Control system and control program

Abstract

Make better use of the action of removing adhering ingredients. [Solution] The control system 1 includes a gripping mechanism 31 and a control device 70. The gripping mechanism 31 holds an object and releases the held object. The control device 70 controls the operation of the gripping mechanism 31. Then, the control device 70 controls the gripping mechanism 31 to move to a release position where the object is released, and then applies a force to the gripping mechanism 31, thereby causing the object attached to the gripping mechanism 31 to fall to the release position.

Description

[Technical Field]

[0001] The present invention relates to a control system and a control program. [Background technology]

[0002] In recent years, robots have been used to process a variety of objects. For example, there are robots that hold objects in a container and release the held objects into another container.

[0003] A technique for controlling such a robot is disclosed in, for example, Patent Document 1. In the technology disclosed in Patent Document 1, the holding mechanism is intentionally moved or vibrated above the ingredient storage container in which the ingredient to be grasped is stored, thereby causing the attached ingredient adhering to the holding mechanism to fall into the ingredient storage container, thereby removing the attached ingredient. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7364283 Summary of the Invention [Problem to be solved by the invention]

[0005] It is desirable to make better use of the action of removing the adhesive material as disclosed in the above-mentioned Patent Document 1. Furthermore, this problem is not limited to cases where the object is food, but is common to all fields where robots are used to hold objects, such as industrial fields, etc. Furthermore, the holding method used by the robot is not limited to means that hold the object by gripping it with a gripper, but is also common to cases where the object is held by means of suction or the like.

[0006] An object of the present invention is to make better use of the action of removing adhesive ingredients. [Means for solving the problem]

[0007] In order to solve the above problem, a control system according to one embodiment of the present invention comprises: a holding mechanism that holds an object and releases the held object; a control means for controlling the operation of the holding mechanism; Equipped with The control means In a state where the holding mechanism is moved to a release position where release of the object is executed, a force is applied to the holding mechanism to control the object attached to the holding mechanism to drop to the release position; It is characterized by: [Effects of the Invention]

[0008] According to the present invention, the action of removing the adhesive material can be more effectively utilized. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing the configuration of a control system 1 according to the present invention. [Figure 2] FIG. 2 is a perspective view showing the configuration of a gripping member 311. [Figure 3] 10A and 10B are schematic diagrams showing states when the gripping member 311 performs a gripping operation, a releasing operation, and a removing operation, respectively. [Figure 4] FIG. 2 is a schematic diagram showing the hardware configuration of a control device 70. [Figure 5] FIG. 2 is a block diagram showing the functional configuration of a control device 70. [Figure 6] 2 is a schematic diagram showing a control situation regarding the operation of the articulated robot 30. FIG. [Figure 7] 2 is a schematic diagram showing a control situation regarding the operation of the articulated robot 30. FIG. [Figure 8] 10 is a flowchart showing the flow of an ingredient plating process executed by the control system 1. [Figure 9] 10 is a schematic diagram showing relative movement in Modification 2. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [Embodiment] [Overall configuration] FIG. 1 is a schematic diagram showing the configuration of a control system 1 according to the present invention. Here, the control system 1 is assumed to be applied to a system that grips and releases food as an object. Therefore, in the following explanation, an example will be given in which the control system 1 grips ingredients for a side dish or the like and arranges the gripped ingredients in a container.

[0011] However, this is merely an example for the purpose of explanation and is not intended to limit the scope of application of the present invention, and the present invention is applicable to any system that holds any object. For example, it can be applied to a system that processes uncooked vegetables (such as shredded cabbage, carrots, or bean sprouts) instead of prepared dishes.It can also be applied to a system that processes workpieces (such as screws, bolts, or component parts of industrial products such as electronic devices) as objects. Furthermore, the method of holding the object is not limited to gripping the object, and for example, the object may be held by a method other than gripping, such as suction. Furthermore, the method of releasing the objects into the container is not limited to directly releasing them into the container. For example, the robot may release the objects into the discharge chute inlet, and then supply the objects from the discharge chute outlet into the container and arrange them therein. That is, the present invention can be implemented in a variety of control systems in general, regardless of the object to be grasped, the specific method of holding, or the field of application.

[0012] As shown in FIG. 1, the control system 1 includes an ingredient storage container 10, a container supply device 20, an articulated robot 30, a storage state detection sensor 41, a serving state detection sensor 42, a container detection sensor 43, a first weighing scale, a second weighing scale 52, a base 60, casters 61, and a control device 70. Of these, the container supply device 20, the articulated robot 30, the storage state detection sensor 41, the serving state detection sensor 42, the container detection sensor 43, the first weighing scale, the second weighing scale 52, and the control device 70 are connected by wire or wireless communication and are able to communicate with each other.

[0013] In addition, a belt conveyor 2 is installed adjacent to the control system 1, which automatically transports containers of prepared foods from upstream to downstream. The belt conveyor 2 has a conveying surface for transporting the containers, and the containers are transported while placed on this conveying surface. In Figure 1, as shown by the dashed arrow, the left side of the paper is the upstream of the conveyance on the belt conveyor 2, and the right side of the paper is the downstream of the conveyance.

[0014] 1 shows only one control system 1, but the present invention is not limited to this. In this embodiment, it is assumed that multiple control systems 1 are installed along the conveying direction of one belt conveyor 2, and multiple articulated robots 30 work in cooperation with each other.

[0015] The ingredient storage container 10 has a storage space for storing ingredients such as prepared dishes to be served by the control system 1. The ingredient storage container 10 is realized by, for example, a general-purpose container such as a large tray or a large tray. The storage space of the ingredient storage container 10 stores various ingredients that can be grasped by the articulated robot 30, such as paste salads such as potato salad (i.e., prepared dishes containing viscous or sticky ingredients), udon (soybean curd refuse), dried strips of daikon radish, pickled vegetables, hijiki seaweed, boiled beans, royal fern, buttered corn, noodles, croquettes, fried chicken, and broccoli. In this embodiment, the ingredient storage container 10 stores multiple servings (e.g., tens to hundreds of servings) of one type of ingredient. The ingredient storage container 10 can be replaced manually by an operator or automatically by the articulated robot 30 when the remaining amount of the stored ingredient becomes low.

[0016] In the control system 1, the container supplying device 20 supplies containers to a predetermined serving position where ingredients are to be served (here, the position where the second weighing scale 52 in FIG. 1 is located). A large number of containers are stored vertically inside the container supply device 20. When the control system 1 starts operation, the container supply device 20 supplies the containers one by one to the serving position. In response, the articulated robot 30 releases the ingredients, and the released ingredients are placed in the containers supplied to the serving position. Then, the push-out mechanism 21 provided in the container supply device 20 pushes the filled containers onto the conveying surface of the belt conveyor 2. As a result, the filled containers are transported downstream by the belt conveyor 2.

[0017] Furthermore, a container detection sensor 43 is disposed near the position where the push-out mechanism 21 pushes out the container onto the belt conveyor 2. The container detection sensor 43 is a sensor that detects containers being transported on the transport surface of the belt conveyor 2. The container supply device 20 pushes out the container filled with ingredients onto the transport surface at a timing when the container detection sensor 43 has not detected other containers being transported on the transport surface (containers that have already been filled by other articulated robots 30). This makes it possible to prevent containers from colliding with each other on the transport surface. The reason why the other containers are transported from upstream is that, as described above, a plurality of control systems 1 are installed in this embodiment.

[0018] The articulated robot 30 is, for example, composed of a horizontal articulated robot or a vertical articulated robot, and is equipped with a gripping mechanism 31 capable of gripping ingredients, and a robot arm 32 that moves the gripping mechanism 31 to any position within its movable range.

[0019] The gripping mechanism 31 is attached to the tip of the robot arm 32 and is supported by the robot arm 32. The gripping mechanism 31 can move to any position within its movable range in accordance with the movement of the robot arm 32 based on the control of the control device 70. Furthermore, the joint that holds the gripping mechanism 31 has an axis that rotates the gripping mechanism 31 in a torsional direction relative to the robot arm 32. Therefore, when the gripping mechanism 31 grips an ingredient, the gripping direction of the gripping mechanism 31 can be adjusted by changing the orientation of the gripping mechanism 31. This makes it possible to change the orientation of the gripping mechanism 31 to a direction parallel to the inner wall surface of the ingredient-accommodating container 10 when the gripping mechanism 31 reaches the vicinity of the inner wall surface of the ingredient-accommodating container 10, making it easier to grip ingredients near the inner wall surface of the container.

[0020] The storage state detection sensor 41 is a sensor that detects the storage state of the ingredients stored in the ingredient storage container 10. The storage state detection sensor 41 is realized by, for example, a depth camera that can detect the distance to a subject. In this case, the angle of view of the storage state detection sensor 41 is set to, for example, an angle of view that can capture the entire area of ​​the opening surface of the ingredient storage container 10. The control device 70 can analyze the distance information detected by the storage status detection sensor 41 (i.e., depth information for each pixel across the entire area of ​​the opening surface of the ingredient storage container 10) to determine the remaining amount of ingredients in each area within the ingredient storage container 10, the roughness (unevenness) of the surface, etc.

[0021] The serving state detection sensor 42 is a sensor that detects the serving state of the container in which the ingredients are served and the operating status of the gripping mechanism 31. Like the storage state detection sensor 41, the serving state detection sensor 42 is realized, for example, by a depth camera that can detect the distance to the subject. In this case, the angle of view of the serving state detection sensor 42 is set to, for example, an angle of view that can capture the entire area of ​​the opening surface of the container in which the ingredients are served and the operating status of the gripping mechanism 31 that serves the ingredients in the container. The control device 70 can analyze the distance information detected by the presentation state detection sensor 42 (i.e., pixel-by-pixel depth information for the entire area of ​​the opening surface of the container in which the ingredients are presented, and depth information of the gripping mechanism 31 regarding the behavior of the gripping mechanism 31) to determine the presentation state of the ingredients in each area within the container in which the ingredients are presented, the operating status of the gripping mechanism 31, etc.

[0022] As described above, the container detection sensor 43 is a sensor that detects containers being transported on the transport surface of the belt conveyor 2. The container detection sensor 43 is realized, for example, by an optical sensor (also referred to as a photodetector). The container detection sensor 43 detects containers being transported upstream of the position where the push-out mechanism 21 pushes the container onto the belt conveyor 2. The control device 70 can identify the timing at which the push-out mechanism 21 pushes out the container onto the belt conveyor 2 based on the detection result of the container detection sensor 43.

[0023] Both the first weighing scale 51 and the second weighing scale 52 are devices that detect the weight of an object. The first weighing scale 51 and the second weighing scale 52 are realized by weighing scales that measure weight using strain gauges, for example. Here, the first weighing scale 51 is placed at a position where the ingredient-storing container 10 is placed. The first weighing scale 51 detects the weight of the ingredient-storing container 10 itself and the weight of the ingredients stored in the ingredient-storing container 10. Based on the detection value of this first weight scale 51, the control device 70 can determine the total weight of the ingredients contained therein (i.e., the remaining amount) and the increase or decrease in the total weight due to the grasping of the ingredients contained therein, etc. (i.e., the change in the remaining amount).

[0024] Second weighing scale 52 is placed at a predetermined serving position where ingredients are served in control system 1. Second weighing scale 52 detects the weight of the container itself supplied to this serving position and the weight of the ingredients released and served in this container. The control device 70 can determine the total weight of the ingredients released and served in the container based on the detection value of the second weighing scale 52. The control device 70 can also determine, based on the detection value of the second weighing scale 52, whether the container has been supplied to the serving position or not, and whether the container with the ingredients served has been pushed onto the conveying surface of the belt conveyor 2 or not.

[0025] The base 60 is a base for placing the ingredient storage container 10, the container supply device 20, the articulated robot 30, etc. These articulated robots 30, etc. have a total weight of several hundred kg (for example, more than 300 kg). Therefore, the base 60 has a structure with enough rigidity to support these items even when they are placed on the top surface.

[0026] The casters 61 are casters attached to the pedestal 60. The casters 61 come into contact with the ground, allowing the pedestal 60 to support the articulated robot 30 and the like. Furthermore, the casters 61 function as wheels, making it possible for the pedestal 60 to be moved by human power even when the articulated robot 30 and the like are placed on it.

[0027] The control device 70 is configured by an information processing device such as a PC (Personal Computer) or a programmable controller, and executes various programs to control the entire control system 1. For example, the control device 70 controls the operation of the container supply device 20 to supply containers and push out containers containing ingredients, and the operation of the articulated robot 30 to grasp ingredients from the ingredient storage containers 10 and release them into the containers to place the ingredients.

[0028] For example, the control device 70 controls the operation of the robot arm 32 to move the gripping mechanism 31 to a predetermined position via a predetermined route at a predetermined speed, and controls the operation of the actuator of the gripping mechanism 31 to grip and release ingredients using the gripping mechanism.

[0029] The above describes the components that make up the control system 1. In addition to these components, plate-like members may be further placed around or above the locations where the components are installed. This plate-like member shields each component from the external space, preventing ingredients grasped or released by the articulated robot 30 from scattering from the internal space to the external space. It also prevents workers from coming into contact with the articulated robot 30 while it is in operation, ensuring the safety of workers and preventing breakdowns in the articulated robot 30. In this case, the plate-like member is preferably made of a transparent material such as glass or resin so that the operating status of the control system 1 can be visually confirmed from the external space. Furthermore, an openable door may be provided on a part of the side wall using this plate-like member, so that when replacing the ingredient storage container 10, replenishing ingredients, adding containers to the container supply device 20, or performing maintenance on the control system 1, an operator can open this door and perform various tasks.

[0030] [Configuration of gripping member 311] Fig. 2 is a perspective view showing the configuration of the gripping member 311. As shown in Fig. 2, the gripping member 311 includes a first gripping portion 311a and a second gripping portion 311b. The gripping member 311 is coupled to a gripping mechanism 31 attached to the robot arm 32, whereby the gripping member 311 is supported by the robot arm 32 and moves in accordance with the movement of the robot arm 32. The gripping member 311 configured as described above comes into contact with the ingredients while coupled to the gripping mechanism 31. Then, while in contact with the ingredients, the first gripping portion 311a and the second gripping portion 311b open and close to grip and release the ingredients. The ingredients gripped by the gripping member 311 are not particularly limited, but in this embodiment, as an example, it is assumed that the gripping member 311 grips ingredients having a fine shape, such as a paste salad such as potato salad or udon noodles.

[0031] The first gripping portion 311a and the second gripping portion 311b are each formed of a plate-like member. The first gripping portion 311a is connected to a pin cylinder (not shown) provided inside the gripping mechanism 31. The first gripping portion 311a moves to open and close in response to the driving of this pin cylinder. In contrast, the second gripping portion 311b does not move and maintains its position.

[0032] Then, the first gripping portion 311a moves closer to the second gripping portion 311b, and the edges of the two close (i.e., the extensions that make up the edges of each of the two come into contact with each other), thereby forming a gripping space inside for gripping ingredients. The gripping space thus formed is a closed space by the first gripping portion 311a and the second gripping portion 311b, which are plate-like members, and does not spill ingredients to the outside. Therefore, it is suitable for gripping ingredients with fine shapes, such as paste salads such as the potato salad described above, or udon noodles. Furthermore, the lower end portions of the first gripping portion 311a and the second gripping portion 311b are formed in an acute angled shape. Therefore, when the first gripping portion 311a and the second gripping portion 311b grip the ingredients, they can suppress the reaction force acting from the group of ingredients inside the ingredient-accommodating container 10. This makes it easy to insert the first gripping portion 311a and the second gripping portion 311b into the group of ingredients.

[0033] FIG. 3 is a schematic diagram showing the states when the gripping member 311 performs a gripping operation, a releasing operation, and a removing operation. First, as shown in Figure 3(a), the first gripping portion 311a moves toward the second gripping portion 311b, causing the gripping member 311 to close. In this case, a gripping space is formed inside, and this gripping space can grip an ingredient, as shown in the figure as a "gripped ingredient." Then, with the ingredient gripped, the gripping member 311 moves above the container to be released.

[0034] Thereafter, as shown in FIG. 3(b), the first gripping portion 311a moves away from the second gripping portion 311b, causing the gripping member 311 to open, and the gripped ingredients can be released into a destination container, as shown as "released ingredients," so that the ingredients can be served.

[0035] However, even if the release is performed in this manner, there is a risk that ingredients may adhere to the inner surfaces of the first gripping portion 311a or the second gripping portion 311b (i.e., the surfaces that formed the gripping space and were in contact with the ingredients), as shown in the figure as "adhered ingredients." In particular, ingredients with properties such as viscous or sticky ingredients, ingredients with a lot of oil or water, and ingredients that are long and cling easily are likely to adhere. Examples of viscous or sticky ingredients include paste salads such as potato salad. Examples of ingredients with a lot of oil or water include vegetables tossed in dressing and noodles with sauce. Examples of long and clingy ingredients include bean sprouts, stir-fried burdock root, and noodles such as spaghetti.

[0036] If the serving is completed with ingredients still attached in this state, the amount actually served will be less than the target amount, even though the target amount to be served has been grasped. Also, if the gripping mechanism 31 moves to return to the ingredient storage container 10 with ingredients still attached in this state, there is a possibility that the attached ingredients will fall off or scatter during the movement. Therefore, in this embodiment, as shown in FIG. 3(c), after the gripping member 311 performs the release, it does not move immediately, but performs the removal operation above the container that is the release destination. Here, the removal operation in this embodiment is an operation of applying force to the first gripping portion 311a and the second gripping portion 311b to cause the adhesive ingredients attached to these gripping portions to fall, thereby removing the adhesive ingredients.

[0037] In this removal operation, various means such as those exemplified below can be considered as means for applying force to the first gripping portion 311a and the second gripping portion 311b. For example, a force can be applied to each gripping portion by moving the gripping mechanism 31 up and down or left and right using the robot arm 32. In this case, a force (in this case, a downward inertial force) can be applied to each gripping portion by suddenly stopping the gripping mechanism 31 while moving it downward. In addition, by using the robot arm 32 to vibrate the gripping mechanism 31 slightly up and down or left and right, a force can be applied to each gripping portion. Alternatively, removal may be performed by opening and closing the first gripping portion 311a and the second gripping portion 311b, or by repeatedly opening and closing them, in the same manner as when gripping and releasing is performed without moving the robot arm 32. Furthermore, the removal operation may be realized by not only performing one of the above-mentioned methods but also by combining several of them. That is, the removal operation may be realized by performing a plurality of methods in sequence or by performing a plurality of methods simultaneously in parallel. That is, the removal operation can be realized by appropriate means, taking into consideration conditions such as the properties of the ingredient, the shape of the gripping member 311, and the length of time that can be tolerated for the removal operation.

[0038] In this way, by performing a removal operation after the gripping member 311 releases the ingredients, the ingredients adhering to the gripping member 311 can be dropped into a container and removed. For example, as shown in Fig. 3(c), the ingredients adhering to the inner surfaces of the first gripping part 311a and the second gripping part 311b can be dropped and removed. This allows the target amount of ingredients that are grasped to be served to be actually served in the container, that is, the target amount can be served with high precision. In addition, the attached ingredients can be prevented from dropping or scattering while being moved to the ingredient storage container 10 after being released.

[0039] As described above, according to this embodiment, after the gripping member 311 is released, a removal operation is performed above the release destination, thereby solving the problem that the present invention aims to solve, which is to "make better use of the operation of removing the attached ingredients."

[0040] In this embodiment, it is assumed that the removal operation is performed after the gripping member 311 is released. However, this does not mean that the removal operation may be performed at other timings. For example, the removal operation may be performed before the gripping operation is performed, or before movement after gripping. In this embodiment, the gripping operation, the releasing operation, and the removing operation are realized as shown in FIG.

[0041] [Hardware configuration of the control device 70] FIG. 4 is a schematic diagram showing the hardware configuration of the control device 70. As shown in FIG. As shown in FIG. 4, the control device 70 includes a CPU (Central Processing Unit) 711, a ROM (Read Only Memory) 712, a RAM (Random Access Memory) 713, a bus 714, an input unit 715, an output unit 716, a memory unit 717, a communication unit 718, and a drive 719.

[0042] The CPU 711 executes various processes according to a program recorded in the ROM 712 or a program loaded from the storage unit 717 into the RAM 713 . The RAM 713 also stores data and the like necessary for the CPU 711 to execute various processes.

[0043] The CPU 711, ROM 712, and RAM 713 are connected to one another via a bus 714. To the bus 714, an input unit 715, an output unit 716, a storage unit 717, a communication unit 718, and a drive 719 are connected.

[0044] The input unit 715 includes an input device such as a mouse or a keyboard, and receives input of various information to the control device 70. The input unit 715 may also include a microphone, and receive input of various information by voice input from the worker. The output unit 716 is composed of a display, a speaker, etc., and outputs images and sounds. The storage unit 717 is configured with a solid state drive (SSD), a hard disk drive (HDD), a dynamic random access memory (DRAM), or the like, and stores various data managed by each server. The communication unit 718 controls communication with other devices via the network.

[0045] Removable media 731, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, is appropriately attached to the drive 719. A program read from the removable media 731 by the drive 719 is installed in the storage unit 717 as needed. The above hardware configuration is the basic configuration of the control device 70, and it is possible to configure the control device 70 without some of the hardware, to include additional hardware, or to change the implementation form of the hardware.

[0046] [Functional configuration] Next, the functional configuration of the control device 70 will be described. FIG. 5 is a block diagram showing the functional configuration of the control device 70. 5, by executing a program for controlling the operation of the control system 1, an information acquisition unit 151, an articulated robot control unit 152, a container supply control unit 153, and a recording control unit 154 function in the CPU 711 of the control device 70. In addition, a parameter storage unit 171 and a history database (history DB) 172 are formed in the storage unit 717.

[0047] The parameter storage unit 171 stores various parameters used when the control system 1 operates. For example, the parameter storage unit 171 stores data that serve as control standards for the gripping operation, such as the position and shape of the ingredient storage container 10, the position and shape of the containers supplied from the container supply device 20, the position of the area in the container where the ingredients are provided and arranged, the weight per volume of the ingredient (i.e., the density of the ingredient) and the target amount of the ingredient to be gripped and released, parameters that define the operation pattern of the articulated robot 30, and the like.

[0048] The history DB 172 stores control-related parameters acquired when the control system 1 operates and measurement data of the weight of ingredients plated by the control system 1 as operation history.

[0049] The information acquiring unit 151 acquires information detected by various sensors and various weighing scales installed in the control system 1. For example, the information acquiring unit 151 acquires distance information detected by the storage state detection sensor 41 (i.e., depth information for each pixel across the entire area of ​​the opening surface of the ingredient storage container 10). Also, for example, the information acquiring unit 151 acquires distance information detected by the serving state detection sensor 42 (i.e., depth information for each pixel across the entire area of ​​the opening surface of the container in which ingredients are served, and depth information of the gripping mechanism 31 relating to the behavior of the gripping mechanism 31). Furthermore, for example, the information acquiring unit 151 sequentially acquires the detection results of other containers (containers that have been served by other articulated robots 30) on the conveyance surface by the container detection sensor 43. Additionally, for example, the information acquisition unit 151 sequentially acquires data on the total weight of the ingredient storage container 10 and the stored ingredients detected by the first weighing scale 51, and the total weight of the container and the ingredients served in the container measured by the second weighing scale 52. In this way, the sensor information notified to the information acquisition unit 151 is used as appropriate by other functional blocks included in the control device 70.

[0050] The articulated robot control unit 152 controls the operation of the articulated robot 30, and causes the articulated robot 30 to perform a series of operations for arranging ingredients in accordance with the operation patterns defined in the control system 1. For example, the articulated robot control unit 152 causes the articulated robot 30 to perform an operation of gripping an ingredient with the gripping mechanism 31 of the articulated robot 30 (a gripping operation), an operation of releasing the ingredient gripped by the gripping mechanism 31 (a releasing operation), an operation of removing the ingredient attached to the gripping mechanism 31 (a removing operation), and the like.

[0051] For example, when performing gripping, the articulated robot control unit 152 determines in advance the height of the surface of the ingredients at each position in the ingredient storage container 10 based on distance information detected by the storage state detection sensor 41. Therefore, the articulated robot control unit 152 inserts the gripping members 311 into the group of ingredients a predetermined depth from this height to perform gripping. This predetermined depth can be set in advance based on the density of the ingredients, the properties of the ingredients (viscosity, etc.), the number and shape of the gripping members 311 that will perform gripping, the target amount (here, the target weight) to be targeted for gripping and releasing, etc. By setting the insertion depth in advance in this way, the gripping members 311 can grip ingredients of a weight equal to or close to the target amount. Instead of setting the depth in advance, the articulated robot control unit 152 may calculate the depth of insertion using the values ​​detected by each sensor and each weighing scale as parameters (variables). Alternatively, a learning model may be constructed in advance by performing machine learning based on past gripping performance values, etc., and the depth of insertion may be determined using this learning model.

[0052] The container supply control unit 153 controls the container supply device 20 to supply, to the serving position, containers for serving ingredients to be served in the control system 1. The container supply control unit 153 also controls the container supply device 20 to push out the containers in which ingredients have been served onto the conveying surface at a timing when the container detection sensor 43 has not detected other containers being conveyed on the conveying surface (containers in which other articulated robots 30 have served).

[0053] The recording control unit 154 stores, in the history DB 172, parameters related to control acquired when the control system 1 performs a gripping operation or the like, and measurement data such as the weight of ingredients arranged by the control system 1. This data is used as log data or the like for the administrator of the control system 1 to analyze the operation of the control system 1.

[0054] [Control of the Articulated Robot 30 During Operation] Next, we will explain the control of the articulated robot 30 during operations such as the gripping operation, release operation, and removal operation, which is performed by the articulated robot control unit 152. Note that the state of the gripping member 311 during each operation is as described above with reference to FIG. 6 and 7 are schematic diagrams showing the control status regarding the operation of the articulated robot 30. In these figures, the ingredient storage container 10 and the container wall are shown in a see-through manner to clarify the operation. Furthermore, since a large amount of ingredients are stored in the storage space of the ingredient storage container 10, these large amounts of ingredients will be referred to as a "group of ingredients" hereinafter.

[0055] 6(a), the articulated robot control unit 152 first moves the gripping mechanism 31 (only the gripping member 311 is shown in the figure) and lowers it toward the group of ingredients. Then, the articulated robot control unit 152 closes the first gripping portion 311a and the second gripping portion 311b of the gripping member 311 to grip the ingredients, and then raises the gripping mechanism 31.

[0056] Next, as shown in FIG. 6(b), the articulated robot control unit 152 moves the gripping mechanism 31 above the container while still gripping the ingredient. Thereafter, as shown in FIG. 6(c), the articulated robot control unit 152 opens the first gripping portion 311a and the second gripping portion 311b of the gripping member 311 to execute release.

[0057] 7(d), the ingredients are arranged in the container. However, as shown in the figure, the ingredients are stuck to the inner surfaces of the first gripping portion 311a and the second gripping portion 311b (i.e., the surfaces that form the gripping space and are in contact with the ingredients). Therefore, the articulated robot control unit 152 performs a removal operation above the container by applying force to the first gripping portion 311a and the second gripping portion 311b of the gripping member 311, causing the adhesive material attached to these gripping portions to fall.

[0058] In this case, it is possible to perform the removal operation while the container is still in the released position. However, since the removal operation involves movement and vibration, there is a risk that the attached ingredients may fall or scatter outside the container. In this case, the worker must clean up the ingredients that have fallen or scattered around the edges of the container and the surrounding area. 7(e), in this embodiment, the articulated robot control unit 152 first lowers the gripping member 311 from the position where the release was performed. After the lowering, the articulated robot control unit 152 causes the gripping member 311 to move, vibrate, or open / close, thereby applying force to the first gripping unit 311a and the second gripping unit 311b and performing the removal operation. That is, in this embodiment, the gripping member 311 is lowered to a position lower than the position where the release was performed, and the removal operation is performed with the gripping member 311 as close to the container as possible. This narrows the range in which the adhesive ingredients fall or scatter. Therefore, even if the adhesive ingredients fall or scatter, they will remain within the serving area in the container (i.e., the opening surface of the container). In other words, the adhesive ingredients can be prevented from falling or scattering to areas outside the container. Therefore, the cleaning work described above can be reduced. It is also possible to prevent ingredients from being wasted (i.e., ingredient loss) due to ingredients falling or scattering outside the container. Furthermore, it is also possible to prevent ingredients from falling or scattering on the edge of the container, making it difficult to close the lid of the container in the subsequent process.

[0059] Thereafter, as shown in FIG. 7(f), the articulated robot control section 152 raises the gripping mechanism 31 and then moves it to a standby position above the ingredient-accommodating container 10. As shown in the figure, the ingredient serving container and the ingredient storage container 10 are not adjacent to each other, and there is a gap between them. However, in this embodiment, the attached ingredients are removed before moving through this space. This prevents the attached ingredients from falling or scattering in this space. Therefore, from this perspective, cleaning work can be reduced and ingredient waste can be suppressed. Thus, according to this embodiment, not only is it possible to actually arrange all of the ingredients held in the target amount to be arranged in the container as described above with reference to Figure 3, but it is also possible to achieve the effect of preventing the attached ingredients from falling or scattering into areas outside the container as described above with reference to Figure 7. That is, according to this embodiment, the operation of removing the adhesive material can be more effectively utilized.

[0060] [Overall operation] Next, the overall operation of the control system 1 will be described. 8 is a flowchart showing the flow of the ingredient plating process executed by the control system 1. The ingredient plating process is started, for example, when an operator performs an operation to start the ingredient plating process.

[0061] When the ingredient plating process is started, in step S11, the articulated robot control unit 152 reads operation data for executing a series of operations in the ingredient plating process (for example, operation pattern data, data on the position and shape of the ingredient storage container 10, etc.) from the parameter storage unit 171. This makes preparations for carrying out the gripping operation, release operation, and removal operation described above.

[0062] In step S12, the articulated robot control unit 152 moves the gripping mechanism 31 above the ingredient-accommodating container 10 to a standby position. In step S13, the container supply control unit 153 controls the container supply device 20 to supply the containers for arranging the ingredients to the serving position. Note that the processing of step S12 and the processing of step S13 may be performed in reverse order or may be performed simultaneously in parallel.

[0063] In step S14, the articulated robot control unit 152 closes the first gripping portion 311a and the second gripping portion 311b of the gripping member 311, thereby causing the gripping member 311 to perform a gripping operation on the group of ingredients in the ingredient-accommodating container 10. In step S15, the gripping mechanism 31 is moved above the container in which the ingredients are to be placed. The articulated robot control unit 152 can identify the weight of the ingredient currently being held by the gripping member 311 based on the change in weight before and after gripping detected by the ingredient weight meter 50. Therefore, the articulated robot control unit 152 compares the weight of the ingredient being gripped with the target amount to be gripped, and if the two do not match, executes a release operation without moving the gripping mechanism 31, and then performs a gripping operation again. It is preferable to repeat this release and re-gripping until the weight of the ingredient being gripped matches the target amount.

[0064] In step S16, the articulated robot control unit 152 opens the first gripping portion 311a and the second gripping portion 311b of the gripping member 311 to perform the action of releasing the ingredients from the container.

[0065] In step S17, the articulated robot control unit 152 lowers the gripping mechanism 31 that has placed the ingredients in the container by a release operation. In step S18, the articulated robot control unit 152 causes the gripping mechanism 31, which has descended to the vicinity of the container, to perform at least one of movement, vibration, and opening and closing, thereby exerting force on the first gripping portion 311a and the second gripping portion 311b to perform the removal operation. In this case, the removal operation in step S18 may be realized by suddenly stopping the gripping mechanism 31 while it is being lowered in step S17.

[0066] In step S19, the container supply control unit 153 determines whether the removal operation by the gripping mechanism 31 has been completed. For example, the time required from the start to the end of the removal operation is set to a fixed length of time, and in this case, the container supply control unit 153 determines that the removal operation has ended when this fixed length of time has elapsed since the start of the removal operation. Additionally, for example, the container supply control unit 153 monitors the change in weight detected by the second weighing scale 52, and when this change converges (i.e., when the weight stabilizes), it determines that the removal operation has ended. Additionally, for example, the container supply control unit 153 acquires depth information of the gripping mechanism 31 relating to the behavior of the gripping mechanism 31 detected by the serving state detection sensor 42. Then, the container supply control unit 153 analyzes this depth information to determine that the removal operation has ended. Regardless of the method used, if it is determined that the removal operation has ended, a Yes is determined in step S19 and the process proceeds to step S20. On the other hand, if it is determined that the removal operation has not ended, a No is determined in step S20 and the process returns to step S19, where the removal operation and the determination of whether it has ended are repeated.

[0067] In step S20, the container supply control unit 153 determines whether the container detection sensor 43 has detected another container being transported on the transport surface. If another container has not been detected, the determination in step S20 is Yes, and the process proceeds to step S21. On the other hand, if another container has been detected, the determination in step S20 is No, and the process repeats the determination in step S20.

[0068] In step S21, the container supply control unit 153 controls the container supply device 20 to push out the containers in which ingredients have been placed onto the conveyance surface.

[0069] In this way, by making the judgment in step S19 before the pushing out in step S21, it is possible to prevent the container from being pushed out onto the conveying surface when the removing operation is in progress and there is a high possibility that the adhesive ingredients are still falling or scattering. Therefore, the dropped or scattered adhesive ingredients can be reliably received by the container. Furthermore, by performing the determination in step S20 before the pushing out in step S21, collisions between containers on the conveying surface can be prevented.

[0070] In step S22, the articulated robot control unit 152 performs a release operation and a removal operation to move the gripping mechanism 31, which has placed the ingredients in the container, to a standby position above the ingredient storage container 10. Note that the process of step S18 and the series of processes of steps S19 to S21 may be performed in the reverse order or may be performed simultaneously in parallel. In step S23, the record control unit 154 stores in the history DB 172 the control-related parameters acquired in the ingredient plating process and the measurement data (history data) of the weight of the plated ingredients.

[0071] In step S24, the articulated robot control unit 152 determines whether or not a condition for ending the ingredient plating process has been met. In this case, the condition for ending the ingredient plating process is that ingredients have been plated into the planned number of containers or that an operation to end the ingredient plating process has been performed by the worker. If the conditions for terminating the ingredient plating process are not met, step S24 is judged as No and the process is repeated from step S13. On the other hand, if the conditions for terminating the ingredient plating process are met, step S24 is judged as Yes and the ingredient plating process is terminated.

[0072] According to the ingredient plating process described above, the various advantageous effects described above with reference to Figs. 3 and 7 etc. are achieved.

[0073] [Variations] Although the embodiments of the present invention have been described above, these embodiments are merely examples and do not limit the technical scope of the present invention. The present invention can be embodied in various other embodiments without departing from the spirit of the present invention, and various modifications such as omissions and substitutions can be made. For example, not only can any of the modifications described below be applied to the embodiments of the present invention, but also some or all of the modifications described below can be appropriately combined and applied to the embodiments of the present invention.

[0074] [Variation 1] In the above-described embodiment, gripping and releasing are performed using the gripping member 311 having the shape shown in Fig. 2. However, the present invention is not limited to this, and gripping members 311 having other shapes may also be used. For example, the first gripping portion 311a and the second gripping portion 311b may be made of a mesh-like member (and a frame or framework member) instead of a plate-like member. This allows the flat portion that supports the ingredients when gripping to be formed by the mesh-like member. Therefore, the ingredients gripped by this flat portion can be easily detached. This makes it possible to prevent sticky ingredients from adhering to the first gripping portion 311a and the second gripping portion 311b (for example, the ingredients sticking). This makes it possible to further encourage the attachment material to fall during the removal operation.

[0075] In the above-described embodiment, the gripping member 311 performs gripping using two gripping portions, the first gripping portion 311a and the second gripping portion 311b. However, the present invention is not limited to this, and the gripping member 311 may be provided with three or more gripping portions, and gripping may be performed using these three gripping portions. That is, the shape and the like of the gripping member 311 in the above-described embodiment are merely examples, and gripping members of various shapes can be used in place of the gripping member 311 described above. Furthermore, a plurality of gripping members 311 may be arranged in one gripping mechanism 31, and these gripping members 311 may grip simultaneously or at different times.

[0076] [Variation 2] In the above-described embodiment, as shown in Figures 6 and 7, the gripping mechanism 31 moves between the ingredient-storing container 10 and the container in which the ingredients are served, but this is not limited to this. The ingredient-storing container 10 or the container in which the ingredients are served may move instead of the gripping mechanism 31. Figure 9 is a schematic diagram showing the relative movement in this modified example. 9(A), in the above-described embodiment, the gripping mechanism 31 moves, while the ingredient-storing container 10 and the container in which the ingredients are served do not move. In other words, the movement of the gripping mechanism 31 changes the relative distance between the gripping mechanism 31 and the ingredient-storing container 10 or the container in which the ingredients are served.

[0077] In contrast to this, in this modified example, as shown in Fig. 9(B), the gripping mechanism 31 does not move, but the ingredient-storing container 10 and the container for serving ingredients move. In other words, the relative distance between the gripping mechanism 31 and the ingredient-storing container 10 or the container for serving ingredients changes as the ingredient-storing container 10 and the container for serving ingredients move. To realize this modified example, for example, the ingredient-accommodating container 10 or a container for serving ingredients may be placed on a horizontally movable mechanism that can be controlled by the control device 70. Then, the control device 70 may drive this mechanism in accordance with the operation of the gripping mechanism 31 to control the movement of the ingredient-accommodating container 10 or the container for serving ingredients. It should be noted that the gripping mechanism 31 may be controlled so that the ingredient storage container 10 and the container for arranging the ingredients also move at the same time as the gripping mechanism 31 moves.

[0078] [Variation 3] In the above-described embodiment, it is assumed that the removal operation is performed by executing all the set movements or until the set length of time has elapsed. However, this is not limiting, and the removal operation may be stopped midway depending on the situation. For example, when a gripping operation was previously performed, adhesive ingredients may have been attached to the outer surface of the gripping member 311. In this case, even if the target amount is gripped in the current gripping operation, adhesive ingredients will still be present on the outer surface. If the container is then moved upward in this state and the release and removal operations are performed, the ingredients attached to the exterior surface will fall or scatter into the container, resulting in even more ingredients being placed in the container than the target amount of ingredients that was grasped this time. Therefore, articulated robot control unit 152 monitors the change in weight detected by second weight scale 52 even during the removal operation, and stops the removal operation midway when the weight of the plated ingredients reaches the target amount. This prevents the amount of ingredients from exceeding the target amount from being placed in the container.

[0079] If a device for measuring weight (for example, a load cell or force sensor) were arranged on gripping member 311, the detected value would be unstable while the removal operation is being performed due to movement, etc., making it difficult to detect the weight released by gripping member 311 in real time. However, with second weighing scale 52, the weight released by gripping member 311 can be detected in real time even while the removal operation is being performed. In other words, the above-described embodiment is suitable for realizing this modified example.

[0080] [Variation 4] The removal operation can be performed above the container after release as in the above-described embodiment, but can also be performed above the ingredient-storing container 10 before or after gripping. Here, the area of ​​the opening of the ingredient-storing container 10 is usually smaller than the area of ​​the container into which the ingredients are released. Also, with regard to the height of the wall, the height of the wall of the container into which the ingredients are released is usually lower than the height of the wall of the ingredient-storing container 10. In other words, compared to when the removal operation is performed above the ingredient-storing container 10, when the removal operation is performed above the container, there is a greater possibility that the adhering ingredients will fall or scatter into an area outside the container, etc. Therefore, when the removal operation is performed above the container, the gripping member 311 is caused to move, vibrate, and open and close more slowly than when the removal operation is performed at another location, such as above the ingredient storage container 10. "Executing more slowly" means, for example, shortening the movement distance or slowing down the movement speed if the removal operation is performed by movement. Also, if the removal operation is performed by vibration, it means, for example, reducing the vibration frequency or amplitude. Furthermore, if the removal operation is performed by opening and closing, it means, for example, reducing the number of openings and closings per unit time or narrowing the range of opening. In this way, by performing the removal operation by moving, vibrating, and opening and closing more slowly, it is possible to prevent ingredients from falling or scattering into areas outside the container.

[0081] [Variation 5] In the above-described embodiment, as shown in Fig. 7, the gripping mechanism 31 (only the gripping member 311 is shown in the drawing) releases ingredients from a container, but this is not limited to this. For example, the gripping mechanism 31 may release ingredients from the inlet of the discharge chute, and the ingredients may be supplied to a container from the outlet of the discharge chute and served on the container. In this case, after releasing the ingredients above the inlet of the discharge chute, the mechanism may descend without moving and then perform the removal operation.

[0082] [Variation 6] In the above-described embodiment, the weight of the ingredients held by the gripping member 311 or the ingredients placed on the gripping member 311 is determined based on the change in weight detected by the first weighing scale 51 or the second weighing scale 52, and control is performed based on this. However, this is not limited to this, and a load cell or a force sensor may be provided in the gripping member 311. Then, the weight of the ingredients held by the gripping member 311 or the ingredients placed on the gripping member 311 may be determined based on the change in weight detected by this load cell or force sensor, and control may be performed based on this. This makes it possible to omit the first weighing scale 51 or the second weighing scale 52. This also increases the degree of freedom in the location where the ingredient storage container 10 or the container is installed.

[0083] [Variation 7] In the above-described embodiment, the determination is made by comparing the target amount with the weight of the ingredients. However, the determination is not limited to this, and the target amount may be compared with the amount of the ingredients from another perspective. For example, the determination may be made by comparing the target amount with the volume of the ingredients. Alternatively, the determination may be made by comparing the target amount with the number of ingredients. The volume and number of ingredients can be determined, for example, by photographing the ingredients that are grasped or released with a camera and analyzing the photographed image using a technique such as machine learning.

[0084] [Configuration example] As described above, the control system 1 in this embodiment includes the gripping mechanism 31 and the control device 70. The gripping mechanism 31 holds ingredients and releases the held ingredients. The control device 70 controls the operation of the gripping mechanism 31 . Then, the control device 70 moves the gripping mechanism 31 to a release position where the ingredients are released, and then exerts a force on the gripping mechanism 31, thereby controlling the ingredients attached to the gripping mechanism 31 to fall to the release position.

[0085] The control device 70 releases the ingredients while the gripping mechanism 31 is positioned at a first height in the release position, and then drops the ingredients attached to the gripping mechanism 31 to the release position while the gripping mechanism 31 is positioned at a second height lower than the first height.

[0086] The control system 1 further comprises a push-out mechanism 21 for moving the container placed in the release position. The control device 70 controls the extrusion mechanism 21 so as not to move the container from the release position while the gripping mechanism 31 releases the ingredients into the container and drops the ingredients adhering to the gripping mechanism 31 into the container. Then, the control device 70 controls the extrusion mechanism 21 so that the gripping mechanism 31 releases the ingredients into the container, drops the ingredients attached to the gripping mechanism 31 into the container, and then moves the container from the release position.

[0087] The control system 1 further includes a second weighing scale 52 that is arranged at the release position and detects the amount of ingredients released at the release position and the amount of ingredients that have dropped at the release position. The control device 70 controls the gripping mechanism 31 based on the amount of the ingredient detected by the second weighing scale 52.

[0088] The control device 70 applies a force to the gripping mechanism 31 by moving or vibrating the gripping mechanism 31 . When the control device 70 moves or vibrates the gripping mechanism 31 to apply a force at the release position, it moves or vibrates the gripping mechanism 31 more slowly than when it moves or vibrates the gripping mechanism 31 to apply a force at other positions.

[0089] The above-described embodiment and modifications are merely examples of embodiments of the present invention, and various embodiments that realize the functions of the present invention are included in the scope of the present invention. For example, in the above-described embodiment and modified examples, the present invention has been described as being applied to a control system for serving prepared foods, but the present invention can also be applied to systems for gripping various objects. For example, the present invention can be applied to systems for gripping highly viscous or adhesive materials such as kneaded mortar, concrete, plaster, and clay. The present invention is suitable for gripping objects with a viscosity of at least medium (5000 mPa·s) at working temperature or room temperature. Furthermore, the examples described in the above-described embodiments can be combined as appropriate to implement the present invention. The above-described series of processes can be executed by hardware or software. In other words, the functional configuration in Fig. 5 is merely an example and is not particularly limited. That is, it is sufficient for the control system 1 to be provided with a function that can execute the above-described series of processes as a whole, and the type of functional block used to realize this function is not particularly limited to the example in Fig. 5. Furthermore, one functional block may be configured as a single piece of hardware, a single piece of software, or a combination thereof.

[0090] When a series of processes is executed by software, the programs that make up the software are installed into a computer or the like from a network or a recording medium. The computer may be a computer built into dedicated hardware, or may be a computer capable of executing various functions by installing various programs, such as a general-purpose personal computer.

[0091] The storage medium for storing the program may be a removable medium distributed separately from the device itself, or may be a storage medium pre-installed in the device itself. Removable media may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a flash memory. Optical disks may be, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), or Blu-ray Discs (registered trademarks). Magneto-optical disks may be, for example, MDs (Mini-Disks). Flash memories may be, for example, USB (Universal Serial Bus) memories or SD cards. Storage media pre-installed in the device itself may be, for example, a ROM, SSD, HDD, or the like in which the program is stored.

[0092] In this specification, the steps describing the program to be recorded on the recording medium include not only processes that are performed chronologically in accordance with the order, but also processes that are not necessarily performed chronologically but are performed in parallel or individually. In addition, in this specification, the term "system" refers to an overall device that is made up of a plurality of devices, a plurality of means, etc.

[0093] The above-described embodiment shows an example of application of the present invention and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as by omission or substitution, without departing from the spirit of the present invention, and various embodiments other than the above-described embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0094] 1 Control system, 2 Belt conveyor, 10 Ingredient storage container, 20 Container supply device, 21 Extrusion mechanism, 30 Articulated robot, 31 Grip mechanism, 311 Grip member, 311a, 311Aa First gripping unit, 311b, 311Ab Second gripping unit, 32 Robot arm, 41 Storage state detection sensor, 42 Serving state detection sensor, 43 Container detection sensor, 51 First weighing scale, 52 Second weighing scale, 60 Base unit, 61 Caster, 70 Control device, 151 Information acquisition unit, 152 Articulated robot control unit, 153 Container supply control unit, 154 Recording control unit, 171 Parameter memory unit, 172 History database (history DB), 711 CPU, 712 ROM, 713 RAM, 714 Bus, 715 Input unit, 716 Output unit, 717 Memory unit, 718 Communications, 719 Drive, 731 Removable Media

Claims

1. a holding mechanism that holds an object and releases the held object; a control means for controlling the operation of the holding mechanism; Equipped with The control means In a state where the holding mechanism is moved to a release position where release of the object is executed, By moving or vibrating the holding mechanism, a force is applied to the holding mechanism, and the object attached to the holding mechanism is controlled to fall to the release position; After releasing the object with the holding mechanism positioned at a first height in the release position, the object attached to the holding mechanism is dropped to the release position with the holding mechanism positioned at a second height lower than the first height. A control system comprising:

2. A holding mechanism that holds an object and releases the held object; a control means for controlling the operation of the holding mechanism; Equipped with The control means In a state where the holding mechanism is moved to a release position where release of the object is executed, By moving or vibrating the holding mechanism, a force is applied to the holding mechanism, and the object attached to the holding mechanism is controlled to fall to the release position; When the holding mechanism is moved or vibrated to apply the force at the release position, the holding mechanism is moved or vibrated more slowly than when the holding mechanism is moved or vibrated to apply the force at the storage position where the object to be held is stored. A control system comprising:

3. a moving mechanism for moving the container disposed in the release position; The control means controlling the moving mechanism so as not to move the container from the release position while the holding mechanism releases the object into the container and causes the object attached to the holding mechanism to fall into the container; controlling the moving mechanism to move the container from the release position after the holding mechanism releases the object into the container and causes the object attached to the holding mechanism to fall into the container; 3. A control system according to claim 1 or 2.

4. a detection means disposed at the release position for detecting the amount of the object released at the release position and the amount of the object dropped at the release position; the control means controls the holding mechanism based on the amount of the object detected by the detection means.

3. A control system according to claim 1 or 2.

5. a holding mechanism that holds an object and releases the held object; A computer controlling a system comprising: In a state where the holding mechanism is moved to a release position where release of the object is executed, By moving or vibrating the holding mechanism, a force is applied to the holding mechanism, and the object attached to the holding mechanism is controlled to fall to the release position; a control function that, at the release position, executes release of the object with the holding mechanism positioned at a first height, and then controls the object attached to the holding mechanism to fall to the release position with the holding mechanism positioned at a second height lower than the first height; A control program that realizes the above.

6. A holding mechanism that holds an object and releases the held object. A computer controlling a system comprising: In a state where the holding mechanism is moved to a release position where release of the object is executed, By moving or vibrating the holding mechanism, a force is applied to the holding mechanism, and the object attached to the holding mechanism is controlled to fall to the release position; a control function that controls the movement or vibration of the holding mechanism to be slower when the holding mechanism is moved or vibrated to apply the force at the release position than when the holding mechanism is moved or vibrated to apply the force at the storage position where the object to be held is stored; A control program that realizes the above.

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