Conveyance device, conveyance system, processing method, processing device, program, and storage medium

Abstract

To provide a conveyance device which is easy to introduce to a work site where work is performed manually, to provide a conveyance system, to provide a processing method, to provide a processing device, to provide a program and to provide a storage medium.SOLUTION: A conveyance device includes a cooperation robot, a first sensor, a housing, and a fixing tool. The cooperation robot can convey an object. The first sensor detects the object. On the housing, the cooperation robot and the first sensor are mounted. The housing can move by a movement mechanism. The fixing tool is mounted on the housing, and is provided for fixing the housing.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] FIELD Embodiments of the present invention relate to a transport device, a transport system, a processing method, a processing device, a program, and a storage medium. [Background technology]

[0002] Industrial robots and other transport devices are used to transport objects. There is a demand for technology that makes it easier to introduce transport devices into work sites where manual labor is still performed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-40121 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the embodiments of the present invention is to provide a conveying device, a conveying system, a processing method, a processing device, a program, and a storage medium that can be easily introduced into a site where work is performed manually. [Means for solving the problem]

[0005] A conveying device according to an embodiment includes a collaborative robot, a first sensor, a housing, and a fixture. The collaborative robot is capable of conveying an object. The first sensor detects the object. The collaborative robot and the first sensor are attached to the housing, and the housing is movable by a movement mechanism. The fixture is attached to the housing and is provided to fix the housing. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a perspective view showing a conveying device according to an embodiment. [Figure 2]FIG. 2 is a perspective view showing a specific example of the fixture. [Figure 3] 3(a) and 3(b) are perspective views showing specific examples of the fixture. [Figure 4] FIG. 4 is a perspective view showing a specific example of the fixture. [Figure 5] FIG. 5 is a perspective view showing an application example of the transport device according to the embodiment. [Figure 6] FIG. 6 is a schematic plan view showing a transfer system according to the embodiment. [Figure 7] FIG. 7 is a schematic plan view showing a transfer system according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing the operation of the transport device according to the embodiment. [Figure 9] FIG. 9 is a schematic diagram showing an example of a display of a graphical user interface. [Figure 10] FIG. 10 is a schematic diagram showing an example of a display of a graphical user interface. [Figure 11] FIG. 11 is a schematic diagram showing an example of a gripping tool. [Figure 12] FIG. 12 is a schematic diagram showing an example of a gripping tool. [Figure 13] FIG. 13 is a schematic diagram showing an example of a gripping tool. [Figure 14] FIG. 14 is a schematic diagram showing the hardware configuration. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as those in reality. Furthermore, even when the same part is shown, the dimensions and ratios may be different depending on the drawing. In this specification and each drawing, elements similar to those already described are designated by the same reference numerals, and detailed description will be omitted as appropriate.

[0008] FIG. 1 is a perspective view showing a conveying device according to an embodiment. As shown in FIG. 1, the conveying device 1 according to the embodiment includes a collaborative robot 10, a gripping tool 20, a tool pocket 25, a control device 31, a robot controller 32, a processing device 33, a first sensor 41, a second sensor 42, a light emitting device 43, an inspection device 50, a display device 60, a housing 70, and a fixing device 80.

[0009] The collaborative robot 10 is an articulated robot configured to be able to transport an object. The collaborative robot 10 grasps an object by suction or clamping, and moves the grasped object. The tip of the collaborative robot 10 has six or more degrees of freedom. In the illustrated example, the collaborative robot 10 is a vertical articulated robot. The collaborative robot 10 may also be a horizontal articulated robot or a parallel link robot. The collaborative robot 10 may include a combination of two or more robots selected from a vertical articulated robot, a horizontal articulated robot, and a parallel link robot.

[0010] The collaborative robot 10 is a type of industrial robot that is configured to be able to work in cooperation with humans at the workplace. The collaborative robot 10 has a built-in safety function that stops its operation when it detects contact with a human. For example, ISO 10218-1, ISO 10218-2, and the technical specification ISO / TS 15066 have been established as individual machine safety standards (Type C standards) that collaborative robots and systems that include them must comply with. Industrial robots that comply with these safety standards are classified as "collaborative robots."

[0011] A gripping tool 20 for gripping an object is attached to the tip of the collaborative robot 10. The collaborative robot 10 uses the gripping tool 20 to grip and transport an object.

[0012] The control device 31 controls the entire system of the transport device 1. For example, the gripping tool 20 communicates with each component included in the transport device 1, generates a transport plan, processes information obtained by each sensor, and so on.

[0013] The robot controller 32 controls the operation of the collaborative robot 10. For example, the robot controller 32 operates the collaborative robot 10 in accordance with a transfer plan generated by the control device 31.

[0014] The processing device 33 acquires information from another transport system and transmits information to another transport system. In this embodiment, the processing device 33 is provided to replace information processing that should be performed by a person. The processing device 33 communicates with the control device 31 via wired communication, wireless communication, or a network. The processing device 33 may be provided in a location separate from the housing 70, or may be housed in the housing 70. A processing device having the functions of both the control device 31 and the processing device 33 may be provided in the housing 70.

[0015] The first sensor 41 detects an object to be transported by the collaborative robot 10. The control device 31 generates a transportation plan using the detection result by the first sensor 41. The first sensor 41 includes one or more selected from an imaging device and a distance measurement sensor. For example, the first sensor 41 is a camera capable of acquiring RGB color images. The first sensor 41 may be capable of acquiring depth images in addition to color images.

[0016] The second sensor 42 detects people around the transport device 1. When the second sensor 42 detects a person, the robot controller 32 slows down or stops the movement of the collaborative robot 10. The second sensor 42 includes one or more selected from an imaging device and a distance measurement sensor. For example, the second sensor 42 is a laser scanner that scans the surrounding area with a laser beam to detect people.

[0017] The light emitting device 43 emits light to notify people in the vicinity of the presence of the collaborative robot 10. For example, the light emitting device 43 is a rotating light that emits red light while rotating.

[0018] The inspection device 50 inspects the object transported by the collaborative robot 10. More specifically, an object to be transported by the collaborative robot 10 is specified from another system. The inspection device 50 inspects whether the transported object matches the specified object. If the transported object matches the specified object, the inspection is passed. If the transported object does not match the specified object, the inspection is failed.

[0019] As an example, the inspection device 50 includes a means for detecting the weight of an object and a transport means for transporting the object transported by the collaborative robot 10 to a predetermined position. In the illustrated example, a conveyor 51 is provided as the transport means, and a weight sensor 52 is provided as the weight detection means. An object transported by the collaborative robot 10 is placed on the conveyor 51. The conveyor 51 transports the placed object in a predetermined direction. The weight sensor 52 measures the weight of the object being transported. The weight sensor 52 compares the measured weight with the weight of a specified object. If the difference between the measured weight and the weight of the specified object is less than a threshold, the weight sensor 52 determines that the transported object matches the specified object.

[0020] The display device 60 displays information related to the conveyance device 1. For example, logs such as the operation of the collaborative robot 10 and the inspection by the inspection device 50 are displayed on the display device 60. When conveyance by the collaborative robot 10 is completed, a notification of the completion of the work may be displayed on the display device 60. When conveyance by the collaborative robot 10 fails, the cause of the failure, the procedure for recovering from the failure, etc. may be displayed on the display device 60.

[0021] The housing 70 is a box-shaped container that can house the control device 31, the robot controller 32, etc. The base 11 of the collaborative robot 10, the first sensor 41, the second sensor 42, the light-emitting device 43, the inspection device 50, the display device 60, etc. are attached to the housing 70 and fixed to the housing 70.

[0022] Wheels 71 (an example of a moving mechanism) are attached to the bottom surface of the housing 70. The housing 70 can move on the floor by rolling on the wheels 71. The wheels 71 are attached to each of the four corners of the bottom surface of the housing 70. The part to which the wheels 71 are attached may be separable from the part to which the collaborative robot 10, the inspection device 50, etc. are fixed. For example, the part to which the collaborative robot 10, the inspection device 50, etc. are fixed may be installed on a cart or mobile robot including the wheels 71, and the housing 70 may be configured.

[0023] In the illustrated example, a frame 72, a handle 73, an air pipe 74, and an adjuster pad 75 are further attached to the housing 70.

[0024] The frame 72 is a rod-shaped member located on top of the housing 70. The frame 72 has a portion extending vertically and a portion extending horizontally. A portion of the frame 72 is located above the collaborative robot 10, and the first sensor 41 is attached to that portion of the frame 72. This allows the first sensor 41 to detect an object contained in a container from above.

[0025] The handle 73 is attached to the side of the housing 70 and is configured to be grippable by a person. When a person grasps the handle 73 and applies a horizontal force to the housing 70, the wheels 71 roll and the conveyance device 1 can be moved.

[0026] The air pipe 74 is provided when the collaborative robot 10 grasps an object by suction. The air pipe 74 is connected to the internal space of the grasping tool 20. An external exhaust device exhausts or supplies air through the air pipe 74, allowing the grasping tool 20 to grasp or release an object.

[0027] The adjustable pads 75 are attached to the four corners of the bottom surface of the housing 70. The length of the adjustable pads 75 in the vertical direction can be changed. A rubber pad is provided on the bottom of the adjustable pads 75. After the transport device 1 is moved by the wheels 71, the adjustable pads 75 are extended to contact the floor surface. This allows the transport device 1 to be stably installed on the floor surface.

[0028] Additionally, a tool pocket 25 (holding portion) is attached to the housing 70. The tool pocket 25 is a member for holding the gripping tool 20. The gripping tool 20 is detachable from the tip of the collaborative robot 10. The collaborative robot 10 can remove the gripping tool 20 attached to its tip when the tool pocket 25 is empty. After removing the gripping tool 20, the collaborative robot 10 can attach another gripping tool 20 held in the tool pocket 25 to its tip.

[0029] The fixture 80 is provided to fix the housing 70 and is attached to the housing 70. The fixture 80 is mechanically coupled to a predetermined mating member, thereby fixing the housing 70. Instead of mechanical coupling, the fixture 80 may be fixed by electrostatic or magnetic attraction. The fixture 80 may also be fixed by being attracted to the mating member.

[0030] 2, 3(a), 3(b), and 4 are perspective views showing specific examples of the fixture. The fixing device 80 is fixed to a mating member 81 shown in Fig. 2. The fixing device 80 includes a convex member 80a, a handle 80b, and a latch 80c.

[0031] The convex member 80a is fixed to the side surface of the housing 70 and protrudes toward the side of the housing 70. In the illustrated example, the tip of the convex member 80a is triangular in plan view. The handle 80b is a rod-shaped member for a person to grip, and is attached to the side surface of the convex member 80a. The handle 80b is rotatable horizontally relative to the convex member 80a. The latch 80c is attached to the handle 80b and has an opening that opens horizontally. The latch 80c is rotatable horizontally relative to the handle 80b.

[0032] The mating member 81 includes a concave member 81a and a hook portion 81b. The concave member 81a is fixed to equipment, a structure, or the like. The tip of the concave member 81a is recessed so as to mate with the convex member 80a. The hook portion 81b is provided for hooking the handle 80b and is fixed to the side surface of the concave member 81a.

[0033] When fixing the conveying device 1, first, as shown in Fig. 3(a), the housing 70 is moved to a position where the convex portion of the convex member 80a faces the concave portion of the concave member 81a. Next, the housing 70 is moved toward the mating member 81, and the convex member 80a is mated with the concave member 81a. Next, as shown in Fig. 3(b), the handle 80b is hooked onto the hook portion 81b.

[0034] When the handle 80b rotates around the rotation axis r1 from the state shown in Fig. 3(b), the distance between the rotation axis r2 of the latch 80c and the hook portion 81b increases. The latch 80c is tightly hooked onto the hook portion 81b, and the fixture 80 is fixed to the mating member 81 as shown in Fig. 4. After the fixture 80 is fixed, wiring (not shown) (such as power wiring, communication wiring, and compressor connection wiring) is connected.

[0035] When the fixing device 80 is to be removed from the mating member 81, the operations described above are reversed. For example, the various wires are removed, and the handle 80b is operated to unlock the latch 80c and the hook portion 81b, thereby making the conveying device 1 movable.

[0036] In the illustrated example, fastener 80 has a convex portion and mating member 81 includes a concave portion, but the shape of fastener 80 and the shape of mating member 81 are arbitrary as long as fastener 80 and mating member 81 can fit together. Fastener 80 may have a concave portion and mating member 81 may have a convex portion. Fastener 80 and mating member 81 may each have a concave portion and a convex portion, and the concave portion and convex portion of fastener 80 may fit together with the convex portion and concave portion of fastener 80, respectively.

[0037] The conveying device 1 can be applied to a picking operation. In a picking operation, a specific object is picked up from a container that contains one or more objects. The picked object is then transferred to another container or conveying device, and the object is then transported to another location.

[0038] FIG. 5 is a perspective view showing an application example of the transport device according to the embodiment. In the example shown in FIG. 5, a first conveyance system 100 and a second conveyance system 200 are provided. The first conveyance system 100 includes a conveyor 110. The conveyor 110 conveys a container C containing an object to a position where the collaborative robot 10 can grasp the object. The conveyor 110 is a roller conveyor, a belt conveyor, or the like. The collaborative robot 10 carries the object out of the container C and places the object on an inspection device 50. The inspection device 50 inspects the placed object. The inspected object is discharged to a mobile body 210 of the second conveyance system 200. The mobile body 210 is a mobile robot for transporting objects. A tray is attached to the upper surface of the mobile body 210, and the mobile body 210 receives the discharged object on the tray.

[0039] The mobile unit 210 transports the object to a predetermined location depending on the inspection result. Specifically, if the inspection is passed and the specified number of objects have been placed on the tray, the mobile unit 210 transports the object to a predetermined storage location. If the inspection is failed, the mobile unit 210 transports the object to a container where objects that have been determined to have failed are collected. The collected objects are then transported to the appropriate location by a worker.

[0040] 6 and 7 are schematic plan views showing the transport system according to the embodiment. The transfer of the object from the conveyor 110 to the moving body 210 may be performed by a person. For example, as shown in Fig. 6, the first conveyance system 100 further includes a processing device 120 and a display device 130. The second conveyance system 200 further includes a processing device 220 and a display device 230.

[0041] The processing device 120 causes the conveyor 110 to transport multiple containers C in sequence based on instructions from a higher-level system. A display device 130 is provided near the transport device 1. The processing device 120 causes the display device 130 to display information about objects to be removed from the container C. A worker W checks the display device 130 and moves the displayed objects from the container C to the moving body 210.

[0042] When an object is transferred to the mobile body 210, the worker W inputs information about the object into the processing device 220. For example, the worker reads the barcode of the transferred object with a reader. The identification information of the read barcode is transmitted from the reader to the processing device 220. Instead of a reader, information may be input to the processing device 220 using an input device such as a keyboard or a touch panel. Upon receiving the information about the object, the processing device 220 determines the destination of the object. The processing device 220 instructs the mobile body 210 of the destination, and the mobile body 210 transports the object to the instructed location.

[0043] The manual work shown in Fig. 6 can be replaced by a conveying device 1 as shown in Fig. 7. The conveying device 1 reads information displayed on the display device 130, conveys the object from the container C to the moving body 210, inputs information to the processing device 220, and so on.

[0044] Fig. 8 is a flowchart showing the operation of the transport device according to the embodiment. Fig. 9 and Fig. 10 are schematic diagrams showing examples of display of a graphical user interface. As a specific example, when the conveying device 1 performs work, the operation shown in Fig. 8 is executed. First, the processing device 33 acquires a video signal transmitted from the processing device 120 to the display device 130 (step S1). The processing device 33 acquires identification information of the object being conveyed from the video signal (step S2). Image recognition technology used in Robotic Process Automation (RPA) can be applied to acquire the identification information.

[0045] Fig. 9 is an example of a display screen of the display device 130. The display device 130 displays a GUI 140 shown in Fig. 9. The GUI 140 includes a name 141, a product code 142 (identification information), and a quantity 143 for the object to be transported. The name 141 indicates the name of the object. The product code 142 is a unique code assigned to each object. The product code 142 is information for identifying the object. The quantity 143 indicates the number of objects to be transported.

[0046] The processing device 33 reads the product code 142 (identification information) included in the video signal by image recognition. The processing device 33 transmits the read identification information to the control device 31. The control device 31 uses the identification information to obtain more detailed data about the object from a database prepared in advance (step S3). The data is used for generating a transportation plan, inspection, etc. For example, data such as the weight of the object, whether the object's surface is glossy, whether the shape changes when gripped, and the barcode attached to the object are obtained.

[0047] The control device 31 generates a transportation plan using the acquired data (step S4). The robot controller 32 operates the collaborative robot 10 in accordance with the generated transportation plan to transport the object (step S5). After transportation, the inspection device 50 inspects the transported object using the data acquired by the control device 31 (step S6). The inspection device 50 transmits the inspection results to the processing device 33. The processing device 33 transmits the object's identification information and the inspection results to the processing device 220 (step S7). The inspection device 50 discharges the inspected object to the moving body 210 (step S8).

[0048] FIG. 10 is an example of a display screen of the display device 230. The display device 230 displays a GUI 240 shown in FIG. 10. The GUI 240 includes an input field 241 and an icon 242. Barcode information of the transported object is input into the input field 241. After information is input into the input field 241, the input information is registered by clicking the icon 242. For example, the processing device 33 emulates the operation of an input device. The processing device 33 transmits the object's identification information and inspection results to the processing device 220 using a signal from the emulated input device. The processing device 33 inputs barcode information as identification information into the input field 241 and clicks the icon 242. The processing device 33 also inputs the object's inspection results to the processing device 220.

[0049] As an example, if the inspection is passed, the processing device 33 inputs the barcode information of the transported object into the input field 241. If the inspection is failed, the processing device 33 inputs a value indicating that the inspection was failed (for example, "-1") into the input field 241. When the processing device 220 receives the input of the barcode information, it determines that the inspection result is passed. The processing device 220 sends an instruction to the mobile object 210 to transport the transported object to a location that has been pre-designated for the object. When the processing device 220 receives the input of a value indicating that the object was not passed, it determines that the inspection result is not passed. When the processing device 220 receives the input of a value indicating that the object was not passed, it determines that the inspection result is not passed. When the processing device 220 receives the input of a value indicating that the object was not passed, it determines that the inspection result is not passed. When the processing device 220 receives the input of the ...

[0050] As long as the object being transported can be identified, the identification information input to the processing device 220 may be different from the identification information read from the video signal. In the example described here, the product code assigned to each object is read from the video signal, and the barcode information of the object is input to the processing device 220.

[0051] The advantages of the embodiment will be described. Work sites such as logistics warehouses often use conveying devices that can transport objects automatically. When a new logistics warehouse is constructed, it is possible to optimize it for the introduction of industrial robots and fully automate it, allowing the robots to perform their tasks efficiently. However, introducing robots into existing work sites where manual labor is still performed poses several challenges. For example, when an industrial robot replaces a manual task, it is necessary to install safety fences around the industrial robot to prevent people from entering. Modifications are also required to allow the robot to link with peripheral equipment related to the task.

[0052] To address this issue, the transport device 1 is equipped with a collaborative robot 10. As described above, the collaborative robot 10 complies with various safety standards, so there is no need to install safety fences or the like. Therefore, there is no need to provide an area dedicated to the robot. According to one aspect of the embodiment, there is no need to renovate the area to install the robot, and the transport device 1 can be easily introduced into an area where people are working.

[0053] According to another aspect of the embodiment, in the transport device 1, the collaborative robot 10, the first sensor 41, etc. are attached to a housing 70. The housing 70 can be easily moved by a movement mechanism. The transport device 1 can be easily moved to a location where it is desired to have the robot perform a task. In addition, since the moved transport device 1 is fixed in a predetermined position by a fixing device 80, it is also easy to align the transport device 1. The transport device 1 can be easily transported and installed in an area where a person is working.

[0054] The movement mechanism may be wheels 71 or another mechanism. For example, the movement mechanism may jet air downward, so that the housing 70 can move by buoyancy.

[0055] The inspection device 50 and the display device 60 may be configured to be detachable from the housing 70 as long as they can move integrally with the housing 70. For example, when the transport device 1 moves, the inspection device 50 is set at a predetermined position relative to the collaborative robot 10 and fixed to the housing 70, so that the inspection device 50 can move together with the housing 70. Wheels may be attached to the inspection device 50 so that the inspection device 50 can move independently. The inspection device 50 may also be retrofitted to the transport device 1.

[0056] According to yet another aspect of the embodiment, in the transport device 1, the processing device 33 acquires information contained in the video signal and transmits a signal corresponding to the transport result by the collaborative robot 10. By including the processing device 33 in the transport device 1, the transport device 1 can replace the information transmission that humans previously performed with other equipment. Because the processing device 33 transmits information with other transport devices, there is no need to modify the robot to link it with peripheral equipment related to the work. This allows the robot to easily replace human work.

[0057] The transport device 1 preferably includes a second sensor 42. If the second sensor 42 detects a person near the transport device 1, the robot controller 32 slows down or stops the movement of the collaborative robot 10. As described above, the collaborative robot 10 includes a safety function. If the collaborative robot 10 complies with safety standards, the collaborative robot 10 is sufficiently safe, but providing the second sensor 42 can further enhance that safety. For example, even if the transport device 1 is installed in an area where people are working nearby, the risk of people in the vicinity being injured by the transport device 1 can be sufficiently reduced.

[0058] For example, the range of movement of the collaborative robot 10 is set in advance in the spatial coordinate system of the collaborative robot 10. The range of movement includes the range in which the collaborative robot 10 can move during the transport operation and the range in which the collaborative robot 10 can move during the operation of replacing the fixture 80. When a person is detected by the control device 31, the gripping tool 20 determines whether the person is present within the range of movement. If a person is present within the range of movement, the gripping tool 20 reduces the movement speed of the collaborative robot 10 or stops the collaborative robot 10. If it is subsequently determined that no person is present within the range of movement, the gripping tool 20 operates the collaborative robot 10 at a normal speed.

[0059] As shown in Fig. 1, the conveying device 1 preferably includes an inspection device 50. When the inspection device 50 is provided, it can inspect whether an object conveyed by the collaborative robot 10 matches a predetermined object. For example, the conveying device 1 can also perform the inspection of objects that would previously be visually checked by a person. This can improve the accuracy of the conveying work performed by the conveying device 1.

[0060] As a result of the inspection, rejected products are transported to a designated location, where they are then inspected collectively by a person and stored in a designated storage location. Even if the inspection results are rejected, the conveying device 1 can continue transporting the products without stopping, thereby increasing the operating rate of the conveying device 1. For example, a work site manager can move the conveying device 1 to the required position and execute the above-mentioned process.

[0061] The gripping tool 20 is preferably detachable from the tip of the collaborative robot 10. One or more gripping tools 20 are held in the housing 70 by a tool pocket 25. In this case, the collaborative robot 10 can change the gripping tool 20 depending on the object to be grasped. By changing the gripping tool 20, the collaborative robot 10 can grasp a wider variety of objects.

[0062] Furthermore, it is preferable that the base 11 and the tool pocket 25 of the collaborative robot 10 are fixed to the housing 70. In this case, the positional relationship between the collaborative robot 10 and the tool pocket 25 is fixed. Even if the transport device 1 moves, the positional relationship between the collaborative robot 10 and the tool pocket 25 does not change. In other words, even if the transport device 1 moves, the position of the gripping tool 20 held in the tool pocket 25 is fixed in the spatial coordinate system of the collaborative robot 10. Therefore, even if the transport device 1 is moved, it is not necessary to newly specify the coordinates of the gripping tool 20 to the collaborative robot 10. This can further improve the convenience of the transport device 1.

[0063] 11 to 13 are schematic diagrams showing an example of a gripping tool. 11 is used as the gripping tool 20. The gripping tool 21 grips an object by suction. As shown in FIG. 11, the gripping tool 21 includes a base 21a, a rotating shaft 21b, a suction device 21c, a suction pad 21d, a support 21e, a rotating shaft 21f, a switching valve 21g, and a pressure sensor 21h.

[0064] The base 21a has a rectangular parallelepiped outer shape and constitutes the outer shell of the gripping tool 21. The base 21a is connected to the collaborative robot 10 via a rotation shaft 21b. The rotation shaft 21b rotatably connects the base 21a to the collaborative robot 10. The axial direction of the rotation shaft 21b is substantially parallel to the Z direction connecting the tip end of the collaborative robot 10 and the base 21a. The rotation shaft 21b includes a motor and can rotate the base 21a in the θ direction and the opposite direction relative to the collaborative robot 10.

[0065] Suction device 21c is provided inside base 21a. Suction device 21c is, for example, a vacuum pump. Suction device 21c is connected to each of multiple suction pads 21d via a hose or the like. When suction device 21c is driven, the pressure inside each suction pad 21d becomes lower than atmospheric pressure, and the object is sucked by suction pad 21d.

[0066] The support part 21e is connected to the tip of the base 21a via a rotation shaft 21f. The axial direction of the rotation shaft 21f is substantially perpendicular to the Z direction. For example, the axial direction of the rotation shaft 21f is perpendicular to the axial direction of the rotation shaft 21b. The rotation shaft 21f includes a motor and can rotate the support part 21e in the φ direction and the opposite direction relative to the base 21a.

[0067] The support portion 21e supports a plurality of suction pads 21d. The suction pads 21d have openings that come into contact with an object when gripping it. The suction pads 21d are flexible and can deform to fit the surface shape of the object. One end of the suction pads 21d is connected to a pipe, and the other end of the suction pads 21d opens toward the opposite side of the support portion 21e. The plurality of suction pads 21d are arranged along two mutually intersecting directions. In the illustrated example, a total of four suction pads 21d are provided, two in the X direction and two in the Y direction. The X and Y directions are perpendicular to the Z direction and are orthogonal to each other. The orientation of the plurality of suction pads 21d changes depending on the movement of the rotation shaft 21b or the rotation shaft 21f.

[0068] Furthermore, a plurality of switching valves 21g are provided for the plurality of suction pads 21d, respectively. Each switching valve 21g is set to a suction state or a release state. In the suction state, the suction device 21c and the corresponding suction pad 21d are in communication with each other. The pressure inside the suction pad 21d is adjusted by the suction device 21c. In the release state, communication between the suction pad 21d and the suction device 21c is blocked, and the suction pad 21d is in communication with the outside of the gripping tool 21 (atmospheric pressure space). For example, the number of switching valves 21g set to the suction state is adjusted depending on the size of the object to be gripped.

[0069] The pressure inside the suction pad 21d is detected by the pressure sensor 21h. A negative pressure sensor can be used as the pressure sensor 21h. For example, a plurality of pressure sensors 21h measure the pressure inside the plurality of suction pads 21d, respectively.

[0070] FIG. 12 is a perspective view showing another example of the gripping tool. A gripping tool 22 shown in Fig. 12 may be used as the gripping tool 20. Like the gripping tool 21, the gripping tool 22 grips an object by suction. However, the structure of the gripping tool 22 is different from that of the gripping tool 21. As shown in Fig. 12, the gripping tool 22 includes a base 22a, a suction device 22c, a suction pad 22d, and a pressure sensor 22h.

[0071] Similar to base 21a, base 22a forms the outer shell of gripping tool 22. Base 22a is fixed to the tip of collaborative robot 10. Suction device 22c is provided inside base 21a and is capable of evacuating the inside of suction pad 21d. Suction pad 22d is fixed to base 22a. Furthermore, since gripping tool 22 does not have a rotation axis, the orientation of suction pad 22d with respect to the tip of collaborative robot 10 is fixed. Pressure sensor 22h detects the pressure inside suction pad 22d.

[0072] Unlike the gripping tool 21, the gripping tool 22 does not have a rotation axis. That is, the gripping tool 22 does not include a motor. The gripping tool 22 also has only one suction pad 22d. Therefore, only one pressure sensor 22h is provided, and no switching valve is provided.

[0073] FIG. 13 is a perspective view showing yet another example of a gripping tool. 13 may be used as the gripping tool 20. The gripping tool 23 grips an object by pinching. The gripping tool 23 includes a base 23a, a support 23b, a support 23c, a sensor 23d, a sensor 23e, a motor 23f, and a motor 23g.

[0074] The base 23a forms the outer shell of the gripping tool 23. The base 23a is fixed to the tip of the collaborative robot 10. The support portions 23b and 23c are attached to the base 23a. The support portions 23b and 23c are plate-shaped or rod-shaped and extend along the Z direction. In addition to the example shown in the drawings, the gripping tool 23 may have a structure having three or more support portions.

[0075] Sensors 23d and 23e are provided at the tips of support portion 23b and support portion 23c, respectively. Support portion 23b and support portion 23c are elastic in the Z direction. When support portion 23b deforms in the Z direction, sensor 23d detects the amount of deformation. When support portion 23c deforms in the Z direction, sensor 23e detects the amount of deformation. For example, sensors 23d and 23e include a linear pulse encoder, a force sensor, a strain sensor, or a laser displacement meter.

[0076] Support portion 23b and support portion 23c are spaced apart from each other in the X direction. Motors 23f and 23g drive support portion 23b and support portion 23c, respectively, along the X direction. The operation of motors 23f and 23g changes the distance between support portion 23b and support portion 23c. That is, support portion 23b and support portion 23c are opened and closed by motors 23f and 23g.

[0077] A preferred process in the transport device 1 will be described below.

[0078] When the control device 31 generates a transfer plan, it recognizes the object, calculates the object coordinates, calculates the gripping point, and so on. The gripping point is the position of the gripping tool 20 when the object is gripped. When the gripping tool 20 grips the object by suction, the gripping point corresponds to the center position of one or more suction pads. When the gripping tool 20 grips the object by clamping, the gripping point corresponds to the center position of multiple support parts.

[0079] The control device 31 calculates a gripping point for each gripping tool 20 that can be used by the collaborative robot 10. The control device 31 then calculates a safety factor for each gripping point. The safety factor indicates the possibility that an object can be transported without dropping. The higher the safety factor, the lower the possibility that the object will drop during transportation. The control device 31 weights the safety factor depending on whether the tool is attached to the collaborative robot 10. The weight of a gripping tool 20 attached to the collaborative robot 10 is set higher than the weight of a gripping tool 20 not attached to the collaborative robot 10. After weighting, the control device 31 compares each safety factor with a preset threshold. The control device 31 selects the gripping tool 20 with the highest safety factor from among the safety factors that exceed the threshold.

[0080] For example, a method for calculating the safety factor when suction is used for grasping is discussed in paragraphs

[0061] to

[0096] of Japanese Patent Application Laid-Open No. 2021-037608, etc. A method for calculating the safety factor when clamping is used for grasping is discussed in paragraphs

[0052] to

[0107] of Japanese Patent Application Laid-Open No. 2021-146434, etc.

[0081] If the selected gripping tool 20 is attached to the collaborative robot 10, the collaborative robot 10 does not replace the gripping tool 20. If the selected gripping tool 20 is different from the gripping tool 20 attached to the collaborative robot 10, the collaborative robot 10 replaces the attached gripping tool 20 with the selected gripping tool 20. By making the weight of the gripping tool 20 attached to the collaborative robot 10 greater than the weight of the gripping tool 20 that is not attached, the number of times the gripping tool 20 needs to be replaced can be reduced, and the transport efficiency of the collaborative robot 10 can be improved.

[0082] Once the gripping point is determined, the control device 31 calculates the movement path of the collaborative robot 10 to the gripping point, the movement path of the collaborative robot 10 after gripping the object at the gripping point, etc. As a result, a transportation plan including the gripping point and the movement path is generated.

[0083] After the collaborative robot 10 grasps an object, the collaborative robot 10 may wait while holding the object until the mobile body 210 is waiting at a predetermined position. When the object is placed on the inspection device 50, the object is transported and discharged by the inspection device 50. At this time, if the mobile body 210 is not waiting at the discharge destination, the object will fall from the inspection device 50. The processing device 33 acquires information from the processing device 220 as to whether the mobile body 210 is waiting at the discharge destination position and transmits this information to the control device 31. If the mobile body 210 is waiting at the predetermined position, the collaborative robot 10 places the object on the inspection device 50. If the mobile body 210 is not waiting at the predetermined position, the collaborative robot 10 waits without placing the object on the inspection device 50.

[0084] If the collaborative robot 10 fails to grasp the object, the control device 31 recalculates the grasping point, generates a transport plan, etc. The calculation of the grasping point, the generation of a transport plan, etc. are repeated until the number of retries reaches a preset number.

[0085] The collaborative robot 10 stops the transfer operation when the number of retries reaches a predetermined number, when the highest safety factor is equal to or less than a threshold, or when the transfer fails due to an error during the transfer. Errors include the collaborative robot 10 coming into contact with an unintended object during the transfer, the object falling, or a system failure. The control device 31 transmits information about the collaborative robot 10 and a notification that the transfer operation has ended to the processing device 33. The information about the collaborative robot 10 includes information about whether the collaborative robot 10 is grasping an object, the state of the collaborative robot 10 before grasping, etc.

[0086] If an error occurs, the control device 31 may execute a process to automatically recover from the error state. For example, if an object falls, the control device 31 may regenerate a transfer plan for transferring another object. If a system failure occurs, the control device 31 may initialize the system and regenerate a transfer plan. If the collaborative robot 10 was holding an object when the error occurred, the object is placed on the inspection device 50 and transferred to the mobile body 210. The mobile body 210 transfers the object to a container where objects determined to be unacceptable are collected.

[0087] FIG. 14 is a schematic diagram showing the hardware configuration. Each of the control device 31, the robot controller 32, and the processing device 33 includes, for example, a computer 90 shown in Figure 14. The computer 90 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0088] The ROM 92 stores a program that controls the operation of the computer 90. The ROM 92 stores a program necessary for causing the computer 90 to perform each of the above-described processes. The RAM 93 functions as a storage area in which the programs stored in the ROM 92 are expanded.

[0089] The CPU 91 includes a processing circuit. The CPU 91 uses a RAM 93 as a work memory and executes a program stored in at least one of a ROM 92 and a storage device 94. During program execution, the CPU 91 controls each component via a system bus 98 and executes various processes.

[0090] The storage device 94 stores data necessary for executing the program and data obtained by executing the program. The storage device 94 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD).

[0091] The input interface (I / F) 95 can connect the computer 90 to an input device. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device via the input I / F 95.

[0092] The output interface (I / F) 96 can connect the computer 90 to an output device. The output I / F 96 is, for example, a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI (registered trademark)). The CPU 91 can transmit data to the output device via the output I / F 96 and cause the output device to display an image.

[0093] The communication interface (I / F) 97 can connect the computer 90 to a server external to the computer 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server via the communication I / F 97.

[0094] Each process executed by the control device 31, the robot controller 32, or the processing device 33 may be realized by one computer 90 or by a plurality of computers 90 working together.

[0095] The various data processing operations described above may be recorded as a computer-executable program on a magnetic disk (such as a flexible disk or hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, or DVD±RW), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0096] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, the computer reads a program from the recording medium and causes a CPU to execute instructions written in the program based on the program. The computer may acquire (or read) the program via a network.

[0097] Embodiments of the invention include the following features. (Feature 1) a collaborative robot capable of transporting an object; a first sensor for detecting the object; a housing to which the collaborative robot and the first sensor are attached and which is movable by a movement mechanism; a fixture attached to the housing for fixing the housing; A conveying device comprising: (Feature 2) The transport device according to Feature 1, further comprising a second sensor attached to the housing for detecting people around the collaborative robot. (Feature 3) 3. The transport device according to feature 1 or 2, further comprising a processing device that acquires information contained in a video signal and transmits an input signal according to a transport result by the collaborative robot. (Feature 4) 4. The transport device according to any one of Features 1 to 3, further comprising an inspection device attached to the housing and configured to inspect an object transported by the collaborative robot. (Feature 5) The conveying device described in Feature 4, wherein the inspection device includes a means for detecting the weight of the object and a conveying means for conveying the object conveyed by the collaborative robot to a predetermined position, and detects the weight of the object being conveyed by the conveying means. (Feature 6) the first sensor includes an imaging device that images the object; 3. The conveying device according to claim 2, wherein the second sensor includes a distance measurement sensor. (Feature 7) A gripping tool is detachably attached to the tip of the collaborative robot, 7. The transport device according to any one of features 1 to 6, wherein one or more of the gripping tools are attached to the housing. (Feature 8) The housing is provided with a holding portion capable of holding the gripping tool, 8. The transport device according to claim 7, wherein a positional relationship between the collaborative robot and the holding unit is fixed. (Feature 9) 9. The conveying device according to any one of Features 1 to 8, wherein the fixing tool is fitted with a predetermined mating member and fixed. (Feature 10) a collaborative robot capable of transporting an object; a control device for controlling the collaborative robot; a first sensor for detecting the object; a second sensor that detects people around the collaborative robot; a processing device that acquires information contained in the video signal and transmits a signal corresponding to the result of transportation by the collaborative robot; A conveying device comprising: (Feature 11) A conveying device according to feature 3 or 10; a first transfer system that transfers an object to a position where the collaborative robot can grasp the object; a second transport system that transports the object transported by the collaborative robot to another location; A transport system comprising: (Feature 12) the transport device further includes an inspection device that inspects the object transported by the collaborative robot; Feature 12. The transport system of feature 11, wherein the second transport system transports the object to a location depending on the inspection result of the object. (Feature 13) the first conveyance system includes a first display device and a first processing device that transmits a video signal to the first display device; the second conveyance system includes a second display device and a second processing device that transmits a video signal to the second display device; the video signal includes identification information of the object being grasped; The conveying system described in Feature 11 or 12, wherein the processing device acquires the identification information from the video signal transmitted from the first processing device to the first display device before the collaborative robot grasps the object, and transmits an input signal according to the conveyance result to the second processing device after the collaborative robot conveys the object. (Feature 14) A processing device capable of communicating with a first conveyance system that conveys an object to a position where a collaborative robot can grasp the object, and a second conveyance system that conveys the object conveyed by the collaborative robot to another location, the first conveyance system includes a first display device and a first processing device that transmits a video signal to the first display device; the second conveyance system includes a second display device and a second processing device that transmits a video signal to the second display device; the video signal includes identification information of the object being grasped; a processing device that acquires the identification information from the video signal transmitted from the first processing device to the first display device before the collaborative robot grasps the object, and transmits an input signal according to the transport result to the second processing device after the collaborative robot transports the object. (Feature 15) A processing method for causing a processing device to communicate with a first transport system that transports an object to a position where a collaborative robot can grasp the object, and a second transport system that transports the object transported by the collaborative robot to another location, comprising: the first conveyance system includes a first display device and a first processing device that transmits a video signal including identification information of the object to be grasped to the first display device; the second transfer system includes a second processing device; a processing method in which the processing device is caused to acquire the identification information from the video signal transmitted from the first processing device to the first display device before the collaborative robot grasps the object, and after the collaborative robot transports the object, is caused to transmit an input signal according to the transport result to the second processing device. (Feature 16) A processing device that executes the processing method according to feature 15. (Feature 17) A program that causes a processing device to execute the processing method described in feature 15. (Feature 18) A storage medium storing the program according to feature 17.

[0098] According to the embodiments described above, a conveying device, a conveying system, a processing method, a processing device, a program, and a storage medium are provided that can be easily introduced into a site where work is performed manually.

[0099] Although several embodiments of the present invention have been described above, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as set forth in the claims. Furthermore, the above-described embodiments can be implemented in combination with each other. [Explanation of symbols]

[0100] 1: Conveying device, 10: Collaborative robot, 11: Base, 20, 21: Gripping tool, 21a: Base, 21b: Rotating shaft, 21c: Suction device, 21d: Suction pad, 21e: Support part, 21f: Rotating shaft, 21g: Switching valve, 21h: Pressure sensor, 22: Gripping tool, 22a: Base, 22c: Suction device, 22d: Suction pad, 22h: Pressure sensor, 23: Gripping tool, 23a: Base, 23b, 23c: Support part, 23d, 23e: Sensor, 23f, 23g: Motor, 25: Tool pocket, 31: Control device, 32: Robot controller, 33: Processing device, 41: First sensor, 42: Second sensor, 43: Light emitting device, 50: Inspection device, 51: Conveyor, 52: Weight sensor, 60: Display device, 70: Housing, 71: Wheel, 72: Frame, 73: Handle, 74: Air pipe, 75: Adjuster pad, 80: Fixture, 80a: Convex member, 80b: Handle, 80c: Latch, 81: Counter member, 81a: Concave member, 81b: Hook, 100: First conveying system, 110: Conveyor, 120: Processing device, 130: Display device, 141: Name, 142: Product code, 143: Quantity, 200: Second conveying system, 210: Moving body, 220: Processing device, 230: Display device, 241: Input field, 242: Icon, C: Container, W: Worker, r1, r2: Rotating axis

Claims

1. a collaborative robot capable of transporting an object; a first sensor for detecting the object; a housing to which the collaborative robot and the first sensor are attached and which is movable by a movement mechanism; a fixture attached to the housing for fixing the housing; A conveying device comprising:

2. The transport device according to claim 1 , further comprising a second sensor attached to the housing for detecting a person around the collaborative robot.

3. The transport device according to claim 1 , further comprising a processing device that acquires information contained in a video signal and transmits an input signal according to a transport result by the collaborative robot.

4. The transport device according to claim 1 , further comprising an inspection device attached to the housing and configured to inspect an object transported by the collaborative robot.

5. 5. The conveying device according to claim 4, wherein the inspection device includes a means for detecting a weight of the object and a conveying means for conveying the object conveyed by the collaborative robot to a predetermined position, and detects the weight of the object being conveyed by the conveying means.

6. the first sensor includes an imaging device that images the object; The transport device of claim 2 , wherein the second sensor includes a distance measurement sensor.

7. A gripping tool is detachably attached to the tip of the collaborative robot, The transport device of claim 1 , wherein one or more of the gripping tools are attached to the housing.

8. The housing is provided with a holding portion capable of holding the gripping tool, The transport device according to claim 7 , wherein a positional relationship between the collaborative robot and the holding unit is fixed.

9. The conveying device according to claim 1 , wherein the fixing member is fitted and fixed to a predetermined mating member.

10. a collaborative robot capable of transporting an object; a control device for controlling the collaborative robot; a first sensor for detecting the object; a second sensor for detecting a person around the collaborative robot; a processing device that acquires information contained in the video signal and transmits a signal corresponding to the result of transportation by the collaborative robot; A conveying device comprising:

11. A conveying device according to claim 3 or 10; a first transfer system that transfers an object to a position where the collaborative robot can grasp the object; a second transport system that transports the object transported by the collaborative robot to another location; A transport system comprising:

12. the transport device further includes an inspection device that inspects the object transported by the collaborative robot; The transport system according to claim 11 , wherein the second transport system transports the object to a location depending on a result of inspection of the object.

13. the first conveyance system includes a first display device and a first processing device that transmits a video signal to the first display device; the second conveyance system includes a second display device and a second processing device that transmits a video signal to the second display device; the video signal includes identification information of the object being grasped; 12. The conveying system according to claim 11, wherein the processing device acquires the identification information from the video signal transmitted from the first processing device to the first display device before the collaborative robot grasps the object, and transmits an input signal according to a conveyance result to the second processing device after the collaborative robot conveys the object.

14. a processing device capable of communicating with a first transport system that transports an object to a position where a collaborative robot can grasp the object, and a second transport system that transports the object transported by the collaborative robot to another location, the first conveyance system includes a first display device and a first processing device that transmits a video signal to the first display device; the second conveyance system includes a second display device and a second processing device that transmits a video signal to the second display device; the video signal includes identification information of the object being grasped; A processing device that acquires the identification information from the video signal transmitted from the first processing device to the first display device before the collaborative robot grasps the object, and transmits an input signal according to the transport result to the second processing device after the collaborative robot transports the object.

15. 1. A processing method for causing a processing device to communicate with a first transport system that transports an object to a position where a collaborative robot can grasp the object, and a second transport system that transports the object transported by the collaborative robot to another location, comprising: the first conveyance system includes a first display device and a first processing device that transmits a video signal including identification information of the object to be gripped to the first display device; the second transfer system includes a second processing device; A processing method in which the processing device is caused to acquire the identification information from the video signal transmitted from the first processing device to the first display device before the collaborative robot grasps the object, and after the collaborative robot transports the object, is caused to transmit an input signal according to the transport result to the second processing device.

16. A processing device for performing the processing method of claim 15.

17. A program that causes a processing device to execute the processing method according to claim 15.

18. A storage medium storing the program according to claim 17.

Images