Robot

Abstract

To provide a robot hand that can approach an article from a lateral side and transfer the article.SOLUTION: A robot hand for transporting an article comprises: a holding part which holds and moves the article in a first direction; a driving belt with a transportation surface on which the article can be placed, the driving belt moving the transportation surface in the first direction; and a first drive unit which drives the driving belt. The holding part is configured to place the article being held on the transportation surface by moving in the first direction.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a robot hand, a robot, a robot system, and a transport method. [Background technology]

[0002] Conventionally, robots have been used to transport workpieces. For example, Patent Document 1 discloses a robot hand equipped with multiple suction assemblies that transport workpieces by suction. This robot hand is configured to be able to move the multiple suction assemblies, thereby changing the distance between the multiple suction assemblies. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-60039 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, automation of work using robots has been progressing in the field of logistics. For example, robots are sometimes used to transport cardboard cases. In some cases, multiple cardboard cases are stored stacked in an enclosed space such as a container or a box-shaped loading platform of a truck. In this case, the robot needs to approach the cardboard case from the side with its robot hand and pull it out to transport it. However, the robot hand of Patent Document 1 is not suitable for such transportation.

[0005] Therefore, an object of the present disclosure is to provide a robot hand, a robot, a robot system, and a transport method that enable an article such as a workpiece to be approached from the side and transported. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a robot hand according to one embodiment of the present disclosure is a robot hand that transports an item, and includes: a holding unit that holds the item and moves in a first direction; a drive belt that has a transport surface on which the item can be placed and drives the transport surface to move in the first direction; and a first drive device that drives the drive belt, and the holding unit is configured to place the item it is holding onto the transport surface by moving in the first direction.

[0007] A robot according to one embodiment of the present disclosure includes a robot hand according to one embodiment of the present disclosure, a robot arm to which the robot hand is connected at its end, and a control device that controls the operation of the drive device of the robot hand and the operation of a fifth drive device that drives the robot arm.

[0008] A robot system according to one embodiment of the present disclosure comprises a robot according to one embodiment of the present disclosure and a reception device capable of receiving the item transported by the robot, wherein the robot hand further comprises a base on which the item can be placed, the base having at least one cutout at an end opposite to the first direction, the reception device including at least one protrusion configured to be able to pass through the cutout in an up-down direction, and the robot hand is configured to be lowered by the robot arm toward the reception device so that the at least one protrusion can be inserted into the at least one cutout from below and the item placed on the base can be supported by the at least one protrusion.

[0009] A conveying method according to one aspect of the present disclosure is a conveying method for conveying an item using a robot according to one aspect of the present disclosure, which comprises causing the robot arm to bring the holding portion of the robot hand close to the item, causing the holding portion to hold the item, and causing the robot hand to move the holding portion holding the item in the first direction while driving the drive belt to move the conveying surface in the first direction, thereby moving the item onto the conveying surface.

[0010] A conveying method according to one embodiment of the present disclosure is a conveying method for conveying an item placed on a loading surface using a robot according to one embodiment of the present disclosure, wherein the robot hand further includes a third drive device that moves the holding portion in a direction intersecting the conveying surface, toward and away from the conveying surface; causes the robot arm to change the attitude of the robot hand to a first attitude in which the conveying surface tilts so as to move away from the loading surface as it moves away from the item; causes the robot arm to bring the holding portion of the robot hand in the first attitude closer to the item, causing the holding portion to hold the item; causes the robot hand to move the holding portion holding the item in a direction away from the conveying surface; causes the robot hand to drive the drive belt to move the conveying surface in the first direction while moving the holding portion moved away from the conveying surface in the first direction, thereby moving the item onto the conveying surface.

[0011] A conveying method according to one aspect of the present disclosure is a conveying method for conveying an item using a robot system according to one aspect of the present disclosure, comprising the steps of: causing the robot arm to bring the holding portion of the robot hand close to the item and have the holding portion hold the item; causing the robot hand to move the holding portion holding the item in the first direction while driving the drive belt to move the conveying surface in the first direction, thereby moving the item onto the conveying surface; causing the robot arm to move the robot hand so that the at least one cutout portion of the base is positioned above the at least one protrusion of the reception device; causing the robot arm to lower the robot hand so that the at least one protrusion is inserted into the at least one cutout portion from below; and causing the robot arm to move the robot hand so that the item is placed on the at least one protrusion and retreats from the reception device. [Effects of the Invention]

[0012] According to the technology of the present disclosure, it is possible to approach and transport an article from the side. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to an embodiment. [Figure 2] FIG. 2 is a side view illustrating an example of the configuration of the robot according to the embodiment. [Figure 3] FIG. 3 is a perspective view showing an example of the configuration of a robot hand in one state according to an embodiment. [Figure 4] FIG. 4 is a perspective view of the robot hand of FIG. 3 as seen from the rear. [Figure 5] FIG. 5 is a perspective view showing an example of the configuration of the robot hand in another state according to the embodiment. [Figure 6] FIG. 6 is a perspective view of the robot hand of FIG. 5 as seen from the rear. [Figure 7] 7 is a cross-sectional side view of the robot hand of FIG. 3 taken along a cross section perpendicular to the drive belt in direction VII. [Figure 8] FIG. 8 is a front view showing the holding portion of FIG. 3 when viewed in a first direction. [Figure 9] FIG. 9 is a rear view showing the holding portion of FIG. 3 when viewed in a second direction. [Figure 10] 10 is a cross-sectional side view of the robot hand in FIG. 7, showing a state in which the lifting device is extended. [Figure 11] 11 is a rear view of the holding portion showing the state in which the lifting device in FIG. 9 is extended. [Figure 12] FIG. 12 is a block diagram illustrating an example of a functional configuration of a control device according to an embodiment. [Figure 13] FIG. 13 is a block diagram illustrating an example of the configuration of a CPU and a servo motor of a control device according to an embodiment. [Figure 14] FIG. 14 is a flowchart illustrating an example of a first operation of the robot system according to the embodiment. [Figure 15] FIG. 15 is a side view showing one state of the first operation of the robot system according to the embodiment. [Figure 16] FIG. 16 is a side view showing one state of the first operation of the robot system according to the embodiment. [Figure 17] FIG. 17 is a flowchart showing an example of the second operation of the robot system 1 according to the embodiment. [Figure 18] FIG. 18 is a side view showing one state of the second operation of the robot system 1 according to the embodiment. [Figure 19] FIG. 19 is a side view showing one state of the second operation of the robot system 1 according to the embodiment. [Figure 20] FIG. 20 is a side view showing one state of the second operation of the robot system 1 according to the embodiment. [Figure 21] FIG. 21 is a perspective view showing an example of the configuration of a robot hand according to Modification 1, similar to FIG. [Figure 22] FIG. 22 is a rear view similar to FIG. 9, showing an example of the configuration of a robot hand according to Modification 2. As shown in FIG. [Figure 23] FIG. 23 is a perspective view showing an example of the configuration of a robot hand according to Modification 3, similar to FIG. [Figure 24] FIG. 24 is a perspective view showing an example of the configuration of a robot hand according to Modification 3, similar to FIG. [Figure 25] 25 is a front view similar to FIG. 8 showing the holding portion of FIG. 23 when viewed in a first direction. [Figure 26] FIG. 26 is a front view showing an example of a state in which articles are loaded on a robot hand according to the third modification. [Figure 27] FIG. 27 is a front view showing an example of a state in which articles are loaded on a robot hand according to the third modification. [Figure 28] FIG. 28 is a front view showing an example of a state in which articles are loaded on a robot hand according to the third modification. [Figure 29] FIG. 29 is a perspective view showing an example of the operation of the robot hand according to the third modification for unloading the loaded goods. [Figure 30]FIG. 30 is a perspective view showing an example of the operation of the robot hand according to the third modification for unloading the loaded goods. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. Furthermore, among the components in the following embodiments, components that are not recited in the independent claims that represent the highest concepts will be described as optional components. Furthermore, each figure in the accompanying drawings is a schematic diagram and is not necessarily an exact illustration. Furthermore, in each figure, substantially identical components are assigned the same reference numerals, and duplicated descriptions may be omitted or simplified. Furthermore, in this specification and claims, the term "device" may refer not only to a single device but also to a system consisting of multiple devices.

[0015] <Robot system configuration> The configuration of a robot system 1 according to an embodiment will be described. FIG. 1 is a diagram showing an example of the configuration of the robot system 1 according to an embodiment. As shown in FIG. 1, in the following embodiment, the robot system 1 will be described as using a robot 100 to transfer an item A stacked in one location to another location or device. In this embodiment, the item A to be transferred is a cardboard case. Note that the item A may be another object having a predetermined shape, or may be an object not having a predetermined shape.

[0016] The robot system 1 according to the embodiment includes, as its components, a robot 100, an input device 200, a control device 300, and an imaging device 400. In this embodiment, the robot 100 can autonomously move to various locations on a floor or the like, but may also be configured to be moved by another device or may be fixedly located. The control device 300 is located on the robot 100, and the input device 200 is located at a distance from the robot 100, but the respective locations are not limited thereto.

[0017] [robot] 2 is a side view showing an example of the configuration of a robot 100 according to an embodiment. As shown in FIGS. 1 and 2, the robot 100 includes a robot main body 110, an equipment housing section 150, and a transport vehicle 160. The robot main body 110 includes a robot arm 120 and a robot hand (also called an "end effector") 130. The robot main body 110 and the equipment housing section 150 are mounted on the transport vehicle 160.

[0018] The transport vehicle 160 is capable of moving the robot 100 on a floor surface or the like, and includes wheels 160a as traveling means and a transport drive device 160b (not shown) that drives the wheels 160a, but is not limited to this and may include other traveling means such as a crawler (also called a "caterpillar (registered trademark)"). The transport drive device 160b is powered by electricity and has a servo motor as an electric motor, but is not limited to this. The transport vehicle 160 may be an AGV (Automated Guided Vehicle) or the like.

[0019] The equipment housing section 150 houses equipment such as the control device 300, the power supply device 170, and the negative pressure generator 180. The power supply device 170 supplies power to each component of the robot 100 that consumes power. The power supply device 170 may include a battery such as a primary battery, a secondary battery, or a fuel cell, and may be connected via a wire to a commercial power source or an external power source such as a device external to the robot 100, or may include a battery and be connected to the external power source. The power supply device 170 supplies battery power and / or power from an external power source to each component. A primary battery can only discharge power. A secondary battery can charge and discharge power, and may be a lead-acid battery, a lithium-ion secondary battery, a nickel-metal hydride battery, a nickel-cadmium battery, or the like.

[0020] The negative pressure generating device 180 generates negative pressure in the suction devices 134aak (k=a natural number from 1 to n) of the robot hand 130, which will be described later. The configuration of the negative pressure generating device 180 is not particularly limited as long as it can generate negative pressure in the suction devices 134aak, and any existing configuration may be used. For example, the negative pressure generating device 180 may have the configuration of a vacuum pump or pneumatic cylinder that generates negative pressure or vacuum by sucking air, or may have the configuration of an ejector that generates negative pressure or vacuum by feeding compressed air. The operation of the negative pressure generating device 180 is controlled by the control device 300.

[0021] [Robot arm] The base of the robot arm 120 is fixedly attached to the transport vehicle 160, and the robot hand 130 is attached to the tip of the robot arm 120. The robot hand 130 is configured to approach one of a plurality of stacked articles A from the side, pull out the article A to the side, and place it on top of it to transport it. The operations of the robot arm 120 and the robot hand 130 are controlled by a control device 300. The robot arm 120 is configured as a vertical multi-joint robot arm as described below, but is not limited to this, and may be configured as, for example, a horizontal multi-joint robot arm, a polar coordinate robot arm, a cylindrical coordinate robot, a Cartesian coordinate robot, or any other type of robot arm.

[0022] The robot arm 120 includes links 120a-120f arranged in order from its base to its tip, joints JT1-JT6 that sequentially connect the links 120a-120f, and arm driving devices M1-M6 that rotate the joints JT1-JT6, respectively. The operation of the arm driving devices M1-M6 is controlled by a control device 300. Each of the arm driving devices M1-M6 is powered by electricity and has a servo motor as the electric motor that drives it, but is not limited to this. The arm driving devices M1-M6 are an example of a fifth driving device. The number of joints of the robot arm 120 is not limited to six, and may be seven or more, or one to five or less.

[0023] Link 120a is attached to the transport vehicle 160. The tip of link 120f forms a mechanical interface and is connected to the robot hand 130. Joint JT1 connects the transport vehicle 160 and the base end of link 120a rotatably around a vertical axis perpendicular to the floor surface supporting the transport vehicle 160. Joint JT2 connects the tip of link 120a and the base end of link 120b rotatably around a horizontal axis parallel to the floor surface. Joint JT3 connects the tip of link 120b and the base end of link 120c rotatably around a horizontal axis. Joint JT4 connects the tip of link 120c and the base end of link 120d rotatably around an axis in the longitudinal direction of link 120c. Joint JT5 connects the tip end of link 120d to the base end of link 120e so that they can rotate around an axis perpendicular to the longitudinal direction of link 120d. Joint JT6 connects the tip end of link 120e to the base end of link 120f so that they can torsionally rotate relative to link 120e.

[0024] [Robot Hand] FIG. 3 is a perspective view showing an example of the configuration of a robot hand 130 in one state according to an embodiment. FIG. 4 is a perspective view of the robot hand 130 in FIG. 3 as seen from the rear. FIG. 5 is a perspective view showing an example of the configuration of the robot hand 130 in another state according to an embodiment. FIG. 6 is a perspective view of the robot hand 130 in FIG. 5 as seen from the rear. In FIGS. 5 and 6, a holding unit 134, which will be described later, slides in a first direction D1 relative to FIGS. 3 and 4. FIG. 7 is a cross-sectional side view of the robot hand 130 in FIG. 3 as seen in direction VII, along and perpendicular to the drive belt 133c.

[0025] 3 to 6, the robot hand 130 includes an attachment base 131, a base 132, a belt driving mechanism 133, a holder 134, and a belt driving device 135. The holder 134 is movable relative to the base 132 in directions D1 and D2.

[0026] The base 132 supports the holder 134, and the article A can be placed thereon. The base 132 is formed, for example, from a rectangular plate-like member with the first direction D1 as its longitudinal direction. The base 132 has sliding members 136 and 137 on its upper surface. The sliding members 136 and 137 are strip-shaped members extending in the first direction D1 and arranged at an interval in the fifth direction D5. In this embodiment, the sliding members 136 and 137 extend parallel to each other, but this is not limiting. The upper surface of the base 132 faces the third direction D3.

[0027] Here, the first direction D1 is a direction along the longitudinal direction of the base 132, from the end 132a to the end 132b of the base 132. The ends 132a and 132b are opposite ends of the base 132 in the longitudinal direction. The second direction D2 is a direction opposite to the first direction D1. The fifth direction D5 is perpendicular to the directions D1 and D2, and is a direction from the slide member 136 to the slide member 137, and is a direction along the top surface of the base 132. The sixth direction D6 is a direction opposite to the fifth direction D5. The third direction D3 is perpendicular to the directions D1, D2, D5, and D6, and is a direction from the base 132 to the slide members 136 and 137. The fourth direction D4 is a direction opposite to the third direction D3.

[0028] The sliding members 136 and 137 have smooth and flat upper surfaces 136a and 137a, respectively, that are the same height in the third direction D3. The sliding members 136 and 137 are made of, for example, a material that has a low coefficient of friction with respect to the article A and that is unlikely to cause damage to the surface of the article A. An example of a material that can be used to make the sliding members 136 and 137 is resin. The sliding members 136 and 137 made of resin also contribute to reducing the weight of the robot hand 130.

[0029] The mounting base 131 is connected to the link 120f of the robot arm 120. The mounting base 131 is disposed in the third direction D3 relative to the base 132 and is fixed thereto, and disposed in the first direction D1 relative to the sliding members 136 and 137. The mounting base 131 includes an accommodation portion 131a and a connecting portion 131b. The accommodation portion 131a is formed of an inverted U-shaped member that straddles the base 132 in the directions D5 and D6, and forms an accommodation space 131a1 therein. The accommodation space 131a1 accommodates the components of the holding portion 134 that have moved in the first direction D1. The connecting portion 131b is connected to the portion of the accommodation portion 131a in the first direction D1 and is connected to the link 120f.

[0030] The belt drive mechanism 133 is disposed on the base 132 between the sliders 136 and 137. As shown in Fig. 7, the belt drive mechanism 133 includes rotatable rollers 133a and 133b and an endless drive belt 133c. The rollers 133a and 133b are disposed on the base 132 at an interval in the first direction D1, and the direction of the rotation axes of the rollers 133a and 133b is the fifth direction D5. The rollers 133a and 133b are disposed near the ends 132a and 132b (see Fig. 3), respectively, of the base 132, and are embedded in through holes that penetrate the base 132 in the third direction D3.

[0031] The drive belt 133c passes through the two through holes and is wound around the rollers 133a and 133b. The drive belt 133c extends in the first direction D1 on both the upper and lower surfaces of the base 132, which face the directions D3 and D4, respectively. On the upper surface of the base 132, the drive belt 133c extends in the first direction D1 and forms a conveying surface 133c1 on its outer circumferential surface, which faces the third direction D3. The drive belt 133c revolves around the rollers 133a and / or 133b as they are rotated, moving the conveying surface 133c1 in the first direction D1 or the second direction D2. The drive belt 133c does not have to be an endless loop. For example, the drive belt 133c may be wound around the rollers 133a and 133b. The rollers 133a and 133b rotate to unwind or wind the drive belt 133c, thereby moving the conveyance surface 133c1 in the first direction D1 or the second direction D2.

[0032] The height of the conveying surface 133c1 in the third direction D3 is equal to the height of the upper surfaces 136a and 137a of the sliding members 136 and 137. Therefore, the article A can be placed on the conveying surface 133c1 and the upper surfaces 136a and 137a simultaneously. The drive belt 133c can move the conveying surface 133c1 to move the article A on the upper surfaces 136a and 137a in the first direction D1 or the second direction D2.

[0033] Belt driving device 135 is disposed near roller 133b and drives roller 133b to rotate. Belt driving device 135 includes a servo motor 135a as an electric motor and a reducer 135b. Reducer 135b reduces the rotational speed of servo motor 135a and increases the rotational driving force, and transmits the rotational driving force to roller 133b. Belt driving device 135 is an example of a first driving device.

[0034] 3 to 6, the holding portion 134 is disposed in a third direction D3 relative to the drive belt 133c and is movable in directions D1 and D2. The holding portion 134 includes an attachment portion 134a, a support 134b, a fixing portion 134c, and an elevating device 134d.

[0035] As shown in Figures 4 and 7, support 134b supports attachment portion 134a and is connected to fixed portion 134c via lifting device 134d. For example, support 134b is formed of a rectangular plate-like member and stands in third direction D3 relative to sliding members 136 and 137 and conveying surface 133c1. Support 134b has surfaces 134b1 and 134b2 facing directions D1 and D2, respectively. Attachment portion 134a is disposed on surface 134b2, and lifting device 134d is disposed on surface 134b1.

[0036] FIG. 8 is a front view of the holding unit 134 of FIG. 3 as viewed in the first direction D1. FIG. 9 is a rear view of the holding unit 134 of FIG. 3 as viewed in the second direction D2. As shown in FIG. 8, the attachment unit 134a includes a plurality of suction devices 134aak (k=a natural number from 1 to n) arranged on the surface 134b2. Each suction device 134aak has, for example, a nozzle-like hollow shape, but the shape is not limited thereto. In this embodiment, each suction device 134aak has a bellows-like hollow shape and is expandable and contractible. Therefore, even if the surface of the article A is uneven or inclined and not parallel to the surface 134b2 of the support 134b, the plurality of suction devices 134aak can contact and suction the surface. Each suction device 134aak is oriented in the second direction D2 so as to suction the article A present in the second direction D2. As a result, the holding section 134 is oriented so as to hold the article A present in the second direction D2 using the plurality of suction devices 134aak.

[0037] In this embodiment, 20 pickup devices 134aa1 to 134aa20 are arranged. The pickup devices 134aa1 to 134aa20 are arranged in a 4-row x 5-column arrangement, which forms four rows in the fifth direction D5 and five columns in the third direction D3. The pickup devices 134aa1 to 134aa12 form a first pickup device group G1 and are arranged in a rectangular shape of 4 rows x 3 columns. The pickup devices 134aa13 to 134aa16 form a second pickup device group G2 and are arranged in a 4-row x 1-column arrangement at a position in the fifth direction D5 relative to the first pickup device group G1. The pickup devices 134aa17 to 134aa20 form a third pickup device group G3 and are arranged in a 4-row x 1-column arrangement at a position in the sixth direction D6 relative to the first pickup device group G1.

[0038] 7 and 8, the suction devices 134aa1-134aa20 are arranged in a direction intersecting the conveying surface 133c1 of the drive belt 133c, specifically in directions D3 and D4 that are substantially perpendicular to the conveying surface 133c1, in a direction toward and away from the conveying surface 133c1. Furthermore, the suction devices 134aak located farther from the conveying surface 133c1 are arranged closer to the first direction D1 than the suction devices 134aak located closer to the conveying surface 133c1. The support 134b is slightly inclined in directions D1 and D2 relative to the direction perpendicular to the conveying surface 133c1. Specifically, the support 134b is slightly inclined toward the first direction D1 as it moves away from the conveying surface 133c1 in the third direction D3.

[0039] As shown in FIGS. 8 and 9, the adsorption devices 134aa1 to 134aa12 communicate with a first piping system 181 (not shown) via a connection port 134ba on the surface 134b1. The adsorption devices 134aa13 to 134aa16 communicate with a second piping system 182 (not shown) via a connection port 134bb on the surface 134b1. The adsorption devices 134aa17 to 134aa20 communicate with a third piping system 183 (not shown) via a connection port 134bc on the surface 134b1. The piping systems 181 to 183 are separate piping systems and are connected to the negative pressure generator 180. The pipes and electrical cables of the piping systems 181 to 183 extend from the pipe holder 134 through a housing duct 138 (see FIG. 3) disposed in the base 132 to their destinations, such as the negative pressure generator 180. For example, the accommodation duct 138 is a freely bendable Cableveyor (registered trademark) that can accommodate piping, electric cables, etc. Any two of the piping systems 181 to 183 are examples of the first system and the second system.

[0040] The negative pressure generator 180 is configured to select at least one of the piping systems 181 to 183 and generate a negative pressure in that piping system. In other words, the negative pressure generator 180 can select at least one of the plurality of suction device groups G1 to G3 to perform suction. For example, by selecting the suction device group G1 to G3 that generates a negative pressure in accordance with the shape, size, etc. of the article A, the article A can be efficiently suctioned.

[0041] As shown in FIGS. 7 and 9, the fixing portion 134c fixes the support 134b to the drive belt 133c, specifically to the portion of the drive belt 133c on the upper surface of the base 132. The support 134b is moved in directions D1 and D2 together with the conveying surface 133c1 by the drive belt 133c via the fixing portion 134c. The fixing portion 134c includes a base plate 134c1, a clamping portion 134c2, slide guides 134c3a and 134c3b, and lift guides 134c4a and 134c4b. The base plate 134c1, slide guides 134c3a and 134c3b, and lift guides 134c4a and 134c4b are integrated.

[0042] The substrate 134c1 is a plate-like member that is disposed in the third direction D3 relative to the drive belt 133c and extends in the fifth direction D5 across and above the drive belt 133c. The substrate 134c1 has surfaces 134c1a and 134c1b that face in the directions D3 and D4, respectively.

[0043] The clamping portion 134c2 is a member disposed between the base 132 and the drive belt 133c. The clamping portion 134c2 and the surface 134c1b of the substrate 134c1 are connected to each other while clamping the drive belt 133c, thereby fixing the substrate 134c1 to the drive belt 133c.

[0044] Slide guides 134c3a and 134c3b are arranged and fixed on surface 134c1b of substrate 134c1 on both sides of drive belt 133c in directions D5 and D6. The recesses of slide guides 134c3a and 134c3b are fitted with base guides 132c and 132d, which are strip-shaped protrusions, so as to be slidable in directions D1 and D2. Base guides 132c and 132d are fixed to or integrated with base 132 and extend in first direction D1 along drive belt 133c on both sides of drive belt 133c in directions D5 and D6, and are parallel to each other in this embodiment. The slide guides 134c3a and 134c3b and the base guides 132c and 132d are positioned apart from each other on either side of the drive belt 133c, thereby guiding the movement of the substrate 134c1 in directions D1 and D2 relative to the base 132 while preventing displacement of the substrate 134c1 in unintended directions.

[0045] The lift guides 134c4a and 134c4b are columnar members extending in the third direction D3 and are parallel to each other in this embodiment. The lift guides 134c4a and 134c4b are arranged and fixed on the surface 134c1a of the substrate 134c1 on both sides of the lift device 134d in the directions D5 and D6. The lift guides 134c4a and 134c4b penetrate through guide holes 134b3a and 134b3b of the support guide 134b3, respectively. The support guide 134b3 is a plate-like member protruding from the surface 134b1 of the support 134b in the first direction D1 and has guide holes 134b3a and 134b3b penetrating in the directions D3 and D4. The lift guides 134c4a and 134c4b and the support guide 134b3 guide the movement of the support 134b in the directions D3 and D4 relative to the substrate 134c1. The lift guides 134c4a and 134c4b, which are spaced apart in the fifth direction D5, prevent the support 134b from rotating relative to the substrate 134c1 around the axis in the third direction D3.

[0046] The lifting device 134d is disposed on the surface 134c1a of the substrate 134c1 and is connected to the support guide 134b3 and the substrate 134c1. The support 134b is supported by the substrate 134c1 via the lifting device 134d. The lifting device 134d expands and contracts in directions D3 and D4, and moves the support guide 134b3 in the directions D3 and D4 relative to the substrate 134c1. In other words, the lifting device 134d raises and lowers the support 134b in the directions D3 and D4 relative to the base 132. The lifting device 134d is an example of a third driving device.

[0047] In this embodiment, the lifting device 134d is configured with a pneumatic cylinder, but is not limited to this and may be any device that lifts and lowers the support 134b in the directions D3 and D4 relative to the fixed part 134c. For example, the lifting device 134d may be equipped with a hydraulic or electric cylinder, an electric linear actuator, or a screw mechanism. The screw mechanism includes, for example, a pin screw and a nut such as a ball nut that screws onto the pin screw, and is a mechanism that converts the rotational motion of the nut into the linear motion of the pin screw. When the lifting device 134d is driven to lift and lower using electricity, it may be equipped with, for example, a servo-controlled motor or linear actuator.

[0048] Fig. 10 is a cross-sectional side view of the robot hand 130 showing the state in which the lifting device 134d is extended in Fig. 7. Fig. 11 is a rear view of the holding part 134 showing the state in which the lifting device 134d is extended in Fig. 9.

[0049] 7 and 10, the lifting device 134d includes a cylinder 134d1 and a piston 134d2 within the cylinder 134d1. The cylinder 134d1 is fixed to the support guide 134b3, and the piston 134d2 is fixed to the base plate 134c1 via a rod 134d3. The piston 134d2 divides the space within the cylinder 134d1 into a first chamber 134d4 positioned in a third direction D3 relative to the piston 134d2 and a second chamber 134d5 positioned in a fourth direction D4 relative to the piston 134d2. The chambers 134d4 and 134d5 are connected to the negative pressure generator 180 via piping systems 184 and 185 (not shown), respectively. The negative pressure generator 180 changes the relationship of the air pressures in the chambers 134d4 and 134d5 by sending or sucking air, causing the cylinder 134d1 to move in the direction D3 or D4 relative to the piston 134d2.

[0050] As shown in Fig. 9, the lifting device 134d contracts and moves the cylinder 134d1 in a fourth direction D4, thereby moving the support 134b in the fourth direction D4 and bringing it closer to the conveying surface 133c1. As shown in Fig. 11, the lifting device 134d expands and moves the cylinder 134d1 in a third direction D3, thereby moving the support 134b in the third direction D3 and away from the conveying surface 133c1. Note that the lifting direction of the lifting device 134d is not limited to the directions D3 and D4 perpendicular to the conveying surface 133c1, but may be a direction intersecting the conveying surface 133c1.

[0051] [Imaging device] The imaging device 400 captures an image of the item A to be processed by the robot 100. As shown in Figures 3 and 8, the imaging device 400 is disposed on the robot hand 130, specifically on the mounting base 131, but may be located in any position where it can capture an image of the item A to be processed. The imaging device 400 includes a camera 401 that captures an image for detecting the three-dimensional position of the subject relative to the imaging device 400, such as the distance to the subject, and a light source 402 that illuminates the subject.

[0052] For example, the camera 401 is a camera that captures digital images, and may have a configuration such as a stereo camera, a monocular camera, a TOF camera (Time-of-Flight Camera), a pattern light projection camera such as a stripe projection camera, or a camera using a light section method. In this embodiment, the camera 401 is a stereo camera. Examples of the light source 402 include an LED (light emitting diode) and a strobe. The camera 401 and the light source 402 are directed toward a second direction D2. The imaging device 400 may detect the three-dimensional position and orientation (orientation) of the item A based on an image of the item A and output the detected position and orientation to the control device 300, or may output the image to the control device 300, which then calculates the three-dimensional position and orientation.

[0053] [Input Device] The input device 200 shown in FIG. 1 accepts input of commands, information, etc. from a user who manages the robot system 1, and outputs the commands, information, etc. to the control device 300. The input device 200 is connected to the control device 300 via wired or wireless communication. Any type of wired or wireless communication may be used. For example, the input device 200 may accept input of information for identifying the configuration of an article A to be processed by the robot 100, such as the type, shape, size, and specifications. The configuration of the input device 200 is not particularly limited, but in this embodiment, it is a terminal device including buttons, keys, and / or a touch panel, etc.

[0054] [Control device configuration] 12 is a block diagram showing an example of the functional configuration of the control device 300 according to the embodiment. As shown in FIG. 12, the control device 300 includes, as functional components, an overall control unit 301, an imaging control unit 302, an image processing unit 303, a transport control unit 304, an arm control unit 305, a belt drive control unit 306, a suction control unit 307, a lift control unit 308, and a storage unit 309.

[0055] The functions of each functional component of the control device 300, except for the memory unit 309, may be realized by a computer system consisting of a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), or may be realized by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or may be realized by a combination of the above computer system and hardware circuit.

[0056] For example, the CPU is a processor that controls the overall processing and operation of the robot system 1. The ROM is made up of non-volatile semiconductor memory or the like, and stores programs and data for the CPU to control processing and operation. The RAM is made up of volatile semiconductor memory or the like, and temporarily stores programs to be executed by the CPU and data that is being processed or has already been processed. For example, the programs that the CPU uses to operate are stored in advance in the ROM or the like. The CPU reads the programs from the ROM or the like into the RAM and expands them. The CPU executes each coded instruction in the program expanded in the RAM.

[0057] The function of the storage unit 309 is realized by a memory that is a storage device such as a semiconductor memory such as a volatile memory or a nonvolatile memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0058] The control device 300 may include, as hardware, a CPU, a ROM, a RAM, and / or a hardware circuit, and memories such as semiconductor memories, hard disks, and SSDs.

[0059] The overall control unit 301 receives inputs such as commands from the input device 200 and outputs commands to each of the other functional components in accordance with the inputs, programs, etc. The overall control unit 301 acquires information about the operation of each of the other functional components and uses the acquired information to operate the other functional components in cooperation, coordination, and / or collaboration. The overall control unit 301 can operate at least one of the devices such as the camera 401, the light source 402, the conveyance driving device 160b, the arm driving devices M1 to M6, the belt driving device 135, the negative pressure generating device 180, the suction devices 134aa1 to 134aa20, and the lifting device 134d while operating at least one other device.

[0060] The storage unit 309 stores various information and enables the reading of the stored information. The storage unit 309 stores configuration information, including the type, shape, size, and specifications of items that can be processed by the robot 100, as templates, etc. The storage unit 309 may also store map information of work locations, images captured by the camera 401, programs, etc.

[0061] The imaging control unit 302 controls the operations of the camera 401 and the light source 402 of the imaging device 400. For example, the imaging control unit 302 may cause the camera 401 to capture an image at a predetermined timing, such as immediately before the robot 100 starts to transfer the item A. The imaging control unit 302 may cause the light source 402 to illuminate at the timing when the camera 401 captures an image.

[0062] The image processing unit 303 uses the image captured by the camera 401 and an article template stored in the memory unit 309 to extract the article A shown in the image and detects the three-dimensional position, orientation, etc. of the article A relative to the camera 401. The image processing unit 303 outputs the three-dimensional position, orientation, etc. to the arm control unit 305, etc. The control device 300 controls the robot 100 based on the three-dimensional position, orientation, etc. of the article A.

[0063] The transport control unit 304 controls the operation of the transport drive device 160b. The transport control unit 304 controls the operation of the transport drive device 160b in accordance with commands received from the input device 200, thereby causing the transport vehicle 160 to perform the corresponding operation. For example, the transport control unit 304 may adjust the position of the robot 100 relative to the article A by moving the transport vehicle 160 based on information received from the image processing unit 303. The transport control unit 304 may acquire information on the operation amount, such as the rotation amount of the servo motor, from the transport drive device 160b and detect the position and orientation of the transport vehicle 160 based on the operation amount. The transport vehicle 160 may also be equipped with position measurement devices such as a GPS (Global Positioning System) receiver and an IMU (Inertial Measurement Unit). The transport control unit 304 may detect the position and orientation of the transport vehicle 160 using a signal received by the GPS receiver or acceleration and angular velocity measured by the IMU. The transport control unit 304 may, for example, detect a weak induced current from an electric wire buried in the floor surface, and detect the position and orientation of the transport vehicle 160 based on this detected value.

[0064] The arm control unit 305 controls the operation of the arm driving devices M1 to M6. Based on the detection results of the image processing unit 303, the arm control unit 305 controls the arm driving devices M1 to M6 to cause the robot arm 120 to perform an operation corresponding to the transfer task of the article A. The arm control unit 305 also acquires information on the amount of movement, such as the amount of rotation, from the servo motors of the arm driving devices M1 to M6, and detects position and orientation information, including the position, orientation, movement direction, movement speed, movement acceleration, etc., of each link of the robot arm 120 and the robot hand 130, based on the amount of movement. The arm control unit 305 outputs the position and orientation information to the belt drive control unit 306, the suction control unit 307, the lift control unit 308, etc. Furthermore, by using the position and orientation information as feedback information, the arm control unit 305 controls the operation of the arm driving devices M1 to M6 so that the position, orientation, etc. of the robot hand 130 become the target position, orientation, etc.

[0065] The belt drive control unit 306 controls the operation of the belt drive device 135. Based on the three-dimensional position and posture of the object A to be transferred and the position and posture information of the robot hand 130, the belt drive control unit 306 controls the servo motor 135a of the belt drive device 135 to move the holding unit 134 in the direction D1 or D2.

[0066] Here, the servo motor includes an electric motor, an encoder that detects the rotation angle of the rotor of the electric motor, and a current sensor that detects the current value of the electric motor. The control device 300 has at least one CPU (i.e., processor), ROM 312, RAM 313, and memory 314. As shown in FIG. 13, in this embodiment, a single CPU 311 of the at least one CPU controls the operation of servo motors SM1 to SM6 of arm driving devices M1 to M6, servo motor 135a of belt driving device 135, and servo motor 160c of conveyance driving device 160b. FIG. 13 is a block diagram showing an example of the configuration of CPU 311 and servo motors SM1 to SM6, 135a, and 160c of the control device 300 according to this embodiment.

[0067] Servo motors SM1-SM6, 135a, and 160c each operate in accordance with commands and the like output from CPU 311, and output detected values ​​from encoders and current sensors to CPU 311. CPU 311 detects the amount of rotation, rotation speed, rotation torque, and the like of the rotors of the electric motors based on the detected values ​​from the encoders and current sensors fed back from servo motors SM1-SM6, 135a, and 160c, and controls the start and stop of rotation, rotation speed, rotation torque, and the like of the electric motors using the detection results. This allows CPU 311 to stop servo motors SM1-SM6, 135a, and 160c at any rotational position, rotate at any rotational speed, and operate with any rotational torque. Therefore, CPU 311 can operate robot arm 120, belt drive mechanism 133, transport vehicle 160, and the like in a variety of precise ways.

[0068] The single CPU 311 collectively controls the driving of at least eight axes, including six axes corresponding to servo motors SM1-SM6 and at least two axes corresponding to servo motors 135a and 160c. The axes corresponding to servo motors 135a and 160c are also referred to as external axes. The single CPU 311 may also be configured to collectively control the driving of other servo motors provided in the robot hand 130, opening / closing devices 181a-183a for driving suction devices 134aak (described later), a switching device 187 for driving lifting device 134d (described later), and a negative pressure generator 180, along with the driving of the at least eight axes. This allows the CPU 311 to operate each device more smoothly and cooperatively.

[0069] The adsorption control unit 307 controls the operation of the adsorption device 134aak. Specifically, the adsorption control unit 307 controls the operation of the negative pressure generator 180 and the on-off devices 181a to 183a. The on-off device 181a is disposed in the first piping system 181 and connects or disconnects the first piping system 181. The on-off device 182a is disposed in the second piping system 182 and connects or disconnects the second piping system 182. The on-off device 183a is disposed in the third piping system 183 and connects or disconnects the third piping system 183. The adsorption control unit 307 operates the negative pressure generator 180 and connects the on-off devices 181a to 183a, respectively, to generate negative pressure in each of the adsorption device groups G1 to G3. An example of the on-off devices 181a to 183a is an on-off valve constituted by a solenoid valve or the like.

[0070] The lift control unit 308 controls the operation of the lift device 134d. Specifically, the lift control unit 308 controls the operation of the negative pressure generator 180 and the switching device 187. The switching device 187 is disposed in the piping systems 184 and 185 that communicate with the chambers 134d4 and 134d5 (see FIG. 10 ) of the lift device 134d, respectively. The switching device 187 switches between communication between the fourth piping system 184 and the negative pressure generator 180 and communication between the fifth piping system 185 and the negative pressure generator 180. The switching device 187 can also block both communication modes. The lift control unit 308 operates the negative pressure generator 180 and causes the switching device 187 to switch communication, thereby increasing or decreasing the pressure in the chamber 134d4 or 134d5 and expanding or contracting the lift device 134d. An example of the switching device 187 is a switching valve configured with a solenoid valve or the like.

[0071] <First Operation of the Robot System> The first operation of the robot system 1 will be described with reference to Fig. 14. Fig. 14 is a flowchart showing an example of the first operation of the robot system 1 according to the embodiment. Fig. 15 and Fig. 16 are side views each showing one state of the first operation of the robot system 1 according to the embodiment.

[0072] The first operation is an operation in which the robot hand 130 is used to transfer an item A1 located above a placement surface such as a floor. The item A1 is located at a height position that allows the base 132 of the robot hand 130 to be positioned below the item A1, and is placed on, for example, another item A. In this example, the robot system 1 transfers the topmost item A1 among items A stacked in a vertical row. The first operation is fully automatic, and in this operation, the robot system 1 autonomously detects the three-dimensional position and orientation of the item A1 using the imaging device 400, and causes the robot 100 to perform each operation based on the detection results.

[0073] 1, in step S101, a user managing the robot system 1 inputs a command to execute a transfer operation to the input device 200, and the control device 300 accepts the command. The command includes the position of the pile of items A to be transferred, where multiple items A are piled up, and the position of the destination of the items A, such as a belt conveyor. The command also includes the configuration of the items A.

[0074] Next, in step S102, the control device 300 operates the transport vehicle 160 in accordance with the command received from the input device 200, and moves the robot 100 to a position near the pile of items A. The control device 300 may use map information stored in the memory unit 309.

[0075] Next, in step S103, the control device 300 causes the imaging device 400 to capture an image of the pile of items A. The control device 300 changes the position and posture of the robot hand 130 as necessary for imaging.

[0076] Next, in step S104, the control device 300 performs image processing on the image captured by the imaging device 400 to detect the three-dimensional position, orientation, etc. of the item A1 to be transferred. Specifically, the control device 300 extracts a template corresponding to the configuration of the item A from the storage unit 309 and uses the template to detect the item A depicted in the image. For the detection, a method such as pattern matching with the template may be used. Furthermore, the control device 300 detects one of the items A on the top shelf of the pile of items A as the item A1 to be transferred. The control device 300 also performs stereo processing on the image to detect the three-dimensional position, orientation, size, etc. of the item A1.

[0077] 15, the control device 300 operates the robot arm 120 based on the three-dimensional position and orientation of the article A1, thereby moving the robot hand 130 toward and approaching the side of the article A1. The control device 300 causes the robot hand 130 to approach the article A1 from the horizontal side. At this time, the control device 300 causes the suction device 134aak to approach the side A1a of the article A1 from the side so as to face the side A1a of the article A1 facing horizontally to the side.

[0078] In the above process, the control device 300 moves the holder 134 of the robot hand 130 to the end position in the second direction D2 within the movable range. As a result, the suction device 134aak protrudes in the second direction D2 beyond the end 132a of the base 132 of the robot hand 130, making it easier for the suction device 134aak to come into contact with the side surface A1a. Furthermore, the control device 300 controls the posture of the robot hand 130 so that the holder 134 is positioned above the base 132. Furthermore, the control device 300 controls the position and posture of the robot hand 130 so that the upper surfaces 136a and 137a (see FIG. 3) of the sliding members 136 and 137 of the base 132 are approximately horizontal and positioned below the article A1.

[0079] The control device 300 may execute the position control of the robot hand 130, the attitude control of the robot hand 130, and the movement control of the holding part 134 in parallel so that at least some of these overlap, or may execute them separately in sequence.

[0080] Next, in step S106, the control device 300 causes the suction device 134aak to suction the side surface A1a of the article A1. The control device 300 generates negative pressure in the suction device 134aak, bringing it close to or in contact with the side surface A1a. Specifically, the control device 300 determines which of the suction device groups G1 to G3 will generate negative pressure based on the size of the article A1. In the example of FIG. 15, the size of the side surface A1a of the article A1 is large enough to be contacted by all of the suction devices 134aak, so the control device 300 generates negative pressure in all of the suction device groups G1 to G3. The control device 300 activates the negative pressure generator 180 and connects it to the opening and closing devices 181a to 183a, causing the suction device groups G1 to G3 to suction the side surface A1a. For example, for an article A having a side surface too small to be contacted by the suction device groups G2 and G3, the control device 300 generates negative pressure only in the first suction device group G1.

[0081] 16, the control device 300 moves the holder 134 in the first direction D1 relative to the base 132, thereby pulling the article A1 out sideways from the pile of articles A and loading it onto the robot hand 130. Specifically, the control device 300 determines the completion of suction by the suction devices 134aa1-134aa20 based on information such as an increase in the load on the negative pressure generator 180 or an increase in the negative pressure value detected by a pressure sensor (not shown) provided in the piping systems 181-183. After suction is completed, the control device 300 activates the belt drive device 135 to drive the drive belt 133c. The drive belt 133c moves the holder 134 together with the conveying surface 133c1 in the first direction D1, and the holder 134 and the suction devices 134aa1-134aa20 pull the article A1 in the first direction D1 and place it on the sliding members 136 and 137 and the conveying surface 133c1. The article A1 is then further moved in the first direction D1 by both the conveying surface 133c1 and the holder 134. The article A1 slides smoothly on the upper surfaces 136a and 137a of the sliding members 136 and 137.

[0082] Next, in step S108, the control device 300 moves the robot hand 130 to remove the article A1 from the pile of articles A. Specifically, when the holder 134 reaches the extreme end of its movable range in the first direction D1, the control device 300 stops the belt driving device 135 and moves the robot hand 130 in a direction away from the pile of articles A. Furthermore, the control device 300 moves the robot hand 130 to the destination of the article A1. In this example, the control device 300 continues suction with the suction devices 134aa1 to 134aa20 until the robot hand 130 reaches the destination, but suction may be stopped at any time after the belt driving device 135 has been stopped.

[0083] Next, in step S109, the control device 300 removes the article A1 from the robot hand 130 after the article A1 has reached its destination. Specifically, the control device 300 activates the belt drive device 135. The drive belt 133c moves the holding portion 134 together with the conveying surface 133c1 in the second direction D2, and the holding portion 134 presses the article A1 in the second direction D2. The article A1 is moved in the second direction D2 by the conveying surface 133c1 and the holding portion 134 and removed from the sliding members 136 and 137.

[0084] <Second Operation of the Robot System> The second operation of the robot system 1 will be described with reference to Fig. 17. Fig. 17 is a flowchart showing an example of the second operation of the robot system 1 according to the embodiment. Figs. 18 to 20 are each a side view showing one state of the second operation of the robot system 1 according to the embodiment.

[0085] The second operation is an operation of transferring an item A1 placed directly on a placement surface such as the floor using the robot hand 130. The item A1 is at a height position where the base 132 of the robot hand 130 cannot be positioned below the item A1. In this example, the robot system 1 transfers the item A1 on the lowest shelf, which does not have any other items A placed on it. The second operation is also fully automatic.

[0086] Steps S201 to S204 are the same as steps S101 to S104 of the first operation. In step S204, the control device 300 processes the image captured by the imaging device 400 to detect one of the items A at the bottom of the pile of items A as item A1, and detects the three-dimensional position, orientation, size, etc. of item A1.

[0087] Next, in step S205, as shown in FIG. 18, the control device 300, based on the three-dimensional position and orientation of the article A1, moves the robot hand 130 in a tilted first orientation toward the side of the side surface A1a of the article A1, with the suction device 134aak facing the side surface A1a. Furthermore, the control device 300 moves the end 132a of the base 132 toward the floor surface FS on which the article A1 is placed. In the first orientation, the holder 134 is located above the base 132 and at its endmost position in the second direction D2. In the first orientation, the upper surfaces 136a and 137a of the sliding members 136 and 137 and the conveying surface 133c1 are tilted away from the floor surface FS as they move away from the article A1, and the end 132b of the base 132 is farther from the floor surface FS than the end 132a.

[0088] The control device 300 may execute the position control of the robot hand 130, the attitude control of the robot hand 130, and the movement control of the holding part 134 in parallel so that at least some of them overlap, or may execute them separately in sequence.

[0089] Next, in step S206, the control device 300 causes the suction device 134aak to suction the side surface A1a of the article A1. As in step S106 of the first operation, the control device 300 causes the suction device group G1 to G3 determined based on the size of the article A1 to suction the article A1.

[0090] Next, in step S207, as shown in FIG. 19, the control device 300 raises the holder 134 in the third direction D3 to lift at least a portion of the article A1 from the floor surface FS. Specifically, after suction is complete, the control device 300 activates the lifting device 134d, which extends to move the holder 134 in the third direction D3 relative to the base 132. The holder 134 and the suction devices 134aa1-134aa20 pull the side surface A1a upward to lift the article A1. As the lifting device 134d extends, the bottom surface of the article A1 near the side surface A1a is raised until it is above the upper surfaces 136a and 137a of the sliding members 136 and 137 and the conveying surface 133c1. The entire article A1 may be lifted.

[0091] Next, in step S208, as shown in Fig. 20, after the extension of the lifting device 134d is completed, the control device 300 moves the holder 134 in the first direction D1 to pull out the article A1 to the side, similar to step S107 of the first operation. Because the bottom surface of the article A1 is raised, the holder 134 can smoothly place the article A1 on the sliding members 136 and 137. Furthermore, steps S209 and S210 are similar to steps S108 and S109 of the first operation.

[0092] The control device 300 may execute a combination of the first operation and the second operation. For example, the control device 300 may automatically transfer the items A in the pile of items A sequentially by repeatedly executing steps S103 to S109 of the first operation and steps S203 to S210 of the second operation.

[0093] <Effects, etc.> The robot hand 130 according to the embodiment described above includes a holder 134 that holds an article A and moves in a first direction D1, a drive belt 133c that has a conveying surface 133c1 on which the article A can be placed and drives the conveying surface 133c1 to move in the first direction D1, and a belt drive device 135 that drives the drive belt 133c. The holder 134 is configured to place the held article A on the conveying surface 133c1 by moving in the first direction D1.

[0094] According to the above configuration, the holder 134 moves in the first direction D1 while holding the item A, thereby placing the item A on the conveying surface 133c1. The item A on the conveying surface 133c1 is further drawn onto the robot hand 130 by the drive belt 133c. Because the movement directions of the holder 134 and the conveying surface 133c1 are both the first direction D1, the robot hand 130 can place the item A on the robot hand 130 by using the holder 134 and the drive belt 133c in cooperation with each other. Furthermore, by being positioned so that the first direction D1 is to the side of the item A, the robot hand 130 can approach the item A from the side and pull out the item A to the side (first direction D1) for conveyance.

[0095] Furthermore, the holding unit 134 may be fixed to the drive belt 133c so as to move together with the conveying surface 133c1. This configuration makes it possible to simplify the configuration for moving the holding unit 134. Furthermore, the holding unit 134 and the drive belt 133c can move the article A together with the same movement.

[0096] Furthermore, the holding unit 134 may be oriented to hold the item A present in the second direction D2, which is the opposite direction to the first direction D1. According to the above configuration, the holding unit 134 holds the item A present in the second direction D2 and moves it by pulling it in the first direction D1. This makes it easier for the holding unit 134 to move the item A.

[0097] The holding unit 134 may also have an attachment unit 134a that holds the article A by adhering it thereto. Furthermore, the attachment unit 134a may include a suction device 134aak that adsorbs the article A. According to the above configuration, the holding unit 134 can hold the article A by adhering the article A to the attachment unit 134a. Furthermore, by including the suction device 134aak, the attachment unit 134a enables attachment with reduced effects such as damage to the surface of the article A.

[0098] The attachment unit 134a may also include multiple suction devices 134aak. The suction device groups G1 to G3 constituting the multiple suction devices 134aak may each be connected to a negative pressure generator 180 via piping systems 181 to 183, and the negative pressure generator 180 may generate negative pressure to suction the object A. Furthermore, the negative pressure generator 180 may select at least one of the piping systems 181 to 183 to generate negative pressure. For example, in any of the suction device groups G1 to G3, if some of the suction devices 134aak cannot contact the surface of the object A, all of the suction devices 134aak may not be able to generate effective negative pressure. With the above configuration, the suction device 134aak that suctions the surface of the object A can be changed depending on the size, shape, etc. of the surface of the object A to be suctioned, enabling effective suction.

[0099] Furthermore, the multiple suction devices 134aak of the attachment portion 134a may be arranged in a direction intersecting the conveying surface 133c1 of the drive belt 133c, in a direction approaching and receding from the conveying surface 133c1, and the suction devices 134aak distal to the conveying surface 133c1 may be arranged further in the first direction D1 than the suction devices 134aak proximal to the conveying surface 133c1. For example, in the first operation, the robot hand 130 pulls the article A1 from the pile of articles A in a position where the conveying surface 133c1 is approximately perpendicular to the side surface A1a of the article A1. In the second operation, the robot hand 130 pulls the article A1 in a position where the conveying surface 133c1 is tilted from the perpendicular state to the side surface A1a of the article A1. By arranging the multiple suction devices 134aak as described above, the robot hand 130 can suction the side surface A1a to many of the suction devices 134aak in both the first operation and the second operation.

[0100] Furthermore, the robot hand 130 according to the embodiment may include an elevator device 134d that moves the holder 134 in a direction intersecting the conveying surface 133c1, toward and away from the conveying surface 133c1 (for example, the third direction D3 and the fourth direction D4). With the above configuration, the elevator device 134d can raise the holder 134 so that at least a portion of the bottom surface of the article A held by the holder 134 is positioned above the conveying surface 133c1. This allows the article A to move smoothly onto the conveying surface 133c1.

[0101] The robot 100 according to the embodiment also includes a robot hand 130, a robot arm 120 to which the robot hand 130 is connected at its end, and a control device 300 that controls the operation of the belt drive device 135 and the lifting device 134d of the robot hand 130, and the operation of the arm drive devices M1 to M6 of the robot arm 120. With the above configuration, the same effects as those of the robot hand 130 according to the embodiment can be obtained. Furthermore, the robot 100 can optimally control the position and posture of the robot hand 130 with respect to the article A using the robot arm 120.

[0102] Furthermore, in the robot 100 according to the embodiment, the belt drive device 135 and the arm drive devices M1 to M6 may include servo motors, and the control device 300 may control the operation of the servo motors of the belt drive device 135 and the arm drive devices M1 to M6 in a coordinated manner. The control device 300 may include at least one processor, and a single processor may control the operation of the servo motor of the belt drive device 135 and the operation of the servo motors of the arm drive devices M1 to M6. With the above configuration, the robot 100 can execute multiple operations in a coordinated manner, such as, for example, driving the drive belt 133c while operating the robot arm 120. Furthermore, because a single processor controls the operation of all the servo motors of the robot hand 130 and the robot arm 120, it is possible to smoothly and easily achieve coordination of the operations of the servo motors.

[0103] Furthermore, the robot 100 according to the embodiment may include a negative pressure generator 180 connected to the suction device 134aak of the attachment portion 134a, and the control device 300 may control the operation of the negative pressure generator 180. According to the above configuration, the robot 100 can place the item A on the robot hand 130 by suctioning it with negative pressure.

[0104] The robot 100 according to the embodiment may also include an imaging device 400. The control device 300 may estimate the size of the article A based on an image of the article A captured by the imaging device 400, and may select at least one of the piping systems 181-183 in accordance with the estimated size of the article A to cause the negative pressure generator 180 to generate negative pressure. The piping systems 181-183 may connect the suction device groups G1-G3 to the negative pressure generator 180, respectively. With the above configuration, the robot 100 can automatically determine the suction device 134aak that generates negative pressure in accordance with the article A based on the image captured by the imaging device 400.

[0105] Furthermore, the control device 300 of the robot 100 according to the embodiment may control the position and posture of the robot hand 130 relative to the article A based on an image of the article A captured by the imaging device 400. With the above configuration, the robot 100 can automatically and optimally control the position and posture of the robot hand 130 according to the article A.

[0106] <Variation 1> A robot hand 130A according to Modification 1 will be described. The robot hand 130A according to Modification 1 differs from the embodiment in that it includes a moving device 133A that moves the holder 134, separate from the belt driving mechanism 133. Below, Modification 1 will be described, focusing on the differences from the embodiment, and explanations of the same points as the embodiment will be omitted as appropriate.

[0107] Fig. 21 is a perspective view similar to Fig. 4 showing an example of the configuration of a robot hand 130A according to Modification 1. As shown in Fig. 21, the robot hand 130A includes a movement device 133A for a holder 134, and the holder 134 is not fixed to a drive belt 133c. The movement device 133A includes a threaded hole member 133A1, a pin screw 133A2, a reduction gear 133A3, and a screw drive device 133A4. The movement device 133A is an example of a second drive device.

[0108] The screw hole member 133A1 has a female screw hole extending in the first direction D1, and is fixed to the base plate 134c1 of the fixed portion 134c of the holding portion 134. An example of the screw hole member 133A1 is a ball nut. In this modification, the slide guide 134c3b is not provided, and the screw hole member 133A1 is disposed at the position of the slide guide 134c3b.

[0109] The bar screw 133A2 extends in the first direction D1 and is screwed into the female screw hole of the screw hole member 133A1. In this modification, the base guide 132d of the base 132 is not provided, and the bar screw 133A2 is disposed at the position of the base guide 132d.

[0110] The screw driver 133A4 is disposed within the accommodation space 131a1 and is connected to the lead screw 133A2 via a reduction gear 133A3. The screw driver 133A4 is powered by electricity, has a servo motor as an electric motor, and is controlled by the control device 300. The reduction gear 133A3 reduces the rotational speed of the servo motor of the screw driver 133A4 and increases the rotational driving force, and transmits the rotational driving force to the lead screw 133A2. The screw driver 133A4 can rotate the lead screw 133A2 in the screw rotation direction.

[0111] The moving device 133A constitutes a screw mechanism, and rotates the pin screw 133A2 using the rotational driving force of the screw driving device 133A4, moving the screw hole member 133A1 that screws into the pin screw 133A2 in direction D1 or D2, which is the axial direction of the pin screw 133A2. Thus, the moving device 133A moves the holding part 134 in directions D1 and D2.

[0112] The robot hand 130A according to the first modification as described above can achieve the same effects as those of the embodiment. The moving device 133A may be provided at the position of the base guide 132c or at a position other than the base guides 132c and 132d. Two or more moving devices 133A may be provided. The number and positions of the moving devices 133A may be arbitrary. Furthermore, the servo motor 135a of the belt driving device 135 may also function as the screw driving device 133A4. Furthermore, the moving device 133A is not limited to a screw mechanism, and may be any device capable of moving the holding unit 134 in the directions D1 and D2. For example, the moving device 133A may be configured with a pneumatic, hydraulic, or electric cylinder, an electric linear actuator, or the like.

[0113] <Variation 2> A robot hand 130B according to Modification 2 will be described. The robot hand 130B according to Modification 2 differs from the embodiment and Modification 1 in that it includes a pointing device 134B that changes the pointing direction of the attachment portion 134a of the holder 134. Below, Modification 2 will be described, focusing on the differences from the embodiment and Modification 1, and explanations of the same points as the embodiment and Modification 1 will be omitted as appropriate.

[0114] FIG. 22 is a rear view similar to FIG. 9, showing an example of the configuration of a robot hand 130B according to Modification 2. As shown in FIG. 22, the robot hand 130B includes a pointing device 134B, which is an example of a fourth drive device, on the fixed portion 134c of the holder 134. The pointing device 134B has a two-axis gimbal-like configuration and can rotate the support body 134b of the holder 134 in the yawing direction and the pitching direction. The yawing direction is a rotation direction about an axis in the third direction D3, and the pitching direction is a rotation direction about an axis perpendicular to the third direction D3.

[0115] The direction device 134B includes a yaw rotation shaft 134B1, a yaw rotation drive device 134B2, a base member 134B3, a pitch rotation shaft 134B4, a pitch rotation drive device 134B5, and a support member 134B6.

[0116] The yaw rotation shaft 134B1 is a rotatable shaft that extends in the third direction D3 from the surface 134c1a of the substrate 134c1 of the fixed part 134c, and its axial direction is the third direction D3. The yaw rotation drive device 134B2 is embedded in the substrate 134c1 and drives the yaw rotation shaft 134B1 to rotate around its axial center. The yaw rotation drive device 134B2 is powered by electricity, has a servo motor as an electric motor, and is controlled by the control device 300.

[0117] The base member 134B3 is disposed in the third direction D3 relative to the yaw rotation axis 134B1. The base member 134B3 includes a base plate 134B3a connected to rotate integrally with the yaw rotation axis 134B1, and two shaft supports 134B3b extending from the base plate 134B3a in the third direction D3. The base member 134B3 is rotatable in the yawing direction relative to the base plate 134c1.

[0118] The support member 134B6 has a configuration similar to that of the substrate 134c1 in the embodiment. The upper surface of the support member 134B6 in the third direction D3 is connected to the lift guides 134c4a and 134c4b and the rod 134d3 (see FIG. 7) of the lift device 134d. The substrate 134c1 is separated from the lift guides 134c4a and 134c4b and the rod 134d3.

[0119] The two pitch rotation shafts 134B4 rotatably connect the two shaft supports 134B3b and the support member 134B6. The axes of the two pitch rotation shafts 134B4 are coaxial and perpendicular to the third direction D3. The support member 134B6 is rotatable in the pitch direction relative to the base member 134B3. The pitch rotation drive unit 134B5 is disposed on the shaft support unit 134B3b and drives the pitch rotation shafts 134B4 to rotate around their axes. The pitch rotation drive unit 134B5 is powered by electricity, has a servo motor as an electric motor, and is controlled by the control unit 300.

[0120] The directing device 134B can change the orientation of the attachment portion 134a and the support 134b relative to the base 132 to any direction in the yawing direction and pitching direction by the rotational driving forces of the yaw rotation driving device 134B2 and the pitch rotation driving device 134B5.

[0121] The robot hand 130B according to the second modification as described above can achieve the same effects as those of the embodiment. Furthermore, the directing device 134B can change the direction of the attachment portion 134a, so that the suction device 134aak can reliably contact and suction the surface of the article A. The directing device 134B is configured to change its direction of orientation in a rotational direction about two axes, but is not limited to this. The directing device 134B may be configured to change its direction of orientation in a rotational direction about one axis or about three or more axes. The configuration of the directing device 134B is not limited to a gimbal, and may be any configuration that can change its direction of orientation. The configuration of the robot hand 130B according to the second modification may be applied to the first modification.

[0122] <Variation 3> A robot hand 130C according to Modification 3 will be described. The robot hand 130C according to Modification 3 differs from the embodiment and Modifications 1 and 2 in that the imaging device 400 is arranged in a holding portion 134C. Below, Modification 3 will be described, focusing on the differences from the embodiment and Modifications 1 and 2, and descriptions of the same points as the embodiment and Modifications 1 and 2 will be omitted as appropriate.

[0123] Fig. 23 is a perspective view showing an example of the configuration of a robot hand 130C according to Modification 3, similar to Fig. 3. Fig. 24 is a perspective view showing an example of the configuration of a robot hand 130C according to Modification 3, similar to Fig. 5. As shown in Figs. 23 and 24, the robot hand 130C includes a holder 134C, which is fixed to the drive belt 133c, similar to the holder 134 of the embodiment.

[0124] The imaging device 400 is disposed on a support 134Cb of the holder 134C and is movable in directions D1 and D2 together with the support 134Cb. The support 134Cb includes a first portion 134Cb1 having a rectangular plate shape, a second portion 134Cb2 having an inverted U-shaped frame shape, and two third portions 134Cb3. The second portion 134Cb2 is positioned in the third direction D3 relative to the first portion 134Cb1. The third portion 134Cb3 is positioned in the first direction D1 relative to the first portion 134Cb1 and the second portion 134Cb2 and connects the first portion 134Cb1 and the second portion 134Cb2. The imaging device 400 is disposed in an opening 134Cb4 formed between the first portion 134Cb1 and the second portion 134Cb2 and is supported by the third portion 134Cb3. The imaging device 400 is oriented in the second direction D2. The field of view of the imaging device 400 is not obstructed by the holder 134C no matter what position the holder 134C is in in the directions D1 and D2.

[0125] FIG. 25 is a front view similar to FIG. 8 of the holder 134C of FIG. 23 as viewed in the first direction D1. As shown in FIG. 25, the holder 134C has an attachment portion 134Ca on a support 134Cb, similar to the holder 134 of the embodiment. The attachment portion 134Ca includes a plurality of suction devices 134aak oriented in the second direction D2, specifically, 23 suction devices 134aa1 to 134aa23. The suction devices 134aa1 to 134aa14 are arranged in a first portion 134Cb1 and are arranged to form three rows in the fifth direction D5. The suction devices 134aa15 to 134aa23 are arranged in a second portion 134Cb2 and are arranged in a single row in an inverted U shape along the second portion 134Cb2. The suction devices 134aa1 to 134aa23 are arranged around the imaging device 400 in a direction intersecting with, or more specifically, perpendicular to, the second direction D2 in which the imaging device 400 faces so as not to block the field of view of the imaging device 400.

[0126] The adsorption devices 134aa1 to 134aa7 arranged in the fifth direction D5 from the center in the directions D5 and D6 on the first portion 134Cb1 constitute a first adsorption device group G1 as surrounded by a dashed line and communicate with a first piping system 181. The adsorption devices 134aa8 to 134aa14 arranged in the sixth direction D6 from the center constitute a second adsorption device group G2 as surrounded by a dashed line and communicate with a second piping system 182. The adsorption devices 134aa15 to 134aa23 constitute a third adsorption device group G3 and communicate with a third piping system 183. The control device 300 can select the adsorption device group G1 to G3 that generates negative pressure depending on the shape, size, etc. of the article A to be transferred.

[0127] The robot hand 130C described above can load and transfer objects A of various shapes and sizes. Figs. 26 to 28 are front views showing an example of a state in which the object A is loaded on the robot hand 130C according to Modification 3. As shown in Fig. 26, when the target object A has a width equal to or greater than the support 134Cb in the horizontal direction in the directions D5 and D6 and a height smaller than the support 134Cb in the vertical direction in the directions D3 and D4, the control device 300 operates the robot hand 130C to suck and load the object A while generating negative pressure in the pair of the first suction device group G1 and the second suction device group G2.

[0128] When the target object A has a width and height equal to or greater than that of the support 134Cb in the horizontal and vertical directions, the control device 300 operates the robot hand 130C to pick up and load the object A while generating negative pressure in all of the first suction device group G1 to the third suction device group G3. For example, as shown in Fig. 27, when the target object is the object A shown in Fig. 26 and there are two such objects A stacked one above the other, the control device 300 operates the robot hand 130C to pick up and load the two such objects A while generating negative pressure in all of the first suction device group G1 to the third suction device group G3.

[0129] 28, when the target object A has a width smaller than that of the support 134Cb in the horizontal direction and a height equal to or greater than that of the support 134Cb in the vertical direction, the control device 300 operates the robot hand 130C to pick up and load the object A while generating negative pressure in the pair of the first suction device group G1 and the third suction device group G3 or the pair of the second suction device group G2 and the third suction device group G3. For example, the control device 300 may determine the pair that generates negative pressure depending on the size of the space adjacent to the object A to be transferred in the directions D5 and D6. In this modification, the suction devices 134aa1 to 134aa23 are provided with check valves to prevent leakage of negative pressure from the suction devices.

[0130] As shown in FIGS. 24 and 25, notches 132e and 132f are formed in the end 132a of the base 132 of the robot hand 130C. The notches 132e and 132f cut out a portion of the base 132, penetrating the base 132 in directions D3 and D4 and extending from the end 132a in the first direction D1. The notches 132e and 132f have elongated slit-like shapes extending from the end 132a in the first direction D1. The notches 132e and 132f are spaced apart from each other in directions D5 and D6. The notch 132e is located between the drive belt 133c and the base guide 132c, and the notch 132f is located between the drive belt 133c and the base guide 132d. This base 132 has a comb-like shape near the end 132a. The notches 132e and 132f are used when the object A loaded on the robot hand 130C is removed.

[0131] 29 and 30 are perspective views showing an example of the operation of the robot hand 130C according to Modification 3 for unloading the loaded goods A. As shown in Fig. 29, a reception device 500 is disposed in the robot system 1, and the reception device 500 receives the loaded goods A from the robot hand 130C. In this modification, the reception device 500 is included as a component of the robot system 1, but is not limited to this.

[0132] The configuration of the reception device 500 is not particularly limited, as long as it is configured to be able to receive the loaded item A from the robot hand 130C. In this modified example, the reception device 500 is a transport device capable of transporting the item A, specifically, a conveyor. The reception device 500 is a so-called roller conveyor, and includes multiple rollers 501 aligned in the transport direction TD, a frame 502 that rotatably supports each roller 501, and a support base 503 that supports the frame 502 on a support surface such as a floor. The rotation axis of each roller 501 extends horizontally, perpendicular to the transport direction TD. The multiple rollers 501 are arranged at different heights to form an inclined surface that gradually decreases in height toward the transport direction TD. When the item A is placed on the multiple rollers 501, gravity causes the multiple rollers 501 to rotate and move in the transport direction TD. The multiple rollers 501 minimize the sliding resistance of the item A.

[0133] The reception device 500 includes protrusions 504 and 505 at the upstream end of the frame 502 in the conveying direction TD. The protrusions 504 and 505 have a columnar shape extending from the frame 502 in the direction opposite to the conveying direction TD and are fixed to and supported by the frame 502 or a support base 503. The protrusions 504 and 505 each have, at their upper portions, multiple rollers 504a and 505a that are aligned in the conveying direction TD and are rotatable. The direction of the rotation axis of each roller 504a and 505a is the same as the direction of the rotation axis of each roller 501. The multiple rollers 504a and 505a are arranged at different heights so as to form inclined surfaces with the same inclination direction and inclination amount as the inclined surface formed by the multiple rollers 501. The inclined surface formed by the multiple rollers 504a and 505a and the inclined surface formed by the multiple rollers 501 form a continuous inclined surface, but may have a step between them or may have different inclination directions and / or inclination amounts. It should be noted that the rollers 504a and 505a are not essential, and for example, the protrusions 504 and 505 may have flat upper surfaces.

[0134] The protrusions 504 and 505 have a shape and size that allow them to pass through the cutouts 132e and 132f of the base 132 of the robot hand 130C in the directions D5 and D6, respectively, and may, for example, have a shape and size similar to those of the cutouts 132e and 132f. The protrusions 504 and 505 are arranged at intervals similar to the intervals between the cutouts 132e and 132f in the directions D5 and D6. In this modification, the length of the protrusions 504 and 505 in the transport direction TD is equal to or greater than the length of the cutouts 132e and 132f in the first direction D1, but is not limited to this.

[0135] When the article A loaded on the base 132 of the robot hand 130C is to be lowered onto the reception device 500, the control device 300 executes the following control. As shown in Fig. 29, the control device 300 positions the robot hand 130C so that the cutouts 132e and 132f are located above the protrusions 504 and 505, respectively, and the recess direction of the cutouts 132e and 132f coincides with the protrusion direction of the protrusions 504 and 505. At this time, the control device 300 may adjust the posture of the robot hand 130C so that the upper surfaces 136a and 137a of the sliding members 136 and 137 of the robot hand 130C are inclined in the same direction and by the same amount as the multiple rollers 504a and 505a.

[0136] 30, the control device 300 lowers the robot hand 130C vertically downward. The protrusions 504 and 505 are inserted into the cutouts 132e and 132f from below, and then protrude upward from the cutouts 132e and 132f to abut against the bottom surface of the article A and support the article A from below. After the control device 300 lowers the robot hand 130C to a predetermined height where the bottom surface of the article A is separated from the sliding members 136 and 137, the control device 300 moves the robot hand 130C in the first direction D1 to retract it from the reception device 500, and removes the article A from the robot hand 130C.

[0137] The bottom surface of the article A is supported by a plurality of rollers 504a and 505a and a plurality of rollers 501. The article A slides in the conveying direction TD due to the action of the component force of gravity in the conveying direction TD.

[0138] The robot hand 130C as described above can lower the item A onto the reception device 500 without sliding the holder 134C in the second direction D2, thereby shortening the time required to lower the item A. The timing at which the suction device 134aak releases the suction of the item A may be any timing before the robot hand 130C is lowered to a predetermined height position.

[0139] The robot hand 130C according to the third modification as described above can achieve the same effects as those of the embodiment. Furthermore, since the imaging device 400 is disposed on the holding part 134C so as to move together with the holding part 134C, the field of view of the imaging device 400 is prevented from being blocked by the holding part 134C regardless of the position of the holding part 134C. Furthermore, since the multiple suction devices 134aa1 to 134aa23 are disposed around the imaging device 400 in a direction intersecting the imaging direction of the imaging device 400, blocking of the field of view of the imaging device 400 can be prevented. This allows the imaging device 400 to reliably capture an image of the item A.

[0140] The robot hand 130C according to the third modification may be configured so that, when the robot hand 130C is lowered by the robot arm 120 toward the reception device 500, the protrusions 504 and 505 are inserted from below into the cutouts 132e and 132f, and the object A placed on the base 132 is supported by the protrusions 504 and 505. This eliminates the need for the robot hand 130C to move the holder 134C in the second direction D2 to push out the object A when lowering the object A onto the reception device 500. This simplifies and speeds up the operation of the robot hand 130C. Furthermore, because the protrusions 504 and 505 extend inward of the base 132 in the first direction D1, the object A on the base 132 can be stably supported over a wide area.

[0141] The robot hand 130C according to Modification 3 has two cutouts 132e and 132f, and the reception device 500 has two protrusions 504 and 505, but the number of cutouts and protrusions may be one or three or more. Furthermore, the number of cutouts and the number of protrusions may be different. For example, the control device 300 may select the cutouts through which the protrusions pass and the protrusions that pass through the cutouts, depending on the loading state of the items A on the base 132.

[0142] In the third modification, rollers 501, 504a, and 505a are configured to rotate freely without being applied with a driving force, but may be configured to be applied with a driving force by a driving device. This allows reception device 500 to easily and reliably transport item A. Reception device 500 as a conveyor may be a belt conveyor.

[0143] The configuration of the robot hand 130C according to the third modification may be applied to the first and second modifications.

[0144] <Other embodiments> Although examples of embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and modifications. In other words, various modifications and improvements are possible within the scope of the present disclosure. For example, various modifications made to the embodiments and modifications, and forms constructed by combining components of different embodiments and modifications, are also included within the scope of the present disclosure.

[0145] For example, in the embodiment and modified examples, the robot 100 is configured to include one robot arm 120 and one robot hand 130, 130A to 130C, but is not limited to this. For example, the robot 100 may include two or more robot arms 120 and robot hands 130, 130A to 130C. The robot 100 may be configured to transport the article A by using two or more robot arms 120 and robot hands 130, 130A to 130C in cooperation with each other.

[0146] Furthermore, in the embodiment and modified examples, the holders 134, 134C include attachment portions 134a, 134Ca that hold the item A by attaching the item A, but the configuration of the holder for holding the item A is not limited to this. The holder only needs to be able to hold the item A and move it on the conveying surface 133c1, and may be configured to hold the item A by, for example, grasping, clamping, engaging, scooping up, hanging, or by magnetic force, etc.

[0147] Furthermore, in the embodiment and modified examples, the attachment units 134a, 134Ca are configured with suction devices 134aak, but are not limited to this. For example, the attachment units 134a, 134Ca may be configured to attach the item A by adhesive force. Alternatively, the attachment units 134a, 134Ca may be provided with suction cups made of flexible rubber, resin, or the like, and may adsorb the item A by pressing the suction cups. Furthermore, to increase the suction force, a mechanism for sucking out air from the suction surfaces of the suction cups may be provided.

[0148] In the embodiment and the modified example, the plurality of adsorption devices 134aak of the holding unit 134, 134C are divided into three adsorption device groups G1 to G3, but this is not limiting. The plurality of adsorption devices 134aak may form one adsorption device group, or may be divided into two adsorption device groups, or may be divided into four or more adsorption device groups. Each adsorption device group may be connected to the negative pressure generator 180 via a different piping system.

[0149] Furthermore, in the embodiment and the modified example, the control device 300 detects the three-dimensional position and orientation of the item A using the image captured by the imaging device 400, but is not limited to this. For example, the robot hand 130 or the like may be provided with a sensor that measures the distance to an object. The control device 300 may detect the position of the item A using the distance measured by the sensor. Examples of such sensors include a photoelectric sensor, a laser sensor, and an ultrasonic sensor.

[0150] The technology of the present disclosure may also be a conveying method. For example, a conveying method according to one aspect of the present disclosure is a conveying method for conveying an object using a robot according to one aspect of the present disclosure, in which the robot arm brings the holding portion of the robot hand close to the object, causes the holding portion to hold the object, and causes the robot hand to move the holding portion holding the object in the first direction while driving the drive belt to move the conveying surface in the first direction, thereby moving the object onto the conveying surface. The above method can achieve the same effect as the robot hand according to the present disclosure.

[0151] A further aspect of the present disclosure provides a transport method for transporting an item placed on a placement surface using a robot according to the present disclosure, wherein the robot hand further includes a third drive unit configured to move the holding unit toward and away from the placement surface in a direction intersecting the placement surface. The method further includes: causing the robot arm to position the robot hand in a first position in which the placement surface tilts as the robot hand moves away from the item; causing the holding unit of the robot hand in the first position to approach the item and hold the item; causing the robot hand to move the holding unit holding the item in a direction away from the placement surface; and driving the drive belt to move the placement surface in the first direction while moving the holding unit, which has been moved away from the placement surface, in the first direction, thereby moving the item onto the placement surface. This method achieves the same effects as the robot hand according to the present disclosure. Furthermore, it is possible to transport items that cannot be positioned below the placement surface.

[0152] A conveying method according to another aspect of the present disclosure is a conveying method for conveying an item using a robot system according to another aspect of the present disclosure, comprising: causing the robot arm to bring the holding portion of the robot hand close to the item and have the holding portion hold the item; driving the drive belt to move the conveying surface in the first direction while moving the holding portion holding the item in the first direction; moving the item onto the conveying surface; causing the robot arm to move the robot hand so that the at least one cutout portion of the base is positioned above the at least one protrusion of the reception device; lowering the robot arm so that the at least one protrusion is inserted into the at least one cutout portion from below; and moving the robot arm so that the robot hand retracts from the reception device with the item placed on the at least one protrusion. This method provides the same effects as the robot hand according to the present disclosure. Furthermore, it is possible to simplify and speed up the operation of the robot hand.

[0153] The above-described transport method may be realized by the control device 300 according to the embodiment. Specifically, the transport method may be realized by, for example, a circuit such as a CPU or an LSI, an IC card, or a standalone module. [Explanation of symbols]

[0154] 1. Robot System 100 robots 120 Robot Arm 130, 130A~130C Robot Hand 133A Moving device (second driving device) 133c drive belt 133c1 Conveying surface 134,134C Holding part 134B Directional Device (4th Drive) 134a, 134Ca attachment site 134aa1~134aa23,134aak Adsorption device 134d Elevating device (third drive device) 135 Belt drive device (first drive device) 180 Negative pressure generator 181~183 Piping system (1st system, 2nd system) 300 control device 400 Imaging device A,A1 Goods G1~G3 Adsorption device group M1~M6 arm drive unit (5th drive unit)

Claims

1. A robot hand that transports an object, a holding portion that holds the article and moves in a first direction; a drive belt having a conveying surface on which the article can be placed and driving the conveying surface to move in the first direction; a first drive device that drives the drive belt; The holding unit is configured to move in the first direction to place the held item on the conveying surface. Robot hand.

2. The retaining portion is fixed to the drive belt so as to move with the conveying surface. The robot hand according to claim 1 .

3. a second driving device that moves the holding portion in the first direction; The robot hand according to claim 1 .

4. The holding portion is oriented to hold the item in a second direction opposite the first direction. The robot hand according to any one of claims 1 to 3.

5. The holding portion has an attachment portion to which the article is attached and thereby held. The robot hand according to any one of claims 1 to 4.

6. The attachment unit includes a suction device that suctions the article. The robot hand according to claim 5 .

7. the attachment section includes a plurality of the adsorption devices, a first suction device among the plurality of suction devices is connected to a negative pressure generating device via a first system and suctions the article by negative pressure generated by the negative pressure generating device; a second suction device among the plurality of suction devices is connected to the negative pressure generating device via a second system and suctions the article by negative pressure generated by the negative pressure generating device; The negative pressure generating device selects at least one of the first system and the second system to generate negative pressure. The robot hand according to claim 6.

8. the attachment section includes a plurality of the adsorption devices, the plurality of suction devices are arranged in a direction intersecting the conveying surface, in a direction approaching and a direction away from the conveying surface, The suction devices distal from the conveying surface are disposed in the first direction more than the suction devices proximal from the conveying surface. The robot hand according to claim 6 or 7.

9. a third drive device that moves the holding unit in a direction intersecting the conveying surface toward and away from the conveying surface; The robot hand according to any one of claims 1 to 8.

10. a fourth drive device for changing the orientation of the holding portion; The robot hand according to any one of claims 1 to 9.

11. The robot hand according to any one of claims 1 to 10, a robot arm having the robot hand connected to an end thereof; a control device that controls the operation of the drive device of the robot hand and the operation of a fifth drive device that drives the robot arm. robot.

12. the drive device of the robot hand and the fifth drive device of the robot arm include servo motors, The control device controls the operation of the servo motor of the robot hand and the operation of the servo motor of the robot arm in a coordinated manner. The robot of claim 11.

13. the control device includes at least one processor; The single processor controls the operation of the servo motors of the robot hand and the robot arm. The robot of claim 12.

14. Further comprising a negative pressure generating device; the holding unit includes a suction device connected to the negative pressure generating device and configured to suction the article by negative pressure generated by the negative pressure generating device, The control device controls the operation of the negative pressure generating device. The robot according to any one of claims 11 to 13.

15. further comprising an imaging device; the holding unit includes an array of the suction devices, a first adsorption device among the plurality of adsorption devices is connected to the negative pressure generating device via a first system; a second adsorption device among the plurality of adsorption devices is connected to the negative pressure generating device via a second system; The control device Estimating the size of the item based on an image of the item captured by the imaging device; At least one of the first system and the second system is selected in response to the estimated size of the article, and a negative pressure is generated by the negative pressure generating device. The robot of claim 14.

16. further comprising an imaging device; The control device The position and orientation of the robot hand relative to the object are controlled based on an image of the object captured by the imaging device. The robot according to any one of claims 11 to 15.

17. The imaging device is disposed on the holding part so as to move together with the holding part.

17. The robot according to claim 15 or 16.

18. the holding section includes a plurality of suction devices arranged to suction the articles, The plurality of suction devices are arranged around the imaging device in a direction intersecting the imaging direction of the imaging device. The robot of claim 17.

19. The robot according to any one of claims 11 to 18, a reception device capable of receiving the item transferred by the robot, the robot hand further includes a base on which the object can be placed; the base has at least one notch at an end opposite to the first direction; the reception device includes at least one protrusion configured to be able to pass through the notch in an up-down direction, The robot hand is configured to be lowered toward the reception device by the robot arm, thereby inserting the at least one protrusion into the at least one cutout from below and allowing the article placed on the base to be supported by the at least one protrusion. Robot system.

20. A method for transporting an article using the robot according to any one of claims 11 to 18, comprising: the robot arm moves the holding portion of the robot hand close to the object and causes the holding portion to hold the object; The robot hand drives the drive belt to move the conveying surface in the first direction while moving the holding portion that holds the article in the first direction, thereby moving the article onto the conveying surface. Transportation method.

21. A conveying method for conveying an article placed on a placement surface using the robot according to any one of claims 11 to 18, comprising: the robot hand further includes a third drive device that moves the holding unit in a direction intersecting the transport surface, in a direction toward and away from the transport surface; causing the robot arm to change the attitude of the robot hand to a first attitude in which the conveying surface is inclined so as to move away from the placement surface as the robot hand moves away from the article; the robot arm moves the holding portion of the robot hand in the first posture toward the object, and the holding portion holds the object; causing the robot hand to move the holding unit that holds the item in a direction away from the conveying surface; The robot hand drives the drive belt to move the conveying surface in the first direction while moving the holding unit, which has been moved in a direction away from the conveying surface, in the first direction, thereby moving the article onto the conveying surface. Transportation method.

22. A method for transporting an article using the robot system according to claim 19, comprising: the robot arm moves the holding portion of the robot hand close to the object and causes the holding portion to hold the object; causing the robot hand to drive the drive belt so as to move the conveying surface in the first direction while moving the holding portion that holds the article in the first direction, thereby moving the article onto the conveying surface; causing the robot arm to move the robot hand so that the at least one notch of the base is positioned above the at least one protrusion of the reception device; lowering the robot hand to the robot arm so that the at least one protrusion is inserted into the at least one notch from below; The robot arm moves the robot hand so as to retract from the reception device with the article placed on the at least one protrusion. Transportation method.

Images