Hand device and transfer apparatus

Abstract

To provide a hand device capable of gripping various kinds of articles.SOLUTION: A hand device comprises: a base 23; a first suction part 24 which is provided on the base 23, and has an adsorption face 24a for gripping a first plane 11a to be adsorbed of an article 11; and a second suction part 25 which can move along the base 23 to grip a second plane 11b to be adsorbed that is orthogonal to the first plane 11a to be adsorbed of the article 11. In accordance with a shape of the article 11, the hand device performs either an operation of gripping the article 11 using the first suction part 24 and gripping the article 11 using the second suction part 25, or an operation of gripping the article 11 using only the first suction part 24.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a hand device for gripping an article and a transfer device. [Background technology]

[0002] BACKGROUND ART Conventionally, a transfer device is known, for example, as described in Patent Document 1 below, for gripping an article by hand and transferring it to a transfer destination.

[0003] This transfer device is able to grip and transfer a wide variety of items of different sizes with a single hand, and is controlled so that the gripping state corresponds to the shape of the item and the destination. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-254078 Summary of the Invention [Problem to be solved by the invention]

[0005] In the transfer device described above, since a wide variety of articles are held by a single hand, it is necessary to control the holding state so that it corresponds to the shape of the article and the transfer destination.

[0006] The problem to be solved by the present invention is to provide a hand device and a transfer device that can grip a wide variety of articles. [Means for solving the problem]

[0007] The hand device of the present invention includes a base, a first suction unit provided on the base and having an suction surface for gripping a first suction surface of an article, and a second suction unit movable along the base for gripping a second suction surface of the article that intersects with the first suction surface, and performs either an operation of gripping the article with the first suction unit and the second suction unit and an operation of gripping the article with only the first suction unit, depending on the shape of the article. The hand device may perform the operation depending on the gripping posture relative to the article. [Effects of the Invention]

[0008] According to the present invention, a wide variety of articles can be gripped. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view of a transfer device showing an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of a cart to which articles are transferred by the transfer device. [Figure 3] 10 is a plan view showing the relationship between the suction portion of the hand device of the transfer device and a reference point. FIG. [Figure 4] 5(a) to 5(d) are side views showing the movements of the suction part and the second suction part of the hand device. [Figure 5] FIG. 2 is a block diagram of a control unit of the transfer device. [Figure 6] 10 is a flowchart illustrating a transfer process of the transfer device. [Figure 7] 10(a) to 10(f) are plan views for explaining examples of gripping plans created by the transfer device. [Figure 8] 10A to 10E are plan views for explaining examples of gripping plans created by the transfer device. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present invention will now be described with reference to the drawings.

[0011] 1 shows a transfer device 10. The transfer device 10 picks up an article 11 from a transfer source and transfers the picked up article 11 to a transfer destination.

[0012] The article 11 is, for example, a rectangular parallelepiped or wrap-around case such as a cardboard box that contains contents. The shape and dimensions of the article 11 to be transferred may be of a single type or of multiple types. The article 11 has a flat outer surface, and the top surface of the article 11 is an attractable surface (first attractable surface) 11a that is attracted and held by the transfer device 10, and one side surface intersecting with this attractable surface 11a is a second attractable surface 11b that is attracted and held by the transfer device 10 when it is possible to attract and hold it.

[0013] The source of transfer is a pallet 12 on which a single type of item 11 or multiple types of items 11 are stacked in a predetermined stacking pattern. For example, a transport device such as a forklift or conveyor transports the pallet 12 on which the items 11 are stacked to a predetermined source position corresponding to the operating range of the transfer device 10, and after the required number of items 11 have been removed, or after the pallet 12 has been removed and is empty, it is transported from the source position. The source of transfer may also be a conveyor that sequentially carries in the items 11 to be transferred.

[0014] As shown in FIGS. 1 and 2, the transfer destination is, for example, a cart (car dolly) 13 called a roll box pallet. The cart 13 includes a dolly section 15 having a plurality of casters 14 and lattice-shaped panels 16 erected on three of the surrounding sides of the dolly section 15: the back, left side, and right side. An opening 17 is provided on the front side of the dolly section 15 where the panels 16 are not erected, allowing the items 11 to be taken in and out, and the top of the cart 13 is also open. The empty cart 13 is transported to a predetermined transfer destination position corresponding to the operating range of the transfer device 10, and the cart 13 with the items 11 transferred thereto is transported from the transfer destination position. The transfer destination may also be a car truck or the like having panels on both longitudinal ends of the long dolly section.

[0015] 2 shows an example in which multiple types of articles 11 are transferred to the cart 13, and there may be a mixture of positions and postures in which the long sides of the attracting surfaces 11a of the articles 11 are aligned along a first direction X, which is the left-right direction parallel to the opening 17 of the cart 13, and positions and postures in which the long sides of the attracting surfaces 11a of the articles 11 are aligned along a second direction Y, which is the front-to-back direction intersecting the opening 17 of the cart 13. Furthermore, there may be cases in which the articles 11 are arranged in a row in multiple width directions parallel to the opening 17 on the cart 13, and in multiple depth directions including the rear and front sides of the opening 17.

[0016] The transfer device 10 also includes a hand device 20 that grips the article 11 and a movement mechanism 21 that moves the position of the hand device 20.

[0017] The hand device 20 comprises a base 23 attached to the moving mechanism 21, an adsorption portion (first adsorption portion) 24 which is an upper surface adsorption portion that adsorbs and grips the adsorbed surface 11a on the upper surface of the article 11, a second adsorption portion 25 which is a side surface adsorption portion that adsorbs and grips the second adsorbed surface 11b on the side surface of the article 11, and a palm 26 which clamps the article 11 between the second adsorption portion 25.

[0018] The suction unit 24 is moved up and down by an air cylinder or the like relative to the base 23. A suction pad is provided on the lower surface of the suction unit 24, and an suction surface 24a that suction-holds the suction target surface 11a of the article 11 is formed.

[0019] As shown in the plan view of FIG. 3, a plurality of suction units 24 are arranged side by side in a first direction X, which is the left-right direction. In this embodiment, the suction unit 24 includes a left suction unit 24L on one side and a right suction unit 24R on the other side. The width of each suction unit 24L, 24R in the first direction X, which is the left-right direction, is smaller than the width in a second direction Y, which is the front-rear direction intersecting the first direction X. Each of the suction units 24L, 24R can independently switch between suction and release. Note that a plurality of suction units 24 may also be arranged side by side in the second direction Y, or there may be only one suction unit in each of the first direction X and the second direction Y.

[0020] The width of the suction portion 24 in the first direction X is wider than or approximately the same as the width of other parts of the hand device 20, and the end of the suction portion 24 opposite the second suction portion 25 in the second direction Y protrudes more than or is in approximately the same position as other parts of the hand device 20 (excluding the palm 26).

[0021] As shown in Figure 4(a), the suction portion 24 is moved downward when the second suction portion 25 is not used, depending on the dimensions of the article 11 to be suction-held, and is moved upward when the second suction portion 25 is used, depending on the dimensions of the article 11, as shown in Figure 4(b) to (d).

[0022] The second suction unit 25 is raised and lowered relative to the base 23 by an air cylinder or the like, and is also moved horizontally along the base 23 in the second direction Y by the air cylinder or the like. A suction pad is provided on the side of the second suction unit 25, and a second suction surface 25a is formed to suction and grip the second attracted surface 11b of the article 11. As shown in the plan view of FIG. 3, a plurality of second suction units 25 are arranged side by side in the first direction X corresponding to the suction units 24. In this embodiment, the second suction unit 25 includes a left second suction unit 25L and a right second suction unit 25R. The second suction units 25L and 25R can each be independently switched between suction and release.

[0023] As shown in Figure 4(a), when the second suction portion 25 cannot be used due to the dimensions of the article 11, it is moved upward above the suction surface 24a of the suction portion 24, and when it can be used due to the dimensions of the article 11, it is moved downward below the suction surface 24a of the suction portion 24, as shown in Figures 4(b) to (d).Also, when the dimension of the article 11 in the second direction Y is small, it is moved horizontally in the second direction Y by a desired amount so as to cross the space below the suction surface 24a of the suction portion 24, as shown in Figure 4(c).

[0024] The palm 26 is raised and lowered relative to the base 23 by an air cylinder or the like, and is also moved horizontally in a second direction Y along the base 23 by an air cylinder or the like. As shown in Figures 4(a) and (d), if the palm 26 cannot be used due to the dimensions of the item 11, it is moved in the second direction Y away from the suction part 24 and moved upward above the suction surface 24a of the suction part 24. Also, as shown in Figures 4(b) and (c), if the palm 26 can be used due to the dimensions of the item 11, it is moved downward below the suction surface 24a of the suction part 24 and moved toward the item 11 adsorbed and held by the suction part 24.

[0025] 1, the movement mechanism 21 is an articulated robot, and includes a base 28 and a robot arm 29 rotatably mounted on the base 28. The robot arm 29 has multiple rotatable shafts, allowing its tip to be moved to any position. The tip of the robot arm 29 has a rotation shaft 30 that is always kept vertical, and the base 23 of the hand device 20 is attached to the lower end of this rotation shaft 30. Note that the movement mechanism 21 is not limited to an articulated robot, and may be, for example, an orthogonal movement mechanism configured with three orthogonal slide shafts.

[0026] Next, the control unit 40 that controls the transfer device 10 is shown in FIG.

[0027] The control unit 40 is connected to a management terminal 41 and a camera 42 .

[0028] The management terminal 41 manages information about the items 11, work information, etc. The information about the items 11 includes the shape and dimensions of the items 11 to be transferred, etc. The work information includes the loading pattern of the items 11 on the pallet 12, their position and attitude including attitude such as position and orientation, and the order of removal, as well as the shape and dimensions of the cart 13, the loading pattern of the items 11 onto the cart 13, their position and attitude including attitude such as position and orientation of the items 11 on the cart 13, and the loading order.

[0029] The camera 42 photographs from above the state of the package of the goods 11 on the pallet 12 placed at the transfer source position. Since the goods 11 are stacked on the pallet 12 in a predetermined stacking pattern, the position and orientation of the goods 11 can be grasped, but since there may be cases where the goods 11 are misaligned, rearranged, or removed, resulting in defects in the package, the camera 42 is used to obtain information on the actual position and orientation of the goods 11.

[0030] The control unit 40 also includes a storage unit 44 , a gripping posture determination unit 45 , an operation plan generation unit 46 , and a robot controller 47 .

[0031] The memory unit 44 stores hand information, work information, product information, etc. The hand information includes the positions (coordinates) of multiple reference points preset with respect to the suction surface 24a of the suction unit 24, multiple ranges related to dimensions preset in each of the first direction X and the second direction Y, etc. The work information also includes stowage information including the stowage pattern, stowage order, and position and posture of the items 11 onto the cart 13, and stowage destination information such as the dimensions and shape of the cart 13. The item information also includes the shape and dimensions of the item 11 to be transferred.

[0032] The gripping posture determination unit 45 includes a reference point determination unit 49 and a suction part determination unit 50, and creates a gripping plan for the item 11.

[0033] The reference point determination unit 49 determines a reference point of the adsorption surface 24a relative to the item 11 from the dimensional information and stowage information of the item 11, determines a gripping posture of the adsorption surface 24a relative to the item 11 based on this determined reference point, and further determines a gripping target position on the adsorbed surface 11a of the item 11 corresponding to the determined reference point and gripping posture of the adsorption surface 24a. This gripping target position of the item 11 is, for example, a position that overlaps with the determined reference point of the adsorption surface 24a, and can be defined by three-dimensional information. Note that the reference point and gripping posture of the adsorption surface 24a and the gripping target position of the item 11 change depending on the dimensions and gripping posture of the item 11.

[0034] The suction part determination unit 50 determines the number of left and right suction parts 24 to be used, whether or not the second suction parts 25 are to be used, the number of second suction parts 25 to be used when they are in use, and the amount of movement in the second direction Y.

[0035] Therefore, the gripping posture determination unit 45 creates a gripping plan that includes determining the reference point and gripping posture of the suction surface 24a, determining the target gripping position on the attached surface 11a of the article 11, and determining the usage status of each suction unit 24, 25.

[0036] The motion plan generation unit 46 generates a motion plan for determining the order in which the articles 11 are to be removed from the pallet 12 and for operating the hand device 20 and the robot arm 29. The motion plan generates motion amounts from the origin position for operating the hand device 20 and the robot arm 29 so that the hand device 20 grasps the article 11 in a gripping posture in which the reference point of the suction surface 24a created in the grip plan has a predetermined positional relationship with the grip target position of the article 11 on the pallet 12. The predetermined positional relationship is, for example, a positional relationship in which the reference point of the suction surface 24a overlaps with the grip target position of the article 11 on the pallet 12, and the first direction X and second direction Y of the suction surface 24a coincide with the first direction X and second direction Y of the attached surface 11a of the article 11. The motion plan also generates motion amounts for operating the hand device 20 and the robot arm 29 so that the reference point of the suction surface 24a moves to the transfer target position where the article 11 is to be transferred to the cart 13.

[0037] The robot controller 47 controls the operations of the hand device 20 and the robot arm 29 in accordance with the operation plan generated by the operation plan generating unit 46 .

[0038] Then, the transfer device 10 removes the articles 11 from the pallet 12 in a preset order and loads them onto the cart 13 in a preset loading pattern. At this time, because the panel 16 is erected on the side of the cart 13, the robot arm 29 must be positioned in the opening 17 where the panel 16 is not present on the side of the cart 13, and the article 11 must be sucked and grasped at a predetermined position on the suction surface 24a of the hand device 20, and transferred to the cart 13, taking into consideration the position of this robot arm 29.

[0039] 2, when the position and posture of the article 11 on the cart 13 is such that the article 11 is transferred to the left side, which is one side in the first direction X, the reference point and range of dimensions of the suction surface 24a are determined based on the left reference, and when the position and posture of the article 11 on the cart 13 is such that the article 11 is transferred to the right side, which is the other side in the first direction X, the reference point and range of dimensions of the suction surface 24a are determined based on the right reference, and further, when the position and posture of the article 11 on the cart 13 is such that the article 11 is transferred to the right side, which is the other side in the first direction X, the reference point and range of dimensions of the suction surface 24a are determined based on the right reference. Furthermore, the gripping posture of the hand device 20 when removing the article 11 from the pallet 12 is determined in accordance with the position and posture, such as the position and orientation, of the article 11 transferred to the cart 13.

[0040] As shown in FIG. 3 , on the suction surface 24a, reference columns 1 to 5 are set at predetermined intervals from the left side, which is one side in the first direction X, and reference rows A, B, and C are set at predetermined intervals from one side in the second direction Y. Reference points A1 to A5, B1 to B5, and C1 to C5 are set in advance at positions where these reference columns and reference rows intersect. The reference columns 1, 3, and 5 are located at the ends of each suction surface 24a in the first direction X, the reference columns 2 and 4 are located at the middle (center) of each suction surface 24a in the first direction X, the reference rows A and C are located at the ends of each suction surface 24a in the second direction Y, and the reference row B is located at the middle (center) of each suction surface 24a in the second direction Y. These reference points serve as references for controlling the operation of the hand device 20 and the robot arm 29 when the suction surface 24a suction-holds the article 11 or transfers the article 11 to the cart 13.

[0041] Furthermore, the reference point of the suction surface 24a, the number of suction portions 24 used on the left and right sides, and whether or not the second suction portion 25 and the palm 26 are used are determined by which of multiple ranges (reference ranges) of dimensions the dimensions of the item 11 in the first direction X and the second direction Y in the gripping posture belong to.

[0042] The multiple ranges related to these dimensions are, for example, reference points. In the case of a left-reference setting, a first direction range X1 corresponding to a reference column range of 1 to 3 in the first direction X, a first direction second range X2 corresponding to a reference column range of 1 to 4, a first direction third range X3 corresponding to a reference column range of 1 to 5, and a first direction fourth range X4 corresponding to a range longer than the reference column range of 1 to 5 are set. Furthermore, a second direction first range Y1 corresponding to a reference row range of A to C in the second direction Y, a second direction second range Y2 corresponding to a range longer than the reference row range of A to C, and a second direction third range Y3 corresponding to a range longer than the second direction first range Y1 but shorter than the second direction second range Y2 are set.

[0043] In the case of right-reference, a first direction first range is set corresponding to the reference column range of 5 to 3 in the first direction X, a first direction second range is set corresponding to the reference column range of 5 to 2, a first direction third range is set corresponding to the reference column range of 5 to 1, and a first direction fourth range is set corresponding to a range longer than the reference column range of 5 to 1. Furthermore, a second direction first range is set corresponding to the reference row range of A to C in the second direction Y, a second direction second range is set corresponding to a range longer than the reference row range of A to C, and a second direction third range is set corresponding to a range longer than the second direction first range but shorter than the second direction second range.

[0044] The reference range can be set arbitrarily, and for example, a length range different from the actual dimension between the reference points may be set.

[0045] Next, the transfer operation of the transfer device 10 will be described with reference to the flowchart of FIG.

[0046] The control unit 40 acquires information about the items 11 and work information from the management terminal 41 (step S1). The information about the items 11 includes the shape and dimensions of the items 11. The work information includes the loading pattern of the items 11 on the pallet 12, their position and attitude including attitude such as position and orientation, and the order of removal, the loading pattern of the items 11 onto the cart 13, their position and attitude including attitude such as position and orientation of the items 11 on the cart 13, and the loading order.

[0047] When the cart 13 arrives at the transfer destination position (YES in step S2) and the pallet 12 loaded with the items 11 arrives at the transfer source position (YES in step S3), the robot arm 29 is returned to the origin position (step S4).

[0048] A gripping plan is created by the gripping posture determination unit 45 of the control unit 40 (step S5). The gripping plan includes determining the reference point and gripping posture of the suction surface 24a, determining the target gripping position of the item 11, and determining the usage status of the suction units 24, 25 and the palm 26.

[0049] In the gripping plan, whether the reference is left or right is determined based on the position and posture, such as the position and orientation, of the item 11 to be transferred to the cart 13, and the correspondence between the long and short sides of the item 11 and the first direction X and second direction Y of the suction part 24 is determined. The reference point and gripping posture of the suction surface 24a, the usage status of the suction parts 24, 25 and palm 26, etc. are determined based on the corresponding range of the determined left or right reference and the dimensions of the item 11 in the first direction X and second direction Y.

[0050] For example, in the case of the left reference, in the first direction X, when the dimension of the article 11 in the gripping posture is in a first range X1 in the first direction corresponding to the reference row range of 1 to 3, it is determined to use the reference row "1" at one end of the first direction X and the left suction portions 24L, 25L, and when the dimension of the article 11 is in a second range X2 in the first direction corresponding to the reference row range of 1 to 4 including a range longer than 1 to 3, it is determined to use the reference row "2" at the intermediate position in the first direction X on the suction surface 24a of the left suction portion 24L and the left suction portions 24L, 25L. When the dimension of the article 11 is in a third range X3 in the first direction corresponding to the reference row range of 1 to 5, which includes a range longer than the range of 1 to 4, it is determined to use the reference row "1" at one end of the first direction X and both the left and right suction portions 24L, 24R, 25L, and 25R, and when the dimension of the article 11 is in a fourth range X4 in the first direction corresponding to a range longer than the reference row range of 1 to 5, it is determined to use the reference row "3" at the midpoint between the left and right suction portions 24L, 24R and both the left and right suction portions 24L, 24R, 25L, and 25R. In the case of a right-side reference, it is determined based on the range from the right side.

[0051] In the second direction Y, if the dimensions of the item 11 are in a first second direction range Y1 corresponding to the reference line range of A to C, a reference line of "A" at one end of the second direction Y and the use of the second suction portion 25 and the palm 26 are determined; if the dimensions of the item 11 are in a third second direction range Y3 corresponding to a range where the reference line range of A to C is longer but the excess amount is smaller than a predetermined threshold, a reference line of "C" at the other end of the second direction Y and the use of the second suction portion 25 and the non-use of the palm 26 are determined; and if the dimensions of the item 11 are in a second direction second range Y2 corresponding to a range where the reference line range of A to C is longer but the excess amount is larger than a predetermined threshold, a reference line of "B" at the intermediate position in the second direction Y and the non-use of the second suction portion 25 and the palm 26 are determined. The threshold value determines whether or not to use the second suction portion 25, and if it is smaller than the threshold value, the article 11 can be stably gripped even if it is slightly biased in the second direction Y relative to the suction surface 24a when the second suction portion 25 is used, and if it is larger than the threshold value, when the second suction portion 25 is used, the article 11 will be significantly biased in the second direction Y relative to the suction surface 24a, making it difficult to stably grip the article 11. Note that the right reference is also determined based on the reference row range of A to C.

[0052] The position where the reference column and the reference row determined in the first direction X and the second direction Y intersect is determined as the reference point of the attraction surface 24a.

[0053] Furthermore, the position of the attracted surface 11a of the article 11 according to the determined reference point is determined as the gripping target position. In the first direction x, if the reference row of "1" is determined, the left position on the attracted surface 11a of the article 11 is determined as the gripping target, if the reference row of "2," "3," or "4" is determined, the middle position (center position) in the first direction X on the attracted surface 11a of the article 11 is determined as the gripping target, and if the reference row of "5" is determined, the right position on the attracted surface 11a of the article 11 is determined as the gripping target.

[0054] Furthermore, in the second direction Y, when the reference row is determined to be "A," the rear position on one side of the adsorbed surface 11a of the article 11 in the second direction Y is determined as the gripping target, when the reference row is determined to be "B," the middle position (center position) on the adsorbed surface 11a of the article 11 in the second direction Y is determined as the gripping target, and when the reference row is determined to be "C," the front position on the other side of the adsorbed surface 11a of the article 11 in the second direction Y is determined as the gripping target. The gripping target position on the adsorbed surface 11a of the article 11 is determined by the position where the gripping target in the first direction X and the gripping target in the second direction Y intersect.

[0055] Furthermore, the usage status of the suction parts 24, 25 and the palm 26 is determined according to the determined reference point. In the first direction X, if the reference row is determined to be "1", it is determined that only the left suction part 24L or both the left and right suction parts 24L, 24R will be used, if the reference row is determined to be "2", it is determined that the left suction part 24L will be used, and if the reference row is determined to be "3", it is determined that both the left and right suction parts 24L, 24R will be used.

[0056] Furthermore, in the second direction Y, if the reference row "A" is determined, it is determined that the second suction portion 25 (the second suction portion 25L, 25R corresponding to the suction portion 24L, 24R determined to be used) and the palm 26 will be used; if the reference row "B" is determined, it is determined that the second suction portion 25 and the palm 26 will not be used; and if the reference row "C" is determined, it is determined that the second suction portion 25 (the second suction portion 25L, 25R corresponding to the suction portion 24L, 24R determined to be used) will be used and the palm 26 will not be used.

[0057] 7 and 8 show a specific example of a left-based gripping plan when the position and posture of the item 11 at the transfer destination is on the left side, which is one side in the first direction X, and on the back side, which is one side in the second direction Y.

[0058] In the case of the article 11 shown in FIG. 7(a), the dimensions of the article 11 in the first direction X are in the first direction first range X1 corresponding to the reference row range of 1 to 3, and the reference row is determined to be "1," and the use of the left suction portion 24L is determined. The dimensions of the article 11 in the second direction Y are in the second direction first range Y1 corresponding to the reference row range of A to C, and the reference row is determined to be "A," and the use of the left second suction portion 25L and palm 26 is determined. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "A1," and the position on the suction surface 11a of the article 11 to the left in the first direction X and at the back in the second direction Y corresponding to this determined reference point of "A1" is determined as the gripping target position. Then, by determining the reference point as "A1," the article 11 can be suction-gripped by the left suction portion 24L, and the left second suction portion 25L and palm 26 are used in combination to stably grip the article 11.

[0059] In the case of the article 11 shown in FIG. 7(b), the dimension of the article 11 in the first direction X is in the first direction second range X2 corresponding to the reference row range of 1 to 4, which includes a range longer than 1 to 3, and the reference row is determined to be "2," and the use of the left suction portion 24L is determined. The dimension of the article 11 in the second direction Y is in the second direction first range Y1 corresponding to the reference row range of A to C, and the reference row is determined to be "A," and the use of the left second suction portion 25L and palm 26 is determined. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "A2," and the position on the suction surface 11a of the article 11 that is midway in the first direction X and at the far side in the second direction Y according to the determined reference point "A2" is determined as the target grip position. By determining the reference point as "A2", the left suction portion 24L suctions the item 11 without bias in the first direction X, stabilizing the grip of the item 11, and the second suction portion 25L and palm 26 on the left side are used in combination to further stably grip the item 11.

[0060] In the case of the article 11 shown in FIG. 7(c), the dimension of the article 11 in the first direction X is in the first direction first range X1, which corresponds to the reference row range of 1 to 3, and the reference row is determined to be "1," and the use of the left suction portion 24L is determined. If the dimension of the article 11 in the second direction Y is in the second direction third range Y3, which corresponds to a range longer than the reference row range of A to C but the excess amount is smaller than a predetermined threshold, the reference row is determined to be "C," and the use of the left second suction portion 25L and the non-use of the palm 26 are determined. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "C1," and the position on the left side of the suction surface 11a of the article 11 in the first direction X and on the near side in the second direction Y corresponding to this determined reference point of "C1" is determined as the target grip position. Then, by determining the reference point as "C1", the article 11 can be attracted and gripped by the left suction portion 24L, and the second left suction portion 25L is also used in combination, so that the article 11 is gripped stably.

[0061] In the case of the article 11 shown in FIG. 7(d), the dimension of the article 11 in the first direction X is in the second range X2 in the first direction, which corresponds to the reference row range A1 to A4, which is longer than the ranges A1 to A4 (1 to 3), and the reference row is determined to be "2." The use of the left suction portion 24L is also determined. The dimension of the article 11 in the second direction Y is in the third range Y3 in the second direction, which corresponds to the range longer than the reference row range A to C, but the excess amount is smaller than a predetermined threshold. The reference row is determined to be "C." The use of the left second suction portion 25L and the non-use of the palm 26 are also determined. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "C2." The position of the suction surface 11a of the article 11, midway in the first direction X and toward the front in the second direction Y, corresponding to the determined reference point "C2," is determined as the target grip position. By determining the reference point as "C2", the left suction portion 24L suctions the item 11 without bias in the first direction X, stably gripping the item 11, and the second suction portion 25L on the left is used in combination to further stably grip the item 11.

[0062] In the case of the article 11 shown in FIG. 7(e), the dimension of the article 11 in the first direction X is in the first direction first range X1, which corresponds to the reference row range of 1 to 3, and the reference row is determined to be "1." The use of the left suction unit 24L is determined. The dimension of the article 11 in the second direction Y is in the second direction second range Y2, which is longer than the reference row range of A to C and corresponds to a range in which the excess amount is greater than a predetermined threshold. The reference row is determined to be "B." The second suction unit 25 and the palm 26 are not used. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "B1." The left side of the suction surface 11a of the article 11, which corresponds to the determined reference point of "B1," and the center position in the second direction Y, is determined to be the target grip position. By determining the reference point of "B1," the left suction unit 24L suctions the article 11 without bias in the second direction Y, and the grip of the article 11 is stabilized.

[0063] 7(f), the dimension of the article 11 in the first direction X is in the first direction second range X2, which corresponds to the reference row range A1 to A4, which is longer than the ranges 1 to 3. The reference row is determined to be "2," and the use of the left suction portion 24L is determined. The dimension of the article 11 in the second direction Y is in the second direction second range Y2, which corresponds to the range longer than the reference row range A to C, and the excess amount is greater than a predetermined threshold. The reference row is determined to be "B," and the second suction portion 25 and palm 26 are not used. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "B2," and the intermediate position, i.e., the center position, in each of the first direction X and the second direction Y on the suctioned surface 11a of the article 11 corresponding to the determined reference point "B2" is determined as the target grip position. Then, by determining the reference point "B2", the article 11 is attracted to the left suction portion 24L without any bias in either the first direction X or the second direction Y, and the article 11 is gripped stably.

[0064] In the case of the article 11 shown in FIG. 8(a), the dimension of the article 11 in the first direction X is in the first direction third range X3 corresponding to the reference row range of 1 to 5, so the reference row is determined to be "1," and the use of both the left and right suction portions 24L, 24R is determined. The dimension of the article 11 in the second direction Y is in the second direction first range Y1 corresponding to the reference row range of A to C, so the reference row is determined to be "A," and the use of both the left and right second suction portions 25L, 25R and the palm 26 is determined. Therefore, the reference point of the suction surface 24a relative to the article 11 is determined to be "A1," and the position on the left side in the first direction X and the far side in the second direction Y on the suctioned surface 11a of the article 11 corresponding to this determined reference point of "A1" is determined as the target grip position. By determining the reference point as "A1", the item 11 is adsorbed by both the left and right suction portions 24L, 24R, stably grasping the item 11, and the left and right second suction portions 25L, 25R and the palm 26 are used in combination to more stably grasp the item 11.

[0065] 8(b) and 8(c), the dimension of the article 11 in the first direction X is in a fourth first-direction range X4, which corresponds to a range longer than the reference row range of 1 to 5. Therefore, a reference row of "3" in the middle of the first direction X is determined, and the use of both the left and right suction portions 24L and 24R is determined. Because the dimension of the article 11 in the second direction Y is in a first second-direction range Y1, which corresponds to the reference row range of A to C, a reference row of "A" is determined, and the use of both the left and right second suction portions 25L and 25R and the palm 26 is determined. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "A3." The target grip position is determined to be a position on the suction surface 11a of the article 11 that is midway in the first direction X and toward the back in the second direction Y, corresponding to the determined reference point of "A3." By determining the reference point as "A3", the item 11 is adsorbed by both the left and right suction portions 24L, 24R without any bias in the first direction X, stabilizing the grip of the item 11, and the use of both the left and right second suction portions 25L, 25R and the palm 26 in combination further stabilizing the grip of the item 11.

[0066] In the case of the article 11 shown in FIG. 8(d), the dimension of the article 11 in the first direction X is in a fourth first-direction range X4, which corresponds to a range longer than the reference row range of 1 to 5. The reference row of "3" in the middle of the first direction X is determined, and the use of both the left and right suction portions 24L and 24R is determined. The dimension of the article 11 in the second direction Y is in a third second-direction range Y3, which corresponds to a range longer than the reference row range of A to C but the excess amount is smaller than a predetermined threshold. The reference row of "C" is determined, and the use of both the left and right second suction portions 25L and 25R and the non-use of the palm 26 are determined. Therefore, the reference point of the suction surface 24a for the article 11 is determined to be "C3." The target grip position is determined to be a position on the suction surface 11a of the article 11 that is intermediate in the first direction X and on the near side in the second direction Y, corresponding to the determined reference point of "C3." By determining the reference point as "C3", the item 11 is adsorbed by both the left and right suction portions 24L, 24R without any bias in the first direction X, stably gripping the item 11, and the second suction portions 25L, 25R on the left and right are used in combination to further stably grip the item 11.

[0067] In the case of the article 11 shown in FIG. 8(e), the dimension of the article 11 in the first direction X is in a fourth first-direction range X4, which corresponds to a range longer than the reference row range of 1 to 5. Therefore, a reference row of "3" is determined to be in the middle of the first direction X, and the use of both the left and right suction portions 24L and 24R is determined. The dimension of the article 11 in the second direction Y is in a range longer than the reference row range of A to C, and the dimension of the article 11 in the second direction Y2, which corresponds to a range in which the excess amount is greater than a predetermined threshold, determines a reference row of "B" in the center of the second direction Y, and determines that the second suction portion 25 and the palm 26 are not to be used. Therefore, the reference point of the suction surface 24a relative to the article 11 is determined to be "B3." The intermediate position, i.e., the center position, in each of the first direction X and the second direction Y on the suction surface 11a of the article 11 corresponding to the determined reference point of "B3" is determined as the target grip position. Then, by determining the reference point "B3", the article 11 is attracted to both the left and right suction portions 24L, 24R without any bias in either the first direction X or the second direction Y, and the article 11 is gripped stably.

[0068] After determining the gripping plan for the first item 11 to be removed from the pallet 12, the reference point determination unit 49 sequentially determines the gripping plans for the remaining items 11 on the pallet 12, for example, during the transfer operation of the items 11.

[0069] After the grasping plan is created, the packaging state of the article 11 on the pallet 12 is photographed by the camera 42 (step S6). The photographed image is processed by the control unit 40, and the actual position and orientation of the article 11 are confirmed.

[0070] Next, the motion plan generation unit 46 of the control unit 40 creates a motion plan (step S7). The motion plan includes the order in which the articles 11 are to be taken out of the pallet 12, and a motion plan for operating the hand device 20 and the robot arm 29.

[0071] In the operation plan, the article 11 to be picked is identified from the image information captured by the camera 42, the position and posture of the article 11 to be picked and the target grip position are identified from that position and posture, and an operation amount for the hand device 20 and the robot arm 29 to move from the origin position is generated so that the hand device 20 will grip the article 11 in a grip posture in which the reference point of the suction surface 24a created in the grip plan has a predetermined positional relationship with the target grip position of the article 11 to be picked. Furthermore, a movement amount for the hand device 20 and the robot arm 29 to move is generated so that the article 11 gripped by the hand device 20 is transferred to a predetermined transfer position on the cart 13 in a predetermined position and posture.

[0072] Next, the operation plan is executed (step S8). The robot controller 47 of the control unit 40 operates the hand device 20 and the robot arm 29 based on the operation plan, and the hand device 20 grasps the article 11 in a grasping posture in which the reference point of the suction surface 24a has a predetermined positional relationship with the grasping target position of the article 11 to be taken out. At this time, the hand device 20 grasps the article 11 based on the number of suction units 24 to be used and whether or not the second suction units 25 and palms 26 are used, as determined in the grasping plan.

[0073] After the article 11 is grasped by the hand device 20, the hand device 20 and the robot arm 29 are operated, and the hand device 20 is moved so that the reference point of the suction surface 24a faces the target transfer position of the cart 13. When the movement of the hand device 20 is completed, the article 11 is released from the hand device 20, and the article 11 is transferred to a predetermined transfer position of the cart 13.

[0074] Subsequently, if there are any articles 11 remaining on the pallet 12 to be subsequently removed (YES in step S9), the process returns to step S6, and the transfer process of the next article 11 continues.

[0075] When there are no more items 11 to be removed on the pallet 12 (NO in step S9), the pallet 12 is removed from the original transfer position (step S10). The state in which there are no more items 11 to be removed on the pallet 12 includes a state in which the pallet 12 is empty of items 11, and a state in which the items 11 to be removed have been removed from the pallet 12 but items 11 not to be removed remain. Therefore, an empty pallet 12 may be removed from the original transfer position, or a pallet 12 with items 11 not to be removed remaining may be removed. The pallet 12 with remaining items 11 is transported to the original transfer position during the transfer process in which the remaining items 11 are to be removed, and the packaging of the partially removed items 11 is confirmed in step S6.

[0076] After the pallet 12 is removed from the original transfer position, if there is a next pallet 12 loaded with the items 11 to be removed (YES in step S11), the transfer process returns to step S3 and continues, and if there is no next pallet 12 (NO in step S11), the transfer process is terminated.

[0077] As described above, according to the transfer device 10 of this embodiment, the reference point and gripping posture of the suction surface 24a relative to the item 11 are determined from a reference point that is preset for the suction surface 24a based on the position and posture of the item 11 at the transfer destination and the shape of the adsorbed surface 11a of the item 11, and the hand device 20 is operated so that the hand device 20 grips the item 11 at a gripping posture in which the determined reference point has a predetermined positional relationship with the target grip position of the item 11, and the hand device 20 and the moving mechanism 21 are operated so that the item 11 is placed in the desired position and posture at the transfer destination, thereby preventing control from becoming complicated even when gripping a variety of items 11.

[0078] In addition, when the adsorbed surface 11a is rectangular, the various types of articles W may include not only cases where the dimensions of the long and / or short sides are different, but also cases where the dimensions of the adsorbed surface 11a are the same but the positions of the long and short sides are reversed depending on the gripping posture.

[0079] Furthermore, the reference point is determined depending on whether the dimensions of the attracted surface 11a of the article 11 in the gripping position are within the dimensions corresponding to the attracting surface 24a, which makes it easier to determine the reference point.

[0080] When the dimensions of the adsorbed surface 11a of the article 11 in the grasping position are within the dimensions corresponding to the adsorption surface 24a, the reference point located at the end of the multiple reference points on the adsorption surface 24a is determined, making it easy to determine the reference point and the target grasping position.Furthermore, when the dimensions of the adsorbed surface 11a of the article 11 are longer than the dimensions corresponding to the adsorption surface 24a, the reference point located in the middle of the multiple reference points on the adsorption surface 24a is determined, allowing the article 11 to be adsorbed by the adsorption surface 24a without any bias, and ensuring stable grasping of the article 11.

[0081] Furthermore, the reference point is determined based on which of a plurality of preset ranges of dimensions the dimensions of the adsorbed surface 11a in the gripping posture corresponding to each of the first direction X and the second direction Y intersecting the first direction X belong to, thereby making it easier to determine the reference point.

[0082] That is, when the position and posture of the article 11 at the transfer destination is on one side in the first direction X and on one side in the second direction Y, if the dimension of the attracting surface 11a in the first direction X falls within a first range X1 in the first direction, the one end of the attracting surface 24a in the first direction X is used as the reference row, and if it falls within a second range X2 in the first direction, the intermediate position of the attracting surface 24a in the first direction X is used as the reference row. When the part is set as the reference row and belongs to the second range Y2 in the second direction, the intermediate position of the suction surface 24a in the second direction Y is set as the reference row, and the position where the reference column in the first direction X and the reference row in the second direction Y intersect is determined as the reference point, thereby making it easy to determine the reference point and the target gripping position, and further, by setting the intermediate position of the suction surface 24a in the first direction X as the reference row and the intermediate position in the second direction Y as the reference row, the article 11 can be adsorbed by the suction surface 24a without any bias, and the article 11 can be gripped stably.

[0083] Furthermore, when the dimension of the adsorbed surface 11a in the second direction Y belongs to a third range Y3 in the second direction that is longer than the first range Y1 in the second direction and shorter than the second range Y2 in the second direction, the other end of the adsorbed surface 24a in the second direction Y can be used as the reference row, making it possible to use the second adsorbed portion 25 in combination and stably gripping the item 11.

[0084] Furthermore, even when multiple adsorption surfaces 24a are arranged side by side in the first direction X, it is easy to determine which adsorption surface 24a to use depending on which range in the first direction X the dimensions of the adsorbed surface 11a in the gripping posture in the first direction X belong to.

[0085] Furthermore, when the position and posture of the article 11 at the transfer destination is on one side in the first direction X, if the dimension of the adsorbed surface 11a in the first direction X belongs to a first range X1 in the first direction, the one end of the adsorbing surface 24a in the first direction X is used as the reference row, and it is determined that only the adsorbing surface 24a of the adsorbing unit 24L on one side is used. If the dimension belongs to a second range X2 in the first direction, the intermediate position in the first direction X of the adsorbing surface 24a of the adsorbing unit 24L on one side in the first direction X is used as the reference row, and it is determined that only the adsorbing surface 24a of the adsorbing unit 24L on one side is used. If the dimension belongs to a third range X3 in the first direction, the one end of the adsorbing surface 24a in the first direction X is used as the reference row. One side end is set as the reference row, and it is determined that both the suction surface 24a of the suction portion 24L on one side and the suction surface 24a of the adjacent suction portion 24R will be used. Furthermore, if the item belongs to the fourth range X4 in the first direction, the midpoint between the suction surface 24a of the suction portion 24L on one side in the first direction X and the suction surface 24a of the adjacent suction portion 24R is set as the reference row, and it is determined that both the suction surface 24a of the suction portion 24L on one side and the suction surface 24a of the adjacent suction portion 24R will be used. By determining a reference point within the reference row, it is possible to easily determine the usage status and reference point of multiple suction portions 24 according to the dimensions of the item 11.

[0086] Furthermore, if the reference point is determined to be located at one end or the other end of the suction surface 24a in the second direction Y, it is determined that the second suction surface 25a will be used, and the article 11 can be more stably grasped by using the second suction surface 25a in combination.Furthermore, if the reference point is determined to be located in the middle of the suction surface 24a in the second direction Y, it is determined that the second suction surface 25a will not be used, and interference between the second suction surface 25a and the article 11 can be prevented.

[0087] The transfer device 10 may be used for either the source or destination of the article 11, and in either case, the control can be prevented from becoming complicated.

[0088] Although the embodiment of the present invention and its modified examples have been described above, various combinations of configurations, partial omissions, substitutions and modifications are also possible. [Explanation of symbols]

[0089] 10 Transfer equipment 11 items 11a The first adsorbed surface 11b Second suction surface 20 ハンド device 21 Mobile Mechanism 23 ベース 24 First Adsorption Unit 24a Adsorption surface 25 Second adsorption unit 26 パーム

Claims

1. With the base, a first suction portion provided on the base and having an suction surface that grips a first suction target surface of an article; a second suction portion that is movable along the base and that grips a second suction surface of the article that intersects with the first suction surface, A hand device characterized in that, depending on the shape of the article, it either grips the article with the first suction portion and also grips the article with the second suction portion, or grips the article with only the first suction portion.

2. With the base, a first suction portion provided on the base and having an suction surface that grips a first suction target surface of an article; a second suction portion that is movable along the base and that grips a second suction surface of the article that intersects with the first suction surface, A hand device characterized in that, depending on the gripping posture with respect to the item, it either grips the item with the first suction portion and also grips the item with the second suction portion, or grips the item with only the first suction portion.

3. the second suction portion is movable up and down relative to the base, 3. The hand device according to claim 1, wherein when the first adsorbed surface is the top surface of the article, during the operation in which only the first adsorption portion grasps the article, the second adsorption portion moves above the adsorption surface of the first adsorption portion.

4. the second suction portion is movable up and down relative to the base, When the first attracted surface is the top surface of the article, In the operation of gripping the article using only the first suction portion, the second suction portion moves above the suction surface of the first suction portion, 3. The hand device according to claim 1, wherein during the operation of gripping the article with the first suction portion and gripping the article with the second suction portion, the second suction portion moves below the suction surface of the first suction portion.

5. a palm that can be raised and lowered relative to the base and that sandwiches the article between itself and the second suction portion; The hand device according to claim 1 or 2, wherein, in the action of gripping the article using only the first suction portion, the palm moves above the suction surface.

6. a palm that can be raised and lowered relative to the base and that sandwiches the article between itself and the second suction portion; A hand device as described in claim 1 or claim 2, characterized in that during the operation of grasping the item with the first suction portion and grasping the item with the second suction portion, the palm clamps the item between the first suction portion and the second suction portion.

7. a palm that can be raised and lowered relative to the base and that sandwiches the article between itself and the second suction portion; The hand device according to claim 1 or claim 2, characterized in that during the action of grasping the item with the first suction portion and grasping the item with the second suction portion, the palm moves above the suction surface.

8. A hand device according to any one of claims 1 to 7; a movement mechanism for moving the position of the hand device.

Images