WO2013042184A1 - Robot, handling system and method for creating article-containing container - Google Patents

Robot, handling system and method for creating article-containing container Download PDF

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Publication number
WO2013042184A1
WO2013042184A1 PCT/JP2011/071338 JP2011071338W WO2013042184A1 WO 2013042184 A1 WO2013042184 A1 WO 2013042184A1 JP 2011071338 W JP2011071338 W JP 2011071338W WO 2013042184 A1 WO2013042184 A1 WO 2013042184A1
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WIPO (PCT)
Prior art keywords
article
robot
gripping
gripping part
robot hand
Prior art date
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PCT/JP2011/071338
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French (fr)
Japanese (ja)
Inventor
矢野　浩司
Original Assignee
株式会社安川電機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to CN201180073050.7A priority Critical patent/CN103764352A/en
Priority to PCT/JP2011/071338 priority patent/WO2013042184A1/en
Publication of WO2013042184A1 publication Critical patent/WO2013042184A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors

Definitions

  • the present invention relates to a robot, a handling system, and a container-made article manufacturing method.
  • Patent Document 1 discloses a boxing device that performs boxing using two robots in order to shorten the work time.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a robot, a handling system, and a container-containing article manufacturing method capable of efficiently storing a plurality of articles in a container. There is.
  • a robot according to the present invention includes a robot hand having a plurality of gripping portions each including a first gripping portion and a second gripping portion each capable of gripping an article, and a robot arm to which the robot hand is attached.
  • the first gripper grips the first article
  • the second gripper of the robot hand grips the second article
  • the robot hand moves to the container by the operation of the robot arm, and then the first gripper Releases the first article and the second gripping part releases the second article, whereby the first article and the second article are accommodated in the container.
  • the orientation of the robot hand changes.
  • the vertical length of the first article when the first gripping part grips the first article, the vertical length of the first article is smaller than the shortest horizontal length of the first article, and the second gripping part When grasping the second article, the vertical length of the second article is smaller than the shortest horizontal length of the second article.
  • the robot hand moves after the first gripping part grips the first article and before the second gripping part grips the second article.
  • the first article is gripped and lifted by the first gripping part of the robot hand and then lifted to the first gripping part, and the second article is It is gripped by the second grip part.
  • the first holding part and the second holding part allow the first article and the second article to be accommodated in the container in a state of being separated by a predetermined distance.
  • the interval between the first grip portion and the second grip portion is set to the predetermined interval.
  • the first gripping part and the second gripping part are Before accommodating the first article and the second article in the container, the interval between the first gripping part and the second gripping part is widened.
  • the first gripping part releases the first article and drops the first article on the second article.
  • the handling system according to the present invention includes the robot described above and a conveyor.
  • the robot hand is disposed on an edge of the conveyor.
  • the robot, the handling system, and the container-made article manufacturing method of the present embodiment can efficiently accommodate a plurality of articles in a container.
  • (A)-(c) is a schematic diagram of the robot hand in the robot of this embodiment. It is a typical perspective view of the robot hand in the robot of this embodiment. It is a schematic diagram of the robot hand in the robot of this embodiment. It is a schematic diagram of the robot hand in the robot of this embodiment. It is a schematic diagram of the handling system of this embodiment.
  • (A)-(c) is a schematic diagram for demonstrating an example of accommodation of the articles
  • (A)-(c) is a schematic diagram for demonstrating an example of accommodation of the articles
  • FIG. 1 is a schematic diagram of a robot 100 according to this embodiment.
  • the robot 100 includes a robot hand 10 and a robot arm 20 to which the robot hand 10 is attached.
  • the robot hand 10 has a plurality of gripping portions 12 each capable of gripping the article A.
  • the robot arm 20 can change at least one of the position and orientation of the robot hand 10, thereby changing the position and orientation of the article A held by the robot hand 10.
  • the robot arm 20 is, for example, a 6-axis or 7-axis articulated robot.
  • the operations of the robot hand 10 and the robot arm 20 may be taught in advance.
  • the robot 100 is preferably used to store the article A in the container V. With the robot hand 10 holding the article A, the robot hand 10 releases the article A after the robot hand 10 has moved to the position immediately above or into the container V by the operation of the robot arm 20. Article A is contained in a container V. Such a robot 100 can hold and release a plurality of articles A at a time, and can store the articles A in the container V in a short time.
  • FIG. 2A is a schematic side view of the robot hand 10 viewed from the y direction
  • FIG. 2B is a schematic side view of the robot hand 10 viewed from the x direction
  • FIG. 2C is a schematic diagram showing the robot hand 10 holding the article A.
  • the plurality of gripping portions 12 are connected to the connecting portion 14, and the plurality of gripping portions 12 are configured to be able to grip the article A.
  • the plurality of gripping units 12 include two gripping units 12 a and 12 b.
  • the holding parts 12a and 12b are arranged in the x direction.
  • the gripping portions 12 a and 12 b are fixedly connected to the connecting portion 14.
  • each of the grip portions 12a and 12b is a two-jaw parallel chuck.
  • the interval between the two claws of the grip portion 12a changes along the y direction.
  • the article A is gripped by the gap between the claws of the grip portion 12a being narrowed.
  • the gripping portion 12b can grip the article A.
  • the article A is gripped and released by changing the distance between the claws of the gripping portions 12a and 12b.
  • the movement of the claws of the gripping portions 12a and 12b is performed by an air method.
  • the gripping and opening of the article A by the gripping parts 12a and 12b can be individually controlled.
  • the grip part 12a may be described as the first grip part 12a
  • the grip part 12b may be described as the second grip part 12b.
  • FIG. 3 is a schematic perspective view of the robot hand 10.
  • the gripping portions 12a and 12b each grip the article A.
  • the grip portion 12a grips the article Aa
  • the grip portion 12b grips the article Ab.
  • the article Aa gripped by the gripping part 12a may be referred to as a first article Aa
  • the article Ab gripped by the gripping part 12b may be referred to as a second article Ab.
  • the gripping portions 12 a and 12 b individually grip and release the plurality of articles A so that the grip strength can be individually adjusted and the plurality of articles A can be gripped even in a relatively narrow space. And can be opened efficiently.
  • the article A is spherical, but the shape of the article A may be arbitrary. Further, the shapes of the gripping portions 12a and 12b may be appropriately changed according to the article A to be gripped.
  • the first gripping portion 12a grips the first article Aa
  • the second gripping portion 12b grips the second article Ab
  • the robot arm 20 After the robot hand 10 moves to the container V by the operation, the gripping part 12a releases the article Aa, and the gripping part 12b releases the article Ab, whereby the article Aa and the article Ab can be accommodated in the container V.
  • the robot 100 can efficiently store a plurality of articles A in the container V.
  • the robot 100 is used to store the article A in the container V, but the robot 100 is used not only to store the article A but also to perform other operations such as movement and rearrangement of the article. May be.
  • connection part 14 the holding parts 12a and 12b shown in FIG. 2 and FIG. 3 were fixedly connected with respect to the connection part 14, this embodiment is not limited to this.
  • the gripping portions 12 a and 12 b may be movably connected to the connecting portion 14.
  • FIG. 4 is a schematic diagram of the robot hand 10 in the robot 100 of the present embodiment.
  • the connecting part 14 connects the gripping part 12a and the gripping part 12b so that each of the gripping part 12a and the gripping part 12b can move in the x direction, and the interval between the gripping part 12a and the gripping part 12b is appropriately set. Can be changed.
  • movement of the gripping portions 12a and 12b is performed using a cylinder (actuator).
  • each of the grip portion 12a and the grip portion 12b is movable in the x direction, but one of the grip portion 12a and the grip portion 12b is configured to be movable in the x direction, and the other is fixed. It may be.
  • the robot hand 10 is provided with the two gripping portions 12a and 12b.
  • the robot hand 10 may be provided with three or more gripping units.
  • FIG. 5 is a schematic diagram of the robot hand 10 in the robot 100 of the present embodiment.
  • five gripping portions 12 a to 12 e are connected to the connecting portion 14.
  • the robot hand 10 may be provided with three or more gripping portions 12.
  • the robot hand 10 of the robot 100 may move relative to the plurality of articles A to grip each of the plurality of articles A.
  • the article A is preferably conveyed to the robot hand 10 by a conveyor.
  • the article A may be stationary, and the robot 100 may be moved by moving the support unit that supports the robot 100, whereby the article may be accommodated.
  • FIG. 6 shows a schematic diagram of the handling system 200 of the present embodiment.
  • the handling system 200 includes a robot 100 and a conveyor 110.
  • the conveyor 110 conveys the article A.
  • the transfer unit 112 is attached to the conveyor 110, and the article A conveyed by the conveyor 110 reaches the edge of the conveyor 110 and is then placed on the transfer unit 112.
  • the support part of the robot 100 is fixed to the conveyor 110, and the support part of the robot 100 does not move.
  • the robot hand 10 is disposed on the edge of the conveyor 110. Specifically, the robot hand 10 holds the article A at an edge in the conveyance direction of the article A by the conveyor 110. As described above, the robot hand 10 preferably grips the article A with the front edge of the conveyor 110.
  • the container V is arrange
  • the conveyor 120 conveys the container V accommodated in the article A in a predetermined direction and conveys an empty new container V to the vicinity of the robot 100.
  • the grip portion 12a of the robot hand 10 grips the article Aa
  • the grip portion 12b grips the article Ab.
  • the articles Aa and Ab are gripped by the gripping portions 12a and 12b by changing the interval between the nails extending in the horizontal direction of the gripping portions 12a and 12b.
  • Article A is preferably placed on the conveyor 110 in a relatively stable state.
  • the article Aa is arranged on the conveyor 110 in a state where the length in the vertical direction is smaller than the shortest length in the horizontal direction (direction perpendicular to the vertical direction).
  • the length A1 of the article Aa in the vertical direction (length along the x direction in FIG. 6: thickness) L1 is the length L2 of the article Aa in the horizontal direction (FIG. 6). Is smaller than both the length along the z direction) and the length L3 (the length along the y direction in FIG. 6).
  • the length in the vertical direction (length along the x direction) L1 of the article Aa is substantially equal to the horizontal direction (y direction and z direction) of the article Aa. It is smaller than L2 and L3.
  • the article Ab is arranged on the conveyor 110 in a state where the length in the vertical direction is smaller than the shortest length in the horizontal direction.
  • the grip part 12a of the robot hand 10 grips the article Aa
  • the grip part 12b of the robot hand 10 grips the article Ab.
  • the article Ab is gripped and lifted by the grip portion 12b of the robot hand 10 while the article Aa is lifted.
  • the robot arm 10 moves so that the gripping part 12 b can grip the article Ab on the conveyor 110 by the operation of the robot arm 20.
  • the robot arm 10 that grips the article A moves to the vicinity of the container V by the operation of the robot arm 20. Thereafter, the gripping part 12a releases the article Aa, and the gripping part 12b releases the article Ab, so that the articles Aa and Ab are accommodated in the container V.
  • the articles Aa and Ab are accommodated in the container V in a direction different from the direction in which the articles Aa and Ab are conveyed by the conveyor 110.
  • the direction of the robot hand 10 is changed, and after the robot hand 10 moves to the vicinity of the container V, the robot hand 10
  • the articles 10 release the articles Aa and Ab
  • the articles Aa and Ab are accommodated in the container V in a direction different from the direction when they are conveyed by the conveyor 110.
  • the container V is provided with a partition p.
  • a partition p can prevent the article A from falling even when the article A in the container V is relatively small relative to the container V.
  • the gripping part 12a and the gripping part 12b are separated by the partition p of the container V by releasing the article Aa and the article Ab in a state of being separated at a predetermined interval.
  • Article Aa and article Ab can be accommodated in the created space.
  • the interval between the gripping part 12a and the gripping part 12b is The predetermined interval may be set.
  • the interval between the grip portion 12a and the grip portion 12b may be fixed at a predetermined interval.
  • the interval between the gripping portion 12a and the gripping portion 12b before gripping the articles Aa and Ab is relatively narrow, and after the gripping section 12b grips the article Ab, the article Aa and the article Ab are stored in the container V.
  • the space between the gripping portion 12a and the gripping portion 12b may be widened before being housed.
  • the connecting part 14 may change the interval between the gripping part 12a and the gripping part 12b. The change in the interval is performed, for example, by moving at least one of the grip portions 12a and 12b using a cylinder (actuator).
  • the gripping part 12a may release the article Aa and drop the article Aa onto the article Ab.
  • the grippers 12a and 12b that can be individually controlled grip and release the articles Aa and Ab, so that the containers A can be efficiently accommodated even when the container V is provided with the partition p. It can be carried out. As described above, an article in a container is produced.
  • FIGS. 7 and 8 accommodation of the article A in the container V in the handling system 200 of the present embodiment will be described.
  • gripping a plurality of articles A by the robot hand 10 will be described.
  • the robot arm 20 of the robot 100 is omitted in order to avoid an excessively complicated drawing.
  • the conveyor 110 conveys the articles Aa and Ab.
  • the robot hand 10 is disposed on the edge of the conveyor 110.
  • the grip portion 12a of the robot hand 10 grips the article Aa.
  • the article Aa is lifted from the conveyor 110 or the transfer section 112 by the operation of the robot arm 20 after being gripped by the grip section 12a.
  • the gripping part 12b of the robot hand 10 grips the article Ab while the gripping part 12a grips the article Aa.
  • the article Ab is lifted from the conveyor 110 or the transfer section 112 by the operation of the robot arm 20 after being gripped by the grip section 12b.
  • the conveyor 110 is omitted in order to avoid an excessively complicated drawing.
  • the robot arm 10 holding the articles Aa and Ab moves upward by the operation of the robot arm 20.
  • the movement of the robot hand 10 starts to change due to the operation of the robot arm 20.
  • the robot hand 10 moves so as to approach the support portion of the robot arm 20, thereby changing the orientation of the robot hand 10.
  • the robot hand 10 moves downward and in the vicinity of the container V by the operation of the robot arm 20. Thereafter, the gripping portions 12a and 12b of the robot hand 10 release the articles Aa and Ab, whereby the articles Aa and Ab are accommodated in the container V.
  • the article A is arranged in a state where the length in the vertical direction is smaller than the shortest length in the horizontal direction (that is, arranged horizontally),
  • the embodiment is not limited to this.
  • the article A may be arranged in a state where the length in the vertical direction is larger than the shortest length in the horizontal direction (that is, arranged vertically).
  • the article Aa has the same shape as the article Ab, but the present embodiment is not limited to this.
  • Article Aa and article Ab may have different shapes.
  • the transfer unit 112 is provided in the conveyor 110, but the present embodiment is not limited to this.
  • the passing part 112 may not be provided.
  • the robot hand 10 lifts the article A upward with respect to the conveyor 110.
  • the present embodiment is not limited to this.
  • the robot hand 10 may move downward with respect to the conveyor 110 while holding the article A.
  • the robot hand 10 is arranged at the front edge of the conveyor 110, and the robot hand 10 holds the article A at the front edge of the conveyor 110.
  • the form is not limited to this.
  • the robot hand 10 may grip the article A with the side edge of the conveyor 110.
  • FIG. 9 shows a schematic diagram of the handling system 200 of the present embodiment.
  • the robot arm 20 of the robot 100 is omitted in order to avoid an excessively complicated drawing.
  • the robot hand 10 is disposed on the side edge of the conveyor 110. After the grip portion 12a of the robot hand 10 grips the article Aa, the robot hand 10 moves upward, and the grip portion 12b grips the article Ab conveyed by the conveyor 110.
  • the robot hand 10 is configured so that the gripping portions 12a and 12b do not contact the conveyor 110 even when the robot hand 10 moves in the vertical direction with the gripping portions 12a and 12b open.
  • the present embodiment is not limited to this.
  • the orientation of the article A when the gripping part 12 grips the article A is different from the orientation of the article A when the gripping part 12 releases the article A.
  • the embodiment is not limited to this.
  • the orientation of the article A when the grip portion 12 grips the article A may be equal to the orientation of the article A when the grip portion 12 releases the article A.
  • the gripping part 12 when the gripping part 12 grips the article A, the article A may be arranged vertically, and the gripping part 12 may be released in a state where the article A is gripped vertically.
  • the gripping part 12 when the gripping part 12 grips the article A, the article A may be arranged horizontally, and the gripping part 12 may be released in a state where the article A is gripped horizontally.
  • FIG. 10 shows a schematic diagram of the robot hand 10 in the robot 100 of the present embodiment. Again, the robot arm 20 of the robot 100 is omitted.
  • the articles Aa and Ab are gripped by the gripping portions 12a and 12b by changing the distance between the claws extending in the vertical direction of the gripping portions 12a and 12b.
  • the robot hand 10 shown in FIG. 10 holds the article A conveyed by the conveyor 110.
  • the grip part 12a of the robot hand 10 grips the article Aa and the conveyor 110 conveys the article Ab to the bottom of the grip part 12b of the robot hand 10
  • the grip part 12b can grip the article Ab. it can.
  • the grip part 12a of the robot hand 10 may not move the grip part 12a after gripping the article Aa.
  • the robot hand 10 holds the article A conveyed by the conveyor 110, but the present embodiment is not limited to this.
  • the article A may be stationary, and the robot 100 may be moved by moving the support unit that supports the robot 100, whereby the article may be accommodated.

Abstract

The robot (100) of an embodiment is provided with a robot hand (10) comprising grasping units (12a, 12b) each of which is capable of grasping an article, and a robot arm (20) on which the robot hand (10) is attached. Articles (A) are placed in a container (V) as a result of each of the grasping units (12a, 12b) grasping an article (A) and, after the robot hand (10) has been moved to the container (V) by the action of the robot arm (20), by the grasping units (12a, 12b) releasing the respective articles (A).

Description

ロボット、ハンドリングシステムおよび容器入り物品作製方法ROBOT, HANDLING SYSTEM, AND CONTAINER ARTICLE MANUFACTURING METHOD
　本発明は、ロボット、ハンドリングシステムおよび容器入り物品作製方法に関する。 The present invention relates to a robot, a handling system, and a container-made article manufacturing method.
　ロボットを用いて、従来、人が行っていた作業を自動化する技術が種々提案されている。例えば、箱詰め作業は、従来、人によって行われることが多かったが、近年、ロボットを用いて箱詰め作業を行うことが検討されている。特許文献１には、作業時間の短縮を図るために、２台のロボットを用いて箱詰め作業を行う箱詰め装置が開示されている。 Various techniques have been proposed for automating work that has been done by humans using robots. For example, the boxing operation has been conventionally performed by a person, but in recent years, the boxing operation using a robot has been studied. Patent Document 1 discloses a boxing device that performs boxing using two robots in order to shorten the work time.
特開２００４－１８９２９３号公報JP 2004-189293 A
　しかしながら、特許文献１の箱詰め装置では、ワークの把持および開放を行う２つのロボットが別個の場所に配置されており、比較的狭い空間で容器に物品の収容を行うことができない。 However, in the boxing device of Patent Document 1, the two robots that grip and release the workpiece are arranged at different locations, and the article cannot be stored in the container in a relatively narrow space.
　本発明は上記課題を鑑みてなされたものであり、その目的は、複数の物品の容器への収容を効率的に行うことが可能なロボット、ハンドリングシステム、および、容器入り物品作製方法を提供することにある。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a robot, a handling system, and a container-containing article manufacturing method capable of efficiently storing a plurality of articles in a container. There is.
　本発明によるロボットは、それぞれが物品を把持可能な第１把持部および第２把持部を含む複数の把持部を有するロボットハンドと、前記ロボットハンドの取り付けられたロボットアームとを備え、前記ロボットハンドの前記第１把持部が第１物品を掴み、前記ロボットハンドの前記第２把持部が第２物品を掴み、前記ロボットアームの動作によって前記ロボットハンドが容器まで移動した後、前記第１把持部が前記第１物品を放し、前記第２把持部が前記第２物品を放すことにより、前記第１物品および前記第２物品が前記容器に収容される。 A robot according to the present invention includes a robot hand having a plurality of gripping portions each including a first gripping portion and a second gripping portion each capable of gripping an article, and a robot arm to which the robot hand is attached. The first gripper grips the first article, the second gripper of the robot hand grips the second article, and the robot hand moves to the container by the operation of the robot arm, and then the first gripper Releases the first article and the second gripping part releases the second article, whereby the first article and the second article are accommodated in the container.
　ある実施形態において、前記ロボットハンドの前記第１把持部が前記第１物品を掴み、前記ロボットハンドの前記第２把持部が前記第２物品を掴んだ後、前記ロボットハンドの向きが変化する。 In one embodiment, after the first gripping part of the robot hand grips the first article and the second gripping part of the robot hand grips the second article, the orientation of the robot hand changes.
　ある実施形態において、前記第１把持部が前記第１物品を掴む場合、前記第１物品の鉛直方向の長さは前記第１物品の水平方向の最短の長さよりも小さく、前記第２把持部が前記第２物品を掴む場合、前記第２物品の鉛直方向の長さは前記第２物品の水平方向の最短の長さよりも小さい。 In one embodiment, when the first gripping part grips the first article, the vertical length of the first article is smaller than the shortest horizontal length of the first article, and the second gripping part When grasping the second article, the vertical length of the second article is smaller than the shortest horizontal length of the second article.
　ある実施形態において、前記第１把持部が前記第１物品を掴んだ後、前記第２把持部が前記第２物品を掴む前に、前記ロボットハンドが移動する。 In one embodiment, the robot hand moves after the first gripping part grips the first article and before the second gripping part grips the second article.
　ある実施形態において、前記第１物品は、前記ロボットハンドの前記第１把持部によって掴まれて持ち上げられた後、前記第１把持部に持ち上げられた状態で、前記第２物品は前記ロボットハンドの前記第２把持部によって掴まれる。 In one embodiment, the first article is gripped and lifted by the first gripping part of the robot hand and then lifted to the first gripping part, and the second article is It is gripped by the second grip part.
　ある実施形態において、前記第１把持部および前記第２把持部は所定の間隔離れた状態で前記第１物品および前記第２物品を前記容器に収容させる。 In one embodiment, the first holding part and the second holding part allow the first article and the second article to be accommodated in the container in a state of being separated by a predetermined distance.
　ある実施形態において、前記第１物品が前記第１把持部に掴まれ、かつ、前記第２物品が前記第２把持部に掴まれた状態で前記第１物品および前記第２物品が移動する際に、前記第１把持部と前記第２把持部との間の間隔は前記所定の間隔に設定されている。 In one embodiment, when the first article and the second article move while the first article is gripped by the first gripping part and the second article is gripped by the second gripping part. In addition, the interval between the first grip portion and the second grip portion is set to the predetermined interval.
　ある実施形態において、前記第１把持部が前記第１物品を掴み、かつ、前記第２把持部が前記第２物品を掴んだ後であって、前記第１把持部および前記第２把持部が前記第１物品および前記第２物品を前記容器に収容させる前に、前記第１把持部と前記第２把持部との間の間隔を広げる。 In one embodiment, after the first gripping part grips the first article and the second gripping part grips the second article, the first gripping part and the second gripping part are Before accommodating the first article and the second article in the container, the interval between the first gripping part and the second gripping part is widened.
　ある実施形態において、前記第２把持部が前記第２物品を把持した後、前記第１把持部は前記第１物品を放して前記第１物品を前記第２物品の上に落下させる。 In one embodiment, after the second gripping part grips the second article, the first gripping part releases the first article and drops the first article on the second article.
　本発明によるハンドリングシステムは、上記に記載のロボットと、コンベアとを備える。 The handling system according to the present invention includes the robot described above and a conveyor.
　ある実施形態において、前記ロボットハンドは、前記コンベアのエッジに配置されている。 In one embodiment, the robot hand is disposed on an edge of the conveyor.
　本発明による容器入り物品作製方法は、第１把持部および第２把持部を含む複数の把持部を有するロボットハンドを用意する工程と、前記ロボットハンドの前記第１把持部が第１物品を掴む工程と、前記第１把持部が前記第１物品を掴んだ後、前記ロボットハンドの前記第２把持部が第２物品を掴む工程と、前記ロボットハンドが前記第１物品および前記第２物品を容器に収容させる工程とを包含する。 In the container-made article manufacturing method according to the present invention, a step of preparing a robot hand having a plurality of gripping parts including a first gripping part and a second gripping part, and the first gripping part of the robot hand grips the first article. A step of gripping the second article by the second gripping part of the robot hand after the first gripping part grips the first article, and the robot hand holding the first article and the second article. And a step of accommodating in a container.
　本実施形態のロボット、ハンドリングシステムおよび容器入り物品作製方法は、複数の物品の容器への収容を効率的に行うことができる。 The robot, the handling system, and the container-made article manufacturing method of the present embodiment can efficiently accommodate a plurality of articles in a container.
本実施形態のロボットの模式図である。It is a schematic diagram of the robot of this embodiment. （ａ）～（ｃ）は本実施形態のロボットにおけるロボットハンドの模式図である。(A)-(c) is a schematic diagram of the robot hand in the robot of this embodiment. 本実施形態のロボットにおけるロボットハンドの模式的な斜視図である。It is a typical perspective view of the robot hand in the robot of this embodiment. 本実施形態のロボットにおけるロボットハンドの模式図である。It is a schematic diagram of the robot hand in the robot of this embodiment. 本実施形態のロボットにおけるロボットハンドの模式図である。It is a schematic diagram of the robot hand in the robot of this embodiment. 本実施形態のハンドリングシステムの模式図である。It is a schematic diagram of the handling system of this embodiment. （ａ）～（ｃ）は本実施形態のハンドリングシステムにおける物品の収容の一例を説明するための模式図である。(A)-(c) is a schematic diagram for demonstrating an example of accommodation of the articles | goods in the handling system of this embodiment. （ａ）～（ｃ）は本実施形態のハンドリングシステムにおける物品の収容の一例を説明するための模式図である。(A)-(c) is a schematic diagram for demonstrating an example of accommodation of the articles | goods in the handling system of this embodiment. 本実施形態のハンドリングシステムの模式図である。It is a schematic diagram of the handling system of this embodiment. 本実施形態のロボットにおけるロボットハンドの模式図である。It is a schematic diagram of the robot hand in the robot of this embodiment.
　以下、図面を参照して本発明によるロボット、ハンドリングシステムおよび容器入り物品作製方法の実施形態を説明する。ただし、本発明の実施形態は以下の実施形態に限定されない。 Hereinafter, an embodiment of a robot, a handling system, and a containerized article manufacturing method according to the present invention will be described with reference to the drawings. However, embodiments of the present invention are not limited to the following embodiments.
　以下、図１を参照して、本実施形態のロボット１００を説明する。図１は、本実施形態のロボット１００の模式図を示す。ロボット１００は、ロボットハンド１０と、ロボットハンド１０の取り付けられたロボットアーム２０とを備える。ロボットハンド１０はそれぞれが物品Ａを把持可能な複数の把持部１２を有している。ロボットアーム２０は、ロボットハンド１０の位置および向きの少なくとも一方を変更することができ、これにより、ロボットハンド１０に把持される物品Ａの位置および向きが変更される。ロボットアーム２０は、例えば、６軸または７軸の多関節ロボットである。例えば、ロボットハンド１０およびロボットアーム２０の動作は予めティーチングされていてもよい。 Hereinafter, the robot 100 of the present embodiment will be described with reference to FIG. FIG. 1 is a schematic diagram of a robot 100 according to this embodiment. The robot 100 includes a robot hand 10 and a robot arm 20 to which the robot hand 10 is attached. The robot hand 10 has a plurality of gripping portions 12 each capable of gripping the article A. The robot arm 20 can change at least one of the position and orientation of the robot hand 10, thereby changing the position and orientation of the article A held by the robot hand 10. The robot arm 20 is, for example, a 6-axis or 7-axis articulated robot. For example, the operations of the robot hand 10 and the robot arm 20 may be taught in advance.
　ロボット１００は物品Ａを容器Ｖに収容させるのに好適に用いられる。ロボットハンド１０が物品Ａを把持した状態で、ロボットアーム２０の動作によってロボットハンド１０が容器Ｖのすぐ上、または、容器Ｖ内にまで移動した後、ロボットハンド１０が物品Ａを放すことにより、物品Ａは容器Ｖに収容される。このようなロボット１００は、一度に複数の物品Ａを把持および開放することができ、短時間に物品Ａを容器Ｖに収容させることができる。 The robot 100 is preferably used to store the article A in the container V. With the robot hand 10 holding the article A, the robot hand 10 releases the article A after the robot hand 10 has moved to the position immediately above or into the container V by the operation of the robot arm 20. Article A is contained in a container V. Such a robot 100 can hold and release a plurality of articles A at a time, and can store the articles A in the container V in a short time.
　以下、図２を参照して、本実施形態のロボット１００におけるロボットハンド１０を説明する。図２（ａ）～図２（ｃ）にロボットハンド１０の模式図を示す。図２（ａ）はｙ方向から見たロボットハンド１０の模式的な側面図であり、図２（ｂ）はｘ方向から見たロボットハンド１０の模式的な側面図である。図２（ｃ）は、物品Ａを把持しているロボットハンド１０を示す模式図である。 Hereinafter, the robot hand 10 in the robot 100 of this embodiment will be described with reference to FIG. 2A to 2C are schematic views of the robot hand 10. FIG. FIG. 2A is a schematic side view of the robot hand 10 viewed from the y direction, and FIG. 2B is a schematic side view of the robot hand 10 viewed from the x direction. FIG. 2C is a schematic diagram showing the robot hand 10 holding the article A.
　ロボットハンド１０において、複数の把持部１２は連結部１４に連結されており、複数の把持部１２はそれぞれ物品Ａを把持可能なように構成されている。図２に示したロボットハンド１０では、複数の把持部１２は、２つの把持部１２ａ、１２ｂを有している。把持部１２ａ、１２ｂはｘ方向に配列されている。ここでは、把持部１２ａ、１２ｂは連結部１４に対して固定的に連結されている。例えば、把持部１２ａ、１２ｂのそれぞれは２爪の平行チャックである。 In the robot hand 10, the plurality of gripping portions 12 are connected to the connecting portion 14, and the plurality of gripping portions 12 are configured to be able to grip the article A. In the robot hand 10 illustrated in FIG. 2, the plurality of gripping units 12 include two gripping units 12 a and 12 b. The holding parts 12a and 12b are arranged in the x direction. Here, the gripping portions 12 a and 12 b are fixedly connected to the connecting portion 14. For example, each of the grip portions 12a and 12b is a two-jaw parallel chuck.
　図２（ｃ）に示すように、把持部１２ａの２つの爪の間隔はｙ方向に沿って変化する。把持部１２ａの爪の間隔が狭くなることにより、物品Ａが把持される。把持部１２ｂも同様に、物品Ａの把持を行うことができる。このように、把持部１２ａ、１２ｂの爪の間隔が変化することにより、物品Ａの把持および開放が行われる。例えば、把持部１２ａ、１２ｂの爪の移動はエア方式で行われる。把持部１２ａ、１２ｂによる物品Ａの把持および開放は個別に制御可能である。本明細書において、把持部１２ａを第１把持部１２ａと記載することがあり、把持部１２ｂを第２把持部１２ｂと記載することがある。 As shown in FIG. 2C, the interval between the two claws of the grip portion 12a changes along the y direction. The article A is gripped by the gap between the claws of the grip portion 12a being narrowed. Similarly, the gripping portion 12b can grip the article A. As described above, the article A is gripped and released by changing the distance between the claws of the gripping portions 12a and 12b. For example, the movement of the claws of the gripping portions 12a and 12b is performed by an air method. The gripping and opening of the article A by the gripping parts 12a and 12b can be individually controlled. In this specification, the grip part 12a may be described as the first grip part 12a, and the grip part 12b may be described as the second grip part 12b.
　図３は、ロボットハンド１０の模式的な斜視図を示す。ここでは、把持部１２ａ、１２ｂはそれぞれ物品Ａを把持している。具体的には、把持部１２ａが物品Ａａを把持し、把持部１２ｂが物品Ａｂを把持している。本明細書において、把持部１２ａに把持される物品Ａａを第１物品Ａａと記載することがあり、把持部１２ｂに把持される物品Ａｂを第２物品Ａｂと記載することがある。 FIG. 3 is a schematic perspective view of the robot hand 10. Here, the gripping portions 12a and 12b each grip the article A. Specifically, the grip portion 12a grips the article Aa, and the grip portion 12b grips the article Ab. In this specification, the article Aa gripped by the gripping part 12a may be referred to as a first article Aa, and the article Ab gripped by the gripping part 12b may be referred to as a second article Ab.
　ロボットハンド１０では、把持部１２ａ、１２ｂが複数の物品Ａのそれぞれの把持および開放を個別に行うことにより、把持強度を個別に調整可能であるとともに、比較的狭い空間でも複数の物品Ａの把持および開放を効率的に行うことができる。なお、図１、図２（ｃ）および図３において、物品Ａは球状であるが、物品Ａの形状は任意であってもよい。また、把持部１２ａ、１２ｂの形状は、把持する物品Ａに応じて適宜変更されてもよい。 In the robot hand 10, the gripping portions 12 a and 12 b individually grip and release the plurality of articles A so that the grip strength can be individually adjusted and the plurality of articles A can be gripped even in a relatively narrow space. And can be opened efficiently. In FIG. 1, FIG. 2 (c) and FIG. 3, the article A is spherical, but the shape of the article A may be arbitrary. Further, the shapes of the gripping portions 12a and 12b may be appropriately changed according to the article A to be gripped.
　図１～図３から理解されるように、本実施形態のロボット１００は、第１把持部１２ａが第１物品Ａａを掴み、第２把持部１２ｂが第２物品Ａｂを掴み、ロボットアーム２０の動作によってロボットハンド１０が容器Ｖまで移動した後、把持部１２ａが物品Ａａを放し、把持部１２ｂが物品Ａｂを放すことにより、物品Ａａおよび物品Ａｂを容器Ｖに収容することができる。このように、ロボット１００により、容器Ｖに複数の物品Ａを効率的に収納させることができる。なお、ここでは、ロボット１００は物品Ａの容器Ｖへの収納に用いられているが、ロボット１００は物品Ａの収納だけでなく、物品の移動および並べ替え等の別の動作を行うために用いられてもよい。 As understood from FIGS. 1 to 3, in the robot 100 of the present embodiment, the first gripping portion 12a grips the first article Aa, the second gripping portion 12b grips the second article Ab, and the robot arm 20 After the robot hand 10 moves to the container V by the operation, the gripping part 12a releases the article Aa, and the gripping part 12b releases the article Ab, whereby the article Aa and the article Ab can be accommodated in the container V. Thus, the robot 100 can efficiently store a plurality of articles A in the container V. Here, the robot 100 is used to store the article A in the container V, but the robot 100 is used not only to store the article A but also to perform other operations such as movement and rearrangement of the article. May be.
　なお、図２および図３に示した把持部１２ａ、１２ｂは、連結部１４に対して固定的に連結されていたが、本実施形態はこれに限定されない。把持部１２ａ、１２ｂは、連結部１４に対して移動可能に連結されていてもよい。 In addition, although the holding parts 12a and 12b shown in FIG. 2 and FIG. 3 were fixedly connected with respect to the connection part 14, this embodiment is not limited to this. The gripping portions 12 a and 12 b may be movably connected to the connecting portion 14.
　図４は、本実施形態のロボット１００におけるロボットハンド１０の模式図を示す。連結部１４は、把持部１２ａおよび把持部１２ｂのそれぞれがｘ方向に移動可能なように把持部１２ａおよび把持部１２ｂを連結しており、把持部１２ａと把持部１２ｂとの間の間隔を適宜変更することができる。例えば、把持部１２ａ、１２ｂの移動はシリンダ（アクチュエータ）を用いて行われる。なお、ここでは、把持部１２ａおよび把持部１２ｂのそれぞれがｘ方向に移動可能であったが、把持部１２ａおよび把持部１２ｂの一方がｘ方向に移動可能に構成されており、他方が固定されていてもよい。 FIG. 4 is a schematic diagram of the robot hand 10 in the robot 100 of the present embodiment. The connecting part 14 connects the gripping part 12a and the gripping part 12b so that each of the gripping part 12a and the gripping part 12b can move in the x direction, and the interval between the gripping part 12a and the gripping part 12b is appropriately set. Can be changed. For example, movement of the gripping portions 12a and 12b is performed using a cylinder (actuator). Here, each of the grip portion 12a and the grip portion 12b is movable in the x direction, but one of the grip portion 12a and the grip portion 12b is configured to be movable in the x direction, and the other is fixed. It may be.
　また、図２～図４において、ロボットハンド１０には２つの把持部１２ａ、１２ｂが設けられていたが、本実施形態はこれに限定されない。ロボットハンド１０には３以上の把持部が設けられてもよい。 In FIGS. 2 to 4, the robot hand 10 is provided with the two gripping portions 12a and 12b. However, the present embodiment is not limited to this. The robot hand 10 may be provided with three or more gripping units.
　図５は、本実施形態のロボット１００におけるロボットハンド１０の模式図を示す。図５に示したロボットハンド１０では、５つの把持部１２ａ～１２ｅが連結部１４に連結されている。このように、ロボットハンド１０には３以上の把持部１２が設けられてもよい。 FIG. 5 is a schematic diagram of the robot hand 10 in the robot 100 of the present embodiment. In the robot hand 10 shown in FIG. 5, five gripping portions 12 a to 12 e are connected to the connecting portion 14. As described above, the robot hand 10 may be provided with three or more gripping portions 12.
　なお、ロボット１００のロボットハンド１０は複数の物品Ａに対して相対的に移動して複数の物品Ａのそれぞれを把持してもよい。この場合、物品Ａはコンベアでロボットハンド１０に搬送されることが好ましい。ただし、物品Ａが静止しており、ロボット１００を支持する支持部が移動することにより、ロボット１００が移動し、これにより、物品の収容が行われてもよい。 Note that the robot hand 10 of the robot 100 may move relative to the plurality of articles A to grip each of the plurality of articles A. In this case, the article A is preferably conveyed to the robot hand 10 by a conveyor. However, the article A may be stationary, and the robot 100 may be moved by moving the support unit that supports the robot 100, whereby the article may be accommodated.
　図６は、本実施形態のハンドリングシステム２００の模式図を示す。ハンドリングシステム２００は、ロボット１００と、コンベア１１０とを備える。コンベア１１０は、物品Ａを搬送する。ここでは、コンベア１１０に渡し部１１２が取り付けられており、コンベア１１０によって搬送された物品Ａはコンベア１１０のエッジに達した後、渡し部１１２に載せられる。 FIG. 6 shows a schematic diagram of the handling system 200 of the present embodiment. The handling system 200 includes a robot 100 and a conveyor 110. The conveyor 110 conveys the article A. Here, the transfer unit 112 is attached to the conveyor 110, and the article A conveyed by the conveyor 110 reaches the edge of the conveyor 110 and is then placed on the transfer unit 112.
　図６に示したハンドリングシステム２００において、ロボット１００の支持部はコンベア１１０に対して固定されており、ロボット１００の支持部は移動しない。ロボットハンド１０はコンベア１１０のエッジに配置されている。具体的には、ロボットハンド１０は、コンベア１１０による物品Ａの搬送方向のエッジで物品Ａを把持する。このように、ロボットハンド１０は、コンベア１１０の正面エッジで物品Ａを把持することが好ましい。 In the handling system 200 shown in FIG. 6, the support part of the robot 100 is fixed to the conveyor 110, and the support part of the robot 100 does not move. The robot hand 10 is disposed on the edge of the conveyor 110. Specifically, the robot hand 10 holds the article A at an edge in the conveyance direction of the article A by the conveyor 110. As described above, the robot hand 10 preferably grips the article A with the front edge of the conveyor 110.
　なお、ここでは、容器Ｖは、物品Ａを搬送するコンベア１１０とは別のコンベア１２０の上に配置されている。物品Ａが容器Ｖに収容されると、コンベア１２０は、物品Ａの収容された容器Ｖを所定の方向に搬送するとともに、空の新たな容器Ｖをロボット１００の近傍まで搬送する。 In addition, the container V is arrange | positioned here on the conveyor 120 different from the conveyor 110 which conveys the goods A here. When the article A is accommodated in the container V, the conveyor 120 conveys the container V accommodated in the article A in a predetermined direction and conveys an empty new container V to the vicinity of the robot 100.
　ここでは、ロボットハンド１０の把持部１２ａが物品Ａａを把持し、把持部１２ｂが物品Ａｂを把持する。また、把持部１２ａ、１２ｂのそれぞれの水平方向に延びた爪の間隔が変化することにより、物品Ａａ、Ａｂは把持部１２ａ、１２ｂに掴まれる。 Here, the grip portion 12a of the robot hand 10 grips the article Aa, and the grip portion 12b grips the article Ab. In addition, the articles Aa and Ab are gripped by the gripping portions 12a and 12b by changing the interval between the nails extending in the horizontal direction of the gripping portions 12a and 12b.
　物品Ａは、コンベア１１０の上に、比較的安定な状態で載置されていることが好ましい。 Article A is preferably placed on the conveyor 110 in a relatively stable state.
　例えば、物品Ａａは、コンベア１１０上に、鉛直方向の長さが水平方向（鉛直方向に垂直な方向）の最短の長さよりも小さい状態で配置されている。例えば、物品Ａａがほぼ直方体形状である場合、物品Ａａの鉛直方向の長さ（図６においてｘ方向に沿った長さ：厚さ）Ｌ１は、物品Ａａの水平方向の長さＬ２（図６においてｚ方向に沿った長さ）および長さＬ３（図６においてｙ方向に沿った長さ）のいずれよりも小さい。あるいは、物品Ａａがほぼ円柱形状である場合、物品Ａａの鉛直方向の長さ（ｘ方向に沿った長さ）Ｌ１は、互いにほぼ等しい物品Ａａの水平方向（ｙ方向およびｚ方向）の長さＬ２、Ｌ３よりも小さい。また、同様に、物品Ａｂは、コンベア１１０上に、鉛直方向の長さが水平方向の最短の長さよりも小さい状態で配置されている。 For example, the article Aa is arranged on the conveyor 110 in a state where the length in the vertical direction is smaller than the shortest length in the horizontal direction (direction perpendicular to the vertical direction). For example, when the article Aa has a substantially rectangular parallelepiped shape, the length A1 of the article Aa in the vertical direction (length along the x direction in FIG. 6: thickness) L1 is the length L2 of the article Aa in the horizontal direction (FIG. 6). Is smaller than both the length along the z direction) and the length L3 (the length along the y direction in FIG. 6). Alternatively, when the article Aa has a substantially cylindrical shape, the length in the vertical direction (length along the x direction) L1 of the article Aa is substantially equal to the horizontal direction (y direction and z direction) of the article Aa. It is smaller than L2 and L3. Similarly, the article Ab is arranged on the conveyor 110 in a state where the length in the vertical direction is smaller than the shortest length in the horizontal direction.
　ロボットハンド１０の把持部１２ａが物品Ａａを掴み、ロボットハンド１０の把持部１２ｂが物品Ａｂを掴む。ここでは、物品Ａａがロボットハンド１０の把持部１２ａによって掴まれて持ち上げられた後、物品Ａａは持ち上げられたまま、物品Ａｂはロボットハンド１０の把持部１２ｂによって掴まれて持ち上げられる。例えば、把持部１２ａが物品Ａａを掴んだ後に、ロボットアーム２０の動作により、把持部１２ｂがコンベア１１０上の物品Ａｂを掴むことができるようにロボットハンド１０が移動する。 The grip part 12a of the robot hand 10 grips the article Aa, and the grip part 12b of the robot hand 10 grips the article Ab. Here, after the article Aa is gripped and lifted by the grip portion 12a of the robot hand 10, the article Ab is gripped and lifted by the grip portion 12b of the robot hand 10 while the article Aa is lifted. For example, after the gripping part 12 a grips the article Aa, the robot arm 10 moves so that the gripping part 12 b can grip the article Ab on the conveyor 110 by the operation of the robot arm 20.
　このように、ロボットハンド１０がコンベア１１０によって搬送された物品Ａを把持した後、ロボットアーム２０の動作により、物品Ａを把持するロボットハンド１０が容器Ｖの近傍に移動する。その後、把持部１２ａが物品Ａａを放し、把持部１２ｂが物品Ａｂを放すことにより、物品Ａａ、Ａｂは容器Ｖに収容される。 Thus, after the robot hand 10 grips the article A conveyed by the conveyor 110, the robot arm 10 that grips the article A moves to the vicinity of the container V by the operation of the robot arm 20. Thereafter, the gripping part 12a releases the article Aa, and the gripping part 12b releases the article Ab, so that the articles Aa and Ab are accommodated in the container V.
　また、ここでは、物品Ａａ、Ａｂは、コンベア１１０によって搬送された向きとは異なる向きで容器Ｖに収容される。例えば、ロボットアーム２０の動作により、物品Ａａ、Ａｂを把持したロボットハンド１０が上方に移動した後、ロボットハンド１０の向きが変化し、ロボットハンド１０が容器Ｖの近傍まで移動した後に、ロボットハンド１０が物品Ａａ、Ａｂを放すことにより、物品Ａａ、Ａｂはコンベア１１０で搬送されたときの向きとは異なる向きで容器Ｖに収容される。 Further, here, the articles Aa and Ab are accommodated in the container V in a direction different from the direction in which the articles Aa and Ab are conveyed by the conveyor 110. For example, after the robot hand 10 holding the articles Aa and Ab is moved upward by the operation of the robot arm 20, the direction of the robot hand 10 is changed, and after the robot hand 10 moves to the vicinity of the container V, the robot hand 10 When the articles 10 release the articles Aa and Ab, the articles Aa and Ab are accommodated in the container V in a direction different from the direction when they are conveyed by the conveyor 110.
　ここでは、容器Ｖに仕切りｐが設けられている。このような仕切りｐにより、容器Ｖ内の物品Ａが容器Ｖに対して比較的少ない場合でも、物品Ａが倒れることを防ぐことができる。 Here, the container V is provided with a partition p. Such a partition p can prevent the article A from falling even when the article A in the container V is relatively small relative to the container V.
　仕切りｐの設けられた容器Ｖに物品Ａを収容させる場合、把持部１２ａおよび把持部１２ｂは、所定の間隔に離れた状態で物品Ａａおよび物品Ａｂを放すことにより、容器Ｖの仕切りｐによって仕切られた空間に物品Ａａおよび物品Ａｂを収容させることができる。この場合、物品Ａａが把持部１２ａに掴まれ、かつ、物品Ａｂが把持部１２ｂに掴まれた状態で物品Ａａ、Ａｂが移動する際に、把持部１２ａと把持部１２ｂとの間の間隔は上述の所定の間隔に設定されていてもよい。例えば、把持部１２ａと把持部１２ｂとの間隔は、所定の間隔に固定されていてもよい。 When the article A is stored in the container V provided with the partition p, the gripping part 12a and the gripping part 12b are separated by the partition p of the container V by releasing the article Aa and the article Ab in a state of being separated at a predetermined interval. Article Aa and article Ab can be accommodated in the created space. In this case, when the articles Aa and Ab move while the article Aa is gripped by the gripping part 12a and the article Ab is gripped by the gripping part 12b, the interval between the gripping part 12a and the gripping part 12b is The predetermined interval may be set. For example, the interval between the grip portion 12a and the grip portion 12b may be fixed at a predetermined interval.
　あるいは、物品Ａａ、Ａｂを把持する前の把持部１２ａと把持部１２ｂとの間の間隔は比較的狭く、把持部１２ｂが物品Ａｂを掴んだ後であって、物品Ａａおよび物品Ａｂを容器Ｖに収容させる前に、把持部１２ａと把持部１２ｂとの間の間隔を広げてもよい。例えば、物品Ａａおよび物品Ａｂを容器Ｖに収容させる前に、連結部１４は、把持部１２ａと把持部１２ｂとの間隔を変化させてもよい。間隔の変化は、例えば、シリンダ（アクチュエータ）を用いて把持部１２ａ、１２ｂの少なくとも一方を移動させることによって行われる。なお、物品Ａａが把持部１２ａによって持ち上げられる場合には、把持部１２ｂが物品Ａｂを把持した後、把持部１２ａが物品Ａａを放し、物品Ａａを物品Ａｂの上に落下させてもよい。 Alternatively, the interval between the gripping portion 12a and the gripping portion 12b before gripping the articles Aa and Ab is relatively narrow, and after the gripping section 12b grips the article Ab, the article Aa and the article Ab are stored in the container V. The space between the gripping portion 12a and the gripping portion 12b may be widened before being housed. For example, before accommodating the article Aa and the article Ab in the container V, the connecting part 14 may change the interval between the gripping part 12a and the gripping part 12b. The change in the interval is performed, for example, by moving at least one of the grip portions 12a and 12b using a cylinder (actuator). When the article Aa is lifted by the gripping part 12a, after the gripping part 12b grips the article Ab, the gripping part 12a may release the article Aa and drop the article Aa onto the article Ab.
　このように、個別に制御可能な把持部１２ａ、１２ｂが物品Ａａ、Ａｂを把持および開放することにより、容器Ｖに仕切りｐが設けられている場合でも、物品Ａａ、Ａｂの収容を効率的に行うことができる。以上のようにして、容器入り物品が作製される。 As described above, the grippers 12a and 12b that can be individually controlled grip and release the articles Aa and Ab, so that the containers A can be efficiently accommodated even when the container V is provided with the partition p. It can be carried out. As described above, an article in a container is produced.
　ここで、図７および図８を参照して本実施形態のハンドリングシステム２００における物品Ａの容器Ｖへの収容を説明する。まず、図７を参照して、ロボットハンド１０による複数の物品Ａの把持を説明する。なお、図７では、図面が過度に複雑になることを避けるように、ロボット１００のロボットアーム２０を省略して図示している。 Here, with reference to FIGS. 7 and 8, accommodation of the article A in the container V in the handling system 200 of the present embodiment will be described. First, with reference to FIG. 7, gripping a plurality of articles A by the robot hand 10 will be described. In FIG. 7, the robot arm 20 of the robot 100 is omitted in order to avoid an excessively complicated drawing.
　まず、図７（ａ）に示すように、コンベア１１０は物品Ａａ、Ａｂを搬送する。ロボットハンド１０はコンベア１１０のエッジに配置されている。 First, as shown in FIG. 7A, the conveyor 110 conveys the articles Aa and Ab. The robot hand 10 is disposed on the edge of the conveyor 110.
　次に、図７（ｂ）に示すように、ロボットハンド１０の把持部１２ａは物品Ａａを把持する。ここでは、物品Ａａは、把持部１２ａに掴まれた後、ロボットアーム２０の動作により、コンベア１１０または渡し部１１２から持ち上げられる。 Next, as shown in FIG. 7B, the grip portion 12a of the robot hand 10 grips the article Aa. Here, the article Aa is lifted from the conveyor 110 or the transfer section 112 by the operation of the robot arm 20 after being gripped by the grip section 12a.
　次に、図７（ｃ）に示すように、把持部１２ａが物品Ａａを把持した状態で、ロボットハンド１０の把持部１２ｂは物品Ａｂを把持する。ここでは、物品Ａｂは、把持部１２ｂに掴まれた後、ロボットアーム２０の動作により、コンベア１１０または渡し部１１２から持ち上げられる。 Next, as shown in FIG. 7C, the gripping part 12b of the robot hand 10 grips the article Ab while the gripping part 12a grips the article Aa. Here, the article Ab is lifted from the conveyor 110 or the transfer section 112 by the operation of the robot arm 20 after being gripped by the grip section 12b.
　次に、図８を参照して、ロボットハンド１０に把持された物品Ａａ、Ａｂの容器Ｖへの収納を説明する。図８では、図面が過度に複雑になることを避けるように、コンベア１１０を省略して図示している。まず、図８（ａ）に示すように、ロボットアーム２０の動作により、物品Ａａ、Ａｂを把持したロボットハンド１０が上方に移動する。 Next, storage of the articles Aa and Ab held by the robot hand 10 in the container V will be described with reference to FIG. In FIG. 8, the conveyor 110 is omitted in order to avoid an excessively complicated drawing. First, as shown in FIG. 8A, the robot arm 10 holding the articles Aa and Ab moves upward by the operation of the robot arm 20.
　次に、図８（ｂ）に示すように、ロボットアーム２０の動作により、ロボットハンド１０の向きの変化が開始する。ここでは、ロボットハンド１０はロボットアーム２０の支持部に近づくように移動し、これにより、ロボットハンド１０の向きが変化する。 Next, as shown in FIG. 8 (b), the movement of the robot hand 10 starts to change due to the operation of the robot arm 20. Here, the robot hand 10 moves so as to approach the support portion of the robot arm 20, thereby changing the orientation of the robot hand 10.
　図８（ｃ）に示すように、ロボットアーム２０の動作により、ロボットハンド１０は下向きで容器Ｖの近傍に移動する。その後、ロボットハンド１０の把持部１２ａ、１２ｂが物品Ａａ、Ａｂを放すことにより、物品Ａａ、Ａｂが容器Ｖに収容される。 As shown in FIG. 8C, the robot hand 10 moves downward and in the vicinity of the container V by the operation of the robot arm 20. Thereafter, the gripping portions 12a and 12b of the robot hand 10 release the articles Aa and Ab, whereby the articles Aa and Ab are accommodated in the container V.
　なお、図６～図８を参照した上述の説明では、物品Ａは、鉛直方向の長さが水平方向の最短の長さよりも小さい状態で配置（すなわち、横長に配置）されていたが、本実施形態はこれに限定されない。ロボットハンド１０が物品Ａを把持する際に、物品Ａは鉛直方向の長さが水平方向の最短の長さよりも大きい状態で配置（すなわち、縦長に配置）されていてもよい。また、上述した説明では、物品Ａａは物品Ａｂと同様の形状を有していたが、本実施形態はこれに限定されない。物品Ａａおよび物品Ａｂは互いに異なる形状を有してもよい。 In the above description with reference to FIGS. 6 to 8, the article A is arranged in a state where the length in the vertical direction is smaller than the shortest length in the horizontal direction (that is, arranged horizontally), The embodiment is not limited to this. When the robot hand 10 grips the article A, the article A may be arranged in a state where the length in the vertical direction is larger than the shortest length in the horizontal direction (that is, arranged vertically). In the above description, the article Aa has the same shape as the article Ab, but the present embodiment is not limited to this. Article Aa and article Ab may have different shapes.
　また、図６～図８を参照した上述の説明では、コンベア１１０に渡し部１１２が設けられていたが、本実施形態はこれに限定されない。渡し部１１２が設けられていなくてもよい。また、上述した説明では、把持部１２が物品Ａを把持した後、ロボットハンド１０は物品Ａをコンベア１１０に対して上方に持ち上げたが、本実施形態はこれに限定されない。ロボットハンド１０は物品Ａを把持したままコンベア１１０に対して下方に移動してもよい。 In the above description with reference to FIGS. 6 to 8, the transfer unit 112 is provided in the conveyor 110, but the present embodiment is not limited to this. The passing part 112 may not be provided. In the above description, after the gripping part 12 grips the article A, the robot hand 10 lifts the article A upward with respect to the conveyor 110. However, the present embodiment is not limited to this. The robot hand 10 may move downward with respect to the conveyor 110 while holding the article A.
　また、図６～図８を参照した上述の説明では、ロボットハンド１０はコンベア１１０の正面エッジに配置されており、ロボットハンド１０は、コンベア１１０の正面エッジで物品Ａを把持したが、本実施形態はこれに限定されない。ロボットハンド１０は、コンベア１１０の側方のエッジで物品Ａを把持してもよい。 In the above description with reference to FIGS. 6 to 8, the robot hand 10 is arranged at the front edge of the conveyor 110, and the robot hand 10 holds the article A at the front edge of the conveyor 110. The form is not limited to this. The robot hand 10 may grip the article A with the side edge of the conveyor 110.
　図９に、本実施形態のハンドリングシステム２００の模式図を示す。ここでも、図面が過度に複雑になることを避けるために、ロボット１００のロボットアーム２０を省略して図示している。図９に示したハンドリングシステム２００では、ロボットハンド１０は、コンベア１１０の側方のエッジに配置されている。ロボットハンド１０の把持部１２ａが物品Ａａを把持した後、ロボットハンド１０は上方に移動し、把持部１２ｂはコンベア１１０によって搬送される物品Ａｂを把持する。なお、ここでは、把持部１２ａ、１２ｂが開いた状態で、ロボットハンド１０が鉛直方向に移動した場合でも把持部１２ａ、１２ｂがコンベア１１０と接触しないように、ロボットハンド１０が構成されている。 FIG. 9 shows a schematic diagram of the handling system 200 of the present embodiment. Here, too, the robot arm 20 of the robot 100 is omitted in order to avoid an excessively complicated drawing. In the handling system 200 shown in FIG. 9, the robot hand 10 is disposed on the side edge of the conveyor 110. After the grip portion 12a of the robot hand 10 grips the article Aa, the robot hand 10 moves upward, and the grip portion 12b grips the article Ab conveyed by the conveyor 110. Here, the robot hand 10 is configured so that the gripping portions 12a and 12b do not contact the conveyor 110 even when the robot hand 10 moves in the vertical direction with the gripping portions 12a and 12b open.
　なお、図６～図９を参照した上述の説明では、ロボットハンド１０の把持部１２ａ、１２ｂが物品Ａａ、Ａｂを掴む際に、把持部１２ａ、１２ｂのそれぞれの水平方向に延びた爪の間隔が変化したが、本実施形態はこれに限定されない。また、図６～図８を参照した上述の説明では、把持部１２が物品Ａを掴む際の物品Ａの向きは把持部１２が物品Ａを放す際の物品Ａの向きと異なったが、本実施形態はこれに限定さない。把持部１２が物品Ａを掴む際の物品Ａの向きは把持部１２が物品Ａを放す際の物品Ａの向きと等しくてもよい。例えば、把持部１２が物品Ａを掴む際に物品Ａは縦長に配置されており、把持部１２は物品Ａを縦長に把持した状態で放してもよい。あるいは、把持部１２が物品Ａを把持する際に物品Ａは横長に配置されており、把持部１２は物品Ａを横長に把持した状態で放してもよい。 In the above description with reference to FIGS. 6 to 9, when the gripping portions 12a and 12b of the robot hand 10 grip the articles Aa and Ab, the intervals between the nails extending in the horizontal direction of the gripping portions 12a and 12b are described. However, the present embodiment is not limited to this. In the above description with reference to FIGS. 6 to 8, the orientation of the article A when the gripping part 12 grips the article A is different from the orientation of the article A when the gripping part 12 releases the article A. The embodiment is not limited to this. The orientation of the article A when the grip portion 12 grips the article A may be equal to the orientation of the article A when the grip portion 12 releases the article A. For example, when the gripping part 12 grips the article A, the article A may be arranged vertically, and the gripping part 12 may be released in a state where the article A is gripped vertically. Alternatively, when the gripping part 12 grips the article A, the article A may be arranged horizontally, and the gripping part 12 may be released in a state where the article A is gripped horizontally.
　図１０に、本実施形態のロボット１００におけるロボットハンド１０の模式図を示す。ここでもロボット１００のロボットアーム２０を省略している。図１０に示したロボットハンド１０では、把持部１２ａ、１２ｂのそれぞれの鉛直方向に延びた爪の間隔が変化することにより、物品Ａａ、Ａｂが把持部１２ａ、１２ｂに掴まれる。なお、図１０に示したロボットハンド１０は、コンベア１１０によって搬送される物品Ａを把持する。図１０では、ロボットハンド１０の把持部１２ａが物品Ａａを把持しており、コンベア１１０が物品Ａｂをロボットハンド１０の把持部１２ｂの下まで搬送すると、把持部１２ｂは物品Ａｂを把持することができる。この場合、ロボットハンド１０の把持部１２ａは物品Ａａを把持した後、把持部１２ａの移動を行わなくてもよい。 FIG. 10 shows a schematic diagram of the robot hand 10 in the robot 100 of the present embodiment. Again, the robot arm 20 of the robot 100 is omitted. In the robot hand 10 shown in FIG. 10, the articles Aa and Ab are gripped by the gripping portions 12a and 12b by changing the distance between the claws extending in the vertical direction of the gripping portions 12a and 12b. Note that the robot hand 10 shown in FIG. 10 holds the article A conveyed by the conveyor 110. In FIG. 10, when the grip part 12a of the robot hand 10 grips the article Aa and the conveyor 110 conveys the article Ab to the bottom of the grip part 12b of the robot hand 10, the grip part 12b can grip the article Ab. it can. In this case, the grip part 12a of the robot hand 10 may not move the grip part 12a after gripping the article Aa.
　なお、図１０において、ロボットハンド１０は、コンベア１１０によって搬送される物品Ａを把持したが、本実施形態はこれに限定されない。上述したように、物品Ａが静止しており、ロボット１００を支持する支持部が移動することにより、ロボット１００が移動し、これにより、物品の収容が行われてもよい。 In FIG. 10, the robot hand 10 holds the article A conveyed by the conveyor 110, but the present embodiment is not limited to this. As described above, the article A may be stationary, and the robot 100 may be moved by moving the support unit that supports the robot 100, whereby the article may be accommodated.
　　１０　ロボットハンド
　　１２　把持部
　　２０　ロボットアーム
　１００　ロボット
　１１０　コンベア
　２００　ハンドリングシステム DESCRIPTION OF SYMBOLS 10 Robot hand 12 Grasping part 20 Robot arm 100 Robot 110 Conveyor 200 Handling system

Claims (12)

  1. 　それぞれが物品を把持可能な第１把持部および第２把持部を含む複数の把持部を有するロボットハンドと、
    　前記ロボットハンドの取り付けられたロボットアームと
    を備え、

    　前記ロボットハンドの前記第１把持部が第１物品を掴み、前記ロボットハンドの前記第２把持部が第２物品を掴み、前記ロボットアームの動作によって前記ロボットハンドが容器まで移動した後、前記第１把持部が前記第１物品を放し、前記第２把持部が前記第２物品を放すことにより、前記第１物品および前記第２物品が前記容器に収容される、ロボット。     A robot hand having a plurality of gripping portions each including a first gripping portion and a second gripping portion each capable of gripping an article;
    A robot arm to which the robot hand is attached;

    The first gripping part of the robot hand grips the first article, the second gripping part of the robot hand grips the second article, and the robot arm moves to the container by the operation of the robot arm, A robot in which the first article and the second article are accommodated in the container when one gripping part releases the first article and the second gripping part releases the second article.
  2. 　前記ロボットハンドの前記第１把持部が前記第１物品を掴み、前記ロボットハンドの前記第２把持部が前記第２物品を掴んだ後、前記ロボットハンドの向きが変化する、請求項１に記載のロボット。 The orientation of the robot hand changes after the first gripping part of the robot hand grips the first article and the second gripping part of the robot hand grips the second article. Robot.
  3. 　前記第１把持部が前記第１物品を掴む場合、前記第１物品の鉛直方向の長さは前記第１物品の水平方向の最短の長さよりも小さく、
    　前記第２把持部が前記第２物品を掴む場合、前記第２物品の鉛直方向の長さは前記第２物品の水平方向の最短の長さよりも小さい、請求項１または２に記載のロボット。     When the first gripping part grips the first article, the vertical length of the first article is smaller than the shortest horizontal length of the first article,
    The robot according to claim 1 or 2, wherein when the second gripping part grips the second article, the vertical length of the second article is smaller than the shortest horizontal length of the second article.
  4. 　前記第１把持部が前記第１物品を掴んだ後、前記第２把持部が前記第２物品を掴む前に、前記ロボットハンドが移動する、請求項１から３のいずれかに記載のロボット。 The robot according to any one of claims 1 to 3, wherein the robot hand moves after the first gripping part grips the first article and before the second gripping part grips the second article.
  5. 　前記第１物品は、前記ロボットハンドの前記第１把持部によって掴まれて持ち上げられた後、前記第１把持部に持ち上げられた状態で、前記第２物品は前記ロボットハンドの前記第２把持部によって掴まれる、請求項１から４のいずれかに記載のロボット。 The first article is gripped and lifted by the first gripping part of the robot hand and then lifted to the first gripping part, and the second article is the second gripping part of the robot hand. The robot according to claim 1, wherein the robot is gripped by the robot.
  6. 　前記第１把持部および前記第２把持部は所定の間隔離れた状態で前記第１物品および前記第２物品を前記容器に収容させる、請求項１から５のいずれかに記載のロボット。 The robot according to any one of claims 1 to 5, wherein the first grip and the second grip allow the first article and the second article to be accommodated in the container in a state where the first grip and the second grip are separated by a predetermined distance.
  7. 　前記第１物品が前記第１把持部に掴まれ、かつ、前記第２物品が前記第２把持部に掴まれた状態で前記第１物品および前記第２物品が移動する際に、前記第１把持部と前記第２把持部との間の間隔は前記所定の間隔に設定されている、請求項６に記載のロボット。 When the first article and the second article move while the first article is gripped by the first gripping section and the second article is gripped by the second gripping section, the first article The robot according to claim 6, wherein an interval between the grip portion and the second grip portion is set to the predetermined interval.
  8. 　前記第１把持部が前記第１物品を掴み、かつ、前記第２把持部が前記第２物品を掴んだ後であって、前記第１把持部および前記第２把持部が前記第１物品および前記第２物品を前記容器に収容させる前に、前記第１把持部と前記第２把持部との間の間隔を広げる、請求項６に記載のロボット。 After the first gripping part grips the first article and the second gripping part grips the second article, the first gripping part and the second gripping part are the first article and The robot according to claim 6, wherein a space between the first grip portion and the second grip portion is widened before the second article is accommodated in the container.
  9. 　前記第２把持部が前記第２物品を把持した後、前記第１把持部は前記第１物品を放して前記第１物品を前記第２物品の上に落下させる、請求項８に記載のロボット。 The robot according to claim 8, wherein after the second gripping part grips the second article, the first gripping part releases the first article and drops the first article onto the second article. .
  10. 　請求項１から９のいずれかに記載のロボットと、
    　コンベアと
    を備える、ハンドリングシステム。     A robot according to any one of claims 1 to 9,
    A handling system comprising a conveyor.
  11. 　前記ロボットハンドは、前記コンベアのエッジに配置されている、請求項１０に記載のハンドリングシステム。 The handling system according to claim 10, wherein the robot hand is disposed on an edge of the conveyor.
  12. 　第１把持部および第２把持部を含む複数の把持部を有するロボットハンドを用意する工程と、
    　前記ロボットハンドの前記第１把持部が第１物品を掴む工程と、
    　前記第１把持部が前記第１物品を掴んだ後、前記ロボットハンドの前記第２把持部が第２物品を掴む工程と、
    　前記ロボットハンドが前記第１物品および前記第２物品を容器に収容させる工程と
    を包含する、容器入り物品作製方法。     Preparing a robot hand having a plurality of gripping portions including a first gripping portion and a second gripping portion;
    The first gripping part of the robot hand grips the first article;
    After the first gripping part grips the first article, the second gripping part of the robot hand grips the second article;
    The robot hand includes the step of accommodating the first article and the second article in a container.
PCT/JP2011/071338 2011-09-20 2011-09-20 Robot, handling system and method for creating article-containing container WO2013042184A1 (en)

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