement part arranged in the arc shape. The robot system according to Item 4.

[0046] (Item 6) The robot, A hand for holding the object, A control unit that controls the hand to grip the object and load it onto one of the plurality of carts arranged in the specific state from the conveyor, and the robot system according to any one of items 1 to 5 including the same.

[0047] (Item 7) The robot A hand that holds the cart, A control unit that controls the hand that holds the cart so that the object is loaded onto one of the plurality of carts arranged in the specific state from the conveyor, and the robot system according to any one of items 1 to 5 including the same.

Explanation of symbols

[0048] 10 Conveyor 20 Cart 30, 230 Robot 31, 231 Hand 32, 232 Robot operation control unit (control unit) 41 Cart placement unit 42 Rotation actuator 51 Object imaging unit 52 Cart imaging unit 100, 200 Robot system W Object

Claims

1. A conveyor for transporting an object, A plurality of carts arranged in a specific state and accommodating the object loaded thereon, A robot for loading the object from the conveyor onto any one of the plurality of carts arranged in the specific state, and a robot system comprising the same.

2. The plurality of carts are arranged in an arc shape, The robot loads the object from the conveyor onto any one of the plurality of carts arranged in the arc shape. The robot system according to Claim 1.

3. The plurality of carts are arranged in a circular arc shape, The robot loads the object from the conveyor onto any one of the plurality of carts arranged in the circular arc shape. The robot system according to Claim 2.

4. The plurality of carts are arranged in a circular shape so as to surround the robot, The robot loads the object from the conveyor onto any one of the plurality of carts arranged in a circular shape so as to surround the robot. The robot system according to Claim 3.

5. A circular cart placement part for placing a plurality of carts arranged in a circular shape so as to surround the robot, A rotation actuator for rotating the cart placement part arranged in the circular arc shape. The robot system according to Claim 4.

6. The robot, A hand for holding the object, A control unit for controlling the hand to grip the object and load it onto any one of the plurality of carts arranged in the specific state from the conveyor. The robot system according to Claim 1.

7. The robot, A hand for holding the cart, A control unit for controlling the hand for holding the cart so that the object is loaded onto any one of the plurality of carts arranged in the specific state from the conveyor. The robot system according to Claim 1.

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