Robot system

Abstract

To provide a robot system capable of efficiently advancing work.SOLUTION: A robot system 1 comprises a robot 10, and a weigher 600 that is arranged under a storage member 20 for housing an object T. The robot 10 has a holding member 100 that performs predetermined movement including at least one of the retention of the object T and the release of the held object T, that is, the holding member 100 movable in a vertical direction.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a sorting system. The sorting system includes a material supply unit, an articulated robot, and a control device. A weight sensor for measuring the weight of the material held by the hand is installed at the joint that holds the hand of the articulated robot. The data on the weight of the material measured by the weight sensor is output to the control device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above conventional sorting system, for example, when the hand of the articulated robot holds, moves, or releases a material (object), the object scattered during the operation may adhere to the weight sensor arranged at the joint. As a result, there is a problem that the adhered object may fall at an unexpected position and timing, and the work for dealing with this may not be easy. This can be a factor that hinders the efficient progress of operations such as material sorting.

[0005] The present invention has been made by the inventors of the present application newly focusing on the above problems, and an object thereof is to provide a robot system capable of efficiently proceeding with operations.

Means for Solving the Problems

[0006] A robot system according to an aspect of the present invention includes a robot having a holding member that performs a predetermined operation including at least one of holding an object and releasing the held object, and a weighing scale disposed under a housing member in which the object is housed, and the holding member is movable in a vertical direction.

Effect of the Invention

[0007] According to the robot system of the present invention, work can be efficiently advanced.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying out the Invention

[0009] A robot system according to one aspect of the present invention includes a robot having a holding member that executes a predetermined operation including at least one of holding an object and releasing the held object, and a weighing scale disposed under a housing member in which the object is housed, and the holding member is movable in a vertical direction.

[0010] According to this configuration, the weighing scale disposed under the housing member can measure the weight of the housing member before and after a predetermined operation of the holding member. That is, for example, the weight of an object held or released by the holding member can be measured. Therefore, even if an object scatters during a predetermined operation of the holding member, it is unlikely that the scattered object adheres to a device (such as a weight sensor) for detecting the weight disposed on a part of the robot and falls at an unexpected position and timing. Therefore, according to the robot system according to the present aspect, work can be efficiently advanced.

[0011] The object may be food. When the object is food, for example, if a weighing scale is arranged on the robot and the object adhering to the weighing scale is left unattended, there may arise a problem that the deteriorated food drops into a container or the like at an unexpected position and timing. In this regard, in the robot system according to this aspect, since the weighing scale is arranged under the housing member, it is difficult for the food, which is the object, to adhere to the weighing scale, that is, it is difficult for the problem that the deteriorated food drops at an unexpected position and timing to occur.

[0012] The robot system may further include a control device that controls the operation of the robot to cause the holding member to perform the predetermined operation, and the control device may further execute an attachment removal operation for dropping the object adhering to the holding member, the attachment removal operation involving movement of the holding member.

[0013] According to this configuration, even when the object adhering to the holding member scatters due to the attachment removal operation, since the weighing scale is arranged under the housing member, it is difficult for the scattered object to adhere to the weighing scale.

[0014] The object may have a predetermined viscosity or a predetermined adhesiveness. Thus, when handling an object having a predetermined viscosity or a predetermined adhesiveness, if the object is arranged on a weighing scale of a robot, the object (attachment) adhering to the weighing scale is even more difficult to drop, so that the problem that the attachment drops at an unexpected position and timing is likely to occur. In this regard, in the robot system according to this aspect, since the weighing scale is under the housing member, it is difficult for the object to adhere to the weighing scale.

[0015] The robot system according to any of the above aspects may further include a buffer member, and the buffer member may be arranged between the mounting surface on which the housing member is placed and the housing member of the weighing scale.

[0016] According to this configuration, when the holding member performs a predetermined operation including taking out an object from the housing member, at least a part of the vibration of the housing member caused by the predetermined operation is absorbed by the buffer member. Thereby, the weight of the housing member (including the object accommodated therein) is efficiently measured by the weighing scale. As a result, the calculation of the weight or the like of the object held by the holding member or released from the holding member using the measurement value by the weighing scale is efficiently executed.

[0017] The buffer member may be a flat plate-shaped member that covers the entire surface of the placement surface.

[0018] According to this configuration, since the flat plate-shaped buffer member is disposed between the entire surface of the placement surface of the weighing scale and the housing member, the absorption of the vibration of the housing member by the buffer member is more reliably performed.

[0019] A plurality of the weighing scales arranged along the bottom wall of the housing member may be disposed under the housing member.

[0020] For example, even when the initial weight of the housing member containing the object is relatively large and the measurable range of one weighing scale is relatively narrow, the weight of the housing member including the object can be measured by sharing it among a plurality of weighing scales. That is, even a weighing scale with a small minimum measurement unit and a relatively narrow measurable range can measure, with relatively high accuracy, from the initial weight of the housing member to the final weight when there is almost no object inside the housing member by using a plurality of such weighing scales.

[0021] The buffer member may be disposed on each of the plurality of weighing scales.

[0022] According to this configuration, the influence of the vibration of the housing member on each of the plurality of weighing scales is suppressed. Thereby, the weight of the housing member (including the object accommodated therein) using the plurality of weighing scales is efficiently measured.

[0023] The plurality of the weighing meters includes a first weighing meter and a second weighing meter, and the plurality of the buffer members includes a first buffer member disposed on the first weighing meter and a second buffer member disposed on the second weighing meter. The first weighing meter faces the central portion of the accommodating member in a top view, and the second weighing meter faces the end portion of the accommodating member in a top view. The rigidity of the first buffer member may be lower than that of the second buffer member.

[0024] The central portion of the bottom wall of the accommodating member is a portion where a large amount of the object is placed, and thus it is likely to bulge downward. Therefore, when the accommodating member is disposed on the plurality of weighing meters, a large load is likely to be applied to the first weighing meter, while a relatively small load is likely to be applied to the second weighing meter. As a result, for example, a load exceeding the measurable range of the first weighing meter may be applied to the first weighing meter. In this regard, in the robot system according to this aspect, the rigidity of the first buffer member disposed on the first weighing meter is lower than that of the second buffer member disposed on the second weighing meter. Thereby, when a load is applied from the accommodating member, the first buffer member is more likely to be recessed than the second buffer member. Therefore, the difference between the load applied to the first weighing meter and the load applied to the second weighing meter becomes smaller. As a result, the weight of the accommodating member (including the object accommodated therein) using the plurality of weighing meters is measured more accurately.

[0025] The plurality of the weighing meters includes a first weighing meter and a second weighing meter, and the plurality of the buffer members includes a first buffer member disposed on the first weighing meter and a second buffer member disposed on the second weighing meter. The first weighing meter faces the central portion of the accommodating member in a top view, and the second weighing meter faces the end portion of the accommodating member in a top view. The rigidity of the first buffer member may be higher than that of the second buffer member.

[0026] Since the central part of the bottom wall of the housing member is the part where a large amount of the object is stored, it is likely to bulge downward. In this regard, in the robot system according to this aspect, the rigidity of the first buffer member disposed on the first weighing scale is higher than the rigidity of the second buffer member disposed on the second weighing scale. Thereby, when the housing member is disposed on a plurality of weighing scales, the bulging of the central part of the bottom wall of the housing member is suppressed. That is, the bottom wall of the housing member is flattened. As a result, for example, the object is suppressed from approaching the central part.

[0027] Below the housing member, a plurality of the weighing scales arranged along the bottom wall of the housing member are disposed. The plurality of the weighing scales include a first weighing scale and a second weighing scale. The first weighing scale faces the central part of the housing member in a top view, and the second weighing scale faces the end part of the housing member in a top view. The robot system may further include an adjustment unit capable of changing the vertical position of the first weighing scale to be lower than the vertical position of the second weighing scale.

[0028] Since the central part of the bottom wall of the housing member is the part where a large amount of the object is stored, it is likely to bulge downward. Therefore, when the housing member is disposed on a plurality of weighing scales, while a large load is applied to the first weighing scale, a relatively small load is likely to be applied to the second weighing scale. As a result, for example, a load exceeding the measurable range of the first weighing scale may be applied to the first weighing scale. In this regard, in the robot system according to this aspect, the vertical position of the first weighing scale can be made lower than the vertical position of the second weighing scale. That is, the mounting surface of the first weighing scale and the mounting surface of the second weighing scale are arranged along the bulge of the bottom wall of the housing member. Thereby, the difference between the load applied to the first weighing scale and the load applied to the second weighing scale becomes smaller. As a result, the weight of the housing member (including the object stored therein) using a plurality of weighing scales is measured more accurately.

[0029] The present invention can be realized not only as such a robot system, but also as a processing method or a control method including characteristic processing steps performed by the robot system or the control device. The present invention can be realized as a program for causing a computer to execute the processing method or the control method, or as a recording medium such as a computer-readable CD-ROM (Compact Disc-Read Only Memory) on which the program is recorded. And such a program can be distributed via a recording medium such as a CD-ROM and a transmission medium such as the Internet. The present invention can also be realized as an integrated circuit including a processing unit that performs the processing method or the control method.

[0030] Hereinafter, with reference to the drawings, a robot 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 an inclusive or specific example. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, each step in the method, the order of the steps, etc. shown in the following embodiments are merely 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.

[0031] (Embodiment) [1. General description of robot system 1] First, with reference to FIG. 1, a general description of the robot system 1 in the present embodiment will be given. FIG. 1 is a perspective view showing the appearance of the robot system 1 according to the present embodiment.

[0032] The robot system 1 is a system that holds and releases an object (object T in the present embodiment) and distributes the object T. Examples of the object T include foods such as pre-cut vegetables (also referred to as ingredients or components). More specifically, in the present embodiment, as the object T, a food having a predetermined viscosity or a predetermined adhesiveness, such as a mashed salad like potato salad, is adopted.

[0033] For example, the robot system 1 holds food and distributes (dishes up) the food to a container 31 such as a container for each vegetable dish or a container for a bento box. For example, a plurality of robot systems 1 are arranged, and various food ingredients are sequentially released into the container 31, so that various foods are arranged in the container 31.

[0034] As shown in FIG. 1, the robot system 1 includes a robot 10, a housing member 20, a weighing scale 600, a container supply unit 90, a cover unit 40, and a control device 50. At a position adjacent to the robot system 1, a carry-out unit 2 for automatically transporting the container 31 is arranged. As the carry-out unit 2, for example, a conveyor such as a belt conveyor or a roller conveyor is employed.

[0035] The robot 10 performs a predetermined operation including at least one of holding the object T and releasing the held object T. In the present embodiment, the robot 10 is composed of an articulated robot such as a horizontal articulated robot or a vertical articulated robot, and holds and releases the object T. The robot 10 includes a hand 11 and a robot arm 12. In the present embodiment, the number of robots 10 included in the robot system 1 is 1, but the number of robots 10 included in the robot system 1 may be 2 or more. The hand 11 is a part that holds and releases the object T.

[0036] The robot arm 12 is a multi-jointed arm and moves the hand 11 to a desired position within the movable range. The robot arm 12 also has a shaft at the connection portion with the hand 11 for rotating the hand 11 in the twisting direction with respect to the robot arm 12. Thereby, when the hand 11 holds or releases the object T, the direction of the hand 11 can be changed to adjust the opening and closing direction of the hand 11.

[0037] The housing member 20 is a member that houses the object T held by the robot 10. The housing member 20 is a bat (weight) or a tray or the like. For example, the housing member 20 houses a plurality of servings (tens to hundreds of servings, etc.) of food ingredients as the object T, and the robot 10 holds the food ingredient that is the object T from inside the housing member 20 and releases it into the container 31, thereby distributing (portioning) the food ingredient to the container 31.

[0038] The weighing scale 600 is a measuring instrument that is disposed below the housing member 20 and measures the weight of the housing member 20. Note that when referring to "the weight of the housing member 20", unless otherwise specified, it means the total weight of the housing member 20 itself and the weight of the object T housed in the housing member 20. When the hand 11 of the robot 10 performs an operation (holding operation) of taking out the object T from the housing member 20, the weighing scale 600 outputs the measured values before and after the holding operation to the control device 50. Thereby, the control device 50 can calculate the weight of the object T taken out and held by the robot 10 from the housing member 20 by the holding operation. When the hand 11 of the robot 10 performs an operation (releasing operation) of releasing the held object T into the housing member 20, the weighing scale 600 outputs the measured values before and after the releasing operation to the control device 50. Thereby, the control device 50 can calculate the weight of the object T released into the housing member 20 by the robot 10 by the releasing operation.

[0039] More specifically, for example, when the weight of the object T held by the hand 11 of the robot 10 is not within a predetermined range, the control device 50 can also cause the robot 10 to perform the holding operation again. In this case, the hand 11 of the robot 10 executes an operation of releasing the once-held object T into the housing member 20, that is, an operation of returning the held object T to the housing member 20. In this case, the control device 50 can calculate the weight of the object T returned to the housing member 20 by the returning operation by acquiring the measured values before and after the returning operation from the weighing scale 600.

[0040] The weighing scale 600 executes operations such as measuring the weight of the housing member 20 and outputting the measured value under the control of the control device 50. Measuring the weight of the housing member 20 and outputting the measured value, etc. are not limited to before and after each of the holding operation and the releasing operation of the robot 10 described above. For example, immediately after the housing member 20 is placed on the weighing scale 600, and before and after an operation for removing an attachment adhered to the hand 11 (attachment removal operation, described later with reference to FIGS. 8 to 13), etc., measuring the weight of the housing member 20 and outputting the measured value, etc. may be performed. Further, the calculation of the weight of the object T held or released based on the change in the measured value may be performed by the weighing scale 600 instead of the control device 50. There is no particular limitation on the type of the weighing scale 600. The weighing scale 600 may be, for example, a load cell type (also called an electric resistance wire type) weighing scale or an electromagnetic type weighing scale.

[0041] More specifically, the robot system 1 according to the present embodiment includes a plurality of weighing scales 600, and these plurality of weighing scales 600 share the measurement of the weight of the housing member 20. Thereby, the weight of the relatively heavy housing member 20 can be measured more accurately. In the present embodiment, the plurality of weighing scales 600 are arranged on a base 70 that supports components such as the robot 10. The configuration and layout of the weighing scale 600 will be described later with reference to FIGS. 4 and 5.

[0042] The container supply unit 90 supplies the container 31 to the position P where the robot 10 releases the object T. The container supply unit 90 houses a plurality of containers 31 therein and supplies the containers 31 to the position P one by one. When the measurement by the weight sensor is completed, the container 31 on which the object T is placed is carried out to the carry-out unit 2 by a pushing mechanism (not shown) provided in the container supply unit 90.

[0043] The cover part 40 is a cover provided with a plate-like member that surrounds the periphery and the upper part of the area where the robot 10, the housing member 20, and the container supply unit 90 are arranged. The plate-like member is formed of a transparent material such as glass or resin, and the operating state of the robot 10 or the like can be visually recognized from the outside of the cover part 40. An openable and closable door is provided on the side wall of the cover part 40, and various operations such as replacement of the housing member 20, addition of the container 31 to the container supply unit 90, or maintenance of the robot 10 or the like can be performed through the door.

[0044] The control device 50 is a device that controls the operation of the robot 10. 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.

[0045] The control device 50 is connected to the robot 10, a plurality of weighing scales 600, the container supply unit 90, etc. by wire or wirelessly, and controls the operation of the entire robot system 1 including the robot 10 and the plurality of weighing scales 600. For example, the control device 50 controls the operation of the container supply unit 90 supplying the container 31 to the position P, the operation of the robot 10 holding the object T from the housing member 20 and releasing it to the container 31, the operation of the weighing scale 600 outputting the measured value, and the operation of the container supply unit 90 carrying out the container 31 to the carry-out unit 2. The control device 50 may be arranged at a location away from the robot 10 or the like, or may be arranged in the vicinity of the robot 10 or the like, such as being attached to the cover part 40. The robot system 1 includes a plurality of sets of configurations in which the robot 10 or the like is housed in the cover part 40, and the control device 50 may control the operation of the plurality of sets of the robot 10 or the like.

[0046] [2. Description of the Hand 11 of the Robot 10] Next, the configuration of the hand 11 included in the robot 10 of the present embodiment will be described. FIG. 2 is a perspective view showing the configuration of the hand 11 of the robot 10 according to the embodiment. In FIG. 2, 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. 3 is a perspective view showing the configuration of the holding member 100 included in the hand 11 of the robot 10 according to the embodiment.

[0047] In the following description and drawings, the direction in which the hand 11 (two holding members 100) of the robot 10 faces forward is defined as the X-axis direction, the direction in which the two holding 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. Note that even when the hand 11 (two holding members 100) is rotatable about an axis parallel to the Z-axis, the relative movement direction of the two holding members 100 in the hand 11 is maintained. For example, when the hand 11 rotates and the direction in which the hand 11 faces forward becomes the Y-axis direction, the two holding members 100 open and close in the X-axis direction. 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 either one 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 include cases where they are not exactly 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.

[0048] As shown in FIG. 2, the hand 11 of the robot 10 includes, in addition to the above-described connection portion 400, two (a pair of) holding members 100, two (a pair of) moving portions 200, and a guide portion 300.

[0049] The two holding members 100 are members that hold the object T. Specifically, the two holding members 100 hold and release the object T. That is, the two holding members 100 hold and release a part of the object T accommodated in the accommodating member 20. In the present embodiment, the holding member 100 is a member made of metal, but it may be a member other than metal such as a resin-made member. As shown in FIG. 3, each of the two holding members 100 has a plate-like portion 110 that holds the object T, a pair of side plate portions 120 that are arranged on both sides of the plate-like portion 110 and face each other, and a top plate portion 130 that is arranged above the plate-like portion 110. Hereinafter, among the two holding members 100, the holding member 100 located in the minus Y-axis direction is also referred to as the holding member 101, and the holding member 100 located in the plus Y-axis direction is also referred to as the holding member 102. That is, as shown in FIG. 3, the holding member 101 has a plate-like portion 111, a pair of side plate portions 121, and a top plate portion 131. The holding member 102 has a plate-like portion 112, a pair of side plate portions 122, and a top plate portion 132. The holding member 101 and the holding member 102 have a configuration that is symmetric with respect to the XZ plane.

[0050] The plate-like portions 111 and 112 are the main body portions of the holding members 101 and 102. When the holding members 101 and 102 hold the object T, they are arranged on both sides in the Y-axis direction of the object T and sandwich the object T in the Y-axis direction to hold the object T. 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 move away from each other (the interval widens) as they go in the plus Z-axis direction. Note that as long as the object T can be held 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.

[0051] 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 holding members 101 and 102 hold the object T, the pair of side plate portions 121 are arranged on both sides of the object T in the X-axis direction and sandwich the object T 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 holding members 101 and 102 hold the object T, the pair of side plate portions 122 are arranged on both sides of the object T in the X-axis direction and sandwich the object T in the X-axis direction.

[0052] 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. When the holding members 101 and 102 hold the object T, the top plate portions 131 and 132 are arranged in the +Z-axis direction of the object T.

[0053] 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 holding members 100 and move (slide) the two holding 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 holding member 101 and moves (slides) the holding member 101 in the Y-axis direction. The moving portion 202 is connected to the +Z-axis direction end of the holding member 102 and moves (slides) the holding member 102 in the Y-axis direction.

[0054] 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 holding members 101 and 102, and opening or closing the holding members 101 and 102. In the present embodiment, the moving parts 201 and 202 have a configuration that allows them to move stepwise with respect to the guide part 300, and the distance between the holding members 101 and 102 can be adjusted stepwise. It is also possible that only one of the moving parts 201 and 202, instead of both, is configured to be movable with respect to the guide part 300.

[0055] 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.

[0056] In a state where the holding member 101 and the holding member 102 are completely closed, the minus-Z-axis end of the plate-like part 111 and the minus-Z-axis end of the plate-like part 112 are in contact, and the side plate part 121 and the side plate part 122 are in contact. As a result, the holding 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 may not be formed. The holding members 101 and 102 may be opened and closed by the rotation of 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, more objects T at deeper positions in the accommodating member 20 can be held by the holding members 101 and 102.

[0057] The hand 11 configured as described above is connected to the robot arm 12 (see FIG. 1) via the connection portion 400. By the telescoping and rotation of the robot arm 12 and the like, the hand 11 can move in the vertical direction (Z-axis direction) and the horizontal direction (direction parallel to the XY plane). Thereby, the hand 11 can, for example, take out and hold the object T from an arbitrary position of the housing member 20 and release the held object T into the container 31 placed at the position P (see FIG. 1). Note that the robot 10 may change the posture of the hand 11 so as to tilt the hand 11 (see FIG. 10 described later).

[0058] [3. Description of the Configuration and Layout of the Weighing Scale 600] Next, the configuration, layout, etc. of the weighing scale 600 will be described. FIG. 4 is a front view (viewed from the positive X-axis direction) schematically showing the layout of a plurality of weighing scales 600 according to the embodiment. In FIG. 4, a cross-section of the housing member 20 containing the object T is schematically shown, and for the hand 11, only two holding members 100 are schematically shown. These supplementary matters also apply to FIGS. 6 to 14 described later. FIG. 5 is a plan view (viewed from the positive Z-axis direction) schematically showing the layout of a plurality of weighing scales 600 according to the embodiment.

[0059] As shown in FIGS. 4 and 5, in the present embodiment, the weighing scale 600 is disposed below the housing member 20. More specifically, the weighing scale 600 is disposed between the base 70 included in the robot system 1 and the housing member 20. The weighing scale 600 includes a main body portion 601 that houses electronic components, a circuit board, etc. for measuring weight, and a mounting table 602 that forms a mounting surface 603 on which the housing member 20 is placed. In FIG. 4, the housing member 20 is directly placed on the mounting surface 603, but it is also possible to place the housing member 20 on the mounting surface 603 via a buffer member (such as the buffer member 610 in FIG. 14). The buffer member will be described later with reference to FIGS. 14 to 17.

[0060] As shown in FIGS. 4 and 5, the housing member 20 disposed on the weighing scale 600 has a bottom wall 23 and side walls 21. The housing member 20 is substantially rectangular in top view. That is, a space for housing the object T is formed by the substantially rectangular bottom wall 23 in top view and the side walls 21 erected along the peripheral edge of the bottom wall 23.

[0061] In the robot system 1 according to the present embodiment, the hand 11 of the robot 10 can move in the vertical direction (Z-axis direction) and the horizontal direction (direction parallel to the XY plane) above and inside the housing member 20 to hold the object T. The change amount of the weight of the housing member 20 before and after this holding is calculated from the measured value by the weighing scale 600. That is, the weight of the object T held (taken out from the housing member 20) by the hand 11 by the holding operation is calculated.

[0062] Here, for example, by providing a weight sensor for measuring the weight on the hand 11, it is also possible to measure the weight of the object T held by the two holding members 100 of the hand 11. However, the robot 10 moves the two holding members 100 in the vertical direction due to, for example, a predetermined operation such as a holding operation based on the control of the control device 50, or a reaction when the two holding members 100 are pulled up from the object T inside the housing member 20. Therefore, the object T may scatter (for example, bounce up the object T), and the scattered object T may adhere to the weight sensor. As a result, the object T may scatter and adhere to the weight sensor.

[0063] When an object T adheres to the weight sensor in this way, it is conceivable that the adhered object T (adhesion) may fall at an unexpected position and timing. For example, it is also conceivable that the adhesion may accidentally fall into the container 31. In such a case, it may not be easy to handle the fallen adhesion or the like. This may also be a factor that reduces the efficiency of operations such as the distribution of ingredients. Furthermore, as in the present embodiment, when the object T has a predetermined viscosity or a predetermined adhesiveness such as mashed salad like potato salad, the above problem is likely to occur. Regarding such a problem, in the robot system 1 according to the present embodiment, the weighing scale 600 for measuring the weight of the object T held by the robot 10 is disposed below the housing member 20 that houses the object T. Therefore, it is difficult for the object T scattered due to the vertical movement of the two holding members 100 to adhere to the weighing scale 600. In addition, since the container 31 is not disposed below the weighing scale 600, even if the scattered object T adheres to the weighing scale 600, there is no possibility that the adhesion will fall into the container 31.

[0064] More specifically, the robot system 1 according to the present embodiment includes a plurality (specifically, three) of weighing scales 600. As shown in FIG. 4, the three weighing scales 600 are arranged along the bottom wall 23 of the housing member 20. These three weighing scales 600 include a first weighing scale 600a and a second weighing scale 600b. Specifically, the first weighing scale 600a faces the central portion of the housing member 20 in a top view, and the second weighing scale 600b faces the end portion of the housing member 20 in a top view. In the present embodiment, the first weighing scale 600a is disposed at the central portion in the Y-axis direction (range including the center in the Y-axis direction) of the housing member 20 that is long in the Y-axis direction, and the second weighing scales 600b are disposed on both sides in the Y-axis direction of the first weighing scale 600a.

[0065] In this embodiment, these three weighing scales 600 share the measurement of the weight of the housing member 20. Thereby, the weight of the relatively heavy housing member 20 can be accurately measured. Specifically, in the initial state before the distribution of the object T by the robot system 1 starts, the housing member 20 may have a weight of about 15 kg, for example. In this case, when measuring the weight of the housing member 20 with only one weighing scale 600, it is necessary that the maximum measurable weight (also referred to as "weighing") is at least 15 kg or more (preferably about 20 kg). On the other hand, from the perspective of accurately measuring, for example, the amount of the object T (e.g., 10 g to several hundred g) that the robot 10 should take out from the housing member 20 and release into the container 31, for example, an accuracy of 0.1 g (the minimum measurable unit) may be required for the weighing scale 600.

[0066] However, for example, when the weighing is 20 kg and the resolution is 1 / 6000, the accuracy is about 3 g. Therefore, when the robot system 1 needs to meet the above requirements, it is not appropriate to adopt a weighing scale with a weighing of 20 kg as the weighing scale 600.

[0067] Therefore, in the robot system 1 according to this embodiment, for example, three weighing scales 600 with a weighing of 6 kg and a resolution of 1 / 60000 are arranged. Thereby, the weight of the weighing scale 600 is divided and borne by the three weighing scales 600. As a result, the weight of the housing member 20 with a maximum weight of about 15 kg can be measured in units of 0.1 g. That is, by the three weighing scales 600, for example, the weight of the housing member 20 before and after the holding operation of the hand 11 of the robot 10 is measured in units of 0.1 g. As a result, the control device 50 can calculate the weight of the object T held (taken out from the housing member 20) by the hand 11 by the holding operation and represented in units of 0.1 g.

[0068] Note that it is not essential for the robot system 1 to include a plurality of weighing scales 600. For example, when the accuracy of the measured value may be several grams or more, or when the maximum value of the weight of the housing member 20 is relatively small, the robot system 1 may include only one weighing scale 600. In a top view, it is not essential for a part of one or more weighing scales 600 to protrude outside the housing member 20 (see FIG. 5). In a top view, the entire set of all weighing scales 600 included in the robot system 1 may be arranged within the range inside the housing member 20.

[0069] [4. Description of the Operation Example of the Hand 11] Next, an operation example of the hand 11 will be described. FIG. 6 is a schematic diagram for explaining an operation example when the hand 11 according to the embodiment holds the object T. FIG. 7 is a schematic diagram for explaining an operation example when the hand 11 according to the embodiment releases the object T. The operations of the robot 10 (including the hand 11 and the robot arm 12) described below are executed under the control of the control device 50.

[0070] For example, as shown in FIG. 6(a), the hand 11 is moved downward by the robot arm 12 while the distance L between the two holding members 100 is widened to, for example, the distance L1. Thereby, the two holding members 100 are inserted into the object T. The distance L1 at this time and the depth at which the two holding members 100 are inserted into the object T are appropriately determined by the control device 50 based on, for example, the amount of the object T to be held by the hand 11. The "depth of insertion into the object" refers to the depth of penetration into the object, the depth of insertion from the surface of the object (penetration distance), or the depth after contacting the object, etc. The control device 50 may determine the depth after both of the two holding members 100 contact the object (object T), but in the present embodiment, the control device 50 determines the depth after at least one holding member 100 contacts the object T. Note that the robot 10 is provided with a function of acquiring the reaction force received by the hand 11 from the object T, whereby the control device 50 can control the depth after at least one holding member 100 contacts the object T.

[0071] Next, for example, as shown in FIG. 6(b), the hand 11 closes the distance between the two holding members 100 to a distance L2 (<L1), thereby causing the two holding members 100 to hold the object T. That is, the hand 11 (the two holding members 100) executes a holding operation.

[0072] Next, for example, as shown in FIG. 6(c), with the distance between the two holding members 100 maintained at the distance L2, the hand 11 is lifted upward by a robot arm 12 of the robot 10. As a result, the robot 10 can take out an amount of the object T to be released into the container 31 from the entire object T stored in the storage member 20.

[0073] After the robot 10 takes out the object T from the storage member 20, the hand 11 moves above the container 31 disposed at the position P (see FIG. 1), for example, as shown in FIG. 7(a), by a predetermined operation of the robot arm 12.

[0074] After the hand 11 moves above the container 31, for example, as shown in FIG. 7(b), the hand 11 releases the object T held by the hand 11 by expanding the distance L between the two holding members 100 to L3 (>L2). That is, the hand 11 (the two holding members 100) executes a releasing operation. As a result, the object T is released into the container 31. That is, the object T stored in the storage member 20 is distributed to the container 31.

[0075] In FIGS. 6 and 7, the distance L2, which is the distance between the two holding members 100 during the closing operation of the two holding members 100, is a positive value rather than 0, but the distance L2 may be 0. That is, the two holding members 100 may be completely closed. Thus, the control device 50 may appropriately change the distance L2 between the two holding members 100 during the closing operation, for example, according to the type or state of the object T.

[0076] [Explanation of an example of an attachment removal operation] In the present embodiment, as described above, the control device 50 acquires the measured values of the weight of the housing member 20 from the respective weight gauges 600 before and after the holding operation of the hand 11, and calculates the weight of the object T held by the holding operation from the acquired measured values. In this calculation, more specifically, the control device 50 acquires the measured value after the holding operation after the deposit removal operation executed until the next holding operation as the measured value after the holding operation.

[0077] That is, as described above, when the hand 11 executes the holding operation and the releasing operation, the object T may be unintentionally attached to the holding member 100 immediately after the holding operation and / or immediately after the releasing operation. This is not preferable from the viewpoints of accurately measuring the object T held by the hand 11 and / or using the object T stored in the housing member 20 without waste. Therefore, in the robot system 1 according to the present embodiment, an operation (deposit removal operation) for removing the deposit Tu, which is the object T attached to the holding member 100, is performed.

[0078] Hereinafter, an example of the deposit removal operation executed by the robot system 1 will be described. FIG. 8 is a diagram schematically showing an example of the state immediately after the holding operation of the holding member 100 according to the embodiment. FIG. 9 is a diagram for explaining a first example of the deposit removal operation according to the embodiment, and FIG. 10 is a diagram for explaining a second example of the deposit removal operation according to the embodiment. FIG. 11 is a diagram schematically showing an example of the state immediately after the releasing operation of the holding member 100 according to the embodiment. FIG. 12 is a diagram for explaining the third to fifth examples of the deposit removal operation according to the embodiment. FIG. 13 is a diagram for explaining the sixth and seventh examples of the deposit removal operation according to the embodiment. The deposit removal operation by the robot 10 described below is executed under the control of the control device 50.

[0079] For example, as shown in FIG. 8, when the two holding members 100 of the hand 11 perform the holding operation, when the two holding members 100 are pulled up from inside the housing member 20, there may be a case where an attachment Tu remains attached to at least one of the two holding members 100. Specifically, one or more attachments Tu may remain as small lumps of the object T at the tip portions of the plate-like portion 110 and the side plate portion 120 of the holding member 100, respectively.

[0080] Therefore, the control device 50 can cause the robot 10 to perform, for example, an attachment removing operation (first removing operation) of rubbing the attachment Tu against the object T inside the housing member 20. Specifically, in the first removing operation, the robot 10 moves the hand 11 downward from the position shown in FIG. 8. Further, as shown in FIG. 9, the hand 11 is reciprocated in the lateral direction (Y-axis direction in FIG. 9) one or more times so as to rub the attachment Tu against the position where the holding operation was performed on the object T inside the housing member 20. As a result, all or part of the one or more attachments Tu becomes part of the object T accommodated in the housing member 20. Further, the reciprocating movement of the hand 11 in the lateral direction flattens the surface of the object T.

[0081] In addition, the control device 50 can cause the robot 10 to perform an attachment removal operation (second removal operation) of rubbing the attachment Tu against the side wall 21 of the housing member 20, for example. Specifically, in the second removal operation, the robot 10 moves the hand 11 downward and laterally from the position shown in FIG. 8 and positions it near the side wall 21 of the housing member 20 as shown in FIG. 10. The robot 10 further tilts the hand 11 so as to rub the attachment Tu on at least one of the two holding members 100 against the inner surface of the side wall 21 and performs a reciprocating motion in the vertical direction (Z-axis direction) one or more times. As a result, all or part of one or more attachments Tu fall from the inner surface of the side wall 21 and become part of the object T accommodated in the housing member 20. Note that it is not essential for the robot 10 to tilt the hand 11 in the second removal operation. The robot 10 may maintain the hand 11 in a state where it is not tilted (see FIG. 8) in the second removal operation and move the hand 11 in a direction tilted with respect to the vertical direction so as to rub the attachment Tu against the upper end of the inner surface of the side wall 21.

[0082] When the robot 10 rubs the attachment Tu against another object as in the first removal operation and the second removal operation, the other object may be other than the object T inside the housing member 20 or the side wall 21 of the housing member 20. For example, the robot 10 may be a removal member provided on the housing member 20, and may remove the attachment Tu from at least one of the holding members 100 by rubbing the attachment Tu against the removal member protruding inward of the housing member 20.

[0083] In addition, when the hand 11 returns above the housing member 20 for the next holding operation after finishing the release operation (see FIG. 7), or when the work unit 11 performs the release operation above the housing member 20 for redoing the holding operation, as shown in FIG. 11, there may be a case where the attachment Tu remains attached to at least one of the two holding members 100.

[0084] Therefore, the control device 50 can cause the robot 10 to perform an attachment removal operation (third to fifth removal operations) of dropping the attachment Tu onto the object T inside the housing member 20, for example. Specifically, as shown in FIG. 12, the robot 10 can perform an operation of removing the attachment Tu mainly by moving the hand 11 in the vertical direction as the attachment removal operation. More specifically, as the third removal operation, the robot 10 can perform an operation of lowering and then raising the hand 11 (that is, an operation of swinging the hand 11 in the vertical direction). As the fourth removal operation, the robot 10 can perform an operation of lowering the hand 11 at a relatively high speed and then suddenly stopping. Further, as the fifth removal operation, the robot 10 can perform an operation of vibrating the hand 11 in the vertical direction (that is, an operation of repeating the vertical movement of the hand 11 a plurality of times in a short time). In any case, all or part of the one or more attachments Tu are shaken off from at least one of the two holding members 100 by inertia. That is, the shaken-off attachment Tu becomes part of the object T accommodated in the housing member 20.

[0085] Further, as shown in FIG. 13, for example, the robot 10 can perform an operation of removing the attachment Tu mainly by moving the hand 11 in the lateral direction. More specifically, as the sixth removal operation, for example, after lowering the hand 11 until the tip of the hand 11 is positioned below the upper end of the side wall 21 of the housing member 20, the robot 10 can perform one or more reciprocating movements of the hand 11 in the lateral direction. As the seventh removal operation, for example, after lowering the hand 11 until the tip of the hand 11 is positioned below the upper end of the side wall 21 of the housing member 20, the robot 10 can perform one or more reciprocating movements of at least one of the two holding members 100 in the lateral direction. As the seventh removal operation, for example, the robot 10 can execute an operation of repeating the opening and closing of the hand 11. In any case, all or part of the one or more attachments Tu are shaken off from at least one of the holding members 100 by inertia. That is, the shaken-off attachment Tu becomes part of the object T accommodated in the housing member 20.

[0086] In the sixth removal operation and the seventh removal operation, the reciprocating motion of the hand 11 and the reciprocating motion of at least one of the two holding members 100 may be performed multiple times in a short period. That is, the adhering matter Tu may be removed by vibrating at least one of the two holding members 100 in the lateral direction.

[0087] Also, the operations of removing the adhering matter Tu by rubbing it against the object T or the like (the first removal operation and the second removal operation) may be performed not immediately after the holding operation but immediately before the next holding operation (that is, when the two holding members 100 are not holding the object T (see FIG. 11)). The operations of shaking off the adhering matter Tu from the two holding members 100 by utilizing inertia (the third to seventh removal operations) may be performed not immediately before the holding operation but immediately after the previous holding operation (that is, when the two holding members 100 are holding the object T (see FIG. 8)).

[0088] The control device 50 causes the robot 10 to execute at least one of the above-described various adhering matter removal operations, and then acquires the measured values of the weight of the housing member 20 from the respective weighing devices 600. Thereby, the object T (adhering matter Tu) that adhered to the two holding members 100 can be returned to the housing member 20. As a result, the control device 50 can more accurately calculate the weight of the object T held by the two holding members 100 in the immediately preceding holding operation. Thereby, the work of distributing the object T by the robot system 1 is efficiently executed. Also, wasteful consumption of the object T housed in the housing member 20 is suppressed. Furthermore, according to the above-described various adhering matter removal operations, the removal of the adhering matter Tu is realized by the movement of the hand 11 (including the movement of only one of the two holding members 100), rather than by cleaning using some tool and replacing the holding member 100 or the like.

[0089] [6. Summary of the Embodiment] As described above, the robot system 1 according to the present embodiment includes a robot 10 and a weighing scale 600 disposed under a housing member 20 that houses an object T. The robot 10 is a holding member 100 that performs a predetermined operation including at least one of holding the object T and releasing the held object T, and includes a holding member 100 that is movable in the vertical direction.

[0090] According to this configuration, the weighing scale 600 disposed under the housing member 20 that houses the object T can measure the weight of the housing member 20 before and after the predetermined operation of the holding member 100. That is, for example, the weight of the object T held or released by the holding member 100 can be measured. Therefore, even if the object T scatters during the predetermined operation of the holding member 100, it is difficult for the scattered object T to adhere to a device (such as a weight sensor) for detecting the weight disposed on a part of the robot 10 and fall at an unexpected position and timing. For example, it is difficult for the problem that the object T adhering to the device falls into the container 31 (see FIG. 1) at an unexpected timing to occur. Therefore, according to the robot system 1 according to the present embodiment, the work can be efficiently advanced.

[0091] In the present embodiment, specifically, the object T is food. Thus, when the object T is food, for example, if a weighing scale is disposed on the robot 10, the object T adhering to the weighing scale may be left as it is. In this case, a problem may occur in that the deteriorated food falls at an unexpected position and timing. In this regard, in the robot system 1 according to the present embodiment, since the weighing scale 600 is disposed under the housing member 20, it is difficult for the food, which is the object T, to adhere to the weighing scale 600. That is, it is difficult for the problem that the deteriorated food falls at an unexpected position and timing to occur.

[0092] In the present embodiment, the robot system 1 includes a control device 50 that controls the operation of the robot 10 to cause the holding member 100 to execute the predetermined operation. The control device 50 further causes the holding member 100 to execute an attachment removal operation for dropping the object T (attachment Tu) attached to the holding member 100, which is an attachment removal operation involving the movement of the holding member 100 (see FIGS. 8 to 13).

[0093] By executing the attachment removal operation, the robot system 1 can remove the object T (attachment Tu) attached to the holding member 100. As a result, the weight and the like of the object T held by the holding operation can be measured more accurately. However, in the attachment removal operation, since the holding member 100 vibrates or moves at high speed, etc., the attachment Tu may scatter in an unexpected direction. In this regard, in the robot system 1 according to the present embodiment, even when the attachment Tu scatters in an unexpected direction due to the attachment removal operation, since the weighing scale 600 is disposed below the housing member 20, it is difficult for the scattered attachment Tu to adhere to the weighing scale 600.

[0094] In the present embodiment, the object T has a predetermined viscosity or a predetermined adhesiveness. In this case, if the object T is placed on the weighing scale on the robot 10, the object T (attachment Tu) attached to the weighing scale is more difficult to drop, so that the problem that the attachment Tu drops at an unexpected position and timing is likely to occur. In this regard, in the robot system 1 according to the present aspect, since the weighing scale 600 is below the housing member 20, it is difficult for the object T to adhere to the weighing scale 600.

[0095] In the present embodiment, a plurality of weighing scales 600 arranged along the bottom wall 23 of the housing member 20 are disposed below the housing member 20.

[0096] For example, even when the initial weight of the housing member 20 that houses the object T is relatively large and the measurable range of one weighing scale 600 is relatively narrow, the weight of the housing member 20 including the object T can be measured by sharing it among a plurality of weighing scales 600. That is, even if the weighing scale 600 has a small minimum measurement unit and a relatively narrow measurable range, by using a plurality of such weighing scales 600, it is possible to measure with relatively high accuracy from the initial weight of the housing member 20 to the final weight when almost no object T remains inside the housing member 20.

[0097] As described above, the robot system 1 according to the embodiment has been explained. However, the robot system 1 may have a configuration different from the configurations shown in FIGS. 1 to 13. Therefore, hereinafter, a modification example of the robot system 1 will be described centering on the differences from the above embodiment.

[0098] [7-1. Modification Example 1] FIG. 14 is a front view schematically showing a first configuration example of the robot system 1a according to Modification Example 1 of the embodiment. FIG. 15 is a front view schematically showing a second configuration example of the robot system 1a according to Modification Example 1 of the embodiment.

[0099] As shown in FIGS. 14 and 15, the robot system 1a according to this modification example has a configuration in which a buffer member 610 is further provided in the configuration of the robot system 1 according to Embodiment 1. That is, the robot system 1a according to this modification example includes a buffer member 610 between the weighing scale 600 and the housing member 20. More specifically, the buffer member 610 is disposed between the mounting surface 603 of the weighing scale 600 and the housing member 20. This contributes to an improvement in the working efficiency of the robot system 1a. The buffer member 610 is formed of an elastic material having relatively low rigidity, such as urethane foam, for example.

[0100] Specifically, when the robot 10 performs a predetermined operation including taking out the object T from the housing member 20, vibration may occur in the housing member 20 due to the predetermined operation. This is significant, for example, when the viscosity of the object T is high, when the density of the object T is large, or when the intrusion distance of the two holding members 100 into the object T is large. When the housing member 20 vibrates due to the operation of the robot 10, from the viewpoint of ensuring the accuracy of the measured value, the measurement of the weight of the housing member 20 by the weighing scale 600 is performed after waiting for the vibration to converge. This becomes a factor that reduces the efficiency of the work of the robot system 1a.

[0101] Regarding this point, in the robot system 1a according to this modification, a buffer member 610 is provided between the housing member 20 and the weighing scale 600. Therefore, at least a part of the vibration of the housing member 20 caused by the predetermined operation is absorbed by the buffer member 610. Also, the vibration of the housing member 20 caused by the robot 10 performing the above-described deposit removing operation can also be absorbed by the buffer member 610. Therefore, the measurement of the weight of the housing member 20 by the weighing scale 600 is efficiently performed. As a result, the robot system 1a can efficiently proceed with operations such as distributing the object T to the container 31.

[0102] In this modification, the buffer member 610 is a flat plate-shaped member that covers the entire mounting surface 603 of the weighing scale 600. That is, the buffer member 610 contacts the housing member 20 with a relatively wide surface. Therefore, the vibration of the housing member 20 can be more reliably absorbed. Also, in this modification, as shown in FIGS. 14 and 15, a plurality of weighing scales 600 arranged along the bottom wall 23 of the housing member 20 are disposed under the housing member 20. That is, the robot system 1a includes a plurality of weighing scales 600, and the buffer member 610 is disposed on each of these plurality (three in this modification) of weighing scales 600. Therefore, the influence of the vibration of the housing member 20 on each of the three weighing scales 600 is suppressed. Also, for example, the inclination of the housing member 20 due to the buffer member 610 not being disposed on one or two of the weighing scales 600 is suppressed. [[ID=!0]]

[0103] The rigidity of each of the three buffer members 610 in this modification example may be different. For example, since the central portion of the bottom wall 23 of the housing member 20 is the portion where a large amount of the object T is placed, it is likely to bulge downward. Therefore, the rigidity of the buffer member 610 facing the central portion may be made larger than that of the other buffer members 610.

[0104] Specifically, the three buffer members 610 include a first buffer member 610a disposed on the first weighing scale 600a and a second buffer member 610b disposed on the second weighing scale 600b. That is, in this modification example, the first buffer member 610a is disposed at the central portion in the Y-axis direction (the range including the center in the Y-axis direction) of the housing member 20 that is long in the Y-axis direction, and the second buffer members 610b are disposed on both sides of the first buffer member 610a in the Y-axis direction. In such a configuration, the rigidity of the first buffer member 610a may be higher than the rigidity of the second buffer member 610b. For example, by making the type of material forming the first buffer member 610a different from the type of material forming the second buffer member 610b, making the densities of these materials different, or making the cross-sectional shape of the first buffer member 610a different from the cross-sectional shape of the second buffer member 610b, etc., the rigidity of the first buffer member 610a can be made higher than the rigidity of the second buffer member 610b.

[0105] Since the rigidity of the first buffer member 610a is higher than the rigidity of the second buffer member 610b, for example, as shown in FIG. 14, when the housing member 20 is disposed on a plurality of weighing scales 600, the bulging of the central portion of the bottom wall 23 of the housing member 20 is suppressed. That is, the flattening of the bottom wall 23 of the housing member 20 is achieved. As a result, for example, the object T is suppressed from approaching the central portion. Also, the calculation of the depth of the object T (the distance from the bottom wall 23 to the surface of the object T) at the central portion of the housing member 20 becomes easy.

[0106] Also, in the robot system 1a according to this modification example, the rigidity of the first buffer member 610a may be lower than the rigidity of the second buffer member 610b. For example, by making the type of material forming the first buffer member 610a different from the type of material forming the second buffer member 610b, making the densities of these materials different, or making the cross-sectional shape of the first buffer member 610a different from the cross-sectional shape of the second buffer member 610b, etc., the rigidity of the first buffer member 610a can be made lower than the rigidity of the second buffer member 610b.

[0107] As described above, the central portion of the bottom wall 23 of the housing member 20 is likely to bulge downward. Therefore, when the housing member 20 is arranged on the plurality of weighing scales 600, a large load is likely to be applied to the first weighing scale 600a, while a relatively small load is likely to be applied to the second weighing scale 600b. As a result, for example, a load exceeding the measurable range of the first weighing scale 600a may be applied to the first weighing scale 600a. In this regard, in the robot system 1a according to this modification example, the rigidity of the first buffer member 610a can be made lower than the rigidity of the second buffer member 610b. Thereby, as shown in FIG. 15, when a load is applied from the housing member 20, the first buffer member 610a is more likely to dent than the second buffer member 610b. Therefore, the difference (difference in the load borne) between the load applied to the first weighing scale 600a and the load applied to the second weighing scale 600b becomes smaller. As a result, the weight of the housing member 20 using the plurality of weighing scales 600 is measured more accurately.

[0108] The buffer member 610 arranged between the weighing scale 600 and the housing member 20 may be fixed to the placement surface 603 of the weighing scale 600 with an adhesive or double-sided tape, etc., or may simply be sandwiched between the placement surface 603 and the housing member 20. The buffer member 610 may be fixed to the bottom wall 23 of the housing member 20 with an adhesive or double-sided tape, etc. That is, it may be expressed that the weighing scale 600 includes the buffer member 610, or it may be expressed that the housing member 20 includes the buffer member 610.

[0109] [7-2. Modification Example 2] FIG. 16 is a front view schematically showing a configuration example of a robot system 1b according to Modification Example 2 of the embodiment. As shown in FIG. 16, the robot system 1b according to this modification example includes an adjustment unit 700 capable of changing the vertical position of the first weighing scale 600a to be lower than the vertical position of the second weighing scale 600b. The adjustment unit 700 is disposed between the base 70 and the plurality of weighing scales 600. Thereby, the weight of the housing member 20 using the plurality of weighing scales 600 is measured more accurately.

[0110] Specifically, as described above, the central portion of the bottom wall 23 of the housing member 20 is likely to bulge downward. Therefore, when the housing member 20 is disposed on the plurality of weighing scales 600, a large load is applied to the first weighing scale 600a, while a relatively small load is likely to be applied to the second weighing scale 600b. As a result, for example, a load exceeding the measurable range of the first weighing scale 600a may be applied to the first weighing scale 600a. In this regard, in the robot system 1b according to this modification example, the vertical position of the first weighing scale 600a can be made lower than the vertical position of the second weighing scale 600b. That is, the mounting surface 603 of the first weighing scale 600a and the mounting surface 603 of the second weighing scale 600b are arranged along the bulge of the bottom wall 23 of the housing member 20. Thereby, the difference in the load borne by the first weighing scale 600a and the second weighing scale 600b is reduced. As a result, the weight of the housing member 20 using the plurality of weighing scales 600 is measured more accurately.

[0111] In this modification example, the adjustment unit 700 includes a first adjustment unit 710 disposed under the first weighing scale 600a and a second adjustment unit 711 disposed under the second weighing scale 600b. The first adjustment unit 710 and the second adjustment unit 711 are independently extendable and contractible in the vertical direction (Z-axis direction). Therefore, for example, the lengths (second lengths) in the Z-axis direction of the two second adjustment units 711 are made the same, and the length (first length) in the Z-axis direction of the first adjustment unit 710 is made smaller than the second length. Thereby, the vertical position of the first weighing scale 600a can be made lower than the vertical position of the second weighing scale 600b.

[0112] There are no particular limitations on the means for changing the length in the Z-axis direction (height adjustment) in the first adjustment unit 710 and the second adjustment unit 711. Height adjustment may be performed using pressure such as air or oil, or height adjustment may be performed using a link mechanism or a ball screw mechanism or the like.

[0113] One of the first adjustment unit 710 and the second adjustment unit 711 may not be capable of height adjustment. For example, when the first adjustment unit 710 is capable of height adjustment, the second adjustment unit 711 may not be capable of height adjustment. Also, when the second adjustment unit 711 is capable of height adjustment, the first adjustment unit 710 may not be capable of height adjustment. In any case, the adjustment unit 700 can change the vertical position of the first weighing scale 600a to be lower than the vertical position of the second weighing scale 600b. Therefore, for example, by installing the first adjustment unit 710 capable of height adjustment inside the recess provided in the base 70, the upper surfaces on both sides in the Y-axis direction of the recess in the base 70 may function as the second adjustment unit 711.

[0114] Further, in the robot system 1b according to this modification example, the control device 50 (see FIG. 1), for example, when the amount of the object T disposed at the center of the bottom wall 23 of the housing member 20 decreases, may perform at least one of moving the first weighing scale 600a upward and moving the second weighing scale 600b downward by controlling the adjustment unit 700. That is, when the amount of deflection of the bottom wall 23 of the housing member 20 downward decreases due to the elastic force (restoring force) of the bottom wall 23 or the like, the vertical position of at least one of the first weighing scale 600a and the second weighing scale 600b may be adjusted so as to follow the shape of the bottom wall 23. Thereby, during the period in which the object T sorting operation by the robot system 1b is being executed, a state where the difference in the load borne by the first weighing scale 600a and the second weighing scale 600b is small is maintained.

[0115] [7-3. Modification Example 3] FIG. 17 is a front view schematically showing a configuration example of a robot system 1c according to Modification Example 3 of the embodiment. As shown in FIG. 17, the robot system 1c according to this modification example has a configuration in which a buffer member 610 according to Modification Example 1 is further provided in the robot system 1b according to Modification Example 2. That is, the robot system 1c according to this modification example includes an adjustment unit 700 that can change the vertical position of the first weighing scale 600a to be lower than the vertical position of the second weighing scale 600b. The robot system 1c further includes a buffer member 610 between the weighing scale 600 and the housing member 20. More specifically, buffer members 610 are arranged for each of the plurality (three in this modification example) of weighing scales 600.

[0116] According to this configuration, an effect can be obtained that the difference between the load applied to the first weighing scale 600a and the load applied to the second weighing scale 600b is reduced by the adjustment unit 700. Further, an effect can be obtained that at least a part of the vibration of the housing member 20 is absorbed by the buffer member 610.

[0117] Also, in the robot system 1c according to this modification example, buffer members 610 are arranged for each of the plurality (three in this modification example) of weighing scales 600. The three buffer members 610 include a first buffer member 610a arranged on the first weighing scale 600a and a second buffer member 610b arranged on the second weighing scale 600b. Therefore, as described in Modification Example 1 above, the rigidity of the first buffer member 610a and the rigidity of the second buffer member 610b can be made different. For example, the rigidity of the first buffer member 610a may be lower than the rigidity of the second buffer member 610b. In this case, the first buffer member 610a is more likely to be dented than the second buffer member 610b. This is advantageous for reducing the difference in the load borne by the first weighing scale 600a and the second weighing scale 600b.

[0118] In the above-described Modification 1 (see FIGS. 14 and 15) and this modification, the buffer member 610 does not necessarily cover the entire mounting surface 603 of the weighing scale 600. For example, one buffer member 610 may be disposed at each of the four corners of the substantially rectangular mounting surface 603 in a top view. However, from the viewpoint of more reliably absorbing the vibration of the housing member 20 or more stably supporting the housing member 20, it is preferable that the buffer member 610 covers the entire mounting surface 603.

[0119] [8. Description of Other Modifications] As described above, the robot systems 1 and 1a to 1c according to the embodiments and their modifications have been described. However, the present invention is not limited to the above-described embodiments and modifications. 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.

[0120] In the above-described embodiment, each of the holding members 100 included in the robot 10 is assumed to have the plate-like portion 110, the pair of side plate portions 120, and the top plate portion 130. However, any one of the holding members 100 may not have one or both of the side plate portions 120, or may not have the top plate portion 130. In addition to or instead of the plate-like portion 110, the holding member 100 may have a member other than a plate-like shape such as a rod shape (column shape) or a block shape.

[0121] There is no particular limitation on the method by which the robot 10 holds and releases the object T. For example, the robot 10 may hold and release the object T by opening and closing three or more holding members. For example, the robot 10 may lift up the object T by a holding member having a rod shape, a plate shape, a fork shape, or a spoon shape, or hold the object T by rubbing or piercing the tip of the holding member against the object T. In this case, the robot 10 may release the object T into the container 31 by vibrating the holding member, moving and suddenly stopping the holding member, or rubbing the object T against another object such as the container 31.

[0122] The layout of the plurality of weighing scales 600 included in the robot system 1 according to the above embodiment is not limited to the layout shown in FIG. 5. For example, when the robot system 1 includes six weighing scales 600, two groups of weighing scales 600 each consisting of three weighing scales 600 arranged in the Y-axis direction may be arranged in the X-axis direction.

[0123] The shape of the upper surface of the mounting table 602 of the weighing scale 600 does not need to be substantially rectangular. The shape of the mounting surface 603 in a top view may be circular, elliptical, oval, or a polygonal shape other than rectangular. That is, the shape of the mounting surface 603, which is the upper surface of the mounting table 602, in a top view may also be circular, elliptical, oval, or a polygonal shape other than rectangular.

[0124] In the above embodiment, the robot system 1 is not limited to including all the above-described components, such as not having to include the cover portion 40.

[0125] The object T that the robot system 1 according to the embodiment targets for operations such as distribution to the container 31 is not limited to food. The robot system 1 can be applied to a robot system that performs operations of holding and releasing various objects. For example, the configuration and operation of the robot system 1 according to the embodiment may be applied to a robot system that performs operations of holding and releasing materials with high viscosity or adhesiveness, such as kneaded mortar, concrete, plaster, clay, etc. The configuration and operation of the robot system 1 according to the embodiment are suitable for a robot system that holds and releases an object having a viscosity of medium viscosity or higher (5000 mPa·s) or higher at the working temperature or room temperature.

[0126] The various supplementary matters regarding the robot system 1 according to the above embodiment may be appropriately applied to each of the robot systems 1a, 1b, and 1c according to the above modification examples 1 to 3.

[0127] The present invention can be realized not only as a robot system 1, but also as a holding method or a control method including characteristic processing steps performed by the robot system 1 or the control device 50. The present invention can be realized as a program that causes a computer to execute steps included in the holding method or the control method. That is, each component included in the control device 50 may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. Further, the present invention can be realized as a computer-readable non-transitory recording medium on which the program is recorded, for example, a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, a flash memory, a magnetic storage device, an optical disk, a paper tape, or any other medium. And the program can be distributed via the recording medium and a transmission medium such as the Internet. Also, the present invention can be realized as an integrated circuit including a processing unit included in the control device 50. That is, each function included in the control device 50 may be realized as an LSI (Large Scale Integration) which is an integrated circuit. These may be individually formed into one chip, or may be formed into one chip so as to include part or all of them. Thus, the control device 50 may be configured such that each component is constituted by dedicated hardware, or may be realized by executing a software program suitable for each component.

[0128] A form constructed by arbitrarily combining the components included in the above-described embodiment and its modified examples is also included in the scope of the present invention. Also, a combination of two or more claims arbitrarily selected from a plurality of claims described in the claims at the time of filing of the present application within a technically non-contradictory range is also included in the present invention.

Description of Reference Numerals

[0129] 1, 1a, 1b, 1c Robot system 2 Carry-out unit 10 Robot 11 Hand 12 Robot Arm 20 Containment Member 21 Side Wall 23 Bottom Wall 31 Container 40 Cover Part 50 Control Device 70 Base 90 Container Supply Unit 100, 101, 102 Holding Members 110, 111, 112 Plate - like Parts 120, 121, 122 Side Plate Parts 130, 131, 132 Top Plate Parts 200, 201, 202 Moving Parts 300 Guide Part 400 Connection Part 600 Weighing Scale 600a First Weighing Scale 600b Second Weighing Scale 601 Main Body Part 602 Mounting Table 603 Mounting Surface 610 Buffer Member 610a First Buffer Member 610b Second Buffer Member 700 Adjustment Part 710 First Adjustment Part 711 Second Adjustment Part T Object Tu Adhesion

Claims

1. A robot comprising a holding member that performs a predetermined operation including at least one of holding an object and releasing the held object; A weighing scale disposed under a housing member in which the object is housed; and The holding member is movable in the vertical direction. A robot system.

2. The object is food. The robot system according to Claim 1.

3. Further comprising a control device that causes the holding member to perform the predetermined operation by controlling the operation of the robot, The control device further causes the holding member to perform an adhesion removal operation for dropping the object adhering to the holding member, the adhesion removal operation involving movement of the holding member. The robot system according to Claim 1 or 2.

4. The object has a predetermined viscosity or a predetermined adhesiveness. The robot system according to Claim 3.

5. Further comprising a buffer member, The buffer member is disposed between the mounting surface of the weighing scale on which the housing member is placed and the housing member. The robot system according to Claim 1 or 2.

6. The buffer member is a flat plate-shaped member that covers the entire surface of the mounting surface. The robot system according to Claim 5.

7. A plurality of the weighing scales are arranged along the bottom wall of the housing member under the housing member. The robot system according to Claim 5.

8. A buffer member is disposed on each of the plurality of weighing scales. The robot system according to Claim 7.

9. The plurality of weighing scales include a first weighing scale and a second weighing scale, The plurality of buffer members include a first buffer member disposed on the first weighing scale and a second buffer member disposed on the second weighing scale, The first weighing scale faces the central portion of the housing member in a top view, The second weighing scale faces the end portion of the housing member in a top view, The rigidity of the first buffer member is lower than the rigidity of the second buffer member. The robot system according to Claim 8.

10. The plurality of weighing scales include a first weighing scale and a second weighing scale, The plurality of buffer members include a first buffer member disposed on the first weighing scale and a second buffer member disposed on the second weighing scale, The first weighing scale faces the central portion of the housing member in a top view, The second weighing scale faces the end portion of the housing member in a top view, The rigidity of the first buffer member is higher than the rigidity of the second buffer member. The robot system according to claim 8.

11. Below the housing member, a plurality of the weighing scales arranged along the bottom wall of the housing member are disposed, The plurality of the weighing scales includes a first weighing scale and a second weighing scale, The first weighing scale faces the central portion of the housing member in a top view, The second weighing scale faces the end portion of the housing member in a top view, The robot system further includes an adjustment unit capable of changing the vertical position of the first weighing scale to be lower than the vertical position of the second weighing scale. The robot system according to claim 1 or 2.

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