ROBOT SYSTEM, CONTROL METHOD, AND PROGRAM

Abstract

To provide a robot system effective to cause a robot to execute a work for picking up a work object with a tool with higher reliability.SOLUTION: A robot system 1 includes: a robot 2 which has a hand 20 for gripping a tool 100 including a first end 111 and a second end 121 for pinching a work object; a tip position detection section 522 which detects the position of the first end 111 with respect to the hand 20 in a state where a space between the first end 111 and the second end 121 is opened and the hand 20 grips the tool 100; and a pinch control section 525 which controls the robot 2 so as to pinch the work object with the tool 100 by arranging the hand 20 at a pinch position where the work object is inserted between the first end 111 and the second end 121 on the basis of the position of the first end 111 with respect to the hand 20 and closing between the first end 111 and the second end 121 with the hand 20.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to a robot system, a control method, and a program. [Background technology]

[0002] A microbiological testing method is disclosed in which a robotic arm grasps a bottle containing a beverage and tilts the bottle to pour the beverage into a funnel containing filter paper, then cuts the filter paper with a cutting blade held by the robotic arm, and attaches the cut piece of filter paper to a culture medium. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-65467 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure provides a robot system that is effective in allowing a robot to more reliably perform the task of picking up a work object using a tool. [Means for solving the problem]

[0005] A robot system according to one aspect of the present disclosure includes a robot having a hand that grasps a tool including a first end and a second end for pinching a work object, a tip position detection unit that detects the position of the first end relative to the hand when the hand is grasping the tool with the first end and the second end open, and a pinch control unit that controls the robot to pinch the work object with the tool by positioning the hand at a pinch position where the work object is placed between the first end and the second end based on the position of the first end relative to the hand and closing the gap between the first end and the second end with the hand.

[0006] A control method according to another aspect of the present disclosure is a method for controlling a robot having a hand that holds a tool including a first end and a second end, the method including detecting a position of the first end relative to the hand when the hand is holding the tool with the first end and the second end open, and controlling the robot to pinch the work object with the tool by positioning the hand at a position where a work object is placed between the first end and the second end based on the position of the first end relative to the hand and closing the gap between the first end and the second end with the hand.

[0007] A program relating to yet another aspect of this release is a method for controlling a robot having a hand that holds a tool including a first end and a second end, the program causing an apparatus to execute a control method including: detecting a position of the first end relative to the hand when the first end and the second end are open and the hand is holding the tool; and controlling the robot to pinch the work object with the tool by placing the hand at a pinching position where the work object is placed between the first end and the second end based on the position of the first end relative to the hand and closing the gap between the first end and the second end with the hand. Effect of the Invention

[0008] According to the present disclosure, a robot system is provided that is effective in allowing a robot to more reliably perform the task of picking up a work object using a tool. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an overall configuration of a robot system. [Diagram 2] FIG. 2 is a schematic diagram illustrating a configuration of a robot. [Diagram 3] FIG. 2 is a schematic diagram illustrating a configuration of a hand. [Figure 4] FIG. 2 is a schematic diagram illustrating a filtration unit set in a manifold. [Diagram 5] FIG. 13 is a side view illustrating a tool attached to a jig. [Figure 6]FIG. 2 is a schematic diagram illustrating the configuration of an external sensor. [Figure 7] FIG. 2 is a block diagram illustrating an example of a functional configuration of a controller. [Figure 8] 11 is a block diagram illustrating a configuration of a transfer control unit. FIG. [Figure 9] FIG. 13 is a schematic diagram illustrating a state in which the funnel is removed from the base. [Figure 10] FIG. 13 is a schematic diagram illustrating a state in which a funnel is placed at an inspection position. [Figure 11] 1A and 1B are schematic diagrams illustrating a state in which a hand holds a tool. [Figure 12] FIG. 13 is a schematic diagram illustrating a state in which the tool is placed at a sensing position. [Figure 13] 10 is a schematic diagram illustrating a state in which a movable sensor is disposed at a sensing position of the base. FIG. [Figure 14] 11 is a schematic diagram illustrating a state in which a hand is placed at a pinch position. FIG. [Figure 15] 1 is a schematic diagram illustrating a state in which a movable sensor is placed at a sensing position of a work target. FIG. [Figure 16] FIG. 2 is a block diagram illustrating a hardware configuration of a controller. [Figure 17] 1 is a flowchart illustrating a control procedure. [Figure 18] 1 is a flowchart illustrating a control procedure. [Figure 19] 10 is a flowchart illustrating a procedure for detecting a base position. [Figure 20] 10 is a flowchart illustrating a procedure for detecting a base position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and duplicated description will be omitted.

[0011] [Robot System] The robot system 1 shown in FIG. 1 is a system that causes a robot 2 to perform a task using a tool 100 including a first end and a second end for picking up a work object. As an example, the robot system 1 causes the robot 2 to perform a culture preparation task of picking up a filter (work object) that has filtered a sample with the tool 100, transporting it, and attaching it to a medium in a petri dish 331 set on a petri dish support stand 350. For example, the robot system 1 includes the robot 2, a filtration unit stocker 310, a bottle stocker 320, a petri dish stocker 330, a tool support section 340, a petri dish support stand 350, an external sensor 360, a manifold 370, a waste box 380, and a controller 500. The configuration of each part will be described in detail below.

[0012] (robot) The robot 2 has a hand 20 that holds a tool 100. For example, the robot 2 has a multi-joint arm 10 and the hand 20. The multi-joint arm 10 changes the position and posture of the hand 20 by a combined operation of the multi-joints. For example, the multi-joint arm 10 has a vertical multi-joint structure. As shown in FIG. 2 as an example, the multi-joint arm 10 has a base 11, a rotating part 12, a first arm 13, a second arm 14, a wrist part 15, a tip part 16, joints 41, 42, 43, 44, 45, 46, and actuators 51, 52, 53, 54, 55, 56.

[0013] The base 11 is placed on the upper surface of the workbench 390. The swivel unit 12 is attached on the base 11 so as to be rotatable around a vertical axis 31. For example, the multi-joint arm 10 has a joint 41 that attaches the swivel unit 12 to the base 11 so as to be rotatable around the axis 31. The first arm 13 is connected to the swivel unit 12 so as to be rotatable around an axis 32 that intersects (for example, perpendicular to) the axis 31. For example, the multi-joint arm 10 has a joint 42 that connects the first arm 13 to the swivel unit 12 so as to be rotatable around the axis 31. The intersection includes a twisted relationship, such as a so-called three-dimensional intersection. The same applies hereinafter. The first arm 13 extends from the swivel unit 12 along one direction that intersects (for example, perpendicular to) the axis 31.

[0014] The second arm 14 is connected to an end of the first arm 13 so as to be rotatable around an axis 33 parallel to the axis 31. For example, the multi-joint arm 10 has a joint 43 that connects the second arm 14 to the first arm 13 so as to be rotatable around the axis 33. The second arm 14 has an arm base 17 that extends from the end of the first arm 13 along a direction that intersects (for example, perpendicular to) the axis 33, and an arm end 18 that further extends from the end of the arm base 17 along the same direction. The arm end 18 is rotatable around an axis 34 relative to the arm base 17. The axis 34 intersects (for example, perpendicular to) the axis 33. For example, the multi-joint arm 10 has a joint 44 that connects the arm end 18 to the arm base 17 so as to be rotatable around the axis 34.

[0015] The wrist 15 is connected to the end of the arm end 18 so as to be rotatable around an axis 35 that intersects (e.g., perpendicular to) the axis 34. For example, the multi-joint arm 10 has a joint 45 that connects the wrist 15 to the arm end 18 so as to be rotatable around the axis 35. The wrist 15 extends from the end of the arm end 18 along one direction that intersects (e.g., perpendicular to) the axis 35. The tip 16 is connected to the end of the wrist 15 so as to be rotatable around an axis 36 that intersects (e.g., perpendicular to) the axis 35. For example, the multi-joint arm 10 has a joint 46 that connects the tip 16 to the wrist 15 so as to be rotatable around the axis 36.

[0016] The actuators 51, 52, 53, 54, 55, and 56 drive the joints 41, 42, 43, 44, 45, and 46. Each of the actuators 51, 52, 53, 54, 55, and 56 has, for example, an electric motor and a transmission unit (for example, a reducer) that transmits the power of the electric motor to the joints 41, 42, 43, 44, 45, and 46. For example, the actuator 51 drives the joint 41 to rotate the rotating unit 12 around the axis 31. The actuator 52 drives the joint 42 to rotate the first arm 13 around the axis 32. The actuator 53 drives the joint 43 to rotate the second arm 14 around the axis 33. The actuator 54 drives the joint 44 to rotate the arm end 18 around the axis 34. The actuator 55 drives the joint 45 to rotate the wrist unit 15 around the axis 35. The actuator 56 drives the joint 46 to rotate the tip 16 about the axis 36 .

[0017] The hand 20 is fixed to the tip 16 and grasps an object to be grasped. For example, the hand 20 has an opening / closing actuator 23, a first finger portion 21, and a second finger portion 22. The opening / closing actuator 23 is fixed to the tip 16. The first finger portion 21 and the second finger portion 22 each protrude from the opening / closing actuator 23 along a direction parallel to an axis 36, and face each other in an opening / closing direction 37 intersecting (for example, perpendicular to) the axis 36. The opening / closing actuator 23 changes the distance between the first finger portion 21 and the second finger portion 22 by, for example, an electric motor or the like, to switch between a grasping state in which the object to be grasped is sandwiched between the first finger portion 21 and the second finger portion 22 and a release state in which the object to be grasped is released from between the first finger portion 21 and the second finger portion 22.

[0018] 3, a gripping groove 24 is formed at an end of first finger portion 21, facing an end of second finger portion 22 in opening / closing direction 37. A gripping groove 25 is formed at an end of second finger portion 22, facing an end of first finger portion 21 in opening / closing direction 37. Gripping groove 24 and gripping groove 25 face each other in opening / closing direction 37.

[0019] The robot 2 may further include a movable sensor 60. The movable sensor 60 is fixed to the hand 20. For example, the movable sensor 60 is fixed to the opening / closing actuator 23. Note that being fixed to the hand 20 means that the position and orientation of the sensor 60 are immovable relative to the hand 20. In this sense, being fixed to the hand 20 includes being fixed to the tip 16 whose position and orientation are immovable relative to the hand 20.

[0020] The movable sensor 60 detects a measurement object. For example, the movable sensor 60 detects a distance from a measurement reference position 61 that is immovable relative to the hand 20 to the measurement object. The movable sensor 60 may detect a distance from the measurement reference position 61 to the measurement object along a measurement line 63 that is immovable relative to the hand 20. As shown in the figure, the measurement line 63 may be along a direction in which the first finger portion 21 and the second finger portion 22 extend from the opening / closing actuator 23.

[0021] The movable sensor 60 may be a distance setting type sensor that detects whether the distance from the measurement reference position 61 to the measurement object is a predetermined value. For example, the movable sensor 60 includes a light source 64 that outputs detection light such as laser light in a direction slightly inclined with respect to the measurement line 63, and a light receiving element 65 that detects the detection light reflected by the measurement object. The movable sensor 60 detects whether the distance from the measurement reference position 61 to the measurement object is a predetermined value based on the light receiving position of the detection light in the light receiving element 65. For example, the movable sensor 60 detects whether the measurement object is present at the detection object position 67 on the measurement line 63, which is a predetermined distance 66 from the measurement reference position 61, based on the light receiving state of the detection light by the light receiving element 65. In this way, distance information indicating whether the distance from the measurement reference position 61 to the measurement object is a predetermined value can be obtained depending on whether the measurement object is present at the detection object position 67.

[0022] The distance sensor is merely one example of the movable sensor 60. The movable sensor 60 may be any sensor as long as it can detect the measurement object. For example, the movable sensor 60 may be an imaging sensor that captures an image including the measurement object. When the movable sensor 60 is an imaging sensor, the measurement object is detected by image processing of the captured image, but the image processing itself is not necessarily performed by the movable sensor 60 itself. The detection of the measurement object by the movable sensor 60 also includes the acquisition of data necessary for detecting the measurement object, such as an captured image.

[0023] The configuration of the robot 2 illustrated above is merely an example and can be modified as appropriate. For example, the articulated arm 10 may have seven or more redundant degrees of freedom, and may be of a so-called scalar type.

[0024] (Filtration unit stocker) The filtration unit stocker 310 is provided around the robot 2 (around the base 11) on the workbench 390 (see FIG. 1), and stocks a plurality of filtration units 200. The plurality of filtration units 200 are used to filter a sample using a filter 230. As shown in FIG. 4, the filtration unit 200 has a base 210, a funnel 220, a filter 230, and a cover 240.

[0025] The base 210 is attached to the manifold 370 described below and supports the filter 230. For example, the base 210 is attached to the manifold 370 from above and supports the filter 230 from below. The base 210 guides the sample that has passed through the filter 230 to the manifold 370. For example, the base 210 has a support surface 211, a back surface 212, a fitting portion 213, a recess 214, and a liquid passage hole 215. The support surface 211 supports the filter 230. The back surface 212 faces in a direction opposite to the direction in which the support surface 211 faces. The fitting portion 213 is formed around the support surface 211. The funnel 220 described below can be attached to the fitting portion 213. The recess 214 is formed in the center of the back surface 212 and fits into the manifold 370. The liquid passage hole 215 passes through between the support surface 211 and the bottom surface of the recess 214, and guides the sample that has passed through the filter 230 to the manifold 370. The base 210 may have a plurality of liquid passage holes 215.

[0026] The funnel 220 is attached to the base 210 so as to surround the filter 230. For example, the lower end of the funnel 220 fits into the fitting portion 213. The funnel 220 stores the sample on the filter 230.

[0027] Filter 230 (work object) is placed on support surface 211 of base 210. Filter 230 is made of, for example, nonwoven fabric, and collects bacteria and the like in the sample while passing the sample from funnel 220 to manifold 370. Cover 240 closes the upper end of funnel 220 and prevents dirt, dust, and the like from entering funnel 220.

[0028] (Manifold) The manifold 370 is provided around the robot 2 (around the base 11) on the workbench 390 (see FIG. 1). The manifold 370 supports the filtration unit 200 and aspirates the sample in the funnel 220 through the filter 230 and the base 210. The manifold 370 has an aspirating tube 372 and a base support part 371. The base support part 371 protrudes upward, supports the base 210, and guides the sample that has passed through the filter 230 and the base 210 downward. An end of the base support part 371 fits into the recess 214 of the base 210. The base 210 supported by the base support part 371 is provided around the robot 2 (around the base 11). The aspirating tube 372 supports the base support part 371 and guides the sample from the base support part 371 to a pump 373 for aspirating.

[0029] (Bottle Stocker) The bottle stocker 320 is provided around the robot 2 (around the base 11) on the workbench 390, and stocks a plurality of bottles 321 containing samples (see FIG. 1).

[0030] (Charlestocca) The petri dish stacker 330 is provided around the robot 2 (around the base 11) on the workbench 390, and stores a plurality of petri dishes 331 containing culture media (see FIG. 1).

[0031] (Petri dish support) The petri dish support table 350 is provided around the robot 2 (around the base 11) on the work table 390, and supports one petri dish 331 to which the filter 230 is to be attached (see FIG. 1).

[0032] (Disposal box) The waste box 380 is provided under the workbench 390 (see FIG. 1). The waste box 380 has a receiving port 381 that opens above the workbench 390, and receives waste. Specific examples of the waste include used bottles 321, filtration units 200, etc.

[0033] (Tool support part) The tool support 340 is provided around the robot 2 (around the base 11) on the work table 390, and supports the tool 100 (see FIG. 1). As described above, the tool 100 includes a first end and a second end for gripping a work object.

[0034] The tool 100 is, for example, tweezers. As shown in FIG. 5, the tool 100 includes a first member 110 and a second member 120. The first member 110 and the second member 120 are connected to each other at a connecting portion 130. The first member 110 and the second member 120 face each other in an opening / closing direction 191 and extend from the connecting portion 130 along a direction intersecting the opening / closing direction 191. An end of the first member 110 extending from the connecting portion 130 constitutes a first end portion 111, and an end of the second member 120 extending from the connecting portion 130 constitutes a second end portion 121. In a state in which no external force is applied to the first member 110 and the second member 120, the first end portion 111 and the second end portion 121 are maintained in an open state by the first member 110 and the second member 120. When an external force acts to bring the first member 110 and the second member 120 closer to each other in the opening / closing direction 191, the first end 111 and the second end 121 close due to elastic deformation of the first member 110 and the second member 120.

[0035] The tool 100 is not necessarily limited to tweezers as long as it includes a first end and a second end for gripping a work object. Specific examples of tools including a first end and a second end other than tweezers include tongs, pincers, and pliers.

[0036] A gripping jig 400 may be attached to the tool 100. The gripping jig 400 is gripped by the hand 20 and transmits an external force from the hand 20 to the tool 100. For example, the gripping jig 400 has a holder 410, a first elastic plate 420, a second elastic plate 430, a first gripping portion 440, and a second gripping portion 450. The holder 410 is attached to the connecting portion 130. The first elastic plate 420 and the second elastic plate 430 face each other in the opening / closing direction 191 and extend from the connecting portion 130 along a direction intersecting (for example, perpendicular to) the opening / closing direction 191. The first elastic plate 420 faces the outer surface of the first member 110 (the surface opposite to the surface facing the second member 120), and the second elastic plate 430 faces the outer surface of the second member 120 (the surface opposite to the surface facing the first member 110). When an external force acts to bring the first elastic plate 420 and the second elastic plate 430 closer to each other in the opening / closing direction 191, the first elastic plate 420 and the second elastic plate 430 elastically deform and transmit at least a portion of the external force to the first member 110 and the second member 120, respectively.

[0037] The first gripping portion 440 is provided on the outer surface of the first elastic plate 420 (the surface opposite to the surface facing the second elastic plate 430), and the second gripping portion 450 is provided on the outer surface of the second elastic plate 430 (the surface opposite to the surface facing the first elastic plate 420). The first gripping portion 440 receives an external force from the first finger portion 21 and transmits it to the first elastic plate 420. The second gripping portion 450 receives an external force from the second finger portion 22 and transmits it to the second elastic plate 430.

[0038] The first gripping portion 440 has a bearing wall 441, a bearing wall 442, and a finger bearing shaft 443. The bearing wall 441 and the bearing wall 442 are arranged at intervals along the extension direction of the first elastic plate 420, and each protrudes from the outer surface of the first elastic plate 420. The finger bearing shaft 443 is suspended between the bearing wall 441 and the bearing wall 442.

[0039] Similarly, the second gripping portion 450 has a bearing wall 451, a bearing wall 452, and a finger bearing axis 453. The bearing walls 451 and 452 are arranged at intervals from each other along the extension direction of the second elastic plate 430, and each protrudes from the outer surface of the second elastic plate 430.

[0040] When the hand 20 grips the gripping jig 400, an end of the first finger portion 21 fits between the bearing wall 441 and the bearing wall 442. The finger bearing axis 443 fits into the gripping groove 24 of the first finger portion 21 that fits between the bearing wall 441 and the bearing wall 442. An end of the second finger portion 22 fits between the bearing wall 451 and the bearing wall 452. The finger bearing axis 453 fits into the gripping groove 25 of the second finger portion 22 that fits between the bearing wall 451 and the bearing wall 452. This regulates the position of the gripping jig 400 with respect to the hand 20.

[0041] Although the example in which the gripping jig 400 having the first gripping portion 440 and the second gripping portion 450 is configured as a separate member from the tool 100 has been described, the present invention is not necessarily limited to this. For example, the first gripping portion 440 and the second gripping portion 450 may be integrated into the tool 100.

[0042] (External sensor) The external sensor 360 is provided around the robot 2 (around the base 11) on the workbench 390. The external sensor 360 detects a measurement object. For example, the external sensor 360 detects the distance from a measurement reference position 361 that is immovable with respect to the workbench 390 to the measurement object (see FIG. 6). The external sensor 360 may detect the distance from the measurement reference position 361 to the measurement object along a measurement line 363 that is immovable with respect to the workbench 390. The measurement line 363 may extend in a direction parallel to the upper surface of the workbench 390.

[0043] The external sensor 360 may be a distance setting type sensor that detects whether or not the distance from the measurement reference position 361 to the measurement target is a predetermined value. For example, as shown in FIG. 6, the external sensor 360 includes a light source 364 that outputs detection light such as laser light in a direction slightly inclined with respect to the measurement line 363, and a light receiving element 365 that detects the detection light reflected by the measurement target. The external sensor 360 detects whether or not the measurement target is present at the detection target position 367 on the measurement line 363, which is a predetermined distance 366 from the measurement reference position 361, based on the reception state of the detection light by the light receiving element 365. In this way, depending on whether or not the measurement target is present at the detection target position 367, distance information indicating whether or not the distance from the measurement reference position 361 to the measurement target is a predetermined value can be obtained.

[0044] The distance sensor is merely one example of the external sensor 360. The external sensor 360 may be any sensor as long as it can detect the measurement target. For example, the external sensor 360 may be an imaging sensor that captures an image including the measurement target. When the external sensor 360 is an imaging sensor, the measurement target is detected by image processing of the captured image, but the image processing itself is not necessarily performed by the external sensor 360 itself. The detection of the measurement target by the external sensor 360 also includes the acquisition of data required for detection of the measurement target, such as a captured image.

[0045] (controller) The controller 500 controls the robot 2 to execute the above-mentioned culture preparation work. The culture preparation work includes an operation of placing the hand 20 at a gripping position where the filter 230 (work object) is placed between the first end 111 and the second end 121, and closing the first end 111 and the second end 121 with the hand 20, thereby gripping the filter 230 with the tool 100.

[0046] In order to calculate the pinch position, information on the position of the first end 111 relative to the hand 20 in a state in which the hand 20 holds the tool 100 with the first end 111 and the second end 121 open is required. Hereinafter, the position of the first end 111 relative to the hand 20 in a state in which the hand 20 holds the tool with the first end 111 and the second end 121 open is referred to as the "tip relative position". Due to the influence of individual variations of the tool 100, variations in the amount of deformation of the tool 100 when the hand 20 holds the tool 100, deformation of the tool 100 due to the work, etc., the actual tip relative position may differ from the tip relative position previously determined for the calculation of the pinch position. In this case, even if the hand 20 is placed at the pinch position, there is a possibility that the filter 230 will not be inserted between the first end 111 and the second end 121.

[0047] In response to this, the controller 500 is configured to detect the tip relative position, and based on the tip relative position, control the robot 2 to place the hand 20 at a pinching position where the filter 230 fits between the first end 111 and the second end 121, and close the gap between the first end 111 and the second end 121 with the hand 20, thereby pinching the filter 230 with the tool 100. This makes it possible to place the hand 20 at an appropriate pinching position in accordance with the various variations described above. This makes it possible to cause the robot 2 to perform the task of picking up the filter 230 with the tool 100 with higher reliability.

[0048] For example, as shown in FIG. 7, the controller 500 has, as functional configurations (hereinafter referred to as "functional blocks"), a program storage unit 511, a pre-processing unit 512, an injection control unit 513, an aspiration control unit 514, a funnel removal control unit 515, a funnel inspection unit 516, a transfer control unit 517, a post-processing unit 518, and an error notification unit 519. The program storage unit 511 stores an operation program for causing the robot 2 to execute the above-mentioned culture preparation work. The operation program includes a plurality of operation commands arranged in chronological order. The operation command includes at least a target position and a target posture of the hand 20 (a target position and a target posture of the tip 16), and a target speed for moving to the target position and the target posture. The plurality of operation commands includes an operation command for placing the hand 20 at a picking position (hereinafter referred to as a "pick-up preparation command"). Hereinafter, the target position and the target posture of the pick-up preparation command will be referred to as a "target pick-up position".

[0049] The pre-processing unit 512 controls the robot 2 to perform the work of setting the filtration unit 200 and the petri dish 331 for the culture preparation work. For example, the pre-processing unit 512 controls the robot 2 to remove the filtration unit 200 from the filtration unit stocker 310 and set it on the manifold 370. Hereinafter, the filtration unit 200 set on the manifold 370 will be referred to as the "set filtration unit 200". Furthermore, the pre-processing unit 512 controls the robot 2 to remove the petri dish 331 from the petri dish stocker 330 and set it on the petri dish support stand 350. Hereinafter, the petri dish 331 set on the petri dish support stand 350 will be referred to as the "set petri dish 331".

[0050] The injection control unit 513 controls the robot 2 to remove the cover 240 of the filtration unit 200 and discard it from the receiving port 381 into the waste box 380, and to take out the bottle 321 from the bottle stocker 320 and inject the sample from the bottle 321 into the funnel 220 of the set filtration unit 200. Furthermore, the injection control unit 513 controls the robot 2 to discard the emptied bottle 321 from the receiving port 381 into the waste box 380.

[0051] The suction control unit 514 controls the pump 373 to suction the sample injected into the funnel 220. For example, the suction control unit 514 outputs a start suction command to the pump 373 at or before or after the start of injection of the sample into the funnel 220. The suction control unit 514 outputs a stop suction command to the pump 373 after a predetermined time has elapsed after the completion of injection of the sample into the funnel 220.

[0052] After the pump 373 has completed suctioning the sample, the funnel removal control unit 515 controls the robot 2 to remove the funnel 220 from the base 210 of the set filtration unit 200. For example, the funnel removal control unit 515 controls the robot 2 to grip the funnel 220 of the set filtration unit 200 with the hand 20 and remove the funnel 220 from the base 210 (see FIG. 9 ). To prevent the base 210 from coming off the manifold 370 due to being pulled by the funnel 220, the funnel removal control unit 515 may control the robot 2 to apply a downward force to the funnel 220, thereby tilting the funnel 220 while pressing the base 210 against the manifold 370.

[0053] The funnel inspection unit 516 inspects whether or not the filter 230 is attached to the funnel 220 removed from the base 210. For example, when the filter 230 is attached to the funnel 220 removed from the base 210, the funnel inspection unit 516 controls the robot 2 to place the hand 20 at an inspection position where the filter 230 enters the detection area of ​​the external sensor 360, and checks whether or not the filter 230 is attached to the funnel 220 based on whether or not the filter 230 is detected by the external sensor 360. For example, the funnel inspection unit 516 controls the robot 2 to place the hand 20 at an inspection position where the filter 230 can be placed at the detection target position 367 of the external sensor 360 (see FIG. 10), and checks whether or not the filter 230 is attached to the funnel 220 based on whether or not the external sensor 360 detects that a measurement target is present at the detection target position 367. The funnel inspection unit 516 may move the hand 20 to a plurality of inspection positions, and each time the hand 20 is placed at each of the plurality of inspection positions, check whether or not the filter 230 has been detected by the external sensor 360. After checking whether or not the filter 230 is attached, the funnel inspection unit 516 controls the robot 2 to discard the funnel 220 from the receiving port 381 into the disposal box 380.

[0054] The transfer control unit 517 controls the robot 2 to transfer the filter 230 from the base 210 of the set filtration unit 200 to the culture medium of the set petri dish 331 by the tool 100. As shown in Fig. 8, the transfer control unit 517 has a tool holding control unit 521, a tip position detection unit 522, a base position detection unit 523, an operation command correction unit 524, a grip control unit 525, a transport control unit 526, a work object detection unit 527, and a tool release control unit 528.

[0055] The tool holding control unit 521 controls the robot 2 so that the hand 20 holds the tool 100 on the tool support unit 340. For example, the tool holding control unit 521 controls the robot 2 to place the hand 20 at a tool holding position where the gripping groove 24 of the first finger portion 21 faces the finger receiving shaft 443 of the first gripping unit 440 and the gripping groove 25 of the second finger portion 22 faces the finger receiving shaft 453 of the second gripping unit 450, and closes the gap between the first finger portion 21 and the second finger portion 22 until the finger receiving shaft 443 enters the gripping groove 24 and the finger receiving shaft 453 enters the gripping groove 25 (see FIG. 11). The robot system 1 may also perform the culture preparation work multiple times. In this case, the tool holding control unit 521 controls the robot 2 multiple times so that the hand 20 holds the tool 100.

[0056] The tip position detection unit 522 detects the position of the first end 111 with respect to the hand 20 (the above-mentioned tip relative position) in a state in which the hand 20 grips the tool 100 with the first end 111 and the second end 121 spaced apart. For example, the tip position detection unit 522 detects the position of the first end 111 with respect to the hand 20 in a state in which the hand 20 grips the tool 100. Detecting the position of the first end 111 with respect to the hand 20 includes separately detecting the position and posture of the hand 20 and the position of the first end 111 with the hand 20 disposed in the same position. Even when the position and posture of the hand 20 and the position of the first end 111 are detected separately, the tip relative position can be calculated by combining these pieces of information.

[0057] The tip position detection unit 522 may control the robot 2 to place the hand 20 at a tip sensing position where the first end 111 of the tool 100 falls within the detection area of ​​the external sensor 360, and detect the tip relative position based on the detection result of the first end 111 by the external sensor 360. The tip position detection unit 522 may detect the tip relative position based on the detection result of the first end 111 by the external sensor 360 and the position (including the position and posture) of the hand 20 when the external sensor 360 detects the first end 111. For example, the tip position detection unit 522 places the hand 20 at a tip sensing position where the first end 111 and the second end 121 are aligned in order along the measurement line 363 in a direction away from the external sensor 360, and controls the robot 2 to move the first end 111 closer to the external sensor 360 along the measurement line 363 until the first end 111 is detected by the external sensor 360 (see FIG. 12 ). Hereinafter, the position of the hand 20 when the first end portion 111 is detected by the external sensor 360 (when it is detected that the first end portion 111 is at the detection target position 367) will be referred to as the “tip detection position.” The tip position detection unit 522 calculates the tip relative position based on the tip detection position in the same coordinate system (for example, the robot coordinate system 9) and the position of the detection target position 367.

[0058] When the external sensor 360 is a camera, the tip position detection unit 522 may place the hand 20 at a tip sensing position where both the first end 111 and the hand 20 are within the field of view of the external sensor 360, and calculate the relative tip position based on the positional relationship between the hand 20 and the first end 111 in the image captured by the external sensor 360.

[0059] As described above, when the tool holding control unit 521 executes the operation of making the hand 20 hold the tool 100 multiple times, the tip position detection unit 522 may detect the tip relative position each time the hand 20 holds the tool 100. The robot system 1 may also execute the operation of pinching a work object with the tool 100 multiple times while the hand 20 is holding the tool 100. In this case, the tool holding control unit 521 may detect the tip relative position prior to each pinching operation.

[0060] If the distance between the first end 111 and the second end 121 can be kept the same when the hand 20 grips the gripping jig 400 and when the hand 20 does not grip the gripping jig 400, the tip relative position can be detected even when the hand 20 does not grip the tool 100. For example, if the position of the gripping jig 400 with respect to the hand 20 in a state where the hand 20 grips the gripping jig 400 (hereinafter referred to as the "jig position") is known, even if the position of the first end 111 with respect to the gripping jig 400 (hereinafter referred to as the "jig reference tip position") is detected on the tool support unit 340, the tip relative position can be detected based on the jig reference tip position and the jig position. The tip position detection unit 522 may further detect the position of the second end 121 with respect to the hand 20 by swapping the positions of the first end 111 and the second end 121.

[0061] The base position detection unit 523 detects the position of the base 210 of the set filtration unit 200. Hereinafter, the base 210 of the set filtration unit 200 is simply referred to as the base 210, and the position of the base 210 detected by the base position detection unit 523 is referred to as the "current base position." For example, after the funnel 220 is removed from the base 210, the base position detection unit 523 controls the robot 2 to place the hand 20 at a position where the base 210 enters the detection area of ​​the movable sensor 60, and detects the current base position based on the detection result of the base 210 by the movable sensor 60. For example, the base position detection unit 523 detects the current base position based on the detection result of the base 210 by the movable sensor 60 and the position of the hand 20 when the movable sensor 60 detects the base 210.

[0062] For example, the base position detection unit 523 detects the current base position in the robot coordinate system 9 based on the detection result by the movable sensor 60 of the distance from the measurement reference position 61 to the base 210 and the position of the hand 20 when the distance from the measurement reference position 61 to the base 210 is detected by the movable sensor 60. For example, the base position detection unit 523 controls the robot 2 to displace the hand 20 until the distance from the measurement reference position 61 to the base 210 becomes the above-mentioned predetermined distance 66, and detects the current base position in the robot coordinate system 9 based on the position of the hand 20 when the distance from the measurement reference position 61 to the base 210 becomes the predetermined distance 66. For example, the base position detection unit 523 places the hand 20 at a base sensing position where the measurement line 63 faces a point (for example, the detection target point 216 in FIG. 13) on the outer surface of the base 210, and controls the robot 2 to move the movable sensor 60 closer to the detection target point 216 along the measurement line 63 until the detection target point 216 is detected by the movable sensor 60. Hereinafter, the position of the hand 20 when the detection target point 216 is detected (when it is detected that the detection target point 216 exists at the detection target position 67) is referred to as the base detection position. The base position detection unit 523 calculates the detection target position 67 in the robot coordinate system 9 as the position of the detection target point 216 in the robot coordinate system 9 based on the base detection position.

[0063] The base position detection unit 523 may control the robot 2 so that the detection target point 216 becomes a point within the support surface 211. This makes it possible to directly detect the position of the support surface 211 that supports the filter 230.

[0064] Detecting the current position of the base includes detecting the position and orientation of the base 210. For example, the base position detection unit 523 detects the positions in the robot coordinate system 9 of a plurality of (e.g., three or more) mutually different detection target points 216 by the above-mentioned method, and detects the position and orientation of the base 210 in the robot coordinate system 9 based on the positions of the plurality of detection target points 216 in the robot coordinate system 9.

[0065] The base position detection unit 523 may control the robot 2 so that all the detection target points 216 are points within the support surface 211. This makes it possible to directly detect the position and orientation of the support surface 211 that supports the filter 230.

[0066] The base position detection unit 523 may control the robot 2 to place the hand 20 at a position where the filter 230 enters the detection area of ​​the movable sensor 60, without placing the hand 20 vertically above the filter 230. For example, the base position detection unit 523 controls the robot 2 to place the hand 20 at a position where the base 210 enters the detection area of ​​the movable sensor 60, with the measurement line 63 tilted relative to the vertical direction (see FIG. 13 ).

[0067] The motion command correction unit 524 corrects the motion commands of the robot system 1 or more stored in the first end portion 111, based on the tip relative position detected by the tip position detection unit 522 and the position of the base 210 detected by the base position detection unit 523. For example, the motion command correction unit 524 corrects at least the target position and target attitude (target pick-up position) of the pick-up preparation command, based on the tip relative position detected by the tip position detection unit 522 and the position of the base 210 detected by the base position detection unit 523.

[0068] The target knob position before correction corresponds to the initial setting value of the tip relative position and the initial setting value of the base current position. The motion command correction unit 524 calculates a target knob position in the base coordinate system 219 that is immovable with respect to the base 210 based on the target knob position before correction and the initial setting value of the base current position. Hereinafter, the target knob position in the base coordinate system 219 is referred to as the "target knob position based on the base". In addition, the motion command correction unit 524 calculates a target position of the first end 111 corresponding to the target knob position based on the initial setting value of the tip relative position and the target knob position based on the base. Hereinafter, the target position of the first end 111 corresponding to the target knob position based on the base is referred to as the "target tip position based on the base". The motion command correction unit 524 corrects the target knob position based on the base reference based on the tip relative position detected by the tip position detection unit 522 and the target tip position based on the base reference so that the first end 111 is located at the target tip position. Furthermore, the motion command correction unit 524 corrects the target pinch position in the robot coordinate system 9 based on the corrected base-based target pinch position and the position of the base 210 detected by the base position detection unit 523 so that the hand 20 is positioned at the corrected base-based target pinch position. Hereinafter, the target pinch position in the robot coordinate system 9 is referred to as the "robot-based target pinch position." For example, based on the position of the base 210 detected by the base position detection unit 523, the motion command correction unit 524 performs coordinate conversion from the base coordinate system 219 to the robot coordinate system 9 for the corrected base-based target pinch position to calculate the corrected target pinch position.

[0069] The picking control unit 525 controls the robot 2 to place the hand 20 at a picking position where the filter 230 is inserted between the first end 111 and the second end 121 based on the tip relative position, and to close the gap between the first end 111 and the second end 121 with the hand 20, thereby picking up the filter 230 with the tool 100. For example, the picking control unit 525 places the hand 20 at a picking position where the first end 111 is inserted between the filter 230 and the base 210, and the filter 230 is inserted between the first end 111 and the second end 121 based on the tip relative position (see FIG. 14). The picking control unit 525 may control the robot 2 to place the hand 20 at the picking position while maintaining the opening degree between the first end 111 and the second end 121 at the timing when the tip relative position is detected. The picking control unit 525 may place the hand 20 at the picking position based on the tip relative position and the current position of the base.

[0070] As an example, the pick control unit 525 controls the robot 2 to place the hand 20 at the robot-based target pick position corrected by the motion command correction unit 524. As described above, the correction of the target pick position by the motion command correction unit 524 is performed based on the tip relative position and the base current position. Therefore, placing the hand 20 at the robot-based target pick position corrected by the motion command correction unit 524 includes placing the hand 20 at the pick position based on the tip relative position and the base current position.

[0071] The transport control unit 526 controls the robot 2 to raise the filter 230 held between the first end 111 and the second end 121 using the hand 20, move it above the set petri dish 331, and attach the filter 230 to the culture medium of the set petri dish 331.

[0072] The tool release control unit 528 controls the robot 2 to return the tool 100 onto the tool support unit 340 and release the tool 100 by the hand 20. For example, with the tool 100 placed on the tool support unit 340, the tool holding control unit 521 controls the robot 2 to move the first finger unit 21 and the second finger unit 22 away from each other by the opening / closing actuator 23.

[0073] The base position detection unit 523 detects the filter 230 attached to the culture medium of the set petri dish 331 by the movable sensor 60. Hereinafter, the filter 230 attached to the culture medium of the set petri dish 331 is referred to as the transported filter 230. For example, the base position detection unit 523 detects the filter 230 by the movable sensor 60 by controlling the robot 2 to place the hand 20 at a filter detection position where the distance from the measurement reference position 61 to the transported filter 230 is the above-mentioned predetermined distance 66 (see FIG. 15). If the filter 230 is not detected by the movable sensor 60 even though the hand 20 is placed at the filter detection position, the work object detection unit 527 detects a failure in transferring the filter 230.

[0074] The post-processing unit 518 controls the robot 2 to discard the base 210 of the set filtration unit 200 from the receiving port 381 into the disposal box 380 and to return the set Petri dish 331 to the petri dish stacker 330 .

[0075] When the funnel inspection unit 516 detects that the filter 230 is attached to the funnel 220 removed from the base 210, the error notification unit 519 notifies an operator or the like of an error. For example, the error notification unit 519 displays an image indicating that the filter 230 is attached to the funnel 220 on a display device 596 or the like described below. In addition, when the work object detection unit 527 detects a failure in transferring the filter 230, the error notification unit 519 notifies an operator or the like of an error. For example, the error notification unit 519 displays an image indicating a failure in transferring the filter 230 on a display device 596 or the like described below.

[0076] Fig. 16 is a block diagram illustrating an example of a hardware configuration of the controller 500. As shown in Fig. 16, the controller 500 has a circuit 590. The circuit 590 has one or more processors 591, a memory 592, a storage 593, an input / output port 594, a servo driver 595, and a display device 596.

[0077] The storage 593 stores a program for causing the controller 500 to detect the tip relative position, and based on the tip relative position, place the hand 20 at a pinching position where the filter 230 fits between the first end 111 and the second end 121, and close the gap between the first end 111 and the second end 121 with the hand 20, thereby controlling the robot 2 to pinch the filter 230 with the tool 100. For example, the storage 593 stores a program for causing the controller 500 to configure each of the above-mentioned functional blocks.

[0078] The memory 592 temporarily stores a program loaded from the storage 593. One or more processors 591 configure each of the above-mentioned functional blocks by executing the program stored in the memory 592. Intermediate calculation results generated by the processor 591 during the execution of the program are temporarily stored in the memory 592.

[0079] The input / output port 594 inputs and outputs information between the pump 373, the external sensor 360, and the movable sensor 60 in response to a request from the one or more processors 591. The servo driver 595 controls the actuators 51, 52, 53, 54, 55, and 56 of the robot 2 in response to a request from the one or more processors 591. The display device 596 displays a screen for conveying information to an operator in response to a request from the one or more processors 591.

[0080] The hardware configuration of the controller 500 illustrated above is merely an example and can be changed as appropriate. For example, the controller 500 does not necessarily need to configure all of its functional blocks by executing a program, and at least some of the functional blocks may be configured by dedicated logic circuits such as ASICs (Application Specific Integrated Circuits).

[0081] [Control method] Next, as an example of a control method, a control procedure executed by the controller 500 will be illustrated. This procedure includes detecting the tip relative position, and controlling the robot 2 to place the hand 20 at a pinching position where the filter 230 fits between the first end 111 and the second end 121 based on the tip relative position, and to close the gap between the first end 111 and the second end 121 with the hand 20, thereby pinching the filter 230 with the tool 100.

[0082] 17, the controller 500 first executes steps S01, S02, and S03. In step S01, the pre-processing unit 512 removes the filtration unit 200 from the filtration unit stocker 310 and sets it on the manifold 370. In step S02, the pre-processing unit 512 controls the robot 2 to remove the petri dish 331 from the petri dish stocker 330 and set it on the petri dish support stand 350. In step S03, the injection control unit 513 controls the robot 2 to remove the cover 240 of the filtration unit 200 and discard it from the receiving port 381 into the waste box 380.

[0083] Next, the controller 500 executes steps S04, S05, and S06. In step S04, the suction control unit 514 outputs a suction start command to the pump 373. This starts suction by the pump 373. In step S05, the injection control unit 513 controls the robot 2 to take out the bottle 321 from the bottle stocker 320 and inject the sample from the bottle 321 into the funnel 220 of the set filtration unit 200. The injection control unit 513 controls the robot 2 to discard the emptied bottle 321 from the receiving port 381 into the disposal box 380. In step S06, the suction control unit 514 outputs a suction stop command to the pump 373.

[0084] Next, the controller 500 executes steps S07 and S08. In step S07, the funnel removal control unit 515 controls the robot 2 to remove the funnel 220 from the base 210 of the set filtration unit 200. In step S08, the funnel inspection unit 516 controls the robot 2 to place the hand 20 at the inspection position, and checks whether the filter 230 is attached to the funnel 220 based on whether the filter 230 is detected by the external sensor 360.

[0085] In step S08, when it is determined that filter 230 is attached to funnel 220, controller 500 executes step S09. In step S09, error notification unit 519 displays an image indicating that filter 230 is attached to funnel 220 on display device 596 or the like.

[0086] If it is determined in step S08 that the filter 230 is not attached to the funnel 220, the controller 500 executes steps S11, S12, and S13 as shown in Fig. 18. In step S11, the base position detection unit 523 detects the base current position. A specific procedure of step S11 will be described later. In step S12, the tool holding control unit 521 controls the robot 2 to make the hand 20 hold the tool 100 on the tool support unit 340. In step S13, the tip position detection unit 522 detects the tip relative position. A specific procedure of step S13 will be described later.

[0087] Next, the controller 500 executes steps S14, S15, S16, and S17. In step S14, the motion command correction unit 524 corrects the motion commands of the robot system 1 or more stored in the first end 111 based on the tip relative position detected by the tip position detection unit 522 and the position of the base 210 detected by the base position detection unit 523. For example, the motion command correction unit 524 corrects at least the target position and the target attitude (target pinch position) of the pinch preparation command based on the tip relative position detected by the tip position detection unit 522 and the position of the base 210 detected by the base position detection unit 523. In step S15, the pinch control unit 525 controls the robot 2 to pinch the filter 230 with the tool 100 by arranging the hand 20 at a pinch position where the filter 230 fits between the first end 111 and the second end 121 based on the tip relative position, and closing the gap between the first end 111 and the second end 121 with the hand 20. In step S16, the transport control unit 526 controls the robot 2 to raise the filter 230 held between the first end 111 and the second end 121 using the hand 20, move it above the set petri dish 331, and attach the filter 230 to the culture medium of the set petri dish 331. In step S17, the tool release control unit 528 controls the robot 2 to return the tool 100 onto the tool support unit 340, and release the tool 100 using the hand 20.

[0088] Next, the controller 500 executes step S18. In step S18, the base position detection unit 523 controls the robot 2 to place the hand 20 at the filter detection position, and checks whether the movable sensor 60 detects the filter 230.

[0089] If it is determined in step S18 that the filter 230 has been detected, the tool 100 executes steps S21 and S22. In step S21, the post-processing unit 518 controls the robot 2 to return the set Petri dish 331 to the Petri dish stacker 330. In step S22, the post-processing unit 518 controls the robot 2 to discard the base 210 of the set filtration unit 200 from the receiving port 381 into the disposal box 380.

[0090] If it is determined in step S18 that the filter 230 is not detected, the tool 100 executes step S23. In step S23, the error notification unit 519 displays an image indicating that the transfer of the filter 230 has failed on the display device 596 or the like.

[0091] After step S09 and the opening / closing actuator 23, the controller 500 executes steps S24 and S25. In step S24, the post-processing unit 518 controls the robot 2 to discard the set petri dish 331 from the receiving port 381 into the waste box 380. In step S25, the post-processing unit 518 controls the robot 2 to discard the base 210 of the set filtration unit 200 from the receiving port 381 into the waste box 380. This completes the control procedure.

[0092] Fig. 19 is a flowchart illustrating a procedure for detecting the base current position in step S11. As shown in Fig. 19, the controller 500 first executes step S31. In step S31, the base position detection unit 523 controls the robot 2 to place the hand 20 at the base sensing position.

[0093] Next, the controller 500 executes steps S32, S33, S34, and S35. In step S32, the base position detection unit 523 causes the robot 2 to start an operation of moving the movable sensor 60 closer to the detection target point 216 along the measurement line 63. In step S33, the base position detection unit 523 waits for the detection target point 216 to be detected by the movable sensor 60. In step S34, the base position detection unit 523 causes the robot 2 to stop the operation of moving the movable sensor 60 closer to the detection target point 216 along the measurement line 63. This places the hand 20 at the base detection position. In step S35, the base position detection unit 523 calculates the detection target position 67 in the robot coordinate system 9 as the position of the detection target point 216 in the robot coordinate system 9 based on the base detection position.

[0094] Next, the controller 500 executes step S36. In step S36, the base position detection unit 523 checks whether the positions of all the detection target points 216 have been detected.

[0095] If it is determined in step S36 that there remain detection target points 216 whose positions have not been detected, the controller 500 executes step S37. In step S37, the base position detection unit 523 controls the robot 2 to place the hand 20 at the next base sensing position. After that, the controller 500 returns the process to step S32. Thereafter, the controller 500 repeats steps S32 to S37 until the positions of all detection target points 216 are detected.

[0096] If it is determined in step S36 that the positions of all detection target points 216 have been detected, the controller 500 executes step S38. In step S38, the base position detection unit 523 calculates the current base position including the position and orientation of the base 210 based on the positions of all detection target points 216. This completes the detection of the current base position.

[0097] Fig. 20 is a flowchart illustrating a procedure for detecting the tip relative position in step S13. As shown in Fig. 20, the controller 500 first executes step S41. In S41, the tip position detection unit 522 controls the robot 2 to place the hand 20 at the tip sensing position.

[0098] Next, the controller 500 executes steps S42, S43, S44, and S45. In step S42, the tip position detection unit 522 causes the robot 2 to start an operation of bringing the first end 111 closer to the external sensor 360 along the measurement line 363. In step S43, the tip position detection unit 522 waits for the external sensor 360 to detect the first end 111. In step S44, the tip position detection unit 522 causes the robot 2 to stop the operation of bringing the first end 111 closer to the external sensor 360 along the measurement line 363. This places the hand 20 at the tip detection position. In step S45, the tip position detection unit 522 calculates the tip relative position based on the tip detection position in the same coordinate system and the position of the detection target position 367. This completes the detection of the tip relative position.

[0099] [Effects of the embodiment] As described above, the robot system 1 includes a robot 2 having a hand 20 that holds a tool 100 including a first end 111 and a second end 121 for pinching a work object, a tip position detection unit 522 that detects the position of the first end 111 relative to the hand 20 when the hand 20 holds the tool 100 with the first end 111 and the second end 121 open, and a pinching control unit 525 that controls the robot 2 to pinch the work object with the tool 100 by positioning the hand 20 at a pinching position where the work object is placed between the first end 111 and the second end 121 based on the position of the first end 111 relative to the hand 20 and closing the gap between the first end 111 and the second end 121 with the hand 20.

[0100] The robot 2 places the hand 20 at a pinch position where the work object is placed between the first end 111 and the second end 121, and closes the first end 111 and the second end 121 with the hand 20, thereby pinching the work object with the tool 100. In order to calculate the pinch position, information on the position of the first end 111 relative to the hand 20 in a state where the first end 111 and the second end 121 are open and the hand 20 holds the tool 100 is required. Hereinafter, the position of the first end 111 relative to the hand 20 in a state where the hand 20 holds the tool 100 with the first end 111 and the second end 121 open is referred to as the "tip relative position". Due to the influence of individual variations of the tool 100, variations in the amount of deformation of the tool 100 when the hand 20 holds the tool 100, deformation of the tool 100 due to the work, etc., the actual tip relative position may differ from the tip relative position predetermined for calculating the pinch position. In this case, even if the hand 20 is placed at the above-mentioned pinching position, there is a possibility that the work object will not be placed between the first end 111 and the second end 121. In contrast, according to the present robot system 1, the tip relative position is detected, and the hand 20 is placed at a position where the work object will be placed between the first end 111 and the second end 121 based on the detection result of the tip relative position. Therefore, the hand 20 can be placed at an appropriate pinching position in accordance with the various variations described above. Therefore, the robot 2 can be made to perform the task of picking up the work object with the tool 100 with higher reliability.

[0101] The picking control unit 525 may control the robot 2 to place the hand 20 at the picking position while maintaining the opening degree between the first end 111 and the second end 121 at the timing when the position of the first end 111 relative to the hand 20 is detected. In this case, by maintaining the opening degree, the work object can be placed between the first end 111 and the second end 121 more reliably.

[0102] A base 210 that supports a work object is provided around the robot 2, and the picking control unit 525 may arrange the hand 20 at a picking position where the first end 111 enters between the work object and the base 210 and the work object enters between the first end 111 and the second end 121 based on the position of the first end 111 relative to the hand 20. When the work object is supported by the base 210, in order to insert the work object between the first end 111 and the second end 121, it is necessary to insert either the first end 111 or the first end 111 (for example, the first end 111) between the work object and the base 210. In order to insert the first end 111 between the work object and the base 210, it is necessary to control the position of the first end 111 with higher accuracy. For this reason, a configuration in which the hand 20 at the picking position is arranged based on the detection result of the tip relative position is more effective.

[0103] The tip position detection unit 522 may detect the position of the first end 111 with respect to the hand 20 in a state in which the hand 20 is gripping the tool 100. By detecting the relative tip position in a state in which the hand 20 is actually gripping the tool 100, the position of the first end 111 can be controlled with higher accuracy.

[0104] An external sensor 360 may be provided around the robot 2, and the tip position detection unit 522 may control the robot 2 to place the hand 20 at a position where the tool 100 enters a detection area of ​​the external sensor 360, and detect the position of the first end 111 relative to the hand 20 based on the detection result of the first end 111 by the external sensor 360. In this case, the external sensor 360 provided around the robot 2 can be effectively used to detect the relative position of the tip.

[0105] The tip position detection unit 522 may detect the position of the first end 111 relative to the hand 20 based on the detection result of the first end 111 by the external sensor 360 and the position of the hand 20 when the external sensor 360 detects the first end 111. In this case, the position of the hand 20 for detecting the tip relative position can be freely changed. Therefore, the hand 20 can be disposed at a position where the external sensor 360 can easily detect the first end 111, thereby further improving the detection accuracy of the tip relative position.

[0106] The tool holding control unit 521 may further execute multiple operations to control the robot 2 to make the hand 20 hold the tool 100, and the tip position detection unit 522 may detect the position of the first end 111 relative to the hand 20 every time the hand 20 holds the tool 100. In this case, even if the tool 100 is deformed during work, the next time the tool 100 is used, the hand 20 can be placed at an appropriate gripping position in accordance with the deformation of the tool 100.

[0107] The hand 20 may further include a base position detection unit 523 that detects the position of the base 210, and the picking control unit 525 may place the hand 20 at the picking position based on the position of the first end 111 relative to the hand 20 and the position of the base 210. In this case, the position of the first end 111 can be controlled with higher accuracy based on the detection result of the position of the base 210 in addition to the detection result of the tip relative position.

[0108] The robot 2 may further include a movable sensor 60 fixed to the hand 20, and the base position detection unit 523 may control the hand 20 to place the hand 20 at a position where the base 210 is within a detection area of ​​the movable sensor 60, and detect the position of the base 210 based on the detection result of the base 210 by the movable sensor 60. In this case, the movable sensor 60 fixed to the hand 20 can be effectively used to detect the position of the base 210.

[0109] The base position detection unit 523 may detect the position of the base 210 based on the detection result of the base 210 by the movable sensor 60 and the position of the hand 20 when the movable sensor 60 detects the base 210. In this case, the position of the hand 20 for detecting the position of the base 210 can be freely changed. Therefore, the hand 20 can be placed at a position where the movable sensor 60 can easily detect the base 210, and the detection accuracy of the position of the base 210 can be further improved.

[0110] The movable sensor 60 may detect the distance from a measurement reference position 61 that is immobile with respect to the hand 20 to the measurement target, and the base position detection unit 523 may detect the position of the base 210 based on the detection result by the movable sensor 60 of the distance from the measurement reference position 61 to the base 210 and the position of the hand 20 when the distance from the measurement reference position 61 to the base 210 is detected by the movable sensor 60. In this case, the movable sensor 60 can be simplified.

[0111] The movable sensor 60 may detect whether the distance from the measurement reference position 61 to the measurement target is a predetermined distance, and the base position detection unit 523 may control the robot 2 to displace the hand 20 until the distance from the measurement reference position 61 to the base 210 becomes the predetermined distance, and detect the position of the base 210 based on the position of the hand 20 when the distance from the measurement reference position 61 to the base 210 becomes the predetermined distance. In this case, the movable sensor 60 can be further simplified.

[0112] The work object is placed on the base 210, and the base position detection unit 523 may control the robot 2 to place the hand 20 at a position where the work object falls within the detection area of ​​the movable sensor 60, without placing the hand 20 vertically above the work object. In this case, it is possible to prevent dust from falling from the hand 20 onto the work object.

[0113] The movable sensor 60 detects the distance from the measurement reference position 61 to the measurement object along a measurement line 63 that is immovable relative to the hand 20, and the base position detection unit 523 may control the robot 2 to place the hand 20 at a position where the base 210 enters the detection area of ​​the movable sensor 60, with the measurement line 63 tilted relative to the vertical direction. In this case, it is easy to cause the movable sensor 60 to detect the position of the base 210 without placing the hand 20 vertically above the work object.

[0114] A work object detection unit 527 that detects a work object by the movable sensor 60 may be further provided. In this case, the movable sensor 60 can also be effectively used for detecting the work object.

[0115] A funnel 220 that surrounds a work target can be attached to the base 210, and the robot system 1 further includes a funnel removal control unit 515 that controls the robot 2 to grip the funnel 220 with the hand 20 and remove the funnel 220 from the base 210, and the base position detection unit 523 may detect the position of the base 210 after the funnel 220 is removed from the base 210. In this case, the position of the base 210 is detected after the funnel 220 is removed from the base 210. Therefore, even if the position of the base 210 is shifted due to removal of the funnel 220, the hand 20 can be placed at an appropriate gripping position accordingly.

[0116] The robot may further include a funnel inspection unit 516 that controls the robot 2 to place the hand 20 at a position where the work object is within the detection area of ​​the external sensor 360 when a work object is attached to the funnel 220 detached from the base 210, and checks whether or not the work object is attached to the funnel 220 based on whether or not the work object is detected by the external sensor 360. In this case, the external sensor 360 can be effectively used to detect whether or not the work object is attached to the funnel 220.

[0117] Although the embodiments have been described above, the present invention is not necessarily limited to the exemplified embodiments, and can be modified as appropriate without departing from the gist of the present invention. [Explanation of symbols]

[0118] 1...robot system, 2...robot, 20...hand, 60...movable sensor, 61...measurement reference position, 63...measurement line, 210...base, 220...funnel, 230...filter (work object), 100...tool, 111...first end, 121...second end, 360...external sensor, 500...controller, 515...funnel removal control unit, 516...funnel inspection unit, 521...tool holding control unit, 522...tip position detection unit, 523...base position detection unit, 525...knob control unit, 527...work object detection unit.

Claims

1. a robot having a hand that holds a tool including a first end and a second end for gripping a work object; a tip position detection unit that detects a position of the first end with respect to the hand in a state in which the first end and the second end are spaced apart and the hand is gripping the tool; a gripping control unit that controls the robot to place the hand at a gripping position where a work object is placed between the first end and the second end based on a position of the first end relative to the hand, and to grip the work object with the tool by closing a gap between the first end and the second end with the hand, a base for supporting the work object is provided around the robot; The picking control unit positions the hand at the picking position where the first end enters between the work object and the base and the work object enters between the first end and the second end based on the position of the first end relative to the hand.

2. The robot system according to claim 1 , wherein the pinch control unit controls the robot to position the hand at the pinch position while maintaining the opening angle between the first end and the second end at the timing when the position of the first end relative to the hand is detected.

3. The robot system according to claim 1 , wherein the tip position detection unit detects a position of the first end portion relative to the hand in a state in which the hand is gripping the tool.

4. An external sensor is provided around the robot; 4. The robot system according to claim 3, wherein the tip position detection unit controls the robot to position the hand at a position where the tool enters a detection area of ​​the external sensor, and detects a position of the first end relative to the hand based on a detection result of the first end by the external sensor.

5. 5. The robot system of claim 4, wherein the tip position detection unit detects a position of the first end relative to the hand based on a detection result of the first end by the external sensor and a position of the hand when the external sensor detects the first end.

6. a tool holding control unit that controls the robot to hold the tool by the hand a plurality of times; The robot system according to claim 4 , wherein the tip position detection unit detects the position of the first end portion relative to the hand every time the hand holds the tool.

7. A base position detection unit that detects the position of the base is further provided, The robot system according to any one of claims 4 to 6, wherein the pick control unit places the hand at the pick position based on a position of the first end relative to the hand and a position of the base.

8. Further comprising a movable sensor fixed to the hand, the base position detection unit controls the robot to dispose the hand at a position where the base is within a detection area of ​​the movable sensor; The robot system according to claim 7 , further comprising: a sensor configured to detect a position of the base based on a detection result of the base by the movable sensor.

9. The robot system according to claim 8 , wherein the base position detection unit detects the position of the base based on a detection result of the base by the movable sensor and a position of the hand when the movable sensor detects the base.

10. The movable sensor detects a distance from a measurement reference position that is immovable with respect to the hand to a measurement target; 10. The robot system of claim 9, wherein the base position detection unit detects the position of the base based on a detection result by the movable sensor of the distance from the measurement reference position to the base and a position of the hand when the distance from the measurement reference position to the base is detected by the movable sensor.

11. The movable sensor detects whether or not a distance from the measurement reference position to the measurement target is a predetermined distance; The robot system of claim 10, wherein the base position detection unit controls the robot to displace the hand until a distance from the measurement reference position to the base becomes the predetermined distance, and detects a position of the base based on a position of the hand when the distance from the measurement reference position to the base becomes the predetermined distance.

12. The work object is placed on the base, 12. The robot system according to claim 10, wherein the base position detection unit controls the robot to position the hand at a position where the work object falls within a detection area of ​​the movable sensor, without positioning the hand vertically above the work object.

13. The movable sensor detects a distance from the measurement reference position to the measurement object along a measurement line that is immovable relative to the hand; The robot system according to claim 12 , wherein the base position detection unit controls the robot to dispose the hand at a position where the base enters a detection area of ​​the movable sensor with the measurement line inclined relative to a vertical direction.

14. The robot system according to any one of claims 8 to 13, further comprising a work object detection unit that detects the work object by the movable sensor.

15. A funnel that surrounds the work object can be attached to the base, the robot system further includes a funnel removal control unit that controls the robot to grip the funnel with the hand and remove the funnel from the base; The robot system according to any one of claims 7 to 14, wherein the base position detection unit detects the position of the base after the funnel is detached from the base.

16. The robot system of claim 15, further comprising a funnel inspection unit that controls the robot to position the hand at a position where the work object enters a detection area of ​​the external sensor when the work object is attached to the funnel removed from the base, and confirms whether the work object is attached to the funnel based on whether the work object is detected by the external sensor.

17. 1. A method for controlling a robot having a hand that grasps a tool including a first end and a second end, comprising: detecting a position of the first end relative to the hand in a state in which the first end and the second end are spaced apart and the hand is gripping the tool; and controlling the robot to place the hand at a pinching position where a work object is placed between the first end and the second end based on a position of the first end relative to the hand, and to close a gap between the first end and the second end with the hand, thereby pinching the work object with the tool, a base for supporting the work object is provided around the robot; A control method in which, based on the position of the first end relative to the hand, the hand is positioned at the gripping position where the first end enters between the work object and the base and the work object enters between the first end and the second end.

18. 1. A method for controlling a robot having a hand that grasps a tool including a first end and a second end, comprising: detecting a position of the first end relative to the hand in a state in which the first end and the second end are spaced apart and the hand is gripping the tool; and controlling the robot to place the hand at a pinching position where a work object is placed between the first end and the second end based on a position of the first end relative to the hand, and to close a gap between the first end and the second end with the hand, thereby pinching the work object with the tool, a base for supporting the work object is provided around the robot; A program for causing an apparatus to execute a control method, in which the hand is positioned at the gripping position where the first end enters between the work object and the base and the work object enters between the first end and the second end based on the position of the first end relative to the hand.

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