WO2020039508A1 - Transport system and transport method - Google Patents

Transport system and transport method Download PDF

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Publication number
WO2020039508A1
WO2020039508A1 PCT/JP2018/030867 JP2018030867W WO2020039508A1 WO 2020039508 A1 WO2020039508 A1 WO 2020039508A1 JP 2018030867 W JP2018030867 W JP 2018030867W WO 2020039508 A1 WO2020039508 A1 WO 2020039508A1
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WO
WIPO (PCT)
Prior art keywords
robot
unit
traveling vehicle
unmanned
controller
Prior art date
Application number
PCT/JP2018/030867
Other languages
French (fr)
Japanese (ja)
Inventor
健一 元永
加寿弘 工藤
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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Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2018/030867 priority Critical patent/WO2020039508A1/en
Publication of WO2020039508A1 publication Critical patent/WO2020039508A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the disclosed embodiments relate to a transport system and a transport method.
  • a robot system has also been proposed in which a robot and a self-weight compensating device are mounted on a mobile trolley that is manually pushed by a person, thereby enabling the robot to move (for example, see Patent Document 1).
  • the above-mentioned conventional robot system has room for improvement in making unmanned production equipment such as an assembly factory.
  • One object of one embodiment of the present invention is to provide a transport system and a transport method that can achieve unmanned production facilities.
  • the transport system includes an unmanned traveling vehicle, a robot, a crane unit, and a controller.
  • An unmanned traveling vehicle travels unmanned.
  • the robot is mounted on an unmanned traveling vehicle and moves a hand capable of holding a transferred object.
  • the crane unit is mounted on an unmanned traveling vehicle, and supports a conveyed object or a hand in a vertically movable manner.
  • the controller causes the robot and the crane unit to cooperate.
  • the transfer method uses an unmanned traveling vehicle, a robot, a crane unit, and a controller.
  • An unmanned traveling vehicle travels unmanned.
  • the robot is mounted on an unmanned traveling vehicle and moves a hand capable of holding a transferred object.
  • the crane unit is mounted on an unmanned traveling vehicle, and supports a conveyed object or a hand in a vertically movable manner.
  • the controller causes the robot and the crane unit to cooperate.
  • the controller causes the robot to convey a conveyed object exceeding the load capacity of the robot by causing the robot and the crane unit to cooperate.
  • FIG. 1 is an explanatory diagram illustrating an outline of the transport system according to the embodiment.
  • FIG. 2 is a perspective view showing the configuration of the robot.
  • FIG. 3 is a perspective view showing the configuration of the crane unit.
  • FIG. 4 is a block diagram illustrating a configuration of the transport system.
  • FIG. 5 is an explanatory diagram illustrating an example of a traveling route.
  • FIG. 6 is an explanatory diagram illustrating an example of installation of an obstacle sensor.
  • FIG. 7 is an explanatory diagram illustrating an example of installation of the measurement sensors.
  • FIG. 8 is a flowchart illustrating a processing procedure of the transport system.
  • FIG. 1 is an explanatory diagram illustrating an outline of a transport system 1 according to the embodiment.
  • FIG. 1 also shows a Z-axis in which a vertically upward direction is a positive direction.
  • Such Z axis may be shown in other drawings. Note that a plane orthogonal to the Z axis corresponds to a horizontal plane.
  • the transport system 1 includes an unmanned traveling vehicle 10, a robot 20, a crane unit 30, a hand 40, and a controller 50.
  • the unmanned traveling vehicle 10 is, for example, an AGV (Automatic Guided Vehicle), and is a carrier vehicle that can travel automatically without a driving operation by a person.
  • AGV Automatic Guided Vehicle
  • the unmanned traveling vehicle 10 travels autonomously or travels on a predetermined route by using an optical sensor, a magnetic sensor, an autonomous guidance sensor, or the like without driving or pushing by hand.
  • a transporting vehicle Refers to a transporting vehicle.
  • an optically guided transport vehicle travels on a predetermined route by irradiating a laser beam or the like and detecting reflected light reflected by a reflector installed on a wall or a pillar by an optical sensor.
  • the electromagnetic induction type transport vehicle travels on a predetermined route by passing a current through a metal wire installed on a floor or the like and detecting a generated magnetic field with a magnetic sensor.
  • the guide system of the transport vehicle is not limited to the illustrated system, and various known systems can be adopted.
  • the robot 20 is mounted on the unmanned traveling vehicle 10 and moves the hand 40 capable of holding the transported object 500.
  • the hand 40 that can be attached to and detached from the robot 20 will be described.
  • a hand fixed to the tip of the robot 20 or the like may be used.
  • the transferred object 500 may be a tool or a part, a semi-finished product, or a finished product exceeding the payload of the robot 20.
  • the transported object 500 may be transported while being held by the hand 40, or may be transported while being mounted on the unmanned traveling vehicle 10 (the transported object 500 indicated by a broken line in FIG. 1). reference).
  • the configuration of the robot 20 will be described later in detail with reference to FIG.
  • the crane unit 30 is mounted on the unmanned traveling vehicle 10 and supports the transported object 500 or the hand 40 by suspending it vertically.
  • the hand 40 is lifted up by the winding operation of the crane unit 30 while holding the transported object 500. Thereby, the robot 20 can transport the transported object 500 exceeding the payload.
  • the larger the payload the larger the size and weight of the robot 20.
  • the crane unit 30 By using the crane unit 30 together, it is possible to use a smaller (small payload) robot 20. Therefore, the size of the unmanned traveling vehicle 10 can be reduced, and the vehicle can travel on a narrower route.
  • the configuration of the crane unit 30 will be described later in detail with reference to FIG.
  • the crane unit 30 may suspend the transferred object 500 directly, or may directly suspend the arm of the robot 20. You may do it.
  • the hand 40 suspended by the crane unit 30 may be referred to as a “suspended hand”.
  • a hook or the like which is moved up and down by the crane unit 30 is hooked on the object 500 or a rope attached to the object 500 by the operation of the robot 20. Then, the robot 20 may guide the transferred object 500 to a predetermined position while lifting the transferred object 500 by the winding operation of the crane unit 30.
  • the controller 50 controls the operation of the robot 20 and the operation of lifting and lowering the crane unit 30, and causes the robot 20 and the crane unit 30 to cooperate. That is, the controller 50 controls the operation of lifting and lowering the crane unit 30 and the operation of the robot 20 so as to compensate for the gravity of the transferred object 500. Thereby, the robot 20 can carry the transported object 500 exceeding the payload.
  • the controller 50 is mounted on the unmanned traveling vehicle 10, but the controller 50 does not have to be mounted on the unmanned traveling vehicle 10.
  • the controller 50 can be mounted at any location other than the unmanned traveling vehicle 10 (the environment in which the unmanned traveling vehicle 10 travels, the Internet, etc.). Network environment).
  • the transported object 500 having various weights and shapes such as the transported object 500 exceeding the payload of the robot 20, can be unmannedly transported from an arbitrary place to a target place. Can be. Therefore, unmanned production equipment such as an assembly factory can be achieved.
  • FIG. 2 is a perspective view showing the configuration of the robot 20.
  • FIG. 2 shows the robot 20 mounted on the upper surface of the unmanned traveling vehicle 10.
  • the robot 20 is a so-called “human cooperative robot”.
  • the human collaborative robot is a robot that does not require a safety fence to separate the robot and the human, and automatically stops when the motor of each joint detects, for example, a robot having an output of 80 W (watt) or less or a constant external force.
  • a robot having an output of 80 W (watt) or less or a constant external force Refers to robots that have safety functions such as In other words, the human collaborative robot is a robot that complies with international standards, and is a robot that can share a work area between a human and a robot.
  • the robot 20 has an internal space communicating from the base end side to the distal end side, and accommodates a cable such as a cable for a tool connected to the tool changer 100 shown in FIG. 2 in the internal space. Is possible. That is, when performing direct teaching to the robot 20 or when the robot 20 performs an operation, the above-mentioned cable does not interfere.
  • the robot 20 is a so-called vertical articulated robot having six axes from a vertical axis A0 to a fifth axis A5.
  • the robot 20 includes a base portion 20B, a turning portion 20S, a first arm 21, a second arm 22, a third arm 23, and a wrist portion 24 from the base end side to the tip end side.
  • a tool changer 100 is provided on the tip side of the wrist 24.
  • the base portion 20B can be fixed to an installation surface such as the upper surface of the unmanned traveling vehicle 10.
  • the turning portion 20S is supported by the base portion 20B, and turns around a vertical axis A0 perpendicular to the installation surface described above.
  • the base end of the first arm 21 is supported by the turning portion 20S, and turns around the first axis A1 perpendicular to the vertical axis A0.
  • the second arm 22 has a base end supported by the distal end of the first arm 21 and pivots around a second axis A2 parallel to the first axis A1.
  • the third arm 23 has its base end supported by the distal end of the second arm 22 and rotates around a third axis A3 perpendicular to the second axis A2.
  • the wrist 24 includes a proximal end 24a and a distal end 24b.
  • the proximal end portion 24a is supported on the distal end side of the third arm 23 on the proximal end side, and pivots around a fourth axis A4 perpendicular to the third axis A3.
  • the distal end portion 24b is supported at the proximal end side on the distal end side of the proximal end portion 24a, and rotates around a fifth axis A5 orthogonal to the fourth axis A4.
  • a tool changer 100 is attached to the distal end side of the distal end portion 24b.
  • a hand 40 for holding a transferred object 500 (see FIG. 1) or the like can be detachably attached. That is, tools such as the hand 40 can be changed according to the weight, shape, and the like of the transferred object 500.
  • FIG. 3 is a perspective view showing the configuration of the crane unit 30.
  • FIG. 3 shows the crane unit 30 mounted on the upper surface of the unmanned traveling vehicle 10, the description of the robot 20 shown in FIG. 2 is omitted.
  • the crane unit 30 includes a servomotor 31, a lifting unit 32, a moving mechanism 33, and a support column.
  • the elevating unit 32 is connected to a hand 40 via a take-up belt 32a. Note that a wire, a rope, or the like may be used instead of the belt 32a.
  • the hand 40 is provided with, for example, a pair of gripping claws 41 whose intervals can be changed. By opening and closing the gripping claws 41, the transported object 500 can be held or released.
  • the hand 40 is provided with a detachable mechanism 110.
  • the attachment / detachment mechanism 110 is an attachment / detachment mechanism corresponding to the tool changer 100 shown in FIG.
  • FIG. 3 illustrates the hand 40 including the gripping claws 41 as the holding mechanism
  • a hand 40 including a suction mechanism or a multi-fingered grip mechanism may be used.
  • the hand 40 having only a non-deformed protrusion for hooking the transferred object 500 may be used.
  • a hand that is not suspended from the crane unit 30 in addition to a hand suspended from the crane unit 30 in advance as shown in FIG. 3 can be used. That is, if the hand has the attachment / detachment mechanism 110 corresponding to the tool changer 100, attachment / detachment to / from the robot 20 (see FIG. 2) is possible. Note that a hand that is not suspended by the crane unit 30 may be mounted on the unmanned traveling vehicle 10.
  • a hand for the transferred object 500 having a weight less than the payload of the robot 20 can be mounted on the unmanned traveling vehicle 10.
  • the hand may be replaced with a hand suspended by the crane unit 30.
  • the servo motor 31 is provided in the elevating unit 32 and drives the elevating unit 32.
  • the operation of the servo motor 31 is controlled by the controller 50 shown in FIG.
  • the servo motor 31 rotates the forward / backward rotation of the belt 32a by performing forward / reverse rotation.
  • the elevating unit 32 is driven by the servo motor 31 to elevate and lower the hand 40 via the belt 32a.
  • the elevating unit 32 is attached to the moving mechanism 33.
  • the moving mechanism 33 includes a turning arm 33a that can freely turn around a turning axis A30 parallel to the vertical direction, and a guide portion 33b that extends along the extension direction D30 of the turning arm 33a.
  • the support column 34 is fixed to the upper surface of the unmanned traveling vehicle 10 and supports the base end side of the turning arm 33a so as to be rotatable around the turning axis A30.
  • the moving mechanism 33 has no driving source, and restricts the movement of the elevating unit 32 that has received an external force in the horizontal direction.
  • the elevating unit 32 can freely move about the turning range of the turning arm 33a and the extending range of the guide unit 33b.
  • the moving mechanism 33 can move the elevating unit 32 freely in the horizontal direction following the operation of the robot 20.
  • the moving mechanism 33 is configured as shown in FIG. 3, the crane unit 30 can be formed in a simple shape, and interference with the robot 20 can be suppressed. Thereby, a sufficient movable range can be given to the robot 20.
  • the crane unit 30 can be simplified in structure by being driven by the servomotor 31 in the vertical direction and driven by the robot 20 in the horizontal direction. This makes it possible to reduce the manufacturing cost.
  • FIG. 3 illustrates the moving mechanism 33 including one swivel arm 33a
  • other mechanisms may be used as long as the mechanism restricts the movement of the elevating unit 32 in the horizontal direction.
  • the moving mechanism 33 may be a horizontal link-type arm that freely expands and contracts by an external force, or a top plate in which two horizontal guide portions 33b are combined in an orthogonal direction may be used.
  • FIG. 4 is a block diagram illustrating a configuration of the transport system 1.
  • the transport system 1 includes an unmanned traveling vehicle 10, a robot 20 mounted on the unmanned traveling vehicle 10, a crane unit 30, an obstacle sensor S1, a measurement sensor S2, and a controller 50.
  • the controller 50 may be mounted on the unmanned traveling vehicle 10 or may be provided separately from the unmanned traveling vehicle 10. 1 has been described for the unmanned traveling vehicle 10, FIG. 2 has been described for the robot 20, and FIG. 3 has been already described for the crane unit 30, so that the configuration of the controller 50 will be mainly described below. And
  • the controller 50 is a device that controls the operation of the robot 20 and the operation of the lifting / lowering operation of the crane unit 30 and causes the robot 20 and the crane unit 30 to cooperate. As shown in FIG. 4, the controller 50 is connected to the robot 20, the crane unit 30, the obstacle sensor S1, and the measurement sensor S2 so as to be able to communicate by wire or wirelessly.
  • the obstacle sensor S1 is a sensor such as an image sensor, an optical sensor, and a sound wave sensor that is mounted on the unmanned traveling vehicle 10 and detects an obstacle.
  • the controller 50 performs a process of restricting the operation of the robot 20 based on the detection result of the obstacle sensor S1. That is, the controller 50 performs a process of restricting the operation of the robot 20 to a range where the robot 20 and the crane unit 30 do not interfere with the obstacle.
  • the transport system 1 can prevent the robot 20 and the crane unit 30 following the robot 20 from interfering with obstacles such as walls and pillars as the robot 20 operates.
  • An example of the installation of the obstacle sensor S1 will be described later with reference to FIG.
  • the measurement sensor S2 is a sensor such as a 3D (Three-D) vision for three-dimensionally measuring the object 500 (see FIG. 1).
  • the controller 50 causes the robot 20 to perform the picking operation of the transferred object 500 based on the detection result of the measurement sensor S2.
  • the transport system 1 can unmanned loading and unloading of the transported object 500 with respect to the unmanned traveling vehicle 10. That is, the picking operation by the robot 20 can be used for both unloading and unloading.
  • An example of installation of the measurement sensor S2 will be described later with reference to FIG.
  • the controller 50 includes a control unit 51 and a storage unit 52.
  • the control unit 51 includes an operation control unit 51a, a gravity compensation unit 51b, a restriction unit 51c, and a transfer unit 51d.
  • the storage unit 52 stores teaching information 52a, compensation information 52b, restriction information 52c, and transported article information 52d.
  • the controller 50 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various circuits and the like. .
  • a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various circuits and the like.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • HDD Hard Disk Drive
  • the CPU of the computer functions as an operation control unit 51a, a gravity compensation unit 51b, a limiting unit 51c, and a transfer unit 51d of the control unit 51 by reading and executing a program stored in the ROM, for example.
  • At least one or all of the operation control unit 51a, the gravity compensation unit 51b, the restriction unit 51c, and the transfer unit 51d are configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). You can also.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • the storage unit 52 corresponds to, for example, a RAM or an HDD.
  • the RAM and the HDD can store the teaching information 52a, the compensation information 52b, the restriction information 52c, and the transported article information 52d.
  • the controller 50 may acquire the above-described programs and various information via another computer or a portable recording medium connected via a wired or wireless network.
  • the control unit 51 controls the operation of the robot 20 and the crane unit 30.
  • the operation control unit 51a operates the robot 20 based on the teaching information 52a.
  • the teaching information 52a is created at the teaching stage for the robot 20, and is information including a "job" which is a program that defines an operation path of the robot 20.
  • the operation control unit 51a improves the operation accuracy of the robot 20 by performing feedback control using an encoder value of an actuator such as a motor which is a drive source of the robot 20.
  • the operation control unit 51a notifies the gravity compensation unit 51b of the load state of the actuator at each joint, and restricts the operation of the robot 20 based on the notification from the restriction unit 51c.
  • the operation control unit 51a causes the robot 20 to perform a transfer operation of the transferred object 500 based on the notification from the transfer unit 51d.
  • the gravity compensation unit 51b operates the crane unit 30 based on the compensation information 52b.
  • the compensation information 52b is information including the upper limit load of each actuator corresponding to the payload of the robot 20, and the operation pattern of the servomotor 31 (see FIG. 3) in the crane unit 30.
  • the gravity compensation unit 51b compares the upper limit load of the compensation information 52b with the load state notified from the operation control unit 51a, and operates the servo motor 31 of the crane unit 30 so as not to exceed the upper limit load. Thereby, the transported object 500 having a weight exceeding the payload of the robot 20 can be transported or transferred to the robot 20.
  • the restriction unit 51c operates the robot 20 to avoid an obstacle based on the restriction information 52c.
  • the restriction information 52c is information including the length and height of the turning arm 33a (see FIG. 3) in the crane unit 30.
  • the restricting unit 51c may adjust the posture of the turning arm 33a that can avoid the obstacle based on the direction, height, size, distance to the obstacle, and the like of the obstacle included in the detection result of the obstacle sensor S1. (Horizontal direction) is calculated.
  • the restriction unit 51c notifies the operation control unit 51a of the avoidance operation of the robot 20 so that the turning arm 33a follows the calculated posture. Accordingly, since the turning arm 33a turns following the avoiding operation of the robot 20, it is possible to prevent the turning arm 33a from interfering with an obstacle.
  • the transfer unit 51d operates the robot 20 to transfer the transferred object 500 based on the transferred object information 52d.
  • the transported object information 52d is information including the three-dimensional shape of one or more types of transported objects 5000. Further, the weight of the transported object 50 for each type may be included in the transported object information 52d.
  • the transfer unit 51d compares the orientation and size of the transferred object 500, the distance to the transferred object 500, and the like, which are included in the detection result of the measurement sensor S2, with the transferred object information 52d. The type of the object 500 is determined. Then, the transfer unit 51d operates the robot 20 via the operation control unit 51a so as to transfer the transported object 500 of the determined type. Thereby, the robot 20 can pick the transported objects 500 that have been piled up in bulk and place the picked transported objects 500 in an aligned state.
  • the controller 50 causes the robot 20 and the crane unit 30 to perform a cooperative operation.
  • the controller 50 may further control the traveling state of the unmanned traveling vehicle 10. For example, when the obstacle sensor S1 detects an obstacle, the traveling direction of the unmanned traveling vehicle 10 may be changed so as to avoid the obstacle, or the unmanned traveling vehicle 10 may be stopped.
  • the robot 20 stops the unmanned traveling vehicle 10 at a position where the transferred object 500 is easily picked, or moves the unmanned vehicle 10 at a position where the transferred object 500 is easily aligned.
  • the vehicle 10 may be stopped.
  • FIG. 5 is an explanatory diagram illustrating an example of a traveling route.
  • FIG. 5 is equivalent to the figure which looked at the layout of the production equipment in an assembly factory etc. from the upper direction.
  • booth B1 and booth B2 shown in FIG. 5 are unmanned work booths, and booth B3 and booth B4 are manned work booths where people may work. That is, the passage between the booth B1 or the booth B2 and the booth B3 is an unmanned passage, and the passage between the booth B3 and the booth B4 is a manned passage through which a person may pass.
  • FIG. 5 shows a case where the unmanned traveling vehicle 10 travels in the passage between the work booths, the unmanned traveling vehicle 10 may be made to enter a work booth such as the booth B3 or the booth B4.
  • the unmanned traveling vehicle 10 passes through the passage between the booth B1 and the booth B3, passes through the passage between the booth B2 and the booth B3, and changes the running direction of the booth B3 in a counterclockwise direction. It is assumed that the vehicle passes through a passage between B4 (see a broken arrow in FIG. 5). Here, it is assumed that the traveling route of the unmanned traveling vehicle 10 is predetermined including the stop position. It should be noted that the unmanned traveling vehicle 10 may travel on the traveling route while autonomously determining whether or not the vehicle is stopped and the stop time.
  • the unmanned traveling vehicle 10 turns the crane unit 30 to unload the tray T1 arranged in the booth B1.
  • the transported objects 500 stacked in bulk are included in the tray T1.
  • the unmanned traveling vehicle 10 repeats the operation of turning the crane unit 30, thereby picking the conveyed objects 500 piled up in the tray T1 one by one and aligning them at predetermined positions in the booth B2.
  • the unmanned traveling vehicle 10 rotates the crane unit 30 to place the transported object 500 in the booth B3 and also places the transported object 500 in the booth B4.
  • FIG. 5 illustrates a case where the transported objects 500 piled up on the tray T1 are unloaded to the unmanned traveling vehicle 10 and the transported objects 500 are unloaded to the respective work booths, a plurality of transported objects 500 are illustrated.
  • the objects 500 may be unloaded onto the unmanned traveling vehicle 10, respectively. Further, the unmanned traveling vehicle 10 may be run while appropriately repeating unloading and unloading. Further, the robot 20 may perform the assembling work of the transferred object 500 and the like inside and outside the work booth.
  • FIG. 6 is an explanatory diagram illustrating an example of installation of the obstacle sensor S1.
  • FIG. 6 corresponds to a side view of the unmanned traveling vehicle 10 on which the robot 20 and the crane unit 30 are mounted. It is assumed that the unmanned traveling vehicle 10 travels in the traveling direction D shown in FIG.
  • the obstacle sensor S1 is attached, for example, to the tip end of the swivel arm 33a of the crane unit 30, and sets a detection range SA1 at a position obliquely downward in the extension direction of the swivel arm 33a.
  • the detection range SA1 illustrated in FIG. 6 is an example, and the front or diagonally upper part may be included in the detection range SA1.
  • the obstacle sensor is provided at the tip end side of the turning arm 33a as described above.
  • FIG. 7 is an explanatory diagram illustrating an example of installation of the measurement sensor S2.
  • FIG. 7 corresponds to a side view of the unmanned traveling vehicle 10 on which the robot 20 and the crane unit 30 are mounted. It is assumed that the unmanned traveling vehicle 10 travels in the traveling direction D shown in FIG.
  • FIG. 7 illustrates a state in which the tray T1 in which the transported objects 500 are unloaded is unloaded onto the unmanned traveling vehicle 10.
  • the measurement sensor S2 is attached to the support column 34 of the crane unit 30, for example, so that the detection range SA2 is directed downward (Z-axis negative direction).
  • the measurement sensor S2 can measure the direction and the distance of the transported objects 500 piled up on the tray T1, and the robot 20 moves the hand 40 to an arbitrary position and direction to transfer the transported objects 500. Goods 500 can be picked well.
  • the tray T1 is illustrated in FIG. 7, the transported objects 500 may be stacked without using the tray T1, or the transported objects 500 may be aligned.
  • the measurement sensor S2 may be attached to the robot 20 instead of the support column 34 (see the measurement sensor S2 indicated by a broken line). In this case, it is preferable to attach the measurement sensor S2 so that the detection range SA2 of the measurement sensor S2 faces the front end side of the robot 20.
  • FIG. 7 illustrates a case where the measurement sensor S2 is attached to the wrist 24 of the robot 20.
  • the measurement sensor S2 is attached to the robot 20, it is possible to measure the direction and the like of the transferred object 500 unloaded on the unmanned traveling vehicle 10. Further, it is also possible to measure the direction of the transported object 500 to be unloaded to the unmanned traveling vehicle 10 (the transported object 500 placed outside the unmanned traveling vehicle 10). As described above, by using the measurement sensor S2, unloading and unloading of the transported object 500 with respect to the unmanned traveling vehicle 10 can be unmanned.
  • the picking operation by the robot 20 can be performed with high accuracy by using the measurement sensor S2, and therefore, the unloading and unloading of the transferred object 500 can be performed regardless of the mounting direction and the size of the transferred object 500. Becomes possible. Further, it is possible to change the position and the direction of the transferred object 500 placed outside the unmanned traveling vehicle 10.
  • FIG. 8 is a flowchart illustrating a processing procedure of the transport system 1.
  • FIG. 8 shows a processing procedure from a state where the hand 40 (see FIG. 3) suspended from the crane unit 30 is detached from the robot 20 (see FIG. 2).
  • FIG. 8 illustrates a case where one conveyed object 500 is unloaded to the unmanned traveling vehicle 10 and the conveyed object 500 is unloaded at the destination from the viewpoint of making the description easy to understand.
  • the operation control unit 51a of the controller 50 instructs the robot 20 to connect the hand 40 suspended by the crane unit 30 to the robot 20 (Step S101). Then, the robot 20 is instructed to grip the transported object 500 with the hand 40 (step S102).
  • the gravity compensating unit 51b of the controller 50 instructs the robot 20 and the crane unit 30 to perform a cooperative operation between the lifting operation of the lifting unit 32 in the crane unit 30 and the robot 20 (step S103).
  • the gravity compensating unit 51b may always cooperate the robot 20 and the crane unit 30 so that the crane unit 30 performs the gravity compensation of the robot 20.
  • the unmanned traveling vehicle 10 starts traveling to the destination according to a predetermined traveling route (step S104).
  • the restriction unit 51c of the controller 50 determines whether an obstacle is detected by the obstacle sensor S1 (Step S105).
  • Step S105 When an obstacle is detected (Step S105, Yes), the restriction unit 51c instructs the robot 20 to turn the turning arm 33a in a direction to avoid the obstacle via the operation control unit 51a (Step S105). Step S106). As described above, the turning arm 33a turns following the operation of the robot 20. If the determination condition of step S105 is not satisfied (step S105, No), the process of step S105 is repeated.
  • the unmanned traveling vehicle 10 stops traveling at a predetermined destination (step S107). Further, the gravity compensating unit 51b of the controller 50 instructs the robot 20 and the crane unit 30 to cooperate with the lowering operation of the elevating unit 32 in the crane unit 30 and the robot 20 (step S108). Then, the operation control unit 51a instructs the robot 20 to release the transferred object 500 (Step S109), and ends the processing.
  • the transport system 1 includes the unmanned traveling vehicle 10, the robot 20, the crane unit 30, and the controller 50.
  • the unmanned traveling vehicle 10 travels unmanned.
  • the robot 20 is mounted on the unmanned traveling vehicle 10 and moves the hand 40 capable of holding the transported object 500.
  • the crane unit 30 suspends and supports the transported object 500 or the hand 40 so as to be able to move up and down.
  • the controller 50 causes the robot 20 and the crane unit 30 to cooperate.
  • the transport system 1 is capable of unmannedly transporting the transported object 500 having various weights, such as the transported object 500 exceeding the payload of the robot 20, from an arbitrary location to a target location. Can be. Therefore, it is possible to achieve unmanned production equipment such as an assembly factory.
  • the number of axes of the human cooperative robot may be less than six or more than six.
  • a robot other than the human cooperative robot may be used as the robot 20.
  • the crane unit 30 includes the turning arm 33a that turns around the turning axis A30 in accordance with the operation of the robot 20, but the turning arm 33a turns around the turning axis A30. It may include a servomotor. In this case, the servo motor is controlled by the controller 50 so as to cooperate with the robot 20, similarly to the servo motor 31 shown in FIG.

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Abstract

This transport system (1) comprises an unmanned travel vehicle (10), a robot (20), a crane unit (30), and a controller (50). The unmanned travel vehicle (10) travels in an unmanned state. The robot (20) is mounted on the unmanned travel vehicle (10), the robot (20) causing a hand (40) (40) that is capable of holding an object to be transported (500) to move. The crane unit (30) is mounted on the unmanned travel vehicle (10), the crane (30) supporting the object to be transported (500) or the hand (40) in a suspended manner so as to be capable of ascending and descending. The controller (50) causes the robot (20) and the crane unit (30) to operate in a coordinated manner. The crane unit (30) comprises a servo motor, an ascending/descending unit that is driven by the servo motor, and a movement mechanism that causes the ascending/descending unit to move horizontally in accordance with operation of the robot (20).

Description

搬送システムおよび搬送方法Transfer system and transfer method
　開示の実施形態は、搬送システムおよび搬送方法に関する。 The disclosed embodiments relate to a transport system and a transport method.
　従来、ワークの自重を支えるクレーンなどの自重補償装置を用いることで、被搬送物を搬送するロボットの負荷を軽減する技術が知られている。 技術 Conventionally, there has been known a technology for reducing the load on a robot that conveys an object to be conveyed by using a self-weight compensator such as a crane that supports the self-weight of the work.
　また、人によって手押しされる移動台車にロボットおよび自重補償装置を搭載することで、ロボットを移動可能とするロボットシステムも提案されている（たとえば、特許文献１参照）。 A robot system has also been proposed in which a robot and a self-weight compensating device are mounted on a mobile trolley that is manually pushed by a person, thereby enabling the robot to move (for example, see Patent Document 1).
特開２０００－１９８０９１号公報JP 2000-198091 A
　しかしながら、上記した従来のロボットシステムには、組み立て工場などの生産設備の無人化を図るうえで、改善の余地がある。 However, the above-mentioned conventional robot system has room for improvement in making unmanned production equipment such as an assembly factory.
　実施形態の一態様は、生産設備の無人化を図ることができる搬送システムおよび搬送方法を提供することを目的とする。 One object of one embodiment of the present invention is to provide a transport system and a transport method that can achieve unmanned production facilities.
　実施形態の一態様に係る搬送システムは、無人走行車と、ロボットと、クレーンユニットと、コントローラとを備える。無人走行車は、無人で走行する。ロボットは、無人走行車に搭載され、被搬送物を保持可能なハンドを移動させる。クレーンユニットは、無人走行車に搭載され、被搬送物またはハンドを昇降可能に懸垂して支持する。コントローラは、ロボットおよびクレーンユニットを協調動作させる。 The transport system according to one aspect of the embodiment includes an unmanned traveling vehicle, a robot, a crane unit, and a controller. An unmanned traveling vehicle travels unmanned. The robot is mounted on an unmanned traveling vehicle and moves a hand capable of holding a transferred object. The crane unit is mounted on an unmanned traveling vehicle, and supports a conveyed object or a hand in a vertically movable manner. The controller causes the robot and the crane unit to cooperate.
　また、実施形態の一態様に係る搬送方法は、無人走行車と、ロボットと、クレーンユニットと、コントローラとを用いる。無人走行車は、無人で走行する。ロボットは、無人走行車に搭載され、被搬送物を保持可能なハンドを移動させる。クレーンユニットは、無人走行車に搭載され、被搬送物またはハンドを昇降可能に懸垂して支持する。コントローラは、ロボットおよびクレーンユニットを協調動作させる。コントローラは、ロボットおよびクレーンユニットを協調動作させることで、ロボットの可搬重量を超える被搬送物をロボットに搬送させる。 搬 送 Further, the transfer method according to one aspect of the embodiment uses an unmanned traveling vehicle, a robot, a crane unit, and a controller. An unmanned traveling vehicle travels unmanned. The robot is mounted on an unmanned traveling vehicle and moves a hand capable of holding a transferred object. The crane unit is mounted on an unmanned traveling vehicle, and supports a conveyed object or a hand in a vertically movable manner. The controller causes the robot and the crane unit to cooperate. The controller causes the robot to convey a conveyed object exceeding the load capacity of the robot by causing the robot and the crane unit to cooperate.
　実施形態の一態様によれば、生産設備の無人化を図ることが可能となる搬送システムおよび搬送方法を提供することができる。 According to one aspect of the embodiment, it is possible to provide a transport system and a transport method that enable unmanned production equipment.
図１は、実施形態に係る搬送システムの概要を示す説明図である。FIG. 1 is an explanatory diagram illustrating an outline of the transport system according to the embodiment. 図２は、ロボットの構成を示す斜視図である。FIG. 2 is a perspective view showing the configuration of the robot. 図３は、クレーンユニットの構成を示す斜視図である。FIG. 3 is a perspective view showing the configuration of the crane unit. 図４は、搬送システムの構成を示すブロック図である。FIG. 4 is a block diagram illustrating a configuration of the transport system. 図５は、走行経路の一例を示す説明図である。FIG. 5 is an explanatory diagram illustrating an example of a traveling route. 図６は、障害物センサの設置例を示す説明図である。FIG. 6 is an explanatory diagram illustrating an example of installation of an obstacle sensor. 図７は、計測センサの設置例を示す説明図である。FIG. 7 is an explanatory diagram illustrating an example of installation of the measurement sensors. 図８は、搬送システムの処理手順を示すフローチャートである。FIG. 8 is a flowchart illustrating a processing procedure of the transport system.
　以下、添付図面を参照して、本願の開示する搬送システムおよび搬送方法を詳細に説明する。なお、以下に示す実施形態によりこの発明が限定されるものではない。 Hereinafter, a transport system and a transport method disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited by the embodiments described below.
　また、以下に示す実施形態では、「直交」、「垂直」、「平行」、「水平」あるいは「鉛直」といった表現を用いるが、厳密にこれらの状態を満たすことを要しない。すなわち、上記した各表現は、製造精度、設置精度などのずれを許容するものとする。 In the embodiments described below, expressions such as “orthogonal”, “vertical”, “parallel”, “horizontal” or “vertical” are used, but it is not necessary to strictly satisfy these conditions. That is, each of the above expressions allows deviations in manufacturing accuracy, installation accuracy, and the like.
　まず、実施形態に係る搬送システムの概要について図１を用いて説明する。図１は、実施形態に係る搬送システム１の概要を示す説明図である。なお、図１には、鉛直上向きを正方向とするＺ軸を併せて示している。かかるＺ軸は、他の図面においても示す場合がある。なお、Ｚ軸と直交する平面は、水平面に相当する。 First, an outline of the transport system according to the embodiment will be described with reference to FIG. FIG. 1 is an explanatory diagram illustrating an outline of a transport system 1 according to the embodiment. In addition, FIG. 1 also shows a Z-axis in which a vertically upward direction is a positive direction. Such Z axis may be shown in other drawings. Note that a plane orthogonal to the Z axis corresponds to a horizontal plane.
　図１に示すように、搬送システム１は、無人走行車１０と、ロボット２０と、クレーンユニット３０と、ハンド４０と、コントローラ５０とを備える。ここで、無人走行車１０は、たとえば、ＡＧＶ（Automatic　Guided　Vehicle）であり、人が運転操作を行わなくとも自動で走行することができる搬送車である。 As shown in FIG. 1, the transport system 1 includes an unmanned traveling vehicle 10, a robot 20, a crane unit 30, a hand 40, and a controller 50. Here, the unmanned traveling vehicle 10 is, for example, an AGV (Automatic Guided Vehicle), and is a carrier vehicle that can travel automatically without a driving operation by a person.
　つまり、無人走行車１０は、人が運転したり手押ししたりすることなく、光学センサや、磁気センサ、自律誘導センサ等を用いることによって、自律的に走行したり、予め定められた経路を走行したりする搬送車のことを指す。 That is, the unmanned traveling vehicle 10 travels autonomously or travels on a predetermined route by using an optical sensor, a magnetic sensor, an autonomous guidance sensor, or the like without driving or pushing by hand. Refers to a transporting vehicle.
　たとえば、光学誘導式の搬送車は、レーザ光等を照射するとともに、壁や柱等に設置された反射板で反射された反射光を光学センサによって検出することで予め定められた経路を走行する。また、電磁誘導式の搬送車は、床等に設置された金属線に電流を流し、生じた磁場を磁気センサで検出することで予め定められた経路を走行する。なお、搬送車の誘導方式については例示した方式に限らず、様々な公知の方式をとることができる。 For example, an optically guided transport vehicle travels on a predetermined route by irradiating a laser beam or the like and detecting reflected light reflected by a reflector installed on a wall or a pillar by an optical sensor. . In addition, the electromagnetic induction type transport vehicle travels on a predetermined route by passing a current through a metal wire installed on a floor or the like and detecting a generated magnetic field with a magnetic sensor. It should be noted that the guide system of the transport vehicle is not limited to the illustrated system, and various known systems can be adopted.
　ロボット２０は、無人走行車１０に搭載され、被搬送物５００を保持可能なハンド４０を移動させる。ここで、本実施形態では、ロボット２０に対して着脱可能なハンド４０について説明するが、ロボット２０の先端等に固定されるハンドを用いることとしてもよい。なお、被搬送物５００は、ロボット２０の可搬重量を超えるツールや部品、半完成品や完成品であってもよい。 The robot 20 is mounted on the unmanned traveling vehicle 10 and moves the hand 40 capable of holding the transported object 500. Here, in the present embodiment, the hand 40 that can be attached to and detached from the robot 20 will be described. However, a hand fixed to the tip of the robot 20 or the like may be used. The transferred object 500 may be a tool or a part, a semi-finished product, or a finished product exceeding the payload of the robot 20.
　また、被搬送物５００を、ハンド４０で保持された状態で搬送することとしてもよいし、無人走行車１０に載置した状態で搬送することとしてもよい（図１における破線の被搬送物５００参照）。なお、ロボット２０の構成の詳細については、図２を用いて後述することとする。 Further, the transported object 500 may be transported while being held by the hand 40, or may be transported while being mounted on the unmanned traveling vehicle 10 (the transported object 500 indicated by a broken line in FIG. 1). reference). The configuration of the robot 20 will be described later in detail with reference to FIG.
　クレーンユニット３０は、無人走行車１０に搭載され、被搬送物５００またはハンド４０を昇降可能に懸垂して支持する。ハンド４０は、被搬送物５００を保持した状態でクレーンユニット３０の巻取り動作によって持ち上げられる。これにより、ロボット２０は、可搬重量を超える被搬送物５００を搬送することができる。 The crane unit 30 is mounted on the unmanned traveling vehicle 10 and supports the transported object 500 or the hand 40 by suspending it vertically. The hand 40 is lifted up by the winding operation of the crane unit 30 while holding the transported object 500. Thereby, the robot 20 can transport the transported object 500 exceeding the payload.
　一般的に、可搬重量が大きいほどロボット２０のサイズや重量は大きくなるので、クレーンユニット３０を併用することで、より小型の（可搬重量が小さい）ロボット２０の使用が可能となる。このため、無人走行車１０のサイズを小さくすることができ、より幅の狭い経路を走行することが可能となる。なお、クレーンユニット３０の構成の詳細については、図３を用いて後述する。 (4) In general, the larger the payload, the larger the size and weight of the robot 20. By using the crane unit 30 together, it is possible to use a smaller (small payload) robot 20. Therefore, the size of the unmanned traveling vehicle 10 can be reduced, and the vehicle can travel on a narrower route. The configuration of the crane unit 30 will be described later in detail with reference to FIG.
　ここで、本実施形態では、クレーンユニット３０がハンド４０を懸垂する場合について主に説明するが、クレーンユニット３０が、被搬送物５００を直接懸垂することとしてもよく、ロボット２０のアームを直接懸垂することとしてもよい。なお、クレーンユニット３０によって懸垂されるハンド４０を「懸垂ハンド」と呼ぶ場合がある。 Here, in the present embodiment, a case where the crane unit 30 suspends the hand 40 will be mainly described, but the crane unit 30 may suspend the transferred object 500 directly, or may directly suspend the arm of the robot 20. You may do it. Note that the hand 40 suspended by the crane unit 30 may be referred to as a “suspended hand”.
　たとえば、クレーンユニット３０によって昇降するフック等をロボット２０の動作によって被搬送物５００あるいは被搬送物５００に取り付けられたロープ等に引っ掛ける。そして、クレーンユニット３０の巻取り動作によって被搬送物５００を持ち上げながら、ロボット２０が被搬送物５００を所定の位置へ誘導することとしてもよい。 For example, a hook or the like which is moved up and down by the crane unit 30 is hooked on the object 500 or a rope attached to the object 500 by the operation of the robot 20. Then, the robot 20 may guide the transferred object 500 to a predetermined position while lifting the transferred object 500 by the winding operation of the crane unit 30.
　コントローラ５０は、ロボット２０の動作制御と、クレーンユニット３０における昇降動作の動作制御とを行うとともに、ロボット２０およびクレーンユニット３０を協調動作させる。つまり、コントローラ５０は、被搬送物５００の重力補償を行うようにクレーンユニット３０の昇降動作とロボット２０の動作とを制御する。これにより、ロボット２０は、可搬重量を超える被搬送物５００の搬送が可能となる。 The controller 50 controls the operation of the robot 20 and the operation of lifting and lowering the crane unit 30, and causes the robot 20 and the crane unit 30 to cooperate. That is, the controller 50 controls the operation of lifting and lowering the crane unit 30 and the operation of the robot 20 so as to compensate for the gravity of the transferred object 500. Thereby, the robot 20 can carry the transported object 500 exceeding the payload.
　なお、本実施形態では、コントローラ５０が、無人走行車１０に搭載される場合について主に説明するが、コントローラ５０を無人走行車１０に搭載しなくてもよい。たとえば、ロボット２０およびクレーンユニット３０と、コントローラ５０とに無線通信の機能を設けることとすれば、コントローラ５０を無人走行車１０以外の任意の場所（無人走行車１０が走行する環境や、インターネットなどのネットワーク環境）に設置することができる。 In the present embodiment, a case will be mainly described in which the controller 50 is mounted on the unmanned traveling vehicle 10, but the controller 50 does not have to be mounted on the unmanned traveling vehicle 10. For example, if the robot 20 and the crane unit 30 and the controller 50 are provided with a wireless communication function, the controller 50 can be mounted at any location other than the unmanned traveling vehicle 10 (the environment in which the unmanned traveling vehicle 10 travels, the Internet, etc.). Network environment).
　このように、搬送システム１によれば、ロボット２０の可搬重量を超える被搬送物５００など、様々な重量や形状の被搬送物５００を任意の場所から目的とする場所まで無人で搬送することができる。したがって、組み立て工場などの生産設備の無人化を図ることができる。 As described above, according to the transport system 1, the transported object 500 having various weights and shapes, such as the transported object 500 exceeding the payload of the robot 20, can be unmannedly transported from an arbitrary place to a target place. Can be. Therefore, unmanned production equipment such as an assembly factory can be achieved.
　次に、ロボット２０の構成について図２を用いて説明する。図２は、ロボット２０の構成を示す斜視図である。なお、図２には、無人走行車１０の上面に搭載されたロボット２０を示している。ここで、ロボット２０は、いわゆる「人協働ロボット」である。 Next, the configuration of the robot 20 will be described with reference to FIG. FIG. 2 is a perspective view showing the configuration of the robot 20. FIG. 2 shows the robot 20 mounted on the upper surface of the unmanned traveling vehicle 10. Here, the robot 20 is a so-called “human cooperative robot”.
　人協働ロボットとは、ロボットと人とを隔てる安全柵が不要なロボットであり、各関節のモータが、たとえば、出力８０Ｗ（ワット）以下であるロボットや、一定の外力を検知すると自動停止するなどの安全機能を有するロボットのことを指す。つまり、人協働ロボットとは、国際規格に準拠したロボットであり、人とロボットとで作業領域の共有が可能なロボットである。 The human collaborative robot is a robot that does not require a safety fence to separate the robot and the human, and automatically stops when the motor of each joint detects, for example, a robot having an output of 80 W (watt) or less or a constant external force. Refers to robots that have safety functions such as In other words, the human collaborative robot is a robot that complies with international standards, and is a robot that can share a work area between a human and a robot.
　また、ロボット２０は、基端側から先端側にかけて連通した内部空間を有しており、図２に示したツールチェンジャ１００に接続されるツール用のケーブルなどのケーブルをかかる内部空間に収容することが可能である。つまり、ロボット２０にダイレクトティーチングを行う際や、ロボット２０が作業を行う際に、上記したケーブルが邪魔にならない。 Further, the robot 20 has an internal space communicating from the base end side to the distal end side, and accommodates a cable such as a cable for a tool connected to the tool changer 100 shown in FIG. 2 in the internal space. Is possible. That is, when performing direct teaching to the robot 20 or when the robot 20 performs an operation, the above-mentioned cable does not interfere.
　図２に示したように、ロボット２０は、鉛直軸Ａ０～第５軸Ａ５の６軸を有するいわゆる垂直多関節ロボットである。ロボット２０は、基端側から先端側へ向けて、ベース部２０Ｂと、旋回部２０Ｓと、第１アーム２１と、第２アーム２２と、第３アーム２３と、手首部２４とを備える。また、手首部２４の先端側にはツールチェンジャ１００が設けられている。 ロ ボ ッ ト As shown in FIG. 2, the robot 20 is a so-called vertical articulated robot having six axes from a vertical axis A0 to a fifth axis A5. The robot 20 includes a base portion 20B, a turning portion 20S, a first arm 21, a second arm 22, a third arm 23, and a wrist portion 24 from the base end side to the tip end side. In addition, a tool changer 100 is provided on the tip side of the wrist 24.
　ベース部２０Ｂは、無人走行車１０の上面などの設置面に固定することができる。旋回部２０Ｓは、ベース部２０Ｂに支持され、上記した設置面と垂直な鉛直軸Ａ０まわりに旋回する。第１アーム２１は、基端側が旋回部２０Ｓに支持され、鉛直軸Ａ０と垂直な第１軸Ａ１まわりに旋回する。第２アーム２２は、基端側が第１アーム２１の先端側に支持され、第１軸Ａ１と平行な第２軸Ａ２まわりに旋回する。 The base portion 20B can be fixed to an installation surface such as the upper surface of the unmanned traveling vehicle 10. The turning portion 20S is supported by the base portion 20B, and turns around a vertical axis A0 perpendicular to the installation surface described above. The base end of the first arm 21 is supported by the turning portion 20S, and turns around the first axis A1 perpendicular to the vertical axis A0. The second arm 22 has a base end supported by the distal end of the first arm 21 and pivots around a second axis A2 parallel to the first axis A1.
　第３アーム２３は、基端側が第２アーム２２の先端側に支持され、第２軸Ａ２と垂直な第３軸Ａ３まわりに回転する。手首部２４は、基端部２４ａと、先端部２４ｂとを含む。基端部２４ａは、基端側が第３アーム２３の先端側に支持され、第３軸Ａ３と垂直な第４軸Ａ４まわりに旋回する。 The third arm 23 has its base end supported by the distal end of the second arm 22 and rotates around a third axis A3 perpendicular to the second axis A2. The wrist 24 includes a proximal end 24a and a distal end 24b. The proximal end portion 24a is supported on the distal end side of the third arm 23 on the proximal end side, and pivots around a fourth axis A4 perpendicular to the third axis A3.
　先端部２４ｂは、基端側が基端部２４ａの先端側に支持され、第４軸Ａ４と直交する第５軸Ａ５まわりに回転する。また、先端部２４ｂの先端側には、ツールチェンジャ１００が取り付けられる。ツールチェンジャ１００には、被搬送物５００（図１参照）を保持するハンド４０（図１参照）などを着脱可能に取り付けることができる。つまり、ハンド４０等のツールを被搬送物５００の重量や形状等に応じて付け替えることができる。 The distal end portion 24b is supported at the proximal end side on the distal end side of the proximal end portion 24a, and rotates around a fifth axis A5 orthogonal to the fourth axis A4. A tool changer 100 is attached to the distal end side of the distal end portion 24b. To the tool changer 100, a hand 40 (see FIG. 1) for holding a transferred object 500 (see FIG. 1) or the like can be detachably attached. That is, tools such as the hand 40 can be changed according to the weight, shape, and the like of the transferred object 500.
　次に、クレーンユニット３０の構成について図３を用いて説明する。図３は、クレーンユニット３０の構成を示す斜視図である。なお、図３には、無人走行車１０の上面に搭載されたクレーンユニット３０を示しているが、図２に示したロボット２０については記載を省略している。 Next, the configuration of the crane unit 30 will be described with reference to FIG. FIG. 3 is a perspective view showing the configuration of the crane unit 30. Although FIG. 3 shows the crane unit 30 mounted on the upper surface of the unmanned traveling vehicle 10, the description of the robot 20 shown in FIG. 2 is omitted.
　図３に示すように、クレーンユニット３０は、サーボモータ３１と、昇降部３２と、移動機構３３と、支持柱３４とを備える。なお、昇降部３２には、巻取り式のベルト３２ａを介してハンド４０が接続されている。なお、ベルト３２ａの代わりにワイヤーやロープ等を用いることとしてもよい。 ク レ ー ン As shown in FIG. 3, the crane unit 30 includes a servomotor 31, a lifting unit 32, a moving mechanism 33, and a support column. The elevating unit 32 is connected to a hand 40 via a take-up belt 32a. Note that a wire, a rope, or the like may be used instead of the belt 32a.
　ハンド４０には、たとえば、間隔を変更可能な一対の把持爪４１が設けられており、把持爪４１を開閉することで、被搬送物５００を保持したり、解放したりすることができる。また、ハンド４０には、着脱機構１１０が設けられている。着脱機構１１０は、図２に示したツールチェンジャ１００に対応する着脱機構である。 The hand 40 is provided with, for example, a pair of gripping claws 41 whose intervals can be changed. By opening and closing the gripping claws 41, the transported object 500 can be held or released. The hand 40 is provided with a detachable mechanism 110. The attachment / detachment mechanism 110 is an attachment / detachment mechanism corresponding to the tool changer 100 shown in FIG.
　なお、図３には、保持機構として把持爪４１を含んだハンド４０を例示したが、吸着機構や、多指形式のグリップ機構を含んだハンド４０を用いることとしてもよい。また、被搬送物５００を引っ掛けるための変形しない突起を単に有するハンド４０を用いることとしてもよい。 Although FIG. 3 illustrates the hand 40 including the gripping claws 41 as the holding mechanism, a hand 40 including a suction mechanism or a multi-fingered grip mechanism may be used. Further, the hand 40 having only a non-deformed protrusion for hooking the transferred object 500 may be used.
　また、ハンド４０としては、図３に示したように予めクレーンユニット３０に懸垂されたハンドの他、クレーンユニット３０に懸垂されていないハンドを用いることができる。つまり、ツールチェンジャ１００に対応する着脱機構１１０を有したハンドであればロボット２０（図２参照）に対する着脱が可能である。なお、クレーンユニット３０に懸垂されていないハンドは、無人走行車１０に搭載しておくこととすればよい。 As the hand 40, a hand that is not suspended from the crane unit 30 in addition to a hand suspended from the crane unit 30 in advance as shown in FIG. 3 can be used. That is, if the hand has the attachment / detachment mechanism 110 corresponding to the tool changer 100, attachment / detachment to / from the robot 20 (see FIG. 2) is possible. Note that a hand that is not suspended by the crane unit 30 may be mounted on the unmanned traveling vehicle 10.
　これにより、クレーンユニット３０に懸垂されたハンドと、その他のハンドとを適宜付け替えることができるので、被搬送物５００の大きさや形状、重量等に応じたハンドの使い分けが可能となる。たとえば、その他のハンドとして、ロボット２０の可搬重量未満の被搬送物５００用のハンドを無人走行車１０に搭載しておくことができる。 This allows the hand suspended from the crane unit 30 to be appropriately replaced with another hand, so that the hand to be used can be properly used according to the size, shape, weight, and the like of the transferred object 500. For example, as another hand, a hand for the transferred object 500 having a weight less than the payload of the robot 20 can be mounted on the unmanned traveling vehicle 10.
　このように、搬送対象となる被搬送物５００の大きさや形状、重量等に応じて適宜ハンドを付け替えることが可能である。なお、その他のハンドで被搬送物５００の搬送を試みてロボット２０の動作が困難であった場合に、クレーンユニット３０に懸垂されたハンドへ付け替えることとしてもよい。 As described above, it is possible to appropriately change hands according to the size, shape, weight, and the like of the transferred object 500 to be transferred. In addition, when the operation of the robot 20 is difficult due to the transfer of the transferred object 500 by another hand, the hand may be replaced with a hand suspended by the crane unit 30.
　図３に示したように、サーボモータ３１は、昇降部３２に設けられ、昇降部３２を駆動する。また、サーボモータ３１は、図１に示したコントローラ５０によって動作制御される。たとえば、サーボモータ３１は、正逆回転することで、昇降部３２にベルト３２ａの巻上げ動作、巻下げ動作を行わせる。 (3) As shown in FIG. 3, the servo motor 31 is provided in the elevating unit 32 and drives the elevating unit 32. The operation of the servo motor 31 is controlled by the controller 50 shown in FIG. For example, the servo motor 31 rotates the forward / backward rotation of the belt 32a by performing forward / reverse rotation.
　昇降部３２は、サーボモータ３１によって駆動され、ベルト３２ａを介してハンド４０を昇降させる。また、昇降部３２は、移動機構３３に取り付けられる。移動機構３３は、鉛直向きと平行な旋回軸Ａ３０まわりに自由に旋回可能な旋回アーム３３ａと、旋回アーム３３ａの延伸向きＤ３０に沿うガイド部３３ｂとを備える。 (4) The elevating unit 32 is driven by the servo motor 31 to elevate and lower the hand 40 via the belt 32a. The elevating unit 32 is attached to the moving mechanism 33. The moving mechanism 33 includes a turning arm 33a that can freely turn around a turning axis A30 parallel to the vertical direction, and a guide portion 33b that extends along the extension direction D30 of the turning arm 33a.
　支持柱３４は、無人走行車１０の上面に固定され旋回アーム３３ａの基端側を、旋回軸Ａ３０まわりに回転可能に支持する。このように、移動機構３３は、駆動源を持たず、外力を受けた昇降部３２の移動を水平方向に制限する。なお、昇降部３２は、旋回アーム３３ａの旋回範囲およびガイド部３３ｂの延伸範囲について自由に移動することができる。 The support column 34 is fixed to the upper surface of the unmanned traveling vehicle 10 and supports the base end side of the turning arm 33a so as to be rotatable around the turning axis A30. As described above, the moving mechanism 33 has no driving source, and restricts the movement of the elevating unit 32 that has received an external force in the horizontal direction. In addition, the elevating unit 32 can freely move about the turning range of the turning arm 33a and the extending range of the guide unit 33b.
　つまり、移動機構３３は、ハンド４０がロボット２０に接続された状態では、ロボット２０の動作に従動して昇降部３２を水平方向に自由に移動させることができる。移動機構３３を、図３に示した構成とすることで、クレーンユニット３０を単純な形状とすることができ、ロボット２０との干渉を生じにくくすることができる。これにより、ロボット２０に十分な可動範囲を与えることができる。 That is, when the hand 40 is connected to the robot 20, the moving mechanism 33 can move the elevating unit 32 freely in the horizontal direction following the operation of the robot 20. When the moving mechanism 33 is configured as shown in FIG. 3, the crane unit 30 can be formed in a simple shape, and interference with the robot 20 can be suppressed. Thereby, a sufficient movable range can be given to the robot 20.
　このように、クレーンユニット３０は、鉛直向きはサーボモータ３１で駆動するとともに、水平向きはロボット２０に従動させることで、構造を簡素化することができる。これにより、製造コストを低減することが可能となる。 As described above, the crane unit 30 can be simplified in structure by being driven by the servomotor 31 in the vertical direction and driven by the robot 20 in the horizontal direction. This makes it possible to reduce the manufacturing cost.
　なお、図３には、１つの旋回アーム３３ａを含む移動機構３３を例示したが、昇降部３２の移動を水平方向に制限する機構であれば他の機構であってもよい。たとえば、移動機構３３を外力によって自由に伸縮する水平リンク式のアームとしたり、水平な２つのガイド部３３ｂを、直交する向きに組み合わせた天板を用いたりすることとしてもよい。 Although FIG. 3 illustrates the moving mechanism 33 including one swivel arm 33a, other mechanisms may be used as long as the mechanism restricts the movement of the elevating unit 32 in the horizontal direction. For example, the moving mechanism 33 may be a horizontal link-type arm that freely expands and contracts by an external force, or a top plate in which two horizontal guide portions 33b are combined in an orthogonal direction may be used.
　次に、搬送システム１の構成について図４を用いて説明する。図４は、搬送システム１の構成を示すブロック図である。図４に示すように、搬送システム１は、無人走行車１０と、無人走行車１０に搭載されるロボット２０、クレーンユニット３０、障害物センサＳ１および計測センサＳ２と、コントローラ５０とを備える。 Next, the configuration of the transport system 1 will be described with reference to FIG. FIG. 4 is a block diagram illustrating a configuration of the transport system 1. As illustrated in FIG. 4, the transport system 1 includes an unmanned traveling vehicle 10, a robot 20 mounted on the unmanned traveling vehicle 10, a crane unit 30, an obstacle sensor S1, a measurement sensor S2, and a controller 50.
　なお、上記したように、コントローラ５０は、無人走行車１０に搭載しても、無人走行車１０とは別に設けることとしてもよい。また、無人走行車１０については図１を、ロボット２０については図２を、クレーンユニット３０については図３を、それぞれ用いて既に説明したので、以下では、コントローラ５０の構成について主に説明することとする。 As described above, the controller 50 may be mounted on the unmanned traveling vehicle 10 or may be provided separately from the unmanned traveling vehicle 10. 1 has been described for the unmanned traveling vehicle 10, FIG. 2 has been described for the robot 20, and FIG. 3 has been already described for the crane unit 30, so that the configuration of the controller 50 will be mainly described below. And
　コントローラ５０は、ロボット２０の動作制御と、クレーンユニット３０における昇降動作の動作制御とを行うとともに、ロボット２０およびクレーンユニット３０を協調動作させる装置である。また、図４に示したように、コントローラ５０には、ロボット２０、クレーンユニット３０、障害物センサＳ１および計測センサＳ２が有線または無線で通信可能に接続される。 The controller 50 is a device that controls the operation of the robot 20 and the operation of the lifting / lowering operation of the crane unit 30 and causes the robot 20 and the crane unit 30 to cooperate. As shown in FIG. 4, the controller 50 is connected to the robot 20, the crane unit 30, the obstacle sensor S1, and the measurement sensor S2 so as to be able to communicate by wire or wirelessly.
　ここで、障害物センサＳ１は、無人走行車１０に搭載され、障害物を検知する画像センサ、光学センサ、音波センサ等のセンサである。コントローラ５０は、障害物センサＳ１の検知結果に基づいてロボット２０の動作を制限する処理を行う。つまり、コントローラ５０は、ロボット２０の動作を、ロボット２０やクレーンユニット３０が障害物と干渉しない範囲に制限する処理を行う。 Here, the obstacle sensor S1 is a sensor such as an image sensor, an optical sensor, and a sound wave sensor that is mounted on the unmanned traveling vehicle 10 and detects an obstacle. The controller 50 performs a process of restricting the operation of the robot 20 based on the detection result of the obstacle sensor S1. That is, the controller 50 performs a process of restricting the operation of the robot 20 to a range where the robot 20 and the crane unit 30 do not interfere with the obstacle.
　これにより、搬送システム１は、ロボット２０の動作に伴ってロボット２０や、ロボット２０に従動するクレーンユニット３０が、壁や柱などの障害物と干渉する事態を防止することができる。なお、障害物センサＳ１の設置例については、図６を用いて後述することとする。 Accordingly, the transport system 1 can prevent the robot 20 and the crane unit 30 following the robot 20 from interfering with obstacles such as walls and pillars as the robot 20 operates. An example of the installation of the obstacle sensor S1 will be described later with reference to FIG.
　また、計測センサＳ２は、被搬送物５００（図１参照）を３次元計測する３Ｄ（スリーディー）ビジョン等のセンサである。コントローラ５０は、計測センサＳ２の検知結果に基づいてロボット２０に被搬送物５００のピッキング動作を行わせる。 {Circle around (2)} The measurement sensor S2 is a sensor such as a 3D (Three-D) vision for three-dimensionally measuring the object 500 (see FIG. 1). The controller 50 causes the robot 20 to perform the picking operation of the transferred object 500 based on the detection result of the measurement sensor S2.
　これにより、搬送システム１は、無人走行車１０に対する被搬送物５００の積み込みや積み下しを無人化することができる。つまり、ロボット２０によるピッキング動作を、荷揚げおよび荷降ろしの双方に用いることができる。なお、計測センサＳ２の設置例については、図７を用いて後述することとする。 Thereby, the transport system 1 can unmanned loading and unloading of the transported object 500 with respect to the unmanned traveling vehicle 10. That is, the picking operation by the robot 20 can be used for both unloading and unloading. An example of installation of the measurement sensor S2 will be described later with reference to FIG.
　図４に示したように、コントローラ５０は、制御部５１と、記憶部５２とを備える。制御部５１は、動作制御部５１ａと、重力補償部５１ｂと、制限部５１ｃと、移載部５１ｄとを備える。記憶部５２は、教示情報５２ａと、補償情報５２ｂと、制限情報５２ｃと、搬送物情報５２ｄとを記憶する。 (4) As shown in FIG. 4, the controller 50 includes a control unit 51 and a storage unit 52. The control unit 51 includes an operation control unit 51a, a gravity compensation unit 51b, a restriction unit 51c, and a transfer unit 51d. The storage unit 52 stores teaching information 52a, compensation information 52b, restriction information 52c, and transported article information 52d.
　ここで、コントローラ５０は、たとえば、ＣＰＵ（Central　Processing　Unit）、ＲＯＭ（Read　Only　Memory）、ＲＡＭ（Random　Access　Memory）、ＨＤＤ（Hard　Disk　Drive）、入出力ポートなどを有するコンピュータや各種の回路を含む。 Here, the controller 50 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various circuits and the like. .
　コンピュータのＣＰＵは、たとえば、ＲＯＭに記憶されたプログラムを読み出して実行することによって、制御部５１の動作制御部５１ａ、重力補償部５１ｂ、制限部５１ｃおよび移載部５１ｄとして機能する。 The CPU of the computer functions as an operation control unit 51a, a gravity compensation unit 51b, a limiting unit 51c, and a transfer unit 51d of the control unit 51 by reading and executing a program stored in the ROM, for example.
　また、動作制御部５１ａ、重力補償部５１ｂ、制限部５１ｃおよび移載部５１ｄの少なくともいずれか一つまたは全部をＡＳＩＣ（Application　Specific　Integrated　Circuit）やＦＰＧＡ（Field　Programmable　Gate　Array）等のハードウェアで構成することもできる。 At least one or all of the operation control unit 51a, the gravity compensation unit 51b, the restriction unit 51c, and the transfer unit 51d are configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). You can also.
　また、記憶部５２は、たとえば、ＲＡＭやＨＤＤに対応する。ＲＡＭやＨＤＤは、教示情報５２ａ、補償情報５２ｂ、制限情報５２ｃおよび搬送物情報５２ｄを記憶することができる。なお、コントローラ５０は、有線や無線のネットワークで接続された他のコンピュータや可搬型記録媒体を介して上記したプログラムや各種情報を取得することとしてもよい。 The storage unit 52 corresponds to, for example, a RAM or an HDD. The RAM and the HDD can store the teaching information 52a, the compensation information 52b, the restriction information 52c, and the transported article information 52d. Note that the controller 50 may acquire the above-described programs and various information via another computer or a portable recording medium connected via a wired or wireless network.
　制御部５１は、ロボット２０およびクレーンユニット３０の動作制御を行う。動作制御部５１ａは、教示情報５２ａに基づいてロボット２０を動作させる。ここで、教示情報５２ａは、ロボット２０に対するティーチング段階で作成され、ロボット２０の動作経路を規定するプログラムである「ジョブ」を含んだ情報である。 The control unit 51 controls the operation of the robot 20 and the crane unit 30. The operation control unit 51a operates the robot 20 based on the teaching information 52a. Here, the teaching information 52a is created at the teaching stage for the robot 20, and is information including a "job" which is a program that defines an operation path of the robot 20.
　また、動作制御部５１ａは、ロボット２０の駆動源であるモータ等のアクチュエータにおけるエンコーダ値を用いつつフィードバック制御を行うなどしてロボット２０の動作精度を向上させる。 {Circle around (4)} The operation control unit 51a improves the operation accuracy of the robot 20 by performing feedback control using an encoder value of an actuator such as a motor which is a drive source of the robot 20.
　さらに、動作制御部５１ａは、重力補償部５１ｂに対して各関節におけるアクチュエータの負荷状態を通知するとともに、制限部５１ｃからの通知に基づいてロボット２０の動作を制限する。また、動作制御部５１ａは、移載部５１ｄからの通知に基づいてロボット２０に被搬送物５００の移載動作を行わせる。 動作 Furthermore, the operation control unit 51a notifies the gravity compensation unit 51b of the load state of the actuator at each joint, and restricts the operation of the robot 20 based on the notification from the restriction unit 51c. In addition, the operation control unit 51a causes the robot 20 to perform a transfer operation of the transferred object 500 based on the notification from the transfer unit 51d.
　重力補償部５１ｂは、補償情報５２ｂに基づいてクレーンユニット３０を動作させる。ここで、補償情報５２ｂは、ロボット２０の可搬重量に対応する各アクチュエータの上限負荷や、クレーンユニット３０におけるサーボモータ３１（図３参照）の動作パターンを含んだ情報である。 The gravity compensation unit 51b operates the crane unit 30 based on the compensation information 52b. Here, the compensation information 52b is information including the upper limit load of each actuator corresponding to the payload of the robot 20, and the operation pattern of the servomotor 31 (see FIG. 3) in the crane unit 30.
　たとえば、重力補償部５１ｂは、補償情報５２ｂの上限負荷と、動作制御部５１ａから通知された負荷状態を比較し、かかる上限負荷を超えないようにクレーンユニット３０におけるサーボモータ３１を動作させる。これにより、ロボット２０の可搬重量を超える重量の被搬送物５００を、ロボット２０に搬送させたり、移載させたりすることができる。 {For example, the gravity compensation unit 51b compares the upper limit load of the compensation information 52b with the load state notified from the operation control unit 51a, and operates the servo motor 31 of the crane unit 30 so as not to exceed the upper limit load. Thereby, the transported object 500 having a weight exceeding the payload of the robot 20 can be transported or transferred to the robot 20.
　制限部５１ｃは、制限情報５２ｃに基づいて障害物を回避するようにロボット２０を動作させる。ここで、制限情報５２ｃは、クレーンユニット３０における旋回アーム３３ａ（図３参照）の長さや高さを含んだ情報である。 (4) The restriction unit 51c operates the robot 20 to avoid an obstacle based on the restriction information 52c. Here, the restriction information 52c is information including the length and height of the turning arm 33a (see FIG. 3) in the crane unit 30.
　たとえば、制限部５１ｃは、障害物センサＳ１の検知結果に含まれる障害物の方向や高さ、大きさ、障害物との距離等に基づき、障害物を回避することができる旋回アーム３３ａの姿勢（水平向き）を算出する。 For example, the restricting unit 51c may adjust the posture of the turning arm 33a that can avoid the obstacle based on the direction, height, size, distance to the obstacle, and the like of the obstacle included in the detection result of the obstacle sensor S1. (Horizontal direction) is calculated.
　そして、制限部５１ｃは、算出した姿勢に旋回アーム３３ａを従動させるべくロボット２０の回避動作を動作制御部５１ａへ通知する。これにより、ロボット２０の回避動作に従動して旋回アーム３３ａが旋回するので、旋回アーム３３ａが障害物に干渉する事態を防止することができる。 {Circle around (5)} The restriction unit 51c notifies the operation control unit 51a of the avoidance operation of the robot 20 so that the turning arm 33a follows the calculated posture. Accordingly, since the turning arm 33a turns following the avoiding operation of the robot 20, it is possible to prevent the turning arm 33a from interfering with an obstacle.
　移載部５１ｄは、搬送物情報５２ｄに基づいて被搬送物５００を移載するようにロボット２０を動作させる。ここで、搬送物情報５２ｄは、１つまたは複数種類の被搬送物５０００の３次元形状を含んだ情報である。また、搬送物情報５２ｄに、種類ごとの被搬送物５０の重量を含めることとしてもよい。 (5) The transfer unit 51d operates the robot 20 to transfer the transferred object 500 based on the transferred object information 52d. Here, the transported object information 52d is information including the three-dimensional shape of one or more types of transported objects 5000. Further, the weight of the transported object 50 for each type may be included in the transported object information 52d.
　たとえば、移載部５１ｄは、計測センサＳ２の検知結果に含まれる被搬送物５００の向きや大きさ、被搬送物５００との距離等と、搬送物情報５２ｄとを比較することにより、被搬送物５００の種類を判定する。そして、移載部５１ｄは、判定した種類の被搬送物５００を移載するように、動作制御部５１ａを介してロボット２０を動作させる。これにより、ロボット２０は、バラ積みされた被搬送物５００をピッキングしたり、ピッキングした被搬送物５００を整列させた状態で載置したりすることができる。 For example, the transfer unit 51d compares the orientation and size of the transferred object 500, the distance to the transferred object 500, and the like, which are included in the detection result of the measurement sensor S2, with the transferred object information 52d. The type of the object 500 is determined. Then, the transfer unit 51d operates the robot 20 via the operation control unit 51a so as to transfer the transported object 500 of the determined type. Thereby, the robot 20 can pick the transported objects 500 that have been piled up in bulk and place the picked transported objects 500 in an aligned state.
　なお、本実施形態では、コントローラ５０がロボット２０およびクレーンユニット３０を協調動作させる場合について説明するが、コントローラ５０が、さらに、無人走行車１０の走行状態を制御することとしてもよい。たとえば、障害物センサＳ１が障害物を検知した場合に、障害物を回避するように無人走行車１０の走行向きを変更したり、無人走行車１０を停車させたりすることとしてもよい。 In the present embodiment, a case will be described in which the controller 50 causes the robot 20 and the crane unit 30 to perform a cooperative operation. However, the controller 50 may further control the traveling state of the unmanned traveling vehicle 10. For example, when the obstacle sensor S1 detects an obstacle, the traveling direction of the unmanned traveling vehicle 10 may be changed so as to avoid the obstacle, or the unmanned traveling vehicle 10 may be stopped.
　また、計測センサＳ２が被搬送物５００を検知した場合に、ロボット２０が被搬送物５００をピッキングしやすい位置に無人走行車１０を停車させたり、被搬送物５００を整列させやすい位置に無人走行車１０を停車させたりすることとしてもよい。 When the measurement sensor S2 detects the transferred object 500, the robot 20 stops the unmanned traveling vehicle 10 at a position where the transferred object 500 is easily picked, or moves the unmanned vehicle 10 at a position where the transferred object 500 is easily aligned. The vehicle 10 may be stopped.
　次に、無人走行車１０の走行経路の例について図５を用いて説明する。図５は、走行経路の一例を示す説明図である。なお、図５は、組み立て工場などにおける生産設備のレイアウトを上方からみた図に相当する。 Next, an example of a traveling route of the unmanned traveling vehicle 10 will be described with reference to FIG. FIG. 5 is an explanatory diagram illustrating an example of a traveling route. In addition, FIG. 5 is equivalent to the figure which looked at the layout of the production equipment in an assembly factory etc. from the upper direction.
　また、図５に示すブースＢ１およびブースＢ２は、無人の作業ブースであり、ブースＢ３およびブースＢ４は、人が作業する場合もある有人の作業ブースであるものとする。つまり、ブースＢ１あるいはブースＢ２とブースＢ３との間の通路は無人の通路であり、ブースＢ３とブースＢ４との間の通路は人が通ることもある有人の通路であるものとする。 5) It is assumed that booth B1 and booth B2 shown in FIG. 5 are unmanned work booths, and booth B3 and booth B4 are manned work booths where people may work. That is, the passage between the booth B1 or the booth B2 and the booth B3 is an unmanned passage, and the passage between the booth B3 and the booth B4 is a manned passage through which a person may pass.
　ここで、図５では、ロボット２０（図２参照）の記載を省略しているが、ロボット２０は上記したように人協働ロボットであるので、有人の通路を走行しても問題ない。つまり、人協働ロボットを用いることで、人が存在する可能性のある領域（エリア）にも無人走行車１０を侵入させることができる。なお、図５では、無人走行車１０が作業ブース間の通路を走行する場合を示しているが、ブースＢ３やブースＢ４等の作業ブース内に無人走行車１０を侵入させることとしてもよい。 Here, in FIG. 5, the description of the robot 20 (see FIG. 2) is omitted, but since the robot 20 is a human cooperative robot as described above, there is no problem even if the robot 20 travels on a manned passage. That is, by using the human cooperative robot, the unmanned traveling vehicle 10 can enter the area (area) where a person may exist. Although FIG. 5 shows a case where the unmanned traveling vehicle 10 travels in the passage between the work booths, the unmanned traveling vehicle 10 may be made to enter a work booth such as the booth B3 or the booth B4.
　無人走行車１０は、ブースＢ１とブースＢ３との間の通路を通り、ブースＢ２とブースＢ３との間の通路を通り、ブースＢ３を反時計周りに走行向きを変更しつつ、ブースＢ３とブースＢ４との間の通路を通るものとする（図５の破線矢印参照）。ここで、無人走行車１０の走行経路は、停止位置も含めて予め定められているものとする。なお、無人走行車１０が停止の有無や停止時間を自律的に判定しつつ走行経路を走行することとしてもよい。 The unmanned traveling vehicle 10 passes through the passage between the booth B1 and the booth B3, passes through the passage between the booth B2 and the booth B3, and changes the running direction of the booth B3 in a counterclockwise direction. It is assumed that the vehicle passes through a passage between B4 (see a broken arrow in FIG. 5). Here, it is assumed that the traveling route of the unmanned traveling vehicle 10 is predetermined including the stop position. It should be noted that the unmanned traveling vehicle 10 may travel on the traveling route while autonomously determining whether or not the vehicle is stopped and the stop time.
　たとえば、無人走行車１０は、クレーンユニット３０を旋回させてブースＢ１に配置されたトレイＴ１を荷揚げする。ここで、トレイＴ１にはバラ積みされた被搬送物５００が含まれるものとする。 For example, the unmanned traveling vehicle 10 turns the crane unit 30 to unload the tray T1 arranged in the booth B1. Here, it is assumed that the transported objects 500 stacked in bulk are included in the tray T1.
　つづいて、無人走行車１０は、クレーンユニット３０を旋回させる動作を繰り返すことで、トレイＴ１にバラ積みされた被搬送物５００を１つずつピッキングし、ブースＢ２の所定の位置に整列させる。また、無人走行車１０は、クレーンユニット３０を旋回させてブースＢ３に被搬送物５００を載置するとともに、ブースＢ４にも被搬送物５００を載置する。 Next, the unmanned traveling vehicle 10 repeats the operation of turning the crane unit 30, thereby picking the conveyed objects 500 piled up in the tray T1 one by one and aligning them at predetermined positions in the booth B2. In addition, the unmanned traveling vehicle 10 rotates the crane unit 30 to place the transported object 500 in the booth B3 and also places the transported object 500 in the booth B4.
　なお、図５では、トレイＴ１にバラ積みされた被搬送物５００を無人走行車１０に荷揚げし、被搬送物５００を各作業ブースに荷降ろししていく場合を例示したが、複数の被搬送物５００をそれぞれ無人走行車１０に荷揚げすることとしてもよい。また、荷揚げと、荷降ろしとを適宜繰り返しつつ無人走行車１０を走行させることとしてもよい。さらに、作業ブース内や作業ブース外でロボット２０が被搬送物５００などの組み立て作業を行うこととしてもよい。 Although FIG. 5 illustrates a case where the transported objects 500 piled up on the tray T1 are unloaded to the unmanned traveling vehicle 10 and the transported objects 500 are unloaded to the respective work booths, a plurality of transported objects 500 are illustrated. The objects 500 may be unloaded onto the unmanned traveling vehicle 10, respectively. Further, the unmanned traveling vehicle 10 may be run while appropriately repeating unloading and unloading. Further, the robot 20 may perform the assembling work of the transferred object 500 and the like inside and outside the work booth.
　次に、障害物センサＳ１の設置例について図６を用いて説明する。図６は、障害物センサＳ１の設置例を示す説明図である。なお、図６は、ロボット２０およびクレーンユニット３０を搭載した無人走行車１０の側面図に相当する。また、無人走行車１０は、同図に示した走行方向Ｄに走行するものとする。 Next, an example of installation of the obstacle sensor S1 will be described with reference to FIG. FIG. 6 is an explanatory diagram illustrating an example of installation of the obstacle sensor S1. FIG. 6 corresponds to a side view of the unmanned traveling vehicle 10 on which the robot 20 and the crane unit 30 are mounted. It is assumed that the unmanned traveling vehicle 10 travels in the traveling direction D shown in FIG.
　障害物センサＳ１は、たとえば、クレーンユニット３０における旋回アーム３３ａの先端側に取り付けられ、旋回アーム３３ａの延伸向きにおける斜め下方を検出範囲ＳＡ１とする。なお、図６に示した検出範囲ＳＡ１は、一例であり、前方や、斜め上方を検出範囲ＳＡ１に含めることとしてもよい。 The obstacle sensor S1 is attached, for example, to the tip end of the swivel arm 33a of the crane unit 30, and sets a detection range SA1 at a position obliquely downward in the extension direction of the swivel arm 33a. Note that the detection range SA1 illustrated in FIG. 6 is an example, and the front or diagonally upper part may be included in the detection range SA1.
　上記したように、旋回アーム３３ａは、ロボット２０の動作に従動してＺ軸（鉛直方向）と平行な旋回軸Ａ３０まわりに旋回するので、上記したように旋回アーム３３ａの先端側に障害物センサＳ１を取り付けることで、ロボット２０や旋回アーム３３ａが障害物に干渉する事態を効果的に防止することができる。 As described above, since the turning arm 33a turns around the turning axis A30 parallel to the Z axis (vertical direction) following the operation of the robot 20, the obstacle sensor is provided at the tip end side of the turning arm 33a as described above. By attaching S1, it is possible to effectively prevent the robot 20 and the turning arm 33a from interfering with an obstacle.
　次に、計測センサＳ２の設置例について図７を用いて説明する。図７は、計測センサＳ２の設置例を示す説明図である。なお、図７は、ロボット２０およびクレーンユニット３０を搭載した無人走行車１０の側面図に相当する。また、無人走行車１０は、同図に示した走行方向Ｄに走行するものとする。 Next, an example of installation of the measurement sensor S2 will be described with reference to FIG. FIG. 7 is an explanatory diagram illustrating an example of installation of the measurement sensor S2. FIG. 7 corresponds to a side view of the unmanned traveling vehicle 10 on which the robot 20 and the crane unit 30 are mounted. It is assumed that the unmanned traveling vehicle 10 travels in the traveling direction D shown in FIG.
　また、図７では、被搬送物５００がバラ積みされたトレイＴ１を無人走行車１０に荷揚げした状態を例示している。図７に示すように、計測センサＳ２は、たとえば、クレーンユニット３０における支持柱３４に、検出範囲ＳＡ２が下向き（Ｚ軸負方向）となるように取り付けられる。 FIG. 7 illustrates a state in which the tray T1 in which the transported objects 500 are unloaded is unloaded onto the unmanned traveling vehicle 10. As shown in FIG. 7, the measurement sensor S2 is attached to the support column 34 of the crane unit 30, for example, so that the detection range SA2 is directed downward (Z-axis negative direction).
　これにより、計測センサＳ２は、トレイＴ１にバラ積みされた被搬送物５００の向きや距離を計測することができるので、ロボット２０は、ハンド４０を任意の位置および向きに移動させることで被搬送物５００を良好にピッキングすることが可能となる。なお、図７には、トレイＴ１を例示したが、トレイＴ１を用いずに被搬送物５００がバラ積みされていてもよく、被搬送物５００が整列されていてもよい。 Thereby, the measurement sensor S2 can measure the direction and the distance of the transported objects 500 piled up on the tray T1, and the robot 20 moves the hand 40 to an arbitrary position and direction to transfer the transported objects 500. Goods 500 can be picked well. Although the tray T1 is illustrated in FIG. 7, the transported objects 500 may be stacked without using the tray T1, or the transported objects 500 may be aligned.
　また、計測センサＳ２を、支持柱３４ではなく、ロボット２０に取り付けることとしてもよい（破線で示した計測センサＳ２参照）。この場合、計測センサＳ２の検出範囲ＳＡ２がロボット２０における先端側を向くように、計測センサＳ２を取り付けることが好ましい。なお、図７には、ロボット２０における手首部２４に計測センサＳ２が取り付けられた場合を例示している。 (4) The measurement sensor S2 may be attached to the robot 20 instead of the support column 34 (see the measurement sensor S2 indicated by a broken line). In this case, it is preferable to attach the measurement sensor S2 so that the detection range SA2 of the measurement sensor S2 faces the front end side of the robot 20. FIG. 7 illustrates a case where the measurement sensor S2 is attached to the wrist 24 of the robot 20.
　このように、計測センサＳ２をロボット２０に取り付けることとしても、無人走行車１０に荷揚げされた被搬送物５００の向き等を計測することができる。また、無人走行車１０への荷揚げ対象となる被搬送物５００（無人走行車１０外に載置された被搬送物５００）の向き等を計測することもできる。このように、計測センサＳ２を用いることで、無人走行車１０に対する被搬送物５００の荷揚げや荷降ろしを無人化することができる。 As described above, even if the measurement sensor S2 is attached to the robot 20, it is possible to measure the direction and the like of the transferred object 500 unloaded on the unmanned traveling vehicle 10. Further, it is also possible to measure the direction of the transported object 500 to be unloaded to the unmanned traveling vehicle 10 (the transported object 500 placed outside the unmanned traveling vehicle 10). As described above, by using the measurement sensor S2, unloading and unloading of the transported object 500 with respect to the unmanned traveling vehicle 10 can be unmanned.
　つまり、計測センサＳ２を用いることで、ロボット２０によるピッキング動作を高精度に行わせることができるので、被搬送物５００の載置向きや大きさに関わらず、被搬送物５００の荷揚げや荷降ろしが可能となる。また、無人走行車１０外に載置された被搬送物５００の位置や向きを変えることも可能となる。 In other words, the picking operation by the robot 20 can be performed with high accuracy by using the measurement sensor S2, and therefore, the unloading and unloading of the transferred object 500 can be performed regardless of the mounting direction and the size of the transferred object 500. Becomes possible. Further, it is possible to change the position and the direction of the transferred object 500 placed outside the unmanned traveling vehicle 10.
　次に、搬送システム１（図４参照）が実行する処理手順について図８を用いて説明する。図８は、搬送システム１の処理手順を示すフローチャートである。なお、図８には、クレーンユニット３０に懸垂されたハンド４０（図３参照）がロボット２０（図２参照）から取り外されている状態からの処理手順を示している。また、図８では、説明をわかりやすくする観点から、無人走行車１０に１つの被搬送物５００を荷揚げし、目的地で被搬送物５００を荷降ろしする場合について説明することとする。 Next, a processing procedure executed by the transport system 1 (see FIG. 4) will be described with reference to FIG. FIG. 8 is a flowchart illustrating a processing procedure of the transport system 1. FIG. 8 shows a processing procedure from a state where the hand 40 (see FIG. 3) suspended from the crane unit 30 is detached from the robot 20 (see FIG. 2). FIG. 8 illustrates a case where one conveyed object 500 is unloaded to the unmanned traveling vehicle 10 and the conveyed object 500 is unloaded at the destination from the viewpoint of making the description easy to understand.
　図８に示すように、コントローラ５０の動作制御部５１ａは、クレーンユニット３０に懸垂されたハンド４０をロボット２０に接続するようにロボット２０に指示する（ステップＳ１０１）。そして、ハンド４０で被搬送物５００を把持するようにロボット２０に指示する（ステップＳ１０２）。 As shown in FIG. 8, the operation control unit 51a of the controller 50 instructs the robot 20 to connect the hand 40 suspended by the crane unit 30 to the robot 20 (Step S101). Then, the robot 20 is instructed to grip the transported object 500 with the hand 40 (step S102).
　また、コントローラ５０の重力補償部５１ｂは、クレーンユニット３０における昇降部３２の上昇動作とロボット２０とを協調動作するようにロボット２０およびクレーンユニット３０に指示する（ステップＳ１０３）。なお、重力補償部５１ｂは、常に、クレーンユニット３０がロボット２０の重力補償を行うようにロボット２０およびクレーンユニット３０を協調動作させることとしてもよい。 The gravity compensating unit 51b of the controller 50 instructs the robot 20 and the crane unit 30 to perform a cooperative operation between the lifting operation of the lifting unit 32 in the crane unit 30 and the robot 20 (step S103). The gravity compensating unit 51b may always cooperate the robot 20 and the crane unit 30 so that the crane unit 30 performs the gravity compensation of the robot 20.
　つづいて、無人走行車１０は、予め定められた走行経路に従って目的地へ走行を開始する（ステップＳ１０４）。また、コントローラ５０の制限部５１ｃは、障害物センサＳ１によって障害物が検知されたか否かを判定する（ステップＳ１０５）。 Next, the unmanned traveling vehicle 10 starts traveling to the destination according to a predetermined traveling route (step S104). In addition, the restriction unit 51c of the controller 50 determines whether an obstacle is detected by the obstacle sensor S1 (Step S105).
　そして、障害物が検知された場合には（ステップＳ１０５，Ｙｅｓ）、制限部５１ｃは動作制御部５１ａを介して障害物を回避する向きに旋回アーム３３ａを旋回するようにロボット２０に指示する（ステップＳ１０６）。上記したように、旋回アーム３３ａはロボット２０の動作に従動して旋回するからである。なお、ステップＳ１０５の判定条件を満たさなかった場合には（ステップＳ１０５，Ｎｏ）、ステップＳ１０５の処理を繰り返す。 When an obstacle is detected (Step S105, Yes), the restriction unit 51c instructs the robot 20 to turn the turning arm 33a in a direction to avoid the obstacle via the operation control unit 51a (Step S105). Step S106). As described above, the turning arm 33a turns following the operation of the robot 20. If the determination condition of step S105 is not satisfied (step S105, No), the process of step S105 is repeated.
　無人走行車１０は、予め定められた目的地で走行を停止する（ステップＳ１０７）。また、コントローラ５０の重力補償部５１ｂは、クレーンユニット３０における昇降部３２の下降動作とロボット２０とを協調動作するようにロボット２０およびクレーンユニット３０に指示する（ステップＳ１０８）。そして、動作制御部５１ａは、被搬送物５００を解放するようにロボット２０に指示し（ステップＳ１０９）、処理を終了する。 The unmanned traveling vehicle 10 stops traveling at a predetermined destination (step S107). Further, the gravity compensating unit 51b of the controller 50 instructs the robot 20 and the crane unit 30 to cooperate with the lowering operation of the elevating unit 32 in the crane unit 30 and the robot 20 (step S108). Then, the operation control unit 51a instructs the robot 20 to release the transferred object 500 (Step S109), and ends the processing.
　上述してきたように、実施形態に係る搬送システム１は、無人走行車１０と、ロボット２０と、クレーンユニット３０と、コントローラ５０とを備える。無人走行車１０は、無人で走行する。ロボット２０は、無人走行車１０に搭載され、被搬送物５００を保持可能なハンド４０を移動させる。クレーンユニット３０は、被搬送物５００またはハンド４０を昇降可能に懸垂して支持する。コントローラ５０は、ロボット２０およびクレーンユニット３０を協調動作させる。 As described above, the transport system 1 according to the embodiment includes the unmanned traveling vehicle 10, the robot 20, the crane unit 30, and the controller 50. The unmanned traveling vehicle 10 travels unmanned. The robot 20 is mounted on the unmanned traveling vehicle 10 and moves the hand 40 capable of holding the transported object 500. The crane unit 30 suspends and supports the transported object 500 or the hand 40 so as to be able to move up and down. The controller 50 causes the robot 20 and the crane unit 30 to cooperate.
　このように、実施形態に係る搬送システム１は、ロボット２０の可搬重量を超える被搬送物５００など、様々な重量の被搬送物５００を任意の場所から目的とする場所まで無人で搬送することができる。したがって、組立工場などの生産設備の無人化を図ることが可能となる。 As described above, the transport system 1 according to the embodiment is capable of unmannedly transporting the transported object 500 having various weights, such as the transported object 500 exceeding the payload of the robot 20, from an arbitrary location to a target location. Can be. Therefore, it is possible to achieve unmanned production equipment such as an assembly factory.
　なお、上述した実施形態では、ロボット２０として６軸の人協働ロボットを用いる例を示したが、人協働ロボットの軸数は６軸より少なくても、６軸より多くても構わない。また、ロボット２０として人協働ロボット以外のロボットを用いることとしてもよい。 In the above-described embodiment, an example in which a six-axis human cooperative robot is used as the robot 20 has been described. However, the number of axes of the human cooperative robot may be less than six or more than six. Further, a robot other than the human cooperative robot may be used as the robot 20.
　また、上述した実施形態では、クレーンユニット３０が、ロボット２０の動作に従動して旋回軸Ａ３０まわりに旋回する旋回アーム３３ａを含む例を示したが、旋回軸Ａ３０まわりに旋回アーム３３ａを旋回させるサーボモータを含むこととしてもよい。この場合、かかるサーボモータは、図３に示したサーボモータ３１と同様に、コントローラ５０によってロボット２０と協調動作するように制御される。 In the above-described embodiment, the crane unit 30 includes the turning arm 33a that turns around the turning axis A30 in accordance with the operation of the robot 20, but the turning arm 33a turns around the turning axis A30. It may include a servomotor. In this case, the servo motor is controlled by the controller 50 so as to cooperate with the robot 20, similarly to the servo motor 31 shown in FIG.
　さらなる効果や変形例は、当業者によって容易に導き出すことができる。このため、本発明のより広範な態様は、以上のように表しかつ記述した特定の詳細および代表的な実施例に限定されるものではない。したがって、添付の請求の範囲およびその均等物によって定義される総括的な発明の概念の精神または範囲から逸脱することなく、様々な変更が可能である。 Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative examples shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.
　　　１　　搬送システム
　　１０　　無人走行車
　　２０　　ロボット
　　２０Ｂ　ベース部
　　２０Ｓ　旋回部
　　２１　　第１アーム
　　２２　　第２アーム
　　２３　　第３アーム
　　２４　　手首部
　　２４ａ　基端部
　　２４ｂ　先端部
　　３０　　クレーンユニット
　　３１　　サーボモータ
　　３２　　昇降部
　　３２ａ　ベルト
　　３３　　移動機構
　　３３ａ　旋回アーム
　　３３ｂ　ガイド部
　　３４　　支持柱
　　４０　　ハンド
　　４１　　把持爪
　　５０　　コントローラ
　　５１　　制御部
　　５１ａ　動作制御部
　　５１ｂ　重力補償部
　　５１ｃ　制限部
　　５１ｄ　移載部
　　５２　　記憶部
　　５２ａ　教示情報
　　５２ｂ　補償情報
　　５２ｃ　制限情報
　　５２ｄ　搬送物情報
　１００　　ツールチェンジャ
　１１０　　着脱機構
　５００　　被搬送物
　　Ａ０　　鉛直軸
　　Ａ１　　第１軸
　　Ａ２　　第２軸
　　Ａ３　　第３軸
　　Ａ４　　第４軸
　　Ａ５　　第５軸
　Ａ３０　　旋回軸
　　Ｓ１　　障害物センサ
　　Ｓ２　　計測センサ DESCRIPTION OF SYMBOLS 1 Transport system 10 Unmanned traveling vehicle 20 Robot 20B Base part 20S Revolving part 21 First arm 22 Second arm 23 Third arm 24 Wrist part 24a Base end part 24b Tip part 30 Crane unit 31 Servo motor 32 Elevating part 32a Belt 33 Move Mechanism 33a Swivel arm 33b Guide part 34 Support post 40 Hand 41 Gripping claw 50 Controller 51 Control part 51a Operation control part 51b Gravity compensation part 51c Restriction part 51d Transfer part 52 Storage part 52a Teaching information 52b Compensation information 52c Restriction information 52d Transportation Information 100 Tool changer 110 Attaching / detaching mechanism 500 Conveyed object A0 Vertical axis A1 First axis A2 Second axis A3 Third axis A4 Fourth axis A5 Fifth axis A30 Rotating axis S1 Obstacle sensor S2 Measurement sensor

Claims (9)

  1. 　無人で走行する無人走行車と、
    　前記無人走行車に搭載され、被搬送物を保持可能なハンドを移動させるロボットと、
    　前記無人走行車に搭載され、前記被搬送物または前記ハンドを昇降可能に懸垂して支持するクレーンユニットと、
    　前記ロボットおよび前記クレーンユニットを協調動作させるコントローラと
    　を備えることを特徴とする搬送システム。     An unmanned vehicle that runs unmanned,
    A robot mounted on the unmanned traveling vehicle and moving a hand capable of holding a transferred object;
    A crane unit mounted on the unmanned traveling vehicle and suspending and supporting the transferred object or the hand in a vertically movable manner;
    And a controller for causing the robot and the crane unit to perform a cooperative operation.
  2. 　前記クレーンユニットは
    　サーボモータと、
    　前記サーボモータによって駆動される昇降部と、
    　前記ロボットの動作に従動して前記昇降部を水平方向に移動させる移動機構と
    　を備えることを特徴とする請求項１に記載の搬送システム。     The crane unit includes a servomotor,
    A lifting unit driven by the servomotor,
    The transfer system according to claim 1, further comprising: a moving mechanism that moves the elevating unit in a horizontal direction in accordance with an operation of the robot.
  3. 　前記移動機構は、
    　前記無人走行車に固定される支持柱に対して旋回する旋回アームと、
    　前記旋回アームに設けられ、該旋回アームに沿って前記昇降部の移動をガイドするガイド部と
    　を備えることを特徴とする請求項２に記載の搬送システム。     The moving mechanism,
    A turning arm that turns with respect to a support column fixed to the unmanned traveling vehicle,
    3. The transport system according to claim 2, further comprising: a guide unit provided on the swing arm, for guiding movement of the elevating unit along the swing arm. 4.
  4. 　前記コントローラは、
    　前記ロボットが支える前記被搬送物による重力が小さくなるように、前記サーボモータの動作と前記ロボットの動作とを協調動作させる重力補償部
    　を備えることを特徴とする請求項２または３に記載の搬送システム。     The controller is
    4. The transport according to claim 2, further comprising: a gravity compensating unit that performs an operation of the servo motor and an operation of the robot in a coordinated manner so that gravity of the transported object supported by the robot is reduced. 5. system.
  5. 　前記ロボットは、
    　ツールチェンジャを備え、
    　複数の前記ハンドは、
    　前記クレーンユニットに懸垂される懸垂ハンドを含み、前記ツールチェンジャに対して着脱可能な着脱機構をそれぞれ備えること
    　を特徴とする請求項１～４のいずれか一つに記載の搬送システム。     The robot is
    Equipped with a tool changer,
    The plurality of hands are
    The transport system according to any one of claims 1 to 4, further comprising a detachable mechanism that includes a suspending hand suspended from the crane unit and that is detachable from the tool changer.
  6. 　前記ロボットは、
    　人と作業領域の共有が可能な人協働ロボットであること
    　を特徴とする請求項１～５のいずれか一つに記載の搬送システム。     The robot is
    The transport system according to any one of claims 1 to 5, wherein the transport system is a human collaboration robot capable of sharing a work area with a human.
  7. 　障害物を検知する障害物センサ
    　をさらに備え、
    　前記コントローラは、
    　前記障害物センサの検知結果に基づいて前記ロボットの動作を制限する制限部
    　をさらに備えること
    　を特徴とする請求項１～６のいずれか一つに記載の搬送システム。     It further includes an obstacle sensor that detects obstacles,
    The controller is
    The transport system according to any one of claims 1 to 6, further comprising a restriction unit configured to restrict an operation of the robot based on a detection result of the obstacle sensor.
  8. 　前記被搬送物を３次元計測する計測センサ
    　をさらに備え、
    　前記コントローラは、
    　前記計測センサの検知結果に基づいて前記ロボットに前記被搬送物のピッキング動作を行わせる移載部をさらに備えること
    　を特徴とする請求項１～７のいずれか一つに記載の搬送システム。     A measurement sensor for three-dimensionally measuring the transported object;
    The controller is
    The transport system according to any one of claims 1 to 7, further comprising a transfer unit that causes the robot to perform a picking operation of the transported object based on a detection result of the measurement sensor.
  9. 　無人で走行する無人走行車と、
    　前記無人走行車に搭載され、被搬送物を保持可能なハンドを移動させるロボットと、
    　前記無人走行車に搭載され、前記被搬送物または前記ハンドを昇降可能に懸垂して支持するクレーンユニットと
    　前記ロボットおよび前記クレーンユニットを協調動作させるコントローラと
    を用い、
    　前記コントローラは、
    　前記ロボットおよび前記クレーンユニットを協調動作させることで、前記ロボットの可搬重量を超える前記被搬送物を前記ロボットに搬送させること
    　を特徴とする搬送方法。     An unmanned traveling vehicle that runs unmanned,
    A robot mounted on the unmanned traveling vehicle and moving a hand capable of holding a transferred object;
    A crane unit mounted on the unmanned traveling vehicle and suspending and supporting the transferred object or the hand so as to be able to move up and down, and a controller that cooperates the robot and the crane unit,
    The controller is
    The transfer method, wherein the robot and the crane unit cooperate with each other to cause the robot to transfer the object to be transferred that exceeds the load capacity of the robot.
PCT/JP2018/030867 2018-08-21 2018-08-21 Transport system and transport method WO2020039508A1 (en)

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WO2022189681A1 (en) * 2021-03-09 2022-09-15 Talleres J. Angel Bacaicoa, S.L. Load manipulation device

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