Transfer system

Abstract

To provide a transfer system and the like, which can more properly hold an article by using a five-axis robot.SOLUTION: A transfer system (1) comprises: a transfer part (12) that is a five-axis robot including a drive part (12b) having a rotation mechanism (121) for rotating a picking head (12a) and a tilt mechanism (122) for tilting the picking head (12a) around a tilt axis orthogonal to a rotation axis of the rotation mechanism (121); and a drive control part (15c) that controls the rotation mechanism (121) so that a suction object surface of an article (W) and the tilt axis can be parallel to each other.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a transfer system for transferring articles in logistics.

Background Art

[0002] Conventionally, in a logistics warehouse or the like, in order to efficiently sort a large variety and quantity of articles into shipping containers for each shipping destination, a transfer system equipped with a picking device (transfer device) such as a robot arm is used. Regarding this type of transfer system, Patent Document 1 discloses a configuration for controlling a multi-axis robot based on the posture of a workpiece detected by image processing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, a 6-axis robot has been conventionally used as the picking device, but a 5-axis robot (5 axes of XYZ direction axes + rotation axis of the head + tilt axis of the head) with a simpler structure and easier to adapt to a multi-row conveyor layout may be used as the picking device. In this case, it is necessary to appropriately hold the article with a 5-axis robot having one less axis than the conventional 6-axis robot.

[0005] An object of the present invention is to provide a transfer system or the like that can appropriately hold an article using the 5-axis robot.

Means for Solving the Problems

[0006] To solve the above problems, a transfer system according to one aspect of the present invention includes: a transfer unit which is a 5-axis robot including a picking head that includes a suction part for adsorbing an article; a drive unit which raises and lowers the picking head and moves the picking head in two directions in a plan view, the drive unit having a rotation mechanism for rotating the picking head and a tilt mechanism for tilting the picking head about a tilt axis perpendicular to the rotation axis of the rotation mechanism; a camera unit which acquires image data of the article; an image processing unit which detects the orientation of the article from the image data; and a drive control unit which controls the drive unit and controls the rotation mechanism so that the surface of the article to be adsorbed and the tilt axis are parallel. [Effects of the Invention]

[0007] According to one aspect of the present invention, a transfer system or the like that can appropriately hold an article using the 5-axis robot can be provided. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view showing an overview of a transfer system according to one embodiment of the present invention. [Figure 2] This is a plan view showing an overview of the transfer system. [Figure 3] This is a functional block diagram showing an overview of the transfer system. [Figure 4] This diagram schematically shows the structure of the picking head and drive unit. [Figure 5] This is a flowchart illustrating an example of the transfer system's operation. [Figure 6] Figure 5 is a flowchart illustrating an example of the operation of the image processing step for detecting the orientation of an object. [Figure 7] This diagram illustrates a specific example of the relationship between the axis of the tilt axis of the transfer unit, the surface to which the object is attracted, and the roll axis. [Figure 8] This figure illustrates a specific example of a case where two of the adsorption parts shown in Figure 4 are designated as specific adsorption parts and adsorbed onto the surface of an object to be adsorbed. [Figure 9] This diagram illustrates a specific example of changing a particular adsorption unit. [Figure 10] This diagram illustrates a specific example of a case where a single adsorption part is used as a specific adsorption part and adsorbed onto the surface of an object to be adsorbed. [Figure 11] This diagram shows another specific example of the picking head described above. [Modes for carrying out the invention]

[0009] One embodiment of the present invention will be described with reference to Figures 1 to 10. In the following description, an example will be given of a transfer system configured to transfer an article W from a first container 17 to a second container 18.

[0010] (Overview of the transfer system) First, an overview of the transfer system 1 will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing an overview of the transfer system 1 according to this embodiment. Figure 2 is a plan view showing an overview of the transfer system 1. The transfer system 1 is used to transfer goods W in a logistics warehouse or the like. As shown in Figures 1 and 2, the transfer system 1 of this embodiment includes a transport unit 11, a transfer unit 12, a camera unit 13, a support frame 14, a control unit 15, and a terminal unit 16.

[0011] (Transportation section) The transport unit 11 transports the first container 17 and the second container 18, which contain the articles 2, in the Y direction (front-to-back direction). Specifically, the transport unit 11 includes an input conveyor 11a and 11b provided on the lower side in the Z direction, and an output conveyor 11c and 11d provided on the upper side in the Z direction. The input conveyors 11a and 11b transport the first container 17 and the second container 18 to the front side in the Y direction, respectively. The output conveyors 11c and 11d transport the first container 17 and the second container 18 to the rear side in the Y direction, respectively.

[0012] Furthermore, the transport unit 11 includes a moving mechanism 11e and a housing 11f. The moving mechanism 11e sequentially moves the first container 17 from the loading conveyor 11a to the first transfer position P1, and sequentially moves the second container 18 from the loading conveyor 11b to the second transfer position P2. Also, the moving mechanism 11e sequentially moves the first container 17 arranged at the first transfer position P1 to the unloading conveyor 11c, and sequentially moves the second container 18 arranged at the second transfer position P2 to the unloading conveyor 11d. The housing 11f houses the moving mechanism 11e.

[0013] (Transfer unit) The transfer unit 12 is installed on the front end side (one end side) in the Y direction of the transport unit 11, holds the article 2 stored in the first container 17 arranged at the first transfer position P1, and transfers it to the second container 18 arranged at the second transfer position P2. The transfer unit 12 is installed by a gantry or the like (not shown) above the moving mechanism 11e and the housing 11f of the transport unit 11 in the Z direction.

[0014] The transfer unit 12 includes a picking head 12a that holds the article W, and a drive unit 12b that moves the picking head 12a up and down in the Z direction and moves the picking head 12a in two directions in the X and Y directions in a plan view. The picking head 12a includes, for example, one or more, for example, three first suction portions 12a1 to 12a3 (FIG. 4) that adsorb the article W. The picking head 12a adsorbs the article W stored in the first container 17 from above and holds the article W in a suspended state.

[0015] The drive unit 12b includes a fixed rail 12c, a first movable rail 12d, a second movable rail 12e, and a support arm 12f. The fixed rail 12c is installed along the X direction. The first movable rail 12d is installed along the Z direction and reciprocates in the X direction along the fixed rail 12c. The second movable rail 12e is installed along the Y direction and reciprocates in the Z direction along the first movable rail 12d.

[0016] Further, as will be described in detail later, the driving unit 12b has a rotation mechanism 121 (FIG. 3) that rotates the picking head 12a. Further, the driving unit 12b has a tilt mechanism 122 (FIG. 4) that tilts the picking head 12a around a tilt axis 122A (FIG. 4) orthogonal to the rotation axis 121A (FIG. 4) of the rotation mechanism 121. In other words, a 5-axis robot is used for the transfer unit 12. Specifically, in the transfer unit 12, the driving unit 12b is configured to be able to execute a moving operation in each of the X, Y, and Z directions, a rotating operation by the rotation mechanism 121, and a tilting operation by the tilt mechanism 122 with respect to the picking head 12a.

[0017] The support arm 12f is installed along the Z direction and reciprocates in the Y direction along the second movable rail 12e. Further, the picking head 12a is attached to the lower side in the Z direction of the support arm 12f. Thereby, the transfer unit 12 can reciprocate the picking head 12a in the three directions of XYZ by controlling the operation of the driving unit 12b.

[0018] As described above, a 5-axis robot with a simpler structure than a transfer unit such as a 6-axis robot, for example, is used for the transfer unit 12, and the transfer unit 12 is easily adaptable to a multi-row conveyor layout. Therefore, by using the transfer unit 12, the degree of freedom in the layout design of the transfer system 1 is improved.

[0019] (Camera unit) The camera unit 13 is disposed above the transfer unit 12 and captures an article W to create a captured image. The camera unit 13 includes a first camera 13a and a second camera 13b. The first camera 13a captures one or more articles W accommodated in the first container 17 by capturing the first container 17 disposed at the first transfer position P1. The second camera 13b captures one or more articles W accommodated in the second container 18 by capturing the second container 18 disposed at the second transfer position P2. Note that the camera unit 13 may include a light or the like, and the first camera 13a and the second camera 13b may capture the article W in a state illuminated with a predetermined illuminance by a light or the like.

[0020] (Support frame) The support frame 14 is a frame that supports the camera unit 13. The support frame 14 includes support sections 14a, 14a that are installed adjacent to each other in the X direction (left-right direction) perpendicular to the Y direction with respect to the transfer unit 12 in a plan view, and beam members 14b, 14b that are installed between the support sections 14a, 14a. The first camera 13a and the second camera 13b are installed at appropriate locations on the beam member 14b on the front side in the Y direction. Note that there may be one beam member 14b or three or more.

[0021] Each of the support sections 14a-14a includes two column members 14c-14d, a girder member 14e, and a reinforcing member 14f. The column members 14c-14d are arranged in the Y direction and are fixed to the installation site of the transfer system 1 by fixing members 14g-14h. The girder member 14e and the reinforcing member 14f are erected between the column members 14c-14d.

[0022] The beam members 14b and 14b may be installed on the girder member 14e, or on the column members 14c and 14d. Furthermore, there may be two or more reinforcing members 14f, or they may be omitted. Also, if each of the support sections 14a and 14a is erected by four or more column members, the beam members 14b and 14b may be omitted. In this case, the first camera 13a and the second camera 13b should be installed at appropriate locations on the support sections 14a and 14a, respectively.

[0023] (Control unit and terminal unit) The control unit 15 controls each part of the transfer system 1 and is composed of a computer including, for example, a CPU (Central Processing Unit) and memory. The operation control of the various components is performed by having the computer execute a control program. Further details of the control unit 15 will be described later.

[0024] The terminal unit 16 is for operator S (Figure 2) to operate the transfer system 1. The terminal unit 16 has an input unit 16a such as a keyboard, touch panel, or joystick, and a display unit 16b that displays predetermined information. These control unit 15 and terminal unit 16 are examples of control equipment for the transfer system 1, and are installed outside the front guard unit 24 (described later) and on the side opposite to the side where the transfer unit 12 is provided (the front side in the Y direction) relative to the work area 25.

[0025] Specifically, the control unit 15 is connected to the transport unit 11, the transfer unit 12, the camera unit 13, and the terminal unit 16 via electrical wiring (not shown). The control unit 15 acquires predetermined information such as operating status from the transport unit 11 and the transfer unit 12, and outputs predetermined command signals such as instruction signals to the transport unit 11 and the transfer unit 12, respectively. The control unit 15 outputs predetermined instruction signals such as on / off signals to the first camera 13a and the second camera 13b of the camera unit 13, and acquires captured data from the first camera 13a and the second camera 13b, respectively. The control unit 15 receives instruction signals and the like from the terminal unit 16 in response to the operator S's operations, and transmits the information acquired from the transport unit 11, the transfer unit 12, and the camera unit 13 to the terminal unit 16.

[0026] (guard) In the transfer system 1 of this embodiment, the transfer unit 12 performs an operation to move the picking head 12a back and forth in the three directions of X, Y, and Z. For this reason, as shown in Figures 1 and 2, a guard is provided around the transfer unit 12 to significantly reduce the possibility of workers S coming into contact with the transfer unit 12 from a safety standpoint. Specifically, in this embodiment, the guard consists of a lateral guard unit 21, a front guard unit 24, and a rear guard unit 41, which are provided sequentially from the control equipment side toward the rear in the Y direction.

[0027] (Side guard section) As shown in Figures 1 and 2, each of the support sections 14a, 14a includes a lateral guard section 21 that separates the transfer section 12 from the outside in the X direction. The lateral guard section 21 includes a transparent plate 22 and a frame member 23 that holds the transparent plate 22. This prevents people, including workers S, from entering from the X direction and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 1.

[0028] Furthermore, since each of the support sections 14a and 14a is provided with a lateral guard section 21, there is no need to newly provide a guard section on the outside of the support sections 14a and 14a in the X direction to separate the transfer section 12 from the outside in the X direction. As a result, the transfer system 1 can be made more space-saving.

[0029] Incidentally, since the two support parts 14a·14a are installed adjacent to the transfer unit 12 in the X direction, they are also adjacent to the housing 11f of the transport unit 11, which is located below the transfer unit 12 in the Z direction. Therefore, in this embodiment, the lateral guard part 21 is omitted in the lower region of the support part 14a, that is, the region facing the housing 11f. This reduces the area where the lateral guard part 21 is provided. On the other hand, the housing 11f prevents the worker S from entering from below the support part 14a and coming into contact with the transfer unit 12. In other words, the housing 11f acts as a partition between the transfer unit 12 and the outside in the X direction in the lower region of the support part 14a.

[0030] (Front guard section) As shown in Figures 1 and 2, in the transfer system 1, a front guard section 24 is provided to separate the work area 25, which is set on the opposite side of the transport section 11 from the transfer section 12 in a plan view, from the outside. The front guard section 24 is connected to two support sections 14a, 14a.

[0031] The work area 25 is a space for manual transfer, in which worker S holds and moves the item W. In other words, the transfer system 1 of this embodiment is capable of both automatic transfer, in which the transfer unit 12 holds and automatically moves the item W, and manual transfer, in which worker S enters the work area 25, holds and moves the item W. The front guard unit 24 is provided around the work area 25, adjacent to the work area 25.

[0032] Specifically, the front guard section 24 includes a plurality of fixed guard sections 26 and a movable guard section 27 connected together. The fixed guard section 26 includes a transparent plate 31 and a frame member 32 that holds the transparent plate 31. The lower corner of the frame member 32 in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 26a. In addition, the fixed guard sections 26, 26 on the rear side in the Y direction are connected to the front side in the Y direction of the support sections 14a, 14a, respectively.

[0033] The movable guard section 27 constitutes an entrance / exit door for workers S to the work area 25, and includes a fixed frame member 33 and a movable member 34 provided within the fixed frame member 33. The lower corner of the fixed frame member 33 in the Z direction is fixed to the installation location of the transfer system 1 by a fixed member 33a. The movable member 34 is rotatably provided with respect to the fixed frame member 33 via a hinge member (not shown) or the like. The movable member 34 includes a transparent plate 35 and a frame member 36 that holds the transparent plate 35.

[0034] As a result, it is possible to prevent people, including worker S, from inadvertently entering the work area 25 and coming into contact with the transfer unit 12, thereby improving the safety of the transfer system 1. Furthermore, since the front guard unit 24 is provided adjacent to the work area 25, it is possible to suppress the increase in the installation space required for the transfer system 1 due to the provision of the front guard unit 24.

[0035] Furthermore, if the transfer system 1 is only capable of automatic transfer, the work area 25 may be set as a monitoring area for a supervisor to monitor the transfer unit 12. Alternatively, the work area 25 may be omitted. In this case, the front guard unit 24 should be provided adjacent to the transfer unit 12 on the front side in the Y direction of the transfer unit 12.

[0036] (Rear guard section) As shown in Figures 1 and 2, the transfer system 1 is provided with rear guard sections 41 and 41 adjacent to the front end of the transport section 11 in the Y direction in the X direction, and separating the front end from the outside in the X direction. The rear guard section 41 includes a transparent plate 42 and a frame member 43 that holds the transparent plate 42. The front side of the rear guard sections 41 and 41 in the Y direction is connected to the rear side of the support sections 14a and 14a in the Y direction. In addition, the lower corner of the frame member 43 in the Z direction is fixed to the installation location of the transfer system 1 by a fixing member 43a. Furthermore, reinforcing members 44 and 45 are provided between the rear guard sections 41 and 41.

[0037] This prevents people, including worker S, from entering from the transport section 11 and coming into contact with the transfer section 12, thereby improving the safety of the transfer system 1. Furthermore, since the rear guard section 41 is provided adjacent to the transport section 11, it is possible to suppress the increase in the installation space required for the transfer system 1 due to the provision of the rear guard section 41.

[0038] Furthermore, in this embodiment, the front guard section 24, the side guard section 21, and the rear guard section 41 are provided with transparent plates 22, 31, 35, and 42 as effective guards. This allows the operator S of the transfer system 1 to monitor the transport section 11 and the transfer section 12 from outside the transfer system 1 as a supervisor. Note that fences, nets, or other types of guards may be used instead of the transparent plates 22, 31, 35, and 42.

[0039] [Control block for the transfer system] Figure 3 is a functional block diagram showing an overview of the transfer system 1. As shown in Figure 3, the control unit 15 includes an image acquisition unit 15a, an image processing unit 15b, and a drive control unit 15c.

[0040] The image acquisition unit 15a acquires image data captured by the camera unit 13. Specifically, the image acquisition unit 15a acquires image data of the first container 17 captured by the first camera 13a. The image acquisition unit 15a also acquires image data of the second container 18 captured by the second camera 13b. The image acquisition unit 15a sends the acquired image data to the image processing unit 15b.

[0041] The image processing unit 15b performs predetermined image processing on the image data to acquire transfer data for picking up (holding) the item W onto the picking head 12a and transferring the item W. The image processing unit 15b sends the acquired data to the drive control unit 15c. Details of the image processing in the image processing unit 15b will be described later.

[0042] The drive control unit 15c controls the transfer unit 12 based on the results of the image recognition processing obtained from the image processing unit 15b. For example, the drive control unit 15c controls the rotation mechanism 121 (Figure 4) so ​​that the tilt axis 122A (Figure 4) is parallel to the suction target surface WS (Figure 7) of the item W. Details of the control of the rotation mechanism 121 (Figure 4) and the tilt mechanism 122 (Figure 4) by the drive control unit 15c will be described later.

[0043] (Detailed configuration of the picking head and drive unit) Figure 4 is a schematic diagram showing the structure of the picking head 12a and the drive unit 12b. As shown in 401 and 410 of Figure 4, the picking head 12a comprises a first suction part 12a1, a second suction part 12a2, a third suction part 12a3, and a base part 12a4. The drive unit 12b comprises a rotation mechanism 121 and a tilt mechanism 122.

[0044] The rotating mechanism 121 is connected to the picking head 12a via a tilt shaft 122A provided on the tilt mechanism 122, and includes a rotating shaft 121A that rotates the picking head 12a. This rotating shaft 121A is connected to a drive member, such as a motor (not shown), provided on the support arm 12f, and the drive member operates according to instructions from the drive control unit 15c. As a result, the picking head 12a rotates in the desired direction via the tilt shaft 122A in response to the rotation of the rotating shaft 121A.

[0045] The tilt mechanism 122 includes a tilt axis 122A that is perpendicular to the rotation axis 121A of the rotation mechanism 121. One end of the tilt axis 122A is connected to the rotation axis 121A, and the other end is connected to the base 12a4 of the picking head 12a. As shown in Figures 401 to 403, the tilt mechanism 122 tilts the picking head 12a around the tilt axis 122A by operating a tilt axis (not shown) that tilts the base 12a4 with respect to the Z direction, according to instructions from the drive control unit 15c. As a result, the suction direction of the first suction parts 12a1 to the third suction parts 12a3 of the picking head 12a, i.e., the holding direction of the article W, changes as shown in Figures 401 to 403.

[0046] Furthermore, the first to third suction parts 12a1 to 12a3 of the picking head 12a are integrally attached to the base 12a4. Also, as shown at 410 in Figure 4, the first suction part 12a1 and the second suction part 12a2 are positioned on either side of the axis T of the tilt axis 122A when viewed from the vertical direction (Z direction) of the picking head 12a. In addition, the second suction part 12a2 and the third suction part 12a3 are positioned side by side in the direction of the axis T of the tilt axis 122A.

[0047] [Control of the transfer system] Next, the control of the transfer system 1 will be described with reference to Figures 5 to 10. In the transfer system 1, as a basic example of operation, the control unit 15 controls the transfer operation in which the picking head 12a moves back and forth between the first container 17 and the second container 18 based on the image processing results of the image data captured by the camera unit 13, thereby transferring the item W in the first container 17 to the second container 18.

[0048] (Example of the transfer system's operation) Figure 5 is a flowchart showing a detailed example of the operation of the transfer system 1. Figure 6 is a flowchart showing an example of the operation of the image processing step for detecting the orientation of the item W shown in Figure 5.

[0049] In controlling the transfer operation to transfer the item W in the first container 17 to the second container 18, as shown in step S1 of Figure 5, the image acquisition unit 15a acquires image data of the first container 17 from the first camera 13a as captured data. The image acquisition unit 15a then outputs the acquired captured data to the image processing unit 15b.

[0050] Next, the image processing unit 15b performs predetermined image processing on the image data from the image acquisition unit 15a to extract an image of the article W contained in the first container 17 and to identify the position of the article W in the X, Y, and Z directions (hereinafter referred to as "XYZ coordinates"). In other words, the image processing unit 15b identifies the XYZ coordinates of the article W to be transferred within the first container 17 based on the XYZ coordinates identified from the image data of the first container 17.

[0051] Next, the image processing unit 15b detects the orientation of the item W whose XYZ coordinates have been identified (step S2). Specifically, as shown in step S11 of Figure 6, the image processing unit 15b performs 3D (Dimension) image recognition processing on the item W. Through this, the image processing unit 15b acquires and recognizes the XYZ coordinate values ​​of the item W to be transferred in the first container 17. Since 3D image recognition processing is well known, a detailed explanation thereof is omitted.

[0052] Next, the image processing unit 15b detects the tilt angles Rx, Ry, and Rz of the object W in the X, Y, and Z directions based on the results of the 3D image recognition processing (step S12). Furthermore, the image processing unit 15b uses the detected tilt angle values ​​Rx and Ry to obtain the tilt direction K of the object W (Figure 8).

[0053] Next, the image processing unit 15b calculates the centroid position WL (Figure 7) of the object W or the surface WS (Figure 7) of the object W that is attracted to (Step S13). Specifically, the image processing unit 15b uses the acquired XYZ coordinate values ​​of the object W to determine the position of the centroid position WL, that is, the XYZ coordinate values.

[0054] Next, the image processing unit 15b sets the axis passing through the determined center of gravity position WL (Figure 7) in a direction perpendicular to the acquired tilt direction K (Figure 7) as the roll axis R0 (Figure 7) of the item W (step S14). The setting of the roll axis R0 of the item W will be described in detail later.

[0055] Next, the image processing unit 15b determines which specific adsorption unit to adsorb onto the surface WS of the object W from the first adsorption unit 12a1 to the third adsorption unit 12a3, according to the dimensions of the surface WS of the object W (step S15). As will be described in detail later, the image processing unit 15b determines at least one of the first adsorption unit 12a1 to the third adsorption unit 12a3 as the specific adsorption unit.

[0056] Next, as shown in step S3 of Figure 5, the drive control unit 15c controls the rotation mechanism 121 and tilt mechanism 122 of the drive unit 12b using data from the image processing unit 15b, which includes data related to the determined specific suction part. As will be described in detail later, the drive control unit 15c controls the operation of the rotation mechanism 121 and tilt mechanism 122 using data related to the tilt direction K of the article W, data related to the position of the center of gravity WL, and data related to the roll axis R0.

[0057] Next, the drive control unit 15c transfers the item W using data from the image processing unit 15b regarding the second container 18 to which the item W will be transferred (step S4). Specifically, the image processing unit 15b identifies the XYZ coordinates of the position where the item W will be placed in the second container 18 based on the image data of the second container 18 acquired from the second camera 13b. The image processing unit 15b then sends the XYZ coordinate values ​​of the placement position to the drive control unit 15c. After the drive control unit 15c picks up and holds the item W with the picking head 12a, it transfers the held item W into the second container 18 using the XYZ coordinate values ​​of the placement position input from the image processing unit 15b.

[0058] (Specific examples of roll axis and tilt axis) Figure 7 illustrates a specific example of the relationship between the axis T of the tilt axis 122A of the transfer unit 12, the suction target surface WS of the article W, and the roll axis R0. In the following explanation, a rectangular parallelepiped article W will be used as an example. The first suction part 12a1, the second suction part 12a2, and the third suction part 12a3 will be simplified to 1, 2, and 3, respectively. In the following explanation, we will first describe the case in which the image processing unit 15b determines that the dimensions of the suction target surface WS are larger than the sum of the suction areas of the first suction parts 12a1 to the third suction parts 12a3, and that the first suction parts 12a1 to the third suction parts 12a3 are designated as specific suction parts.

[0059] (1) Example where the three adsorption parts are specific adsorption parts As shown in the left-hand diagram of 701 in Figure 7, for example, if the roll axis R0 passes through the center of gravity WL of the article W, is perpendicular to the tilt direction K, and is aligned with the width direction, the suction target surface WS of the article W will be tilted in the longitudinal direction, as indicated by the double arrow R1 in the figure. The drive control unit 15c then uses the data regarding the roll axis R0 from the image processing unit 15b to drive the rotation mechanism 121 so that the suction target surface WS and the tilt axis 122A become parallel.

[0060] In other words, as shown in the diagram to the right of 701 in Figure 7, the drive control unit 15c controls the rotational drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. Furthermore, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0061] Furthermore, the image processing unit 15b causes the drive control unit 15c to control the rotation drive of the rotation mechanism 121 so that the rotational movement angle of the base 12a4 of the picking head 12a is reduced when the direction of the axis T of the tilt axis 122A and the direction of the roll axis R0 are aligned.

[0062] Specifically, before the rotational drive of the rotation mechanism 121, if the positions of the first suction parts 12a1 to the third suction parts 12a3 are as shown in the left-hand diagram of 702 in Figure 7, the image processing unit 15b selects counterclockwise rotation so that the rotational angle of the base 12a4 is small. Then, when the drive control unit 15c aligns the direction of the axis T of the tilt axis 122A with the direction of the roll axis R0, it rotates the base 12a4 as shown by the arrow LK.

[0063] On the other hand, before the rotational drive of the rotation mechanism 121, if the positions of the first suction parts 12a1 to the third suction parts 12a3 are as shown in the right-hand diagram of 702 in Figure 7, the image processing unit 15b selects clockwise rotation so that the rotational angle of the base part 12a4 becomes smaller. Then, when the drive control unit 15c aligns the direction of the axis T of the tilt axis 122A with the direction of the roll axis R0, it rotates the base part 12a4 as shown by the arrow RK.

[0064] Furthermore, as shown by the double arrow R1 at 701 in Figure 7, when the article W is tilted in its longitudinal direction, the roll angle in the X direction does not occur among the roll angles in the X, Y, and Z directions of the roll axis R0. In other words, the roll angles in the Y and Z directions are the tilt angles Ry and Rz detected in step S12, respectively, and the roll angle in the X direction is 0°, the same as the tilt angle Rx detected in step S12. The image processing unit 15b then outputs the tilt angles Ry and Rz to the drive control unit 15c as the tilt angles of the tilt axis 122A. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the tilt angles indicated by the tilt angles Ry and Rz.

[0065] Subsequently, as shown in the diagram to the right of 701 in Figure 7, when the image processing unit 15b has determined which suction units to attach the first suction unit 12a1 to the third suction unit 12a3 to the surface to be attached, the drive control unit 15c controls the drive unit 12b so that the center positions of the first suction unit 12a1 to the third suction unit 12a3 coincide with the center position WL of the center of gravity of the article W. In other words, the drive control unit 15c causes the first suction unit 12a1 to the third suction unit 12a3 to perform the suction processing of the article W while the center position of the base 12a4 of the picking head 12a coincides with the center position WL of the center of gravity of the article W.

[0066] Furthermore, as shown in the left-hand diagram of 703 in Figure 7, for example, if the roll axis R0 passes through the center of gravity WL of the article W, is perpendicular to the tilt direction K, and lies along the longitudinal direction, the suction target surface WS of the article W will be tilted in the width direction, as indicated by the double arrow R2 in the figure. The drive control unit 15c then uses the data regarding the roll axis R0 from the image processing unit 15b to drive the rotation mechanism 121 so that the suction target surface WS and the tilt axis 122A become parallel.

[0067] In other words, as shown in the diagram to the right of 703 in Figure 7, the drive control unit 15c controls the rotational drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. Furthermore, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0068] Furthermore, as shown by the double arrow R2 at 703 in Figure 7, when the article W is tilted in the width direction, the roll angle in the Y direction does not occur among the roll angles in the X, Y, and Z directions of the roll axis R0. In other words, the roll angles in the X and Z directions are the tilt angles Rx and Rz detected in step S12, respectively, and the roll angle in the Y direction is 0°, which is the same as the tilt angle Ry detected in step S12. The image processing unit 15b then outputs the tilt angles Rx and Rz to the drive control unit 15c as the tilt angles of the tilt axis 122A. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the tilt angles indicated by the tilt angles Rx and Rz.

[0069] Subsequently, as shown in the diagram to the right of 703 in Figure 7, when the image processing unit 15b has determined which suction units to attach the first suction unit 12a1 to the third suction unit 12a3 to the surface to be attached, the drive control unit 15c controls the drive unit 12b so that the center positions of the first suction unit 12a1 to the third suction unit 12a3 coincide with the center position WL of the center of gravity of the article W. In other words, the drive control unit 15c causes the first suction unit 12a1 to the third suction unit 12a3 to perform the suction processing of the article W while the center position of the base 12a4 of the picking head 12a coincides with the center position WL of the center of gravity of the article W.

[0070] Furthermore, as shown in the left-hand diagram of 704 in Figure 7, for example, if the roll axis R0 passes through the center of gravity WL of the article W, is perpendicular to the inclination direction K, and lies along a diagonal axis that is inclined in the width direction and longitudinal direction, the suction target surface WS of the article W will be inclined around the diagonal axis, as shown by the double arrow R3 in the figure. The drive control unit 15c then uses the data regarding the roll axis R0 from the image processing unit 15b to drive the rotation mechanism 121 so that the suction target surface WS and the tilt axis 122A become parallel.

[0071] In other words, as shown in the diagram to the right of 704 in Figure 7, the drive control unit 15c controls the rotational drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. Furthermore, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0072] Furthermore, as shown by the double arrow R3 at 705 in Figure 7, when the object W is tilted around the diagonal axis, roll angles are generated in the X, Y, and Z directions of the roll axis R0. In other words, the roll angles in the X, Y, and Z directions are equal to the tilt angles Rx, Ry, and Rz detected in step S12, respectively. The image processing unit 15b then outputs the tilt angles Rx, Ry, and Rz to the drive control unit 15c as the tilt angles of the tilt axis 122A. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the tilt angles indicated by the tilt angles Rx, Ry, and Rz.

[0073] Subsequently, as shown in the diagram to the right of 704 in Figure 7, when the image processing unit 15b has determined which suction units to attach the first suction unit 12a1 to the third suction unit 12a3 to the surface to be attached, the drive control unit 15c controls the drive unit 12b so that the center positions of the first suction unit 12a1 to the third suction unit 12a3 coincide with the center position WL of the center of gravity of the article W. In other words, the drive control unit 15c causes the first suction unit 12a1 to the third suction unit 12a3 to perform the suction processing of the article W while the center position of the base 12a4 of the picking head 12a coincides with the center position WL of the center of gravity of the article W.

[0074] (2) Example of a case where the two adsorption parts are specific adsorption parts Figure 8 illustrates a specific example in which two of the first to third adsorption parts 12a1 to 12a3 shown in Figure 4 are designated as specific adsorption parts and adsorbed onto the adsorption target surface WS of the article W.

[0075] In the process of step S15, if the image processing unit 15b determines two of the first to third adsorption units 12a1 to 12a3 as specific adsorption units according to the dimensions of the adsorption target surface WS of the article W, it further determines the specific adsorption units by following the procedure below.

[0076] Specifically, as shown in Figure 8, in step S15, the image processing unit 15b determines that the dimensions of the surface to be adsorbed WS are smaller than the sum of the adsorption areas of the first adsorption units 12a1 to the third adsorption units 12a3. Furthermore, the image processing unit 15b determines that the dimensions of the surface to be adsorbed WS are larger than the sum of the adsorption areas of any two of the adsorption units.

[0077] Next, the image processing unit 15b determines the angle α between the long side WN and the line L12 of the adsorption target surface WS, for example, the long side WN and the short side WM. Line L12 is a line passing through the center position of the first adsorption part 12a1 and the center position of the second adsorption part 12a2. The image processing unit 15b also determines the angle β between the long side WN and the line L13. Line L13 is a line passing through the center position of the first adsorption part 12a1 and the center position of the third adsorption part 12a3. The image processing unit 15b also determines the angle γ between the long side WN and the line L23. Line L23 is a line passing through the center position of the second adsorption part 12a2 and the center position of the third adsorption part 12a3.

[0078] Furthermore, the image processing unit 15b compares the obtained angles α, β, and γ and obtains the smallest angle, which is angle α. The image processing unit 15b then determines the first adsorption unit 12a1 and the second adsorption unit 12a2 corresponding to the obtained angle α as specific adsorption units. Subsequently, the drive control unit 15c controls the rotation drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. The drive control unit 15c also rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0079] Furthermore, the image processing unit 15b outputs the roll angle of the roll axis R0, that is, the inclination angles Rx, Ry, and Rz detected in step S12, as the tilt angle of the tilt axis 122A to the drive control unit 15c. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the degree indicated by the inclination angles Rx, Ry, and Rz.

[0080] Furthermore, if the first suction part 12a1 and the second suction part 12a2 are determined to be specific suction parts, the drive control unit 15c will cause the first suction part 12a1 and the second suction part 12a2 to perform the suction process of the article W with the center positions of the first suction part 12a1 and the second suction part 12a2 coinciding with the center position WL of the article W. If two suction parts are determined to be specific suction parts, the suction operation by the two suction parts will be performed with the center positions of the two determined suction parts coinciding with the center position WL of the article W.

[0081] (3) When changing the specific adsorption part Figure 9 illustrates a specific example of changing a specific adsorption part. In Figure 9, the image processing unit 15b compares the dimensions of a virtual circumscribing rectangle RT that circumscribes two or more adsorption parts selected from the multiple adsorption parts with the dimensions of the adsorption target surface WS. If the dimensions of the circumscribing rectangle RT are such that they fit within the outer boundary of the adsorption target surface WS, the image processing unit 15b determines the adsorption parts within the circumscribing rectangle RT as specific adsorption parts.

[0082] Specifically, in the left-hand diagram of Figure 9, the image processing unit 15b compares, for example, the dimensions of the circumscribing rectangle RT of the first adsorption unit 12a1 and the second adsorption unit 12a2 with the dimensions of the surface WS to be adsorbed. If the dimensions of the circumscribing rectangle RT are smaller than the dimensions of the surface WS to be adsorbed, that is, if the dimensions fit within the outer perimeter of the surface WS to be adsorbed, the image processing unit 15b determines the first adsorption unit 12a1 and the second adsorption unit 12a2 as specific adsorption units, as described above.

[0083] On the other hand, as shown in the left-hand diagram of Figure 9, if the image processing unit 15b determines that the dimensions of the circumscribing rectangle RT described above do not fit within the outer perimeter of the surface to be adsorbed WS, it determines that it is not possible to designate the first adsorption part 12a1 and the second adsorption part 12a2 included in the circumscribing rectangle RT as specific adsorption parts. In other words, the image processing unit 15b determines that the two adsorption parts cannot be designated as specific adsorption parts. Then, the image processing unit 15b compares the dimensions of the circumscribing rectangle (not shown) of one adsorption part, for example, the first adsorption part 12a1, with the dimensions of the surface to be adsorbed WS.

[0084] When the image processing unit 15b determines that the dimensions of the surface WS to be adsorbed are smaller than the dimensions of the circumscribing rectangle of the first adsorption unit 12a1, it determines that the transfer of the item W is impossible. The control unit 15 then notifies the worker S that the transfer of the item W is impossible, for example, via the display unit 16b.

[0085] Meanwhile, when the image processing unit 15b determines that the dimensions of the surface WS to be adsorbed are larger than the dimensions of the circumscribing rectangle of the first adsorption unit 12a1, it determines that the first adsorption unit 12a1 can adsorb the article W and designates the first adsorption unit 12a1 as the specific adsorption unit. Subsequently, as shown in the right-hand diagram of Figure 9, the drive control unit 15c controls the rotation drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A and the direction of the roll axis R0 coincide. Furthermore, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the inclination angle Rz detected in step S12.

[0086] Furthermore, the image processing unit 15b outputs the roll angle of the roll axis R0, that is, the inclination angles Rx, Ry, and Rz detected in step S12, as the tilt angle of the tilt axis 122A to the drive control unit 15c. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the degree indicated by the inclination angles Rx, Ry, and Rz.

[0087] Furthermore, if the first suction unit 12a1 is determined to be a specific suction unit, the drive control unit 15c causes the first suction unit 12a1 to perform the suction process of the article W when the center position of the first suction unit 12a1 coincides with the center position WL of the article W.

[0088] (4) Example of a case where one adsorption part is a specific adsorption part Figure 10 illustrates a specific example of a case where one adsorption part is designated as a specific adsorption part and adsorbed onto the adsorption target surface WS of an article W.

[0089] As shown in Figures 101 and 102, when the image processing unit 15b determines the second suction unit 12a2 to be the specific suction unit, the drive control unit 15c controls the rotation drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. In addition, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0090] Furthermore, the image processing unit 15b outputs the roll angle of the roll axis R0, that is, the inclination angles Rx, Ry, and Rz detected in step S12, as the tilt angle of the tilt axis 122A to the drive control unit 15c. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the degree indicated by the inclination angles Rx, Ry, and Rz.

[0091] Furthermore, the drive control unit 15c causes the second suction unit 12a2 to perform the suction process of the article W when the center position of the second suction unit 12a2 coincides with the center position WL of the article W.

[0092] As shown in Figures 10, 103 and 104, when the image processing unit 15b determines that the third suction unit 12a3 is a specific suction unit, the drive control unit 15c controls the rotation drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. In addition, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0093] Furthermore, the image processing unit 15b outputs the roll angle of the roll axis R0, that is, the inclination angles Rx, Ry, and Rz detected in step S12, as the tilt angle of the tilt axis 122A to the drive control unit 15c. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the degree indicated by the inclination angles Rx, Ry, and Rz.

[0094] Furthermore, the drive control unit 15c causes the third suction unit 12a3 to perform the suction process of the article W when the center position of the third suction unit 12a3 coincides with the center position WL of the article W.

[0095] As shown in Figures 10, 105 and 106, when the image processing unit 15b determines the first suction unit 12a1 to be a specific suction unit, the drive control unit 15c controls the rotation drive of the rotation mechanism 121 so that the direction of the axis T of the tilt axis 122A matches the direction of the roll axis R0. In addition, the drive control unit 15c rotates the rotation mechanism 121 regardless of the roll angle, which is the rolling angle of the roll axis R0 with respect to the Z direction, i.e., the tilt angle Rz detected in step S12.

[0096] Furthermore, the image processing unit 15b outputs the roll angle of the roll axis R0, that is, the inclination angles Rx, Ry, and Rz detected in step S12, as the tilt angle of the tilt axis 122A to the drive control unit 15c. Subsequently, the drive control unit 15c controls the tilt mechanism 122 to tilt to the degree indicated by the inclination angles Rx, Ry, and Rz.

[0097] Furthermore, the drive control unit 15c causes the first suction unit 12a1 to perform the suction process of the article W when the center position of the first suction unit 12a1 coincides with the center position WL of the article W.

[0098] (Effects of Transfer System 1) As described above, the transfer system 1 of this embodiment includes a picking head 12a including first suction parts 12a1 to third suction parts 12a3 for adsorbing an article W. The transfer system 1 includes a drive unit 12b that raises and lowers the picking head 12a and moves the picking head 12a in the X and Y directions in a plan view, and the drive unit 12b includes a rotation mechanism 121 for rotating the picking head 12a and a tilt mechanism 122 for tilting the picking head 12a around a tilt axis 122A that is perpendicular to the rotation axis 121A of the rotation mechanism 121. The transfer system 1 includes a camera unit 13 for acquiring image data of the article W and an image processing unit 15b for detecting the orientation of the article W from the image data. The transfer system 1 includes a drive control unit 15c that controls the drive unit 12b, and the drive control unit 15c controls the rotation mechanism 121 so that the surface WS of the article W to be adsorbed and the tilt axis 122A are parallel.

[0099] With the above configuration, in the transfer system 1 of this embodiment, when the picking head 12a approaches the item W, it is possible to adjust the angle of the picking head 12a so that, for example, at least one of the first suction parts 12a1 to the third suction parts 12a3 faces directly toward the inclined suction target surface WS. Therefore, in the transfer system 1 of this embodiment, the item W can be properly held using the 5-axis robot.

[0100] Furthermore, in the transfer system 1 of this embodiment, the drive control unit 15c controls the rotation mechanism 121 so that the direction of the tilt axis 122A and the direction of the roll axis R0 coincide, thus simplifying the configuration of the transfer unit 12 and, consequently, the transfer system 1. Specifically, in the picking head 12a, a rotation structure that rotates the base 12a4 can be provided to rotate the first suction unit 12a1 to the third suction unit 12a3 as appropriate to pick up the item W. However, in the transfer system 1 of this embodiment, since the drive control unit 15c controls the rotation mechanism 121 as described above, it is possible to pick up the item W by at least one suction unit by rotating the first suction unit 12a1 to the third suction unit 12a3 as appropriate without providing the aforementioned rotation structure.

[0101] In the above explanation, the case where the roll axis R0 is set for all articles W was described. However, the present invention is not limited in any way as long as the rotation mechanism 121 is controlled so that the suction target surface WS of the article W and the tilt axis 122A are parallel.

[0102] Specifically, the present invention may, for example, set the roll axis R0 of the article W only when the inclination angles Rx and Ry detected in step S12 exceed a predetermined angle, and control the rotation mechanism 121 so that the direction of the tilt axis 122A and the direction of the roll axis R0 coincide. Also, if the inclination angles Rx and Ry are within the predetermined angle, the tilt mechanism 122 is tilt-controlled using the inclination angle Rz detected in step S12 as the tilt angle without setting the roll axis R0. Furthermore, the article may be adsorbed by the specific adsorption part when the center of the specific adsorption part and the center of gravity position WL of the surface WS to be adsorbed are aligned.

[0103] Furthermore, the above description described a configuration in which the picking head 12a includes, for example, three first adsorption parts 12a1, a second adsorption part 12a2, and a third adsorption part 12a3, which can function as the specific adsorption part. However, the picking head of the present invention is not limited to this, and is not limited in any way as long as it has at least one adsorption part that functions as the specific adsorption part.

[0104] Specifically, as illustrated in Figure 11, the picking head 22a may include, for example, four first suction parts 22a1, a second suction part 22a2, a third suction part 22a3, a fourth suction part 22a4, and a base part 12a5. In Figure 11, the first suction parts 22a1, second suction parts 22a2, third suction parts 22a3, and fourth suction parts 22a4 are simplified and shown as 1, 2, 3, and 4, respectively.

[0105] (Example of implementation using software) The function of the transfer system 1 (hereinafter referred to as "device") is a program that causes the device to function as a computer, and can be realized by a program that causes each control block of the device (particularly each part included in the control unit 15) to function as a computer.

[0106] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this control device and storage device, each of the functions described in the above embodiment is realized.

[0107] The program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0108] Furthermore, some or all of the functions of each control block can also be implemented by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to implement the functions of each control block using, for example, a quantum computer.

[0109] Furthermore, each of the processes described in the above embodiments may be performed by AI (Artificial Intelligence). In this case, the AI ​​may operate on the control device, or it may operate on other devices (for example, an edge computer or a cloud server).

[0110] 〔summary〕 A transfer system according to a first aspect of the present invention includes a picking head including a suction part for adsorbing an article, a drive unit for raising and lowering the picking head and moving the picking head in two directions in a plan view, the drive unit having a rotation mechanism for rotating the picking head and a tilt mechanism for tilting the picking head about a tilt axis perpendicular to the rotation axis of the rotation mechanism, a camera unit for acquiring image data of the article, an image processing unit for detecting the orientation of the article from the image data, and a drive control unit for controlling the drive unit, the drive control unit for controlling the rotation mechanism so that the surface of the article to be adsorbed and the tilt axis are parallel.

[0111] With the above configuration, when approaching an item, the angle of the picking head can be adjusted so that the suction part faces directly toward the inclined surface to be suctioned. Therefore, even when using a 5-axis robot, the surface to be suctioned of an item can be reliably picked up by the suction part.

[0112] A second aspect of the present invention is the transfer system of the first aspect, wherein the image processing unit calculates the center of gravity of the article or the surface to be adsorbed, sets an axis passing through the center of gravity in a direction perpendicular to the tilt direction of the article as the roll axis of the article, and the drive control unit controls the rotation mechanism so that the direction of the tilt axis and the direction of the roll axis coincide.

[0113] According to the above configuration, the drive control unit controls the rotation mechanism so that the direction of the tilt axis matches the direction of the roll axis passing through the center of gravity. This allows for more appropriate angle adjustment of the picking head, even when using a 5-axis robot, and ensures that the object's surface is reliably picked up by the suction unit.

[0114] A third aspect of the present invention is a transfer system according to the first or second aspect, wherein the picking head includes a plurality of suction parts, the image processing unit determines a specific suction part to be adsorbed onto the surface from the plurality of suction parts according to the dimensions of the surface to be adsorbed, and the drive control unit may adsorb the specific suction part onto the surface to be adsorbed.

[0115] According to the above configuration, when multiple suction parts are provided on the picking head, the image processing unit determines a specific suction part according to the dimensions of the surface to be suctioned. The drive control unit then controls the rotation mechanism to cause the specific suction part determined by the image processing unit to adhere to the surface to be suctioned. As a result, even when using a 5-axis robot, the surface to be suctioned of an item can be reliably picked up by the specific suction part.

[0116] A fourth aspect of the present invention is a transfer system according to the third aspect, wherein the image processing unit may compare the dimensions of a virtual circumscribing rectangle that circumscribes two or more of the adsorption parts selected from a plurality of adsorption parts with the dimensions of the surface to be adsorbed, and determine the specific adsorption part.

[0117] According to the above configuration, when multiple suction parts are provided on the picking head, the image processing unit compares the dimensions of a virtual circumscribing rectangle that circumscribes two or more suction parts with the dimensions of the surface to be suctioned to determine a specific suction part. As a result, even when a 5-axis robot is used, the specific suction part can be appropriately determined when multiple suction parts are provided on the picking head. Consequently, the surface of the object to be suctioned can be more reliably picked up by the specific suction part.

[0118] A fifth aspect of the present invention is a transfer system according to the fourth aspect, wherein the image processing unit may determine the adsorption portion within the circumscribing rectangle as the specific adsorption portion if the dimensions of the circumscribing rectangle are such that they fit within the outer casing of the surface to be adsorbed.

[0119] According to the above configuration, when multiple suction parts are provided on the picking head, the image processing unit determines that the dimensions of the circumscribing rectangle fit within the outer contour of the surface to be suctioned, and then designates the suction part within the circumscribing rectangle as the specific suction part. As a result, even when a 5-axis robot is used, the specific suction part can be determined more appropriately when multiple suction parts are provided on the picking head. Consequently, the surface of the object to be suctioned can be more reliably picked up by the specific suction part.

[0120] A sixth aspect of the present invention is a transfer system according to any of the first to fifth aspects, wherein the picking head includes a first suction part and a second suction part, and when the picking head is viewed from the vertical direction, the first suction part and the second suction part may be arranged with the tilt axis in between.

[0121] With the above configuration, since the first suction part and the second suction part are arranged on either side of the tilt axis in the picking head, even when a 5-axis robot is used, the surface of the object to be picked up can be reliably picked up by at least one of the first suction part or the second suction part.

[0122] A seventh aspect of the present invention is the transfer system of the sixth aspect, wherein the picking head further includes a third suction portion, and the second suction portion and the third suction portion may be arranged side by side in the direction of the tilt axis.

[0123] According to the above configuration, the picking head is provided with a third suction part arranged alongside the second suction part in the direction of the tilt axis. As a result, even when using a 5-axis robot, the surface of the object to be picked up can be reliably picked up by at least one of the first suction part, the second suction part, or the third suction part.

[0124] A control method for a transfer system according to an eighth aspect of the present invention comprises a picking head including a suction part for adsorbing an article, and a drive unit for raising and lowering the picking head and moving the picking head in two directions in a plan view, the drive unit having a rotation mechanism for rotating the picking head and a tilt mechanism for tilting the picking head about a tilt axis perpendicular to the rotation axis of the rotation mechanism, and the control method for a transfer system comprises an acquisition step for acquiring image data of the article, an image processing step for detecting the orientation of the article from the image data, and a control step for controlling the rotation mechanism so that the surface of the article to be adsorbed and the tilt axis are parallel. In this case, the same effects as in the first aspect are achieved.

[0125] Each aspect of the present invention may be implemented by a computer. In this case, a control program for the transfer system, which enables the computer to implement the transfer system and its control method by operating the computer as each part and each step (software element) of the transfer system and its control method, and a computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention.

[0126] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Configurations obtained by appropriately combining the technical means disclosed in the embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0127] 1. Transfer System 12a picking head 12a1 1st suction part (specific suction part) 12a2 2nd suction part (specific suction part) 12a3 3rd suction part (specific suction part) 12b Drive unit 22a Picking head 22a1 1st suction part (specific suction part) 22a2 2nd suction part (specific suction part) 22a3 3rd suction part (specific suction part) 22a4 4th suction part (specific suction part) 121 Rotation mechanism 121A Rotating shaft 122 Tilt mechanism 122A Tilt axis W Goods WS Adsorption Target Surface WL center of gravity position R0 Roll axis RT circumscribed rectangle

Claims

1. A transfer unit that is a 5-axis robot, comprising: a picking head including a suction part for picking up an object; a drive unit for raising and lowering the picking head and moving the picking head in two directions in a plan view, the drive unit having a Z-axis lifting mechanism for raising and lowering the picking head along the Z-axis direction; a rotation mechanism for rotating the picking head; and a tilt mechanism for tilting the picking head around a tilt axis perpendicular to the rotation axis of the rotation mechanism; A camera unit that acquires image data of the aforementioned article, An image processing unit for detecting the orientation of the article from the image data, A drive control unit that controls the drive unit, the drive control unit that controls the rotation mechanism so that the surface of the article to be attracted and the tilt axis are parallel, A transfer system equipped with the following features.

2. The drive unit is An X-axis movement mechanism that moves the picking head along the X-axis in a plan view, A Y-axis movement mechanism that moves the picking head along the Y-axis in a plan view, The transfer system according to claim 1, further comprising:

3. The transfer system according to claim 1 or 2, wherein the rotating shaft is provided along the Z-axis direction.

4. The picking head includes a plurality of the aforementioned suction parts, The image processing unit determines a specific adsorption unit to be adsorbed onto the surface from among the plurality of adsorption units, according to the dimensions of the surface to be adsorbed. The transfer system according to claim 1 or 2, wherein the drive control unit causes the specific adsorption unit to adsorb onto the surface to be adsorbed.

5. The transfer system according to claim 4, wherein the image processing unit compares the dimensions of a virtual circumscribing rectangle that circumscribes two or more of the adsorption units selected from the plurality of adsorption units with the dimensions of the surface to be adsorbed, and determines the specific adsorption unit.

6. The transfer system according to claim 5, wherein the image processing unit determines the adsorption portion within the circumscribing rectangle as the specific adsorption portion when the circumscribing rectangle is such that it fits within the outer casing of the surface to be adsorbed.

7. The picking head includes a first suction part and a second suction part. The transfer system according to claim 1 or 2, wherein, when the picking head is viewed from the Z-axis direction, the first suction part and the second suction part are arranged with the tilt axis in between.

8. The picking head further includes a third suction part, The transfer system according to claim 7, wherein the second suction part and the third suction part are arranged side by side in the direction of the tilt axis.

Images