CN113544069B

CN113544069B - Robot hand, robot and robot system

Info

Publication number: CN113544069B
Application number: CN202080019994.5A
Authority: CN
Inventors: 东健太郎; 石崎敬之; 吉田将崇; 冈光信; 镰田智志
Original assignee: Kawasaki Jukogyo KK
Current assignee: Kawasaki Motors Ltd
Priority date: 2019-04-09
Filing date: 2020-04-09
Publication date: 2023-06-13
Anticipated expiration: 2040-04-09
Also published as: JP7220115B2; WO2020209334A1; TWI765246B; TW202043128A; CN113544069A; KR20210149154A; JP2020171982A

Abstract

A robot hand (120; 120A;120B; 120C) for moving an article is provided with: a first conveyor (130) having an endless first conveyor belt (134) forming a first conveying surface (134 a) for conveying the articles and driving the first conveyor belt; and an introducing device (140; 140A) that is brought into contact with the article and introduces the article onto the first conveying surface, the introducing device protruding from the first conveyor in at least one of a direction opposite to an introducing direction of the introducing device and a direction opposite to a moving direction of the first conveying surface when the article is loaded onto the first conveying surface.

Description

Robot hand, robot and robot system

Technical Field

The present disclosure relates to robotic hands, robots, and robotic systems.

Background

Conventionally, a transfer robot for transferring articles is known. For example, patent document 1 discloses an industrial robot including a belt conveyor at the end of a hand. The robot of patent document 1 transfers a workpiece transferred by a conveyor such as a production line to a belt conveyor at the end of a hand. After the transfer is completed, the robot moves the belt conveyor to the transfer location, and moves the belt conveyor backward while feeding out the workpiece by the belt conveyor, thereby transferring the workpiece.

Patent document 1: japanese patent laid-open No. 2002-167045

The robot of patent document 1 can load a workpiece conveyed by a conveyor or the like onto a belt conveyor, but cannot load a stationary workpiece such as a stacked workpiece onto the belt conveyor.

Disclosure of Invention

Accordingly, it is an object of the present disclosure to provide a robot hand, a robot, and a robot system capable of loading and moving stationary articles onto a conveyor.

In order to achieve the above object, a robot hand according to one aspect of the present disclosure is a robot hand for moving an object, comprising: a first conveyor having a first endless conveyor belt and driving the first conveyor belt, the first conveyor belt forming a first conveying surface for conveying the articles; and a leading-in device which is in contact with the article and which leads the article to the first conveying surface, wherein the leading-in device protrudes from the first conveyor in at least one direction of the leading-in device and the direction opposite to the moving direction of the first conveying surface when the article is loaded on the first conveying surface.

A robot according to an aspect of the present disclosure includes: a robot hand according to an embodiment of the present disclosure; the robot arm is connected with the robot hand; and a control device for controlling the movements of the robot hand and the robot arm.

A robot system according to an aspect of the present disclosure includes: a robot according to an embodiment of the present disclosure; and an operation device for operating the robot.

According to the techniques of the present disclosure, stationary articles can be loaded onto and moved by a conveyor of a robotic hand.

Drawings

Fig. 1 is a diagram showing an example of a configuration of a robot system according to an embodiment.

Fig. 2 is a side view showing an example of the configuration of the robot according to the embodiment.

Fig. 3 is a side view showing an example of the structure of the robot hand according to the embodiment.

Fig. 4 is a block diagram showing an example of the functional configuration of the control device according to the embodiment.

Fig. 5 is a block diagram showing an example of the configuration of the control device and each driving device according to the embodiment.

Fig. 6 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 7 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 8 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 9 is a side view showing one of the operations of the robot system according to the embodiment.

Fig. 10 is a side view showing an example of the structure of the robot hand according to modification 1.

Fig. 11 is a side view showing an example of the structure of the robot hand according to modification 2.

Fig. 12 is a side view showing an example of the structure of the robot hand according to modification 3.

Detailed Description

Embodiments of the present disclosure will be described below with reference to the accompanying drawings. The embodiments described below each represent a general or specific example. Among the constituent elements in the following embodiments, constituent elements not described in the embodiments showing the uppermost concept will be described as arbitrary constituent elements. The drawings are schematic and are not necessarily strictly illustrated. In the drawings, substantially the same components are denoted by the same reference numerals, and overlapping description may be omitted or simplified.

Robot System 1 >, a method for controlling a robot

Fig. 1 is a diagram showing an example of the configuration of a robot system 1 according to the embodiment. As shown in fig. 1, in the present embodiment, a robot system 1 is a system for conveying an article a using a robot 100. For example, the robot 100 can place the article a conveyed by the conveyor or the like at a predetermined place and accumulate the articles. The robot 100 takes out the article a from the stack of articles a stacked in a predetermined place, and places the article a on another device or the like. Hereinafter, the article a conveyed by the robot 100 will be described assuming a rectangular corrugated cardboard box, but is not limited thereto. The object to be conveyed may be any object that can be loaded on the first conveyor 130 described later, and may be, for example, another object having a predetermined shape or an object having no predetermined shape such as rock.

The robot system 1 includes: a robot 100; and an operating device 210 for operating the robot 100. The operating device 210 is configured to be separated from the robot 100, and the operator P can remotely operate the robot 100 by making an input to the operating device 210. The robot system 1 further includes: an imaging device 220 for imaging the operation state of the robot 100; and an output device 230 outputting the information photographed by the photographing device 220. The robot system 1 further includes a transport vehicle 240 to which the robot arm 110 of the robot 100 is fixed. Although not limited thereto, in the present embodiment, the conveyance carriage 240 has a servomotor that drives the conveyance carriage 240 with electric power as a power source. For example, the transport 240 may be an AGV (unmanned transport vehicle: automated Guided Vehicle). The above-described components of the robot system 1 are not all necessary.

Robot 100 >, robot

As shown in fig. 1, the robot 100 includes: a robotic arm 110; a robot hand 120 mounted on the end of the robot arm 110; and a control device 170 that controls the operations of the robot arm 110 and the robot hand 120. In the present embodiment, the robot 100 is configured as a vertical multi-joint robot, but is not limited thereto.

Operation device 210 >, operation device

As shown in fig. 1, the operation device 210 remotely operates the robot 100 and the transport vehicle 240 based on a command input by the operator P. The specific configuration of the operation device 210 is not particularly limited, but the operation device 210 includes an input device for receiving an input by the operator P. Examples of the input device include, but are not limited to, a handle, a joystick, a pedal, a button, a touch panel, a microphone, a camera, and the like. The operation device 210 outputs an instruction corresponding to an operation input via the input device to the control device 170. The operation device 210 is connected to the control device 170 via wired communication or wireless communication. The form of wired communication and wireless communication may be any form.

The operation device 210 may output instructions corresponding to the respective operations manually operated by the operator P to the control device 170. Alternatively, the operation device 210 may output an instruction corresponding to the operation content of the automatic operation input by the operator P to the control device 170. For example, as an input instruction, the operation device 210 may accept displacement, direction, speed, operation force, etc. of a handle, a joystick, etc., may accept pressing of a button, may accept contact with a screen of a touch panel, a contact locus, a contact pressure, etc., may accept a sound signal collected by a speaker, and may accept an analysis result of an image of the operator P photographed by a camera. The operation force is a force applied to the handle, the joystick, or the like by the operator P. The contact pressure is a pressing force of a finger or the like against the touch panel. The analysis result of the image of the operator P includes an instruction represented by a gesture or the like of the operator P.

< photographing device 220 >)

As shown in fig. 1, the imaging device 220 images the operation states of the robot 100, the carriage 240, and the like, and outputs the signals of the imaged images to the output device 230. The image captured by the imaging device 220 may be a still image or a moving image. Examples of the photographing device 220 are a digital still camera and a digital video camera. The imaging device 220 is connected to the operation device 210 and the output device 230 via wired communication or wireless communication. The imaging device 220 may perform operations such as execution and stop of imaging, and change of the imaging direction, in response to an instruction input to the operation device 210.

Output device 230 >)

As shown in fig. 1, the output device 230 is a display device that outputs a signal of an image acquired from the imaging device 220 as an image and displays the image on the operator P. Examples of the output device 230 are a liquid crystal display (Liquid Crystal Display) and an organic or inorganic EL display (Electro-Luminescence Display), but are not limited thereto. The output device 230 may display an image for operation or the like output by the control device 170.

Detailed structure of robot 100

[ Structure of robot arm 110 ]

The detailed structure of the robot arm 110 of the robot 100 will be described. Fig. 2 is a side view showing an example of the configuration of the robot 100 according to the embodiment. As shown in fig. 2, the robot arm 110 of the robot 100 is fixed to the conveyance carriage 240 by its base end portion. A robot hand 120 is connected to a distal end portion of the robot arm 110. The articulated robot arm 110 has 6 joint axes JT1 to JT6 and 6 links 110a to 110f connected in sequence by the joint axes. The robot arm 110 includes arm driving devices AM1 to AM6 that rotationally drive the joint axes JT1 to JT6, respectively. The operations of the arm driving devices AM1 to AM6 are controlled by the control device 170. Although not limited thereto, in the present embodiment, each of the arm driving devices AM1 to AM6 has a servomotor as an electric motor for driving them by using electric power as a power source. The number of joint axes of the robot arm 110 is not limited to 6, and may be 7 or more, or 1 or more and 5 or less.

The joint axis JT1 connects the upper surface of the base 241 of the carriage 240 and the base end portion of the link 110a to be rotatable about an axis in the vertical direction perpendicular to the upper surface. The joint shaft JT2 connects the distal end portion of the link 110a and the proximal end portion of the link 110b to be rotatable about a horizontal axis. The joint shaft JT3 connects the distal end portion of the link 110b and the proximal end portion of the link 110c to be rotatable about a horizontal axis. The joint shaft JT4 connects the distal end portion of the link 110c and the proximal end portion of the link 110d to be rotatable about the longitudinal axis of the link 110 c. The joint shaft JT5 connects the distal end portion of the link 110d and the base end portion of the link 110e to be rotatable about an axis perpendicular to the longitudinal direction of the link 110 d. The joint shaft JT6 connects the distal end portion of the link 110e and the proximal end portion of the link 110f to be rotatable in torsion with respect to the link 110 e. A robot hand 120 is attached to the distal end portion of the link 110 f.

[ Structure of robot hand 120 ]

The detailed structure of the robot hand 120 of the robot 100 will be described. Fig. 3 is a side view showing an example of the structure of the robot hand 120 according to the embodiment. As shown in fig. 1 and 3, the robot hand 120 includes a first conveyor 130, a second conveyor 140, a base 150, and

support portions

161 and 162.

The base 150 is mounted on the distal end portion of the link 110f of the robot arm 110. The base 150 has a plate-like shape. The base 150 supports the first conveyor 130 on a main surface 150a of the opposed

main surfaces

150a and 150b, and is connected to the link 110f through the main surface 150 b.

The first conveyor 130 is disposed on the main surface 150a and fixed to the base 150. The second conveyor 140 is arranged to be separated from the first conveyor 130 in a first direction D1a, which is a direction perpendicular to the main surface 150 a. The first direction D1a is a direction away from the main surface 150a, and the second direction D1b, which is a direction opposite to the first direction D1a, is a direction approaching the main surface 150 a.

The first conveyor 130 and the second conveyor 140 are configured as belt conveyors. Although not limited thereto, in the present embodiment, the length of the first conveyor 130 in the first conveying direction D2b described later is equal to the length of the second conveyor 140 in the second conveying direction D3b described later.

The first conveyor 130 can convey the articles a loaded on the first conveying surface 134a in the first conveying directions D2a and D2b, which are opposite directions to each other. The first conveying surface 134a faces the second conveyor 140 in the first direction D1 a. The first conveying directions D2a and D2b are the moving directions of the first conveying surface 134 a. For example, the first conveying direction D2a is a moving direction when the article a is moved and loaded on the first conveying surface 134a, and the first conveying direction D2b is a moving direction when the article a on the first conveying surface 134a is unloaded from the first conveying surface 134 a.

The first conveyor 130 includes a driving roller 131, 1 or more driven rollers 132, a supporting frame 133, a first conveyor belt 134, and a first driving device 135. The

rollers

131 and 132 are aligned along the first conveying direction D2a or D2 b. The support frame 133 supports the

rollers

131 and 132. The first conveyor belt 134 is an endless belt and is supported around the

rollers

131 and 132. The first conveying belt 134 forms a first conveying surface 134a, and the first conveying surface 134a is an outer peripheral surface of a portion of the first conveying belt 134 located in the first direction D1a with respect to the

rollers

131 and 132.

Although not limited thereto, in the present embodiment, the first driving device 135 has a servomotor as an electric motor that drives the servomotor using electric power as a power source. A servo motor is an example of a conveyor drive motor. The first driving device 135 drives the first conveyor belt 134 to rotate by rotationally driving the driving roller 131. The first driving device 135 and the driving roller 131 are disposed at the end 130a of the first conveyor 130. The end 130a is an end of the first conveyor 130 in the first conveying direction D2a, and the end 130b is an end of the first conveyor 130 in the first conveying direction D2 b. The operation of the first driving device 135 is controlled by the control device 170. The first driving device 135 may receive power from the robot 100, a power supply source of the robot 100, another power supply source, or the like.

The first driving device 135 rotates and drives the driving roller 131 in one direction to cause the first conveying belt 134 to wrap around the

rollers

131 and 132 in one direction, thereby moving the first conveying surface 134a in the first conveying direction D2 a. The first driving device 135 rotates the driving roller 131 in the opposite direction to circulate the first conveying belt 134 in the opposite direction, thereby moving the first conveying surface 134a in the first conveying direction D2 b.

The second conveyor 140 can convey the articles a loaded on the second conveying surface 144a in the second conveying directions D3a and D3b, which are opposite directions to each other. The second conveying surface 144a is oriented differently than the first conveying surface 134 a. Specifically, the second conveying surface 144a faces the first conveying surface 134a in the second direction D1b, that is, the surface of the first conveyor 130. The second conveying directions D3a and D3b are the moving directions of the second conveying surface 144 a. For example, the second conveying direction D3a is a moving direction when the article a is moved onto the second conveying surface 144a, and the second conveying direction D3b is a moving direction when the article a on the second conveying surface 144a is removed from the second conveying surface 144 a.

The second conveyor 140 includes a driving roller 141, 1 or more driven rollers 142, a support frame 143, a second conveyor belt 144, and a second driving device 145. The

rollers

141 and 142 are aligned along the second conveying direction D3a or D3 b. The support frame 143 extends in the second conveying direction D3a or D3b, supporting the

rollers

141 and 142. The second conveyor belt 144 is an endless belt and is supported around the

rollers

141 and 142. The second conveying belt 144 forms a second conveying surface 144a, and the second conveying surface 144a is an outer peripheral surface of a portion of the second conveying belt 144 located in the second direction D1b with respect to the

rollers

141 and 142.

Although not limited thereto, in the present embodiment, the second driving device 145 has a servomotor as an electric motor that drives the servomotor using electric power as a power source. A servo motor is an example of a conveyor drive motor. The second driving device 145 drives the second conveyor belt 144 in a circulating manner by rotationally driving the driving roller 141. The second driving device 145 and the roller 141 are disposed at the end 140a of the second conveyor 140. The end 140a is an end of the second conveyor 140 in the second conveying direction D3a, and the end 140b is an end of the second conveyor 140 in the second conveying direction D3 b. The operation of the second driving device 145 is controlled by the control device 170. The second driving device 145 may receive power from the robot 100, a power supply source of the robot 100, another power supply source, or the like.

The second driving device 145 rotationally drives the driving roller 141 in one direction to cause the second conveying belt 144 to wrap around the

rollers

141 and 142 in one direction, thereby moving the second conveying surface 144a in the second conveying direction D3 a. The second driving device 145 rotationally drives the driving roller 141 in the opposite direction to circulate the second conveying belt 144 in the opposite direction, thereby moving the second conveying surface 144a in the second conveying direction D3 b.

The

support portions

161 and 162 are plate-like members extending from the base 150 in the first direction D1a, but are not limited thereto. The

support portions

161 and 162 are fixed to and supported by the base 150. The supporting

portions

161 and 162 are disposed on both sides of the second conveyor 140 with respect to the second conveying directions D3a and D3b, and on both sides of the first conveyor 130 with respect to the first conveying directions D2a and D2 b. The supporting

portions

161 and 162 are connected to the second conveyor 140, and support the second conveyor 140. The supporting

portions

161 and 162 hold the second conveyor 140 in a state of being separated from the first conveyor 130 in the first direction D1 a. The supporting

portions

161 and 162 may be connected to the first conveyor 130 and support the first conveyor 130.

In the present embodiment, the distance between the first conveying surface 134a and the second conveying surface 144a is set to be a distance that allows the article a to pass. For example, the distance between the first conveying surface 134a and the second conveying surface 144a is set to be a distance at which the article a can contact both the first conveying surface 134a and the second conveying surface 144a when the article a is located between the first conveying surface 134a and the second conveying surface 144 a. However, the distance between the first conveying surface 134a and the second conveying surface 144a may be equal to or greater than the above distance.

Although not limited thereto, in the present embodiment, the first conveying directions D2a and D2b are substantially parallel to the second conveying directions D3a and D3b, and the first conveying surface 134a and the second conveying surface 144a are substantially parallel. The first conveying directions D2a and D2b and the second conveying directions D3a and D3b are substantially perpendicular to the first direction D1a and the second direction D1 b. However, the first conveying directions D2a and D2b may be inclined with respect to the second conveying directions D3a and D3b, or may be inclined with respect to the first direction D1a and the second direction D1 b.

For example, the first conveying direction D2a and the second conveying direction D2b may be inclined with respect to the second conveying direction D3a and the second conveying direction D3b so that the first conveying surface 134a and the second conveying surface 144a approach or separate from each other toward the first conveying direction D2 a. That is, when projected onto a plane parallel to the first conveying directions D2a and D2b and perpendicular to the first conveying surface 134a, the first conveying directions D2a and D2b may be inclined with respect to the second conveying directions D3a and D3 b. Alternatively, the first conveying directions D2a and D2b may be inclined or orthogonal to the second conveying directions D3a and D3b when projected onto a plane parallel to the first conveying surface 134a or the second conveying surface 144 a. Alternatively, both of the above may be used.

The second conveyor 140 is disposed so as to protrude from the first conveyor 130 in the second conveying direction D3b of the second conveyor belt 144. In the present embodiment, the second conveyor 140 is disposed so as to protrude from the first conveyor 130 in the first conveying direction D2b of the first conveyor 134. That is, the end 140b of the second conveyor 140 protrudes from the end 130b of the first conveyor 130. In the case where the first conveying direction D2b and the second conveying direction D3b intersect obliquely or are orthogonal, the second conveyor 140 may protrude from the first conveyor 130 in the first conveying direction D2b or the second conveying direction D3 b. Thus, the second conveyor 140 protrudes from the first conveyor 130 in at least one of the first conveying direction D2b and the second conveying direction D3 b. Here, the second conveyor 140 is an example of the introduction device, and the second conveying direction D3a is an example of the introduction direction and the moving direction of the second conveying surface 144a at the time of article introduction. The first conveying direction D2a is an example of a moving direction of the first conveying surface 134a when the article is loaded on the first conveying surface 134 a.

The first conveyor 130 includes a first sensor 136, and the second conveyor 140 includes a second sensor 146. The first sensor 136 detects the article a on the first conveying surface 134 a. The second sensor 146 detects the article a on the second conveying surface 144 a. The first sensor 136 and the second sensor 146 output detection signals to the control device 170. The first sensor 136 and the second sensor 146 are not necessary.

For example, the first sensor 136 may be disposed near the end 130b of the first conveyor 130, and may be configured to set a direction perpendicular to the first conveying directions D2a and D2b and the first direction D1a and the second direction D1b, and intersecting the first conveying surface 134a, as the detection target direction. The first sensor 136 continuously detects the article a on the first conveying surface 134a, and thereby detects whether or not the entire article a is loaded on the first conveying surface 134 a.

For example, the second sensor 146 may be disposed near the end 140a of the second conveyor 140, and may set a direction perpendicular to the second conveying directions D3a and D3b and the first direction D1a and the second direction D1b and intersecting the second conveying surface 144a as the detection target direction. The second sensor 146 detects whether or not the article a reaches the vicinity of the end 140a by detecting the article a on the second conveying surface 144 a.

The first sensor 136 and the second sensor 146 are sensors for detecting the approach of an object such as the article a to the sensors. In the present embodiment, the

sensors

136 and 146 are non-contact sensors, but are not limited thereto. For example, the noncontact sensor may be a sensor that detects proximity of an object by detecting proximity of the object or distance to the object, such as a photoelectric sensor (also referred to as a "beam sensor"), a laser sensor, a laser radar (Lidar), or an ultrasonic sensor.

< control device 170 >)

The structure of the control device 170 will be described. The control device 170 controls the operations of the robot arm 110, the robot hand 120, and the transport vehicle 240 in accordance with a program stored in a storage unit (not shown) in advance based on an instruction or the like of an operation received from the operation device 210. The control device 170 controls the operations of the robot arm 110, the robot hand 120, and the transport vehicle 240 in association with each other, instead of individually controlling the operations, and performs the operations of the operations in cooperation with each other. For example, the control device 170 reflects information acquired from the other 2 in one control of the robot arm 110, the robot hand 120, and the transport vehicle 240.

Fig. 4 is a block diagram showing an example of the functional configuration of the control device 170 according to the embodiment. The control device 170 includes an operation information processing unit 170a, an information output unit 170b, a first conveyor control unit 170c, a second conveyor control unit 170d, a conveyor control unit 170e, a conveyor position detection unit 170f, a hand position detection unit 170g, an arm control unit 170h, an arm position detection unit 170i, and a storage unit 170j as functional components. These functional components perform operations related to the operations of other components by using information output from other components. The functional components are not necessarily all of them.

The functions of the respective components of the operation information processing unit 170a, the information output unit 170b, the first conveyor control unit 170c, the second conveyor control unit 170d, the conveyor control unit 170e, the conveyor position detection unit 170f, the hand position detection unit 170g, the arm control unit 170h, and the arm position detection unit 170i may be realized by a computer system (not shown) including a processor such as CPU (Central Processing Unit), a volatile Memory such as RAM (Random Access Memory), and a nonvolatile Memory such as ROM (Read-Only Memory). The functions of some or all of the above-described components may be realized by a program recorded in a ROM by a CPU executing the program using a RAM as a work area. The functions of some or all of the above-described components may be realized by the above-described computer system, by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or by a combination of the computer system and the hardware circuit.

The storage unit 170j can store various information and can read the stored information. The storage unit 170j is implemented by a semiconductor memory such as a volatile memory or a nonvolatile memory, a hard disk, or a storage device such as SSD (Solid State Drive). The storage unit 170j stores parameters, thresholds, and the like used for each component. The storage unit 170j may store a program executed by each component.

The operation information processing unit 170a outputs an instruction of an operation acquired from the operation device 210 to each component of the control device 170. Each component operates according to a program corresponding to the instruction.

The information output unit 170b outputs output information such as the operation result and the detection result of each component of the control device 170 to the operation device 210 and/or the output device 230. The information output unit 170b outputs a screen for operation of the robot 100 to the operation device 210 and/or the output device 230.

The first conveyor control unit 170c controls the operation of the first driving device 135 of the first conveyor 130 in accordance with the instruction acquired via the operation information processing unit 170 a. Specifically, the first conveyor control unit 170c controls the circulating driving operation of the first conveyor belt 134 by the first driving device 135 for moving the first conveying surface 134a in the first conveying direction D2a or D2 b. For example, it may be: when the first sensor 136 detects the article a, the first conveyor control unit 170c activates the first driving device 135 to move the first conveying surface 134a in the first conveying direction D2 a. And, it may also be: when the first sensor 136 that detects the article a becomes not detecting the article a, the first conveyor control unit 170c stops the first driving device 135. Alternatively, it may be: if the second sensor 146 detects the article a, the first conveyor control unit 170c stops the first driving device 135.

The second conveyor control unit 170d controls the operation of the second driving device 145 of the second conveyor 140 in accordance with the instruction acquired via the operation information processing unit 170 a. Specifically, the second conveyor control unit 170D controls the circulating driving operation of the second conveyor belt 144 by the second driving device 145 for moving the second conveying surface 144a in the second conveying direction D3a or D3 b. For example, it may be: when the hand position detecting unit 170g detects contact between the second conveyor 140 and the article a, the second conveyor control unit 170D activates the second driving device 145 to move the second conveying surface 144a in the second conveying direction D3 a. And, it may also be: when the second sensor 146 detects the article a, the second conveyor control unit 170d stops the second driving device 145. Alternatively, it may be: when the first sensor 136 that detects the article a detects no article a, the second conveyor control unit 170d stops the second driving device 145.

The hand position detecting unit 170g and the control device 170 are examples of detecting devices. The hand position detecting unit 170g detects the position of the second conveyor 140 with respect to the article a. Specifically, the hand position detection unit 170g obtains the output current signals from the arm driving devices AM1 to AM6 of the robot arm 110, respectively, to thereby detect the output loads generated in the respective arm driving devices AM1 to AM 6. The hand position detecting unit 170g obtains information on the input load generated by each of the arm driving devices AM1 to AM6 from the arm control unit 170 h. The hand position detecting unit 170g detects whether or not the second conveyor 140 is in contact with the article a based on a difference between the output load and the input load of each of the arm driving devices AM1 to AM 6. For example, it may be: when the difference between the loads of the arm driving devices AM1 to AM6 is equal to or greater than the threshold value, the hand position detecting unit 170g detects that the second conveyor 140 is in contact with the article a.

Here, the output currents, the input loads, and the output loads of the arm driving devices AM1 to AM6 are examples of information related to the operations of the arm driving devices AM1 to AM 6. The information on the operation of the arm driving devices AM1 to AM6 may include the deformation amounts of the joint axes JT1 to JT6 and the links 110a to 110 f. Such a deformation amount can be used to detect whether or not the second conveyor 140 is in contact with the article a.

The hand position detecting unit 170g obtains information such as the position, posture, moving direction, and moving speed of the link 110f of the robot arm 110 from the arm position detecting unit 170i, and obtains information such as the position, posture, moving direction, and moving speed of the robot hand 120 using the information. The hand position detecting unit 170g detects the position and posture of the second conveyor 140 using the above information. For example, the hand position detecting unit 170g may detect whether or not the second conveying surface 144a is in contact with the article a based on whether or not the second conveyor 140 is in contact with the article a, and the position and posture of the second conveyor 140.

The arm control unit 170h controls the operations of the arm driving devices AM1 to AM6 in accordance with the instruction acquired through the operation information processing unit 170a, thereby causing the robot arm 110 to perform the corresponding operations. The arm control unit 170h operates the robot arm 110 based on the positions, postures, moving directions, moving speeds, and the like of the links 110a to 110f of the robot arm 110 acquired from the arm position detection unit 170 i.

The arm position detecting unit 170i detects the positions and postures of the links 110a to 110f of the robot arm 110. Specifically, the arm position detecting unit 170i obtains information on an operation amount such as a rotation amount from the arm driving devices AM1 to AM6, and detects the position and posture of each of the links 110a to 110f based on the operation amount. The arm position detecting unit 170i detects the movement direction and movement speed of each of the links 110a to 110f based on the change in the position and posture of each of the links 110a to 110 f.

The carriage control unit 170e controls the operation of the carriage drive device 240a of the carriage 240 in accordance with the instruction acquired via the operation information processing unit 170a, thereby causing the carriage 240 to perform a corresponding operation. The conveyor control unit 170e operates the conveyor 240 based on the position and orientation of the conveyor 240 acquired from the conveyor position detection unit 170 f.

The carriage position detecting unit 170f detects the position and orientation of the carriage 240. Specifically, the conveyor position detection unit 170f obtains information on the operation amount such as the rotation amount of the servomotor from the conveyor drive device 240a, and detects the position and the orientation of the conveyor 240 based on the operation amount. The carrier 240 may be provided with a receiver GPS (Global Positioning System), an IMU (inertial measurement unit: inertial Measurement Unit), and the like. The vehicle position detection unit 170f may detect the position and orientation of the vehicle 240 using a reception signal of a GPS receiver, acceleration and angular velocity measured by the IMU, or the like. The conveyor position detection unit 170f may detect a weak induced current from an electric wire buried in the ground, for example, and may detect the position and orientation of the conveyor 240 based on the detected value.

An example of the relationship between the control device 170 and each driving device will be described. Fig. 5 is a block diagram showing an example of the configuration of the control device 170 and each driving device according to the embodiment. As shown in fig. 5, the control device 170 is configured to input and output information and commands to and from the servomotors of the arm driving devices AM1 to AM6, the servomotor of the first driving device 135, the servomotor of the second driving device 145, and the servomotor of the conveyance driving device 240 a. The control device 170 controls the operation of all the servo motors of the arm driving devices AM1 to AM6, the first driving device 135, the second driving device 145, and the conveyance driving device 240 a.

Each servo motor is provided with: an electric motor; and an encoder that detects a rotation angle of a rotor of the electric motor. Each servo motor operates the electric motor in accordance with the instruction and information output from the control device 170, and outputs the detection value of the encoder to the control device 170. The control device 170 detects the rotation amount, rotation speed, and the like of the rotor of each servomotor based on the detection values of the encoders fed back from the respective servomotors, and controls the rotation start, rotation stop, rotation speed, and rotation torque of the servomotor using the detection results. In this way, the control device 170 can stop each servomotor at an arbitrary rotational position, rotate it at an arbitrary rotational speed, and operate it at an arbitrary rotational torque. Thus, the control device 170 can operate all of the robot arm 110, the robot hand 120, and the transport vehicle 240 in a versatile and fine manner.

Operation of robot System 1

An example of the operation of the robot system 1 will be described. Specifically, an example of the loading operation in which the robot 100 loads the uppermost article A1 of the articles a stacked vertically on the robot hand 120 will be described. The present operation is assumed to be a master-slave operation in which the operator P uses the operation device 210 to cause the robot 100 and the transport vehicle 240 to perform each operation. In this case, for example, the manipulator 210 may constitute a master arm located at the hand of the operator P, and the robot 100 may constitute a remote slave arm. The slave arm is configured to track the motion of the master arm given by the operator P. This makes it easy for the slave arm to accurately perform the operation desired by the operator P. In addition, the operator P can easily perceive the motion of the slave arm via the master arm.

Fig. 6 to 9 are side views each showing one of the operations of the robot system 1 according to the embodiment. As shown in fig. 1, first, in the robot moving step, the operator P inputs a command to the operation device 210, and thereby moves the conveyance vehicle 240 to the stack of the articles a including the article A1 to be carried out. At this time, the operator P may input destination position information to the operation device 210, and the control device 170 may automatically drive the transport vehicle 240 according to the information. Alternatively, the operator P may operate the operation device 210 and drive the conveyance vehicle 240 while visually checking the operation device through a screen or the like displayed on the output device 230.

Next, as shown in the hand moving step of fig. 6, after the conveyance vehicle 240 reaches the front of the article A1, the operator P operates the operation device 21 while visually checking through the screen of the output device 230 or the like, thereby operating the robot arm 110 and moving the robot hand 120 to the upper side of the article A1. Specifically, the robot hand 120 is moved such that the second conveyor 140 is positioned above the article A1 and the first conveyor 130 is positioned laterally of the article A1 in a posture in which the second conveyor 140 is positioned above the first conveyor 130. The control device 170 outputs the posture information of the robot hand 120 to the operation device 210 or the like, and the operator P adjusts the posture of the robot hand 120 based on the posture information.

Next, as shown in the pressing step of fig. 7, the operator P moves the robot hand 120 downward, and presses the second conveying surface 144a of the end 140b of the second conveyor 140 from above while contacting the upper surface of the article A1. The control device 170 outputs information indicating whether the second conveyor 140 is in contact with the article A1 to the operation device 210 or the like. The operator P stops the lowering of the robot hand 120 in a pressed state. In addition, it may be: when the control device 170 detects contact or pressing of the second conveyor 140 with the article A1, the lowering of the robot hand 120 is automatically stopped. At this time, the first conveyor 130 is located below the side of the article A1.

Next, as shown in the step of introducing fig. 8, the operator P stops the descent of the robot hand 120 and then starts the second driving device 145 of the second conveyor 140. The second driving device 145 drives the second conveying belt 144 to move the second conveying surface 144a in the second conveying direction D3 a. As a result, the article A1 is moved, i.e., introduced, in the second conveying direction D3a by the frictional force between the second conveyor 144 and the article A1, and is loaded on the first conveying surface 134a of the first conveyor 130. The coefficient of friction between the second conveyor belt 144 and the article A1 is preferably greater than the coefficient of friction between the article A1 and the article a thereunder so that the second conveyor belt 144 can stably introduce the article A1. The control device 170 may also automatically activate the second driving device 145.

Next, as shown in the loading step of fig. 9, when at least a part of the article A1 is loaded on the first conveying surface 134a, the operator P activates the first driving device 135 of the first conveyor 130. The first driving device 135 drives the first conveying belt 134 to move the first conveying surface 134a in the first conveying direction D2 a. When the first sensor 136 detects the article A1, the control device 170 outputs a detection result to the operation device 210 or the like. The operator P may activate the first driving device 135 based on the detection result of the first sensor 136. Alternatively, the control device 170 may automatically activate the first driving device 135 based on the detection result of the first sensor 136.

In addition, the control device 170 may detect contact between the article A1 and the first conveyor 134 based on a difference between the output load and the input load of the second driving device 145, similarly to the arm driving devices AM1 to AM6, and determine that at least a part of the article A1 is loaded on the first conveyor 134a based on the detection result.

The first conveyor 134 driven by the first driving device 135 moves the article A1 in the first conveying direction D2a, and loads the entire article A1 on the first conveying surface 134 a. Meanwhile, the first sensor 136 continuously detects the article A1. When the entire article A1 is loaded on the first conveying surface 134a, the first sensor 136 fails to detect the article A1, and the control device 170 outputs the detection result to the operation device 210 or the like. When the second sensor 146 detects the article A1, the control device 170 outputs a detection result to the operation device 210 or the like.

In addition, in the operation of the first driving device 135, the second driving device 145 may be operated or stopped. That is, the article A1 may be introduced onto the first conveying surface 134a by the first driving device 135 alone or by the first driving device 135 and the second driving device 145 in combination. In this example, the first driving device 135 and the second driving device 145 are engaged.

The operator P stops the first driving device 135 and the second driving device 145 based on the detection result indicating the non-detection of the first sensor 136 or the detection result indicating the detection of the second sensor 146. The stop time points of the first driving device 135 and the second driving device 145 may be different. For example, the second driving device 145 may be stopped first, and the stop time point of the second driving device 145 may be an output time point indicating a detection result of the first sensor 136 that is not detected. The control device 170 may automatically stop the first driving device 135 and the second driving device 145 based on a detection result indicating the non-detection of the first sensor 136 or a detection result indicating the detection of the second sensor 146.

Next, in the carry-out step, after the placement of the article A1 on the first conveying surface 134a is completed, the operator P operates the robot arm 110 to carry out the article A1 placed on the robot hand 120 from the stack of articles a, and move the article a to the carry-out destination.

In the above, at least one of the operations of the steps or at least a part of the series of operations of the moving step to the carrying-out step may be automatically performed by the control device 170.

< Effect etc. >)

As described above, the robot hand 120 according to the embodiment includes: a first conveyor 130 having an endless first conveyor belt 134 forming a first conveying surface 134a for conveying articles, and driving the first conveyor belt 134; and a second conveyor 140 as a drawing-in means for drawing in the article onto the first conveying surface 134a in contact with the article. The second conveyor 140 protrudes from the first conveyor 130 in at least one of the second conveying direction D3b, which is the opposite direction of the second conveying direction D3a serving as the leading direction, and the first conveying direction D2b, which is the opposite direction of the first conveying direction D2a serving as the moving direction of the first conveying surface 134a when the article is loaded onto the first conveying surface 134 a.

According to the above configuration, the robot hand 120 can bring the second conveyor 140 into contact with the article earlier than the first conveyor 130, and introduce the article onto the first conveying surface 134 a. For example, it is difficult to move and load an article placed on another article onto the first conveying surface 134a using only the first conveyor 130. The robot hand 120, for example, causes the second conveyor belt 144 of the second conveyor 140 to contact the upper surface of the article or the like and presses the same, thereby operating the second conveyor 140. The second conveyor 140 can move the articles into contact with the first conveyor 134 by the frictional force between the second conveyor 144 and the articles. The robot hand 120 operates the first conveyor 130, and can load the article onto the first conveying surface 134a by the frictional force between the first conveyor 134 and the article. Thereby, the robot hand 120 can load and move stationary articles onto the first conveyor 130.

In the robot hand 120 according to the embodiment, it may be: the second conveyor 140 has an endless second conveyor belt 144 forming a second conveying surface 144a for conveying articles, and drives the second conveyor belt 144, the second conveying surface 144a being opposed to the first conveying surface 134 a. The second conveyor 140 may be disposed so as to protrude from the first conveyor 130 in a second conveying direction D3b, which is a direction opposite to the second conveying direction D3a that is the moving direction of the second conveying surface 144a when the article is introduced. According to the above configuration, the robot hand 120 can introduce the article onto the first conveying surface 134a by pressing the second conveying belt 144 against the upper surface of the article. Thereby, the robot hand 120 can load the article having no space on the side to the first conveyor 130.

In the robot hand 120 according to the embodiment, the first conveyor 130 and the second conveyor 140 may have a first driving device 135 and a second driving device 145 each including a conveyor driving motor that drives the first conveyor 134 and the second conveyor 144. According to the above configuration, the robot hand 120 drives the first conveyor 130 and the second conveyor 140 using electric power as a power source. Therefore, the robot hand 120 does not need piping necessary when pneumatic pressure, hydraulic pressure, or the like is used as a driving source. The robot hand 120 can receive power supply from a power supply source or the like of the robot 100. This improves the degree of freedom in setting and moving the robot hand 120.

The robot hand 120 according to the embodiment may further include a control device 170 as a detection device for detecting that the second conveyor 140 has contacted an article. According to the above configuration, the second conveyor 140 and the article can be reliably brought into contact.

The robot hand 120 according to the embodiment may be connected to the robot arm 110 having a plurality of joints driven by the arm driving devices AM1 to AM6 having servo motors, and the control device 170 may acquire information on the operations of the arm driving devices AM1 to AM6 and detect that the second conveyor 140 has contacted an article by using the information. According to the above structure, a dedicated device for detecting contact of the second conveyor 140 with the article is not required. This can simplify the structure of the robot hand 120.

The robot 100 according to the embodiment includes: a robot hand 120; a robot arm 110 connected to the robot hand 120; and a control device 170 for controlling the operations of the robot hand 120 and the robot arm 110. With the above configuration, the same effects as those of the robot hand 120 according to the embodiment can be obtained.

In the robot 100 according to the embodiment, the robot arm 110 may have a plurality of joints driven by the arm driving devices AM1 to AM6 having servo motors, the first conveyor 130 may have a servo motor as a conveyor driving motor for generating driving force, and the second conveyor 140 may have a servo motor as a conveyor driving motor for generating driving force. The control device 170 may control the operation of the servo motor of the first conveyor 130, the operation of the servo motor of the second conveyor 140, and the operation of the servo motors of the arm driving devices AM1 to AM6, and may drive the second conveyor 140 that is in contact with the article, thereby introducing the article onto the first conveying surface 134 a. With the above configuration, the robot 100 can smoothly perform the operation of bringing the second conveyor 140 into contact with the articles and moving the articles onto the first conveyor 130. The servo motor can stop the rotor at an arbitrary rotational position, and can rotationally drive the rotor at an arbitrary rotational speed, thereby generating an arbitrary rotational torque. Thus, the first conveyor 130, the second conveyor 140, and the robot arm 110 can perform various and fine operations.

The robot system 1 according to the embodiment includes: a robot 100; and an operating device 210 for operating the robot 100. With the above configuration, the same effects as those of the robot hand 120 according to the embodiment can be obtained.

Modification 1

A robot hand 120A according to modification 1 of the embodiment will be described. In the robot hand 120A according to modification 1, the length of the second conveyor 140A is longer than the length of the first conveyor 130. In the following, modification 1 will be described around points different from those of the embodiment, and the description of the same points as those of the embodiment will be omitted as appropriate.

Fig. 10 is a side view showing an example of the structure of a robot hand 120A according to modification 1. As shown in fig. 10, the length of the second conveyor 140A of the robot hand 120A in the second conveying direction D3b is greater than the length of the first conveyor 130 in the first conveying direction D2 b. The position of the end 140Aa of the second conveyor 140A is the same as the position of the end 130A of the first conveyor 130 in the first conveying direction D2a and the second conveying direction D3a, and the end 140Aa faces the end 130A. The position of the end 140Ab of the second conveyor 140A is projected in the first conveying direction D2b and the second conveying direction D3b from the end 130b of the first conveyor 130. The second sensor 146 is disposed near the end 140Aa of the second conveyor 140A.

According to the robot hand 120A according to modification 1 described above, the same effects as those of the robot hand 120 according to the embodiment can be obtained. In the robot hand 120A, the length of the second conveyor 140A in the second conveying direction D3b may be longer than the length of the first conveyor 130 in the first conveying direction D2 b. With the above configuration, the area where the first conveying surface 134a and the second conveying surface 144a face each other can be enlarged. As a result, the first conveyor 130 and the second conveyor 140A can be engaged with each other to effectively introduce the article A1 onto the first conveying surface 134a of the first conveyor 130.

Modification 2

A robot hand 120B according to modification 2 of the embodiment will be described. The robot hand 120B according to modification 2 includes a first moving device 180 that moves the second conveyor 140 in the directions D1a and D1B with respect to the first conveyor 130. In the following, modification 2 will be described around points different from those of embodiment and modification 1, and the description of the same points as those of embodiment and modification 1 will be omitted as appropriate.

Fig. 11 is a side view showing an example of the structure of a robot hand 120B according to modification 2. As shown in fig. 11, the robot hand 120B includes first moving devices 180 on both sides of the first conveyor 130 and the second conveyor 140, instead of the supporting

portions

161 and 162 of the robot hand 120 according to the embodiment. The first moving device 180 constitutes a lifting device that lifts and lowers the second conveyor 140 in the approaching direction and the separating direction, that is, the approaching and separating direction, with respect to the first conveyor 130. The directions D1a and D1b are examples of the approaching-separating direction.

The first moving device 180 has a lower part 181 fixed to the base 150, and an upper part 182 connected to the second conveyor 140. The lower member 181 and the upper member 182 are plate-shaped members, but are not limited thereto. The upper member 182 includes 2 feet 182a extending toward the second direction D1b toward the lower member 181. The 2 leg portions 182a are slidably fitted in 2 grooves 181a formed in the lower member 181 and extending in the second direction D1 b. Thus, the upper member 182 is supported by the lower member 181 so as to be slidably movable in the directions D1a and D1 b. The grooves 181a may be holes.

The first moving device 180 has a screw shaft 182b extending from the upper member 182 toward the lower member 181 toward the second direction D1 b. The screw shaft 182b is fixed to the upper member 182, and is slidably movable in the directions D1a and D1b together with the upper member 182.

The first moving device 180 includes an actuator 181b, a speed reducer 181c, a pulley 181d, a pulley 181e, a nut 181f, and an endless belt 181g in the lower part 181. The actuator 181b and the speed reducer 181c are fixed to the lower member 181. The nut 181f is rotatably fixed to the lower member 181, and is connected to rotate integrally with the pulley 181 e. The actuator 181b may be provided on at least one of both sides of the first conveyor 130 and the second conveyor 140.

The screw shaft 182b is screwed with the nut 181 f. In the present modification, the screw shaft 182b and the nut 181f constitute a ball screw, and the screw groove of the screw hole of the nut 181f is screwed with the screw groove of the outer peripheral surface of the screw shaft 182b via a ball (not shown). Endless belt 181g is supported by

pulleys

181d and 181e. Pulleys 181D and 181e and nut 181f rotate around the axis of screw shaft 182b in the first direction D1 a.

The actuator 181b rotationally drives the pulley 181d via the speed reducer 181 c. Although not limited thereto, in the present modification, the actuator 181b has a servomotor as an electric motor that drives the servomotor with electric power as a power source. The actuator 181b may receive power from the robot 100, a power supply source of the robot 100, or another power supply source. The speed reducer 181c reduces the rotational speed of the rotational driving force of the actuator 181b and transmits the rotational driving force to the pulley 181d.

According to the above configuration, the screw shaft 182b, the upper member 182, and the second conveyor 140 are raised together in the first direction D1a by the rotation driving force in one direction generated by the actuator 181b rotating the nut 181f in one direction. The nut 181f is rotated in the opposite direction by the rotational driving force of the actuator 181b, and thereby the screw shaft 182b, the upper member 182, and the second conveyor 140 are lowered in the second direction D1 b. The first direction D1a and the second direction D1b are examples of the first conveyor moving direction.

The first moving device 180 is not limited to the above configuration as long as it can move the second conveyor 140 in the directions D1a and D1b with respect to the first conveyor 130. For example, the actuator 181b may directly move the upper member 182 without providing the screw shaft 182 b. Examples of such an actuator 181b are an electric linear actuator, a pneumatic or hydraulic cylinder, and the like.

Alternatively, for example, the first moving device 180 may be configured to include a rotating body such as a roller or a gear (pinion) that abuts or engages with the upper member 182, and a driving device that rotationally drives the rotating body. The rotating body is driven to rotate, and thereby the upper member 182 and the second conveyor 140 are moved in the direction D1a or D1 b. Alternatively, the first moving device 180 may be configured to include an endless belt or chain extending in the direction D1a or D1b and a driving device for driving the belt or chain around. The endless belt or chain is driven around, and thereby the upper member 182 and the second conveyor 140 are moved in the same direction D1a or D1 b.

According to the robot hand 120B according to modification 2 described above, the same effects as those of the robot hand 120 according to the embodiment can be obtained. And, it may be: the robot hand 120B includes a first moving device 180, and the second conveyor 140 is movable in a first direction D1a and a second direction D1B, which are directions approaching and separating from the first conveyor 130, that is, a first conveyor moving direction. The first moving device 180 may move the second conveyor 140 in the first conveyor moving direction. With the above configuration, the robot hand 120B can change the distance between the first conveyor 130 and the second conveyor 140. For example, the robot hand 120B may set the interval between the first conveyor 130 and the second conveyor 140 to an interval corresponding to the size of the conveyance target object. Thus, the first conveyor 130 and the second conveyor 140 can be engaged to introduce the article onto the first conveying surface 134a regardless of the size of the article. The robot hand 120B may have the structure of the robot hand 120A according to modification 1.

The robot hand 120B according to modification 2 is configured to move the second conveyor 140 relative to the first conveyor 130, but is not limited thereto. The robot hand 120B may be configured to move the first conveyor 130 with respect to the second conveyor 140, or may be configured to move both the first conveyor 130 and the second conveyor 140.

Modification 3

A robot hand 120C according to modification 3 of the embodiment will be described. The robot hand 120C according to modification 3 includes a second moving device 190, and the second moving device 190 moves the second conveyor 140 in the second conveying directions D3a and D3b with respect to the first conveyor 130. In the following, modification 3 will be described around points different from those of embodiment modes and modifications 1 to 2, and the description of the same points as those of embodiment modes and modifications 1 to 2 will be omitted as appropriate.

Fig. 12 is a side view showing an example of the structure of the robot hand 120C according to modification 3. As shown in fig. 12, the robot hand 120C includes a second moving device 190 in at least one of the

support portions

161 and 162 of the robot hand 120 according to the embodiment. The second moving device 190 slidably moves the second conveyor 140 in the second conveying directions D3a and D3b with respect to the first conveyor 130.

The

support portions

161 and 162 support the second conveyor 140 slidably in the second conveying directions D3a and D3 b. The

support portions

161 and 162 may support the support frame 143C of the second conveyor 140 so as to be slidable through, for example, grooves, protrusions, or the like that engage or fit into the support frame 143C.

The second moving device 190 has an actuator 191, a speed reducer 192, a pinion 193, and a rack 194. The actuator 191 and the speed reducer 192 are fixed to the

support portion

161 or 162. The rack 194 is fixed to the second conveyor 140 and extends in the second conveying direction D3a or D3 b. For example, the rack 194 may be fixed to the support frame 143C, or may be integrated with the support frame 143C as in the present modification. Pinion 193 is connected to speed reducer 192 and is engaged with rack 194. Pinion 193 is rotationally driven by actuator 191 via speed reducer 192. Although not limited thereto, in the present modification, the actuator 191 has a servomotor as an electric motor that drives the servomotor using electric power as a power source. The actuator 191 may receive power from the robot 100, a power supply source of the robot 100, another power supply source, or the like.

According to the above configuration, the pinion 193 is rotated in one direction by the rotational driving force in one direction generated by the actuator 191, and thereby the rack 194 and the second conveyor 140 are slid in the second conveying direction D3 a. The pinion 193 is rotated in the opposite direction by the opposite rotational driving force generated by the actuator 191, and thereby the rack 194 and the second conveyor 140 are slid in the second conveying direction D3 b. In this way, the second moving device 190 slidingly moves the second conveyor 140 in the second conveying directions D3a and D3b using a rack and pinion mechanism.

The second moving device 190 is not limited to the above configuration as long as it can move the second conveyor 140 in the second conveying directions D3a and D3b with respect to the first conveyor 130. For example, the second conveyor 140 may be directly moved by the actuator 191 without providing the pinion 193 and the rack 194. Examples of such actuators 191 are electric linear actuators, pneumatic or hydraulic cylinders, and the like.

Alternatively, for example, the second moving device 190 may have a roller engaged with the support frame 143C or the like and driven to rotate by the actuator 191, instead of the pinion 193 and the rack 194. Alternatively, the second moving device 190 may have a screw shaft and a nut as in the first moving device 180, and the screw shaft and the second conveyor 140 may be moved in the second conveying directions D3a and D3b by rotating the nut by the actuator 191. Alternatively, the second moving device 190 may be configured to include an endless belt or chain extending in the second conveying direction D3a or D3b and a driving device for driving the belt or chain around. The endless belt or chain is driven around the second conveyor 140 to move in the second conveying direction D3a or D3 b.

According to the robot hand 120C according to modification 3 described above, the same effects as those of the robot hand 120 according to the embodiment can be obtained. And, it may be: the robot hand 120C includes a second moving device 190, and the second conveyor 140 is movable in second conveying directions D3a and D3b, which are second conveyor moving directions. The second moving device 190 may move the second conveyor 140 in the second conveyor moving direction. With the above configuration, the robot hand 120C can change the protruding amount of the second conveyor 140 with respect to the first conveyor 130. For example, the robot hand 120C can make the protruding amount of the second conveyor 140 correspond to the size of the conveyance target article. Thus, the second conveyor 140 can contact the article in a sufficient area and introduce the article to the first conveying surface 134a. The robot hand 120C may have the structure of the robot hand according to modification 1 and/or modification 2.

The robot hand 120C according to modification 3 is configured to move the second conveyor 140 relative to the first conveyor 130, but is not limited thereto. The robot hand 120C may be configured to move the first conveyor 130 with respect to the second conveyor 140, or may be configured to move both the first conveyor 130 and the second conveyor 140. For example, the first conveyor 130 may be configured to move in the first conveying directions D2a and D2b with respect to the base 150.

In the robot hand 120C according to modification 3, the second conveyor 140 is configured to move in the second conveying directions D3a and D3b, but may be configured to move in the first conveying directions D2a and D2 b. In the case where the first conveyor 130 is movable, the first conveyor 130 may be movable in the first conveying directions D2a and D2b or may be movable in the second conveying directions D3a and D3 b. Such first conveying directions D2a and D2b and second conveying directions D3a and D3b are examples of the second conveyor moving direction.

(other embodiments)

The examples of the embodiments of the present disclosure have been described above, but the present disclosure is not limited to the above-described embodiments and modifications. That is, various modifications and improvements can be made within the scope of the present disclosure. For example, a mode in which various modifications are applied to the embodiments and modifications, and a mode in which constituent elements in different embodiments and modifications are combined are also included in the scope of the present disclosure.

For example, in the robot hand according to the embodiment and the modification, the robot arm 110 is connected to the first conveyor via the base 150, but the present invention is not limited thereto, and may be connected to the second conveyor.

In the robot hand according to the embodiment and the modification, the first conveyor and the second conveyor are disposed so that the first conveying surface 134a and the second conveying surface 144a face each other, but the robot hand is not limited to this. The first conveyor and the second conveyor may be configured such that the orientation of the first conveying surface 134a is different from the orientation of the second conveying surface 144 a. In this case, the second conveying surface 144a may be oriented in the direction of the article on the first conveying surface 134 a. For example, the first conveying surface 134a may be oriented substantially perpendicular to the second conveying surface 144a, and the second conveying surface 144a may contact the article on the first conveying surface 134a from the side.

The robot hand according to the embodiment and the modification may have an introduction portion that can be inserted into a gap between adjacent articles and/or a gap between an article and the ground at the end 130b of the first conveyor 130. The introduction portion may have a tapered surface so as to raise the article obliquely upward when inserted into the gap. The shape of the introduction portion may be a shape having a substantially constant thickness as it is separated from the end portion 130b in the first conveying direction D2b, or may be a shape having a tapered thickness. The robot hand contacts the conveyor 134 of the first conveyor 130 in a state in which the articles are introduced onto the introduction portion and lifted by using the second conveyor, and introduces the articles onto the first conveying surface 134 a. Even if the article is placed on the ground, such a robot hand can be easily introduced onto the first conveying surface 134 a.

In the embodiment and the modification, the control device 170 detects the contact of the second conveyor with the article based on the change in the load of the arm driving devices AM1 to AM6 of the robot arm 110, but the present invention is not limited to this. For example, force sensors for detecting the magnitude and direction of the force may be provided in the links 110a to 110f such as the link 110f of the robot arm 110. The control device 170 may then detect contact of the second conveyor based on the detection signal of the force sensor.

Alternatively, a non-contact sensor such as a photoelectric sensor, a laser radar, or an ultrasonic sensor may be provided at or near the end of the second conveyor. The control device 170 may detect contact of the second conveyor based on a detection signal of the non-contact sensor.

Alternatively, an imaging device that images the end portion of the second conveyor and the vicinity thereof may be provided. Examples of imaging devices are digital cameras and digital video cameras. The photographing devices may be respectively configured to be able to photograph images of the end portion including the second conveyor and the article near the end portion. The control device 170 may detect the article by analyzing the image captured by the imaging device, and may detect the positional relationship between the end of the second conveyor and the article.

In the embodiment and the modification, the control device 170 detects whether or not the article and the first conveyor 134 are in contact with each other based on a change in the load of the second driving device 145, but the present invention is not limited to this. For example, the control device 170 may use the load of the arm driving devices AM1 to AM6 of the robot arm 110, the detection signal of the force sensor provided in the robot arm 110, and the like in combination with or instead of the load of the second driving device 145. Alternatively, an imaging device that images the end portion of the first conveyor and the vicinity thereof may be provided similarly to the case of the second conveyor. The control device 170 may detect whether or not the article and the first conveyor belt 134 are in contact by analyzing an image captured by the imaging device.

In the robot hand according to modification examples 2 and 3, the first moving device 180 and the second moving device 190 may be configured not to have the

actuators

181b and 191, respectively, and may simply move the second conveyor 140 relative to the first conveyor 130. In this case, the second conveyor 140 may be manually moved.

The robot hand according to the embodiment and the modification includes the

second conveyor

140 or 140A as a drawing device for drawing the article into the first conveyor 130, but the drawing device is not limited thereto. For example, the introduction device may be configured to hold the article and introduce the article to the first conveyor 130. Such a lead-in device may also be provided with an arm for holding an article. Alternatively, the introduction device may be configured to have an engaging portion for engaging with the article on the side opposite to the introduction direction, and introduce the article to the first conveyor 130 by moving the engaging portion in the introduction direction.

In the embodiment and the modification, the robot 100 is a vertical articulated robot, but is not limited thereto. For example, the robot 100 may be configured as a polar robot, a cylindrical robot, a rectangular robot, a horizontal articulated robot, or another robot.

In the embodiment and the modification, the robot 100 is mounted on the transport vehicle 240 so as to be movable, but the present invention is not limited to this, and may be fixed to the ground or the like.

In the embodiment and the modification, the robot system 1 includes the imaging device 220 and the output device 230, but the present invention is not limited thereto. For example, the robot system 1 may be configured to be directly visually checked by the operator P without the imaging device 220 and the output device 230.

In the embodiment and the modification, the robot system 1 is configured such that the operator P operates the robot 100 and the transport vehicle 240 in a master-slave manner using the operation device 210, but the present invention is not limited thereto. For example, the robot system 1 may be configured to operate the robot 100 and the transport vehicle 240 in a fully automatic manner. In this case, for example, the robot 100 and the transport vehicle 240 may be automatically operated by merely inputting a command indicating the work content or the like to the operation device 210 by the operator P. In such a fully automatic robot system, for example, the control device may control the operations of the robot arm and the robot hand based on a detection signal of a proximity sensor provided at the distal end of the robot arm, an analysis value of an image of a camera provided at the distal end of the robot arm, and the like.

Description of the reference numerals

A robotic system; robot; robotic arm; 120. 120A, 120B, 120C. First conveyor; first conveyor belt; a first conveying surface; first drive (conveyor drive motor); 140. a second conveyor (introduction device); a second conveyor belt; a second conveying surface; second drive (conveyor drive motor); control means (detection means); first mobile device; a second mobile device; operating the device; AM1 to AM6.

Claims

1. A robot hand for moving objects, characterized in that,

the device is provided with:

a first conveyor having a first endless conveyor belt and driving the first conveyor belt, the first conveyor belt forming a first conveying surface for conveying the articles;

an introduction device in contact with the article for introducing the article onto the first conveying surface;

a base that supports the first conveyor on a first surface along the first conveying surface of the first conveyor, and is connected to a robot arm on a second surface opposite to the first surface; and

A support portion that extends from the base toward a direction away from the first surface on a side of the first conveyor with respect to a moving direction of the first conveying surface that moves by the first conveyor, and holds the introduction device in a state of being away from the first conveyor toward the direction away from the first surface,

the introduction device protrudes from the first conveyor in at least one of a direction opposite to an introduction direction of the introduction device and a direction opposite to a movement direction of the first conveying surface when the article is loaded onto the first conveying surface.

2. The robot hand according to claim 1, wherein the robot hand comprises,

the introduction device comprises a second conveyor having an endless second conveyor belt and driving the second conveyor belt, the second conveyor belt forming a second conveying surface for conveying the articles,

the second conveying surface is opposite to the first conveying surface,

the second conveyor is arranged to protrude from the first conveyor in a direction opposite to a moving direction of the second conveying surface when the article is introduced.

3. The robot hand according to claim 2, wherein,

the first conveyor and the second conveyor are respectively provided with a conveyor driving motor for driving the first conveyor belt and the second conveyor belt.

4. The robot hand according to claim 2, wherein,

also provided is a first means of movement which,

at least one of the first conveyor and the second conveyor is movable in a direction approaching each other and a direction separating from each other, that is, a first conveyor moving direction,

the first moving device moves at least one of the first conveyor and the second conveyor in the first conveyor moving direction.

5. The robot hand according to claim 2 or 4, wherein,

a second mobile device is also provided, which is provided with a second mobile device,

at least one of the first conveyor and the second conveyor is movable in a second conveyor movement direction which is at least one of a movement direction of the first conveying surface and a movement direction of the second conveying surface,

the second moving device moves at least one of the first conveyor and the second conveyor in the second conveyor moving direction.

6. The robot hand according to claim 2, wherein,

the length of the second conveyor in the moving direction of the second conveying surface is greater than the length of the first conveyor in the moving direction of the first conveying surface.

7. The robot hand according to claim 1 or 2, characterized in that,

also provided is a detection device for detecting that the introduction device has contacted the article.

8. The robot hand according to claim 7, wherein the robot hand comprises,

the robot hand is connected to the robot arm having a plurality of joints driven by an arm driving device having a servo motor,

the detection means acquires information on the operation of the arm driving means, and detects that the introduction means has contacted the article using the information on the operation of the arm driving means.

9. A robot is characterized by comprising:

the robotic hand of any one of claims 1-8;

the robot arm is connected with the robot hand; and

and a control device for controlling the movements of the robot hand and the robot arm.

10. The robot of claim 9, wherein the robot is configured to move the robot arm,

The robot arm has a plurality of joints driven by an arm driving device having a servo motor,

the first conveyor has a servo motor as a conveyor driving motor for generating driving force,

the introduction device has a servo motor generating a driving force,

the control device controls an operation of the servo motor of the first conveyor, an operation of the servo motor of the introduction device, and an operation of the servo motor of the arm driving device, and introduces the article onto the first conveying surface by driving the introduction device that contacts the article.

11. A robot system, comprising:

the robot of claim 9 or 10; and

and the operating device is used for operating the robot.