Access method for hand, robot system, and robot control program

Abstract

To facilitate hand access to an adapter in the presence of a plurality of groups of cables.SOLUTION: An access method for a hand includes: moving a hand 10 away from an adapter axis M in a direction intersecting the adapter axis M to an offset position that is spaced from an adapter 91 in the direction of the adapter axis M; moving the hand 10 closer to the adapter axis M from the offset position to move the hand 10 away from the adapter 91 in the direction of the adapter axis M and to a facing position that faces the adapter 91 in the direction of the adapter axis M; and moving the hand 10 from the facing position to the adapter 91 in the direction of the adapter axis M.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The technology disclosed herein relates to a hand access method, a robot system, and a robot control program. [Background technology]

[0002] Conventionally, a connection board in which a plurality of adapters are arranged and a plurality of connector plugs are inserted into the plurality of adapters has been known. For example, Patent Document 1 discloses a connection board in which a plurality of optical connector plugs are inserted into a plurality of optical adapters. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-322808 Summary of the Invention [Problem to be solved by the invention]

[0004] A cable is connected to the connector plug as described above. In other words, a cable extends from the connector plug inserted into the adapter. Therefore, in the connection panel, multiple cables are densely packed in the space facing the wall on which multiple adapters are arranged.

[0005] Under such circumstances, when the robot hand is made to pull out the connector plug from the adapter or insert the connector plug into the adapter, there is a risk that the multiple cables will obstruct the hand's access to the adapter.

[0006] The technology disclosed herein has been made in light of these points, and its purpose is to facilitate hand access to an adapter in a situation where multiple groups of cables are present. [Means for solving the problem]

[0007] The hand access method disclosed herein is a hand access method for accessing a plurality of adapters having openings extending in the direction of an adapter axis, and includes: moving the hand to an offset position away from the adapter axis in a direction intersecting the adapter axis and away from the adapter in relation to the direction of the adapter axis; moving the hand from the offset position to approach the adapter axis, and moving the hand to an opposing position away from the adapter in relation to the direction of the adapter axis and opposite the adapter in the direction of the adapter axis; and moving the hand from the opposing position to the adapter in the direction of the adapter axis.

[0008] The robot system disclosed herein comprises a robot having a hand and a control device that controls the robot to cause the hand to access a plurality of adapters having openings extending in the direction of an adapter axis, wherein the control device moves the hand to an offset position away from the adapter axis in a direction intersecting the adapter axis and away from the adapter with respect to the direction of the adapter axis, moves the hand from the offset position to approach the adapter axis, moves the hand to an opposing position opposite the adapter in the direction of the adapter axis, and moves the hand from the opposing position to the adapter in the direction of the adapter axis.

[0009] The robot control program disclosed herein causes a computer to execute the following steps to access a robot's hand to a plurality of adapters having openings extending in the direction of the adapter axis: move the hand to an offset position away from the adapter axis in a direction intersecting the adapter axis and away from the adapter in relation to the direction of the adapter axis; move the hand from the offset position toward the adapter axis to an opposing position facing the adapter in the direction of the adapter axis; and move the hand from the opposing position to the adapter in the direction of the adapter axis. [Effects of the Invention]

[0010] According to the hand access method, hand access to the adapter can be facilitated in a situation where a group of multiple cables is present.

[0011] The robot system described above makes it possible to easily access the adapter with the hand in a situation where a group of multiple cables is present.

[0012] The robot control program allows the hand to easily access the adapter when there are multiple groups of cables. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a robot system. [Figure 2] FIG. 2 is a perspective view of a connection board to which a cable is connected via a connector plug. [Figure 3] FIG. 3 is a cross-sectional view of the adapter with the connector plug inserted. [Figure 4] FIG. 4 is a cross-sectional view of the adapter with the cap attached. [Figure 5] FIG. 5 is a perspective view of the hand. [Figure 6] FIG. 6 is a cross-sectional view of the hand with the multiple claws in the retracted position. [Figure 7] FIG. 7 is a cross-sectional view of the hand with the multiple claws positioned at the advanced position. [Figure 8] FIG. 8 is a cross-sectional view of the hand with multiple claws gripping a connector plug. [Figure 9] FIG. 9 is a diagram illustrating a schematic hardware configuration of the control device. [Figure 10] FIG. 10 is a block diagram showing the configuration of a control system of the processor. [Figure 11] FIG. 11 is a flowchart showing the process of the insertion work. [Figure 12]FIG. 12 is a side view of the sixth link positioned in the initial position and initial posture for the insertion operation. [Figure 13] FIG. 13 is a schematic diagram showing the approach position in the insertion operation when the connection board is viewed from the rear. [Figure 14] FIG. 14 is a side view of the sixth link positioned at the offset position and in the offset posture during the insertion operation. [Figure 15] FIG. 15 is a schematic diagram showing the offset position during the insertion operation when the connecting board is viewed from the rear. [Figure 16] FIG. 16 is a schematic diagram showing opposing positions during the insertion operation when the connecting board is viewed from the rear. [Figure 17] FIG. 17 is a side view of the sixth link positioned at the opposing position and in the opposing posture during the insertion operation. [Figure 18] FIG. 18 is a side view of the sixth link positioned at the insertion position and in the insertion posture during the insertion operation. [Figure 19] FIG. 19 is a flowchart showing the process of the extraction work. [Figure 20] FIG. 20 is a side view of the sixth link positioned in the initial position and initial posture of the pulling-out operation. [Figure 21] FIG. 21 is a schematic diagram showing the approach position in the extraction operation when the connection board is viewed from the rear. [Figure 22] FIG. 22 is a side view of the sixth link positioned at the offset position and in the offset posture during the pulling-out operation. [Figure 23] FIG. 23 is a schematic diagram showing opposing positions in the removal operation when the connection board is viewed from the rear. [Figure 24] FIG. 24 is a side view of the sixth link positioned at the opposing position and in the opposing posture during the pulling-out operation. [Figure 25] FIG. 25 is a side view of the sixth link positioned at the gripping position and in the gripping posture during the pulling-out operation. [Figure 26]FIG. 26 is a side view of the sixth link positioned in the opposing position and opposing posture after the pulling-out operation. [Figure 27] FIG. 27 is a flowchart of the cleaning operation. [Figure 28] FIG. 28 is a side view of the sixth link in the cleaning position and cleaning posture during cleaning work. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An exemplary embodiment will now be described in detail with reference to the accompanying drawings. 1 is a schematic diagram showing the configuration of a robot system 100. As shown in FIG.

[0015] The robot system 100 includes a robot 110 and a control device 150 that controls the robot 110. The robot 110 has a hand 10. The robot 110 further has a base 130 and a robot arm 120 connected to the base 130. The hand 10 is attached to the tip of the robot arm 120. The base 130 has a plurality of wheels. In other words, the robot 110 is capable of moving. The robot 110 has two robot arms 120. The hand 10 is attached to the tip of one of the robot arms 120. The hand 10 is not attached to the tip of the other robot arm 120. In this example, the robot 110 is an industrial robot.

[0016] FIG. 2 is a perspective view of a connection board 9 to which a cable is connected via a connector plug 92. For example, the connection board 9 has a plurality of adapters 91. The plurality of adapters 91 are arranged on a wall surface 90 of the connection board 9. The plurality of adapters 91 may be arranged vertically and horizontally in a matrix. A connector plug 92 can be inserted into the adapter 91. Furthermore, a cap 98 for protecting the adapter 91 may be inserted into the adapter 91. For example, the adapter 91 is an optical adapter, and the connector plug 92 is an optical connector plug. The adapter 91 and the connector plug 92 may be SC-type optical connectors specified in JIS C 5973 or the like. A marker 97 used in the second control described later is arranged on the connection board 9. The marker 97 has a predetermined shape.

[0017] In this example, the robot 110 pulls out the connector plug 92 from the adapter 91 with the hand 10. In addition, the robot 110 may attach the connector plug 92 to the adapter 91 with the hand 10.

[0018] FIG. 3 is a cross-sectional view of the adapter 91 with the connector plug 92 inserted. FIG. 4 is a cross-sectional view of the adapter 91 with the cap 98 attached. FIGS. 3 and 4 are cross-sectional views taken along a horizontal plane. The adapter 91 has an opening 91a extending in the direction of the adapter axis M. The adapter 91 has a rectangular cylindrical housing 93 with a square cross section that extends about the adapter axis M. The connector plug 92 can be inserted into the adapter 91 along the adapter axis M. That is, the direction of the adapter axis M is the insertion direction of the connector plug 92 into the adapter 91. The adapter axis M is approximately perpendicular to the wall surface 90. A jig 99 may be attached to the adapter 91. The jig 99 is disposed around the adapter 91. The jig 99 has a reference surface 99a when the hand 10 performs a pulling operation. A cable 94 is connected to the connector plug 92. The connection end of the cable 94, which is the end connected to the connector plug 92, extends about the connection axis N. For example, the connection end of the cable 94 is covered with a boot. An optical fiber 94a is contained within the cable 94. A ferrule 96 protrudes from the connector plug 92. The ferrule 96 extends coaxially with the connection axis N. The connector plug 92 is inserted into the adapter 91 so that the connection axis N is aligned with the adapter axis M. The housing 95 of the connector plug 92 has a convex portion 95a and a concave portion 95b. The convex portion 95a and the concave portion 95b are aligned in this order from the cable 94 toward the ferrule 96. When the connector plug 92 is inserted into the adapter 91, the convex portion 95a and the concave portion 95b are exposed to the outside from the adapter 91.

[0019] A cap 98 for protecting the adapter 91 can be inserted into an adapter 91 without a connector plug 92 inserted therein. The cap 98 has a protrusion 98a and a recess 98b. The protrusion 98a and the recess 98b are aligned in this order toward the adapter 91. When the cap 98 is inserted into the adapter 91, the protrusion 98a and the recess 98b are exposed to the outside from the adapter 91.

[0020] As shown in FIG. 1, the robot arm 120 has a plurality of links L and a plurality of joints J that connect the links L. The robot arm 120 is configured to operate in three dimensions. In this example, the robot arm 120 is a vertical multi-joint robot arm. The robot arm 120 is supported by a base 130.

[0021] The multiple links L include a first link L1 to an n-th link Ln (n is an integer equal to or greater than 2) arranged in order from the base 130. The multiple joints J include a first joint J1 to an n-th joint Jn arranged in order from the base 130. n is greater than the degrees of freedom of the position and orientation of the n-th link Ln. In other words, the robot arm 120 has redundancy. Redundancy is a characteristic in which the rotation angles of the first joint J1 to the n-th joint Jn corresponding to the position of the n-th link Ln are not uniquely determined. In this example, the degrees of freedom of the position and orientation of the n-th link Ln are six. Specifically, the position and orientation of the n-th link Ln have six degrees of freedom, which is the sum of the translational and rotational directions about each of three orthogonal axes. The robot arm 120 is a so-called seven-axis robot having seven joints J. In other words, n is seven.

[0022] Specifically, the multiple links L include a first link L1, a second link L2, a third link L3, a fourth link L4, a fifth link L5, a sixth link L6, and a seventh link L7, which are arranged in series in this order from the base 130 side. The seventh link L7 is located at the tip of the robot arm 120. The multiple joints J include a first joint J1, a second joint J2, a third joint J3, a fourth joint J4, a fifth joint J5, a sixth joint J6, and a seventh joint J7, which are arranged in series in this order from the base 130 side.

[0023] The base 130 and the first link L1 are rotatably connected by a first joint J1. The first link L1 and the second link L2 are rotatably connected by a second joint J2. The second link L2 and the third link L3 are rotatably connected by a third joint J3. The third link L3 and the fourth link L4 are rotatably connected by a fourth joint J4. The fourth link L4 and the fifth link L5 are rotatably connected by a fifth joint J5. The fifth link L5 and the sixth link L6 are rotatably connected by a sixth joint J6. The sixth link L6 and the seventh link L7 are rotatably connected by a seventh joint J7.

[0024] The hand 10 is connected to a seventh link L7 at the tip of the robot arm 120. In other words, the hand 10 is connected to the robot arm 120 so as to be rotatable around a rotation axis R7 of a seventh joint J7. The hand 10 is an end effector attached to the robot arm 120.

[0025] The robot arm 120 has a servo motor 121 (see FIG. 9) that rotationally drives each joint J. Each servo motor 121 has an encoder 122 (see FIG. 9).

[0026] The robot 110 further includes an imaging device 140 disposed on one link L of the multiple links L. The imaging device 140 is disposed on the (n-i)th link Ln-i (i is an integer equal to or greater than 1). In this example, the imaging device 140 is disposed on the sixth link L6. As mentioned above, n is 7, so i is 1. The imaging device 140 captures two-dimensional or three-dimensional images. The imaging device 140 outputs the captured image to the control device 150.

[0027] FIG. 5 is a perspective view of a hand 10. The hand 10 includes multiple claws 2 that can open and close in a direction intersecting a predetermined reference axis A, and a main body 3 that supports the multiple claws 2. Specifically, the hand 10 includes multiple claws 2 that can open and close in a first direction X, a main body 3 that can move relative to the multiple claws in a second direction Y that intersects the first direction X, and a guide 4 that guides the multiple claws 2 during relative movement between the multiple claws 2 and the main body 3 in the second direction Y. The guide 4 guides the multiple claws 2 to open and close in the first direction X in response to the relative movement between the multiple claws 2 and the main body 3. The hand 10 opens and closes the multiple claws 2 in the first direction X by moving the multiple claws 2 relative to the main body 3 in the second direction Y. The hand 10 may further include an actuator 5 that moves one of the multiple claws 2 and the main body 3 relative to the other.

[0028] In this example, the first direction X and the second direction Y are perpendicular to each other. The advancing side in the second direction Y means the side from which the multiple claws 2 relatively advance from the main body 3 in the second direction Y. The retreating side in the second direction Y means the side from which the multiple claws 2 relatively retreat into the main body 3 in the second direction Y. The dimension in the first direction X is also referred to as width. The dimension in the second direction Y is also referred to as length. The dimension in the direction perpendicular to both the first direction X and the second direction Y is also referred to as thickness.

[0029] FIG. 6 is a cross-sectional view of the hand 10 with multiple claws 2 in the retracted position. FIG. 6 is a cross-sectional view of the hand 10 cut along a plane parallel to the first direction X and the second direction Y. The multiple claws 2 include a first claw 2A and a second claw 2B. The first claw 2A and the second claw 2B are arranged to face each other across a reference axis A extending in the second direction Y. That is, the first claw 2A and the second claw 2B are spaced apart in the first direction X. The first claw 2A and the second claw 2B have shapes that are line-symmetrical about the reference axis A. That is, the shape of the second claw 2B is the inverted shape of the first claw 2A with respect to the reference axis A. Hereinafter, when there is no need to distinguish between the first claw 2A and the second claw 2B, they will simply be referred to as "claw 2." The inner side of a claw 2 refers to the closed side in the first direction X, i.e., the side facing another claw 2. The outer side of a claw 2 refers to the open side in the first direction X, i.e., the side opposite another claw 2.

[0030] The claws 2 have an elongated shape extending in the second direction Y as a longitudinal direction. The claws 2 have two ends in the second direction Y. Of the two ends, the end on the advancing side in the second direction Y is referred to as a first end 21, and the end on the retreating side in the second direction Y is referred to as a second end 22. The second end 22 of the first claw 2A and the second end 22 of the second claw 2B are connected to each other and form a single second end 22.

[0031] The inside of the first end 21 of the claw 2 has a shape corresponding to the outer shape of the connector plug 92. Specifically, the first end 21 has a first recess 23 into which the protrusion 95a of the connector plug 92 fits, and a first protrusion 24 that fits into the recess 95b of the connector plug 92. The inside of the first end 21 of the claw 2 may further have a shape corresponding to the outer shape of the cap 98. Specifically, the first end 21 has a second recess 25 into which the protrusion 98a of the cap 98 fits, and a second protrusion 26 that fits into the recess 98b of the cap 98. The first recess 23, the first protrusion 24, the second recess 25, and the second protrusion 26 are aligned in this order toward the forward side in the second direction Y.

[0032] The first ends 21 of the claws 2 are inclined with respect to the reference axis A so as to open wider in the first direction X toward the advancing side in the second direction Y. In other words, the distance between the first end 21 of the first claw 2A and the first end 21 of the second claw 2B becomes larger toward the advancing side in the second direction Y.

[0033] The intermediate portion 20 of the claw 2, that is, the portion between the first end portion 21 and the second end portion 22, extends along the reference axis A, specifically, substantially parallel to the reference axis A.

[0034] The width of at least a portion of the second end 22 is larger than the overall width of the multiple claws 2 in the intermediate portion 20, i.e., the dimension from the outside of the first claw 2A to the outside of the second claw 2B in the first direction X. Specifically, the second end 22 has an enlarged portion 22a. The enlarged portion 22a is located on the edge of the second end 22 on the receding side in the second direction Y. The width of the enlarged portion 22a is larger than the width of the portion of the second end 22 other than the enlarged portion 22a, and is larger than the overall width of the multiple claws 2 in the intermediate portion 20.

[0035] The claws 2 are formed of an elastically deformable material. For example, the claws 2 are formed of resin. Specifically, the middle portion 20 of the claws 2 can bend due to elastic deformation. In each claw 2, the second moment of area of ​​the middle portion 20 is smaller than the second moment of area of ​​the first end portion 21 or the second end portion 22. This makes the middle portion 20 more susceptible to elastic deformation than the first end portion 21 or the second end portion 22.

[0036] The plurality of claws 2 open and close in the first direction X. Specifically, the intervals between the first ends 21 of the plurality of claws 2 in the first direction X can change as the intermediate portion 20 is elastically deformed.

[0037] In this example, the main body 3 includes a guide 4. More specifically, as shown in Fig. 5, the main body 3 includes a first support plate 31A and a second support plate 31B that face each other. The first support plate 31A and the second support plate 31B extend substantially parallel to the first direction X and the second direction Y, respectively. The first support plate 31A and the second support plate 31B are coupled to each other while facing each other in a direction perpendicular to the first direction X and the second direction Y.

[0038] The main body 3 has an elongated shape in the second direction Y. The dimension of the main body 3 in the first direction X is smaller than the dimension of the main body 3 in the second direction Y. The dimension of the main body 3 in a direction perpendicular to both the first direction X and the second direction Y is smaller than the dimension of the main body 3 in the second direction Y.

[0039] As shown in Fig. 6, the main body 3 has an accommodation space 33 inside that accommodates multiple claws 2. More specifically, grooves are formed on the inside of each of the first support plate 31A and the second support plate 31B. The accommodation space 33 is defined by the grooves of the first support plate 31A and the second support plate 31B. The accommodation space 33 extends in the second direction Y. The accommodation space 33 opens at the end of the main body 3 on the advancing side in the second direction Y.

[0040] The accommodation space 33 has a first space 33A that accommodates at least the first end 21 of the claw 2, a second space 33B that accommodates the middle portion 20 of the claw 2, and a third space 33C that accommodates at least the second end 22 of the claw 2. The first space 33A, the second space 33B, and the third space 33C are arranged in this order toward the retreating side in the second direction Y. The first space 33A is open at the end of the main body 3 on the advancing side in the second direction Y.

[0041] The width of the first space 33A is slightly larger than the overall width of the first end portions 21 of the multiple claws 2 when the intermediate portions 20 are not elastically deformed. The width of the second space 33B is slightly larger than the overall width of the intermediate portions 20 of the multiple claws 2 when the intermediate portions 20 are not elastically deformed. The width of the third space 33C is slightly larger than the width of the second end portions 22. The width of the second space 33B is smaller than the width of the first space 33A and also smaller than the width of the third space 33C.

[0042] The multiple claws 2 are movable in the second direction Y within the storage space 33. The second end 22 moves in the second direction Y within the third space 33C. A majority of the intermediate portion 20 moves in the second direction Y within the second space 33B. A portion of the intermediate portion 20 also moves within the first space 33A or the third space 33C. The first end 21 moves in the second direction Y within the first space 33A. The first end 21 can advance from the first space 33A to the outside of the main body 3 in the second direction Y. In other words, the first end 21 can protrude from the main body 3 in the second direction Y.

[0043] As shown in FIG. 5 , the main body 3 has slits 35 positioned between the multiple claws 2 and extending in the direction of the reference axis A. The slits 35 extend in the second direction Y from an edge on the advancing side in the second direction Y. In this example, the first support plate 31A has the slits 35. The slits 35 extend in the second direction Y from an edge on the advancing side of the first support plate 31A in the second direction Y. The slits 35 penetrate the first support plate 31A in the thickness direction. With respect to the position in the first direction X, the slits 35 are positioned between the multiple claws 2. That is, with respect to the position in the first direction X, the slits 35 coincide with the reference axis A.

[0044] The guide 4 guides the plurality of claws 2 to open in the first direction X during an advancing operation in which the plurality of claws 2 move relatively to advance from the main body 3, and guides the plurality of claws 2 to close in the first direction X during a retreating operation in which the plurality of claws 2 move relatively to retreat into the main body 3. More specifically, the guide 4 has a guide groove 41. As shown in FIG. 6 , the guide groove 41 includes a first guide groove 41A that guides the first claw 2A and a second guide groove 41B that guides the second claw 2B. The first guide groove 41A and the second guide groove 41B are arranged to face each other across the reference axis A. That is, the first guide groove 41A and the second guide groove 41B are spaced apart in the first direction X. The first guide groove 41A and the second guide groove 41B have shapes that are line-symmetrical with respect to the reference axis A. That is, the shape of the second guide groove 41B is a shape obtained by inverting the shape of the first guide groove 41A with respect to the reference axis A. Hereinafter, when there is no need to distinguish between the first guide groove 41A and the second guide groove 41B, they will be simply referred to as "guide groove 41."

[0045] In this example, the first guide groove 41A and the second guide groove 41B are disposed in the first support plate 31A and the second support plate 31B, respectively. That is, the first support plate 31A and the second support plate 31B each function as a guide 4. The first guide groove 41A disposed in the first support plate 31A and the first guide groove 41A disposed in the second support plate 31B have the same shape. The second guide groove 41B disposed in the first support plate 31A and the second support plate 31B have the same shape. The first guide groove 41A and the second guide groove 41B are disposed in portions of the first support plate 31A and the second support plate 31B that define the first space 33A. The first guide groove 41A and the second guide groove 41B penetrate the first support plate 31A or the second support plate 31B in the thickness direction.

[0046] The guide groove 41 includes a first groove 42 inclined with respect to the second direction Y so as to be positioned closer to the opening side in the first direction X as it advances in the second direction Y, and a second groove 43 extending in the second direction Y. The first groove 42 and the second groove 43 are aligned in this order as they extend toward the retreating side in the second direction Y. In other words, the first groove 42 of the first guide groove 41A and the first groove 42 of the second guide groove 41B are spaced apart in the first direction X as they advance toward the advancement side in the second direction Y. The second groove 43 of the first guide groove 41A and the second groove 43 of the second guide groove 41B are approximately parallel to each other. The inclination angle of the first groove 42 with respect to the second direction Y, i.e., the reference axis A, is less than 45 degrees.

[0047] The guide grooves 41 slidably support the corresponding claws 2. More specifically, each claw 2 has a pin 27 that fits into the corresponding guide groove 41. The pin 27 is disposed in a portion of the claw 2 that is closer to the advancing side than the center in the second direction Y. Preferably, the pin 27 is disposed in the portion furthest to the advancing side when the claw 2 is divided into three parts in the second direction Y. In this example, the pin 27 is disposed at the first end 21 of the claw 2. The pin 27 extends in the thickness direction of the claw 2 and protrudes from the claw 2 on both sides in the thickness direction. One end of the pin 27 is inserted into the guide groove 41 of the first support plate 31A, and the other end of the pin 27 is inserted into the guide groove 41 of the second support plate 31B. The pin 27 is slidable within the guide groove 41. In this manner, the guide groove 41 slidably supports the first end 21 of the corresponding claw 2 via the pin 27.

[0048] When the pin 27 is positioned in the second groove 43, the intermediate portion 20 of the claw 2 extends linearly and substantially parallel to the second direction Y. At this time, the overall width of the first end portions 21 of the multiple claws 2 is smaller than the width of the main body 3, specifically, smaller than the width of the opening of the first space 33A of the main body 3.

[0049] When the pin 27 is positioned in the first groove 42, the intermediate portion 20 of the claw 2 is curved in the first space 33A and expands toward the opening side in the first direction X. The overall width of the first end portions 21 of the multiple claws 2 is greater than the width of the main body 3. The first end portions 21 extend outward from the main body 3.

[0050] The actuator 5 includes a motor. For example, the motor is a servo motor 50a (see FIG. 9). The servo motor 50a has an encoder 50b (see FIG. 9). As shown in FIG. 5, the actuator 5 has a housing 51 that houses the motor. The actuator 5 is attached to the main body 3. Specifically, the housing 51 is attached to the second support plate 31B of the main body 3.

[0051] As shown in FIG. 6 , the actuator 5 includes a disk 52 that is rotatable around a rotation axis B that is perpendicular to both the first direction X and the second direction Y. The disk 52 is connected to an output shaft of the actuator 5 so that a driving force can be transmitted. For example, the disk 52 is fixedly attached to the output shaft of the actuator 5. Note that the disk 52 may be connected to the output shaft of the actuator 5 via one or more gears. The actuator 5 outputs a rotational driving force to rotate the disk 52 around the rotation axis B. The disk 52 has a pin 53. The pin 53 extends in the thickness direction of the jaw 2. The pin 53 is disposed within the accommodation space 33 of the main body 3. Specifically, the pin 53 is disposed within the third space 33C. When the disk 52 rotates, the pin 53 rotates integrally with the disk 52. The pin 53 moves in an arc around the rotation axis B within the accommodation space 33, specifically, within the third space 33C.

[0052] The pawl 2 has a groove 28 into which the pin 53 fits. The groove 28 is located at the second end 22 of the pawl 2. More specifically, the groove 28 is located at a portion of the second end 22 where the width is increased. The groove 28 extends in the first direction X. The groove 28 penetrates the pawl 2 in the thickness direction. The pin 53 is relatively movable within the groove 28 in the first direction X. When the pin 53 moves in an arc around the rotation axis B, the pin 53 moves within the groove 28 in the first direction X. A component of the arc movement of the pin 53 in the second direction Y acts on the pawl 2. In other words, the arc movement of the pin 53 drives the pawl 2 in the second direction Y.

[0053] 5, the hand 10 has an attachment 6 for attachment to a robot arm 120. The attachment 6 has a plate 60 attached to the robot arm 120 and a shaft 61 extending from the plate 60. The attachment 6 supports the main body 3 movably in the second direction Y and absorbs the movement of the main body 3 in the second direction Y.

[0054] For example, the plate 60 has a disk shape. The thickness direction of the plate 60 is substantially parallel to the second direction Y.

[0055] The shaft 61 includes a first shaft 61A, a second shaft 61B, and a third shaft 61C. The first shaft 61A, the second shaft 61B, and the third shaft 61C each extend substantially parallel to the second direction Y. The first shaft 61A, the second shaft 61B, and the third shaft 61C each extend from the plate 60 toward the forward side in the second direction Y. With respect to the position in the first direction X, the first shaft 61A is disposed between the second shaft 61B and the third shaft 61C. With respect to the position in the direction perpendicular to both the first direction X and the second direction Y, the second shaft 61B and the third shaft 61C are disposed at substantially the same position, and the first shaft 61A is offset from the second shaft 61B and the third shaft 61C.

[0056] The main body 3 has a first guide 62A that supports the first shaft 61A so that it can move in the second direction Y. The first guide 62A has a cylindrical shape. The first shaft 61A is slidably inserted into the first guide 62A. The first shaft 61A has a stopper (not shown) that prevents it from coming off the first guide 62A. The first guide 62A is disposed on a first support plate 31A.

[0057] The actuator 5 has a second guide 62B that supports the second shaft 61B movably in the second direction Y, and a third guide 62C that supports the third shaft 61C movably in the second direction Y. The second guide 62B and the third shaft 61C each have a cylindrical shape. The second shaft 61B is slidably inserted into the second guide 62B. The third shaft 61C is slidably inserted into the third guide 62C. The second shaft 61B has a stopper (not shown) that prevents it from coming off the second guide 62B. The third shaft 61C has a stopper (not shown) that prevents it from coming off the third guide 62C. The second guide 62B and the third shaft 61C are each disposed on the housing 51.

[0058] The attachment 6 has a spring 63 that absorbs movement of the main body 3 toward the retreating side in the second direction Y. In this example, the spring 63 is attached to the second shaft 61B and the third shaft 61C. More specifically, the second shaft 61B is inserted into the spring 63. The spring 63 is disposed between the plate 60 and the second guide 62B. The third shaft 61C is inserted into the spring 63. The spring 63 is disposed between the plate 60 and the third guide 62C.

[0059] The main body 3 is supported by the attachment 6 via the shaft 61 so as to be movable in the second direction Y. When the main body 3 moves backward in the second direction Y relative to the attachment 6, the spring 63 undergoes compressive deformation to absorb the movement of the main body 3. The compressive deformation of the spring 63 acts as resistance, suppressing the movement of the main body 3 backward in the second direction Y.

[0060] The plate 60 is attached to the seventh link L7 so that the reference axis A is aligned with the rotation axis R7 of the seventh joint J7.

[0061] The operation of the hand 10 configured as described above will be described. Fig. 7 is a cross-sectional view of the hand 10 when the multiple claws 2 are in the advanced position. Fig. 7 is a cross-sectional view of the hand 10 cut along a plane parallel to the first direction X and the second direction Y.

[0062] When the pin 53 of the actuator 5 is located in the first rotation position, as shown in FIG. 7 , the multiple claws 2 are located in an advanced position in the second direction Y. The advanced position is a position where the multiple claws 2 are advanced from the main body 3 in the second direction Y. The pin 27 of each claw 2 is located in the first groove 42 of the corresponding guide groove 41. The first end 21 of each claw 2 is relatively far from the reference axis A in the first direction X. In other words, the distance between the first claw 2A and the second claw 2B in the first direction X is relatively wide. In the advanced position, the first claw 2A and the second claw 2B are open in the first direction X and protrude from the main body 3 in the second direction Y. Note that, as the first end 21 of each claw 2 moves toward the opening side in the first direction X, the middle portion 20 of each claw 2 is elastically deformed and curved.

[0063] When the claws 2 are retracted in the second direction Y, the actuator 5 moves the pin 53 in an arc from the first rotation position toward the retraction side in the second direction Y. The arc movement of the pin 53 is converted into linear motion in the second direction Y by the sliding of the pin 53 within the groove 28. As a result, the multiple claws 2 move toward the retraction side in the second direction Y. This movement of the multiple claws 2 is referred to as the "retraction movement." During the retraction movement, the pin 27 of each claw 2 slides within the corresponding guide groove 41 and moves from the first groove 42 to the second groove 43. As the pin 27 moves from the first groove 42 toward the second groove 43, the pin 27 moves toward the retraction side in the second direction Y while moving toward the closing side in the first direction X. In other words, the first claw 2A and the second claw 2B retract into the main body 3 in the second direction Y and close in the first direction X. When the pin 27 moves within the second groove 43, the distance between the first claw 2A and the second claw 2B in the first direction X does not change. In other words, the first claw 2A and the second claw 2B move in the second direction Y without changing the distance between them in the first direction X.

[0064] When the pin 53 of the actuator 5 is in the second rotation position, as shown in FIG. 6 , the multiple pawls 2 are in a retracted position in the second direction Y. With respect to the position in the second direction Y, the second rotation position is a position retracted further from the first rotation position. The retracted position is a position where the multiple pawls 2 are retracted into the main body 3 in the second direction Y. The pin 27 of each pawl 2 is positioned in the second groove 43 of the corresponding guide groove 41. The first end 21 of each pawl 2 is relatively close to the reference axis A in the first direction X. In other words, the distance between the first pawl 2A and the second pawl 2B in the first direction X is relatively narrow. In the retracted position, the first pawl 2A and the second pawl 2B are closed in the first direction X and housed within the main body 3. Note that, as the first end 21 of each pawl 2 moves toward the closing side in the first direction X, the elastic deformation of the middle portion 20 of each pawl 2 is reduced, and the middle portion 20 becomes substantially linear.

[0065] When the pawl 2 advances in the second direction Y, the actuator 5 moves the pin 53 in an arc from the second rotation position toward the advancement side in the second direction Y. The arc movement of the pin 53 is converted into linear motion in the second direction Y by the sliding of the pin 53 within the groove 28. As a result, the multiple pawls 2 move toward the advancement side in the second direction Y. This movement of the multiple pawls 2 is referred to as the "advancement movement." During the advancement movement, the pin 27 of each pawl 2 slides within the corresponding guide groove 41 and moves from the second groove 43 to the first groove 42. When the pin 27 moves within the second groove 43, the first pawl 2A and the second pawl 2B move in the second direction Y without changing the distance between them in the first direction X. When the pin 27 moves within the first groove 42, the pin 27 moves toward the advancement side in the second direction Y while also moving toward the opening side in the first direction X. That is, the first claw 2A and the second claw 2B move out from the main body 3 in the second direction Y and open in the first direction X.

[0066] In this way, the actuator 5 moves the multiple claws 2 relative to the main body 3 in the second direction Y. The multiple claws 2 are guided by the guide 4 when moving relative to the main body 3. The guide 4 guides the multiple claws 2 to open in the first direction X during an advancing operation in which the multiple claws 2 move relatively to advance away from the main body 3, and guides the multiple claws 2 to close in the first direction X during a retreating operation in which the multiple claws 2 move relatively to retreat toward the main body 3. In this way, the multiple claws 2 open and close in the first direction X by moving relatively to the main body 3 in the second direction Y.

[0067] Next, a specific description will be given of the operation of the hand 10. Here, a case where the hand 10 grips the connector plug 92 will be described.

[0068] The hand 10 opens the multiple jaws 2. Specifically, the actuator 5 positions the pin 53 at the first rotation position. As a result, the multiple jaws 2 are positioned at the advanced position and open.

[0069] In this state, the hand 10 is positioned so that the connector plug 92 is positioned between the multiple jaws 2 in the open state. At this time, the tips of the multiple jaws 2 are in contact with the jig 99, specifically, with the reference surface 99a. The hand 10 is oriented so that the reference axis A is aligned with the connection axis N of the connector plug 92. The cable 94 connected to the connector plug 92 is fitted into the slit 35 of the main body 3.

[0070] From this state, the hand 10 grasps the connector plug 92. Specifically, the actuator 5 moves the pin 53 from the first rotation position toward the second rotation position. As a result, the multiple claws 2 close in the first direction X while retreating in the second direction Y relative to the main body 3. At this time, the robot arm 120 moves the hand 10 closer to the adapter 91 in the second direction Y so as to offset the movement of the multiple claws 2 in the second direction Y in the robot coordinate system. As a result, the positions of the tips of the multiple claws 2 in the second direction Y in the robot coordinate system do not change. While the multiple claws 2 move in the second direction Y relative to the main body 3, the connector plug 92 remains positioned between the multiple claws 2.

[0071] FIG. 8 is a cross-sectional view of the hand 10 in a state in which the multiple claws 2 grip the connector plug 92. Eventually, the multiple claws 2 grip the connector plug 92 from both sides in the first direction X. Specifically, as the pin 27 moves from the first groove 42 to the second groove 43 of the guide groove 41, the spacing between the multiple claws 2 in the first direction X becomes minimum, and the multiple claws 2 grip the connector plug 92 as shown in FIG. 8. At this time, the convex portion 95a of the connector plug 92 fits into the first concave portion 23 of the claw 2, and the first convex portion 24 of the claw 2 fits into the concave portion 95b of the connector plug 92. As a result, the multiple claws 2 firmly grip the connector plug 92 not only by frictional force but also by the engagement between the first concave portion 23 and the convex portion 95a and the engagement between the first convex portion 24 and the concave portion 95b.

[0072] The gripping is completed when the pin 27 reaches a predetermined position in the second groove 43. In other words, the gripping is completed before the pin 53 reaches the second rotation position.

[0073] The object to be grasped may be a cap 98. In this case, the connector plug 92 in the above description is replaced with the cap 98. For example, the hand 10 is positioned so that the target cap 98 is positioned between the multiple open claws 2. The hand 10 closes the multiple claws 2 to grasp the cap 98 from both sides in the first direction X with the multiple claws 2. At this time, the convex portions 98a of the cap 98 fit into the second concave portions 25 of the claws 2, and the second convex portions 26 of the claws 2 fit into the concave portions 98b of the cap 98. As a result, the multiple claws 2 firmly grasp the cap 98 not only by frictional force but also by the engagement between the second concave portions 25 and the convex portions 98a and the engagement between the second convex portions 26 and the concave portions 98b.

[0074] FIG. 9 is a diagram illustrating a schematic hardware configuration of the control device 150. The control device 150 controls the robot 110 to allow the hand 10 to access multiple adapters 91. The control device 150 allows the hand 10 to access the adapters 91, and causes the hand 10 to pull out a connector plug 92 from the adapter 91 and insert the connector plug 92 into the adapter 91. An image captured by the imaging device 140 is input to the control device 150. The control device 150 controls the servo motor 121 of the robot arm 120 and the hand 10. For example, the control device 150 supplies a current to the servo motor 121. At this time, the control device 150 feedback-controls the supply current based on the output of the encoder 122. The control device 150 controls the actuator 5 of the hand 10. Specifically, the control device 150 supplies a current to the servo motor 50a of the actuator 5 and feedback-controls the supply current based on the output of the encoder 50b.

[0075] With regard to the control of the robot arm 120, the control device 150 executes a first control that controls the rotation angles of the first joint J1 to the n-th joint Jn to move the n-th link Ln to a target position and a target posture, and a second control that controls the rotation angles of the first joint J1 to the (ni)-th joint Jn-i to move the (ni)-th link Ln-i to a target position and a target posture. That is, the first control controls the position and posture of the n-th link Ln located at the tip of the robot arm 120 by adjusting the rotation angles of all the joints J. On the other hand, the second control controls the position and posture of the (ni)-th link Ln-i located midway along the robot arm 120 by adjusting the rotation angles of some of the joints J, specifically, the joints J located closer to the base 130 than the (ni)-th link Ln-i. Here, the target position and the target posture are, for example, the position and posture in a robot coordinate system set with the base 130 as the reference.

[0076] Furthermore, in the second control, the control device 150 executes feedback control based on the image captured by the imaging device 140 so that the (ni)-th link Ln-i moves to the target position and target posture. In this example, the imaging device 140 is disposed on the (ni)-th link Ln-i.

[0077] In this example, n is 7 and i is 1. That is, in the first control, the control device 150 controls the rotation angles of the first joint J1 to the seventh joint J7 to move the seventh link L7 to the target position and target posture. In the second control, the control device 150 controls the rotation angles of the first joint J1 to the sixth joint J6 to move the sixth link L6 to the target position and target posture. The imaging device 140 is disposed on the sixth link L6.

[0078] Although details will be described later, for example, the control device 150 executes the second control when causing the robot arm 120 to perform an insertion or extraction operation of the connector plug 92. The control device 150 executes the first control when causing the robot arm 120 to perform a cleaning operation of the connector plug 92.

[0079] The control device 150 includes a processor 151 , a storage device 152 , and a memory 153 .

[0080] The processor 151 controls the entire control device 150. The processor 151 performs various types of arithmetic processing. For example, the processor 151 is formed of a processor such as a CPU (Central Processing Unit). The processor 151 may also be formed of an MCU (Micro Controller Unit), an MPU (Micro Processor Unit), an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a system LSI, or the like.

[0081] The storage unit 152 stores programs to be executed by the processor 151 and various data. For example, the storage unit 152 stores a robot control program. The storage unit 152 is formed of a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 153 temporarily stores data and the like. For example, the memory 153 is formed of a volatile memory.

[0082] 10 is a block diagram showing the configuration of a control system of the processor 151. The processor 151 realizes various functions by reading out a robot control program 152a from the storage device 152 into the memory 153 and expanding the program. Specifically, the processor 151 functions as an imaging controller 161 that controls the imaging device 140, a position acquirer 162 that determines the relative position and orientation of the sixth link L6 and the marker 97, a position determiner 163 that determines the target position and target orientation of the robot arm 120, a calculator 164 that determines target rotation angles of multiple joints J corresponding to the target position and target orientation by inverse kinematics calculation, a movement controller 165 that moves the robot arm 120, an opening / closing controller 166 that controls the hand 10, and a position identifier 160 that identifies the position of an object to be inserted or removed.

[0083] The photographing controller 161 causes the image capturing device 140 to perform photographing.

[0084] The position acquirer 162 obtains the current position and orientation of the sixth link L6 based on the image captured by the imaging device 140. The position acquirer 162 obtains the current position and orientation of the sixth link L6 while the second control is being executed. In this example, during the second control, the robot arm 120 operates so that the marker 97 is included in the imaging range of the imaging device 140. The position acquirer 162 obtains the size and shape of the marker 97 by performing image processing on the captured image. Since the size and shape of the marker 97 in the robot coordinate system are known, the position acquirer 162 obtains the relative position and orientation between the imaging device 140 and the marker 97 from the size and shape of the marker 97 in the captured image. Since the imaging device 140 is disposed on the sixth link L6, the position acquirer 162 obtains the relative position and orientation of the sixth link L6 with respect to the marker 97 from the relative position and orientation of the imaging device 140 with respect to the marker 97.

[0085] The position determiner 163 determines a target position and a target attitude of the seventh link L7 in the first control, and determines a target position and a target attitude of the sixth link L6 in the second control. The determined target position and target attitude are used for inverse kinematics calculation by the calculator 164. The position determiner 163 determines the target position and the target attitude depending on the task to which the first control or the second control is applied. For example, in the task to which the first control is applied, the target position and the target attitude of the seventh link L7 are set in advance and stored in the memory 152. The position determiner 163 sets the preset target position and the target attitude as the target position and the target attitude of the seventh link L7. In the task to which the second control is applied, the position determiner 163 determines the target position and the target attitude of the sixth link L6 based on the relative position and the relative attitude of the sixth link L6 with respect to the marker 97 obtained by the position acquirer 162. A destination point of the target adapter 91T, etc., which will be described in detail later, is set by the user. The relative position of the destination point with respect to the marker 97 is determined in advance. The position determiner 163 determines the relative position and relative orientation of the sixth link L6 with respect to the destination point based on the relative position and relative orientation of the sixth link L6 with respect to the marker 97 and the relative position of the destination point with respect to the marker 97, which are determined by the position acquirer 162. Because the current position and current orientation of the sixth link L6 in the robot coordinate system are known, the position determiner 163 determines the target position and target orientation of the sixth link L6 in the robot coordinate system based on the relative position and relative orientation of the sixth link L6 with respect to the destination point and the current position and current orientation of the sixth link L6 in the robot coordinate system.

[0086] The calculator 164 calculates target rotation angles of the multiple joints J corresponding to the target position and target posture by inverse kinematics calculation. In the first control, the calculator 164 calculates target rotation angles of the first joint J1 to the seventh joint J7 corresponding to the target position and target posture of the seventh link L7 by inverse kinematics calculation. The calculator 164 calculates the target rotation angles of the first joint J1 to the seventh joint J7 by performing inverse kinematics calculation using an evaluation function. For example, the calculator 164 calculates the target rotation angles of the first joint J1 to the seventh joint J7 that minimize the evaluation function. In the second control, the calculator 164 calculates the target rotation angles of the first joint J1 to the sixth joint J6 corresponding to the target position and target posture of the sixth link L6 by inverse kinematics calculation.

[0087] The movement controller 165 servo-controls the multiple servo motors 121 of the robot arm 120. The movement controller 165 adjusts the current applied to each servo motor 121 to control the rotation angle of each joint J to a target rotation angle. In this way, the movement controller 165 moves the robot arm 120. Hereinafter, the movement of the robot arm 120 will also include deformation of the robot arm 120 unless otherwise specified.

[0088] The opening / closing controller 166 servo-controls the servo motor 50a of the hand 10. The opening / closing controller 166 adjusts the current applied to the servo motor 50a to control the opening degrees of the multiple claws 2 to target opening degrees. In this way, the opening / closing controller 166 opens and closes the hand 10.

[0089] Next, specific applications of the first control and the second control will be described. The first control is applied to the cleaning operation of the connector plug 92. The second control is applied to the insertion and extraction operation of the connector plug 92.

[0090] In an operation for inserting or removing a connector plug 92, the hand 10 accesses a target adapter 91T among the multiple adapters 91 to insert or remove the connector plug 92. As will be described in detail later, in relation to the access of the hand 10 to the target adapter 91T, the control device 150 moves the hand 10 to the target adapter 91T, sequentially passing through an offset position and an opposing position. The offset position is a position away from the target adapter 91T in the direction of the adapter axis M and away from the adapter axis M in a direction intersecting the adapter axis M. The opposing position is a position away from the target adapter 91T in the direction of the adapter axis M and where the hand 10 faces the target adapter 91T in the direction of the adapter axis M. The control device 150 moves the hand 10 from the offset position to the opposing position so as to approach the adapter axis M. The control device 150 moves the hand 10 from the opposing position to the target adapter 91T in the direction of the adapter axis M. In the insertion operation, the hand 10 holds the connector plug 92 to be inserted into the target adapter 91T. The control device 150 inserts the connector plug 92 held by the hand 10 into the target adapter 91T by moving the hand 10 to the target adapter 91T. During the withdrawal operation, the hand 10 does not hold the connector plug 92. After moving the hand 10 to the target adapter 91T, the control device 150 causes the hand 10 to hold the target connector plug 92T inserted into the target adapter 91T, and then moves the hand 10 holding the target connector plug 92T in the direction of the adapter axis M away from the target adapter 91T to withdraw the target connector plug 92T from the target adapter 91T.

[0091] First, an example in which the second control is applied to the insertion operation of a connector plug 92 will be described. FIG. 11 is a flowchart showing the processing of the insertion operation. The following description will be given using directions based on the connection board 9. The direction perpendicular to the wall surface 90 of the connection board 9 is defined as the front-to-rear direction. In the front-to-rear direction, the side closer to the wall surface 90 is defined as the front side, and the side away from the wall surface 90 is defined as the rear side. The left-to-right direction is a direction that is horizontal and parallel to the wall surface 90. The up-to-down direction is a vertical direction. The front-to-rear direction, left-to-right direction, and up-to-down direction are perpendicular to each other.

[0092] First, in step S101, the control device 150 moves the robot arm 120 to an initial position and initial posture for the insertion operation, as shown in FIG. 12. FIG. 12 is a side view of the sixth link L6 positioned at the initial position and initial posture for the insertion operation. The hand 10 holds the connector plug 92 to be inserted into the target adapter 91T. The target adapter 91T is an adapter into which the connector plug 92 is to be inserted during the insertion operation. The target adapter 91T is set by the user. The initial position and initial posture are the position and posture of the robot arm 120 at which the marker 97 is within the imaging range of the imaging device 140. The initial position and initial posture are determined in advance. For example, the initial position is a position of the robot arm 120 at which the imaging device 140 faces the marker 97. Preferably, the posture of the sixth link L6 in the initial posture of the robot arm 120 is the same as the insertion posture, which will be described later. Specifically, the posture of the sixth link L6 is a posture in which the rotation axis R7 of the seventh joint J7 is approximately parallel to the adapter axis M of the adapter 91. The posture of the seventh link L7 in the initial posture of the robot arm 120 is the same as the approach posture described below. Specifically, the posture of the seventh link L7 is a posture in which the first direction X of the hand 10, i.e., the opening and closing directions of the multiple claws 2, are oriented in the vertical direction.

[0093] The movement of the robot arm 120 to the initial position and initial posture may be realized by any of the first control, the second control, and other control. In this example, the movement of the robot arm 120 to the initial position and initial posture is realized by control other than the first control and the second control. Specifically, the rotation angles of a plurality of joints J for realizing the initial position and initial posture of the robot arm 120 are determined in advance. The movement controller 165 controls the rotation angle of each joint J so that the rotation angle of each joint J becomes the rotation angle corresponding to the predetermined initial position and initial posture.

[0094] Next, in step S102, the control device 150 starts capturing images using the imaging device 140. Specifically, the imaging controller 161 causes the imaging device 140 to start capturing images. The captured image includes images of the markers 97 and the multiple adapters 91.

[0095] Next, the control device 150 moves the sixth link L6 to the target position and target posture by the second control. In this example, the control device 150 sequentially changes the target position and target posture. The seventh link L7 is connected to the sixth link L6, and the hand 10 is attached to the seventh link L7. Therefore, the movement of the sixth link L6 also corresponds to the movement of the seventh link L7 and the hand 10. Here, the position and posture of the sixth link L6 are defined as the position and posture of the intersection V6 of the plane of the sixth link L6 to which the seventh link L7 is connected and the rotation axis R7 of the seventh joint J7.

[0096] Specifically, in step S103, the control device 150 moves the sixth link L6 to the approach position and approach posture by the second control, as shown in FIG. 13. As a result, the control device 150 moves the hand 10 to the approach position and approach posture of the hand 10. FIG. 13 is a schematic diagram showing the approach position P1 during the insertion operation when the connection board 9 is viewed from the rear. The two-dot chain line in the figure indicates the main body 3 of the hand 10. The main body 3 represents the general position of the hand 10. Note that the connector plug 92 and the cable 94 are not shown. This also applies to FIG. 15 and other figures described below. Point P1 in the figure indicates the approach position in the up-down and left-right directions. Point P0 in the figure indicates the initial position in the up-down and left-right directions. The approach position P1 and approach posture are the position and posture of the sixth link L6 before the hand 10 enters the space behind the connection board 9 in which multiple cables 94 are arranged. A connector plug 92 may be inserted into at least some of the adapters 91. A cable 94 is connected to the connector plug 92. Therefore, there is a possibility that multiple connector plugs 92 and multiple cables 94 are arranged in the space behind the multiple adapters 91. During the insertion operation, the hand 10 moves through the space where such multiple cables 94 may be present. Specifically, the approach position P1 is the position of the sixth link L6 when the hand 10 is separated from the target adapter 91T in the direction of the adapter axis M, i.e., the front-rear direction, is positioned above the multiple adapters 91 in the up-down direction, and is positioned between the row of adapters 91 including the target adapter 91T and the row of adapters 91 adjacent to it in the left-right direction. The approach posture is the posture of the sixth link L6 when the rotation axis R7 of the seventh joint J7 is parallel to the adapter axis M of the target adapter 91T.

[0097] The control device 150 determines the entry position P1 and entry orientation of the sixth link L6 in the robot coordinate system based on the image captured by the imaging device 140. Specifically, the position acquirer 162 determines the current relative position and relative orientation of the sixth link L6 with respect to the marker 97 based on the size and shape of the marker 97 in the captured image. The entry position P1 and entry orientation relative to the marker 97 are set in advance according to the target adapter 91. The position determiner 163 determines the current relative position and relative orientation of the sixth link L6 with respect to the entry position P1 and entry orientation based on the relative position and relative orientation of the sixth link L6 with respect to the marker 97 and the relative position and relative orientation of the entry position P1 and entry orientation relative to the marker 97. Since the position determiner 163 knows the current position and current posture of the sixth link L6 in the robot coordinate system, it determines the entry position P1 and entry posture of the sixth link L6 in the robot coordinate system based on the relative position and relative posture of the sixth link L6 to the entry position P1 and entry posture and the current position and current posture of the sixth link L6 in the robot coordinate system.

[0098] The calculator 164 determines the target rotation angles of the multiple joints J corresponding to the target position and target posture by inverse kinematics calculation, with the approach position P1 and approach posture as the target position and target posture, respectively. The position and posture of the sixth link L6 depend on the first joint J1 to the sixth joint J6. Therefore, the calculator 164 determines the target rotation angles of the first joint J1 to the sixth joint J6. The movement controller 165 controls the rotation angles of the multiple joints J so that the multiple joints J, more specifically, the first joint J1 to the sixth joint J6, reach the target rotation angles. As a result, the sixth link L6 moves to the approach position P1 and approach posture as the target position and target posture.

[0099] The control device 150 performs feedback control based on the image captured by the imaging device 140 so that the sixth link L6 moves to the target position and target posture. Specifically, the position acquirer 162, the position determiner 163, the calculator 164, and the movement controller 165 repeat the above-mentioned process based on the latest captured image. Eventually, the sixth link L6 reaches the approach position P1 and the approach posture as the target position and the target posture.

[0100] In this case, the control device 150 controls the position and orientation of the seventh link L7 using a method different from the method based on inverse kinematics calculation. In this example, the control device 150 controls the rotation angle of the seventh joint J7 so that the relative position and orientation of the seventh link L7 with respect to the sixth link L6 become the target relative position and target relative orientation. Here, the position and orientation of the seventh link L7 are defined as the position and orientation of the intersection V7 between the tip surface of the hand 10 attached to the seventh link L7 and the rotation axis R7 of the seventh joint J7. The rotation angle of the seventh joint J7 in the relative control of the seventh link L7 is determined in advance. Specifically, the control device 150 controls the relative position and orientation of the seventh link L7 with respect to the sixth link L6 so that the first direction X of the hand 10, i.e., the opening and closing direction of the multiple claws 2, faces up and down when the sixth link L6 is in the approaching orientation. The direction in which the long side of the main body 3, indicated by the rectangle in the figure, extends corresponds to the first direction X.

[0101] The position and attitude of the seventh link L7 are controlled before, after, or during the movement of the sixth link L6 to the approach position P1 and approach attitude. In this example, the relative position and attitude of the seventh link L7 with respect to the sixth link L6 are set to the target relative position and target relative attitude corresponding to the approach position P1 and approach attitude of the sixth link L6 before the sixth link L6 moves to the approach position P1 and approach attitude.

[0102] In this example, even if the seventh joint J7 rotates, the relative position of the seventh link L7 with respect to the sixth link L6 remains constant, and only the relative orientation changes. Therefore, the control device 150 controls only the relative orientation of the seventh link L7 with respect to the sixth link L6.

[0103] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the entry position and entry posture of the hand 10. The entry position of the hand 10 is a position that is away from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-back direction, and above the multiple adapters 91 in the up-down direction, and is between the row of adapters 91 that includes the target adapter 91T and the adjacent row of adapters 91 in the left-to-right direction. At this time, the hand 10 is in an entry posture in which the reference axis A is parallel to the adapter axis M of the target adapter 91T.

[0104] Next, in step S104, the control device 150 moves the sixth link L6 to the offset position P2 and offset posture by the second control, as shown in FIGS. 14 and 15. As a result, the control device 150 moves the hand 10 to the offset position and offset posture of the hand 10. FIG. 14 is a side view of the sixth link L6 positioned at the offset position P2 and offset posture during the insertion operation. FIG. 15 is a schematic diagram showing the offset position P2 during the insertion operation when the connection board 9 is viewed from the rear. Point P2 in the figure indicates the offset position in the up-down and left-right directions. The offset position P2 and offset posture are the position and posture of the sixth link L6 when the hand 10 is positioned at a position offset from the adapter axis M of the target adapter 91T. Specifically, the offset position P2 is the position of the sixth link L6 when the hand 10 is away from the adapter axis M in a direction intersecting the adapter axis and away from the target adapter 91T in the direction of the adapter axis M, i.e., the front-rear direction. In this example, the direction intersecting the adapter axis M is a direction perpendicular to both the direction of the adapter axis M and the row direction of the multiple adapters 91, specifically the left-right direction. The offset posture is a posture of the sixth link L6 in which the rotation axis R7 of the seventh joint J7 is parallel to the adapter axis M of the target adapter 91T, and is the same as the approach posture.

[0105] The control device 150 moves the sixth link L6 to the offset position P2 and offset posture using the same control as for movement to the approach position P1 and approach posture. That is, the position acquirer 162 determines the current relative position and relative posture of the sixth link L6 with respect to the marker 97 based on the size and shape of the marker 97 in the captured image. The position determiner 163 determines the offset position P2 and offset posture of the sixth link L6 in the robot coordinate system based on the relative position and relative posture of the sixth link L6 with respect to the marker 97, the relative position and relative posture of the offset position P2 and offset posture with respect to the marker 97, and the current position and current posture of the sixth link L6 in the robot coordinate system. The calculator 164 determines the target rotation angles of the multiple joints J corresponding to the target position and target posture by inverse kinematics calculation, using the offset position P2 and offset posture as the target position and target posture, respectively. The movement controller 165 controls the rotation angles of the joints J, more specifically, the first joint J1 to the sixth joint J6, so that they reach the target rotation angles. The control device 150 performs feedback control based on the image captured by the imaging device 140 so that the sixth link L6 moves to the target position and posture.

[0106] As a result, the sixth link L6 moves from the approach position P1 and approach posture to the offset position P2 and offset posture. Because the approach posture and the offset posture are the same, the sixth link L6 moves from the approach position P1 to the offset position P2 in a constant posture.

[0107] At this time, the control device 150 controls the rotation angle of the seventh joint J7 so that the relative position and orientation of the seventh link L7 with respect to the sixth link L6 become the target relative position and target relative orientation. The rotation angle of the seventh joint J7 in the relative control of the seventh link L7 is determined in advance. In this example, the target relative position and target orientation of the seventh link L7 when the sixth link L6 is located at the offset position P2 and the offset orientation are the same as when the sixth link L6 is located at the approach position P1 and the approach orientation. In other words, the control device 150 maintains the relative position and relative orientation of the seventh link L7 with respect to the sixth link L6 constant while moving the sixth link L6 from the approach position P1 and the approach orientation to the offset position P2 and the offset orientation. When the hand 10 moves between the two rows of adapters 91, the seventh link L7 is maintained in an orientation in which the first direction X of the hand 10 faces the up-down direction.

[0108] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the offset position and offset posture of the hand 10. The offset position of the hand 10 is a position away from the adapter axis M in a direction intersecting the adapter axis M and away from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-back direction. In this example, the direction intersecting the adapter axis M is a direction intersecting both the direction of the adapter axis M and the row direction of the multiple adapters 91, specifically the left-to-right direction. In the offset position, the hand 10 is located between the two adapters 91 located on both sides of the target adapter 91T in the row direction in terms of vertical position. In other words, the offset position of the hand 10 is the same position as the target adapter 91T in terms of vertical direction. At this time, the offset posture of the hand 10 is a posture in which the reference axis A is parallel to the adapter axis M of the target adapter 91T. Moving the sixth link L6 to the offset position P2 and offset posture in step S104 corresponds to moving the hand to an offset position away from the adapter axis in a direction intersecting the adapter axis and away from the adapter in relation to the direction of the adapter axis.

[0109] Connector plugs 92 may already be inserted into at least some of the adapters 91. Cables 94 are connected to the connector plugs 92. Therefore, the space behind the adapters 91 may be densely packed with connector plugs 92 and cables 94. The hand 10 may move through such a space. Because the connector plugs 92 are inserted into the adapters 91 fixed to the connection board 9, the connector plugs 92 are arranged in an orderly fashion, similar to the adapters 91. Meanwhile, although the cables 94 extend from the connector plugs 92 in the direction of the connection axis N, i.e., the adapter axis M, they bend relatively flexibly due to their flexibility. Therefore, the space behind the connection board 9 may be cluttered with the cables 94. However, after extending from the connector plugs 92 generally in the direction of the adapter axis M, the cables 94 tend to hang downward due to gravity. Therefore, in the space behind the connection board 9, there are not many cables 94 in the space between the two rows of adapters 91. The "space corresponding to the space between the two rows of adapters 91" means not only the space between the two rows of adapters 91 whose front-to-back position coincides with that of the adapters 91, but also the space obtained by extending the space between the two rows of adapters 91 in the front-to-back direction.

[0110] In the offset position and offset posture, the hand 10 is positioned in a space corresponding to the gap between the two rows of adapters 91. That is, the hand 10 is positioned to minimize interference with the cable 94. In addition, when moving from the approach position and approach posture to the offset position and offset posture, the hand 10 moves through the space corresponding to the gap between the two rows of adapters 91. This reduces the possibility of interference between the hand 10 and the cable 94 during movement of the hand 10. Furthermore, when the hand 10 moves, the hand 10 is oriented such that the first direction X faces the up-down direction. The up-down direction is the direction in which the space corresponding to the gap between the two rows of adapters 91 extends. The main body 3 of the hand 10 has a thin, flat cross-sectional shape in a direction perpendicular to the first direction X. That is, the hand 10 is oriented such that the dimension in the direction in which the two rows of adapters 91 are aligned is reduced. This also reduces the possibility of interference between the hand 10 and the cable 94 during movement of the hand 10.

[0111] After the sixth link L6 has moved to the offset position P2 and the offset posture, in step S105, the control device 150 moves the sixth link L6 to the facing position P3 and the facing posture by the second control, as shown in FIG. 16. As a result, the control device 150 moves the hand 10 to the facing position and the facing posture of the hand 10. FIG. 16 is a schematic diagram showing the facing position P3 during the insertion operation when the connection board 9 is viewed from the rear. The facing position P3 and the facing posture are the position and posture of the sixth link L6 before inserting the connector plug 92 into the target adapter 91T. More specifically, the facing position P3 is the position of the sixth link L6 when it is separated from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-back direction, and the hand 10 faces the target adapter 91T in the direction of the adapter axis M. In other words, the positions of the hand 10 and the target adapter 91T are the same in the left-right and up-down directions. The facing posture is a posture of the sixth link L6 in which the rotation axis R7 of the seventh joint J7 is parallel to the adapter axis M of the target adapter 91T, and is the same as the approaching posture and the offset posture.

[0112] The control device 150 moves the sixth link L6 to the facing position P3 and facing posture using the same control as for movement to the approach position P1 and approach posture. That is, the position acquirer 162 determines the current relative position and relative posture of the sixth link L6 with respect to the marker 97 based on the size and shape of the marker 97 in the captured image. The position determiner 163 determines the facing position P3 and facing posture of the sixth link L6 in the robot coordinate system based on the relative position and relative posture of the sixth link L6 with respect to the marker 97, the relative position and relative posture of the facing position P3 and facing posture with respect to the marker 97, and the current position and current posture of the sixth link L6 in the robot coordinate system. The calculator 164 determines the target rotation angles of the multiple joints J corresponding to the target positions and target postures by inverse kinematics calculation, using the facing position P3 and facing posture as target positions and target postures, respectively. The movement controller 165 controls the rotation angles of the joints J, more specifically, the first joint J1 to the sixth joint J6, so that they reach the target rotation angles. The control device 150 performs feedback control based on the image captured by the imaging device 140 so that the sixth link L6 moves to the target position and posture.

[0113] In this example, the control device 150 maintains the relative position and orientation of the seventh link L7 with respect to the sixth link L6 constant while moving the sixth link L6 from the offset position P2 and offset orientation to the facing position P3 and facing orientation. That is, the hand 10 is in an orientation in which the first direction X faces the up-down direction.

[0114] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the facing position and facing posture of the hand 10. The facing position of the hand 10 is a position away from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-rear direction, and facing the target adapter 91T in the direction of the adapter axis M. At this time, the hand 10 is in a facing posture in which the reference axis A is parallel to the adapter axis M of the target adapter 91T, more specifically, is aligned with the adapter axis M of the target adapter 91T. More specifically, the axis of the ferrule 96 of the connector plug 92 held by the hand 10 is coaxial with the adapter axis M of the target adapter 91T. Moving the sixth link L6 to the facing position P3 and facing posture in step S105 corresponds to moving the hand from the offset position to approach the adapter axis and moving the hand to a facing position away from the adapter in the direction of the adapter axis and facing the adapter in the direction of the adapter axis.

[0115] Thereafter, in step S106, as shown in FIG. 17 , the control device 150 adjusts the rotation angle of the seventh joint J7 to control the relative position and relative posture of the seventh link L7 with respect to the sixth link L6 to a target relative position and target relative posture for inserting the connector plug 92 into the target adapter 91T. In this way, the control device 150 adjusts the posture of the hand 10. Specifically, the control device 150 sets the hand 10 to the same posture as when inserting the connector plug 92 into the target adapter 91T. FIG. 17 is a side view of the sixth link L6 positioned at the facing position P3 and facing posture during the insertion operation. In FIG. 17 , the seventh link L7 is in the target relative posture. Specifically, the control device 150 controls the relative posture of the seventh link L7 with respect to the sixth link L6 so that the first direction X of the hand 10 faces the left-right direction. The control of the relative position and relative posture of the seventh link L7 may be performed before or during movement of the sixth link L6 to the facing position P3 and facing posture.

[0116] Next, in step S107, the control device 150 causes the robot arm 120 to insert the connector plug 92 into the target adapter 91T. Specifically, as shown in FIG. 18, the control device 150 moves the sixth link L6 to the insertion position and insertion posture by the second control. As a result, the control device 150 moves the hand 10 from the opposing position to the target adapter 91 in the direction of the adapter axis M. FIG. 18 is a side view of the sixth link L6 positioned at the insertion position and insertion posture during the insertion operation. The insertion position and insertion posture are the position and posture of the sixth link L6 when insertion of the connector plug 92 into the target adapter 91T is complete. Specifically, the insertion position is the same as the opposing position P3 in the up-down and left-right directions. The insertion position is the position of the sixth link L6 when the connector plug 92 is completely inserted into the target adapter 91T in the direction of the adapter axis M, i.e., the front-rear direction. The insertion posture is the posture of the sixth link L6 in which the rotation axis R7 of the seventh joint J7 is parallel to the adapter axis M of the target adapter 91T, and is the same as the approach posture, offset posture, and facing posture. The control device 150 moves the sixth link L6 from the facing position P3 to the insertion position while maintaining the facing posture. This causes the hand 10 to translate in the direction of the adapter axis M of the target adapter 91T.

[0117] The control device 150 moves the sixth link L6 to the insertion position and insertion posture using the same control as the movement to the approach position P1 and approach posture. That is, the position acquirer 162 determines the current relative position and relative posture of the sixth link L6 with respect to the marker 97 based on the size and shape of the marker 97 in the captured image. The position determiner 163 determines the insertion position and insertion posture of the sixth link L6 in the robot coordinate system based on the relative position and relative posture of the sixth link L6 with respect to the marker 97, the relative position and relative posture of the insertion position and insertion posture with respect to the marker 97, and the current position and current posture of the sixth link L6 in the robot coordinate system. The calculator 164 determines the target rotation angles of the multiple joints J corresponding to the target positions and target postures by inverse kinematics calculation, using the insertion position and insertion posture as the target position and target posture, respectively. The movement controller 165 controls the rotation angles of the multiple joints J so that the multiple joints J, specifically the first joint J1 to the sixth joint J6, reach the target rotation angles. The control device 150 performs feedback control based on the image captured by the imaging device 140 so that the sixth link L6 moves to the target position and target posture.

[0118] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the target adapter 91 and inserts the connector plug 92 into the target adapter 91T. More specifically, the hand 10 translates in the direction of the adapter axis M while aligning the axis of the ferrule 96 of the connector plug 92 coaxially with the adapter axis M. As a result, the connector plug 92 is inserted into the target adapter 91T. Moving the sixth link L6 to the insertion position and insertion posture in step S107 corresponds to moving the hand from the opposing position to the adapter in the direction of the adapter axis.

[0119] Next, in step S108, the control device 150 causes the hand 10 to release the grip of the connector plug 92. More specifically, the opening / closing controller 166 causes the multiple claws 2 of the hand 10 to open.

[0120] Then, in step S109, the control device 150 moves the sixth link L6 to the initial position P0 and the initial posture by the second control. The control device 150 moves the sixth link L6 by the second control so as to trace the path from the initial position P0 to the insertion position in the reverse direction. The hand 10 also moves in accordance with the movement of the sixth link L6. Specifically, the control device 150 moves the sixth link L6 from the insertion position to the opposing position P3 while maintaining the insertion posture. After the sixth link L6 moves to the opposing position P3, the control device 150 controls the posture of the seventh link L7 relative to the sixth link L6 so that the first direction X of the hand 10 faces the up-down direction. Then, the control device 150 moves the sixth link L6 from the opposing position P3 to the offset position P2 and the approach position P1 in this order to the initial position P0 by the second control. When the sixth link L6 moves to the initial position P0, the insertion operation is completed.

[0121] In this way, in the insertion operation, the control device 150 moves the robot arm 120 by the second control so that the sixth link L6 is at the target position and in the target posture. In addition, the control device 150 controls the position and posture of the seventh link L7 relative to the sixth link L6 as necessary.

[0122] Next, a description will be given of an example in which the second control is applied to the operation of removing the connector plug 92. Fig. 19 is a flowchart showing the process of the removal operation.

[0123] First, in step S201, the control device 150 moves the robot arm 120 to an initial position and initial posture for the extraction operation, as shown in FIG. 20. FIG. 20 is a side view of the sixth link L6 positioned at the initial position and initial posture for the extraction operation. The hand 10 has its multiple claws 2 open and is not gripping anything. The target connector plug 92T is a connector plug to be extracted in the extraction operation. The target adapter 91T is an adapter into which the target connector plug 92T is inserted in the extraction operation. The initial position and initial posture are the position and posture of the robot arm 120 at which the marker 97 is within the imaging range of the imaging device 140. The initial position and initial posture are determined in advance. In this example, the initial position and initial posture for the extraction operation are the same as the initial position P0 and initial posture for the insertion operation. Note that the initial position and initial posture for the extraction operation may be different from the initial position P0 and initial posture for the insertion operation.

[0124] The movement of the robot arm 120 to the initial position and initial posture may be realized by any of the first control, the second control, and other control. In this example, the rotation angles of a plurality of joints J for realizing the initial position and initial posture of the robot arm 120 are determined in advance. The movement controller 165 controls the rotation angle of each joint J to become the rotation angle corresponding to the predetermined initial position and initial posture.

[0125] Next, in step S202, the control device 150 starts capturing images using the imaging device 140. The processing in step S202 is similar to that in step S102. The captured image includes an image of the marker 97, and images of the multiple adapters 91 and the multiple connector plugs 92. The captured image includes an image of the target adapter 91T and an image of the target connector plug 92T.

[0126] Next, the control device 150 moves the sixth link L6 to the target position and target posture by the second control. In this example, the control device 150 sequentially changes the target position and target posture. The movement of the sixth link L6 also causes the movement of the seventh link L7 and the hand 10.

[0127] Specifically, in step S203, the control device 150 moves the sixth link L6 to the approach position Q1 and approach posture by the second control, as shown in FIG. 21 . As a result, the control device 150 moves the hand 10 to the approach position and approach posture of the hand 10. FIG. 21 is a schematic diagram showing the approach position Q1 during the extraction operation when the connection board 9 is viewed from the rear. The two-dot chain line in the figure indicates the main body 3 of the hand 10. The main body 3 represents the general position of the hand 10. Note that connector plugs 92 other than the target connector plug 92T are not shown. The same applies to FIG. 23 and other figures described below. Point Q1 in the figure indicates the approach position in the up-down and left-right directions. Point Q0 in the figure indicates the initial position in the up-down and left-right directions. The approach position Q1 and approach posture are the position and posture of the sixth link L6 before the hand 10 enters the space behind the connection board 9 in which multiple cables 94 are arranged. In this example, the entry position Q1 and entry posture in the extraction operation are the same as the entry position P1 and entry posture in the insertion operation. Note that the entry position Q1 and entry posture in the extraction operation may be different from the entry position P1 and entry posture in the insertion operation. The rotation axis R7 of the seventh joint J7 is parallel to the adapter axis M of the target adapter 91T, i.e., the connection axis N of the target connector plug 92T.

[0128] The control device 150 moves the sixth link L6 to the entry position Q1 and entry posture, similar to the second control in the insertion operation. That is, the position acquirer 162 determines the current relative position and relative posture of the sixth link L6 with respect to the marker 97 based on the size and shape of the marker 97 in the captured image. The position determiner 163 determines the entry position Q1 and entry posture of the sixth link L6 in the robot coordinate system based on the relative position and relative posture of the sixth link L6 with respect to the marker 97, the entry position Q1 and entry posture relative to the marker 97, and the current position and current posture of the sixth link L6 in the robot coordinate system. The calculator 164 determines the target rotation angles of the multiple joints J corresponding to the target positions and target postures by inverse kinematics calculation, using the entry position Q1 and entry posture as target positions and target postures, respectively. The movement controller 165 controls the rotation angles of the joints J, more specifically, the first joint J1 to the sixth joint J6, so that they reach the target rotation angles. The control device 150 performs feedback control based on the image captured by the imaging device 140 so that the sixth link L6 moves to the target position and posture.

[0129] At this time, the control device 150 controls the rotation angle of the seventh joint J7 so that the relative position and orientation of the seventh link L7 with respect to the sixth link L6 become the target relative position and target relative orientation. The rotation angle of the seventh joint J7 in the relative control of the seventh link L7 is determined in advance. Specifically, the control device 150 controls the relative position and orientation of the seventh link L7 with respect to the sixth link L6 so that when the sixth link L6 is in the approaching orientation, the first direction X of the hand 10, i.e., the opening and closing direction of the multiple claws 2, becomes the vertical direction.

[0130] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 is positioned at the approach position and approach posture of the hand 10. The approach position of the hand 10 is a position away from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-rear direction, above the multiple adapters 91 in the up-down direction, and between the row of adapters 91 including the target adapter 91T and the row of adapters 91 adjacent to it in the left-to-right direction. At this time, the hand 10 is in an approach posture in which the reference axis A is parallel to the adapter axis M of the target adapter 91T. Control of the sixth link L6 and the seventh link L7 in movement to the offset position Q2 and the offset posture, movement to the facing position Q3 and the facing posture, and movement to the gripping position and the gripping posture, which will be described later, is similar to the control during movement to the approach position Q1 and the approach posture.

[0131] Next, in step S204, the control device 150 moves the sixth link L6 to the offset position Q2 and offset posture by the second control, as shown in FIG. 21. As a result, the control device 150 moves the hand 10 to the offset position and offset posture of the hand 10. The offset position Q2 and offset posture are the position and posture of the sixth link L6 when the hand 10 is located at a position offset from the adapter axis M of the target adapter 91T. In this example, the offset position Q2 and offset posture in the extraction operation are the same as the offset position P2 and offset posture in the insertion operation. Note that the offset position Q2 and offset posture in the extraction operation may be different from the offset position P2 and offset posture in the insertion operation. The rotation axis R7 of the seventh joint J7 is parallel to the connection axis N of the target connector plug 92T.

[0132] As described above, the control device 150 controls the rotation angle of the seventh joint J7 so that the relative position and relative posture of the seventh link L7 with respect to the sixth link L6 become the target relative position and target relative posture. When the sixth link L6 moves to the offset position Q2 and offset posture in the pulling-out operation, the control device 150 controls the target relative position and target posture of the seventh link L7 so that the first direction X of the hand 10 faces the up-down direction and the slit 35 faces toward the adapter axis M of the target adapter 91T, i.e., toward the cable 94 of the target connector plug 92T, as shown in FIG.

[0133] FIG. 22 is a side view of the sixth link L6 positioned at the offset position Q2 and in the offset posture during the extraction operation. As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the offset position and offset posture of the hand 10. The offset position of the hand 10 is a position to the side of the cable 94 extending from the target connector plug 92T. Specifically, the offset position of the hand 10 is a position away from the adapter axis M in a direction intersecting the adapter axis M and away from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-back direction. In this example, the direction intersecting the adapter axis M is a direction intersecting both the direction of the adapter axis M and the row direction of the multiple adapters 91, specifically the left-to-right direction. The hand 10 in the offset position is positioned between the two adapters 91 located on either side of the target adapter 91T in the row direction in the vertical direction. In other words, the offset position of the hand 10 is the same position as the target adapter 91T in the vertical direction. The offset posture of the hand 10 is a posture in which the reference axis A is parallel to the adapter axis M of the target adapter 91T and the slit 35 faces the adapter axis M. In other words, when the hand 10 is in the offset position and offset posture, the slit 35 is positioned so as to be offset laterally from the adapter axis M and face the adapter axis M. More specifically, the slit 35 is positioned at a position offset from the adapter axis M in a direction intersecting the adapter axis M, for example, in a radial direction centered on the adapter axis M. The slit 35 is approximately parallel to the adapter axis M. At least the connection end of the cable 94 of the target connector plug 92T extends approximately around the connection axis N. Because the connection axis N and the adapter axis M are coaxial, at least the connection end of the cable 94 extends approximately around the adapter axis M. Moving the sixth link L6 to the offset position Q2 and offset posture in step S204 corresponds to moving the hand to an offset position away from the adapter axis in a direction intersecting the adapter axis and away from the adapter in relation to the direction of the adapter axis.After the sixth link L6 moves to the offset position Q2 and the offset posture, in step S205, the control device 150 moves the sixth link L6 to the facing position Q3 and the facing posture by the second control, as shown in FIG. 23. As a result, the control device 150 moves the hand 10 to the facing position and the facing posture of the hand 10. FIG. 23 is a schematic diagram showing the facing position Q3 in the extraction operation when the connection board 9 is viewed from the rear. The facing position Q3 and the facing posture are the position and posture of the sixth link L6 before the hand 10 is translated toward the target connector plug 92T. In this example, the facing position Q3 and the facing posture in the extraction operation are the same as the facing position P3 and the facing posture in the insertion operation. Note that the facing position Q3 and the facing posture in the extraction operation may be different from the facing position P3 and the facing posture in the insertion operation. The rotation axis R7 of the seventh joint J7 is parallel to the connection axis N of the target connector plug 92T.

[0134] The control device 150 maintains the relative position and orientation of the seventh link L7 with respect to the sixth link L6 constant while moving the sixth link L6 from the offset position Q2 and offset orientation to the facing position Q3 and facing orientation. That is, the hand 10 is in an orientation in which the first direction X faces the up-down direction.

[0135] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to a facing position and facing posture of the hand 10. The facing position of the hand 10 is a position where it is separated from the target adapter 91T in the direction of the adapter axis M, i.e., the front-to-rear direction, and faces the target adapter 91T in the direction of the adapter axis M. At this time, the hand 10 assumes a facing posture where the reference axis A is parallel to the adapter axis M of the target adapter 91T, more specifically, where it is in a straight line.

[0136] When the hand 10 moves from the offset position and offset posture to the facing position and facing posture, it approaches the adapter axis M with the slit 35 facing the adapter axis M. In the facing position and facing posture, the slit 35 is substantially parallel to the adapter axis M, and the adapter axis M is located within the slit 35. At this time, the cable 94 extending from the target connector plug 92T enters the slit 35. More specifically, at least the connection end of the cable 94 extends approximately around the connection axis N. Because the connection axis N and the adapter axis M are coaxial, at least the connection end of the cable 94 extends approximately around the adapter axis M. When the hand 10 moves to a position where the adapter axis M enters the slit 35, at least the connection end of the cable 94 enters the slit 35. With at least the connection end of the cable 94 entering the slit 35, the hand 10 can move to the facing position without being obstructed by the cable 94. Moving the sixth link L6 to the opposing position Q3 and opposing posture in step S205 corresponds to moving the hand from the offset position to approach the adapter shaft, and moving the hand away from the adapter in the direction of the adapter shaft to an opposing position opposite the adapter in the direction of the adapter shaft.

[0137] After the sixth link L6 has moved to the facing position Q3 and facing posture, in step S206, the control device 150 adjusts the rotation angle of the seventh joint J7 to control the relative position and posture of the seventh link L7 with respect to the sixth link L6 to a target relative position and target relative posture for gripping the target connector plug 92T, as shown in FIG. 24 . As a result, the control device 150 adjusts the posture of the hand 10. Specifically, the control device 150 sets the hand 10 to the same posture as when gripping the target connector plug 92T. FIG. 24 is a side view of the sixth link L6 positioned at the facing position Q3 and facing posture during the extraction operation. In FIG. 24 , the seventh link L7 is in the target relative posture. Specifically, the control device 150 controls the relative posture of the seventh link L7 with respect to the sixth link L6 so that the first direction X of the hand 10 faces the left-right direction. At this time, the hand 10 rotates about the adapter axis M. This maintains the state in which the connection end of the cable 94 is inserted into the slit 35. At this time, the adapter shaft M extends substantially parallel to the slit 35 within the slit 35. Therefore, the hand 10 can smoothly rotate around the adapter shaft M with the cable 94 inserted into the slit 35.

[0138] Next, in step S207, the control device 150 moves the sixth link L6 to the gripping position and gripping posture by the second control, as shown in FIG. 25. As a result, the control device 150 moves the hand 10 from the facing position to the target adapter 91 in the direction of the adapter axis M. More specifically, the control device 150 moves the hand 10 to the gripping position and gripping posture of the hand 10. FIG. 25 is a side view of the sixth link L6 positioned at the gripping position and gripping posture for the extraction operation. The gripping position and gripping posture are the position and posture of the sixth link L6 when the target connector plug 92T is gripped by the claws 2 of the hand 10. In this example, the gripping position and gripping posture for the extraction operation are the same as the insertion position and insertion posture for the insertion operation. Note that the gripping position and gripping posture for the extraction operation may be different from the insertion position and insertion posture for the insertion operation. The rotation axis R7 of the seventh joint J7 is parallel to the adapter axis M of the target adapter 91T, that is, the connection axis N of the target connector plug 92T.

[0139] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the gripping position and gripping posture of the hand 10. The gripping position of the hand 10 is a position where the target connector plug 92T is disposed between the multiple jaws 2. At this time, the hand 10 is in a gripping posture in which the reference axis A is parallel to the adapter axis M of the target adapter 91T. When the hand 10 is located at the facing position, the slit 35 is approximately parallel to the adapter axis M. Therefore, when the hand 10 moves to the gripping position, the cable 94 slides smoothly within the slit 35. This reduces the obstruction of the cable 94 to the movement of the hand 10 to the target adapter 91T. Moving the sixth link L6 to the gripping position and gripping posture in step S207 corresponds to moving the hand from the facing position to the adapter in the direction of the adapter axis.

[0140] Next, in step S208, the control device 150 causes the hand 10 to grip the target connector plug 92T. Specifically, the open / close controller 166 causes the multiple claws 2 of the hand 10 to close. This causes the hand 10 to grip the target connector plug 92T. Step S208 corresponds to moving the hand to the adapter and then causing the hand to grip the connector plug inserted into the adapter.

[0141] In step S209, the control device 150 causes the robot arm 120 to pull out the target connector plug 92T. The control device 150 moves the hand 10 holding the target connector plug 92T away from the target adapter 91T in the direction of the adapter axis M, thereby pulling out the target connector plug 92T from the target adapter 91T. Specifically, as shown in FIG. 26, the control device 150 moves the sixth link L6 to the facing position Q3 and the facing posture by the second control. FIG. 26 is a side view of the sixth link L6 positioned at the facing position Q3 and the facing posture after the pulling operation in the pulling operation. More specifically, the control device 150 moves the sixth link L6 to the facing position Q3 and the facing posture by the second control.

[0142] As a result of controlling the sixth link L6 and the seventh link L7 in this manner, the hand 10 moves to the opposing position and opposing posture of the hand 10. As a result, the hand 10 translates in the direction of the adapter axis M of the target adapter 91T and moves away from the target adapter 91T. Because the hand 10 is holding the target connector plug 92T, the target connector plug 92T is pulled out from the target adapter 91T. Moving the sixth link L6 to the opposing position Q3 and opposing posture in step S209 corresponds to moving the hand holding the connector plug away from the adapter in the direction of the adapter axis, and pulling out the connector plug from the adapter.

[0143] Then, in step S210, the control device 150 moves the sixth link L6 to the initial position Q0 and initial posture by the second control. The control device 150 moves the sixth link L6 by the second control so that it traces the path from the initial position Q0 to the opposing position Q3 in the reverse direction. The hand 10 also moves in accordance with the movement of the sixth link L6. Specifically, the control device 150 controls the posture of the seventh link L7 relative to the sixth link L6 so that the first direction X of the hand 10 faces the up-down direction when the sixth link L6 is located at the opposing position Q3 and in the opposing posture. Then, the control device 150 moves the sixth link L6 from the opposing position Q3 to the offset position Q2 and the approach position Q1 in this order to the initial position Q0 by the second control. When the sixth link L6 moves to the initial position Q0, the extraction operation is completed.

[0144] In this way, in the extraction operation, the control device 150 moves the robot arm 120 by the second control so that the sixth link L6 is at the target position and target posture. In addition, the control device 150 controls the position and posture of the seventh link L7 relative to the sixth link L6 as necessary.

[0145] Next, an application example of the first control will be described. In this example, the first control is applied to the cleaning work of the connector plug 92. Fig. 27 is a flowchart of the cleaning work.

[0146] The control device 150 moves the seventh link L7 to a target position and a target posture by the first control. As described above, the position and posture of the seventh link L7 are determined as the position and posture of the intersection V7 between the tip surface of the hand 10 attached to the seventh link L7 and the rotation axis R7 of the seventh joint J7. The hand 10 holds the connector plug 92.

[0147] In step S301, the control device 150 moves the robot arm 120 to a cleaning position and cleaning posture for the cleaning operation, as shown in FIG. 28. FIG. 28 is a side view of the sixth link L6 positioned at the cleaning position and cleaning posture during the cleaning operation. Specifically, the control device 150 moves the seventh link L7 to the cleaning position and cleaning posture by the first control. The cleaning position and cleaning posture are the position and posture of the seventh link L7 when the tip of the ferrule 96 of the connector plug 92 is cleaned by the cleaner 910. Specifically, the cleaning position is the position of the seventh link L7 when the tip of the ferrule 96 contacts the cleaner 910. The cleaning posture is the posture of the seventh link L7 in which the rotation axis R7 of the seventh joint J7 is perpendicular to the cleaner 910.

[0148] In this example, the cleaner 910 is disposed on the other robot arm 120, which is not the robot arm 120 to which the hand 10 that grips the connector plug 92 is connected. For example, the cleaner 910 is disposed on the fifth link L5 of the other robot arm 120. In the cleaning operation, the control device 150 moves the other robot arm 120 to a cleaning position and cleaning posture. The cleaning position and cleaning posture of the other robot arm 120 are the position and posture of the robot arm 120 in which the cleaner 910 is located at a predetermined position and posture.

[0149] Movement of the other robot arm 120 to the cleaning position and cleaning posture is achieved by a control other than the first control and the second control. Specifically, the rotation angles of a plurality of joints J for realizing the cleaning position and cleaning posture of the other robot arm 120 are determined in advance. The movement controller 165 controls the rotation angle of each joint J so that the rotation angle of each joint J becomes the rotation angle corresponding to the predetermined cleaning position and cleaning posture. Therefore, the control device 150 knows the position and posture of the cleaner 910 in the robot coordinate system.

[0150] Because the control device 150 knows the position of the cleaner 910 in the robot coordinate system, it can calculate the position and posture of the seventh link L7 when the tip of the ferrule 96 contacts the cleaner 910. The calculator 164 determines the cleaning position and cleaning posture as the target position and target posture, respectively, and calculates the target rotation angles of the multiple joints J corresponding to the target position and target posture by inverse kinematics calculation. The position and posture of the seventh link L7 depend on the first joint J1 to the seventh joint J7. Therefore, the calculator 164 calculates the target rotation angles of the first joint J1 to the seventh joint J7. The movement controller 165 controls the rotation angles of the multiple joints J so that the multiple joints J, more specifically, the first joint J1 to the seventh joint J7, reach the target rotation angles. As a result, the seventh link L7 moves to the cleaning position and cleaning posture.

[0151] When the seventh link L7 moves to the cleaning position and the cleaning posture, the tip of the ferrule 96 comes into contact with the cleaner 910.

[0152] Next, in step S302, the control device 150 causes the robot arm 120 to clean the ferrule 96. Specifically, the control device 150 rotates the seventh joint J7 to rotate the hand 10 around the rotation axis R7 as shown by the arrow in FIG. 28. This causes the tip of the ferrule 96 to slide on the cleaner 910. As a result, the tip of the ferrule 96 is cleaned by the cleaner 910. The rotation of the seventh joint J7 may be in one direction, or may alternately be between rotation in one direction and rotation in the opposite direction.

[0153] It should be noted that the control of the seventh joint J7 in step S302 is not the first control, and the seventh joint J7 is rotated by a predetermined rotation amount.

[0154] When the cleaning is completed, in step S303, the control device 150 causes the robot arm 120 to move the connector plug 92. For example, the control device 150 transitions to an insertion operation after the cleaning operation and causes the robot arm 120 to insert the connector plug 92 into the target adapter 91T. In this case, the control device 150 causes the robot arm 120 to move to an initial position P0 and an initial posture for the insertion operation.

[0155] In this way, in the cleaning operation, the control device 150 moves the robot arm 120 by the first control so that the seventh link L7 is in the target position and target posture.

[0156] As described above, the control device 150 executes the first control and the second control. In the first control, the rotation angles of the first joint J1 to the nth joint Jn are controlled to move the nth link Ln to a target position and a target posture. Since all of the first joint J1 to the nth joint Jn are used, the robot arm 120 can be moved flexibly. For example, if n is greater than the degrees of freedom of the position and posture of the nth link Ln, that is, if the robot arm 120 has redundancy, the shape of the robot arm 120 can be changed arbitrarily even when the target position and posture are the same. Therefore, it is easy to prevent the robot arm 120 from interfering with other members.

[0157] However, with the first control, it is difficult to accurately control the position and posture of links L other than the n-th link Ln, i.e., the (ni)-th link Ln-i. In particular, when the robot arm 120 has redundancy, even if the target position and target posture of the n-th link Ln are determined, the position and posture of the (ni)-th link Ln-i cannot be uniquely determined.

[0158] By performing the second control, the position and posture of the (ni)th link Ln-i can be controlled with high precision. Specifically, in the second control, the rotation angle from the first joint J1 to the (ni)th joint Jn-i is controlled so that the (ni)th link Ln-i, rather than the tip nth link Ln, is moved to the target position and posture. This allows the position and posture of the (ni)th link Ln-i to be controlled with high precision. For example, if ni is 6 or more, even if the degrees of freedom of the position and posture of the (ni)th link Ln-i are 6, the (ni)th link Ln-i can be moved to any position and posture.

[0159] More specifically, the control device 150 obtains the rotation angles of the multiple joints J corresponding to the target position and target posture by inverse kinematics calculation. That is, inverse kinematics calculation is used in both the first control and the second control. In the first control, the rotation angles of the first joint J1 to the (ni)-th joint Jn-i are also obtained by inverse kinematics calculation, but this is for realizing the target position and target posture of the n-th link Ln, and is not obtained with the position and posture of the (ni)-th link Ln-i as the target. In contrast, in the second control, the rotation angles of the first joint J1 to the (ni)-th joint Jn-i are obtained to realize the target position and target posture of the (ni)-th link Ln-i, and therefore the accuracy of the position and posture of the (ni)-th link Ln-i is higher than in the first control.

[0160] The first control and the second control are selectively applied depending on the task of the robot arm 120. The first control is adopted for tasks requiring high accuracy for the position and attitude of the n-th link Ln. The second control is adopted for tasks requiring high accuracy for the position and attitude of the (ni)-th link Ln-i. For example, as described above, when feedback-controlling the position and attitude of the robot arm 120 based on an image captured by the imaging device 140 disposed on the (ni)-th link Ln-i, the second control can be executed to accurately control the position and attitude of the (ni)-th link Ln-i. As a result, the accuracy of the feedback control of the position and attitude of the robot arm 120 is also improved. Furthermore, if the first control is executed in such a case, there is a risk that the imaging device 140 will move to a position where it will not be able to capture an appropriate image. By executing the second control, the imaging device 140 can be moved to an appropriate position. On the other hand, if the accuracy of the position and attitude of the (ni)-th link Ln-i is not particularly important, the first control can be executed to improve the accuracy of the position and attitude of the n-th link Ln and allow the robot arm 120 to move flexibly.

[0161] When the control device 150 causes the hand 10 to access the target adapter 91T, it moves the hand 10 to an offset position away from the target adapter 91T in the direction of the adapter axis M and away from the adapter axis M in a direction intersecting the adapter axis M, then moves the hand 10 from the offset position to approach the adapter axis M, moves the hand 10 away from the target adapter 91T in the direction of the adapter axis M and to an opposing position opposing the target adapter 91T in the direction of the adapter axis M, and then moves the hand 10 from the opposing position to the target adapter 91T in the direction of the adapter axis M. This makes it possible to easily cause the hand 10 to access the target adapter 91T in a situation where a group of multiple cables 94 is present.

[0162] Specifically, when accessing the target adapter 91T with the hand 10, it is easiest to simply move the hand 10 toward the target adapter 91T from the direction of the adapter axis M. However, there are cases where multiple cables 94 extend from multiple adapters 91, such as the wall surface 90 of the connection panel 9. Because the cables 94 are flexible, they may bend so as to deviate from the adapter axis M. Therefore, when viewed in the direction of the adapter axis M, cables 94 extending from other target adapters 91 may overlap the target adapter 91T. In such cases, it is difficult to simply move the hand 10 toward the target adapter 91T from the direction of the adapter axis M. Therefore, the control device 150 first moves the hand 10 to an offset position to the side of the cables 94, then moves the hand 10 toward the adapter axis M to a position facing the target adapter 91, and then moves the hand 10 toward the adapter axis M to the target adapter 91. The control device 150 does not move the hand 10 linearly in the direction of the adapter axis M to the target adapter 91T, but moves the hand 10 from the side of the cable 94 to onto the adapter axis M, and then moves the hand 10 in the direction of the adapter axis M to the target adapter 91T. Even if the hand 10 interferes with the cable 94 when moving the hand 10 from the side of the cable 94 to onto the adapter axis M, the cable 94 bends easily, and the hand 10 can easily reach onto the adapter axis M. This access method allows the hand 10 to easily access the target adapter 91T.

[0163] This access method can be applied both when inserting the connector plug 92 into the adapter 91 and when removing the connector plug 92 from the adapter 91.

[0164] When pulling out a connector plug 92, not only the cables extending from other connector plugs 92 but also the cable 94 extending from the target connector plug 92T obstruct access by the hand 10. By moving the hand 10 to the offset position, the hand 10 can be positioned to the side of the cable 94 extending from the target connector plug 92T. By moving the hand 10 from the offset position to the facing position, the hand 10 can approach the cable 94 extending from the target connector plug 92T from the side. Even if the hand 10 comes into contact with the cable 94, because the hand 10 comes into contact with the cable 94 from the side, the cable 94 easily bends due to its flexibility, allowing the hand 10 to move to the facing position. After the hand 10 has moved to the facing position, the hand 10 can easily access the target adapter 91 by moving the hand 10 toward the adapter axis M to the target adapter 91. When the hand 10 accesses the target adapter 91, the hand 10 can grasp the target connector plug 92T and pull out the target connector plug 92T. In this way, the hand 10 can easily pull out the target connector plug 92T.

[0165] In addition, when the hand 10 is moved from the offset position to the facing position to pull out the connector plug 92, the cable 94 extending from the target connector plug 92T is inserted into the slit 35. This reduces the obstruction of the cable 94 to the movement of the hand 10 to the facing position.

[0166] Furthermore, the slit 35 is approximately parallel to the adapter axis M when the hand 10 is located at the opposing position. Therefore, when the hand 10 moves from the opposing position in the direction of the adapter axis M to the target adapter 91T, the cable 94 slides inside the slit 35. This reduces the obstruction caused by the cable 94 to the movement of the hand 10 to the target adapter 91T.

[0167] Other Embodiments As described above, the above embodiment has been described as an example of the technology disclosed in this application. However, the technology of the present disclosure is not limited to this and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above embodiment can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0168] For example, the robot 110 does not have to be mobile. The robot 110 may be stationary. The number of robot arms 120 of the robot 110 is not limited to two. The number of robot arms 120 may be one, or three or more.

[0169] The number of each of the links L and joints J included in the robot arm 120 is not limited to 7. That is, n is not limited to 7. The number of each of the links L and joints J may be 6 or less, or 8 or more.

[0170] The robot arm 120 does not have to be a vertically articulated robot arm. For example, the robot arm 120 may be a horizontally articulated robot. In that case, the number of links L and joints J may be two or three.

[0171] The degrees of freedom of the position and orientation of the nth link Ln, which is the most distal end of the robot arm 120, are not limited to six. As mentioned above, the configuration of the robot arm 120 is not limited, so the degrees of freedom of the position and orientation of the nth link Ln may be other than six. For example, in a vertically articulated robot arm 120, the degrees of freedom of the position and orientation of the nth link Ln are basically three. However, if the vertically articulated robot arm 120 includes a joint that translates in the vertical direction, the degrees of freedom of the position and orientation of the nth link Ln are basically four.

[0172] The control for accessing the hand 10 to the adapter 91 is not limited to the second control. The hand 10 may be accessed to the adapter 91 by the first control or a control other than the first control. In other words, the position of the adapter 91 is usually known. The movement of the hand 10 to a known position can be easily achieved by existing control. The above-described access method does not depend on the type of control for moving the hand 10.

[0173] The above-described steps in the access method of the hand 10 are merely examples, and may be modified, replaced, added, omitted, etc. as appropriate. For example, although the posture of the hand 10 is adjusted at the facing position, this may be omitted. For example, if the hand 10 accesses the target adapter 91T while maintaining the posture it had when it reached the facing position from the offset position, posture adjustment is not necessary. Alternatively, movement of the hand 10 to the initial position and the approach position may also be omitted. Under circumstances in which it is easy to move the hand 10 to the offset position, the hand 10 can be moved to the offset position via any route.

[0174] The offset position described above is the same position as the target adapter 91T in the vertical direction. However, the offset position is not limited to this in the vertical direction. The offset position may be a position above, below, diagonally above, or diagonally below the adapter axis M. For example, there may be a relatively large space above the top adapter 91 of the matrix of multiple adapters 91, where no cables 94 or the like are present. When the hand 10 accesses the top target adapter 91T, the offset position of the hand 10 may be a position above or diagonally above the adapter axis M of the target adapter 91T. There is no other adapter 91 below the bottom adapter 91 of the matrix of multiple adapters 91. When the hand 10 is moved to the opposing position, the hand 10 may also be moved diagonally below toward the adapter axis M of the target adapter 91T. Therefore, when the hand 10 accesses the bottom target adapter 91T, the offset position of the hand 10 may be a position below or diagonally below the adapter axis M of the target adapter 91T.

[0175] The first control controls the rotation angles of the first joint J1 to the nth joint Jn to move the nth link Ln to a target position and a target posture. The nth link Ln is the link L located at the most distal end of the robot arm 120. The nth link Ln is not limited to the seventh link L7. As described above, there are many variations in the configuration of the robot arm 120. Therefore, n depends on the configuration of the robot arm 120. For example, if the number of links L of the robot arm 120 is three, the nth link Ln is the third link L3.

[0176] The second control controls the rotation angles of the first joint J1 to the (ni)-th joint Jn-i to move the (ni)-th link Ln-i to a target position and a target posture. The (ni)-th link Ln-i is a link L other than the link L located at the most distal end of the robot arm 120. The (ni)-th link Ln-i is not limited to the sixth link L6. As described above, there are many variations in the configuration of the robot arm 120. Therefore, n i depends on the configuration of the robot arm 120. Also, i depends on the purpose of the second control. For example, when n = 7 as in the above-described robot arm 120, n i may be any of 1 to 6. n i is determined depending on which link L, from the first link L1 to the sixth link L6, is desired to have its position and posture controlled with high precision.

[0177] For example, in a horizontally articulated robot arm including three links L and three joints J, if the degrees of freedom of the position and orientation of the most distal end are three, the n-th link Ln will be the third link L3, and the (ni)-th link Ln-i will be the second link L2 or the first link L1.

[0178] In the above-described configuration, the imaging device 140 is disposed in the (ni)-th link Ln-i, but the (ni)-th link Ln-i is not limited to the link in which the imaging device 140 is disposed. Furthermore, a device other than the imaging device 140 may be disposed in the (ni)-th link Ln-i. For example, a cleaning tool may be disposed in the (ni)-th link Ln-i. In this case, the cleaning tool can be controlled with precision by precisely controlling the (ni)-th link Ln-i by the second control.

[0179] In the above example, feedback control based on the captured image is realized by controlling the position and posture of the sixth link L6, on which the imaging device 140 is arranged, by the second control. In the second control, feedback control based on the captured image is not essential. Feedback control based on the captured image is not the only reason for performing the second control. For example, in a robot arm 120 having redundancy, the robot arm 120 may be controlled by the first control utilizing the redundancy, and the robot arm 120 may be controlled by the second control as a robot arm without redundancy.

[0180] The image referenced in the feedback control based on the captured image is not limited to the image of the marker 97. The reference image may be an image of an object whose position and orientation are fixed in the robot coordinate system. For example, the reference image may be an image of the outline of the wall surface 90 of the connection panel 9, more specifically, an image of the outline of one corner of the wall surface 90.

[0181] The application of the first control and the second control described above is merely an example, and is not limited to these. The first control can be applied not only to cleaning work but also to work requiring positional accuracy in the position and posture of the most distal link L. The second control can be applied not only to insertion work and extraction work but also to work requiring positional accuracy in the position and posture of links L other than the distal end.

[0182] In a cleaning operation, the cleaner 910 may be located in a location other than the other robotic arm 120 .

[0183] In the insertion and extraction operations, the object to be inserted and extracted is not limited to the connector plug 92. The object to be inserted and extracted may be a cap 98. The connector plug 92 is not limited to a connector plug for optical fiber, but may be a connector plug for various cables. The jig 99 is not essential in the insertion and extraction operations. If the jig 99 is not provided, for example, the multiple claws 2 may come into contact with the wall surface 90 of the connection board 9.

[0184] The end effector is not limited to the hand 10. When the end effector is a hand, the configuration of the hand is not limited to the configuration of the hand 10 described above.

[0185] The insertion work, the extraction work, and the cleaning work are merely examples of the application of the first control and the second control. The steps in each of the insertion work, the extraction work, and the cleaning work are merely examples. In other words, the flowcharts for the insertion work, the extraction work, and the cleaning work are merely examples. Steps in the flowcharts may be changed, replaced, added, omitted, etc. as appropriate. Furthermore, the order of steps in the flowcharts may be changed, and serial processing may be performed in parallel.

[0186] The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a CPU (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to perform the described functions. A processor includes transistors and other circuits and is considered a circuit or processing circuit. A processor may also be a programmable processor that executes a program stored in a memory.

[0187] In this specification, a circuit, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed herein or any hardware known to be programmed to realize or perform the described functions.

[0188] If the hardware is a processor considered to be a type of circuitry, the circuit, means, or unit is a combination of hardware and software used to configure the hardware and / or processor.

[0189] [Aspect] The above embodiments are specific examples of the following aspects.

[0190] (Mode 1) A hand access method allows a hand 10 to access a plurality of adapters 91 having openings 91a extending in the direction of an adapter axis M, and includes: moving the hand 10 to an offset position away from the adapter 91 in the direction of the adapter axis M and away from the adapter axis M in a direction intersecting the adapter axis M; moving the hand 10 from the offset position to approach the adapter axis M, thereby moving the hand 10 to an opposing position away from the adapter 91 in the direction of the adapter axis M and opposing the adapter 91 in the direction of the adapter axis M; and moving the hand 10 from the opposing position to the adapter 91 in the direction of the adapter axis M.

[0191] According to this configuration, by moving the hand 10 to the offset position, the hand 10 can be positioned to the side of the adapter axis M of the adapter 91. Then, by moving the hand 10 from the offset position to the opposing position so as to approach the adapter axis M, the hand 10 can approach the cable 94 from the side, even if the cable 94 is positioned in the direction of the adapter axis M relative to the adapter 91. Even if the hand 10 comes into contact with the cable 94, the hand 10 comes into contact with the cable 94 from the side, and therefore can easily bend the cable 94. This makes it possible to move the hand 10 to the opposing position. After the hand 10 has moved to the opposing position, the hand 10 can easily access the adapter 91 by moving the hand 10 toward the adapter axis M.

[0192] (Mode 2) In the hand access method described in mode 1, after moving the hand 10 to the adapter 91, the hand 10 grasps the connector plug 92 inserted into the adapter 91, and moves the hand 10 grasping the connector plug 92 in the direction of the adapter axis M away from the adapter 91 to pull out the connector plug 92 from the adapter 91.

[0193] This configuration allows the hand 10 to easily access the adapter 91 even when pulling out the connector plug 92 from the adapter 91. More specifically, when pulling out a connector plug 92, not only the cables extending from other connector plugs 92 but also the cable 94 extending from the target connector plug 92T can obstruct the hand 10's access. By moving the hand 10 to the offset position, the hand 10 can be positioned to the side of the cable 94 extending from the target connector plug 92T. By moving the hand 10 from the offset position to the facing position, the hand 10 can approach the cable 94 extending from the target connector plug 92T from the side. Even if the hand 10 comes into contact with the cable 94, since the hand 10 comes into contact with the cable 94 from the side, the cable 94 easily bends due to its flexibility, allowing the hand 10 to move to the facing position. After the hand 10 has moved to the facing position, the hand 10 can easily access the target adapter 91 by moving the hand 10 toward the adapter axis M to the target adapter 91. When the hand 10 accesses the target adapter 91, the hand 10 can grip the target connector plug 92 and pull out the target connector plug 92. In this way, the hand 10 can easily pull out the target connector plug 92.

[0194] (Embodiment 3) In the hand access method described in embodiment 1 or 2, the hand 10 has a plurality of claws 2 that can be opened and closed in a direction intersecting a predetermined reference axis A, and a main body 3 that supports the plurality of claws 2, and the main body 3 has a slit 35 located between the plurality of claws 2 and extending in the direction of the reference axis A, and by moving the hand 10 to the opposing position, a cable 94 extending from the connector plug 92 is inserted into the slit 35.

[0195] According to this configuration, the main body 3 has slits 35 located between the claws 2 and extending in a direction intersecting the opening and closing direction of the claws 2. When the target connector plug 92T is gripped by the claws 2, the cable 94 extending from the target connector plug 92T can fit into the slits 35. That is, the hand 10 can grip the target connector plug 92T with the claws 2 while reducing the influence of the cable 94. Furthermore, by inserting the cable 94 extending from the target connector plug 92T into the slits 35 when moving the hand 10 from the offset position to the facing position, flexing of the cable 94 can be reduced. As a result, movement of the hand 10 to the facing position is facilitated. Furthermore, by inserting the cable 94 into the slits 35 when the hand 10 is located at the facing position, the cable 94 can slide relative to the slits 35 when the hand 10 moves toward the adapter axis M to the adapter 91. This allows the hand 10 to move smoothly toward the adapter axis M.

[0196] (Mode 4) In the hand access method described in any one of modes 1 to 3, after moving the hand 10 to the opposing position, the posture of the hand 10 is adjusted by rotating the hand 10 around the adapter axis M with the cable 94 entering the slit 35.

[0197] According to this configuration, the posture of the hand 10 can be adjusted after the hand 10 has been moved to the opposing position. For example, while the hand 10 is in the opposing position, the posture of the hand 10 can be adjusted to a posture that makes it easier for the hand 10 to grasp the target connector plug 92T later. At this time, the cable 94 can be maintained inserted into the slit 35. In other words, it is possible to reduce the interference of the cable 94 with the rotation of the hand 10 about the adapter axis M.

[0198] (Aspect 5) In the hand access method described in any one of aspects 1 to 4, by moving the hand 10 to the offset position, the hand 10 holding the connector plug 92 to be inserted into the adapter 91 is moved to the offset position, and by moving the hand 10 to the adapter 91, the connector plug 92 held by the hand 10 is inserted into the adapter 91.

[0199] According to this configuration, even when inserting the connector plug 92 into the adapter 91, the hand 10 can easily access the adapter 91.

[0200] (Mode 6) A robot system 100 includes a robot 110 having a hand 10, and a control device 150 that controls the robot 110 to cause the hand 10 to access a plurality of adapters 91 having openings 91a extending in the direction of an adapter axis M, and the control device 150 moves the hand 10 to an offset position away from the adapter 91 in the direction of the adapter axis M and away from the adapter axis M in a direction intersecting the adapter axis M, moves the hand 10 from the offset position to approach the adapter axis M, moves the hand 10 to an opposing position opposite the adapter 91 in the direction of the adapter axis M, and moves the hand 10 from the opposing position to the adapter 91 in the direction of the adapter axis M.

[0201] According to this configuration, by moving the hand 10 to the offset position, the hand 10 can be positioned to the side of the adapter axis M of the adapter 91. Then, by moving the hand 10 from the offset position to the opposing position so as to approach the adapter axis M, the hand 10 can approach the cable 94 from the side, even if the cable 94 is positioned in the direction of the adapter axis M relative to the adapter 91. Even if the hand 10 comes into contact with the cable 94, the hand 10 comes into contact with the cable 94 from the side, and therefore can easily bend the cable 94. This makes it possible to move the hand 10 to the opposing position. After the hand 10 has moved to the opposing position, the hand 10 can easily access the adapter 91 by moving the hand 10 toward the adapter axis M.

[0202] (Mode 7) In order to allow the hand 10 of the robot 110 to access multiple adapters 91 having openings 91a extending in the direction of the adapter axis M, the control program causes the computer to move the hand 10 to an offset position away from the adapter 91 in the direction of the adapter axis M and away from the adapter axis M in a direction intersecting the adapter axis M, move the hand 10 from the offset position to approach the adapter axis M, and move the hand 10 to an opposing position facing the adapter 91 in the direction of the adapter axis M, and move the hand 10 from the opposing position to the adapter 91 in the direction of the adapter axis M.

[0203] According to this configuration, by moving the hand 10 to the offset position, the hand 10 can be positioned to the side of the adapter axis M of the adapter 91. Then, by moving the hand 10 from the offset position to the opposing position so as to approach the adapter axis M, the hand 10 can approach the cable 94 from the side, even if the cable 94 is positioned in the direction of the adapter axis M relative to the adapter 91. Even if the hand 10 comes into contact with the cable 94, the hand 10 comes into contact with the cable 94 from the side, and therefore can easily bend the cable 94. This makes it possible to move the hand 10 to the opposing position. After the hand 10 has moved to the opposing position, the hand 10 can easily access the adapter 91 by moving the hand 10 toward the adapter axis M. [Explanation of symbols]

[0204] 100 Robot Systems 110 Robot 150 control device 10 hands 2 claws 3 Main unit 35 Slit 91 Adapter 91a aperture 92 Connector Plug 94 Cable A Reference axis M adapter shaft

Claims

1. A hand access method for allowing a hand to access a plurality of adapters having openings extending in the adapter axis direction, the method comprising: moving a hand to an offset position away from the adapter shaft in a direction intersecting the adapter shaft and away from the adapter with respect to the direction of the adapter shaft; moving the hand from the offset position to approach the adapter shaft, and moving the hand to an opposing position away from the adapter in a direction of the adapter shaft and opposing the adapter in a direction of the adapter shaft; and moving the hand from the opposing position to the adapter in the direction of the adapter axis.

2. The hand access method according to claim 1, After moving the hand to the adapter, the hand holds the connector plug inserted into the adapter; a hand access method including: moving the hand holding the connector plug in a direction of the adapter axis away from the adapter, and pulling out the connector plug from the adapter.

3. 3. The hand access method according to claim 2, the hand has a plurality of claws that can be opened and closed in a direction intersecting a predetermined reference axis, and a body that supports the plurality of claws; the main body has slits positioned between the plurality of claws and extending in the direction of the reference axis; A hand access method in which, by moving the hand to the opposing position, a cable extending from the connector plug is inserted into the slit.

4. The hand access method according to claim 3, A hand access method, comprising: moving the hand to the opposing position, and then rotating the hand around the adapter axis with the cable inserted into the slit, thereby adjusting the posture of the hand.

5. The hand access method according to claim 1, In the step of moving the hand to the offset position, the hand holding the connector plug to be inserted into the adapter is moved to the offset position; The hand access method includes inserting the connector plug held by the hand into the adapter by moving the hand to the adapter.

6. a robot having a hand; a control device that controls the robot to allow the hand to access a plurality of adapters having openings extending in the adapter axis direction; The control device moving a hand to an offset position away from the adapter shaft in a direction intersecting the adapter shaft and away from the adapter with respect to the direction of the adapter shaft; moving the hand from the offset position to approach the adapter shaft, and moving the hand to an opposing position opposing the adapter in a direction of the adapter shaft; A robot system that moves the hand from the opposing position to the adapter in the direction of the adapter axis.

7. a computer for causing a robot hand to access a plurality of adapters having openings extending in the adapter axis direction; moving a hand to an offset position away from the adapter shaft in a direction intersecting the adapter shaft and away from the adapter with respect to the direction of the adapter shaft; moving the hand from the offset position to approach the adapter shaft, and moving the hand to an opposing position opposing the adapter in a direction of the adapter shaft; and moving the hand from the opposing position to the adapter in the direction of the adapter axis.

Images