Handling device, handling system, control device, and control method

Abstract

A handling device (50) comprises: a support mechanism (33d) that supports one side-surface side of the upper portion of a workpiece; and an orientation correction mechanism (54) that is capable of pressing the lower portion of the one side surface. The support mechanism (33d) may be formed by a hook-shaped support member that is inserted from below into at least a downward-opening recess provided to the upper portion of the one side surface. With the handling device (50), it is possible to accurately convey a workpiece to a prescribed position at a prescribed conveyance destination without inclining the workpiece, even if the workpiece can only be supported from one side.

Description

Handling Device, Handling System, Control Device, and Control Method

[0001] The present disclosure relates to a handling device, a handling system, a control device, and a control method.

[0002] A device is known that places an article on the tip of a support arm extending in the horizontal direction and transports it to a predetermined transport destination (see, for example, Patent Document 1). This device measures the weight of the article placed on the support arm and corrects it so that the portion of the support arm where the article is placed is maintained in a horizontal state by slightly tilting the base end side of the support arm according to the measured value.

[0003] Japanese Patent Laid-Open No. 6-142795

[0004] Since the above correction method corrects a slight displacement of the article caused by the deflection of the support arm, for example, it is not possible to correct the displacement of the article caused by the deflection of the article itself supported by the support arm. That is, in the case of transporting a resin container by supporting only one side thereof, the container itself is greatly deflected, and the posture and position of the container during transportation are greatly displaced. Therefore, even with the above correction method, accurate transportation cannot be performed.

[0005] Therefore, even when the object to be transported can be supported only from one side, it is desired to be able to accurately transport the article to a predetermined position at a predetermined transport destination without tilting the article.

[0006] One aspect of the present disclosure is a handling device including a support mechanism that supports one side surface side of the upper part of a workpiece and a posture correction mechanism that can press the lower part of the one side surface.

[0007] This is a schematic diagram showing a control device according to one embodiment of the present disclosure and the configuration of a robot to which the control device is applied. This is a partial cross-sectional view showing the shape of a workpiece being transported by the robot shown in Figure 1. This is a perspective view showing an example of a robot hand attached to the robot shown in Figure 1. This is a diagram illustrating the state in which the claw portion of the robot hand shown in Figure 3 is hooked into the groove of the workpiece. This is a side view showing the state in which the robot hand shown in Figure 3 has lifted the workpiece. This is a flowchart illustrating the control method by the control device shown in Figure 1. This is a diagram illustrating a method for correcting the tilt of the workpiece's posture by the control device shown in Figure 1. This is a side view showing a first modified example of the robot hand shown in Figure 3. This is a side view showing a second modified example of the robot hand shown in Figure 3. This is a perspective view showing the configuration of a robot hand according to one embodiment of the present disclosure. This is a side view showing the state in which the robot hand shown in Figure 10 has lifted the workpiece W. This is a diagram illustrating a method for correcting the tilt of the workpiece's posture by the robot hand shown in Figure 10. This is a side view showing the configuration of a first modified example of the robot hand according to one embodiment of the present disclosure. This is a side view showing the configuration of a second modified example of the robot hand according to one embodiment of the present disclosure. This is a side view showing the configuration of a third modified example of the robot hand according to one embodiment of the present disclosure.

[0008] A handling system, a control device 10, and a control method executed by the control device 10 according to one embodiment of this disclosure will be described below with reference to the drawings. The handling system according to this embodiment comprises a robot 20, a control device 10, and a robot hand (handling device) 30.

[0009] The control device 10 according to this embodiment is a device that controls the operation of a robot 20 for moving multiple workpieces W loaded on a pallet P one by one to a predetermined transport destination (not shown), as shown in Figure 1, for example. In other words, the control device 10 is one of the elements that make up a robot system (handling system) for transporting workpieces W from the pallet P to a predetermined transport destination.

[0010] First, the workpiece W in this case is, for example, a resin container formed in the shape of a roughly rectangular box, as shown in Figure 2. The workpiece W has a storage space Ws inside in which articles or the like are stored, and an opening Wo that opens upward to the storage space Ws. Furthermore, a flange portion Wf is provided around the entire circumference of the periphery of the opening Wo, which protrudes outward in a flange-like manner. In addition, grooves (recesses) d that open downward are formed in a part of the flange portion Wf, for example, in the parts corresponding to a pair of opposing short sides of the four sides that make up the roughly rectangular opening Wo.

[0011] Next, the robot 20 is a six-axis articulated robot having joint axes J1 to J6, as shown in Figure 1, for example. The robot 20 includes a base 21 installed on the floor or the like, a swivel body 22 that is rotatably supported on the base 21 around joint axis J1, and a first arm 23 that is rotatably supported on the swivel body 22 around joint axis J2. The robot 20 also includes a second arm 24 that is rotatably supported on the first arm 23 around joint axis J3, and a three-axis (J4, J5, J6) wrist unit 25 attached to the tip of the second arm 24.

[0012] The wrist unit 25 is provided with a wrist flange 26 at its tip to which a robot hand (handling device) 30 can be attached. The wrist unit 25 is also equipped with a force sensor (sensor) 27 that measures the weight (information) of the workpiece W supported by the robot hand 30. As a result, the robot 20 can rotate each joint axis J1 to J6 to move the wrist flange 26 in three dimensions, direct the robot hand 30 toward the workpiece W, support the workpiece W, and lift it. The force sensor 27 also detects the weight of the lifted workpiece W when the robot hand 30 lifts it.

[0013] The robot hand 30 is a component formed by combining multiple rod-shaped members made of metal such as an aluminum alloy, as shown in Figure 3, for example, and is shaped in a form that is substantially L-shaped when viewed from the side. That is, the robot hand 30 comprises a first portion 31 having a base portion 30o attached to the wrist flange 26, and a second portion 32 perpendicular to the first portion 31.

[0014] The first part 31 is formed, for example, in the shape of a roughly rectangular frame. Specifically, the first part 31 comprises a pair of parallel-arranged long rod members 31l and a pair of short rod members 31s connecting both ends of the two long rod members 31l. In the example shown in Figure 3, each long rod member 31l is set to a length equivalent to the length dimension of the workpiece W to be transported. A base portion 30o is fixed across both long rod members 31l near their longitudinal center. The upper surface of the base portion 30o is provided with a plurality of through holes (not shown) that allow attachment to the wrist flange 26.

[0015] The second part 32 is formed in a substantially rectangular frame shape, similar to the first part 31. The second part 32 includes a pair of long rod members 32l extending downward, i.e., away from the base part 30o, from both ends of one short rod member 31s of the first part 31, and a short rod member 32s connecting the ends of both long rod members 32l. A beam member 32m is provided at an intermediate position along the length of the pair of long rod members 32l, connecting them. The inner surface of the beam member 32m is provided with claw portions (support mechanism, support member) 33d that project upward, i.e., toward the first part 31. Furthermore, both ends of the short rod member 32s are provided with projections 34 that extend parallel to the direction from one short rod member 31s on the second part 32 side toward the other short rod member 31s, sandwiching the base part 30o.

[0016] Each protruding portion 34 has a flat surface (pressing surface) 34a formed at its tip. As shown in Figure 4, each flat surface 34a is positioned at a height that contacts the vicinity of the lower end of the same side of the workpiece W when the claw portion 33d is hooked from below into a groove d provided on one side of the workpiece W.

[0017] In other words, after the robot hand 30 is moved to the position shown in Figure 4 by the movement of the robot 20, it is pulled up vertically, thereby supporting the workpiece W in a lifted position as shown in Figure 5. In this case, a rotational moment acts on the robot hand 30, with the flange portion Wf supported by the claw portion 33d as the axis of rotation, and the center of gravity of the workpiece W is directed vertically downward from the claw portion 33d. Due to this rotational moment, the flange portion Wf supported by the claw portion 33d deforms in a direction that spreads outward, so the bottom surface of the workpiece W tilts downward on the side opposite to the side supported by the claw portion 33d.

[0018] Next, as shown in Figure 1, the control device 10 according to this embodiment includes a memory 11 having a volatile storage medium such as RAM and a non-volatile storage medium such as ROM, HDD, SSD, and at least one processor 12 such as a CPU.

[0019] Memory 11 stores, for example, a system program and application programs that perform the basic functions of the control device 10, and an operation program for the robot 20 to transport the workpiece W. Memory 11 also stores correlation data between the weight of the workpiece W and the inclination angle of the bottom surface of the workpiece W when the robot hand 30 lifts it.

[0020] In this case, the correlation data is a database calculated, for example, through prior experiments. Specifically, it is a database that associates the weight of the workpiece W with the measured angle of the bottom surface of the workpiece W when the robot hand 30 lifts each weight of workpiece W under the same conditions. This correlation data also stores information about the shape of the workpiece W, and includes data that associates the position and orientation of the robot hand 30 with the horizontal position of the workpiece W supported by the robot hand 30.

[0021] The processor 12 reads and executes an operation program from memory 11 according to the system program and application program stored in memory 11. The processor 12 also sends control signals to the robot 20 to rotate each joint axis J1 to J6 by a predetermined angle according to the operation program. In other words, the processor 12 operates the robot 20 based on the operation program, causing the robot hand 30 to support the workpiece W and move it to a predetermined destination.

[0022] In this case, the processor 12 receives the weight of the workpiece W detected by the force sensor 27 when the robot hand 30 supports the workpiece W. Based on a comparison of the received weight of the workpiece W with the correlation data stored in the memory 11, the processor 12 operates the robot 20 to correct the posture and position of the workpiece W supported by the robot hand 30.

[0023] The control method using the control device 10 configured in this embodiment will be described below. In the following description, we will use the case in which the robot 20 shown in Figure 1 lifts up multiple workpieces W loaded on a pallet P one by one and transports them to a predetermined destination as an example, and will explain in accordance with the flowchart shown in Figure 6.

[0024] First, the processor 12 reads and executes the operation program stored in the memory 11 (step S1). This causes the robot 20 to move, and the robot hand 30 moves toward the workpiece W located on the uppermost layer of the multiple workpieces W loaded on the pallet P. Then, the claw portion 33d of the second portion 32 of the robot hand 30 approaches a groove d provided on one side of the uppermost workpiece W that is not in close contact with the other workpieces W, and hooks onto it from below in the vertical direction, as shown in Figure 4. Furthermore, as the robot hand 30 is moved vertically upward from this state, the uppermost workpiece W is lifted in a position where the side opposite to the side supported by the claw portion 33d is tilted downward, as shown in Figure 5.

[0025] In this state, the force sensor 27 located at the tip of the wrist unit 25 detects the weight of the workpiece W lifted by the robot hand 30. The weight of the workpiece W detected by the force sensor 27 is sent to the processor 12 (step S2).

[0026] Next, the processor 12 compares the weight of the workpiece W obtained from the force sensor 27 with the correlation data stored in the memory 11 (step S3). Then, the processor 12 selects from the correlation data the inclination angle of the bottom surface of the workpiece W that is closest to the weight of the acquired workpiece W. In other words, the processor 12 estimates the inclination angle of the bottom surface of the workpiece W being lifted by the robot hand 30 based on the result of comparing the acquired weight of the workpiece W with the correlation data stored in the memory 11 (step S4).

[0027] Subsequently, as shown in Figure 7, the processor 12 rotates the tip of the wrist unit 25 by the same angle as the estimated inclination angle of the bottom surface of the workpiece W, so that the side opposite to the side supported by the claw portion 33d of the workpiece W is lifted. In other words, the processor 12 moves the robot 20 by the same amount as the estimated inclination angle of the bottom surface of the workpiece W, correcting the posture of the workpiece W so that the bottom surface is horizontal (step S5).

[0028] Furthermore, when the tip of the wrist unit 25 is rotated to correct the tilt of the workpiece W, the workpiece W shifts horizontally by a distance X, as shown in Figure 7. The processor 12 compares the angle of rotation of the tip of the wrist unit 25 with the correlation data stored in the memory 11 (step S6) and estimates the magnitude of the horizontal positional displacement of the workpiece W (step S7).

[0029] Next, the processor 12 operates the robot 20 to move the workpiece W to a predetermined destination while maintaining the bottom surface of the workpiece W in a horizontal position (step S8). At the destination, the processor 12 takes into account the estimated horizontal displacement of the workpiece W and stacks it at a predetermined position at the destination, for example, on top of the workpiece W that was previously transported (step S9). By repeating this series of operations, all of the multiple workpieces W on the pallet P can be moved to the predetermined destination.

[0030] In cases where multiple workpieces W are stacked on a single pallet P, each workpiece W is in close proximity to other adjacent workpieces W, making it possible to access each workpiece W from only one side. Furthermore, if a workpiece W is lifted by supporting only one side, as shown in Figure 5, the workpiece W may bend under its own weight, causing its posture to tilt significantly. However, according to the control method of this embodiment, the robot hand 30 is tilted in a direction that compensates for the tilt caused by the bending of the workpiece W when it is lifted, thereby maintaining the bottom surface of the workpiece W in a horizontal position.

[0031] This eliminates the need to tilt the workpiece W during transport, reducing the possibility of items contained within the workpiece W tipping over during transport. Therefore, even if the items contained within the workpiece W are such that they must be protected from significant impact, like liquids containing carbon dioxide, the workpiece W can be transported at a relatively high speed.

[0032] Furthermore, according to the control method of this embodiment, when unloading the workpiece W at the transport destination, it is possible to correct for the horizontal positional displacement caused by correcting the tilt of the workpiece W during transport. Therefore, the workpiece W can be positioned more accurately at the predetermined location at the transport destination.

[0033] In this embodiment, the force sensor 27 detected the weight of the workpiece W lifted by the robot hand 30. Alternatively, the force sensor 27 may be capable of detecting both the weight and the center of gravity of the workpiece W lifted by the robot hand 30. In this case, the correlation data stored in the memory 11 includes information on the center of gravity in addition to the weight of the workpiece W, and it is sufficient that this information is associated with the angle of the bottom surface of the workpiece W.

[0034] As a result, the processor 12 can correct the posture of the workpiece W based on the weight and center of gravity position of the workpiece W lifted by the robot hand 30, which are acquired from the force sensor 27, and the correlation data. Therefore, for example, even if the weight is the same, the center of gravity position of the workpiece W differs due to the uneven distribution of the contents, etc., an appropriate angle correction can be made for each workpiece W.

[0035] Furthermore, in this embodiment, the example described was the control of a robot 20 equipped with a force sensor 27 that detects the weight of a workpiece W lifted by a robot hand 30. Alternatively, the robot 20 may be equipped with a sensor that detects the posture of the workpiece W while it is supported by the robot hand 30, such as a laser displacement sensor, instead of the force sensor 27.

[0036] In this case, the memory 11 can store, as correlation data, data obtained from prior experiments, etc., that associates the orientation of the workpiece W detected by the laser displacement sensor with the inclination of the bottom surface of the workpiece W at that time. As a result, similar to the above, the processor 12 can maintain the bottom surface of the lifted workpiece W in a horizontal state based on the result of comparing the value detected by the laser displacement sensor with the correlation data.

[0037] Furthermore, the robot hand 30 illustrated in this embodiment is provided with a flat surface 34a that is pressed against the lower part of the workpiece W in order to restrict rotation (tilting) when the workpiece W is lifted. Alternatively, the control method according to this embodiment can also be applied to a robot 20 that transports the workpiece W using a robot hand 30 that does not have the flat surface 34a.

[0038] In this case, the tilt when the workpiece W is lifted will be large, but the angle of the tip of the wrist unit 25 can be rotated by the same amount as the tilt. Therefore, for example, if the workpiece W is relatively light, even if a robot hand 30 without a flat surface 34a is used, the posture of the workpiece W during transport can be maintained in a horizontal state simply by changing the posture of the robot hand 30.

[0039] Furthermore, in this embodiment, the robot hand 30 was configured to support the workpiece W by hooking the claw portion 33d onto a groove d on one side of the workpiece W from below, but the configuration of the robot hand 30 is not limited to this. For example, instead of the claw portion 33d, the robot hand 30 may be equipped with a gripping mechanism (support mechanism) 33e that grips the upper end of one side of the workpiece W by sandwiching it from the outer surface side and the inner surface side, as shown in Figure 8.

[0040] In the example shown in Figure 8, the gripping mechanism 33e is attached near the end of the first portion 31 on the second portion 32 side. The gripping mechanism 33e comprises a main body 33e' fixed to the upper surface side of the first portion 31 and at an intermediate position between a pair of long rod members 31l, and a pair of claws 33e'' extending from the main body 33e' toward the protruding portion 34. The main body 33e' houses a motor (not shown) that rotates based on an input control signal, and a power conversion mechanism (not shown) that converts the rotational force of the motor into an opening and closing operation of the claws 33e''. In other words, the gripping mechanism 33e is a device that enables gripping the upper end of one side of a workpiece W from above by opening and closing a pair of claws 33e'' based on a control signal input from an external control device.

[0041] Also, in FIG. 8, the case where the gripping mechanism 33e grips the upper end portion of one side surface of the workpiece W in the thickness direction is illustrated. However, the gripping mechanism 33e may be configured to grip the upper end portion of one side surface of the workpiece W from the width direction. That is, the claws 33e'' of the gripping mechanism 33e may be arranged in a direction to open and close in the interval direction of the pair of long bar members 31l, and may be configured to open wider than the width dimension of the workpiece W. Thereby, the upper end portion of one side surface of the workpiece W can be gripped by sandwiching it from both outer sides of the other two side surfaces adjacent to the one side surface. Thus, when the robot hand 30 is provided with a mechanism for gripping the upper end portion of one side surface of the workpiece W, even when transporting a workpiece W not provided with the groove d as shown in FIG. 2, the same effect as described above can be obtained.

[0042] Also, as shown in FIG. 9, the robot hand 30 in the present embodiment may be provided with a suction mechanism (support mechanism) 33f that supports the workpiece W by sucking one side surface side of one side surface or the upper surface of the workpiece W. In this case, the suction mechanism 33f has, for example, the same configuration as a suction type picking device that adsorbs a conventional object from above for picking. Thereby, while sucking a part of one side surface side of the upper surface of the workpiece W by the suction mechanism 33f, the workpiece W can be lifted by raising the robot hand 30.

[0043] Also, in the example shown in FIG. 9, the suction mechanism 33f was attached to the first portion 31, but it may be attached to the second portion 32 so as to adsorb the upper end portion of one side surface of the workpiece W.

[0044] Next, a robot hand (handling device) 50 according to an embodiment of the present disclosure and a robot system (handling system) provided with the robot hand 50 will be described below with reference to the drawings. In the following description, portions having the same configuration as the above-described robot hand 30 of the robot hand 50 are denoted by the same reference numerals as the robot hand 30, and the description thereof is omitted. Also, the robot 20 and the workpiece W have the same configuration as described above, and the description thereof is omitted.

[0045] The robotic hand 50 is, for example, similar to the robotic hand 30 and, as shown in FIG. 10, is a member formed by combining a plurality of rod-shaped members made of a metal such as an aluminum alloy, and is formed in a shape that is substantially L-shaped when viewed from the side. Specifically, the robotic hand 50 includes a first portion 31, a second portion 52 orthogonal to the first portion 31, and a pressing mechanism (posture correction mechanism) 54 attached to the second portion 52.

[0046] Similar to the first portion 31, the second portion 52 is formed in a substantially rectangular frame shape. The second portion 52 includes a pair of long rod members 32l extending downward, that is, in a direction away from the base portion 30o, from both ends of one short rod member 31s of the first portion 31, and a flat plate member 53 connecting the tips of both long rod members 32l. The flat plate member 53 is arranged parallel to the plane defined by the pair of long rod members 31l and the pair of short rod members 31s of the first portion 31.

[0047] The pressing mechanism �4 includes a main body 54a fixed to the upper surface of the flat plate member 53, and a shaft 54b protruding from the main body 54a in a direction from the side of one short rod member 31s to which the long rod member 32l is fixed toward the side of the other short rod member 31s. The pressing mechanism 54 also includes a disk-shaped piston member 54c attached to the tip of the shaft 54b. A flat surface (pressing surface) 54d is provided at the tip of the piston member 54c, which contacts the vicinity of the lower end of one side surface of the workpiece W when the claw portion 33d is hooked downward into the groove d provided on one side surface of the workpiece W.

[0048] The main body 54a includes a motor (not shown) and a power conversion mechanism (not shown) that converts the rotation of the rotor of the motor into linear motion. One end of the shaft 54b is connected to the power conversion mechanism inside the main body 54a, and the other end of the shaft 54b protrudes outside the main body 54a. That is, by driving the motor inside the main body 54a, the amount by which the shaft 54b protrudes outside the main body 54a is adjusted.

[0049] The operation of the robot hand 50 and the robot system equipped with the robot hand 50 according to this embodiment, as configured in this way, will be described below. In the following description, we will explain using the case in which a workpiece W is transported by a robot 20 to which the robot hand 50 is attached to the wrist flange 26 as an example.

[0050] First, similar to the control method described above, the claw portion 33d of the second part 52 of the robot hand 50 is brought close to a groove d provided on one side of the workpiece W that is not in close contact with another workpiece W, and is hooked from vertically downward. Then, as the robot hand 50 is moved vertically upward from that state, the workpiece W is lifted in a position where the side opposite to the side supported by the claw portion 33d is slightly tilted downward, as shown in Figure 11. At this time, the piston member 54c of the pressing mechanism 54 is positioned near the vertically downward position of the claw portion 33d. As a result, the flat surface 54d at the tip of the piston member 54c contacts the vicinity of the lower end of the workpiece W supported by the claw portion 33d, thus keeping the tilt of the workpiece W to a minimum.

[0051] Furthermore, from this state, the pressing mechanism 54 can operate the motor inside the main body 54a to press the flat surface 54d against the workpiece W. In this case, the magnitude of the pressing force exerted by the flat surface 54d against the workpiece W can be a predetermined magnitude determined by prior experiments, for example, if the weight of each workpiece W is uniform. In other words, by conducting prior experiments, the magnitude of the force exerted by the flat surface 54d against the vicinity of the lower end of the lifted workpiece W can be gradually changed, and the magnitude of the pressing force when the bottom surface of the workpiece W becomes horizontal can be determined.

[0052] As a result, the workpiece W, supported by the claw portion 33d, is rotated around the flange portion Wf supported by the claw portion 33d as the axis of rotation, with the side opposite to the side supported by the claw portion 33d lifting up, as shown in Figure 12. Consequently, the posture of the workpiece W is corrected so that its bottom surface is horizontal.

[0053] In other words, the robot hand 50 can support and lift the workpiece W on only one side, and can correct the tilt in its posture caused by the bending of the workpiece W without changing the posture of the robot hand 50. That is, when correcting the posture of the workpiece W, the rotation center can be set to a position closer to the workpiece W. Therefore, as is clear from the comparison between distance X shown in Figure 7 and distance X' shown in Figure 12, even if the tilt in the posture of the workpiece W is corrected, it is possible to prevent the workpiece W from shifting significantly in the horizontal direction.

[0054] In this embodiment, the magnitude of the pressing force applied by the pressing mechanism 54 to one side of the workpiece W was set to a constant value determined by prior experiments. Alternatively, similar to the control method according to this embodiment described above, the magnitude of the pressing force applied by the pressing mechanism 54 to the workpiece W may be adjustable based on correlation data between the weight of the workpiece W and the inclination of the bottom surface of the workpiece W. This allows for accurate correction of deviations in the posture and position of each workpiece W, even if the weight of each workpiece W being transported is not uniform, enabling more precise transport.

[0055] In this embodiment, the robot hand 50 is formed in a substantially L-shape comprising a first portion 31 and a second portion 52, and a base portion 30o that enables attachment to the wrist flange 26 is provided on the first portion 31. Alternatively, as shown in Figure 13, the robot hand 50 may omit the first portion 31 by providing the base portion 30o on the outside of the second portion 52.

[0056] Furthermore, as a modification of the embodiment shown in Figure 13, for example, as shown in Figure 14, a traction mechanism 33g such as an electric cylinder that pulls the claw portion 33d towards the front (towards the robot 20) may be provided. Specifically, as shown in Figure 14, the robot hand 50 includes a second portion 52 with a base portion 30o and a support plate 55 that protrudes forward from the lower end of the second portion 52. In this case, the traction mechanism 33g is attached to the upper front of the second portion 52, making the claw portion 33d movable in the front-rear direction.

[0057] When transporting a workpiece W using a robot hand 50 of this configuration, first, the traction mechanism 33g is driven to extend the claw portion 33d forward of the support plate 55. In this state, as described above, the claw portion 33d is hooked into a groove d provided on one side of the workpiece W, and then the traction mechanism 33g is operated to pull in the claw portion 33d, thereby shifting the workpiece W toward the front. As a result, as shown in Figure 14, a portion of the bottom surface on one side of the workpiece W can be supported by the support plate 55. Furthermore, when the workpiece W is lifted by the robot 20 from this state, the opposite side of the workpiece W tilts downward, but the tilt of the workpiece W can be corrected by further pulling in the claw portion 33d with the traction mechanism 33g. In other words, in the embodiment shown in Figure 14, the support plate 55 functions as a support mechanism, and the claw portion 33d and the traction mechanism 33g function as posture correction mechanisms.

[0058] Furthermore, the claw portion 33d in the embodiment shown in Figure 14 may be replaced with a suction mechanism 33f as shown in Figure 15. In this case, even if one side of the workpiece W is flat and does not have a groove d, the bottom surface of the lifted workpiece W can be maintained in a horizontal state by the same method as in the embodiment shown in Figure 14.

[0059] Furthermore, in the embodiment shown in Figures 14 and 15, the bottom surface of one side of the workpiece W was supported by the support plate 55 by slightly shifting it towards the front before lifting the workpiece W. Alternatively, for example, if a part of the bottom surface of one side of the workpiece W before transport is exposed and accessible, the traction mechanism 33g may be omitted.

[0060] In this case, a pressing mechanism (not shown) such as an electric cylinder may be provided at the tip of the support plate 55 to press upward against the bottom surface of one side of the workpiece W. This ensures that the bottom surface of one side of the workpiece W is reliably supported.

[0061] Although embodiments of this disclosure have been described in detail above, this disclosure is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of the invention or from the spirit and intent of the invention derived from the claims and their equivalents. For example, the order of operations and processes in the embodiments described above are shown as examples only and are not limited thereto.

[0062] With respect to the above embodiments and modifications, the following further notes are disclosed: (Note 1) A handling device comprising a support mechanism for supporting one side of the upper part of a workpiece, and a posture correction mechanism capable of pressing the lower part of the one side. (Note 2) The handling device according to Note 1, wherein the support mechanism is formed by a hook-shaped support member inserted from below into a recess provided on the upper part of the one side that opens at least downward. (Note 3) The handling device according to Note 1 or Note 2, wherein the magnitude of the force or the distance of pressing applied by the posture correction mechanism to the lower part of the one side is adjustable. (Note 4) A handling device comprising a support mechanism for supporting one side of a workpiece, and a posture correction mechanism that applies a moment to the workpiece with the portion supported by the support mechanism as a fulcrum. (Note 5) A handling system comprising the handling device according to any one of Notes 1 to 4, and a sensor that acquires information on the weight or posture of the workpiece supported by the support mechanism. (Note 6) The handling system according to Note 5, further comprising a control device that controls the magnitude of the force or moment applied to the workpiece by the posture correction mechanism, or the distance the workpiece moves due to the force or moment, based on the information. (Note 7) A control device for controlling a robot comprising a robot hand that supports one side of the upper part of a workpiece, and a sensor that acquires information on the weight or posture of the workpiece supported by the robot hand, comprising at least one memory and at least one processor, wherein the memory stores correlation data between the information and the inclination of the bottom surface of the workpiece supported by the robot hand, and the processor acquires the information, estimates the inclination based on the information and the correlation data, corrects the inclination, and controls the robot to move the robot hand in a direction that corrects the horizontal displacement of the workpiece due to the correction of the inclination. (Note 8) The control device according to Note 7, wherein the workpiece has a recess on the upper part of one side surface that opens at least downward, and the robot hand comprises a hook-shaped support member inserted into the recess from below, and a pressing surface that presses the lower part of one side surface of the workpiece when the support member is inserted into the recess.(Note 9) A control method for controlling a robot comprising a robot hand that supports one side of the upper part of a workpiece, and a sensor that acquires information on the weight or posture of the workpiece supported by the robot hand, the control method comprising: storing correlation data between the information and the inclination of the bottom surface of the workpiece in the state supported by the robot hand; acquiring the information; estimating the inclination based on the information and the correlation data; and controlling the robot to move the robot hand in a direction that corrects the inclination and corrects the horizontal displacement of the workpiece caused by the correction of the inclination.

[0063] 10 Control device 11 Memory 12 Processor 20 Robot 27 Force sensor (sensor) 30 Robot hand (handling device) 33d Claw part (support mechanism, support member) 33e Gripping mechanism (support mechanism) 33f Suction mechanism (support mechanism, posture correction mechanism) 34a Plane (pressing surface) 50 Robot hand (handling device) 54 Pressing mechanism (posture correction mechanism) 55 Support plate (posture correction mechanism) 54d Plane (pressing surface) d Groove (recess) W Workpiece

Claims

1. A handling device comprising a support mechanism that supports one side of the upper part of a workpiece, and a posture correction mechanism capable of pressing the lower part of the said one side.

2. The handling device according to claim 1, wherein the support mechanism is formed by a hook-shaped support member inserted from below into a recess provided on the upper part of one side surface that opens at least downward.

3. The handling device according to claim 1 or claim 2, wherein the magnitude of the force applied to the lower part of one side by the posture correction mechanism or the distance of application is adjustable.

4. A handling device comprising a support mechanism that supports one side of a workpiece, and a posture correction mechanism that applies a moment to the workpiece with the portion supported by the support mechanism as the fulcrum.

5. A handling system comprising a handling device according to any one of claims 1 to 4, and a sensor for acquiring information on the weight or orientation of the workpiece supported by the support mechanism.

6. The handling system according to claim 5, comprising a control device that controls the magnitude of the force or moment applied to the workpiece by the posture correction mechanism, or the distance the workpiece moves due to the force or moment, based on the information described above.

7. A control device for controlling a robot comprising a robot hand that supports one side of the upper part of a workpiece, and a sensor that acquires information on the weight or posture of the workpiece supported by the robot hand, the control device comprising at least one memory and at least one processor, wherein the memory stores correlation data between the information and the inclination of the bottom surface of the workpiece supported by the robot hand, and the processor acquires the information, estimates the inclination based on the information and the correlation data, corrects the inclination, and controls the robot to move the robot hand in a direction that corrects the horizontal displacement of the workpiece caused by the correction of the inclination.

8. The control device according to claim 7, wherein the workpiece has a recess on the upper part of one side surface that opens at least downward, and the robot hand comprises a hook-shaped support member inserted into the recess from below, and a pressing surface that presses the lower part of the one side surface of the workpiece when the support member is inserted into the recess.

9. A control method for controlling a robot comprising a robot hand that supports one side of the upper part of a workpiece, and a sensor that acquires information on the weight or posture of the workpiece supported by the robot hand, the control method comprising: storing correlation data between the information and the inclination of the bottom surface of the workpiece in the state supported by the robot hand; acquiring the information; estimating the inclination based on the information and the correlation data; and controlling the robot to move the robot hand in a direction that corrects the inclination and corrects the horizontal displacement of the workpiece caused by the correction of the inclination.

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