Robot

Abstract

To provide a robot and a method of controlling a robot, which are related to transferring of a plate-shaped object.SOLUTION: A method for controlling a robot (1) includes: causing a first end effector (300) of a first robot arm (200A) of the robot and a second end effector (400) of a second robot arm (200B) of the robot to be moved by the first robot arm and the second robot arm so as to be respectively positioned on both sides of a placed plate-like object (TR); causing the first robot arm to move the first end effector toward a first end section (TRa) of the plate-like object, and the first end section to be gripped by the first end effector; and causing the first robot arm to move the first end effector to a target position and the first end effector to place the plate-like object in the target position.SELECTED DRAWING: Figure 9

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of Japanese Patent Application No. 2022-35737 filed with the Japan Patent Office on March 8, 2022, and Japanese Patent Application No. 2022-68518 filed with the Japan Patent Office on April 18, 2022, the entire contents of which are hereby incorporated by reference as part of this application. [Technical Field]

[0002] The present disclosure relates to a robot control method and a robot. [Background technology]

[0003] ^l For example, Japanese Patent Application Laid-Open Publication No. 2018-008820 discloses a robot equipped with a pair of robot arms. Each robot arm includes a hand unit with a clamping unit. The clamping unit includes an L-shaped plate-like portion. The robot grasps and transports the tray by inserting the clamping units of the pair of robot arms under the tray from both sides and sandwiching the tray from the sides between the two clamping units. Summary of the Invention

[0004] The robot disclosed in JP 2018-008820 A needs to use two robot arms to grasp and transport plate-like objects such as trays. The present disclosure provides a robot control method and a robot that reduce the number of robot arm movements involved in transporting plate-like objects.

[0005] A method for controlling a robot according to one embodiment of the present disclosure includes having a first robot arm and a second robot arm move a first end effector and a second end effector of a second robot arm so that the first end effector and the second end effector are positioned on either side of a plate-like object being placed; having the first robot arm move the first end effector toward a first end of the plate-like object and operate the first end effector to grasp the first end; and having the first robot arm move the first end effector to a target position and have the first end effector place the plate-like object at the target position. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to an embodiment. [Figure 2] FIG. 2 is a side view of the transfer device of FIG. [Figure 3] FIG. 3 is a block diagram illustrating an example of a configuration of a robot system according to an embodiment. [Figure 4] 4 is a side view showing an example of the configuration of the first end effector of the robot of FIG. 1 in one state. [Figure 5] 5 is a side view showing an example of the configuration of the first end effector of the robot of FIG. 1 in another state. [Figure 6] 6 is a side view showing an example of the configuration of the second end effector of the robot of FIG. 1 in one state. [Figure 7] 7 is a side view showing an example of the configuration of the second end effector of the robot of FIG. 1 in another state. [Figure 8] FIG. 8 is a flowchart illustrating an example of a first operation of the robot system according to the embodiment. [Figure 9] FIG. 9 is a perspective view showing an example of a state of the robot in the first motion. [Figure 10]FIG. 10 is a perspective view showing an example of a state of the robot included in the first motion. [Figure 11] FIG. 11 is a perspective view showing an example of a state of the robot included in the first motion. [Figure 12] FIG. 12 is a perspective view showing an example of a state of the robot included in the first motion. [Figure 13] FIG. 13 is a perspective view showing an example of a state of the robot included in the first motion. [Figure 14] FIG. 14 is a flowchart illustrating an example of a second operation of the robot system according to the embodiment. [Figure 15] FIG. 15 is a perspective view showing an example of a state of the robot included in the second motion. [Figure 16] FIG. 16 is a perspective view showing an example of a state of the robot included in the second motion. [Figure 17] FIG. 17 is a perspective view showing an example of a state of the robot included in the second motion. [Figure 18] FIG. 18 is a perspective view showing an example of a state of the robot included in the second motion. [Figure 19] FIG. 19 is a side view similar to FIG. 4 showing an example of the configuration of another first end effector. [Figure 20] FIG. 20 is a perspective view showing an example of the configuration of another tray. [Figure 21] FIG. 21 is a flowchart showing an example of a third operation of the robot system according to the embodiment. [Figure 22] FIG. 22 is a perspective view showing an example of a state of the robot included in the third operation. [Figure 23] FIG. 23 is a perspective view showing an example of a state of the robot included in the third operation. [Figure 24] FIG. 24 is a perspective view showing an example of a state of the robot included in the third operation. [Figure 25] FIG. 25 is a perspective view showing an example of a state of the robot included in the third operation. [Figure 26]FIG. 26 is a perspective view showing an example of a state of the robot included in the third motion. [Figure 27] FIG. 27 is a perspective view showing an example of a state of the robot included in the third motion. [Figure 28] FIG. 28 is a perspective view showing an example of a state of the robot included in the third operation. [Figure 29] FIG. 29 is a perspective view showing an example of a state of the robot included in the third motion. DETAILED DESCRIPTION OF THE INVENTION

[0007] Exemplary embodiments of the present disclosure will be described below with reference to the drawings. The embodiments described below are all comprehensive or specific examples. Among the components in the following embodiments, components that are not recited in the independent claims that represent the highest concepts will be described as optional components. Each figure in the accompanying drawings is a schematic diagram and is not necessarily an exact drawing. In each figure, substantially identical components are assigned the same reference numerals, and duplicated descriptions may be omitted or simplified. In this specification and claims, the term "device" may refer not only to one device but also to a system including multiple devices.

[0008] [Robot system configuration] An example of the configuration of a robot system A according to an illustrative embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the configuration of a robot system A according to an embodiment. The robot system A includes a robot 1 and an input device 2.

[0009] Although not limited thereto, in this embodiment, the input device 2 is placed at a position remote from the robot 1. The input device 2 accepts input of commands, information, data, etc. from a user and transmits the accepted commands, information, data, etc. to the robot 1. The input device 2 receives commands, information, data, etc. from the robot 1. For example, the user who uses the input device 2 may be any of the administrator of the robot system A, the operator of the robot 1, the provider of a service provided by the robot system A, or the recipient of a service provided by the robot system A.

[0010] The input device 2 includes a communication device 2a that communicates with the robot 1 and a processing circuit including a processor P and a memory M. The communication between the communication device 2a and the robot 1 is wireless communication, but may also be wired communication or a combination of wireless communication and wired communication. Any wired communication or wireless communication may be used. The communication device 2a and the robot 1 may be configured to communicate wirelessly directly or indirectly. In indirect wireless communication, the communication device 2a and the robot 1 may be connected to a communication network via wired communication or wireless communication and communicate with each other via the communication network. The communication device 2a may include a communication circuit.

[0011] The communication network is not particularly limited and may include, for example, a local area network (LAN), a wide area network (WAN), the Internet, or a combination of two or more of these. The communication network may be configured to use short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), a network dedicated line, a dedicated line of a telecommunications carrier, a public switched telephone network (PSTN), a mobile communication network, the Internet network, satellite communication, or a combination of two or more of these. The mobile communication network may use a fourth-generation mobile communication system, a fifth-generation mobile communication system, or the like. The communication network may include one or more networks.

[0012] The input device 2 may include one or more of computers such as personal computers, smart devices such as smartphones and tablets, personal information terminals, game terminals, known teaching devices such as teach pendants used to teach robots, known operating devices for robots, other operating devices, other terminal devices, devices that use these, and improved devices of these. The input device 2 may be a dedicated device designed for the robot 1, or may be a general-purpose device available on the general market. If the input device 2 is a general-purpose device, it may be configured to realize the functions of the input device 2 by installing dedicated software.

[0013] The robot 1 is configured to perform actions to provide services to users. The robot 1 can be used in various service industries, such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, product provision, and logistics. The robot 1 includes a mobile device 100, one or more robot arms 200, a support 500, and a control device 600. The robot 1 also includes a secondary battery module 10, a power supply circuit 20, a communication device 30, an imaging device 40, a sensor 50, and a presentation device 60. In this embodiment, the robot arm 200 is a robot arm that can also function for industrial use, although this is not limited thereto. The imaging device 40 and the presentation device 60 can also function as devices for communicating with users around the robot 1.

[0014] FIG. 2 is a side view of the mobile device 100 of FIG. 1. As shown in FIG. 2, the mobile device 100 is capable of moving by itself, and in this embodiment, it travels using wheels. The mobile device 100 includes a main body 110, drive wheels 121 and 122, auxiliary wheels 131 to 134, and mobile drive devices 141 and 142. The drive wheels 121 and 122 and the auxiliary wheels 131 to 134 are rotatably attached to the main body 110. The drive wheels 121 and 122 and the auxiliary wheels 131 to 134 come into contact with a support surface S on which the robot 1 is placed, and support the main body 110 and the robot 1 from below.

[0015] Here, the upward direction D1A, downward direction D1B, forward direction D2A, backward direction D2B, lateral direction D3A, and lateral direction D3B are directions based on the robot 1. The upward direction D1A is the direction from the mobile device 100 toward the support body 500, and corresponds to the vertically upward direction perpendicular to the support surface S when the support surface S is horizontal. The downward direction D1B is the opposite direction to the upward direction D1A, and corresponds to the vertically downward direction perpendicular to the support surface S when the support surface S is horizontal. D2A and D2B are opposite directions to each other and are directions perpendicular to the directions D1A and D1B. The forward direction D2A is the forward direction of the mobile device 100, and the backward direction D2B is the backward direction of the mobile device 100. The lateral directions D3A and D3B are opposite directions to each other and are directions perpendicular to the directions D1A, D1B, D2A, and D2B. Directions D2A, D2B, D3A, and D3B extend horizontally when support surface S is horizontal, and extend along support surface S when support surface S is flat. In this specification and claims, "vertical," "plumb," "horizontal," and "parallel" may include cases where they are completely vertical, plumb, horizontal, and parallel, as well as cases where they can be considered to be substantially vertical, plumb, horizontal, and parallel, including close to completely vertical, plumb, horizontal, and parallel.

[0016] In this embodiment, the auxiliary wheels 131 to 134 are arranged around the drive wheels 121 and 122 on the main body 110, although this is not limiting. The auxiliary wheels 131 to 134 may be configured so that the orientation of each rotation axis is fixed, or may be configured so that the orientation of each rotation axis can be changed, like a swivel caster. The drive wheels 121 and 122 are arranged side by side in the lateral direction D3A so as to be rotatable on the same axis extending in the lateral direction D3A. The orientation of the rotation axes of the drive wheels 121 and 122 is fixed relative to the main body 110.

[0017] The travel drive devices 141 and 142 are disposed on the main body 110 and rotate the drive wheels 121 and 122, respectively. For example, the travel drive devices 141 and 142 are each powered by electricity and include a servo motor as an electric actuator. The servo motor is controlled by the control device 600. The travel drive devices 141 and 142 control the rotation direction and rotation speed of the drive wheels 121 and 122, allowing the travel device 100 to move forward, backward, and make various turns.

[0018] The structure of the mobile device 100 is not limited to the above structure, and it is sufficient if the mobile device 100 can be moved in various directions. For example, the mobile device 100 may be configured to move using other traveling means such as crawlers, without using wheels.

[0019] As shown in FIG. 1 , the support 500 is disposed on the mobile device 100 and supported by the mobile device 100. The support 500 has a columnar shape extending in an upward direction D1A from the mobile device 100. The support 500 houses and supports various components of the robot 1. The support 500 includes a support column 510 and a rack 520. The support column 510 extends in the upward direction D1A from the support 500 and supports the presentation device 60. The rack 520 is disposed in a forward direction D2A of the support 500. The rack 520 includes one or more shelves 521 on which plate-shaped objects can be placed. In this embodiment, two shelves 521 are disposed side by side in the vertical directions D1A and D1B. The rack 520 is an example of a mounting portion.

[0020] Although not limited to this, in this embodiment, the robot 1 includes two robot arms 200A and 200B as the robot arm 200. The robot arms 200A and 200B are disposed on an upper portion of the support 500 and are supported by the support 500. The robot 1 is a dual-arm robot. Each of the robot arms 200A and 200B includes two or more joints.

[0021] In this embodiment, the robot arm 200A includes a base 201A, six links LA1 to LA6, six joints JA1 to JA6 interconnecting the base 201A and the links LA1 to LA6, joint drive units MA1 to MA6 that drive the joints JA1 to JA6, and a first end effector 300. The robot arm 200B includes a base 201B, six links LB1 to LB6, six joints JB1 to JB6 interconnecting the base 201B and the links LB1 to LB6, joint drive units MB1 to MB6 that drive the joints JB1 to JB6, and a second end effector 400. The joints JA1 to JA6 and JB1 to JB6 are rotary joints. The joint drive units MA1 to MA6 and MB1 to MB6 are powered by electricity and include servo motors as electric actuators. The servo motors are controlled by a control device 600. The articulation drives MA1 to MA6 and MB1 to MB6 are shown in FIG.

[0022] The bases 201A and 201B are fixed to an upper portion of the support 500. The bases 201A and 201B are disposed at positions on the side directions D3A and D3B of the support 510, respectively. The bases 201A and 201B are connected to the links LA1 and LB1 via the joints JA1 and JB1, respectively. The links LA1 and LB1 extend in directions along the rotation axes of the joints JA1 and JB1, respectively. The rotation axes of the joints JA1 and JB1 extend in the direction in which the bases 201A and 201B extend. The rotation axis of the joint JA1 extends along the forward direction D2A and is inclined from the forward direction D2A, for example, toward the side direction D3A and downward direction D1B as it progresses in the forward direction D2A. The rotation axis of the joint JB1 extends along the forward direction D2A and is inclined from the forward direction D2A so as to move toward the lateral direction D3B and the downward direction D1B as it advances in the forward direction D2A, for example.

[0023] Links LA2 and LB2 are connected to links LA1 and LB1 via joints JA2 and JB2, respectively. Links LA2 and LB2 extend in a direction intersecting the rotation axes of joints JA2 and JB2, respectively, for example, extending in a direction perpendicular to the rotation axes of joints JA2 and JB2. The rotation axes of joints JA2 and JB2 extend in a direction intersecting the rotation axes of joints JA1 and JB1, respectively, for example, extending in a direction perpendicular to the rotation axes of joints JA1 and JB1.

[0024] Links LA3 and LB3 are connected to links LA2 and LB2 via joints JA3 and JB3, respectively. Links LA3 and LB3 extend in a direction intersecting the rotation axes of joints JA3 and JB3, for example, extending perpendicular to the rotation axes of joints JA3 and JB3. The rotation axes of joints JA3 and JB3 extend in a direction along the rotation axes of joints JA2 and JB2, for example, extending parallel to the rotation axes of joints JA2 and JB2.

[0025] Links LA4 and LB4 are connected to links LA3 and LB3 via joints JA4 and JB4, respectively. Links LA4 and LB4 extend in a direction along the rotation axes of joints JA4 and JB4, respectively. The rotation axes of joints JA4 and JB4 extend in a direction intersecting the rotation axes of joints JA3 and JB3, respectively, and, for example, extend in a direction perpendicular to the rotation axes of joints JA3 and JB3.

[0026] Links LA5 and LB5 are connected to links LA4 and LB4 via joints JA5 and JB5, respectively. Links LA5 and LB5 extend in a direction intersecting the rotation axes of joints JA5 and JB5, respectively, for example, extending perpendicular to the rotation axes of joints JA5 and JB5. The rotation axes of joints JA5 and JB5 extend in a direction intersecting the rotation axes of joints JA4 and JB4, respectively, for example, extending perpendicular to the rotation axes of joints JA4 and JB4.

[0027] Links LA6 and LB6 are connected to links LA5 and LB5 via joints JA6 and JB6, respectively. Links LA6 and LB6 extend in a direction along the rotation axes of joints JA6 and JB6, respectively. The rotation axes of joints JA6 and JB6 extend in a direction intersecting the rotation axes of joints JA5 and JB5, respectively, e.g., in a direction perpendicular to the rotation axes of joints JA5 and JB5. Both links LA6 and LB6 include mechanical interfaces at their tips and are physically and electrically connected to end effector 300 or 400 via the mechanical interfaces.

[0028] The end effectors 300 and 400 are detachably attached to the links LA6 and LB6, respectively. The end effectors 300 and 400 are configured to apply an action to an object handled by the robot 1. The end effectors 300 and 400 may also be referred to as "robot hands" or "hands." The end effectors 300 and 400 include drive units ME1 and ME2, respectively, and are operated by the drive forces of the drive units ME1 and ME2. In this embodiment, the drive units ME1 and ME2 are each powered by electricity and include servo motors as electric actuators, although this is not limited thereto. The drive units ME1 and ME2 are shown in FIG. 3. For example, force sensors for detecting the direction and magnitude of the applied force may be disposed at the connection portions between the end effectors 300 and 400 and the links LA6 and LB6, respectively. The force sensors may be force sensors. The structure of the end effectors 300 and 400 will be described in detail later.

[0029] The robot arms 200A and 200B described above have the structure of a vertically articulated robot arm, but may have any other structure. For example, the robot arms 200A and 200B may be horizontally articulated, other types of vertically articulated, polar coordinate, cylindrical coordinate, rectangular coordinate, or other types of robot arms. The number of robot arms 200 may be one or more, and preferably two or more. The number of joints of the robot arm 200 may be two or more. The joints of the robot arm 200 are not limited to rotary joints and may include, for example, prismatic joints.

[0030] The presentation device 60 presents various information to the user around the robot 1. In this embodiment, the presentation device 60 includes, but is not limited to, a display 61 attached to the support 510. The display 61 displays images of image data sent from the control device 600. The control device 600 may cause the display 61 to display images for communicating with the user facing the robot 1, images in accordance with commands received from the input device 2, and images for providing various other information to the user. The presentation device 60 may include a speaker that converts an audio signal into sound waves and emits them as sound, a projector that projects an image, and the like. The speaker and projector may output sound and images corresponding to the audio and image signals sent from the control device 600.

[0031] The imaging device 40 includes imaging devices 41a to 41f and detects various information about the surroundings of the robot 1. Each of the imaging devices 41a to 41f includes a camera that captures digital images. One or more of the imaging devices 41a to 41f may include a three-dimensional camera capable of detecting the distance to an object. Examples of the three-dimensional camera include a stereo camera, a time-of-flight (TOF) camera, a pattern light projection camera such as a stripe projection camera, or a camera using a light section method. Each of the imaging devices 41a to 41f outputs data of the captured image to the control device 600. The control device 600 may use the image data acquired by the imaging devices 41a to 41f for its own control or may output the image data to the input device 2. The control device 600 may perform image processing to extract an object from the image and detect the distance from the camera to the object.

[0032] The imaging devices 41a and 41b are disposed on the robot arms 200A and 200B, for example, on the links LA6 and LB6, and capture images of the processing target of the end effectors 300 and 400. The imaging device 41c is disposed on the display 61 and captures an image of the user facing the robot 1. The imaging device 41d is disposed on the support body 500 and captures an image in front of the robot 1. The imaging device 41e is disposed on the mobile device 100 and captures an image of the support surface S in front of the robot 1 and its vicinity. The imaging device 41f is disposed on the support body 500 and captures an image behind the robot 1. The robot 1 may include a microphone that acquires sound from the surroundings and outputs an audio signal of the sound. The microphone may output the audio signal to the control device 600.

[0033] The sensor 50 detects various pieces of information about the surroundings of the robot 1. The sensor 50 scans the surroundings of the robot 1 and outputs the scanning results to the control device 600. The control device 600 may use the scanning results of the sensor 50 for its own control or may output the results to the input device 2. In this embodiment, the sensor 50 is disposed on the mobile device 100 and oriented in the forward direction D2A. The sensor 50 may be configured to scan a horizontal range extending from the mobile device 100 in the forward direction D2A and in the lateral directions D3A and D3B. The sensor 50 may be configured to scan a vertical range including the support surface S and its vicinity. The sensor 50 may be capable of detecting the support surface S and objects, such as objects, within the scanning range, and the distance to the objects. Such a sensor 50 can detect the state of the support surface S in front of the robot 1, objects on the support surface S, the positions of various parts on the support surface S, and the positions of the objects.

[0034] The sensor 50 is configured to perform detection using light waves, lasers, magnetism, radio waves, electromagnetic waves, ultrasound, or a combination of two or more of these, and may include a photoelectric sensor, a laser sensor, a radio wave sensor, an electromagnetic wave sensor, an ultrasonic sensor, various types of LiDAR, or a combination of two or more of these.

[0035] The control device 600, the secondary battery module 10, the power supply circuit 20, and the communication device 30 are arranged within the support 500. The secondary battery module 10 functions as a power source for the robot 1. The secondary battery module 10 includes one or more secondary batteries. A secondary battery is a battery that can charge and discharge power. Examples of secondary batteries may include a lead-acid battery, a lithium-ion secondary battery, an all-solid-state battery, a nickel-metal hydride battery, a nickel-cadmium battery, etc.

[0036] The power supply circuit 20 controls the supply and demand of power to the secondary battery module 10 in accordance with commands from the control device 600, etc. For example, the power supply circuit 20 may include devices such as a converter, inverter, transformer, and amplifier. The power supply circuit 20 receives power from an external power source EP, such as a commercial power source, and supplies and stores the power to the secondary battery module 10 while controlling it. The power supply circuit 20 supplies the power stored in the secondary battery module 10 to components in the robot 1 that consume power while controlling it. The external power source EP is shown in FIG. 3.

[0037] The communication device 30 communicates with the communication device 2a of the input device 2. The communication device 30 has a structure suitable for the communication used. The communication device 30 may include a communication circuit.

[0038] The control device 600 is configured to control the entire robot 1. FIG. 3 is a block diagram showing an example of the configuration of a robot system A according to an embodiment. As shown in FIG. 3, the control device 600 is communicably connected to the input device 2 via the communication device 30. The control device 600 controls the operations of the various components of the robot 1 in accordance with commands received from the input device 2. The control device 600 controls the operations of the various components of the robot 1 in accordance with a control program stored therein.

[0039] Examples of components to be controlled by the control device 600 may include the movement drive devices 141 and 142, the joint drive devices MA1 to MA6 and MB1 to MB6, the drive devices ME1 and ME2 of the end effectors 300 and 400, the power supply circuit 20, the communication device 30, the imaging devices 41a to 41f, the sensor 50, and the display 61, but not all of these are required.

[0040] When controlling the power supplied to a component, the control device 600 may output a current command value or the like to the power supply circuit 20, causing the power supply circuit 20 to supply power from the secondary battery module 10 to the component. The control device 600 may servo-control a servo motor. The control device 600 may obtain, from the servo motor, a detection result of a rotation sensor such as an encoder provided in the servo motor. The control device 600 may obtain a supply current value to the servo motor from a current sensor that may be disposed in the servo motor or the power supply circuit 20. The control device 600 may determine a current command value to the servo motor using the detection result of the rotation sensor and the supply current value as feedback information.

[0041] The control device 600 may be configured to cause the components of the robot 1 to perform one or more of the following actions: manual operation, automatic operation, and a combination of manual and automatic operation.

[0042] In manual operation, the control device 600 may control the components of the robot 1 to operate in accordance with the operation content input to the input device 2. The control device 600 may perform control in accordance with a manual operation program.

[0043] In the automatic operation, the control device 600 may control the components of the robot 1 to automatically, i.e., autonomously, perform a series of tasks corresponding to commands input to the input device 2. The control device 600 may perform control according to an automatic operation program corresponding to the tasks.

[0044] In a combination of manual driving and automatic driving, the control device 600 may control the components of the robot 1 to perform actions that sequentially follow the operation content and actions that autonomously execute a series of tasks, as appropriate, in accordance with the operation content and commands received from the input device 2. The control device 600 may perform control according to a hybrid driving program that combines an automatic driving program and a manual driving program, or may perform control according to the automatic driving program and the manual driving program sequentially.

[0045] The control device 600, like the input device 2, includes a processing circuit including a processor P and a memory M. For example, the control device 600 may be an electronic circuit board, an electronic control unit, a microcomputer, or other electronic device. The processor P transmits and receives commands, information, data, etc. to and from other devices. The processor P inputs signals from various devices and outputs control signals to controlled objects.

[0046] For example, the memory M may include a volatile semiconductor memory such as a random access memory (RAM), a non-volatile semiconductor memory such as a read-only memory (ROM), a hard disk, a solid state drive (SSD), or a combination of two or more of these. The memory M stores programs executed by the processor P, various data, etc.

[0047] At least some of the functions of the control device 600 and the input device 2 may be realized by cooperation between the processor P and the memory M. The processor P and the memory M including RAM and ROM form a computer system. For example, the computer system may realize the above functions by the processor P using the RAM as a work area and executing a program recorded in the ROM.

[0048] Some or all of the functions of the control device 600 and the input device 2 may be realized by the computer system described above, by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the computer system and the hardware circuits described above. For example, the control device 600 and the input device 2 may each perform processing under centralized control by a single computer, or may perform processing under distributed control by multiple computers working together.

[0049] For example, the processor P may include, but is not limited to, one or more of a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a processor core, a multiprocessor, an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), and a reconfigurable processor. The processor P may perform processing using a dedicated circuit or a logic circuit, which is a hardware circuit formed in an integrated circuit such as an IC (Integrated Circuit) chip or an LSI (Large Scale Integration). The respective multiple functions of the control device 600 and the input device 2 may be realized by individual integrated circuits formed on a single chip, or may be realized by an integrated circuit formed on a single chip so as to include some or all of the functions.

[0050] 4 and 5 are side views showing an example of the configuration of the first end effector 300 of the robot 1 of FIG. 1 in two different states. FIGS. 4 and 5 show the interior of the main body 310 of the first end effector 300. As shown in FIG. 4, the first end effector 300 has a structure suitable for holding a plate-shaped object PL. The first end effector 300 includes the main body 310, a first holding unit 320, a second holding unit 330, a driving unit ME1, a driving shaft 340, and a driven shaft 350. The main body 310 includes a mechanical interface that connects to the mechanical interface of the link LA6 or LB6 of the robot arm 200A or 200B.

[0051] The driving device ME1, the driving shaft 340, and the driven shaft 350 are disposed in the main body 310. The driving shaft 340 is connected to the driving device ME1 so as to be rotationally driven by the driving device ME1. The driven shaft 350 is gear-engaged with the driving shaft 340. A driven gear 351, which rotates integrally with the driven shaft 350, is engaged with a driving gear 341, which rotates integrally with the driving shaft 340. The driving device ME1 drives the driven shaft 350 to rotate via the driving shaft 340.

[0052] The first holding unit 320 is fixedly attached to the main body 310. At least a portion of the first holding unit 320 may be integrated with the main body 310. The first holding unit 320 includes a base link 321 extending from the main body 310 in the direction D4A, and a tip link 322 connected to the tip of the base link 321. The base link 321 and the tip link 322 may be integrated. The base link 321 has a columnar or finger-like shape and can function as the fingers of a robot hand.

[0053] 4 and 5 are directions based on the first end effector 300. The direction D4A is a direction away from the main body 310, and the direction D4B is a direction opposite to the direction D4A. The directions D5A and D5B are opposite to each other and are perpendicular to the directions D4A and D4B. The directions D6A and D6B are opposite to each other and are perpendicular to the directions D4A and D4B and intersect with the directions D5A and D5B. Although not limited thereto, in this embodiment, the directions D6A and D6B are perpendicular to the directions D5A and D5B.

[0054] The tip link 322 includes a recess 322a that opens in direction D4A and in directions D5A and D5B. The tip link 322 includes a base 322b connected to the base link 321 and clamping portions 322c and 322d that are arranged opposite each other. The recess 322a is formed between the clamping portions 322c and 322d. The first clamping portion 322c extends from the base 322b in direction D4A and directions D5A and D5B. The first clamping portion 322c has a flat surface 322ca that faces the second clamping portion 322d and in direction D6A. The widths of the first clamping portion 322c and the surface 322ca in directions D5A and D5B are greater than the width of the base 322b. For example, the first clamping portion 322c may have a plate-like shape.

[0055] The second clamping portion 322d is disposed in direction D6A relative to the first clamping portion 322c. The second clamping portion 322d extends from the base 322b in direction D4A and directions D5A and D5B. The second clamping portion 322d protrudes further in direction D4A than the first clamping portion 322c. The second clamping portion 322d has flat surfaces 322da and 322db facing the first clamping portion 322c. The widths of the second clamping portion 322d and the surfaces 322da and 322db in directions D5A and D5B are greater than the width of the base 322b and may be, for example, equal to the widths of the first clamping portion 322c and the surface 322ca in directions D5A and D5B.

[0056] Surface 322da is located in direction D4A relative to surface 322db and faces direction D6B. Surface 322da extends along surface 322ca and may be, for example, parallel to surface 322ca. Surface 322db slopes toward surface 322ca as it extends in direction D4B. This causes recess 322a to have a shape that tapers toward direction D6B as it extends in direction D4B. For example, recess 322a has a triangular prism shape with a wedge-shaped cross section. Although not limited thereto, in this embodiment, the ends of surfaces 322db and 322ca in direction D4A are located at equal distances from base 322b and face each other in directions D6A and D6B.

[0057] The second clamping unit 322d has a plate-like shape that is bent at a bent portion 322dc at the boundary between the surfaces 322da and 322db. This facilitates insertion of the second clamping unit 322d into the gap between the surface on which the plate-like object PL is placed and the plate-like object PL. Furthermore, even if the orientation of the end effector 300 relative to the plate-like object PL differs from that shown in FIG. 4 , with the surface 322da being angled rather than parallel to the surface of the plate-like object PL, the plate-like object PL can be easily inserted into the recess 322a. At least a portion of the second clamping unit 322d may have a tapered shape such that its thickness in direction D6A decreases as it advances in direction D4A. The plate-like object PL inserted into the recess 322a comes into contact with the surface 322ca and either or both of the surfaces 322da and 322db and is clamped by the clamping units 322c and 322d. The plate-like object PL is thus held by the first holding unit 320.

[0058] The second holding portion 330 is operably attached to the main body 310. The second holding portion 330 is disposed in direction D6B relative to the first holding portion 320. The second holding portion 330 faces the first holding portion 320 in direction D6A. The second holding portion 330 includes a link mechanism 331 connected to an end 310a of the main body 310 in direction D4A, and a tip link 332 connected to a tip of the link mechanism 331. For example, the end 310a may be located on the opposite side of the main body 310 from the mechanical interface.

[0059] The link mechanism 331 includes links 331a to 331e. Links 331a and 331b are rotatably connected at their respective base ends to the main body 310 and extend along each other. The tip of link 331a is rotatably connected to an intermediate position of link 331c. The tip of link 331b is rotatably connected to a base end of link 331d. Links 331c and 331d are rotatably connected at their respective base ends to tip link 332 and extend along each other. The base end of link 331c is rotatably connected to a rotating member 352 that rotates integrally with the driven shaft 350. In FIG. 4, the connection between link 331c and rotating member 352 is located further in direction D6A than the connection between links 331a and 331b and the main body 310. The connection between the tip of link 331a and link 331c is rotatably connected to one end of link 331e. The connection between the tip of link 331b and the base end of link 331d is rotatably connected to the other end of link 331e. Link mechanism 331 has a structure including two parallel links connected to each other.

[0060] The tip link 332 extends in direction D6A as it advances in direction D4A. The tip link 332 extends toward the first holding portion 320. The tip link 332 has a shape that tapers toward the tip, for example, a wedge-shaped or claw-shaped cross-sectional shape. The width of the tip link 332 in directions D5A and D5B is smaller than the width of the clamping portions 322c and 322d in directions D5A and D5B. The contact area over which the tip link 332 can come into contact with an object is smaller than the contact area over which the clamping portions 322c and 322d can come into contact with an object.

[0061] In the first end effector 300 shown in FIG. 4, when the driving unit ME1 rotates the driven shaft 350 in direction R1 via the driving shaft 340, the first end effector 300 enters the state shown in FIG. 5. The link mechanism 331 translates the tip link 332 in directions D4B and D6A as the rotating member 352 rotates in direction R1 and moves the base end of the link 331c. This causes the tip of the tip link 332 to approach and move away from the second clamping unit 322d. The second holding unit 330 operates to move the tip link 332 toward and away from the second clamping unit 322d. The second holding unit 330 uses the tip link 332 to press the plate-like object PL inserted in the recess 322a against the second clamping unit 322d, firmly holding the plate-like object PL. In other words, the first holding unit 320 and the second holding unit 330 grip the plate-like object PL.

[0062] 6 and 7 are side views showing an example of the configuration of the second end effector 400 of the robot 1 in FIG. 1 in two different states. FIGS. 6 and 7 show the interior of the main body 410 of the second end effector 400. As shown in FIG. 6, the second end effector 400 includes the main body 410, a first holding unit 420, a second holding unit 430, a driving unit ME2, a driving shaft 440, a first driven shaft 450, and a second driven shaft 460. The main body 410 includes a mechanical interface that connects to the mechanical interface of the link LA6 or LB6 of the robot arm 200A or 200B.

[0063] The driving device ME2, the driving shaft 440, and the driven shafts 450 and 460 are disposed in the main body 410. The driving shaft 440 is connected to the driving device ME2 so as to be rotationally driven by the driving device ME2. The first driven shaft 450 is gear-engaged with the driving shaft 440, and the second driven shaft 460 is gear-engaged with the first driven shaft 450. A driven gear 451, which rotates integrally with the first driven shaft 450, is engaged with a driving gear 441, which rotates integrally with the drive shaft 440. A driven gear 461, which rotates integrally with the second driven shaft 460, is engaged with the driven gear 451. The driving device ME2 drives the driven shafts 450 and 460 to rotate in opposite directions to each other via the driving shaft 440.

[0064] 6 and 7 are directions based on the second end effector 400, and are defined in the same manner as the directions D4A, D4B, D5A, D5B, D6A, and D6B of the first end effector 300. The directions D7A and D7B correspond to the directions D4A and D4B, respectively, the directions D8A and D8B correspond to the directions D5A and D5B, respectively, and the directions D9A and D9B correspond to the directions D6A and D6B, respectively.

[0065] The retaining portions 420 and 430 are operably attached to an end 410a of the main body 410 in a direction D7A. The second retaining portion 430 is disposed in a direction D9A relative to the first retaining portion 420. The second retaining portion 430 faces the first retaining portion 420 in a direction D9B. For example, the end 410a may be located on the side of the main body 410 opposite the mechanical interface.

[0066] The holders 420 and 430 each include a link mechanism 421 and 431 connected to the end 410a, and a tip link 422 and 432 connected to the tip of the link mechanism 421 and 431. The link mechanisms 421 and 431 have a structure similar to that of the link mechanism 331 of the first end effector 300. Although not limited thereto, in this embodiment, the link mechanisms 421 and 431 have structures symmetrical to each other with respect to an axis extending in the directions D7A and D7B. One link 421a of the link mechanism 421 is rotatably connected to a rotating member 452 that rotates integrally with the first driven shaft 450. One link 431a of the link mechanism 431 is rotatably connected to a rotating member 462 that rotates integrally with the second driven shaft 460.

[0067] The tip links 422 and 432 include connecting portions 422a and 432a connected to the link mechanisms 421 and 431, respectively, and tip portions 422b and 432b. The tip portions 422b and 432b are slidably connected to the connecting portions 422a and 432a, respectively. The tip portions 422b and 432b slide along a plane that includes the directions D7A and D9A and intersects with the directions D7A and D9A. The structure for sliding the tip portions 422b and 432b may be any structure that can achieve a sliding motion. For example, one of the tip portions 422b and 432b and the connecting portions 422a and 432a may include a protrusion, and the other may include a recess such as a slot or a groove that slidably receives the protrusion.

[0068] When tip portion 422b receives a force in direction D7B while sliding in direction D7A relative to connecting portion 422a, it can move in direction D7B while also moving in direction D9B. When tip portion 422b receives a force in direction D9B while in the above state, it can move in direction D9B while also moving in direction D7B. When tip portion 432b receives a force in direction D7B while sliding in direction D7A relative to connecting portion 432a, it can move in direction D7B while also moving in direction D9A. When tip portion 422b receives a force in direction D9A while in the above state, it can move in direction D9A while also moving in direction D7B. In this embodiment, tip portions 422b and 432b are connected to connecting portions 422a and 432a, respectively, so that they cannot change orientation relative to connecting portions 422a and 432a. However, the tip portions 422b and 432b may be pivotally connected to the connecting portions 422a and 432a, respectively, so that their orientation can be freely changed.

[0069] A biasing member such as a coil spring may be disposed on connecting portions 422a and 432a and may bias tip portions 422b and 432b in direction D7A. The biasing member on connecting portion 422a absorbs the impact that holding portion 420 receives when tip portion 422b receives a force in direction D7B or D9B from object W. The biasing member on connecting portion 432a absorbs the impact that holding portion 430 receives when tip portion 432b receives a force in direction D7B or D9A from object W. The biasing member enables holding portions 420 and 430 to stably grasp object W by sandwiching object W between tip links 422 and 432 by elastic force.

[0070] In the second end effector 400 in the state shown in FIG. 6, when the drive unit ME2 rotationally drives the first driven shaft 450 in direction R1 via the drive shaft 440, the first driven shaft 450 rotationally drives the second driven shaft 460 in direction R2, which is opposite to direction R1. The second end effector 400 enters the state shown in FIG. 7. As the rotating member 452 rotates in direction R1, the link mechanism 421 translates the tip link 422 in directions D7B and D9A. As the rotating member 462 rotates in direction R2, the link mechanism 431 translates the tip link 432 in directions D7B and D9B. This allows the second end effector 400 to pinch and grasp the object W between the tip links 422 and 432.

[0071] [Robot system operation] An example of a first operation of the robot system A according to the embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of the first operation of the robot system A according to the embodiment. Figs. 9 to 13 are perspective views showing an example of a state of the robot 1 included in the first operation. In the first operation, the robot 1 automatically delivers a tray TR, which is an example of a plate-like object, to a user using the robot arms 200A and 200B.

[0072] In step S101, the input device 2 receives a serving command to serve a tray TR to a user of the table TA. The input device 2 transmits the serving command and the position information of the table TA to the robot 1. At this time, the service provider places the tray TR carrying a container containing a beverage, which is an example of food, on the shelf 521 of the rack 520 of the robot 1.

[0073] In step S102, the control device 600 starts an automatic operation program for the serving operation of the robot 1, and executes subsequent control of the robot 1 in accordance with the automatic operation program. The automatic operation program for serving operation is a program that causes the robot 1 to autonomously transport the tray TR from a starting point to a destination and serve the tray TR at the destination.

[0074] In step S103, the control device 600 operates the mobile device 100 and moves the robot 1 to the table TA while causing the imaging device 40 to take an image. The control device 600 moves the robot 1 while avoiding obstacles by using map information stored in the memory M and the results of image processing of the image data acquired by the imaging device 40.

[0075] In step S104, when the robot 1 arrives in front of the table TA, the control device 600 causes the imaging device 40 to capture an image of the table TA and the tray TR. The control device 600 processes the image data acquired by the imaging device 40 to detect the position, shape, and size of the tray TR on the rack 520 and the position, shape, and size of the table TA. The control device 600 then determines the target position on the edge TRa of the tray TR to be grasped by the first end effector 300 and the target position on the table TA where the tray TR should be placed. In the subsequent control, the control device 600 causes the imaging device 40 to capture an image while operating the robot 1. The control device 600 then adjusts the positions and orientations of the first end effector 300, the second end effector 400, and the tray TR using the processing results of the image data acquired by the imaging device 40, etc.

[0076] In step S105, as shown in FIG. 9 , the control device 600 controls the robot arm 200A to move the first end effector 300 so that the second clamping portion 322d of the first end effector 300 is positioned to the side of and near the target position on the edge TRa of the tray TR. The control device 600 controls the robot arm 200B to move the second end effector 400 so that the tip portions 422b and 432b of the second end effector 400 are positioned to the side of and near the edge TRb of the tray TR opposite the edge TRa. For example, the second clamping portion 322d and the tip portions 422b and 432b may be positioned opposite each other across the tray TR. The order of movement of the end effectors 300 and 400 may be any order.

[0077] In step S106, as shown in FIG. 10 , the control device 600 controls the robot arm 200A to move the first end effector 300 so that the second clamping portion 322d of the first end effector 300 is inserted under the tray TR. The control device 600 adjusts the posture of the first end effector 300 so that the surface 322da of the second clamping portion 322d is horizontal under the tray TR. The control device 600 controls the robot arm 200A to move the first end effector 300 until the edge TRa of the tray TR is inserted into the recess 322a of the first holding portion 320. At this time, the tip portions 422b and 432b of the second end effector 400 abut against the edge TRb of the tray TR, preventing the tray TR from sliding. When inserting the second clamping unit 322d under the tray TR, the control device 600 may cause the robot arm 200B to move the second end effector 400 so that the tip portions 422b and 432b approach the edge TRb. In this step, the first end effector 300 is in the state shown in FIG.

[0078] The control device 600 may detect the insertion of the edge TRa into the recess 322a using the results of processing image data acquired by the imaging device 40, the load of the joint drive device of either or both of the robot arms 200A and 200B, the detection results of either or both of the force sensors arranged at the connection portions between the end effectors 300 and 400 and the robot arms 200A and 200B, or two or more of these.

[0079] In step S107, the control device 600 operates the second holding unit 330 of the first end effector 300 to grip the tray TR between the second clamping unit 322d and the second holding unit 330. This brings the first end effector 300 into the state shown in FIG.

[0080] In step S108, as shown in Fig. 11, the control device 600 controls the robot arm 200A to move the first end effector 300 so as to lift the tray TR and move it to a target position on the table TA. The control device 600 controls the robot arm 200B to move the second end effector 400 so as to move the tip portions 422b and 432b away from the edge TRb of the tray TR. The control device 600 adjusts the movement path of the tray TR using, for example, the processing results of the image data acquired by the imaging device 40. The movement order of the end effectors 300 and 400 may be any order.

[0081] 12, the control device 600 causes the robot arm 200A to move the first end effector 300 downward while tilting the tray TR slightly so that the edge TRb is lower than the edge TRa. The control device 600 stops the movement of the first end effector 300 when the edge TRb comes into contact with the surface of the table TA. The control device 600 may detect the contact between the edge TRb and the table TA using the processing results of the image data acquired by the imaging device 40, the load of the joint drive device of the robot arm 200A, the detection results of a force sensor disposed at the connection portion between the first end effector 300 and the robot arm 200A, or two or more of these.

[0082] 13, the control device 600 controls the robot arm 200B to move the second end effector 400 so that the tip portion 422b or 432b of the second end effector 400 comes into contact with the top of the tray TR near the edge TRb and presses the tray TR downward toward the surface of the table TA. The control device 600 may detect the pressing force of the second end effector 400 and adjust the pressing force using the load of the joint drive device of the robot arm 200B, the detection result of a force sensor disposed at the connection portion between the second end effector 400 and the robot arm 200B, or a combination of these.

[0083] In step S111, the control device 600 controls the robot arm 200A to move the first end effector 300 so as to pull out the second clamping portion 322d of the first end effector 300 from under the tray TR. After the second clamping portion 322d has been pulled out, the control device 600 controls the robot arm 200B to move the second end effector 400 so as to move the tip portions 422b and 432b away from the tray TR.

[0084] In step S112, the control device 600 operates the moving device 100 to move the robot 1 to a predetermined standby position or a location designated via the input device 2.

[0085] An example of a second operation of the robot system A according to the embodiment will be described with reference to Fig. 14. Fig. 14 is a flowchart showing an example of the second operation of the robot system A according to the embodiment. Figs. 15 to 18 are perspective views showing an example of a state of the robot 1 included in the second operation. In the second operation, the robot 1 automatically collects a tray TR, which is an example of a plate-like object, from a user using the robot arms 200A and 200B.

[0086] In step S201, the input device 2 receives a collection command from the user to collect the tray TR on the table TA. The input device 2 transmits the collection command and the position information of the table TA to the robot 1.

[0087] In step S202, the control device 600 starts an automatic operation program for the recovery operation of the robot 1, and executes subsequent control of the robot 1 in accordance with the automatic operation program. The automatic operation program for the recovery operation is a program that causes the robot 1 to autonomously move from a starting point to a destination, recover the tray TR at the destination, and discard the items on the tray TR.

[0088] In step S203, similarly to step S103 of the first operation, the control device 600 operates the moving device 100, and moves the robot 1 to the table TA while causing the imaging device 40 to capture an image.

[0089] In step S204, when the robot 1 arrives in front of the table TA, the control device 600 causes the imaging device 40 to capture images of the table TA, tray TR, and waste box WB. The control device 600 processes the image data acquired by the imaging device 40 to detect the position, shape, and size of the table TA, the position, shape, and size of the tray TR on the table TA, and the position, shape, and size of the waste box WB. The control device 600 then determines a target position on the edge TRa of the tray TR that the first end effector 300 should grasp. In subsequent control operations, the control device 600 controls the robot 1 to operate while causing the imaging device 40 to capture images. The control device 600 then adjusts the positions and orientations of the first end effector 300, the second end effector 400, and the tray TR using the processing results of the image data acquired by the imaging device 40, etc.

[0090] In step S205, as shown in FIG. 15 , the control device 600 controls the robot arm 200A to move the first end effector 300 so that the second clamping portion 322d of the first end effector 300 is positioned to the side of and near the target position on the edge TRa of the tray TR. The control device 600 controls the robot arm 200B to move the second end effector 400 so that the tip portions 422b and 432b of the second end effector 400 are positioned to the side of and near the edge TRb of the tray TR. For example, the second clamping portion 322d and the tip portions 422b and 432b may be positioned opposite each other with the tray TR in between. The order of movement of the end effectors 300 and 400 may be any order.

[0091] In step S206, as shown in FIG. 16 , the control device 600 controls the robot arm 200A to move the first end effector 300 so that the second clamping portion 322d of the first end effector 300 is inserted between the tray TR and the surface of the table TA. The control device 600 controls the robot arm 200A to move the first end effector 300 until the edge TRa of the tray TR is inserted into the recess 322a of the first holding portion 320. At this time, the tip portions 422b and 432b of the second end effector 400 abut against the edge TRb of the tray TR to prevent the tray TR from sliding. When inserting the second clamping portion 322d under the tray TR, the control device 600 may also control the robot arm 200B to move the second end effector 400 so that the tip portions 422b and 432b approach the edge TRb. In this step, the first end effector 300 is in the state shown in FIG.

[0092] The control device 600 may detect the insertion of the edge TRa into the recess 322a using the results of processing image data acquired by the imaging device 40, the load of the joint drive device of either or both of the robot arms 200A and 200B, the detection results of either or both of the force sensors arranged at the connection portions between the end effectors 300 and 400 and the robot arms 200A and 200B, or two or more of these.

[0093] In step S207, the control device 600 operates the second holding unit 330 of the first end effector 300 to grip the tray TR between the second clamping unit 322d and the second holding unit 330. This brings the first end effector 300 into the state shown in FIG.

[0094] In step S208, as shown in Fig. 17, the control device 600 controls the robot arm 200A to move the first end effector 300 so as to raise the tray TR and move it to a position above the waste box WB. The control device 600 controls the robot arm 200B to move the second end effector 400 so as to move the tip portions 422b and 432b away from the edge TRb of the tray TR. The control device 600 adjusts the movement path of the tray TR using, for example, the processing results of the image data acquired by the imaging device 40. The movement order of the end effectors 300 and 400 may be any order.

[0095] In step S209, as shown in FIG. 18, the control device 600 causes the robot arm 200A to move the first end effector 300 so as to tilt the tray TR above the waste box WB and drop the beverage containers on the tray TR.

[0096] In step S210, the control device 600 causes the robot arm 200A to move the first end effector 300 so as to move and place the tray TR onto the shelf 521 of the rack 520. In the course of this step, the control device 600 may cause the robot arm 200B to press the second end effector 400 against the tray TR, similar to steps S110 and S111 of the first operation.

[0097] In step S211, the control device 600 operates the moving device 100 to move the robot 1 to a predetermined waiting position, a tray TR return location, or a location designated via the input device 2.

[0098] An example of a third operation of the robot system A according to the embodiment will be described. In the third operation, the robot 1 automatically retrieves a tray TRA, an example of a plate-like object, from a user using only the robot arm 200A. The structure of the first end effector 300A used in the third operation may be the same as the structure of the first end effector 300 used in the first and second operations. However, in this example, to facilitate the third operation, the structure of the first end effector 300A used in the third operation is partially different from the structure of the first end effector 300 used in the first and second operations. Furthermore, the structure of the tray TRA used in the third operation is partially different from the structure of the tray TR used in the first and second operations.

[0099] Fig. 19 is a side view showing an example of the configuration of another first end effector 300A, similar to Fig. 4. As shown in Fig. 19, the structure of the second clamping portion 322d of the first end effector 300A is different from the structure of the second clamping portion 322d of the first end effector 300.

[0100] In the first end effector 300A, a tip portion 322dd of a second clamping portion 322d extending from a base portion 322b in the direction D4A protrudes in the direction D6A further than a portion of the second clamping portion 322d adjacent to the tip portion 322dd in the direction D4B. The tip portion 322dd protrudes in the direction opposite to the direction toward the first clamping portion 322c.

[0101] In FIG. 19, the tip portion 322dd is bent so as to protrude in direction D6A. Specifically, it is curved, but it may be bent. The tip portion 322dd may include a protrusion protruding in direction D6A, and the thickness of the tip portion 322dd in direction D6A may be greater than the thickness of a portion of the second clamping portion 322d adjacent to the tip portion 322dd in direction D4B. When there is a protrusion or a change in thickness, the tip portion 322dd may be curved or not. In FIG. 19, the surface 322da of the second clamping portion 322d is curved near the tip portion 322dd, but it may be flat.

[0102] Fig. 20 is a perspective view showing an example of the configuration of another tray TRA. As shown in Fig. 20, the tray TRA has a shape similar to that of the tray TR, but includes supports TRAg. A plurality of supports TRAg are arranged on the rear surface TRAf of the tray TRA and protrude from the rear surface TRAf. The rear surface TRAf is the surface of the tray TRA opposite to the placement surface TRAe on which an article is placed. The shape of the supports TRAg is a rectangular parallelepiped, but may be any shape.

[0103] In FIG. 20 , four supports TRAg are arranged near the four corners of a rectangular plate-shaped tray TRA. The four supports TRAg are arranged near four edges TRAa, TRAb, TRAc, and TRAd of the tray TRA. The edges TRAa and TRAb are located on opposite sides of the mounting surface TRAe and protrude from the mounting surface TRAe. The edges TRAc and TRAd are located on opposite sides of the mounting surface TRAe and protrude from the mounting surface TRAe. The number of supports TRAg is not limited to four and may be changed depending on the shape and size of the tray TRA. The number of supports TRAg may be any number that can stably support the tray TRA on the surface on which the tray TRA is placed.

[0104] Fig. 21 is a flowchart showing an example of the third operation of the robot system A according to the embodiment. Figs. 22 to 29 are perspective views showing an example of the state of the robot 1 included in the third operation. In step S301, the input device 2 receives a collection command from the user to collect the tray TR on the table TA. The input device 2 transmits the collection command and position information of the table TA to the robot 1. The table TA is an example of a support base.

[0105] In steps S302 to S304, the control device 600 performs the same processes as in steps S202 to S204 of the second operation to move the robot 1 to the table TA and detect the position of the tray TRA, as shown in Fig. 22. Furthermore, the control device 600 determines a target position on the edge TRAa of the tray TRA to be grasped by the first end effector 300A.

[0106] In step S305, as shown in FIG. 23, the control device 600 controls the robot arm 200A to move the first end effector 300A so that the first end effector 300A passes over the edge TRAa of the tray TRA and moves above the placement surface TRAe of the tray TRA. The placement surface TRAe is an example of the upper surface of the tray TRA. Furthermore, the control device 600 controls the robot arm 200A to lower the first end effector 300A so that the tip portion 322dd of the second clamping portion 322d of the first end effector 300A contacts the placement surface TRAe from above and presses it downward. Because the tip portion 322dd protrudes, force is easily transmitted from the second clamping portion 322d to the tray TRA. The bent portion 322dc of the second clamping portion 322d is located above the placement surface TRAe and near the edge TRAa.

[0107] 24, the control device 600 causes the robot arm 200A to move the first end effector 300A in a direction DS1, which is laterally from the edge TRAb toward the edge TRAa. At this time, the robot arm 200A moves the first end effector 300A in a direction along the placement surface TRAe while pressing the tip portion 322dd of the second clamping unit 322d against the placement surface TRAe. The robot arm 200A can slide the tray TRA in the direction DS1 due to the frictional force between the tip portion 322dd and the placement surface TRAe.

[0108] For example, when the frictional force is equal to or less than the frictional force between the support TRAg of the tray TRA and the table TA, the tip portion 322dd slides on the placement surface TRAe in the direction DS1, and the second clamping portion 322d or its bent portion 322dc abuts or engages with the edge TRAa of the tray TRA. The robot arm 200A can slide the tray TRA in the direction DS1 by this abutment or engagement. When this abutment or engagement occurs, the tip portion 322dd of the second clamping portion 322d does not need to be pressed against the placement surface TRAe or not need to be in contact with the placement surface TRAe.

[0109] In step S307, as shown in FIG. 25, the tray TRA slides, causing the two supports TRAg near the edge TRAa of the tray TRA to deviate from the table TA. This causes the edge TRAa and the two supports TRAg to protrude from the edge TAa of the table TA in the direction DS1, and the tray TRA tilts so that the edge TRAa is positioned lower than the edge TRAb. As a result, the contact between the tip portion 322dd of the second clamping portion 322d and the placement surface TRAe and the abutment and engagement between the second clamping portion 322d and the edge TRAa are released, and the sliding of the tray TRA stops. After the contact or engagement is released, the control device 600 ends the operation of the robot arm 200A that slides the tray TRA and moves on to the next operation.

[0110] The control device 600 may detect the contact or the release of the engagement using the processing results of image data acquired by the imaging device 40, the load of the joint drive device of the robot arm 200A, the detection results of a force sensor placed at the connection between the first end effector 300A and the robot arm 200A, or two or more of these.

[0111] 26, in step S308, the control device 600 causes the robot arm 200A to move the first end effector 300A so that the second clamping portion 322d of the first end effector 300A is inserted under the tray TRA and moved in the direction DS2, thereby inserting the edge TRAa of the tray TRA into the recess 322a of the first holding portion 320. The direction DS2 is opposite to the direction DS1.

[0112] 27, in step S309, the control device 600 causes the robot arm 200A to move the first end effector 300A in the direction DS2 so that the edge TRAa of the tray TRA within the recess 322a is pushed in the direction DS2 by the first holding unit 320. The robot arm 200A slides the tray TRA in the direction DS2 via the first holding unit 320. The support members TRAg near the edge TRAa abut against the edge TAa of the table TA to prevent the tray TR from sliding. As a result, the edge TRAa is deeply inserted into and deeply engaged with the recess 322a.

[0113] The control device 600 may detect the contact of the support TRAg using the processing results of image data acquired by the imaging device 40, the load of the joint drive device of the robot arm 200A, the detection results of a force sensor placed at the connection between the first end effector 300A and the robot arm 200A, or two or more of these.

[0114] In step S310, as shown in FIG. 28, the control device 600 operates the second holding portion 330 of the first end effector 300A, and causes the second clamping portion 322d and the second holding portion 330 to grip the tray TRA.

[0115] In step S311, as shown in FIG. 29, the control device 600 causes the robot arm 200A to move the first end effector 300A so as to raise the tray TR and move it onto the shelf 521 of the rack 520 and place it thereon.

[0116] In step S312, the control device 600 operates the moving device 100 to move the robot 1 to a predetermined waiting position, a place where the tray TRA is returned, or a place designated via the input device 2.

[0117] (Other embodiments) Although examples of embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, various modifications made to the embodiments and embodiments constructed by combining components of different embodiments are also included within the scope of the present disclosure.

[0118] In the embodiment, the robot 1 is used as a robot for providing services to people, but may be used for other purposes. For example, the robot 1 may be configured to be used for work in factories, warehouses, etc.

[0119] In the robot 1 according to the embodiment, the support 500 may have a structure that allows the robot arms 200A and 200B to be raised and lowered in the vertical directions D1A and D1B. For example, the support 500 may have an extendable structure such as a telescoping structure. The support column 510 may have a structure that allows the display 61 to be raised and lowered in the vertical directions D1A and D1B. For example, the support column 510 may have an extendable structure such as a telescoping structure, or may have a structure that allows the support column 510 itself to move in the vertical directions D1A and D1B. The drive source for the support column 500 and the support column 510 may be an electric actuator such as a servo motor, or may be an actuator operated by another power source such as gas pressure or hydraulic pressure.

[0120] In the robot 1 according to the embodiment, the robot arms 200A and 200B are arranged on one mobile device 100, but this is not limiting. For example, the robot arms 200A and 200B may be arranged on a non-movable object. The robot arms 200A and 200B may also be arranged on different objects.

[0121] The robot 1 according to the embodiment includes two robot arms 200A and 200B, but is not limited to this. For example, the number of robot arms 200 included in the robot 1 may be one or three or more. For example, a robot 1 including only the robot arm 200A including the first end effector 300 or 300A can perform the first, second, and third operations. The robot 1 can perform the third operation as described above. The robot 1 can perform the first and second operations by using a tray TRA used in the third operation. In the first and second operations of the embodiment, the robot arm 200B holds the tray TR so as not to move using the second end effector 400. However, the robot 1 may perform the first and second operations by utilizing the engagement of the support TRAg of the tray TRA and the abutment of the tray TRA, for example.

[0122] Examples of aspects of the technology of the present disclosure are given as follows: A method for controlling a robot according to a first aspect of the present disclosure includes: causing a first robot arm and a second robot arm to move a first end effector of a first robot arm provided on the robot and a second end effector of a second robot arm provided on the robot so as to position the first end effector and the second end effector on either side of a plate-like object being placed; causing the first robot arm to move the first end effector toward a first end of the plate-like object and operate the first end effector to grip the first end; and causing the first robot arm to move the first end effector to a target position and place the plate-like object at the target position.

[0123] According to the first aspect, when the first end effector moves toward the first end of the plate-like object, the second end effector stops the plate-like object from sliding. This makes it possible to reliably position the first end effector so that it can grasp the plate-like object. The first end effector positioned in this manner holds the plate-like object by grasping it. The plate-like object is transported by only the first robot arm. This makes it possible to reliably transport the plate-like object and reduce the operations of the two robot arms involved in the transport.

[0124] A control method for a robot according to a second aspect of the present disclosure in the above first aspect may include, in the process of placing the plate-like object at the target position, having the first robot arm move the first end effector so as to impart a tilt to the plate-like object so that a second end opposite the first end of the plate-like object is lower than the first end, having the first robot arm move the first end effector so as to lower the tilted plate-like object and place the second end on the surface of the target position, having the first end effector release its grip on the plate-like object, and having the first robot arm move the first end effector so as to pull out a portion of the first end effector from between the plate-like object and the surface of the target position.

[0125] According to the second aspect, after the second end of the plate-like object is brought into contact with the surface of the target position, a part of the first end effector is withdrawn from under the plate-like object, and the plate-like object is placed. This allows the plate-like object to be placed gently.

[0126] In the above-mentioned second aspect, the robot control method according to the third aspect of the present disclosure may include causing the second robot arm to move the second end effector so that the second end effector presses the second end of the plate-like object toward the surface of the target position when pulling out a portion of the first end effector.

[0127] According to the third aspect, when a part of the first end effector is pulled out, the plate-like object is prevented from sliding together with the first end effector, and therefore the plate-like object can be reliably placed at the target position.

[0128] A robot control method according to a fourth aspect of the present disclosure in any of the first to third aspects above may include causing the second robot arm to move the second end effector toward the first end so as to bring the second end effector closer to a second end of the plate-like object opposite the first end.

[0129] According to the fourth aspect, when the first end effector is moved toward the first end, the plate-like object is prevented from being pushed and moved by the first end effector, thereby enabling the plate-like object to be securely gripped.

[0130] In a method for controlling a robot according to a fifth aspect of the present disclosure in any one of the first to fourth aspects, the second end effector may include a first holding unit and a second holding unit operable to grasp an object. According to the fifth aspect, while the first end effector is holding the plate-like object, the second end effector and the second robot arm can perform other tasks such as placing and removing an object on the plate-like object.

[0131] A robot control method according to a sixth aspect of the present disclosure includes having a first robot arm equipped with the robot move a first end effector of the first end effector so that the first end effector contacts a plate-like object placed on a support base from above; having the first robot arm move the first end effector so that the first end effector slides the plate-like object sideways; having the first robot arm move the first end effector so that the first end effector grasps a first end of the plate-like object protruding from the support base by sliding it; and having the first robot arm move the first end effector to a target position so that the first end effector places the plate-like object at the target position.

[0132] According to the sixth aspect, a plate-like object can be transported using a single first robot arm. The first robot arm can transport the plate-like object by sliding and gripping the plate-like object using a first end effector. After the sliding movement, the first end of the plate-like object protrudes from the support base, so the first end effector can easily and reliably grip the first end. This makes it possible to reliably transport the plate-like object and reduce the number of robot arm movements involved in the transport.

[0133] In the control method for a robot according to the seventh aspect of the present disclosure in the above sixth aspect, the plate-like object includes a support that supports the plate-like object on the support base and protrudes from the plate-like object, and the control method may include terminating the operation of the first robot arm that slides the plate-like object when the support deviates from the support base during the process of sliding the plate-like object.

[0134] According to the seventh aspect, when the support deviates from the support base, the inclination of the plate-like object changes. This can release the contact between the first end effector and the plate-like object. There is no need to operate the robot arm to release the contact between the first end effector and the plate-like object.

[0135] A control method for a robot according to an eighth aspect of the present disclosure in the seventh aspect above may include, in the process of having the first end effector grasp the first end of the plate-like object, having the first robot arm move the first end effector so as to bring the first end effector into contact with the first end of the plate-like object and slide the plate-like object, and when the support body comes into contact with the support base, having the first end effector perform a grasping operation.

[0136] According to the eighth aspect, the support member in contact with the support base prevents the sliding movement of the plate-like object, thereby enabling a secure engagement between the first end effector and the first end, and this engagement enables the first end to be securely gripped by the first end effector.

[0137] A robot control method according to a ninth aspect of the present disclosure in any of the above first to eighth aspects may include, when moving the first end effector toward the first end, causing the first robot arm to move the first end effector so that a first holding portion of the holding portions provided on the first end effector that is immobile relative to the first end effector is inserted under the plate-like object, and when operating the first end effector to grasp the first end, causing a second holding portion of the holding portions provided on the first end effector that is movable relative to the first end effector to clamp the first end of the plate-like object between the first holding portion and the second holding portion.

[0138] According to the ninth aspect, the first holding unit is stationary and the second holding unit is movable, thereby simplifying the structure of the first end effector. Due to the structure of the first end effector being disposed at the tip of the first robot arm, a powerful and large electric actuator is often not suitable for mounting on the first end effector as an actuator for driving the holding unit. A high load acts on the holding unit that supports the first end of the plate-shaped member from below. Because the stationary first holding unit is used as such a holding unit, it is possible to stably and reliably hold the plate-shaped member without using a powerful and large electric actuator.

[0139] In the robot control method according to the ninth aspect of the present disclosure, the first holding unit may include a plate-like portion inserted under the plate-like object and extending in a first direction away from the first end effector. According to the tenth aspect, the first holding unit can be easily inserted under the plate-like object.

[0140] In the robot control method according to the tenth aspect of the present disclosure, the plate-like portion may have a dimension larger than that of the second holding part in a second direction intersecting with the first direction. According to the eleventh aspect, the first holding part can stably support the plate-like object from below.

[0141] In the robot control method according to the twelfth aspect of the present disclosure in the tenth or eleventh aspect, the first holding unit may include a recess at a base of the plate-like portion opposite to the first direction, the recess receiving an end of the plate-like object and extending in a second direction intersecting the first direction. According to the twelfth aspect, the end of the plate-like object abuts against a wall surface of the recess and is held by the wall surface. This enables the plate-like object to be securely gripped and the load acting on the second holding unit to be reduced.

[0142] In the robot control method according to the thirteenth aspect of the present disclosure in the twelfth aspect, the plate-like portion may be bent so that the recess narrows toward the base of the plate-like portion. According to the thirteenth aspect, the recess has a shape that widens toward the open end. This makes it easy to insert the end of the plate-like object into the recess.

[0143] In the robot control method according to a fourteenth aspect of the present disclosure in the twelfth or thirteenth aspect, the plate-like portion may extend in the first direction beyond an inner surface of the recess facing the plate-like portion. According to the fourteenth aspect, the first holding portion can stably support the plate-like object from below while facilitating insertion of an end of the plate-like object into the recess.

[0144] In a method for controlling a robot according to a fifteenth aspect of the present disclosure in any of the first to fourteenth aspects, the plate-like object placed on a placement portion of the robot may be placed at the destination position. According to the fifteenth aspect, the plate-like object placed on the robot can be transported to a destination position other than the robot.

[0145] In a method for controlling a robot according to a sixteenth aspect of the present disclosure in any one of the first to fourteenth aspects, the plate-like object placed at a position other than the robot may be placed on a placement portion of the robot. According to the sixteenth aspect, it is possible to place the plate-like object placed at a position other than the robot on the robot.

[0146] A robot according to a seventeenth aspect of the present disclosure includes a control device that executes the control method according to any one of the first to sixteenth aspects of the present disclosure, the first robot arm, the second robot arm, the first end effector, the second end effector, and a moving device that carries the first robot arm and the second robot arm. According to the seventeenth aspect, the same effects as those of the robot control method according to the above aspects of the present disclosure can be obtained.

[0147] A robot according to an eighteenth aspect of the present disclosure includes a control device that executes the control method according to any one of the first to sixteenth aspects of the present disclosure, the first robot arm, the first end effector, and a moving device that carries the first robot arm. According to the eighteenth aspect, the same effects as those of the robot control method according to the above aspects of the present disclosure can be obtained.

[0148] The control method of the present disclosure may be realized by a processor, a processing circuit, a combination of a processing circuit and a circuit, an IC card, a standalone module, or the like. The technology of the present disclosure may be a program for executing the control method of the present disclosure, or may be a non-transitory computer-readable recording medium on which the program is recorded. Needless to say, the program can be distributed via a transmission medium such as the Internet.

[0149] The functions of the elements disclosed herein can be performed using circuits or processing circuitry, including general-purpose processors, special-purpose processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuitry because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0150] The ordinal numbers, quantitative numbers, and other figures used above are all examples given to specifically explain the technology of the present disclosure, and the present disclosure is not limited to the illustrated figures. The connection relationships between the components are examples given to specifically explain the technology of the present disclosure, and the connection relationships that realize the functions of the present disclosure are not limited to these.

[0151] Because the present disclosure may be embodied in various forms without departing from the scope of its essential characteristics, the scope of the present disclosure is defined by the appended claims rather than the description in the specification, and therefore the exemplary embodiments and modifications are intended to be illustrative and not limiting. All modifications within the scope of the claims and their equivalents are intended to be embraced by the claims.

Claims

1. A method for controlling a robot, comprising: moving a first end effector of a first robot arm provided on the robot and a second end effector of a second robot arm provided on the robot to the first robot arm and the second robot arm so that the first end effector and the second end effector are positioned on both sides of the plate-like object placed on the first robot arm and the second robot arm; causing the first robot arm to move the first end effector toward a first end of the plate-like object and operate the first end effector to grip the first end; and causing the first robot arm to move the first end effector to a target position and causing the first end effector to place the plate-like object at the target position. Control method.

2. In the process of placing the plate-like object at the target position, moving the first end effector of the first robot arm so as to impart an inclination to the plate-like object such that a second end of the plate-like object opposite to the first end is lower than the first end; causing the first robot arm to move the first end effector so as to lower the inclined plate-like object and place the second end on a surface at the target position; causing the first end effector to release its grip on the plate-like object; and causing the first robot arm to move the first end effector so as to pull out a part of the first end effector from between the plate-like object and the surface of the target position. The control method according to claim 1 .

3. When a part of the first end effector is pulled out, the second end effector is moved by the second robot arm so that the second end effector presses the second end of the plate-like object against the surface of the target position. The control method according to claim 2 .

4. When the first end effector is moved toward the first end, the second robot arm moves the second end effector so as to approach a second end of the plate-like object that is opposite to the first end. The control method according to any one of claims 1 to 3.

5. when moving the first end effector toward the first end portion, moving the first robot arm to insert a first holding portion of the holding portion of the first end effector, the first holding portion being immovable relative to the first end effector, under the plate-like object; When the first end effector is operated to grip the first end portion, the second holding portion is operated so that the first end portion of the plate-like object is sandwiched between a second holding portion movable relative to the first end effector and the first holding portion, among holding portions provided in the first end effector. A control method according to any one of claims 1 to 4.

6. The first holding portion includes a plate-like portion inserted under the plate-like object and extending in a first direction away from the first end effector. The control method according to claim 5.

7. The plate-like portion has a dimension larger than that of the second holding portion in a second direction intersecting the first direction. The control method according to claim 6.

8. The first holding portion includes a recess at a base of the plate-like portion in a direction opposite to the first direction, the recess receiving an end of the plate-like object and extending in a second direction intersecting the first direction. The control method according to claim 6 or 7.

9. The plate-shaped portion is bent so as to narrow the recess toward a base of the plate-shaped portion. The control method according to claim 8.

10. The plate-shaped portion extends in the first direction beyond an inner surface of the recess facing the plate-shaped portion.

10. The control method according to claim 8 or 9.

11. The second end effector includes a first holder and a second holder operable to grasp an item. A control method according to any one of claims 1 to 10.

12. The plate-like object placed on the placement portion of the robot is placed at the target position. A control method according to any one of claims 1 to 11.

13. The plate-like object placed at a position separate from the robot is placed on a placement portion of the robot. A control method according to any one of claims 1 to 12.

14. A control device that executes the control method according to any one of claims 1 to 13; the first robot arm; the second robot arm; the first end effector; the second end effector; a moving device on which the first robot arm and the second robot arm are mounted; robot.

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