Robot apparatus

• US 9,102,063 B2
• Filed: 08/01/2013
• Issued: 08/11/2015
• Est. Priority Date: 09/14/2012
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Yasuda, Yuya, Murai, Shinji, Ito, Toshiki
• Primary Examiner(s): TRAN, KHOI H
• Assistant Examiner(s): Peche, Jorge
• Application Number:
  US13/956,361
• Publication Number:
  US 20140081452A1
• Time in Patent Office: 740 Days
• Field of Search: 700/245, 700/258, 700/259, 901/1, 901/7, 901/8, 901/9, 901/31, 901/40, 901/46, 901/47
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G05B 2219/40053 Pick 3-D object from pile of objects

Abstract

A robot apparatus includes a robot main body, a distance determining section, an order determining section, and an operation controlling section. The robot main body transfers a plurality of to-be-processed objects in order so as to subject every predetermined number of the to-be-processed objects to processing, and includes a robot arm and a robot hand. The distance determining section determines an entire transfer distance of each of the to-be-processed objects. The order determining section determines a transfer order of the to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has uniform transfer time. The operation controlling section controls operations of the robot arm and the robot hand so as to transfer the to-be-processed objects in accordance with the transfer order determined by the order determining section.

Claims

1. A robot apparatus comprising:

a robot main body configured to transfer a plurality of to-be-processed objects in order so as to subject every predetermined number of to-be-processed objects among the plurality of to-be-processed objects to processing, the robot main body comprising;

a robot arm; and

a robot hand configured to hold a to-be-processed object among the plurality of to-be-processed objects by at least one of gripping and suction;

a distance determining section configured to determine an entire transfer distance of each of the plurality of to-be-processed objects, the entire transfer distance being from a location of each of the plurality of to-be-processed objects to a transfer destination of each of the plurality of to-be-processed objects;

an order determining section configured to determine a transfer order of the plurality of to-be-processed objects based on a determination result of the distance determining section so that every set including a predetermined number of the to-be-processed objects has approximately uniform total transfer time, the predetermined number being equal to or larger than two; and

an operation controlling section configured to control an operation of the robot arm and an operation of the robot hand so as to transfer the plurality of to-be-processed objects in accordance with the transfer order determined by the order determining section.

2. The robot apparatus according to claim 1, wherein the order determining section is configured to determine the transfer order of the plurality of to-be-processed objects so that every set including the predetermined number of the to-be-processed objects has approximately uniform total transfer time when the predetermined number of to-be-processed objects are collectively subjected to a predetermined post-processing step after the plurality of to-be-processed objects have been transferred.

3. A robot apparatus comprising:

a robot main body configured to transfer a plurality of to-be-processed objects in order so as to subject every predetermined number of to-be-processed objects among the plurality of to-be-processed objects to processing, the robot main body comprising;

a robot arm; and

a robot hand configured to hold a to-be-processed object among the plurality of to-be-processed objects by at least one of gripping and suction;

a distance determining section configured to determine an entire transfer distance of each of the plurality of to-be-processed objects, the entire transfer distance being from a location of each of the plurality of to-be-processed objects to a transfer destination of each of the plurality of to-be-processed objects;

an order determining section configured to determine a transfer order of the plurality of to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has approximately uniform transfer time;

an operation controlling section configured to control an operation of the robot arm and an operation of the robot hand so as to transfer the plurality of to-be-processed objects in accordance with the transfer order determined by the order determining section; and

a transfer time calculating section configured to calculate transfer time of each of the plurality of to-be-processed objects based on the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section,

wherein based on the transfer time of each of the plurality of to-be-processed objects calculated by the transfer time calculating section, the order determining section is configured to determine the transfer order of the plurality of to-be-processed objects so that every predetermined number of the to-be-processed objects has approximately uniform transfer time.

4. The robot apparatus according to claim 3, wherein the distance determining section is configured to collectively determine entire transfer distances of the plurality of to-be-processed objects.

5. The robot apparatus according to claim 4, further comprising a sensor configured to detect a location of each of the plurality of to-be-processed objects in a horizontal direction,

wherein the distance determining section is configured to determine the entire transfer distance using a horizontal transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects and using a vertical transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects, the horizontal transfer distance being calculated based on a detection result of the sensor, the vertical transfer distance being fixed in advance.

6. The robot apparatus according to claim 5, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

7. The robot apparatus according to claim 4, further comprising a sensor configured to detect a location of each of the plurality of to-be-processed objects in a horizontal direction,

wherein the distance determining section is configured to determine the entire transfer distance using a horizontal transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects and using a vertical transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects, the horizontal transfer distance being calculated based on a detection result of the sensor, the vertical transfer distance being fixed in advance.

8. The robot apparatus according to claim 7, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

9. The robot apparatus according to claim 4, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

10. The robot apparatus according to claim 3, further comprising a sensor configured to detect a location of each of the plurality of to-be-processed objects in a horizontal direction,

wherein the distance determining section is configured to determine the entire transfer distance using a horizontal transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects and using a vertical transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects, the horizontal transfer distance being calculated based on a detection result of the sensor, the vertical transfer distance being fixed in advance.

11. The robot apparatus according to claim 10, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

12. The robot apparatus according to claim 3, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

13. The robot apparatus according to claim 3, wherein the distance determining section is configured to divide a region in which all the plurality of to-be-processed objects are disposed into a plurality of sub-regions, and configured to assume and determine, as the entire transfer distance of the one to-be-processed object, a distance between a predetermined position in one sub-region among the plurality of sub-regions and the transfer destination of one to-be-processed object among the plurality of to-be-processed objects located in the one sub-region.

14. The robot apparatus according to claim 13, further comprising a sensor configured to detect a location of each of the plurality of to-be-processed objects in a horizontal direction,

wherein the distance determining section is configured to determine the entire transfer distance using a horizontal transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects and using a vertical transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects, the horizontal transfer distance being calculated based on a detection result of the sensor, the vertical transfer distance being fixed in advance.

15. The robot apparatus according to claim 14, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

16. The robot apparatus according to claim 13, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

17. A robot apparatus comprising:

a robot main body configured to transfer a plurality of to-be-processed objects in order so as to subject every predetermined number of to-be-processed objects among the plurality of to-be-processed objects to processing, the robot main body comprising;

a robot arm; and

a robot hand configured to hold a to-be-processed object among the plurality of to-be-processed objects by at least one of gripping and suction;

a distance determining section configured to determine an entire transfer distance of each of the plurality of to-be-processed objects, the entire transfer distance being from a location of each of the plurality of to-be-processed objects to a transfer destination of each of the plurality of to-be-processed objects;

an order determining section configured to determine a transfer order of the plurality of to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has approximately uniform transfer time; and

an operation controlling section configured to control an operation of the robot arm and an operation of the robot hand so as to transfer the plurality of to-be-processed objects in accordance with the transfer order determined by the order determining section,

wherein the distance determining section is configured to divide a region in which all the plurality of to-be-processed objects are disposed into a plurality of sub-regions, and configured to assume and determine that a distance between a predetermined position in one sub-region among the plurality of sub-regions and the transfer destination of one to-be-processed object among the plurality of to-be-processed objects located in the one sub-region is the entire transfer distance of the one to-be-processed object.

18. The robot apparatus according to claim 17, further comprising a sensor configured to detect a location of each of the plurality of to-be-processed objects in a horizontal direction,

wherein the distance determining section is configured to determine the entire transfer distance using a horizontal transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects and using a vertical transfer distance that is from the location of each of the plurality of to-be-processed objects to the transfer destination of each of the plurality of to-be-processed objects, the horizontal transfer distance being calculated based on a detection result of the sensor, the vertical transfer distance being fixed in advance.

19. The robot apparatus according to claim 18, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.

20. The robot apparatus according to claim 17, further comprising a posture determining section configured to determine a posture of each of the plurality of to-be-processed objects,

wherein the transfer time calculating section is configured to calculate the transfer time of each of the plurality of to-be-processed objects in accordance with the entire transfer distance of each of the plurality of to-be-processed objects determined by the distance determining section and in accordance with the posture of each of the plurality of to-be-processed objects determined by the posture determining section.