Robot hand, control method of robot hand, robot system, article manufacturing method using robot system, tool portion, robot, control method of robot, control program, and recording medium

Abstract

To reduce the possibility of falling of a tool portion.SOLUTION: A robot hand is characterized in that the robot hand comprises a finger portion, and the finger portion is capable of attaching and detaching a tool portion, and a first direction in which the tool portion is attached and detached is a direction intersecting a second direction in which the finger portion operates and a third direction in which gravity is applied to the tool portion.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] In recent years, with the automation of processing and assembly work at manufacturing sites such as factories, there has been an increasing demand for robotic devices equipped with robotic hands. In such robotic hands, the tool unit (the part that comes into contact with the part) may need to be replaced in order to grip parts of various shapes and sizes in a stable position. The tool unit is detachably attached to multiple fingers that perform the gripping operation, and by switching the tool unit according to the shape and size of the part, it becomes possible to grip multiple parts with a single robotic hand. Patent Document 1 describes a technology for gripping multiple parts by attaching tool units to fingers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-54841 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, the tool part is attached by lowering a finger part from above the tool part and inserting the finger part into the tool part. In this case, the direction in which the tool part is attached or detached is the same as the direction in which the load of the part is applied. Therefore, when transporting heavy parts, there is a possibility that the tool part may fall off. [Means for solving the problem]

[0005] The present invention provides a robot hand having finger portions, wherein a tool portion can be attached and detached to the finger portions, and a first direction in which the tool portion is attached and detached is a direction that intersects with a second direction in which the finger portions move and a third direction in which gravity acts on the tool portion. [Effects of the Invention]

[0006] According to the present invention, the possibility of the tool portion falling off can be reduced. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 2] FIG. 2 is a diagram showing a robot hand 53 in the embodiment. [Figure 3] 1 is a diagram showing a tool part 60 in an embodiment. [Figure 4] 10A and 10B are diagrams illustrating attachment and detachment of a tool part 60 in the embodiment. [Figure 5] 3 is a control flowchart according to the embodiment. [Figure 6] 10A and 10B are diagrams illustrating attachment and detachment of a tool part 60 in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments shown below are merely examples, and those skilled in the art can appropriately modify the detailed configurations without departing from the spirit of the present invention. Furthermore, the numerical values ​​used in the present embodiment are for reference only and do not limit the present invention. In the following drawings, the arrows X, Y, and Z in the figures indicate the coordinate system of the entire robot system. Generally, the XYZ three-dimensional coordinate system indicates the world coordinate system of the entire installation environment. Additionally, a local coordinate system may be used appropriately for the robot hand, fingers, joints, etc., depending on the convenience of control.

[0009] (First embodiment) FIG. 1 is a schematic diagram showing the general configuration of a system 1000 according to this embodiment. FIG. 1 also illustrates logistics. In the logistics process shown in FIG. 1, a picking device 20 picks up parts 12 stored in a supply box 11 transported by a conveyor 13. The parts 12 are then placed on a placement tray 14, and an AGV (Automated Guided Vehicle) 15 transports the placement tray 14. This allows, for example, automatic collection of parts required to assemble one product from a state where multiple types of parts are stored. In this way, by placing and transporting parts 12 in different locations, it is possible to manufacture an article. Alternatively, an article may be manufactured by placing a workpiece to be assembled on the placement tray 14, and then moving the part 12 with a robot arm 41 and a robot hand 53 to contact and assemble it with the workpiece.

[0010] The supply boxes 11 are different boxes for each type of part 12, and contain multiple parts 12 of the same type. The placement tray 14 is a tray for collecting the parts required to assemble one product, and has multiple jigs 14a that match the shapes of the parts 12. In this embodiment, the conveyor 13 transports the supply boxes 11, and the AGV 15 transports the placement tray 14, but these transport means are not limited to this.

[0011] The robot arm 41 is a manipulator and is equipped with a robot hand 53 as an end effector. The robot arm 41 is a vertically articulated robot arm. The robot hand 53 is supported by the robot arm 41. The robot hand 53 is attached to a predetermined portion of the robot arm 41, for example, the tip of the robot arm 41. The robot hand 53 has fingers 52 that can hold the component 12 and a palm 51 that supports the fingers 52. In addition, a tool unit 60, which will be described later, can be attached to the fingers 52.

[0012] Each joint of the robot arm 41 and the palm 51 supporting the fingers 52 of the robot hand 53 are provided with a motor as a drive source for driving them, a reducer, and an encoder as position detection means for detecting the rotation angle of the motor. The encoders may be installed at any position and output method. Control commands are output to each motor based on values ​​from these encoders. Driving each motor allows the robot arm 41 to assume various postures, the robot hand 53 to assume various positions and postures, and the fingers 52 to be driven to perform a task on the component 12. Each joint of the robot arm 41 and the fingers 52 of the robot hand 53 may be provided with a sensor capable of detecting force information. With the above configuration, the robot arm 41 can move the robot hand 53 to any position and perform a desired task.

[0013] The computer that constitutes the system control device 10 has a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). It also includes a communication interface (hereinafter referred to as "I / F"). The CPU, which is a processor, is an example of a control unit. The ROM stores programs. The programs cause the computer, i.e., the CPU, to output commands for controlling the robot arm 41, robot hand 53, conveyor 13, and AGV 15. The RAM is used to temporarily store programs for controlling the entire system, data such as the execution timing of tasks for each control target, and control commands.

[0014] The CPU acquires data transmitted from, for example, the picking control device 21, image processing control device 30, arm control device 40, hand control device 50, conveyor 13, and AGV 15 (described later) by receiving the data via the I / F. Furthermore, the CPU can transmit commands as control target values ​​via the I / F to the control devices that control each control object based on programs and data input by the user. While the present embodiment describes an example in which the system control device 10 directly controls the conveyor 13 and AGV 15, this is not limiting. For example, the conveyor 13 and AGV 15 may each be equipped with a control device configured by a computer including a microprocessor, and the system control device 10 may output commands to each control device, with the actual control being performed by the equipped control device.

[0015] The system controller 10 sends commands to the picking device 20, the conveyor 13, and the AGVs 15 to control the entire logistics process. The conveyor 13 is controlled so that the supply boxes 11 arrive at a position where the robot arm 41 can perform the work in accordance with the order in which the parts 12 are placed on the placement trays 14. The robot arm 41 is controlled by transmitting to the picking controller 21 a notification that the supply boxes 11 and placement trays 14 to be worked on have arrived at a position where the robot arm 41 can perform the work. The robot arm 41 and the robot hand 53 then grasp and place the parts 12. The AGV 15 is controlled so that, once a predetermined number of parts 12 have been placed (collected) on the placement tray 14, the placed (collected) work is transported to another process, and after the parts are removed, an empty placement tray 14 is transported. In this embodiment, communication between the AGV 15 and the system controller 10 is performed via wireless communication; however, wired communication may also be used depending on the movement range of the AGV 15. Similarly, communication between the system control device 10 and other control targets or control devices may be wired or wireless.

[0016] In this embodiment, the program is recorded in a ROM, but this is not limiting. The program may be recorded on any non-transitory recording medium that is readable by a computer. Examples of recording media that can be used to supply the program to a computer include flexible disks, hard disks, optical disks, magneto-optical disks, magnetic tapes, and non-volatile memories.

[0017] For simplicity of explanation, the picking control device 21, image processing control device 30, arm control device 40, and hand control device 50 are also configured by computers including microprocessors, etc., similar to the system control device 10, although these are not shown in FIG. 2. The picking control device 21, image processing control device 30, arm control device 40, and hand control device 50 each have a CPU, ROM, and RAM. They are also configured to include a communication interface (hereinafter referred to as "I / F"), etc. Each CPU, which is a processor, is an example of a control unit.

[0018] The robot arm 41 and robot hand 53 are operated by the image processing control device 30, arm control device 40, and hand control device 50 based on commands from the picking control device 21. The picking control device 21 is connected to the system control device 10, image processing control device 30, arm control device 40, and hand control device 50 so that they can communicate with each other via wire or wirelessly. Then, in response to a command from the system control device 10, the picking control device 21 starts picking and placing of a workpiece, and transmits to the system control device 10 that the picking and placing has been completed. The picking control device 21 is a control device that executes commands by integrating the robot arm 41 and robot hand 53 based on the imaging devices 31, 32, and 33, the sensors of the robot arm 41, and the sensors of the robot hand 53.

[0019] The image processing control device 30 is connected to the imaging devices 31, 32, and 33 so as to be able to communicate with them via wired or wireless communication, and controls each imaging device and processes the captured images. In this embodiment, each imaging device is composed of a camera and a lens, but lighting may also be provided as necessary. Image processing performed by the image processing control device 30 includes processing and combining two-dimensional images, recognizing the positions of the supply box 11, workpieces 1, and placement tray 14 by matching, and detecting whether or not a component 12 is present in the supply box 11 or placement tray 14. The CPU of the image processing control device 30 executes programs recorded in its ROM, thereby enabling the image processing described above to be performed. Furthermore, various parameters required for image processing can be stored in the ROM of the image processing control device 30.

[0020] The arm control device 40 is connected to the robot arm 41 so as to be able to communicate with it, and controls the movement of the robot arm 41 in real time. By mounting a robot hand 53 and an imaging device 32 on the tip of the robot arm 41, the robot arm 41 can move the robot hand 53 and the imaging device 32 to predetermined positions. The CPU of the arm control device 40 executes a program recorded in the ROM, thereby enabling the above-described movement of the robot arm 41 to be performed. Furthermore, the ROM of the image processing control device 30 can store trajectory data, etc., composed of the angle values ​​of each joint, required for the movement of the robot arm 41. Note that although the palm 51 of the robot hand 53 in FIG. 1 is triangular in shape, this is not limited thereto. For example, a palm having a rectangular or round shape may also be used.

[0021] The hand control device 50 is connected to the robot hand 53 so as to be able to communicate with it, and controls the movement of the fingers (holding unit) 52 mounted on the robot hand 53 in real time. The robot hand 53 has multiple fingers 52 (three in FIG. 1 ) and is configured to have a detachable tool unit 60. By moving the fingers 52 toward or away from each other toward the center of the palm 51, the fingers 52 or the tool unit 60 come into contact with the component 12, enabling the component 12 to be grasped and released. The approaching or separating movement of the fingers 52 by the robot hand 53 can be driven by a motor or compressed air, for example. Note that the tool unit in this embodiment is described using a finger-type tool as an example, but is not limited to this. For example, a tool unit equipped with a suction unit may be attached to one finger 52 to hold the workpiece component 12. Alternatively, the fingers 52 may be equipped with a suction unit so that the component 12 is held by one finger 52, or the tool unit may have a suction unit that switches between the suction units.

[0022] It is desirable to set the gripping force, speed, and stroke according to the characteristics of the part 12 by numerical control in the case of motor drive, or by speed control in the case of compressed air drive. For example, if the part 12 is heavy, the gripping force should be increased so as not to drop it while being transported by the robot arm 41 and robot hand 53. Also, if the part 12 is soft, the gripping force should be decreased so as not to deform the part 12. The CPU of the hand control device 50 executes a program recorded in the ROM, thereby enabling the control of each finger as described above. Furthermore, the ROM of the hand control device 50 can store data, such as numerical values ​​and speed information, required for the operation of the fingers.

[0023] Although FIG. 1 illustrates an example in which the system 1000 has three fingers, this is not limiting. If the component 12 has a cylindrical shape, having three fingers allows the component 12 to be held while being brought close to the center of the palm 51. If the component 12 is roughly shaped like a rectangular parallelepiped, holding the component 12 is easier with two or four fingers. In this way, the number of fingers can be set according to the shape of the component 12. In addition, in this embodiment, an example in which the system 1000 is controlled by multiple control devices has been described, but this is not limiting, and control may be performed by at least one control device.

[0024] 2A and 2B are schematic diagrams showing a state in which a part 12 is gripped by a robot hand 53 according to an embodiment. Fig. 2A shows a state in which the finger unit 52 is in contact with and gripping the part 12 without the tool unit 60 attached. Fig. 2B shows a state in which the tool unit 60 is attached to the tip of the finger unit 52 and a part 12 different from that in Fig. 2A is gripped.

[0025] As shown in Figure 2(a), for parts 12 with simple shapes such as a cylindrical shape, the part 12 can be gripped with the finger part 52, eliminating the need for the tool part 60. This reduces the time required to switch between tool parts 60, and the number of tool parts 60 can be reduced, thereby reducing costs. As shown in Figure 2(b), for parts 12 with special shapes or sizes, they cannot be gripped with the finger part 52 alone, so a dedicated tool part 60 is used to grip them. This makes it possible to grip a variety of parts 12 with a single robot arm 41 and robot hand 53.

[0026] 2 shows a configuration with three fingers 52, but this is not limited to this. For example, if there are many cylindrical components 12, having three fingers allows the components 12 to be held while being centered in the palm 51. Also, if the components 12 are shaped like a rectangular parallelepiped, two or four fingers 52 make it easier to hold them. In this way, the number of fingers 52 can be determined according to the shape of the components 12 to be handled in the system 1000.

[0027] FIG. 3 is a diagram illustrating the configuration of the tool unit 60 according to this embodiment. FIG. 3 illustrates one of the multiple fingers 52 and tool unit 60, with the other fingers 52 and tool unit 60 having the same configuration. As can be seen from FIG. 3 , the direction in which the tool unit 60 is attached or detached intersects with the direction in which the fingers 52 approach or separate, i.e., the direction in which the tool unit 60 approaches or separates, and the direction in which the fingers 52 or tool unit 60 approach the component 12. More specifically, the direction in which the tool unit 60 is attached or detached is perpendicular to the direction in which the fingers 52 approach or separate, i.e., the direction in which the tool unit 60 approaches or separates, and the direction in which the fingers 52 or tool unit 60 approach the component 12. In this embodiment, the tool unit 60 is attached or detached to the fingers 52 capable of gripping the component 12. However, for example, a robot may be configured in which a base not intended for gripping the component 12 is provided in place of the fingers 52, and the tool unit 60 is detachably attached to the base.

[0028] The direction in which the finger portion 52 approaches or moves away and the direction in which the tool portion 60 approaches or moves away are the directions in which the part 12 is gripped. The direction in which the part 52 approaches or moves away and the direction in which the tool portion 60 approaches or moves away are the directions in which the finger portion 52 moves. The direction in which the tool portion 60 is attached or detached may be referred to as the first direction. The direction in which the finger portion 52 approaches or moves away, i.e., the direction in which the tool portion 60 approaches or moves away, may be referred to as the second direction. The direction in which the finger portion 52 or the tool portion 60 approaches the part 12, i.e., the direction in which gravity acts on the tool portion 60, may be referred to as the third direction.

[0029] The fingers 52 are provided with protrusions 54, and the tool unit 60 is provided with recesses 61 that engage with the protrusions 54 on the fingers 52. When the tool unit 60 is moved in the attachment / detachment direction and attached to the fingers 52, the protrusions 54 and the recesses 61 engage. Due to the directional relationship described above, when the tool unit 60 is attached to the fingers 52, the protrusions 54 engage with the recesses 61, and the protrusions 54 are arranged to receive a force in the direction in which the load of the tool unit 60 is applied (the direction in which the fingers 52 or the tool unit 60 approaches the component 12). Therefore, the tool unit 60 is caught by the protrusions 54 in the direction in which the fingers 52 or the tool unit 60 approaches the component 12. This reduces relative displacement with respect to the fingers 52 in the direction in which the tool unit 60 approaches the component, and allows for transfer of a heavy component 12 while reducing the likelihood of the tool unit 60 falling off the fingers 52. Furthermore, when the fingers 52 are moved closer to or farther away from each other, the tool part 60 is attached or detached so as not to move along the direction in which inertia is applied to the tool part 60 (the direction in which the fingers 52 or the tool part 60 move closer to or farther away from each other). This reduces the relative displacement of the tool part 60 in the direction in which the fingers 52 move closer to or farther away from each other, thereby reducing the likelihood of the tool part 60 falling off the fingers 52.

[0030] Furthermore, the protrusions 54 and recesses 61 are provided on the upper side (the base side of the fingers 52) of the finger portion 52 and the tool portion 60, away from the contact portion with the component 12. This reduces contact of the protrusions 54 or recesses 61 with the component 12 when gripping with the fingers 52 or the tool portion 60. Note that in this embodiment, the finger portion 52 is provided with the protrusions 54 and the tool portion 60 is provided with the recesses 61, but this is not limiting; the finger portion 52 may be provided with the recesses 61 and the tool portion 60 may be provided with the protrusions 54. Furthermore, although the engagement means has been described using the recesses and protrusions as an example, this is not limiting. A hole and a notch pin composed of a spring and a pin may be used as the engagement means, or a snap fit may be used as the engagement means.

[0031] Next, a magnet 62 is provided on the tool part 60, and biases the tool part 60 against the finger part 52, which is made of a magnetic material. This allows the fingers 52 and the tool part 60 to have a simple mechanism, while also reducing the likelihood of the tool part 60 falling off the finger part 52. The biasing force of the magnet 62 is preferably set to a level that prevents the tool part 60 from falling off the finger part 52 during transport of the component 12. While the magnet 62 is provided on the tool part 60 in this embodiment, this is not limitative. Alternatively, the magnet 62 may be provided on the other finger part 52, and the tool part 60 may be made of a magnetic material. Note that at least a portion of the fingers 52 or the tool part 60 may be made of a magnetic material. Furthermore, a configuration other than a magnet or a magnetic material may also be used. For example, the tool part 60 and the finger part 52 may be provided with Velcro (registered trademark) or an adhesive sticker.

[0032] Next, the guide portion 63 is a member that comes into contact with the finger portion 52 when the tool portion 60 is attached to the finger portion 52, and receives a force in a direction that moves the finger portion 52 or the tool portion 60 toward or away from the finger portion 52. It is desirable that the guide portion 63 be provided with a guide portion, such as a taper, to smooth the relative movement of the tool portion 60 and the finger portion 52 in the attachment / detachment direction when the tool portion 60 is attached to the finger portion 52. In this embodiment, four guide portions 63 are provided, which is configured to improve the reproducibility of the relative positions of the finger portion 52 and the tool portion 60 when the tool portion 60 is attached to the finger portion 52. Note that in this embodiment, four guide portions 63 are provided, but this is not limited to this, and it is sufficient that at least one guide portion 63 is provided.

[0033] 4 is a diagram showing the operation of attaching the tool unit 60 to the robot hand 53 having three fingers 52 according to this embodiment. The figure shows the operation of attaching the tool unit 60 placed on the mounting portion 71 of the stand 70 to the fingers 52 by the operation of the robot arm 41 and the robot hand 53.

[0034] First, as shown in Fig. 4(a), the tool part 60 has a plurality of grooves 64, and the tool part 60 is placed on the mounting part 71 of the stand 70 by engaging the grooves 64 with the mounting part 71. Then, the robot arm 41 moves the robot hand 53 in the direction of the arrow shown in Fig. 4(a) to position the finger part 52 between the tool parts 60.

[0035] 4(b), the robot arm 41 rotates the robot hand 53 in the direction of the arrow shown in FIG. 4(b) to engage the finger portion 52 with the tool portion 60. In this case, the tool portion 60 is urged toward the finger portion 52 by the force of the magnet 62 provided in the tool portion 60. Furthermore, the convex portion 54 provided on the finger portion 52 engages with the concave portion 61 provided on the tool portion 60, and the tool portion 60 is attached to the finger portion 52.

[0036] 4(c), the robot arm 41 moves the robot hand 53 in the direction of the arrow shown in FIG. 4(c), thereby moving the tool unit 60 attached to the finger unit 52 away from the placement unit 71. Then, the robot arm 41 can position the tool unit 60 at a desired position and grip the component 12.

[0037] The operation of removing the tool unit 60 from the fingers 52 and placing it on the mounting portion 71 can be performed in the order shown in FIG. 4(c) to FIG. 4(a). That is, as shown in FIG. 4(c), the robot arm 41 moves the robot hand 53, to which the tool unit 60 is attached, in the direction opposite to the direction of the arrow shown in FIG. 4(c), and engages the groove 64 of the tool unit 60 with the mounting portion 71. Next, as shown in FIG. 4(b), the robot arm 41 rotates the robot hand 53 in the direction opposite to the direction of the arrow shown in FIG. 4(b), thereby disengaging the fingers 52 from the tool unit 60. In this case, the magnetic force is released, and the engagement between the convex portion 54 of the fingers 52 and the concave portion 61 of the tool unit 60 is released, and the tool unit 60 is removed from the fingers 52. Then, as shown in FIG. 4(a), the robot hand 53 is moved in the direction opposite to the direction of the arrow shown in FIG. 4(a). As a result, the tool part 60 can be attached and detached by the operation of the robot arm 41 and robot hand 53 without having actuators on the stand 70 and the mounting part 71, thereby reducing the number of actuators required for attaching and detaching the tool part 60.

[0038] Fig. 5 is a flowchart executed to perform the pick-and-place operation of the component 12 in the system 1000 of this embodiment. The control flow shown in Fig. 6 is executed by the CPUs of the respective control devices in cooperation with each other through communication.

[0039] 5, first, in step S1, the picking control device 21 communicates with the image processing control device 30 to determine whether or not the supply box 11 containing the desired parts 12 is located. Then, the picking control device 21 communicates with the system control device 10, and if the replacement is not complete, the process proceeds from step S1: No to step S2, where the system control device 10 operates the conveyor 13. If the supply box 11 containing the desired parts 12 is located in the predetermined position, the process proceeds from step S1: Yes to step S3.

[0040] Next, in step S3, the picking control device 21 commands the image processing control device 30 to perform bird's-eye view recognition of the supply box 11. The image processing control device 30 commands the imaging device 31 to photograph the supply box 11 and acquire the captured image. The image processing control device 30 uses the acquired image from the imaging device 31 to recognize the position of the supply box 11 and detect the presence or absence of the component 12, and transmits the coordinates of the component 12 to the picking control device 21. The position recognition and presence or absence detection performed by the image processing control device 30 will be explained in more detail. In the position recognition of the supply box 11, template matching is performed on the target image in which the supply box 11 is photographed, and the coordinates of the planar position and rotation are acquired. The template is created by photographing a supply box 11 whose position is predetermined as a reference image and using the contour information of the supply box 11 photographed in the reference image. Template matching is performed by searching the target image for a position with a contour similar to that of the template, and recognizing the position of the supply box 11 from the positional deviation from the contour in the reference image.

[0041] To detect the presence or absence of a component 12, a binarization process is performed on the target image of the supply box 11, and the presence or absence of a component 12 in the supply box 11 is detected. The binarization process uses a previously captured image of an empty supply box 11 as a reference image, compares the contrast of each pixel between the target image of the supply box 11 containing the component 12 and the reference image, and determines that the component 12 is present at the position of a pixel with a large difference. Since an accurate comparison cannot be made if the positions at which the supply box 11 is captured differ between the target image and the reference image, the position of the reference image is corrected using the results of the recognized position of the supply box 11 obtained by template matching, and then compared with the target image. In this embodiment, template matching and binarization process are used, but this is not limited to this.

[0042] Next, in step S4, the picking control device 21 transmits the position coordinates of the component 12 acquired in step S2 to the arm control device 40, and causes the imaging device 32 mounted on the robot hand 53 to take a close-up image of the component 12. Based on the acquired position coordinates of the component 12, the arm control device 40 acquires the posture of the robot arm 41 so that the imaging device 32 is positioned above the component 12, and moves the imaging device 32.

[0043] Next, in step S5, the picking control device 21 commands the image processing control device 30 to perform proximity recognition of the component 12. The image processing control device 30 commands the imaging device 32 to photograph the component 12 and acquire the captured image. The image processing control device 30 performs position recognition of the component 12 based on the acquired image and transmits the position coordinates of the component 12 to the picking control device 21. The position recognition of the component 12 in step S5 also involves template matching, similar to the position recognition of the supply box 11 in step S3, but this is not limited to this. While the position coordinates of the component 12 were acquired in step S3, performing proximity photography as in step S5 allows for the acquisition of images with higher resolution, thereby enabling more accurate position recognition of the component 12. If the component 12 can be grasped with the accuracy of the position recognition of the component 12 using the bird's-eye view recognition in step S3, steps S4 and S5 may be omitted.

[0044] Next, in step S6, the picking control device 21 transmits the position coordinates of the part 12 acquired in step S5 to the arm control device 40, and moves the robot hand 53 to a pick-up position for the part 12. Based on the acquired position coordinates of the part 12, the arm control device 40 acquires the posture of the robot arm 41 for positioning the robot hand 53 at a position where it can grasp the part 12, and causes the robot arm 41 to move the robot hand 53. When moving, it is desirable to set appropriate waypoints so that the fingers 52, tool unit 60, etc. do not interfere with the part 12 or supply box 11.

[0045] Next, in step S7, the picking control device 21 commands the hand control device 50 to grasp the part 12. The hand control device 50 drives the fingers 52 based on the preset stroke, speed, acceleration, and force of the fingers 52, thereby bringing the multiple fingers 52 or tool unit 60 closer to each other and grasping the part 12.

[0046] Next, in step S8, the picking control device 21 transmits permission to replace the supply box 11 to the system control device 10. While the picking control device 21 is executing the flow from step S9 onwards, which will be described later, the system control device 10 operates the conveyor 13 to move the supply box 11 containing the next part 12 to be picked and placed to a predetermined position.

[0047] Furthermore, the picking control device 21 commands the image processing control device 30 to take close-up photographs in step S5. Then, while each control device is executing steps S6 to S8, in step S9, the picking control device 21 communicates with the image processing control device 30 to determine whether the placement tray 14 is located in a predetermined position. The picking control device 21 then communicates with the system control device 10, and if the replacement is not complete, the process proceeds from step S9: No to step S10, where the system control device 10 operates the AGV 15. If the AGV 15 on which the desired tray 14 is placed is located in a predetermined position, the process proceeds from step S9: Yes to step S11.

[0048] Next, in step S11, the picking control device 21 commands the image processing control device 30 to perform bird's-eye recognition of the placement tray 14. The image processing control device 30 commands the imaging device 33 to photograph the placement tray 14 and acquire the captured image. The image processing control device 30 uses the acquired image to recognize the position of the jig 14a on the placement tray 14 and transmits the position coordinates of the jig 14a to the picking control device 21. The position recognition method performed by the image processing control device 30 in step S11 is, as in steps S3 and S5, template matching to obtain the coordinates of the planar position and rotation, but is not limited to this. Note that in FIG. 5, steps S9 to S11 are executed while steps S6 to S8 are executed. However, this is not limited to this; steps S9 to S11 may be executed after steps S5 to S8 are executed. By executing these steps in parallel, it is possible to shorten the takt time.

[0049] After steps S8 and S11 are completed, step S12 is executed. In step S12, the picking control device 21 transmits the position coordinates of the jig 14a acquired in step S11 to the arm control device 40, and moves the gripped component 12 to the jig 14a that will be the placement position. Based on the acquired position coordinates of the jig 14a, the arm control device 40 acquires the posture of the robot arm 41 for placing the gripped component 12 on the jig 14a according to the type of component 12, and executes the movement. When moving, it is desirable to set appropriate waypoints so that the gripped component 12 does not interfere with the supply box 11 or the placement tray 14.

[0050] Next, in step S13, the picking control device 21 commands the hand control device 50 to execute the release of the component 12. The hand control device 50 drives the finger unit 52 based on the preset stroke, speed, acceleration, and force of the release of the finger unit 52, thereby separating the multiple finger units 52 and the tool unit 60 from each other and releasing the component 12.

[0051] Next, in step S14, the picking control device 21 determines whether the necessary parts 12 have been collected on the placement tray 14. The picking control device 21 issues a command to the image processing control device 30 to make the determination based on the image acquired from the imaging device 33. If the necessary parts 12 have been collected on the placement tray 14, step S14: Yes is returned and the process proceeds to step S18. If the necessary parts 12 have not been collected, step S14: No is returned and the process proceeds to step S15.

[0052] Next, in step S15, the picking control device 21 determines whether or not the tool unit 60 is required for the part 12 to be gripped next. The determination may be made based on an image acquired from the imaging device 31 in response to a command to the image processing control device 30, or may be made based on a program that determines the order of parts 12 to be gripped in advance. If the tool unit 60 is required, step S15: Yes is selected to proceed to step S16, and if the tool unit 60 is not required, step S15: No is selected to proceed to step S18.

[0053] In step S16, the picking control device 21 determines whether the tool unit 60 is attached to the finger unit 52. This determination may be made by using a presence / absence detection sensor mounted on the finger unit 52 or the tool unit 60, or based on a program that determines the order in which the tool unit 60 is used in advance. If the tool unit 60 is not attached, the process proceeds from step S16: No to step S17. The picking control device 21 then instructs the arm control device 40 to move and rotate the robot hand 53 in the order of FIGS. 4(a), 4(b), and 4(c) to attach the tool unit 60 to the finger unit 52. The process then returns to the state immediately before step S1, where gripping of the component 12 is resumed. If the tool unit 60 is attached, the process skips step S17 and returns to the state immediately before step S1, where gripping of the component 12 is resumed.

[0054] In step S18, the picking control device 21 determines whether the tool unit 60 is attached to the finger unit 52. This determination may be made using a presence / absence detection sensor mounted on the finger unit 52 or the tool unit 60, or based on a program that determines the order in which the tool unit 60 is used in advance. If the tool unit 60 is attached, step S18: Yes is returned to step S19. The picking control device 21 then instructs the arm control device 40 to move and rotate the robot hand 53 in the order of FIGS. 4(c), 4(b), and 4(a) to remove the tool unit 60 from the finger unit 52. The process then returns to the state immediately before step S1, where gripping of the component 12 is resumed. If the tool unit 60 is not attached, step S18: No is returned to skip step S19, and the process returns to the state immediately before step S1, where gripping of the component 12 is resumed. Note that in this embodiment, steps S15 to S19, which are for attaching and detaching the tool unit 60, are performed after step S14, but this is not limited to this. For example, steps S15 to S19 may be executed before step S1 to determine whether the tool unit 60 is necessary for the part 12 to be grasped, and the tool unit 60 may be attached or detached before the part 12 is grasped.

[0055] Next, in step S20, the picking control device 21 transmits permission to replace the placement trays 14 to the system control device 10 when the necessary parts 12 have been collected. The system control device 10 moves the AGV 15 to remove the placement trays 14 and move the empty placement trays 14 to a predetermined position. Note that although the present embodiment has been described using an AGV as an example, a manually moved cart or a conveyor may also be used.

[0056] According to the present embodiment, the direction in which the tool part 60 is attached or detached intersects with the direction in which the fingers 52 approach or separate, i.e., the direction in which the tool part 60 approaches or separates, and the direction in which the fingers 52 or the tool part 60 approach the component 12. As a result, the tool part 60 is attached or detached so as not to follow the direction in which the load of the tool part 60 is applied (the direction in which the fingers 52 or the tool part 60 approach the component 12). Therefore, the load on the tool part 60 can be reduced in the attachment / detachment direction of the tool part 60, and therefore, displacement of the tool part 60 relative to the fingers 52 can be reduced. Furthermore, when the fingers 52 approach or separate, the tool part 60 is attached or detached so as not to follow the direction in which inertia is applied to the tool part 60 (the direction in which the fingers 52 or the tool part 60 approach or separate). Therefore, the inertia on the tool part 60 can be reduced in the attachment / detachment direction of the tool part 60, and therefore, displacement of the tool part 60 relative to the fingers 52 can be reduced. As a result, the tool part 60 is less likely to shift relative to the finger part 52 in the direction in which it approaches the part 12 (the direction in which gravity is applied to the tool part 60) or in the direction in which the finger part 52 approaches or moves away, thereby reducing the possibility of the tool part 60 falling off the finger part 52.

[0057] (Second embodiment) Next, the second embodiment will be described in detail. Note that, in the following, the same reference numerals will be used for the same or corresponding components as those in the first embodiment, and their description will be omitted or simplified, and the description will focus on the differences from the first embodiment.

[0058] 6 is a diagram showing the operation when a tool unit 60 is attached to a robot hand 53 having two finger units 52 according to this embodiment. The part 12 is grasped or released by moving the two finger units 52 toward or away from each other in one direction.

[0059] First, as shown in Fig. 6(a), the tool part 60 has a plurality of grooves 64, and the tool part 60 is placed on the placement part 71 of the table 70 by engaging the grooves 64 with the placement part 71. Then, the robot arm 41 moves the robot hand 53 in the direction of the arrow shown in Fig. 6(a) to position the finger part 52 near the tool part 60.

[0060] 6(b), the robot arm 41 moves the robot hand 53 in one direction, as shown by the arrow in FIG. 6(b), to engage the finger portion 52 with the tool portion 60. In this case, the tool portion 60 is urged toward the finger portion 52 by the force of the magnet 62 provided in the tool portion 60. Furthermore, the convex portion 54 provided on the finger portion 52 engages with the concave portion 61 provided on the tool portion 60, and the tool portion 60 is attached to the finger portion 52.

[0061] 6(c), the robot arm 41 moves the robot hand 53 in the direction of the arrow shown in FIG. 6(c), thereby moving the tool unit 60 attached to the finger unit 52 away from the placement unit 71. Then, the robot arm 41 can position the tool unit 60 at a desired position and grip the component 12.

[0062] The operation of removing the tool unit 60 from the fingers 52 and placing it on the mounting portion 71 can be performed in the order shown in FIG. 6(c) to FIG. 6(a). That is, as shown in FIG. 6(c), the robot arm 41 moves the robot hand 53, to which the tool unit 60 is attached, in the direction opposite to the arrow direction shown in FIG. 6(c), thereby engaging the groove 64 of the tool unit 60 with the mounting portion 71. Next, as shown in FIG. 6(b), the robot arm 41 moves the robot hand 53 in the direction opposite to the arrow direction shown in FIG. 6(b), thereby disengaging the fingers 52 from the tool unit 60. In this case, the magnetic force is released, the convex portion 54 of the fingers 52 is disengaged from the concave portion 61 of the tool unit 60, and the tool unit 60 is removed from the fingers 52. Then, as shown in FIG. 6(a), the robot hand 53 is moved in the direction opposite to the arrow direction shown in FIG. 6(a). As a result, the tool part 60 can be attached and detached by the operation of the robot arm 41 and robot hand 53 without having actuators on the stand 70 and the mounting part 71, thereby reducing the number of actuators required for attaching and detaching the tool part 60.

[0063] According to the present embodiment, the direction in which the tool part 60 is attached or detached intersects with the direction in which the fingers 52 approach or separate, i.e., the direction in which the tool part 60 approaches or separates, and the direction in which the fingers 52 or the tool part 60 approach the component 12. As a result, the tool part 60 is attached or detached so as not to follow the direction in which the load of the tool part 60 is applied (the direction in which the fingers 52 or the tool part 60 approach the component 12). Therefore, the load on the tool part 60 can be reduced in the attachment / detachment direction of the tool part 60, and therefore, displacement of the tool part 60 relative to the fingers 52 can be reduced. Furthermore, when the fingers 52 approach or separate, the tool part 60 is attached or detached so as not to follow the direction in which inertia is applied to the tool part 60 (the direction in which the fingers 52 or the tool part 60 approach or separate). Therefore, the inertia on the tool part 60 can be reduced in the attachment / detachment direction of the tool part 60, and therefore, displacement of the tool part 60 relative to the fingers 52 can be reduced. As a result, the tool part 60 is less likely to shift relative to the finger part 52 in the direction in which it approaches the part 12 (the direction in which gravity is applied to the tool part 60) or in the direction in which the finger part 52 approaches or moves away, thereby reducing the possibility of the tool part 60 falling off the finger part 52.

[0064] (Other embodiments) The processing procedures of the above-described embodiments are specifically executed by the CPUs of the respective control devices. Therefore, it is also possible to configure the system to read and execute a software control program capable of executing the above-described functions from a recording medium. In this case, the control program itself read from the recording medium will realize the functions of the above-described embodiments, and the control program itself and the recording medium on which the control program is recorded constitute the present invention.

[0065] In addition, in each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the program is stored in the ROM, RAM, or flash ROM. However, the present invention is not limited to this configuration. The program for implementing the present invention may be recorded on any computer-readable recording medium, such as an SSD (Solid State Drive). The program may also be implemented by an imaging device equipped with the functions of the image processing control device 30.

[0066] In the various embodiments described above, the robot arm 41 is an articulated robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, the same configuration as above can also be implemented with different types of joints, such as a horizontal multi-joint type, a parallel link type, or an Cartesian robot.

[0067] Furthermore, the various embodiments described above can be applied to machines that can automatically perform movements such as extension and contraction, bending and stretching, up and down movement, left and right movement, or rotation, or a combination of these movements, based on information stored in a memory device provided in the control device.

[0068] The present invention is not limited to the above-described embodiments, and many modifications are possible within the technical concept of the present invention. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. Furthermore, the above-described various embodiments and modifications may be combined and implemented.

[0069] The disclosure of this embodiment also includes the following configurations and methods.

[0070] (Item 1) A robot hand having fingers, The finger portion is capable of attaching and detaching the tool portion, A first direction in which the tool part is attached or detached intersects with a second direction in which the finger part moves and a third direction in which gravity acts on the tool part. A robotic hand characterized by:

[0071] (Item 2) In the robot hand according to item 1, and an engagement means for engaging the finger portion with the tool portion. A robotic hand characterized by:

[0072] (Item 3) In the robot hand according to item 2, The engagement means includes a recess and a protrusion, the finger portion is provided with either the recessed portion or the protruding portion, and the tool portion is provided with the other. A robotic hand characterized by:

[0073] (Item 4) In the robot hand according to item 3, The recess or the protrusion is provided on the base side of the finger portion with respect to a contact portion of the finger portion and the tool portion with a workpiece. A robotic hand characterized by:

[0074] (Item 5) In the robot hand according to item 3 or 4, the tool portion is caught by the protrusion or the recess in the third direction; A robotic hand characterized by:

[0075] (Item 6) In the robot hand according to item 2, The engagement means includes a hole and a notch pin or a snap fit. A robotic hand characterized by:

[0076] (Item 7) In the robot hand according to any one of items 1 to 6, and a biasing means for biasing the finger portion and the tool portion. A robotic hand characterized by:

[0077] (Item 8) In the robot hand according to item 7, The biasing means includes a magnet and a magnetic body, At least a part of one of the finger portion and the tool portion is made of the magnetic material, and the other is provided with the magnet. A robotic hand characterized by:

[0078] (Item 9) In the robot hand according to item 7, The biasing means is provided with a Velcro tape (registered trademark) or an adhesive seal. A robotic hand characterized by:

[0079] (Item 10) In the robot hand according to any one of items 1 to 9, The tool portion is provided with a guide portion having a guide portion that guides the finger portion. A robotic hand characterized by:

[0080] (Item 11) In the robot hand according to item 10, The guide portion is provided with a taper. A robotic hand characterized by:

[0081] (Item 12) In the robot hand according to any one of items 1 to 11, The third direction is a direction in which the tool part approaches the workpiece. A robotic hand characterized by:

[0082] (Item 13) In the robot hand according to any one of items 1 to 12, The tool part is provided with a groove part for placing the tool part thereon. A robotic hand characterized by:

[0083] (Item 14) In the robot hand according to item 13, The groove is engaged with a mounting portion on which the tool portion is mounted, and the finger is rotated to attach and detach the tool portion. A robotic hand characterized by:

[0084] (Item 15) In the robot hand according to item 13, The groove is engaged with a mounting portion on which the tool portion is mounted, and the finger is moved in one direction to attach or detach the tool portion. A robotic hand characterized by:

[0085] (Item 16) In the robot hand according to any one of items 1 to 15, At least three of the fingers are provided on the palm, The workpiece is held by the finger portions by moving the finger portions toward or away from each other toward the center of the palm portion; The tool part is attached and detached by rotating the palm part. A robotic hand characterized by:

[0086] (Item 17) In the robot hand according to any one of items 1 to 15, At least two of the fingers are provided on the palm, The workpiece is held by the fingers by moving the fingers toward or away from each other in one direction; The tool part is attached or detached by moving the palm part in one direction. A robotic hand characterized by:

[0087] (Item 18) In the robot hand according to any one of items 1 to 15, At least two of the fingers are provided, The second direction is a direction in which the fingers move toward or away from each other. A robotic hand characterized by:

[0088] (Item 19) In the robot hand according to any one of items 1 to 18, The first direction is a direction perpendicular to the second direction and the third direction. A robotic hand characterized by:

[0089] (Item 20) A robot system comprising the robot hand according to any one of items 1 to 19 and a robot arm.

[0090] (Item 21) Item 21. A method for manufacturing an article, comprising the steps of: manufacturing an article using the robot system according to Item 20.

[0091] (Item 22) A method for controlling a robot hand equipped with fingers, comprising: The finger portion is capable of attaching and detaching the tool portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the finger part moves and a third direction in which gravity acts on the tool part; The tool part is attached or detached by moving the finger part. A control method comprising:

[0092] (Item 23) A tool portion detachable from the finger portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the finger part moves and a third direction in which gravity acts on the tool part; The tool part is attached or detached by moving the finger part. A tool part characterized by:

[0093] (Item 24) 1. A robot comprising a base, The base portion is capable of attaching and detaching the tool portion, A first direction in which the tool part is attached and detached intersects with a second direction in which the base part moves and a third direction in which gravity acts on the tool part. A robot characterized by:

[0094] (Item 25) 1. A method for controlling a robot having a base, comprising: The base portion is capable of attaching and detaching the tool portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the base part moves and a third direction in which gravity acts on the tool part; The tool part is attached and detached by moving the base part. A control method comprising:

[0095] (Item 26) A tool portion detachable from the base, a first direction in which the tool part is attached or detached intersects with a second direction in which the base part moves and a third direction in which gravity acts on the tool part; The tool part is attached and detached by moving the base part. A tool part characterized by:

[0096] (Item 27) 26. A control program that can execute the control method according to item 22 or 25 by a computer.

[0097] (Item 28) Item 28. A computer-readable recording medium storing the control program described in item 27. [Explanation of symbols]

[0098] 10 System control device 11 Supply box 12 parts 13 Conveyor 14 Placement tray 14a Jig 15 AGV 20 Picking device 21 Picking control device 30 Image processing control device 31, 32, 33 Imaging device 40 Arm control device 41 Robot Arm 50 Hand control device 51 Palm 52 Finger section 53 Robot Hand 54 Convex part 60 Tool Section 61 Recess 62 Magnet 63 Guide section 64 Groove 70 Stand 71 Placement section

Claims

1. A robot hand having fingers, The finger portion is capable of attaching and detaching the tool portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the finger part moves and a third direction in which gravity acts on the tool part; A robotic hand characterized by:

2. The robot hand according to claim 1, and an engagement means for engaging the finger portion with the tool portion. A robotic hand characterized by:

3. The robot hand according to claim 2, The engagement means includes a recess and a protrusion, the finger portion is provided with either the recessed portion or the protruding portion, and the tool portion is provided with the other. A robotic hand characterized by:

4. The robot hand according to claim 3, The recess or the protrusion is provided on the base side of the finger portion with respect to a contact portion of the finger portion and the tool portion with a workpiece. A robotic hand characterized by:

5. The robot hand according to claim 3, the tool portion is caught by the protrusion or the recess in the third direction; A robotic hand characterized by:

6. The robot hand according to claim 2, The engagement means includes a hole and a notch pin or a snap fit. A robotic hand characterized by:

7. The robot hand according to claim 1, and a biasing means for biasing the finger portion and the tool portion. A robotic hand characterized by:

8. The robot hand according to claim 7, The biasing means includes a magnet and a magnetic body, At least a part of one of the finger portion and the tool portion is made of the magnetic material, and the other is provided with the magnet. A robotic hand characterized by:

9. The robot hand according to claim 7, The biasing means is a Velcro tape (registered trademark) or an adhesive seal. A robotic hand characterized by:

10. The robot hand according to claim 1, The tool portion is provided with a guide portion having a guide portion that guides the finger portion. A robotic hand characterized by:

11. The robot hand according to claim 10, The guide portion is provided with a taper. A robotic hand characterized by:

12. The robot hand according to claim 1, The third direction is a direction in which the tool portion approaches a workpiece. A robotic hand characterized by:

13. The robot hand according to claim 1, The tool part is provided with a groove part for placing the tool part thereon. A robotic hand characterized by:

14. The robot hand according to claim 13, The groove is engaged with a mounting portion on which the tool portion is mounted, and the finger is rotated to attach and detach the tool portion. A robotic hand characterized by:

15. The robot hand according to claim 13, The groove is engaged with a mounting portion on which the tool portion is mounted, and the finger is moved in one direction to attach or detach the tool portion. A robotic hand characterized by:

16. The robot hand according to claim 1, At least three of the fingers are provided on the palm, The workpiece is held by the finger portions by moving the finger portions toward or away from each other toward the center of the palm portion; The tool part is attached and detached by rotating the palm part. A robotic hand characterized by:

17. The robot hand according to claim 1, At least two of the fingers are provided on the palm, The workpiece is held by the fingers by moving the fingers toward or away from each other in one direction; The tool part is attached or detached by moving the palm part in one direction. A robotic hand characterized by:

18. The robot hand according to claim 1, At least two of the fingers are provided, The second direction is a direction in which the fingers move toward or away from each other. A robotic hand characterized by:

19. The robot hand according to claim 1, The first direction is a direction perpendicular to the second direction and the third direction. A robotic hand characterized by:

20. A robot system comprising: the robot hand according to any one of claims 1 to 19; and a robot arm.

21. A method for manufacturing an article, comprising the step of manufacturing an article using the robot system according to claim 20.

22. A method for controlling a robot hand equipped with fingers, comprising: The finger portion is capable of attaching and detaching the tool portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the finger part moves and a third direction in which gravity acts on the tool part; The tool part is attached or detached by moving the finger part. A control method comprising:

23. A tool portion detachable from the finger portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the finger part moves and a third direction in which gravity acts on the tool part; The tool part is attached or detached by moving the finger part. A tool part characterized by:

24. 1. A robot comprising a base, The base portion is capable of attaching and detaching the tool portion, a first direction in which the tool part is attached and detached intersects with a second direction in which the base part moves and a third direction in which gravity acts on the tool part; A robot characterized by:

25. 1. A method for controlling a robot having a base, comprising: The base portion is capable of attaching and detaching the tool portion, a first direction in which the tool part is attached or detached intersects with a second direction in which the base part moves and a third direction in which gravity acts on the tool part; The tool part is attached and detached by moving the base part. A control method comprising:

26. A tool portion detachable from the base, a first direction in which the tool part is attached or detached intersects with a second direction in which the base part moves and a third direction in which gravity acts on the tool part; The tool part is attached and detached by moving the base part. A tool part characterized by:

27. A control program that enables a computer to execute the control method according to claim 22 or 25.

28. A computer-readable recording medium storing the control program according to claim 27.

Images