robot

Abstract

This technology provides the ability to quickly and accurately acquire images of the workpiece being imaged. [Solution] The robot's movable arm includes a gripping unit for gripping a workpiece, a light-shielding cover for covering the workpiece gripped by the gripping unit, and an imaging unit for imaging the workpiece that is both gripped by the gripping unit and covered by the cover.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a robot.

Background Art

[0002] A system including a robot is disclosed in Patent Document 1. The robot of Patent Document 1 includes a gripping part for gripping a workpiece and an imaging part for imaging the workpiece.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the system of Patent Document 1, when the imaging part images the workpiece, external light hits the workpiece, which affects the imaging, and there is a problem that an image of the workpiece cannot be accurately obtained. Further, when the workpiece is imaged while being gripped by the gripping part, the problem becomes more prominent. Therefore, this specification provides a technology capable of quickly and accurately obtaining an image of the workpiece to be imaged.

Means for Solving the Problems

[0005] The first aspect of this technology relates to a robot including a movable arm. The movable arm includes a gripping part for gripping a workpiece, a light - shielding cover covering the workpiece gripped by the gripping part, and an imaging part for imaging the workpiece gripped by the gripping part and covered by the cover.

[0006] With this configuration, when the imaging unit images the workpiece held by the gripping unit, the cover can block external light, thereby reducing the influence of external light during imaging. Furthermore, since the movable arm includes both the gripping unit and the cover, the workpiece can be covered by the cover when the gripping unit grips it. This allows for quick and accurate acquisition of images of the workpiece being imaged.

[0007] In a second embodiment, the robot in the first embodiment may further include a storage unit that stores a reference image which serves as a criterion for determining whether a workpiece held by the gripping unit is acceptable or unacceptable, and a determination unit that determines whether a workpiece is acceptable or unacceptable by comparing an image of the workpiece captured by the imaging unit with the reference image. With this configuration, the acceptance or rejection of a workpiece held by the gripping unit can be determined with high accuracy.

[0008] In a third embodiment, in the first or second embodiment described above, the robot may be powered by electricity generated by a solar power generation device. This configuration allows for the acquisition of images of the workpiece at low cost and reduces the environmental impact. [Brief explanation of the drawing]

[0009] [Figure 1] A schematic perspective view showing the robot system of the embodiment. [Figure 2] A schematic top view showing the robot system of the embodiment. [Figure 3] A schematic cross-sectional view showing a part of the robot system of the embodiment. [Figure 4] A flowchart of the processes performed by the robot system in the example. [Modes for carrying out the invention]

[0010] The robot system 2 of the embodiment will be described with reference to the drawings. As shown in Figure 1, the robot system 2 of the embodiment comprises a mobile platform 30, a work robot 10 mounted on the mobile platform 30, and a solar power generation device 90 mounted on the mobile platform 30 at a different position from the work robot 10. Furthermore, as shown in Figure 2, the robot system 2 also comprises a first housing box 4 and a second housing box 6 located at a distance from the mobile platform 30.

[0011] As shown in Figure 1, the mobile platform 30 comprises a main body 32 and a plurality of wheels 34 attached to the main body 32. The mobile platform 30 is configured to be movable in multiple directions by having a plurality of wheels 34. The plurality of wheels 34 are attached to the lower part of the main body 32. The mobile platform 30 is movable in multiple directions, for example, on a floor. In a modified example, the mobile platform 30 may be movable on rails along rails. The mobile platform 30 can be moved manually or automatically.

[0012] The main body 32 of the mobile platform 30 is configured, for example, in a box shape. The main body 32 has an upper surface 36 on which the work robot 10 and the solar power generation device 90 are mounted. The main body 32 supports the work robot 10 and the solar power generation device 90. The main body 32 is made of, for example, an aluminum alloy.

[0013] The work robot 10 is fixed to the upper surface 36 of the mobile platform 30. The mounting position of the work robot 10 on the upper surface 36 of the mobile platform 30 can be set as appropriate. The work robot 10 is, for example, a multi-joint robot equipped with a movable arm 18. The work robot 10 can, for example, grasp a workpiece W to be imaged. Furthermore, the work robot 10 can move the workpiece W while grasping it. For example, the work robot 10 can grasp a workpiece W housed in the first storage box 4 and move it to the second storage box 6.

[0014] The work robot 10 operates using power supplied from, for example, a solar power generation device 90. In a modified example, the work robot 10 may also operate using power supplied from a power source other than the solar power generation device 90. The power source for the work robot 10 is not particularly limited.

[0015] The configuration of the work robot 10 is not particularly limited. For example, the work robot 10 includes a base end 12, a movable arm 18, a cover 50, a camera 80 (see Figure 3), and a control unit 100.

[0016] The base end 12 of the work robot 10 is fixed to the upper surface 36 of the mobile platform 30. The movable arm 18 of the work robot 10 comprises a first part 13, a second part 14, a tip 15, and a gripping part 16.

[0017] The first portion 13 of the movable arm 18 is connected to the base end 12. The first portion 13 is configured to be rotatable relative to the base end 12. The first portion 13 rotates, for example, around one or more axes. The second portion 14 is connected to the first portion 13. The second portion 14 is configured to be rotatable relative to the first portion 13. The second portion 14 rotates, for example, around one or more axes. The tip portion 15 is connected to the second portion 14. The tip portion 15 is configured to be rotatable relative to the second portion 14. The tip portion 15 rotates, for example, around one or more axes.

[0018] As shown in Figure 3, the gripping portion 16 of the movable arm 18 is connected to the tip portion 15 of the movable arm 18. The gripping portion 16 is configured to grip the workpiece W to be imaged. The gripping portion 16, for example, has multiple claw members, and grips the workpiece W by moving closer together or further apart. The gripping portion 16 is sometimes called a chuck.

[0019] The cover 50 is attached to the tip 15 of the movable arm 18. The cover 50 covers the gripping portion 16 of the movable arm 18. Further, the cover 50 covers the workpiece W gripped by the gripping portion 16 of the movable arm 18. The cover 50 is provided so as to cover the entire gripping portion 16 and the workpiece W.

[0020] The cover 50 blocks the light outside the cover 50. That is, the cover 50 suppresses the light outside the cover 50 from entering the inside of the cover 50. Inside the cover 50, a space capable of accommodating the workpiece W to be imaged is formed. The cover 50 suppresses the external light from hitting the workpiece W gripped by the gripping portion 16.

[0021] The cover 50 includes, for example, an upper surface member 51 and a side surface member 52. The upper surface member 51 and the side surface member 52 are, for example, black plate-like members. The upper surface member 51 and the side surface member 52 block the light outside the cover 50. The upper surface member 51 suppresses the light from entering the inside of the cover 50 from above the cover 50. The side surface member 52 suppresses the light from entering the inside of the cover 50 from the side of the cover 50.

[0022] Further, the cover 50 has an opening 54. The opening 54 is provided at the lower part of the cover 50 and faces downward. In the work robot 10, the workpiece W to be imaged is taken in and out of the cover 50 through the opening 54.

[0023] The camera 80 is attached to the tip 15 of the movable arm 18. The camera 80 can image the workpiece W gripped by the gripping portion 16 of the movable arm 18. The camera 80 can image the workpiece W covered by the cover 50. The camera 80 acquires an image of the workpiece W by imaging the workpiece W. The camera 80 acquires a still image and / or a moving image of the workpiece W.

[0024] The control unit 100 of the work robot 10 is equipped with, for example, a CPU, and performs various controls and processes related to the work robot 10 based on a predetermined program. The control unit 100 is located, for example, inside the main body 32 of the mobile platform 30.

[0025] The control unit 100 includes a storage unit 102. The storage unit 102 includes, for example, ROM and RAM, and stores various information related to the work robot 10. The storage unit 102 stores, for example, a predetermined reference image that serves as a criterion for determining whether the workpiece W to be imaged is acceptable or not.

[0026] Next, the first storage box 4 and the second storage box 6 in which the workpieces W are housed will be described. As shown in Figure 2, the first storage box 4 and the second storage box 6 are each capable of housing multiple workpieces W. The first storage box 4 and the second storage box 6 are each positioned at a distance from the mobile table 30. The first storage box 4 and the second storage box 6 are positioned on opposite sides of the mobile table 30. In a modified example, the first storage box 4 and the second storage box 6 may be located on the same side. In another modified example, the first storage box 4 and the second storage box 6 may be mounted on the mobile table 30. For example, the first storage box 4 and the second storage box 6 may be fixed to the upper surface 36 of the mobile table 30.

[0027] Next, the control process performed in the robot system 2 of the embodiment will be described with reference to Figure 4. As shown in Figure 4, in S2 of the control process of the embodiment, the work robot 10 grasps the workpiece W housed in the first storage box 4 (see Figure 3). The work robot 10 grasps the workpiece W by appropriately moving each part 13, 14, 15, and 16 of the movable arm 18. At this time, the gripping part 16 of the movable arm 18 grasps the workpiece W, and the cover 50 covers the workpiece W that is being gripped by the gripping part 16. This prevents light from outside the cover 50 from hitting the workpiece W.

[0028] In the subsequent S4, the camera 80 of the work robot 10 images the workpiece W being held by the gripping unit 16. The camera 80 images the workpiece W which is covered by the cover 50. The camera 80 acquires an image of the workpiece W by imaging it. The image information of the workpiece W acquired by the camera 80 is transmitted to the control unit 100, for example, by wireless communication or wired communication.

[0029] In the subsequent step S6, the control unit 100 compares the image acquired by the camera 80 as it images the workpiece W with a predetermined reference image stored in the storage unit 102. The predetermined reference image is a reference image used to determine whether the workpiece W being held by the gripping unit 16 is acceptable or not. The content of the reference image is not particularly limited. For example, the reference image may be an image representing the outline of the workpiece W. Alternatively, the reference image may be an image representing a characteristic part of the workpiece W. Or, the reference image may be an image representing the color scheme of the workpiece W.

[0030] In the subsequent step S8, the control unit 100 determines, based on the comparison in S6, whether the image of the workpiece W matches the reference image. If the image of the workpiece W matches the reference image (YES in S8), the process proceeds to S10. On the other hand, if the image of the workpiece W does not match the reference image (NO in S8), the process proceeds to S12.

[0031] In S10, following the YES response in S8, the work robot 10 places the workpiece W, which is being held by the gripping unit 16, into the second storage box 6. That is, the work robot 10 places the workpiece W that matches the reference image into the second storage box 6. The work robot 10 places the workpiece W into the second storage box 6 by appropriately moving the parts 13, 14, 15, and 16 of the movable arm 18.

[0032] On the other hand, in S12, following NO in S8, the work robot 10 places the workpiece W, which is being held by the gripping part 16, into the first storage box 4. That is, the work robot 10 places workpiece W that does not match the reference image into the first storage box 4. The work robot 10 places the workpiece W into the first storage box 4 by appropriately moving each part 13, 14, 15, 16 of the movable arm 18.

[0033] (effect) The robot system 2 and the work robot 10 of the embodiment have been described above. As is clear from the above description, the movable arm 18 of the work robot 10 includes a gripping part 16 for gripping a workpiece W, a light-shielding cover 50 that covers the workpiece W gripped by the gripping part 16, and a camera 80 (an example of an imaging unit) for imaging the workpiece W that is gripped by the gripping part 16 and covered by the cover 50.

[0034] With this configuration, when the camera 80 images the workpiece W held by the gripping part 16, the cover 50 can block external light, thereby reducing the influence of external light during imaging. Furthermore, since the movable arm 18 is equipped with the gripping part 16 and the cover 50, the workpiece W can be covered by the cover 50 when the gripping part 16 grips the workpiece W. This allows for the rapid and accurate acquisition of images of the workpiece W being imaged.

[0035] Furthermore, the work robot 10 includes a storage unit 102 that stores a reference image that serves as the criterion for determining whether a workpiece W held by the gripping unit 16 is pass or fail, and a control unit 100 (an example of a judgment unit) that determines whether a workpiece W is pass or fail by comparing an image of the workpiece W captured by the camera 80 with the reference image. With this configuration, it is possible to accurately determine whether a workpiece W held by the gripping unit 16 is pass or fail.

[0036] The work robot 10 may be powered by electricity generated by the solar power generation device 90. This configuration allows for low-cost acquisition of images of the workpiece W and reduces the environmental impact.

[0037] (modified version) The work robot 10 may have components different from those described above. For example, the work robot 10 may have an extendable part that extends and retracts in the front-to-back direction. When the work robot 10 grips the workpiece W, the extendable part may extend and retract in the front-to-back direction relative to the first storage box 4 or the second storage box 6. The configuration of the work robot 10 is not particularly limited.

[0038] Although specific examples of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples illustrated above. The technical elements described in this specification or drawings exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technologies illustrated in this specification or drawings can achieve multiple objectives simultaneously, and achieving even one of these objectives itself constitutes technical usefulness. [Explanation of symbols]

[0039] 2: Robot system, 4: First housing box, 6: Second housing box, 10: Working robot, 12: Base end, 15: Tip end, 16: Gripping part, 18: Movable arm, 30: Mobile platform, 32: Main body, 34: Wheels, 36: Top part, 50: Cover, 51: Top member, 52: Side member, 54: Opening, 80: Camera, 90: Solar power generation device, 100: Control unit, 102: Memory unit, W: Workpiece

Claims

1. A robot equipped with a movable arm, The aforementioned movable arm is A gripping part that holds the workpiece, A light-shielding cover that covers the workpiece held in the gripping part, A robot comprising: an imaging unit for imaging a workpiece that is gripped by the gripping unit and covered by the cover.

2. A robot according to claim 1, A storage unit that stores a reference image which serves as the pass / fail criterion for the workpiece held in the gripping unit, A robot further comprising a judgment unit that determines whether a workpiece is acceptable or unacceptable by comparing an image of the workpiece captured by the imaging unit with a reference image.

3. A robot according to claim 1 or 2, A robot that operates using electricity generated by a solar power system.

Images