Holding system

Abstract

To provide a holding system capable of measuring a distance to a target object without using a camera, and shortening an operation time when holding the target object.SOLUTION: A holding system 1 includes: a robot 10 having a holding unit (hand 11) that holds a target object T; a distance measuring unit 500 for measuring a distance to the target object T; and a control unit that controls operation of the robot 10 based on a measurement result of the distance measuring unit 500. The distance measuring unit 500 measures the distance by emitting a wave motion toward the target object T and receiving the wave motion reflected by the target object T.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a holding system.

Background Art

[0002] Conventionally, a system for measuring the distance from a robot arm to an object using a camera is known (see, for example, Patent Document 1). In addition, a system is also known in which a holding part for holding an object is brought into contact with the surface of the object, and the distance to the object is measured by the reaction force.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in the case of a system employing a camera, introduction costs and management costs of the camera are required. On the other hand, when the holding part is brought into contact with the surface of the object and the distance to the object is measured by the reaction force, measurement operations and measurement time are required, so that the operation time for holding the object may become long.

[0005] An object of the present invention is to provide a holding system capable of measuring the distance to an object without using a camera and shortening the operation time when holding the object.

Means for Solving the Problems

[0006] A holding system according to an aspect of the present invention includes a robot having a holding unit for holding an object, a distance measuring unit for measuring the distance to the object, and a control unit for controlling the operation of the robot based on the measurement result of the distance measuring unit. The distance measuring unit measures the distance by emitting a wave toward the object and receiving the wave reflected by the object.

Effects of the Invention

[0007] According to the holding system of the present invention, it is possible to measure the distance to an object without using a camera, and to shorten the operation time when holding the object.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0009] A holding system according to an aspect of the present invention includes a robot having a holding unit for holding an object, a distance measuring unit for measuring the distance to the object, and a control unit for controlling the operation of the robot based on the measurement result of the distance measuring unit. The distance measuring unit measures the distance by emitting a wave toward the object and receiving the wave reflected by the object.

[0010] According to this, since the distance measuring unit measures the distance to the object by emitting a wave, the distance to the object can be measured without using a camera. Further, since the distance measuring unit measures the distance to the object by emitting a wave, the measurement operation and the measurement time can be suppressed even when compared with the case of measuring the distance by bringing the holding unit into contact with the object. Thereby, the operation time when holding the object can be shortened. Thus, the holding system of the present disclosure can measure the distance to the object without using a camera and can shorten the operation time when holding the object.

[0011] The holding unit may include two gripping members that grip the object, and the distance measuring unit may be disposed laterally of the holding unit.

[0012] According to this, since the distance measuring unit is disposed laterally of the two gripping members that grip the object, it is difficult for the two gripping members to intrude between the distance measuring unit and the object. For this reason, the gripping members are less likely to get in the way, and the distance to the object can be measured more reliably.

[0013] The distance measuring unit may emit the wave downward toward the two gripping members in a closed state.

[0014] According to this, since the wave travels downward toward the two gripping members in a closed state, even when the two gripping members are in a closed state, the distance to the object below the two gripping members can be measured more reliably.

[0015] The distance measuring unit may be disposed above the upper ends of the two gripping members.

[0016] According to this, since the distance measuring unit is disposed above the upper ends of the two gripping members, it is possible to suppress the distance measuring unit from coming into contact with the object when the two gripping members hold the object. Thereby, it is possible to suppress the distance measuring unit from getting dirty due to the object.

[0017] The distance measuring unit may emit ultrasonic waves as the wave.

[0018] According to this, since the distance measuring unit emits ultrasonic waves, the measurement range can be made wider than that of an optical distance measuring unit. Therefore, it is possible to suppress the influence of minute unevenness formed on the surface of the object from being reflected in the measurement result.

[0019] The object may be a food product.

[0020] According to this, even when the object is a food product, the operation time for holding the object can be shortened. In particular, when the object is a food product, minute unevenness is likely to occur on the surface, but it is suitable because distance measurement is performed based on ultrasonic waves.

[0021] The object may be a glossy object.

[0022] According to this, when the object is a glossy object, an error is likely to occur in an optical distance measuring unit. On the other hand, in this aspect, since distance measurement is performed based on ultrasonic waves, an error can be suppressed even when the object is a glossy object.

[0023] The object may be dark-colored.

[0024] According to this, when the object is dark-colored, an error is likely to occur in an optical distance measuring unit. On the other hand, in this aspect, since distance measurement is performed based on ultrasonic waves, an error can be suppressed even when the object is dark-colored.

[0025] (Embodiment) Hereinafter, with reference to the drawings, a holding system and a control device according to an embodiment (including a modified example thereof) of the present invention will be described. Each of the embodiments described below shows a comprehensive or specific example. The numerical values, shapes, materials, components, arrangement positions of the components, connection forms, etc. shown in the following embodiments are examples and are not intended to limit the present invention. In each figure, the dimensions and the like are not strictly illustrated. In each figure, the same or similar components are denoted by the same reference numerals.

[0026] [General description of the holding system 1] First, with reference to FIG. 1, a general description of the holding system 1 in the present embodiment will be given. FIG. 1 is a perspective view showing the appearance of the holding system 1 according to the present embodiment.

[0027] The holding system 1 is a system that holds and releases an object and distributes the object. Specifically, in the present embodiment, the case where the holding system 1 grips and releases an object will be described, but the holding system 1 may hold and release an object by a method other than gripping. Examples of the object include food ingredients such as various vegetables. For example, the holding system 1 grips the food ingredient and releases it into a container 31 such as a container for various vegetables or a container for a bento box, and distributes (dishes) the food ingredient into the container 31. For example, a plurality of holding systems 1 are arranged, and various food ingredients are sequentially released into the container 31, so that various food ingredients are arranged in the container 31.

[0028] As shown in FIG. 1, the holding system 1 includes a robot 10, an object storage unit 20, a container supply unit 30, a cover unit 40, and a control device 50. A belt conveyor 2 that automatically transports the container 31 is arranged at a position adjacent to the holding system 1.

[0029] The robot 10 is an articulated robot such as a horizontal articulated robot or a vertical articulated robot, and grips and releases an object. The robot 10 includes a hand 11 and a robot arm 12. In the present embodiment, the holding system 1 includes a plurality of robots 10 (specifically, a first robot 10a and a second robot 10b, which are two robots 10). The plurality of robots 10 have the same configuration and the same function, and each of the plurality of robots 10 includes a hand 11 and a robot arm 12.

[0030] The hand 11 is an example of a holding part that holds an object. Specifically, the hand 11 is a part that grips and releases the object. The hand 11 is provided with a sensor (not shown) that acquires the amount of the object gripped or released, the reaction force from the contacted object, etc. The sensor is a weight sensor that measures the weight of the gripped or released object, a force sensor that measures the reaction force from the contacted object (including the sense of force obtained by contacting the surface), etc. In the present embodiment, the sensor is provided at the connection part of the hand 11 with the robot arm 12 (connection part 400 shown in FIG. 2). The data acquired by the sensor is output to the control device 50. A detailed description of the configuration of the hand 11 will be described later.

[0031] The robot arm 12 is a multi-joint arm that moves the hand 11 to a desired position within the movable range. The robot arm 12 also has a shaft at the connection part with the hand 11 that rotates the hand 11 in the twisting direction with respect to the robot arm 12. Thereby, when the hand 11 grips or releases the object, the orientation of the hand 11 can be changed to adjust the direction in which the hand 11 opens and closes.

[0032] The object storage part 20 is a part that stores the object gripped by the robot 10. The object storage part 20 is a bat (weight), a tray, etc. For example, the object storage part 20 stores a plurality of servings (tens to hundreds of servings, etc.) of food ingredients. The robot 10 grips the food ingredient from within the object storage part 20 and releases it into the container 31, thereby distributing (serving) the food ingredient to the container 31.

[0033] The container supply unit 30 supplies the container 31 to the position P where the robot 10 releases the object. The container supply unit 30 houses a plurality of containers 31 therein and supplies the containers 31 to the position P one by one. A weight sensor (not shown) for measuring the weight of the container 31 is arranged at the position P. When an object is placed on the container 31 at the position P, the weight of the object (the increased weight before and after the placement of the object) is measured by the weight sensor. The data measured by the weight sensor is output to the control device 50. When the measurement by the weight sensor is completed, the container 31 on which the object is placed is carried out to the belt conveyor 2 by an extrusion mechanism (not shown) provided in the container supply unit 30.

[0034] The cover unit 40 is a cover including a plate-like member surrounding the periphery and above the area where the robot 10, the object storage unit 20, and the container supply unit 30 are arranged. The plate-like member is formed of a transparent material such as glass or resin, and the operating status of the robot 10 and the like can be visually recognized from the outside of the cover unit 40. An openable and closable door is provided on the side wall of the cover unit 40, and various operations such as replacement of the object storage unit 20, addition of the container 31 to the container supply unit 30, or maintenance of the robot 10 and the like can be performed through the door.

[0035] The control device 50 is a device that controls the operation of the robot 10. The control device 50 controls the operation of at least one (at least one of the first robot 10a and the second robot 10b) among the plurality of robots 10. In the present embodiment, the control device 50 controls the operations of the plurality of robots 10 (both the first robot 10a and the second robot 10b). The control device 50 is a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input unit (keyboard, touch panel, mouse, microphone, etc.), an output unit (liquid crystal display, speaker, etc.), a communication unit that communicates via a network, and a drive, etc., and executes various processes according to a program. The control device 50 may be realized by a general-purpose computer system such as a personal computer executing a program, or may be realized by a dedicated computer system such as a programmable controller.

[0036] The control device 50 is connected to the robot 10, the container supply unit 30, etc. by wire or wirelessly, and controls the operation of the entire holding system 1 of the robot 10, the container supply unit 30, etc. For example, the control device 50 controls the operation of the container supply unit 30 supplying the container 31 to the position P, the operation of the robot 10 gripping an object from the object storage unit 20 and releasing it into the container 31, and the operation of the container supply unit 30 carrying out the container 31 to the belt conveyor 2, etc. The control device 50 controls the operation of the robot 10 based on the measurement result of the distance measurement unit 500 described later. That is, the control device 50 is an example of the control unit according to the present disclosure. The control device 50 may be arranged at a location away from the robot 10, etc., or may be arranged in the vicinity of the robot 10, etc., such as being attached to the cover unit 40. The holding system 1 includes a plurality of sets of configurations in which the robot 10, etc. are housed in the cover unit 40, and the control device 50 may control the operations of the plurality of sets of robots 10, etc.

[0037] [Explanation of the hand 11 of the 2 robots 10] Next, the configuration of the hand 11 of the robot 10 in the holding system 1 of the present embodiment will be described in detail. FIG. 2 is a perspective view showing the configuration of the hand 11 of the robot 10 according to the present embodiment. FIG. 3 is a plan view showing the configuration of the hand 11 of the robot 10 according to the embodiment. In FIGS. 2 and 3, the illustration of the configuration above the upper part of the connection portion 400 of the hand 11 with the robot arm 12 is omitted. FIG. 4 is a perspective view showing the configuration of the gripping member 100 of the hand 11 of the robot 10 according to the present embodiment. FIG. 5 is a front view showing the opening and closing operation of the gripping member 100 of the hand 11 of the robot 10 according to the present embodiment. Specifically, FIG. 5(a) shows the state where the two gripping members 100 are closed, and FIG. 5(b) shows the state where the two gripping members 100 are open.

[0038] In the following description and drawings, the direction in which the hand 11 (two gripping members 100) of the robot 10 faces forward is defined as the X-axis direction, the direction in which the two gripping members 100 open and close is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction. These X-axis direction, Y-axis direction, and Z-axis direction are directions that intersect (orthogonal in the present embodiment) with each other. As described above, the hand 11 (two gripping members 100) is configured to be rotatable about an axis parallel to the Z-axis. However, when the hand 11 rotates, the X-axis and Y-axis will also rotate accordingly. Also, in the following description, the X-axis plus direction indicates the arrow direction of the X-axis, and the X-axis minus direction indicates the direction opposite to the X-axis plus direction. When simply referring to the X-axis direction, it indicates the two-way or one-way direction of the X-axis plus direction and the X-axis minus direction. The same applies to the Y-axis direction and the Z-axis direction. Expressions indicating relative directions or postures such as parallel and orthogonal also include cases where they are not strictly in that direction or posture. For example, two directions being parallel means not only that the two directions are completely parallel, but also that they are substantially parallel, that is, including a difference of about several percent.

[0039] As shown in FIGS. 2 and 3, in addition to the above-described connection portion 400, the hand 11 of the robot 10 includes two (a pair of) gripping members 100, two (a pair of) moving portions 200, a guide portion 300, and a distance measuring portion 500.

[0040] The two gripping members 100 are members for gripping an object. Specifically, the two gripping members 100 grip and release the object. That is, the two gripping members 100 grip and release a part of the object accommodated in the object accommodation portion 20. In the present embodiment, the gripping member 100 is a metal member, but may be a member other than metal such as a resin member. As shown in FIG. 4, each of the two gripping members 100 has a plate-like portion 110 for gripping an object, a pair of side plate portions 120 disposed on both sides of the plate-like portion 110 and facing each other, and a top plate portion 130 disposed above the plate-like portion 110. Hereinafter, the gripping member 100 located in the minus Y-axis direction among the two gripping members 100 is also referred to as a gripping member 101, and the gripping member 100 located in the plus Y-axis direction is also referred to as a gripping member 102. That is, as shown in FIG. 4, the gripping member 101 has a plate-like portion 111, a pair of side plate portions 121, and a top plate portion 131. The gripping member 102 has a plate-like portion 112, a pair of side plate portions 122, and a top plate portion 132. The gripping member 101 and the gripping member 102 have a configuration that is symmetric with respect to the XZ plane.

[0041] The plate-like portions 111 and 112 are main body portions of the gripping members 101 and 102. When the gripping members 101 and 102 grip an object, they are disposed on both sides in the Y-axis direction of the object and sandwich the object in the Y-axis direction to grip the object. The plate-like portion 111 is a flat plate-like and rectangular portion that is inclined in the minus Y-axis direction from the XZ plane as it goes in the plus Z-axis direction. The plate-like portion 112 is a flat plate-like and rectangular portion that is inclined in the plus Y-axis direction from the XZ plane as it goes in the plus Z-axis direction. That is, the plate-like portions 111 and 112 are inclined so as to be separated from each other (the interval widens) as they go in the plus Z-axis direction. Note that as long as the object can be gripped by the plate-like portions 111 and 112, one or both of the plate-like portions 111 and 112 may not be inclined and may be a plate-like portion (vertical plate) parallel to the XZ plane.

[0042] The pair of side plate portions 121 are flat plate-shaped and inverted triangular portions parallel to the YZ plane that protrude in the +Y-axis direction from both ends of the plate-shaped portion 111 in the X-axis direction. When the gripping members 101 and 102 grip an object, the pair of side plate portions 121 are arranged on both sides of the object in the X-axis direction and sandwich the object in the X-axis direction. The pair of side plate portions 122 are flat plate-shaped and inverted triangular portions parallel to the YZ plane that protrude in the -Y-axis direction from both ends of the plate-shaped portion 112 in the X-axis direction. When the gripping members 101 and 102 grip an object, the pair of side plate portions 122 are arranged on both sides of the object in the X-axis direction and sandwich the object in the X-axis direction.

[0043] The top plate portion 131 is a flat plate-shaped and rectangular portion parallel to the XY plane that protrudes in the +Y-axis direction from the +Z-axis direction end of the plate-shaped portion 111. The top plate portion 132 is a flat plate-shaped and rectangular portion parallel to the XY plane that protrudes in the -Y-axis direction from the +Z-axis direction end of the plate-shaped portion 112. The top plate portions 131 and 132 are arranged in the +Z-axis direction of the object when the gripping members 101 and 102 grip the object.

[0044] The two moving portions 200 are portions configured to be movable (slidable) in the Y-axis direction with respect to the guide portion 300. The two moving portions 200 are connected to the +Z-axis direction ends of the two gripping members 100 and move (slide) the two gripping members 100 in the Y-axis direction. Hereinafter, among the two moving portions 200, the moving portion 200 located in the -Y-axis direction is also referred to as the moving portion 201, and the moving portion 200 located in the +Y-axis direction is also referred to as the moving portion 202. The moving portion 201 is connected to the +Z-axis direction end of the gripping member 101 and moves (slides) the gripping member 101 in the Y-axis direction. The moving portion 202 is connected to the +Z-axis direction end of the gripping member 102 and moves (slides) the gripping member 102 in the Y-axis direction.

[0045] As shown in FIG. 5, the moving parts 201 and 202 move away from each other or approach each other in the Y-axis direction, thereby increasing or decreasing the distance between the gripping members 101 and 102 to open or close the gripping members 101 and 102. In the present embodiment, the moving parts 201 and 202 are configured to be able to move stepwise with respect to the guide part 300, and the distance between the gripping members 101 and 102 can be adjusted stepwise. Only one of the moving parts 201 and 202, instead of both, may be configured to be movable with respect to the guide part 300.

[0046] The guide part 300 is a guide that guides the two moving parts 200 to be movable (slidable) in the Y-axis direction. In the present embodiment, the guide part 300 has a linear rail extending in the Y-axis direction, and the two moving parts 200 move (slide) in the Y-axis direction along this rail.

[0047] As shown in FIG. 5(a), in the state where the gripping member 101 and the gripping member 102 are completely closed, the minus Z-axis direction end of the plate-like part 111 and the minus Z-axis direction end of the plate-like part 112 are in contact with each other, and the side plate part 121 and the side plate part 122 are in contact with each other. Thereby, the gripping members 101 and 102 have a container shape of an isosceles triangle when viewed from the X-axis direction. In the present embodiment, slight gaps are formed at both ends in the Z-axis direction of the side plate part 121 and the side plate part 122, but these gaps do not have to be formed. The gripping members 101 and 102 may be opened and closed by rotating the moving parts 201 and 202 around an axis parallel to the X-axis. However, when the moving parts 201 and 202 move in the Y-axis direction, the gripping members 101 and 102 can grip more objects at a deep position in the object storage part 20.

[0048] As shown in FIG. 3, a distance measuring part 500 is attached to the guide part 300. The distance measuring part 500 is an ultrasonic distance measuring part. That is, the distance measuring part 500 emits ultrasonic waves, which are an example of waves, to an object, and receives the ultrasonic waves reflected by the object to measure the distance to the object.

[0049] Specifically, the distance measuring unit 500 is fixed to the mounting surface 301 in the minus X-axis direction of the guide unit 300 via the mounting portion 501. The mounting portion 501 has a base end portion in the plus Z-axis direction fixed to the mounting surface 301, an intermediate portion bent, and a tip portion facing the minus X-axis direction. The base end portion of the mounting portion 501 is in a posture along the YZ plane, and the tip portion has an inclination of advancing in the minus Z-axis direction as it advances in the minus X-axis direction. The distance measuring unit 500 is fixed to the tip portion of the mounting portion 501. The posture of the distance measuring unit 500 depends on the posture of the tip portion of the mounting portion 501. Specifically, the distance measuring unit 500 is along the Z-axis direction when viewed in the X-axis direction, and has a posture of advancing in the plus X-axis direction as it advances in the minus Z-axis direction when viewed in the Y-axis direction.

[0050] Also, the distance measuring unit 500 is disposed outside the two gripping members 100 in the open state when viewed in the Z-axis direction. Specifically, the distance measuring unit 500 is disposed in the minus X-axis direction with respect to the two gripping members 100. The distance measuring unit 500 is disposed laterally in a direction orthogonal to the opening / closing direction (Y-axis direction) of the two gripping members 100 within the horizontal plane (XY plane). In other words, the distance measuring unit 500 is disposed in a direction facing the side plates 120 of the two gripping members 100 from the outside of the gripping members 100.

[0051] The distance measuring unit 500 is disposed above the upper ends of the two gripping members 100 (in the plus Z-axis direction). Specifically, the lower end of the distance measuring unit 500 is disposed above the two gripping members 100 with a gap S from the upper ends of the two gripping members 100.

[0052] Ultrasonic waves are emitted from the lower end surface of the distance measuring unit 500, and the traveling direction of the ultrasonic waves is a direction depending on the posture of the distance measuring unit 500. Specifically, the ultrasonic waves emitted from the distance measuring unit 500 travel downward toward the two gripping members 100 in the closed state. Note that ultrasonic waves have a characteristic that the measurement range (irradiation range) is wider compared to light (laser light) emitted from an optical distance measuring unit. For this reason, the influence of minute unevenness formed on the surface of the object is less likely to be reflected in the measurement result, which is preferable.

[0053] In FIG. 3, the irradiation range of the ultrasonic wave emitted from the distance measuring unit 500 is indicated by a solid line L1, and its central axis is indicated by a two-dot chain line L2. As shown in FIG. 3, it is preferable that the distance measuring unit 500 and the two gripping members 100 are in a positional relationship such that the two gripping members 100 do not enter the irradiation range L1 of the ultrasonic wave. Further, it is preferable that the distance measuring unit 500 and the two gripping members 100 are in a positional relationship such that the central axis L2 of the ultrasonic wave is disposed below the two gripping members 100 when viewed in the Y-axis direction. Furthermore, it is preferable that the distance measuring unit 500 and the two gripping members 100 are in a positional relationship such that the central axis L2 of the ultrasonic wave overlaps with the contact position between the side plate portions 120 when the two gripping members 100 are completely closed as viewed in the X-axis direction (see FIG. 5(a)). When the distance measuring unit 500 is disposed directly above the state where the two gripping members 100 are completely closed, the ultrasonic wave is blocked by the two gripping members 100, and the distance to the object T below the two gripping members 100 in the closed state cannot be measured. However, in the positional relationship in the present embodiment described above, the distance measuring unit 500 can measure the distance to the object T below the two gripping members 100 in the closed state.

[0054] Furthermore, in the example of FIG. 3, the entire irradiation range of the distance measuring unit 500 is in a positional relationship disposed below the two gripping members 100. Specifically, the irradiation range on the object T is in a positional relationship that fits within the range R of the two gripping members 100 when viewed in the Z-axis direction. For this reason, it is possible to dispose the irradiation range within the recess formed by separating the object T with the two gripping members 100.

[0055] Here, the object T accommodated in the object accommodating portion 20 is preferably a food material in which unevenness is likely to be formed on its surface (upper surface) within the object accommodating portion 20. For example, if it is a food material such as a liquid, the surface within the object accommodating portion 20 tends to be flat as a whole. For this reason, even without measuring the distance to the food material (object T) below the two gripping members 100, it is possible to measure the distance to the surface position of the food material away from the two gripping members 100, thereby measuring the distance to the object T below the two gripping members 100.

[0056] In contrast, if the food material is prone to forming irregularities on its surface (upper surface) within the object storage section 20, after the food material is held by the two gripping members 100 and dispensed, a depression will form below the two gripping members 100. In order to measure the distance to this depression, the distance measuring unit 500 and the two gripping members 100 are positioned in the above-described positional relationship. Food materials prone to forming irregularities include sticky food materials and chunky food materials. Examples of sticky food materials include potato salad and rice. Examples of chunky food materials include fried foods, simmered foods, and stir-fried foods.

[0057] Furthermore, in the case of an optical distance measuring unit, if the target is dark, the light emitted from the distance measuring unit is absorbed by the target, hindering accurate distance measurement. On the other hand, with the ultrasonic distance measuring unit 500 as in this embodiment, ultrasonic waves are less likely to be absorbed even by dark targets, making it possible to measure distances more accurately. Dark-colored food items include prepared foods made with dark ingredients. Any dark color that easily absorbs light is acceptable, but black is preferable. Black food items include, for example, hijiki seaweed, nori seaweed, and other black-colored food items.

[0058] Furthermore, in the case of an optical distance measuring unit, if the target object is shiny, the light emitted from the distance measuring unit is reflected by the target object, hindering accurate distance measurement. On the other hand, with the ultrasonic distance measuring unit 500 as in this embodiment, ultrasonic waves are less likely to be reflected even if the target object is shiny, making it possible to measure the distance more accurately. Examples of shiny ingredients include prepared foods made with ingredients that are prone to becoming shiny. Examples of shiny ingredients include ingredients made with ingredients that are prone to becoming shiny, such as boiled eggs and beans, and ingredients made with white ingredients.

[0059] [3. Functional Configuration of the Control Device 50] Next, a detailed description will be given below of the functional configuration of the control device 50. Fig. 6 is a block diagram showing the functional configuration of the control device 50 according to this embodiment.

[0060] As shown in FIG. 6, the control device 50 includes a first control unit 51, a second control unit 52, a third control unit 53, and a storage unit 54. The first control unit 51 is a processing unit that controls the distance between the two gripping members 100 of the robot 10 and the depth at which the gripping member 100 is inserted into the object T, and performs processes for gripping and releasing the object T by the two gripping members 100. The second control unit 52 is a processing unit that controls the weight value of the object T that the two gripping members 100 of the robot 10 grip or release. The third control unit 53 is a processing unit that controls various devices other than the robot 10 in the holding system 1. The storage unit 54 is a memory that stores data and the like for performing various controls in the holding system 1. Hereinafter, each of these processing units will be described in detail.

[0061] The first control unit 51 changes the distance between the two gripping members 100 of the robot 10. Specifically, the first control unit 51 changes the distance between the two gripping members 100 of the robot 10 to a third distance that is different from the first distance during the opening operation and the second distance during the closing operation when the two gripping members 100 grip or release the object T. The first distance is the maximum distance (maximum opening width) between the two gripping members 100 during the opening operation when the two gripping members 100 grip or release the object T. The second distance is the minimum distance (minimum opening width (closing width)) between the two gripping members 100 during the closing operation when the two gripping members 100 grip the object T. That is, the third distance is a width (distance) different from the maximum and minimum opening widths during the gripping and releasing operations of the two gripping members 100. The third distance is not a fixed value and is appropriately changed according to the situation.

[0062] Further, the first control unit 51 determines the depth at which the two gripping members 100 are inserted into the object T according to the distance between the two gripping members 100. Here, the "distance between the two gripping members 100" refers to the maximum distance (maximum opening width) between the two gripping members 100 during the opening operation when the two gripping members 100 grip the object T. That is, the first control unit 51 determines the depth at which the two gripping members 100 are inserted into the object T according to the maximum opening width during the gripping operation of the two gripping members 100. Further, the "depth of insertion into the object T" refers to the depth of penetration into the object T, the depth of insertion (penetration distance) from the surface of the object T, or the depth after contacting the object T, etc.

[0063] Specifically, the first control unit 51 determines the depth of insertion into the object T based on the measurement result of the distance measuring unit 500. As shown in FIG. 3, the distance measuring unit 500 measures the distance D1 on the central axis L2 from the distance measuring unit 500 to the surface of the object T. Since the first control unit 51 has previously recorded the angle α of the central axis L2 of the ultrasonic wave with respect to the Z-axis direction, the distance D2 in the Z-axis direction from the distance measuring unit 500 to the object T is calculated by trigonometric functions based on this angle α and the distance D1. The first control unit 51 determines the depth of insertion into the object T based on the distance D2. For example, the first control unit 51 has previously recorded the reference distance in the Z-axis direction from the distance measuring unit 500 to the inner bottom surface of the object housing portion 20. The first control unit 51 can obtain the depth of the object T by subtracting the distance D2 from this reference distance. The first control unit 51 can determine the depth of insertion into the object T based on the depth of the object T. Further, the first control unit 51 causes the two gripping members 100 to grip the object T in the object housing portion 20 and releases the object T into the container 31.

[0064] The second control unit 52 acquires a first weight value that is at least one of the weight value of the object T gripped by the two gripping members 100 of the robot 10 and the weight value of the object released by the two gripping members 100. The first weight value is at least one of the weight value of the object T gripped by the two gripping members 100 from within the object housing portion 20 and the weight value of the object T released by the two gripping members 100 into the container 31.

[0065] The third control unit 53 controls devices that are not controlled by the first control unit 51 and the second control unit 52 in the holding system 1. That is, the first control unit 51 and the second control unit 52 control the operation of the robot 10, and the third control unit 53 controls devices other than the robot 10 such as the container supply unit 30. Specifically, the third control unit 53 controls the operation of the container supply unit 30 to supply the container 31 to the position P, and the operation of the container supply unit 30 to carry out the container 31 from the position P to the belt conveyor 2, etc.

[0066] The storage unit 54 is composed of a hard disk or DRAM (Dynamic Random Access Memory) etc., and is a memory that stores data etc. for controlling various operations in the holding system 1. Specifically, the storage unit 54 stores control data 54a including data etc. for the control device 50 to control the operation of the robot 10.

[0067] [Description of Effects] Next, the effects exhibited by the holding system 1 in the present embodiment will be described.

[0068] Since the distance measuring unit 500 measures the distance to the object T by emitting waves, the distance to the object T can be measured without using a camera. Further, since the distance measuring unit 500 measures the distance to the object T by emitting waves, the measurement operation and measurement time can be suppressed even when compared with the case of measuring the distance by bringing the hand into contact with the object T. Thereby, the operation time when holding the object T can be shortened. Thus, the holding system 1 of the present disclosure can measure the distance to the object T without using a camera and can shorten the operation time when holding the object T.

[0069] Since the distance measuring unit 500 is arranged on the sides of the two gripping members 100 that grip the object T, it is difficult for the two gripping members 100 to intrude between the distance measuring unit 500 and the object T. For this reason, it is difficult for the gripping member 100 to become an obstacle, and the distance to the object T can be measured more reliably.

[0070] Here, if the distance measuring unit 500 is arranged outside the two gripping members 100 in the opening and closing direction (Y-axis direction), there may be a case where the opening and closing distance of the two gripping members cannot be increased due to the restriction by the distance measuring unit 500. Further, there is a possibility that the food material adhering to the gripping member may adhere to the distance measuring unit 500 due to the opening and closing operation of the two gripping members. To suppress these, in the present embodiment, the distance measuring unit 500 is arranged outside the two gripping members 100 in the X-axis direction intersecting the opening and closing direction (Y-axis direction) of the two gripping members 100.

[0071] Since the wave travels from the distance measuring unit 500 downward toward the lower side of the two gripping members 100 in the closed state, even when the two gripping members 100 are in the closed state, the distance to the object T below the two gripping members 100 can be measured more reliably.

[0072] Since the distance measuring unit 500 is arranged above the upper ends of the two gripping members 100, it is possible to suppress the distance measuring unit 500 from coming into contact with the object T when the two gripping members 100 hold the object T. Thereby, it is possible to suppress the distance measuring unit 500 from being contaminated due to the object T.

[0073] Since the distance measuring unit 500 emits ultrasonic waves, the measurement range can be made wide even compared with an optical distance measuring unit. Therefore, it is possible to suppress the influence of minute unevenness formed on the surface of the object T from being reflected in the measurement result.

[0074] Even when the object is a food material, the operation time when holding the object T can be shortened. In particular, when the object T is a food material, minute unevenness is likely to occur on the surface, but it is suitable because the distance is measured based on ultrasonic waves.

[0075] Here, if the food adheres to the distance measuring unit 500, there is a risk that the distance measuring accuracy will decrease. Furthermore, there is also a risk that the food adhering to the distance measuring unit 500 will fall into the object accommodating unit 20 and contaminate the food in the object accommodating unit 20. In the present embodiment, since the distance measuring unit 500 is arranged outside the two gripping members 100 in the open state in the Z-axis direction view, it is possible to make it difficult for the food to adhere to the distance measuring unit 500, thereby suppressing a decrease in the distance measuring accuracy and contamination of the food in the object accommodating unit 20.

[0076] When the object is a glossy object, errors are likely to occur in an optical distance measuring unit. In contrast, in the present embodiment, since the distance measuring unit 500 performs distance measurement based on ultrasonic waves, even if the object T is a glossy object, errors can be suppressed.

[0077] When the object is dark-colored, errors are likely to occur in an optical distance measuring unit. In contrast, in the present embodiment, since the distance measuring unit 500 performs distance measurement based on ultrasonic waves, even if the object is dark-colored, errors can be suppressed.

[0078] [Description of Modification Example 5] As described above, the holding system 1 according to the present embodiment has been described. However, the present invention is not limited to the above embodiment. The embodiments disclosed this time are illustrative in all respects and not restrictive, and the scope of the present invention includes all changes within the meaning and scope equivalent to the claims.

[0079] In the above embodiment, food has been exemplified as the object T. However, the object held by the holding system 1 may be an object other than food.

[0080] In the above embodiment, the case where the object T is held by being gripped by the two gripping members 100 has been exemplified. However, as long as the object T is held, the holding form may be any form. For example, the object may be held by adsorption, the object may be scooped up and held, the object may be pierced and held, or the object may be held by any other method.

[0081] In the above-described embodiment, the distance measuring unit 500 that emits ultrasonic waves as waves has been exemplified, but a distance measuring unit that emits light as waves may also be used.

[0082] In the above-described embodiment, the case where the distance measuring unit 500 is attached to the guide unit 300 via the attachment unit 501 has been exemplified. However, the distance measuring unit may be connected to the guide unit via a variable mechanism. The variable mechanism may be any mechanism for varying the posture of the distance measuring unit. For example, the variable mechanism may vary the posture by adjusting the angle of the distance measuring unit with respect to the Z-axis direction (see arrow Y10 in FIG. 3). The variable mechanism is configured to be controlled by the control device 50. Thereby, the control device 50 can control the variable mechanism and adjust the posture of the distance measuring unit based on at least one of the heights of the two gripping members 100 and the depth of the foodstuffs remaining in the object storage unit 20.

[0083] Furthermore, in the case of a distance measuring unit whose irradiation range is adjustable, the control device 50 may adjust the irradiation range of the distance measuring unit based on at least one of the heights of the two gripping members 100 and the depth of the object T remaining in the object storage unit 20.

[0084] Even in the case of a distance measuring unit with a constant irradiation range, the control device 50 can also control the irradiation range with respect to the object T by controlling the robot arm 12 and adjusting the height (position in the Z-axis direction) of the distance measuring unit 500.

[0085] The distance in the Z-axis direction from the distance measuring unit 500 to the lower end of the gripping member 100 only needs to be greater than the depth at which the gripping member 100 is inserted into the object T. Here, there may be a case where the depth of insertion into the object T is deliberately made shallow. For example, when the height (length in the Z-axis direction) of the gripping member 100 is 15 cm, the depth of insertion into the object T is set to 5 cm. In this case, the distance in the Z-axis direction from the distance measuring unit 500 to the lower end of the gripping member 100 only needs to exceed 5 cm.

[0086] In the above-described embodiment, the holding system 1 is not limited to including all of the components described above, such as not necessarily including the cover portion 40. The holding system 1 may include only one robot 10, or may include three or more robots 10.

[0087] A form constructed by arbitrarily combining the components included in the above-described embodiment and its modified examples is also included within the scope of the present invention.

Explanation of Reference Numerals

[0088] 1 Holding system 2 Belt conveyor 10 Robot 10a First robot 10b Second robot 11 Hand 12 Robot arm 20 Object storage unit 30 Container supply unit 31 Container 40 Cover portion 50 Control device (control unit) 51 First control unit 52 Second control unit 53 Third control unit 54 Storage unit 54a Control data 100, 101, 102 Gripping members 110, 111, 112 Plate-like portions 120, 121, 122 Side plate portions 130, 131, 132 Top plate portions 200, 201, 202 Moving portions 300 Guide portion 301 Mounting surface 400 Connection portion 500 Distance measuring portion 501 Mounting portion D1, D2 Distances L1 Irradiation range L2 Central axis P Position R Range S Interval T Object (food ingredient) Y10 Arrow α Angle

Claims

1. A robot having a holding part for holding an object, a distance measuring part for measuring the distance to the object, and a control part for controlling the operation of the robot based on the measurement result of the distance measuring part, wherein the distance measuring part measures the distance by emitting a wave toward the object and receiving the wave reflected by the object, a holding system.

2. The holding part includes two holding members for gripping the object, and the distance measuring part is arranged laterally of the holding part, The holding system according to Claim 1.

3. The distance measuring part emits the wave downward toward the two closed holding members, The holding system according to Claim 2.

4. The distance measuring part is arranged above the upper ends of the two holding members, The holding system according to Claim 2.

5. The distance measuring part emits ultrasonic waves as the wave, The holding system according to any one of Claims 1 to 4.

6. The object is food, The holding system according to Claim 5.

7. The object is a glossy object, The holding system according to Claim 6.

8. The object is dark-colored, The holding system according to Claim 6.

Images