Transport control device and transport control program

Abstract

To provide a conveyance control device and a conveyance control program which can appropriately control a conveyance system having a compact and inexpensive robot arm while keeping a maximum arrival distance and load bearing property.SOLUTION: A conveyance control device (10) controls a conveyance system (1) including a stage (3) mounted with a robot arm (2), a first mechanism part (4) for moving a loading position of the robot arm (2) in a horizontal plane, and a robot arm control device (20). The conveyance control device (10) controls the first mechanism part (4), and instructs operation of the robot arm (2) to the robot arm control device (20), and thereby controls conveyance to a conveyance destination (H2) from a conveyance source (H1) of a conveyance object.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a conveyance control device and a conveyance control program.

Background Art

[0002] In production sites and logistics sites such as factories and warehouses, for example, transfer operations of transfer objects are performed, such as loading a transfer object onto a pallet or placing a transfer object from a pallet onto a conveyor. In such sites, the adoption of a conveyance system using a robot arm that can flexibly respond according to the transfer operation content is being considered.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Articulated robot arms can perform various operations and can flexibly respond according to the transfer operation content. However, there was a problem that the maximum distance (maximum reach) from the base of the robot arm to the tip that grips the transfer object and the loadable weight were relatively limited. However, in order to increase the maximum reach or the loadable weight, it is necessary to apply a robot arm with a large and robust configuration, making it difficult to configure the conveyance system at low cost and to be movable. Then, in production sites and logistics sites, it becomes impossible to relocate the conveyance system according to the situation and respond to various conveyance operations, and there is also a problem of high cost.

[0005] This disclosure was made in view of the above-mentioned problems, and aims to provide a transport control device and a transport control program that can appropriately control a transport system having a robot arm that is compact and inexpensive to configure while maintaining maximum reach and load capacity. [Means for solving the problem]

[0006] This disclosure adopts the following configuration to solve the aforementioned problems.

[0007] A transport control device relating to one aspect of the present disclosure is a transport control device for controlling a transport system comprising: a robot arm for grasping an object to be transported; a stage on which the robot arm is mounted; a first mechanism for moving the mounting position of the robot arm in a horizontal plane by horizontally moving the stage on which the robot arm is mounted or by rotating it around a first vertical axis provided in the stage; a frame supporting the stage on which the robot arm is mounted and the first mechanism; and a robot arm control device for controlling the movement of the robot arm. The transport control device controls the first mechanism and instructs the robot arm control device to move the robot arm, thereby controlling the transport of the object to be transported from the transport source to the transport destination.

[0008] According to the above configuration, the stage, with the robot arm mounted, is configured by the first and second mechanisms to move the mounting position of the robot arm in the horizontal and vertical directions. The transport control device controls the first and second mechanisms. Furthermore, the transport control device controls the transport of the object from its source to its destination by instructing the robot arm control device to move the robot arm. In this way, the transport control device can control the transport of the object by directing the robot arm itself from its source to its destination. As a result, the transport control device can appropriately control the transport system having the robot arm, even when the robot arm is configured to be compact and inexpensive while maintaining the maximum reach and load capacity.

[0009] Furthermore, a transport control device relating to one aspect of this disclosure is a transport control device that controls a transport system comprising: a robot arm for grasping an object to be transported; a stage on which the robot arm is mounted; a first mechanism for moving the mounting position of the robot arm in a horizontal plane by horizontally moving the stage on which the robot arm is mounted or by rotating it around a first vertical axis provided in the stage; a second mechanism for moving the first mechanism vertically together with the stage on which the robot arm is mounted; a frame supporting the stage on which the robot arm is mounted, the first mechanism, and the second mechanism; and a robot arm control device for controlling the movement of the robot arm. The transport control device controls the first mechanism and the second mechanism, and instructs the robot arm control device to move the robot arm, thereby controlling the transport of the object to be transported from the transport source to the transport destination.

[0010] According to the above configuration, the stage, with the robot arm mounted, is configured by the first and second mechanisms to move the mounting position of the robot arm in the horizontal and vertical directions. The transport control device controls the first and second mechanisms. Furthermore, the transport control device controls the transport of the object from its source to its destination by instructing the robot arm control device to move the robot arm. In this way, the transport control device can control the transport of the object by directing the robot arm itself from its source to its destination. As a result, the transport control device can appropriately control the transport system having the robot arm, even when the robot arm is configured to be compact and inexpensive while maintaining the maximum reach and load capacity.

[0011] In the transport control device relating to the above-described aspect, the transport control device may control the first mechanism so that the mounting position of the robot arm in the horizontal plane becomes the first horizontal position, control the second mechanism so that the position of the first mechanism in the vertical direction becomes the first vertical position, and transmit a command to the robot arm control device to perform teaching of the robot arm's operation, thereby enabling the robot arm to perform teaching of the operation of picking up the transport object from the transport source.

[0012] With the above configuration, the transport control device can teach the robot arm to pick up the object to be transported from the transport source, making it easier for the robot arm to pick up the object. As a result, the transport control device can respond flexibly to the content of the transport operation of the object to be transported.

[0013] In the transport control device relating to the above-described aspect, the transport control device may control the first mechanism so that the mounting position of the robot arm in the horizontal plane becomes the second horizontal position, control the second mechanism so that the position of the first mechanism in the vertical direction becomes the second vertical position, and transmit a command to the robot arm control device to perform teaching of the robot arm's operation, thereby enabling the robot arm to perform teaching of the operation of placing the object to be transported to the transport destination.

[0014] With the above configuration, the transport control device can teach the robot arm to place the object to be transported at the destination, making it easier for the robot arm to place the object. As a result, the transport control device can respond flexibly to the content of the transport operation of the object to be transported.

[0015] In the transport control device relating to the above-described aspect, the second mechanism may include a movable part that moves vertically together with the first mechanism, a moving member for moving the movable part vertically, and a counterweight for the movable part.

[0016] According to the above configuration, by using a counterweight in the second mechanism, the movable member can be moved by the movable part without placing a large load on the movable member.

[0017] In the transport control device relating to the above-described aspect, the transport control device may control the first mechanism so that when the robot arm picks up the object to be transported from the transport source, the mounting position of the robot arm in the horizontal plane becomes a first horizontal position, and when the robot arm places the object to be transported to the transport destination, the mounting position of the robot arm in the horizontal plane becomes a second horizontal position different from the first horizontal position.

[0018] With the above configuration, the transport control device can reliably pick up the object to be transported at the first horizontal position and reliably place the object to be transported at the second horizontal position. This makes it possible to transport objects over long distances while maintaining the maximum reach and load capacity of the robot arm itself, or to grasp and transport objects with a large surface area.

[0019] In the transport control device relating to one aspect described above, the transport control device may further include a sensor unit fixed to the frame for monitoring the loading state of the transport object at the transport source and the transport destination, and the transport control device may control the transport of the transport object from the transport source to the transport destination based on monitoring information of the loading state of the transport object received from the sensor unit and operation information of the robot arm received from the robot arm control device.

[0020] According to the above configuration, since the sensor unit is fixed to the frame, even if the frame including the robotic arm is moved, the robotic arm can surely convey the object to be conveyed from the conveyance source to the conveyance destination.

[0021] Moreover, the conveyance control program according to one aspect of the present disclosure causes a computer to function as any of the above-described conveyance control devices.

[0022] According to the above configuration, it is possible to realize a conveyance control device that can appropriately control a conveyance system having a robotic arm that is compact and inexpensive while maintaining load-bearing capacity. [[ID=1]]

Effect of the Invention

[0023] It is possible to provide a conveyance control device and a conveyance control program that can appropriately control a conveyance system having a robotic arm that is compact and inexpensive while maintaining the maximum reach and load-bearing capacity.

Brief Description of the Drawings

[0024] [Figure 1] It is a functional block diagram showing a configuration example of a conveyance control device and a conveyance system according to an embodiment of the present disclosure. [Figure 2] It is a perspective view showing a main part configuration of the above-described conveyance system. [Figure 3] It is a side view showing a main part configuration of the above-described conveyance system. [Figure 4] It is a diagram for explaining an operation example of a stage included in the above-described conveyance system.

Mode for Carrying Out the Invention

[0025] 〔Embodiment〕 §1 Application Example First, an example of a scenario to which this disclosure applies will be described using Figures 1 to 3. Figure 1 is a functional block diagram showing an example configuration of a transport control device 10 and transport system 1 according to an embodiment of this disclosure. Figure 2 is a perspective view showing the main components of the transport system 1. Figure 3 is a side view showing the main components of the transport system 1.

[0026] The transport system 1 of this embodiment includes a robot arm 2 and a robot arm control device 20 that controls the movement of the robot arm.

[0027] Furthermore, the transport system 1 of this embodiment is equipped with the transport control device 10 of this disclosure. Users of the transport system 1, such as operators, can instruct the robot arm control device 20 through the transport control device 10 to perform actions such as picking and placing objects to be transported by the robot arm 2.

[0028] Furthermore, the transport system 1 of this embodiment includes a stage 3 and a first mechanism 4. The robot arm 2 is mounted on the stage 3 in a state where it can operate. The operation of the robot arm 2 includes picking up the object to be transported from a designated location (source H1), transporting the object while holding it, and placing the object to be transported at a designated location (destination H2).

[0029] The first mechanism unit 4 moves the mounting position of the robot arm 2 on stage 3 in the horizontal plane according to instructions from the transport control device 10.

[0030] The transport control device 10 controls the first mechanism unit 4. Furthermore, the transport control device 10 controls the transport of the object to be transported from the transport source H1 to the transport destination H2 by instructing the robot arm control device 20 on the movement of the robot arm 2.

[0031] Therefore, according to this embodiment, the transport control device 10 can control the transport of the object to be transported from the transport source H1 to the transport destination H2 by moving the stage 3 on which the robot arm 2 is mounted. In other words, in this embodiment, the range of motion of the tip of the robot arm 2 can be expanded in accordance with the range of movement of the stage 3. As a result, in this embodiment, the robot arm 2 can grasp the center of a large-area object to be transported at both the transport source H1 and the transport destination H2, and the transport control of the object can be performed. As a result, the transport control device 10 of this embodiment can appropriately control the transport system 1 having the robot arm 2, even when the robot arm 2 is configured to be compact and inexpensive while maintaining the maximum reach and load capacity.

[0032] §2 Example Configuration <Conveying System 1> The following describes specific configuration examples of the transport system 1 and transport control device 10 of this embodiment. In the following description, the transport system 1 will be described as a cooperative palletizing robot system in which a robot arm 2 transports objects such as cardboard boxes between a pallet and a conveyor.

[0033] <Frame 6 Configuration> The transport system 1 of this embodiment comprises a frame 6 and sensor units 7a and 7b. The frame 6 supports a stage 3 on which a robot arm 2 is mounted, a first mechanism 4, a second mechanism 5, and sensor units 7a and 7b.

[0034] Sensor units 7a and 7b monitor the loading status of the transported object at the transport source H1 and the transport destination H2, respectively. Sensor units 7a and 7b output their monitoring results to the transport control device 10.

[0035] The transport control device 10 receives operation information of the robot arm 2 from the robot arm control device 20. Based on the operation information of the robot arm 2 received from the robot arm control device 20 and the monitoring information of the loading status of the transported object received from the sensor units 7a and 7b, the transport control device 10 controls the first mechanism unit 4 and the second mechanism unit 5.

[0036] The frame 6 comprises a frame 6a, support members 6b and 6c, and support rods 6d. The frame 6a is constructed, for example, by combining rectangular tubular metal materials. The second mechanism 5 is directly attached to the frame 6a, and the first mechanism 4, stage 3, and robot arm 2 are sequentially attached via the second mechanism 5. The frame 6a is configured to be installed on a floor surface so as to be movable relative to the floor surface of a factory or the like, and supports the robot arm 2, stage 3, first mechanism 4, and second mechanism 5 on the floor surface. This floor surface is a surface parallel to the horizontal plane.

[0037] Supports 6b and 6c are provided on the frame 6a so as to protrude linearly from the frame 6a in the left-right direction. Sensor units 7a and 7b are installed at the ends of supports 6b and 6c, respectively. The frame 6 can be positioned on the floor surface such that the sensor units 7a and 7b are located above the transport source H1 and above the transport destination H2 of the object to be transported, respectively.

[0038] The support rod 6d is configured to support the gripping part 2a attached to the tip of the robot arm 2. The support rod 6d is attached to the frame 6a, for example, at the center of the frame 6a in the left-right direction, so as to stand upright from the frame 6a at a predetermined height.

[0039] <Configuration of Robot Arm 2> As shown in Figures 2 and 3, the robot arm 2 is configured as a multi-jointed robot with multiple joints that can rotate in different directions from one another, allowing it to flexibly adapt to the content of the object handling operation.

[0040] As described above, the robot arm 2 is equipped with a gripping section 2a at its tip for gripping an object to be transported. The gripping section 2a is configured to grip the object to be transported by, for example, using negative pressure to attract it. The robot arm 2 is configured so that the gripping section 2a can be rotated in the horizontal plane or moved in the vertical direction, under the control of the robot arm control device 20.

[0041] The robot arm 2 has a base 2b, which is the end opposite to the gripping portion 2a, and the base 2b is attached to the stage 3. The position of the attachment point of the base 2b to the stage 3 can serve as a reference point for position control of the robot arm 2 by the transport control device 10 and the robot arm control device 20. In other words, the position of the lower end of the base 2b can be used by the control unit 11 of the transport control device 10 as a reference point for the movement of the gripping portion 2a when operating the robot arm 2.

[0042] In addition to the above explanation, for example, either the position of the source H1 or the position of the destination H2 of the object to be transported, as defined at the ends of the support members 6b and 6c, can also be used as the reference point.

[0043] In the robot arm 2, a camera 2c is installed near the gripping unit 2a. The camera 2c captures an image of the area below the gripping unit 2a and outputs the image to the robot arm control device 20 and the transport control device 10. As a result, the transport control device 10 can reliably perform the gripping operation or the release operation of the transport object by the gripping unit 2a based on the image captured by the camera 2c.

[0044] <Configuration of the robot arm control device 20> The robot arm control device 20 is a dedicated control device configured to control the movement of the robot arm 2. The robot arm control device 20 communicates with the robot arm 2 and the transport control device 10. The robot arm control device 20 outputs an operation signal to the robot arm 2 so that the gripping part 2a of the robot arm 2 is in a desired position, according to instructions from the transport control device 10, which is a higher-level device. In this way, the robot arm control device 20 controls the movement of each of the multiple joints provided on the robot arm 2, thereby controlling the movement of the tip to which the gripping part 2a is connected relative to the base 2b of the robot arm 2.

[0045] Furthermore, the robot arm control device 20 includes arm position information indicating the current position of the gripping section 2a in the operation information of the robot arm 2 and outputs this operation information to the transport control device 10. The arm position information is information about the position and orientation of the robot arm 2, expressed in a coordinate system fixed to the base 2b of the robot arm 2, i.e., the stage 3.

[0046] The robot arm control device 20 shown in the block diagram of Figure 1 does not necessarily have to be configured as a single physical information processing device; it may be composed of multiple physical information processing devices with functions separated as appropriate. In particular, the process of outputting the arm position information as coordinate information to an external device such as the transport control device 10 may be performed by an information processing device such as a computer separate from the information processing device that primarily controls the robot arm 2.

[0047] Furthermore, the robot arm control device 20 can also be a commercially available control device that is sold together with the robot arm 2. In other words, the robot arm 2 and the robot arm control device 20, which is a dedicated controller for the robot arm 2, are commercially available as general-purpose products and can be used when constructing the transport system 1.

[0048] <Stage 3 Structure> Stage 3 is constructed, for example, using metal materials. The base 2b of the robot arm 2 is attached to the distal end 3a of Stage 3. The first mechanism 4 is connected to the proximal end 3b of Stage 3. With the robot arm 2 mounted, Stage 3 rotates in the horizontal plane around the first vertical axis 3c by the first mechanism 4. Also, with the robot arm 2 mounted, Stage 3 moves vertically up and down together with the robot arm 2 by the second mechanism 5.

[0049] <Configuration of the first mechanism section 4> The first mechanism 4 includes a swivel member 4a. This swivel member 4a is configured, for example, using an air cylinder and is connected to a first axis provided at the proximal end 3b of the stage 3. The first mechanism 4 rotates the swivel member 4a around the first axis 3c according to instructions from the transport control device 10. This allows the first mechanism 4 to move the base 2b of the robot arm 2, i.e., the mounting position, in the horizontal plane. The first mechanism 4 also outputs operation information indicating its operating state to the transport control device 10.

[0050] <Configuration of the second mechanism section 5> The second mechanism 5 moves the first mechanism 4 vertically together with the stage 3 on which the robot arm 2 is mounted, according to instructions from the transport control device 10. In other words, the second mechanism 5 moves the robot arm 2, the stage 3, and the first mechanism 4 together in the vertical direction. Specifically, the second mechanism 5 includes a movable part 51 that moves vertically together with the first mechanism 4. The movable part 51 has a mounting member 51a to which the first mechanism 4 is attached, and a support member 51b that supports the mounting member 51a so that it can move in the vertical direction. The second mechanism 5 also includes a moving member 5a for moving the movable part 51 vertically, and a counterweight 5b for the movable part.

[0051] The moving member 5a is configured, for example, using a motor, and when this motor rotates in accordance with instructions from the transport control device 10, the robot arm 2, stage 3, and first mechanism 4 move up and down vertically. The counterweight 5b has a weight that is roughly balanced by the combined portion of the robot arm 2, stage 3, first mechanism 4, and support member 51b, and by using the counterweight 5b when moving the moving member 5a with the movable part 51, the moving member 5a can be operated without being subjected to a large load. The second mechanism 5 also outputs operation information indicating its operating state to the transport control device 10.

[0052] <Configuration of sensor units 7a and 7b> Sensor units 7a and 7b are each equipped with monitoring components such as cameras and sensors. Sensor units 7a and 7b are fixed to support members 6b and 6c of frame 6, respectively. Sensor units 7a and 7b output monitoring information to the transport control device 10 from their monitoring components, such as the results of monitoring the loading status of the transported objects at the corresponding transport source H1 and transport destination H2, i.e., imaging result data and sensing result data indicating the position of the transported objects.

[0053] <Configuration of the transport control device 10> The transport control device 10 comprises a control unit 11, a communication unit 12, and a storage unit 13. The transport control device 10 controls each part of the transport system 1 according to instructions from the user.

[0054] The communication unit 12 is a functional block that communicates with each part of the transport system 1. The communication unit 12 is also connected to an operation instruction device (not shown) located outside the transport system 1, and receives user operations (instructions).

[0055] The memory unit 13 is, for example, an auxiliary storage device such as a hard disk drive or a solid-state drive, and stores various processing programs executed by the control unit 11. The memory unit 13 appropriately stores operation information from the robot arm control device 20 and monitoring information from the sensor units 7a and 7b. The memory unit 13 also appropriately stores operation information from the first mechanism unit 4 and the second mechanism unit 5.

[0056] The control unit 11, for example, includes a PLC (Programmable Logic Controller) and is a functional block that controls each component according to information processing. Based on the monitoring information and operation information stored in the memory unit 13, the control unit 11 creates commands and transmits them to the first mechanism unit 4 and the second mechanism unit 5 via the communication unit 12. Furthermore, based on the monitoring information and operation information stored in the memory unit 13, the control unit 11 creates commands to instruct the movement of the robot arm 2 and transmits them to the robot arm control device 20 via the communication unit 12. As a result, the transport control device 10 controls the transport of the object to be transported from the transport source H1 to the transport destination H2.

[0057] Specifically, the control unit 11 acquires operation information from the robot arm control device 20, the first mechanism unit 4, and the second mechanism unit 5 from the storage unit 13. Based on the acquired operation information, the control unit 11 calculates the tip position coordinates, which indicate the current position and orientation of the tip of the robot arm 2, to which the gripping unit 2a is provided, relative to the frame 6.

[0058] Furthermore, the control unit 11 calculates the source position coordinates and destination position coordinates, respectively, that indicate the positions of the source H1 and destination H2 relative to the above reference point, based on the monitoring information stored in the memory unit 13. Then, the control unit 11 creates commands to the first mechanism unit 4, the second mechanism unit 5, and the robot arm control device 20 based on the calculated tip position coordinates of the robot arm 2, the source position coordinates of the source H1, and the destination position coordinates of the destination H2. Subsequently, the control unit 11 transmits the created commands to the first mechanism unit 4, the second mechanism unit 5, and the robot arm control device 20 via the communication unit 12. As a result, the object to be transported is picked up at the source H1 by the gripping unit 2a, transported from the source H1 to the destination H2, and placed at the destination H2.

[0059] §3 Example of Operation Next, with reference to Figure 4, an example of the operation of the transport control device 10 of this embodiment will be specifically described. Figure 4 is a diagram illustrating an example of the operation of the stage 3 included in the transport system 1 described above.

[0060] <Example of Stage 3 operation> First, let's use Figure 4 to specifically explain an example of Stage 3's operation. Stage 3 operates within the horizontal plane between a transport source H1 located on one side of frame 6 and a transport destination H2 located on the other side of frame 6.

[0061] The transport control device 10 controls the first mechanism 4 so that when the robot arm 2 picks up an object to be transported from the transport source H1, the mounting position of the robot arm 2 in the horizontal plane becomes a first horizontal position FP that is close to the transport source H1. As a result, as shown by the solid line in Figure 4, the stage 3 rotates to move to one side P1 in the rotation direction S around the first axis 3c. On this one side P1, the mounting position of the robot arm 2 on the stage 3 becomes the first horizontal position FP shown by the solid line in Figure 4, and the gripping unit 2a can pick up an object to be transported (not shown) that is placed below the drawing.

[0062] Furthermore, when performing this picking operation, the transport control device 10 determines the position of the object to be transported at the transport source H1 based on monitoring information of the loading state of the object to be transported from the sensor unit 7a fixed to the support 6b of the frame 6. The transport control device 10 then adjusts the gripping position of the robot arm 2 when picking up the object to be transported. In this way, because the sensor unit 7a is fixed to the support 6b of the frame 6, even if the frame including the robot arm 2 is moved, the robot arm 2 can adjust its gripping position to pick up the object to be transported. Alternatively, the transport control device 10 may adjust the gripping position when picking up using the imaging results from the camera 2c.

[0063] Based on monitoring information from the sensor unit 7a and operation information from the robot arm control unit 20, the transport control device 10 determines that the gripping unit 2a has picked up the object to be transported, and then decides on a transport operation from the transport source H1 to the transport destination H2. In other words, the transport control device 10 creates commands for the first mechanism unit 4, the second mechanism unit 5, and the robot arm control unit 20 based on the above transport source position information and transport destination position information. Subsequently, the control unit 11 transmits the created commands to the first mechanism unit 4, the second mechanism unit 5, and the robot arm control unit 20 via the communication unit 12. As a result, the transport control device 10 controls the robot arm 2 and the stage 3, operating them so that the object to be transported is transported from the transport source H1 to the transport destination H2.

[0064] The transport control device 10 controls the first mechanism 4 so that when the robot arm 2 places the object to be transported to the transport destination H2, the mounting position of the robot arm 2 in the horizontal plane becomes a second horizontal position SP, which is different from the first horizontal position FP. As a result, as shown by the dotted line in Figure 4, the stage 3 rotates to move to the other side P2 in the rotation direction S around the first axis 3c. On this other side P2, the mounting position of the robot arm 2 on the stage 3 becomes the second horizontal position SP shown by the dotted line in Figure 4, and the gripping unit 2a can place an object to be transported (not shown) to the transport destination H2 at the bottom of the drawing.

[0065] Furthermore, when performing this placement, the transport control device 10 determines the position of the object to be transported at the destination H2 based on monitoring information of the loading state of the object to be transported from the sensor unit 7b fixed to the support 6c of the frame 6. The transport control device 10 then adjusts the gripping position of the robot arm 2 when it places the object to be transported. In this way, because the sensor unit 7b is fixed to the support 6c of the frame 6, even if the frame including the robot arm 2 is moved, the gripping position of the robot arm 2 can be adjusted to place the object to be transported. Alternatively, the transport control device 10 may adjust the gripping position when placing the object using the imaging results from the camera 2c.

[0066] Through the above operations, the transport control device 10 can reliably pick up the object to be transported at the first horizontal position FP and reliably place the object to be transported at the second horizontal position SP. As a result, in this embodiment, it becomes possible to transport objects over long distances while maintaining the maximum reach and load capacity of the robot arm 2 itself, or to grasp and transport objects with a large surface area, thereby reliably carrying out the transport of objects.

[0067] <Teaching the picking motion> The transport control device 10 of this embodiment is configured to acquire the results of teaching the robot arm 2 and construct control procedures for performing picking and placing operations. First, the teaching of the picking operation by the gripping part 2a of the robot arm 2 will be specifically described.

[0068] The transport control device 10 controls the first mechanism 4 so that the mounting position of the robot arm 2 in the horizontal plane becomes the first horizontal position FP. The transport control device 10 also controls the second mechanism 5 so that the position of the first mechanism 4 in the vertical direction becomes the first vertical position. Furthermore, the transport control device 10 transmits a command to the robot arm control device 20 to perform teaching of the robot arm 2's movements, thereby teaching the robot arm 2 to perform a picking operation to pick up an object to be transported from the transport source H1.

[0069] In this teaching operation, when the robot arm control device 20 receives a command from the transport control device 10, the robot arm control device 20 allows each of the multiple joints of the robot arm 2 to move in response to the user's operation. Then, by operating the robot arm 2, the user teaches the robot arm 2 to pick up the object to be transported from the transport source H1.

[0070] As described above, the transport control device 10 of this embodiment can utilize the functions of the robot arm 2 and the robot arm control device 20 to teach the robot arm 2 a picking operation to pick up an object to be transported from the transport source H1. As a result, the transport control device 10 of this embodiment can easily construct a control procedure for the picking operation of the robot arm 2 without requiring complex programming. Furthermore, the transport control device 10 of this embodiment can flexibly respond to the content of the transport operation of the object to be transported.

[0071] <Teaching the placement action> Next, we will specifically explain how to teach the placing motion using the gripping part 2a of the robot arm 2.

[0072] The transport control device 10 controls the first mechanism 4 so that the mounting position of the robot arm 2 in the horizontal plane becomes the second horizontal position SP. The transport control device 10 also controls the second mechanism 5 so that the position of the first mechanism 4 in the vertical direction becomes the second vertical position. Furthermore, the transport control device 10 transmits a command to the robot arm control device 20 to perform teaching of the robot arm 2's movements, thereby teaching the robot arm 2 to perform a placing operation to place the object to be transported at the transport destination H2.

[0073] In this teaching operation, when the robot arm control device 20 receives a command from the transport control device 10, the robot arm control device 20 allows each of the multiple joints of the robot arm 2 to move in response to the user's operation. Then, by operating the robot arm 2, the user teaches the robot arm 2 to place the object to be transported to the transport destination H2.

[0074] As described above, the transport control device 10 of this embodiment utilizes the functions of the robot arm 2 and the robot arm control device 20 to teach the robot arm 2 a placing operation to place the object to be transported at the destination H2. As a result, the transport control device 10 of this embodiment makes it easy to construct a control procedure for the robot arm 2's placing operation without complex programming. Furthermore, the transport control device 10 of this embodiment can flexibly respond to the content of the transport operation of the object to be transported.

[0075] <Other examples of operation> In the transport system 1 of this embodiment, the gripping portion 2a of the robot arm 2 is placed on the support rod 6d and the robot arm 2 is fixed to the support rod 6d, so that the stage 3 can rotate in the horizontal plane using only the robot arm 2 as support. In other words, the transport control device 10 allows the first mechanism 4 to operate freely, stops the operation of the second mechanism 5, and, with the robot arm control device 20 intervening, fixes the position of the gripping portion 2a while allowing the stage 3 to rotate in the horizontal plane.

[0076] Furthermore, in the transport system 1 of this embodiment, by fixing the robot arm 2 to the support rod 6d, the stage 3 can be raised and lowered using only the motor (not shown) built into the robot arm 2. This makes it possible to omit the installation of the motor and control equipment included in the moving member 5a of the second mechanism 5, thereby constructing the transport system 1 at a lower cost.

[0077] Furthermore, in the transport system 1 of this embodiment, by inserting the robot arm 2 between the first axis 3c and the first mechanism 4, it is possible to create a configuration in which the robot arm 2 can rotate using only its own motor.

[0078] <Mechanism of action, effect> As described above, the transport control device 10 of this embodiment moves the stage 3 on which the robot arm 2 is mounted by controlling the first mechanism 4, thereby moving the mounting position of the robot arm 2 within the horizontal plane. Furthermore, the transport control device 10 controls the transport of the object to be transported from the transport source H1 to the transport destination H2 by instructing the robot arm control device 20 on the operation of the robot arm 2. In this way, the transport control device 10 of this embodiment can control the transport of the robot arm 2 itself from the transport source H1 to the transport destination H2.

[0079] In other words, the transport control device 10 of this embodiment can control the robot arm 2 in a state where the range of motion of the gripping portion 2a of the robot arm 2 is extended to a range larger than the range of motion of the robot arm 2 itself, corresponding to the range of movement of the stage 3. As a result, the transport control device 10 of this embodiment can grip the center of a large-area object to be transported with the gripping portion 2a of the robot arm 2 at both the transport source H1 and the transport destination H2, and can control the transport of the object. As a result, the transport control device 10 of this embodiment can appropriately control the transport system 1 having the robot arm 2, even when the robot arm 2 is configured to be compact and inexpensive while maintaining the maximum reach and load capacity.

[0080] In a comparative example where a gripping section is provided at the tip of the robot arm via an extension member, it becomes possible to grip the center of a large-area object being transported using this gripping section. However, the presence of the extension member leads to a decrease in the robot arm's payload capacity (i.e., load-bearing capacity).

[0081] On the other hand, in this embodiment, as described above, the range of motion of the gripping portion 2a of the robot arm 2 is expanded, so that the center of a large-area object to be transported can be gripped by the gripping portion 2a of the robot arm 2 without providing an extension member as in the comparative example. For this reason, in this embodiment, the robot arm 2 can be made compact and inexpensive while suppressing a decrease in the maximum reach and load capacity of the robot arm 2.

[0082] Furthermore, the transport control device 10 of this embodiment moves the stage 3 on which the robot arm 2 is mounted by controlling the first mechanism 4 and the second mechanism 5, thereby moving the mounting position of the robot arm 2 in the horizontal plane and in the vertical direction, respectively. In addition, the transport control device 10 controls the transport of the object to be transported from the transport source H1 to the transport destination H2 by instructing the robot arm control device 20 on the operation of the robot arm 2. As a result, the transport control device 10 of this embodiment can control the transport of the object to be transported from the transport source H1 to the transport destination H2 even when the vertical positions of the transport source H1 and the transport destination H2 are different (there is a height difference between the transport source H1 and the transport destination H2).

[0083] Furthermore, in this embodiment, since the stage 3 is configured to be rotatable within the horizontal plane, the transport operation of the object to be transported can be easily performed even when one of the transport source H1 and the transport destination H2 is set on the front side of the frame 6. Moreover, at the transport source H1 or transport destination H2 set on the front side of the frame 6, interference of the robot arm 2 with the frame 6 can be reduced on that front side. For this reason, in this embodiment, for example, when the distance between the transport source H1 and the transport destination H2 is short, by setting these transport source H1 and transport destination H2 on the front side of the frame 6, the transport control device 10 can perform the transport operation of the object to be transported solely by the movement of the robot arm 2.

[0084] Furthermore, in this embodiment, the system is further equipped with sensor units 7a and 7b fixed to the frame 6, which monitor the loading status of the objects to be transported at the source H1 and destination H2. In this embodiment, the transport control device 10 controls the transport of the objects from the source H1 to the destination H2 based on monitoring information of the loading status of the objects to be transported received from the sensor units 7a and 7b and operation information of the robot arm 2 received from the robot arm control device 20. Thus, in this embodiment, since the sensor units 7a and 7b are fixed to the frame 6, even if the frame 6 including the robot arm 2 is moved, the transport of the objects by the robot arm 2 from the source H1 to the destination H2 can be reliably performed.

[0085] Furthermore, in this embodiment, the robot arm 2 is configured to be relatively lightweight and compact, enabling the transport operation to be performed in a manner that allows the transport system 1, with each frame 6 to which the sensor units 7a and 7b are attached, to be easily moved. Therefore, in this embodiment, the transport system 1 can be easily constructed in a flexible manner to suit the content of the transport operation.

[0086] <Variation> In this modified example, instead of installing a swivel member 4a in the first mechanism 4, a slider (not shown) is provided in the first mechanism 4 for horizontally moving the stage 3 on which the robot arm 2 is mounted. In this modified example, the stage 3 is moved in the left-right direction parallel to the supports 6b and 6c by the slider. This modified example also achieves the same effects as the above embodiment, except for the effect of the stage 3 performing a swivel motion.

[0087] [Examples of implementation using software] The functional blocks of the transport control device 10 (in particular, the control unit 11) may be implemented by logic circuits (hardware) formed on an integrated circuit (IC chip) or the like, or by software.

[0088] In the latter case, the control unit 11 includes a computer that executes instructions for a program, which is software that implements each function. This computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. The object of this disclosure is achieved when the processor in the computer reads the program from the recording medium and executes it.

[0089] As the processor mentioned above, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary, tangible medium" such as ROM (Read Only Memory), as well as magnetic disks, cards, semiconductor memory, programmable logic circuits, etc., can be used. Furthermore, a RAM (Random Access Memory) for deploying the program may also be provided.

[0090] Furthermore, the above program may be supplied to the computer via any transmission medium capable of transmitting the program (such as a communication network or broadcast waves). In one aspect of the present invention, the above program can also be realized in the form of a data signal embedded in a carrier wave, which is embodied by electronic transmission.

[0091] This disclosure is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in each embodiment are also included in the technical scope of this disclosure. [Explanation of Symbols]

[0092] 1. Conveying System 2 Robot Arms 3 stages 3c 1st axis 4 1st mechanism section 5 2nd mechanism section 51 Moving parts 5a Movable member 5b Counterweight 6 frames 7a, 7b Sensor section 10. Conveyor control device 20 Robot arm control device H1 Source H2 Destination FP 1st horizontal position SP 2nd horizontal position

Claims

1. A robotic arm that grasps the object to be transported, A stage on which the robot arm is mounted, A first mechanism that moves the mounting position of the robot arm in a horizontal plane by horizontally moving the stage on which the robot arm is mounted, or by rotating the stage around a first vertical axis provided within the stage, The stage on which the robot arm is mounted, and the frame supporting the first mechanism, A robot arm control device that controls the movement of the robot arm, A transport control device for controlling a transport system equipped with the following: The base of the robot arm is attached to one end of the stage, and the first mechanism is connected to the other end of the stage. By controlling the first mechanism and instructing the robot arm control device to move the robot arm, Controlling the transport of the object to be transported from the transport source to the transport destination, The frame is further equipped with a sensor unit fixed to the frame, which monitors the loading state of the object to be transported at the source and destination of the object to be transported. The aforementioned transport control device is A transport control device that controls the transport of the transport object from the transport source to the transport destination based on monitoring information of the loading state of the transport object received from the sensor unit and operation information of the robot arm received from the robot arm control device.

2. A robotic arm that grasps the object to be transported, A stage on which the robot arm is mounted, A first mechanism that moves the mounting position of the robot arm in a horizontal plane by horizontally moving the stage on which the robot arm is mounted, or by rotating the stage around a first vertical axis provided within the stage, Together with the stage on which the robot arm is mounted, a second mechanism moves the first mechanism in the vertical direction, The stage on which the robot arm is mounted, the first mechanism, and the frame supporting the second mechanism, A robot arm control device that controls the movement of the robot arm, A transport control device for controlling a transport system equipped with the following: The base of the robot arm is attached to one end of the stage, and the first mechanism is connected to the other end of the stage. By controlling the first mechanism and the second mechanism, and by instructing the robot arm control device to move the robot arm, Controlling the transport of the object to be transported from the transport source to the transport destination, The frame is further equipped with a sensor unit fixed to the frame, which monitors the loading state of the object to be transported at the source and destination of the object to be transported. The aforementioned transport control device is A transport control device that controls the transport of the transport object from the transport source to the transport destination based on monitoring information of the loading state of the transport object received from the sensor unit and operation information of the robot arm received from the robot arm control device.

3. The aforementioned transport control device is The first mechanism is controlled so that the mounting position of the robot arm in the horizontal plane becomes the first horizontal position. The second mechanism is controlled so that the position of the first mechanism in the vertical direction becomes the first vertical position. and, By sending a command to the robot arm control device to perform teaching of the robot arm's movements, The transport control device according to claim 2, which enables the robot arm to perform teaching of an operation to pick up the object to be transported from the transport source.

4. The aforementioned transport control device is The first mechanism is controlled so that the mounting position of the robot arm in the horizontal plane becomes the second horizontal position. The second mechanism is controlled so that the position of the first mechanism in the vertical direction becomes the second vertical position. and, By sending a command to the robot arm control device to perform teaching of the robot arm's movements, The transport control device according to claim 2 or 3, which enables the robot arm to perform teaching of an operation to place the object to be transported at the transport destination.

5. The transport control device according to any one of claims 2 to 4, wherein the second mechanism comprises a movable part that moves vertically together with the first mechanism, a moving member for moving the movable part vertically, and a counterweight for the movable part.

6. The aforementioned transport control device is When the robot arm picks up the object to be transported from the transport source, The first mechanism is controlled so that the mounting position of the robot arm in the horizontal plane becomes the first horizontal position. and, A transport control device according to any one of claims 1 to 5, wherein when the robot arm places the object to be transported to the transport destination, the first mechanism is controlled so that the mounting position of the robot arm in the horizontal plane is a second horizontal position different from the first horizontal position.

7. A transport control program for causing a computer to function as a transport control device according to any one of claims 1 to 6.

Images