Control device, holding tool, tool set, end effector, robot, program, and control method

Abstract

A control device according to the present invention comprises a control unit that controls at least a part of a robot system which performs a holding operation with respect to an object to be held. The control unit acquires object information pertaining to the object to be held, and determines, on the basis of the acquired object information, a holding tool for use, which is to be used in the holding operation, from a plurality of types of holding tools.

Description

Control device, gripping tool, tool set, end effector, robot, program, and control method

[0001] The present disclosure relates to a technique for grasping an object.

[0002] Patent Document 1 discloses a technology for grasping an object.

[0003] JP 2023-36277 A

[0004] A control device, a gripping tool, a toolset, an end effector, a robot, a program, and a control method are disclosed. In one embodiment, the control device includes a control unit that controls at least a part of a robot system that performs a gripping operation on a gripping target. The control unit acquires object information about the gripping target, and determines a gripping tool to be used for the gripping operation from among multiple types of gripping tools based on the acquired object information.

[0005] In one embodiment, the gripping tool is attachable to and detachable from a plurality of fingers of an end effector of a robot and capable of gripping an object, and includes a base portion including a first attachment portion attached to the plurality of fingers and a second attachment portion to which another member can be attached.

[0006] In one embodiment, the tool set includes a plurality of types of gripping tools, each of which is attachable to and detachable from an end effector of a robot and capable of gripping an object. Each of the plurality of types of gripping tools has a common member including a first common shape portion having a shape common to the plurality of types of gripping tools and attachable to the end effector, and a second common shape portion having a shape common to the plurality of types of gripping tools and to which another member can be attached.

[0007] In one embodiment, the end effector also includes a plurality of fingers that removably hold the gripping tool.

[0008] In one embodiment, the robot includes the end effector described above.

[0009] In one embodiment, the program is a program for causing a computer device to function as the control device.

[0010] In one embodiment, the control method is a control method for a robot system that performs a gripping operation on a gripping target, in which object information about the gripping target is acquired, and a gripping tool to be used for the gripping operation is determined from among multiple types of gripping tools based on the acquired object information.

[0011] FIG. 1 is a schematic diagram showing an example of a robot system. FIG. 2 is a schematic diagram showing an example of the configuration of a first control device. FIG. 3 is a schematic diagram showing an example of the configuration of a second control device. FIG. 4 is a schematic diagram showing an example of an end effector. FIG. 5 is a schematic diagram showing an example of a finger portion of the end effector. FIG. 6 is a schematic diagram showing an example of a gripping tool and a tool holding member. FIG. 7 is a schematic diagram showing an example of a gripping tool and a tool holding member. FIG. 8 is a schematic diagram showing an example of a gripping tool and a tool holding member. FIG. 9 is a schematic diagram showing an example of a gripping tool and a tool holding member. FIG. 10 is a schematic diagram showing an example of a common member. FIG. 11 is a schematic diagram showing an example of a common member. FIG. 12 is a schematic diagram showing an example of a unique member. FIG. 13 is a schematic diagram showing an example of a unique member. FIG. 14 is a flowchart showing an example of the operation of the control unit. FIG. 15 is a flowchart showing an example of the operation of the control unit. FIG. 16 is a schematic diagram showing an example of the operation of the robot system. FIG. 17 is a schematic diagram showing an example of the operation of the robot system. FIG. 18 is a schematic diagram showing an example of the operation of the robot system. FIG. 19 is a schematic diagram showing an example of the operation of the robot system. FIG. 20 is a schematic diagram showing an example of the operation of the robot system. FIG. 21 is a schematic diagram showing an example of the operation of the robot system. FIG. 22 is a schematic diagram showing an example of the operation of the robot system. FIG. 23 is a schematic diagram showing an example of the operation of the robot system. FIG. 24 is a schematic diagram showing an example of the operation of the robot system. FIG. 25 is a schematic diagram showing an example of the operation of the robot system. FIG. 26 is a schematic diagram showing an example of the operation of the robot system. FIG. 27 is a schematic diagram showing an example of the operation of the robot system. FIG. 28 is a schematic diagram showing an example of the operation of the robot system. FIG. 29 is a schematic diagram showing an example of the operation of the robot system. FIG. 30 is a schematic diagram showing an example of the operation of the robot system. FIG. 31 is a schematic diagram showing an example of the operation of the robot system. FIG. 32 is a schematic diagram showing an example of the operation of the robot system. FIG. 33 is a schematic diagram showing an example of the correspondence relationship information. FIG. 34 is a schematic diagram showing an example of the correspondence relationship information.

[0012] <Outline of an Example of a Robot System> Fig. 1 is a schematic diagram showing an example of a robot system 1. As shown in Fig. 1, the robot system 1 includes, for example, a robot 2, a first control device 11 and a second control device 12 that control the robot 2, and a toolset 600 for the robot 2.

[0013] The robot 2 includes, for example, an arm 3 and an end effector 4 connected to the arm 3. The arm 3 includes, for example, a plurality of joints and a plurality of motors that rotate the plurality of joints, respectively. The arm 3 also includes a rotation detection sensor that detects the rotation of each motor (in other words, the rotation of each joint). The rotation detection sensor may be, for example, a rotary encoder. The end effector 4 includes, for example, a plurality of openable and closable fingers 40. In this example, the number of fingers 40 is two, but may be three or more. The end effector 4 that includes a plurality of fingers 40 is also called, for example, a hand or a robot hand.

[0014] The first control device 11 is capable of managing the overall operation of the robot 2. The first control device 11 is capable of controlling, for example, the arm 3. The first control device 11 is also capable of controlling, for example, the second control device 12. The second control device 12 is capable of controlling, for example, the end effector 4 in accordance with instructions from the first control device 11. The first control device 11 is capable of controlling the end effector 4 through the second control device 12. The first control device 11 is capable of controlling the opening and closing of the multiple fingers 40 of the end effector 4 through the second control device 12.

[0015] The tool set 600 includes multiple types of gripping tools 6 that are replaceably attached to and detached from the end effector 4 and are capable of gripping an object. The multiple fingers 40 of the end effector 4 can detachably hold each of the multiple types of gripping tools 6. When the multiple fingers 40 holding the gripping tools 6 close, the gripping tools 6 held by the multiple fingers 40 can grip an object. On the other hand, when the multiple fingers 40 holding the gripping tools 6 open, the gripping tools 6 held by the multiple fingers 40 can release the grip of the object and release it.

[0016] Each gripping tool 6 has a plurality of tool parts 60 that can be attached to and detached from the plurality of fingers 40. Specifically, each of the plurality of tool parts 60 may be attached to and detached from each of the plurality of fingers 40. In each gripping tool 6, two or more tool parts 60 are set to form at least a portion of the gripping tool 6. In this example, since the number of fingers 40 is two, each gripping tool 6 includes a pair (two) of tool parts 60. The plurality of fingers 40 can detachably hold each of the plurality of tool parts 60. When the plurality of fingers 40 holding the plurality of tool parts 60 close, the plurality of tool parts 60 held by the plurality of fingers 40 can grip an object. On the other hand, when the plurality of fingers 40 holding the plurality of tool parts 60 open, the plurality of tool parts 60 held by the plurality of fingers 40 can release the grip of the object and release it.

[0017] Although the above describes an example in which the multiple tool components 60 are detachably attached to each of the multiple fingers 40, the multiple tool components 60 do not have to be detachably attached to all of the multiple fingers 40. In other words, the multiple fingers 40 may have fingers 40 to which the tool components 60 cannot be detached. Furthermore, even if the tool components 60 are detachably attached to all of the multiple fingers 40, it is not necessary to attach the tool components 60 to all of the multiple fingers 40 as long as the fingers 40 are capable of gripping an object.

[0018] The multiple types of gripping tools 6 include, for example, a first gripping tool 6 a and a second gripping tool 6 b that is different from the first gripping tool 6 a. The multiple types of gripping tools 6 may also include gripping tools 6 that are different from the first gripping tool 6 a and the second gripping tool 6 b.

[0019] For example, the robot 2 can move an object by moving the arm 3 while the object is being gripped by the gripping tool 6. It can also be said that the robot 2 can move the gripping tool 6 by moving the arm 3. For example, the robot 2 can grip an object placed on the workbench 18 with the gripping tool 6 and move the object to a predetermined location.

[0020] For example, a plurality of trays 16 are arranged on the workbench 18. The plurality of trays 16 includes, for example, a tray 16a on which a plurality of objects 15 are arranged. The plurality of trays 16 also includes, for example, a tray 16b to which the objects 15 in the tray 16a are moved. The robot 2 can, for example, sequentially grasp each of the plurality of objects 15 in the tray 16a and move to the tray 16b. The robot 2 can, for example, grasp the tray 16b on which the objects 15 from the tray 16a are arranged and move to a predetermined location.

[0021] The plurality of objects 15 may include multiple types of objects 15, or may include one type of object 15. The plurality of objects 15 may include industrial products such as electronic devices or "screws," food products such as vegetables or bread, or household goods such as diapers, toothbrushes, or cups.

[0022] The first gripping tool 6a is used, for example, to grip an object 15 in a tray 16a. The first gripping tool 6a is a gripping tool 6 suitable for gripping an object 15 in a tray 16a. When the first gripping tool 6a is attached to an end effector 4, the end effector 4 can grip the object 15 in the tray 16a with the first gripping tool 6a.

[0023] The second gripping tool 6b is used to grip, for example, the tray 16b. The second gripping tool 6b is a gripping tool 6 suitable for gripping the tray 16b. When the second gripping tool 6b is attached to the end effector 4, the end effector 4 can grip the tray 16b with the second gripping tool 6b.

[0024] The end effector 4 may not be equipped with a gripping tool 6 and may grip an object directly with the multiple fingers 40 .

[0025] A plurality of tool holding members 8 capable of holding a plurality of types of gripping tools 6 are provided on the work table 18. Each tool holding member 8 detachably holds, for example, one gripping tool 6. In this example, the plurality of tool holding members 8 includes a tool holding member 8 that holds a first gripping tool 6a and a tool holding member 8 that holds a second gripping tool 6b. The structure of the plurality of tool holding members 8 is, for example, the same as each other. Each tool holding member 8 is fixed to, for example, the work table 18. FIG. 1 shows an example of how the first gripping tool 6a and the second gripping tool 6b are each held by the tool holding members 8.

[0026] For example, under the control of the first control device 11, the robot 2 can remove the gripping tool 6 from the tool holding member 8 that holds the gripping tool 6 and hold the gripping tool 6 with the multiple finger units 40. Furthermore, for example, under the control of the first control device 11, the robot 2 can return the gripping tool 6 to the tool holding member 8.

[0027] The robot system 1 includes a camera 45 installed on, for example, the end effector 4. The camera 45 can capture an image of an object when, for example, the end effector 4 grasps the object. The camera 45 may be a two-dimensional camera or a three-dimensional camera. If the camera 45 is a two-dimensional camera, the camera image generated by the camera 45 includes, for example, a two-dimensional color image. If the camera 45 is a three-dimensional camera, the camera image generated by the camera 45 includes, for example, a two-dimensional color image and a two-dimensional depth image. Hereinafter, the term "camera image" refers to the camera image generated by the camera 45.

[0028] <Configuration Example of First Control Device> Fig. 2 is a schematic diagram showing an example of the configuration of the first control device 11. The first control device 11 is, for example, a computer device. As shown in Fig. 2, the first control device 11 includes, for example, a control unit 110, a storage unit 111, an interface 112, and an interface 113. The first control device 11 can also be considered, for example, a control circuit.

[0029] The interface 112 can exchange information with the second control device 12. The information received by the interface 112 is input to the control unit 110. The control unit 110 can also control the second control device 12 through the interface 112. The control unit 110 can also control the end effector 4 through the interface 112 and the second control device 12. The interface 112 can also be referred to as, for example, an interface circuit.

[0030] The interface 113 can exchange information with the arm 3. The detection results of the rotation detection sensor of the arm 3 are input to the control unit 110 through the interface 113. Furthermore, the control unit 110 can control the rotation of each joint of the arm 3 by controlling each motor of the arm 3 through the interface 113. The control unit 110 controls the rotation of each joint of the arm 3, for example, based on the detection results of the rotation detection sensor of the arm 3. The control unit 110 can control the attitude of the arm 3 (in other words, the position of the arm 3) by controlling the rotation of each joint of the arm 3. Furthermore, the control unit 110 can control the attitude and position of the end effector 4 by controlling the rotation of each joint of the arm 3. The interface 113 can also be referred to as, for example, an interface circuit.

[0031] The control unit 110 can control the other components of the first control unit 11 to provide overall management of the operation of the first control unit 11. The control unit 110 can also be referred to as, for example, a control circuit. The control unit 110 includes at least one processor to provide control and processing power for performing various functions, as described in more detail below.

[0032] According to various embodiments, the at least one processor may be implemented as a single integrated circuit (IC) or as multiple communicatively connected integrated circuits ICs and / or discrete circuits. The at least one processor may be implemented according to various known techniques.

[0033] In one embodiment, a processor includes one or more circuits or units configured to perform one or more data computational procedures or processes, for example, by executing instructions stored in associated memory. In other embodiments, a processor may be firmware (e.g., discrete logic components) configured to perform one or more data computational procedures or processes.

[0034] According to various embodiments, the processor may include one or more processors, controllers, microprocessors, microcontrollers, application specific integrated circuits (ASICs), digital signal processors, programmable logic devices, field programmable gate arrays, or any combination of these devices or configurations, or other known devices and configurations, to perform the functions described below.

[0035] The control unit 110 may include, for example, a CPU (Central Processing Unit) as a processor. The storage unit 111 may include a non-transitory recording medium readable by the CPU of the control unit 110, such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 111 stores, for example, a program 111a for controlling the first control device 11. Various functions of the control unit 110 are realized, for example, by the CPU of the control unit 110 executing the program 111a in the storage unit 111.

[0036] The configuration of the control unit 110 is not limited to the above example. For example, the control unit 110 may include multiple CPUs. The control unit 110 may also include at least one DSP (Digital Signal Processor). All or some of the functions of the control unit 110 may be implemented by a hardware circuit that does not require software to implement the function. The storage unit 111 may also include a computer-readable non-transitory recording medium other than ROM and RAM. The storage unit 111 may also include, for example, a small hard disk drive or SSD (Solid State Drive).

[0037] <Configuration Example of Second Control Device> Fig. 3 is a schematic diagram showing an example of the configuration of the second control device 12. The second control device 12 is, for example, a computer device. As shown in Fig. 3, the second control device 12 includes, for example, a control unit 120, a storage unit 121, an interface 122, and an interface 123. The second control device 12 can also be considered, for example, a control circuit.

[0038] The interface 122 can exchange information with the interface 112 of the first control device 11. Information received by the interface 122 is input to the control unit 120. Furthermore, information generated by the control unit 120 and addressed to the first control device 11 is input to the interface 112 of the first control device 11 through the interface 122. The control unit 120 can exchange information with the control unit 110 through the interface 122 and the interface 112 of the first control device 11. The control unit 110 can issue instructions to the control unit 120 through the interfaces 112 and 122. The interface 122 can also be referred to as, for example, an interface circuit.

[0039] The interface 123 can exchange information with the end effector 4. Camera images generated by the camera 45 provided in the end effector 4 are input to the control unit 120 through the interface 123. The control unit 120 inputs the camera images input through the interface 122 to the interface 112 of the first control device 11, for example. The interface 112 inputs the input camera images to the control unit 110. This allows the control unit 110 to acquire the camera images generated by the camera 45 of the end effector 4.

[0040] Furthermore, the control unit 120 can control the end effector 4 through the interface 123 in response to instructions from the control unit 110. For example, the control unit 120 can control the opening and closing of the multiple fingers 40 of the end effector 4 through the interface 123. The interface 123 can also be referred to as, for example, an interface circuit.

[0041] The control unit 120 can control the other components of the second control unit 12 to provide overall management of the operation of the second control unit 12. The control unit 120 can also be referred to as, for example, a control circuit. The control unit 120 includes at least one processor to provide control and processing capabilities for performing various functions, as described in more detail below. The above description of the at least one processor included in the control unit 110 of the first control unit 11 can also be applied to the at least one processor included in the control unit 120 of the second control unit 12.

[0042] The control unit 120 may include, for example, a CPU as a processor. The storage unit 121 may include a non-transitory recording medium such as a ROM or a RAM that can be read by the CPU of the control unit 120. The storage unit 121 stores, for example, a program 121a for controlling the second control device 12. The various functions of the control unit 120 are realized, for example, by the CPU of the control unit 120 executing the program 121a in the storage unit 121.

[0043] The configuration of the control unit 120 is not limited to the above example. For example, the control unit 120 may include multiple CPUs. The control unit 120 may also include at least one DSP. All or some of the functions of the control unit 120 may be realized by a hardware circuit that does not require software to realize the function. Similarly to the storage unit 111, the storage unit 121 may include a computer-readable non-transitory recording medium other than ROM and RAM.

[0044] Hereinafter, the first control device 11 may be referred to as the overall control device 11. The second control device 12 may be referred to as the effector control device 12.

[0045] <Configuration Example of End Effector> FIG. 4 is a schematic diagram showing an example of the end effector 4. As shown in FIG. 4, the end effector 4 includes, for example, a force sensor 47. The force sensor 47 can detect a force applied to the end effector 4. The force sensor 47 can detect, for example, a force applied to the finger portion 40. The force detection result (also referred to as a force detection result) by the force sensor 47 is notified to the overall control device 11, for example, via the effector control device 12. The force detection result is input to the interface 123 of the effector control device 12. The control unit 120 inputs the force detection result input to the interface 123 to the interface 112 of the overall control device 11 via the interface 122. The interface 112 inputs the input force detection result to the control unit 110. The control unit 110 controls the attitude and position of the end effector 4, for example, based on the force detection result by the force sensor 47.

[0046] As described above, the end effector 4 includes a plurality of finger portions 40. Furthermore, as described above, the gripping tool 6 includes a plurality of tool parts 60. The plurality of finger portions 40 each include a plurality of holding portions 41 that can hold the tool part 60. Each of the plurality of holding portions 41 is provided on each of the plurality of finger portions 40. The holding portions 41 detachably hold the tool part 60.

[0047] The holding portion 41 is provided on the inner side of the multiple finger portions 40 along the opening and closing direction of the multiple finger portions 40. For example, if the end effector 4 has two finger portions 40, two holding portions 41 are provided on each of the two finger portions 40 so as to face each other. Each of the multiple finger portions 40 has an opposing surface 40a facing the other finger portion 40. In the case of two finger portions 40, the opposing surfaces 40a face each other directly. The holding portion 41 is provided on each finger portion 40 so as to be partially exposed on the opposing surface 40a side. Since the opposing surface 40a side of the finger portion 40 can also be considered the inner side of the finger portion 40, the holding portion 41 can also be considered to be provided on each finger portion 40 so as to be partially exposed toward the inner side of the finger portion 40. FIG. 5 is a schematic diagram showing an example of a finger portion 40 viewed from the opposing surface 40a side. Note that the holding portion 41 may be provided on a surface other than the inner side of the finger portion 40.

[0048] The holders 41 can hold the tool parts 60 by, for example, magnetic attraction. Each holder 41 is configured, for example, by an electromagnetic holder. The electromagnetic holder can hold the tool parts 60 by magnetic attraction. The tool parts 60 are configured, for example, by a magnetic body (specifically, a ferromagnetic body). The tool parts 60 may be configured by a material containing iron, a material containing nickel, or a material containing cobalt. Hereinafter, a holder 41 configured by an electromagnetic holder may be referred to as an electromagnetic holder 41.

[0049] The electromagnetic holder 41 is partially exposed on the surface of the finger portion 40. In this example, the electromagnetic holder 41 and the tool part 60 held by it form a magnetic circuit. The electromagnetic holder 41 has a coil. The electromagnetic holder 41 can hold the tool part 60 when the coil is energized. For example, when the coil is energized while the tool part 60 is in contact with or approaching the electromagnetic holder 41, the electromagnetic holder 41 can attract and hold the tool part 60. On the other hand, when the energization of the coil of the electromagnetic holder 41 that holds the tool part 60 is stopped, that is, when current stops flowing through the coil, the electromagnetic holder 41 releases its hold on the tool part 60.

[0050] Hereinafter, energizing the coil of the electromagnetic holder 41 may be referred to as the electromagnetic holder 41 being "on." When the electromagnetic holder 41 is on, the electromagnetic holder 41 can hold the tool part 60. Also, de-energizing the coil of the electromagnetic holder 41 may be referred to as the electromagnetic holder being "off." When the electromagnetic holder 41 is off, the electromagnetic holder 41 cannot hold the tool part 60.

[0051] The control unit 120 of the effector control device 12 can switch the electromagnetic holder 41 on and off through the interface 123 in response to instructions from the control unit 110 of the overall control device 11. The overall control device 11 can cause the electromagnetic holder 41 to hold the tool part 60 or release the hold of the tool part 60 through the effector control device 12.

[0052] The exposed surface 41a of the electromagnetic holder 41 that is exposed on the opposing surface 40a side is, for example, a protruding, convex surface. When the coil of the electromagnetic holder 41 is energized while the tool part 60 is in contact with or approaching the exposed surface 41a of the electromagnetic holder 41, the electromagnetic holder 41 can attract and hold the tool part 60. Hereinafter, the exposed surface 41a may be referred to as the exposed convex surface 41a.

[0053] Each finger 40 has a mating recess 42 that opens toward the opposing surface 40 a. The mating recess 42 is mated with a mating protrusion 63 (described later) of the tool part 60. The mating recess 42 is located, for example, closer to the base of the finger 40 than the exposed protrusion 41 a of the electromagnetic holder 41 (in other words, closer to the arm 3).

[0054] The electromagnetic holder constituting the holding unit 41 may be an electromagnet. The holding unit 41 may also have a plurality of electromagnetic holders, and the plurality of electromagnetic holders may detachably hold the tool component 60.

[0055] Hereinafter, the direction in which the two fingers 40 of the end effector 4 face each other (i.e., the left-right direction in FIG. 4 ) may be referred to as the thickness direction of the fingers 40. Also, the direction in which the fingers 40 extend (i.e., the up-down direction in FIG. 4 ) and the direction perpendicular to the thickness direction of the fingers 40 (i.e., the front-back direction on the paper surface in FIG. 4 ) may be referred to as the width direction of the finger 40.

[0056] <Configuration Example of Grip Tool and Tool Holding Member> Fig. 6 is a schematic diagram showing an example of a first gripping tool 6a and a second gripping tool 6b respectively held by two tool holding members 8. Fig. 6 also shows a plurality of fingers 40 of the end effector 4. In Fig. 6, the tool holding member 8 holding the first gripping tool 6a is located between the plurality of fingers 40.

[0057] FIG. 7 is a schematic diagram showing an example of a state in which the multiple fingers 40 have closed from the state shown in FIG. 6 and are in contact with the multiple tool components 60 of the first gripping tool 6a held by the tool holding member 8. FIG. 8 is a schematic diagram showing an example of a state in which the multiple fingers 40 holding the first gripping tool 6a have opened from the state shown in FIG. 7 and removed the first gripping tool 6a from the tool holding member 8. FIG. 9 is a schematic diagram showing an example of a state in which the multiple fingers 40 have removed the second gripping tool 6b from the tool holding member 8 and are holding it. Hereinafter, the tool component 60 included in the first gripping tool 6a may be referred to as the tool component 60a. Furthermore, the tool component 60 included in the second gripping tool 6b may be referred to as the tool component 60b.

[0058] 6 to 9 , the tool holding member 8 includes, for example, an installation table 85 that is installed on the work table 18. The tool holding member 8 also includes, for example, a plurality of holding parts 80 that respectively hold a plurality of tool parts 60 that are included in the gripping tool 6. The installation table 85 is fixed to the work table 18 and extends upward from the work table 18. The plurality of holding parts 80 are attached to the upper end of the installation table 85.

[0059] Each holder 80 can hold the tool part 60 by, for example, magnetic attraction. Each holder 80 is composed of, for example, a plurality of permanent magnets 81. A holder 80 may be composed of, for example, two permanent magnets 81. The two permanent magnets 81 constituting the holder 80 can attract and hold the tool part 60 made of a magnetic material. The two permanent magnets 81 constituting the holder 80 are, for example, aligned in the vertical direction.

[0060] When the two holding portions 80 of the tool holding member 8 hold two tool parts 60, when the tool holding member 8 is positioned between the two finger portions 40 of the end effector 4 (see Figure 6) and the two finger portions 40 are closed (see Figure 7), the electromagnetic holders 41 inside the two finger portions 40 come into contact with the two tool parts 60 held by the two holding portions 80, respectively, and can hold the two tool parts 60, respectively.

[0061] The magnetic attraction force of the holding unit 80 to the tool part 60 (in this example, the magnetic attraction force of the two permanent magnets 81 to the tool part 60) is set to be smaller than the magnetic attraction force of the holding unit 80 to the tool part 60 when the electromagnetic holder 41 of the fingers 40 is turned on. In other words, the holding force of the holding unit 80 to the tool part 60 is set to be smaller than the holding force of the electromagnetic holder 41 to the tool part 60. As a result, when the electromagnetic holder 41 holds the tool part 60 held by the holding unit 80, the fingers 40 can remove the tool part 60 from the tool holding member 8. On the other hand, the magnetic attraction force of the permanent magnets 81 is set to be larger than the residual magnetic attraction force when the electromagnetic holder 41 is turned off. As a result, when removing the tool part 60 held by the electromagnetic holder 41, the tool part 60 can be easily removed by bringing it closer to the permanent magnets 81.

[0062] The holding unit 80 may be configured with one permanent magnet 81 or may be configured with three or more permanent magnets 81. The holding unit 80 may also be configured with an electromagnetic holder similar to the electromagnetic holder 41. In this case, for example, the control unit 110 may be capable of controlling the on / off of each electromagnetic holder of the tool holding member 8.

[0063] <Regarding the gripping tool> Each of the multiple tool parts 60 included in each gripping tool 6 has a common member 61 having a common shape portion that is common among the multiple types of gripping tools 6. Each tool part 60a of the first gripping tool 6a and each tool part 60b of the second gripping tool 6b have the common member 61. When holding a tool part 60, the finger part 40 holds, for example, the common member 61. Note that the shapes and materials of all of the common members 61 included in each tool part 60 in the present disclosure are the same among the common members 61.

[0064] Furthermore, the multiple tool parts 60 included in each gripping tool 6 may have unique members 70 having shapes that differ among the multiple types of gripping tools 6. In this example, each tool part 60a of the first gripping tool 6a does not have a unique member 70, and each tool part 60b of the second gripping tool 6b has a unique member 70. Note that the unique member 70 has a different shape from the common member 61. Furthermore, the unique member 70 may be made of a different material from the common member 61. Furthermore, the unique member 70 may have a different shape and material from the other unique members 70.

[0065] Each tool part 60a of the first gripping tool 6a that grips the object 15 in the tray 16a is composed of, for example, only a common member 61. The first gripping tool 6a can grip the object 15 in the tray 16a with the multiple common members 61 that make up the multiple tool parts 60a.

[0066] Each tool part 60b of the second gripping tool 6b that grips the tray 16b is composed of, for example, a common member 61 and a unique member 70 that is attached to the common member 61 and unique to the second gripping tool 6b. The second gripping tool 6b can grip the tray 16b with the unique members 70 of the multiple tool parts 60b.

[0067] FIG. 10 is a schematic diagram showing an example of the common member 61. The common member 61 is a member having a thickness smaller than that of the finger portion 40. For example, as shown in FIG. 10 and other figures, the common member 61 is, for example, a plate-like member that is long in one direction. The common member 61 has, for example, a plate-like wide portion 610 having a relatively large width as a first common shape portion having a shape common to multiple types of gripping tools 6, and a plate-like narrow portion 620 having a relatively small width as a second common shape portion having a shape common to multiple types of gripping tools 6. The width of the common member 61 is the size in the direction perpendicular to the longitudinal direction and thickness direction of the plate-like common member 61 that is long in one direction (i.e., the left-right direction in FIG. 10 ).

[0068] In this example, the wide portion 610 and the narrow portion 620 are adjacent to each other in the longitudinal direction of the common member 61. When holding the common member 61, the finger portions 40 hold the wide portion 610, for example.

[0069] One main surface 610a of the plate-like wide portion 610 is provided with a mating recess 62 that fits with the exposed convex surface 41a of the electromagnetic holder 41 of the finger portion 40. The mating recess 62 may have a pattern different from that of the other portions so that the mating recess 62 can be identified from an image. For example, when the mating recess 62 is formed by cutting, the cutting marks 62a on the inner surface may be used as they are without being erased. As a result, for example, the pattern of the mating recess 62 can be used as a marker to estimate the position of the gripping tool 6 using image-based object recognition technology. In addition, the main surface 610a of the wide portion 610 is provided with a mating protrusion 63 that fits with the mating recess 42 provided in the finger portion 40.

[0070] The finger 40 holds the wide portion 610 such that the exposed convex surface 41 a of the electromagnetic holder 41 of the finger 40 fits into the fitting recess 62 of the wide portion 610, and the fitting recess 42 of the finger 40 fits into the fitting protrusion 63 of the wide portion 610. This makes it difficult for the tool component 60 to rotate relative to the finger 40 around its thickness when the finger 40 holds the tool component 60. The fitting protrusion 63 may be located on the base side or the tip side of the finger 40 with respect to the fitting recess 62. The fitting protrusion 63 may also be arranged horizontally alongside the fitting recess 62.

[0071] As described above, the wide portion 610 is the first common shape portion. More specifically, by making the wide portion 610 the first common shape portion, the structure required for fixing to the finger portion 40 is standardized. In other words, the fixing mechanism to the finger portion 40 is standardized. That is, the tool component 60 is fixed to the finger portion 40 by the first common shape portion of the common member 61. As a result, the present disclosure can reduce fixation errors due to differences in the fixing method of the gripping tool to the finger portion 40. Furthermore, even when each robot user prepares a gripping tool, because the fixing method to the finger portion 40 is standardized, differences in fixing force between gripping tools 6 can be reduced, making it easier to ensure the safety of robot operations.

[0072] A through-hole 66 is formed in the narrow width portion 620 of the common member 61, penetrating the narrow width portion 620 in the thickness direction. Furthermore, a plurality of through-holes 65 are formed in the narrow width portion 620 of the common member 61, penetrating the narrow width portion 620 in the thickness direction.

[0073] The through hole 66 is formed larger than each of the through holes 65. No thread grooves are provided on the inner surface of the through hole 66. The multiple through holes 65 include, for example, at least one through hole 65 with a thread groove provided on the inner surface. If a through hole 65 with a thread groove is referred to as a screw hole 65, the multiple through holes 65 include, for example, multiple screw holes 65. The multiple through holes 65 may also include at least one through hole 65 without a thread groove provided on the inner surface. With the second holding tool 6b, for example, the multiple screw holes 65 provided in the narrow portion 620 of the common member 61 are used to screw the unique member 70 to the narrow portion 620.

[0074] As described above, the narrow portion 620 is the second common shape portion. More specifically, by making the narrow portion 620 the second common shape portion, the structure required for fixing the unique member 70 to the common member 61 is standardized. In other words, the fixing mechanism of the unique member 70 to the common member 61 is standardized. That is, the unique member 70 is fixed via the second common shape portion of the common member 61. As a result, the present disclosure can reduce fixing errors due to differences in the fixing method of the unique member 70 to the common member 61. Furthermore, even when each robot user prepares a gripping tool, because the fixing method of the unique member 70 is standardized, the use of gripping tools unintended by the hand supplier can be reduced, making it easier to ensure the safety of robot operations.

[0075] As described above, since the first common shape portion is attached to the plurality of fingers 40 and the unique member 70 is attached to the second common shape portion, in the present disclosure, the first common shape portion may be referred to as a first attachment portion and the second common shape portion may be referred to as a second attachment portion. Furthermore, when the gripping tool 6 is considered as a single unit, the common member 61 may be referred to as a base portion and the unique member 70 may be referred to as an extension portion.

[0076] The width of the wide portion 610 is, for example, approximately the same as the size in the width direction of the finger portion 40. The width of the narrow portion 620 is, for example, smaller than the size in the width direction of the finger portion 40.

[0077] The first gripping tool 6a held by the multiple finger portions 40 grips the object 15 in the tray 16a, for example, with the narrow portions 620 of the multiple common members 61. As shown in FIG. 8 , when the first gripping tool 6a is held by two finger portions 40, the two common members 61 of the first gripping tool 6a face each other in a direction along the opposing direction of the two finger portions 40. When the two finger portions 40 close and the distance between the two finger portions 40 decreases, the distance between the two common members 61 of the first gripping tool 6a decreases. On the other hand, when the two finger portions 40 open and the distance between the two finger portions 40 increases, the distance between the two common members 61 of the first gripping tool 6a increases. The first gripping tool 6a held by the multiple finger portions 40 grips the object 15 in the tray 16a by pinching it with the narrow portions 620 of the multiple common members 61, for example.

[0078] The unique member 70 included in each tool part 60b of the second gripping tool 6b is, as shown in Fig. 9, a long member bent in a substantially S-shape. One end of the unique member 70 in the longitudinal direction (in other words, the extension direction) is screwed to the narrow portion 620 of the common member 61. At least one screw hole is provided in one end of the unique member 70 in the longitudinal direction. A holding portion 71 for holding the tray 16b is provided in the other end of the unique member 70 in the longitudinal direction.

[0079] The tray 16b is shaped, for example, as a rectangular parallelepiped with an open top. As shown in FIG. 16 (described later), an edge 165 (also referred to as the opening edge 165) around the top opening of the tray 16b protrudes outward and forms a flange. The opening edge 165 is composed of a pair of short edges facing each other in the longitudinal direction of the tray 16b and a pair of long edges facing each other in the width direction of the tray 16b (i.e., a direction perpendicular to the longitudinal and height directions of the tray 16b). The holding portion 71 is composed of, for example, a hooking recess that hooks onto the opening edge 165 (in other words, the flange) of the tray 16b. The second gripping tool 6b holds the holding portions 71 of the unique members 70 of the multiple tool parts 60b by hooking them onto the opening edge 165 of the tray 16b. Hereinafter, the holding portion 71 composed of a hooking recess may be referred to as the hooking recess 71.

[0080] 9 , when the second gripping tool 6b is held by the two finger portions 40, the hooking recesses 71 of the unique members 70 of the two tool parts 60b of the second gripping tool 6b face each other in a direction along the opposing direction of the two finger portions 40. When the two finger portions 40 are closed and the distance between the two finger portions 40 decreases, the distance between the hooking recesses 71 of the unique members 70 of the two tool parts 60b decreases. On the other hand, when the two finger portions 40 are opened and the distance between the two finger portions 40 increases, the distance between the hooking recesses 71 of the unique members 70 of the two tool parts 60b increases.

[0081] When the two fingers 40 are in the most open state, the distance between the hooking recesses 71 of the unique members 70 of the two tool parts 60b is greater than, for example, the width of the tray 16b. For example, the second gripping tool 6b held by the two fingers 40 hooks and holds a pair of long side edges of the opening edge 165 of the tray 16b with the hooking recesses 71 of the two tool parts 60b (see FIG. 26 , etc., described later). At this time, the hooking recesses 71 hook, for example, the longitudinal centers of the long side edges.

[0082] When the two fingers 40 are in the most open position, the distance between the two fingers 40 is smaller than, for example, the width of the tray 16b. When the two fingers 40 holding the first gripping tool 6a are in the most open position, the distance between the common members 61 of the two tool parts 60a of the first gripping tool 6a is smaller than, for example, the width of the tray 16b.

[0083] The configuration of the common member 61 is not limited to the above example. For example, the common member 61 shown in FIG. 11 (also referred to as common member 61A) may be adopted. The common member 61A is longer than the common member 61 shown in FIG. 10. Furthermore, in the common member 61A, the through holes 66 are provided in the wide portion 610 rather than the narrow portion 620, and are larger than the through holes 66 shown in FIG. 10. Furthermore, in the common member 61A, the number of the multiple through holes 65 provided in the narrow portion 620 is greater. Furthermore, in the common member 61A, fitting protrusions 64 are provided in the wide portion 610 instead of fitting recesses 62.

[0084] When the common member 61A is employed, a second fitting recess that fits into the fitting protrusion 64 of the common member 61A is provided on the opposing surface 40a of the finger 40, closer to the tip of the finger 40 than the electromagnetic holder 41. The finger 40 holds the wide portion 610 of the common member 61A so that the fitting recess 42 and the second fitting recess of the finger 40 fit into the fitting protrusions 63 and 64 of the wide portion 610, respectively. This makes it less likely that the tool component 60 will rotate relative to the finger 40 around its thickness direction when the finger 40 is holding the tool component 60.

[0085] The narrow portions 620 of the common member 61 of the tool parts 60a of the first gripping tool 6a may be provided with an anti-slip member or a cushion member that comes into contact with an object when the first gripping tool 6a grips the object. Specifically, the anti-slip member or the cushion member may be provided on one main surface of the narrow portions 620 of the two tool parts 60a that face each other when the first gripping tool 6a is held by the two fingers 40. The anti-slip member may be made of rubber or the like, and the cushion member may be made of sponge or the like. In this case, the anti-slip member or the cushion member may have a through-hole at the same position as the hole 65 in the narrow portions 620. Alternatively, instead of the anti-slip member or the cushion member, the surface roughness of one portion of the narrow portions 620 may be greater than that of the other portion.

[0086] The configuration of the unique member 7 is not limited to the above example. For example, the unique member 70 shown in Fig. 12 (also referred to as unique member 70A) or the unique member 70 shown in Fig. 13 (also referred to as unique member 70B) may be employed.

[0087] The unique member 70A has a plurality of screw holes 72 for screwing the unique member 70A to the narrow portion 620 of the common member 61. The unique member 70A has two hooking recesses 71 located apart from each other. When two tool parts 60b, each having a unique member 70A, are held by two finger portions 40, the two hooking recesses 71 of each tool part 60b are aligned along the width direction of the finger portions 40. The two hooking recesses 71 of one tool part 60b and the two hooking recesses 71 of the other tool part 60b face each other in a one-to-one relationship in a direction along the opposing direction of the two finger portions 40. The second gripping tool 6b can, for example, hook and hold a pair of long side edges of the opening edge portion 165 of the tray 16b using the two hooking recesses 71 of one tool part 60b and the two hooking recesses 71 of the other tool part 60b.

[0088] The unique member 70B also has a plurality of screw holes 72 for screwing the unique member 70B to the narrow portion 620 of the common member 61. The unique member 70B has a hook groove 71b extending in one direction as a holding portion 71. The cross-sectional shape of the inner surface of the hook groove 71b is, for example, substantially U-shaped. On the other hand, the cross-sectional shape of the inner surface of the hook recess 71 is, for example, V-shaped.

[0089] When two tool parts 60b each having a unique member 70B are held by two fingers 40, the hooking grooves 71b of each tool part 60b extend along the width direction of the finger parts 40. The hooking grooves 71b of one tool part 60b and the hooking grooves 71b of the other tool part 60b face each other along the opposing direction of the two fingers 40. The second gripping tool 6b can hold the tray 16b by hooking, for example, a pair of long side edges of the opening edge 165 of the tray 16b with the hooking grooves 71b of one tool part 60b and the hooking grooves 71b of the other tool part 60b.

[0090] <Example of Operation of First Control Device (Overall Control Device)> Figure 14 is a flowchart showing an example of the operation of the overall control device 11 when the gripping tool 6 is removed from the tool holding member 8. As shown in Figure 14, in step s1, the control unit 110 of the overall control device 11 controls the arm 3 of the robot 2 so that the multiple finger units 40 that are not holding the gripping tool 6 move to the gripping tool 6 held by the tool holding member 8. At this time, the control unit 110 controls the arm 3 so that the exposed convex surfaces 41a of the electromagnetic holders 41 of the two finger units 40 face the fitting recesses 62 of the common members 61 of the two tool parts 60 of the gripping tool 6, respectively, as shown on the left side of Figure 6.

[0091] Next, in step s2, the control unit 110 controls the end effector 4 through the control unit 120 of the effector control device 12 to cause the end effector 4 to close the multiple fingers 40. When the two fingers 40 close after step s1, each finger 40 comes into contact with the gripping tool 6, and the exposed convex surface 41 a of the electromagnetic holder 41 of the finger 40 fits into the fitting concave portion 62 of the tool part 60, and the fitting concave portion 42 of the finger 40 fits into the fitting convex portion 63 of the tool part 60.

[0092] In step s2, the control unit 110 notifies the control unit 120 of the effector control device 12 of a finger closing instruction to instruct the end effector 4 to close the multiple fingers 40. Upon receiving the finger closing instruction, the control unit 120 controls the end effector 4 to close the multiple fingers 40. Then, when the control unit 120 detects that the multiple fingers 40 have come into contact with the gripping tool 6, it outputs first notification information indicating that the multiple fingers 40 have come into contact with the gripping tool 6 to the control unit 110.

[0093] The end effector 4 includes, for example, a motor that opens and closes the multiple fingers 40, and a current sensor that detects current flowing through the motor. The control unit 120 can control the opening and closing of the multiple fingers 40 by controlling the motor through an interface 123. The detection result of the current sensor is notified to the control unit 120 through the interface 123. The control unit 120 can detect that the multiple fingers 40 have come into contact with the gripping tool 6, for example, based on the detection result of the current sensor. Note that the method for detecting that the multiple fingers 40 have come into contact with the gripping tool 6 is not limited to this.

[0094] After step s2, in step s3, when the control unit 110 receives first notification information from the control unit 120, it determines that the plurality of finger units 40 have come into contact with the gripping tool 6. Then, the control unit 120 executes step s4.

[0095] In step s4, the control unit 110 turns on the electromagnetic holder 41 of each finger unit 40 via the control unit 120. In other words, the control unit 110 causes the control unit 120 to turn on the electromagnetic holder 41 of each finger unit 40. As a result, the multiple finger units 40 hold the gripping tool 6.

[0096] After step s4, in step s5, the control unit 110 controls the end effector 4 through the control unit 120 to open the multiple fingers 40 of the end effector 4. As a result, the gripping tool 6 is detached from the tool holding member 8, as shown in FIGS.

[0097] The control unit 110 then controls the arm 3 to move the gripping tool 6 to the object to be gripped (for example, the object 15 in the tray 16a or the tray 16b). As a result, the gripping tool 6 moves from the location where the gripping tool 6 is placed. The control unit 110 then controls the end effector 4 via the control unit 120 to cause the end effector 4 to grip the object to be gripped with the gripping tool 6.

[0098] If each holding portion 80 of the tool holding member 8 is configured as an electromagnetic holder, step s11 may be executed between steps s4 and s5. In step s11, the control unit 110 turns off each electromagnetic holder of the tool holding member 8. After turning off the electromagnetic holder, the control unit 110 may pass a current through the coil for a predetermined period of time in the opposite direction to the current flowing through the coil when the electromagnetic holder is on. This reduces residual magnetism generated in the electromagnetic holder when the electromagnetic holder is turned off. As a result, the end effector 4 can more easily remove the gripping tool 6 from the tool holding member 8.

[0099] Furthermore, if the magnetic attraction force of the electromagnetic holder constituting the holding unit 80 to the tool part 60 is smaller than the magnetic attraction force of the electromagnetic holder 41 of the finger unit 40 to the tool part 60, step s11 does not have to be executed. Furthermore, the electromagnetic holder 41 may be set to always on, and step s4 may not be executed.

[0100] 15 is a flowchart showing an example of the operation of the overall control device 11 when the gripping tool 6 removed from the tool holding member 8 is returned to the tool holding member 8. As shown in Fig. 15 , in step s21, the control unit 110 controls the arm 3 so that the gripping tool 6 held by the multiple finger portions 40 moves to the tool holding member 8 that was holding the gripping tool 6. At this time, as shown in Figs. 8 and 9 above, the control unit 110 controls the arm 3 so that the two tool parts 60 held by the two finger portions 40 face the two holding portions 80 of the tool holding member 8, respectively.

[0101] Next, in step s22, the control unit 110 controls the end effector 4 via the control unit 120 to cause the end effector 4 to close the multiple fingers 40. When the two fingers 40 close after step s21, as shown in FIG. 7 above, the gripping tool 6 held by the multiple fingers 40 comes into contact with the tool holding member 8, and one tool part 60 comes into contact with the two permanent magnets 81 of one holding part 80 of the tool holding member 8, and the other tool part 60 comes into contact with the two permanent magnets 81 of the other holding part 80 of the tool holding member 8. As a result, the gripping tool 6 is held by the tool holding member 8 and returned to the tool holding member 8. In other words, the gripping tool 6 returns to its original placement location.

[0102] In step s22, the control unit 110 notifies the control unit 120 of the effector control device 12 of a finger closing instruction to close the multiple fingers 40. Upon receiving the finger closing instruction, the control unit 120 controls the end effector 4 to cause the end effector 4 to close the multiple fingers 40. Then, when the control unit 120 detects that the gripping tool 6 held by the multiple fingers 40 has come into contact with the tool holding member 8, the control unit 120 outputs second notification information indicating that the gripping tool 6 has come into contact with the tool holding member 8 to the control unit 110. The control unit 120 can detect that the gripping tool 6 has come into contact with the tool holding member 8, for example, based on the detection result of a current sensor provided in the end effector 4. Note that the method for detecting that the gripping tool 6 has come into contact with the tool holding member 8 is not limited to this.

[0103] After step s22, in step s23, when the control unit 110 receives the second notification information from the control unit 120, it determines that the gripping tool 6 held by the plurality of finger units 40 has come into contact with the tool holding member 8. Then, the control unit 120 executes step s24.

[0104] In step s24, the control unit 110 turns off the electromagnetic holder 41 of each finger unit 40 through the control unit 120. In other words, the control unit 110 causes the control unit 120 to turn off the electromagnetic holder 41 of each finger unit 40. As a result, the multiple finger units 40 release the gripping tool 6.

[0105] After step s24, in step s25, the control unit 110 controls the end effector 4 through the control unit 120 to open the multiple fingers 40 of the end effector 4. As a result, as shown on the left side of FIG. 6 above, each finger 40 moves away from the gripping tool 6 held by the tool holding member 8.

[0106] In step s24, after turning off the electromagnetic holder 41, the control unit 110 may pass a current through the coil for a predetermined time in the opposite direction to the current flowing through the coil when the electromagnetic holder 41 is on. This reduces residual magnetism generated in the electromagnetic holder 41 when the electromagnetic holder 41 is turned off. As a result, the end effector 4 can easily attach the gripping tool 6 to the tool holding member 8.

[0107] Furthermore, when each holding portion 80 of the tool holding member 8 is configured with an electromagnetic holder, step s31 may be executed between steps s23 and s24, for example. In step s31, the control unit 110 turns on each electromagnetic holder of the tool holding member 8. By executing step s31, the gripping tool 6 is held by the tool holding member 8 and returned to the tool holding member 8. When the magnetic attraction force of the electromagnetic holder constituting the holding portion 80 to the tool component 60 is greater than the magnetic attraction force of the electromagnetic holder 41 of the finger portion 40 to the tool component 60, step s31 does not need to be executed.

[0108] When the holding portion 80 of the tool holding member 8 is configured with an electromagnetic holder, the holding portion 41 of the finger portion 40 may be configured with at least one permanent magnet instead of the electromagnetic holder. In this case, the magnetic attraction force of the electromagnetic holder constituting the holding portion 80 on the tool component 60 is set to be greater than the magnetic attraction force of the at least one permanent magnet constituting the holding portion 41 on the tool component 60. In the example of Fig. 14, step s4 is not executed but step s11 is executed, and in the example of Fig. 15, step s31 is executed but step s24 is not executed.

[0109] <Example of Operation of Robot System When Robot Performs Work> Fig. 16 is a schematic diagram showing an example of the work environment of the robot 2. In the example of Fig. 16, the plurality of objects 15 in the tray 16a includes, for example, four types of objects 15a, 15b, 15c, and 15d. The plurality of objects 15a, the plurality of objects 15b, the plurality of objects 15c, and the plurality of objects 15d are arranged on the tray 16a. The space within the tray 16a is divided into a plurality of compartments 161 by partitions 160. The plurality of objects 15 in the tray 16a are arranged in each of the plurality of compartments 161.

[0110] In this example, the fingers 40 of the end effector 4 are sized such that they cannot enter the compartment 161, for example. On the other hand, the narrow portion 620 of the common member 61 of the gripping tool 6 is sized such that it can enter the compartment 161.

[0111] Unlike the tray 16b, the tray 16a does not have an opening edge 165 (in other words, a flange) that protrudes outward. In addition, the objects 15a, 15b, 15c, and 15d do not have a flange that can be hooked by the gripping tool 6.

[0112] 16, multiple empty trays 16b are placed on the workbench 18. Of the multiple empty trays 16b, one tray 16b is placed next to the tray 16a, and the remaining multiple trays 16b are stacked at a location farther away from the tray 16a. The tray 16b is, for example, smaller than the tray 16a and larger than the objects 15a, 15b, 15c, and 15d.

[0113] For example, the robot 2 grips each of the multiple types of objects 15a, 15b, 15c, and 15d in the tray 16a one by one with the first gripping tool 6a and moves to an empty tray 16b next to the tray 16a. The robot 2 grips the objects 15 one by one in the order of, for example, object 15a, object 15b, object 15c, and object 15d and moves them to the tray 16b. Then, the robot 2 grips the opening edge 165 of the tray 16b (also referred to as the "placed tray 16b") on which the objects 15a, 15b, 15c, and 15d from the tray 16a have been placed one by one with the second gripping tool 6b, and moves the placed tray 16b to a location away from the tray 16a. Next, the robot 2 grips the opening edge 165 of the topmost tray 16b of the stacked empty trays 16b with the second gripping tool 6b and moves the held tray 16b next to the tray 16a. The robot 2 then grips each of the multiple types of objects 15a, 15b, 15c, and 15d in the tray 16a one by one with the first gripping tool 6a and moves to the empty tray 16b next to the tray 16a. After that, the robot 2 grips the opening edge 165 of the placed tray 16b next to the tray 16a with the second gripping tool 6b and places the held placed tray 16b on top of another placed tray 16b that is located away from the tray 16a. Thereafter, the robot 2 performs similar operations until there are no more objects 15 left in the tray 16a. An example of the operation of the robot system 1 when the robot 2 performs such a task will be described below with reference to Fig. 16 and Figs. 17 to 30. Figs. 17 to 30 are schematic diagrams showing an example of the operation of the robot system 1. Note that the robot 2 may place the objects 15a to 15d on a plurality of stacked empty trays 16b with the trays 16b overlapping, and then move the trays 16b to a predetermined location.

[0114] When the robot 2 starts work, as shown in FIG. 16, the control unit 110 of the overall control device 11 causes the robot 2 to position the end effector 4, which does not have the gripping tool 6 attached, above the tray 16a so that the camera 45 of the end effector 4 can photograph the tray 16a and the object 15 in the tray 16a from above.

[0115] Next, the control unit 110 receives a camera image generated by the camera 45 through the control unit 120 of the effector control device 12. The camera image shows the tray 16a and the object 15 in the tray 16a. Then, the control unit 110 performs object recognition for the tray 16a and the object 15a to be grasped first based on the received camera image.

[0116] The control unit 110 may perform object recognition using AI technology such as machine learning using a neural network, pattern matching, or other methods. AI is an abbreviation for Artificial Intelligence. Hereinafter, an object to be recognized, such as the tray 16a, will be referred to as a recognition target. When using AI technology, the control unit 110 can perform object recognition by performing machine learning using learning data in which information to be input to the AI ​​model is labeled with information to be output. When performing pattern matching, the control unit 110 can perform object recognition by generating a program capable of executing pattern matching in advance.

[0117] The control unit 110 performs object recognition on the recognition target object and acquires object information related to the recognition target object. The object information may include type information indicating the type of the recognition target object. The type information may be the name of the recognition target object or a symbol such as a number assigned to the recognition target object. The object information may also include posture information related to the posture of the recognition target object. Note that the object information may be generated and acquired in conjunction with object recognition, or may be acquired by input by the user of the robot 2. In this case, the robot system 1 may also have an input device that accepts information from the user.

[0118] The object information may also include size information regarding the size of the recognition target object. The size information may include, for example, the size of the recognition target object in a specific direction, or the size of a part of the recognition target object in a specific direction. For example, if the recognition target object is tray 16a, the size information may include the width of tray 16a, or the thickness of partition 160.

[0119] The object information may also include shape information regarding the shape of the recognition target. The shape information may include, for example, information representing the outer shape of the recognition target, or information representing the shape of a portion of the recognition target. For example, if the recognition target is tray 16a, the shape information may include information indicating that the outer shape of tray 16a is a rectangular parallelepiped, or may include information representing the shape of partition 160. The shape information may also include information indicating whether or not the recognition target has a flange portion. For example, if the recognition target is tray 16b, the shape information includes information indicating that the recognition target has a flange portion. On the other hand, if the recognition target is tray 16a or object 15 in tray 16a, the shape information includes information indicating that the recognition target does not have a flange portion.

[0120] The control unit 110 performs object recognition on the tray 16a and the object 15a, and generates and acquires object information on the tray 16a and object information on the object 15a.

[0121] As will be described later, when the control unit 110 causes the robot 2 to grasp object 15b, it performs object recognition on object 15b based on a camera image capturing object 15b, and generates object information related to object 15b. When the control unit 110 causes the robot 2 to grasp object 15c, it performs object recognition on object 15c based on a camera image capturing object 15c, and generates object information related to object 15c. When the control unit 110 causes the robot 2 to grasp object 15d, it performs object recognition on object 15d based on a camera image capturing object 15d, and generates object information related to object 15d. When the control unit 110 causes the robot 2 to grasp tray 16b, it performs object recognition on tray 16b based on a camera image capturing tray 16b, and generates and acquires object information related to tray 16b.

[0122] After performing object recognition for the grasp target, the control unit 110 performs a use-of-grasp-tool determination process to determine, based on object information about the grasp target, a use-of-grasp tool 6 to be used to grasp the grasp target from among multiple types of grip tools 6. The use-of-grasp tool 6 can also be said to be a grip tool 6 to be held by the multiple fingers 40 of the end effector 4.

[0123] In the process of determining the gripping tool to be used, the control unit 110 may determine, from among multiple types of gripping tools 6, a gripping tool 6 corresponding to the type indicated by the type information included in the object information as the gripping tool to be used. In this case, the control unit 110 may determine the gripping tool to be used based on the type information included in the object information and the correspondence information 200 in the storage unit 111. Note that the correspondence information 200 may be generated in advance based on an input from the user of the robot 2.

[0124] 33 is a schematic diagram showing an example of the correspondence information 200. The correspondence information 200 shows, for each of the multiple types of gripping tools 6 included in the tool set 600, the correspondence between tool type information indicating the type of gripping tool 6 and gripping object type information indicating the type of gripping object corresponding to the gripping tool 6. The gripping object corresponding to the gripping tool 6 can be said to be, for example, a gripping object that can be appropriately gripped by the gripping tool 6.

[0125] In this example, the objects 15a, 15b, 15c, and 15d are graspable objects corresponding to the first gripping tool 6a. That is, the objects 15a, 15b, 15c, and 15d are graspable objects that can be properly grasped by the first gripping tool 6a. Also, in this example, the tray 16b is a graspable object corresponding to the second gripping tool 6b. That is, the tray 16b is a graspable object that can be properly grasped by the second gripping tool 6b.

[0126] The correspondence information 200 includes tool type information 201a indicating the first gripping tool 6a and tool type information 201b indicating the second gripping tool 6b. The correspondence information 200 also includes gripping object type information 202a indicating the object 15a, gripping object type information 202b indicating the object 15b, gripping object type information 202ac indicating the object 15c, and gripping object type information 202d indicating the object 15d. The correspondence information 200 also includes gripping object type information 202t indicating the tray 16b. In the correspondence information 200, the tool type information 201a is associated with the gripping object type information 202a, 202b, 202c, and 202d, and the tool type information 201b is associated with the gripping object type information 202t.

[0127] The control unit 110 identifies, in the correspondence information 200, tool type information that corresponds to the graspable object type information that indicates the same type as the type indicated by the type information included in the object information. The control unit 110 then determines the gripping tool 6 of the type indicated by the identified tool type information as the used gripping tool 6, that is, the used gripping tool 6 that will be used when grasping the recognition object. As a result, from the multiple types of gripping tools 6, the gripping tool 6 that corresponds to the type indicated by the type information included in the object information related to the recognition object is determined as the used gripping tool 6 for the recognition object.

[0128] After performing object recognition on object 15a as described above, control unit 110 determines the gripping tool 6 to be used to grip object 15a from among multiple types of gripping tools 6 based on the object information on object 15a. The type indicated by the type information included in the object information on object 15a is the same as the type indicated by the gripping target type information 202a corresponding to tool type information 201a. Therefore, control unit 110 determines the gripping tool 6 of the type indicated by tool type information 201a, i.e., the first gripping tool 6a, as the gripping tool 6 to be used for object 15a.

[0129] The control unit 110 may determine the gripping tool 6 to be used based on size information included in the object information. For example, consider a case where the size information indicates the size of the recognized object in a specific direction. In this case, the control unit 110 may determine the first gripping tool 6a as the gripping tool 6 to be used when the size indicated by the size information included in the object information is less than a threshold value, i.e., when the recognized object to be grasped is small. On the other hand, the control unit 110 may determine the second gripping tool 6b as the gripping tool 6 to be used when the size indicated by the size information is equal to or greater than the threshold value, i.e., when the recognized object to be grasped is large. In this case, the size indicated by the size information included in the object information for object 15a is less than the threshold value, so the first gripping tool 6a is determined as the gripping tool 6 to be used for object 15a.

[0130] The control unit 110 may also determine the gripping tool 6 to be used based on shape information included in the object information. For example, consider a case where the shape information indicates whether the recognition target object has a flange portion. In this case, if the shape information included in the object information indicates that the recognition target object does not have a flange portion, the control unit 110 may determine the first gripping tool 6a as the gripping tool 6 to be used. On the other hand, if the shape information included in the object information regarding the object 15a indicates that the recognition target object has a flange portion, the control unit 110 may determine the second gripping tool 6b as the gripping tool 6 to be used. In this case, the shape information included in the object information regarding the object 15a indicates that the object 15a does not have a flange portion, so the first gripping tool 6a is determined as the gripping tool 6 to be used for the object 15a.

[0131] When the control unit 110 determines the first gripping tool 6a as the gripping tool 6 to be used for the object 15a, it executes step s1 described above to control the robot 2 so that the multiple fingers 40 move to the first gripping tool 6a held by the tool holding member 8. Then, the control unit 110 executes steps s2 to s5 described above to cause the robot 2 to hold the first gripping tool 6a with the multiple fingers 40, as shown in FIG. 17 . Note that information about the tool holding member 8 holding the gripping tool 6a may be stored in advance based on information input by the user. Alternatively, the tool holding member 8 holding the gripping tool 6a may be recognized by object recognition of the gripping tool 6a.

[0132] Next, the control unit 110 controls the arm 3 and the end effector 4 to cause the robot 2 to grasp the object 15a in the tray 16a with the first grasping tool 6a held by the multiple fingers 40, as shown in FIG. 18 . At this time, the control unit 110 determines, for example, the position on the object 15a at which the first grasping tool 6a will grasp the object 15a, and determines the angle from which the first grasping tool 6a should approach the object 15a, based on object information about the object 15a. Then, based on the determined contents, the control unit 110 controls the arm 3 and the end effector 4 to cause the robot 2 to grasp the object 15a with the first grasping tool 6a.

[0133] In this example, the memory unit 111 of the overall control device 11 stores, for each of the multiple types of gripping tools 6, a reference position (also referred to as a tool reference position) of the gripping tool 6 when the multiple fingers 40 of the end effector 4 hold the gripping tool 6. The tool reference position is also referred to as, for example, the position of a representative point of the gripping tool 6 when the multiple fingers 40 hold the gripping tool 6. The tool reference position is also referred to as, for example, a TCP (tool center point). The memory unit 111 stores, for each of the multiple types of gripping tools 6, tool type information indicating the type of the gripping tool 6 and correspondence information 250 indicating the correspondence between the tool reference position of the gripping tool 6 and the tool type information indicating the correspondence between the tool type information and the tool reference position of the gripping tool 6.

[0134] 34 is a schematic diagram showing an example of the correspondence information 250. The correspondence information 250 includes, for example, tool type information 251a indicating the first gripping tool 6a and tool type information 251b indicating the second gripping tool 6b. In the correspondence information 250, a tool reference position 252a of the first gripping tool 6a is associated with the tool type information 251a, and a tool reference position 252b of the second gripping tool 6b is associated with the tool type information 251b.

[0135] The tool reference position 252a of the first gripping tool 6a is set, for example, at a midpoint located halfway between the tip of the narrow portion 620 of the common member 61 of one tool part 60a (i.e., the end opposite the wide portion 610) and the tip of the narrow portion 620 of the common member 61 of the other tool part 60a when two finger portions 40 are gripping the first gripping tool 6a.

[0136] The tool reference position 252b of the second gripping tool 6b is set to, for example, a midpoint located halfway between the hooking recess 71 of one tool part 60b and the hooking recess 71 of the other tool part 60b when the two finger portions 40 are gripping the second gripping tool 6b.

[0137] When gripping an object with the current gripping tool 6 held by the multiple fingers 40, the control unit 110 references the correspondence information 250 in the memory unit 111 to acquire a tool reference position associated with tool type information indicating the current gripping tool 6. This allows the control unit 110 to grasp the position of the representative point of the current gripping tool 6 held by the multiple fingers 40 (e.g., the position of the tip of the current gripping tool 6) and control the robot 2 to appropriately control the position of the current gripping tool 6. Based on the acquired tool reference position, the control unit 110 controls the robot 2 so that the current gripping tool 6 grips the object to be gripped. Note that the control unit 110 may acquire the tool reference position by generating it based on, for example, the size of the current gripping tool 6 stored in the memory unit 111.

[0138] When the gripping tool 6 in use is the first gripping tool 6a, the control unit 110 refers to the correspondence information 250 in the storage unit 111 to acquire the tool reference position 252a associated with the tool type information 251a indicating the first gripping tool 6a. On the other hand, when the gripping tool 6 in use is the second gripping tool 6b, the control unit 110 refers to the correspondence information 250 in the storage unit 111 to acquire the tool reference position 252b associated with the tool type information 251b indicating the second gripping tool 6b.

[0139] When the control unit 110 causes the robot 2 to grasp the object 15 in the tray 16a with the gripping tool 6, the control unit 110 may control the arm 3 so that the tip of the gripping tool 6 hits the inner bottom surface of the tray 16a (in other words, the bottom surface of the compartment 161) before the multiple finger units 40 close. The control unit 110 may determine whether the tip of the gripping tool 6 has hit the inner bottom surface of the tray 16a, for example, based on the force detection result of the force sensor 47 of the end effector 4. Then, after controlling the arm 3 so that the tip of the gripping tool 6 hits the inner bottom surface of the tray 16a, the control unit 110 may control the end effector 4 so that the multiple finger units 40 close, thereby causing the robot 2 to grasp the object 15 in the tray 16a with the gripping tool 6. Note that the end effector 4 may have a sensor other than the force sensor 47, such as an acceleration sensor. The control unit 110 may determine that the gripping tool 6 has hit the inner bottom surface of the tray 16a, for example, based on the acceleration of the end effector 4 and the gripping tool 6. Furthermore, the control unit 110 may, for example, decelerate the moving speed of the end effector 4 before the gripping tool 6 comes into contact with the tray 16a.

[0140] When the first gripping tool 6a grips the object 15a in the tray 16a, the control unit 110 controls the arm 3 so that the first gripping tool 6a gripping the object 15a moves to the tray 16b (also referred to as the adjacent tray 16b) located next to the tray 16a, as shown in Fig. 19. Then, the control unit 110 controls the end effector 4 so that the first gripping tool 6a releases its grip on the object 15a. When the multiple fingers 40 of the end effector 4 open, the first gripping tool 6a releases its grip on the object 15a, and the object 15a is placed in the adjacent tray 16b.

[0141] For example, an L-shaped positioning jig 180a for positioning the adjacent tray 16b is placed on the workbench 18. The adjacent tray 16b is positioned by being positioned so that one outer corner of the adjacent tray 16b abuts on an inner corner of the L-shaped positioning jig 180a.

[0142] When the control unit 110 causes the robot 2 to place the object 15 to be grasped by the gripping tool 6 in the adjacent tray 16b, the control unit 110 may control the arm 3 so that the tip of the gripping tool 6 hits the inner bottom surface of the adjacent tray 16b before the multiple finger units 40 open. The control unit 110 may determine whether the tip of the gripping tool 6 has hit the inner bottom surface of the adjacent tray 16b, for example, based on the force detection result of the force sensor 47. Then, after controlling the arm 3 so that the tip of the gripping tool 6 hits the inner bottom surface of the adjacent tray 16b, the control unit 110 controls the end effector 4 so that the multiple finger units 40 open. The robot 2 may place the object 15 to be grasped by the gripping tool 6 in the adjacent tray 16b. Note that the end effector 4 may have a sensor other than the force sensor 47, such as an acceleration sensor. The control unit 110 may determine that the gripping tool 6 has hit the inner bottom surface of the tray 16a, for example, based on the accelerations of the end effector 4, the gripping tool 6, and the object 15. Furthermore, the control unit 110 may, for example, decelerate the moving speed of the end effector 4 before the gripping tool 6 comes into contact with the tray 16a.

[0143] Next, the control unit 110 causes the robot 2 to position the end effector 4 above the tray 16a, as shown in Fig. 20, so that the camera 45 of the end effector 4 can photograph the object 15b in the tray 16a from above. Then, the control unit 110 performs object recognition on the object 15b based on the camera image capturing the object 15b, and generates object information regarding the object 15b.

[0144] Next, the control unit 110 performs a use gripping tool determination process to determine the use gripping tool 6 to be used to grip the object 15b from among multiple types of gripping tools 6, based on the object information related to the object 15b. In this example, because the first gripping tool 6a is used to grip the object 15b, the control unit 110 determines the first gripping tool 6a as the use gripping tool 6 to be used to grip the object 15b. The method for determining the use gripping tool 6 to be used to grip the object 15b is the same as the method for determining the use gripping tool 6 to be used to grip the object 15a. The control unit 110 may determine the use gripping tool 6 for the object 15b based on type information included in the object information related to the object 15b and the correspondence information 200 in the storage unit 111, or may determine the use gripping tool 6 based on size information included in the object information, or may determine the use gripping tool 6 based on shape information included in the object information.

[0145] When the control unit 110 determines the gripping tool 6 to be used for the gripping object when the multiple finger units 40 are holding the gripping tools 6, the control unit 110 performs a gripping tool comparison process to determine whether the type of the determined gripping tool 6 to be used is the same as the type of the gripping tool 6 currently held by the multiple finger units 40. When the control unit 110 determines in the gripping tool comparison process that the type of the determined gripping tool 6 to be used is different from the type of the gripping tool 6 currently held by the multiple finger units 40, the control unit 110 causes the robot 2 to execute a gripping tool replacement process to replace the gripping tools 6 held by the multiple finger units 40 with the used gripping tool 6.

[0146] When the control unit 110 causes the robot 2 to execute the gripping tool replacement process, the control unit 110 first executes steps s21 to s25 in FIG. 15 described above to control the robot 2 so that the gripping tool 6 currently held by the multiple finger units 40 returns to the tool holding member 8 that was holding it. When the gripping tool 6 held by the multiple finger units 40 returns to the tool holding member 8, the control unit 110 executes steps s1 to s5 in FIG. 14 described above to cause the robot 2 to hold, with the multiple finger units 40, the current gripping tool 6 held by the tool holding member 8. As a result, the gripping tool 6 held by the multiple finger units 40 is replaced with the current gripping tool 6.

[0147] On the other hand, when the control unit 110 determines in the gripping tool comparison process that the type of gripping tool 6 to be used is the same as the type of gripping tool 6 currently held by the multiple finger units 40, it causes the robot 2 to continue using the gripping tool 6 currently held by the multiple finger units 40 without performing the gripping tool replacement process.

[0148] In the state of FIG. 20 , the gripping tool 6 held by the multiple fingers 40 is the first gripping tool 6a. The gripping tool 6 used for the object 15b is also the first gripping tool 6a. Therefore, in the gripping tool comparison process, the control unit 110 determines that the type of gripping tool 6 used for the object 15b is the same as the type of gripping tool 6 currently held by the multiple fingers 40, and causes the robot 2 to continue using the gripping tool 6 currently held by the multiple fingers 40. In other words, as shown in FIG. 21 , the control unit 110 controls the robot 2 so that the first gripping tool 6a currently held by the multiple fingers 40 grips the object 15b in the tray 16a. The operation of the control unit 110 when the first gripping tool 6a grips the object 15b in the tray 16a is the same as the operation of the control unit 110 when the first gripping tool 6a grips the object 15a in the tray 16a.

[0149] When the first gripping tool 6a grips the object 15b in the tray 16a, the control unit 110 controls the robot 2 so that the first gripping tool 6a gripping the object 15b moves to the adjacent tray 16b, as shown in Fig. 22. Then, the control unit 110 controls the end effector 4 so that the first gripping tool 6a releases its grip on the object 15b. As a result, the object 15b is placed in the adjacent tray 16b.

[0150] Thereafter, the control unit 110 operates in a similar manner to control the robot 2 so that the robot 2 grasps the object 15c in the tray 16a with the first grasping tool 6a and places the grasped object 15c in the adjacent tray 16b. At this time, the control unit 110 similarly performs object recognition on the object 15c in the tray 16a, generates object information about the object 15c, and performs a grasping tool determination process to determine the grasping tool 6 to be used to grasp the object 15c based on the generated object information. Then, after determining the grasping tool to be used for the object 15c, the control unit 110 executes a grasping tool comparison process.

[0151] When object 15c is placed in adjacent tray 16b, control unit 110 operates in a similar manner to control robot 2 so that robot 2 grasps object 15d in tray 16a with first grasping tool 6a and places the grasped object 15d in adjacent tray 16b. At this time, control unit 110 similarly performs object recognition on object 15d in tray 16a, generates object information about object 15d, and performs a grasping tool determination process to determine the grasping tool 6 to be used to grasp object 15d based on the generated object information. Then, after determining the grasping tool to be used for object 15c, control unit 110 executes a grasping tool comparison process.

[0152] When objects 15a, 15b, 15c, and 15d are placed one by one in adjacent tray 16b, control unit 110 causes robot 2 to position end effector 4 above adjacent tray 16b, as shown in Figure 23, so that camera 45 of end effector 4 can photograph adjacent tray 16b from above.

[0153] Next, the control unit 110 performs object recognition on the adjacent tray 16b based on the camera image showing the adjacent tray 16b, and generates object information about the adjacent tray 16b.

[0154] Next, based on the object information about the adjacent tray 16b, the control unit 110 performs a gripping tool determination process to determine the gripping tool 6 to be used to grip the adjacent tray 16b from among multiple types of gripping tools 6. In this example, since the second gripping tool 6b is used to grip the adjacent tray 16b, the gripping tool determination process determines the second gripping tool 6b as the gripping tool 6 to be used to grip the adjacent tray 16b.

[0155] Similar to the case of determining the gripping tool 6 to be used for the object 15a, etc., the control unit 110 may determine the gripping tool 6 to be used for the adjacent tray 16b based on the type information included in the object information regarding the adjacent tray and the correspondence information 200. For example, the control unit 110 identifies, in the correspondence information 200, tool type information corresponding to the gripping target type information indicating the same type as the type indicated by the type information included in the object information regarding the adjacent tray 16b. Then, the control unit 110 sets the gripping tool 6 of the type indicated by the identified tool type information as the gripping tool 6 to be used for the adjacent tray 16b. As a result, the second gripping tool 6b is determined as the gripping tool 6 to be used for the adjacent tray 16b.

[0156] The control unit 110 may also determine the gripping tool 6 to be used for the adjacent tray 16b based on size information included in the object information for the adjacent tray 16b. For example, consider a case where the size information indicates the size of the recognized object in a specific direction. In this case, the control unit 110 may determine the second gripping tool 6b as the gripping tool 6 to be used when the size indicated by the size information included in the object information for the adjacent tray 16b is equal to or greater than a threshold value, that is, when the recognized object is large.

[0157] The control unit 110 may also determine the gripping tool 6 to be used for the adjacent tray 16b based on shape information included in the object information for the adjacent tray 16b. For example, consider a case where the shape information indicates whether the object to be recognized has a flange portion. In this case, if the shape information included in the object information for the adjacent tray 16b indicates that the object to be recognized has a flange portion, the control unit 110 may select the second gripping tool 6b as the gripping tool 6 to be used.

[0158] After determining the gripping tool 6 to be used for the adjacent tray 16b, the control unit 110 performs a gripping tool comparison process. Here, since the gripping tool 6 currently held by the multiple finger units 40 is the first gripping tool 6a, the control unit 110 determines in the gripping tool comparison process that the type of the gripping tool to be used is different from the type of the gripping tool 6 currently held by the multiple finger units 40. The control unit 110 then causes the robot 2 to execute a gripping tool replacement process. In the gripping tool replacement process, the control unit 110 controls the robot 2 to return the first gripping tool 6a currently held by the multiple finger units 40 to the tool holding member 8 that held it, as shown in FIG. 24 . Then, under the control of the control unit 110, the robot 2 moves the multiple fingers 40 to the second gripping tool 6b held by the tool holding member 8, and then holds the second gripping tool 6b with the multiple fingers 40, as shown in FIG. 25 . As a result, the gripping tool 6 held by the multiple finger portions 40 is replaced from the first gripping tool 6a to the second gripping tool 6b.

[0159] When the gripping tool replacement process is executed, the control unit 110 controls the arm 3 and the end effector 4 to cause the robot 2 to grip the adjacent tray 16b with the second gripping tool 6b held by the multiple fingers 40, as shown in FIG. 26 . At this time, the control unit 110 determines, for example, the position on the adjacent tray 16b at which the second gripping tool 6b will grip the adjacent tray 16b, and determines the angle at which the second gripping tool 6b should approach the adjacent tray 16b, based on the object information regarding the adjacent tray 16b. In addition, the control unit 110 refers to the correspondence information 250 in the memory unit 111 to acquire the tool reference position 252b associated with the tool type information 251b indicating the second gripping tool 6b, i.e., the tool reference position 252b of the second gripping tool 6b. Then, the control unit 110 controls the arm 3 and the end effector 4 based on the determined content and the tool reference position 252b, and causes the robot 2 to grip the adjacent tray 16b with the second gripping tool 6b.

[0160] When the control unit 110 causes the robot 2 to grip the adjacent tray 16b with the second gripping tool 6b, the control unit 110 may control the arm 3 so that the horizontal portion of the unique member 70 (i.e., the portion extending in the left-right direction in FIG. 26 ) of the second gripping tool 6b abuts the opening edge 165 of the adjacent tray 16b before the multiple fingers 40 close. The control unit 110 may determine whether the horizontal portion of the unique member 70 abuts the opening edge 165 of the adjacent tray 16b, for example, based on the force detection results of the force sensor 47. Then, the control unit 110 controls the arm 3 so that the horizontal portion of the unique member 70 of the second gripping tool 6b abuts the opening edge 165 of the adjacent tray 16b, and then controls the end effector 4 so that the multiple fingers 40 close. The robot 2 may grip the adjacent tray 16b with the second gripping tool 6b. Note that the end effector 4 may have a sensor other than the force sensor 47, such as an acceleration sensor. The control unit 110 may determine that the second gripping tool 6b has hit the opening edge 165 of the adjacent tray 16b, for example, based on the acceleration of the end effector 4 and the second gripping tool 6b. Furthermore, the control unit 110 may, for example, decelerate the moving speed of the end effector 4 before the second gripping tool 6b comes into contact with the tray 16a.

[0161] Next, the control unit 110 controls the arm 3 to cause the robot 2 to move the arranged tray 16b gripped by the second gripping tool 6b to a predetermined location away from the tray 16a, as shown in FIG. 27 . The end effector 4 may have a sensor other than the force sensor 47, such as an acceleration sensor. The control unit 110 may determine that the gripping tool 6 has hit the tray 16a, for example, based on the acceleration of the end effector 4, the gripping tool 6, and the tray 16b. The control unit 110 may also reduce the moving speed of the end effector 4 before the gripping tool 6 comes into contact with the tray 16a.

[0162] Here, for example, an L-shaped positioning jig 180b for positioning the placed tray 16b is provided on the work table 18. The control unit 110 controls the arm 3 so that one outer corner of the placed tray 16b gripped by the second gripping tool 6b abuts on an inner corner of the L-shaped positioning jig 180b, and then controls the end effector 4 so that the multiple fingers 40 open, causing the robot 2 to place the placed tray 16b on the work table 18. The control unit 110 detects that the corners of the placed tray 16b have come into contact with two sides (x-axis and y-axis) constituting the L-shape of the positioning jig 180b based on detection results from sensors such as the force sensor 47 of the end effector 4, and determines the location of the work table 18. At this time, the control unit 110 controls the arm 3 so that one outer corner of the placed tray 16b approaches an inner corner of the positioning jig 180b while the placed tray 16b is tilted so that the one outer corner of the placed tray 16b is positioned lower than the other three outer corners. Then, the control unit 110 controls the end effector 4 so that the multiple finger units 40 open when the one outer corner of the placed tray 16b comes into contact with the inner corner of the positioning jig 180b. The angle at which the tray 16b is tilted is an acute angle, and may be, for example, 10 degrees or less, or even 5 degrees or less.

[0163] When the placed tray 16b is placed in a predetermined location, the control unit 110 causes the robot 2 to place the end effector 4 above the stacked empty trays 16b so that the camera 45 of the end effector 4 can capture an image of the stacked empty trays 16b. Thereafter, the control unit 110 performs object recognition on the topmost tray 16b of the stacked empty trays 16b, based on a camera image that captures the topmost tray 16b, as the recognition target.

[0164] Next, the control unit 110 performs a process of determining a gripping tool to be used based on the object information for the top tray 16b, and then performs a gripping tool comparison process. In this case, the gripping tool to be used for the top tray 16b is the second gripping tool 6b, and the gripping tool 6 currently held by the multiple finger units 40 is the second gripping tool 6b. Therefore, in the gripping tool comparison process, it is determined that the type of the gripping tool to be used is the same as the type of the gripping tool 6 currently held by the multiple finger units 40, and the gripping tool replacement process is not executed.

[0165] After executing the gripping tool comparison process, the control unit 110 causes the robot 2 to grip the top tray 16b of multiple stacked empty trays 16b with the second gripping tool 6b, as shown in FIG. 28 . At this time, similar to when the control unit 110 causes the robot 2 to grip the adjacent tray 16b, the control unit 110 may control the arm 3 so that the horizontal portion of the unique member 70 of the second gripping tool 6b contacts the opening edge 165 of the top tray 16b before the multiple finger units 40 close. Then, the control unit 110 controls the arm 3 so that the horizontal portion of the unique member 70 of the second gripping tool 6b contacts the opening edge 165 of the top tray 16b, and then controls the end effector 4 so that the multiple finger units 40 close. The control unit 110 may cause the robot 2 to grip the top tray 16b with the second gripping tool 6b.

[0166] After the second gripping tool 6b has gripped the top tray 16b, the control unit 110 controls the arm 3 to cause the robot 2 to move the empty tray 16b gripped by the second gripping tool 6b to next to the tray 16a, as shown in Fig. 29. Then, the control unit 110 controls the end effector 4 to cause the second gripping tool 6b to release its grip on the empty tray 16b. As a result, the empty tray 16b is placed next to the tray 16a and becomes the new adjacent tray 16b.

[0167] When an empty tray 16b is to be placed next to tray 16a, the control unit 110 controls the arm 3 so that one outer corner of the empty tray 16b gripped by the second gripping tool 6b abuts on an inner corner of the L-shaped positioning jig 180a, and then controls the end effector 4 so that the fingers 40 open, causing the robot 2 to place the empty tray 16a on the work table 18. At this time, the control unit 110 controls the arm 3 so that the one outer corner of the empty tray 16b approaches an inner corner of the positioning jig 180a, while tilting the empty tray 16b so that the one outer corner of the empty tray 16b is positioned lower than the other three corners. Then, when the one outer corner of the empty tray 16b abuts on the inner corner of the positioning jig 180a, the control unit 110 controls the end effector 4 so that the fingers 40 open.

[0168] When an empty tray 16b is placed next to the tray 16a, the control unit 110 causes the robot 2 to position the end effector 4 above the tray 16a, as shown in Figure 30, so that the camera 45 of the end effector 4 can photograph the object 15a in the tray 16a from above.

[0169] Next, the control unit 110 performs object recognition on the object 15a based on the camera image showing the object 15a in the tray 16a, and acquires object information about the object 15a.

[0170] Next, the control unit 110 performs a gripping tool determination process based on the object information regarding the object 15a, and then performs a gripping tool comparison process. In this case, the gripping tool to be used for the object 15a is the first gripping tool 6a, and the gripping tool 6 currently held by the multiple finger units 40 is the second gripping tool 6b. Therefore, after the gripping tool comparison process, the control unit 110 causes the robot 2 to perform a gripping tool exchange process, causing the robot 2 to exchange the gripping tool 6 held by the multiple finger units 40 from the second gripping tool 6b to the first gripping tool 6a. In the gripping tool exchange process, the robot 2 returns the second gripping tool 6b held by the multiple finger units 40 to the tool holding member 8 as shown in FIG. 31 , and then holds the first gripping tool 6a held by the tool holding member 8 with the multiple finger units 40 as shown in FIG. 17 above.

[0171] Thereafter, the control unit 110 similarly controls the robot 2 to move the objects 15a, 15b, 15c, and 15d from the tray 16a one by one to the adjacent tray 16b. Then, when the objects 15a, 15b, 15c, and 15d are placed one by one in the adjacent tray 16b, the control unit 110 causes the robot 2 to grasp the adjacent tray 16b with the second gripping tool 6b and move it to a predetermined location away from the tray 16a, in the same manner as described above. At this time, the control unit 110 controls the robot 2 so that the tray 16b grasped by the second gripping tool 6b is placed on top of the tray 16b already placed in the predetermined location, as shown in FIG. 32 . Thereafter, the control unit 110 operates in the same manner to cause the robot 2 to perform the task until there are no more objects 15 left in the tray 16a.

[0172] When the tray 16b (also referred to as the gripped tray 16b) gripped by the second gripping tool 6b is placed on the tray 16a on the workbench 18, the control unit 110 controls the arm 3 so that one outer corner of the gripped tray 16b comes into contact with one inner corner of the lower tray 16b (in other words, one corner of the opening of the tray 16b), and then controls the end effector 4 so that the multiple fingers 40 open. The control unit 110 detects that the corner of the gripped tray 16b has come into contact with two sides (x-axis and y-axis) that make up the corner of the lower tray 16b based on the detection results of sensors such as the force sensor 47 of the end effector 4, and determines the placement location of the gripped tray 16b. At this time, the control unit 110 controls the arm 3 so that one outer corner of the gripping tray 16b approaches one inner corner of the lower tray 16b while the gripping tray 16b is tilted so that the outer corner is positioned lower than the other three outer corners. Then, when the corner of the gripping tray 16b comes into contact with one inner corner of the lower tray 16b, the control unit 110 controls the end effector 4 so that the multiple fingers 40 open.

[0173] Although an example of the robot system 1 has been described above, the robot system 1 is not limited to the above example. For example, the tool set 600 provided in the robot system 1 may include a third gripping tool 6 including a unique member 70A and a common member 61 shown in FIG. 12 in addition to the second gripping tool 6b shown in FIG. 9 . The tool set 600 may also include a fourth gripping tool 6 including a unique member 70B and a common member 61 shown in FIG. 13 . The end effector 4 may grip a third tray having a flange portion larger than the tray 16b using the third gripping tool 6 or the fourth gripping tool 6. Because the unique member 70A has two hooking recesses 71 and the unique member 70B has a hooking groove 71b, the third gripping tool 6 or the fourth gripping tool 6 can stably grip the flange portion (in other words, the opening edge portion protruding outward) of the large third tray.

[0174] Furthermore, when the object to be grasped is a fourth tray having a flange portion that is thicker than the flange portion of tray 16b (i.e., opening edge portion 165), the end effector 4 may grasp the flange portion of the fourth tray with a fourth grasping tool 6 that includes a unique member 71B having a hooking groove portion 71b with an approximately U-shaped cross-sectional shape.

[0175] Furthermore, if there is a gripping object whose contact surface with the gripping tool 6 is curved, the tool set 600 may include a fifth gripping tool 6 (also referred to as a gripping tool for curved surfaces 6) having a unique member 70 including a curved surface that makes surface contact with the curved surface of the gripping object, suitable for gripping the gripping object. Furthermore, if there is a gripping object whose contact surface with the gripping tool 6 is flat, the tool set 600 may include a sixth gripping tool 6 (also referred to as a gripping tool for flat surfaces 6) having a unique member including a flat surface that makes surface contact with the flat surface of the gripping object, suitable for gripping the gripping object. Furthermore, if the gripping tool 6 is required to penetrate into finer spaces, the tool set 600 may include a seventh gripping tool having a unique member 70 that is thinner than the common member 61. In this case, the unique member 70 of the seventh gripping tool may be narrower than the common member 61 or longer than the common member 61. Furthermore, when efficient gripping of the objects to be gripped is required, the tool set 600 may include an eighth gripping tool having a unique member 70 including a scooping portion so that multiple objects to be gripped can be gripped at once. In this case, the eighth gripping tool may be composed of a single tool part having the unique member 70. Furthermore, when the object to be gripped is a tray 16a that does not have a flange portion, the tool set 600 may include a sixth gripping tool suitable for gripping the tray 16a. In this case, the sixth gripping tool may be a tool suitable for gripping the peripheral wall portion (in other words, the side wall portion) of the tray 16a from the outside, or may be a tool suitable for gripping the partition 160 of the tray 16a.

[0176] Furthermore, when there are objects to be grasped that have a slippery surface and objects that are soft and easily crushed, a first gripping tool 6a having an anti-slip member provided on the narrow portion 620 of the common member 61 (also referred to as an anti-slip first gripping tool 6a) and a first gripping tool 6a having a cushion member provided on the narrow portion 620 of the common member 61 (also referred to as a cushioned first gripping tool 6a) may be provided separately. In this case, the end effector 4 grasps the object to be grasped that has a slippery surface with the anti-slip first gripping tool 6a and grasps the soft and easily crushed object with the cushioned first gripping tool 6a.

[0177] In addition, in the above example, the same gripping tool 6 was used to grip the gripping objects 15a, 15b, 15c, or 15d, but the gripping operation may be performed with a different gripping tool 6 for at least some of the gripping objects.

[0178] Furthermore, in the above example, the gripping tool 6 used in the previous task was detached after object recognition of the next object to be grasped was performed. However, the gripping tool 6 may be detached after completing a gripping task and before object recognition of the next object to be grasped. Furthermore, depending on the size of the attached gripping tool, it may be determined whether to detach the gripping tool before object recognition of the next object to be grasped or after object recognition of the next object to be grasped. When the gripping tool is large, the movement path of the robot is limited. However, by detaching the gripping tool 6, the options for the movement path of the robot can be increased. It may also be determined to detach the gripping tool 6 when a movement path for photographing the next object to be grasped cannot be found.

[0179] When the tool set 600 includes a third gripping tool 6, the correspondence information 200 associates tool type information indicating the third gripping tool 6 with gripping object type information indicating the type of gripping object corresponding to the third gripping tool 6 (for example, gripping object type information indicating a third tray). The same applies when the tool set 600 includes a fourth gripping tool 6, etc.

[0180] In the gripping tool selection process, the control unit 110 of the overall control device 11 may determine the gripping tool 6 to be used to grip the gripping object based on both the size information and the shape information included in the object information about the gripping object. For example, consider a case where the tool set 600 includes a first curved gripping tool 6 suitable for gripping a large first gripping object having a curved surface and a second curved gripping tool 6 suitable for gripping a small second gripping object having a curved surface. Also consider a case where the shape information included in the object information about the gripping object includes information indicating whether the gripping object has a curved surface. In such a case, the control unit 110 may select the first curved gripping tool 6 as the gripping tool 6 when the size indicated by the size information is equal to or greater than a threshold value and the shape information indicates that the gripping object has a curved surface. In addition, the control unit 110 may select the second curved surface gripping tool 6 as the used gripping tool 6 if the size indicated by the size information is less than the threshold value and the shape information indicates that the surface of the object to be gripped includes a curved surface.

[0181] Furthermore, there may be a gripping object (common gripping object) that can be gripped by each of the multiple types of gripping tools 6 included in the tool set 600. In this case, no gripping tool exchange process is required regardless of the type of gripping tool 6 held by the end effector 4 when gripping the common gripping object.

[0182] In the above example, the fingers 40 of the end effector 4 detachably hold the tool part 60 by magnetic attraction, but the tool part 60 may be detachably held by other methods. For example, at least one of the multiple fingers 40 provided on the end effector 4 may detachably hold the tool part 60 by vacuum suction using a vacuum pump or the like. The multiple fingers 40 may include fingers 40 that detachably hold the tool part 60 by vacuum suction and fingers 40 that detachably hold the tool part 60 by magnetic suction.

[0183] In the above example, the holding portion 80 of the tool holding member 8 detachably holds the tool part 60 by magnetic attraction, but the tool part 60 may be detachably held by another method. For example, the holding portion 80 may detachably hold the tool part 60 by vacuum suction using a vacuum pump or the like.

[0184] Furthermore, in the above example, the robot 2 removes the gripping tool 6 from the tool holding member 8 and attaches the gripping tool 6 to the tool holding member 8, but these tasks may also be performed by a person. In this case, the gripping tool 6 removed from the tool holding member 8 may be attached to the multiple finger units 40 by a person. Furthermore, the gripping tool 6 may be removed from the multiple finger units 40 and attached to the tool holding member 8 by a person.

[0185] Furthermore, in the above example, one tool holding member 8 holds one gripping tool 6, but one tool holding member 8 may hold a plurality of gripping tools 6. For example, one tool holding member 8 may hold a first gripping tool 6a and a second gripping tool 6b.

[0186] Furthermore, in the above example, the tool holding member 8 on the work table 18 holds the gripping tool 6, but the gripping tool 6 may be placed directly on the work table 18.

[0187] As described above, in this example, a tool set 600 is provided that includes multiple types of gripping tools 6 that can be replaced and detached from the end effector 4 and that can grip an object. Therefore, a gripping tool 6 that corresponds to an object to be gripped can be attached to the end effector 4 from among the multiple types of gripping tools 6. This allows the end effector 4 to grip the object using the gripping tool 6 that corresponds to the object, thereby improving the success rate of the end effector 4 in gripping an object. As a result, the working efficiency of the robot 2 is improved.

[0188] Furthermore, in this example, multiple types of gripping tools 6 can be attached and detached to the end effector 4, which reduces costs and the space required for replacement compared to replacing the entire end effector 4 depending on the object to be gripped.

[0189] In addition, in this example, for each of the multiple types of gripping tools 6, each tool part 60 has a common part 61 that is common to the multiple types of gripping tools 6, thereby reducing the cost of the tool set 600 that includes the multiple types of gripping tools 6.

[0190] Furthermore, when the gripping tool 6 has a common member 61 and a unique member that is specific to the gripping tool 6, like the second gripping tool 6b, multiple types of gripping tools 6 can be easily prepared by preparing multiple types of unique members.

[0191] Furthermore, as in this example, when the common member 61 is detachable from the finger portion 40 of the end effector 4, the configuration of the holding portion 41 in the finger portion 40 that holds the gripping tool 6 can be made common among multiple types of gripping tools 6.

[0192] Furthermore, when the tool holding member 8 holds at least one of a plurality of types of gripping tools 6 by magnetic attraction, the gripping tool 6 can be attached to and detached from the tool holding member 8 quickly and easily.

[0193] Furthermore, when the finger portion 40 holds the tool part 60 by magnetic attraction, the tool part 60 can be attached to and detached from the finger portion 40 quickly and easily.

[0194] Furthermore, as in the above example, the control unit 110 can appropriately determine the gripping tool 6 to be used and held by the multiple finger portions 40 from multiple types of gripping tools 6 based on object information regarding the object to be grasped, thereby determining the gripping tool 6 to be used according to the object to be grasped.

[0195] Furthermore, if the memory unit 111 of the overall control device 11 stores the tool reference position of the gripping tool 6 when the end effector 4 holds the gripping tool 6 for each of multiple types of gripping tools 6, there is no need to set the tool reference position of the replaced gripping tool 6 every time the gripping tool 6 held by the end effector 4 is replaced.

[0196] Although the above description describes that the memory unit 111 stores the tool reference position for each of the multiple types of gripping tools 6, the memory unit 111 may also store external shape information for each gripping tool. As a result, the external shape information is acquired according to the gripping tool 6 held by the end effector 4, and the robot's movement path can be estimated so as to avoid collision between the gripping tool 6 and obstacles during robot movement. Note that the external shape information for each gripping tool does not have to be the external shape of the gripping tool 6 itself. For example, it may be polygon data formed by connecting multiple vertices of the gripping tool 6 with straight lines.

[0197] Furthermore, when the robot 2 replaces the gripping tool 6 held by the end effector 4 as in the examples of FIGS. 16 to 32, the task of replacing the gripping tool 6 by a human is not required.

[0198] Furthermore, as in the examples of Figures 16 to 32 above, when the robot 2 removes the gripping tool 6 from the tool holding member 8 and then returns the removed gripping tool 6 to the original tool holding member 8, the robot 2 only needs to move to the same location when using the same gripping tool 6, thereby simplifying the control processing of the control unit 110 for the robot 2.

[0199] At least a part of the processing performed by the control unit 110 of the overall control device 11 may be executed by the control unit 120 of the effector control device 12. For example, object recognition of the object to be grasped may be executed by the control unit 120.

[0200] In addition, instead of the overall control device 11 and the effector control device 12, one control device may be provided to control the arm 3 and the end effector 4, or three or more control devices may be provided to control the arm 3 and the end effector 4.

[0201] As described above, the tray 16 is tilted when the tray 16 is placed. However, the tilt angle of the tray 16 may be changed for each tray 16, or for each task type or task object. The tray 16 may also have a downwardly protruding convex portion that forms a corner. In the above example, the tray 16 is tilted so that one outer corner of the tray 16 is positioned lower than the other three outer corners. However, the tray 16 does not need to be tilted as long as the corner of the tray 16 can contact the positioning jig 180b or the tray 16 below. In the above example, the multiple fingers 40 open after the outer corner of the tray 16 contacts the positioning jig 180b or the tray 16 below. However, the multiple fingers 40 may open after a portion of the tray 16 other than the outer corner contacts the floor. In this case, after the tray 16 is returned to its original tilt, it may be determined based on the sensor output of the end effector 4 that another portion of the tray 16 has contacted the floor, and the multiple fingers 40 may open. Alternatively, after the outer corner of the arranged tray 16 hits the positioning jig 180b, it may be determined that the posture of the end effector 4 has become horizontal, and the multiple finger portions 40 may open.

[0202] Although the robot system has been described in detail above, the above description is merely an example in all respects, and the present disclosure is not limited thereto. Furthermore, the various examples described above can be combined and applied as long as they are not mutually contradictory. It is understood that countless examples not illustrated can be envisioned without departing from the scope of this disclosure.

[0203] This disclosure includes the following:

[0204] In one embodiment, (1) the control layer device includes a control unit that controls at least a part of a robot system that performs a gripping operation on a gripping object, and the control unit acquires object information about the gripping object, and determines a gripping tool to be used for the gripping operation from multiple types of gripping tools based on the acquired object information.

[0205] (2) A control device according to (1) above, wherein the object information includes at least one of size information regarding the size of the object to be grasped and shape information regarding the shape of the object to be grasped, and the control unit determines the grasping tool to be used based on at least one of the size information and the shape information.

[0206] (3) A control device according to (1) or (2) above, wherein the object information includes type information indicating the type of the object to be grasped, and the control unit determines a grasping tool to be used that corresponds to the type indicated by the type information.

[0207] (4) In the control device of any one of (1) to (3) above, the control unit acquires a reference position that serves as a reference point for controlling the robot depending on the gripping tool being used that the robot holds.

[0208] (5) In any one of the control devices (1) to (4) above, the control unit, after determining the gripping tool to be used, moves multiple finger units of the robot to a first location among the locations where the multiple types of gripping tools are placed where the gripping tool to be used is placed, and has the multiple finger units hold the gripping tool to be used and move it from the first location.

[0209] (6) In any one of the control devices (1) to (5) above, the control unit determines whether the gripping tool held by the robot is the gripping tool to be used after determining the gripping tool to be used.

[0210] (7) In the control device of (6) above, when the gripping tool is not the used gripping tool, the control unit releases the gripping tool and holds the used gripping tool.

[0211] (8) In the control device described in (5) above, the control unit returns the used gripping tool that has been moved from the first location to the first location and causes the multiple finger portions to release their hold on the used gripping tool.

[0212] (9) In the control device of (8) above, after the plurality of finger portions release their hold on the used gripping tool, the control unit moves the plurality of finger portions to a second location among the locations where the plurality of types of gripping tools are placed, where another used gripping tool is placed, and has the plurality of finger portions hold the other used gripping tool and move it from the second location.

[0213] Also, in one embodiment, (10) a gripping tool is a gripping tool that is attachable to and detachable from multiple finger portions of a robot end effector and is capable of gripping an object, and is provided with a base portion that includes a first attachment portion that is attached to the multiple finger portions and a second attachment portion to which another member can be attached.

[0214] (11) The gripping tool according to (10) above, further comprising an extension portion that is attached to the second attachment portion of the base portion and is capable of gripping an object.

[0215] (12) In the gripping tool according to (10) or (11) above, the second attachment portion of the base portion is capable of gripping an object.

[0216] Also, in one embodiment, (13) the tool set includes multiple types of gripping tools that are each detachable from the end effector of the robot and capable of gripping an object, and each of the multiple types of gripping tools has a common component including a first common shape portion that has a shape common to the multiple types of gripping tools and can be attached to the end effector, and a second common shape portion that has a shape common to the multiple types of gripping tools and can have another component attached to it.

[0217] (14) The tool set of (13) above, wherein the multiple types of gripping tools include a first gripping tool, and the first gripping tool is capable of gripping an object with the common member.

[0218] (15) A tool set according to (13) or (14) above, wherein the plurality of types of gripping tools includes a second gripping tool, the second gripping tool having the common member and a unique member unique to the second gripping tool that can be attached to the second common shape portion of the common member, and the second gripping tool is capable of gripping an object with the unique member.

[0219] In one embodiment, (16) the end effector includes a plurality of fingers that detachably hold any one of the gripping tools (10) to (15) above.

[0220] In one embodiment, the robot (17) is equipped with the end effector (16) described above.

[0221] In one embodiment, the program (18) is a program for causing a computer device to function as any one of the control devices (1) to (9) above.

[0222] Also, in one embodiment, (19) a control method is a control method for a robot system that performs a gripping operation on a gripping object, in which object information regarding the gripping object is acquired, and a gripping tool to be used for the gripping operation is determined from multiple types of gripping tools based on the acquired object information.

[0223] 2 Robot 4 End effector 6 Grasping tool 6a First gripping tool 6b Second gripping tool 15, 15a, 15c, 15c, 15d Object 16, 16a, 16b Tray 40 Finger portion 60, 60a, 60b Tool part 61, 61A Common member 70, 70A, 70B Unique member 80 Tool holding member 110, 120 Control unit 111a, 121a Program 600 Tool set

Claims

1. A control device comprising a control unit that controls at least a part of a robot system that performs a gripping operation on an object to be gripped, the control unit acquiring object information regarding the object to be gripped, and determining a gripping tool to be used for the gripping operation from among multiple types of gripping tools based on the acquired object information.

2. A control device as described in claim 1, wherein the object information includes at least one of size information regarding the size of the object to be grasped and shape information regarding the shape of the object to be grasped, and the control unit determines the gripping tool to be used based on at least one of the size information and the shape information.

3. A control device as described in claim 1 or claim 2, wherein the object information includes type information indicating the type of the object to be grasped, and the control unit determines a gripping tool to be used that corresponds to the type indicated by the type information.

4. A control device according to any one of claims 1 to 3, wherein the control unit obtains a reference position that serves as a reference point for controlling the robot according to the gripping tool being held by the robot.

5. A control device as described in any one of claims 1 to 4, wherein the control unit, after determining the gripping tool to be used, moves multiple finger units of the robot to a first location among the locations where the multiple types of gripping tools are placed where the gripping tool to be used is placed, and has the multiple finger units hold the gripping tool to be used and move it from the first location.

6. A control device as described in any one of claims 1 to 5, wherein the control unit, after determining the gripping tool to be used, determines whether the gripping tool held by the robot is the gripping tool to be used.

7. A control device according to claim 6, wherein the control unit, when the gripping tool is not the used gripping tool, releases the gripping tool and holds the used gripping tool.

8. A control device as described in claim 5, wherein the control unit returns the used gripping tool, which has been moved from the first location, to the first location and causes the multiple finger units to release their hold on the used gripping tool.

9. A control device as described in claim 8, wherein the control unit, after the multiple finger portions release their hold on the current gripping tool, moves the multiple finger portions to a second location among the locations for the multiple types of gripping tools where another current gripping tool is placed, and has the multiple finger portions hold the other current gripping tool and move it from the second location.

10. A gripping tool that can be attached and detached to multiple fingers of a robot end effector and can grasp an object, comprising a base portion including a first attachment portion attached to the multiple fingers and a second attachment portion to which another member can be attached.

11. A gripping tool according to claim 10, further comprising an extension portion mounted on said second mounting portion of said base portion and capable of gripping an object.

12. A gripping tool according to claim 10 or 11, wherein the second mounting portion of the base portion is capable of gripping an object.

13. A tool set comprising multiple types of gripping tools each capable of being attached to and detached from an end effector of a robot and capable of gripping an object, wherein each of the multiple types of gripping tools has a common member including a first common shape portion having a shape common to the multiple types of gripping tools and capable of being attached to the end effector, and a second common shape portion having a shape common to the multiple types of gripping tools and capable of receiving another member.

14. A toolset as claimed in claim 13, wherein the plurality of types of gripping tools includes a first gripping tool, the first gripping tool being capable of gripping an object with the common member.

15. A toolset as described in claim 13 or claim 14, wherein the multiple types of gripping tools include a second gripping tool, the second gripping tool having the common member and a unique member unique to the second gripping tool that can be attached to the second common shape portion of the common member, and the second gripping tool is capable of gripping an object with the unique member.

16. An end effector comprising a plurality of fingers for releasably holding a gripping tool according to any one of claims 10 to 15.

17. A robot comprising an end effector according to claim 16.

18. A program for causing a computer device to function as a control device according to any one of claims 1 to 9.

19. A control method for a robot system that performs a gripping operation on an object to be gripped, comprising: acquiring object information about the object to be gripped; and determining a gripping tool to be used for the gripping operation from among multiple types of gripping tools based on the acquired object information.

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