CA3139167C - Object conveying apparatus - Google Patents
Object conveying apparatus Download PDFInfo
- Publication number
- CA3139167C CA3139167C CA3139167A CA3139167A CA3139167C CA 3139167 C CA3139167 C CA 3139167C CA 3139167 A CA3139167 A CA 3139167A CA 3139167 A CA3139167 A CA 3139167A CA 3139167 C CA3139167 C CA 3139167C
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- CA
- Canada
- Prior art keywords
- bundle
- bills
- thickness
- robot arm
- conveying apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000007423 decrease Effects 0.000 claims description 5
- 230000032258 transport Effects 0.000 abstract 2
- 238000009795 derivation Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 8
- 239000003550 marker Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H31/00—Pile receivers
- B65H31/30—Arrangements for removing completed piles
- B65H31/3036—Arrangements for removing completed piles by gripping the pile
- B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
- B65H43/08—Photoelectric devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
- G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
- G07D11/10—Mechanical details
- G07D11/16—Handling of valuable papers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Controlling Sheets Or Webs (AREA)
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
Abstract
The purpose of the present invention is to transport an object such as a bundle of paper sheets while preventing the object from collapsing as much as possible when the object is transported while being held by a robot arm. An object conveying device 400 according to the present invention includes a robot arm RA and a speed control unit 200. The robot arm RA holds and transports an object. The speed control unit 200 controls the transporting speed of the object according to the thickness of the object.
Description
DESCRIPTION
TITLE OF INVENTION
OBJECT CONVEYING APPARATUS
TECHNICAL FIELD
[0001]
The present invention relates to an object conveying apparatus.
BACKGROUND ART
TITLE OF INVENTION
OBJECT CONVEYING APPARATUS
TECHNICAL FIELD
[0001]
The present invention relates to an object conveying apparatus.
BACKGROUND ART
[0002]
A cash processing apparatus embedding an articulated robot has been proposed in the past (see, for example, Japanese Unexamined Patent Application Publication No.
62-092095, or the like.), which has a bill insertion and alignment unit having a mechanism for aligning inserted bills and transferring bills to a robot hand, a bill count bill confirmation unit having a mechanism for sorting bills into the number and type of bills received from a robot hand, a cash cassette unit consisting of a mechanism for storing bills from a robot hand and a mechanism for transferring bills from the unit to a robot hand, a bill counter unit for checking the number of bills and transferring the bills to a robot hand, a mechanism for extracting bills from a robot, a bill ejection unit for delivering the bills to a payout opening, and a mechanism for transferring bills between the units by a multi-articulated robot.
Prior Art Document Patent Document
A cash processing apparatus embedding an articulated robot has been proposed in the past (see, for example, Japanese Unexamined Patent Application Publication No.
62-092095, or the like.), which has a bill insertion and alignment unit having a mechanism for aligning inserted bills and transferring bills to a robot hand, a bill count bill confirmation unit having a mechanism for sorting bills into the number and type of bills received from a robot hand, a cash cassette unit consisting of a mechanism for storing bills from a robot hand and a mechanism for transferring bills from the unit to a robot hand, a bill counter unit for checking the number of bills and transferring the bills to a robot hand, a mechanism for extracting bills from a robot, a bill ejection unit for delivering the bills to a payout opening, and a mechanism for transferring bills between the units by a multi-articulated robot.
Prior Art Document Patent Document
[0003]
Patent Document 1: Japanese Unexamined Patent Application Publication No. 62-SUMMARY OF THE INVENTION
Problem to be Solved by Invention
Patent Document 1: Japanese Unexamined Patent Application Publication No. 62-SUMMARY OF THE INVENTION
Problem to be Solved by Invention
[0004]
Incidentally, for example, in a device in which a bundle of paper sheets is received by a robot arm, conveyed, and delivered to a conveying destination, the bundle of paper sheets may collapse during conveyance and become separated. This is more remarkable as the bundle of paper sheets is thicker. When the bundle of paper sheets collapses, it is necessary to pick up the paper sheets again, and this collecting work is not preferable because it reduces the conveying work efficiency.
Incidentally, for example, in a device in which a bundle of paper sheets is received by a robot arm, conveyed, and delivered to a conveying destination, the bundle of paper sheets may collapse during conveyance and become separated. This is more remarkable as the bundle of paper sheets is thicker. When the bundle of paper sheets collapses, it is necessary to pick up the paper sheets again, and this collecting work is not preferable because it reduces the conveying work efficiency.
[0005]
It is an object of the present invention to convey an object such as a bundle of paper sheets so that the object is not collapsed as much as possible when the object is grasped and conveyed by a robot arm.
Means for solving problem
It is an object of the present invention to convey an object such as a bundle of paper sheets so that the object is not collapsed as much as possible when the object is grasped and conveyed by a robot arm.
Means for solving problem
[0006]
An object conveying apparatus according to the first aspect of the present invention comprises a robot arm and a speed control unit. The robot arm grasps and conveys an object. The speed control unit controls the conveying speed of the object in accordance with the thickness of the object.
Date recue / Date received 2021-11-03
An object conveying apparatus according to the first aspect of the present invention comprises a robot arm and a speed control unit. The robot arm grasps and conveys an object. The speed control unit controls the conveying speed of the object in accordance with the thickness of the object.
Date recue / Date received 2021-11-03
[0007]
In this object conveying apparatus, the speed control unit controls the conveying speed of the object in accordance with the thickness of the object. For example, if the speed control unit lowers the conveying speed of the object as the thickness of the object increases when the object is conveyed, it is possible to suppress collapse of the object during conveyance when the object (e.g., a large bundle of thin objects) is grasped and conveyed by the robot arm as much as possible.
Further, for example, if the speed control unit increases the conveying speed of the object as the object becomes thinner when the object is conveyed, it is possible to convey the object faster when the object (e.g., a small bundle of thin objects) is grasped and conveyed by the robot arm.
In this object conveying apparatus, the speed control unit controls the conveying speed of the object in accordance with the thickness of the object. For example, if the speed control unit lowers the conveying speed of the object as the thickness of the object increases when the object is conveyed, it is possible to suppress collapse of the object during conveyance when the object (e.g., a large bundle of thin objects) is grasped and conveyed by the robot arm as much as possible.
Further, for example, if the speed control unit increases the conveying speed of the object as the object becomes thinner when the object is conveyed, it is possible to convey the object faster when the object (e.g., a small bundle of thin objects) is grasped and conveyed by the robot arm.
[0008]
The object conveying apparatus according to the second aspect of the present invention is the object conveying apparatus according to the first aspect, and the robot arm swirls and conveys the object. The object conveying apparatus further comprises a swirling control unit. The swirling control unit controls the swirling radius of the object according to the thickness of the object.
The object conveying apparatus according to the second aspect of the present invention is the object conveying apparatus according to the first aspect, and the robot arm swirls and conveys the object. The object conveying apparatus further comprises a swirling control unit. The swirling control unit controls the swirling radius of the object according to the thickness of the object.
[0009]
In this object conveying apparatus, the swirling control unit controls the swirling radius of the object in accordance with the thickness of the object. For example, if the swirling control unit shortens the swirling radius of the object as the thickness of the object increases when the object is conveyed, the influence of the rotational moment when the object (e.g., a large bundle of thin objects) is grasped and conveyed by the robot arm can be reduced, and the collapse of the object during the conveyance can be suppressed as much as possible.
In this object conveying apparatus, the swirling control unit controls the swirling radius of the object in accordance with the thickness of the object. For example, if the swirling control unit shortens the swirling radius of the object as the thickness of the object increases when the object is conveyed, the influence of the rotational moment when the object (e.g., a large bundle of thin objects) is grasped and conveyed by the robot arm can be reduced, and the collapse of the object during the conveyance can be suppressed as much as possible.
[0010]
An object conveying apparatus according to a third aspect of the present invention comprises a robot arm and a swirling control unit. The robot arm grasps, swirls and conveys an object. The swirling control unit controls the swirling radius of the object according to the thickness of the object.
An object conveying apparatus according to a third aspect of the present invention comprises a robot arm and a swirling control unit. The robot arm grasps, swirls and conveys an object. The swirling control unit controls the swirling radius of the object according to the thickness of the object.
[0011]
In this object conveying apparatus, the swirling control unit controls the swirling radius of the object in accordance with the thickness of the object. For example, if the swirling control unit shortens the swirling radius of the object as the thickness of the object increases when the object is conveyed, the influence of the rotational moment when the object (e.g., a large bundle of thin objects) is grasped and conveyed by the robot arm can be reduced, and the collapse of the object during the conveyance can be suppressed as much as possible.
In this object conveying apparatus, the swirling control unit controls the swirling radius of the object in accordance with the thickness of the object. For example, if the swirling control unit shortens the swirling radius of the object as the thickness of the object increases when the object is conveyed, the influence of the rotational moment when the object (e.g., a large bundle of thin objects) is grasped and conveyed by the robot arm can be reduced, and the collapse of the object during the conveyance can be suppressed as much as possible.
[0012]
The object conveying apparatus according to the fourth aspect of the present invention is the object conveying apparatus according to any one of the first to third aspects, and further comprises a thickness measuring unit. The thickness measuring unit measures the thickness of the object while the robot arm grasps the object.
The object conveying apparatus according to the fourth aspect of the present invention is the object conveying apparatus according to any one of the first to third aspects, and further comprises a thickness measuring unit. The thickness measuring unit measures the thickness of the object while the robot arm grasps the object.
[0013]
In this object conveying apparatus, the thickness of an object is measured in a state where the robot arm grasps the object. For this reason, in this object conveying apparatus, it is possible to control the robot arm in accordance with the thickness of the object actually grasped by the robot arm.
In this object conveying apparatus, the thickness of an object is measured in a state where the robot arm grasps the object. For this reason, in this object conveying apparatus, it is possible to control the robot arm in accordance with the thickness of the object actually grasped by the robot arm.
[0014]
The object conveying apparatus according to the fifth aspect of the present invention is the object conveying apparatus according to any one of the first to third aspects, and further comprises a thickness measuring unit. The thickness measuring unit measures the thickness of the Date recue / Date received 2021 -1 1-03 object before the robot arm grasps the object.
The object conveying apparatus according to the fifth aspect of the present invention is the object conveying apparatus according to any one of the first to third aspects, and further comprises a thickness measuring unit. The thickness measuring unit measures the thickness of the Date recue / Date received 2021 -1 1-03 object before the robot arm grasps the object.
[0015]
In this object conveying apparatus, the thickness measuring unit measures the thickness of the object before the robot arm grasps the object. Therefore, in this object conveying apparatus, the robot arm can be controlled using the thickness of the object on condition that the thickness of the object is not changed after the thickness of the object is measured. In this object conveying apparatus, by measuring the thickness of an object before the robot arm grasps the object, a mechanism for grasping the object (e.g., upper and lower fingers disposed at the tip of the robot arm) can be controlled in advance. If the thickness of the object is unknown before grasping the object, it is necessary to maximize the distance between the upper and lower fingers, and it takes time to grasp the object with the upper and lower fingers. On the other hand, when the thickness of the object is obvious before grasping the object, the distance between the upper and lower fingers can be controlled in advance, so that the distance adjustment time before grasping the upper and lower fingers can be reduced, and the time required for grasping the object with the upper and lower fingers can also be reduced, so that the conveying work efficiency can be improved.
In this object conveying apparatus, the thickness measuring unit measures the thickness of the object before the robot arm grasps the object. Therefore, in this object conveying apparatus, the robot arm can be controlled using the thickness of the object on condition that the thickness of the object is not changed after the thickness of the object is measured. In this object conveying apparatus, by measuring the thickness of an object before the robot arm grasps the object, a mechanism for grasping the object (e.g., upper and lower fingers disposed at the tip of the robot arm) can be controlled in advance. If the thickness of the object is unknown before grasping the object, it is necessary to maximize the distance between the upper and lower fingers, and it takes time to grasp the object with the upper and lower fingers. On the other hand, when the thickness of the object is obvious before grasping the object, the distance between the upper and lower fingers can be controlled in advance, so that the distance adjustment time before grasping the upper and lower fingers can be reduced, and the time required for grasping the object with the upper and lower fingers can also be reduced, so that the conveying work efficiency can be improved.
[0016]
The object conveying apparatus according to the sixth aspect of the present invention is the object conveying apparatus according to any one of the first to fourth aspects, and the robot arm has a grasping unit. The grasping unit grasps the object. The grasping unit also has a first finger and a second finger. The second finger opposes the first finger. The object conveying apparatus further comprises a photographing unit. The photographing unit photographs the first finger and the second finger. The thickness measuring unit calculates the thickness of the object from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit.
The object conveying apparatus according to the sixth aspect of the present invention is the object conveying apparatus according to any one of the first to fourth aspects, and the robot arm has a grasping unit. The grasping unit grasps the object. The grasping unit also has a first finger and a second finger. The second finger opposes the first finger. The object conveying apparatus further comprises a photographing unit. The photographing unit photographs the first finger and the second finger. The thickness measuring unit calculates the thickness of the object from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit.
[0017]
The object conveying apparatus comprises a photographing unit. The photographing unit photographs the first finger and the second finger, and the thickness measuring unit calculates the thickness of the object from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit. As a means for measuring the thickness of paper sheets, a method of photographing a sheet bundle using a CCD sensor and detecting the thickness of a sheet from density data of a photographing image of a side end surface of the sheet bundle (e.g., Japanese Unexamined Patent Application Publication No. 2005-104723) is known, but it is difficult to obtain sufficient density data for accurately obtaining the thickness of a sheet by only photographing the side end surface of the sheet bundle. On the other hand, in this object conveying apparatus, for example, at least one marker is provided in each of the first finger and the second finger, and the thickness of the object is measured from the positional relationship of the marker in the photographing result of the photographing unit. Therefore, the object conveying apparatus can measure the thickness of the object without being affected by the density data of the photographing image of the object.
The object conveying apparatus comprises a photographing unit. The photographing unit photographs the first finger and the second finger, and the thickness measuring unit calculates the thickness of the object from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit. As a means for measuring the thickness of paper sheets, a method of photographing a sheet bundle using a CCD sensor and detecting the thickness of a sheet from density data of a photographing image of a side end surface of the sheet bundle (e.g., Japanese Unexamined Patent Application Publication No. 2005-104723) is known, but it is difficult to obtain sufficient density data for accurately obtaining the thickness of a sheet by only photographing the side end surface of the sheet bundle. On the other hand, in this object conveying apparatus, for example, at least one marker is provided in each of the first finger and the second finger, and the thickness of the object is measured from the positional relationship of the marker in the photographing result of the photographing unit. Therefore, the object conveying apparatus can measure the thickness of the object without being affected by the density data of the photographing image of the object.
[0018]
The object conveying apparatus according to the seventh aspect of the present invention is the object conveying apparatus according to any one of the first to sixth aspects, and the object is a paper sheet or a bundle of paper sheets.
The object conveying apparatus according to the seventh aspect of the present invention is the object conveying apparatus according to any one of the first to sixth aspects, and the object is a paper sheet or a bundle of paper sheets.
[0019]
For this reason, in this object conveying apparatus, the paper sheets can be conveyed so that the bundle of paper sheets is not collapsed and separated.
Date recue / Date received 2021-11-03 BRIEF DESCRIPTION OF THE DRAWINGS
For this reason, in this object conveying apparatus, the paper sheets can be conveyed so that the bundle of paper sheets is not collapsed and separated.
Date recue / Date received 2021-11-03 BRIEF DESCRIPTION OF THE DRAWINGS
[0020]
Fig. 1 is a plan view of an object conveying apparatus according to a first embodiment of the present invention.
Fig. 2 is a side view of a robot arm with a robot hand according to an embodiment of the present invention.
Fig. 3 is a schematic configuration diagram of an object conveying apparatus according to a first embodiment of the present invention.
REFERENCE SIGNS LIST
Fig. 1 is a plan view of an object conveying apparatus according to a first embodiment of the present invention.
Fig. 2 is a side view of a robot arm with a robot hand according to an embodiment of the present invention.
Fig. 3 is a schematic configuration diagram of an object conveying apparatus according to a first embodiment of the present invention.
REFERENCE SIGNS LIST
[0021]
100: Robot arm with a robot hand 110: Robot hand 111: Movable finger (first finger) 112: Fixed finger (second finger) 210: Control unit (speed control unit, swirling control unit) 220: Derivation unit (thickness measuring unit) 300: Photographing device (photographing unit) MT: A bundle of bills RA: Robot arm DESCRIPTION OF EMBODIMENTS
100: Robot arm with a robot hand 110: Robot hand 111: Movable finger (first finger) 112: Fixed finger (second finger) 210: Control unit (speed control unit, swirling control unit) 220: Derivation unit (thickness measuring unit) 300: Photographing device (photographing unit) MT: A bundle of bills RA: Robot arm DESCRIPTION OF EMBODIMENTS
[0022]
- First Embodiment -An object conveying apparatus 400 according to the first embodiment of the present invention is a conveying apparatus for conveying a bundle of bills MT, and mainly includes a robot arm with a robot hand 100, a control device 200, and a photographing device 300, as shown in Figs. 1 and 3. Hereinafter, these components will be described in detail.
- First Embodiment -An object conveying apparatus 400 according to the first embodiment of the present invention is a conveying apparatus for conveying a bundle of bills MT, and mainly includes a robot arm with a robot hand 100, a control device 200, and a photographing device 300, as shown in Figs. 1 and 3. Hereinafter, these components will be described in detail.
[0023]
1. Robot arm with a robot hand As shown in Figs. 1 and 2, the robot arm with a robot hand 100 mainly includes a robot hand 110 and a robot arm RA. Hereinafter, these components will be described in detail.
1. Robot arm with a robot hand As shown in Figs. 1 and 2, the robot arm with a robot hand 100 mainly includes a robot hand 110 and a robot arm RA. Hereinafter, these components will be described in detail.
[0024]
(1) Robot hand As shown in Figs. 1 and 2, the robot hand 110 is a two-finger robot hand. The robot hand 110 is fixed to the tip of the robot arm RA. As shown in Fig. 2, the robot hand 110 mainly includes a movable finger 111, a fixed finger 112, a movable finger reciprocating mechanism 113, a drag preventing unit 117, a drag preventing unit reciprocating mechanism 118, and a connecting unit 119.
(1) Robot hand As shown in Figs. 1 and 2, the robot hand 110 is a two-finger robot hand. The robot hand 110 is fixed to the tip of the robot arm RA. As shown in Fig. 2, the robot hand 110 mainly includes a movable finger 111, a fixed finger 112, a movable finger reciprocating mechanism 113, a drag preventing unit 117, a drag preventing unit reciprocating mechanism 118, and a connecting unit 119.
[0025]
(1-1) Movable finger As shown in Figs. 1 and 2, the movable finger 111 is a bifurcated portion for grasping the bundle of bills MT. Both of the two fingers of the movable finger 111 are thick plate portions that face each other substantially in parallel with the fixed finger 112, which will be described later.
The movable finger 111 is fixed to a first lifting plate 114 (to be described later) of a movable finger reciprocating mechanism 113. A marker is displayed on the side surface of the movable finger 111.
Date recue / Date received 2021-11-03
(1-1) Movable finger As shown in Figs. 1 and 2, the movable finger 111 is a bifurcated portion for grasping the bundle of bills MT. Both of the two fingers of the movable finger 111 are thick plate portions that face each other substantially in parallel with the fixed finger 112, which will be described later.
The movable finger 111 is fixed to a first lifting plate 114 (to be described later) of a movable finger reciprocating mechanism 113. A marker is displayed on the side surface of the movable finger 111.
Date recue / Date received 2021-11-03
[0026]
(1-2) Fixed finger As shown in Fig. 2, the fixed finger 112 is a bifurcated portion for grasping the bundle of bills MT. Both of the two fingers of the fixed finger 112 are thick plate portions that face each other substantially in parallel with the movable finger 111. The fixed finger 112 is fixed to a support plate 116 (to be described later) of the movable finger reciprocating mechanism 113. In the fixed finger 112, a marker is displayed on the side surface of same side with the marker display surface of the movable finger 111. The markers displayed on the movable finger 111 and the fixed finger 112 are aligned along a direction parallel to the opposite direction of the movable finger 111 and the fixed finger 112.
(1-2) Fixed finger As shown in Fig. 2, the fixed finger 112 is a bifurcated portion for grasping the bundle of bills MT. Both of the two fingers of the fixed finger 112 are thick plate portions that face each other substantially in parallel with the movable finger 111. The fixed finger 112 is fixed to a support plate 116 (to be described later) of the movable finger reciprocating mechanism 113. In the fixed finger 112, a marker is displayed on the side surface of same side with the marker display surface of the movable finger 111. The markers displayed on the movable finger 111 and the fixed finger 112 are aligned along a direction parallel to the opposite direction of the movable finger 111 and the fixed finger 112.
[0027]
(1-3) Movable finger reciprocating mechanism As shown in Fig. 2, the movable finger reciprocating mechanism 113 mainly includes a first lifting plate 114, a second lifting plate 115, and a support plate 116.
The second lifting plate 115 supports the first lifting plate 114, and the support plate 116 supports the second lifting plate 115. The first lifting plate 114 and the second lifting plate 115 are each moved up and down by a mechanism (for example, an air cylinder mechanism or the like) (not shown) disposed respectively.
That is, when the first lifting plate 114 and the second lifting plate 115 are moved up and down, the movable finger 111 fixed to the first lifting plate 114 is also moved up and down. Therefore, it is possible to grasp the bundle of bills MT between the fixed finger 112 and the movable finger 111 which moves up and down, and it is also possible to release the grasping state.
(1-3) Movable finger reciprocating mechanism As shown in Fig. 2, the movable finger reciprocating mechanism 113 mainly includes a first lifting plate 114, a second lifting plate 115, and a support plate 116.
The second lifting plate 115 supports the first lifting plate 114, and the support plate 116 supports the second lifting plate 115. The first lifting plate 114 and the second lifting plate 115 are each moved up and down by a mechanism (for example, an air cylinder mechanism or the like) (not shown) disposed respectively.
That is, when the first lifting plate 114 and the second lifting plate 115 are moved up and down, the movable finger 111 fixed to the first lifting plate 114 is also moved up and down. Therefore, it is possible to grasp the bundle of bills MT between the fixed finger 112 and the movable finger 111 which moves up and down, and it is also possible to release the grasping state.
[0028]
(1-4) Drag preventing unit As shown in Fig. 2, the drag preventing unit 117 is a rectangular plate-like member, and is fixed to the tip of a drag preventing unit reciprocating mechanism 118, which will be described later. The drag preventing unit 117 is reciprocated in the front-rear direction by drag preventing unit reciprocating mechanism 118.
(1-4) Drag preventing unit As shown in Fig. 2, the drag preventing unit 117 is a rectangular plate-like member, and is fixed to the tip of a drag preventing unit reciprocating mechanism 118, which will be described later. The drag preventing unit 117 is reciprocated in the front-rear direction by drag preventing unit reciprocating mechanism 118.
[0029]
(1-5) Drag preventing unit reciprocating mechanism The drag preventing unit reciprocating mechanism 118 is a mechanism to prevent the robot hand 110 from dragging the bundle of bills MT when the robot hand 110 withdraws from the conveying destination of the bundle of bills MT. As shown in Fig. 2, the drag preventing unit reciprocating mechanism 118 is positioned between the two fingers of the fixed finger 112 and is disposed to be substantially parallel with the fixed finger 112, and is fixed to the fixed finger 112.
Further, the drag preventing unit reciprocating mechanism 118 is a reciprocating mechanism (for example, an air cylinder mechanism or the like) (not shown), and reciprocates the drag preventing unit 117 in the front-rear direction.
(1-5) Drag preventing unit reciprocating mechanism The drag preventing unit reciprocating mechanism 118 is a mechanism to prevent the robot hand 110 from dragging the bundle of bills MT when the robot hand 110 withdraws from the conveying destination of the bundle of bills MT. As shown in Fig. 2, the drag preventing unit reciprocating mechanism 118 is positioned between the two fingers of the fixed finger 112 and is disposed to be substantially parallel with the fixed finger 112, and is fixed to the fixed finger 112.
Further, the drag preventing unit reciprocating mechanism 118 is a reciprocating mechanism (for example, an air cylinder mechanism or the like) (not shown), and reciprocates the drag preventing unit 117 in the front-rear direction.
[0030]
Since the drag preventing unit 117 and the drag preventing unit reciprocating mechanism 118 are configured as described above, when the robot hand 110 grasping the bundle of bills MT
conveys the bundle of bills MT to the conveying destination, releases the grasping state, and withdraws from the conveying destination, the drag preventing unit reciprocating mechanism 118 moves forward, whereby the drag preventing unit 117 prevents the drag of the bills. Therefore, it is possible to prevent the bundle of bills MT from collapsing when the robot hand 110 withdraws.
Since the drag preventing unit 117 and the drag preventing unit reciprocating mechanism 118 are configured as described above, when the robot hand 110 grasping the bundle of bills MT
conveys the bundle of bills MT to the conveying destination, releases the grasping state, and withdraws from the conveying destination, the drag preventing unit reciprocating mechanism 118 moves forward, whereby the drag preventing unit 117 prevents the drag of the bills. Therefore, it is possible to prevent the bundle of bills MT from collapsing when the robot hand 110 withdraws.
[0031]
(1-6) Connecting unit As shown in Fig. 2, the connecting unit 119 is a portion for connecting the robot hand Date recue / Date received 2021 -1 1-03 110 to the robot arm RA, and is, for example, a flange or the like.
(1-6) Connecting unit As shown in Fig. 2, the connecting unit 119 is a portion for connecting the robot hand Date recue / Date received 2021 -1 1-03 110 to the robot arm RA, and is, for example, a flange or the like.
[0032]
(2) Robot arm The robot arm RA is, for example, an existing multi-axis robot arm. As shown in Figs. 1 and 2, the proximal end of the robot arm RA is rotatably attached to a fixed table.
(2) Robot arm The robot arm RA is, for example, an existing multi-axis robot arm. As shown in Figs. 1 and 2, the proximal end of the robot arm RA is rotatably attached to a fixed table.
[0033]
2. Control device As shown in Fig. 3, the control device 200 mainly includes a control unit 210, a derivation unit 220, a storage unit 230, and an acquisition unit 240.
Hereinafter, these components will be described in detail.
2. Control device As shown in Fig. 3, the control device 200 mainly includes a control unit 210, a derivation unit 220, a storage unit 230, and an acquisition unit 240.
Hereinafter, these components will be described in detail.
[0034]
(1) Control unit The control unit 210 is, for example, a control device of a central processing unit of a computer or the like, and as shown in Fig. 3, is connected to the robot arm RA, the robot hand 110, and the photographing device 300 (described later). The control unit 210 controls the operations of the robot arm RA and the robot hand 110, and the photographing processing of the photographing device 300 by transmitting various control signals to the robot arm RA, the robot hand 110, and the photographing device 300. As shown in Fig. 3, the control unit 210 transmits control signals to the robot arm RA, the robot hand 110, and the photographing device 300 in accordance with instructions described in a control program stored in the storage unit 230. In addition, the control unit 210 reads out data necessary for generating a control signal from at least one of the derivation unit 220 and the storage unit 230, generates a control signal from the data, and transmits the control signal to the robot arm RA, the robot hand 110, and the photographing device 300.
(1) Control unit The control unit 210 is, for example, a control device of a central processing unit of a computer or the like, and as shown in Fig. 3, is connected to the robot arm RA, the robot hand 110, and the photographing device 300 (described later). The control unit 210 controls the operations of the robot arm RA and the robot hand 110, and the photographing processing of the photographing device 300 by transmitting various control signals to the robot arm RA, the robot hand 110, and the photographing device 300. As shown in Fig. 3, the control unit 210 transmits control signals to the robot arm RA, the robot hand 110, and the photographing device 300 in accordance with instructions described in a control program stored in the storage unit 230. In addition, the control unit 210 reads out data necessary for generating a control signal from at least one of the derivation unit 220 and the storage unit 230, generates a control signal from the data, and transmits the control signal to the robot arm RA, the robot hand 110, and the photographing device 300.
[0035]
(2) Derivation unit The derivation unit 220 is, for example, a processing device of a central processing unit of a computer or the like, and as shown in Fig. 3, generates data necessary for generating a control signal from data stored in the storage unit 230 and data transmitted from the acquisition unit 240, and supplies the data to the control unit 210. For example, the derivation unit 220 measures the thickness of the bundle of bills MT from the distance between the markers of the movable finger 111 and the fixed finger 112 of the robot hand 110 based on the photographing data sent from the photographing device 300 via the acquisition unit 240. The derivation unit 220 measures the thickness of the bundle of bills MT by analyzing and calculating the distance between the markers when the robot hand 110 grasps the bundle of bills MT from the photographing data. The derivation unit 220 derives the conveying speed and the swirling radius of the bundle of bills MT
according to the thickness data of the bundle of bills MT (hereinafter referred to as "thickness data"). For example, the derivation unit 220 may compare the thickness data with the control table stored in the storage unit 230 to derive the conveying speed and the swirling radius corresponding to the thickness data, or may substitute the thickness data into a calculation formula for calculating the conveying speed from the thickness data and a calculation formula for calculating the swirling radius from the thickness data to derive the conveying speed and the swirling radius corresponding to the thickness data. Then, the derivation unit 220 transmits the data of the conveying speed and the swirling radius of the bundle of bills MT to the control unit 210.
Controlling the conveying speed and the swirling radius of the bundle of bills MT controls the conveying speed and the swirling radius of the robot hand 110.
(2) Derivation unit The derivation unit 220 is, for example, a processing device of a central processing unit of a computer or the like, and as shown in Fig. 3, generates data necessary for generating a control signal from data stored in the storage unit 230 and data transmitted from the acquisition unit 240, and supplies the data to the control unit 210. For example, the derivation unit 220 measures the thickness of the bundle of bills MT from the distance between the markers of the movable finger 111 and the fixed finger 112 of the robot hand 110 based on the photographing data sent from the photographing device 300 via the acquisition unit 240. The derivation unit 220 measures the thickness of the bundle of bills MT by analyzing and calculating the distance between the markers when the robot hand 110 grasps the bundle of bills MT from the photographing data. The derivation unit 220 derives the conveying speed and the swirling radius of the bundle of bills MT
according to the thickness data of the bundle of bills MT (hereinafter referred to as "thickness data"). For example, the derivation unit 220 may compare the thickness data with the control table stored in the storage unit 230 to derive the conveying speed and the swirling radius corresponding to the thickness data, or may substitute the thickness data into a calculation formula for calculating the conveying speed from the thickness data and a calculation formula for calculating the swirling radius from the thickness data to derive the conveying speed and the swirling radius corresponding to the thickness data. Then, the derivation unit 220 transmits the data of the conveying speed and the swirling radius of the bundle of bills MT to the control unit 210.
Controlling the conveying speed and the swirling radius of the bundle of bills MT controls the conveying speed and the swirling radius of the robot hand 110.
[0036]
(3) Storage unit Date recue / Date received 2021 -1 1-03 The storage unit 230 includes a control program, control parameters, control table, or the like.
(3) Storage unit Date recue / Date received 2021 -1 1-03 The storage unit 230 includes a control program, control parameters, control table, or the like.
[0037]
(4) Acquisition unit The acquisition unit 240 is, for example, a communication interface of a computer or the like, and as shown in Fig. 3, has a function of receiving the photographing data obtained by the photographing device 300 and transmitting it to the derivation unit 220.
(4) Acquisition unit The acquisition unit 240 is, for example, a communication interface of a computer or the like, and as shown in Fig. 3, has a function of receiving the photographing data obtained by the photographing device 300 and transmitting it to the derivation unit 220.
[0038]
3. Photographing device The photographing device 300 is, for example, a digital camera such as a CCD
camera, and as shown in Fig. 1, is disposed at a position where the side surface of the robot hand 110 can be photographed when the robot hand 110 grasps a bundle of bills MT (a broke line). The photographing device 300 acquires photographing data by photographing the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of grasping the bundle of bills MT so as to fit in one image. Then, as shown in Fig. 3, the photographing device 300 transmits photographing data to the acquisition unit 240 of the control device 200 in accordance with a control signal from the control device 200. The series of processes in the photographing device 300 is carried out between the time when the robot hand 110 grasps the bundle of bills MT
and the time when the conveyance of the bundle of bills MT is started.
3. Photographing device The photographing device 300 is, for example, a digital camera such as a CCD
camera, and as shown in Fig. 1, is disposed at a position where the side surface of the robot hand 110 can be photographed when the robot hand 110 grasps a bundle of bills MT (a broke line). The photographing device 300 acquires photographing data by photographing the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of grasping the bundle of bills MT so as to fit in one image. Then, as shown in Fig. 3, the photographing device 300 transmits photographing data to the acquisition unit 240 of the control device 200 in accordance with a control signal from the control device 200. The series of processes in the photographing device 300 is carried out between the time when the robot hand 110 grasps the bundle of bills MT
and the time when the conveyance of the bundle of bills MT is started.
[0039]
<Example of Control of the Object Conveying Apparatus according to the First Embodiment>
Here, a control example of the object conveying apparatus 400 according to the first embodiment will be described. Here, as an example of the conveying destination of the bundle of bills MT, a case CA mounted on the turntable TA as shown in Fig. 1 is adopted.
It should be noted that this example does not limit the present invention.
<Example of Control of the Object Conveying Apparatus according to the First Embodiment>
Here, a control example of the object conveying apparatus 400 according to the first embodiment will be described. Here, as an example of the conveying destination of the bundle of bills MT, a case CA mounted on the turntable TA as shown in Fig. 1 is adopted.
It should be noted that this example does not limit the present invention.
[0040]
First, the control device 200 controls the robot arm RA to move the robot hand 110 to a position where the robot hand 110 waiting at a predetermined position can grasp the bundle of bills MT (see a broken line in Fig. 1). Then, the control device 200 controls the movable finger reciprocating mechanism 113 of the robot hand 110 to move the movable finger 111 of the robot hand 110, which has been pulled upward in advance, downward to grasp the bundle of bills MT
together with the fixed finger 112. Here, it is preferable that the bundle of bills MT is prepared in advance so that the robot hand 110 can easily grasp the bundle of bills MT.
First, the control device 200 controls the robot arm RA to move the robot hand 110 to a position where the robot hand 110 waiting at a predetermined position can grasp the bundle of bills MT (see a broken line in Fig. 1). Then, the control device 200 controls the movable finger reciprocating mechanism 113 of the robot hand 110 to move the movable finger 111 of the robot hand 110, which has been pulled upward in advance, downward to grasp the bundle of bills MT
together with the fixed finger 112. Here, it is preferable that the bundle of bills MT is prepared in advance so that the robot hand 110 can easily grasp the bundle of bills MT.
[0041]
Next, in a state where the robot hand 110 grasps the bundle of bills MT, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 so as to fit in one image. The photographing device 300 transmits the photographing data to the acquisition unit 240 of the control device 200.
A series of these processes are performed between the time when the robot hand 110 grasps the bundle of bills MT
and the time when the robot arm with a robot hand 100 starts conveying the bundle of bills MT.
Next, in a state where the robot hand 110 grasps the bundle of bills MT, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 so as to fit in one image. The photographing device 300 transmits the photographing data to the acquisition unit 240 of the control device 200.
A series of these processes are performed between the time when the robot hand 110 grasps the bundle of bills MT
and the time when the robot arm with a robot hand 100 starts conveying the bundle of bills MT.
[0042]
Subsequently, the acquisition unit 240 of the control device 200 receives the photographing data transmitted from the photographing device 300, and transmits the photographing data to the derivation unit 220 of the control device 200. The derivation unit 220 receives the photographing data, and measures the thickness of the bundle of bills MT based on the positional relationship between the movable finger 111 and the fixed finger 112 of the robot hand 110 in the photographing data. Then, the derivation unit 220 derives the conveying speed and the Date recue / Date received 2021 -1 1-03 swirling radius of the bundle of bills MT corresponding to the thickness data, and transmits the data of the conveying speed and the swirling radius of the bundle of bills MT
to the control unit 210 of the control device 200. A series of these processes is also performed between the time when the robot hand 110 grasps the bundle of bills MT and the time when the robot arm with a robot hand 100 starts conveying the bundle of bills MT. Then, the control unit 210 executes the control described below using the derived conveying speed and swirling radius of the bundle of bills MT.
Subsequently, the acquisition unit 240 of the control device 200 receives the photographing data transmitted from the photographing device 300, and transmits the photographing data to the derivation unit 220 of the control device 200. The derivation unit 220 receives the photographing data, and measures the thickness of the bundle of bills MT based on the positional relationship between the movable finger 111 and the fixed finger 112 of the robot hand 110 in the photographing data. Then, the derivation unit 220 derives the conveying speed and the Date recue / Date received 2021 -1 1-03 swirling radius of the bundle of bills MT corresponding to the thickness data, and transmits the data of the conveying speed and the swirling radius of the bundle of bills MT
to the control unit 210 of the control device 200. A series of these processes is also performed between the time when the robot hand 110 grasps the bundle of bills MT and the time when the robot arm with a robot hand 100 starts conveying the bundle of bills MT. Then, the control unit 210 executes the control described below using the derived conveying speed and swirling radius of the bundle of bills MT.
[0043]
The control device 200 controls the conveying speed and the swirling radius of the bundle of bills MT by using the derived data of the conveying speed and the swirling radius of the bundle of bills MT. For example, as the thickness of the bundle of bills MT
increases, the control device 200 decreases the conveying speed of the bundle of bills MT and shorten the swirling radius of the bundle of bills MT. In addition, as the thickness of the bundle of bills MT decreases, the control device 200 increases the conveying speed of the bundle of bills MT
and lengthen the swirling radius of the bundle of bills MT. However, the control device 200 controls the conveying speed and the swirling radius of the bundle of bills MT within the ranges of the maximum value and the minimum value set for the conveying speed and the swirling radius of the bundle of bills MT, respectively. Then, the control device 200 controls the robot arm RA to convey the bundle of bills MT to the case CA as the conveying destination. The control device 200 controls the robot arm RA so that the bundle of bills MT are sequentially stacked in the case CA.
The control device 200 controls the conveying speed and the swirling radius of the bundle of bills MT by using the derived data of the conveying speed and the swirling radius of the bundle of bills MT. For example, as the thickness of the bundle of bills MT
increases, the control device 200 decreases the conveying speed of the bundle of bills MT and shorten the swirling radius of the bundle of bills MT. In addition, as the thickness of the bundle of bills MT decreases, the control device 200 increases the conveying speed of the bundle of bills MT
and lengthen the swirling radius of the bundle of bills MT. However, the control device 200 controls the conveying speed and the swirling radius of the bundle of bills MT within the ranges of the maximum value and the minimum value set for the conveying speed and the swirling radius of the bundle of bills MT, respectively. Then, the control device 200 controls the robot arm RA to convey the bundle of bills MT to the case CA as the conveying destination. The control device 200 controls the robot arm RA so that the bundle of bills MT are sequentially stacked in the case CA.
[0044]
Subsequently, the control device 200 controls the robot arm RA to insert the movable finger 111 and the fixed finger 112 of the robot hand 110 into the back side of the case CA, and then controls the drag preventing unit reciprocating mechanism 118 to move the drag preventing unit 117 forward. Later, the control device 200 controls the movable finger reciprocating mechanism 113 to move up the movable finger 111, to release the grasping state, and to release the bundle of bills MT. Then, the control device 200 controls the robot arm RA to retract the robot hand 110 from the case CA while maintaining the inclination angle of the robot hand 110. At this time, since the drag preventing unit reciprocating mechanism 118 has moved forward, the drag preventing unit 117 prevents dragging of the bundle of bills MT. After the robot hand 110 is completely retracted from the case CA, the control device 200 controls the drag preventing unit reciprocating mechanism 118 to pull the drag preventing unit 117 backward.
Finally, the control device 200 controls the robot arm RA to move the robot hand 110 to a predetermined position in preparation for the conveyance of the next bundle of bills MT.
Subsequently, the control device 200 controls the robot arm RA to insert the movable finger 111 and the fixed finger 112 of the robot hand 110 into the back side of the case CA, and then controls the drag preventing unit reciprocating mechanism 118 to move the drag preventing unit 117 forward. Later, the control device 200 controls the movable finger reciprocating mechanism 113 to move up the movable finger 111, to release the grasping state, and to release the bundle of bills MT. Then, the control device 200 controls the robot arm RA to retract the robot hand 110 from the case CA while maintaining the inclination angle of the robot hand 110. At this time, since the drag preventing unit reciprocating mechanism 118 has moved forward, the drag preventing unit 117 prevents dragging of the bundle of bills MT. After the robot hand 110 is completely retracted from the case CA, the control device 200 controls the drag preventing unit reciprocating mechanism 118 to pull the drag preventing unit 117 backward.
Finally, the control device 200 controls the robot arm RA to move the robot hand 110 to a predetermined position in preparation for the conveyance of the next bundle of bills MT.
[0045]
<Features of the object conveying apparatus according to the first embodiment>
(1) In the object conveying apparatus 400 according to the first embodiment, the control device 200 measures the thickness of the bundle of bills MT and controls the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness. As the thickness of the bundle of bills MT to be conveyed increases, the control device 200 decreases the conveying speed of the bundle of bills MT and shorten the swirling radius of the bundle of bills MT. Further, as the thickness of the bundle MT of bills to be conveyed becomes thinner, the control device 200 increases the conveying speed of the bundle of bills MT and lengthen the swirling radius of the bundle of bills. Therefore, in the object conveying apparatus 400 according to the first embodiment, when the bundle of bills MT to be conveyed is thick, it is possible to suppress as much as possible that the bundle of bills MT collapses during conveyance when the robot arm with a robot hand 100 grasps and conveys the bundle of bills MT. When the bundle of bills MT to be conveyed is thin, Date recue / Date received 2021 -1 1-03 when the robot arm with a robot hand 100 grasps and conveys the bundle of bills MT, the bundle of bills MT can be conveyed at high speed to improve the conveying work efficiency.
<Features of the object conveying apparatus according to the first embodiment>
(1) In the object conveying apparatus 400 according to the first embodiment, the control device 200 measures the thickness of the bundle of bills MT and controls the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness. As the thickness of the bundle of bills MT to be conveyed increases, the control device 200 decreases the conveying speed of the bundle of bills MT and shorten the swirling radius of the bundle of bills MT. Further, as the thickness of the bundle MT of bills to be conveyed becomes thinner, the control device 200 increases the conveying speed of the bundle of bills MT and lengthen the swirling radius of the bundle of bills. Therefore, in the object conveying apparatus 400 according to the first embodiment, when the bundle of bills MT to be conveyed is thick, it is possible to suppress as much as possible that the bundle of bills MT collapses during conveyance when the robot arm with a robot hand 100 grasps and conveys the bundle of bills MT. When the bundle of bills MT to be conveyed is thin, Date recue / Date received 2021 -1 1-03 when the robot arm with a robot hand 100 grasps and conveys the bundle of bills MT, the bundle of bills MT can be conveyed at high speed to improve the conveying work efficiency.
[0046]
(2) In the object conveying apparatus 400 according to the first embodiment, the thickness of the bundle of bills MT is measured in a state where the robot hand 110 grasps the bundle of bills MT. Therefore, in the object conveying apparatus 400 according to the first embodiment, it is possible to control the robot arm with a robot hand 100 according to the thickness of the bundle of bills MT actually grasped by the robot hand 110.
(2) In the object conveying apparatus 400 according to the first embodiment, the thickness of the bundle of bills MT is measured in a state where the robot hand 110 grasps the bundle of bills MT. Therefore, in the object conveying apparatus 400 according to the first embodiment, it is possible to control the robot arm with a robot hand 100 according to the thickness of the bundle of bills MT actually grasped by the robot hand 110.
[0047]
Modification (A) In the object conveying apparatus 400 according to the first embodiment, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of grasping the bundle of bills MT
so as to fit in one image. However, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of grasping the bundle of bills MT so as to fit in two or more images. Then, for example, the control device 200 may synthesize the images with reference to the characteristic points of the respective images, and measure the thickness of the bundle of bills MT from the synthesized images.
Modification (A) In the object conveying apparatus 400 according to the first embodiment, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of grasping the bundle of bills MT
so as to fit in one image. However, the photographing device 300 photographs the side surfaces of the movable finger 111 and the fixed finger 112 of the robot hand 110 in a state of grasping the bundle of bills MT so as to fit in two or more images. Then, for example, the control device 200 may synthesize the images with reference to the characteristic points of the respective images, and measure the thickness of the bundle of bills MT from the synthesized images.
[0048]
(B) In the object conveying apparatus 400 according to the first embodiment, the thickness of the bundle of bills MT grasped by the robot hand 110 is measured by the derivation unit 220 of the control device 200 based on the photographing data photographed by the photographing device 300. However, the thickness of the bundle of bills MT grasped by the robot hand 110 may be measured by a pressure sensor disposed in the robot hand 110 or may be measured by other measurement method.
(B) In the object conveying apparatus 400 according to the first embodiment, the thickness of the bundle of bills MT grasped by the robot hand 110 is measured by the derivation unit 220 of the control device 200 based on the photographing data photographed by the photographing device 300. However, the thickness of the bundle of bills MT grasped by the robot hand 110 may be measured by a pressure sensor disposed in the robot hand 110 or may be measured by other measurement method.
[0049]
(C) In the object conveying apparatus 400 according to the first embodiment, the control device 200 measures the thickness of the bundle of bills MT and controls the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness. However, the control device 200 may control only one of the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness of the bundle of bills MT.
(C) In the object conveying apparatus 400 according to the first embodiment, the control device 200 measures the thickness of the bundle of bills MT and controls the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness. However, the control device 200 may control only one of the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness of the bundle of bills MT.
[0050]
- Second embodiment -In the object conveying apparatus according to the second embodiment of the present invention, the thickness of the bundle of bills MT is measured before the bundle of bills MT is grasped by the robot hand. Here, the object conveying apparatus according to the second embodiment does not include the photographing device 300 described in the object conveying apparatus 400 according to the first embodiment, and the second robot arm with a robot hand and another photographing device for photographing the second robot arm with a robot hand are additionally configured. Differences from the object conveying apparatus 400 according to the first embodiment will be described below. In the second embodiment, the first robot arm with a robot hand is structurally similar to the robot arm with a robot hand 100 described in the object conveying apparatus 400 according to the first embodiment. In the second embodiment, for Date recue / Date received 2021 -1 1-03 convenience, the robot arm with a robot hand 100, the robot hand 110, and the robot arm RA are referred to as "first robot arm with a robot hand," "first robot hand," and "first robot arm,"
respectively.
- Second embodiment -In the object conveying apparatus according to the second embodiment of the present invention, the thickness of the bundle of bills MT is measured before the bundle of bills MT is grasped by the robot hand. Here, the object conveying apparatus according to the second embodiment does not include the photographing device 300 described in the object conveying apparatus 400 according to the first embodiment, and the second robot arm with a robot hand and another photographing device for photographing the second robot arm with a robot hand are additionally configured. Differences from the object conveying apparatus 400 according to the first embodiment will be described below. In the second embodiment, the first robot arm with a robot hand is structurally similar to the robot arm with a robot hand 100 described in the object conveying apparatus 400 according to the first embodiment. In the second embodiment, for Date recue / Date received 2021 -1 1-03 convenience, the robot arm with a robot hand 100, the robot hand 110, and the robot arm RA are referred to as "first robot arm with a robot hand," "first robot hand," and "first robot arm,"
respectively.
[0051]
1. Second robot arm with a robot hand The second robot arm with a robot hand grasps and extracts the bundle of bills MT from the bill storage box, and conveys the bundle of bills MT to the movable region of the first robot arm with a robot hand. The photographing device is provided at a position where the whole of the bundle of bills MT in the thickness direction can be photographed in a state where the second robot arm with a robot hand grasps the bundle of bills MT. The photographing device transmits the photographing data to the control device 200.
1. Second robot arm with a robot hand The second robot arm with a robot hand grasps and extracts the bundle of bills MT from the bill storage box, and conveys the bundle of bills MT to the movable region of the first robot arm with a robot hand. The photographing device is provided at a position where the whole of the bundle of bills MT in the thickness direction can be photographed in a state where the second robot arm with a robot hand grasps the bundle of bills MT. The photographing device transmits the photographing data to the control device 200.
[0052]
2. Control device In the second embodiment, the control device 200 is connected to the first robot arm with a robot hand, the robot arm with robot hand, and the photographing device. The control device 200 controls the operations of the first robot arm with a robot hand and the second robot arm with a robot hand, and the photographing process of the photographing device. In addition, the control device 200 receives photographing data from the photographing device which photographed the whole of the bundle of bills MT grasped by the second robot arm with a robot hand in the thickness direction, measures the thickness of the bundle of bills MT from the photographing data, and controls the conveying speed and the swirling radius of the bundle of bills MT according to the thickness data. Controlling the conveying speed and the swirling radius of the bundle of bills MT controls the conveying speed and the swirling radius of the first robot hand.
2. Control device In the second embodiment, the control device 200 is connected to the first robot arm with a robot hand, the robot arm with robot hand, and the photographing device. The control device 200 controls the operations of the first robot arm with a robot hand and the second robot arm with a robot hand, and the photographing process of the photographing device. In addition, the control device 200 receives photographing data from the photographing device which photographed the whole of the bundle of bills MT grasped by the second robot arm with a robot hand in the thickness direction, measures the thickness of the bundle of bills MT from the photographing data, and controls the conveying speed and the swirling radius of the bundle of bills MT according to the thickness data. Controlling the conveying speed and the swirling radius of the bundle of bills MT controls the conveying speed and the swirling radius of the first robot hand.
[0053]
<Example of Control of Object Conveying Apparatus according to the Second Embodiment>
Here, a control example of the object conveying apparatus according to the second embodiment will be described. Here, a case (not shown) mounted on a turntable is adopted as an example of the conveying destination of the bundle of bills MT. It should be noted that this example does not limit the preset invention.
<Example of Control of Object Conveying Apparatus according to the Second Embodiment>
Here, a control example of the object conveying apparatus according to the second embodiment will be described. Here, a case (not shown) mounted on a turntable is adopted as an example of the conveying destination of the bundle of bills MT. It should be noted that this example does not limit the preset invention.
[0054]
First, the control device 200 controls the second robot arm with a robot hand to grasp and extract the bundle of bills MT from the bill storage box. At this time, in a state where the second robot arm with a robot hand grasps the bundle MT of bills, the photographing device photographs the whole of the bundle MT of bills in the thickness direction, and transmits the photographing data to the control device 200. Next, the control device 200 controls the second robot arm with a robot hand so as to convey the bundle of bills MT to the movable region of the first robot arm with a robot hand.
First, the control device 200 controls the second robot arm with a robot hand to grasp and extract the bundle of bills MT from the bill storage box. At this time, in a state where the second robot arm with a robot hand grasps the bundle MT of bills, the photographing device photographs the whole of the bundle MT of bills in the thickness direction, and transmits the photographing data to the control device 200. Next, the control device 200 controls the second robot arm with a robot hand so as to convey the bundle of bills MT to the movable region of the first robot arm with a robot hand.
[0055]
Next, the control device 200 controls the first robot arm with a robot hand to grasp the bundle of bills MT conveyed by the second robot arm with a robot hand. Then, the control device 200 controls the first robot arm with a robot hand to convey the bundle of bills MT to the case mounted on the turntable. As described above, unlike the control example of the object conveying apparatus 400 according to the first embodiment, the control device 200 measures the thickness of the bundle of bills MT based on the photographing data transmitted from the photographing device that photographs the whole of the bundle of bills MT grasped by the second robot arm with a robot hand in the thickness direction. Then, the control device 200 controls the conveying speed and the swirling radius of the bundle of bills MT according to the thickness data. In addition, since the Date recue / Date received 2021 -1 1-03 thickness of the bundle of bills MT is obvious before the first robot hand grasps the bundle of bills MT, the control device 200 controls to pull up the movable finger of the first robot hand to such an extent that the movable finger can grasps the bundle of bills MT without pulling up the movable finger of the first robot hand to the upper maximum.
Next, the control device 200 controls the first robot arm with a robot hand to grasp the bundle of bills MT conveyed by the second robot arm with a robot hand. Then, the control device 200 controls the first robot arm with a robot hand to convey the bundle of bills MT to the case mounted on the turntable. As described above, unlike the control example of the object conveying apparatus 400 according to the first embodiment, the control device 200 measures the thickness of the bundle of bills MT based on the photographing data transmitted from the photographing device that photographs the whole of the bundle of bills MT grasped by the second robot arm with a robot hand in the thickness direction. Then, the control device 200 controls the conveying speed and the swirling radius of the bundle of bills MT according to the thickness data. In addition, since the Date recue / Date received 2021 -1 1-03 thickness of the bundle of bills MT is obvious before the first robot hand grasps the bundle of bills MT, the control device 200 controls to pull up the movable finger of the first robot hand to such an extent that the movable finger can grasps the bundle of bills MT without pulling up the movable finger of the first robot hand to the upper maximum.
[0056]
<Features of the object conveying apparatus according to the second embodiment>
In the object conveying apparatus according to the second embodiment, the thickness of the bundle of bills MT is measured before the first robot hand grasps the bundle of bills MT.
Therefore, in the object conveying apparatus according to the second embodiment, after the thickness of the bundle of bills MT is measured, the first robot arm with a robot hand is controlled using the thickness. In the object conveying apparatus according to the second embodiment, the movable finger of the first robot hand for grasping the bundle of bills MT is controlled in advance.
That is, since it is not necessary to pull up the movable finger to the upper maximum before the first robot hand grasps the bundle of bills MT, it is possible to reduce the time required to pull up the movable finger upward. In addition, it is possible to reduce the time required for the movable finger to move downward and the first robot hand to grasp the bundle of bills MT. Therefore, in the object conveying apparatus according to the second embodiment, it is possible to improve the conveying work efficiency of the bundle of bills MT by the first robot arm with a robot hand.
<Features of the object conveying apparatus according to the second embodiment>
In the object conveying apparatus according to the second embodiment, the thickness of the bundle of bills MT is measured before the first robot hand grasps the bundle of bills MT.
Therefore, in the object conveying apparatus according to the second embodiment, after the thickness of the bundle of bills MT is measured, the first robot arm with a robot hand is controlled using the thickness. In the object conveying apparatus according to the second embodiment, the movable finger of the first robot hand for grasping the bundle of bills MT is controlled in advance.
That is, since it is not necessary to pull up the movable finger to the upper maximum before the first robot hand grasps the bundle of bills MT, it is possible to reduce the time required to pull up the movable finger upward. In addition, it is possible to reduce the time required for the movable finger to move downward and the first robot hand to grasp the bundle of bills MT. Therefore, in the object conveying apparatus according to the second embodiment, it is possible to improve the conveying work efficiency of the bundle of bills MT by the first robot arm with a robot hand.
[0057]
Modification (A) In the object conveying apparatus according to the second embodiment, the thickness of the bundle of bills MT is measured based on the photographing data photographed by the photographing device provided at a position where the whole of the bundle of bills MT in the thickness direction can be photographed in a state where the second robot arm with a robot hand grasps the bundle of bills MT. However, the thickness of the bundle of bills MT may be measured while the second robot arm with a robot hand grasps the bundle of bills MT by a method of measuring the thickness of the bundle of bills MT based on photographing data photographed by a photographic device fixed to the second robot arm with a robot hand, a method of measuring the thickness of the bundle of bills MT by a pressure sensor disposed in the second robot arm with a robot hand, or other method of measuring the thickness of the bundle of bills MT.
Modification (A) In the object conveying apparatus according to the second embodiment, the thickness of the bundle of bills MT is measured based on the photographing data photographed by the photographing device provided at a position where the whole of the bundle of bills MT in the thickness direction can be photographed in a state where the second robot arm with a robot hand grasps the bundle of bills MT. However, the thickness of the bundle of bills MT may be measured while the second robot arm with a robot hand grasps the bundle of bills MT by a method of measuring the thickness of the bundle of bills MT based on photographing data photographed by a photographic device fixed to the second robot arm with a robot hand, a method of measuring the thickness of the bundle of bills MT by a pressure sensor disposed in the second robot arm with a robot hand, or other method of measuring the thickness of the bundle of bills MT.
[0058]
(B) In the object conveying apparatus according to the second embodiment, the second robot arm with a robot hand conveys the bundle of bills MT to the movable region of the first robot arm with a robot hand. However, the bundle of bills MT may be conveyed to the movable region of the first robot arm with a robot hand by a transfer device, for example, a belt conveyor, a slide device, or the like. In such a case, it is preferable that the second robot arm with a robot hand transfers the bundle of bills MT onto the transfer device.
(B) In the object conveying apparatus according to the second embodiment, the second robot arm with a robot hand conveys the bundle of bills MT to the movable region of the first robot arm with a robot hand. However, the bundle of bills MT may be conveyed to the movable region of the first robot arm with a robot hand by a transfer device, for example, a belt conveyor, a slide device, or the like. In such a case, it is preferable that the second robot arm with a robot hand transfers the bundle of bills MT onto the transfer device.
[0059]
(C) In the object conveying apparatus according to the second embodiment, the thickness of the bundle of bills MT is measured based on the photographing data photographed by the photographing device provided at a position where the whole of the bundle of bills MT in the thickness direction can be photographed in a state where the second robot arm with a robot hand grasps the bundle of bills MT. However, the thickness of the bundle of bills MT may be measured based on the photographing data photographed by the photographing device installed at the start Date recue / Date received 2021 -1 1-03 point or the end point of the transfer device that moves the bundle of bills MT to the vicinity of the first robot arm with a robot hand. In such a case, the transfer device is preferably a slide device. In addition, it is preferable that the photographing device photographs the inside of the box from the top surface of the box in a state where the bundle of bills MT is stored in the box having an open top surface placed on the slide device, and the thickness of the bundle of bills MT is measured based on the photographing data.
(C) In the object conveying apparatus according to the second embodiment, the thickness of the bundle of bills MT is measured based on the photographing data photographed by the photographing device provided at a position where the whole of the bundle of bills MT in the thickness direction can be photographed in a state where the second robot arm with a robot hand grasps the bundle of bills MT. However, the thickness of the bundle of bills MT may be measured based on the photographing data photographed by the photographing device installed at the start Date recue / Date received 2021 -1 1-03 point or the end point of the transfer device that moves the bundle of bills MT to the vicinity of the first robot arm with a robot hand. In such a case, the transfer device is preferably a slide device. In addition, it is preferable that the photographing device photographs the inside of the box from the top surface of the box in a state where the bundle of bills MT is stored in the box having an open top surface placed on the slide device, and the thickness of the bundle of bills MT is measured based on the photographing data.
[0060]
(D) In the object conveying apparatus according to the second embodiment, the control device 200 measures the thickness of the bundle of bills MT and controls the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness. However, the control device 200 may control only one of the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness of the bundle of bills MT.
Date recue / Date received 2021-11-03
(D) In the object conveying apparatus according to the second embodiment, the control device 200 measures the thickness of the bundle of bills MT and controls the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness. However, the control device 200 may control only one of the conveying speed and the swirling radius of the bundle of bills MT in accordance with the thickness of the bundle of bills MT.
Date recue / Date received 2021-11-03
Claims (6)
1. An object conveying apparatus comprising:
a robot arm that grasps and conveys a bundle of thin objects; and a speed control unit for controlling the conveying speed of the bundle of thin objects in accordance with the thickness of the bundle of thin objects, wherein the speed control unit lowers the conveying speed of the bundle of thin objects as the thickness of the bundle of thin objects increases, and increases the conveying speed of the bundle of thin objects as the thickness of the bundle of thin objects decreases.
a robot arm that grasps and conveys a bundle of thin objects; and a speed control unit for controlling the conveying speed of the bundle of thin objects in accordance with the thickness of the bundle of thin objects, wherein the speed control unit lowers the conveying speed of the bundle of thin objects as the thickness of the bundle of thin objects increases, and increases the conveying speed of the bundle of thin objects as the thickness of the bundle of thin objects decreases.
2. The object conveying apparatus according to claim 1, wherein the robot arm swirls and conveys the bundle of thin objects, the object conveying apparatus further comprises a swirling control unit for controlling the swirling radius of the bundle of thin objects in accordance with the thickness of the bundle of thin objects, and the swirling control unit shortens the swirling radius of the bundle of thin objects as the thickness of the bundle of thin objects increases, and lengthens the swirling radius of the bundle of thin objects as the thickness of the bundle of thin objects decreases.
3. The object conveying apparatus according to any one of claims 1 to 2, further comprising:
a thickness measuring unit for measuring the thickness of the bundle of thin objects while the robot arm grasps the bundle of thin objects.
a thickness measuring unit for measuring the thickness of the bundle of thin objects while the robot arm grasps the bundle of thin objects.
4. The object conveying apparatus according to any one of claims 1 to 2, further comprising:
a thickness measuring unit for measuring the thickness of the bundle of thin objects before the robot arm grasps the bundle of thin objects.
a thickness measuring unit for measuring the thickness of the bundle of thin objects before the robot arm grasps the bundle of thin objects.
5. The object conveying apparatus according to claim 3, wherein the robot arm has a grasping unit for grasping the bundle of thin objects, the grasping unit has a first finger and a second finger opposite the first finger, the object conveying apparatus further comprises a photographing unit for capturing the first finger and the second finger, and the thickness measuring unit calculates the thickness of the bundle of thin objects from the positional relationship between the first finger and the second finger in the photographing result of the photographing unit.
6. The object conveying apparatus according to any one of claims 1 to 5, wherein the bundle of thin objects is a bundle of paper sheets.
Date Recue/Date Received 2023-08-14
Date Recue/Date Received 2023-08-14
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-135157 | 2019-07-23 | ||
| JP2019135157A JP6823117B1 (en) | 2019-07-23 | 2019-07-23 | Object transfer device |
| PCT/JP2020/023514 WO2021014825A1 (en) | 2019-07-23 | 2020-06-16 | Object conveying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA3139167A1 CA3139167A1 (en) | 2021-01-28 |
| CA3139167C true CA3139167C (en) | 2023-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CA3139167A Active CA3139167C (en) | 2019-07-23 | 2020-06-16 | Object conveying apparatus |
Country Status (4)
| Country | Link |
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| JP (1) | JP6823117B1 (en) |
| CN (1) | CN114051445B (en) |
| CA (1) | CA3139167C (en) |
| WO (1) | WO2021014825A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029974B (en) * | 2021-11-04 | 2023-06-20 | 上海擎朗智能科技有限公司 | Robot meal delivery control method and device, robot and storage medium |
| CN116141383B (en) * | 2023-04-11 | 2024-01-05 | 江苏悦川机器人有限公司 | Terminal camera mounting structure of mechanical arm, mechanical arm and robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001105272A (en) * | 1999-09-30 | 2001-04-17 | Nakamura Tome Precision Ind Co Ltd | Work carry-in-and-out device |
| JP2007021635A (en) * | 2005-07-14 | 2007-02-01 | Komatsu Engineering Corp | Automatic handing method for workpiece and automatic handling system for workpiece |
| SE538951C2 (en) * | 2014-03-28 | 2017-02-28 | Yaskawa Nordic Ab | gripdon |
| JP2016049607A (en) * | 2014-09-01 | 2016-04-11 | キヤノン株式会社 | Robot device, method of controlling robot device, program, and recording medium |
| CN107186719B (en) * | 2017-06-29 | 2020-04-28 | 顺丰速运有限公司 | Translation speed control method applied to small express delivery robot gripper |
| JP2019028730A (en) * | 2017-07-31 | 2019-02-21 | グローリー株式会社 | Paper processing system and paper processing method |
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2019
- 2019-07-23 JP JP2019135157A patent/JP6823117B1/en active Active
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2020
- 2020-06-16 WO PCT/JP2020/023514 patent/WO2021014825A1/en active Application Filing
- 2020-06-16 CN CN202080046130.2A patent/CN114051445B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CA3139167A1 (en) | 2021-01-28 |
| WO2021014825A1 (en) | 2021-01-28 |
| CN114051445A (en) | 2022-02-15 |
| CN114051445B (en) | 2024-04-30 |
| JP6823117B1 (en) | 2021-01-27 |
| JP2021017357A (en) | 2021-02-15 |
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