Robot and robot control method

Abstract

The present invention provides a robot that can easily supply a portion of a target product from among other target products. [Solution] The robot 1 comprises a holding unit 20 for holding the object to be supplied Ws, a dispensing unit 30 for dispensing a portion of the object to be supplied Ws held by the holding unit 20, a supply unit 40 for supplying a portion of the object to be supplied Ws dispensed by the dispensing unit 30 to a supply position pL, and a robot arm 90 that can move the supply head 10 including the holding unit 20, the dispensing unit 30, and the supply unit 40. The robot arm 90 moves the supply head 10 to the supply position pL, and the supply unit 40 discharges a portion of the object to be supplied Ws at the supply position pL, thereby supplying a portion of the object to be supplied Ws to the supply position pL.

Description

Technical Field

[0001] The present invention relates to a robot and a method for controlling the robot.

Background Art

[0002] In industrial fields such as industrial manufacturing, logistics, and food manufacturing, a technology for picking and supplying stacked workpieces is known. Non-Patent Documents 1 and 2 disclose a technology for recognizing the states of a plurality of workpieces using sensors and picking and placing one of the workpieces.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Non-Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, in conventional technology, in order to place a workpiece in a desired orientation, a device is required to acquire 3D information of multiple workpieces in a randomly stacked state, and a device is required to determine how to pick the workpieces. Therefore, conventional technology has the problem of complicating the configuration of a system that supplies only a portion of a supply object from a supply object that includes multiple workpieces.

[0005] The present invention provides a robot or the like that can easily supply a portion of a target object from among other target objects. [Means for solving the problem]

[0006] A robot in one embodiment of the present invention comprises a holding unit for holding an object to be supplied, a dispensing unit for dispensing a portion of the object to be supplied held by the holding unit, a supply unit for supplying the portion of the object to be supplied dispensed by the dispensing unit to a supply position, and a robot arm capable of moving a supply head including the holding unit, the dispensing unit, and the supply unit, wherein the robot arm moves the supply head to the supply position, and the supply unit supplies a portion of the object to be supplied to the supply position by dispensing a portion of the object to be supplied at the supply position.

[0007] A robot control method in one embodiment of the present invention includes a holding step of holding an object to be supplied, a dispensing step of dispensing a portion of the object to be supplied held in the holding step, and a supply step of supplying a portion of the object to be supplied to the supply position by moving the portion of the object to be supplied dispensed in the dispensing step to a supply position and dispensing a portion of the object to be supplied at the supply position. [Effects of the Invention]

[0008] According to the robot of the present invention, a portion of the target object can be easily supplied from among the target object. [Brief explanation of the drawing]

[0009] [Figure 1]This is a perspective view of the robot according to Embodiment 1. [Figure 2] This figure shows an example of a workpiece supplied by a robot. [Figure 3] This is a perspective view of the supply head included in the robot according to Embodiment 1. [Figure 4] This is a perspective view of the holding section, dispensing section, supply section, detection section, and power section of the supply head according to Embodiment 1. [Figure 5] This diagram shows the holding unit, dispensing unit, supply unit, detection unit, and power unit viewed from a different direction than in Figure 4. [Figure 6] This diagram shows the holding unit, dispensing unit, supply unit, detection unit, and power unit viewed from a different direction than in Figures 4 and 5. [Figure 7] This is a top view of the holding unit, dispensing unit, supply unit, detection unit, and power unit. [Figure 8] This is a side view of the holding unit, dispensing unit, supply unit, and detection unit. [Figure 9] This diagram shows the robot's operation when scooping multiple workpieces from a case and supplying a single workpiece to the supply position. [Figure 10] This is a perspective view of the holding and dispensing sections. [Figure 11] This is a view of the holding and dispensing sections from a different direction than in Figure 10. [Figure 12] This is a perspective view of the supply and power sections. [Figure 13] This diagram schematically illustrates the transport operation in the first mode. [Figure 14] This diagram schematically illustrates the reversal operation in the second mode. [Figure 15] This is a flowchart showing the robot control method. [Figure 16] This figure shows an image of the workpiece and the matching amount for that image. [Figure 17] This is a schematic diagram of a supply head according to a modified example 1 of Embodiment 1. [Figure 18] This is a schematic diagram showing the supply unit and power unit of a modified example 2 of Embodiment 1, viewed from above. [Figure 19] FIG. 18 is a view of the supply unit and the power unit of Modification 2 of Embodiment 1 as seen from a direction different from FIG. 18. [Figure 20] FIG. 19 is a perspective view of the supply head of Embodiment 2. [Figure 21] FIG. 20 is an exploded perspective view of the supply head of Embodiment 2. [Figure 22] FIG. 21 is an exploded perspective view of the supply head of Embodiment 2 as seen from a direction different from FIG. 20. [Figure 23] FIG. 22 is a view showing an example of a workpiece supplied by a robot. [Figure 24] FIG. 23 is a view showing the operation when discharging a workpiece in the supply head of Embodiment 2. [Figure 25] FIG. 24 is an exploded perspective view of the supply head of Embodiment 2 as seen from a direction different from FIG. 24. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, the specific configuration of the robot according to the embodiment will be specifically described with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present invention. The numerical values, shapes, materials, components, arrangement positions of the components, connection forms, etc. shown in the following embodiments are merely examples and are not intended to limit the present invention. In addition, among the components in the following embodiments, components not described in the independent claims showing the implementation form according to one aspect of the present invention are described as arbitrary components.

[0011] Note that each figure is a schematic diagram and is not necessarily drawn precisely. Also, in each figure, substantially the same configurations are denoted by the same reference numerals, and redundant descriptions may be omitted or simplified. In addition, each figure shows the X-axis, Y-axis, and Z-axis, which represent three mutually orthogonal directions. Each axis does not limit the direction and posture in which the robot is used.

[0012] (Embodiment 1) [Configuration of Robot] The configuration of the robot according to Embodiment 1 will be described with reference to Figures 1 to 10.

[0013] Figure 1 is a perspective view of robot 1 according to Embodiment 1.

[0014] As shown in Figure 1, the robot 1 comprises a robot arm 90 and a supply head 10 connected to the robot arm 90.

[0015] The robot arm 90 is, for example, a manipulator or part thereof, such as a multi-joint robot. In this embodiment, the robot arm 90 is composed of a 6-axis multi-joint robot, but is not limited to that. The manipulator as the robot arm 90 may be a vertical multi-joint robot or a horizontal multi-joint robot, or a 2-axis Cartesian robot or a parallel link robot.

[0016] The supply head 10 is a robot hand mechanism for handling the object Ws to be supplied. The housing 11 of the supply head 10 is provided with a connection part 15 that connects to the movable end-effector region 95 of the robot arm 90. The connection part 15 is positioned perpendicular to the transfer direction dc (see Figure 3) of the workpiece w within the supply head 10. The supply head 10 is fixed to the movable end-effector region 95 via the connection part 15 and can be moved by the robot arm 90 to any position and orientation within the operating range of the robot 1 in three-dimensional space. The supply head 10 is also called an end effector.

[0017] In this embodiment, the robot 1 supplies a portion of the supply target Ws from among the supply target Ws.

[0018] The supplied goods Ws are items that will be supplied to a predetermined location. The supplied goods Ws include multiple workpieces w. The supplied goods Ws may be a group of workpieces w, or an aggregate of multiple workpieces w. In this disclosure, the supplied goods Ws may be, for example, pouches of seasonings, fried chicken or potato salad handled in the field of food manufacturing, or industrial products and parts handled in the fields of manufacturing and logistics.

[0019] A portion of the supplied items Ws is a portion of the total number of items Ws, or a portion of the total quantity of items Ws. For example, a portion of the supplied items Ws is one work w out of several work w.

[0020] Figure 2 shows an example of a workpiece w supplied by robot 1.

[0021] Figure 2 shows an example where the workpiece w supplied by robot 1 is a pouch containing seasonings. As shown in Figure 2, when the workpiece w is in a stable position and viewed from above, the outer shape of the workpiece w is rectangular. Figure 2(a) shows the front surface of the workpiece w, and (b) shows the back surface of the workpiece w.

[0022] Information for identifying the front and back surfaces of workpiece w is pre-stored in the robot 1's memory unit (not shown). The robot 1 can determine the front and back surfaces of workpiece w based on the two-dimensional image of workpiece w shown in Figure 2. For example, if identification information such as a barcode is written on the front or back surface of workpiece w, the robot 1 can determine the front and back surfaces based on the barcode.

[0023] Robot 1 performs actions such as scooping up, holding, and separating multiple workpieces w, as well as detecting, aligning, and discharging workpieces w, and supplies workpieces w to a box or bag for storage, or to a stage or jig for processing workpieces w. In this example, one pouch containing seasonings, which is part of the supply object Ws, is supplied to a lunch box. In this disclosure, the meaning of "holding workpiece w" includes keeping workpiece w in a predetermined state, such as supporting, gripping, grasping, or clamping workpiece w.

[0024] Furthermore, if the object to be supplied Ws is a lumpy (or aggregate) that can be individually separated, the robot 1 may perform actions such as scooping up, holding, separating a portion of the object to be supplied Ws, and detecting, aligning, and discharging a portion of the object to be supplied Ws. In addition, the robot 1 may supply a portion of the object to be supplied Ws to a box or bag for storing the portion of the object to be supplied Ws, or to a stage or jig for processing the portion of the object to be supplied Ws.

[0025] Figure 3 is a perspective view of the supply head 10 included in robot 1. Figure 4 is a perspective view of the holding unit 20, feeding unit 30, supply unit 40, detection unit 70, and power unit 60 of the supply head 10. Figure 5 is a view of the holding unit 20, feeding unit 30, supply unit 40, detection unit 70, and power unit 60 from a different direction than Figure 4. Figure 6 is a view of the holding unit 20, feeding unit 30, supply unit 40, detection unit 70, and power unit 60 from a different direction than Figures 4 and 5. Figure 7 is a top view of the holding unit 20, feeding unit 30, supply unit 40, detection unit 70, and power unit 60. Figure 8 is a side view of the holding unit 20, feeding unit 30, supply unit 40, and detection unit 70.

[0026] As shown in Figures 3 to 8, the supply head 10 includes a holding section 20 for holding the object to be supplied Ws, a dispensing section 30 for dispensing a portion of the object to be supplied Ws held by the holding section 20, and a supply section 40 for supplying a portion of the object to be supplied Ws dispensed by the dispensing section 30 to a supply position pL.

[0027] The holding unit 20, the feeding unit 30, and the supply unit 40 are arranged in this order along the transfer direction dc of the workpiece w. These holding unit 20, feeding unit 30, and supply unit 40 are attached to the housing 11 of the supply head 10.

[0028] Furthermore, the supply head 10 includes a detection unit 70 that detects a portion of the material Ws to be supplied that has been fed into the supply unit 40, and a power unit 60 that moves the dispensing unit 30 and the supply unit 40. These detection unit 70 and power unit 60 are also mounted on the housing 11 of the supply head 10.

[0029] The holding unit 20 holds multiple workpieces w, which are the objects to be supplied Ws. The holding unit 20 is shovel-shaped and has a tip 21 located at the end of the holding unit 20 and a transfer unit 22 on the opposite side of the tip 21. The transfer unit 22 is connected to the housing 11 and is connected to the dispensing unit 30 via a passage 26, which will be described later.

[0030] The robot arm 90 uses the holding unit 20 to scoop up multiple workpieces w, which are the objects to be supplied Ws, from the case 80, thereby causing the holding unit 20 to hold the multiple workpieces w.

[0031] Figure 9 shows the operation of robot 1 when scooping up multiple workpieces w from case 80 and supplying one workpiece w to supply position pL.

[0032] Figure 9(a) shows the holding part 20 tilted so that the tip 21 is positioned below the transfer part 22. Figure 9(b) shows the holding part 20 with its tip 21 inserted into the object Ws to be supplied inside the case 80 and moved. Figure 9(c) shows the holding part 20 tilted so that the tip 21 is positioned above the transfer part 22, and the holding part 20 raised. Figure 9(d) shows the supply head 10 moved to the supply position pL of the workpiece w.

[0033] As shown in Figures 9(a), (b), and (c), the robot arm 90 tilts the holding unit 20 diagonally relative to the case 80 and inserts the holding unit 20 into the loosely stacked supply objects Ws to be supplied, scooping them up, thereby causing the holding unit 20 to hold multiple workpieces w. Through these actions, the holding unit 20 holds multiple workpieces w.

[0034] Figure 10 is a perspective view of the holding section 20 and the feeding section 30. Figure 11 is a view of the holding section 20 and the feeding section 30 from a different direction than that shown in Figure 10.

[0035] The holding portion 20 shown in Figures 10 and 11 has a bottom portion 23 and two side portions 24 connected to the bottom portion 23. The bottom portion 23 supports the workpiece w in contact with its front or back surface. The two side portions 24 are located at different positions from the tip portion 21 and the transfer portion 22, and are provided at both ends in the width direction of the shovel-shaped holding portion 20. The two side portions 24 are provided along the transfer direction dc of the workpiece w and restrict the lateral displacement position of the workpiece w within the holding portion 20. The lateral displacement direction is the direction along the bottom portion 23 and perpendicular to the transfer direction dc of the workpiece w.

[0036] The transfer unit 22 is provided with a passage opening 26 for transferring the workpiece w from the holding unit 20 to the feeding unit 30 (see Figure 11). The robot arm 90 tilts the holding unit 20 so that the transfer unit 22 is positioned below the tip unit 21, thereby sliding the workpiece w on the bottom surface 23 toward the passage opening 26. The robot arm 90 also slides the workpiece w on the bottom surface 23 toward the passage opening 26 by shaking or vibrating the supply head 10.

[0037] The side portion 24 is formed in a tapered shape along the direction from the tip portion 21 toward the transfer portion 22, that is, along the transfer direction dc of the workpiece w. The distance between the two side portions 24 in the transfer portion 22 is formed to be, for example, 1.1 to 1.3 times the width (e.g., the shorter side) of the rectangular workpiece w. The workpiece w is transported while being guided by the side portions 24 so that the longitudinal direction (e.g., the longer side) of the workpiece w is aligned along the transfer direction dc.

[0038] A feed belt 33 is positioned in the transfer section 22 so as to pass through a rectangular opening 25. The feed belt 33 is positioned to slide along the lower long side of the opening 25 while in contact with it. The passage opening 26 is the area enclosed by the upper long side and two short sides of the opening 25, as well as the feed belt 33. The passage opening 26 is sized to allow one workpiece w to pass through. The width and height of the passage opening 26 are designed according to the width and height of each type of workpiece w. For example, the width of the passage opening 26 is formed to be between 1.1 and 1.3 times the width of the workpiece w, and the height of the passage opening 26 is formed to be between 1.1 and 1.3 times the height of the workpiece w. This passage opening 26 makes it possible to separate multiple workpieces w into one.

[0039] The feeding unit 30 shown in Figures 10 and 11 is connected to the holding unit 20 via a passage opening 26, and a first feed roller 31 and a feed belt 33 are located below the transfer unit 22. The feed belt 33 is made of a resin material such as rubber or elastomer. The feeding unit 30 further transfers the workpiece w that has been transferred to the transfer unit 22 by moving the feed belt 33. For example, the feeding unit 30 transfers the workpiece w on the feed belt 33, passes one workpiece w through the passage opening 26, and transfers it to the supply unit 40.

[0040] The first feed roller 31 may be positioned near the bottom surface 23 or front end 21 of the holding section 20, rather than on the underside of the transfer section 22. The dispensing section 30 may use the first feed roller 31 and feed belt 33 positioned near the bottom surface 23 or front end 21 of the holding section 20 to remove the workpiece w from the holding section 20 and transfer it.

[0041] The configuration of the supply unit 40 will be explained with reference to Figures 4 to 8. Note that the housing 11 is not shown in Figures 4 to 8.

[0042] As shown in Figures 4 to 7, the supply unit 40 transports the workpiece w using multiple supply belts 43. The supply belts 43 are made of a resin material such as rubber or elastomer.

[0043] The supply head 10 has a first mode in which the dispensing unit 30 and the supply unit 40 perform a transfer operation, and a second mode in which the supply unit 40 performs a reversal operation (see Figures 13 and 14). The transfer operation of the dispensing unit 30 is the operation of transferring the workpiece w received from the holding unit 20 to the supply unit 40. The transfer operation of the supply unit 40 is the operation of transferring the workpiece w received from the dispensing unit 30 and discharging it to the outside. The reversal operation of the supply unit 40 is a rotation operation in which the supply unit 40 itself rotates 180°. In the reversal operation of the supply unit 40, the holding unit 20 and the dispensing unit 30 do not reverse. In the reversal operation, the feed belt 33 rotates slightly in the opposite direction, and the workpiece w moves slightly backward relative to the transfer direction dc.

[0044] The supply head 10 performs a first mode, a transfer operation, by rotating the motor 61 of the power unit 60 in a first direction d1 (see Figure 8 or Figure 13), and performs a second mode, a reversal operation, by rotating the motor 61 in a second direction d2 (see Figure 8 or Figure 14) opposite to the first direction d1. The configuration for performing the transfer operation and the reversal operation will be described in detail later.

[0045] The detection unit 70 detects the workpiece w that has been fed into the supply unit 40. The detection unit 70 is, for example, a camera or a sensor, and is mounted perpendicular to the transport surface through which the workpiece w is transported (for example, on the top surface 13 of the housing 11). Multiple supply belts 43 are arranged with gaps between them in the width direction of the supply belts 43, and the detection unit 70 detects the workpiece w through these gaps.

[0046] In this example, the detection unit 70 detects the orientation of the workpiece w. Specifically, the detection unit 70 detects the front and back sides of the workpiece w. If the supply belt 43 is made of a transparent material, the detection unit 70 may detect the workpiece w by passing through the supply belt 43. If multiple holes are intermittently formed in the supply belt 43 along its circumferential direction, the detection unit 70 may detect the workpiece w through the holes in the supply belt 43.

[0047] The supply unit 40 supplies the workpiece w based on the detection result of the detection unit 70. For example, if the orientation of the workpiece w is inappropriate, the supply unit 40 performs a predetermined operation to bring the workpiece w into the correct orientation before supplying it. Specifically, if the workpiece w transferred to the supply unit 40 is face up, the supply unit 40 transfers the workpiece w while maintaining its orientation. If the workpiece w transferred to the supply unit 40 is face down, the supply unit 40 flips the workpiece w so that it is face up before transferring it.

[0048] After the robot arm 90 detects the workpiece w with the detection unit 70, it moves the supply head 10 to the supply position pL of the workpiece w, as shown in Figure 9(d). The supply unit 40 supplies the workpiece w to the supply position pL by discharging the workpiece w at the supply position pL. Although only one supply position pL is shown in Figure 9(d), there are actually multiple supply positions pL to which the workpiece w is supplied. For example, robot 1 supplies multiple pouches containing seasonings, which are the supply targets Ws, to multiple lunch boxes.

[0049] According to the robot 1 having the above configuration, a portion of the supply target Ws can be easily supplied from among the supply target Ws.

[0050] [Transfer and reversal operations of the supply head] The transfer and reversal operations of the supply head 10 will be explained with reference to the configurations of the dispensing unit 30, the supply unit 40, and the power unit 60.

[0051] Figure 12 is a perspective view of the supply unit 40 and the power unit 60. Figure 13 is a schematic diagram showing the transfer operation in the first mode. Figure 14 is a schematic diagram showing the reversal operation in the second mode. In Figures 13 and 14, the feed belt 33 and the supply belt 43 are shown with dashed lines.

[0052] As shown in Figure 12, the power unit 60 includes a motor 61, a non-contact coupling member 63, and a one-way clutch 66. The one-way clutch 66 and the non-contact coupling member 63 are power transmission members that transmit the driving force of the motor 61. The non-contact coupling member 63 has the function of transmitting power by non-contact coupling and the function of transmitting power by gears. The non-contact coupling member 63 is, for example, a magnetic gear, which transmits power to one member (for example, a pulley 44) by coupling with magnetic force, and also transmits power to the other member (for example, a timing belt 64 and a first relay gear 36) by gear transmission using the outer teeth. The non-contact coupling member 63 will be described later.

[0053] The motor 61 is fixed to one side 11a of the housing 11. The motor 61 is the power source that drives the feed unit 30 and the supply unit 40. In other words, the feed unit 30 and the supply unit 40 operate based on the driving force of the power unit 60. The motor 61 may also include an encoder and a reduction gear in addition to the motor body. A drive gear 62 is attached to the rotating shaft of the motor 61.

[0054] The supply unit 40 has two side plates 48a and 48b, and a first transfer mechanism m1 and a second transfer mechanism m2 provided between the two side plates 48a and 48b. A one-way clutch 66 is provided between the drive gear 62 and the supply unit 40. The rotating shafts of the motor 61, drive gear 62, and one-way clutch 66 are arranged to coincide with the reversing shaft ar of the supply unit 40 (see Figures 7 and 12). The one-way clutch 66 will be described later.

[0055] First, the transfer operation of the feed unit 30 in the first mode will be explained.

[0056] The dispensing unit 30 and the supply unit 40 perform transfer operations based on the driving force of the motor 61 via the non-contact coupling member 63.

[0057] The non-contact coupling member 63 shown in Figure 7 is rotatably mounted on one side surface 11a of the housing 11 (not shown). The non-contact coupling member 63 meshes with the drive gear 62 and rotates in conjunction with the rotation of the drive gear 62. The rotational force of the non-contact coupling member 63 is transmitted to the dispensing unit 30 and the supply unit 40. Note that "rotatably mounted" means that it can rotate around the rotating shaft using a rotating shaft and bearings, etc. The same applies hereafter.

[0058] The feeding unit 30 shown in Figure 5 feeds the workpiece w using a first feed roller 31, a second feed roller 32 positioned closer to the supply unit 40 than the first feed roller 31, and a feed belt 33 stretched over the first feed roller 31 and the second feed roller 32. Power is transmitted to the second feed roller 32, the feed belt 33, and the first feed roller 31 by the components shown below.

[0059] The feed section 30 is provided between one side surface 11a and the other side surface 11b of the housing 11 (not shown). A first relay gear 36 and a second relay gear 37, which are provided on the same rotating member, are rotatably mounted on one side surface 11a and the other side surface 11b (see Figure 7). A feed gear 38 that meshes with the second relay gear 37 is rotatably mounted on one side surface 11a of the housing 11. One end of the second feed roller 32 is connected to the feed gear 38, and the other end is rotatably mounted on the other side surface 11b of the housing 11. The first feed roller 31 is rotatably mounted on a part of the holding section 20 fixed to the housing 11.

[0060] A timing belt (toothed belt) 64 is stretched over a small-diameter gear and a first intermediate gear 36, which are mounted on the same axis as the rotation axis of the non-contact coupling member 63. The rotational force of the non-contact coupling member 63 is transmitted to the first intermediate gear 36 via the timing belt 64. The second intermediate gear 37 rotates in conjunction with the rotation of the first intermediate gear 36 and transmits rotational force to the feed gear 38. The feed gear 38 transmits the rotational force transmitted from the second intermediate gear 37 to the second feed roller 32. The rotational force transmitted to the second feed roller 32 is transmitted to the feed belt 33, and the first feed roller 31 rotates as the feed belt 33 moves circumferentially.

[0061] In the first mode, the transfer operation is performed by rotating the motor 61 of the power unit 60 in a first direction d1 (see Figure 13). The first direction d1 is, for example, the counterclockwise direction when viewing the motor 61 in the direction of the X-axis arrow. The rotational force of the motor 61 is transmitted to the second feed roller 32, feed belt 33, and first feed roller 31 via the drive gear 62, non-contact coupling member 63, timing belt 64, first relay gear 36, second relay gear 37, and feed gear 38 (see Figure 8). As a result, the transfer surface of the feed belt 33 moves from the holding unit 20 toward the supply unit 40. The workpiece w, transferred from the holding unit 20 to the dispensing unit 30, is transferred while riding on the feed belt 33 and sent to the supply unit 40.

[0062] Next, the transfer operation of the supply unit 40 in the first mode will be described.

[0063] As described above, the supply unit 40 has two side plates 48a and 48b. Between the two side plates 48a and 48b, a first transfer mechanism m1 and a second transfer mechanism m2 are provided (see Figures 12 and 13). The first transfer mechanism m1 and the second transfer mechanism m2 each have a first roller 41 and a second roller 42, and a plurality of supply belts 43 stretched over the first roller 41 and the second roller 42.

[0064] As shown in Figure 13, the first transfer mechanism m1 and the second transfer mechanism m2 are arranged to be 180° rotationally symmetric with respect to the reversal axis ar. In other words, the first roller 41 and the second roller 42 of the first transfer mechanism m1 and the first roller 41 and the second roller 42 of the second transfer mechanism m2 are arranged to be point-symmetric with respect to the reversal axis ar. A clamping space for gripping and transferring the workpiece w is provided between the supply belt 43 of the first transfer mechanism m1 and the supply belt 43 of the second transfer mechanism m2. The height of the clamping space is approximately the same as the height of the workpiece w.

[0065] As shown in Figure 7, a pulley 44 is connected to one end of the first roller 41 of the first transfer mechanism m1, and the pulley 44 is rotatably mounted on one side plate 48a. The other end of the first roller 41 is rotatably mounted on the other side plate 48b. One end of the second roller 42 of the first transfer mechanism m1 is rotatably mounted on one side plate 48a. The other end of the second roller 42 is rotatably mounted on the other side plate 48b, and a transmission gear 45 is connected to the end face of the other end.

[0066] A pulley 44 is connected to one end of the first roller 41 of the second transfer mechanism m2, and the pulley 44 is rotatably mounted on one side plate 48a. The other end of the first roller 41 is rotatably mounted on the other side plate 48b. One end of the second roller 42 of the second transfer mechanism m2 is rotatably mounted on one side plate 48a. The other end of the second roller 42 is rotatably mounted on the other side plate 48b, and a transmission gear 45 is connected to the end face of the other end (see Figure 6).

[0067] The transmission gear 45 of the first transfer mechanism m1 and the transmission gear 45 of the second transfer mechanism m2 are meshed, and the first transfer mechanism m1 can transmit its rotational force to the second transfer mechanism m2. Furthermore, if the first transfer mechanism m1 and the second transfer mechanism m2 are reversed, the second transfer mechanism m2 can transmit its rotational force to the first transfer mechanism m1.

[0068] The non-contact coupling member 63 and pulley 44 shown in Figure 7 are components that transmit power using the attraction and repulsion of magnets. The non-contact coupling member 63 and pulley 44 are positioned opposite each other with a gap in the axial direction. The non-contact coupling member 63 is positioned so that its axis of rotation coincides with the axis of rotation of the pulley 44. Multiple magnets are embedded in both the non-contact coupling member 63 and the pulley 44. Multiple magnets are arranged with alternating north and south poles along the direction of rotation. The pulley 44 rotates in the same direction as the non-contact coupling member 63 rotates. Note that the non-contact coupling member 63 and the pulley 44 do not need to have north and south poles formed by embedded magnets; north and south poles may be formed by magnetizing the metal parts included in the non-contact coupling member 63 and the pulley 44.

[0069] In the first mode, the transfer operation is performed by rotating the motor 61 of the power unit 60 in a first direction d1. The first direction d1 is, for example, the counterclockwise direction when viewed from the motor 61 in the direction of the X-axis arrow. The rotational force of the motor 61 is transmitted to the drive gear 62, the non-contact coupling member 63, the pulley 44 of the first transfer mechanism m1, and the first roller 41, which rotate the supply belt 43 and the second roller 42. As a result, the surface of the supply belt 43 of the first transfer mechanism m1 that is in contact with the workpiece w (the lower transfer surface of the supply belt 43 of the first transfer mechanism m1 shown in Figure 13) moves in the transfer direction dc of the workpiece w.

[0070] Furthermore, the rotational force transmitted to the pulley 44 of the first transfer mechanism m1 is transmitted to the first roller 41, the transmission gear 45, the transmission gear 45 and the second roller 42 of the second transfer mechanism m2, causing the supply belt 43 and the first roller 41 to rotate. As a result, the surface of the supply belt 43 of the second transfer mechanism m2 that is in contact with the workpiece w (the upper transfer surface of the supply belt 43 of the second transfer mechanism m2 shown in Figure 13) moves in the transfer direction dc of the workpiece w.

[0071] The front and back surfaces of the workpiece w are in contact with the supply belt 43 of the first transfer mechanism m1 and the supply belt 43 of the second transfer mechanism m2, respectively, and the workpiece w is transferred and discharged while sandwiched between the upper and lower supply belts 43.

[0072] Furthermore, the transfer operation of the supply unit 40 remains the same even if the first transfer mechanism m1 and the second transfer mechanism m2 are reversed and their vertical arrangement is inverted. When the pulley 44 of the first transfer mechanism m1 faces the non-contact coupling member 63, the pulley 44 of the second transfer mechanism m2 does not face the non-contact coupling member 63, and when the pulley 44 of the second transfer mechanism m2 faces the non-contact coupling member 63, the pulley 44 of the first transfer mechanism m1 does not face the non-contact coupling member 63.

[0073] Next, the reversal operation of the supply unit 40 in the second mode will be described.

[0074] The supply unit 40 reverses direction based on the driving force of the motor 61 via the one-way clutch 66. As shown in Figure 12, the one-way clutch 66 is mounted on the outside of one of the two side plates 48a, 48b, specifically on side plate 48a. The one-way clutch 66 may also be built into the drive gear 62. The one-way clutch 66 is configured to free-rotate when rotated in the first direction d1 and to lock and transmit power when rotated in the second direction d2.

[0075] In the second mode, the reversal operation is performed by rotating the motor 61 in a second direction d2 (see Figure 14). The second direction d2 is, for example, the clockwise direction when viewing the motor 61 in the direction of the arrow on the X axis. When the one-way clutch 66 receives rotational force in the second direction d2, it locks and transmits the rotational force in the second direction d2 around the reversal axis ar to one side plate 48a of the supply unit 40. That is, the rotational force of the motor 61 is transmitted to one side plate 48a of the supply unit 40 via the drive gear 62 and the one-way clutch 66, causing the entire supply unit 40 to rotate. The workpiece w is reversed while sandwiched between the upper and lower supply belts 43.

[0076] The rotation of the motor 61 stops at 180°, and the supply unit 40 is temporarily locked by a locking part 47 provided on the other side plate 48b. This reversal operation reverses the orientation of the first transfer mechanism m1 and the second transfer mechanism m2. In this way, the supply unit 40 switches between reversal and non-reversal operation via the one-way clutch 66 based on the switching of the rotation direction of the motor 61.

[0077] The above example shows a method for switching between reverse and non-reverse operation of the supply unit 40 using a one-way clutch 66, but it is not limited to this. For example, the supply head 10 may use a ratchet mechanism to switch between reverse and non-reverse operation of the supply unit 40.

[0078] [Robot control methods] The control method for robot 1 will be explained with reference to Figures 15 and 16.

[0079] Figure 15 is a flowchart showing the control method for robot 1.

[0080] First, robot 1 uses the holding unit 20 to hold the object to be supplied Ws (step S10). For example, robot 1 uses the shovel-shaped holding unit 20 to scoop out the object to be supplied Ws from the case 80, thereby holding the object to be supplied Ws with the holding unit 20.

[0081] Next, the robot 1 uses the feeding unit 30 to feed out a portion of the object Ws held in the holding unit 20 (step S20). For example, the robot 1 separates a portion of the object Ws from the object Ws held in the holding unit 20 and feeds the workpiece w, which is a portion of the object Ws, to the feeding unit 40.

[0082] Next, the robot 1 uses the detection unit 70 to detect a portion of the object Ws to be supplied to the supply unit 40 (step S30). For example, the detection unit 70 detects the front and back sides of the workpiece w, which is a portion of the object Ws to be supplied. The detection result of the detection unit 70 is output to the supply head 10. The supply head 10 may determine the front and back sides of the workpiece w based on a barcode provided on the front or back surface of the workpiece w.

[0083] Next, robot 1 uses robot arm 90 to move a portion of the object to be supplied Ws to supply position pL, and uses supply unit 40 to discharge a portion of the object to be supplied Ws at supply position pL, thereby supplying a portion of the object to be supplied Ws to supply position pL (step S40). The supply unit 40 supplies workpiece w, which is a portion of the object to be supplied Ws, based on the detection result of detection unit 70. For example, if workpiece w is facing downwards, the supply unit 40 inverts workpiece w so that it is facing upwards before transporting workpiece w. If workpiece w is facing upwards, the supply unit 40 transports workpiece w without inverting it. Then robot 1 uses robot arm 90 to move supply head 10 to first supply position pL and discharges workpiece w at first supply position pL.

[0084] By performing steps S10 to S40 described above, a portion of the supply target Ws can be easily supplied from among the supply target Ws.

[0085] Robot 1 similarly detects the next workpiece w that has been fed from the dispensing unit 30 to the supply unit 40. If the workpiece w is facing down, the supply unit 40 inverts it so that the workpiece w is facing up and then transports the workpiece w. If the workpiece w is facing up, the supply unit 40 transports the workpiece w without inverting it. Then, using the robot arm 90, Robot 1 moves the supply head 10 to a second supply position pL which is different from the first supply position pL, and discharges the workpiece w at that supply position pL.

[0086] Robot 1 repeats the above operation to supply all workpieces w held in the holding unit 20 to a predetermined supply position pL. When there are no more workpieces w held in the holding unit 20, Robot 1 scoops up multiple workpieces w from the case 80 again and holds them in the holding unit 20. If no workpieces w are fed into the supply unit 40, for example, if the detection start time until the presence or absence of workpieces w is detected is longer than a predetermined time, Robot 1 may determine that there are no more workpieces w held in the holding unit 20.

[0087] In step S30 above, a method was shown to determine the front and back of the workpiece w by detecting a barcode provided on the workpiece w. However, the robot 1 may determine the front and back of the workpiece w by other means.

[0088] Figure 16 shows the image of the workpiece w and the amount of matching applied to the image.

[0089] Figures 16(a1) to (a6) sequentially show images of the workpiece w when it is flipped from the back to the front. Figures 16(b1) to (b6) show the matching amounts of the detection data detected by the detection unit 70, namely the matching amount θf for the image Mf of the surface of the workpiece w and the matching amount θb for the image Mb of the back surface of the workpiece w.

[0090] First, data relating to the previously captured images of the surface Mf and back surface Mb of the workpiece w is stored in the memory of robot 1. Additionally, a threshold θth for determining the presence or absence of the workpiece w is stored in the memory of robot 1. This data may be stored in the memory of the supply head 10 or in the memory of the robot arm 90.

[0091] Next, the robot 1 uses the detection unit 70 to detect whether or not a workpiece w has been fed into the supply unit 40. For example, the robot 1 determines that a workpiece w has been fed into the supply unit 40 if either of the matching amounts θf and θb exceeds the threshold θth.

[0092] Furthermore, robot 1 determines the front and back of the workpiece w based on the relative magnitudes of the matching amounts θf and θb. Here, a larger matching amount θf relative to image Mf indicates that the workpiece w is facing up, and a larger matching amount θb relative to image Mb indicates that the workpiece w is facing down. Therefore, robot 1 compares the matching amounts θf and θb, and if θf < θb, it determines that the workpiece w is facing down and performs a flipping operation. Also, robot 1 compares the matching amounts θf and θb, and if θf > θb, it determines that the workpiece w is facing up and does not perform a flipping operation. According to the above method, the front and back of the workpiece w can be appropriately determined, and the flipping and non-flipping operations of the workpiece w can be appropriately performed.

[0093] [Modification 1 of Embodiment 1] A robot 1 according to Modification 1 of Embodiment 1 will now be described. In Modification 1, an example will be described in which an intermediate gear 39 is used instead of a timing belt 64 to transmit the rotational force of the non-contact coupling member 63 to the first relay gear 36.

[0094] Robot 1 in the modified example 1 also includes a robotic arm 90 and a supply head 10 connected to the robotic arm 90.

[0095] Figure 17 is a schematic diagram of the supply head 10 according to Modification 1. In Figure 17, the motor 61, supply belt 43, feed belt 33, feed gear 38, etc. are omitted from the illustration.

[0096] The supply head 10 includes a holding unit 20 for holding the object to be supplied Ws, a feeding unit 30 for feeding a portion of the object to be supplied Ws held by the holding unit 20, and a supply unit 40 for supplying a portion of the object to be supplied Ws fed by the feeding unit 30 to a supply position pL. The supply head 10 also includes a detection unit 70 for detecting a portion of the object to be supplied Ws fed into the supply unit 40, and a power unit 60 for moving the feeding unit 30 and the supply unit 40.

[0097] In the supply head 10 of the modified example 1, as shown in Figure 17, an intermediate gear 39 is provided between the non-contact coupling member 63 and the first relay gear 36. The rotational force of the non-contact coupling member 63 is transmitted to the first relay gear 36 via the intermediate gear 39.

[0098] In the modified example 1, the first mode is achieved by rotating the motor 61 in the first direction d1, and the second mode is achieved by rotating the motor 61 in the second direction d2.

[0099] In the first mode, the motor 61 of the power unit 60 is rotated in the first direction d1 to perform the transfer operation. The rotational force of the motor 61 is transmitted to the second feed roller 32, feed belt 33, and first feed roller 31 via the drive gear 62, non-contact coupling member 63, intermediate gear 39, first relay gear 36, second relay gear 37, and feed gear 38.

[0100] In this modified example 1, an intermediate gear 39 is used instead of the timing belt 64 to transmit the rotational force of the non-contact coupling member 63 to the first relay gear 36. The robot 1 of modified example 1 can achieve the same effects as in embodiment 1.

[0101] [Modification 2 of Embodiment 1] A robot 1 according to a modified example 2 of Embodiment 1 will be described. In Modified Example 2, an example will be described in which the reversing and non-reversing operation of the supply unit 40 is switched via a torque limiter 67 and a one-way clutch 66a.

[0102] Robot 1 in Modification 2 also includes a robotic arm 90 and a supply head 10 connected to the robotic arm 90.

[0103] Figure 18 is a schematic diagram of the supply unit 40 and power unit 60 of Modified Example 2, viewed from above. Figure 19 is a view of the supply unit 40 and power unit 60 of Modified Example 2 from a different direction than in Figure 18. In Figure 19, the supply belt 43 and other components are omitted from the illustration.

[0104] The supply head 10 includes a holding unit 20 for holding the object to be supplied Ws, a feeding unit 30 for feeding a portion of the object to be supplied Ws held by the holding unit 20, and a supply unit 40 for supplying a portion of the object to be supplied Ws fed by the feeding unit 30 to a supply position pL. The supply head 10 also includes a detection unit 70 for detecting a portion of the object to be supplied Ws fed into the supply unit 40, and a power unit 60 for moving the feeding unit 30 and the supply unit 40.

[0105] The power unit 60 is equipped with a torque limiter 67 that transmits the driving force of the motor 61. In the supply head 10 of the modified example 2, as shown in Figures 18 and 19, a torque limiter 67 is provided between the drive gear 62 and one side plate 48a, and a one-way clutch 66a is provided between the other side plate 48b and the other side surface 11b of the housing 11. The rotation axes of the drive gear 62, torque limiter 67 and one-way clutch 66a coincide with the reversal axis ar of the supply unit 40. The one-way clutch 66a in the modified example 2 is configured to lock for rotation in the first direction d1 and to free-spin for rotation in the second direction d2.

[0106] The first mode is rotation in the first direction d1, and in the first mode, the one-way clutch 66a is locked. In this state, rotational force is transmitted from the motor 61 to the torque limiter 67 via the drive gear 62, but since the one-way clutch 66a is locked, the rotational force transmitted to the torque limiter 67 exceeds the specified torque value of the torque limiter 67, and the torque limiter 67 slips. Therefore, the rotational force transmitted to the torque limiter 67 is not transmitted to the supply unit 40, and the supply unit 40 does not reverse direction. On the other hand, the rotational force of the drive gear 62 is transmitted to the non-contact coupling member 63, and the transfer operation is performed as described above.

[0107] The second mode is rotation in the second direction d2, and in the second mode, the one-way clutch 66a is in a state where it can rotate freely. In this state, when rotational force is transmitted from the motor 61 to the torque limiter 67 via the drive gear 62, the rotational force transmitted to the torque limiter 67 is directly transmitted to the supply unit 40 because the one-way clutch 66a is in a state where it can rotate freely, causing the supply unit 40 to reverse direction.

[0108] Thus, in the modified example 2, the torque limiter 67 and the one-way clutch 66a are used to switch between the reversing and non-reversing operations of the supply unit 40. The robot 1 of the modified example 2 can achieve the same effects as in the embodiment 1.

[0109] (Embodiment 2) [Robot Configuration] The configuration of the robot 1 according to Embodiment 2 will be described. Embodiment 2 describes an example in which the supply position pL is determined according to the mass of a portion of the object to be supplied Ws.

[0110] The robot 1 of Embodiment 2 comprises a robot arm 90 and a supply head 10A connected to the robot arm 90. The basic configuration of the robot arm 90 is the same as in Embodiment 1.

[0111] Figure 20 is a perspective view of the supply head 10A of Embodiment 2. Figure 21 is an exploded perspective view of the supply head 10A. Figure 22 is an exploded perspective view of the supply head 10A from a different direction than that shown in Figure 20. Figure 21 shows the supply head 10A with the holding part 20 and a part of the housing 11 separated. A spherical workpiece w is also shown in Figure 21. Figure 22 shows the supply head 10A with a part of the housing 11 virtually separated.

[0112] The supply head 10A shown in Figures 20 to 22 is a robot hand mechanism for handling the object to be supplied Ws. The housing 11 of the supply head 10A is provided with a connection part 15 that connects to the movable end-effector region 95 of the robot arm 90. The supply head 10A is fixed to the movable end-effector region 95 via the connection part 15 and can be moved by the robot arm 90 to any position and orientation within the operating range of the robot 1 in three-dimensional space.

[0113] Robot 1 in this embodiment also supplies a portion of the supply target Ws from among the supply target Ws.

[0114] A portion of the supplied items Ws is a portion of the total number of items Ws, or a portion of the total quantity of items Ws. For example, a portion of the supplied items Ws is one work w out of several work w.

[0115] Figure 23 shows an example of a workpiece w supplied by robot 1.

[0116] Figure 23 shows an example where the workpiece w supplied by robot 1 is food such as fried chicken. Figure 23 shows multiple workpieces w of different sizes and shapes, in other words, multiple workpieces w of different masses.

[0117] Information regarding the required mass of the workpiece w at the supply position pL is pre-stored in the robot 1's memory unit (not shown). The required mass information of the workpiece w is, for example, information regarding the specified range of total mass of fried chicken to be placed in a lunch box (e.g., 190g or more and 210g or less). The robot 1 can obtain information regarding the mass of each individual workpiece w by measuring the mass of each workpiece w at the supply head 10A.

[0118] Robot 1 performs operations such as scooping up, holding, separating, detecting, aligning, and discharging multiple workpieces w, and supplies the workpieces w to a box or bag for storage, or to a stage or jig for processing the workpieces w. In this embodiment, one piece of fried chicken, which is part of the supply target Ws, is supplied to a lunch box.

[0119] The supply head 10A shown in Figures 20 to 22 comprises a holding unit 20 for holding the object to be supplied Ws, a feeding unit 30 for feeding a portion of the object to be supplied Ws held by the holding unit 20, and a supply unit 40 for supplying a portion of the object to be supplied Ws fed by the feeding unit 30 to a supply position pL.

[0120] The holding unit 20, the feeding unit 30, and the supply unit 40 are arranged in this order along the direction of transfer of the workpiece w within the supply head 10A. These holding unit 20, feeding unit 30, and supply unit 40 are attached to the housing 11 of the supply head 10A.

[0121] Furthermore, the supply head 10A includes a detection unit 70 that detects a portion of the material Ws to be supplied that has been fed into the supply unit 40, and a power unit 60 that moves the dispensing unit 30 and the supply unit 40. These detection unit 70 and power unit 60 are also provided in the housing 11 of the supply head 10A.

[0122] The holding unit 20 holds multiple workpieces w, which are the objects to be supplied Ws. The holding unit 20 is shovel-shaped and has a tip 21 located at the end of the holding unit 20 and a transfer unit 22 on the opposite side of the tip 21. The transfer unit 22 is connected to the dispensing unit 30 via a passage opening 26.

[0123] The robot arm 90 uses the holding unit 20 to scoop up multiple workpieces w from the case 80 (not shown), thereby causing the holding unit 20 to hold multiple workpieces w.

[0124] For example, the robot arm 90 tilts the holding unit 20 diagonally relative to the case 80, inserts the holding unit 20 into the loosely stacked supply objects Ws, and scoops them up, thereby causing the holding unit 20 to hold multiple workpieces w. Through these actions, the holding unit 20 holds multiple workpieces w.

[0125] The transfer section 22 has a passage opening 26 for transferring the workpiece w from the holding section 20 to the feeding section 30. The robot arm 90 drops the workpiece w towards the passage opening 26 by changing the posture of the holding section 20 so that the transfer section 22 is positioned below the tip section 21. The robot arm 90 also drops the workpiece w towards the passage opening 26 by shaking or vibrating the supply head 10A.

[0126] The passage opening 26 provided in the transfer section 22 is sized to allow one workpiece w to pass through. The width and length of the passage opening 26 are designed according to the width and length of each type of workpiece w. This passage opening 26 makes it possible to separate multiple workpieces w into one.

[0127] The dispensing unit 30 is connected to the holding unit 20 via a passage opening 26, and a rotating blade 55 is provided in the area corresponding to the exit of the passage opening 26. The rotating blade 55 is a protruding portion that extends from the outer circumference of the rotating drum 54. The dispensing unit 30 receives one workpiece w transferred from the holding unit 20 via the passage opening 26 and sends it to the supply unit 40. For example, the dispensing unit 30 cuts out a workpiece w that has passed through the passage opening 26 and come into contact with the rotating blade 55 by moving the rotating blade 55 and transfers it to the supply unit 40.

[0128] The detection unit 70 detects the workpiece w that has been fed into the supply unit 40. The detection unit 70 is a mass measuring instrument such as a load cell and is provided on the weighing plate 56 of the supply unit 40. The detection unit 70 detects the workpiece w placed on the weighing plate 56 of the supply unit 40. In this example, the detection unit 70 detects the mass of the workpiece w. Alternatively, the detection unit 70 may detect the weight of the workpiece w.

[0129] Figure 24 shows the operation when the workpiece w is discharged from the supply head 10A. Figure 25 is an exploded perspective view of the supply head 10A from a different direction than in Figure 24. In Figures 24 and 25, some parts of the housing 11 are omitted from the illustration.

[0130] The supply unit 40 supplies the workpiece w based on the detection result of the detection unit 70. As shown in Figures 24 and 25, the supply unit 40 discharges the workpiece w downward by opening the lower side of the supply unit 40. For example, the supply unit 40 switches between discharging and not discharging the workpiece w by sliding the weighing plate 56 horizontally via a one-way clutch 66 based on the switching of the rotation direction of the motor 61. The one-way clutch 66 is provided between the driven gear 57 that meshes with the drive gear 62 and the rack and pinion mechanism 58 (see Figure 22). The sliding movement of the weighing plate 56 is achieved by the rack and pinion mechanism 58 and the slide bearing mechanism 59.

[0131] For example, if the mass of the workpiece w is within a specified range, the robot arm 90 moves the supply head 10A to the first supply position pL. The supply unit 40 supplies the workpiece w to the first supply position pL by discharging the workpiece w at the first supply position pL. Similarly, the detection unit 70 detects the mass of the next workpiece w sent to the supply unit 40. For example, if the mass of the next workpiece w is within a specified range, the robot arm 90 moves the supply head 10A to a second supply position pL, which is different from the first supply position pL. The supply unit 40 supplies the workpiece w to the second supply position pL by discharging the workpiece w at the second supply position pL.

[0132] Furthermore, information regarding the mass of the workpiece w and the supply history information regarding the position where the workpiece w was supplied are stored in the memory unit of the robot 1 each time. Based on this supply history information, the robot 1 determines the supply position pL of the next workpiece w that has been transferred to the supply unit 40.

[0133] For example, if the mass of the workpiece w is half of the specified range, the robot arm 90 moves the supply head 10A to the first supply position pL. The supply unit 40 supplies the workpiece w to the first supply position pL by discharging the workpiece w at the first supply position pL. Similarly, the detection unit 70 detects the mass of the next workpiece w sent to the supply unit 40. For example, if the mass of the next workpiece w is half of the specified range, the robot arm 90 moves the supply head 10A to the first supply position pL in order to bring the total mass of the workpiece w at the first supply position pL into the specified range. The supply unit 40 supplies the workpiece w to the first supply position pL by discharging the workpiece w at the first supply position pL.

[0134] With the robot 1 having the above configuration, a portion of the supply target Ws can be easily supplied from among the supply target Ws. Furthermore, since the next supply position pL is determined based on the supply history information of a portion of the supply target Ws, an appropriate amount of workpiece w can be supplied to the appropriate supply position pL.

[0135] (summary) Examples of robots, etc., relating to one aspect of this disclosure are given below.

[0136] The robot 1 in Example 1 includes a holding unit 20 for holding the object to be supplied Ws, a feeding unit 30 for feeding a portion of the object to be supplied Ws held by the holding unit 20, a supply unit 40 for supplying a portion of the object to be supplied Ws fed by the feeding unit 30 to a supply position pL, and a robot arm 90 that can move a supply head 10 (or 10A) including the holding unit 20, the feeding unit 30, and the supply unit 40. The robot arm 90 moves the supply head 10 (or 10A) to the supply position pL, and the supply unit 40 supplies a portion of the object to be supplied Ws to the supply position pL by discharging a portion of the object to be supplied Ws at the supply position pL.

[0137] In this way, by using the robot arm 90 to move the supply head 10 (or 10A) to the supply position pL and discharging a portion of the object to be supplied Ws at the supply position pL, a portion of the object to be supplied Ws can be easily supplied to the supply position pL.

[0138] Robot 1 in Example 2 is the robot described in Example 1, and the robot arm 90 may hold the object to be supplied Ws in the holding part 20 by scooping the object to be supplied Ws out of the case 80 using the shovel-shaped holding part 20.

[0139] In this way, by using the holding unit 20 to scoop out the supply material Ws from the case 80, the supply material Ws can be held in the holding unit 20. This makes it possible to supply a portion of the supply material Ws from among those held in the holding unit 20.

[0140] Robot 1 in Example 3 is the robot described in Example 1 or 2, wherein the object to be supplied Ws includes multiple workpieces w, and part of the object to be supplied Ws may be one of the multiple workpieces w.

[0141] According to this, one workpiece w, which is part of the supply target Ws, can be easily supplied from among multiple workpieces w that constitute the supply target Ws.

[0142] The robot 1 in Example 4 is the robot described in Example 3, and further includes a detection unit 70 for detecting a workpiece w fed into the supply unit 40, and the supply unit 40 may supply the workpiece w based on the detection result of the detection unit 70.

[0143] According to this, the workpiece w can be easily supplied based on the detection result of the detection unit 70.

[0144] The robot 1 in Example 5 is the robot described in Example 3, wherein the detection unit 70 detects the posture of the workpiece w, and the supply unit 40, if the posture of the workpiece w is inappropriate, performs a predetermined operation to bring the workpiece w into an appropriate posture and supplies the workpiece w.

[0145] According to this, the orientation of the workpiece w can be changed to an appropriate orientation using the supply unit 40, and the workpiece w can be supplied.

[0146] The robot 1 in Example 6 is the robot described in Example 4, wherein the detection unit 70 detects the front and back sides of the workpiece w, and the supply unit 40 may, if the workpiece w is facing backward, invert it so that the workpiece w is facing forward before supplying the workpiece w.

[0147] According to this, the workpiece w can be turned face up using the supply unit 40 and then supplied.

[0148] The robot 1 in Example 7 is the robot described in Example 4, wherein the detection unit 70 detects the mass of the workpiece w, and the supply unit 40 determines the supply position pL of the workpiece w based on the mass of the workpiece w.

[0149] According to this, the workpiece w can be supplied to a supply position pL corresponding to the mass of the workpiece w.

[0150] Robot 1 in Example 8 is a robot described in any of Examples 1 to 7, further comprising a power unit 60 having one motor 61, and the dispensing unit 30 and supply unit 40 may operate based on the driving force of the motor 61.

[0151] According to this, the dispensing unit 30 and the supply unit 40 can be driven using a single motor 61. This allows a portion of the material to be supplied Ws to be supplied with a simple structure.

[0152] Robot 1 in Example 9 is the robot described in Example 8, wherein the power unit 60 further includes a non-contact coupling member 63 that transmits the driving force of the motor 61, and the dispensing unit 30 and the supply unit 40 may operate based on the driving force of the motor 61 via the non-contact coupling member 63.

[0153] In this way, by moving the dispensing unit 30 and the supply unit 40 based on the driving force of the motor 61 via the non-contact coupling member 63, a portion of the object to be supplied Ws can be supplied with a simple structure.

[0154] Robot 1 in Example 10 is the robot described in Example 9, wherein the power unit 60 further includes a one-way clutch 66 for transmitting the driving force of the motor 61, and the supply unit 40 may switch between reversing and non-reversing operation via the one-way clutch 66 based on the switching of the rotation direction of the motor 61.

[0155] According to this, switching between inverted and non-inverted operation can be achieved with a simple structure. This allows for the easy supply of a portion of the material Ws to be supplied.

[0156] Robot 1 in Example 11 is the robot described in Example 9, wherein the power unit 60 further includes a torque limiter 67 and a one-way clutch 66a that transmit the driving force of the motor 61, and the supply unit 40 may switch between reversing and non-reversing operation via the torque limiter 67 and the one-way clutch 66a based on the switching of the rotation direction of the motor 61.

[0157] According to this, switching between inverted and non-inverted operation can be achieved with a simple structure. This allows for the easy supply of a portion of the material Ws to be supplied.

[0158] Robot 1 in Example 12 is the robot described in Example 9, wherein the power unit 60 further includes a one-way clutch 66 that transmits the driving force of the motor 61, and the supply unit 40 may switch between discharge and non-discharge operations via the one-way clutch 66 based on the switching of the rotation direction of the motor 61.

[0159] This allows for a simple structure to switch between discharge and non-discharge operations. This enables the easy supply of a portion of the material Ws to be supplied.

[0160] The control method for the robot 1 in Example 13 includes a holding step of holding the object to be supplied Ws, a dispensing step of dispensing a portion of the object to be supplied Ws held in the holding step, and a supply step of supplying a portion of the object to be supplied Ws to the supply position pL by moving the portion of the object to be supplied Ws dispensed in the dispensing step to a supply position pL and discharging a portion of the object to be supplied Ws at the supply position pL.

[0161] In this way, by moving a portion of the material to be supplied Ws to a supply position pL and discharging a portion of the material to be supplied Ws at that supply position pL, a portion of the material to be supplied Ws can be easily supplied from within the material to be supplied Ws.

[0162] (Other embodiments) Although embodiments (including various modifications) have been described above, the present invention is not limited to the embodiments described above.

[0163] The present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art could conceive, or forms realized by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present invention. [Industrial applicability]

[0164] The present invention can be widely used as a robot that can grasp or hold multiple loosely stacked workpieces together and then place them one by one from that state. [Explanation of Symbols]

[0165] 1 Robot 10, 10A supply head 11 cabinets 11a, 11b side 13 Top surface 15 Connection part 20 Holding part 21 Tip 22 Transfer section 23 Bottom part 24 Side part 25 Opening holes 26 Passage gate 30 Dispatch section 31, 32 Feed rollers 33 Feed belt 36, 37 Relay gear 38 Feed gear 39 Intermediate gear 40 Supply section 41 First Laura 42. Second Laura 43 Supply belt 44 Pulley 45 Transmission gear 47 Locking part 48a, 48b side plate 54 RPM drum 55 rotating blades 56 Measuring plate 57 Driven gear 58 Rack and pinion mechanism 59. Slide bearing mechanism 60 Power section 61 Motor 62 drive gears 63 Non-contact coupling member 64 Timing belt 66, 66a One-way clutch 67 Torque Limiter 70 Detection unit 80 cases 90 Robot Arms 95 Movable tip area ar inverted axis d1 1st direction d2 2nd direction dc transfer direction pL supply position m1, m2 transfer mechanism Ws Supply Items w work

Claims

1. A holding section for holding the object to be supplied, A feeding unit that feeds out a portion of the object to be supplied that is held by the holding unit, A supply unit that supplies a portion of the object to be supplied, which has been fed out by the aforementioned feeding unit, to the supply position, A robotic arm that can move the supply head, which includes the holding part, the feeding part, and the supply part, Equipped with, The robot arm moves the supply head to the supply position, The supply unit supplies a portion of the object to be supplied to the supply position by discharging a portion of the object to be supplied at the supply position. robot.

2. The robot arm uses the shovel-shaped holding part to scoop out the object to be supplied from the case, thereby causing the holding part to hold the object to be supplied. The robot according to claim 1.

3. The supplied object includes a plurality of workpieces, The portion of the supplied object is one of the multiple workpieces. The robot according to claim 1 or 2.

4. Furthermore, the system includes a detection unit for detecting the workpiece that has been fed to the supply unit, The supply unit supplies the workpiece based on the detection result of the detection unit. The robot according to claim 3.

5. The detection unit detects the orientation of the workpiece, The supply unit, if the workpiece is in an inappropriate position, performs a predetermined operation to bring the workpiece into an appropriate position and then supplies the workpiece. The robot according to claim 4.

6. The detection unit detects the front and back sides of the workpiece, The supply unit, when the workpiece is facing downwards, inverts it so that the workpiece is facing upwards before supplying it. The robot according to claim 4.

7. The detection unit detects the mass of the workpiece, The supply unit determines the supply position of the workpiece based on the mass of the workpiece. The robot according to claim 4.

8. Furthermore, it is equipped with a power unit having one motor, The dispensing unit and the supply unit operate based on the driving force of the motor. The robot according to claim 1 or 2.

9. The power unit further includes a non-contact coupling member that transmits the driving force of the motor, The dispensing unit and the supply unit operate based on the driving force of the motor via the non-contact coupling member. The robot according to claim 8.

10. The power unit further includes a one-way clutch that transmits the driving force of the motor, The supply unit switches between reverse and non-reverse operation via the one-way clutch based on the rotation direction of the motor. The robot according to claim 9.

11. The power unit further includes a torque limiter and a one-way clutch that transmit the driving force of the motor. The supply unit switches between reverse and non-reverse operation via the torque limiter and the one-way clutch based on the switching of the motor's rotation direction. The robot according to claim 9.

12. The power unit further includes a one-way clutch that transmits the driving force of the motor, The supply unit switches between discharge and non-discharge operations via the one-way clutch based on the rotation direction of the motor. The robot according to claim 9.

13. A method for controlling a robot, A holding step of holding the object to be supplied, A feeding step in which a portion of the object to be supplied that was held in the holding step is fed out, A supply step in which a portion of the object to be supplied, which was supplied in the above-mentioned dispensing step, is moved to the supply position, and a portion of the object to be supplied is discharged at the supply position, thereby supplying a portion of the object to be supplied to the supply position, A method for controlling a robot, including the following.

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