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WO2018212194A1 - Système de préhension - Google Patents

Système de préhension Download PDF

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Publication number
WO2018212194A1
WO2018212194A1 PCT/JP2018/018797 JP2018018797W WO2018212194A1 WO 2018212194 A1 WO2018212194 A1 WO 2018212194A1 JP 2018018797 W JP2018018797 W JP 2018018797W WO 2018212194 A1 WO2018212194 A1 WO 2018212194A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
finger
tilting
contact
contact surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/018797
Other languages
English (en)
Japanese (ja)
Inventor
松尾　芳一
晋治 川畑
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
THK Co Ltd
Original Assignee
THK Co Ltd
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.)
Filing date
Publication date
Application filed by THK Co Ltd filed Critical THK Co Ltd
Priority to JP2019518812A priority Critical patent/JPWO2018212194A1/ja
Publication of WO2018212194A1 publication Critical patent/WO2018212194A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a gripping system for gripping an object by a hand mechanism having at least two fingers.
  • Patent Document 1 discloses a technique related to an end effector using an adsorption device that adsorbs an object by suction.
  • the end effector has three fingers. Each finger rotates by a plurality of actuators, and the proximal phalanx, the first middle phalanx, the second middle phalanx, and the distal phalanx rotate. Driven or driven by relative refraction. In this way, each finger part is driven with multiple degrees of freedom, so that the suction device provided on each finger part is brought close to the target object along the normal direction of the surface of the target object. The suction effect can be applied to the object.
  • the hand mechanism When an object is to be gripped by the hand mechanism, it is necessary to place the finger part of the hand mechanism with respect to the object so that the object is sandwiched. Therefore, when there is no space for placing the finger part around the object, or when the predetermined surface of the object that the finger part contacts to hold with the finger part is not exposed, the hand mechanism It becomes difficult to grip the object. For example, in a state where a plurality of objects of the same type are placed side by side in a container or the like, if an object is to be gripped one by one, the adjacent object or container is obstructed by the hand mechanism. Grasping the object can be difficult.
  • a gripping device including a suction device that sucks a target object widely is used.
  • a suction device it is necessary to prepare the suction device according to the shape, structure, etc. of the target in order to appropriately apply the suction force to the target.
  • the versatility is greatly hindered.
  • the suction force by the suction device may be difficult to act or the trace of the suction may remain, and it has not yet been possible to provide a highly versatile gripping system.
  • the present invention has been made in view of the above-described problems, and is a highly versatile gripping that enables gripping of an object without being affected as much as possible by the situation where the object is arranged.
  • the purpose is to provide a system.
  • a configuration is adopted in which the gripping object is shifted so that the gripping object can be gripped. Then, the content of the operation for shifting the gripping object and the operation content for gripping the shifted gripping object are determined. With such a configuration, it is possible to realize gripping that is not easily affected by the arrangement state of the object.
  • the present invention is a gripping system for taking out an object stored by a hand mechanism having at least two fingers from a storage container in which a plurality of objects are stored,
  • a gripping object determining unit that determines a gripping object to be gripped among a plurality of objects based on an exposed area of each of the objects in a state of being accommodated in the storage container, and the gripping object
  • a first operation contact surface for contacting a first finger part of the at least two finger parts for a first action of pressing the object against another object different from the grasped object.
  • And at least for the second operation of gripping the gripping object which is different from the first motion contact surface and is shifted by the first motion.
  • Two fingers Comprising a second operation determining unit that determines a second operation for the contact surfaces for contacting the second finger Chi, a.
  • the present invention is a gripping system for taking out a stored object from a storage container in which a plurality of objects are stored by a hand mechanism having at least two fingers.
  • An acquisition unit for acquiring environmental information including at least information on the position of the target object and the arrangement of the target objects in the storage container, and the target stored in the storage container based on the environmental information
  • a determination unit that determines whether or not a predetermined gripping surface for holding the object sandwiched between the fingers of the hand mechanism from a pairing direction is exposed when gripping an object; and the plurality of objects
  • a gripping object determining unit that determines a gripping target object to be gripped may be provided.
  • each of the states stored in the storage container is calculated from the environmental information when the determination unit determines that the predetermined gripping surface is not exposed by the determination unit.
  • the gripping object may be determined based on the exposed area of the object.
  • the gripping system may be configured such that the gripping target is different from the gripping target based on an exposed area of the gripping target that is stored in the storage container, calculated from the environment information.
  • a first motion determining unit that determines a first motion contact surface that contacts the first finger portion of the at least two finger portions for a first motion that is shifted while being pressed against the object; and for the first motion Second operation for determining a second operation contact surface for a second operation that is a surface of the object to be grasped that is different from the contact surface and that is displaced by the first operation. And a determination unit.
  • the object can be gripped without being affected as much as possible by the situation where the object is arranged.
  • FIG. 1 It is a figure which shows schematic structure of the robot arm which concerns on an Example. It is a perspective view of the hand mechanism which concerns on an Example. It is a top view of the hand mechanism which concerns on an Example. It is a side view of the finger
  • FIG. 13 is a flowchart of processing for determining an operation parameter for shifting and grasping an object to be grasped performed in the grasping control shown in FIG. 12. It is a figure which shows the state which shifted the holding
  • FIG. 31 is a first diagram for explaining an operation in a case where one of a plurality of objects in the container shown in FIG. 30 is shifted as a grasp object and the grasp is executed. It is the 2nd figure for demonstrating operation
  • FIG. 31 is a third diagram for explaining an operation in a case where one of a plurality of objects in the container shown in FIG. 30 is shifted as a grasp object and the grasp is executed.
  • the above-described gripping system of the present invention is a system that grips an object using a hand mechanism having at least two fingers.
  • the structure (position and number of joints, the shape and number of link mechanisms, etc. constituting the finger part) of each finger part may be formed differently.
  • toe parts may be formed identically.
  • toe part can employ
  • the gripping object determination unit determines the gripping target object to be gripped among the plurality of objects based on the exposed area of each target object stored in the storage container. decide. Further, in the gripping system, the first motion determination unit determines a first motion contact surface that is a motion parameter necessary for the first motion. In addition, the second motion determination unit determines a second motion contact surface that is a motion parameter necessary for the second motion for gripping the gripping target object that is shifted by the first motion.
  • the second operation contact surface is a surface of the object to be grasped that is different from the first operation contact surface.
  • the first finger portion to be brought into contact with the first operation contact surface and the second finger portion to be brought into contact with the second operation contact surface may not necessarily be different finger portions in the hand mechanism.
  • the gripping object is selected from a plurality of objects stored in the storage container, and is gripped after the position of the gripping object is shifted by the hand mechanism. Is possible. Therefore, the object can be gripped without being affected as much as possible by the situation where the object is arranged.
  • a gripping target is determined from a plurality of targets by the gripping target determination unit, and the presence or absence of the predetermined gripping surface is determined by the determination unit based on environment information acquired by the acquisition unit. It may be determined.
  • the environmental information is information necessary for gripping a plurality of objects stored in the storage container for each target object, and at least relates to the position of the target object and the arrangement of the objects in the storage container. Contains information. These pieces of information may be collected as environmental information in a form including each information as it is so that each information can be individually identified, or collected as environmental information in a form in which each information is associated and processed. May be.
  • the environment information may be provided to the gripping system in advance, or may be obtained using an imaging result obtained by an imaging device such as a camera.
  • the predetermined gripping surface is a surface of a gripping object that can be gripped from a pairing direction by a finger portion of the hand mechanism. Therefore, if a predetermined gripping surface is exposed on the gripping object, the fingers of the hand mechanism come into contact with the gripping object from the pairing direction and come into contact with the predetermined gripping surface. This means that the object to be grasped can be grasped.
  • Such gripping using the predetermined gripping surface is hereinafter referred to as “direct gripping”. Therefore, in such a case, the hand mechanism can grasp the grasped object by the finger portion without changing the position or posture of the grasped object.
  • the paired directions are two directions in which the directions in contact with the object to be grasped are preferably 180 degrees opposite to each other in order to stably grasp the object. As long as the object can be gripped, the direction in contact with the object may be appropriately shifted.
  • the first operation for shifting the object to be grasped is performed so that the object to be grasped can be grasped by the hand mechanism, and the grasping that has been displaced by the first action is performed.
  • a second operation for gripping the object may be performed.
  • movement which is an operation parameter required for the said 1st operation
  • the second operation contact surface which is an operation parameter necessary for the second operation, is a surface of the gripping object different from the first operation contact surface that enables gripping of the gripping object. May be determined by the second operation determination unit.
  • the state in which the object is arranged is a state in which direct gripping is difficult, according to the motion parameters determined by the first motion determination unit and the second motion determination unit.
  • the first operation and the second operation are suitably reflected by accurately reflecting the arrangement state of the object in the storage container, in particular, the arrangement state regarding the gripping object while a plurality of objects are disposed in the storage container.
  • the object to be grasped can be grasped stably.
  • FIG. 1 is a diagram illustrating a schematic configuration of a robot arm 1 according to the present embodiment.
  • the robot arm 1 includes a hand mechanism 2, an arm mechanism 3, and a pedestal portion 4.
  • a hand mechanism 2 is attached to one end of the arm mechanism 3.
  • the other end of the arm mechanism 3 is attached to the pedestal portion 4.
  • the hand mechanism 2 includes a base portion 20 connected to the arm mechanism 3 and four finger portions 21 provided on the base portion 20. The detailed configuration of the hand mechanism 2 will be described later.
  • the arm mechanism 3 includes a first arm link portion 31, a second arm link portion 32, a third arm link portion 33, a fourth arm link portion 34, a fifth arm link portion 35, and a connection member 36.
  • the base portion 20 of the hand mechanism 2 is connected to a first joint portion 30 a formed on one end side of the first arm link portion 31 of the arm mechanism 3.
  • the first joint portion 30 a is provided with a motor (not shown) for rotating the hand mechanism 2 around the axis of the first arm link portion 31 with respect to the first arm link portion 31.
  • the other end side of the first arm link portion 31 is connected to one end side of the second arm link portion 32 at the second joint portion 30b.
  • the first arm link part 31 and the second arm link part 32 are connected so that their central axes intersect perpendicularly.
  • a motor for rotating the first arm link part 31 around the axis of the second arm link part 32 around the other end side with respect to the second arm link part 32 is provided in the second joint part 30b. (Not shown) is provided.
  • the other end side of the second arm link portion 32 is connected to one end side of the third arm link portion 33 at the third joint portion 30 c, and the third joint portion 30 c is connected to the third arm link portion 33.
  • a motor (not shown) for relatively rotating the second arm link portion 32 is provided.
  • the other end side of the third arm link portion 33 is connected to one end side of the fourth arm link portion 34 by the fourth joint portion 30d, and the other end side of the fourth arm link portion 34 is connected to the fifth joint portion.
  • the part 30e is connected to the fifth arm link part 35.
  • the fourth joint portion 30d is provided with a motor (not shown) for rotating the third arm link portion 33 relative to the fourth arm link portion 34.
  • the fifth joint portion 30e is provided with a motor (not shown) for rotating the fourth arm link portion 34 relative to the fifth arm link portion 35.
  • the fifth arm link portion 35 is connected to a connection member 36 disposed vertically from the pedestal portion 4 by a sixth joint portion 30f.
  • the fifth arm link portion 35 and the connection member 36 are connected so that their central axes are coaxial.
  • the sixth joint portion 30f is provided with a motor (not shown) for rotating the fifth arm link portion 35 around the axes of the fifth arm link portion 35 and the connection member 36.
  • FIG. 2 is a perspective view of the hand mechanism 2.
  • FIG. 3 is a top view of the hand mechanism 2.
  • the four fingers 21 on the base 20 are centered on the axis in the longitudinal direction of the hand mechanism 2 (the direction perpendicular to the paper surface in FIG. 3). Are arranged at equiangular intervals (ie, 90 deg intervals).
  • the four finger portions 21 all have the same structure and the same length. However, the operation of each finger 21 is controlled independently.
  • FIG. 4 to 10 are diagrams for explaining the configuration of the finger portion 21 of the hand mechanism 2 and its driving mechanism.
  • FIG. 4 is a side view of the finger part 21.
  • the base portion 20 is shown in a transparent state, and a part of the internal structure of the finger portion 21 located inside the base portion 20 is also shown.
  • FIG. 5 is a view of the distal end side of the finger portion 21 as viewed from the direction of arrow A in FIG.
  • the finger part 21 has a first finger link part 211, a second finger link part 212, and a base end part 213.
  • the base end portion 213 of the finger portion 21 is connected to the base portion 20.
  • the base end portion 213 is connected to the base portion 20 so as to be rotatable about the longitudinal axis of the finger portion 21 (direction perpendicular to the paper surface in FIG. 3) with respect to the base portion 20, as indicated by an arrow in FIG. Yes.
  • one end of the second finger link part 212 is connected to the base end part 213.
  • a second joint portion 23 is formed at a connection portion between the second finger link portion 212 and the base end portion 213.
  • FIG. 6 is a diagram illustrating an internal structure of the base portion 20 in the vicinity of the connection portion of the finger portion 21 and an internal structure of the proximal end portion 213 and the second joint portion 23 in the finger portion 21.
  • the base portion 20 is connected to the gear 65 connected to the rotation shaft of the base end portion 213 and the rotation shaft of the third motor 53, which rotates the entire finger portion 21.
  • a gear 66 is provided. The gear 65 and the gear 66 are engaged with each other. With such a configuration, when the third motor 53 rotates, the rotational force is transmitted to the rotation shaft of the base end portion 213 via the two gears 65 and 66. That is, the entire finger portion 21 can be rotationally driven by the third motor 53.
  • FIG. 7 is a diagram illustrating a movable range of the second joint portion 23 in the finger portion 21 realized by the driving force of the second motor 52. As shown in FIG. 7, the second joint portion 23 is formed to be able to bend and extend.
  • FIG. 8 is a diagram illustrating an internal structure of the first joint portion 22 and the second finger link portion 212 in the finger portion 21.
  • Two bevel gears 61 and 62 that are fitted to each other are provided inside the first joint portion 22.
  • One bevel gear 61 is connected to the rotation shaft of the first finger link portion 211 in the first joint portion 22.
  • the other bevel gear 62 is connected to the rotation shaft of the first motor 51 provided inside the second finger link portion 212.
  • FIG. 9 is a diagram illustrating a movable range of the first joint portion 22 in the finger portion 21 realized by the driving force of the first motor 51. As shown in FIG. 9, the first joint portion 22 is formed to be able to bend and extend.
  • the finger portion 21 has a base more than the first joint portion 22 than the first finger link portion 211 on the distal end side of the first joint portion 22.
  • the second finger link part 212 on the part 20 side is longer.
  • a pressure-sensitive sensor 70 is provided on the distal end side of the first finger link portion 211 of the finger portion 21.
  • the pressure sensor 70 is a sensor that detects an external force (pressure) acting on the distal end side of the first finger link portion 211.
  • the pressure-sensitive sensors 70 are provided on both surfaces of the wall surface 215 on the bending direction side and the wall surface 216 on the extension direction side of the first joint portion 22 on the distal end side of the first finger link portion 211. ing.
  • the wall surface 215 on the bending direction side of the first joint portion 22 on the distal end side of the first finger link portion 211 is formed in a curved surface shape.
  • a plurality of pressure-sensitive sensors 70 are arranged side by side along the curved surface shape on the wall surface 215 on the bending direction side of the first joint portion 22 on the distal end side of the first finger link portion 211. May be.
  • FIG. 11 is a block diagram showing each functional unit included in the arm control device 42 and the hand control device 43.
  • the arm control device 42 includes drivers that generate drive signals for driving the motors mounted on the arm mechanism 3 of the robot arm 1, and the drive signals from the drivers are supplied to the corresponding motors. Configured as follows.
  • the arm control device 42 is a computer having an arithmetic processing unit and a memory, and includes an arm control unit 420 and a motor state quantity acquisition unit 421 as functional units. Each functional unit is formed by executing a predetermined control program in the arm control device 42.
  • the arm control unit 420 is provided in each joint unit 30a, 30b, 30c, 30d, and 30e of the arm mechanism 3 based on environment information acquired by an environment information acquisition unit 432 described later that the hand control device 43 has. By controlling the motor, the arm mechanism 3 is moved, thereby moving the hand mechanism 2 to a predetermined grippable position suitable for gripping the object.
  • the motors provided in the joint portions 30a, 30b, 30c, 30d, and 30e of the arm mechanism 3 are encoders that detect state quantities (such as the rotational position and rotational speed of the rotation shaft of the motor) related to the respective rotational states. (Not shown) is provided.
  • the state quantity of each motor detected by the encoder of each motor is input to the motor state quantity acquisition unit 421 of the arm control device 42.
  • the arm control unit 420 servo-controls each motor so that, for example, the hand mechanism 2 moves to the predetermined grippable position based on the state quantity of each motor input to the motor state quantity acquisition unit 421. To do.
  • the hand control device 43 includes drivers that generate drive signals for driving the motors mounted on the hand mechanism 2, and the drive signals from the drivers are supplied to the corresponding motors. Configured.
  • the hand control device 43 is a computer having an arithmetic processing unit and a memory.
  • a motor state quantity acquisition unit 430 As functional units, a motor state quantity acquisition unit 430, a sensor information acquisition unit 431, an environment information acquisition unit 432, a direct grip control unit 433, a determination unit 434, A gripping object determination unit 435, a first motion determination unit 436, a second motion determination unit 437, a motion control unit 438, a tilt availability determination unit 439, and a tilt motion determination unit 440 are provided.
  • Each functional unit is formed by executing a predetermined control program in the hand control device 43.
  • the hand control device 43 is configured to control the hand mechanism 2 moved to a predetermined grippable position based on the environment information acquired by the environment information acquisition unit 432.
  • the environment information acquisition unit 432 acquires environment information that is information related to an object to be gripped by the hand mechanism 2 and a storage container.
  • the environmental information includes at least information regarding the position of the target object, the position of the storage container that stores the target object, and the arrangement of the target objects in the storage container.
  • This environmental information may be included so that each of these pieces of information can be individually identified, or alternatively, may be included as complex information formed by associating each piece of information.
  • information on the shape and dimensions of the object and the storage container, and information on objects other than the object existing around the object may be included.
  • the environment information acquisition unit 432 may acquire environment information input by the user. When a visual sensor that captures an image including an object is provided, the environment information acquisition unit 432 may acquire environment information by performing known image processing on the image captured by the visual sensor. Good.
  • the direct grip control unit 433 is a functional unit that causes the hand mechanism 2 to perform direct gripping, which is one of the gripping forms of the object.
  • Direct gripping means that at least two finger portions of the finger portions 21 of the hand mechanism 2 are left in the state in which the target object is placed before gripping, that is, without changing the position or posture of the target object. It is the form of the holding
  • the determination unit 434 is a functional unit that determines whether the arrangement state of the object to be grasped is a state in which the direct grasping is possible based on the environment information of the object.
  • the gripping object determination unit 435 is a functional unit that determines a target object (grip target object) to be gripped from among a plurality of target objects arranged in the storage container. The determination process by the gripping object determination unit 435 is also performed based on the environmental information of the object stored in the storage container.
  • the first motion determination unit 436 performs the first motion for shifting gripping, which is a gripping mode different from direct gripping, when the gripping target object is arranged in a state where the gripping cannot be performed directly by the determination unit 434.
  • the shifting gripping is performed by moving the gripping object 10 while pressing it against another object to change its position so that the gripping object 10 can be gripped on its back surface. This is a gripping mode performed after exposing the.
  • the operation control unit 438 is a functional unit that causes the hand mechanism 2 to shift and execute gripping based on the above-described operation parameters.
  • the tiltability determination unit 439 can perform tilting gripping with a gripping mode different from direct gripping and different from the above-described shifting gripping when the gripping target is placed in a state where the gripping cannot be performed directly by the determination unit 434. It is a function part which determines whether it is based on the environmental information of a holding
  • the tilting motion determining unit 440 is a functional unit that determines the tilting first contact surface, the tilting direction, and the tilting second contact surface, which are the operation parameters for tilting gripping. Details of the tilting operation and details of operation parameters related to the tilting operation will also be described later. Note that the motion control unit 438 also causes the hand mechanism 2 to execute tilt gripping based on the motion parameters related to the tilt motion.
  • the first motor 51 that drives each finger portion 21 of the hand mechanism 2 for gripping the target object, whether it is direct gripping as described above, or shift gripping or tilting gripping different from direct gripping.
  • the second motor 52 and the third motor 53 are controlled based on the environmental information.
  • Each first motor 51, each second motor 52, and each third motor 53 of the hand mechanism 2 includes encoders (such as a rotational position and a rotational speed of the rotation shaft of the motor) that detect state quantities relating to the respective rotational states. (Not shown) is provided.
  • the state quantities of the motors 51, 52, 53 detected by the encoders of the motors 51, 52, 53 are input to the motor state quantity acquisition unit 430.
  • the hand control device 43 servo-controls each motor 52, 52, 53 in each finger 21 based on the state quantity of each motor 51, 52, 53 input to the motor state quantity acquisition unit 430. Hold it.
  • the detection value of the pressure-sensitive sensor 70 provided on the tip side of each finger portion 21 of the hand mechanism 2 is input to the sensor information acquisition unit 431.
  • the hand control apparatus 43 can detect the contact to the target object of the finger
  • the arm control device 42 and the hand control device 43 are shown separately as control devices included in the gripping system.
  • each functional unit is integrated with both devices.
  • a configuration formed in one control device can also be adopted.
  • each functional unit shown in FIG. As long as it is formed in the control device, appropriate information can be exchanged between the arm control device 42 and the hand control device 43 as necessary.
  • a configuration in which a part of each functional unit in the arm control device 42 or the hand control device 43 is formed in a control device separate from the arm control device 42 and the hand control device 43 may be employed. .
  • the grip control is realized by executing a predetermined control program in the arm control device 42 and the hand control device 43.
  • seven rectangular parallelepiped objects 10 are arranged in a row in the storage container 80, and those in this state are shown in the upper part (a) of FIG. Are arranged side by side. It is assumed that each object 10 is gripped by the hand mechanism 2 by grip control in a state where a plurality of objects are arranged in the storage container 80 as described above.
  • the object 10 has a rectangular parallelepiped shape as shown in the lower part (c) of FIG. 13, the left and right side surfaces S2 and S3, the front side S1 that is the front side surface, the back surface S5 that is the rear side surface, and the upper surface.
  • S4 has a bottom surface.
  • the bottom surface of the object 10 is in contact with the floor surface of the storage container 80.
  • the edge frame forming the peripheral wall of the storage container 80 has a relatively low height, and about 10% below the side surface of the target object 10 in a state where the target object 10 is arranged in the storage container 80. Covered by an edge frame.
  • a reference number “10” is used to identify the arrangement position. It shall be added.
  • the notation is expressed using the sequential positions of the columns in the container 80 as shown in the middle part (b) of FIG.
  • the reference number of the foremost object 10 of the container 80 can be described as 10 (1)
  • the object 10 behind the object 10 can be described as 10 (2).
  • the said description may be abbreviate
  • the back surface S5 of the front target object 10 will be in the state which contacted the front surface S1 of the back target object 10.
  • FIG. As an example, the back surface S5 of the object 10 (1) is in contact with the front surface S1 of the object 10 (2). Further, the right side S3 or the left side S2 of the object 10 is in contact with the left side S2 or the right side S3 of the adjacent object 10, and as an example, the left vertical side shown in FIG.
  • the right side S3 of the target object 10 (1) in a row is in contact with the left side surface S2 of the target object 10 (1) in the right vertical row.
  • the hand mechanism 2 is moved to a predetermined grippable position.
  • This process is executed by the arm control unit 420 of the arm control device 42.
  • the environment information acquired by the environment information acquisition unit 432 is delivered from the hand control device 43 to the arm control device 42.
  • the hand mechanism 2 acts on a predetermined grippable position where the hand mechanism 2 should be positioned, that is, each of the plurality of objects 10 arranged in the storage container 80. By doing so, a position where each object can be gripped is calculated.
  • a predetermined distance and a position away from the storage container 80 may be calculated as a predetermined grippable position so that the storage container 80 can be gripped.
  • S102 it is determined whether or not the object can be directly gripped by the hand mechanism 2 moved to a predetermined grippable position.
  • the determination is performed by the determination unit 434 based on the environment information.
  • the information regarding the arrangement of the objects 10 in the storage container 80 corresponding to the arrangement state shown in FIG. 13 and included in the environment information when the grip control is started will be described based on FIG.
  • the positional information of the container 80 and each object 10 is included in the environment information.
  • a grip completion flag, a left side exposure ratio, a front surface exposure ratio, a right side exposure ratio, and a back surface exposure ratio are associated with each object 10.
  • Each of the objects 10 is identified by using the object ID as a notation for identifying the arrangement position. Further, when the grip completion flag is set to “1”, it means that the object 10 has already been taken out of the storage container 80 by gripping the hand mechanism 2 and is set to “0”. In this case, the object 10 still remains in the storage container 80.
  • the left side exposure ratio is such that the left side S2 of the object 10 (the left side surface toward the object 10 in FIG. 13) is covered with another object (such as the container 80 or the object 10 other than itself). This value is an index indicating the degree to which the left side surface is completely exposed when the value is 100%, and the left side surface is completely covered when the value is 0%. means.
  • the front exposure ratio, the right side exposure ratio, and the rear exposure ratio are set to the extent that the front surface S1, the right side surface S3, and the rear surface S5 of the object 10 are not covered with other objects, as with the left side surface exposure ratio. It is an index to represent.
  • the front surface S ⁇ b> 1 of the target object 10 other than the frontmost target object 10 (1) is entirely covered by the front target object 10.
  • the rear surface S5 of the target object 10 other than the rearmost target object 10 (7) is covered by the target object 10 behind the target object 10.
  • the left side surface S2 of all the objects 10 is in an exposed state
  • the right side surface S3 is all covered by an adjacent object (the object on the right side shown in FIG. 13A). Yes.
  • the left side exposure ratio and the front surface of the object 10 (1) having the object ID 1 are considered.
  • the exposure ratio is 90%, the exposure ratio of the other side surface is 0%, and the object 10 (7) with the object ID 7 is the left side surface exposure ratio and the back surface exposure ratio of 90%.
  • the exposure ratio is 0%.
  • the exposure ratio of the other side surfaces is 0%.
  • the “exposure” referred to in the present application is such that a space where the finger portion 21 can enter is formed near the surface of the object 10 so that the finger portion 21 of the hand mechanism 2 can contact the exposed surface of the object 10. Say it is exposed.
  • the determination of whether or not direct gripping is possible by the determination unit 434 in S102 grips the target object 10 from the paired direction as described above.
  • This is a determination process performed as to whether the surface of the object 10 (which corresponds to the predetermined gripping surface of the present invention and an example thereof is the end surfaces 10a and 10b shown in FIG. 15) is exposed. . Therefore, both the left side surface S2 and the right side surface S3, which are the opposite side surfaces of the object 10, or both the front surface S1 and the back surface S5 are exposed to the extent that they can be directly gripped (for example, the exposure ratio is 60% or more). It can be determined that the object 10 can be gripped directly when the target object 10 is in the storage container 80. In the information related to the arrangement shown in FIG. 14, it is determined that the gripping cannot be performed directly because the above condition is not satisfied.
  • S103 direct gripping by the hand mechanism 2 is performed with an affirmative determination in S102.
  • the first finger link portion 211A of the finger portion 21A is in contact with the end surface 10a
  • the first finger link portion 211C of the finger portion 21C is in contact with the end surface 10b, whereby the object 10 is directly gripped. Is done.
  • the target object 10 is gripped by at least two finger parts 21. However, even if the target object 10 is gripped more stably by bringing more finger parts 21 into contact with the target object 10 Good.
  • the first finger link portion 211B of the finger portion 21B or the first finger link portion 211D of the finger portion 21D comes into contact with the object 10 to directly hold the object. May be. After the process of S103, this control ends.
  • the gripping object 10 is lifted using the first operation contact surface.
  • the lifting operation is performed by pressing one of the side surfaces of the gripping target object 10, that is, the side surface of the gripping target object 10 including both the front-rear direction and the left-right direction against another object.
  • This is an operation of shifting the position of the object 10 upward.
  • This shifting-up operation corresponds to the first operation of the present invention, and is an operation for exposing the back surface S5 of the grasped object 10 to such an extent that the finger portion 21 of the hand mechanism 2 can come into contact with the first operation determining unit.
  • Step 436 determines a first operation contact surface that is an operation parameter related to the shifting operation.
  • the first operation contact surface is brought into contact with the finger portion 21 so that the hand mechanism 2 moves the grip target object 10 while pressing it against another target object (for example, a target object located behind the grip target object 10). This is the surface of the grasped object 10.
  • the operation parameter determination process will be described later.
  • the movement control unit 438 controls the hand mechanism 2 according to the operation parameter, so that the upward movement operation is realized.
  • the object 10 (1) is a gripping object, and behind the other objects (the object 10 (2) and the object 10 ( 3) etc. are located.
  • the motion control unit 438 brings the first finger link unit 211A of the finger unit 21A into contact with the front surface S1 of the gripping target object 10 (1) which is the first motion contact surface, and the gripping target object 10 (1). Press against the object 10 (2) located behind it. Therefore, the finger portion 21A that contacts the front surface S1 corresponds to the first finger portion of the present invention.
  • the other finger portions 21B to 21D do not come into contact with the grasped object 10 (1), but as shown in FIG. 16, they may be in contact with the object 10 other than the grasped object 10 (1). Good.
  • the back surface S5 of the gripping object 10 (1) that has been in contact with the object 10 (2) that is not the gripping object in the arrangement state before gripping is exposed, and the back surface The exposed area of S5 increases to such an extent that the finger part 21 of the hand mechanism 2 can come into contact therewith.
  • the exposed portion of the finger portion 21 so as to come into contact is represented as an exposed portion 1020 in FIG.
  • the shifting-up operation is stopped. At this time, the state in which the finger portion 21A is in contact with the front surface S1 and presses the grasped object 10 (1) is maintained.
  • the gripping operation that is, the second operation of the present invention is performed on the gripping object 10 (1) in the shifted state.
  • the second motion determination unit 437 determines a second motion contact surface that is a motion parameter related to the gripping motion.
  • the second operation contact surface is a surface of the gripping target object 10 for gripping the gripping target object 10 (1) shifted up by the hand mechanism 2 with its finger portion 21, and is exposed in this embodiment.
  • the back surface S5 including the portion 1020 corresponds to the second operation contact surface.
  • the operation parameter determination process will be described later.
  • the operation control unit 438 controls the hand mechanism 2 according to the operation parameter, so that the gripping operation after the lifting operation is realized.
  • This gripping operation is a gripping of the gripping target object 10 (1) performed with the gripping target object 10 (1) being shifted up and the back surface S5 thereof being exposed.
  • the finger part 21B is brought into contact with the back surface S5 of the gripping target object 10 (1) that has been exposed by the shifting up operation, and the finger part 21B and the finger part 21B are used for the shifting up operation.
  • Stable gripping of the gripping object 10 (1) is realized by the finger part 21A. Therefore, in this case, the finger portion 21B that contacts the back surface S5 that is the second operation contact surface corresponds to the second finger portion of the present invention.
  • movement is not restricted to the form shown in FIG. 16, FIG.
  • the number of finger portions 21 used for the shifting operation may be two or three instead of one, and the number of finger portions 21 used for the gripping operation may be three or four. Good.
  • the shifting gripping is used for the gripping operation by exposing the side surface (rear surface) that was not exposed before the shifting up by shifting the gripping object 10 (1). For this reason, the grasped object 10 (1) needs to be shifted from the currently disposed state for grasping. Accordingly, the determination processing of the gripping object in S104 of gripping control is performed according to the flow shown in FIG. The determination process is executed by the gripping object determination unit 435.
  • the shifting gripping is not only a gripping mode that involves the upward movement of the gripping object shown in FIGS. 16 and 17 described above, but also an operation of shifting the gripping object to the side (lateral direction of the gripping object).
  • a gripping configuration with For example, in the arrangement state in which a plurality of objects are stacked in the storage container so that they cannot be directly gripped, when the exposed surface of the uppermost gripping object is substantially parallel to the floor surface of the storage container The gripping object may be shifted laterally, and the gripping of the gripping object may be realized by bringing the fingers of the hand mechanism into contact with the pair of side surfaces of the gripping object exposed by the shifting operation.
  • ⁇ Handling object determination processing> First, in S201, environmental information regarding all the objects 10 currently stored in the storage container 80, in particular, information regarding the arrangement shown in FIG. 14 is acquired. Next, in S202, the exposed areas of the side surfaces of all the objects 10 are calculated. Specifically, the exposed area of the side surface of each object 10 is obtained by multiplying the area of the side surface obtained from the dimensions of the object 10 included in the environmental information by the numerical value related to the exposure ratio included in the information related to the alignment. Is calculated.
  • the gripping object 10 is determined based on the exposed area of the side surface calculated in S202.
  • the side surface of the gripping object 10 having the largest possible exposure area is taken into consideration when the side surface is used to press the gripping object 10 against the other object 10. It is considered that the object 10 can be moved up stably by applying a pressing force using the. Therefore, in the present embodiment, the target object 10 having the largest exposed area on the side surface is determined as the gripping target object from among the plurality of target objects 10 stored in the storage container 80.
  • the front surface S1 of the foremost object 10 (1) and the rear surface S5 of the rearmost object 10 (7) are exposed.
  • the object 10 (1) close to the hand mechanism 2 is determined as the gripping object.
  • the grasped object is the object 10 (1) among the plurality of objects 10 stored in the storage container 80, as shown in FIG. 20.
  • environmental information of the grasped object 10 (1) is acquired. That is, the left side exposure ratio of the gripping object 10 (1) is 90%, the front surface exposure ratio is 90%, the right side surface exposure ratio is 0%, and the back surface exposure ratio is 0%.
  • the exposed area of each side surface (left side surface, front surface, right side surface, back surface) of the grasped object 10 (1) is calculated based on these exposure ratios.
  • the dimension information of the grasped object 10 (1) is used as the environment information.
  • the larger the exposed area the easier it is to perform the shifting operation of the gripping object 10 (1) stably.
  • the finger part 21 of the mechanism 2 comes into contact with another surface (first operation contact surface) that is paired with the surface. Therefore, in S303, among other side surfaces that can be paired with the side surface of the gripping object 10 (1) that contacts the target object 10 (2) located behind the gripping object 10 (1), the calculation is performed in S302.
  • the side surface having the maximum exposed area is determined as the surface (first operation contact surface) with which the finger portion 21 of the hand mechanism 2 comes into contact in order to realize the shifting up.
  • the side surface of the grasped object 10 (1) that contacts the object 10 (2) is only the back surface S5
  • the front surface S1 that is paired with the back surface S5 is determined as the first operation contact surface. Is done.
  • the decision is made.
  • the gripping object 10 (1) is obtained by the finger portion 21 that is used for the shifting operation that touches the first motion contact surface and the finger portion 21 that is in contact with the second motion contact surface. ) Is performed. Therefore, the second operation contact surface is a surface of the grasped object 10 (1) that is paired with the first operation contact surface, and is a surface exposed by the shifting-up operation.
  • the back surface S5 of the grasped object 10 (1) is determined as the second operation contact surface. Thereby, the gripping object 10 (1) can be gripped stably.
  • the operation parameters for the first operation and the second operation are determined by the operation parameter determination processing (processing of S105 and S106 of grip control).
  • the finger portion 21A of the hand mechanism 2 is brought into contact with the first operation contact surface (front surface S1) determined in S105, and the gripping object 10 (1) is moved up.
  • the operation is started (see also FIGS. 16 and 17).
  • the back surface S5 of the grasped object 10 (1) is exposed and an exposed portion 1020 is formed. Therefore, in S108, it is determined whether or not the exposed portion 1020 has become so large that the finger portion 21 of the hand mechanism 2 can come into contact with it, and the lifting operation has been completed.
  • this determination is made based on the movement amount of the finger portion 21 ⁇ / b> A related to the shift amount of the grasped object 10 (1). If an affirmative determination is made in S108, the process proceeds to S109, and if a negative determination is made, the gripping object 10 (1) is continuously moved up.
  • the shifting-up operation is stopped with an affirmative determination in S108.
  • the state in which the finger portion 21A is in contact with the first operation contact surface (front surface S1) is maintained.
  • the finger portion 21B of the hand mechanism 2 is brought into contact with the second operation contact surface (rear surface S5) determined in S106, and the grasping operation of the grasp object 10 (1) is performed.
  • the hand mechanism 2 can move the gripping target object 10 (1) to a desired target position while gripping the gripping target object 10 (1).
  • the direct grip is executed. As a result, the time required for gripping the object 10 can be shortened.
  • the object 10 is moved up by bringing the finger portion 21A of the hand mechanism 2 into contact with the first operation contact surface. Thus, the gripping with the finger portion 21B is realized. In this shifting and gripping, the object 10 is gripped while the finger portion 21A is in contact with it, so that the time required for gripping the gripping object 10 can be shortened as much as possible.
  • the above grip control it is possible to realize gripping of the target object 10 without being affected as much as possible by the situation where the target object 10 is arranged. Therefore, extremely efficient gripping of the object and movement of the object after gripping are possible.
  • the gripping system is a gripping system for taking out the stored object from a storage container storing a plurality of objects by a hand mechanism having at least two fingers.
  • a gripping object determining unit that determines a gripping target object to be gripped among the target objects based on an exposed area or an exposure ratio of each of the objects in a state of being stored in the storage container; and the gripping A first operation contact surface for contacting the first finger part of the at least two finger parts is determined for a first action of shifting the object while pressing the object against another object different from the grasped object.
  • the first motion determination unit Less Also includes a second operation determining unit that determines a second operation for the contact surfaces for contacting the second finger of the two fingers portion.
  • FIG. 22 is a flowchart of grip control according to the present embodiment, and the grip control is realized by executing a predetermined control program in the arm control device 42 and the hand control device 43.
  • the processes substantially the same as the processes included in the grip control in the first embodiment are denoted by the same reference numerals. Detailed description thereof is omitted.
  • the process proceeds to the determination process in S401. If a negative determination is made in S401, the processing of S104 to S111, that is, the processing related to “shift gripping” is performed as in the first embodiment. On the other hand, if an affirmative determination is made in S401, processing relating to “tilting and gripping” in S402 to S408 is performed.
  • FIGS. 23 to 25C the details of the tilting gripping by the hand mechanism 2 will be explained based on FIGS. 23 to 25C.
  • the object 10 (1) in the container 80 after the object 10 (1) is taken out from the container 80 as the object to be grasped by the grip control in the first embodiment is shown.
  • the state where the tilting gripping is performed is shown.
  • the object 10 (2) is set as a gripping object.
  • Tilt gripping is a form of gripping by the hand mechanism 2 that is different from direct gripping, and is different from shifted gripping.
  • the tilting operation of the gripping target object 10 is performed using the first contact surface during tilting.
  • This tilting operation is an operation for exposing the side surface of the grasped object 10 to such an extent that the finger part 21 of the hand mechanism 2 can come into contact
  • the tilting operation determining unit 440 is an operation parameter related to the tilting operation.
  • the first contact surface and the tilt direction are determined.
  • the first contact surface at the time of tilting is a surface of the gripping target object 10 with which the finger part 21 contacts in order to tilt the gripping target object 10 by the hand mechanism 2, and the tilting direction is a finger on the first contact surface at the time of tilting. This is the tilting direction when the gripping object 10 is tilted by bringing the part 21 into contact therewith.
  • the operation parameter determination process will be described later. Then, when the operation control unit 438 controls the hand mechanism 2 according to these operation parameters, the tilting operation is realized.
  • the tilting operation will be specifically described with reference to FIGS. 23 and 24.
  • the motion control unit 438 moves the first finger link portion 211A of the finger portion 21A to the gripping object 10 (2 ) Is brought into contact with the upper surface S4. At this time, the other finger portions 21B to 21D are not in contact with the grasped object 10 (2). Then, while maintaining the contact state between the finger part 21A and the upper surface S4, the operation control part 438 grips the force that drives and controls the finger part 21A to pull the grasped object 10 (2) in the tilting direction (front side). It acts on the object 10 (2). Therefore, as shown in FIG. 24, the gripping object 10 (2) is tilted so that the upper part approaches the floor surface side with a part of the bottom surface in contact with the floor surface as the center. Become.
  • the back surface S5 of the gripping object 10 (2) that has been in contact with the target object 10 (3) that is not the gripping object in the arrangement state before the tilting gripping is exposed, and the back surface A space is formed between S5 and the object 10 (3).
  • the space becomes larger as the tilt of the grasped object 10 (2) proceeds.
  • the tilting operation is continued until the space is large enough to allow the finger 21B and the finger 21D different from the finger 21A of the hand mechanism 2 to enter.
  • the space that is sufficient for the entry of the finger part 21B and the finger part 21D in this way is hereinafter referred to as an entry space.
  • the tilting motion determination unit 440 also determines the second contact surface during tilting, which is an operation parameter related to the gripping motion.
  • the second contact surface at the time of tilting is the surface of the gripping target object 10 for touching and gripping the gripping target object 10 (2) tilted by the hand mechanism 2 with its finger part 21.
  • the operation parameter determination process will be described later.
  • the operation control unit 438 controls the hand mechanism 2 according to the operation parameter, whereby the gripping operation after the tilting operation is also realized.
  • This gripping operation is a gripping of the gripping object 10 (2) that is performed in a state where the gripping object 10 (2) is tilted and its back surface S5 is exposed.
  • the gripping operation will be specifically described based on FIGS. 25A to 25C.
  • 25A to 25C show the same state where the hand mechanism 2 is gripping the gripping object 10 (2) by the gripping operation from different viewpoints.
  • FIG. 25A is a view from the direction in which the back surface S5 of the grasped object 10 (2) can be seen
  • FIG. 25B is a view of the grasped object 10 (2) viewed from the side
  • FIG. It is a figure from the direction which can see front surface S1 of the thing 10 (2).
  • the first finger link part 211B of the finger part 21B and the first part of the finger part 21D enter the entry space formed between the gripping object 10 (2) and the adjacent object 10 (3).
  • the one-finger link part 211D is caused to enter, the two-finger link part is brought into contact with the back surface S5, and the first finger link part 211C of the finger part 21C is brought into contact with the front surface S1 of the object 10. That is, in the gripping forms shown in FIGS. 25A to 25C, the back surface S5 and the front surface S1 of the gripping target object 10 (2) are the second contact surfaces when tilted.
  • the gripping object 10 (2) in the tilted state is gripped by using a finger portion other than the finger portion 21A used to support the tilted state of the hand mechanism 2 from the front and rear thereof. Stable gripping of the object 10 (2) is realized.
  • the contact pattern of the finger portion 21 in the gripping operation is not limited to the form shown in FIGS. 25A to 25C.
  • the number of finger portions 21 used for the gripping operation may be two instead of three. In this case, one finger part 21 contacts each of the back surface S5 and the front surface S1.
  • the second portion of the finger portion 21 on the back surface S5 side when the gripping target object 10 (2) is viewed from the side, the second portion of the finger portion 21 on the back surface S5 side. It is preferable that the one link finger portion and the first link finger portion of the finger portion 21 on the front surface S1 side substantially face each other.
  • the action point of the one finger portion 21C when the tilting gripping is performed with the three finger portions 21, when viewed from the back surface S5 or the front surface S1, the action point of the one finger portion 21C is two fingers. It is preferable that each finger part 21 contacts an object so that it may be located between each action point of the part 21B and the finger part 21D.
  • the tilt gripping is used for the gripping operation by tilting the gripping object to expose the side surface (back surface) that was not exposed before the tilting. For this reason, as in the case of the shifting grip shown in the first embodiment, this gripping mode is useful when the gripping target cannot be gripped directly.
  • tilt gripping does not require pressing the gripping object against another object, unlike shifting gripping. Therefore, when the gripping object is arranged in a state in which the gripping object can be tilted, it is possible to realize gripping of the gripping object more stably than shifting gripping.
  • the shift gripping is one of the useful gripping forms when the gripping target cannot be gripped directly and the gripping target cannot be tilted and tilted.
  • the grip control shown in FIG. 22 is constructed based on the difference between the tilt grip and the shift grip characteristics. Specifically, in S401, it is determined whether or not the object to be grasped can be tilted and held. This is because, as described above, when tilting grip is compared with shifting gripping, tilting gripping enables stable gripping. This is a determination process that is performed for execution. Specifically, the determination process is performed based on the environmental information of the objects 10 in the storage container 80, particularly information related to the arrangement. For example, as shown in FIG. 26, a space R1 for tilting the gripping object 10 (2) exists in front of the gripping object 10 (2) after the object 10 (1) is removed from the storage container 80. If it is, it can be determined that tilting gripping is possible.
  • step S401 when no object 10 is taken out from the storage container 80, the frontmost object 10 (1) is moved to the front by the influence of the edge frame of the storage container 80. It cannot be tilted forward. Therefore, in such a case, it is determined that tilt gripping is not possible. If the determination in step S401 is affirmative, the process proceeds to step S402 in order to realize tilt gripping. Further, if a negative determination is made in S401, the process proceeds to S104 in order to realize shifted gripping. In addition, since the process after S104 is as having shown in the 1st Example, the description in a present Example is omitted.
  • the gripping target object determination in the tilting gripping is performed according to the gripping object determination processing shown in FIG. Processing is performed.
  • the affirmative determination is made in S401, and the arrangement of the object 10 in the storage container 80 is in the state shown in FIG.
  • S201 environmental information regarding all the objects 10 currently stored in the storage container 80, in particular, information regarding the alignment is acquired.
  • information regarding the arrangement shown in FIG. 21 is acquired.
  • S202 the exposed areas of the side surfaces of all the objects 10 are calculated. Specifically, the exposed area of the side surface of each object 10 is obtained by multiplying the area of the side surface obtained from the dimensions of the object 10 included in the environmental information by the numerical value related to the exposure ratio included in the information related to the alignment. Is calculated.
  • the gripping object 10 is determined based on the exposed area of the side surface calculated in S202.
  • the object 10 is tilted and gripped, taking into account that the object in the tilted state is gripped using the side surface located in the tilting direction, when the object 10 is tilted, the exposed area is as much as possible. It is conceivable that the object 10 can be gripped more stably when tilted so that the large side faces the floor. Therefore, in the present embodiment, the target object 10 having the largest exposed area on the side surface is determined as the gripping target object from among the plurality of target objects 10 stored in the storage container 80. In the arrangement state of FIG. 26, the entire front surface of the object 10 (2) is exposed, and the exposed area is maximized. Therefore, the target object 10 (2) is determined as the gripping target object.
  • the object to be grasped is the object 10 (2) as shown in FIG.
  • the grasped object 10 (2) is a rectangular parallelepiped object having a front surface S1, a back surface S5, a left side surface S2, a right side surface S3, an upper surface S4, and a bottom surface.
  • S501 environmental information of the grasped object 10 (2) is acquired. That is, the left side exposure ratio of the gripping object 10 (2) is 90%, the front surface exposure ratio is 100%, the right side surface exposure ratio is 0%, and the back surface exposure ratio is 0%.
  • the left side exposure ratio of the gripping object 10 (2) is 90%
  • the front surface exposure ratio is 100%
  • the right side surface exposure ratio is 0%
  • the back surface exposure ratio is 0%.
  • the exposed area of each side surface (left side surface, front surface, right side surface, back surface) of the grasped object 10 (2) is calculated based on these exposure ratios.
  • the dimension information of the grasped object 10 (2) is used as the environment information.
  • the tilting operation of the gripping object 10 (2) and the subsequent gripping operation are more easily performed as the exposed area is larger. Therefore, in S503, the direction in which the side surface having the maximum exposed area among the side surfaces of the grasped object 10 (2) calculated in S502 is tilted so as to approach the floor surface is determined as the tilt direction.
  • the direction in which the front surface S1 of the gripping target object 10 (2) tilts toward the front side as shown in FIG. It is determined as the tilt direction.
  • the tilting operation of the gripping object 10 (2) and the subsequent gripping operation may be performed more stably as the exposure ratio is larger, of the side surfaces of the gripping object 10 (2).
  • the direction of tilting so that the side surface with the maximum exposure ratio approaches the floor surface may be determined as the tilting direction.
  • the surface (first tilting contact surface during tilting) on which the finger part 21 of the hand mechanism 2 contacts is determined. Done.
  • environmental information regarding the gripping object 10 (2) particularly information such as the shape of the gripping object 10 (2) and the exposed surface is used.
  • the grasped object 10 (2) has a rectangular parallelepiped shape, and its upper surface S4 is exposed. Therefore, the upper surface S4 is determined as the first contact surface at the time of tilting based on such a structural condition of the grasped object 10 (2).
  • a surface (second tilted contact surface at the time of tilting) on which the finger unit 21 of the hand mechanism 2 contacts is determined. Is called. Also in this determination, environmental information regarding the grasped object 10 (2), particularly information such as the shape of the grasped object 10 (2) and the exposed surface is used. Specifically, as a result of the calculation in S502, the front surface S1 having the maximum exposure area and the back surface S5 that faces the exposure surface and is exposed by the tilting operation are determined as the second contact surface at the time of tilting. Thereby, the gripping object 10 (2) can be gripped stably.
  • the upper surface S4 that is the first contact surface at the time of tilting used for the tilting operation and the back surface S5 that is exposed by the tilting operation are tilted. It can also be determined as the second contact surface.
  • the number of finger parts 21 of the hand mechanism 2 used for the gripping operation of the tilting gripping is determined. Since the hand mechanism 2 is provided with the four finger portions 21, it is most preferable to use the four finger portions 21 for stable gripping of the grasped object 10 (2). However, the four finger portions 21 are not necessarily used for the gripping operation for reasons such as the shape of the gripping target object 10 (2) and the correlation between the dimensions of the gripping target object 10 (2) and the finger portion 21. For example, when the widths of the front surface S1 and the back surface S5 that are the second contact surfaces when tilting are wide enough to arrange the two finger portions 21 side by side, as shown in FIGS.
  • the two finger portions 21 By arranging the two finger portions 21 on at least one surface, three or four finger portions 21 can be used for the gripping operation.
  • the tilting operation of the gripping object 10 (2) In tilting gripping, the tilting operation of the gripping object 10 (2) is performed by bringing at least one finger portion 21 into contact with the first contact surface during tilting. Therefore, in order to perform the gripping operation using the four finger parts 21 as shown in FIG. 28 (a), the gripping object 10 (2) in the tilted state is first gripped by the three finger parts 21. Thereafter, the at least one finger portion 21 used for the tilting operation is additionally caused to perform a gripping operation.
  • the time required for the gripping operation of the gripping object 10 (2) becomes long, or the finger 21 used for the tilting operation is gripped when it is separated from the gripping object 10 (2) for the gripping operation. There is a possibility that the balance of the object 10 (2) may be lost. Therefore, in such a case, as shown in FIG. 28B, by using the three finger portions 21 for the gripping operation, gripping can be stabilized and the gripping time can be shortened.
  • the two finger portions 21 are used for the gripping operation as shown in FIG. .
  • the object to be grasped 10 (2) is grasped by the two fingers 21 and taken out of the storage container 80, and the left side S2 and the right side S3 are exposed. When the state is reached, each side surface may be additionally gripped by the remaining fingers.
  • the tilting operation parameter determination process determines the operation parameters for the tilting operation and the subsequent gripping operation (processing of S403 in gripping control). Then, when returning to the grip control in FIG. 22 again, in S404, the finger portion 21A of the hand mechanism 2 is brought into contact with the first contact surface (upper surface S4) at the time of tilting determined in S403, and according to the tilting direction determined in the same manner.
  • the tilting operation of the grasped object 10 (2) is started (see also FIGS. 23 and 24). As a result of this tilting operation, the back surface S5 of the grasped object 10 (2) is exposed, and a space is formed between the back surface S5 and the object 10 (3) behind it.
  • S405 it is determined whether or not the space has become large enough to allow the finger portion 21 of the hand mechanism 2 to enter and the tilting operation has been completed. Note that this determination is made based on the movement amount of the finger portion 21 ⁇ / b> A related to the pulling amount of the grasped object 10 (2). If an affirmative determination is made in S405, the process proceeds to S406, and if a negative determination is made, the tilting operation of the gripping object 10 (2) is continued.
  • the tilting operation is stopped with an affirmative determination in S405.
  • the state in which the finger portion 21A is in contact with the first contact surface (upper surface) S4 when tilted is maintained.
  • the finger portion 21 of the hand mechanism 2 is brought into contact with the second contact surface (front surface S1 and back surface S5) at the time of tilt determined in S403, and the gripping operation of the gripping object 10 (2) is performed.
  • the gripping operation is realized by the three finger portions 21.
  • the hand mechanism 2 can implement tilting gripping or shifting gripping. At this time, when the tilting gripping is possible, the tilting gripping is performed in preference to the shifting gripping. Specifically, if the arrangement state of the object 10 in the storage container 80 is the state shown in FIG. 13B, the shifting gripping is performed, and if the arrangement state is the state shown in FIG. 26, the tilting gripping is performed. .
  • the gripping operation continues with the finger 21A used for changing the position and posture of the gripping object in contact with the gripping object, whether tilted gripping or shifted gripping.
  • the holding operation shown in FIG. 25 or the holding operation shown in FIGS. 25A to 25C) is performed, so that the time required for holding the holding object 10 can be shortened as much as possible.
  • the gripping object is moved upward by shifting the gripping object 10 while shifting the gripping object 10 while pressing the side surface of the gripping object 10 against another object.
  • the gripping mode for gripping 10 has been described.
  • the form of the shifting grip is not limited to such a form.
  • the position of the gripping object 10 is changed by moving the gripping object 10 while pressing the bottom surface of the gripping object 10, that is, the surface located below the gravitational direction of the gripping object 10 against another object.
  • the shifting and gripping of the form for gripping the gripping object 10 will be described.
  • FIG. 30 is a diagram illustrating a state where a plurality of objects 10 to be gripped in the grip control according to the present embodiment are arranged in the storage container 80.
  • six objects 10 are accommodated in the accommodating container 80 in a state of three horizontal rows and two vertical rows.
  • Each object 10 has the same rectangular parallelepiped shape.
  • a reference number “10” is used to identify the arrangement position. It shall be added.
  • the notation represents the position of the row and the position of the column in the container 80 in the form of a matrix.
  • the reference numbers of the objects 10 in the front horizontal row in the storage container 80 are described as 10 (1_1), 10 (1_2), 10 (1_3) in order from the left, and the objects in the rear horizontal row in the storage container 80 are described.
  • Reference numbers of the object 10 are described as 10 (2_1), 10 (2_2), and 10 (2_3) in order from the left.
  • the said description may be abbreviate
  • the operation in the case where the object 10 (1_2) in the center of the front row in the container 80 is shifted as the object to be grasped and executed will be described with reference to FIG.
  • the back surface of the grasped object 10 (1_2) is in contact with the front surface of the other object 10 (2_2). Therefore, in this embodiment, in order to expose the back surface of the gripping object 10 (1_2), as shown in FIG. 31, the gripping object 10 (1_2) is placed on the near side (the white arrow shown in FIG. 31). Move horizontally).
  • the first motion determination unit 436 determines the upper surface of the grasped object 10 (1_2) as the first motion contact surface that contacts the finger portion 21 of the hand mechanism 2 for the horizontal movement operation.
  • the motion control unit 438 brings the first finger link part 211 of one finger part of the four finger parts 21 of the hand mechanism 2 into contact with the upper surface of the grasped object 10 (1_2), and the grasping object
  • the hand mechanism 2 is driven and controlled so that the object to be grasped 10 (1_2) is horizontally moved to the near side while pressing the bottom surface of the object 10 (1_2) against the floor surface 83 of the container 80.
  • such a horizontal movement operation for moving the grasped object 10 (1_2) to the near side corresponds to the first operation of the present invention.
  • the direction in which the object to be gripped is moved while being pressed against the floor surface of the storage container is not limited to the horizontal direction. That is, when the floor surface of the storage container is inclined, the object to be grasped may be moved in the inclination direction.
  • a gripping operation that is, a second operation of the present invention is performed on the gripping target object 10 (1_2) that is in a horizontally moved state.
  • different finger portions 21 in the hand mechanism 2 are brought into contact with the front surface and the back surface of the gripping object 10 (1_2).
  • the second motion determining unit 437 determines the back surface of the grasped object 10 (1_2) that has been exposed by the horizontal movement motion as the second motion contact surface.
  • the finger 21 that has been in contact with the first operation contact surface is different from the first operation contact surface, unlike the lifting operation. Even if it is released, the position of the grasped object 10 (1_2) does not return to the original position. That is, the state in which the grasped object 10 (1_2) is separated from the other object 10 (2_2) is maintained. Therefore, the finger part (first finger part of the present invention) to be brought into contact with the first movement contact surface and the finger part (second finger part of the present invention) to be brought into contact with the second movement contact surface are not necessarily the same. It does not have to be a finger.
  • the holding object 10 (1_2) is exposed before the horizontal movement operation, similarly to the shifting and gripping in which the lifting operation is the first operation. It is possible to expose the side surface (back surface) that has not been used and to use the side surface (back surface) for the gripping operation.
  • the gripping object 10 (1_2) when the gripping object 10 (1_2) is horizontally moved to the front side by a horizontal movement operation, not only the back surface of the gripping object 10 (1_2) but also another object 10 (1_2). 10 (1_2) on the left side surface of the grasped object that has been in contact with the object) and the right side surface of 10 (1_2) on the grasped object that has been in contact with the other object 10 (1_3) are also exposed. It becomes. Therefore, it is possible to hold 10 (1_2) of the gripping object by bringing different finger portions 21 in the hand mechanism 2 into contact with the left side surface and the right side surface of the gripping object 10 (1_2). Therefore, the second motion determining unit 437 may determine the left side surface and the right side surface of the grasped object 10 (1_2) that has been exposed by the horizontal movement operation as the second motion contact surface.
  • the shifting-up operation or the horizontal movement operation can be selectively executed as the first operation executed before the gripping operation (second operation).
  • the lifting operation is performed as the first motion. Also good.
  • the front surface of the grasped object 10 (1_2) is determined as the first operation contact surface.
  • the grasped object 10 (1_2) is lifted upward (in the direction of the white arrow shown in FIG. 32A). .
  • the gripping object 10 (1_2) is gripped by a gripping operation.
  • a horizontal movement operation may be performed as the first operation.
  • the upper surface of the grasped object 10 (2_2) is determined as the first operation contact surface.
  • the gripping object 10 (2_2) is moved horizontally (in the direction of the white arrow shown in FIG. 32B). . Thereafter, the gripping object 10 (2_2) is gripped by a gripping operation.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention est capable de saisir un objet cible tout en réduisant au minimum l'impact sur la manière dont l'objet cible est positionné. La présente invention concerne un système de préhension qui saisit un objet cible à l'aide d'un mécanisme de main comportant deux parties doigt ou plus, et exécute un repositionnement/une préhension consistant à repositionner et à saisir ensuite l'objet cible. Pour mettre en oeuvre l'opération de repositionnement/préhension, une première unité de détermination d'opération détermine une première surface de contact d'opération devant être mise en contact avec une première partie doigt pour réaliser une première opération de repositionnement de l'objet à saisir tout en pressant ledit objet contre un autre objet ; et une seconde unité de détermination d'opération détermine une seconde surface de contact d'opération, qui est une surface de l'objet à saisir différente de la première surface de contact d'opération, et utilisée pour une seconde opération de préhension de l'objet repositionné devant être saisi.
PCT/JP2018/018797 2017-05-15 2018-05-15 Système de préhension Ceased WO2018212194A1 (fr)

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JP2017096833 2017-05-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230011761A1 (en) * 2019-12-03 2023-01-12 Sidel End Of Line & Tunnels Solutions Gripper for a depalletization machine and method of depalletization

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JPH06143170A (ja) * 1992-10-29 1994-05-24 Sanyo Electric Co Ltd 自律運搬装置
JPH09323281A (ja) * 1996-05-31 1997-12-16 Shinko Electric Co Ltd 書籍取出し用のロボットハンド
JPH11300670A (ja) * 1998-04-21 1999-11-02 Fanuc Ltd 物品ピックアップ装置
JP2001179669A (ja) * 1999-12-21 2001-07-03 Meidensha Corp ロボットの制御装置
JP2002200588A (ja) * 2000-12-28 2002-07-16 Denso Corp ロボットによる把持可能部品の把持位置検出方法及びその装置
JP2008149444A (ja) * 2006-08-28 2008-07-03 Yaskawa Electric Corp ロボットおよび制御方法
JP2011115930A (ja) * 2009-10-26 2011-06-16 Yaskawa Electric Corp ロボット装置及びワーク取り出しシステム並びにワーク取り出し方法
JP2013126706A (ja) * 2011-12-19 2013-06-27 Fanuc Ltd 物品の姿勢を修正する機能を備えた取出し装置
JP2014138964A (ja) * 2013-01-21 2014-07-31 Toyota Motor Corp ロボットハンドの制御装置及び制御方法
EP2899149A1 (fr) * 2014-01-27 2015-07-29 Mayr-Melnhof Karton AG Dispositif de dépalettisation pour décharger des charges d'une palette et procédé pour décharger des charges d'une palette

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06143170A (ja) * 1992-10-29 1994-05-24 Sanyo Electric Co Ltd 自律運搬装置
JPH09323281A (ja) * 1996-05-31 1997-12-16 Shinko Electric Co Ltd 書籍取出し用のロボットハンド
JPH11300670A (ja) * 1998-04-21 1999-11-02 Fanuc Ltd 物品ピックアップ装置
JP2001179669A (ja) * 1999-12-21 2001-07-03 Meidensha Corp ロボットの制御装置
JP2002200588A (ja) * 2000-12-28 2002-07-16 Denso Corp ロボットによる把持可能部品の把持位置検出方法及びその装置
JP2008149444A (ja) * 2006-08-28 2008-07-03 Yaskawa Electric Corp ロボットおよび制御方法
JP2011115930A (ja) * 2009-10-26 2011-06-16 Yaskawa Electric Corp ロボット装置及びワーク取り出しシステム並びにワーク取り出し方法
JP2013126706A (ja) * 2011-12-19 2013-06-27 Fanuc Ltd 物品の姿勢を修正する機能を備えた取出し装置
JP2014138964A (ja) * 2013-01-21 2014-07-31 Toyota Motor Corp ロボットハンドの制御装置及び制御方法
EP2899149A1 (fr) * 2014-01-27 2015-07-29 Mayr-Melnhof Karton AG Dispositif de dépalettisation pour décharger des charges d'une palette et procédé pour décharger des charges d'une palette

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230011761A1 (en) * 2019-12-03 2023-01-12 Sidel End Of Line & Tunnels Solutions Gripper for a depalletization machine and method of depalletization

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