Pipe loading device, pipe loading method and program

Abstract

To provide a device, a method, and a program for mechanically loading a manufactured pipe.SOLUTION: A pipe loading device (100) comprises: an arm (10) provided with a grip for gripping a pipe and a fulcrum of the pipe; a detection unit (20) that detects the positions and the directions of the supplied pipe and the temporarily placed fulcrum; and a control unit (30) that controls the arm so as to load the pipe and the fulcrum at prescribed positions referring to information obtained by the detection unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pipe loading device, a pipe loading method, and a program. [Background technology]

[0002] In factories that manufacture a large number of pipes, the manufactured pipes must be temporarily stored (stacked) by type until they are shipped. However, there are many different types of pipes. In addition, in order to load the pipes, a support table is also required to place the pipes. This makes it difficult to load the pipes mechanically, and it is common for workers to stack them one by one using a crane or similar device. However, since loading pipes manually in this manner is time-consuming and increases costs, a mechanical method of loading pipes is desired.

[0003] Patent Document 1 discloses a gripping device that can grip pipes of various outer diameters without requiring a complex mechanism, but does not disclose a device for loading the manufactured pipes. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-72440 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of one aspect of the present invention is to provide an apparatus, a method, and a program for mechanically loading manufactured pipes. [Means for solving the problem]

[0006] In order to solve the above problems, the pipe loading device of the first aspect of the present invention comprises an arm unit having a gripping unit for gripping the pipe and the support base for the pipe, a detection unit for detecting the respective positions and orientations of the supplied pipe and the temporarily placed support base, and a control unit for controlling the arm unit to load the pipe and the support base at a predetermined position by referring to information obtained by the detection unit.

[0007] According to the above-mentioned configuration, the pipe and the support base can be loaded mechanically, thereby realizing labor saving.

[0008] In a pipe loading device according to a second aspect of the present invention, in the first aspect, the control unit acquires identification information regarding the type of pipe and determines the loading position of the pipe and the support base by referring to the identification information.

[0009] According to the above-mentioned configuration, the loading positions of the pipes and the support bases can be mechanically set according to the type of pipe, thereby realizing labor savings.

[0010] A third aspect of the present invention provides the pipe loading device of the second aspect, wherein the control unit determines the loading direction and loading intervals of the pipes by referring to the identification information.

[0011] According to the above-mentioned configuration, the direction and intervals at which the pipes are loaded can be mechanically changed depending on the type of pipe, thereby realizing labor savings.

[0012] In the pipe loading device of the fourth aspect of the present invention, in the second aspect, the control unit refers to the identification information to determine whether the type of pipe to be loaded has changed, and if it determines that the type of pipe has changed, controls the arm unit to start loading the support base and the changed type of pipe from the beginning.

[0013] According to the above configuration, a change in the type of pipe can be detected mechanically, and the loading of the new pipe can be started from the first pipe, thereby realizing labor savings.

[0014] A fifth aspect of the present invention is a pipe loading device in which, in the second aspect, the identification information is linked to the pipe, and the control unit controls the arm unit to load each pipe linked to the common identification information.

[0015] According to the above-mentioned configuration, pipe information can be mechanically acquired and pipes of the same type can be stacked up to a predetermined number of levels, thereby realizing labor savings.

[0016] In the pipe loading device of the sixth aspect of the present invention, in the first or second aspect, the control unit repeats the control of placing a new support stand on top of the pipes and loading the new specified number of pipes on the support stand after loading of a specified number of pipes per tier has been completed, up to the specified number of tiers.

[0017] According to the above-mentioned configuration, pipe information can be mechanically acquired and pipes of the same type can be stacked up to a predetermined number of levels, thereby realizing labor savings.

[0018] A seventh aspect of the present invention is a pipe loading device in which, in the first or second aspect, the detection unit includes at least one of a distance measuring sensor and an imaging device, and the control unit calculates the positions of both ends of the supplied pipe and the temporarily placed support base by referring to information obtained by the distance measuring sensor and / or the imaging device, and derives the position and orientation of the pipe and the support base.

[0019] According to the above-described configuration, the positions and orientations of the pipe and the support base can be mechanically determined, thereby reducing the number of workers required.

[0020] In the eighth aspect of the present invention, in the first or second aspect of the pipe loading device, the gripping portion has at least two gripping portions arranged opposite each other, and the control portion controls the orientation in which the pipe or the support table is placed by referring to the arrangement direction of the at least two gripping portions.

[0021] According to the above configuration, the gripping portion of the gripping unit can be mechanically controlled to grip the pipe and the support base based on the arrangement direction. Furthermore, it is possible to stably grip and accurately align long pipes and support bases.

[0022] A ninth aspect of the present invention relates to the pipe loading device of the eighth aspect, wherein the gripping portion has two opposing pressing surfaces, and at least one of the pressing surfaces has a recess.

[0023] According to the above configuration, circular tubes of different diameters can be stably gripped.

[0024] In the pipe loading device of the tenth aspect of the present invention, in the second aspect, the control unit determines whether the type of pipe has changed by referring to the identification information, and if it determines that the type of pipe has changed, controls the loaded pipe moving device to move all of the pipes that have been loaded up to that point together with the support base.

[0025] With this configuration, when the type of pipe being loaded changes, the entire loaded pipe can be mechanically removed and the loading of the new type of pipe can be started from the beginning, thereby realizing labor savings.

[0026] In order to solve the above problems, a pipe loading method according to one embodiment of the present invention includes an acquisition step of acquiring the respective positions and orientations of the supplied pipe and the temporarily placed support base based on signals from a detection unit, and a control step of controlling an arm unit to load the pipe and the support base at a predetermined position by referring to the acquired positions and orientations of the pipe and the support base.

[0027] According to the above-mentioned configuration, the pipe and the support base can be loaded mechanically, thereby realizing labor saving.

[0028] In order to solve the above problems, one embodiment of the present invention provides a pipe loading program that causes a computer to execute an acquisition step of acquiring the respective positions and orientations of the supplied pipe and the temporarily placed support base based on signals from a detection unit, and a control step of controlling an arm unit to load the pipe and the support base at a predetermined position by referring to the acquired positions and orientations of the pipe and the support base.

[0029] According to the above-mentioned configuration, the pipe and the support base can be loaded mechanically, thereby realizing labor saving.

[0030] The control device according to each aspect of the present invention may be realized by a computer, in which case the control program for the pipe loading device that realizes the control device by making the computer operate as each part (software element) of the control device, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0031] According to one aspect of the present invention, an apparatus, a method, and a program for mechanically loading manufactured pipes can be provided, which allows the pipes and support bases to be mechanically loaded, thereby reducing the labor required. [Brief explanation of the drawings]

[0032] [Figure 1] 1 is a block diagram showing a configuration of a pipe loading device according to a first embodiment of the present invention. [Figure 2] 1 is a flowchart showing the flow of a pipe loading method according to the first embodiment of the present invention. [Figure 3] 10 is a schematic plan view showing a process in which the arm unit moves the support table to a temporary support table storage area. FIG. [Figure 4] FIG. 10 is a schematic diagram showing spatial coordinates for loading tubes. [Figure 5] FIG. 10 is a schematic plan view showing a process of arranging the support table with two arm parts. [Figure 6]4 is a schematic diagram showing the detailed structure of a gripping portion of a first arm portion. FIG. [Figure 7] 10 is a schematic diagram showing a process in which the second arm unit moves the pipe to a predetermined loading position. FIG. [Figure 8] 4 is a schematic diagram showing the detailed structure of the gripping portion of the second arm portion. FIG. [Figure 9] 10 is a schematic diagram showing the structure of the gripping portion of the gripping part of the second arm section, viewed from another direction. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0033] [Embodiment 1] <Pipe loading device 100> An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a pipe loading device 100 according to the first embodiment. The pipe loading device 100 is a device that loads (stacks) multiple types of pipes manufactured in a pipe manufacturing factory in a predetermined temporary storage location until they are shipped or transported to be used in another process. The pipes are stacked so that they can be stored as densely as possible. Stacking is a loading method in which a predetermined number of pipes are lined up, a support platform is placed on top of them, and then another pipe is lined up on the support platform, repeating this process.

[0034] As shown in the figure, the pipe loading device 100 comprises an arm unit 10, a detection unit 20, and a control unit 30. The arm unit 10 is a device that places the pipe and the support stand at a predetermined location. The material and dimensions of the pipe are not particularly limited. The pipe may be made of ductile cast iron, for example, and may have a length of, for example, several meters and a nominal diameter (outer diameter) of, for example, several tens of centimeters.

[0035] The arm unit 10 has a gripping unit that grips a pipe and a support base for supporting the pipe. The arm unit 10 operates in response to commands from the control unit 30 and repeatedly performs the operation of placing the pipe and the support base in a predetermined position. The arm unit 10 is configured as an independent device and may consist of one or more units. Since the arm unit 10 needs to grip pipes and support bases in various orientations and place them in a predetermined position, it is necessary to orient the gripping unit in various directions. Therefore, the arm unit 10 may be a six-axis robot having six joints. The arm unit 10 may be fixed or movable. A movable arm unit 10 may be self-propelled or may move on a track such as a rail.

[0036] The detection unit 20 detects the positions and orientations of the supplied pipe and the temporarily placed support base. The position is coordinate data in the spatial coordinate system 50 of the loading location, which will be described later. The orientation is data indicating which end faces which direction, since the structures of both ends of the pipe differ depending on the pipe. Multiple detection units 20 may be provided. The detection unit 20 may use, for example, a distance measurement sensor. The distance measurement sensor may be a 3D LiDAR (Light Detection and Ranging) that measures the distance to an object using laser light or a depth camera. The detection unit 20 may also include an analysis unit (not shown) that analyzes data acquired by the distance measurement sensor. The analysis unit acquires the distance to the object, for example, as point cloud data, and by analyzing the point cloud data, calculates the positions of both ends of the supplied pipe and the temporarily placed support base, thereby obtaining the positions and orientations of the pipe and the support base. Alternatively, an imaging device may be used as the detection unit 20. The analysis unit analyzes images acquired by the imaging device to obtain the positions and orientations of the pipe and the support base. The analysis unit may be included in the control unit 30. The detection unit 20 may be placed in a position where it can overlook the entire work area. Alternatively, the detection unit 20 may be attached to the arm unit 10.

[0037] The control unit 30 refers to the information obtained by the detection unit 20 and controls the arm unit 10 to load the pipe and the support base at a predetermined position. More specifically, the control unit 30 refers to information obtained by a distance measuring sensor and / or an imaging device serving as the detection unit 20 and calculates the positions of both ends of the supplied pipe and the temporarily placed support base, thereby deriving the positions and orientations of the pipe and the support base. The control unit 30 may be, for example, a programmable logic controller (PLC). If the detection unit 20 does not include an analysis unit, the control unit 30 may perform an analysis process to analyze the distance data or image data obtained from the detection unit 20.

[0038] The control unit 30 acquires the position and orientation of the pipe or support base from the detection unit 20, or analyzes and processes the distance data or image data acquired from the detection unit 20 to acquire the position and orientation of the pipe or support base, and controls the arm unit 10 to grasp each pipe or support base. Next, the control unit 30 controls the arm unit 10 to place the grasped pipe or support base at a predetermined loading position. The predetermined loading position is determined in advance for each type of pipe, and the control unit 30 acquires data on the next predetermined loading position before moving the next pipe or support base. The control unit 30 then acquires the temporary placement position and orientation of the next pipe or support base, grasps that pipe or support base, and moves it to the predetermined loading position. The control unit 30 continues this sequence control until all pipes of one type have been loaded. Instead of a PLC, the control unit 30 may be a computer with a built-in control program for loading pipes and support bases according to a predetermined procedure.

[0039] Below, the work steps performed by each part of the pipe loading device 100 will be explained with reference to the drawings, following the specific procedures for the loading work. FIG. 3 is a plan view showing the process in which the first arm unit 11, which moves the support table 41, moves the support table 41 to the support table temporary storage area 45. The support tables 41 are all placed together in the support table storage area 40. The support tables 41 are tables on which pipes are placed. The shape of the support table 41 may be any shape that allows the pipes to be placed stably, for example, a rod shape with a rectangular cross section. Protrusions (pipe stoppers) are provided on both ends of the support table 41 to prevent the pipes from rolling and falling. The material of the support table 41 may be any material that allows the pipes to be placed stably, for example, iron.

[0040] As shown in the figure, the first arm unit 11 includes, for example, a base 111, a swivel unit 112, an arm unit 113, and a grip unit 114. The base 111 is configured to be movable with the swivel unit 112 placed thereon. Note that the base 111 may be fixed. The swivel unit 112 supports the arm unit 113 and is capable of swiveling (rotating) on ​​the base 111. The arm unit 113 is capable of swiveling in the vertical direction around the swivel unit 112, and a grip unit 114 is supported at its tip so as to be rotatable around the axis of the arm unit 113. The arm unit 113 may be extendable and retractable. The grip unit 114 is capable of swiveling in the vertical direction around the arm unit 113 and in the horizontal direction perpendicular to the vertical direction, and is also capable of rotating around the axis of the arm unit 113. The grip unit 114 is configured to be able to grip both ends of the support base 41, and a detailed structure thereof will be described later.

[0041] First detection unit 21 is disposed as detection unit 20 near the tip of arm 113. However, as described above, detection unit 20 is not limited to being disposed on arm 113, and may be disposed in a position that provides a bird's-eye view of the workplace. When first detection unit 21 is disposed on arm 113, first detection unit 21 also moves as arm 113 moves, and therefore, in order to derive the position of the target, the position of first detection unit 21 also needs to be derived. However, when detection unit 20 is disposed in a position that provides a bird's-eye view of the workplace, the position of detection unit 20 is fixed, and therefore the amount of calculation required to derive the position of the target is reduced.

[0042] The first arm unit 11 grasps the support bases 41 placed in the support base placement area 40 one by one and moves them to the support base temporary placement area 45. While FIG. 3 shows a state in which one support base 41 is placed in the support base temporary placement area 45, a plurality of support bases 41 may be placed in the support base temporary placement area 45.

[0043] FIG. 4 is a schematic diagram showing the spatial coordinates 50 of the loading location where the pipes are loaded. The spatial coordinates 50 are preset as the position where the pipes are loaded, and the placement positions of the pipes and support platform are calculated based on these coordinates. The coordinates are expressed, for example, as an XYZ coordinate system centered on the origin O. The position of the origin O is an arbitrary position, the XY plane is the horizontal plane, and the Z axis represents height. The analysis unit of the detection unit 20 (or the control unit 30) derives the position or placement of the moving object (the pipes and support platform) as coordinates in the spatial coordinates 50. The position of the detection unit 20 is determined, for example, by setting a one-dimensional or two-dimensional reference mark somewhere in the work area, and calculating the coordinate position of the detection unit 20 from the direction and distance to the reference mark. The analysis unit then derives the coordinate position and orientation of the object from the direction and distance between the detection unit 20 and the object. If the detection unit 20 is fixed, the analysis unit calculates the coordinate position of the object using its coordinate position.

[0044] FIG. 5 is a plan view showing a process of arranging the support base 41 using two arm units 11 and 12. The support bases 41 are arranged, for example, one on each end of the pipe 51. In this embodiment, the support base 41 is arranged using two arm units (first arm unit 11 and second arm unit 12). The first arm unit 11 is as described above. As shown in the figure, the second arm unit 12 includes a base 121, a swivel unit 122, an arm unit 123, and a gripping unit 124. The configurations of the base 121, the swivel unit 122, the arm unit 123, and the gripping unit 124 are similar to the configurations of the base 111, the swivel unit 112, the arm unit 113, and the gripping unit 114 of the first arm unit 11 described above, although they differ in size. Note that the configuration of the gripping unit 124 differs from that of the gripping unit 114, but this structure will be described later. The second arm unit 12 is provided with a second detection unit 22 as the detection unit 20, but the second detection unit 22 may be omitted. In that case, the position and orientation of the support base 41 are obtained using data from the first detection unit 21.

[0045] As shown in FIG. 5, the origin O of the spatial coordinate system 50 is set at one corner of the loading area, and the X and Y axes are set as shown. The Z axis is omitted. The first arm unit 11 receives a control signal from the control unit 30 and places the support platform 41 placed in the temporary support platform storage area 45 at a predetermined position. The predetermined position is the position shown as support platform 41A in FIG. 5. Meanwhile, the second arm unit 12 also receives a control signal from the control unit 30 and places the support platform 41 placed in the temporary support platform storage area 45 at a predetermined position. The predetermined position is the position shown as support platform 41B in FIG. 5. In this embodiment, since the positions of the support platforms 41A and 41B are separated, the first arm unit 11 and the second arm unit 12 move the support platform 41 to their respective positions. However, the support platform 41 may be moved by either the first arm unit 11 or the second arm unit 12 alone.

[0046] Note that Figure 5 shows a case where the support platform 41 is placed after all of the pipes 51 for one layer have been placed. In actual work, it is necessary to first place two support platforms 41 in the loading area without any pipes 51 placed therein, and then place the pipes side by side on top of them. Alternatively, a transport platform (not shown) may be placed before placing the support platforms 41. The transport platform is a platform for moving (transporting) the loaded pipes and support platforms together. For example, if an unmanned forklift is used for transporting, the transport platform has a space for inserting the forks of the forklift.

[0047] FIG. 6 is a schematic diagram showing the detailed structure of the gripping portion 114 of the first arm portion 11. The gripping portion 114 has at least two gripping portions 115A and 115B. FIG. 6 is a side view of the two gripping portions 115A and 115B of the gripping portion 114. The gripping portions 115A and 115B are arranged opposite each other on both ends of the underside of the gripping portion 114 (the side that grips the support base). "Opposite" means that they are arranged in symmetrical positions with respect to the arm portion 113. This allows the pipe and support base to be gripped in a stable state. The gripping portions 115A and 115B grip the end surface of the support base 41 by pressing against the end surface. Specifically, the gripping portion 115A is fixed, and the gripping portion 115B is movable in the direction of the arrow in the figure (towards and away from the gripping portion 115A). Control unit 30 controls arm unit 11 so that support base 41 enters between gripping portion 115A and gripping portion 115B, and then moves gripping portion 115B in a direction approaching gripping portion 115A to sandwich support base 41. In this way, support base 41 can be gripped.

[0048] As described above, the control unit 30 can control the orientation of the support base 41 and place it in a predetermined loading position by referring to the arrangement direction of the two gripping units 115A and 115B, that is, the orientation of the gripping unit 114. In this embodiment, since the support bases 41 placed in the support base storage area 40 are stored closely, the gripping unit 114 is structured to be able to grip both ends of the support base 41, but the structure of the gripping unit 114 is not limited to this.

[0049] FIG. 7 is a schematic diagram showing the process in which the second arm unit 12 moves the pipe 51 to a predetermined loading position. The second arm unit 12 not only positions the support table 41 but also positions the pipe 51. The manufactured pipe 51 is transported from a production line (not shown) to the pipe temporary storage table 70. The second arm unit 12 grips the pipe 51 supplied to the pipe temporary storage table 70 with the gripper 124, rotates it, and places it at a predetermined loading position on the support table 41. The pipe 51 is positioned with its longitudinal direction aligned with the X-axis. As shown in FIG. 7, the pipe 51 may have a joint structure at one end. When the pipes have different structures at both ends, they can be stacked more densely by changing the orientation for each row. In this case, the control unit 30 controls the second arm unit 12 to load the pipes 51 while taking into account their orientation. The second arm unit 12 may be fixed or movable.

[0050] The control unit 30 may acquire identification information regarding the type of pipe 51 and determine the loading positions of the pipe 51 and the support base 41 by referring to the identification information. The identification information is information indicating, for example, the type of pipe 51 (such as the joint shape), length, nominal diameter, material, mass, etc. The loading position of the pipe 51 within the spatial coordinates 50 or the loading position on the support base is determined based on the joint shape, length, nominal diameter, material, etc. of the pipe 51. The loading position is set so that the entirety of the loaded pipe 51 and the support base 41 falls within the range of the spatial coordinates 50. Furthermore, the loading positions of the pipes 51 are set so that they can be positioned by the second arm unit 12 and are spaced apart enough so that adjacent pipes 51 do not touch each other. The control unit 30 can set the loading positions of the pipes 51 and the support base 41 by referring to the identification information.

[0051] The control unit 30 may also determine the loading direction and loading intervals of the pipes 51 by referring to the identification information of the pipes 51. As described above, if the shapes of both ends of the pipes are different, the loading direction may be changed for each pipe. Alternatively, the loading direction may be changed for each tier. The loading intervals may also be determined based on the nominal diameter of the pipes 51 or the outer diameter of the joints at the ends of the pipes 51.

[0052] As shown in Figure 7, once all the pipes 51 for one stage have been placed, two support stands 41 are then placed on top of the pipes 51. This operation has been described using Figure 5, so further description will be omitted. The control unit 30 loads each pipe 51 that is linked to common identification information. Specifically, after the control unit 30 has completed loading a predetermined number of pipes 51 to be loaded per stage, it places a new support stand 41 on top of the pipes 51 and loads a predetermined number of new pipes 51 of the same type on the support stand, repeating this process until the predetermined number of stages has been reached.

[0053] It is preferable to avoid mixing and loading different types of pipes 51. For this reason, the control unit 30 may obtain the identification information of the pipes 51 placed on the pipe temporary storage table 70 and determine whether the type of pipes 51 to be loaded has changed. If the control unit 30 determines that the newly supplied pipes 51 to the pipe temporary storage table 70 are the same type (have the same identification information) as the pipes 51 previously loaded, it continues the loading operation. If the control unit 30 determines that the type (identification information) of the newly supplied pipes 51 has changed, it restarts the loading of the support table 41 and the new type of pipes 51 from the beginning. Starting from the beginning means temporarily ending the loading operation, removing the pipes 51 that have been loaded up to that point, and then starting the loading operation of the new type of pipes 51 in the vacant loading space.

[0054] The identification information is linked to the pipe 51. Specifically, the identification information may be engraved or affixed to the pipe 51, for example. The detection unit 20 then acquires the identification information, and the control unit 30 acquires it from the detection unit 20. Alternatively, the identification information may be data recorded in a manufacturing management computer for the pipe 51. In that case, the control unit 30 may receive and acquire the identification information of the pipe 51 from the manufacturing management computer every time a new pipe 51 is transported to the pipe temporary storage table 70.

[0055] 8 is a schematic diagram showing the detailed structure of the gripping portion 124 of the second arm portion 12. The gripping portion 124 has at least two gripping portions 125 and 126. FIG. 8 is a view of the two gripping portions 125 and 126 as viewed from the negative side of the X-axis shown in FIG. 7. The gripping portions 125 and 126 are arranged opposite to the underside of the gripping portion 124 (the side that grips the pipe or support base). As shown by the dotted lines in the figure, the pipe 51 is gripped by the two gripping portions 125 and 126.

[0056] Each of the gripping portions 125 and 126 has two opposing pressing surfaces, and at least one of the pressing surfaces has a recess. FIG. 9 is a schematic diagram showing the structure of the gripping portion 126 as viewed from another direction. Specifically, it is a diagram showing the gripping portion 126 as viewed in the Y-axis direction shown in FIG. 7. As shown in the figure, the gripping portion 126 includes a fixed support plate 126A and a pressing plate 126B that is movable in the directions of the arrows (toward and away from the support plate 126A). The left side of the support plate 126A in FIG. 9 (the side facing the pressing plate 126B) serves as the pressing surface. The right side of the pressing plate 126B in FIG. 9 (the side facing the support plate 126A) serves as the pressing surface.

[0057] The control unit 30 clamps the pipe 51 while widening the gap between the support plate 126A and the pressure plate 126B, and then moves the pressure plate 126B toward the support plate 126A to press the pipe 51. The gripping portion 125 has a similar structure. The pipe 51 can be gripped by clamping it between the gripping portions 125 and 126. Furthermore, the pressure surface of the pressure plate 126B has a V-shaped depression 127. The same is true for the pressure plate 125B. This depression 127 allows the cylindrical pipe 51 to be stably gripped. Furthermore, the V-shaped depression 127 allows the pipes of all different nominal diameters to be stably gripped.

[0058] As described above, when the control unit 30 determines that the type (identification information) of the newly supplied pipes 51 has changed, it starts loading the support bases 41 and the changed type of pipes 51 from the beginning. Therefore, the control unit 30 may control the loaded pipe moving device to move all of the pipes 51 loaded up to that point along with the support bases 41. The loaded pipe moving device is, for example, the unmanned forklift (not shown). The control unit 30 controls the unmanned forklift to lift all of the pipes 51 and support bases 41 loaded on the transport platform, and move (transport) them to a product storage area awaiting shipment or another process work area. The loaded pipe moving device may be a mobile cart that has been placed in advance at the loading location. The support bases and pipes may be loaded directly onto the mobile cart. The mobile cart may be configured to be movable on a track. If a track is laid from the loading location to the specified destination, it becomes easier for the control unit 30 to control the movement of the loaded pipes.

[0059] <Pipe loading method S1> Next, a pipe loading method S1 executed by the pipe loading device 100 will be described with reference to the drawings. FIG. 2 is a flowchart showing the flow of the pipe loading method S1. As shown in FIG. 2, the pipe loading method S1 includes steps S11 and S12. Step S11 is an acquisition step for acquiring the position and orientation of each of the pipe 51 and the support base 41. Specifically, the analysis unit of the detection unit 20 or the control unit 30 acquires the position and orientation of each of the supplied pipe 51 and the temporarily placed support base 41 based on a signal (distance data or image data) from the detection unit 20. Details of the acquisition method are as described above.

[0060] Step S12 is a control step for controlling the arm unit 10 to load the pipe 51 and the support base 41 at a predetermined position. Specifically, the control unit 30 controls the arm unit 10 to load the pipe 51 and the support base 41 at a predetermined position, referring to the acquired positions and orientations of the pipe 51 and the support base 41. Details of the control method are as described above. By the above-described pipe loading method S1, the pipe and the support base can be loaded mechanically, thereby realizing labor savings.

[0061] [Software implementation example] The functions of the pipe loading device 100 (hereinafter referred to as the "device") can be realized by a pipe loading program that is a program for causing a computer to function as the device, and that causes a computer to function as each control block (particularly the control unit 30) of the device.

[0062] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program, thereby realizing the functions described in each of the above embodiments.

[0063] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0064] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer. Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may run on the control device or on another device (for example, an edge computer or a cloud server).

[0065] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0066] 10...Arm portion (11...First arm portion, 12...Second arm portion) 111, 121...Foundation 112, 122...Swivel section 113, 123...Arms 114, 124...gripping part 20...detection unit (21...first detection unit, 22...second detection unit) 30...Control unit 40...Support stand storage area 50...Spatial coordinates 70... Pipe temporary stand

Claims

1. an arm portion having a gripping portion that grips a pipe and a support base for the pipe; a detection unit that detects the positions and orientations of the supplied pipe and the temporarily placed support base; a control unit that controls the arm unit by referring to the information obtained by the detection unit so as to load the pipe and the support base at a predetermined position; Equipped with The gripping unit includes at least two gripping units arranged opposite to each other, and the control unit controls the orientation of the tube or the support base by referring to the arrangement direction of the at least two gripping units. Pipe loading device.

2. The pipe loading device according to claim 1 , wherein the control unit acquires identification information relating to the type of the pipe, and determines the loading positions of the pipe and the support base by referring to the identification information.

3. The pipe loading device according to claim 2 , wherein the control unit determines a loading direction and a loading interval of the pipes by referring to the identification information.

4. The pipe loading device described in claim 2, wherein the control unit refers to the identification information to determine whether the type of pipe to be loaded has changed, and if it determines that the type of pipe has changed, controls the arm unit to start loading the support base and the changed type of pipe from the beginning.

5. The pipe loading device according to claim 2 , wherein the identification information is linked to the pipe, and the control unit controls the arm unit to load each of the pipes linked to the common identification information.

6. The pipe loading device described in claim 1 or 2, wherein the control unit repeats the control of placing a new support platform on top of the pipes and loading the new specified number of pipes on the support platform after loading a specified number of pipes per tier has been completed, up to a specified number of tiers.

7. The pipe loading device described in claim 1 or 2, wherein the detection unit includes at least one of a ranging sensor and an imaging device, and the control unit calculates the positions of both ends of the supplied pipe and the temporarily placed support base by referring to information obtained by the ranging sensor and / or the imaging device, and derives the position and orientation of the pipe and the support base.

8. 3. The tube loading device according to claim 1, wherein the gripping portion has two opposing pressing surfaces, and at least one of the pressing surfaces has a recess.

9. The pipe loading device described in claim 2, wherein the control unit determines whether the type of pipe has changed by referring to the identification information, and if it determines that the type of pipe has changed, controls the loaded pipe moving device to move all of the pipes that have been loaded up to that point together with the support base.

10. an acquiring step of acquiring the positions and orientations of the supplied pipe and the temporarily placed support base based on signals from the detection unit; a control step of controlling the arm unit so as to load the pipe and the support stand at a predetermined position by referring to the acquired positions and orientations of the pipe and the support stand; Including, the arm portion includes a gripping portion configured to grip the tube and the support base, the gripping portion including at least two gripping portions disposed opposite to each other; In the control step, the orientation of the tube or the support base is controlled with reference to the arrangement direction of the at least two gripping portions. Pipe loading method.

11. On the computer, an acquiring step of acquiring the positions and orientations of the supplied pipe and the temporarily placed support base based on signals from the detection unit; a control step of controlling the arm unit so as to load the pipe and the support stand at a predetermined position by referring to the acquired positions and orientations of the pipe and the support stand; A pipe loading program for executing the arm portion includes a gripping portion configured to grip the tube and the support base, the gripping portion including at least two gripping portions disposed opposite to each other; In the control step, the orientation of the tube or the support base is controlled with reference to the arrangement direction of the at least two gripping portions. Pipe loading program.

Images