TW201834800A - Conveying device and method for operating same - Google Patents
Conveying device and method for operating same Download PDFInfo
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- TW201834800A TW201834800A TW106143564A TW106143564A TW201834800A TW 201834800 A TW201834800 A TW 201834800A TW 106143564 A TW106143564 A TW 106143564A TW 106143564 A TW106143564 A TW 106143564A TW 201834800 A TW201834800 A TW 201834800A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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Abstract
Description
本發明係關於一種搬送裝置及其運轉方法。 The present invention relates to a conveying apparatus and a method of operating the same.
已知有對收容有食品之容器進行搬送之搬送機器人(例如參照專利文獻1)。專利文獻1所揭示之搬送機器人中，對容器中裝有液體之情況進行檢測，進行將容器維持為水平狀態之控制而進行搬送，以免液體灑落。 A transfer robot that transports a container in which food is stored is known (for example, see Patent Document 1). In the transport robot disclosed in Patent Document 1, the liquid is contained in the container, and the container is controlled to be maintained in a horizontal state, so that the liquid is prevented from being spilled.
專利文獻1：日本專利特開2007-260838號公報 Patent Document 1: Japanese Patent Laid-Open Publication No. 2007-260838
然而，專利文獻1所揭示之搬送機器人中，對於容器之形狀未作考慮，根據容器之形狀，抓持部件對容器之抓持有變得不穩定之虞。又，例如於執行將容器置於桌台、或提起載置於桌台之容器等使容器上下移動之動作時，若所抓持之容器為不穩定之狀態，則有動作速度變得極慢之虞。 However, in the transport robot disclosed in Patent Document 1, the shape of the container is not considered, and depending on the shape of the container, the grasping member becomes unstable to the grip of the container. Further, for example, when the container is placed on a table or the container placed on the table is lifted to move the container up and down, if the container being grasped is in an unstable state, the movement speed becomes extremely slow. After that.
本發明係解決上述習知問題者，目的在於提供一種可穩定地搬送收容有食品之容器(餐具)之搬送裝置及其運轉方法。 The present invention has been made in view of the above problems, and an object of the invention is to provide a transport apparatus and a method of operating the same that can stably transport a container (tableware) containing food.
為解決上述習知之問題，本發明之搬送裝置搬送收容有食品之上 述容器，其特徵在於，具備：第1臂，設有第1保持部，該第1保持部與上述容器之外周面抵接而保持上述容器；第2臂，設有第2保持部，該第2保持部形成為板狀，與上述容器之下表面抵接而保持上述容器；以及控制裝置，上述控制裝置係構成為，以使上述第1保持部與上述容器之外周面抵接之方式，使上述第1臂進行動作，並以使上述第2保持部與上述容器之下表面抵接，從而搬送上述容器之方式，使上述第2臂進行動作。 In order to solve the above-described problems, the container of the present invention is configured to convey the container containing the food, and the first arm is provided with a first holding portion that abuts the outer peripheral surface of the container. And holding the container; the second arm is provided with a second holding portion formed in a plate shape, and the container is held in contact with the lower surface of the container to hold the container; and the control device is configured such that the control device is configured to The first arm is moved to abut the outer peripheral surface of the container, and the first arm is operated to bring the container into a state in which the second holding portion is in contact with the lower surface of the container. The second arm is operated.
藉此，藉由第1臂之第1保持部與第2臂之第2保持部來保持收容有食品之容器(餐具)，因此可穩定地搬送容器。更詳細而言，利用第1保持部保持容器之外周面，並使容器載置於第2保持部，藉此，不論容器之形狀如何，均可穩定地保持並搬送容器。 In this way, the container (tableware) in which the food is stored is held by the first holding portion of the first arm and the second holding portion of the second arm, so that the container can be stably conveyed. More specifically, the first holding portion holds the outer circumferential surface of the container, and the container is placed on the second holding portion, whereby the container can be stably held and conveyed regardless of the shape of the container.
又，本發明之搬送裝置之運轉方法中，該搬送裝置搬送收容有食品之容器，上述搬送裝置具備：第1臂，設有第1保持部，該第1保持部與上述容器之外周面抵接而保持上述容器；以及第2臂，設有第2保持部，該第2保持部形成為板狀，與上述容器之下表面抵接而保持上述容器，該搬送裝置之運轉方法具備：(A)，係以使上述第1保持部與上述容器之外周面抵接之方式，使上述第1臂進行動作；以及(B)，係以使上述第2保持部與上述容器之下表面抵接之方式，使上述第2臂進行動作。 Moreover, in the operation method of the transport apparatus of the present invention, the transport apparatus transports the container in which the food is stored, and the transport apparatus includes a first arm, and the first holding unit is provided, and the first holding unit is in contact with the outer peripheral surface of the container. And the second arm is provided with a second holding portion which is formed in a plate shape and is held in contact with the lower surface of the container to hold the container. The operation method of the conveying device includes: A) the first arm is operated such that the first holding portion abuts against the outer circumferential surface of the container; and (B) the second holding portion is brought into contact with the lower surface of the container In the following manner, the second arm is operated.
藉此，藉由第1臂之第1保持部與第2臂之第2保持部來保持收容有食品之容器(餐具)，因此可穩定地搬送容器。 In this way, the container (tableware) in which the food is stored is held by the first holding portion of the first arm and the second holding portion of the second arm, so that the container can be stably conveyed.
本發明之上述目的、其他目的、特徵及優點將藉由參照附圖，並根據以下之較佳實施形態之詳細說明而明確。 The above and other objects, features and advantages of the present invention will be apparent from
根據本發明之搬送裝置及其運轉方法，藉由第1臂之第1保持部與第2臂之第2保持部來保持收容有食品之容器，因此可穩定地搬送容器。 According to the transport apparatus and the operation method of the present invention, since the container in which the food is stored is held by the first holding portion of the first arm and the second holding portion of the second arm, the container can be stably transported.
5a‧‧‧第1連桿 5a‧‧‧1st link
5b‧‧‧第2連桿 5b‧‧‧2nd link
8A‧‧‧固定部 8A‧‧‧Fixed Department
8B‧‧‧固定部 8B‧‧‧Fixed Department
9A‧‧‧本體部 9A‧‧‧ Body Department
9B‧‧‧本體部 9B‧‧‧ Body Department
10A‧‧‧爪部 10A‧‧‧ claws
10B‧‧‧第1操作部 10B‧‧‧First Operation Department
11B‧‧‧第2操作部 11B‧‧‧2nd Operation Department
12‧‧‧台車 12‧‧‧Trolley
13A‧‧‧第1臂 13A‧‧‧1st arm
13B‧‧‧第2臂 13B‧‧‧2nd arm
14‧‧‧控制裝置 14‧‧‧Control device
14a‧‧‧運算部 14a‧‧‧Department of Operations
14b‧‧‧記憶部 14b‧‧‧Memory Department
14c‧‧‧伺服控制部 14c‧‧‧Servo Control Department
15A‧‧‧第1臂部 15A‧‧‧1st arm
15B‧‧‧第2臂部 15B‧‧‧2nd arm
16‧‧‧基軸 16‧‧‧Base axis
17A‧‧‧第1腕部 17A‧‧‧1st wrist
17B‧‧‧第2腕部 17B‧‧‧2nd wrist
18A‧‧‧第1手部 18A‧‧‧1st hand
18B‧‧‧第2手部 18B‧‧‧2nd hand
20A‧‧‧第1安裝部 20A‧‧‧1st installation department
20B‧‧‧第2安裝部 20B‧‧‧Second Installation Department
90B‧‧‧上表面 90B‧‧‧ upper surface
91B‧‧‧第3保持部 91B‧‧‧3rd Maintenance Department
92B‧‧‧第3抵接面 92B‧‧‧3rd junction
101‧‧‧搬送裝置 101‧‧‧Transporting device
102‧‧‧容器 102‧‧‧ Container
103‧‧‧咖啡機 103‧‧‧Coffee machine
103a‧‧‧第1載置面 103a‧‧‧1st loading surface
104‧‧‧容器供給器 104‧‧‧Container feeder
104a‧‧‧操作按鈕 104a‧‧‧ operation button
105‧‧‧桌台 105‧‧‧Table
106‧‧‧托盤 106‧‧‧Tray
106a‧‧‧上表面 106a‧‧‧Upper surface
110A‧‧‧第1抵接面 110A‧‧‧1st abutment
110B‧‧‧按壓部 110B‧‧‧ Pressing Department
111A‧‧‧第2抵接面 111A‧‧‧2nd abutment
J1‧‧‧旋轉關節 J1‧‧‧ Rotating joint
J2‧‧‧旋轉關節 J2‧‧‧ Rotating joint
J3‧‧‧直動關節 J3‧‧‧Direct joint
J4‧‧‧旋轉關節 J4‧‧‧Rotating joint
L1‧‧‧旋轉軸線 L1‧‧‧ axis of rotation
L2‧‧‧旋轉軸線 L2‧‧‧ axis of rotation
L3‧‧‧旋轉軸線 L3‧‧‧Rotation axis
圖1係表示本實施形態1之搬送裝置之概略結構之立體圖。 Fig. 1 is a perspective view showing a schematic configuration of a conveying apparatus of the first embodiment.
圖2係表示圖1所示之搬送裝置之概略結構之示意圖。 Fig. 2 is a schematic view showing the schematic configuration of the conveying device shown in Fig. 1.
圖3係概略地表示圖1所示之搬送裝置之控制裝置之結構之功能方塊圖。 Fig. 3 is a functional block diagram schematically showing the configuration of a control device of the conveying device shown in Fig. 1;
圖4係表示圖2所示之搬送裝置中之第1手部之上表面之概略結構之示意圖。 Fig. 4 is a schematic view showing a schematic configuration of an upper surface of a first hand portion in the conveying device shown in Fig. 2;
圖5係表示圖2所示之搬送裝置中之第2手部之上表面之概略結構之示意圖。 Fig. 5 is a schematic view showing a schematic configuration of the upper surface of the second hand in the conveying device shown in Fig. 2;
圖6係表示本實施形態1之搬送裝置之動作之一例之流程圖。 Fig. 6 is a flow chart showing an example of the operation of the conveying apparatus of the first embodiment.
圖7係表示搬送裝置沿圖6所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 7 is a schematic view showing a state of the conveying device when the conveying device operates in the flowchart shown in Fig. 6;
圖8係表示搬送裝置沿圖6所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 8 is a view showing a state of the conveying device when the conveying device operates in the flowchart shown in Fig. 6;
圖9係表示搬送裝置沿圖6所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 9 is a schematic view showing a state of the conveying device when the conveying device is operated along the flowchart shown in Fig. 6;
圖10係表示搬送裝置沿圖6所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 10 is a schematic view showing a state of the conveying device when the conveying device operates in the flowchart shown in Fig. 6;
圖11係表示本實施形態1之搬送裝置之動作之另一例之流程圖。 Fig. 11 is a flow chart showing another example of the operation of the conveying apparatus of the first embodiment.
圖12係表示搬送裝置沿圖11所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 12 is a schematic view showing a state of the conveying device when the conveying device is operated along the flowchart shown in Fig. 11;
圖13係表示本實施形態2之搬送裝置之概略結構之示意圖。 Fig. 13 is a schematic view showing a schematic configuration of a conveying apparatus of the second embodiment.
圖14係表示圖13所示之搬送裝置中之第1手部之上表面之概略結構之示意圖。 Fig. 14 is a schematic view showing a schematic configuration of the upper surface of the first hand in the conveying device shown in Fig. 13;
圖15係表示圖13所示之搬送裝置中之第2手部之上表面之概略結構之示意圖。 Fig. 15 is a schematic view showing a schematic configuration of the upper surface of the second hand in the conveying device shown in Fig. 13;
圖16係表示本實施形態2之搬送裝置之動作之一例之流程圖。 Fig. 16 is a flow chart showing an example of the operation of the conveying apparatus of the second embodiment.
圖17係表示本實施形態2之搬送裝置之動作之另一例之流程圖。 Fig. 17 is a flow chart showing another example of the operation of the conveying apparatus of the second embodiment.
以下，一面參照圖式，一面說明本發明之實施形態。再者，於所有圖式中，對於相同或相當之部分標註相同符號，並省略重複說明。又，於所有圖式中，係選取用於說明本發明之構成要素而圖示，對於其他構成要素，有時省略圖示。進而，本發明並不限定於以下之實施形態。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or equivalent components are designated by the same reference numerals, and the repeated description is omitted. In addition, in all the drawings, the components for explaining the present invention are selected and illustrated, and the other components may be omitted. Furthermore, the present invention is not limited to the following embodiments.
(實施形態1) (Embodiment 1)
本實施形態1之搬送裝置搬送收容有食品之容器，其具備：第1臂，設有第1保持部，該第1保持部與容器之外周面抵接而保持容器；第2臂，設有第2保持部，該第2保持部形成為板狀，與容器之下表面抵接而保持容器；以及控制裝置，控制裝置係構成為，以使第1保持部與容器之外周面抵接之方式，使第1臂進行動作，並以使第2保持部與容器之下表面抵接之方式，使第2臂進行動作，從而搬送上述容器。 In the transport apparatus of the first embodiment, the container containing the food is provided, and the first arm is provided with the first holding portion, and the first holding portion abuts against the outer peripheral surface of the container to hold the container, and the second arm is provided. The second holding portion is formed in a plate shape and is held in contact with the lower surface of the container to hold the container, and the control device is configured such that the first holding portion abuts against the outer peripheral surface of the container In a manner, the first arm is operated, and the second arm is operated to bring the second holding portion into contact with the lower surface of the container, thereby transporting the container.
又，本實施形態1之搬送裝置中，亦可為，第1臂之第1保持部具有一對爪部，控制裝置係構成為，以藉由第1保持部之一對爪部夾住容器之外周面而保持容器之方式，使第1臂進行動作，隨後，以提起載置於第1載置面之容器之方式，使第1臂進行動作，並以使第2保持部與容器之下表面抵接而保持容器之方式，使第2臂進行動作。 Further, in the transport apparatus according to the first embodiment, the first holding portion of the first arm may have a pair of claw portions, and the control device may be configured to sandwich the container with the claw portion by one of the first holding portions. The first arm is operated to hold the container on the outer circumferential surface, and then the first arm is operated to lift the container placed on the first placement surface, so that the second holding portion and the container are moved The second arm is operated such that the lower surface abuts and holds the container.
又，本實施形態1之搬送裝置中，亦可為，控制裝置係構成為，在由第1保持部及第2保持部保持著容器之狀態下，以釋放第2保持部對容器下表面之保持之方式，使第2臂進行動作，隨後，以使容器之下表面與載置該容器之第2載置面抵接之方式，使第1臂進行動作。 Further, in the transport apparatus according to the first embodiment, the control device may be configured to release the second holding portion to the lower surface of the container while the container is held by the first holding portion and the second holding portion. In the holding manner, the second arm is operated, and then the first arm is operated such that the lower surface of the container abuts against the second mounting surface on which the container is placed.
以下，一面參照圖1至圖13，一面說明本實施形態1之搬送裝置之一例。再者，本實施形態1中，例示了下述服務動作，即：搬送裝置藉由咖啡機將咖啡裝入容器(此處為紙杯)中，並提供給顧客。 Hereinafter, an example of the conveying apparatus of the first embodiment will be described with reference to Figs. 1 to 13 . Further, in the first embodiment, the following service operation is exemplified in which the conveying device loads the coffee into a container (here, a paper cup) by a coffee machine and supplies it to the customer.
[搬送裝置之結構] [Structure of transport device]
圖1係表示本實施形態1之搬送裝置之概略結構之立體圖。圖2係表示圖1所示之搬送裝置之概略結構之示意圖。圖3係概略地表示圖1所示之搬送裝置之控制裝置之結構之功能方塊圖。 Fig. 1 is a perspective view showing a schematic configuration of a conveying apparatus of the first embodiment. Fig. 2 is a schematic view showing the schematic configuration of the conveying device shown in Fig. 1. Fig. 3 is a functional block diagram schematically showing the configuration of a control device of the conveying device shown in Fig. 1;
再者，於圖1中，將搬送裝置之前後方向、上下方向及左右方向表示為圖中之前後方向、上下方向及左右方向。又，於圖2中，將搬送裝置之上下方向及左右方向表示為圖中之上下方向及左右方向。 In addition, in FIG. 1, the front-back direction, the up-down direction, and the left-right direction of a conveyance apparatus are shown in the front-back direction, the up-down direction, and the left-right direction in the figure. Moreover, in FIG. 2, the up-down direction and the left-right direction of a conveyance apparatus are shown in the up-down direction and the left-right direction in the figure.
如圖1及圖2所示，本實施形態1之搬送裝置101具備第1臂13A及第2臂13B、與控制裝置14，且構成為，藉由第1臂13A及第2臂13B來保持並搬送收容有食品之容器102(參照圖8等)。 As shown in FIG. 1 and FIG. 2, the transport apparatus 101 of the first embodiment includes a first arm 13A, a second arm 13B, and a control device 14, and is configured to be held by the first arm 13A and the second arm 13B. The container 102 containing the food is transported (see FIG. 8 and the like).
首先，一面參照圖1，一面對配置於本實施形態1之搬送裝置101進行作業之作業空間內的各機器等之結構進行說明。 First, a configuration of each device or the like disposed in a work space in which the transport apparatus 101 of the first embodiment performs work will be described with reference to FIG.
如圖1所示，於本實施形態1之搬送裝置101進行作業之作業空間內，配置有咖啡機103、容器供給器104、桌台105及托盤106。作為咖啡機103，可使用公知之各種咖啡機，此處，係使用內部密封有經提取之咖啡之膠囊式咖啡機。 As shown in Fig. 1, a coffee machine 103, a container feeder 104, a table 105, and a tray 106 are disposed in a work space in which the transport apparatus 101 of the first embodiment performs work. As the coffee machine 103, various known coffee machines can be used, and here, a capsule type coffee machine in which an extracted coffee is sealed is used.
容器供給器104係安裝於咖啡機103之側面，且構成為，每當對操作按鈕104a進行操作時，將容器102逐個地投下(落下)而供給。作為容器供給器104，可使用公知之紙杯分配器。再者，本實施形態1中，採用了將容器供給器104安裝於咖啡機103側面之形態，但並不限定於此，亦可採用將容器供給器104安裝於作業空間內之壁等之形態。 The container feeder 104 is attached to the side surface of the coffee maker 103, and is configured such that the container 102 is dropped (dropped) one by one and supplied every time the operation button 104a is operated. As the container feeder 104, a known paper cup dispenser can be used. Further, in the first embodiment, the container feeder 104 is attached to the side surface of the coffee machine 103. However, the present invention is not limited thereto, and the container feeder 104 may be attached to a wall or the like in the work space. .
繼而，一面參照圖2，一面說明搬送裝置101之具體結構。再者，以下，作為搬送裝置101，對水平多關節型雙臂機器人進行說明，但作為搬送裝置101，亦可採用水平多關節型.垂直多關節型等其他機器人。 Next, the specific configuration of the transport device 101 will be described with reference to Fig. 2 . In the following description, the horizontal articulated dual-arm robot will be described as the transport device 101. However, as the transport device 101, other robots such as a horizontal articulated type and a vertical articulated type may be used.
如圖2所示，搬送裝置101具備台車12、第1臂13A、第2臂13B、及配置於台車12內之控制裝置14。再者，本實施形態1中，採用了將控制裝置14配置於台車12內部之形態，但並不限定於此，控制裝置14亦可配置於台車12外部。 As shown in FIG. 2, the conveyance apparatus 101 is provided with the bogie 12, the 1st arm 13A, the 2nd arm 13B, and the control apparatus 14 arrange|positioned in the trolley 12. Further, in the first embodiment, the control device 14 is disposed inside the bogie 12. However, the present invention is not limited thereto, and the control device 14 may be disposed outside the bogie 12.
於台車12之上表面，固定有基軸16。於基軸16上，繞通過該基軸16之軸心之旋轉軸線L1可轉動地設有第1臂13A及第2臂13B。具體而言，第1臂13A與第2臂13B係以上下具有高低差之方式而設。再者，第1臂13A及第2臂13B係構成為，可獨立地動作，或者彼此關聯地動作。 A base shaft 16 is fixed to the upper surface of the trolley 12. The first arm 13A and the second arm 13B are rotatably provided around the rotation axis L1 passing through the axis of the base shaft 16 on the base shaft 16. Specifically, the first arm 13A and the second arm 13B are provided so as to have a height difference. Further, the first arm 13A and the second arm 13B are configured to operate independently or in association with each other.
第1臂13A具有第1臂部15A、第1腕部17A、第1手部18A及第1安裝部20A。同樣，第2臂13B具有第2臂部15B、第2腕部17B、第2手部18B及第2安裝部20B。再者，第2臂13B中，對於第2手部18B以外之結構，係與第1臂13A同樣地構成，因此省略第2手部18B以外之詳細說明。 The first arm 13A has a first arm portion 15A, a first arm portion 17A, a first hand portion 18A, and a first mounting portion 20A. Similarly, the second arm 13B has the second arm portion 15B, the second arm portion 17B, the second hand portion 18B, and the second attachment portion 20B. In the second arm 13B, the configuration other than the second hand portion 18B is configured in the same manner as the first arm portion 13A. Therefore, detailed descriptions other than the second hand portion 18B will be omitted.
第1臂部15A於本實施形態1中，包含大致長方體狀之第1連桿5a及第2連桿5b。第1連桿5a於基端部設有旋轉關節J1，於前端部設有旋轉關節J2。又，第2連桿5b於前端部設有直動關節J3。 In the first embodiment, the first arm portion 15A includes the first link 5a and the second link 5b having a substantially rectangular parallelepiped shape. The first link 5a is provided with a rotary joint J1 at the proximal end portion, and a rotary joint J2 is provided at the distal end portion. Further, the second link 5b is provided with a linear motion joint J3 at the distal end portion.
並且，第1連桿5a其基端部經由旋轉關節J1而與基軸16連結，從而可藉由旋轉關節J1而繞旋轉軸線L1轉動。又，第2連桿5b其基端部經由旋轉關節J2而與第1連桿5a之前端部連結，從而可藉由旋轉關節J2而繞旋轉軸線L2轉動。 Further, the proximal end portion of the first link 5a is coupled to the base shaft 16 via the rotary joint J1, and is rotatable about the rotation axis L1 by the rotary joint J1. Further, the base end portion of the second link 5b is coupled to the front end portion of the first link 5a via the rotary joint J2, and is rotatable about the rotation axis L2 by the rotary joint J2.
於第2連桿5b之前端部，經由直動關節J3而相對於第2連桿5b可升降移動地連結有第1腕部17A。於第1腕部17A之下端部，設有旋轉關節J4，於旋轉關節J4之下端部，設有第1安裝部20A。 The first arm portion 17A is coupled to the second link 5b via the linear motion joint J3 at the front end portion of the second link 5b. A rotating joint J4 is provided at a lower end portion of the first arm portion 17A, and a first mounting portion 20A is provided at a lower end portion of the rotating joint J4.
第1安裝部20A係可裝卸第1手部18A地構成。具體而言，例如，第1安裝部20A具有其間隔可調整地構成之一對棒構件，藉由該一對棒構件來包夾第1手部18A，藉此可將第1手部18A安裝於第1腕部17A。藉此，第1手部18A可藉由旋轉關節J4而繞旋轉軸線L3轉動。再者，棒構件之前端部分亦可彎折。 The first attachment portion 20A is configured to be detachable from the first hand portion 18A. Specifically, for example, the first attachment portion 20A has a pair of bar members that are adjustably spaced apart, and the first hand portion 18A is sandwiched by the pair of bar members, whereby the first hand portion 18A can be mounted. In the first wrist 17A. Thereby, the first hand portion 18A can be rotated about the rotation axis L3 by the rotation joint J4. Furthermore, the front end portion of the rod member can also be bent.
此處，一面參照圖4及圖5，一面詳細說明第1臂13A之第1手部18A與第2臂13B之第2手部18B。 Here, the first hand 18A of the first arm 13A and the second hand 18B of the second arm 13B will be described in detail with reference to FIGS. 4 and 5 .
圖4係表示圖2所示之搬送裝置中之第1手部之上表面之概略結構之示意圖。圖5係表示圖2所示之搬送裝置中之第2手部之上表面之概略結構之示意圖。再者，於圖4中，將搬送裝置(第1手部)之前後方向及左右方向表示為圖中之前後方向及左右方向。又，於圖5中，將搬送裝置(第2手部)之前後方向及左右方向表示為圖中之前後方向及左右方向。 Fig. 4 is a schematic view showing a schematic configuration of an upper surface of a first hand portion in the conveying device shown in Fig. 2; Fig. 5 is a schematic view showing a schematic configuration of the upper surface of the second hand in the conveying device shown in Fig. 2; In addition, in FIG. 4, the front-back direction and the left-right direction of the conveyance apparatus (1st hand part) are shown in the front-back direction and the left-right direction in the figure. Moreover, in FIG. 5, the front-back direction and the left-right direction of the conveyance apparatus (2nd hand part) are shown in the front-back direction and the left-right direction in the figure.
如圖4所示，第1臂13A之第1手部18A具有固定部8A、本體部9A及一對爪部10A、10A，且構成為，藉由一對爪部10A、10A，與容器102之外周面抵接而抓持容器102。再者，本實施形態1中，爪部10A、10A構成第1保持部。 As shown in FIG. 4, the first hand 18A of the first arm 13A has a fixing portion 8A, a main body portion 9A, and a pair of claw portions 10A and 10A, and is configured by a pair of claw portions 10A and 10A and a container 102. The outer peripheral surface abuts and grips the container 102. Further, in the first embodiment, the claw portions 10A and 10A constitute the first holding portion.
固定部8A係第1安裝部20A所抵接之部位，此處形成為板狀。又，於本體部9A之前端部，設有一對爪部10A、10A。於爪部10A之內周面，形成有與容器102之外周面抵接之第1抵接面110A。自上下方向觀察時，於此處，第1抵接面110A係形成為大致梯形狀，作為一對爪部10A、10A整體，形成為大致六邊形狀。又，至少一個爪部10A係藉由未圖示之驅動器而可朝左右方向移動地構成。 The fixing portion 8A is a portion where the first mounting portion 20A abuts, and is formed in a plate shape here. Further, a pair of claw portions 10A and 10A are provided at the front end portion of the main body portion 9A. On the inner circumferential surface of the claw portion 10A, a first abutting surface 110A that abuts against the outer circumferential surface of the container 102 is formed. When viewed from the up-and-down direction, the first abutting surface 110A is formed in a substantially trapezoidal shape, and is formed in a substantially hexagonal shape as a whole of the pair of claw portions 10A and 10A. Further, at least one of the claw portions 10A is configured to be movable in the left-right direction by a driver (not shown).
再者，第1抵接面110A亦可形成為四邊形等多邊形狀，還可形成為圓弧狀，還可形成為平板狀。又，於第1抵接面110A上，亦可配置有橡膠等彈性構件。 Further, the first abutting surface 110A may be formed in a polygonal shape such as a quadrangular shape, or may be formed in an arc shape, or may be formed in a flat plate shape. Further, an elastic member such as rubber may be disposed on the first abutting surface 110A.
又，第1抵接面110A亦可以隨著朝向下方而水平方向之開口面積 變小之方式傾斜。即，一對爪部10A、10A亦可以第1抵接面110A、110A隨著朝向下方而彼此接近之方式傾斜。 Further, the first abutting surface 110A may be inclined such that the opening area in the horizontal direction becomes smaller as it goes downward. In other words, the pair of claw portions 10A and 10A may be inclined such that the first abutting faces 110A and 110A approach each other as they face downward.
如圖5所示，第2臂13B之第2手部18B具有固定部8B、本體部9B、第1操作部10B及第2操作部11B，且構成為，將容器102載置於本體部9B之上表面90B。 As shown in FIG. 5, the second hand portion 18B of the second arm 13B includes a fixing portion 8B, a main body portion 9B, a first operation portion 10B, and a second operation portion 11B, and is configured to mount the container 102 on the main body portion 9B. Upper surface 90B.
固定部8B係第2安裝部20B所抵接之部位，此處係形成為板狀。自上下方向觀察時，本體部9B係形成為大致鉤狀。於本體部9B之右側前方部分，設有第1操作部10B，於本體部9B之左側前方部分，設有第2操作部11B。再者，於上表面90B上，亦可設有用於抑制容器102傾覆之凹部。又，本實施形態1中，本體部9B(更準確而言，為上表面90B)構成第2保持部。 The fixing portion 8B is a portion where the second mounting portion 20B abuts, and is formed in a plate shape here. The main body portion 9B is formed in a substantially hook shape when viewed in the up and down direction. A first operation portion 10B is provided in a front portion on the right side of the main body portion 9B, and a second operation portion 11B is provided in a front portion on the left side of the main body portion 9B. Further, a concave portion for suppressing the overturning of the container 102 may be provided on the upper surface 90B. Further, in the first embodiment, the main body portion 9B (more specifically, the upper surface 90B) constitutes the second holding portion.
第1操作部10B係形成為L字狀，且構成為，對用於開閉咖啡機103之收納膠囊之膠囊***口之桿進行操作。再者，根據所使用之咖啡機103，第1操作部10B之形狀可任意變更。又，亦可藉由第1操作部10B按壓容器供給器104之操作按鈕104a。 The first operation unit 10B is formed in an L shape, and is configured to operate a lever for opening and closing the capsule insertion port of the capsule of the coffee machine 103. Further, the shape of the first operation portion 10B can be arbitrarily changed depending on the coffee machine 103 to be used. Further, the operation button 104a of the container feeder 104 can be pressed by the first operation unit 10B.
第2操作部11B係用於按壓容器供給器104之操作按鈕104a者，於其前端部設有按壓部110B。再者，根據所使用之容器供給器104，第2操作部11B之形狀可任意變更。又，亦可藉由第2操作部11B操作咖啡機103。 The second operation unit 11B is for pressing the operation button 104a of the container feeder 104, and a pressing portion 110B is provided at the front end portion thereof. Further, the shape of the second operation portion 11B can be arbitrarily changed depending on the container feeder 104 to be used. Further, the coffee machine 103 can be operated by the second operation unit 11B.
再者，本實施形態1中，採用了第1臂13A及第2臂13B除第1手部18A、第2手部18B以外，設為實質上相同結構之形態，但並不限定於此，亦可採用第1手部18A、第2手部18B以外之部分於第1臂13A與第2臂13B中為不同結構之形態。 In the first embodiment, the first arm 13A and the second arm 13B are configured to have substantially the same configuration except for the first hand portion 18A and the second hand portion 18B. However, the present invention is not limited thereto. It is also possible to adopt a configuration in which the first arm portion 18A and the second hand portion 18B have different configurations in the first arm 13A and the second arm 13B.
又，於第1臂13A及第2臂13B之各關節J1至J4中，分別設有作為使各關節所連結之2個構件相對地旋轉或升降之致動器之一例之驅動馬達(未圖示)。驅動馬達例如亦可為藉由控制裝置14進行伺服控制之伺服馬達。又，於各 關節J1至關節J4中，分別設有對驅動馬達之旋轉位置進行檢測之旋轉感測器(未圖示)、及對控制驅動馬達之旋轉之電流進行檢測之電流感測器(未圖示)。旋轉感測器例如亦可為編碼器。 Further, in each of the joints J1 to J4 of the first arm 13A and the second arm 13B, a drive motor as an example of an actuator that relatively rotates or lifts two members connected to each joint is provided (not shown). Show). The drive motor can also be, for example, a servo motor that is servo controlled by the control device 14. Further, each of the joints J1 to J4 is provided with a rotation sensor (not shown) that detects a rotational position of the drive motor, and a current sensor that detects a current that controls the rotation of the drive motor ( Not shown). The rotary sensor can for example also be an encoder.
如圖3所示，控制裝置14具備CPU等運算部14a、ROM、RAM等記憶部14b以及伺服控制部14c。控制裝置14例如為具備微控制器等電腦之機器人控制器。 As shown in FIG. 3, the control device 14 includes a calculation unit 14a such as a CPU, a storage unit 14b such as a ROM and a RAM, and a servo control unit 14c. The control device 14 is, for example, a robot controller including a computer such as a microcontroller.
再者，控制裝置14既可包含進行集中控制之單個控制裝置14，亦可包含彼此協動地分散控制之複數個控制裝置14。又，本實施形態1中，採用了將記憶部14b配置於控制裝置14內之形態，但並不限定於此，亦可採用記憶部14b獨立於控制裝置14而設之形態。 Furthermore, the control device 14 may include a single control device 14 for centralized control, or a plurality of control devices 14 that are cooperatively dispersedly controlled. Further, in the first embodiment, the storage unit 14b is disposed in the control device 14. However, the present invention is not limited thereto, and the storage unit 14b may be provided independently of the control device 14.
於記憶部14b中，記憶有作為機器人控制器之基本程式、各種固定資料等資訊。運算部14a藉由讀出並執行記憶部14b中記憶之基本程式等軟體，而控制搬送裝置101之各種動作。即，運算部14a生成搬送裝置101之控制指令，並將其輸出至伺服控制部14c。伺服控制部14c構成為，基於由運算部14a所生成之控制指令，對與搬送裝置101之第1臂13A或第2臂13B之各關節J1至J4對應之伺服馬達之驅動進行控制。 In the memory unit 14b, information such as a basic program of the robot controller and various fixed materials is stored. The computing unit 14a controls various operations of the transport device 101 by reading and executing software such as a basic program stored in the storage unit 14b. In other words, the calculation unit 14a generates a control command of the transport device 101 and outputs it to the servo control unit 14c. The servo control unit 14c is configured to control the drive of the servo motor corresponding to each of the joints J1 to J4 of the first arm 13A or the second arm 13B of the transport device 101 based on the control command generated by the calculation unit 14a.
[搬送裝置之動作及作用效果] [Operation and effect of the transport device]
繼而，一面參照圖1至圖13，一面說明本實施形態1之搬送裝置101之動作及作用效果。再者，以下之動作係藉由控制裝置14之運算部14a讀出記憶部14b中保存之程式而執行。 Next, the operation and effects of the transport apparatus 101 according to the first embodiment will be described with reference to Figs. 1 to 13 . Further, the following operations are executed by the calculation unit 14a of the control device 14 reading the program stored in the storage unit 14b.
首先，一面參照圖1至圖11，一面說明下述動作，即：將容器102設置於咖啡機103中，將咖啡裝入容器102中，並將裝入有咖啡之容器102提供給顧客。 First, referring to Figs. 1 to 11, an operation of installing the container 102 in the coffee machine 103, loading the coffee into the container 102, and supplying the container 102 containing the coffee to the customer will be described.
圖6係表示本實施形態1之搬送裝置之動作之一例之流程圖。圖7 至圖10係表示搬送裝置沿圖6所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 6 is a flow chart showing an example of the operation of the conveying apparatus of the first embodiment. 7 to 10 are views showing the state of the conveying device when the conveying device is operated along the flowchart shown in Fig. 6.
具體而言，圖7係表示由第1臂之第1保持部保持(抓持)著自容器供給器供給之容器之狀態之立體圖。圖8係表示將容器設置於咖啡機中之狀態之立體圖。圖9係表示由第1臂之第1保持部及第2臂之第2保持部保持著裝入有咖啡之容器之狀態之立體圖。圖10係表示將裝入有咖啡之容器102提供給顧客之狀態之立體圖。 Specifically, FIG. 7 is a perspective view showing a state in which the container supplied from the container feeder is held (grabbed) by the first holding portion of the first arm. Fig. 8 is a perspective view showing a state in which a container is placed in a coffee machine. Fig. 9 is a perspective view showing a state in which a container in which coffee is placed is held by a first holding portion of the first arm and a second holding portion of the second arm. Fig. 10 is a perspective view showing a state in which the container 102 containing the coffee is supplied to the customer.
首先，顧客操作未圖示之操作器(例如平板電腦等)，選擇所期望之咖啡種類(例如美式咖啡、濃縮咖啡等)等，所選擇之咖啡種類之資訊被輸入至搬送裝置101之控制裝置14。於是，控制裝置14使第1臂13A及第2臂13B進行動作，將與所選擇之咖啡種類相當之膠囊設置於咖啡機103中。 First, the customer operates an operator (for example, a tablet computer) not shown, selects a desired coffee type (for example, American coffee, espresso, etc.), and the information of the selected coffee type is input to the control device of the transport device 101. 14. Then, the control device 14 operates the first arm 13A and the second arm 13B, and sets a capsule corresponding to the selected coffee type in the coffee machine 103.
繼而，控制裝置14如圖6所示，使第1臂13A進行動作，以使包含一對爪部10A、10A之第1保持部位於容器供給器104下方之特定之第1位置(步驟S101；參照圖7)。此處，特定之第1位置係指爪部10A、10A之第1抵接面110A、110A分別與容器102之外周面抵接而可保持(抓持)容器102之位置，可預先藉由實驗等而設定。再者，基於使第1保持部容易保持容器102之觀點，第1位置亦可為靠近容器供給器104之下端部之位置。 Then, as shown in FIG. 6, the control device 14 operates the first arm 13A so that the first holding portion including the pair of claw portions 10A, 10A is located at a specific first position below the container feeder 104 (step S101; Refer to Figure 7). Here, the specific first position means that the first abutting faces 110A and 110A of the claw portions 10A and 10A are in contact with the outer peripheral surface of the container 102, and the position of the container 102 can be held (grabbed), and the experiment can be performed in advance. Set it up. Further, the first position may be a position close to the lower end portion of the container feeder 104 from the viewpoint of facilitating the first holding portion to hold the container 102.
繼而，控制裝置14使容器供給器104作動(步驟S102)。具體而言，控制裝置14使第2臂13B進行動作，以藉由第2手部18B中之第2操作部11B之按壓部110B按壓容器供給器104之操作按鈕104a。藉此，可自容器供給器104投下容器102，爪部10A、10A之第1抵接面110A、110A分別與容器102之外周面抵接而保持(抓持)容器102(參照圖7)。 Then, the control device 14 activates the container feeder 104 (step S102). Specifically, the control device 14 operates the second arm 13B to press the operation button 104a of the container feeder 104 by the pressing portion 110B of the second operation portion 11B of the second hand portion 18B. Thereby, the container 102 can be dropped from the container feeder 104, and the first abutting surfaces 110A and 110A of the claw portions 10A and 10A abut against the outer circumferential surface of the container 102 to hold (catch) the container 102 (see FIG. 7).
繼而，控制裝置14使第1臂13A進行動作，以將容器102設置於咖啡機103之特定位置(第1載置面103a；參照圖1及圖8)(步驟S103)。繼而，控 制裝置14以釋放第1保持部對容器102之保持，並藉由爪部10A按壓咖啡機103之適當按鈕來操作咖啡機103，以將咖啡裝入容器102中之方式，使第1臂13A進行動作。再者，咖啡機103之操作亦可由第2臂13B取代第1臂13A來進行，還可由第1臂13A與第2臂13B該兩者進行。 Then, the control device 14 operates the first arm 13A to set the container 102 at a specific position of the coffee machine 103 (the first placement surface 103a; see FIGS. 1 and 8) (step S103). Then, the control device 14 operates the coffee machine 103 by releasing the first holding portion to hold the container 102 and pressing the appropriate button of the coffee machine 103 by the claw portion 10A to load the coffee into the container 102 to make the first The arm 13A operates. Further, the operation of the coffee machine 103 may be performed by the second arm 13B instead of the first arm 13A, or may be performed by both the first arm 13A and the second arm 13B.
繼而，控制裝置14使第1臂13A進行動作，以藉由第1保持部保持(抓持)容器102之外周面(步驟S104)。再者，控制裝置14於步驟S103中不使第1臂13A進行動作而藉由第2臂13B操作咖啡機103之情形時，亦可不執行步驟S104之處理而執行步驟S105之處理。 Then, the control device 14 operates the first arm 13A to hold (catch) the outer circumferential surface of the container 102 by the first holding portion (step S104). Further, when the control device 14 does not operate the first arm 13A in step S103 and operates the coffee machine 103 by the second arm 13B, the processing of step S105 may be executed without performing the processing of step S104.
繼而，控制裝置14使第1臂13A進行動作，以藉由第1保持部提起所保持之容器102(步驟S105)。繼而，控制裝置14使第2臂13B進行動作，以使第2保持部(第2手部18B之上表面90B)保持容器102之下表面(載置容器102)(步驟S106；參照圖9)。藉此，搬送裝置101可藉由第1臂13A保持容器102之外周面(側面)，並藉由第2臂13B保持容器102之下表面。 Then, the control device 14 operates the first arm 13A to lift the held container 102 by the first holding portion (step S105). Then, the control device 14 operates the second arm 13B so that the second holding portion (the upper surface portion 90B of the second hand portion 18B) is held on the lower surface of the container 102 (the container 102 is placed) (step S106; see FIG. 9). . Thereby, the conveyance device 101 can hold the outer peripheral surface (side surface) of the container 102 by the 1st arm 13A, and hold the lower surface of the container 102 by the 2nd arm 13B.
繼而，控制裝置14使第1臂13A及第2臂13B進行動作，以將容器102搬送至預先設定之特定之第2位置為止(步驟S107)，結束本程式。 Then, the control device 14 operates the first arm 13A and the second arm 13B to transport the container 102 to the predetermined second position (step S107), and ends the routine.
具體而言，控制裝置14使第1臂13A及第2臂13B轉動，以使容器102位於桌台105(托盤106)之上方(第2位置之一例)(參照圖10)。藉此，搬送裝置101可在藉由第1臂13A之第1手部18A保持容器102之外周面(側面)，且藉由第2臂13B之第2手部18B保持容器102之下表面之狀態下，將裝入有咖啡之容器102提供給顧客。因此，搬送裝置101可給予顧客以禮貌應對之感覺，可提高服務之品質。 Specifically, the control device 14 rotates the first arm 13A and the second arm 13B so that the container 102 is positioned above the table 105 (tray 106) (an example of the second position) (see FIG. 10). Thereby, the conveyance device 101 can hold the outer circumferential surface (side surface) of the container 102 by the first hand 18A of the first arm 13A, and hold the lower surface of the container 102 by the second hand 18B of the second arm 13B. In the state, the container 102 containing the coffee is supplied to the customer. Therefore, the conveying apparatus 101 can give the customer a feeling of courtesy and can improve the quality of the service.
再者，控制裝置14亦可使第1臂13A及第2臂13B進行動作，以使其等位於預先設定之特定位置(初始位置)後，結束本程式。又，控制裝置14亦可自輸出裝置(例如平板電腦、揚聲器等)輸出表示本程式已結束之資訊(例 如影像、聲音、光等)。 Further, the control device 14 may operate the first arm 13A and the second arm 13B so as to be at a predetermined position (initial position) set in advance, and then terminate the program. Further, the control device 14 may output information (e.g., video, sound, light, etc.) indicating that the program has ended from an output device (e.g., tablet, speaker, etc.).
繼而，一面參照圖11及圖12，一面說明本實施形態1之搬送裝置101將裝入有咖啡之容器102載置於托盤106之上表面(第2載置面)106a時之動作。 Next, the operation of the transport apparatus 101 of the first embodiment when the container 102 containing the coffee is placed on the upper surface (second loading surface) 106a of the tray 106 will be described with reference to FIG. 11 and FIG.
再者，以下，搬送裝置101自咖啡機103將咖啡裝入容器102中，並利用第1保持部與第2保持部保持容器102而搬送至托盤106上方為止之動作，係沿上述圖6所之流程圖而執行，因此省略其詳細說明。 In the following, the transport apparatus 101 loads the coffee into the container 102 from the coffee machine 103, and the container is transported to the upper side of the tray 106 by the first holding unit and the second holding unit, and is moved along the above-described FIG. The flowchart is executed, and thus detailed description thereof will be omitted.
圖11係表示本實施形態1之搬送裝置之動作之另一例之流程圖。圖12係表示搬送裝置沿圖11所示之流程圖進行動作時的搬送裝置之狀態之示意圖。 Fig. 11 is a flow chart showing another example of the operation of the conveying apparatus of the first embodiment. Fig. 12 is a schematic view showing a state of the conveying device when the conveying device is operated along the flowchart shown in Fig. 11;
如圖11所示，控制裝置14使第2臂13B進行動作，以使第2保持部(第2手部18B之上表面90B)釋放對容器102下表面之保持(步驟S201)。 As shown in FIG. 11, the control device 14 operates the second arm 13B so that the second holding portion (the upper surface portion 90B of the second hand portion 18B) is released from the lower surface of the container 102 (step S201).
繼而，控制裝置14使第1臂13A進行動作，以使容器102之下表面與第2載置面(托盤106之上表面106a)抵接(將容器102載置於托盤106中)(步驟S202；參照圖12)。藉此，搬送裝置101可將裝入有咖啡之容器102穩定地載置(搬送)至托盤106之上表面。 Then, the control device 14 operates the first arm 13A so that the lower surface of the container 102 abuts against the second placement surface (the upper surface 106a of the tray 106) (the container 102 is placed in the tray 106) (step S202) ; Refer to Figure 12). Thereby, the conveyance device 101 can stably mount (transfer) the container 102 in which the coffee is loaded to the upper surface of the tray 106.
繼而，控制裝置14使第1臂13A進行動作，以使第1保持部(第1手部18A之爪部10A、10A)釋放對容器102外周面之保持(步驟S203)，結束本程式。 Then, the control device 14 operates the first arm 13A to release the first holding portion (the claw portions 10A and 10A of the first hand portion 18A) to the outer peripheral surface of the container 102 (step S203), and ends the routine.
再者，控制裝置14亦可使第1臂13A及第2臂13B進行動作，以使其等位於預先設定之特定位置(初始位置)後，結束本程式。又，控制裝置14亦可自輸出裝置(例如平板電腦、揚聲器等)輸出表示本程式已結束之資訊(例如影像、聲音、光等)。 Further, the control device 14 may operate the first arm 13A and the second arm 13B so as to be at a predetermined position (initial position) set in advance, and then terminate the program. Further, the control device 14 may output information (for example, video, sound, light, etc.) indicating that the program has ended from an output device (for example, a tablet computer, a speaker, or the like).
於如此般構成之本實施形態1之搬送裝置101中，在藉由第1臂 13A保持容器102之外周面(側面)，且藉由第2臂13B保持容器102之下表面之狀態下，保持並搬送收容有食品(裝入有咖啡)之容器102。 In the conveying apparatus 101 of the first embodiment configured as described above, the outer peripheral surface (side surface) of the container 102 is held by the first arm 13A, and the lower surface of the container 102 is held by the second arm 13B. The container 102 containing the food (with coffee) is transported.
藉此，不論容器102之形狀(尤其是容器102之外周面之形狀)如何，均可穩定地保持並搬送容器102。 Thereby, regardless of the shape of the container 102 (especially the shape of the outer peripheral surface of the container 102), the container 102 can be stably held and conveyed.
因此，若為本實施形態1之搬送裝置101，即使於執行將容器102置於桌台、或提起載置於桌台之容器102等使容器102上下移動之動作時，亦可穩定地搬送容器102。 Therefore, in the conveying apparatus 101 of the first embodiment, even when the container 102 is placed on the table or the container 102 placed on the table is lifted and the container 102 is moved up and down, the container can be stably conveyed. 102.
又，本實施形態1之搬送裝置101中，係利用2條臂來保持容器102而提供(服務)給顧客，因此可給予顧客以搬送裝置101禮貌應對之感覺，可提高服務之品質。 Further, in the transport apparatus 101 of the first embodiment, the container 102 is held by two arms and provided (served) to the customer. Therefore, the feeling of the courtesy of the transport apparatus 101 can be given to the customer, and the quality of the service can be improved.
(實施形態2) (Embodiment 2)
本實施形態2之搬送裝置亦可為，於實施形態1之搬送裝置中，第1保持部具有以與容器之外周面之形狀對應之方式而形成之抵接面。 In the transport apparatus according to the second embodiment, the first holding portion may have an abutting surface formed to correspond to the shape of the outer peripheral surface of the container.
又，本實施形態2之搬送裝置中，亦可為，於第2保持部上，設有第3保持部，該第3保持部用於與容器之外周面抵接而保持容器。 Further, in the transport apparatus according to the second embodiment, the third holding portion may be provided with a third holding portion for abutting against the outer peripheral surface of the container to hold the container.
又，本實施形態2之搬送裝置中，亦可為，第3保持部係以自第2保持部之上表面突設之方式而設，且具有以與容器之外周面之形狀對應之方式而形成之抵接面。 Further, in the transport apparatus according to the second embodiment, the third holding portion may be provided so as to protrude from the upper surface of the second holding portion, and may have a shape corresponding to the outer peripheral surface of the container. Form the abutment surface.
又，本實施形態2之搬送裝置中，亦可為，控制裝置係構成為，使第1臂及第2臂進行動作，以使第1保持部與第2保持部夾住載置於第1載置面之容器而對向，隨後，使第1臂或第2臂進行動作，以使第1保持部與容器之外周面抵接，且使第2保持部***容器之下表面與第1載置面之間。 Further, in the transport apparatus according to the second embodiment, the control device may be configured to operate the first arm and the second arm such that the first holding portion and the second holding portion are sandwiched and placed on the first The container of the mounting surface is opposed to each other, and then the first arm or the second arm is operated to bring the first holding portion into contact with the outer peripheral surface of the container, and the second holding portion is inserted into the lower surface of the container and the first Between the mounting surfaces.
又，本實施形態2之搬送裝置中，亦可為，控制裝置係構成為，在由第1保持部及第2保持部保持著容器之狀態下，以使第2保持部之下表面與載 置容器之載置面抵接之方式，使第1臂及第2臂進行動作，隨後，以釋放第2保持部對容器下表面之保持，且使容器之下表面與載置面抵接之方式，使第1臂及第2臂進行動作，。 Further, in the transport apparatus according to the second embodiment, the control device may be configured such that the lower surface of the second holding portion and the load are held while the container is held by the first holding portion and the second holding portion. The first arm and the second arm are operated to abut the mounting surface of the container, and then the second holding portion is released to hold the lower surface of the container, and the lower surface of the container is brought into contact with the mounting surface. In this way, the first arm and the second arm are operated.
進而，本實施形態2之搬送裝置中，亦可為，控制裝置係構成為，於使第2保持部之下表面抵接於載置面時，以使第2保持部之上表面為俯角方向且為-10°以上之角度之方式，使第1臂及第2臂進行動作。 Further, in the transport apparatus according to the second embodiment, the control device may be configured such that when the lower surface of the second holding portion abuts against the mounting surface, the upper surface of the second holding portion is inclined. The first arm and the second arm are operated to be at an angle of -10° or more.
以下，一面參照圖13至圖17，一面說明本實施形態2之搬送裝置之一例。再者，本實施形態2中，例示了下述服務動作，即：搬送裝置將載置於容器(此處為盤子)102中之鬆餅提供給顧客。 Hereinafter, an example of the conveying apparatus of the second embodiment will be described with reference to Figs. 13 to 17 . Further, in the second embodiment, the following service operation is exemplified in which the conveying device supplies the muffins placed in the container (here, the tray) 102 to the customer.
[搬送裝置之結構] [Structure of transport device]
圖13係表示本實施形態2之搬送裝置之概略結構之示意圖。圖14係表示圖13所示之搬送裝置中之第1手部之上表面之概略結構之示意圖。圖15係表示圖13所示之搬送裝置中之第2手部之上表面之概略結構之示意圖。 Fig. 13 is a schematic view showing a schematic configuration of a conveying apparatus of the second embodiment. Fig. 14 is a schematic view showing a schematic configuration of the upper surface of the first hand in the conveying device shown in Fig. 13; Fig. 15 is a schematic view showing a schematic configuration of the upper surface of the second hand in the conveying device shown in Fig. 13;
再者，於圖13中，將搬送裝置之前後方向、上下方向及左右方向表示為圖中之前後方向、上下方向及左右方向。又，於圖14中，將搬送裝置(第1手部)之前後方向及左右方向表示為圖中之前後方向及左右方向。進而，於圖15中，將搬送裝置(第2手部)之前後方向及左右方向表示為圖中之前後方向及左右方向。 In addition, in FIG. 13, the front-back direction, the up-down direction, and the left-right direction of a conveyance apparatus are shown in the front-back direction, the up-down direction, and the left-right direction in the figure. In addition, in FIG. 14, the front-back direction and the left-right direction of the conveyance apparatus (1st hand part) are shown in the front-back direction and the left-right direction in the figure. Furthermore, in FIG. 15, the front-back direction and the left-right direction of the conveyance apparatus (2nd hand part) are shown in the front-back direction and the left-right direction in the figure.
如圖13至圖15所示，本實施形態2之搬送裝置101之基本結構與實施形態1之搬送裝置101相同，但第1臂13A之第1手部18A與第2臂13B之第2手部18B之結構不同。 As shown in FIG. 13 to FIG. 15, the basic configuration of the transport apparatus 101 of the second embodiment is the same as that of the transport apparatus 101 of the first embodiment, but the first hand 18A of the first arm 13A and the second hand of the second arm 13B. The structure of the portion 18B is different.
具體而言，如圖14所示，於第2手部18B之一對爪部10A、10A中之位於右側之爪部10A之右側面，設有第2抵接面111A。第2抵接面111A係以與容器102之外周面之形狀對應之方式而形成，此處係形成為圓弧狀。 Specifically, as shown in FIG. 14 , a second abutting surface 111A is provided on the right side surface of the right claw portion 10A of one of the claw portions 10A and 10A in one of the second hand portions 18B. The second abutting surface 111A is formed to correspond to the shape of the outer peripheral surface of the container 102, and is formed in an arc shape here.
再者，第2抵接面111A於本實施形態2中採用了形成為圓弧狀之形態，但並不限定於此。第2抵接面111A例如亦可採用形成為四邊形等多邊形狀之形態，還可採用形成為平板狀之形態。又，於第2抵接面111A上，亦可配置有橡膠等彈性構件。 Further, the second abutting surface 111A is formed in an arc shape in the second embodiment, but is not limited thereto. For example, the second abutting surface 111A may be formed in a polygonal shape such as a quadrangle, or may be formed in a flat shape. Further, an elastic member such as rubber may be disposed on the second abutting surface 111A.
又，如圖15所示，本實施形態2中，第2手部18B之本體部9B係形成為薄板狀。再者，本體部9B亦可於其上表面90B上設有沿左右方向延伸之複數個突條部。又，於上表面90B上，亦可設有沿左右方向延伸之貫穿孔。進而，上表面90B之前端部(右側端部)亦可以隨著朝向前端而其厚度變小之方式傾斜。 Further, as shown in Fig. 15, in the second embodiment, the main body portion 9B of the second hand portion 18B is formed in a thin plate shape. Further, the main body portion 9B may be provided with a plurality of ridge portions extending in the left-right direction on the upper surface 90B thereof. Further, a through hole extending in the left-right direction may be provided on the upper surface 90B. Further, the front end portion (right end portion) of the upper surface 90B may be inclined in such a manner that its thickness becomes smaller toward the front end.
又，於本體部9B中之上表面90B之基端部(左側端部)，突設有壁狀之第3保持部91B。第3保持部91B於其右側側面設有第3抵接面(抵接面)92B。第3抵接面92B係以與容器102之外周面之形狀對應之方式而形成，此處係形成為圓弧狀。 Further, a wall-shaped third holding portion 91B is protruded from the base end portion (left end portion) of the upper surface 90B of the main body portion 9B. The third holding portion 91B is provided with a third abutting surface (abutting surface) 92B on the right side surface thereof. The third abutting surface 92B is formed to correspond to the shape of the outer peripheral surface of the container 102, and is formed in an arc shape here.
再者，第3抵接面92B於本實施形態2中採用了形成為圓弧狀之形態，但並不限定於此。第3抵接面92B例如亦可採用形成為四邊形等多邊形狀之形態，還可採用形成為平板狀之形態。又，於第3抵接面92B上，亦可配置有橡膠等彈性構件。 Further, the third abutting surface 92B is formed in an arc shape in the second embodiment, but is not limited thereto. For example, the third abutting surface 92B may be formed in a polygonal shape such as a quadrangular shape, or may be formed in a flat plate shape. Further, an elastic member such as rubber may be disposed on the third abutting surface 92B.
[搬送裝置之動作及作用效果] [Operation and effect of the transport device]
繼而，一面參照圖13至圖17，一面說明本實施形態2之搬送裝置之動作及作用效果。再者，以下之動作係藉由控制裝置14之運算部14a讀出記憶部14b中保存之程式而執行。 Next, the operation and operational effects of the transport apparatus according to the second embodiment will be described with reference to Figs. 13 to 17 . Further, the following operations are executed by the calculation unit 14a of the control device 14 reading the program stored in the storage unit 14b.
首先，一面參照圖13至圖16，一面說明搬送裝置101保持被載置於桌台上之容器102之動作。 First, the operation of the transport device 101 holding the container 102 placed on the table will be described with reference to Figs. 13 to 16 .
圖16係表示本實施形態2之搬送裝置之動作之一例之流程圖。 Fig. 16 is a flow chart showing an example of the operation of the conveying apparatus of the second embodiment.
如圖16所示，控制裝置14獲取未圖示之攝影裝置所拍攝之影像資 訊，並自所獲取之影像資訊中，獲取被載置於桌台等之容器102之位置資訊(步驟S301)。 As shown in Fig. 16, the control device 14 acquires image information captured by a photographing device (not shown), and acquires position information of the container 102 placed on the table or the like from the acquired image information (step S301).
繼而，控制裝置14基於步驟S301中獲取之容器102之位置資訊，使第1臂13A及第2臂13B進行動作，以使其等位於容器102之上方(步驟S302)。 Then, based on the position information of the container 102 acquired in step S301, the control device 14 operates the first arm 13A and the second arm 13B so as to be positioned above the container 102 (step S302).
具體而言，控制裝置14以使第1手部18A與第2手部18B夾住容器102而對向之方式，使第1臂13A及第2臂13B進行動作。此時，控制裝置14亦可以使第1手部18A中之右側之爪部10A與第2手部18B中之上表面90B之前端部夾住容器102而對向之方式，使第1臂13A及第2臂13B進行動作。 Specifically, the control device 14 operates the first arm 13A and the second arm 13B so that the first hand 18A and the second hand 18B sandwich the container 102. At this time, the control device 14 may cause the first arm 13A so that the right side claw portion 10A of the first hand portion 18A and the front end portion of the upper surface 90B of the second hand portion 18B sandwich the container 102. The second arm 13B operates.
繼而，控制裝置14以使第2手部18B中之本體部(第2保持部)9B之前端部***至容器102之下表面與桌台之上表面(第1載置面)之間(步驟S303)之方式，使第2臂13B進行動作。繼而，控制裝置14以使第1手部18A與第2手部18B接近(步驟S304)之方式，使第1臂13A或第2臂13B進行動作，結束本程式。再者，控制裝置14於執行步驟S304之處理時，亦可以使第2手部18B之第3抵接面92B與容器102之外周面抵接之方式，使第2臂13B進行動作。 Then, the control device 14 is such that the front end portion of the main body portion (second holding portion) 9B of the second hand portion 18B is inserted between the lower surface of the container 102 and the upper surface (the first loading surface) of the table (steps) In the manner of S303), the second arm 13B is operated. Then, the control device 14 operates the first arm 13A or the second arm 13B so that the first hand 18A and the second hand 18B approach each other (step S304), and ends the routine. In addition, when the control device 14 performs the process of step S304, the second arm 13B may be operated such that the third abutting surface 92B of the second hand portion 18B abuts against the outer circumferential surface of the container 102.
藉此，第2手部18B之本體部9B***容器102與桌台之上表面之間，將容器102載置於本體部9B之上表面90B。此時，容器102之外周面抵接於爪部10A之第2抵接面111A，藉此，朝向第1手部18A側之移動受到抑制。 Thereby, the body portion 9B of the second hand portion 18B is inserted between the container 102 and the upper surface of the table, and the container 102 is placed on the upper surface 90B of the body portion 9B. At this time, the outer circumferential surface of the container 102 abuts against the second abutting surface 111A of the claw portion 10A, whereby the movement toward the first hand portion 18A side is suppressed.
再者，搬送裝置101亦可構成為，在保持有容器102之狀態下，自載置容器102之場所自走至搬送容器102之場所(例如顧客所處之桌台等)為止。 In addition, the transport apparatus 101 may be configured such that the container 102 is transported from the place where the container 102 is placed to the place where the transport container 102 is placed (for example, a table on which the customer is located).
此時，控制裝置14亦可以使第2手部18B之第3抵接面92B與容器102之外周面抵接之方式，使第1臂13A及/或第2臂13B進行動作。藉此，容器102之與第2抵接面111A位於相反側之外周面抵接於第2手部18B之第3抵接面92B，藉此，朝向第2手部18B側之移動受到抑制。因此，容器102被第2抵接面111A與第3抵接面92B夾持，因此搬送裝置101可穩定地搬送容器102。 At this time, the control device 14 may operate the first arm 13A and/or the second arm 13B so that the third contact surface 92B of the second hand portion 18B comes into contact with the outer circumferential surface of the container 102. As a result, the outer circumferential surface of the container 102 on the opposite side from the second abutting surface 111A abuts against the third abutting surface 92B of the second hand portion 18B, whereby the movement toward the second hand portion 18B side is suppressed. Therefore, since the container 102 is sandwiched by the second abutting surface 111A and the third abutting surface 92B, the transport device 101 can stably transport the container 102.
繼而，一面參照圖13至圖17，一面說明搬送裝置101將所保持之容器102載置於桌台105上之動作。 Next, the operation of the transport apparatus 101 to mount the held container 102 on the table 105 will be described with reference to Figs. 13 to 17 .
圖17係表示本實施形態2之搬送裝置之動作之另一例之流程圖。 Fig. 17 is a flow chart showing another example of the operation of the conveying apparatus of the second embodiment.
如圖17所示，控制裝置14使第1臂13A及第2臂13B進行動作，以使由第1保持部(第1手部18A)與第2保持部(第2手部18B)所保持之容器102位於(搬送至)特定之載置面(例如桌台105之上表面；參照圖13)(步驟S401)。此時，控制裝置14亦可使第1臂13A及第2臂13B進行動作，以使本體部9B位於桌台105之上表面附近。 As shown in FIG. 17, the control device 14 operates the first arm 13A and the second arm 13B so as to be held by the first holding portion (the first hand portion 18A) and the second holding portion (the second hand portion 18B). The container 102 is located (transferred) to a specific mounting surface (for example, the upper surface of the table 105; see FIG. 13) (step S401). At this time, the control device 14 may operate the first arm 13A and the second arm 13B such that the main body portion 9B is located near the upper surface of the table 105.
繼而，控制裝置14以使第2保持部(本體部9B)之下表面之前端部與載置面抵接(步驟S402)之方式，使第2臂13B進行動作。具體而言，控制裝置14以使本體部9B之前端部較基端部位於更下方，即，使本體部9B之主面(下表面及/或上表面)傾斜之方式，使第2臂13B進行動作。 Then, the control device 14 operates the second arm 13B so that the front end portion of the lower surface of the second holding portion (main portion 9B) abuts against the mounting surface (step S402). Specifically, the control device 14 causes the second arm 13B so that the front end portion of the main body portion 9B is located below the base end portion, that is, the main surface (lower surface and/or upper surface) of the main body portion 9B is inclined. Take action.
此時，控制裝置14亦可以使本體部9B之主面為俯角方向且為-10°以上且未達0°之角度之方式，使第2臂13B進行動作。再者，基於使容器102穩定地載置於載置面之觀點，本體部9B下表面之角度亦可為-7°以上，還可為-5°以上。 At this time, the control device 14 may operate the second arm 13B such that the main surface of the main body portion 9B is in the depression direction and is −10° or more and less than 0°. Further, the angle of the lower surface of the main body portion 9B may be -7 or more and may be -5 or more from the viewpoint of stably placing the container 102 on the mounting surface.
繼而，控制裝置14使第2臂13B進行動作，以使第2保持部釋放對容器102下表面之保持，而使容器102之下表面載置於桌台105(步驟S403)，結束本程式。具體而言，控制裝置14使第2臂13B進行動作，以使第2保持部遠離第1保持部。 Then, the control device 14 operates the second arm 13B so that the second holding portion releases the holding of the lower surface of the container 102, and the lower surface of the container 102 is placed on the table 105 (step S403), and the routine is terminated. Specifically, the control device 14 operates the second arm 13B so that the second holding portion is away from the first holding portion.
此時，控制裝置14亦可在本體部9B之主面為俯角方向且維持-10°以上且未達0°之角度之狀態下，使第2臂13B進行動作。又，控制裝置14亦可使第1臂13A進行動作，以將爪部10A之第2抵接面111A維持與容器102之外周面抵接之狀態。 At this time, the control device 14 may operate the second arm 13B while the main surface of the main body portion 9B is in the depression direction and maintained at an angle of -10° or more and less than 0°. Moreover, the control device 14 can also operate the first arm 13A to maintain the second abutting surface 111A of the claw portion 10A in contact with the outer circumferential surface of the container 102.
再者，控制裝置14於釋放容器102之下表面時，亦可使第2臂13B 進行動作，以使第2臂13B在移動特定距離後、及/或經過特定時間後，變更本體部9B之主面之角度。此時，控制裝置14既可控制第2臂13B使本體部9B之主面之角度較第2臂13B之動作開始時朝俯角方向變大，亦可控制第2臂13B使本體部9B之主面之角度朝仰角方向達到0°以上。 Further, when the control device 14 releases the lower surface of the container 102, the second arm 13B may be operated to change the main body portion 9B after the second arm 13B has moved a certain distance and/or after a certain period of time has elapsed. The angle of the main face. At this time, the control device 14 can control the second arm 13B to increase the angle of the main surface of the main body portion 9B toward the depression direction when the operation of the second arm 13B is started, and can control the second arm 13B to control the main body portion 9B. The angle of the face reaches 0° or more in the direction of the elevation.
即使為如此般構成之本實施形態2之搬送裝置101，亦起到與實施形態1之搬送裝置101同樣之作用效果。 Even in the conveyance device 101 of the second embodiment configured as described above, the same effects as those of the conveyance device 101 of the first embodiment are obtained.
又，本實施形態2之搬送裝置101中，控制裝置14使第2臂13B進行動作，以使本體部9B之前端部***容器102之下表面與桌台之上表面之間，並使第1臂13A或第2臂13B進行動作，以使第1手部18A與第2手部18B接近。 Further, in the transport apparatus 101 of the second embodiment, the control unit 14 operates the second arm 13B so that the front end portion of the main body portion 9B is inserted between the lower surface of the container 102 and the upper surface of the table, and the first one is made The arm 13A or the second arm 13B operates to bring the first hand 18A closer to the second hand 18B.
藉此，容器102之外周面與爪部10A之第2抵接面111A抵接，容器102朝向第1手部18A側之移動受到抑制，從而可將容器102載置於本體部9B之上表面90B。 Thereby, the outer circumferential surface of the container 102 abuts against the second abutting surface 111A of the claw portion 10A, and the movement of the container 102 toward the first hand portion 18A side is suppressed, so that the container 102 can be placed on the upper surface of the body portion 9B. 90B.
又，本實施形態2之搬送裝置101中，控制裝置14使第1臂13A及/或第2臂13B進行動作，以使容器102之外周面與爪部10A之第2抵接面111A抵接，且與第3保持部91B之第3抵接面92B抵接。 Further, in the transport apparatus 101 of the second embodiment, the control device 14 operates the first arm 13A and/or the second arm 13B so that the outer circumferential surface of the container 102 abuts against the second abutting surface 111A of the claw portion 10A. And it abuts on the 3rd contact surface 92B of the 3rd holding part 91B.
藉此，容器102被爪部10A之第2抵接面111A與第3保持部91B之第3抵接面92B夾持，搬送裝置101可穩定地搬送容器102。 By this, the container 102 is sandwiched between the second abutting surface 111A of the claw portion 10A and the third abutting surface 92B of the third holding portion 91B, and the conveying device 101 can stably convey the container 102.
又，本實施形態2之搬送裝置101中，控制裝置14使由第1保持部及第2保持部所保持之狀態之容器102載置於桌台105之上表面時，使第1臂13A及第2臂13B進行動作，以使本體部9B之下表面與桌台105之上表面抵接。 Further, in the transport apparatus 101 of the second embodiment, when the container 102 in a state in which the first holding unit and the second holding unit are held is placed on the upper surface of the table 105, the first arm 13A and the first arm 13A are placed. The second arm 13B is operated such that the lower surface of the main body portion 9B abuts against the upper surface of the table 105.
藉此，可減小容器102與桌台105之上表面之距離，搬送裝置101可穩定地使容器102載置於桌台105之上表面。 Thereby, the distance between the container 102 and the upper surface of the table 105 can be reduced, and the conveying device 101 can stably place the container 102 on the upper surface of the table 105.
進而，本實施形態2之搬送裝置101中，控制裝置14於使容器102載置於桌台105之上表面時，在本體部9B之主面為俯角方向且維持-10°以上且未 達0°之角度之狀態下，使第2臂13B進行動作。 Further, in the transport apparatus 101 of the second embodiment, when the container 102 is placed on the upper surface of the table 105, the main surface of the main body portion 9B is in the depression direction and maintained at -10° or more and less than 0. In the state of the angle of °, the second arm 13B is operated.
藉此，搬送裝置101可穩定地使容器102載置於桌台105之上表面。 Thereby, the conveying device 101 can stably place the container 102 on the upper surface of the table 105.
根據上述說明，對於本領域技術人員而言，本發明之多種改良或其他實施形態是顯而易見的。因而，上述說明應僅作為例示而解釋，係以向本領域技術人員教示執行本發明之最佳形態之目的而提供。可實質上變更其結構及/或功能之詳細而不脫離本發明之精神。 Numerous modifications or other embodiments of the invention will be apparent to those skilled in the art. Accordingly, the description is to be construed as illustrative only, The details of the structure and/or function may be changed substantially without departing from the spirit of the invention.
本發明之搬送裝置及其運轉方法可穩定地搬送容器，因此於工業機器人之領域中有用。 Since the conveying apparatus and the operation method of the present invention can stably convey the container, they are useful in the field of industrial robots.
Claims (19)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016241522A JP2018094676A (en) | 2016-12-13 | 2016-12-13 | Transport device and operation method of the same |
| JPJP2016-241522 | 2016-12-13 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW201834800A true TW201834800A (en) | 2018-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106143564A TW201834800A (en) | 2016-12-13 | 2017-12-12 | Conveying device and method for operating same |
Country Status (3)
| Country | Link |
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| JP (1) | JP2018094676A (en) |
| TW (1) | TW201834800A (en) |
| WO (1) | WO2018110428A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4792659B2 (en) * | 2001-05-23 | 2011-10-12 | 富士電機リテイルシステムズ株式会社 | Cup vending machine |
| JP2007260838A (en) * | 2006-03-28 | 2007-10-11 | Brother Ind Ltd | Carrier robot and carrying program |
| BR112012030688A2 (en) * | 2010-06-11 | 2016-09-13 | Yaskawa Denki Seisakusho Kk | service delivery system and service delivery method |
| JP6450401B2 (en) * | 2014-12-26 | 2019-01-09 | 川崎重工業株式会社 | Double arm robot |
| JP2016193471A (en) * | 2015-04-01 | 2016-11-17 | セイコーエプソン株式会社 | robot |
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2016
- 2016-12-13 JP JP2016241522A patent/JP2018094676A/en active Pending
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| WO2018110428A1 (en) | 2018-06-21 |
| JP2018094676A (en) | 2018-06-21 |
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