Robot hand control system

Abstract

To provide a robot hand control system capable of handling input of a small amount of various types of materials such as powder, viscous body, shredded matter, or the like.SOLUTION: By drive-controlling a box by a robot arm movement motor M1 and a box rotation motor M2, a target object stored in a storage container is scraped. In order to adjust an amount of the scraped target object to be input in the box, a spatula is drive-controlled by a spatula rotation motor M3. In order to cut a built-up portion of the target object in the box by bringing the portion into contact with a box cut plate arranged in the storage container, the box is drive-controlled by the robot arm movement motor M1 and the box rotation motor M2.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a robot hand control system. [Background technology]

[0002] Handling small amounts of powder, viscous materials, and shredded materials remains a labor-saving challenge in the food and manufacturing industries. A survey conducted by the FOOMA Committee (2022-2024) also found that raw material input is a common labor-saving challenge in food manufacturing, and that inputting small amounts of a wide variety of powdered, viscous, and other materials is also an issue in the manufacturing industry. In other words, automation of weighing and handling small amounts of powdered, viscous, and shredded materials is lagging behind due to issues such as cost-effectiveness.

[0003] In this regard, for example, a technique is known as described in Patent Document 1. The technique described in Patent Document 1 involves cutting the scooped up object into a fixed amount using a cutting board. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-79880 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned technology has the problem that it cannot handle the feeding of small amounts of various materials such as powders and viscous materials, which is a challenge in the manufacturing industry. Furthermore, in order to handle the feeding of small amounts of various materials, the only way is to replace the scooping container itself, which is extremely time-consuming and practically makes it difficult to handle the feeding of small amounts of various materials.

[0006] In view of the above problems, the present invention aims to provide a robot hand control system that can handle the input of small amounts of various types of materials such as powders, viscous materials, and shredded materials. [Means for solving the problem]

[0007] The above object of the present invention can be achieved by the following means: Note that the parentheses indicate reference symbols of embodiments to be described later, but the present invention is not limited to these.

[0008] The robot hand control system according to claim 1 comprises: A predetermined container (storage container 2) in which an object (W) is stored and in which a square board (8) is arranged; Robot hand (5) and a robot body (robot 4) having an arm to which the robot hand (5) is attached at the tip; a robot arm operating unit (robot arm moving motor M1) that drives the arm of the robot body (robot 4) to move the robot hand (5); A control unit (6), The robot hand (5) a container (50) having an opening on an upper surface (50a) through which the object (W) stored in the predetermined container (storage container 2) can be scooped up; a scoop operating unit (a scoop rotating motor M2, a first gear M2b, a second gear M2c, and a scoop rotating shaft M2d) that performs an operation of scooping up the object (W) from the opening of the scoop (50); a spatula (51) movably disposed within the container (50); a spatula operating unit (spatula rotation motor M3, spatula rotation shaft M3b) that moves the position of the spatula (51) in the container (50), The control unit (6) a lift drive control means (motion determination unit 60) that drives and controls the robot arm motion unit (robot arm movement motor M1) and the lift motion unit (lift rotation motor M2, first gear M2b, second gear M2c, lift rotation shaft M2d) so as to scoop up the object (W); and a spatula drive control means (operation determination unit 60) for driving and controlling the spatula operation unit (spatula rotation motor M3, spatula rotation shaft M3b) to move the position of the spatula (51) in the measure (50) in order to adjust the amount of the object (W) scooped up by the measure (50), The measure drive control means (operation determination unit 60) drives and controls the robot arm operation unit (robot arm movement motor M1) and the measure operation unit (measure rotation motor M2, first gear M2b, second gear M2c, measure rotation shaft M2d) to scoop up the target object (W) stored in the predetermined container (storage container 2) by the spatula (51) in an amount adjusted by the spatula (51), and The raised portion (Wa) of the object (W) that has entered the box (50) is brought into contact with the box cutting plate (8) to cut it into squares, and the robot arm operating unit (robot arm moving motor M1) and the box operating unit (box rotation motor M2, first gear M2b, second gear M2c, box rotation shaft M2d) are driven and controlled.

[0009] The robot hand control system according to claim 2 is the robot hand control system (1) according to claim 1, The measure drive control means (operation determination unit 60) controls the drive of the robot arm operation unit (robot arm movement motor M1) and the measure operation unit (measure rotation motor M2, first gear M2b, second gear M2c, measure rotation shaft M2d) to transfer the object (W) in the measure (50) to a container (serving container Y) other than the predetermined container (storage container 2) after the object (W) has been brought into contact with the measure cutting plate (8) and cut into a measure, and further The spatula drive control means (operation determination unit 60) is characterized by driving and controlling the spatula operation unit (spatula rotation motor M3, spatula rotation shaft M3b) so as to move the spatula (51) in the direction of transferring the object (W).

[0010] The robot hand control system of claim 3 is characterized in that, in the robot hand control system (1) of claim 1 or 2 above, before the raised portion (Wa) of the object (W) that has entered the measure (50) is brought into contact with the measure plate (8) placed in the specified container (storage container 2) to measure it, the spatula (51) is driven and controlled by the spatula drive control means (operation determination unit 60) toward the measure plate (8), thereby pressing the object (W) against the measure plate (8).

[0011] The robot hand control system according to claim 4 comprises: A predetermined container (storage container 2) in which an object (W) is stored and in which a square board (8) is arranged; Robot hand (5) and a robot body (robot 4) having an arm to which the robot hand (5) is attached at the tip; a robot arm operating unit (robot arm moving motor M1) that drives the arm of the robot body (robot 4) to move the robot hand (5); A control unit (6), The robot hand (5) a semi-cylindrical container (50) having an opening on its upper surface (50a) that can scoop up the object (W) stored in the predetermined container (storage container 2); a scoop operating unit (a scoop rotation motor M2, a first gear M2b, a second gear M2c, and a scoop rotation shaft M2d) that rotates the scoop (50) to scoop up the object (W) from the opening; a spatula (51) arranged in the box (50) so as to be rotatable coaxially with the rotation axis (box rotation axis M2d) of the box (50); a spatula operating unit (spatula rotation motor M3, spatula rotation shaft M3b) that rotates the spatula (51) to move the placement position, The control unit (6) a measure drive control means (motion determination unit 60) that drives and controls the robot arm motion unit (robot arm movement motor M1) and the measure motion unit (measure rotation motor M2, first gear M2b, second gear M2c, measure rotation shaft M2d) so as to rotate the measure (50) and scoop up the object (W); and a spatula drive control means (operation determination unit 60) for driving and controlling the spatula operation unit (spatula rotation motor M3, spatula rotation shaft M3b) to move the position of the spatula (51) in the container (50) in order to adjust the amount of the object (W) scooped up from the opening when the container (50) is rotated, The measure drive control means (operation determination unit 60) rotates the measure (50) by driving and controlling the robot arm operation unit (robot arm movement motor M1) and the measure operation unit (measure rotation motor M2, first gear M2b, second gear M2c, measure rotation shaft M2d), scooping up the target object (W) stored in the predetermined container (storage container 2) in an amount adjusted by the arrangement position of the spatula (51), and The robot arm operating unit (robot arm moving motor M1) and the measure operating unit (measure rotation motor M2, first gear M2b, second gear M2c, measure rotation shaft M2d) are driven and controlled to bring the raised portion (Wa) of the object (W) that has entered the measure (50) into contact with the measure cutting plate (8) arranged in the specified container (storage container 2) and cut it into measures.

[0012] A robot hand control system according to claim 5 is the robot hand control system (1) according to claim 4, wherein the control unit (6) The apparatus further includes a promotion operation current detection means (promotion motor current detection unit 64) for detecting an operating current of the promotion operation unit (promotion motor M2, first gear M2b, second gear M2c, promotion rotation shaft M2d), The measure drive control means (operation determination unit 60) is characterized in that when the measure (50) is lowered into the specified container (storage container 2) to perform the scooping operation of the measure (50) to scoop up the object (W), it determines that the measure (50) has come into contact with the bottom surface (2a) of the specified container (storage container 2) based on a change in the current value detected by the measure operation current detection means (measure rotation motor current detection unit 64), and moves the measure (50) along the bottom surface (2a) of the specified container (storage container 2) while maintaining its lowered position, thereby operating to scoop up the object (W) near the bottom surface (2a) of the specified container (storage container 2).

[0013] A robot hand control system according to claim 6 is the robot hand control system according to claim 4 or 5, wherein the control unit (6) Further, a spatula operating current detection means (spatula rotation motor current detection unit 66) is provided to detect the operating current of the spatula operating unit (spatula rotation motor M3, spatula rotation shaft M3b), Before the raised portion (Wa) of the object (W) that has entered the measure (50) is brought into contact with the measure plate (8) arranged in the specified container (storage container 2) to measure it, the spatula drive control means (operation determination unit 60) rotates the spatula (51) in the direction of the measure plate (8) to press the object (W) against the measure plate (8) until the spatula operation current detection unit (spatula rotation motor current detection unit 66) detects a change in the operation current.

[0014] A robot hand control system according to claim 7 is the robot hand control system according to claim 4 or 5, wherein the control unit (6) a measure rotation angle detection means (measure rotation motor rotation angle detection unit 65) that detects the rotation angle of the measure (50) by driving the measure operation unit (measure rotation motor M2, first gear M2b, second gear M2c, measure rotation shaft M2d); a spatula rotation angle detection means (spatula rotation motor rotation angle detection unit 67) that detects the rotation angle of the spatula (51) by driving the spatula operation unit (spatula rotation motor M3, spatula rotation shaft M3b); and an arm rotation angle detection means (robot arm movement motor rotation angle detection unit 63) that detects the rotation angle of the arm by driving the robot arm operation unit (robot arm movement motor M1), Based on the detection values ​​of the arm rotation angle detection means (robot arm movement motor rotation angle detection unit 63), the measure rotation angle detection means (measure rotation motor rotation angle detection unit 65) and the spatula rotation angle detection means (spatula rotation motor rotation angle detection unit 67), the measure drive control means (operation determination unit 60) controls the operation of the arm of the robot main body (robot 4) and the robot hand (5), and based on the detection result of the spatula rotation angle detection means (spatula rotation motor rotation angle detection unit 67), the spatula drive control means (operation determination unit 60) adjusts the amount of the object (W) scooped up by the measure (50). [Effects of the Invention]

[0015] Next, the effects of the present invention will be described with reference to the drawings. Note that the reference symbols in parentheses are those of the embodiments described below, but the present invention is not limited to these.

[0016] According to the inventions of claims 1 and 4, the measure (50) scoops up the object (W) stored in a predetermined container (storage container 2), and the amount of the scooped object (W) to be placed in the measure (50) is adjusted with the spatula (51). Then, the raised portion (Wa) of the object (W) placed in the measure (50) is brought into contact with the measuring plate (8) arranged in the predetermined container (storage container 2) to be measured. This makes it easy to adjust the amount to be scooped even if it is frequently changed, making it possible to accommodate the addition of small amounts of various materials such as powders, viscous materials, and shredded materials.

[0017] According to the invention of claim 2, by using the spatula (51), the amount of the object (W) left in the measure (50) can be minimized.

[0018] According to the inventions set forth in claims 3 and 6, the density of the object (W) can be made uniform.

[0019] According to the invention of claim 5, it is determined that the measure (50) has come into contact with the bottom surface (2a) of the predetermined container (storage container 2) based on a change in the current value detected by the measure operating current detection means (measure rotation motor current detection unit 64), and the measure (50) is moved along the bottom surface (2a) of the predetermined container (storage container 2) while maintaining its lowered position, thereby scooping up the object (W) near the bottom surface (2a) of the predetermined container (storage container 2). This makes it possible to minimize the amount of object (W) left in the predetermined container (storage container 2).

[0020] According to the invention of claim 7, the amount of object (W) scooped up in the bucket (50) can be adjusted without using a sensor such as a weight sensor, making the structure very simple, thereby reducing manufacturing costs and facilitating maintenance and inspection. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a perspective view showing an example of use of a robot hand control system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram illustrating a schematic configuration of a robot hand control system according to the embodiment. [Figure 3] 1A is a side view showing a part of the robot hand according to the embodiment, and FIG. 1B is a partial cross-sectional view seen from the front. [Figure 4] FIG. 2 is a functional configuration diagram of a control unit according to the embodiment. [Figure 5] 6A to 6C are explanatory diagrams illustrating a series of operations up to scooping up an object using the robot hand according to the embodiment. [Figure 6] (a) to (b) are explanatory diagrams illustrating a series of actions for cutting the scooped object into a measure, and (c) is an explanatory diagram illustrating the action of transferring the object in the measure into a serving container. [Figure 7](a) is an explanatory diagram explaining a method for using a masu to scoop up an object when a small amount of the object remains on the bottom of a storage container; (b) is an explanatory diagram explaining a method for creating negative pressure on the object inside the masu; and (c) is an explanatory diagram explaining a method for using the masu lid and a spatula to act as a gripper. [Figure 8] 4 is a partial cross-sectional front view illustrating the connection relationship between a measure rotation motor and a spatula rotation motor that are arranged differently from FIG. 3 in the gripping mechanism housing section. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0022] A robot hand control system according to an embodiment of the present invention will be described in detail below with reference to the drawings. In the following description, when directions such as up, down, left, and right are indicated, they refer to up, down, left, and right when viewed from the front of the illustration.

[0023] <Outline of the robot hand control system> The robot hand control system according to this embodiment is capable of handling the input of small amounts of a wide variety of materials, such as powder, viscous material, and shredded material. Specifically, as shown in Fig. 1, the robot hand control system 1 is mainly composed of a storage container 2 (an example of a "predetermined container" in the present invention), a conveying device 3, and a robot 4 (an example of a "robot body" in the present invention). Each component will be described in detail below.

[0024] <Storage container description> The storage container 2 is placed within the working area of ​​the robot 4, and stores an object W therein, as shown in Figures 1 and 2. Examples of the object W include powder, viscous material, shredded material, and the like, and specific examples include potato salad, ice cream, and sherbet.

[0025] <Description of the transport device> The conveying device 3 is configured, for example, by a belt conveyor, and continuously conveys serving containers Y at constant intervals and at a constant speed, as shown in Fig. 1. As shown in Fig. 1, the serving containers Y are configured to be served with the objects W stored in the storage container 2 using a robot 4.

[0026] <Robot description> The robot 4 is configured as, for example, a vertical articulated robot having six axes, and includes a robot arm 40 as shown in Fig. 2. As shown in Fig. 2, the robot arm 40 includes a base 41 and a first arm 42 to a sixth arm 47. The base 41 is fixed to the installation surface when the robot arm 40 is installed and used in a fixed location, but is not fixed to the installation surface when the robot arm 40 is small enough to be carried by a person.

[0027] On the other hand, the first arm 42 to the sixth arm 47 are rotatably connected via a first axis J1 to a sixth axis J6, as shown in Fig. 2. Specifically, as shown in Fig. 2, the first axis J1 is a rotation axis extending in the vertical direction, and connects the first arm 42 to the base 41 so as to be rotatable in the horizontal direction. Furthermore, the second axis J2 is a rotation axis extending in the horizontal direction, and connects the second arm 43 to the first arm 42 so as to be rotatable in the vertical direction.

[0028] 2, the third axis J3 is a rotation axis extending in the horizontal direction and connects the third arm 44 to the second arm 43 so as to be rotatable in the vertical direction. The fourth axis J4 is a rotation axis extending in the longitudinal direction of the third arm 44 and connects the fourth arm 45 to the third arm 44 so as to be rotatable. The fifth axis J5 is a rotation axis extending in the horizontal direction and connects the fifth arm 46 to the fourth arm 45 so as to be rotatable. The sixth axis J6 is a rotation axis extending in the longitudinal direction of the fifth arm 46 and connects the sixth arm 47 to the fifth arm 46 so as to be rotatable.

[0029] The first arm 42 to the sixth arm 47 are driven by a robot arm movement motor M1 (one example of a "robot arm operating unit" of the present invention) shown in FIG. 4. The robot arm movement motor M1 shown in FIG. 4 is, for example, a motor with low friction so that it can rotate even when an external force is applied. Each of the first arm 42 to the sixth arm 47 may be provided with a motor, which controls the rotation drive of each arm individually. In this case, the motors will be collectively referred to as the robot arm movement motor M1. As shown in FIG. 4, the robot arm movement motor M1 is equipped with a rotation encoder M1a that detects the rotation angle of each of the first arm 42 to the sixth arm 47. The control unit 6, which will be described later, is equipped with a robot arm movement motor rotation angle detection unit 63 (one example of an "arm angle detection means" of the present invention) that detects the arm rotation angle from the output of the rotation encoder M1a.

[0030] As shown in FIG. 2, the sixth arm 47 is the tip of the robot arm 40, and the robot hand 5 is detachably attached to the tip of the sixth arm 47.

[0031] <Explanation of the robot hand> As shown in Figures 2 and 3, the robot hand 5 is mainly composed of a measure 50, a spatula 51 (see Figure 3), a gripping mechanism housing 52 (see Figure 3), a handle 53, and a tool 54 (see Figure 2). Each component will be described in detail below. As shown in Figure 1, the measure 50 is formed in a semi-cylindrical shape, and as shown in Figure 3(a), the top surface 50a is open as an opening. As shown in Figure 5(a), the right half of the top surface 50a is closed by a lid 50b. As will be described later, the measure 50 is designed to hold the object W described above.

[0032] On the other hand, the spatula 51 mainly serves to adjust the amount of object W placed in the measure 50. Specifically, as shown in FIG. 3(a), the spatula 51 is placed inside the measure 50, and as shown in FIG. 3(b), it is formed in a substantially rectangular shape when viewed from the front. When placing the spatula 51 inside the measure 50, the spatula 51 may be placed in close contact with the inner circumferential surface of the measure 50 to ensure airtightness. However, if the spatula 51 is placed in close contact with the inner circumferential surface of the measure 50, friction increases when the spatula 51 is rotated. Therefore, if it is not necessary to ensure airtightness to a great extent, the spatula 51 does not need to be placed in close contact with the inner circumferential surface of the measure 50.

[0033] On the other hand, as shown in FIG. 3(b), the gripping mechanism housing 52 is formed in a substantially U-shape in cross section, and the measure 50 and spatula 51 are rotatably attached to the top surface 50a of the measure 50. Specifically, a gripping mechanism housing main body 52A is disposed on the left side of the gripping mechanism housing 52 in FIG. 3(b). As shown in FIG. 3(b), a first gear M2b, a second gear M2c, a measure rotation motor M2, and a spatula rotation motor M3 are housed within the gripping mechanism housing main body 52A. Specifically, as shown in FIG. 3(a), the measure rotation motor M2 and the spatula rotation motor M3 are disposed side by side in the vertical direction. As shown in FIG. 3(b), the measure rotation motor M2 is provided with a rotary encoder M2a that detects the rotation of the motor. As shown in FIG. 3, a first gear M2b is attached to the measure rotation motor M2 on the left side in FIG. 3(b). Furthermore, as shown in FIG. 3(b), a second gear M2c meshes with the first gear M2b, and a measure rotation shaft M2d is attached to the second gear M2c on the left side in FIG. 3(b). Furthermore, as shown in FIG. 3(b), the measure rotation shaft M2d rotatably penetrates the left side surface 51a of the spatula 51 via a bearing B1 and is fixed to the left side surface 50c of the measure 50. As a result, when the measure rotation motor M2 is driven to rotate, the measure 50 rotates via the first gear M2b and the second gear M2c. The measure rotation motor M2, the first gear M2b, the second gear M2c, and the measure rotation shaft M2d are an example of a "measure operating unit" in the present invention.

[0034] On the other hand, as shown in FIG. 3(b), the spatula rotation motor M3 is equipped with a rotation encoder M3a that detects motor rotation. Also, as shown in FIG. 3(b), a spatula rotation shaft M3b is attached to the spatula rotation motor M3 on the right side in the drawing, and this spatula rotation shaft M3b is fixed to the right side surface 51b of the spatula 51. Furthermore, as shown in FIG. 3(b), this spatula rotation shaft M3b rotatably penetrates the right side surface 50d of the measure 50 via a bearing B2 and is rotatably supported on the right side surface 52a of the gripping mechanism housing 52 via a bearing B3. As a result, when the spatula rotation motor M3 is driven to rotate, the spatula 51 rotates. The spatula rotation motor M3 and the spatula rotation shaft M3b are an example of the "spatula operating unit" of the present invention.

[0035] Thus, the measure rotation shaft M2d of the measure rotation motor M2 and the spatula rotation shaft M3b of the spatula rotation motor M3 are arranged coaxially on the coaxial line J7 shown in Figure 3(b). Note that the measure rotation motor M2 and the spatula rotation motor M3 are exemplified by motors with low friction so that they can rotate even when an external force is applied.

[0036] Therefore, in this way, the gripping mechanism housing 52 is attached to the top surface 50a side of the measure 50 so that the measure 50 and the spatula 51 can rotate, as shown in FIG. 3(a).

[0037] 3, a handle 53 is integrally attached and fixed to the upper end of the gripping mechanism housing 52. Then, as shown in FIG. 2, the handle 53 is detachably attached to a tool unit 54 disposed at the tip of the sixth arm 47. As a result, the robot hand 5 is detachably attached to the tip of the sixth arm 47.

[0038] Thus, the robot 4 configured as above is controlled by a control unit 6 shown in Fig. 2. The control unit 6 will be described in detail below.

[0039] <Explanation of the control section> 4, the control unit 6 is made up of an operation determination unit 60, a motor drive control unit 61, a robot arm movement motor current detection unit 62, a robot arm movement motor rotation angle detection unit 63, a measure rotation motor current detection unit 64, a measure rotation motor rotation angle detection unit 65, a spatula rotation motor current detection unit 66, and a spatula rotation motor rotation angle detection unit 67. Each component will be described in detail below.

[0040] The movement determination unit 60 determines the movement of the robot 4 shown in Figures 1 and 2. Specifically, as shown in Figure 3, the movement determination unit 60 is capable of receiving signals from the camera 7, and is also capable of receiving signals from a robot arm movement motor current detection unit 62 and a robot arm movement motor rotation angle detection unit 63. As shown in Figure 3, the movement determination unit 60 is also capable of receiving signals from a measure rotation motor current detection unit 64 and a measure rotation motor rotation angle detection unit 65. As shown in Figure 3, the movement determination unit 60 is also capable of receiving signals from a spatula rotation motor current detection unit 66 and a spatula rotation motor rotation angle detection unit 67. 1 and 2 by receiving a signal from any one of the camera 7, robot arm movement motor current detection unit 62, robot arm movement motor rotation angle detection unit 63, measure rotation motor current detection unit 64, measure rotation motor rotation angle detection unit 65, spatula rotation motor current detection unit 66, and spatula rotation motor rotation angle detection unit 67. As shown in FIG. 2, the camera 7 is capable of capturing an image of the working area of ​​the robot 4, and the captured image data is output to the movement determination unit 60.

[0041] The motor drive control unit 61 controls various motors based on the operation content determined by the operation determination unit 60. Specifically, it controls the drive of the robot arm moving motor M1 shown in Fig. 4, controls the drive of the box rotation motor M2 shown in Fig. 4, and controls the drive of the spatula rotation motor M3 shown in Fig. 4.

[0042] The robot arm movement motor current detection unit 62 is capable of detecting the current value of the robot arm movement motor M1 shown in FIG. 4, and the detected current value is output to the operation determination unit 60 shown in FIG. 4.

[0043] The robot arm movement motor rotation angle detection unit 63 can detect the rotation angle from the detection value of the rotation encoder M1a provided on the robot arm movement motor M1 shown in FIG. 4, and the detected rotation angle is output to the operation determination unit 60 shown in FIG. 4.

[0044] The upstroke rotation motor current detection unit 64 is capable of detecting the current value of the upstroke rotation motor M2 shown in FIG. 4, and the detected current value is output to the operation determination unit 60 shown in FIG. 4.

[0045] The rotation angle detection unit 65 of the rotary motor can detect the rotation angle from the detection value of the rotary encoder M2a provided on the rotary motor M2 shown in FIG. 4, and the detected rotation angle is output to the operation determination unit 60 shown in FIG. 4.

[0046] The spatula rotation motor current detection unit 66 is capable of detecting the current value of the spatula rotation motor M3 shown in FIG. 4, and the detected current value is output to the operation determination unit 60 shown in FIG. 4.

[0047] The spatula rotation motor rotation angle detection unit 67 can detect the rotation angle from the detection value of the rotation encoder M3a provided on the spatula rotation motor M3 shown in FIG. 4, and the detected rotation angle is output to the operation determination unit 60 shown in FIG. 4.

[0048] The above description shows a specific example of the robot hand control system 1.

[0049] <Explanation of an example of using a robot hand control system> Next, an example of how the robot hand control system 1 configured as above is used will be described with reference to FIGS.

[0050] First, when the camera 7 shown in FIG. 2 captures an image of a serving container Y being transported by the transport device 3 into the dashed-line frame Ya shown in FIG. 1, the operation determination unit 60 shown in FIG. 4 determines the operation of the robot 4 to serve the object W stored in the storage container 2 shown in FIG. 1 into the serving container Y, and outputs the determined operation to the motor drive control unit 61. In response to this, the motor drive control unit 61 shown in FIG. 4 drives and controls the robot arm movement motor M1. As a result, the first arm 42 to the sixth arm 47 shown in FIG. 2 rotate, and as shown in FIG. 5(a), the measure 50 moves toward the upper surface of the storage container 2. The operation determination unit 60 shown in FIG. 4 determines the operation of the first arm 42 to the sixth arm 47 and the measure 50 shown in FIG. 2 based on the detection values ​​of the robot arm movement motor rotation angle detection unit 63, the measure rotation motor rotation angle detection unit 65, and the spatula rotation motor rotation angle detection unit 67.

[0051] Next, the motor drive control unit 61 shown in FIG. 4 drives and controls the robot arm movement motor M1 and the measure rotation motor M2. As a result, the measure 50 moves downward as shown in FIG. 5 and rotates. Thus, this rotation of the measure 50 allows the measure 50 to be placed inside the object W stored in the storage container 2, as shown in FIG. 5(b). Therefore, the rotation of the measure 50 allows the object W to be scooped up from the open top surface 50a (see FIG. 3(a)) of the measure 50, thereby placing the object W inside the measure 50, as shown in FIG. 5(b). At this time, it may be possible to check whether the measure 50 has entered the object W. Specifically, the operation determination unit 60 shown in FIG. 4 checks the current value detected by the measure rotation motor current detection unit 64. This allows the torque of the measure rotation motor M2 to be estimated, and therefore it is possible to check the load on the measure 50. Therefore, it may be possible to check whether the measure 50 has entered the target object W in this manner.

[0052] On the other hand, when the target object W is placed in the measure 50, the motor drive control unit 61 shown in Fig. 4 drives and controls the spatula rotation motor M3 shown in Fig. 3 to rotate the spatula 51, thereby adjusting the amount of target object W to be placed in the measure 50. The size of the space inside the measure 50 visible from the top surface 50a of the measure 50 can be adjusted by changing the position of the spatula 51, thereby making it possible to scoop up a desired amount of the target object W.

[0053] To explain this point more specifically, assuming that the density of the objects W is uniform, the amount of the objects W contained in the measure 50 can be estimated if the volume of the objects W is known. In this case, since the volume of the measure 50 is known in advance, the volume of the objects W scooped up can be determined if the position of the spatula 51 is known. For this reason, in this embodiment, the spatula rotation motor rotation angle detection unit 67 shown in Fig. 4 detects the position of the spatula 51 within the measure 50, i.e., the rotation angle, and before the scooping operation, the spatula 51 is moved to a desired position and stopped there, thereby adjusting the target amount of objects W to be scooped up.

[0054] Therefore, this makes it possible to estimate the amount of object W contained in the measure 50 without using a sensor such as a weight sensor. This makes the structure very simple, which reduces manufacturing costs and makes maintenance and inspection easier.

[0055] In addition to detecting the rotation angle as described above and moving and stopping spatula 51 at a desired position before the scooping operation, the following method can also be used. Specifically, spatula rotation motor rotation angle detection unit 67 shown in Fig. 4 detects the rotation angle from the detection value of rotation encoder M3a provided on spatula rotation motor M3. Operation determination unit 60 shown in Fig. 4 calculates the difference in the rotation angle of spatula rotation motor M3, and thereby calculates the current position of spatula 51. Therefore, the position of spatula 51 can be controlled in this way as well.

[0056] Alternatively, the current value may be detected instead of the rotation angle. Specifically, the spatula rotation motor current detection unit 66 shown in FIG. 4 detects the current value of the spatula rotation motor M3, and the operation determination unit 60 shown in FIG. 4 estimates the torque of the spatula rotation motor M3 and calculates the current position of the spatula 51. If the position of the spatula 51 deviates from the target position, the operation determination unit 60 shown in FIG. 4 determines that the amount of object W contained in the measure 50 is different from the target amount, and instructs the motor drive control unit 61 shown in FIG. 4 to change the position of the spatula 51. In response to this, the motor drive control unit 61 controls the drive of the spatula rotation motor M3 shown in FIG. 3 so that the position of the spatula 51 is the target position. If it is necessary to rotate the measure 50 as well, the motor drive control unit 61 may also control the drive of the measure rotation motor M2.

[0057] After adjusting the amount of target object W to be placed in the measure 50 in this manner, the operation determination unit 60 shown in Fig. 4 instructs the motor drive control unit 61 shown in Fig. 4 to remove the measure 50 from the storage container 2. In response to this, the motor drive control unit 61 drives and controls the robot arm movement motor M1 shown in Fig. 4. As a result, the first arm 42 to the sixth arm 47 shown in Fig. 2 rotate, and as a result, the measure 50 moves toward the upper surface of the storage container 2 as shown in Fig. 5(c), and it is thereby possible to remove the measure 50 from the storage container 2.

[0058] Next, the camera 7 captures an image of the box 50 shown in FIG. 5(c). In response to this, the operation determination unit 60 shown in FIG. 4 checks the state of the object W protruding from the box 50 and determines an operation to cut the protruding portion Wa into a square shape in a side view as shown in FIG. 5, tilting it diagonally upward toward the upper right, using the box cutting board 8 arranged in the storage container 2. Specifically, the operation determination unit 60 shown in FIG. 4 instructs the motor drive control unit 61 shown in FIG. 4 about the determined operation. In response to this, the motor drive control unit 61 drives and controls the robot arm movement motor M1 and the box rotation motor M2 shown in FIG. 4. As a result, the first arm 42 to the sixth arm 47 shown in FIG. 2 rotate, and further, the box 50 rotates, so that the box 50 moves near the box cutting board 8 as shown in FIG. 6(a). At this time, the operation determination unit 60 shown in FIG. 4 checks the current value detected by the robot arm movement motor current detection unit 62 shown in FIG. 4. If the current value fluctuates significantly compared to other states, it determines that the square 50 has contacted the square plate 8, as shown in FIG. 6(a). Then, upon making this determination, the operation determination unit 60 instructs the motor drive control unit 61 shown in FIG. 4 to start the square cutting operation. In response to this, the motor drive control unit 61 drives and controls the robot arm movement motor M1 shown in FIG. 4. As a result, the first arm 42 to the sixth arm 47 shown in FIG. 2 rotate, and the square 50 moves in a diagonal direction toward the lower left in FIG. 6. As a result, the protruding portion Wa of the square 50 is squared by the square plate 8 shown in FIG. 6(a), resulting in the state shown in FIG. 6(b). The protruding portion Wa of the square 50 drops into the storage container 2 and is returned to the storage container 2, as shown in FIG. 6(b).

[0059] However, if the object W is a viscous material such as potato salad, the density of the object W may not be uniform due to the inclusion of air. Therefore, to uniformize the density of the object W, before starting the squaring operation, the measure 50 is temporarily moved to the underside of the squaring plate 8, as shown in FIG. 6(b). Then, the spatula rotation motor M3 shown in FIG. 3 may be driven and controlled to move the spatula 51 toward the squaring plate 8 (from the bottom to the left in this embodiment) and press the object W against the squaring plate 8. This removes the air from the object W, uniforming its density and allowing for more accurate estimation of the amount of object W contained in the measure 50. If the above-described pressing operation results in the position of the spatula 51 differing from the target position, the steps shown in FIGS. 5(b) and 5(c) may be repeated.

[0060] Next, after completing the square-cutting operation shown in FIG. 6(b), the robot transfers the object W in the square 50 to a serving container Y, as shown in FIG. 6(c). Specifically, the operation determination unit 60 shown in FIG. 4 checks the current value detected by the robot arm movement motor current detection unit 62 shown in FIG. 4, and when the current value becomes stable, it determines that the square 50 is not in contact with the square-cutting plate 8 and that the square-cutting operation is complete. The operation determination unit 60 then instructs the motor drive control unit 61 shown in FIG. 4 to start the transfer operation. In response to this, the motor drive control unit 61 drives and controls the robot arm movement motor M1. This causes the first arm 42 to the sixth arm 47 shown in FIG. 2 to rotate, and the square 50 moves toward the serving container Y, as shown in FIG. 6(c). After the movement is complete, the motor drive control unit 61 also controls the measure rotation motor M2 to rotate the measure 50 by 180°, as shown in FIG. 6(c), so that the open top surface 50a (see FIG. 3(a)) of the measure 50 faces downward as shown in FIG. 6(c). The motor drive control unit 61 then controls the spatula rotation motor M3 to rotate the spatula 51 toward the open top surface 50a (see FIG. 3(a)) of the measure 50. This ensures that the object W in the measure 50 is moved toward the open top surface 50a (see FIG. 3(a)) of the measure 50 by the spatula 51, allowing the object W in the measure 50 to fall freely and be transferred to the serving container Y. Therefore, using the spatula 51 in this manner minimizes the amount of object W left in the measure 50. If the object W does not require the spatula 51 to be rotated, the spatula 51 does not need to be rotated.

[0061] Therefore, according to the present embodiment described above, the measure 50 is used to scoop up the object W stored in the storage container 2, and the amount of the scooped object W to be placed in the measure 50 is adjusted with the spatula 51. Then, the raised portion Wa of the object W placed in the measure 50 is brought into contact with the measuring plate 8 to be cut into measures. This makes it easy to adjust the amount to be scooped even if the amount to be scooped is frequently changed, making it possible to accommodate the addition of small amounts of various materials such as powders, viscous materials, and shredded materials.

[0062] As shown in FIG. 7(a), if a small amount of the object W remains on the bottom surface 2a of the storage container 2, the tip 50a1 of the box 50 on the open top surface 50a side is used to move the box 50 leftward in the figure while contacting the bottom surface 2a of the storage container 2 to scrape it off. Specifically, the operation determination unit 60 shown in FIG. 4 first instructs the motor drive control unit 61 shown in FIG. 4 to move the box 50 toward the bottom surface 2a of the storage container 2 shown in FIG. 7(a). In response to this, the motor drive control unit 61 drives and controls the robot arm movement motor M1 shown in FIG. 4. This causes the first arm 42 to the sixth arm 47 shown in FIG. 2 to rotate, and as shown in FIG. 7(a), the box 50 moves toward the bottom surface 2a of the storage container 2 shown in FIG. 7(a). Then, the operation determination unit 60 shown in FIG. 4 instructs the motor drive control unit 61 shown in FIG. 4 to rotate the measure 50. In response to this, the motor drive control unit 61 drives and controls the measure rotation motor M2 shown in FIG. 4. At this time, the operation determination unit 60 shown in FIG. 4 checks the current value detected by the measure rotation motor current detection unit 64 shown in FIG. 4, and if the current value fluctuates significantly compared to other states, it determines that the tip 50a1 of the measure 50 has contacted the bottom surface 2a of the storage container 2. Then, having made this determination, the operation determination unit 60 instructs the motor drive control unit 61 shown in FIG. 4 to stop the rotation of the measure 50 and to move the tip 50a1 of the measure 50 to the left in the figure. In response to this, the motor drive control unit 61 stops driving the measure rotation motor M2 shown in FIG. 4 and drives and controls the robot arm movement motor M1. 2 rotates, and the measure 50 moves to the left in FIG. 7(a). Therefore, any small amount of object W remaining on the bottom surface 2a of the storage container 2 is scraped into the measure 50 by moving the measure 50 to the left in the drawing while keeping the tip 50a1 of the measure 50 in contact with the bottom surface 2a of the storage container 2. This allows the measure 50 to scoop up any small amount of object W remaining on the bottom surface 2a of the storage container 2.

[0063] Therefore, by doing this, the number of objects W left in the storage container 2 can be reduced as much as possible.

[0064] It is preferable that the angle formed between the bottom surface 2a of the storage container 2 and the top surface 50a of the measure 50 is smaller than a right angle, i.e., that the top surface 50a of the measure 50 is tilted so that it corresponds to the bottom surface 2a of the storage container 2. This is because, in terms of scooping up the object W, and also because fluctuations in the current value detected by the measure rotation motor current detection unit 64 tend to be large and are easy to detect. This allows for accurate operation control even when there is only a small amount of object W left to be scooped up. It is preferable that the angle formed between the bottom surface 2a of the storage container 2 and the top surface 50a of the measure 50 is close to 45°, if possible.

[0065] Furthermore, when transferring the object W in the measure 50 to the serving container Y, if the object W in the measure 50 is a viscous material such as potato salad, a negative pressure state can be generated in the measure 50 by slightly moving the spatula 51 toward the back of the measure 50 (toward the left in the figure), as shown in Figure 7(b). Therefore, by doing this, even if the open top surface 50a (see Figure 3(a)) of the measure 50 is oriented downward as shown in Figure 7(b), the object W will not fall freely, and the object W can be transferred from the measure 50 to the serving container Y using the spatula 51 at the optimal timing.

[0066] Furthermore, when transferring the object W in the measure 50 to the serving container Y, if the measure rotation motor M2 and the spatula rotation motor M3 are controlled in a coordinated manner, the measure 50 and spatula 51 will operate in a coordinated manner. As a result, if the object W is a viscous material, it can be transferred in a thin, stretched state or in a wavy shape when transferred to the serving container Y. In this case, it is preferable that the serving container Y be a flat container.

[0067] 7(c), when gripping an object T, such as a meatball, different from the target object W, the spatula 51 may be rotated from the downward direction to the right direction in the figure, so that the spatula 51 and the lid 50b function as a gripper to grip the object T. In this case, a protrusion may be provided on the measure 50 instead of the lid 50b, and the protrusion may be used.

[0068] <Description of Modifications> It should be noted that the shapes shown in this embodiment are merely examples, and various modifications and alterations are possible within the scope of the gist of the present invention as set forth in the claims. For example, in this embodiment, a semi-cylindrical shape is used as an example of the shape of the measure 50, but this is not limiting. The shape may be a container with a curved bottom instead of a flat bottom, or may be a 3 / 4 sphere or even a 1 / 4 sphere. In other words, any shape is acceptable as long as it can scoop up the object W.

[0069] In addition, in this embodiment, the operation decision unit 60 shown in Figure 4 detects fluctuations in the current value detected by the robot arm movement motor current detection unit 62 and the measure rotation motor current detection unit 64 to determine whether the measure 50 has come into contact with the measure plate 8 or the bottom surface 2a of the storage container 2, but this is not limited to this, and in addition to contact detection, it can also be used for a variety of work operations, such as estimating the force acting on the measure 50 from the current value to determine the end of the measure 50's scooping up operation of the object W.

[0070] Furthermore, in this embodiment, an example has been shown in which the object W is pressed against the measuring plate 8 to make the density of the object W uniform, but this is not limiting. The density of the object W may also be made uniform by vibrating the measuring plate 50 using the measuring plate rotation motor M2 when scooping up the object W with the measuring plate 50 (see Figure 5(b)) or before starting the measuring operation.

[0071] Furthermore, in this embodiment, the camera 7 is used to check the state of the object W protruding from the box 50, but the present invention is not limited to this, and an infrared sensor may also be used for the check.

[0072] In addition, in this embodiment, the rotation shaft of the measure rotation motor M2 and the rotation shaft of the spatula rotation motor M3 are arranged coaxially, but the method of arranging them coaxially is not limited to the arrangement method shown in Figure 3(b), and the arrangement method shown in Figure 8 may also be used.

[0073] 8, the measure rotation motor M2 and the spatula rotation motor M3 are arranged in the left-right direction inside the gripping mechanism housing 52. The measure rotation shaft M2d attached to the measure rotation motor M2 rotatably passes through the right side surface 51b of the spatula 51 via a bearing B4, and is fixed to the left side surface 50c of the measure 50. As a result, when the measure rotation motor M2 is driven to rotate, the measure 50 rotates.

[0074] On the other hand, as shown in Fig. 8, the spatula rotation shaft M3b attached to the spatula rotation motor M3 is fixed to the left side surface 51a of the spatula 51. Then, as shown in Fig. 8, this spatula rotation shaft M3b is rotatably supported on the left side surface 50c of the measure 50 via a bearing B5. As a result, when the spatula rotation motor M3 is driven to rotate, the spatula 51 rotates.

[0075] Thus, even in this way, the measure rotation shaft M2d of the measure rotation motor M2 and the spatula rotation shaft M3b of the spatula rotation motor M3 can be made coaxial.

[0076] Furthermore, in this embodiment, the example has been shown in which the measure rotation shaft M2d of the measure rotation motor M2 and the spatula rotation shaft M3b of the spatula rotation motor M3 are provided coaxially, but they may not be provided coaxially.

[0077] 1. Robot hand control system 2. Storage container (prescribed container) 2a Bottom 4 Robot (robot body) 5. Robot Hand 50 sho 50a top 51 Spatula 6 Control Unit 60 Operation determination unit (measure drive control means, spatula drive control means) 63 Robot arm movement motor rotation angle detection unit (arm rotation angle detection means) 64 Rotating motor current detection unit (rotating motor drive current detection means) 65 Rotation angle detection unit for the rotary motor (rotation angle detection means for the rotary motor) 67 Spatula rotation motor rotation angle detection unit (spatula rotation angle detection means) 8. Square cutting board M1 Robot arm movement motor (robot arm operating part) M2 Rotating motor (operating part) M2b 1st gear (measurement part) M2c 2nd gear (measurement part) M2d Masu rotation axis (Masu operating part, rotation axis) M3 Spatula rotation motor (spatula operating part) M3a Spatula rotation axis (spatula operating part) W Object Wa Raised part Y Serving container (other container)

Claims

1. a predetermined container in which an object is stored and in which a square board is arranged; Robotic hands and a robot body having an arm to which the robot hand is attached at the tip; a robot arm operating unit that drives the arm of the robot main body to move the robot hand; a control unit; The robot hand a container having an opening on its top surface through which the object stored in the predetermined container can be scooped up; a measure operating unit that performs an operation of scooping up the object through the opening of the measure; a spatula movably disposed within the box; a spatula operating unit that moves the position of the spatula within the box, The control unit a scoop drive control means for driving and controlling the robot arm operation unit and the scoop operation unit so as to scoop up the object; a spatula drive control means for driving and controlling the spatula operation unit to move the position of the spatula in the measure in order to adjust the amount of the object scooped up by the measure, The measure drive control means drives and controls the robot arm operation unit and the measure operation unit to scoop up the target object stored in the predetermined container in an amount adjusted by the spatula, and A robot hand control system that drives and controls the robot arm operating unit and the box operating unit to bring the raised portion of the object that has entered the box into contact with the box cutting plate and cut it into boxes.

2. The measure drive control means controls the drive of the robot arm operation unit and the measure operation unit so as to transfer the object contained in the measure to a container other than the predetermined container after the object is brought into contact with the measure cutting plate and cut into a measure, and further 2. The robot hand control system according to claim 1, wherein the spatula drive control means drives and controls the spatula operating unit so as to move the spatula in a direction in which the object is transferred.

3. A robot hand control system as described in claim 1 or 2, wherein before the raised portion of the object that has entered the box is brought into contact with a box cutting plate placed in the specified container to cut it into squares, the spatula is driven and controlled by the spatula drive control means toward the box cutting plate, thereby pressing the object against the box cutting plate.

4. a predetermined container in which an object is stored and in which a square board is arranged; Robotic hands and a robot body having an arm to which the robot hand is attached at the tip; a robot arm operating unit that drives the arm of the robot main body to move the robot hand; a control unit; The robot hand a semi-cylindrical container having an opening on its top surface through which the object stored in the predetermined container can be scooped up; a scoop operating unit that rotates the scoop to scoop up the object through the opening; a spatula arranged in the box so as to be rotatable coaxially with the rotation axis of the box; a spatula operating unit that rotates the spatula to move the placement position, The control unit a bucket drive control means for driving and controlling the robot arm operation unit and the bucket operation unit so as to rotate the bucket and scoop up the object; a spatula drive control means for driving and controlling the spatula operation unit to move the position of the spatula in the container in order to adjust the amount of the object scooped up through the opening when the container is rotated, The measure drive control means drives and controls the robot arm operation unit and the measure operation unit to rotate the measure, and scoops up the object stored in the predetermined container in an amount adjusted by the position of the spatula, and A robot hand control system that drives and controls the robot arm operating unit and the box operating unit to cut the raised portion of the object that has entered the box into a box by bringing it into contact with a box cutting plate placed in the specified container.

5. The control unit further comprising a boost operation current detection means for detecting an operation current of the boost operation unit; The robot hand control system of claim 4, wherein when the bucket is lowered into the specified container to perform the operation of scooping up the object with the bucket, the bucket drive control means determines that the bucket has come into contact with the bottom surface of the specified container based on a change in the current value detected by the bucket operation current detection means, and moves the bucket along the bottom surface of the specified container while maintaining its lowered position, thereby operating to scoop up the object near the bottom surface of the specified container.

6. The control unit further comprising a spatula operation current detection means for detecting an operation current of the spatula operation unit; A robot hand control system as described in claim 4 or 5, wherein before the raised portion of the object that has entered the box is brought into contact with the box cutting plate placed in the specified container to cut it into squares, the spatula drive control means rotates the spatula in the direction of the box cutting plate to press the object against the box cutting plate until the spatula operating current detection unit detects a change in the operating current.

7. The control unit a measure rotation angle detection means for detecting a rotation angle of the measure by driving the measure operating unit; a spatula rotation angle detection means for detecting a rotation angle of the spatula by driving the spatula operation unit; and an arm rotation angle detection means for detecting a rotation angle of the arm by driving the robot arm operation unit, A robot hand control system as described in claim 4 or 5, wherein a measure drive control means controls the operation of the arm of the robot body and the robot hand based on the detection values ​​of the arm rotation angle detection means, the measure rotation angle detection means, and the spatula rotation angle detection means, and the spatula drive control means adjusts the amount of the object scooped up by the measure based on the detection result of the spatula rotation angle detection means.

Images