Robot System

Abstract

A robot system is provided that can efficiently process one or more solid objects. [Solution] The robot system 10 includes a supply device 200 having a holding member 210 that holds multiple solid objects 30 and a supply section 230 that picks up one or more solid objects 30, which are objects 50, from the holding member 210 and supplies them to a predetermined position, and a robot arm 300 that supports the supply device 200 and moves it.

Description

[Technical Field]

[0001] The present invention relates to a robot system. [Background technology]

[0002] Patent Document 1 discloses a food supply device. This food supply device is equipped with a loosening roller that loosens and breaks down the food ingredients while dropping them, and includes a food supply means that drops the cooked rice into a container, a drive means that drives the food supply means, a scale that measures the weight of the cooked rice to be supplied to the container, and a control unit that controls the drive means so that a set weight of cooked rice is dropped into the container.

[0003] Patent Document 2 discloses a prepared food supply system. This prepared food supply system is composed of a container transport table that loads and intermittently transports containers removed from a container removal device, a prepared food serving device that, as the prepared food is introduced, places the weighed prepared food in a container transported to the container transport table, and a transfer device that transfers the containers transported to the container transport table after the prepared food has been placed in them onto a tray. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2024-99023 [Patent Document 2] Japanese Patent Application Publication No. 2023-6266 Summary of the Invention [Problem to be solved by the invention]

[0005] In the conventional food supply device disclosed in Patent Document 1 and the conventional prepared food supply system disclosed in Patent Document 2, a container is moved directly below a supply device, such as an open / close cup, that operates while remaining in a predetermined position, and an object is supplied to the container. In other words, the conventional technology does not take into consideration the movement of the supply device that supplies the object to the container. Furthermore, when the object is one or more solid objects (such as eggs or tablets), no consideration is given to how to process the object into the container. Therefore, it may be difficult to efficiently process one or more solid objects.

[0006] The present invention was made by the inventor of the present application by focusing on the above-mentioned problem, and aims to provide a robot system that can efficiently process one or more solid objects. [Means for solving the problem]

[0007] A robot system according to one embodiment of the present invention includes a holding member that holds a plurality of solid objects, a supply device having a supply unit that removes one or more of the solid objects from the holding member and supplies them to a predetermined position, and a robot arm that supports the supply device and moves the supply device. [Effects of the Invention]

[0008] The robot system according to the present invention can efficiently process one or more solid objects. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view showing an appearance of a robot system according to an embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating an example of a layout of a robot system according to an embodiment. [Figure 3] FIG. 2 is a perspective view showing the configuration of a supply device according to the embodiment. [Figure 4]FIG. 10 is a schematic diagram showing an example of the posture of the robot before a replenishment process is performed. [Figure 5] FIG. 10 is a schematic diagram showing an example of the posture of the robot when a replenishment process is performed. [Figure 6] FIG. 10 is a schematic diagram showing an example of the posture of the robot when the supply unit is located at a position far from the base end of the robot arm. [Figure 7] FIG. 10 is a schematic diagram showing that a replenishment process can be performed in a state where the supply device is located far from the replenishment unit. [Figure 8] FIG. 10 is a schematic diagram showing a state in which the supply device is moving under movement control. [Figure 9] 10 is a schematic diagram showing a state in which the supply device supplies an object to a container in supply control. FIG. [Figure 10] FIG. 10 is a perspective view showing a configuration of a supply device according to a first modified example of the embodiment. [Figure 11] FIG. 10 is a diagram showing a state in which a supply device according to a first modified example of the embodiment is holding a plurality of objects. [Figure 12] FIG. 10 is a diagram showing a state in which a supply device according to a first modified example of the embodiment drops one object. [Figure 13] FIG. 10 is a diagram showing a configuration of a supply device according to a second modified example of the embodiment. [Figure 14] FIG. 10 is a diagram showing a configuration of a supply device according to a third modified example of the embodiment. [Figure 15] FIG. 10 is a diagram showing the configuration of a supply unit according to a fourth modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] (1) A robot system according to one aspect of the present invention includes a holding member for holding a plurality of solid objects, a supply device having a supply unit for removing one or more of the solid objects from the holding member and supplying them to a predetermined position, and a robot arm for supporting the supply device and moving the supply device.

[0011] According to this configuration, the robot arm can move a supply device that holds a plurality of solid objects and picks up one or more solid objects as targets and supplies them to a predetermined position. Therefore, the process of supplying one or more solid targets to a container or the like can be efficiently performed. In this way, the robot system according to this aspect can efficiently process targets.

[0012] (2) In the robot system described in (1) above, the supply unit may have a delivery mechanism that delivers the object to a supply port that is an outlet for the object in the supply device.

[0013] According to this configuration, the target objects can be sent to the supply port by mechanical action, and therefore, for example, one or more solid target objects can be more reliably taken out (separated) from a plurality of solid objects.

[0014] (3) The robot system described in (1) or (2) above may further include a control device that controls the operation of the robot system and a supply unit that supplies the object to the holding member, and the control device may control the robot arm to cause the supply unit to supply the object to the holding member while keeping the movement speed of the supply device below a predetermined speed.

[0015] According to this configuration, when the movement speed of the supply device is equal to or lower than a predetermined speed (including zero speed), one or more solid objects can be supplied to the holding member. This allows the objects to be supplied to the holding member while suppressing the occurrence of problems such as damage to the one or more solid objects.

[0016] (4) In the robot system described in any one of (1) to (3) above, the supply unit may have a storage unit that stores a plurality of the objects, and the control device may control the robot arm to bring the supply device close to the storage unit and cause the supply unit to supply the objects to the holding member.

[0017] According to this configuration, the supply device is moved to a position close to the storage unit to supply the object to the holding member of the supply device, so the distance the object travels from the storage unit to the holding member is relatively short, thereby enabling one or more solid objects to be supplied to the holding member more efficiently.

[0018] (5) In the robot system described in any one of (1) to (4) above, the control device may control the robot arm to move the supply device away from the base end of the robot arm, and cause the supply unit to supply the object to the holding member.

[0019] With this configuration, when the supply unit is located at a position away from the robot arm, one or more solid objects can be supplied to the holding member more efficiently. In other words, the supply unit can be located at a position where it is easy to secure a relatively large space.

[0020] (6) The robot system described in any one of (1) to (5) above may further include a control device that controls the operation of the robot system, wherein the supply unit supplies the object to the predetermined position by dropping the object from a supply port that is an outlet for the object in the supply device, and the control device executes movement control that causes the robot arm to move the supply device and supply control that causes the supply unit to drop the object, and the vertical position of the supply port when the supply control is executed may be lower than the vertical position of the supply port when the movement control is executed.

[0021] According to this configuration, for example, by moving the supply device at a high position, interference between the supply device and other components can be avoided, and by dropping the object from a low position, one or more solid objects contained in the object can be protected.

[0022] (7) The robot system described in any one of (1) to (6) above may further include a control device that controls the operation of the robot system, wherein the supply device supplies the object to the predetermined position by dropping the object, and the control device controls at least one of the robot arm and the supply device to change the height position at which the object is dropped depending on the type of the object.

[0023] With this configuration, the robot system can vary the height (vertical position) at which the object is dropped depending on the type of object. Therefore, for example, it is possible to adjust the dropping position so that the more fragile the object is, the lower the dropping position will be.

[0024] The present invention can be realized not only as such a robot system, but also as a control method for a robot system including characteristic processing steps performed by the robot system. The present invention can also be realized as a program that causes a computer to execute the control method for a robot system, or as a computer-readable recording medium such as a CD-ROM (Compact Disc-Read Only Memory) on which the program is recorded. Such a program can be distributed via a recording medium such as a CD-ROM or a transmission medium such as the Internet. The present invention can also be realized as an integrated circuit including a processing unit that performs the control method for a robot system.

[0025] Hereinafter, a robot system according to an embodiment of the present invention (including its modified examples) will be described with reference to the drawings. The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, the arrangement and connection of the components, steps in the method, and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present invention. In each drawing, dimensions, etc. are not strictly illustrated. In each drawing, the same reference numerals are used to refer to the same or similar components.

[0026] In the following description and drawings, two intersecting directions in a horizontal plane are defined as the X-axis direction and the Y-axis direction, and the vertical direction (up and down direction) is defined as the Z-axis direction. These X-axis, Y-axis, and Z-axis directions intersect with each other (or are perpendicular in this embodiment). In the following description, the positive X-axis direction refers to the direction of the X-axis arrow, and the negative X-axis direction refers to the direction opposite to the positive X-axis direction. When simply referring to the X-axis direction, it refers to both or either of the positive X-axis direction and the negative X-axis direction. The same applies to the Y-axis and the Z-axis. Expressions indicating relative directions or attitudes, such as parallel and perpendicular, also include cases where the directions or attitudes are not strictly those of the same kind. Two directions being parallel (or perpendicular) not only mean that the two directions are completely parallel (or perpendicular), but also mean that the two directions are substantially parallel (or perpendicular), i.e., include a difference of, for example, several percent.

[0027] (Embodiment) 1. General Description of Robot System 10 First, a general description of a robot system 10 according to the present embodiment will be given using FIGS. 1 to 3. FIG. 1 is a perspective view showing the appearance of the robot system 10 according to the embodiment. In FIG. 1, the supply unit 600 is not shown. FIG. 2 is a schematic diagram showing an example layout of the robot system 10 according to the embodiment. FIG. 3 is a perspective view showing the configuration of a supply device 200 according to the embodiment. In FIG. 3, a solid object 30 is schematically shown as a dotted circle. Note that the positions and postures of the supply device 200 and the robot arm 300 shown in FIGS. 1 to 3 are examples of positions and postures that the supply device 200 and the robot arm 300 can take.

[0028] 1 to 3, the robot system 10 is a system that supplies an object 50, which is one or more solid objects 30, to a predetermined position. Specifically, the robot system 10 according to this embodiment includes a supply device 200 and a robot arm 300 that supports and moves the supply device 200. The object 50, which is one or more solid objects 30, can also be expressed as an object 50 made up of one or more solid objects 30, or an object 50 that includes one or more solid objects 30.

[0029] In this embodiment, the combination of the robot arm 300 and the supply device 200 supported by the robot arm 300 is referred to as the robot 100. As shown in FIG. 3 , the supply device 200 includes a holding member 210 that holds a plurality of solid objects 30, and a supply unit 230 that removes one or more solid objects 30, i.e., targets 50, from the holding member 210 and supplies them to a predetermined position. The robot system 10 is disposed at a position along a conveying unit 800 that conveys the containers 20. In this embodiment, the robot system 10 is disposed in the negative Y-axis direction of the conveying unit 800. The conveying unit 800 conveys the containers 20 in a predetermined direction by moving a placement surface 801 on which the containers 20 are placed. In this embodiment, the conveying unit 800 is a belt conveyor that conveys the containers 20 and extends in the X-axis direction. The conveying unit 800 conveys the containers 20 in the positive X-axis direction. Note that the conveying unit 800 may be a part of the robot system 10. That is, the robot system 10 may include the robot 100 and the transport unit 800.

[0030] In the robot system 10 having the above configuration, the robot arm 300 moves the supply device 200 to position the supply device 200 above the container 20 being transported by the transport unit 800. Furthermore, when the container 20 is moving, the robot system 10 moves the supply device 200 in conjunction with the movement of the container 20. The supply device 200 releases the object 50 inside the container 20, which is a predetermined position. This allows the object 50, which is one or more solid objects 30, to be supplied to the container 20.

[0031] A holding member 210 included in the supply device 200 holds a plurality of solid materials 30, and a supply section 230 included in the supply device 200 picks up (separates) one or more solid materials 30 from the plurality of solid materials 30 as the target objects 50 and supplies them to the containers 20. The supply section 230 can repeatedly perform such a supply process. This allows one or more solid materials 30 as the target objects 50 to be supplied to each of the plurality of containers 20 being transported by the transport section 800.

[0032] That is, in the robot system 10, the supply device 200 can be moved by the robot arm 300 while holding a plurality of solid objects 30, and can continuously perform a process of supplying one or more solid objects 30 separated from the plurality of solid objects 30 to the containers 20 as targets 50. For example, the supply device 200 can supply targets 50 that are one or more solid objects 30 to each of three containers 20 lined up in the Y-axis direction in FIGS. 1 and 2. The robot arm 300 can sequentially move the supply device 200 above the three containers 20 being transported by the transport unit 800 so that the supply device 200 can supply the targets 50 to each of the three containers 20.

[0033] In this embodiment, the target object 50 is one or more solid objects 30, i.e., an aggregate of a predetermined number of solid objects 30. In FIG. 3 , the solid objects 30 are schematically illustrated as dotted circles, but the type and shape of the solid objects 30 are not particularly limited. Examples of the solid objects 30 include shelled eggs such as chicken eggs, green onions (sliced ​​green onions; the same applies below), foods such as sweets, medicines such as tablets or capsule medicines, parts (components) such as screws or nuts, and small toys. The solid objects 30 may also include so-called semi-solid objects such as potato salad. In other words, examples of the target object 50 include one egg or approximately 5 grams of green onions. The holding member 210 is capable of holding multiple solid objects 30 that constitute multiple targets 50. For example, if the holding member 210 can hold approximately 200 g of green onions, the robot system 10 can execute the process of supplying one or more green onions constituting "approximately 5 g of green onions" to the container 20 by the supply device 200 approximately 40 times in succession. In other words, when the robot system 10 executes a single supply process of supplying a plurality of solid objects 30 to the holding member 210, it can supply the target objects 50 to approximately 40 containers 20 in succession.

[0034] In this embodiment, the robot arm 300 is a multi-joint robot arm and includes multiple links 301 and a joint 310 that connects two adjacent links 301 so that they can rotate around a predetermined axis. The robot arm 300 is supported by a support base 390. Specifically, the robot arm 300 has a base end 320 that is the end supported by the support base 390 and a tip end 330 that is the end that supports the supply device 200. The robot arm 300 can rotate around the Z axis around the base end 320 and can operate to fold and extend the multiple links 301. This allows the robot 100 to move the supply device 200 supported by the tip end 330 of the robot arm 300 in the X-axis, Y-axis, and Z-axis directions within a predetermined range in three-dimensional space. The robot arm 300 having the above structure is called, for example, a "vertical multi-joint robot arm." It is not essential that the robot arm 300 be a vertical multi-joint robot arm. For example, when the robot system 10 has a structure that moves the supply device in the Z-axis direction, the robot arm 300 may be a horizontal articulated robot.

[0035] The direction in which the container 20 is transported by the transport unit 800 is the positive direction of the X axis. For example, an empty container 20 passes in front of the robot 100 (in the positive direction of the Y axis in this embodiment). The robot 100 performs a process (supply process) of supplying one or more solid objects 30, or other objects 50, to the container 20 moving within a predetermined range in front of it. The robot 100 may also perform the supply process on a container 20 that already contains some object. The container 20 shown in FIG. 1 includes a bottom wall 22 on which the object 50 is placed and a side wall 21 extending in the positive direction of the Z axis from the periphery of the bottom wall 22. There are no particular limitations on the shape, size, or placement position of the container 20 in the transport unit 800 to be subjected to the supply process. For example, relatively deep cup-shaped containers 20 may be transported by the transport unit 800 while being randomly arranged on the transport unit 800.

[0036] More specifically, the robot system 10 includes a detection unit 401 that detects the positions of the containers 20, and a control device 500 that controls the operation of the robot system 10. The detection unit 401 is, for example, a camera that captures an image within a predetermined range below the detection unit 401. The image data, which is the detection result by the detection unit 401, is acquired and analyzed by the control device 500, which then acquires container information indicating the positions of each of the multiple containers 20. The control device 500 uses the acquired container information to control the operation of the supply device 200 and the robot arm 300 included in the robot 100. As a result, the robot 100 executes a process of supplying the target object 50 to each of the multiple containers 20 moving in the X-axis direction. In this embodiment, the detection unit 401 is supported by a support frame 410, and the support frame 410 is supported by a support base 390 that supports the robot arm 300.

[0037] The control device 500 that executes the above control is a computer that includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), input units (keyboard, touch panel, mouse, microphone, etc.), output units (liquid crystal display, speaker, etc.), a communication unit that communicates via a network, and drives, and executes various processes according to programs. The control device 500 may be realized by a general-purpose computer system such as a personal computer executing a program, or may be realized by a dedicated computer system such as a programmable controller.

[0038] The control device 500 is connected to the robot 100 and the detection unit 401, etc., by wire or wirelessly, and performs operations such as exchanging signals with the robot 100 and acquiring image data from the detection unit 401. In the embodiment, the control device 500 is housed inside the support base 390. There are no particular limitations on the location where the control device 500 is disposed. The control device 500 may be disposed outside the support base 390, or may be disposed in a location far from the robot 100 and the detection unit 401, etc.

[0039] In a process (previous process) upstream (negative X-axis direction) of the robot 100, a person or another robot may place the container 20 on the transport unit 800 or perform work on the container 20 or the transport unit 800. As a result, the transport unit 800 may transport the object 20 in a state where the position or angle of the container 20 is deviated from the normal position or angle.

[0040] The support base 390 is a box-shaped base that supports the robot arm 300 included in the robot 100, and the base end 320 of the robot arm 300 is attached to the support base 390. The support base 390 also serves as a base for the support frame 410, which is also attached to the support base 390. The support base 390 is a case made of metal or the like, and in this embodiment, is a portable structure that is configured to be movable (portable). Casters or the like may be provided on the bottom surface of the support base 390. In other words, the robot system 10 is a portable object that is configured to be movable (portable). For example, the robot system 10 can be moved in the positive direction of the Y axis of the transport unit 800, and its position in the X axis direction relative to the transport unit 800 can be changed. The same applies to the transport unit 800, which is a portable structure that is configured to be movable (portable). Casters or the like may be provided on the legs of the transport unit 800.

[0041] The replenishing unit 600 is a device that replenishing the target objects 50 to the holding member 210 included in the supply device 200. Specifically, the replenishing unit 600 includes a storage unit 610 that stores a plurality of target objects 50. That is, the storage unit 610 stores a plurality of solid objects 30 that make up the plurality of target objects 50. The replenishing unit 600, for example, removes a number of solid objects 30 from the plurality of solid objects 30 stored in the storage unit 610, sufficient to fill an empty holding member 210, and sends the solid objects 30 to the holding member 210. This makes it possible, for example, to fill a nearly empty holding member 210 with a plurality of solid objects 30. The storage unit 610 is preferably sized to store a sufficient number of solid objects 30 to perform such a replenishing process multiple times in succession.

[0042] In this embodiment, as shown in Fig. 2, the supply unit 600 is disposed near the robot 100 in the X-axis direction. Examples of the operation of the robot 100 when the supply unit 600 performs a supply process on the holding member 210 will be described later with reference to Figs. 4 to 7.

[0043] 2. Description of Supply Device 200 Next, the configuration and operation of the supplying device 200 according to this embodiment will be described in more detail with reference to Fig. 3. The operation of the supplying device 200 described below is executed under the control of the control device 500.

[0044] As described above, the supply device 200 includes the holding member 210 and the supply unit 230, and the supply unit 230 takes out the target object 50, which is one or more solid objects 30, from the holding member 210 and supplies it to a predetermined position. The supply device 200 includes a supply port 290 which is an outlet for the target object 50, and the target object 50 taken out by the supply unit 230 is supplied to the container 20 (see FIG. 1) located below the supply port 290.

[0045] 3, in this embodiment, the supply device 200 further includes a guide cylinder 220 disposed on the side of the holding member 210. In this embodiment, the supply device 200 is supported by a bracket 380 provided on the tip 330 of the robot arm 300.

[0046] The holding member 210 is a cylindrical member and has a space therein capable of accommodating a plurality of solid objects 30. An opening at the upper end of the holding member 210 forms a supply port 280 through which a plurality of targets 50 are supplied from a supply unit 600 (see FIG. 2). The guide cylinder 220 is also a cylindrical member and has a space therein through which one or more targets 50, which are solid objects 30, can pass. In the supply device 200 configured in this manner, the supply port 290 is formed by an opening at the lower end of the guide cylinder 220. When the direction in which the cylindrical holding member 210 extends is defined as a first direction and the first direction coincides with the up-down direction (Z-axis direction), the guide cylinder 220 is arranged alongside the holding member 210 in a second direction (X-axis direction in FIG. 3) that intersects the first direction.

[0047] The supply unit 230 includes a delivery mechanism 240 that delivers the target object 50 to the supply port 290. Specifically, the delivery mechanism 240 according to this embodiment includes a pusher 249 and a delivery actuator 241. The pusher 249 is a member that pushes the target object 50 (one or more solid objects 30) inside the holding member 210 toward the inside of the guide cylinder 220. The delivery actuator 241 is a drive device that drives the movement of the pusher 249. In FIG. 3 , the delivery actuator 241 drives the movement of the pusher 249 in the X-axis direction (moving in and out of the holding member 210). A delivery opening 211 is provided in a wall portion of the holding member 210 that faces the guide cylinder 220, and the one or more solid objects 30 pushed by the pusher 249 pass through the delivery opening 211 and move downward within the internal space of the guide cylinder 220. As a result, the one or more solid objects 30 pass through the supply port 290 and are supplied as the target objects 50 to the container 20 below the supply port 290 .

[0048] The supply unit 230 further includes a lifting mechanism 250 that pushes up the plurality of solid objects 30 held by the holding member 210. The lifting mechanism 250 includes a lifting platform 257 that supports the plurality of solid objects 30 from below, a rack gear 251 connected to the lifting platform 257, a pinion gear 255 that meshes with the rack gear 251, and a lifting actuator 256 that rotationally drives the pinion gear 255. The lifting mechanism 250 moves the rack gear 251 up and down by the lifting actuator 256 rotating the pinion gear 255, thereby moving the lifting platform 257 in the vertical direction.

[0049] In the supply device 200 configured in this manner, the holding member 210 contains a plurality of solid objects 30 up to a position below the delivery opening 211. In this state, the lifting mechanism 250, for example, lifts the lifting platform 257 by a predetermined distance. As a result, one or more solid objects 30 are positioned opposite the pusher body 249 in the X-axis direction. In this state, the delivery mechanism 240 moves the pusher body 249 in the negative direction of the X-axis. As a result, the one or more solid objects 30 are pushed into the guide cylinder 220 and drop downward from the supply port 290.

[0050] Through the above series of operations, a supply process of the target object 50 (one or more solid objects 30) to the container 20 is executed. In this supply process, the number (or amount) of solid objects 30 constituting one target object 50 is adjusted by changing the lifting distance of the lifting platform 257. That is, for example, if the target object 50 is approximately 5 grams of solid objects 30, the control device 500 sends a control signal to the supply device 200 so that the lifting platform 257 is lifted a distance equivalent to approximately 5 grams of solid objects 30. As a result, approximately 5 grams of solid objects 30, which is one or more solid objects 30, are supplied from the supply port 290 to the container 20 below the supply port 290.

[0051] This rising distance may be obtained by theoretical calculation based on the average size and weight of the solids 30, or may be obtained from experimental values ​​using actual objects (actual solids 30). For example, under the assumption that the density of the solids 300 is constant, a rising distance equivalent to approximately 5 g of solids 30 may be calculated using the density and the inner diameter of the holding member 210. The rising distance may also be changed for each supply process. For example, assume that a single solid 30 is the target object 50. In this case, the sizes and other parameters of the multiple solids 30 held by the holding member 210 may be detected using a sensor, and the detection results may be used to determine the rising distance for each solid 30.

[0052] There are no particular limitations on the method employed by the delivery mechanism 240 for delivering the target objects 50 to the supply port 290. For example, the delivery mechanism 240 may supply the target objects 50, which are one or more solid objects 30, to the container 20 from the supply port 280 by tilting the holding member 210 so that the supply port 280 of the holding member 210 approaches the container 20. In other words, the opening at the upper end of the holding member 210 may function as the supply port 280 and the supply port 290. In this case, the number (or amount) of solid objects 30 constituting the target objects 50 supplied to the container 20 may be adjusted by adjusting the angle at which the holding member 210 is tilted.

[0053] The control device 500 calculates the remaining amount, which is the amount (number, weight, volume, etc.; the same applies below) of solid materials 30 held in the holding member 210 at that time, based on the number of supply processes performed by the supply device 200, etc. For example, when the remaining amount falls below a threshold, the control device 500 causes the supply unit 600 to execute a supply process to supply multiple solid materials 30 to the holding member 210. The supply device 200 may be equipped with a sensor (such as a weight sensor) for detecting the remaining amount. The control device 500 may calculate the remaining amount of solid materials 30 in the holding member 210 using the detection result obtained from the sensor.

[0054] The configuration and operation of the supply device that can be employed by the robot system 10 are not limited to the configuration and operation shown in Fig. 3. Other examples of the configuration and operation of the supply device that can be employed by the robot system 10 will be described later with reference to Figs. 10 to 14.

[0055] [3. Example of replenishment process] Next, an example of the operation of the replenishment process in the robot system 10 according to this embodiment will be described with reference to FIGS. 4 to 7. FIG. 4 is a schematic diagram showing an example of the posture of the robot 100 before the replenishment process is performed. FIG. 5 is a schematic diagram showing an example of the posture of the robot 100 when the replenishment process is performed. FIG. 6 is a schematic diagram showing an example of the posture of the robot 100 when the replenishment unit 600 is located at a position far from the base end 320 of the robot arm 300. FIG. 7 is a schematic diagram showing that the replenishment process can be performed in a state where the supply device 200 is located at a position far from the replenishment unit 600.

[0056] For example, assume that the supply device 200 included in the robot 100 is in the position shown in FIG. 4 when the remaining amount of solid material 30 held in the holding member 210 falls below a threshold. In this case, the control device 500 controls the robot arm 300 to move the supply device 200 in a direction approaching the storage unit 610 (the negative X-axis direction in FIG. 4). Thereafter, when the supply device 200 moves within the supply unit 600 or within a predetermined range near the supply unit 600, the control device 500 controls the robot arm 300 to reduce the movement speed of the supply device 200 to a predetermined speed or less. For example, the control device 500 stops the supply device 200 (reduces the movement speed to zero). With the movement speed of the supply device 200 reduced to the predetermined speed or less, the control device 500 causes the supply unit 600 to execute a replenishment process for the supply device 200.

[0057] The supply unit 600 shown in FIG. 4 includes the storage unit 610 described above, a supply pipe 615 connected to the storage unit 610, and a supply mechanism 620 that adjusts the number (or amount) of solids 30 supplied to the holding member 210. The supply pipe 615 is, for example, a flexible tubular member. The supply mechanism 620 may include, for example, a valve provided along the path through which the solids 30 pass, a drive unit that drives the opening and closing of the valve, a sensor, and the like. For example, the number (or amount) of solids 30 supplied to the holding member 210 is adjusted by changing the position of the valve when it is opened and / or the time for which the open state is maintained. In FIG. 4, the supply mechanism 620 is disposed at the tip of the supply pipe 615; however, the supply mechanism 620 may be disposed along the supply pipe 615 or between the supply pipe 615 and the storage unit 610.

[0058] 4 includes a configuration in which the solid objects 30 are dropped from the replenishing mechanism 620 by using gravity, but this is not essential. The replenishing unit 600 may also include a sending mechanism that applies an external force other than gravity to the solid objects 30 to forcibly send the solid objects 30 to the holding member 210.

[0059] For the supply unit 600 configured in this manner, the control device 500, for example, stops the supply device 200 at a position where the supply port 280 of the holding member 210 is directly below the supply mechanism unit 620 (see FIG. 5). The control device 500 further controls the supply unit 600 to supply a plurality of solid objects 30 corresponding to at least one target object 50 from the storage unit 610 to the holding member 210. In other words, the supply process by the supply unit 600 is performed, and as a result, the holding member 210 holds a plurality of solid objects 30 corresponding to at least one target object 50. The control device 500 then resumes control of the robot 100 to supply the targets 50 to the plurality of containers 20.

[0060] The control device 500 may cause the replenishing unit 600 to perform the replenishing process while the supply device 200 is moving at a speed equal to or less than a predetermined speed. In this case, the robot system 10 may include a device that moves the replenishing mechanism 620 so as to follow the movement of the holding member 210. The replenishing mechanism 620 may be moved manually by an operator so as to follow the movement of the holding member 210.

[0061] As described above, in the robot system 10 according to the present embodiment, the supply unit 600 performs a supply process in which the holding member 210 is supplied with the target object 50 including the solid object 30 while the movement speed of the holding member 210 is low (including zero speed). Therefore, damage to the solid object 30 during the supply process is suppressed.

[0062] In the robot system 10 according to this embodiment, the location of the supply unit 600 is not limited to the location shown in FIGS. 2 and 4 . For example, since the robot 100 is located in the area in the negative Y-axis direction of the transport unit 800, it may be necessary to reserve space for an operator who operates or maintains the robot 100. In this case, the supply unit 600 may be located on the opposite side of the transport unit 800 from the robot 100, i.e., in the positive Y-axis direction of the transport unit 800. In this case, it is preferable to locate the supply unit 600 at a location that does not face the robot 100 in the Y-axis direction to avoid interference with the supply device 200 performing the supply process. Furthermore, if the supply process can be performed at a location away from the area where the robot 100 performs work on the container 20, spillage of the solid material 30 to be supplied is less likely to adversely affect the work. Therefore, the supply unit 600 may be located, for example, at the location shown in FIG. 6 . In this case, the control device 500 controls the robot arm 300 to cause the supply unit 600 to supply the objects 50 to the holding member 210 while the supply device 200 is moved away from the base end 320 of the robot arm 300. In other words, even if the supply unit 600 is placed at a position relatively far from the base end 320 of the robot arm 300, the supply device 200 can supply one or more objects 50 to the holding member 210.

[0063] Furthermore, the control device 500 may perform the supplying process of the objects 50 to the supplying device 200 by moving at least a part of the supplying unit 600, rather than the supplying device 200. For example, as shown in FIG. 7 , if the supplying unit 600 includes a relatively long supply pipe 615, the supplying process can be performed by disposing a supplying mechanism 620 provided at the tip of the supply pipe 615 in a position above the holding member 210 included in the supplying device 200. In this case, the robot system 10 may include a device for moving the supplying mechanism 620. The supplying mechanism 620 may be moved manually by an operator. Assume that the supplying unit 600 is disposed at the position shown in FIG. 7 and the robot arm 300 is extended as shown in FIG. 6. In this case, the relatively long supply pipe 615 may be extended to allow multiple solid objects 30 to pass through the supply pipe 615 more easily.

[0064] [4. Example of height control of supply port 290 in supply process] Next, an example of height control of the supply port 290 in the supply process performed by the robot system 10 according to this embodiment will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a schematic diagram showing a state in which the supply device 200 is moving in the movement control. Fig. 9 is a schematic diagram showing a state in which the supply device 200 supplies the target object 50 to the container 20 in the supply control.

[0065] In the robot system 10 according to this embodiment, when a supply process for supplying a target object 50 to a container 20 is performed, the control device 500 performs movement control and supply control. Specifically, as shown in FIG. 8, the control device 500 performs movement control to cause the robot arm 300 to move the supply device 200. In the movement control, the supply device 200 is moved with the vertical position Ha of the supply port 290 being relatively high. This allows the supply device 200 to be moved quickly toward the target container 20 (see FIG. 8) without interfering with the supply device 200 and the multiple containers 20 (see FIG. 1) on the transport unit 800, for example.

[0066] When the movement control causes the supply port 290 to reach above the container 20, the control device 500 executes supply control to cause the supply device 200 to drop the target object 50, as shown in Fig. 9. In the supply control, the target object 50 is dropped from the supply port 290 with the vertical position Hb of the supply port 290 kept low. In other words, the target object 50 is dropped from the supply port 290 with the vertical distance between the supply port 290 and the bottom wall portion 22 of the container 20 being relatively short. This prevents, for example, the solid object 30 contained in the target object 50 from being damaged by the impact of the drop.

[0067] That is, the solid object 30 is protected in the process of dropping the solid object 30 into the container 20. Furthermore, since the vertical position Hb of the supply port 290 is low, the occurrence of a malfunction (error) such as the dropped solid object 30 bouncing off the bottom wall 22 of the container 20 due to the elastic force of the solid object 30 and flying out of the container 20 is suppressed. The robot system 10 according to this embodiment can also drop the target object 50 from the supply port 290 in a state where the vertical position Hb of the supply port 290 is lower than the side wall 21 of the container 20, as shown in FIG. 9, for example. This more reliably prevents the solid object 30 from flying out from inside the container 20.

[0068] In this embodiment, the adjustment of the vertical position of the supply port 290 of the supply device 200 is performed by moving the supply device 200 in the vertical direction using the robot arm 300, but the adjustment of the vertical position of the supply port 290 may also be performed by the operation of the supply device 200. The supply device 200 may be provided with an adjustment mechanism that can change the vertical position of the supply port 290. In other words, the adjustment of the vertical position of the supply port 290 of the supply device 200 is performed by the control device 500 controlling at least one of the robot arm 300 and the supply device 200.

[0069] The control device 500 may change the vertical position of the supply port 290 depending on the type of target object 50. For example, assume that the type of target object 50 including fragile solid objects 30 is defined as a first type, and the type of target object 50 including fragile solid objects 30 (in other words, high strength) is defined as a second type. In this case, when the type of target object 50 is the first type, the control device 500 may drop the target object 50 from a lower position than when the type of target object 50 is the second type. The control device 500 may also change the vertical position at which the supply device 200 drops the target object 50 (specifically, the vertical position Hb of the supply port 290) for each type of three or more types of target object 50. Identification or identification of the type of target object 50 may be performed automatically by a device such as a sensor, or may be performed by an operator's designation (input to the control device 500).

[0070] [5. Summary of the embodiment] The robot system 10 according to this embodiment includes a supply device 200 having a holding member 210 that holds a plurality of solid objects 30 and a supply section 230 that takes out one or more solid objects 30, which are objects 50, from the holding member 210 and supplies them to a predetermined position, and a robot arm 300 that supports the supply device 200 and moves the supply device 200.

[0071] According to this configuration, the supply device 200, which holds a plurality of solid objects 30 and picks up one or more solid objects 30 therefrom as targets 50 and supplies them to a predetermined position, can be moved by the robot arm 300. That is, in the robot system 10 according to this embodiment, the supply device 200 can be moved by the robot arm 300 while stocking a plurality of solid objects 30, and can supply the solid objects 30 in small quantities to a plurality of containers 20, etc. Therefore, the process of supplying targets 50, which are one or more solid objects 30, to containers, etc. can be efficiently performed. In this way, the robot system 10 according to this embodiment can efficiently process the targets 50.

[0072] In this embodiment, the supply unit 230 has a delivery mechanism 240 that delivers the target object 50 to a supply port 290 that is an outlet of the supply device 200 for the target object 50 .

[0073] According to this configuration, the target object 50 can be sent to the supply port 290 by a mechanical operation. Therefore, for example, it is possible to more reliably take out (separate) the target object 50, which is one or more solid objects 30, from among a plurality of solid objects 30.

[0074] The robot system 10 according to this embodiment includes a control device 500 that controls the operation of the robot system 10, and a supply unit 600 that supplies the holding member 210 with the target object 50. The control device 500 controls the robot arm 300 to cause the supply unit 600 to supply the target object 50 to the holding member 210 while keeping the movement speed of the supply device 200 at or below a predetermined speed.

[0075] According to this configuration, when the movement speed of the supply device 200 is equal to or lower than a predetermined speed (including zero speed), the objects 50, which are one or more solid objects 30, can be supplied to the holding member 210 (see FIGS. 5 to 7). This allows the objects 50 to be supplied to the holding member 210 while suppressing the occurrence of defects such as damage to the one or more solid objects 30, which are the objects 50.

[0076] In this embodiment, the supply unit 600 has a storage unit 610 that stores a plurality of objects 50. The control device 500 controls the robot arm 300 to bring the supply device 200 close to the storage unit 610, and then causes the supply unit 600 to supply the objects 50 to the holding member 210 (see FIGS. 5 and 6).

[0077] According to this configuration, the supply device 200 can be moved to a position close to the storage unit 610, and the objects 50 can be replenished to the holding member 210 of the supply device 200. Therefore, the moving distance of the objects 50 from the storage unit 610 to the holding member 210 is relatively short. This allows the objects 50, which are one or more solid objects 30, to be replenished to the holding member 210 more efficiently. Note that the supply unit 600 may replenish the objects 50 to the holding member 210 regardless of the moving speed of the supply device 200. For example, the supply unit 600 may replenish the objects 50 to the holding member 210 of the supply device 200 while it is passing near the storage unit 610.

[0078] In this embodiment, the control device 500 controls the robot arm 300 to move the supply device 200 away from the base end 320 of the robot arm 300, and cause the supply unit 600 to supply the target object 50 to the holding member 210 (see Figures 6 and 7).

[0079] According to this configuration, the robot system 10 can more efficiently supply the objects 50, which are one or more solid objects 30, to the holding member 210 even when the supply unit 600 is placed at a position distant from the base end 320 of the robot arm 300. In other words, the supply unit 600 can be placed at a position where a relatively large space can be easily secured. Note that the supply unit 600 may supply the objects 50 to the holding member 210 regardless of the movement speed of the supply device 200. For example, the supply unit 600 may supply the objects 50 to the holding member 210 of the supply device 200 while the supply unit 600 is passing through a position distant from the base end 320 of the robot arm 300.

[0080] The robot system 10 according to this embodiment includes a control device 500 that controls the operation of the robot system 10, and the supply unit 230 supplies the object 50 to a predetermined position by dropping the object 50 from a supply port 290, which is an outlet for the object 50 in the supply device 200. The control device 500 executes movement control that causes the robot arm 300 to move the supply device 200, and supply control that causes the supply unit 230 to drop the object 50. The vertical position Hb of the supply port 290 when the supply control is executed is lower than the vertical position Ha of the supply port 290 when the movement control is executed (see FIGS. 8 and 9).

[0081] According to this configuration, the robot system 10 can, for example, avoid interference between the supply device 200 and other components by moving the supply device 200 at a high position, and can protect one or more solid objects 30 contained in the object 50 by dropping the object 50 from a low position.

[0082] The robot system 10 according to this embodiment includes a control device 500 that controls the operation of the robot system 10, and the supply device 200 supplies the object 50 to a predetermined position by dropping the object 50. By controlling at least one of the robot arm 300 and the supply device 200, the control device 500 can drop the object 50 from a lower position when the object 50 is of a first type than when the object 50 is of a second type different from the first type.

[0083] According to this configuration, the robot system 10 can vary the vertical position at which the object 50 is dropped depending on the type of object 50. Therefore, for example, the object 50 including a fragile solid object 30 can be protected by dropping it from as low a position as possible. The object 50 including a strong solid object 30 can be dropped from a relatively high position without controlling the supply device 200 to lower, thereby further improving the efficiency of processing, including the supply of the object 50 to the container 20, etc.

[0084] The robot system 10 further includes a control device 500 that controls the operation of the robot system 10, and the supply device 200 drops the object 50 to supply the object 50 to a predetermined position. The control device 500 controls at least one of the robot arm 300 and the supply device 200, thereby changing the height position at which the object 50 is dropped depending on the type of object 50.

[0085] According to this configuration, the robot system 10 can vary the height position (vertical position) at which the object 50 is dropped depending on the type of object 50. Therefore, for example, the more easily the object 50 breaks, the lower the position at which the object 50 is dropped can be adjusted. For example, the more difficult the object 50 is to break, the higher the position at which the object 50 is dropped can also be adjusted.

[0086] The robot system 10 according to the embodiment has been described above. However, the robot system 10 may have a configuration different from that shown in FIGS. 1 to 9. Therefore, modifications of the robot system 10 will be described below, focusing on the differences from the above embodiment. Each of the supply devices 200a, 200b, and 200c according to modifications 1 to 3 described below is an example of a supply device that the robot system 10 according to the embodiment may have in place of the supply device 200. A supply unit 600d according to modification 4 is an example of a supply unit that the robot system 10 according to the embodiment may have in place of the supply unit 600.

[0087] [6-1. Variation 1] Fig. 10 is a perspective view showing the configuration of supply device 200a according to Modification 1 of the embodiment. Fig. 11 is a diagram showing a state in which supply device 200a according to Modification 1 of the embodiment is holding a plurality of objects 50. Fig. 12 is a diagram showing a state in which supply device 200a according to Modification 1 of the embodiment is dropping one object 50. In Figs. 11 and 12, members supporting supply unit 230a and the like are omitted, and holding member 210a is shown in cross section.

[0088] The supply device 200a according to this modification includes a holding member 210a that holds a plurality of solid objects 30, and a supply unit 230a that removes one or more targets 50, which are solid objects 30, from the holding member 210a and supplies them to a predetermined position. The supply device 200a according to this modification is configured to remove the targets 50 from the holding member 210a using a rotating body 244a. In addition, in the supply device 200a according to this modification, the supply port 290a is formed by an opening at the lower end of the holding member 210a. In this modification, one solid object 30, such as a chicken egg, is treated as one target 50.

[0089] Specifically, the supply unit 230a according to this modification includes a delivery mechanism 240a that delivers the targets 50 to a supply port 290a. The delivery mechanism 240a has a rotating body 244a that supports the targets 50 from below. As shown in FIGS. 10 to 12, the rotating body 244a rotates at a predetermined angle to drop one of the targets 50 downward and to support one or more targets 50 above the target 50. More specifically, the delivery mechanism 240a further includes a delivery actuator 241a and a connecting member 243a that connects a linear motion shaft 242a of the delivery actuator 241a and the rotating body 244a.

[0090] The rotating body 244a is rotatably supported on a rotation shaft Pa fixed to the holding member 210a. The rotating body 244a has a support portion 245a and a stopper portion 246a that are arranged to be spaced apart in the rotation direction R of the rotating body 244a. The support portion 245a and the stopper portion 246a alternately move in and out of the inside of the holding member 210a as the rotating body 244a rotates. Specifically, the rotating body 244a can be switched between one of a first position (see FIG. 11) and a second position (see FIG. 12) that is rotated a predetermined angle from the first position by the driving force of the delivery actuator 241a.

[0091] In this configuration, if the lowest object 50 among the multiple objects 50 held by the holding member 210a is the first object 50a and the object 50 directly above the first object 50a is the second object 50b, the operation of the supply unit 230a (sending mechanism 240a) can be explained as follows. When the rotating body 244a is in the first position, the support portion 245a supports the multiple objects 50 from below. When the rotating body 244a is switched from the first position to the second position, the first object 50a falls, and the stopper portion 246a moves between the first object 50a and the second object 50b, thereby stopping the second object 50b. The dropped first object 50a passes through the supply port 290a and is contained inside the container 20 below (see FIG. 1). Then, the rotating body 244a is switched from the second position to the first position. As a result, the second object 50b and the three objects 50 above the second object 50b are supported from below by the support portion 245a.

[0092] In this manner, in the supply device 200a according to this modification, a process of picking up one target object 50 from a plurality of targets 50 is performed by the rotation of the rotor 244a. Furthermore, in the supply device 200a, this process is repeatedly performed. In this way, a supply process of supplying the targets 50 to a plurality of containers 20 transported by the transport unit 800 is performed.

[0093] In the robot system 10 equipped with the supply device 200a, the supply of the objects 50 to the holding member 210a can be performed by the various supply processes described with reference to Figures 4 to 7. That is, one or more solid objects 30 taken out from the storage unit 610 of the supply unit 600 are supplied as one or more objects 50 into the holding member 210a through the supply port 280a.

[0094] 8 and 9 can be performed in the supply process of supplying the target object 50 to the container 20. That is, in the movement control, the supply device 200a is moved with the vertical position Ha of the supply port 290a being relatively high. In the supply control, the target object 50 is dropped from the supply port 290a with the vertical position Hb of the supply port 290a being relatively low. This allows the supply device 200a to be moved efficiently, while preventing the solid object 30 (target object 50), such as a chicken egg, from being damaged by the impact of the drop.

[0095] [6-2. Variation 2] Fig. 13 is a diagram showing the configuration of a supplying device 200b according to Modification 2 of the embodiment. In Fig. 13, a holding member 210b is shown in cross section.

[0096] The supply device 200b according to this modification includes a holding member 210b that holds a plurality of solid objects 30, and a supply unit 230b that removes one or more solid objects 30, i.e., targets 50, from the holding member 210b and supplies them to a predetermined position. The supply device 200b according to this modification is configured to remove the targets 50 from the holding member 210b using a rotor 244b. Furthermore, in the supply device 200b according to this modification, a supply port 290b is formed by an opening at the lower end of the holding member 210b. A refill port 280b is formed by an opening at the upper end of the holding member 210b.

[0097] Specifically, the supply unit 230b according to this modification includes a sending mechanism 240b. The sending mechanism 240b includes a rotor 244b and a sending actuator 241b that rotationally drives the rotor 244b. The rotor 244b has a plurality of (four in FIG. 13 ) blade portions 245b and is rotatably supported on a rotation shaft Pb fixed to the holding member 210b. Between two adjacent blade portions 245b in the rotation direction of the rotor 244b and inside a storage wall portion 211b provided at the lower end of the holding member 210b, a storage chamber 248b capable of storing a plurality of solid objects 30 is formed. In the supply device 200b shown in FIG. 13 , four storage chambers 248b are formed. The four storage chambers 248b rotate in conjunction with the rotation of the rotor 244b. When focusing on one of the four storage chambers 248b, the rotation of the rotor 244b causes the storage chamber 248b to store a plurality of solid objects 30, and then the rotor 244b rotates another 90°, causing the storage chamber 248b to open downward. As a result, the plurality of solid objects 30 stored in the storage chamber 248b pass through the supply port 290b as a single target object 50 and are stored inside the container 20 below (see FIG. 1).

[0098] Thus, in this modification, the target objects 50 supplied to the container 20 are the number (or amount) of solid objects 30 accommodated in one accommodation chamber 248b. Therefore, the number (or amount) of solid objects 30 constituting the target objects 50 may be adjusted by changing the size, shape, rotation speed, etc. of the rotating body 244b.

[0099] In addition, in a robot system 10 equipped with a supply device 200b, the supply of the object 50 to the holding member 210b can be performed by various supply processes described using Figures 4 to 7, and in the supply process of supplying the object 50 to the container 20, movement control and supply control described using Figures 8 and 9 can be performed.

[0100] [6-3. Variation 3] Fig. 14 is a diagram showing the configuration of a supplying device 200c according to Modification 3 of the embodiment. In Fig. 14, a holding member 210c is shown in a cross-sectional view.

[0101] The supply device 200c according to this modification includes a holding member 210c that holds a plurality of solid objects 30, and a supply unit 230c that removes one or more solid objects 30, i.e., targets 50, from the holding member 210c and supplies them to a predetermined position. The supply device 200c according to this modification is configured to remove the targets 50 from the holding member 210c using a rotor 244c. Furthermore, in the supply device 200c according to this modification, the supply port 290c is formed by an opening at the lower end of the holding member 210c. The refill port 280c is formed by an opening at the upper end of the holding member 210c.

[0102] Specifically, the supply unit 230c according to this modification includes a delivery mechanism 240c. The delivery mechanism 240c includes a rotor 244c and a delivery actuator 241c that rotationally drives the rotor 244c. The rotor 244c has a spiral blade 245c, and is rotated by a predetermined angle around a rotation axis Pc extending in the vertical direction by the driving force of the delivery actuator 241c. As a result, one or more targets 50 (not shown in FIG. 14), which are solid objects 30, fall from the supply port 290c into the container 20 (see FIG. 1) below.

[0103] In the supply device 200c according to this modification, the number (or amount) of solids 30 constituting the target object 50 may be adjusted by changing the size or shape of the rotator 244c, the rotation angle in one supply process, or the like. The supply device 200c may treat semi-solid materials such as potato salad as the solids 30. In this case, the amount of solids 30 that can be dropped from the supply port 290c by rotating the rotator 244c through a predetermined angle (e.g., 360°) is one solid material 30 and also a target object 50.

[0104] In addition, in a robot system 10 equipped with a supply device 200c, the supply of the object 50 to the holding member 210c can be performed by various supply processes described using Figures 4 to 7, and in the supply process of supplying the object 50 to the container 20, movement control and supply control described using Figures 8 and 9 can be performed.

[0105] [6-4. Variation 4] Fig. 15 is a diagram showing the configuration of a supply unit 600d according to a fourth modification of the embodiment. In Fig. 15, the serving member 650 and the storage unit 610d are shown in cross section. The supply unit 600d according to this modification is an example of a device that the robot system 10 according to the embodiment can include in place of the supply unit 600.

[0106] The supply unit 600d according to this modification includes a serving member 650 that can separate a predetermined amount of semisolid material, such as potato salad, from a collection of semisolid material as solid material 30. The serving member 650 is a rotor that rotates around a rotation axis Q and includes multiple buckets 660 arranged in the circumferential direction and a scraper 670 that sends the semisolid material in the buckets 660 to a guide unit 675. As the serving member 650 configured in this manner rotates around the rotation axis Q, each of the multiple buckets 660 sequentially scoops up a predetermined amount of semisolid material. The predetermined amount of semisolid material scooped by the bucket 660 is sent to the guide unit 675 by the scraper 670 at a predetermined position indicated by a dotted circle. The predetermined amount of semisolid material sent to the guide unit 675 is discharged to the outside of the serving member 650 through an outlet 680 provided in the center of the serving member 650. The predetermined amount of semisolid material discharged from the outlet 680 is treated as a single solid material 30. That is, in this modification, the storage unit 610d stores a number (or amount) of solid objects 30 corresponding to a plurality of targets 50.

[0107] The plurality of solid materials 30 separated by the separating member 650 are supplied by a predetermined means to, for example, the holding member 210c of the supply device 200c according to the above-described modified example 3. In this way, the plurality of solid materials 30 are supplied to the holding member 210c.

[0108] [7. Other Modifications] Although the robot system 10 according to the embodiment and its modifications has been described above, the present invention is not limited to the above-described embodiment and modifications. The embodiment disclosed herein is illustrative in all respects and is not limiting, and the scope of the present invention includes all modifications within the meaning and scope of the claims.

[0109] The supplying process of the supplying unit 600 to the supplying device 200 may be performed at a timing when the supplying device 200 approaches the base end 320 of the robot arm 300. For example, the storage unit 610 may be disposed on the support base 390. In this case, the robot system 10 can move the supplying device 200 to a position close to the base end 320 and cause the supplying unit 600 to supply the objects 50 to the holding member 210. This allows the objects 50 to be supplied to the supplying device 200 at a timing when the supplying path of the objects 50 (the path from the storage unit 610 to the holding member 210) becomes shorter.

[0110] In this embodiment, the predetermined position to which the supply unit 230 included in the supply device 200 supplies the object 50 is inside the container 20 (see FIGS. 1 and 9, etc.). In other words, the supply device 200 supplies the object 50 to the container 20. However, the supply device 200 may supply the object to a member other than the container 20. The supply device 200 may supply the object 50 to a member that is not generally called a "container," such as a flat-plate-shaped member (e.g., a flat dish).

[0111] The supply device 200 may supply a plurality of objects 50 to one container 20, or may change the number of objects 50 to be supplied for each container 20 to which the objects 50 are to be supplied. For example, the control device 500 may control the robot arm 300 to move the supply device 200 so as to follow the moving container 20, and may control the control device 500 to drop two objects 50 (e.g., two solid objects 30) into the container 20.

[0112] When the supply device 200 supplies a plurality of objects 50 to one container 20, the placement position of the object 50 in the container 20 (the position where the object is stored) may be changed for each object 50. For example, when the container 20 has a plurality of storage spaces formed by partition wall portions inside, the control device 500 may supply the object 50 to each of two or more storage spaces among the plurality of storage spaces by controlling the robot arm 300 and / or the supply device 200.

[0113] The robot system 10 does not necessarily have to include the control device 500. For example, a computer device external to the robot system 10 may control the operation of the robot system 10 (more specifically, the operation of the robot arm 300 and the supply device 200).

[0114] The robot system 10 does not necessarily have to include the supply unit 600. For example, one or more solid objects 30 may be supplied to the holding member 210 solely by manual operation of an operator.

[0115] The vertical position Hb (see FIG. 9) of the supply port 290 in the supply control (see FIG. 9) may be the same as the vertical position Ha (see FIG. 8) of the supply port 290 in the movement control, or the position Hb may be higher than the position Ha. The vertical positions of the supply device 200 and the supply port 290 during operation of the robot system 10 may be determined appropriately depending on, for example, the size and shape of the container 20 and the layout of other members or devices around the robot 100.

[0116] It is not essential that the robot system 10 and the transport unit 800 be portable. For example, at least one of the robot system 10 and the transport unit 800 may be fixed to the floor of a factory, workshop, or the like.

[0117] It is not essential that the multiple containers 20 are transported in a predetermined direction by the transport unit 800. For example, the robot 100 may supply the target objects 50 to multiple containers 20 arranged on a table that is arranged in the positive Y-axis direction of the robot 100 and that does not transport the containers 20.

[0118] The size and shape of the support frame 410 that supports the detection unit 401 are not limited to the size and shape shown in Fig. 1. The size and shape of the support frame 410 may be determined appropriately depending on the position where the detection unit 401 is to be disposed. The support frame 410 may have a structure that allows the position and / or posture of the portion where the detection unit 401 is attached to be changed. This makes it easy to adjust the position and / or posture of the detection unit 401.

[0119] The robot system 10 does not need to include a detection unit 401 that detects the position, etc., of the container 20. The robot system 10 may acquire information indicating the position, etc., of the container 20 from, for example, another device. For example, when a plurality of containers 20 are arranged in the transport unit 800 in a predetermined layout and are being transported, the control device 500 may control the robot arm 300 and the supply device 200 using information indicating the layout and information indicating the transport speed, etc.

[0120] The robot system 10 does not need to include the support base 390. For example, the base end 320 of the robot arm 300 may be fixed to the floor surface of a factory, a workshop, or the like, so that the robot arm 300 is supported on the floor surface.

[0121] The present invention can be realized not only as the robot system 10 but also as a robot system control method including characteristic processing steps performed by the robot system 10. The present invention can be realized as a program causing a computer to execute the robot system control method. That is, the control function of the control device 500 over the robot arm 300, the supply device 200, etc. may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Furthermore, the present invention can also be realized as any medium, such as a computer-readable non-transitory recording medium on which the program is recorded, such as a flexible disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray (registered trademark) Disc), semiconductor memory, flash memory, magnetic storage device, optical disk, or paper tape. The program can then be distributed via the recording medium or a transmission medium such as the Internet.

[0122] The supplementary points regarding the robot system 10 according to the above embodiment may be applied to the robot system 10 including any of the supply devices 200a, 200b, and 200c, and the replenishing unit 600d in the above first to fourth modifications.

[0123] Any combination of the components included in the above-described embodiments and their modifications is also included within the scope of the present invention. [Explanation of symbols]

[0124] 10 Robot Systems 20 containers 21 Side wall 22 Bottom wall 30 solids 50 Objects 50a First Object 50b Second Object 100 robots 200, 200a, 200b, 200c supply device 210, 210a, 210b, 210c holding members 211 Delivery opening 211b Containment Wall 220 Guide cylinder 230, 230a, 230b, 230c supply section 240, 240a, 240b, 240c delivery mechanism 241, 241a, 241b, 241c delivery actuator 242a Linear shaft 243a Connecting member 244a, 244b, 244c Rotating bodies 245a Support part 245b, 245c Habe 246a Stopper part Containment Room 248b 249 Extruded body 250 Lifting mechanism 251 Rack Gear 255 pinion gear 256 Lifting Actuator 257 Lift Platform 280, 280a, 280b, 280c supply port 290, 290a, 290b, 290c supply port 300 Robot Arm 301 Link 310 Joints 320 Proximal end 330 Tip 380 Bracket 390 Support stand 401 Detection unit 410 Support Frame 500 control device 600, 600d Supply Department 610, 610d storage section 615 Supply pipe 620 Supply mechanism section 650 Parting materials 660 Bucket 670 Scraper 675 Guide part 680 Exit 800 conveyor 801 Placement plane

Claims

1. 1. A robotic system comprising: a supply device having a holding member for holding a plurality of solid objects and a supply unit for removing one or more of the solid objects from the holding member and supplying them to a predetermined position; a robot arm that supports and moves the supply device; a control device for controlling the operation of the robot system, the supply unit supplies the object to the predetermined position by dropping the object from a supply port that is an outlet for the object in the supply device; the control device executes movement control to cause the robot arm to move the supply device and supply control to cause the supply unit to drop the object; a vertical position of the supply port when the supply control is performed is lower than a vertical position of the supply port when the movement control is performed; Robot system.

2. a supply device having a holding member for holding a plurality of solid objects and a supply unit for removing one or more of the solid objects from the holding member and supplying them to a predetermined position; a robot arm that supports the supply device and moves the supply device to move the holding member together with the supply unit, the robot arm moves the supply device while the holding member holds the plurality of objects; the supply unit of the supply device performs a process of removing one of the plurality of objects, which is made of a predetermined number or amount of solid objects, from the holding member and supplying the object multiple times in succession, thereby removing and supplying the predetermined number or amount of solid objects from the holding member at a time; Robot system.

3. The supply unit has a delivery mechanism that delivers the object to a supply port that is an outlet for the object in the supply device. The robot system according to claim 1 or 2.

4. The robot system further includes a control device that controls the operation of the robot system, and a supply unit that supplies the object to the holding member, the control device controls the robot arm to make the supply unit supply the object to the holding member while keeping the movement speed of the supply device at or below a predetermined speed; The robot system according to claim 2 .

5. the supply unit has a storage unit that stores a plurality of the objects, the control device controls the robot arm to move the supply device close to the storage unit, and causes the replenishing unit to replenish the object to the holding member. The robot system according to claim 4 .

6. the control device controls the robot arm to cause the supply unit to supply the object to the holding member while moving the supply device away from the base end of the robot arm. The robot system according to claim 4 .

7. a supply device having a holding member for holding a plurality of solid objects and a supply unit for removing one or more of the solid objects from the holding member and supplying them to a predetermined position; a robot arm that supports the supply device and moves the supply device to move the holding member together with the supply unit, the robot arm moves the supply device while the holding member holds the plurality of objects; the supply unit of the supply device performs a process of removing one of the plurality of objects from the holding member and supplying the object multiple times in succession; The plurality of objects are arranged in a first direction on the holding member, the supply unit has a pusher that protrudes in a second direction intersecting the first direction during the supply process, thereby pushing out the one object of the plurality of objects from the holding member in the second direction. Robot system.

8. a supply device having a holding member for holding a plurality of solid objects and a supply unit for removing one or more of the solid objects from the holding member and supplying them to a predetermined position; a robot arm that supports the supply device and moves the supply device to move the holding member together with the supply unit, the robot arm moves the supply device while the holding member holds the plurality of objects; the supply unit of the supply device performs a process of removing one of the plurality of objects from the holding member and supplying the object multiple times in succession; the supply unit has a rotating body that supports the plurality of objects from below, the rotating body rotates by a predetermined angle in the supplying process, thereby dropping the one object among the plurality of objects downward and supporting one or more objects above the one object. Robot system.

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