Robot system

Abstract

A robot system (100) comprises: a conveyor (10) that conveys an object (W); an object accommodation body (20) on which the object (W) is loaded and accommodated; and a robot (30) that holds the object accommodation body (20) such that the object (W) is loaded from the conveyor (10) onto the object accommodation body (20).

Description

Robot System

[0001] The present disclosure relates to a robotic system including a robot that loads objects from a conveyor into an object container.

[0002] Conventionally, robot control devices equipped with a robot that loads workpieces from a conveyor onto a pallet have been known. For example, Japanese Patent Laid-Open Publication No. 4-75886 discloses a robot control device that stacks workpieces on a pallet by gripping the workpieces sent by a conveyor with the hands of the robot and transporting them directly above the pallet.

[0003] Japanese Patent Application Publication No. 4-75886

[0004] However, in the robot control device described in JP 4-75886 A, workpieces fed by a conveyor are grasped by the robot's hand and transported directly above the pallet, thereby stacking the workpieces on the pallet. Therefore, the robot's hand must move from the conveyor to the pallet each time a workpiece is transported from the conveyor to the pallet. In this case, the robot's hand must move back and forth between the conveyor and the pallet multiple times, which results in a relatively long robot operation time for loading the workpieces from the conveyor onto the pallet. Therefore, a configuration is desired that can shorten the operation time for loading workpieces (objects) from the conveyor onto the pallet (object container).

[0005] This disclosure has been made to solve the above-mentioned problems, and one object of this disclosure is to provide a robot system that can shorten the work time required to load an object from a conveyor into an object container.

[0006] In order to achieve the above object, a robot system according to one aspect of this disclosure includes a conveyor that transports objects, an object container that loads and stores the objects, and a robot that holds the object container so that the objects are loaded from the conveyor into the object container.

[0007] As described above, a robot system according to one aspect of this disclosure includes a robot that holds an object container so that objects can be loaded from the conveyor into the object container. This allows objects to be loaded directly from the conveyor into the object container. In this case, there is no need to move the robot's hand back and forth multiple times between the conveyor and the object container to transport the objects from the conveyor to the object container. As a result, the work time required to load objects from the conveyor into the object container can be reduced.

[0008] According to the present disclosure, as described above, it is possible to provide a robot system that can reduce the work time required to load an object from a conveyor into an object container.

[0009] FIG. 1 is a perspective view showing a robot system according to an embodiment of the present disclosure; FIG. 2 is a perspective view showing a state before an object is loaded from a conveyor into an object container in a robot system according to an embodiment of the present disclosure; FIG. 3 is a perspective view showing a state after an object has been loaded from a conveyor into an object container in a robot system according to an embodiment of the present disclosure; FIG. 4 is a plan view for explaining the operation of a pushing mechanism and positioning in a robot system according to an embodiment of the present disclosure; FIG. 5 is a perspective view showing a state after an object has been loaded from a conveyor into an object container in a robot system according to an embodiment of the present disclosure and the clamping of the object container by the rotating members of the hand has been released;

[0010] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

[0011] The configuration of a robot system 100 according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 5.

[0012] As shown in FIG. 1, the robot system 100 includes a conveyor 10 that transports an object W, an object container 20 in which the object W is loaded and stored, and a robot 30 that holds the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20.

[0013] The object container 20 is a dolly. Specifically, the object container 20 includes a dolly bottom 21 on which the object W is placed, a plurality of wheels 22 attached to the underside of the dolly bottom 21, and a pair of side surfaces 23 extending from both ends of the dolly bottom 21 toward the opposite side from the plurality of wheels 22. Note that while the figure illustrates an example in which the object container 20 includes six wheels 22, the number of wheels 22 is not limited to six as long as it is four or more. Note that the figure illustrates an example in which the dolly bottom 21 is formed in a plate shape, but the dolly bottom 21 may be formed in a shape that can support a non-plate-shaped object W, such as a lattice-shaped, fence-shaped, or mesh-shaped object. Furthermore, the figure illustrates an example in which the side surface 23 is formed in a plate shape, but the side surface 23 may be formed in a shape that can prevent a non-plate-shaped object W, such as a lattice-shaped, fence-shaped, or mesh-shaped object W, from falling onto the side surface 23.

[0014] The robot 30 includes a hand 31 that holds the object container 20, and a robot operation control unit 32 that controls the hand 31 to hold the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20. Note that while the figure shows an example in which the robot 30 is a vertical articulated robot, the robot 30 may also be a horizontal articulated robot, a Cartesian coordinate robot, a parallel link robot, etc. Note that the robot operation control unit 32 is an example of a control unit.

[0015] The robot operation control unit 32 is a circuit board including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

[0016] Robot system 100 includes object imaging unit 51 as a camera that captures an image of object W on the conveyor, and object container imaging unit 52 as a camera that captures an image of object container 20. Note that object container imaging unit 52 is an example of an imaging unit.

[0017] The robot operation control unit 32 controls the hand 31 to hold the object container 20 while changing the angle of the object container 20 with respect to the vertical direction in accordance with the amount of objects W loaded in the object container 20 imaged by the object container imaging unit 52. Specifically, as shown in Fig. 2 , when starting to load the objects W into the object container 20, the robot operation control unit 32 holds the object container 20 with the hand 31 so that the cart bottom 21 of the object container 20 is perpendicular to the vertical direction. Then, as shown in Fig. 3 , the robot operation control unit 32 holds the object container 20 with the hand 31 so that the cart bottom 21 of the object container 20 gradually tilts toward the robot 30 from the direction perpendicular to the vertical direction as the amount of objects W loaded in the object container 20 increases.

[0018] 1, the robot system 100 includes a push-in mechanism 61 that pushes the object W from the conveyor 10 toward the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20. Specifically, as shown in FIG. 4, the push-in mechanism 61 includes a push-in member 61a that moves from the conveyor 10 toward the object container 20 while the object W is in contact with the conveyor 10, thereby pushing the object W toward the object container 20, and a drive source (not shown) that moves the push-in member 61a. When the push-in member 61a is not pushing the object W toward the object container 20, the push-in member 61a retreats to a lateral retreat position P so that the object W can pass downstream of the push-in member 61a without interfering with the push-in member 61a.

[0019] The robot system 100 includes a positioning mechanism 62 that positions the object W on the conveyor 10 by pushing the object W from the side. Specifically, the positioning mechanism 62 includes a contact member 62a for contacting the object W, a cylinder 62b for moving the contact member 62a laterally, and a drive source (not shown) for driving the cylinder 62b. On the side of the contact member 62a opposite the object container 20 side, an inclined portion 62c is provided for guiding the object W transported from the upstream side of the conveyor 10 so that it comes into contact with the contact member 62a. Note that while the figure shows an example in which there are two cylinders 62b, there may be one cylinder 62b or three or more cylinders 62b.

[0020] The positioning mechanism 62 is disposed upstream of the pushing mechanism 61 on the conveyor 10. That is, after the object W is positioned by the positioning mechanism 62, it is pushed by the pushing mechanism 61 from the conveyor 10 side to the object container 20 side.

[0021] 2, the hand 31 includes a wheel mounting portion 31a on which the plurality of wheels 22 of the object container 20 are mounted, and a plate-like portion 31b that is connected to the wheel mounting portion 31a and covers the object container 20 from the side opposite the conveyor 10. The plate-like portion 31b can prevent the objects W loaded in the object container 20 from falling out of the object container 20 when the object container 20 is held by the hand 31 so that the carriage bottom portion 21 of the object container 20 is inclined toward the robot 30 from a direction perpendicular to the vertical direction.

[0022] The hand 31 includes a rotating member 31c that rotates to switch between a state in which the object container 20 is sandwiched from both sides in the X direction, which is the width direction of the object container 20, and a state in which the object container 20 is not sandwiched. Specifically, when the hand 31 holds the object container 20, the rotating member 31c rotates to a state in which the cart bottom 21 of the object container 20 is sandwiched from both sides in the X direction. Furthermore, as shown in FIG. 5 , when the hand 31 releases its hold of the object container 20, the rotating member 31c rotates to a state in which the cart bottom 21 of the object container 20 is not sandwiched from both sides in the X direction. In other words, when it is necessary to hold the object container 20 with the hand 31, the rotating member 31c functions as an X-direction movement restricting member that restricts movement of the object container 20 in the X direction. When it is necessary to hold the object container 20 by the hand 31, a conveyor-side movement restriction member may be provided to restrict movement of the object container 20 towards the conveyor 10. The conveyor-side movement restriction member may be, for example, a convex portion provided at the end of the wheel mounting portion 31a on the conveyor 10 side, or a portion extending from the tip of the rotating member 31c on the conveyor 10 side so as to cover the conveyor 10 side of the cart bottom portion 21 of the object container 20 when the object container 20 is held by the hand 13.

[0023] 1, first, a plurality of objects W are sequentially conveyed to the end of the conveyor 10. At this time, the positioning mechanism 62 pushes the objects W from the side, thereby positioning the objects W on the conveyor 10.

[0024] Then, the object W on the conveyor 10 is imaged by the object imaging unit 51. Then, the dimensions of the object W are measured based on the image captured by the object imaging unit 51. Also, the object container imaging unit 52 images the object container 20. The state of the object container 20 is confirmed based on the image captured by the object container imaging unit 52. Then, based on the state of the object container 20, the position in the object container 20 where the object W should be placed is calculated.

[0025] The robot 30 then holds the object container 20 with the hand 31 so that the object W is loaded from the conveyor 10 into the object container 20. Specifically, the robot operation control unit 32 controls the hand 31 to adjust the position of the object container 20 held by the hand 31, based on the position where the object W is to be placed in the object container 20. The pushing mechanism 61 also pushes the object W from the conveyor 10 side toward the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20. In this way, the object W is loaded from the conveyor 10 into the object container 20. When the object container 20 is held by the hand 31, the rotating members 31c are in a state in which they sandwich the carriage bottom portion 21 of the object container 20 from both sides in the X direction.

[0026] Then, by repeating the above flow, a plurality of objects W are loaded in the object container 20, as shown in Fig. 3. Then, as shown in Fig. 5, after the loading of the objects W from the conveyor 10 onto the object container 20 is completed, the rotating member 31c rotates so that the cart bottom portion 21 of the object container 20 is no longer sandwiched from both sides in the X direction, in order to release the hand 31 from holding the object container 20,

[0027] [Effects of the embodiment] The present embodiment can provide the following effects.

[0028] In this embodiment, as described above, the robot system 100 includes the robot 30 that holds the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20. This allows the object W to be loaded directly from the conveyor 10 into the object container 20. In this case, it is not necessary to move the hand 31 of the robot 30 back and forth multiple times between the conveyor 10 and the object container 20 to transport the object W from the conveyor 10 to the object container 20. As a result, the work time required to load the object W from the conveyor 10 into the object container 20 can be shortened.

[0029] Furthermore, in this embodiment, as described above, the robot 30 includes the hand 31 that holds the object container 20, and the robot operation control unit 32 that serves as a control unit that controls the hand 31 to hold the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20. As a result, by controlling the hand 31 with the robot operation control unit 32, the object container 20 can be easily held so that the object W is loaded from the conveyor 10 into the object container 20.

[0030] Furthermore, in this embodiment, as described above, the robot system 100 includes the object container imaging unit 52 as an imaging unit that images the object container 20. The robot operation control unit 32 as a control unit controls the hand 31 to hold the object container 20 while changing the angle of the object container 20 with respect to the vertical direction in accordance with the amount of objects W loaded in the object container 20 imaged by the object container imaging unit 52 as an imaging unit. This makes it possible to maintain the angle of the object container 20 with respect to the vertical direction at an optimal angle for loading the objects W from the conveyor 10 into the object container 20 in accordance with the amount of objects W loaded in the object container 20.

[0031] Furthermore, in this embodiment, as described above, the robot system 100 includes a push-in mechanism 61 that pushes the object W from the conveyor 10 toward the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20. This allows the object W to be easily loaded from the conveyor 10 into the object container 20 by using the push-in mechanism 61 to push the object W from the conveyor 10 toward the object container 20.

[0032] Furthermore, in this embodiment, as described above, the robot system 100 includes the positioning mechanism 62, which is disposed upstream of the pushing mechanism 61 on the conveyor 10 and positions the object W on the conveyor 10 by pushing the object W from the side. As a result, by pushing the object W from the side by the positioning mechanism 62 upstream of the pushing mechanism 61 on the conveyor 10, the object W can be easily positioned on the conveyor 10 before the pushing mechanism 61 pushes the object W from the conveyor 10 side toward the object container 20 side.

[0033] Furthermore, in this embodiment, as described above, the robot 30 includes the hand 31 that holds the object container 20. The hand 31 also includes a plate-like portion 31b that covers the object container 20 from the side opposite the conveyor 10. This makes it possible to prevent the objects W loaded in the object container 20 from falling out of the object container 20 by the plate-like portion 31b covering the object container 20 from the side opposite the conveyor 10.

[0034] Furthermore, in this embodiment, as described above, the robot 30 includes the hand 31 that holds the object container 20. The hand 31 includes a rotating member 31c that rotates to switch between a state in which the object container 20 is sandwiched and a state in which the object container 20 is not sandwiched. As a result, when the object container 20 is held by the hand 31, by putting the rotating member 31c into a state in which the object container 20 is sandwiched, it is possible to prevent the state in which the object container 20 is held by the hand 31 from being lost.

[0035] Furthermore, in this embodiment, as described above, the object container 20 is a cart, which allows the object container 20 to be easily moved before and after the objects W are loaded onto the object container 20 from the conveyor 10.

[0036] [Modifications] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope equivalent to the claims.

[0037] For example, in the above embodiment, an example was shown in which the inclined portion 62c for guiding the object W transported from the upstream side of the conveyor 10 to contact the contact member 62a is provided on the side of the contact member opposite the object container 20 side, but the present disclosure is not limited to this. In the present disclosure, it is not necessary to provide the inclined portion for guiding the object W transported from the upstream side of the conveyor to contact the contact member on the side of the contact member opposite the object container side.

[0038] Furthermore, in the above embodiment, an example was shown in which the object container 20 was a dolly, but the present disclosure is not limited to this. In the present disclosure, the object container may be a pallet or the like.

[0039] In the above embodiment, the hand 31 includes the rotating member 31c that rotates to switch between a state in which the object container 20 is clamped and a state in which the object container 20 is not clamped, but the present disclosure is not limited to this. In the present disclosure, the hand does not have to include the rotating member.

[0040] Furthermore, in the above embodiment, an example has been described in which the hand 31 includes the plate-like portion 31b that covers the object container 20 from the side opposite the conveyor 10, but the present disclosure is not limited to this. In the present disclosure, the hand does not necessarily have to include the plate-like portion.

[0041] In the above embodiment, when the push-in member 61a does not push the object W toward the object container 20, the push-in member 61a retreats to the lateral retreat position P so that the object W can pass downstream of the push-in member 61a without interfering with the push-in member 61a, but the present disclosure is not limited to this. In the present disclosure, when the push-in member does not push the object toward the object container 20, the push-in member may retreat to an upper retreat position so that the object can pass downstream of the push-in member without interfering with the push-in member.

[0042] In addition, in the above embodiment, an example has been shown in which the positioning mechanism 62 is disposed upstream of the push-in mechanism 61 on the conveyor 10, but the present disclosure is not limited to this. In the present disclosure, the positioning mechanism may be disposed downstream of the push-in mechanism on the conveyor.

[0043] In the above embodiment, the robot system 100 includes the positioning mechanism 62 that positions the object W on the conveyor 10 by pushing the object W from the side, but the present disclosure is not limited to this. In the present disclosure, the robot system does not necessarily have to include the positioning mechanism.

[0044] Furthermore, in the above embodiment, an example was shown in which the robot system 100 includes the push-in mechanism 61 that pushes the object W from the conveyor 10 toward the object container 20 so that the object W is loaded from the conveyor 10 into the object container 20, but the present disclosure is not limited to this. In the present disclosure, the robot system does not necessarily have to include the push-in mechanism.

[0045] Furthermore, in the above embodiment, an example was described in which the robot operation control unit 32 serving as a control unit controls the hand 31 to hold the object container 20 while changing the angle of the object container 20 with respect to the vertical direction in accordance with the load of objects W loaded in the object container 20 imaged by the object container imaging unit 52 serving as an imaging unit. However, the present disclosure is not limited to this. In the present disclosure, the control unit may control the hand to hold the object container while changing the angle of the object container with respect to the vertical direction in accordance with the load of objects loaded in the object container acquired by a method other than imaging by the imaging unit. Furthermore, the control unit may control the hand to hold the object container while changing the angle of the object container with respect to the vertical direction in the process of loading one object into the object container. Furthermore, the control unit may control the hand to hold the object container without changing the angle of the object container with respect to the vertical direction.

[0046] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0047] Aspects It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0048] (Aspect 1) A robot system comprising: a conveyor that transports objects; an object container in which the objects are loaded and stored; and a robot that holds the object container so that the objects are loaded from the conveyor into the object container.

[0049] (Aspect 2) The robot system according to aspect 1, wherein the robot comprises: a hand that holds the object container; and a control unit that controls the hand to hold the object container so that the objects are loaded from the conveyor into the object container.

[0050] (Aspect 3) A robot system according to Aspect 2, further comprising an imaging unit that images the object container, wherein the control unit controls the hand to hold the object container while changing the angle of the object container with respect to a vertical direction in accordance with the load of the objects loaded in the object container imaged by the imaging unit.

[0051] (Aspect 4) The robot system according to any one of Aspects 1 to 3, further comprising a push-in mechanism that pushes the object from the conveyor side to the object container side so that the object is loaded from the conveyor into the object container.

[0052] (Aspect 5) The robot system according to Aspect 4, further comprising a positioning mechanism that positions the object on the conveyor by pushing the object from the side, the positioning mechanism being disposed upstream of the pushing mechanism on the conveyor.

[0053] (Aspect 6) The robot system according to any one of Aspects 1 to 5, wherein the robot includes a hand that holds the object container, and the hand includes a plate-like portion that covers the object container from the side opposite to the conveyor.

[0054] (Aspect 7) The robot system according to any one of Aspects 1 to 6, wherein the robot includes a hand that holds the object container, and the hand includes a rotating member that rotates to switch between a state in which the object container is sandwiched and a state in which the object container is not sandwiched.

[0055] (Aspect 8) The robot system according to any one of Aspects 1 to 7, wherein the object container is a cart.

Claims

1. A robot system comprising: a conveyor that transports objects; an object container in which the objects are loaded and stored; and a robot that holds the object container so that the objects are loaded from the conveyor into the object container.

2. The robot system of claim 1, wherein the robot comprises: a hand that holds the object container; and a control unit that controls the hand to hold the object container so that the object is loaded from the conveyor into the object container.

3. A robot system as described in claim 2, further comprising an imaging unit that images the object container, and wherein the control unit controls the hand to hold the object container while changing the angle of the object container with respect to the vertical direction according to the load of the objects loaded in the object container imaged by the imaging unit.

4. The robot system according to claim 1, further comprising a pushing mechanism that pushes the object from the conveyor side to the object container side so that the object is loaded from the conveyor into the object container.

5. The robot system according to claim 4, further comprising a positioning mechanism that is disposed upstream of the conveyor from the pushing mechanism and that positions the object on the conveyor by pushing the object from the side.

6. The robot system according to claim 1, wherein the robot includes a hand that holds the object container, and the hand includes a plate-like portion that covers the object container from the side opposite the conveyor.

7. The robot system according to claim 1, wherein the robot includes a hand that holds the object container, and the hand includes a rotating member that rotates so as to switch between a state in which the object container is clamped and a state in which it is not clamped.

8. The robot system according to claim 1, wherein the object container is a cart.

Images