Work system and work method

Abstract

To achieve a more functional work system while reducing costs and installation space. [Solution] The washing system 1 comprises an articulated robot 10, a dishwasher 20 (pre-washer 20a and main washer 20b), and a control device 50. The articulated robot 10 transports the container 80. The dishwasher 20 performs work (washing dishes) on the objects to be worked on contained in the container 80 or on the container 80 itself. The control device 50 controls the operation of the articulated robot 10. The control device 50 moves the container 80 into the working area of ​​the dishwasher 20 by a movement operation that includes a first operation of supporting the front end of the container 80 and pulling it in a first direction, and a second operation of supporting the part of the container 80 other than the front end that was pulled in by the first operation and moving the container 80 in the first direction.

Description

Technical Field

[0001] The present invention relates to a work system and a work method.

Background Art

[0002] In recent years, dishwashers that automatically wash dishes have been widely used in stores and the like where cooking is performed. By using a dishwasher, an operator does not need to perform the dishwashing work, and the work burden for dishwashing can be reduced. Note that technologies related to automatic dishwashing are described in, for example, Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, operations such as putting dishes to be washed into the dishwasher and taking out the washed dishes from the dishwasher are not sufficiently automated, and it is required to reduce the work burden of these operations. On the other hand, in order to automate the loading of dishes into the dishwasher and the unloading of dishes from the dishwasher, it is necessary to install a large-scale conveying system, which causes problems such as an increase in cost and an expansion of the installation space. Note that such problems are not limited to a system for washing dishes by a dishwasher, but are common to work systems that automatically perform various operations by machines.

[0005] An object of the present invention is to realize a more highly functional work system while suppressing cost and installation space.

Means for Solving the Problems

[0006] To solve the above problems, a work system according to one embodiment of the present invention is A robot that transports containers, The container contains an object to be worked on or a work device for working on the container, A control unit that controls the operation of the robot, Equipped with, The control unit is characterized in that it moves the container to the working area of ​​the work device by a movement operation that includes a first operation of supporting the front end of the container and pulling it in a first direction, and a second operation of supporting the portion of the container other than the front end that was pulled in by the first operation and moving the container in the first direction. [Effects of the Invention]

[0007] According to the present invention, a more functional cleaning system can be realized while suppressing costs and installation space. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram (perspective view) showing the overall configuration of the cleaning system 1 according to the present invention. [Figure 2] This is a schematic diagram (front view) of the cleaning system 1 according to the present invention. [Figure 3] This is a schematic diagram (right side view) of the cleaning system 1 according to the present invention. [Figure 4] This is a schematic diagram (left side view) of the cleaning system 1 according to the present invention. [Figure 5] This is a schematic diagram (top view) of the cleaning system 1 according to the present invention. [Figure 6] This is a block diagram showing the system configuration of cleaning system 1. [Figure 7] This is a schematic diagram showing the layout of the work area of ​​cleaning system 1. [Figure 8] This is a schematic diagram showing an example of the shape of a hand 11 installed at the tip of the robot arm of a multi-joint robot 10. [Figure 9] It is a schematic diagram showing a state where the multi-joint robot 10 transports the container 80. [Figure 10] It is a schematic diagram showing the hardware configuration of the control device 50. [[ID=][7]] [Figure 11] It is a block diagram showing the functional configuration of the control device 50. [Figure 12] It is a flowchart showing the flow of the tableware washing process executed by the washing system 1.

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. [First Embodiment] [[ID=]

[23] ][Configuration] FIG. 1 is a schematic diagram (perspective view) showing the overall configuration of the washing system 1 according to the present invention. Further, FIG. 2 is a front view of the washing system 1 according to the present invention, FIG. 3 is a right side view of the washing system 1 according to the present invention, FIG. 4 is a left side view of the washing system 1 according to the present invention, FIG. 5 is a top view of the washing system 1 according to the present invention, respectively showing schematic diagrams. Also, FIG. 6 is a block diagram showing the system configuration of the washing system 1, and FIG. 7 is a schematic diagram showing the arrangement of the working area of the washing system 1. The washing system 1 shows an embodiment of the working system according to the present invention, and shows an example in which the present invention is applied to the work of automatically washing tableware (objects).

[0010] As shown in FIGS. 1 to 7, the washing system 1 includes a multi-joint robot 10, a tableware washing machine 20 (preliminary washing machine 20a and main washing machine 20b), a sensor unit 30, an operation unit 40, and a control device 50, and as tools for assisting the work (washing of tableware) in the washing system 1, a first mounting table 60, a second mounting table 70, and a container 80 are used. Also, each part in the washing system 1 where electrical control is performed is configured to be able to communicate with the control device 50 by wired communication or wireless communication, and operates according to the control of the control device 50.

[0011] The multi-joint robot 10 is composed of, for example, a 6-axis or 8-axis vertical multi-joint robot, etc. At the tip of the robot arm, there is a hand 11 (end effector) for performing various operations in the cleaning system 1, such as transporting the container 80 in which tableware is stored and opening and closing the door of the dishwashing machine 20.

[0012] FIG. 8 is a schematic diagram showing an example of the shape of the hand 11 installed at the tip of the robot arm of the multi-joint robot 10. As shown in FIG. 8, the hand 11 of the multi-joint robot 10 has a bottom plate portion extending from a base end portion connected to the wrist of the multi-joint robot 10, and side plate portions with a lower height closer to the tip are formed on the side edges of the bottom plate portion. The hand 11 is provided with claws 11a, 11b for engaging the handles of the container 80 at the tip and one side plate portion of the bottom plate portion. Further, on the bottom plate portion of the hand 11, there is provided a support member 11c for supporting the handles installed on the doors of the pre-cleaning machine 20a and the main cleaning machine 20b. The support member 11c includes two plate-like members standing up from the bottom plate portion in the same direction as the claw 11a, and the two plate-like members are installed with a slightly larger interval than the thickness (vertical width) of the handles installed on the doors of the pre-cleaning machine 20a and the main cleaning machine 20b. In addition, the back surface of the bottom plate portion of the hand 11 and the outer surface of the side plate portion without the claw 11b are configured to be flat, and have a shape suitable for the operation of pushing the container 80. The area of these flatly configured portions is preferably larger than the area of the portion where the claw 11a that engages the front end of the container 80 in the first operation contacts the container 80 from the viewpoint of force dispersion when pushing the container 80.

[0013] In this embodiment, the articulated robot 10 is installed between the pre-washing machine 20a and the main washing machine 20b. Therefore, even with a short robot arm, the working range of the articulated robot 10 can include the interiors of the pre-washing machine 20a and the main washing machine 20b. Furthermore, the joint that forms the base end of the articulated robot 10 is installed at a predetermined height (higher than the bottom edge of the open door) from the surface on which the container 80 is placed inside the pre-washing machine 20a and the main washing machine 20b. Below the part where the joint that forms the base end of the articulated robot 10 is installed, a space is formed that allows the interiors of the pre-washing machine 20a and the main washing machine 20b to communicate when the door is open. With this installation configuration, it is difficult for water to splash onto the base end of the articulated robot 10 from inside the washing machine, and the articulated robot 10 can easily transport the container 80 into the interiors of the pre-washing machine 20a and the main washing machine 20b.

[0014] Furthermore, the joints at the base of the articulated robot 10 are positioned flush with the front of the vertically movable doors of the pre-washing machine 20a and the main washing machine 20b, or protrude forward from the front of the doors. This suppresses limitations on the range of motion of the articulated robot 10, allowing the working area in the washing system 1 to be broadly included within the range of motion of the articulated robot 10. In order to appropriately install the base end of the articulated robot 10 in the manner described above, it is possible to make the member on which the base end of the articulated robot 10 is installed a unit structure that can be assembled integrally with the pre-washing machine 20a and the main washing machine 20b.

[0015] The articulated robot 10 transports the container 80 containing the dishes to be washed from the first mounting platform 60 into the pre-washer 20a, and then performs the action of closing the door of the pre-washer 20a (a downward sliding action).

[0016] Figure 9 is a schematic diagram showing the articulated robot 10 transporting a container 80. As shown in Figure 9, when the articulated robot 10 transports a container 80 containing dishes to be washed from the first mounting table 60 into the interior of the pre-washer 20a, the articulated robot 10 performs a movement operation (see Figures 9(1), (2)) which includes a first operation (see Figures 9(1), (2)) in which it supports the front end of the container 80 placed on the first mounting table 60 (here, engaging the claws 11a with the handle at the front end) and pulls it in a predetermined distance (for example, 10 to 20 cm) in a first direction (the direction from the first mounting table 60 towards the interior of the pre-washer 20a), and a second operation (see Figures 9(3), (4)) in which it supports the part of the container 80 other than the front end that was pulled in by the first operation (here, pressing the rear end) and moves the container 80 in the first direction. The first action pulls the container 80 in the first direction, creating a gap between the container 80 being transported and the subsequent container 80, even if the subsequent container 80 is in close proximity to the container 80 being transported. The articulated robot 10 can then insert its hand 11 into this gap and handle the container 80 being transported (e.g., by pushing it in the first direction).

[0017] When transporting container 80, if the same part (such as the front end of container 80) is repeatedly supported, the supported part of container 80 is likely to deform or break. However, as described above, by supporting the front end of container 80 in the first operation and supporting parts other than the front end of container 80 in the second operation, the load applied to specific parts of container 80 can be distributed, thereby suppressing deformation and damage to container 80. Furthermore, by dividing the operation in this way, transport can be performed even in narrow spaces such as the interior of a pre-washing machine 20a where an inner wall is located at the end of the first direction, and container 80 can be transported appropriately with a short robot arm configuration.

[0018] Furthermore, when the preliminary cleaning in the preliminary cleaning machine 20a is completed, the articulated robot 10 engages the support member 11c of the hand 11 with the handle installed on the door of the preliminary cleaning machine 20a and performs an operation to open the door of the preliminary cleaning machine 20a (an operation to slide it upward). Then, the articulated robot 10 transports the container 80 from inside the preliminary cleaning machine 20a to inside the main cleaning machine 20b. In this embodiment, the preliminary cleaning machine 20a and the main cleaning machine 20b are arranged in a direction perpendicular to the first direction (second direction). Therefore, the articulated robot 10 transports the container 80 into the main cleaning machine 20b by engaging the claw 11b with the handle on the side of the container 80 and pulling the container 80 in the second direction. Furthermore, when transporting the container 80 from the interior of the pre-washing machine 20a to the interior of the main washing machine 20b, the operation may involve engaging the claw 11b with the handle on the side of the container 80 and pulling it out in the second direction, and supporting the part of the container 80 other than the handle (for example, pressing the opposite side of the container 80) to move the container 80 into the interior of the main washing machine 20b. Alternatively, instead of engaging the claw 11b with the handle on the side of the container 80 and pulling it out in the second direction, the container 80 may be transported solely by supporting the part of the container 80 other than the handle (for example, pressing the opposite side of the container 80) to move the container 80 into the interior of the main washing machine 20b.

[0019] Furthermore, when the cleaning in the washing machine 20b is completed, the articulated robot 10 engages the support member 11c of the hand 11 with the handle installed on the door of the washing machine 20b and opens the door of the washing machine 20b. The articulated robot 10 then transports the container 80 from inside the washing machine 20b to the second platform 70. In this embodiment, the second platform 70 is located on the opposite side of the washing machine 20b from the articulated robot 10 (i.e., it is located in the second direction from the washing machine 20b). Therefore, the articulated robot 10 transports the container 80 to the second platform 70 by pushing the container 80 out of inside the washing machine 20b (by pressing the rear end in the transport direction).

[0020] In this embodiment, the articulated robot 10 is set to an initial position manually or automatically when the cleaning system 1 starts operating, and is set to automatically return to the initial position when the cleaning system 1 finishes operating. In the initial position of the articulated robot 10, each joint is bent to reduce the space occupied by the articulated robot 10, and the articulated robot 10 is stationary at a position higher than the lower edge of the open doors of the pre-cleaning machine 20a and the main cleaning machine 20b (higher than the openings of the pre-cleaning machine 20a and the main cleaning machine 20b). This prevents the articulated robot 10 from interfering with the work when workers are maintaining and cleaning the cleaning system 1, making it easier for workers to perform their tasks.

[0021] The dishwasher 20 is a device that automatically washes the dishes to be washed (dishes stored in the container 80), and in this embodiment, a pre-washer 20a and a main washer 20b are installed. The pre-washer 20a performs pre-washing to reduce heavy stains on the dishes and remove solid matter attached to the dishes in advance, in order to enhance the cleaning effect of the main washer 20b. As part of the pre-washing, for example, a high-temperature water jet is sprayed onto the dishes placed inside the machine.

[0022] This washing machine 20b performs a series of washing processes on the dishes placed inside the machine, automatically removing any dirt attached to them. For example, this washing process involves spraying detergent and a high-temperature water stream onto the dishes placed inside the machine. In this embodiment, the pre-washing machine 20a and the main washing machine 20b can be built-in and integrated with the sink, or they can be externally mounted and freestanding.

[0023] In this embodiment, the pre-washing machine 20a and the main washing machine 20b are configured such that when the door is slid upward, the interior is exposed, and when the door is slid downward to a predetermined position, the interior is closed, making it possible to wash. The front of the doors of the pre-washing machine 20a and the main washing machine 20b are equipped with handles that support the opening and closing of the doors, allowing the articulated robot 10 or an operator to grasp the handles and slide the doors vertically.

[0024] The sensor unit 30 is composed of multiple sensors for detecting the state of each part of the cleaning system 1. For example, the sensors comprising the sensor unit 30 include sensors 30A to 30D for detecting whether a container 80 is placed at a predetermined position on the first mounting base 60 (for example, a first standby position adjacent to the pre-cleaning machine 20a and a second standby position adjacent to the first standby position), and sensors 30E and 30F for detecting whether a container 80 is placed at a predetermined position on the second mounting base 70 (for example, a first storage position adjacent to the main cleaning machine 20b and a second storage position adjacent to the first storage position). In addition, the sensor unit 30 can be equipped with various sensors useful for the operation of the cleaning system 1, such as a sensor for detecting whether a person is in the range of motion of the articulated robot 10, or a sensor for detecting whether a safety fence that is closed for safety when the cleaning system 1 is in operation is open.

[0025] The control unit 40 consists of control devices for various operations that are manually input by an operator during the operation of the cleaning system 1. For example, the control unit 40 is equipped with buttons for operations such as starting, stopping, and clearing errors of the cleaning system 1.

[0026] The control device 50 is composed of an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the entire washing system 1 by executing various programs. Specifically, the control device 50 receives signals from each part of the washing system 1 that is electrically controlled via wired or wireless communication, and outputs control signals to each of these parts. For example, the control device 50 receives signals indicating the joint position of the articulated robot 10, signals indicating the operating status and signals indicating the load applied to the hand 11, signals indicating the open / closed state of the doors of the dishwasher 20 (pre-washer 20a and main washer 20b) and signals indicating errors in the washing operation, detection signals from each sensor of the sensor unit 30, and signals indicating the operation content of the operation unit 40. The control device 50 also outputs signals to instruct the operation of the articulated robot 10, signals to instruct the operation of the dishwasher 20 (pre-washer 20a and main washer 20b), and signals to instruct the lighting and extinguishing of indicator lights (not shown) that indicate the operating status of the washing system 1.

[0027] The first platform 60 is installed in front of the pre-washer 20a and constitutes a work table on which containers 80 containing dishes to be washed are placed. The first platform 60 can accommodate one or more containers 80 (in this embodiment, a total of two can be placed at the first and second standby positions). One end of the first platform 60 is adjacent to the pre-washer 20a, and the other end of the first platform 60 is positioned outside the work area of ​​the washing system 1, allowing for the loading and unloading of containers 80. Therefore, workers can add containers 80 containing dishes to be washed to the first platform 60 at any time while the washing system 1 is in operation.

[0028] Furthermore, sensors 30A to 30D are installed on the first mounting platform 60. Sensors 30A to 30C detect when a container 80 is placed in the first standby position, and sensor 30D detects when a container 80 is placed in the second standby position. When a container 80 is placed in the second standby position, there is a high probability that the front end of the container 80 in the second standby position is in close contact with the rear end of the container 80 in the first standby position. In this case, the first and second operations of the articulated robot 10 can transport the container 80 in the first standby position into the storage area of ​​the pre-washing machine 20a. Moreover, even if the distance from the base position of the articulated robot 10 to the rear end of the container 80 in the first standby position is large, the first operation can pull the side wall of the rear end of the container 80 into the movable range of the articulated robot 10, making it possible to press the rear end of the container 80.

[0029] Furthermore, if the container 80 is placed on the first mounting platform 60 at a position deviated from the first standby position (e.g., too close to the pre-washing machine 20a), the control device 50 will determine that the position is inappropriate and will output a warning by illuminating an indicator light. Similarly, if the container 80 is placed on the first mounting platform 60 at a position deviated from the second mounting position (e.g., the container 80 has entered the first mounting position), the control device 50 may determine that the position is inappropriate and output a warning by illuminating an indicator light. Furthermore, the upper surface of the first mounting platform 60 is at the same height as the mounting surface of the container 80 inside the pre-washing machine 20a. This allows the articulated robot 10 to smoothly transport the container 80 from the first mounting platform 60 to the pre-washing machine 20a.

[0030] The second platform 70 is installed to the side of the washing machine 20b and constitutes a work platform on which containers 80 containing dishes that have undergone pre-washing and main washing are placed. The second platform 70 can accommodate one or more containers 80 (in this embodiment, a total of two can be placed in the first and second storage positions). One end of the second platform 70 is adjacent to the washing machine 20b, and the other end of the second platform 70 is positioned outside the work area of ​​the washing system 1, allowing for the loading and unloading of containers 80. Therefore, workers can unload containers 80 containing dishes that have undergone pre-washing and main washing from the second platform 70 at any time while the washing system 1 is in operation.

[0031] Furthermore, sensors 30E and 30F are installed on the second mounting platform 70. Sensor 30E detects when a container 80 is placed in the first storage position, and sensor 30F detects when a container 80 is placed in the second storage position. If two containers 80 are placed on the second mounting platform 70 and the containers 80 cannot be removed from the washing machine 20b, a warning may be issued.

[0032] Furthermore, the upper surface of the second mounting platform 70 is at the same height as the mounting surface of the container 80 inside the main washing machine 20b. This allows the articulated robot 10 to smoothly transport the container 80 from the main washing machine 20b to the second mounting platform 70. In addition, the mounting surface of the container 80 inside the pre-washing machine 20a and the mounting surface of the container 80 inside the main washing machine 20b are at the same height, and an auxiliary member having an upper surface at the same height as the mounting surface of the container 80 inside the pre-washing machine 20a and the main washing machine 20b is installed in the space between the pre-washing machine 20a and the main washing machine 20b (i.e., the space below the base end of the articulated robot 10). This allows the articulated robot 10 to smoothly transport the container 80 from the pre-washing machine 20a to the main washing machine 20b.

[0033] Container 80 is a standard box-shaped component for containing the dishes to be processed, and in this embodiment, it is composed of a dish tray with a draining function, a dish rack, or a draining basket. Each side of container 80 is provided with a handle that is supported by the hands of the worker or by claws 11a and 11b installed on the hand 11 of the articulated robot 10. Container 80 containing the dirty dishes to be washed is placed on the first platform 60 by the worker. Container 80 containing the clean dishes washed by the pre-washer 20a and the main washer 20b is placed on the second platform 70 by the articulated robot 10 (unloaded from the main washer 20b). Container 80 placed on the second platform 70 is then removed from the work area of ​​the washing system 1 by the worker as needed.

[0034] [Hardware configuration of control device 50] Figure 10 is a schematic diagram showing the hardware configuration of the control device 50. As shown in Figure 10, the control device 50 includes a CPU (Central Processing Unit) 511, a ROM (Read Only Memory) 512, a RAM (Random Access Memory) 513, a bus 514, an input unit 515, an output unit 516, a storage unit 517, a communication unit 518, and a drive 519.

[0035] The CPU 511 executes various processes according to the program recorded in the ROM 512 or the program loaded into the RAM 513 from the storage unit 517. RAM513 also stores data and other information necessary for CPU511 to perform various processes.

[0036] The CPU 511, ROM 512, and RAM 513 are interconnected via a bus 514. The input unit 515, output unit 516, storage unit 517, communication unit 518, and drive 519 are connected to the bus 514.

[0037] The input unit 515 is equipped with an input device such as a mouse or keyboard and accepts various types of information for input to the control device 50. Alternatively, the input unit 515 may be equipped with a microphone and accept various types of information via voice input from the operator. The output unit 516 consists of a display, speakers, etc., and outputs images and sound. The memory unit 517 is composed of a non-volatile storage device such as a hard disk or semiconductor memory, and stores various data managed by the cleaning system 1. The communications unit 518 controls communication with other devices via the network.

[0038] A removable media 531, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, is appropriately mounted in the drive 519. Programs read from the removable media 531 by the drive 519 are installed in the storage unit 517 as needed. The above hardware configuration is the basic configuration of the control device 50, and it is possible to omit some hardware, add additional hardware, or change the hardware implementation.

[0039] [Functional configuration] Next, the functional configuration of the control device 50 will be described. Figure 11 is a block diagram showing the functional configuration of the control device 50. As shown in Figure 11, by executing the programs for tableware data registration and pre-washing, the CPU 511 of the control device 50 functions as follows: sensor information acquisition unit 151, operating condition determination unit 152, robot motion control unit 153, dishwasher control unit 154, and history data acquisition unit 155. In addition, a history database (history DB) 171 is formed in the storage unit 517.

[0040] History DB171 is a database that stores data on the operation history of the cleaning system 1. For example, History DB172 stores various data such as the execution history of preliminary and main cleaning in the cleaning system 1, the operation history of the articulated robot 10, the history of errors, or the history of manual operations.

[0041] The sensor information acquisition unit 151 receives detection signals from each sensor of the sensor unit 30 and acquires information representing the state of each part detected by each sensor. For example, the sensor information acquisition unit 151 acquires information indicating whether or not a container 80 is placed at a predetermined position on the first mounting base 60 (for example, a first standby position adjacent to the pre-washing machine 20a and a second standby position adjacent to the first standby position) based on detection signals received from sensors 30A to 30D, or acquires information indicating whether or not a container 80 is placed at a predetermined position on the second mounting base 70 (for example, a first storage position adjacent to the main washing machine 20b and a second storage position adjacent to the first storage position) based on detection signals received from sensors 30E and 30F. In addition, the sensor information acquisition unit 151 acquires information indicating that a person is in the range of motion of the articulated robot 10, or information indicating that the safety fence that is closed for safety when the washing system 1 is in operation is open, based on detection signals received from predetermined sensors.

[0042] Furthermore, the sensor information acquisition unit 151 receives detection signals from various sensors installed on the articulated robot 10, the pre-washer 20a, and the main washing machine 20b, and acquires information representing the status of the articulated robot 10, the pre-washer 20a, and the main washing machine 20b. For example, the sensor information acquisition unit 151 receives signals indicating the joint position of the articulated robot 10, signals indicating the operating status, signals indicating the load applied to the hand 11, signals indicating the open / closed state of the doors of the dishwasher 20 (pre-washer 20a and main washing machine 20b), and signals indicating errors in the washing operation, and acquires information representing the various statuses of the articulated robot 10, the pre-washer 20a, and the main washing machine 20b.

[0043] The operation condition determination unit 152 determines whether the various conditions (operation conditions) set for the cleaning system 1 to operate are met, based on the information representing the state of each part acquired by the sensor information acquisition unit 151, and instructs each part of the cleaning system 1 to perform an operation according to the determined operation conditions.

[0044] For example, the operation condition determination unit 152 determines whether the articulated robot 10 is in the initial position it should take when starting to operate, whether the pre-washing machine 20a and the main washing machine 20b are performing a washing operation, whether the container 80 is placed in the first standby position and the second standby position of the first mounting platform 60, and whether the container 80 is placed in the first storage position and the second storage position of the second mounting platform 70, and other operation conditions.

[0045] Then, the operating condition determination unit 152 outputs an instruction to transport the container 80 from the first loading platform 60 to the pre-washing machine 20a, an instruction to have the pre-washing machine 20a perform pre-washing, an instruction to transport the container 80 from the pre-washing machine 20a to the main washing machine 20b, an instruction to have the main washing machine 20b perform main washing, or an instruction to transport the container 80 from the main washing machine 20b to the second loading platform 70, according to the result of the operation condition determination.

[0046] The robot motion control unit 153 controls the articulated robot 10 according to the instructions of the operation condition determination unit 152. For example, if the operation condition determination unit 152 instructs the robot motion control unit 153 to transport the container 80 placed on the first mounting platform 60 (first standby position) to the pre-washing machine 20a, the robot motion control unit 153 controls the articulated robot 10 to perform the first and second operations to transport the container 80 to the pre-washing machine 20a. Also, if the operation condition determination unit 152 instructs the robot motion control unit 153 to transport the container 80 from the pre-washing machine 20a to the main washing machine 20b, the robot motion control unit 153 controls the articulated robot 10 to transport the container 80 from the pre-washing machine 20a to the main washing machine 20b. Furthermore, if the robot motion control unit 153 receives an instruction from the operation condition determination unit 152 to transport the container 80 from the main washing machine 20b to the second loading platform 70, it controls the articulated robot 10 to transport the container 80 from the main washing machine 20b to the second loading platform 70. Also, if the robot motion control unit 153 receives an instruction from the operation condition determination unit 152 to open or close the door of either the pre-washing machine 20a or the main washing machine 20b, it controls the articulated robot 10 to open or close the instructed door of either the pre-washing machine 20a or the main washing machine 20b. However, if the pre-washing machine 20a and the main washing machine 20b are equipped with a function to automatically open and close their doors, the pre-washing machine 20a and the main washing machine 20b may perform the door opening and closing instead of the articulated robot 10.

[0047] In this embodiment, the size of the container 80, the structure of the articulated robot 10 and the hand 11, the position and structure of the pre-washing machine 20a, the position and structure of the main washing machine 20b, the positions of the first mounting platform 60 and the second mounting platform 70, etc., are known to the control device 50, and coordinates are set in the operating space of the washing system 1. The robot motion control unit 153 then operates the articulated robot 10 by control based on its position in the coordinate space.

[0048] The dishwasher control unit 154 controls the pre-washer 20a and the main washer 20b according to the instructions of the operating condition determination unit 152. For example, if the operating condition determination unit 152 instructs the pre-washer 20a to perform a pre-wash, the dishwasher control unit 154 will cause the pre-washer 20a to perform a pre-wash. Similarly, if the operating condition determination unit 152 instructs the main washer 20b to perform a main wash, the dishwasher control unit 154 will cause the main washer 20b to perform a main wash. The history data acquisition unit 155 acquires various data such as the execution history of preliminary and main cleaning in the cleaning system 1, the operation history of the articulated robot 10, the error occurrence history, or the manual operation history, and stores it in the history DB 171 as operation history data.

[0049] [Operation] Next, we will explain the operation of the cleaning system 1. [Dishwashing process] Figure 12 is a flowchart showing the flow of the dishwashing process performed by the washing system 1. The dishwashing process is initiated in response to an operation instructing the control device 50 to perform the dishwashing process.

[0050] When the dishwashing process begins, in step S1, the sensor information acquisition unit 151 receives detection signals from each sensor in the sensor unit 30 and acquires information representing the state of each part detected by each sensor. The sensor information acquisition unit 151 also receives detection signals from various sensors installed in the articulated robot 10, the pre-washer 20a, and the main washing machine 20b and acquires information representing the state of the articulated robot 10, the pre-washer 20a, and the main washing machine 20b.

[0051] In step S2, the operation condition determination unit 152 determines whether the conditions (operation conditions) set for the cleaning system 1 to operate are met, based on the information representing the state of each part acquired by the sensor information acquisition unit 151. In step S3, the operation condition determination unit 152 determines whether or not the container 80 is placed on the first standby position of the first mounting platform 60. If the container 80 is not placed in the first standby position on the first mounting platform 60, the result is determined to be NO in step S3, and the dishwashing process is terminated. On the other hand, if the container 80 is placed in the first standby position of the first mounting platform 60, the result in step S3 is determined to be YES, and the process proceeds to step S4.

[0052] In step S4, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 and performs a first operation in which it supports the front end of the container 80 placed on the first mounting base 60 (engaging the claw 11a with the handle at the front end) and pulls it in a predetermined distance (for example, 10 to 20 cm) in a first direction (the direction from the first mounting base 60 toward the interior of the pre-washing machine 20a). In step S5, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 and performs a second operation in which it supports the portion of the container 80 other than the front end that was pulled in by the first operation (in this case, pressing the rear end) and moves the container 80 in the first direction.

[0053] In step S6, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 to close (slide downward) the door of the pre-washing machine 20a. In step S7, the dishwasher control unit 154 controls the pre-washer 20a and performs pre-washing according to the instructions of the operating condition determination unit 152.

[0054] In step S8, the operating condition determination unit 152 determines whether the washing machine 20b is available or not. If the washing machine 20b is not available, the result is determined to be NO in step S8, and the process proceeds to step S13. On the other hand, if the washing machine 20b is available, the result in step S8 is determined to be YES, and the process proceeds to step S9.

[0055] In step S9, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 to open (slide upward) the door of the pre-washing machine 20a. In step S10, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 to transport the container 80 to the washing machine 20b. In step S11, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 to close (slide downward) the door of the washing machine 20b.

[0056] In step S12, the dishwasher control unit 154 controls the dishwasher 20b and starts the washing process according to the instructions of the operating condition determination unit 152. After step S12, the process proceeds to step S4. In step S13, the operation condition determination unit 152 determines whether or not the cleaning has been completed. If the main cleaning is not completed, step S13 will be judged as NO, and the process in step S13 will be repeated. On the other hand, if the main cleaning is completed, the result in step S13 is determined to be YES, and the process proceeds to step S14.

[0057] In step S14, the operating condition determination unit 152 determines whether or not there is space available on the second mounting base 70. If there is no space available on the second loading platform 70, step S14 is determined to be NO, and the process in step S14 is repeated. At this time, the operating condition determination unit 152 can output a warning indicating that there is no space available on the second loading platform 70, and the worker can recognize the warning and move the container 80 from the second loading platform 70 out of the work area. In addition, in this embodiment, if there is no space available on the second loading platform 70, the door of the washing machine 20b is kept closed for purposes such as keeping the dishes clean after washing. On the other hand, if there is space available on the second mounting platform 70, the result in step S14 is determined to be YES, and the process proceeds to step S15.

[0058] In step S15, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 and opens the door of the washing machine 20b. In step S16, the robot motion control unit 153 controls the articulated robot 10 according to the instructions of the motion condition determination unit 152 to transport the container 80 to the second mounting platform 70. After step S16, the process proceeds to step S9. Furthermore, if the container 80 is removed from any of the first loading platform 60, the pre-washing machine 20a, or the main washing machine 20b, the dishwashing process will be terminated after a predetermined time has elapsed.

[0059] As described above, the washing system 1 according to this embodiment performs a movement operation that includes a first operation of supporting the front end of the container 80 placed on the first mounting platform 60 and pulling it in a predetermined distance in a first direction, and a second operation of supporting the portion of the container 80 other than the front end that was pulled in by the first operation and moving the container 80 in the first direction, when transporting the dishes to be washed by the articulated robot 10. Therefore, the container 80 can be transported for cleaning by the articulated robot 10 without the need to install dedicated equipment for transporting the container 80.

[0060] Furthermore, by dividing the operation in this way and performing the transport, the articulated robot 10 can be operated in a narrow space to transport the container 80, and the container 80 can be transported appropriately with a short robot arm configuration. In other words, according to the present invention, a more functional work system can be realized while suppressing costs and installation space.

[0061] Furthermore, in the cleaning system 1 according to the present invention, the articulated robot 10 supports the front end of the container 80 in the first operation and supports the portion of the container 80 other than the front end in the second operation. Therefore, during the transport of the container 80, the load applied to specific parts of the container 80 can be distributed, thereby suppressing deformation and damage to the container 80.

[0062] Furthermore, in the cleaning system 1 according to the present invention, the articulated robot 10, in the first operation, engages the claw 11a at the tip of the hand 11 with the handle at the front end of the container 80 to transport the container 80. In the second operation, it engages the claw 11b on the side plate of the hand 11 with the handle on the side of the container 80, or presses the back surface of the bottom plate of the hand 11 or the outer surface of the side plate without the claw 11b against the side wall of the container 80 to move the container 80. Therefore, the hand 11 can support the container 80 in various configurations, enabling flexible transport operations.

[0063] [Example 1] In the above-described embodiment, the washing system 1 is configured such that the articulated robot 10 supports the front end of the container 80 in the first movement and supports the portion of the container 80 other than the front end in the second movement, but it is not limited to this configuration. For example, the articulated robot 10 may, in the first operation, engage the claw 11a at the tip of the hand 11 with the handle at the front end of the container 80 to support it, and in the second operation, engage the claw 11b on the side plate of the hand 11 with the handle at the front end of the container 80 to support it, thereby transporting the container 80. In this case, even if the posture of the articulated robot 10 in the first operation of the above embodiment causes the robot arm to come into contact with the side wall inside the pre-washing machine 20a (for example, the inner wall at the end in the first direction), hindering the operation of transporting the container 80, the posture of the articulated robot 10 in the second operation can be changed to transport the container 80 appropriately on a trajectory that does not come into contact with the side wall.

[0064] [Differentiation 2] In the embodiments described above, the control device 50 was described as operating the articulated robot 10 by control based on its position in coordinate space, but it is not limited to this. For example, in conjunction with, or instead of, control based on position in coordinate space, the articulated robot 10 may be operated by recognizing an object based on an image captured by an imaging device and controlling it based on the object recognition result. In this case, the captured image can be used to perform color-based control or to analyze the cause of errors.

[0065] Furthermore, the present invention can be modified, improved, etc., as appropriate within the scope of achieving the effects of the present invention, and is not limited to the embodiments described above. For example, if the container 80 is not placed in the second placement position on the first placement platform 60, there is sufficient space on the rear end side of the container 80, so the container 80 may be transported into the storage area of ​​the pre-washing machine 20a by only the second operation, without performing the first operation on the container 80 in the first placement position. Furthermore, when performing the first operation, the claw 11b may be used instead of the claw 11a of the hand 11. Also, when performing the second operation, the claw 11b may be engaged with the handle on the side of the container 80 and transported into the pre-washing machine 20a. Furthermore, the container 80 may be transported by placing it on a substitute for the first mounting platform 60 or the second mounting platform 70, or on a first mounting position, second mounting position, first storage position, second storage position, etc., set on the floor, etc., without including the first mounting platform 60 or the second mounting platform 70 in the cleaning system 1. In this case, the sensor unit 30 is equipped with sensors 30A to 30F that detect the container 80 placed on a substitute for the first mounting platform 60 or the second mounting platform 70, or on a first mounting position, second mounting position, first storage position, second storage position, etc., set on the floor, etc.

[0066] Furthermore, although the above-described embodiment explained the application of the present invention to the task of automatically washing dishes, the present invention can be applied to various tasks that are performed automatically. For example, the present invention can be applied to tasks such as automatically dispensing food from a container in which food is stored, automatically picking up parts from a tray on which parts are placed and assembling them, or automatically painting a component. Furthermore, although the above-described embodiment explained the case in which a container 80 containing the object to be worked on (tableware) is transported and the work is performed, the work methods to which the present invention can be applied are not limited to this. For example, the present invention can be applied to work methods in which an empty container 80 is transported to a work device and the object to be worked on is placed inside the container 80 (food ingredients are placed inside the work device into a container 80 for food ingredients), or to work methods in which the container 80 itself is the object to be worked on, and the inner wall of the container 80 is cleaned and coated.

[0067] As described above, the washing system 1 in this embodiment comprises a multi-joint robot 10, a dishwasher 20 (pre-washer 20a and main washer 20b), and a control device 50. The articulated robot 10 transports the container 80. The dishwasher 20 performs an operation (washing dishes) on the objects to be worked on or on the container 80 contained within the container 80. The control device 50 controls the movement of the articulated robot 10. The control device 50 moves the container 80 into the working area of ​​the dishwasher 20 by a movement operation that includes a first operation of supporting the front end of the container 80 and pulling it in a first direction, and a second operation of supporting the part of the container 80 other than the front end that was pulled in by the first operation and moving the container 80 in the first direction. This allows the container 80 to be transported for cleaning by the articulated robot 10 without the need to install dedicated equipment for transporting the container 80. Furthermore, by dividing the operation in this way and performing the transport, the articulated robot 10 can be operated in a narrow space to transport the container 80, and the container 80 can be transported appropriately with a short robot arm configuration. Therefore, it is possible to realize a more functional work system while suppressing costs and installation space.

[0068] The articulated robot 10 is equipped with a hand 11 (end effector) installed at its tip. The hand 11 has a claw 11a (or claw 11b) for engaging with the container 80 and a flat surface for pressing the container 80. This allows the container 80 to be transported in various ways, such as by engaging with the claws 11a (or claws 11b) or by pressing with a flat surface.

[0069] The hand 11 has claws 11a (or claws 11b) at its tip and on its sides, respectively. This makes it possible to engage the hand 11 with the container 80 in a variety of positions.

[0070] The handle 11 includes a support member 11c for supporting and opening / closing a portion of the door of the dishwasher 20. This allows the articulated robot 10 to open and close the door of the dishwasher 20.

[0071] The articulated robot 10 comes to a rest in a set position at a height higher than the opening of the doors of the dishwasher 20 (pre-washer 20a and main washer 20b) when the work is completed. This prevents the articulated robot 10 from interfering with the work when workers are maintaining and cleaning the cleaning system 1, making it easier for workers to perform their tasks.

[0072] The cleaning system 1 comprises a first mounting base 60 and sensors 30A to 30D. A container 80 is placed on the first loading platform 60. Sensors 30A to 30D detect the placement position of the container 80 on the first mounting platform 60. Based on the detection results of sensors 30A to 30D, the control device 50 outputs a warning if the container 80 placed on the first mounting platform 60 is not placed within the set range. This facilitates the proper placement of the container 80 on the first mounting platform 60.

[0073] The control device 50 outputs a warning if the container 80 placed on the first mounting platform 60 is closer to the dishwasher 20 (pre-washer 20a) than a set range. This prevents the container 80 from being placed in a position that would hinder transport by the articulated robot 10.

[0074] The control device 50 outputs a warning if, among the containers 80 placed on the first mounting platform 60, the subsequent containers 80 that will be operated on after the first container 80 are not placed within the set range. This helps to ensure that the containers 80 awaiting transport are properly loaded.

[0075] The dishwasher 20 (pre-washer 20a), when the door is open, has a side wall on the side opposite to the side (first mounting platform 60 side) from which the container 80 is transported into the work area, with the work area in between. The articulated robot 10 performs the first and second movements to transport the container 80 to the work area in a trajectory that does not come into contact with the side wall of the dishwasher 20. This makes it possible to operate the articulated robot 10 to transport the container 80 within the narrow space inside the dishwasher 20.

[0076] The cleaning system 1 comprises a second mounting base 70 and sensors 30E and 30F. The container 80, after the work in the dishwasher 20 (main washing machine 20b) has been completed, is placed on the second loading platform 70. Sensors 30E and 30F detect the placement position of the container 80 on the second mounting platform 70. Based on the detection results of the sensor 30, the control device 50 outputs a warning if the container 80 is placed on the second mounting platform 70 and the container 80 cannot be removed from the dishwasher 20. This allows the container 80 to be removed from the second platform 70.

[0077] If the container 80 is placed on the second mounting platform 70 and the container 80 cannot be removed from the dishwasher 20 (main washing machine 20b), the control device 50 will remain in standby mode with the door of the dishwasher 20 (main washing machine 20b) closed. This prevents the dishwasher door from being opened unnecessarily even when container 80 cannot be transported, and keeps the dishes clean after washing.

[0078] The dishwasher 20 comprises a pre-washer 20a and a main washer 20b that perform different tasks. The articulated robot 10 is installed between the preliminary washing machine 20a and the main washing machine 20b. This allows even a short robotic arm to include the interiors of the pre-washing machine 20a and the main washing machine 20b within the working range of the articulated robot 10.

[0079] Furthermore, the washing system 1 in this embodiment includes an articulated robot 10, a dishwasher 20 (a pre-washer 20a and a main washer 20b), and a control device 50. The articulated robot 10 transports the container 80. The dishwasher 20 performs an operation (washing dishes) on the objects to be worked on or on the container 80 contained within the container 80. The control device 50 controls the movement of the articulated robot 10. The control device 50 moves the container 80 to the work area of ​​the dishwasher 20 (pre-washer 20a) by a movement operation that includes a first operation in which the front end of the container 80 is supported by the claw 11a of the hand 11 and pulled in in a first direction, and a second operation in which the front end of the container 80 that has been pulled in by the first operation is supported by the claw 11b of the hand 11 and the container 80 is moved in the first direction. This allows the container 80 to be transported for cleaning by the articulated robot 10 without the need to install dedicated equipment for transporting the container 80. Furthermore, by dividing the operation in this way and performing the transport, even if the articulated robot 10 would come into contact with the side wall inside the dishwasher 20 (pre-washer 20a) and be unable to transport the container 80 while maintaining the posture of the first operation, the posture of the articulated robot 10 can be changed in the second operation, and the container 80 can be transported appropriately on a trajectory that does not come into contact with the side wall. Therefore, it is possible to realize a more functional work system while suppressing costs and installation space.

[0080] Furthermore, the present invention can be implemented by appropriately combining the examples described in the embodiments above. The series of processes described above can be executed by hardware or by software. In other words, the functional configuration shown in Figure 11 is merely illustrative and not particularly limiting. That is, it is sufficient for the cleaning system 1 to be equipped with a function that can execute the series of processes described above as a whole, and the type of functional block used to realize this function is not limited to the example in Figure 11. Furthermore, a single functional block may consist of hardware alone, software alone, or a combination of both.

[0081] When a series of processes are executed by software, the programs that make up that software are installed on a computer or other device from a network or storage medium. A computer may be a computer built into dedicated hardware. Alternatively, a computer may be a computer capable of performing various functions by installing various programs, such as a general-purpose personal computer.

[0082] The storage medium for storing programs consists of removable media distributed separately from the main unit of the device, or storage media pre-installed in the main unit of the device. Removable media consists of, for example, magnetic disks, optical disks, magneto-optical disks, or flash memory. Optical disks consist of, for example, CD-ROM (Compact Disk-Read Only Memory), DVD (Digital Versatile Disk), Blu-ray Disc (registered trademark), etc. Magneto-optical disks consist of, for example, MD (Mini-Disk). Flash memory consists of, for example, USB (Universal Serial Bus) memory or SD cards. Furthermore, storage media pre-installed in the main unit of the device consists of, for example, ROM or hard disks on which programs are stored.

[0083] In this specification, the step of describing a program to be recorded on a recording medium includes not only processes that are performed chronologically in that order, but also processes that are not necessarily performed chronologically, but are executed in parallel or individually. Furthermore, in this specification, the term "system" refers to an overall system composed of multiple devices, means, etc. [Explanation of Symbols]

[0084] 1 Washing system, 10 Articulated robot, 11 Hand, 11a, 11b Claws, 11c Support member, 20 Dishwasher, 20a Pre-washer, 20b Main washer, 30 Sensor unit, 30A~30F, 40 Operation unit, 50 Control device, 60 First mounting platform, 70 Second mounting platform, 80 Container, 151 Sensor information acquisition unit, 152 Operation condition determination unit, 153 Robot motion control unit, 154 Dishwasher control unit, 155 History data acquisition unit, 171 History database (History DB), 511 CPU, 512 ROM, 513 RAM, 514 Bus, 515 Input unit, 516 Output unit, 517 Storage unit, 518 Communication unit, 519 Drive, 531 Removable media

Claims

1. A robot that transports containers, The container contains an object to be worked on or a work device for working on the container, A control unit that controls the operation of the robot, Equipped with, The control unit is characterized by moving the container to the working area of ​​the work device by a movement operation that includes a first operation of supporting the front end of the container and pulling it in a first direction, and a second operation of supporting the portion of the container other than the front end that was pulled in by the first operation and moving the container in the first direction.

2. The robot is equipped with an end effector installed at its tip, The work system according to claim 1, characterized in that the end effector has an engaging member for engaging the container and a flat surface for pressing the container.

3. The work system according to claim 2, characterized in that the end effector has the engaging member at its tip and on its side.

4. The work system according to claim 2 or 3, characterized in that the end effector includes a support member for supporting and opening / closing a portion of the door of the work device.

5. The work system according to claim 1 or 2, characterized in that the robot comes to rest in a set position at a height higher than the opening of the door of the work device when the work is completed.

6. The first mounting platform on which the container is placed, The system includes a sensor for detecting the placement position of the container on the first mounting platform, The work system according to claim 1 or 2, characterized in that the control unit outputs a warning based on the detection result of the sensor if the container placed on the first mounting platform is not placed within a set range.

7. The work system according to claim 6, characterized in that the control unit outputs the warning when the container placed on the first mounting platform is closer to the work device than the set range.

8. The work system according to claim 7, characterized in that the control unit outputs the warning when, among the containers placed on the first mounting platform, the subsequent containers to be worked on following the first container are not placed within the set range.

9. The work apparatus, with its door open, has a side wall on the side opposite to the side from which the container is transported into the work area, The work system according to claim 1 or 2, characterized in that the robot transports the container to the work area in a trajectory that does not come into contact with the side wall of the work device by performing the first and second operations.

10. A second platform on which the container is placed after the work in the aforementioned work apparatus is completed, The system includes a sensor for detecting the placement position of the container on the second mounting platform, The work system according to claim 1 or 2, characterized in that the control unit outputs a warning based on the detection result of the sensor if the container is placed on the second mounting platform and the container cannot be removed from the work device.

11. The work system according to claim 10, characterized in that the control unit remains closed when the container is placed on the second mounting platform and the container cannot be removed from the work device.

12. The aforementioned work apparatus comprises a first work apparatus and a second work apparatus that perform different tasks. The work system according to claim 1 or 2, characterized in that the robot is installed between the first work device and the second work device.

13. A robot that transports containers, The container contains an object to be worked on or a work device for working on the container, A control unit that controls the operation of the robot, Equipped with, A work system characterized in that the control unit moves the container to the work area of ​​the work device by a movement operation that includes a first operation of supporting the front end of the container with a first part of the end effector and pulling it in a first direction, and a second operation of supporting the front end of the container that was pulled in by the first operation with a second part of the end effector and moving the container in the first direction.

14. A robot that transports containers, The container contains an object to be worked on or a work device for working on the container, A control unit that controls the operation of the robot, A work method performed by a work system comprising: A work method characterized by including a transport step of moving the container to the work area of ​​the work device by a movement operation that includes a first operation of supporting the front end of the container with respect to the robot and pulling it in a first direction, and a second operation of supporting the portion of the container other than the front end that was pulled in by the first operation and moving the container in the first direction.

15. A robot that transports containers, The container contains an object to be worked on or a work device for working on the container, A control unit that controls the operation of the robot, A work method performed by a work system comprising: A work method characterized by including a transport step of moving the container to the work area of ​​the work device by a movement operation that includes a first operation of supporting the front end of the container with a first part of the end effector and pulling it in a first direction with the robot, and a second operation of supporting the front end of the container that was pulled in by the first operation with a second part of the end effector and moving the container in the first direction.

Images