Gripping device and method

Abstract

Provided are a gripping device and method, the gripping device comprising: a gripping device body; an upper surface adsorption part that is detachably attached to the gripping device body and has a first adsorption surface that can adsorb to an upper surface of an article; a side surface gripping part that is detachably attached to the gripping device body and has a first gripping part and second gripping part that can grip an outer side surface of the article; and a control device that selects one of the upper surface adsorption part and the side surface gripping part on the basis of transport target data relating to the article.

Description

Grip device and method

[0001] The present disclosure relates to a gripping device and method for gripping an object.

[0002] Conveying devices such as palletizing devices that stack items on trays such as pallets are known. The palletizing device is, for example, a robot with an articulated arm. The articulated arm has a hand attached to its tip for picking up items. Known hands include a suction part that can adhere to the top surface of an item and a pair of gripping parts that can grip the sides of an item. An example of a palletizing device with multiple types of hands is described in Patent Document 1.

[0003] Patent No. 7127830

[0004] The palletizing device of Patent Document 1 is provided with a suction head and a pair of grippers on a hand body and can handle multiple types of articles. However, the palletizing device of Patent Document 1 has a problem in that the structure is complex because the suction head and a pair of grippers are provided on the hand body.

[0005] The present disclosure aims to solve the above-mentioned problems and to provide a gripping device and method that simplifies the structure and improves transport capacity by using an appropriate hand depending on the type of item.

[0006] In order to achieve the above-mentioned object, the gripping device of the present disclosure comprises a gripping device main body, an upper surface suction portion that is detachable from the gripping device main body and has a first suction surface that can be adsorbed to the upper surface of an article, a side gripping portion that is detachable from the gripping device main body and has first and second gripping portions that can grip the outer surface of the article, and a control device that selects either the upper surface suction portion or the side gripping portion based on transport target data for the article.

[0007] In addition, the gripping method disclosed herein comprises a gripping device main body, an upper surface suction portion having a first suction surface that is detachable from the gripping device main body and can be adsorbed to the upper surface of an article, and a side gripping portion that is detachable from the gripping device main body and has a first gripping portion and a second gripping portion that can grip the outer surface of the article, and includes the steps of selecting either the upper surface suction portion or the side gripping portion based on transport target data for the article, and attaching the selected upper surface suction portion or the side gripping portion to the gripping device main body.

[0008] According to the gripping device and method of the present disclosure, it is possible to simplify the structure and improve the transport capacity by using an appropriate hand depending on the type of item.

[0009] FIG. 1 is a schematic diagram showing a gripping device according to a first embodiment. FIG. 2 is a block diagram showing the gripping device according to the first embodiment. FIG. 3 is a schematic diagram showing a hand selection processing map for the shape of an article. FIG. 4 is a flowchart showing the processing flow of a control device. FIG. 5 is a flowchart showing the processing flow of a control device in a gripping device according to a second embodiment. FIG. 6 is a block diagram showing a gripping device according to a third embodiment. FIG. 7 is a flowchart showing the processing flow of a control device. FIG. 8 is a flowchart showing the processing flow of a control device in a gripping device according to a fourth embodiment. FIG. 9 is a schematic diagram for explaining the judgment index of an article.

[0010] Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the drawings. However, the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, those that are substantially identical, or those that are equivalent. Furthermore, the components in the following embodiments can be variously omitted, replaced, or modified without departing from the gist of the present disclosure. In the following embodiments, components necessary for illustrating the embodiments will be described, and other components will be omitted. The same components will be assigned the same reference numerals, and different components will be assigned different reference numerals.

[0011] First Embodiment Configuration of Grip Device FIG. 1 is a schematic diagram showing a grip device according to a first embodiment.

[0012] As shown in FIG. 1 , a gripping device 10 according to the first embodiment is attached to the tip of an arm of a palletizing device (not shown). The palletizing device is, for example, a robot having an articulated arm, and the gripping device 10 is attached to the tip of the articulated arm. The gripping device 10 includes a base (gripping device main body) 11, an upper surface suction unit 12, and a side gripping unit 13. The base 11 is attached to the tip of the articulated arm. The upper surface suction unit 12 and the side gripping unit 13 function as hands that pick up the article R. The upper surface suction unit 12 and the side gripping unit 13 are detachable from the base 11, and appropriate units are selectively attached depending on the shape of the article R.

[0013] In this embodiment, the item R is stacked on a pallet (not shown), with the upper surface Ra being the vertically upper side, the horizontally lateral side perpendicular to the vertical direction being the side surface (outer surface) Rb, and the lower surface Rc being the vertically lower side.

[0014] The base 11 is attached to the tip of the articulated arm. The base 11 is supported at the tip of the articulated arm so as to be rotatable about a rotation axis O1. The base 11 can be raised and lowered vertically in response to the movement of the articulated arm.

[0015] The upper surface suction portion 12 is detachably attached to the base 11. The base 11 has an attachment / detachment mechanism (not shown) that allows the upper surface suction portion 12 to be attached or detached. The upper surface suction portion 12 has a first opposing surface 12a on its underside that faces the upper surface Ra of the article R. The upper surface suction portion 12 is attached to the base 11 so that the first opposing surface 12a is a surface perpendicular to the pivot axis O1. The upper surface suction portion 12 rotates in conjunction with the pivoting operation of the base 11 and moves up and down in conjunction with the lifting operation. The upper surface suction portion 12 has a first suction portion 21 on the first opposing surface 12a that can adsorb the upper surface Ra of the article R.

[0016] The first suction portion 21 is, for example, one or more suction pads protruding downward from the first opposing surface 12a of the upper surface suction portion 12. The first suction portion 21 has a first suction surface 21a on its lower surface. When a suction force is applied while the first suction surface 21a is in contact with the upper surface Ra of the article R, the first suction surface 21a of the first suction portion 21 can be adsorbed to the upper surface Ra of the article R.

[0017] The side gripping portion 13 is detachably attached to the base 11. The side gripping portion 13 can be attached to or detached from the base 11 by an attachment / detachment mechanism. The side gripping portion 13 has a first gripping portion 22 and a second gripping portion 23 that can grip the side surface Rb of an article. The side gripping portion 13 is arranged so that the first gripping portion 22 and the second gripping portion 23 hang down vertically. The upper ends of the first gripping portion 22 and the second gripping portion 23 are supported by the side gripping portion 13 so that they can move toward and away from each other. The first gripping portion 22 and the second gripping portion 23 have approximately the same configuration.

[0018] The first gripping portion 22 and the second gripping portion 23 have a first gripping surface 22a and a second gripping surface 23a, respectively, that face the left and right side surfaces Rb of the article R. The first gripping surface 22a and the second gripping surface 23a face each other and are parallel to each other. The side gripping portion 13 is attached to the base 11 so that the first gripping surface 22a and the second gripping surface 23a are parallel to the pivot axis O1. The side gripping portion 13 pivots in conjunction with the pivoting operation of the base 11 and moves up and down in conjunction with the lifting and lowering operation. When the first gripping surface 22a of the first gripping portion 22 and the second gripping surface 23a of the second gripping portion 23 are in contact with the left and right side surfaces Rb of the item R, respectively, and a pressing force is applied to the item R so that the first gripping surface 22a and the second gripping surface 23a approach each other, the side gripping portion 13 can grip the item R by sandwiching the side surface Rb of the item R between the first gripping surface 22a and the second gripping surface 23a.

[0019] Note that the side gripping portion 13 is not limited to the configuration described above. The side gripping portion 13 may have a first gripping portion 22 and a second gripping portion 23 that can grip the side surface Rb of an article, and the upper ends of the first gripping portion 22 and the second gripping portion 23 may be supported so as to be freely rotatable relative to the side gripping portion 13. In this case, the first gripping portion 22 and the second gripping portion 23 rotate downward relative to the side gripping portion 13, and when a pressing force acts on the article R so that the first gripping surface 22a and the second gripping surface 23a approach each other, the side surface Rb of the article R can be gripped by being sandwiched between the first gripping surface 22a and the second gripping surface 23a.

[0020] The gripping device 10 may include a side surface suction portion 14. The side surface suction portion 14 functions as a hand that picks up the article R together with the upper surface suction portion 12. The side surface suction portion 14 is attached to the upper surface suction portion 12, but may be detachable from the base 11 separately from the upper surface suction portion 12. The side surface suction portion 14 is attached to the side of the upper surface suction portion 12 by a rotation mechanism 24 so as to be rotatable up and down. The side surface suction portion 14 is rotatable by the rotation mechanism 24 between a position along the vertical direction and an inclined position rotated upward relative to the vertical direction. In other words, the side surface suction portion 14 is supported by the rotation mechanism 24 so as to be able to move toward and away from the side surface Rb of the article R.

[0021] The side surface suction portion 14 has a second opposing surface 14a that faces the side surface Rb of the article R. The side surface suction portion 14 is attached to the base 11 so that the second opposing surface 14a is parallel to the pivot axis O1 when the side surface suction portion 14 is stopped at a position along the vertical direction by the rotation mechanism 24. The side surface suction portion 14 rotates in conjunction with the pivoting operation of the base 11 and moves up and down in conjunction with the lifting operation. The side surface suction portion 14 has a second suction portion 25 on the second opposing surface 14a that can suction the side surface Rb of the article R.

[0022] The second suction portion 25 is, for example, one or more suction pads protruding laterally from the second opposing surface 14a of the side surface suction portion 14. The second suction portion 25 has a second suction surface 25a on its side surface. When a suction force is applied while the second suction surface 25a is in contact with the side surface Rb of the article R, the second suction portion 25 can be adsorbed to the side surface Rb of the article R.

[0023] The gripping device 10 may include a lower surface support portion 15. The lower surface support portion 15 functions as a hand that picks up the article R together with the upper surface suction portion 12 and the side gripping portion 13. The lower surface support portion 15 may be supported by the upper surface suction portion 12 or the side gripping portion 13, or may be detachably attached to the base 11 separately from the upper surface suction portion 12 and the side gripping portion 13. The lower surface support portion 15 has a first support portion 26 and a second support portion 27 that can support the lower surface Rc of the article. The first support portion 26 and the second support portion 27 are supported by the lower surface support portion 15 so that they can be raised and lowered and can move toward and away from each other.

[0024] The lower surface support portion 15 rotates in accordance with the rotational movement of the base portion 11, and moves up and down in accordance with the lifting movement of the base portion 11. When the first support portion 26 and the second support portion 27 of the lower surface support portion 15 are positioned below the lower surface Rc of the article R, the first support portion 26 and the second support portion 27 can support the lower surface Rc of the article R.

[0025] FIG. 2 is a block diagram showing the gripping device of the first embodiment.

[0026] As shown in FIGS. 1 and 2, the gripping device 10 further includes a turning mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, and a support mechanism 36.

[0027] The turning mechanism 31 turns the base 11 around a turning axis O1. For example, if the palletizing device is a multi-axis robot, the turning of the base 11 by the turning mechanism 31 corresponds to the operation of the multi-axis robot. The turning mechanism 31 is realized by a well-known mechanism such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0028] The lifting mechanism 32 moves the base 11 in the vertical direction. For example, if the palletizing device is a multi-axis robot, the movement of the base 11 by the lifting mechanism 32 is achieved by the cooperative operation of multiple axes of the multi-axis robot. If the palletizing device is a Cartesian coordinate robot, the movement of the base 11 by the lifting mechanism 32 corresponds to the operation of a linear joint in the vertical direction of the Cartesian coordinate robot. In this case, the lifting mechanism 32 is achieved by a well-known mechanism such as a linear actuator including a motor, an air cylinder, etc., or a rack-and-pinion mechanism.

[0029] The first suction mechanism 33 is capable of operating the upper surface suction unit 12. The first suction mechanism 33 includes, for example, a vacuum generator connected to the first suction surface 21 a via an air pipe (not shown) and sucking air from the first suction surface 21 a. For example, if the first suction unit 21 is composed of a plurality of suction pads, each suction pad is connected to the first suction mechanism 33, which is a vacuum generator, via an air pipe.

[0030] The second suction mechanism 34 is capable of operating the side suction portion 14. The second suction mechanism 34 includes, for example, a vacuum generator connected to the second suction surface 25 a via an air pipe (not shown) and sucking air from the second suction surface 25 a. For example, if the second suction portion 25 is composed of a plurality of suction pads, each suction pad is connected to the second suction mechanism 34, which is a vacuum generator, via an air pipe.

[0031] The gripping mechanism 35 is capable of actuating the side gripping portion 13. The gripping mechanism 35 moves the first gripping portion 22 and the second gripping portion 23 so that they can move toward and away from each other. The gripping mechanism 35 is realized by a well-known mechanism such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0032] The support mechanism 36 is capable of operating the lower surface support portion 15. The support mechanism 36 is capable of raising and lowering the first support portion 26 and the second support portion 27, and also moves them toward and away from each other. The support mechanism 36 is realized by a well-known mechanism such as a rotary actuator including a motor, a rack-and-pinion mechanism including an air cylinder, or a wire or link mechanism.

[0033] The gripping device 1 also includes a control device 41, an imaging device 42, an input / output device 43, and a storage unit 44. In this embodiment, the gripping device 10 including the control device 41, the imaging device 42, the input / output device 43, and the storage unit 44 also includes a mode in which the functions of each device are configured as part of the functions of a palletizing device to which the gripping device 10 is attached or a conveyance system in which the palletizing device is deployed.

[0034] The imaging device 42 captures images of at least the items R stacked on the pallet, and outputs image data that enables identification of the position and individual items of the imaged objects to the control device 41. The imaging device 42 is disposed in a position where it can observe at least the items R stacked on the pallet. In this case, the imaging device 42 may be attached to the gripping device 10, or may be disposed separately from the gripping device 10. The imaging device 42 includes one or more cameras.

[0035] The input / output device 43 includes an input device through which an operator inputs various pieces of information for operating the gripping device 10, and an output device for presenting various pieces of information to the operator. The input device is realized by, for example, a keyboard, a mouse, a physical switch, a button, a touch panel, or the like. The output device is realized by, for example, a display device such as a liquid crystal display device or an organic EL (Electro Luminescence) display device, a light-emitting device such as an LED (Light Emitting Diode), a speaker, or the like. The input / output device 43 may be an information terminal capable of inputting and outputting various pieces of information.

[0036] The storage unit 44 is connected to the control device 41 and transmits and receives various data to and from the control device 41. The storage unit 44 stores transport parameters (minimum operating conditions) for the operating condition items. The control device 41 can rewrite the transport parameters in the storage unit 44 at any time.

[0037] The control device 41 is a computer that controls the gripping device 10. The control device 41 has a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54. The control device 41 is connected to the management device 61. The communication unit 51 is a module used by the control unit 53 to communicate with external devices such as the management device 61, and may include, for example, an antenna. In this embodiment, wireless communication is assumed as the communication method used by the communication unit 51, but any communication method may be used. The storage unit 52 is a memory that stores the calculation contents and programs of the control unit 53, and various information acquired from the management device 61 via the communication unit 51, and includes, for example, at least one of a main storage device such as a random access memory (RAM), a read-only memory (ROM), and an external storage device such as an HDD (hard disk drive).

[0038] The control unit 53 is an arithmetic processing device and includes an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 53 executes various processes by reading and executing programs (software) from the storage unit 52. The control unit 53 may execute processes using one CPU, or may be provided with multiple CPUs and execute processes using the multiple CPUs.

[0039] The control unit 53 acquires upstream data from the management device 61 via the communication unit 51. The upstream data includes, for example, data on the objects to be transported, such as the type, weight, dimensions, presence (length) of perforations in the box, presence (length) of a zipper, number of glued parts, side flaps, and packaging (presence or absence of shrink wrap) of the objects R to be stacked on the pallet. The control unit 53 causes the imaging device 42 to capture an image at any timing and acquires image data. The control unit 53 processes the acquired image data to recognize the state of the objects R present in the image data.

[0040] The control unit 53 determines transport parameters for the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15 based on the image data and the transport object data. In this case, image data does not need to be used. Here, the transport parameters include the rotation speed and rotation acceleration of the rotation mechanism 31, the rising speed and rising acceleration of the lifting mechanism 32, the suction pressure and suction time of the item R by the first suction mechanism 33, the suction pressure and suction time of the item R by the second suction mechanism 34, the pressing pressure and pressing time of the item R by the gripping mechanism 35, and the support time of the item R by the support mechanism 36.

[0041] Reference values ​​of the transport parameters for the transport object data are set in advance. The control unit 53 controls the turning mechanism 31, the lifting mechanism 32, the first suction mechanism 33, the second suction mechanism 34, the gripping mechanism 35, and the support mechanism 36 based on the set transport parameters. The control unit 53 also executes control for moving the gripping device 10 itself in the horizontal direction in the palletizing device to which the gripping device 10 is attached. If the palletizing device is a multi-joint robot, the horizontal movement of the gripping device 10 itself is achieved by the cooperative operation of multiple axes of the multi-joint robot.

[0042] The determination unit 54 is an arithmetic processing device, similar to the control unit 53, and includes an arithmetic circuit such as a CPU (Central Processing Unit). The determination unit 54 executes various processes by reading and executing programs (software) from the storage unit 52. The determination unit 54 may be integrated with the control unit 53 and provided as one of the functions of the control unit 53.

[0043] The determination unit 54 selects the optimal hand for picking the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15 based on the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base unit 11. In the first embodiment, the transport target data of the item R includes data such as the type, weight, dimensions, presence (length) of perforations on the box, presence (length) of a zipper, number of glued pieces, side flaps, and packaging (presence or absence of shrink wrap) acquired as upstream data from the management device 61. However, the transport target data of the item R is not limited to these.

[0044] The determination unit 54 estimates the difficulty of suction by the upper surface suction unit 12 based on the transport target data of the item R, i.e., the difficulty of suction, and determines whether the item R can be picked by the upper surface suction unit 12 alone, whether the side surface suction unit 14 is required in addition to the upper surface suction unit 12, whether the item R cannot be picked by the upper surface suction unit 12 and the side surface suction unit 14 and therefore the side gripping unit 13 is required, or whether the lower surface support unit 15 is required.

[0045] For example, the difficulty of suction by the upper surface suction portion 12 is set according to the type of item R. Here, when the item R is a cardboard box, the upper surface suction portion 12 easily suctions the item R. When the item R is wrapped in vinyl, the upper surface suction portion 12 easily suctions the item R. When the item R is a stack of sheets, the upper surface suction portion 12 has difficulty suctioning the item R. When the item R is a bag, the upper surface suction portion 12 easily suctions the item R. When the item R is a wooden box, the upper surface suction portion 12 has difficulty suctioning the item R. When the item R is a freezer box, the upper surface suction portion 12 has difficulty suctioning the item R. In other words, when the first suction surface 21 a of the upper surface suction portion 12 abuts against the upper surface Ra of the item R and suction force acts on the first suction surface 21 a, if suction force leaks from the first suction surface 21 a depending on the shape of the upper surface Ra of the item R, it becomes difficult to suction the item R.

[0046] Furthermore, the heavier the item R, the more difficult it is for the upper surface suction portion 12 to adsorb the item R. The larger the dimensions of the item R, the more difficult it is for the upper surface suction portion 12 to adsorb the item R. The longer the length and perforations on the box containing the item R, the more difficult it is for the upper surface suction portion 12 to adsorb the item R. The longer the length and presence of a zipper on the item R, the more difficult it is for the upper surface suction portion 12 to adsorb the item R. The more glue points there are on the item R, the more difficult it is for the upper surface suction portion 12 to adsorb the item R. The more side flaps there are on the item R, the more difficult it is for the upper surface suction portion 12 to adsorb the item R. If the item R is packaged in shrink wrap, the upper surface suction portion 12 will have difficulty adsorbing the item R.

[0047] The determination unit 54 selects and determines the appropriate hand for picking up the item R from among the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15 based on the transport object data such as the type, weight, and dimensions of the item R. The determination unit 54 selects the appropriate hand based on one or more pieces of data from the transport object data.

[0048] Furthermore, the determination unit 54 may estimate the difficulty of the upper surface suction unit 12 picking up the item R, i.e., the hardness of the item R, based on the transport target data of the item R, and select a hand appropriate for picking up the item R from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15. In other words, as the hardness of the item R decreases, it becomes more difficult for the upper surface suction unit 12 to pick up the item R.

[0049] FIG. 3 is a schematic diagram showing a selection process map of a hand for each type of article.

[0050] 3 is a map for selecting a hand based on the relationship between the hardness of the item R and the unevenness of the top surface. The hardness of the item R refers to the hardness of the top surface Ra, and is estimated based on data such as the type of item R, its dimensions, the presence or absence (length) of perforations on the box, the presence or absence (length) of a zipper, the number of glued areas, side flaps, and packaging (presence or absence of shrink wrap). The unevenness of the top surface of the item R refers to the height of the unevenness on the top surface Ra, and is estimated based on data such as the type of item R, the presence or absence (length) of perforations on the box, the presence or absence (length) of a zipper, and packaging (presence or absence of shrink wrap).

[0051] 3, the higher the hardness (hardness) value of the article R and the lower the upper surface unevenness value, the easier it is for the upper surface suction portion 12 to suction the upper surface Ra of the article R, and therefore the pattern P1 region is selected as the hand for the upper surface suction portion 12. The lower the hardness (hardness) value of the article R and the higher the upper surface unevenness value, the more difficult it is for the upper surface suction portion 12 to suction the upper surface Ra of the article R, and therefore the pattern P3 region is selected as the hand for the side gripping portion 13. Then, in the pattern P2 region between the pattern P1 region and the pattern P3 region, the upper surface suction portion 12 and the side surface suction portion 14 are selected.

[0052] The management device 61 is a system that manages the operation of each device in a logistics management facility where the gripping device 10 of this embodiment is deployed. The management device 61 is, for example, a WCS (Warehouse Control System) or a WMS (Warehouse Management System), but is not limited to a WCS or a WMS and may be any system, such as a back-end system such as another production management system. The management device 61 may be installed at any location, and may be installed within the facility where the gripping device 10 is deployed, or may be installed at a location remote from the facility to manage the facility from that location.

[0053] <Processing of the Control Device> FIG. 4 is a flowchart showing the processing flow of the control device.

[0054] The following describes the process flow in which the control device 41 selects an appropriate hand for picking up the item R from the upper surface suction portion 12, the side gripping portion 13, the side surface suction portion 14, and the lower surface support portion 15 during transportation by the gripping device 10. The process shown in Fig. 4 is executed by the control device 41 based on a program and data pre-stored in the storage unit 52. For example, upon receiving a predetermined control signal from the management device 61 instructing the gripping device 10 to be driven, the control device 41 proceeds to step S11 shown in Fig. 4 and starts the process.

[0055] 1, 2, and 4, in step S11, the control device 41 acquires transport object data. In this embodiment, the control device 41 acquires the transport object data from the management device 61 via the communication unit 51. In this process, the transport object data includes data such as the type, weight, dimensions, presence (length) of perforations in the box, presence (length) of a zipper, number of glued parts, side flaps, and packaging (presence or absence of shrink wrap) of the item R.

[0056] In step S12, the control device 41 acquires captured image data. In this embodiment, the control device 41 causes the imaging device 42 to capture an image of a predetermined area including the item R. In this case, the imaging device 42 outputs captured image data indicating data of the captured image to the control device 41. The captured image data may be linked to coordinate data in a coordinate system based on, for example, a predetermined position of the gripping device 10 or the facility in which the gripping device 10 is deployed. The control device 41 performs image processing on the captured image data to recognize the shape, etc. of the item R.

[0057] In step S13, the control device 41 selects a hand (at least one of the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15) to be attached to the base 11 based on the transport object data. In this case, for example, if the upper surface Ra of the article R is easily suctioned based on the transport object data, the control device 41 selects the upper surface suction unit 12, and if the upper surface Ra of the article R is not easily suctioned, the control device 41 selects the side gripping unit 13.

[0058] In step S14, the control device 41 determines transport parameters. The transport parameters are data corresponding to the selected hand (at least one of the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15). The transport parameters are the rotation speed and rotation acceleration of the rotation mechanism 31, the rising speed and rising acceleration of the lifting mechanism 32, the suction pressure and suction time of the first suction mechanism 33, the suction pressure and suction time of the second suction mechanism 34, the pressing force and pressing time of the gripping mechanism 35, and the support time of the support mechanism 36, and are set based on the transport object data acquired in step S11.

[0059] In step S15, the article R is transported (unloaded). That is, the control device 41 controls the devices corresponding to the selected hand (upper surface suction portion 12, side gripping portion 13, side surface suction portion 14, lower surface support portion 15), namely, the turning mechanism 31, the lifting mechanism 32, the first suction mechanism 33, the second suction mechanism 34, the gripping mechanism 35, and the support mechanism 36.

[0060] [Second embodiment] Fig. 5 is a flowchart showing the processing flow of a control device in a gripping device according to a second embodiment. The basic configuration of the second embodiment is the same as that of the first embodiment described above, and will be described using Fig. 1 and Fig. 2. Members having the same functions as those in the first embodiment described above are given the same reference numerals, and detailed description thereof will be omitted.

[0061] 1 and 2 , the gripping device 10 includes a base 11, an upper surface suction unit 12, a side gripping unit 13, a rotation mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, a support mechanism 36, a control device 41, an imaging device 42, an input / output device 43, and a storage unit 44. The control device 41 includes a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54.

[0062] The determination unit 54 selects the optimal hand for picking the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the characteristic data of the item R as well as the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base 11. In the second embodiment, the characteristic data of the item R is transport performance data and is accumulated in the accumulation unit 44.

[0063] The transport performance data is set, for example, in accordance with the transport object data. The transport object data includes data such as the type, weight, dimensions, presence or absence (length) of perforations in the box, presence or absence (length) of a zipper, number of glued parts, side flaps, packaging (presence or absence of shrink wrap), etc. The transport performance data is data for selecting the optimal hand (upper surface suction unit 12, side surface gripping unit 13, side surface suction unit 14, lower surface support unit 15) in accordance with the transport object data.

[0064] The transport performance data is set based on verification data from the manufacturer of the gripping device 10 and operation records (including troubles) when a user (customer) uses the gripping device 10. In other words, the transport performance data is the type of hand in the gripping device 10 that can transport the article R without the gripping device 10 dropping, based on the verification data of the gripping device 10 and past operating records. Note that the transport performance data may also be set by machine learning the verification data from the manufacturer of the gripping device 10 and operation records (including troubles) when a user (customer) uses the gripping device 10.

[0065] 1, 2, and 5, in step S11, the control device 41 acquires transport target data. In this embodiment, the control device 41 acquires the transport target data from the management device 61 via the communication unit 51. In step S12, the control device 41 acquires captured image data.

[0066] In step S21, the control device 41 acquires transport performance data. The transport performance data is accumulated in the accumulation unit 44, and the control device 41 acquires the transport performance data from the accumulation unit 44.

[0067] In step S13, the control device 41 selects a hand (at least one of the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15) to be attached to the base 11 based on the transport target data and the transport record data. In this case, the control device 41, for example, checks the hand selected based on the transport target data based on the transport record data and changes it if necessary.

[0068] In step S14, the control device 41 determines the transport parameters, and in step S15, the article R is transported (unloaded).

[0069] [Third embodiment] Fig. 6 is a block diagram showing a gripping device of a third embodiment, and Fig. 7 is a flowchart showing a processing flow of the control device. The basic configuration of the third embodiment is the same as that of the first embodiment described above, and will be described using Fig. 1. Members having the same functions as those of the first embodiment described above are assigned the same reference numerals, and detailed description thereof will be omitted.

[0070] 1 and 6 , the gripping device 10 includes a base 11, an upper surface suction unit 12, a side gripping unit 13, a rotation mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, a support mechanism 36, a control device 41, an imaging device 42, an input / output device 43, a storage unit 44, a moisture detector 45, and a shape detector 46. The control device 41 includes a communication unit 51, a memory unit 52, a control unit 53, and a determination unit 54.

[0071] The determination unit 54 selects the optimal hand for picking the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the characteristic data as well as the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base 11. In the third embodiment, the characteristic data of the item R is transport performance data, and is accumulated in the accumulation unit 44. The characteristic data of the item R is also moisture content data and deformation amount data of the item R, and is detected by the moisture detector 45 and the shape detector 46.

[0072] The gripping device 10 is provided with a moisture detector 45 and a shape detector 46. The moisture detector 45 and the shape detector 46 are provided in the gripping device 10 or separately from the gripping device 10. The moisture detector 45 acquires moisture content data of the cardboard box that constitutes the item R. The shape detector 46 acquires deformation amount data of the cardboard box that constitutes the item R. The moisture detector 45 is, for example, a contact or non-contact moisture sensor, and detects the moisture content of the cardboard box. The shape detector 46 is, for example, a contact displacement meter or a non-contact laser displacement meter, and detects the deformation amount (deformation rate) from the shape of the cardboard box.

[0073] The determination unit 54 estimates the difficulty of suction by the upper surface suction unit 12, i.e., the difficulty of suction, based on, for example, moisture content data and deformation amount data of the item R, and determines whether the item R can be picked using only the upper surface suction unit 12, or whether it cannot be picked without the side gripping unit 13. For example, if the moisture content of the item R is greater than a preset determination value, it determines that the item R is soft and has low hardness and therefore is difficult for the upper surface suction unit 12 to suction. Also, if the deformation amount of the item R is greater than a preset determination value, it determines that the item R is deformed and the upper surface Ra is not flat, therefore it determines that the upper surface suction unit 12 has difficulty suctioning.

[0074] 1, 6, and 7, in step S11, the control device 41 acquires the transport target data. In this embodiment, the control device 41 acquires the transport target data from the management device 61 via the communication unit 51. In step S12, the control device 41 acquires the captured image data.

[0075] In step S21, the control device 41 acquires transport performance data. The transport performance data is accumulated in the accumulation unit 44, and the control device 41 acquires the transport performance data from the accumulation unit 44. In step S22, the control device 41 acquires detection data. The detection data is moisture content data of the item R detected by the moisture detector 45 and deformation amount data of the item R detected by the shape detector 46. The control device 41 acquires the moisture content data of the item R detected by the moisture detector 45 and the deformation amount data of the item R detected by the shape detector 46.

[0076] In step S13, the control device 41 selects a hand (at least one of the upper surface suction unit 12, the side gripping unit 13, the side surface suction unit 14, and the lower surface support unit 15) to be attached to the base 11 based on the transport target data, the transport performance data, the moisture content data, and the deformation amount data. In this case, the control device 41, for example, checks the hand selected based on the transport target data based on the transport performance data and changes it if necessary. The control device 41 also checks the changed hand based on the moisture content data and the deformation amount data and changes it if necessary.

[0077] In step S14, the control device 41 determines the transport parameters, and in step S15, the article R is transported (unloaded).

[0078] [Fourth embodiment] Fig. 8 is a flowchart showing the processing flow of a control device in a gripping device according to a fourth embodiment, and Fig. 9 is a schematic diagram for explaining the judgment index of an article. The basic configuration of the fourth embodiment is the same as that of the first embodiment described above, and will be described using Figs. 1 and 2. Components having the same functions as those in the first embodiment described above are given the same reference numerals, and detailed description thereof will be omitted.

[0079] 1 and 2 , the gripping device 10 includes a base 11, an upper surface suction unit 12, a side gripping unit 13, a rotation mechanism 31, a lifting mechanism 32, a first suction mechanism 33, a second suction mechanism 34, a gripping mechanism 35, a support mechanism 36, a control device 41, an imaging device 42, an input / output device 43, and a storage unit 44. The control device 41 includes a communication unit 51, a storage unit 52, a control unit 53, and a determination unit 54.

[0080] The determination unit 54 selects the optimal hand for picking the item R to be transported from among the upper surface suction unit 12, the side gripping unit 13, the side suction unit 14, and the lower surface support unit 15 based on the characteristic data as well as the transport target data of the item R. The determination unit 54 outputs the determination result to the control unit 53. The control unit 53 controls the gripping device 10 to attach the selected hand to the base 11. In the first embodiment, the characteristic data of the item R is moisture content data and deformation amount data of the item R, which are detected by the moisture detector 45 and the shape detector 46.

[0081] The judgment unit 54 calculates a judgment index that indicates the difficulty of the upper surface suction unit 12 to adsorb the item R based on the transport target data and characteristic data of the item R, and determines based on the judgment index whether the item R can be picked by the upper surface suction unit 12 alone, or whether it cannot be picked without the side gripping unit 13.

[0082] As shown in FIG. 9 , the transport parameters of the item R include the type of item R, weight, dimensions, whether or not the box has perforations (length), whether or not it has a zipper (length), side flaps, packaging (whether or not it has shrink wrap), breathability, moisture, adhesive to prevent collapse, shaking of the beverage inside the box, number of glued areas, box bulging, and holes or scratches on the top surface. The type of item R, weight, dimensions, whether or not the box has perforations (length), whether or not it has a zipper (length), side flaps, packaging (whether or not it has shrink wrap), and number of glued areas are transport target data for the item R. Breathability is estimated from the type of item R. Moisture is moisture content data. Adhesive to prevent collapse is estimated from the type of item R or image data captured by the imaging device 42. Shaking of the beverage inside the box is estimated from the type of item R. Box bulging is deformation amount data. Holes and scratches on the top surface are estimated from the type of item R or image data captured by the imaging device 42.

[0083] A judgment index, which is an index of the difficulty of suction of item R, is determined for each of the transport parameters for multiple items R1 and R2. Judgment index 1 is the index of the highest suction ability, and judgment index 3 is the index of the lowest suction ability. The judgment index for item R is the sum of the judgment indexes determined for each of the transport parameters for multiple items R1 and R2. If all of the transport parameters are judgment index 1, the judgment index for item R is 14, and if all of the transport parameters are judgment index 3, the judgment index for item R is 42. A judgment value is set between judgment index 14 and judgment index 42, and if the judgment index is equal to or less than the judgment value, the upper surface suction unit 12 is selected, and if the judgment index is greater than the judgment value, the side gripping unit 13 is selected.

[0084] 1, 2, and 8, in step S11, the control device 41 acquires transport target data. In this embodiment, the control device 41 acquires the transport target data from the management device 61 via the communication unit 51. In step S12, the control device 41 acquires captured image data.

[0085] In step S22, the control device 41 acquires the detection data. The detection data is moisture content data of the item R detected by the moisture detector 45 and deformation amount data of the item R detected by the shape detector 46. The control device 41 acquires the moisture content data of the item R detected by the moisture detector 45 and deformation amount data of the item R detected by the shape detector 46. In step S23, the control device 41 calculates and acquires a judgment index.

[0086] In step S13, the control device 41 selects a hand (at least one of the upper surface suction portion 12, the side gripping portion 13, the side surface suction portion 14, and the lower surface support portion 15) to be attached to the base portion 11 based on the judgment index. In step S14, the control device 41 determines transport parameters. In step S15, the item R is transported (unloaded).

[0087] [Effects and effects of this embodiment] The gripping device of the first aspect comprises a base (gripping device main body) 11, an upper surface suction portion 12 that is detachable from the base 11 and has a first suction surface 21a that can be adsorbed to the upper surface Ra of the item R, a side gripping portion 13 that is detachable from the base 11 and has a first gripping portion 22 and a second gripping portion 23 that can be attached to and detached from the base 11 and can grip the side surface Rb of the item R, and a control device 41 that selects either the upper surface suction portion 12 or the side gripping portion 13 based on the transport target data of the item R.

[0088] According to the gripping device of the first aspect, the upper surface suction part 12 or the side gripping part 13 is selected based on the transport target data of the article R, and the selected hand is attached to the base 11. Therefore, either the upper surface suction part 12 or the side gripping part 13 is attached to the base 11, which simplifies the structure. In addition, an appropriate hand can be used depending on the type of article R, which prevents the article R from falling and improves transport capacity.

[0089] The gripping device according to the second aspect is the gripping device according to the first aspect, and further includes a storage unit 44 that stores transport history data as characteristic data of the article R, and the control device 41 selects either the upper surface suction unit 12 or the side gripping unit 13 based on the transport history data. This allows the selection of the upper surface suction unit 12 or the side gripping unit 13 based on the transport target data of the article R as well as the transport history data, thereby improving the accuracy of hand selection.

[0090] The gripping device according to the third aspect is the gripping device according to the first or second aspect, and further includes a moisture detector 45 that acquires moisture content data as characteristic data of the article R, and the control device 41 selects either the upper surface suction unit 12 or the side gripping unit 13 based on the moisture content data. This allows the selection of the upper surface suction unit 12 or the side gripping unit 13 based on the moisture content data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0091] The gripping device according to the fourth aspect is the gripping device according to any one of the first to third aspects, and further includes a shape detector 46 that acquires deformation amount data as characteristic data of the article R, and the control device 41 selects either the upper surface suction portion 12 or the side gripping portion 13 based on the deformation amount data. This allows the selection of the upper surface suction portion 12 or the side gripping portion 13 based on the deformation amount data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0092] The gripping device according to the fifth aspect is the gripping device according to the first or fourth aspect, and further includes a control device 41 that calculates a judgment index indicating the difficulty of the upper surface suction unit 12 to pick up the article R based on the transport target data of the article R, and selects either the upper surface suction unit 12 or the side gripping unit 13 based on the judgment index. As a result, the upper surface suction unit 12 or the side gripping unit 13 is selected based on the judgment index calculated based on the transport target data of the article R, which simplifies processing and improves the accuracy of hand selection.

[0093] The gripping device according to the sixth aspect is the gripping device according to the first or fifth aspect, and further, the control device 41 generates a selection process map according to the hardness of the article R and the unevenness of the upper surface Ra of the article R, and selects either the upper surface suction unit 12 or the side gripping unit 13 based on the selection process map. As a result, the upper surface suction unit 12 or the side gripping unit 13 is selected based on the selection process map, which simplifies the process.

[0094] The gripping device according to the seventh aspect is the gripping device according to the first or sixth aspect, and further includes a side suction unit 14 that is detachable from the base 11 and has a second suction surface 25a that can be attached to the side surface Rb of the article R, and the control device 41 determines the necessity of the side suction unit 14 based on the transport target data of the article R. As a result, by providing the side suction unit 14, it is possible to prevent the article R from falling by using an appropriate hand depending on the type of article R.

[0095] The gripping device according to the eighth aspect is the gripping device according to the first or seventh aspect, and further includes a lower surface support unit 15 that is detachable from the base 11 and has a first support unit 26 and a second support unit 27 that can support the lower surface Rc of the article R, and the control device 41 determines the necessity of the lower surface support unit 15 based on the transport target data of the article R. As a result, by providing the lower surface support unit 15, it is possible to prevent the article R from falling by using an appropriate hand depending on the type of article R.

[0096] The gripping device according to the ninth aspect is the gripping device according to the eighth aspect, and further includes a moisture detector 45 that acquires moisture content data as characteristic data of the article R, and the control device 41 determines the necessity of the lower surface support unit 15 based on the moisture content data. This allows the necessity of the lower surface support unit to be determined based on the moisture content data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0097] The gripping device according to the tenth aspect is the gripping device according to the eighth aspect, and further includes a shape detector 46 that acquires deformation amount data as characteristic data of the article R, and the control device 41 determines the necessity of the lower surface support part 15 based on the deformation amount data. This allows the necessity of the lower surface support part 15 to be determined based on the deformation amount data in addition to the transport target data of the article R, thereby improving the accuracy of hand selection.

[0098] The gripping method according to the eleventh aspect includes the steps of selecting either the upper surface suction part 12 or the side gripping part 13 based on transport target data of the article R, and attaching the selected upper surface suction part 12 or the side gripping part 13 to the base 11. This allows either the upper surface suction part 12 or the side gripping part 13 to be attached to the base 11, simplifying the structure. Furthermore, an appropriate hand can be used depending on the type of article R, preventing the article R from falling and improving transport capacity.

[0099] REFERENCE SIGNS LIST 10 Grip device 11 Base (grip device main body) 12 Upper surface suction portion 13 Side surface gripping portion 14 Side surface suction portion 15 Lower surface support portion 21 First suction portion 22 First gripping portion 23 Second gripping portion 24 Rotation mechanism 25 Second suction portion 26 First support portion 27 Second support portion 31 Swivel mechanism 32 Lifting mechanism 33 First suction mechanism 34 Second suction mechanism 35 Grip mechanism 36 Support mechanism 41 Control device 42 Imaging device 43 Input / output device 44 Accumulation portion 45 Moisture detector 46 Shape detector 51 Communication portion 52 Memory portion 53 Control portion 54 Determination portion 61 Management device R Article Ra Upper surface Rb Side surface

Claims

1. A gripping device comprising: a gripping device main body; an upper surface suction section which is detachable from the gripping device main body and has a first suction surface which can be adsorbed to the upper surface of an object; a side gripping section which is detachable from the gripping device main body and has first and second gripping sections which can grip the outer surface of the object; and a control device which selects either the upper surface suction section or the side gripping section based on transport target data of the object.

2. A gripping device as described in claim 1, further comprising a storage unit that stores transport performance data as characteristic data of the item, and the control device selects either the upper surface suction unit or the side gripping unit based on the transport performance data.

3. A gripping device as described in claim 1 or claim 2, further comprising a moisture detector that acquires moisture content data as characteristic data of the item, and the control device selects either the upper surface suction portion or the side gripping portion based on the moisture content data.

4. A gripping device as described in claim 1 or claim 2, further comprising a shape detector that acquires deformation amount data as characteristic data of the article, and the control device selects either the upper surface suction portion or the side gripping portion based on the deformation amount data.

5. The gripping device described in claim 1, wherein the control device calculates a judgment index indicating the difficulty of the upper surface suction portion to pick up the item based on transport target data of the item, and selects either the upper surface suction portion or the side gripping portion based on the judgment index.

6. The gripping device described in claim 1, wherein the control device generates a selection process map according to the hardness of the object and the unevenness of the top surface of the object, and selects either the top surface suction portion or the side gripping portion based on the selection process map.

7. The gripping device described in claim 1, further comprising a side suction portion that is detachable from the gripping device body and has a second suction surface that can be attached to the side of the item, and the control device determines the necessity of the side suction portion based on the transport target data of the item.

8. The gripping device described in claim 1, further comprising a bottom support unit having a support part that is detachable from the gripping device main body and capable of supporting the bottom surface of the item, and the control device determines the necessity of the bottom support unit based on the transport target data of the item.

9. The gripping device according to claim 8, further comprising a moisture detector that acquires moisture content data as characteristic data of the item, and the control device determines the necessity of the lower support portion based on the moisture content data.

10. The gripping device according to claim 8, further comprising a shape detector that acquires deformation amount data as characteristic data of the object, and the control device determines the necessity of the lower support portion based on the deformation amount data.

11. A gripping method comprising: a gripping device main body; an upper surface suction portion having a first suction surface that is detachable from the gripping device main body and can be adsorbed to the upper surface of an object; and a side gripping portion having a first gripping portion and a second gripping portion that is detachable from the gripping device main body and can grip the outer surface of the object, the gripping method comprising the steps of: selecting one of the upper surface suction portion or the side gripping portion based on transport target data of the object; and attaching the selected upper surface suction portion or the side gripping portion to the gripping device main body.

Images