JP7429494B2 - Robot system with cleaning device and method of operating this robot system - Google Patents

Description

In the present invention, when a tableware basket containing tableware, etc. is stored in a container, the tableware basket is taken out by a gripping hand of a robot device and placed on a conveyor, and the tableware basket is removed by a washing device installed on a conveyance path. The present invention relates to a robot system having a washing device for washing dishes inside.

A robot system disclosed in Patent Document 1 below is known. This robot system includes a robot device that stores containers in a container and takes them out from the container, and a transport robot that transports the containers. A data acquisition unit that acquires data including information about containers, a data storage unit that stores data, and controls a robot to select containers and access positions based on the data before storing and removing containers from the containers. Generates command signals.

The above-mentioned robot system instructs a transport robot to execute a task for transporting a container to an access position based on a control command signal for storing and retrieving a container into a container. It is equipped with a robot control unit that instructs the operating robot to execute tasks for storage and retrieval, and an image sensor that identifies the position and state of the container and the surrounding environment of the container. The image sensor can acquire images of work positions in tasks performed by each unit of the robot system and images of containers at each position.

According to this robot system, before a container is stored in or taken out from a container, information regarding the container and the container is grasped by an image sensor, and control command signals are generated based on data including that information. The task is executed. Therefore, operations for storing and taking out containers into and out of containers can be carried out efficiently and smoothly.

Japanese Patent Application Publication No. 2020-121887

On the other hand, at school lunch centers where meals are served on tableware for school lunches, there is residue on the tableware after eating, and when cleaning and storing the tableware, many people have to clean, transport, etc. The current situation is that heavy labor work is being carried out.

For this reason, the inventor has created a robot system that stores tableware, etc., in order to quickly wash tableware, etc. with residue on them, and prepare them for the next meal, with reference to the above-mentioned Patent Document 1 etc. It is. In this robot system, when tableware and the like with residue are casually stacked in a first container, the first gripping hand of the first robot device takes out the tableware and the like, and places the tableware and the like on a conveyor. This is an automated system in which tableware and the like are transported by a conveyor and passed through a washing device, whereby tableware and the like with residue are washed to obtain clean tableware and the like.

However, the inventor believes that since bowls, small plates, large plates, chopsticks, spoons, etc. are used in school lunches, when trying to take out large plates with residue from the first container individually, the type of end effector of the robot device As the number of dishes increases, a highly accurate image sensor or the like may become necessary to identify the dishes. Moreover, this image sensor images the platter, etc. and the container, and the control device performs image processing to obtain the position, shape, etc. of the platter, etc. based on the imaged information, and sends control command signals to the robot device, etc. They found that the problem was that the robot system could become complicated because it required an arithmetic processing unit with high performance processing speed.

The present invention has been made to solve the above-mentioned problems, and includes a tableware basket for storing tableware, and the tableware basket stored in the container can be quickly handled by one type of gripping hand provided on a robot device. By taking it out and placing it on a conveyor, it is possible to easily generate a control command signal for a robot device without the need for an image sensor that takes an image of the tableware or the like. Moreover, by using a simple type of gripping hand as the end effector of the robot device, a robot system having a cleaning device and an operating method of this robot system can wash dishes with residue stored in a dish basket using the cleaning device. The purpose is to provide

A robot system having a cleaning device according to a first aspect of the present invention includes a tableware basket that stores tableware with residue attached thereto and has gripped parts provided on both sides, and a first container that stores the tableware. A first gripping hand having a first gripping portion that grips and releases a gripped portion of the basket, and a first gripping hand that operates the first gripping hand based on a first control command signal. a robotic device,
a conveyor on which the dish basket is placed and which conveys the dish basket based on a conveyance command signal;
a cleaning device that is installed on a conveyance path along which the tableware basket is conveyed and that cleans the conveyed tableware and the tableware basket;
A robot system having a cleaning device including the first robot device, the transfer conveyor, and a control device that controls the cleaning device,
The first container is open at the front , has a locking part at the rear for securing the rear end of the dish basket , has a flat placing part on which the dish basket is placed, and has a flat placing part on which the dish basket is placed. The portion is provided with a pair of guide portions that guide both side portions of the tableware basket in the front and back direction,
The control device includes a starting position where the tip of the first gripping hand abuts the front part of the tableware basket placed on the first container while the first container is stopped at a reference position; a teaching storage means for storing position information in which a grasping position for grasping a gripped portion of a dish basket and an opening position for moving the first grasping hand to open the dish basket and place it on the transport conveyor are taught in advance; ,
Generates the first control command signal for taking out the tableware basket from the first container and placing it on the conveyor while gripping the tableware basket with the first gripping hand based on the position information read from the teaching storage means. a first control command generating means that generates a first control command;
The first control command generation means is configured to grip the first gripping hand and grasp the front surface of the tableware basket stored in the first container from the open side of the first container. Pushing with the tip of the first gripping hand, the dish basket is slid between the pair of guide parts, the rear end of the dish basket is brought into contact with the locking part, and the generating and generating the first control command signal to stop the first gripping hand ;
further generating and generating the first control command signal for separating the tip of the first gripping hand from the front surface of the dish basket;
Further, generating and generating the first control command signal for opening the first gripping hand wider than the width of the dish basket;
Further, generating and generating the first control command signal for moving the first gripping part to the gripped part in a state in which the first gripping hand is released;
Further, the gripped portion of the tableware basket is gripped by the first gripping hand, and the gripped portion of the tableware basket is taken out from the first container and placed on the conveyor, and then the first gripping hand is held. generating and generating the first control command signal for releasing the grasping hand;
It is characterized by this.

According to the robot system having such a cleaning device, the first control command generating means generates the command based on the position information read from the teaching storage means while the first container is stopped at the reference position. In response to the generated first control command signal, while the first gripping hand is gripping, the first gripping hand moves the front surface of the tableware basket stored in the first container from the open side of the first container. The dish basket slides between the pair of guide parts when pushed by the leading end of the dish basket, and the rear end of the dish basket comes into contact with the locking part to stop the dish basket. Next, the tip of the first gripping hand is separated from the front surface of the dish basket based on the first control command signal. Thereafter, the first gripping hand is opened wider than the width of the dish basket based on the first control command signal. Next, with the first gripping hand released based on the first control command signal, the first gripping portion of the first gripping hand is moved to the gripped portion of the dish basket. Thereafter, based on the first control command signal, the first gripping hand grips the gripped portion of the tableware basket, takes out the tableware basket while gripping it from the first container, places it on the conveyor, and then Release the gripping hand No. 1.

As a result, the first grasping hand takes out the dish basket containing the dishes with residue attached thereto, which is stored in the first container, and conveys the dish basket to the conveyor, so that the dishes and the dish basket pass through the washing device. By doing so, you can obtain clean tableware, etc.
Furthermore, after pushing the dish basket which is uneven in the front-back direction in the first container with the tip of the first grasping hand and moving the dish basket to the reference position, the part to be grasped of the dish basket is moved by the first grasping hand. Grip and remove the dish basket from the first container and place it on the conveyor. Therefore, the first control command generation means can generate the position information stored in the teaching storage means without using an image sensor or the like to image the shape of the dish basket, the first container, and the storage position of the dish basket in the first container. Based on the first control command signal, the first gripping hand is used to grip the stored tableware basket and place it on the conveyor. Therefore, the dish basket can be easily and quickly placed on the conveyor using one type of first gripping hand provided on the first robot device, without imaging the first container or the like using an image sensor.
Furthermore, when the first gripping hand takes out the dish basket from the first container, vertical movement of the first gripping hand within the first container is suppressed, so that the height of the first container is reduced. can be suppressed.

Here, one tableware basket may store all types of tableware such as small plates, large plates, spoons, bowls, and chopsticks, or may store a combination of two or more tableware. Furthermore, a plurality of tableware baskets may be used depending on the types of tableware. The dish basket is open at the top and has a grasped part on the side surface for the first grasping hand to grasp, so that dishes can be stored therein, and the washing water and detergent from the washing device can flow into the dish basket. It has an appropriate penetrating shape so that the dishes stored in it can be washed. Note that tableware has residue attached to it, and residue also includes leftover food (leftover food).

A method of operating a robot system having a cleaning device according to a second aspect of the present invention includes a first container that stores dishes with residue attached thereto, and a first container that stores the dishes and has gripped parts provided on both sides. a first gripping hand having a first gripping portion for gripping and releasing a gripped portion of the tableware basket; and operating the first gripping hand based on a first control command signal. a first robot device that
a conveyor on which the dish basket is placed and which conveys the dish basket based on a conveyance command signal;
a cleaning device that is installed on a conveyance path along which the tableware basket is conveyed and that cleans the conveyed tableware and the tableware basket;
A robot system having a cleaning device including the first robot device, the transfer conveyor, and a control device that controls the cleaning device,
The first container is open at the front , has a locking part at the rear for securing the rear end of the dish basket , has a flat placing part on which the dish basket is placed, and has a flat placing part on which the dish basket is placed. The portion is provided with a pair of guide portions that guide both side portions of the tableware basket in the front and back direction,
The control device includes a starting position where the tip of the first gripping hand abuts the front part of the tableware basket placed on the first container while the first container is stopped at a reference position; a teaching storage means for storing position information in which a grasping position for grasping a gripped portion of a dish basket and an opening position for moving the first grasping hand to open the dish basket and place it on the transport conveyor are taught in advance; ,
Generates the first control command signal for taking out the tableware basket from the first container and placing it on the conveyor while gripping the tableware basket with the first gripping hand based on the position information read from the teaching storage means. a first control command generating means that generates a first control command;
While the first container is stopped at a reference position based on the first control command signal and the first gripping hand is gripped from the open side of the first container, The front side of the dish basket stored in the first container is pushed by the tip of the first gripping hand to slide the dish basket between the pair of guide parts, and the rear end of the dish basket is pushed. a first step of stopping the first gripping hand by bringing the part into contact with the locking part;
a second step of separating the tip of the first gripping hand from the front surface of the dish basket based on the first control command signal;
a third step of opening the first gripping hand wider than the width of the dish basket based on the first control command signal;
a fourth step of moving the first gripping part to the gripped part while the first gripping hand is released based on the first control command signal;
Based on the first control command signal, the first gripping hand grips the gripped portion of the tableware basket, and while gripping the tableware basket, takes it out of the first container and transfers it to the conveyor. and a fifth step of releasing the first gripping hand after the loading,
Executing the first step to the fifth step in order;
It is characterized by this.

As a result, the first gripping hand takes out the tableware basket containing the dishes with residue attached thereto, which is stored in the first container, and the tableware and the tableware basket are transferred to the conveyor and passed through the washing device, thereby removing the clean dishes. etc. can be obtained.
By doing so, clean tableware, etc. can be obtained.
Furthermore, after pushing the dish basket which is uneven in the front-back direction in the first container with the tip of the first grasping hand and moving the dish basket to the reference position, the part to be grasped of the dish basket is moved by the first grasping hand. Grip and remove the dish basket from the first container and place it on the conveyor. Therefore, the first control command generation means can generate the position information stored in the teaching storage means without using an image sensor or the like to image the shape of the dish basket, the first container, and the storage position of the dish basket in the first container. Based on the first control command signal, the first gripping hand is used to grip the stored tableware basket and place it on the conveyor. Therefore, the dish basket can be easily and quickly placed on the conveyor using one type of first gripping hand provided on the first robot device.

Here, one tableware basket may store all of the many types of tableware such as small plates, large plates, spoons, bowls, chopsticks, and trays, or may store a combination of two or more tableware. Furthermore, a plurality of tableware baskets may be used depending on the types of tableware. The tableware basket is open at the top and has a gripped part on the side for the first gripping hand to hold, so that the tableware can be stored and the washing water from the cleaning process can be stored in the tableware basket. It has an appropriate penetrating shape so that the dishes can be washed. Note that tableware has residue attached to it, and residue also includes leftover food (leftover food).

A method for operating a robot system having a cleaning device according to a third aspect of the invention includes, instead of the third step and the fourth step,
After moving the first gripping hand upward based on the first control command signal, the first gripping hand is released and the first gripping part is moved to the gripped part of the tableware basket. with alternative steps to move;
sequentially executing the first and second steps, the alternative step, and the fifth step;
It is characterized by this.

The operating method of this robot system is such that when the first container is stopped at a reference position, the first container is moved from the open side of the first container based on the first control command signal. While gripping the gripping hand, the front surface of the tableware basket stored in the first container is pushed by the tip of the first gripping hand so that the tableware basket slides between the pair of guide parts. a first step of stopping the dish basket by bringing a rear end of the dish basket into contact with the locking part;
a second step of separating the tip of the first gripping hand from the front surface of the dish basket based on the first control command signal;
an alternative step of moving the first gripping part to the gripped part of the tableware basket after moving the first gripping hand upward based on the first control command signal;
Based on the first control command signal, the first gripping hand grips the gripped portion of the tableware basket, and while gripping the tableware basket, takes it out of the first container and transfers it to the conveyor. and a fifth step of releasing the first gripping hand after the loading,
The first and second steps, the alternative step, and the fifth step are executed in order.
This produces the same effects as the second invention.

A robot system having a cleaning device according to a fourth aspect of the present invention includes a detection means for transporting the washed dish basket, detecting that the dish basket has been transported to a predetermined position, and generating a detection signal. and,
a second robot device having a second gripping hand capable of opening and gripping the tableware basket and operating the second gripping hand;
Based on the detection signal, after stopping the conveyor, a second control command signal is generated to cause the second gripping hand to move while gripping the tableware basket and store it in a second container. a second control command generating means for;
It is characterized by having the following.

According to such a robot system, after the conveyor is stopped based on the detection signal from the detection means, the clean dish basket is picked up by the second gripping hand of the second robot device based on the second control command signal. and store it in the second container. As a result, the clean dish basket that has been washed by the washing device is stored in the second container. This will create a system for providing clean tableware.

A robot system having a washing device according to a fifth aspect of the present invention is such that a plurality of the dish baskets are placed side by side in the first container,
The first robot device has a plurality of first gripping hands arranged side by side,
The first control command generation means further moves the plurality of first gripping hands in the X, Y, and Z axis directions in synchronization, and independently controls the opening and gripping of the plurality of first gripping hands. generating the first control command signal that operates as follows;
It is characterized by this.

According to such a robot system, based on the first control command signal, a plurality of tableware baskets arranged side by side and stored in a first container are moved to a plurality of first dish baskets provided in the first robot device. At the same time, it can be taken out and placed on the conveyor using the gripping hand. Thereby, a plurality of tableware baskets stored in the first container are taken out and placed on the conveyor, thereby improving work efficiency. Moreover, since the opening and gripping operations of the first gripping hands can be performed independently, even if the lateral sizes of the dish baskets are different, the plurality of first gripping hands can properly grip the tableware baskets.

According to the present invention, there is provided a tableware basket for storing tableware, and by quickly taking out the tableware basket stacked in the container with one type of gripping hand provided on the robot device and placing it on a conveyor, the tableware etc. It is possible to easily generate a control command signal for a robot device by eliminating the need for an image sensor that captures an image. Moreover, by using a simple type of gripping hand as the end effector of the robot device, a robot system having a cleaning device and an operating method of this robot system can wash dishes with residue stored in a dish basket using the cleaning device. can be provided.

FIG. 2 is a plan view of small plates, chopsticks, etc. placed on a tray used in a robot system according to an embodiment of the present invention. FIG. 2 is a perspective view (a), a side view (b) having a gripped portion on the side surface, and a plan view (c) of the tableware basket that stores the tableware shown in FIG. 1. FIG. They are a front view (a) and a side view (b) of a first container that stores the tableware basket shown in FIG. 2 and takes out the tableware basket. 1 is an overall plan view of a robot system having a cleaning device that cleans the tableware and tableware baskets of FIGS. 1 and 2, showing an embodiment of the present invention. FIG. 5 is a side view of a first container, a first robot device, and a transfer conveyor of the robot system shown in FIG. 4. FIG. FIG. 5 is a side view showing the arrangement of a detector that detects when the tableware basket shown in FIG. 4 has been transported and reached a stop position. In the robot system shown in FIG. 4, the operation procedure for taking out the food from the first container is shown; (a) is a plan view of pushing the dish basket with the tip of the first gripping hand; They are a plan view (b) of the tableware basket moving to a gripped portion, and a plan view (c) of the tableware basket being gripped by the first gripping hand. 5 is a flowchart showing the overall operation of the robot system having the cleaning device shown in FIG. 4. FIG. 9 is a flowchart showing the operation of the first grasping hand in the subroutine of step S103 shown in FIG. 8. 5 is a time chart showing the overall operation of the robot system having the cleaning device shown in FIG. 4. FIG. FIG. 7 is a plan view (a) and a front view (b) of a robot device having two gripping hands showing another embodiment of the present invention. In the robot system showing another embodiment of the present invention and shown in FIG. (b) is a front view of the gripping hand moving upward; (c) is a plan view of the first gripping hand moving to the gripped portion of the dish basket in an open state; and (c) is a plane view of the first gripping hand gripping the dish basket. It is figure (d). 13 is a flowchart showing the operation of the first gripping hand shown in FIG. 12 and illustrating the operation of the first gripping hand in the subroutine of step S103 shown in FIG. 8. FIG.

Embodiment 1.
A robot system having a cleaning device according to an embodiment of the present invention is used in a school lunch center, and a tableware basket containing a group of tableware to be cleaned is stored in a first container. A dish basket taken out from a first container by a first robot device is placed on a conveyor, and while the dish basket is being conveyed, a washing device washes the dish basket and the dishes. Therefore, after explaining the tableware group, the tableware basket, and the first container in this order, the robot system will be explained.

In FIG. 1, a group of tableware 1 used for school lunches includes a small plate 5, a large plate 7, a spoon 9, chopsticks 11, and a bowl 13 placed on a tray 3. When a meal is served and eaten, residue adheres to the tableware group 1, and a tableware basket 20 shown in FIG. 2 capable of storing the tableware group 1 is stored in the first container.

In FIG. 2, the tableware basket 20 is formed into a box shape with an open upper part 20e, and has four upper and lower frames 20a provided above and below, and a square shape that is connected and fixed to the upper and lower frames 20a. It has a top frame 20c and a bottom frame 20d, and bar members 20y are erected at regular intervals on the upper and lower frames 20a, and a constant space is formed between the bar members 20y. , the bottom frame 20d is provided with a bottom plate 20t, and a large number of holes 20i are formed in the bottom plate 20t. This is to sufficiently spread the washing water and detergent to the tableware group 1 stored in the tableware basket 20 and to prevent the stored small plates 3 and the like from falling from the tableware basket 20. The tableware basket 20 is provided with a gripped portion 20h at the center of the left and right side surfaces 20c. Note that a mesh-shaped lid is provided (not shown) for opening and closing the open portion 20e of the tableware basket 20.

In FIG. 3, the first container 30 has a box shape and is movable by rollers 30r provided at the lower end, has an open front, and has two containers connected to a bottom plate 30a and a top plate 30s. A rear plate 30m serving as a locking portion is provided at the rear of the two side plates 30c. Three shelf boards 30k connecting the two side boards 30c are provided, and the shelf board 30k of the first container 30 is provided with a pair of protruding guide parts 30g from the front to the rear board 30m. It is formed so that the tableware basket 20 can be placed while being guided in the front-rear direction between the guide portions 30g. Note that the shelf board 30k corresponds to a flat mounting section. Note that a locking mechanism 30L for locking the rollers 30r of the first container 30 is provided, and a door for opening and closing the front surface of the first container 30 is provided (not shown).

In FIGS. 4 and 5, the robot system 100 stores the tableware basket 20 containing the tableware group 1 with residue attached therein in the first container 30, and grasps the grasped parts 20h on both sides of the tableware basket 20. The first robot device 50 has a first grasping hand 50h that can be opened and grasped, and operates the first grasping hand 50h based on a first control command signal. The robot system 100 places the tableware basket 20 taken out from the first container 30 by rotating the first gripping hand 52 in the direction of an arrow R1, and also transfers the tableware basket 20 to a conveyor 40 based on a conveyance command signal. It has a washing device 60 which is provided on the transport path of the tableware basket 20 and which cleans the tableware group 1 stored in the transported tableware basket 20 with detergent and washing water. Note that a first gripping portion 50a is provided at the tip of the first gripping hand 50h.

Furthermore, in FIGS. 4 and 6, the robot system 100 transports the washed dish basket 20, detects that the dish basket 20 has been transported to a predetermined stop position, and generates a stop detection signal. It has a detector 70 consisting of a sensor. A stopper member 40t for forcibly stopping the tableware basket 20 is erected at the end of the conveyor 40. A second robot device 220 is provided near the end of the conveyor 40 and has a second gripping hand 220h that can open and grip the gripped portion 20h of the tableware basket 20. The second holding hand 220h is rotated in the direction of arrow R2 to store the tableware basket 20 containing the washed and clean tableware group 1 into the second container 230. Note that the second container 230 has the same shape as the first container 30. The second gripping hand 220h is provided with a first gripping portion 220a.

In FIG. 4, an operation switch 79 is connected to the control device 80, which starts operation when turned on, continues operation when turned on, and stops operation when turned off. The control device 80 has a first starting position on the X-axis, Y-axis, and Z-axis where the tip of the first gripping hand 50h contacts the front part of the tableware basket 20 placed on the first container 30; The first gripping position of the X-axis, Y-axis, and Z-axis for gripping the gripped portion 20h of the tableware basket 20, and the X-axis for moving the first gripping hand 50h to release the tableware basket 20 and place it on the conveyor 40. , Y-axis, and Z-axis are taught in advance by the teaching device 90, and has a teaching storage section 81 in which first position information is stored.

The teaching storage unit 81 stores the stopping positions on the X-axis, Y-axis, and Z-axis at which the tableware basket 20 placed on the conveyor 40 stops, the X-axis, Y-axis at which the gripped portion 20h of the tableware basket 20 is gripped, The second gripping position on the Z-axis and the second opening position on the X-axis, Y-axis, and Z-axis where the second gripping hand 220h is opened and stored on the conveyor 40 are taught in advance by the teaching device 90 and 2 position information is stored.

The control device 80 uses the first position information read from the teaching storage section 81 to move the gripped portion 20h of the food basket 20 stored in the first container 30 to the first gripping hand 52 of the first robot device 50. The first container 30 is taken out from the first container 30 while being gripped by the operator, and the first gripping hand 52 is rotated as shown by the arrow R1 to generate and generate a first control command signal to be placed on the conveyor 40. It has a control command generation section 82.

The control device 80 includes a transport command generation unit 84 that generates and generates a transport command signal to drive and control the transport conveyor 40 and also generates a stop signal in response to the detection signal of the detector 70. It has a cleaning command signal generating section 86 that generates a cleaning command signal for generating detergent and cleaning water at the timing when the cleaning device 60 enters the cleaning device 60. While gripping the gripped portion 20h of the tableware basket 20 that was stopped on the conveyor 40 based on the information, with the second gripping hand 220h of the second robot device 220, the second gripping hand 220h is rotated as shown by the arrow R2. It has a second control command generation section 88 that generates a second control command signal for storing the tableware basket 20 in the second container 230.

In FIG. 7A, the first control command generation unit 82 is configured to hold the first gripping hand 50h from the open side of the first container 30, and to The front surface of the dish basket 50 is pushed as shown by arrow A with the tip of the first gripping hand 50h, and the dish basket 20 is pushed rearward between the pair of guide parts 30g provided on the shelf board 30a of the first container 30. Generates and generates a first control command signal to stop the tableware basket 20 by sliding the rear end of the tableware basket 20 into contact with the rear plate 30m serving as a locking portion (first step) .

In FIG. 7B, the first control command generation unit 82 generates a first control command signal that moves the tip of the first gripping hand 50h away from the front surface of the dish basket 20 as shown by arrow B. After the occurrence (second step), as shown by arrow D, a first control command signal is generated to open the first grasping hand 50h drawn by a dotted line wider than the width of the dish basket 20. After (third step), with the first gripping hand 50h opened as shown by arrow E, the first gripping part 50a of the first gripping hand 50h is moved to the gripped part 20h of the dish basket 20. A first control command signal is generated and generated (fourth step).

In FIG. 7C, the first control command generation unit 82 grips the gripped portion 20h of the tableware basket 20 with the first gripping hand 50h as shown by arrow F, and also holds the tableware basket 20 in a gripped state. After the first container 30 is taken out and placed on the conveyor 40, a first control command signal is generated to release the first gripping hand 50h (fifth step). The first position command generation section 82 is configured to generate the first control command signal in the order of the first step to the fifth step.

The conveyance command generation unit 84 generates a first conveyance command signal to control the conveyor 40 at the timing when the tableware basket 20 is taken out from the first container 30 by the first grasping hand 50h and placed on the conveyor 40. The tableware basket 20 is configured to travel at a first transport speed, and generate a second transport command signal for transporting at a second transport speed, which is slower than the first transport speed, at the timing when the dish basket 20 enters the washing device 60. The conveyor 40 is configured to generate a conveyance stop signal to stop the conveyor 40 when a detection signal from the detector 70 is input.

The operation of the robot system configured as described above will be explained mainly using FIGS. 4 to 10. 8 is a flowchart showing the overall operation of the robot system having the cleaning device shown in FIG. 1, FIG. 9 is a flowchart showing the operation of the first gripping hand in the subroutine of step S103 shown in FIG. 8, and FIG. 1 is a time chart showing the overall operation of a robot system having the cleaning device shown in FIG.

Now, the tableware basket 20 with a lid is stored in the first container 30, the first container 30 is moved and stopped at the reference position, and the front door of the first container 30 is opened and locked. When the operation switch 79 is turned on at time t0 shown in FIG. 10 in a state locked by the mechanism 30L (step S101), the first robot The gripping hand 50h of the device 50 is operated to take out the tableware basket 20 stored in the first container 30 and place it on the conveyor 40 (step S103). That is, the first robot device 50 is stored in the first container 30 while gripping the first gripping hand 50h from the open side of the first container 30 based on the first control command signal. The front surface of the tableware basket 20 is pushed with the tip of the first gripping hand 50h in the direction of arrow A shown in FIG. The tableware basket 20 is slid rearward, and the rear end of the tableware basket 20 is brought into contact with the rear plate 30m of the first container 30 to stop the tableware basket 20 (step S201, first step).

The first robot device 50 moves the tip of the first gripping hand 50h away from the front surface of the dish basket 20 in the direction of arrow B shown in FIG. 7(b) based on the first control command signal (step S203, second step). Next, the first robot device 50 opens the first gripping hand 50h wider than the width of the dish basket 20 as indicated by the arrow D shown in FIG. 7(b) based on the first control command signal ( Step S205, third step). The first robot device 50 shows the first gripping part 50a of the first gripping hand 50h in a state where the first gripping hand 50h is released based on the first control command signal as shown in FIG. 7(b). It moves to the gripped part 20h of the tableware basket 20 as indicated by the arrow E (step S207, fourth step).

Next, the first robot device 50 moves the gripped portion 20h of the tableware basket 20 with the first gripping hand 50h as shown in FIG. 7(c) based on the first control command signal. 20h, and after taking out the tableware basket 20 from the first container 30 and placing it on the conveyor 40, the first gripping hand 50h is released (step S209, fifth step). When the conveyance command generation unit 84 of the control device 80 generates a first conveyance command signal at time t1, which is the first timing shown in FIG. The tableware basket 20 is transported by (step S105).

At time t2, which is the second timing shown in FIG. When a transport command signal is generated and inputted to the transport conveyor 40, the transport conveyor 40 transports the tableware basket 20 at the second transport speed (step S107), and immediately after that, the cleaning command from the control device 80 is inputted to the transport conveyor 40. When the generation unit 86 generates a cleaning command signal and inputs it to the cleaning device 60, the cleaning device 60 sprays detergent and cleaning water to clean the dish basket 20 and the tableware group 1 (step S107).

At time t3, which is the third timing shown in FIG. 10, when the tableware basket 20 is conveyed and exits the washing device 60, the conveyance command generation unit 84 transmits a first conveyance command signal to the conveyor at the first conveyance speed. 40, the conveyor 40 conveys the tableware basket 20 at the first conveyance speed (step S111). When the tableware basket 20 reaches a predetermined position, the detector 70 generates a stop detection signal and inputs it to the transport command generation section 84 at time t4. The conveyance command generating unit 84 inputs a conveyance stop command signal to the conveyor 40 to stop the conveyor 40 (step S115).

Next, the second control command generation unit 88 of the control device 80 generates and generates a second control command signal at time t5 shown in FIG. 10 based on the detection signal from the detector 70. The second gripping hand 220h of the second robot device 220 moves while gripping the gripped portion 20h of the tableware basket 20, and stores the tableware basket 20 in the second container 230 (step S117). As a result, the dish basket 20 stored in the first container 30 is taken out by the first grasping hand 50h of the first robot device 50 and placed on the conveyor 40, and while the dish basket 20 is being conveyed, the dish basket 20 is transferred to the washing machine. When the dish basket 20 is moved to the stop position of the transport conveyor 40 in a clean state after being washed by the robot device 60, the dish basket 20 is stored in the second container 230 by the second gripping hand 220h of the second robot device 220. Ru. As a result, next, the tableware basket 20 containing the clean tableware group 1 is stored in the second container 230 for serving a meal.

According to the robot system of the present embodiment, the first container 30 is open at the front, has a shelf board 30k serving as a flat placement section on which the dish basket 20 is placed, and a rear end of the dish basket 20 at the rear. The control device 80 has a rear plate 30m as a locking part for stopping the opening of the first container 30, and a pair of guide parts 30g for guiding both sides of the tableware basket 20. While gripping the first gripping hand 50h from the side, push the front surface of the tableware basket 20 stored in the first container 30 with the tip of the first gripping hand 80h to move it between the pair of guide parts 30g. After the tableware basket 20 slides and generates a first control command signal that stops the tableware basket 20 by bringing the rear end of the tableware basket 20 into contact with the locking portion, the first gripping hand 20h After generating and generating a first control command signal to separate the tip of the handle from the front surface of the dish basket 20, a first control command signal is generated to open the first grip part 50a of the first grip hand 50h wider than the width of the dish basket 20. A first control command signal is generated to move the first gripping hand 50h to the gripped portion 20h of the dish basket 20 while the first gripping hand 20h is opened. After the first gripping hand 50h grips the gripped portion 20h of the tableware basket 20, the tableware basket 20 is taken out from the first container 30 while being gripped and placed on the conveyor 40. After that, a first control command signal for releasing the first grasping hand 50h is generated.

As a result, the tableware basket 20 containing the tableware group 1 with residue attached thereto, stored in the first container 30, is taken out by the first gripping hand 50h and placed on the conveyor 40, and the tableware group 1 with residue is placed therein. By passing the washed tableware basket 20 through the washing device 60, a clean tableware group 1 and a clean tableware basket 20 can be obtained. Furthermore, after moving the tableware basket 20 to the reference position by pushing the tableware basket 20, which is uneven in the front-rear direction in the first container, with the tip of the first gripping hand 50h, the tableware basket 20 is moved to the reference position by the first gripping hand 50h. The user grasps the gripped portion 20h, takes out the tableware basket 20 from the first container 30, and places it on the conveyor 40. Thereby, the tableware basket 20 can be quickly placed on the conveyor 40 using one type of gripping hand 50h. A simple control device 80 can be obtained without the need to detect the shapes of the dish basket 20, the first container 30, the storage position of the dish basket 20, etc. using an image sensor or the like.

Embodiment 2.
Another embodiment of the present invention will be described with reference to FIG. In FIG. 11, the same symbols as in FIG. 4 indicate the same parts. FIG. 11 is a plan view (a) and a front view (b) of a robot device showing another embodiment. The present robot device 150 has two first gripping hands 50h, 150h, and the first control command generation unit 82 of the control device 80 has two first gripping hands 50h, 150h, which are arranged side by side and have the same height direction. A first control command for moving the two first gripping hands 50h, 150h in the X, Y, and Z axis directions in synchronization, and independently operating the opening and gripping of the plurality of first gripping hands 50h, 150h. configured to generate a signal.

As a result, when two tableware baskets 20 are placed side by side in the first container 30, the two first gripping hands 50h, 150h of the robot device 150 are activated by the first control command signal to separate the two baskets 20 from each other. The tableware basket 20 can be taken out. Therefore, the work efficiency of taking out the tableware basket 20 stored in the first container 30 and placing it on the conveyor 40 is improved. Moreover, since the opening and gripping of the two first gripping hands 50h and 150h can be performed independently, even if the horizontal (width) size of the dish basket 20 is different, the plurality of first gripping hands 50h, 150h allows for proper gripping.

Embodiment 3.
Another embodiment of the present invention will be described with reference to FIGS. 12 and 13. In FIG. 13, the same reference numerals as in FIG. 9 indicate the same parts. In the robot system of this embodiment, instead of the third step and fourth step in the first embodiment, after moving the first gripping hand 50h upward based on the first control command signal, The apparatus includes an alternative step of moving the first gripping part 50a of the gripping hand 50h to the gripped part 20h of the tableware basket 20, and sequentially executes the first, second, alternative, and fifth steps. be.

With the first container 30 stopped at the reference position, the robot system grips the first gripping hand 50h from the open side of the first container 30 based on the first control command signal. In this state, as shown by the arrow a shown in FIG. 12(a), the front side of the tableware basket 20 stored in the first container 30 is pushed by the tip of the first gripping hand 50h to release the pair of guide parts 30g. After performing the first step of stopping the dish basket 20 by bringing the rear end of the dish basket 20 into contact with the locking part 30m, the tip of the first gripping hand 50h A second step is performed to move the section away from the front of the dish basket 20.

The robot system moves the first gripping hand 50h upward as indicated by the arrow d shown in FIG. 12(b) based on the first control command signal, and then moves the first gripping hand 50h to the first grip An alternative step is provided in which the portion 50a is moved to the gripped portion 20h of the dish basket 20 as indicated by arrow e shown in FIG. After moving, the first gripping hand 20h grips the gripped portion 20h of the tableware basket 20, and while gripping the tableware basket 20 as shown in the arrow f shown in FIG. After taking it out from the first container 30 and placing it on the conveyor 40, a fifth step of releasing the first gripping hand 50h is performed in order.

The robot system according to the present embodiment achieves the effects of the first embodiment by sequentially executing the first and second steps, the alternative step, and the fifth step.

The present invention is in no way limited to the description of the embodiments of the invention described above. The present invention includes various modifications that can be easily conceived by those skilled in the art without departing from the scope of the claims. For example, in the above embodiment, one tableware basket 20 stores all of the small plates 3, large plates 5, spoons 7, bowls 11, chopsticks 9, and trays 3 as a group 1 of many types of tableware. may store tableware of two or more combinations. Further, dedicated tableware baskets 20 may be provided corresponding to the types of tableware such as the small plates 3. The dedicated tableware basket 20 makes it easy to store each tableware. Further, although the tableware basket 20 has been described as having a mesh-shaped lid, it may not have a lid.

Further, when the dish basket 20 is placed in the washing device 60, the conveyor 40 is conveyed at a second conveyance speed slower than the first conveyance speed, but the conveyance command generation unit 84 generates a conveyance stop command signal. After the conveyor 40 is stopped, the cleaning command generation unit 86 generates a cleaning command signal, the cleaning device 60 sprays cleaning water, etc., and the cleaning of the tableware basket 20 and the tableware group 1 is completed. may be restarted and conveyed at the first conveyance speed. Since the transport conveyor 40 is temporarily stopped, power is saved.

In the embodiment described above, the tableware basket 20 is taken out from the first container 30 by the first gripping hand 50h, and the tableware basket 20 is placed on the conveyor 40, and then the conveyor 40 is conveyed. While the tableware basket 20 is being held, the tableware basket 20 may be taken out using the first gripping hand 50h and placed on the conveyor 40.

1 tableware group, 20 tableware basket, 20h gripped part, 30 first container, 30g guide part, 40 conveyor, 50 first robot device, 50a first gripping part, 50h first gripping hand, 60 washing device, 70 detector, 80 control device, 81 teaching storage section (display storage means), 82 first control command generation section (first control command generation means), 84 transport command generation section (transport command generation means), 86 cleaning command generation section (cleaning command generation means), 88 second control command generation section (second control command generation means), 100 robot system, 220 second robot device, 220a second gripping section, 220h 2 gripping hands, 230 second container;

Claims (5)

A tableware basket that stores dishes with residue attached thereto and has gripped parts provided on both sides, and grips and releases the gripped parts of the tableware basket stored in a first container. a first robot device including a first gripping hand having a first gripping portion and operating the first gripping hand based on a first control command signal;
a conveyor on which the dish basket is placed and which conveys the dish basket based on a conveyance command signal;
a cleaning device that is installed on a conveyance path along which the tableware basket is conveyed and that cleans the conveyed tableware and the tableware basket;
A robot system having a cleaning device including the first robot device, the transfer conveyor, and a control device that controls the cleaning device,
The first container is open at the front , has a locking part at the rear for securing the rear end of the dish basket , has a flat placing part on which the dish basket is placed, and has a flat placing part on which the dish basket is placed. The portion is provided with a pair of guide portions that guide both side portions of the tableware basket in the front and back direction,
The control device includes a starting position where the tip of the first gripping hand abuts the front part of the tableware basket placed on the first container while the first container is stopped at a reference position; a teaching storage means for storing position information in which a grasping position for grasping a gripped portion of a dish basket and an opening position for moving the first grasping hand to open the dish basket and place it on the transport conveyor are taught in advance; ,
Generates the first control command signal for taking out the tableware basket from the first container and placing it on the conveyor while gripping the tableware basket with the first gripping hand based on the position information read from the teaching storage means. a first control command generating means that generates a first control command;
The first control command generation means is configured to grip the first gripping hand and grasp the front surface of the tableware basket stored in the first container from the open side of the first container. Pushing with the tip of the first gripping hand, the dish basket is slid between the pair of guide parts, the rear end of the dish basket is brought into contact with the locking part, and the generating and generating the first control command signal to stop the first gripping hand ;
further generating and generating the first control command signal for separating the tip of the first gripping hand from the front surface of the dish basket;
Further, generating and generating the first control command signal for opening the first gripping hand wider than the width of the dish basket;
Further, generating and generating the first control command signal for moving the first gripping part to the gripped part in a state in which the first gripping hand is released;
Further, the gripped portion of the tableware basket is gripped by the first gripping hand, and the gripped portion of the tableware basket is taken out from the first container and placed on the conveyor, and then the first gripping hand is held. generating and generating the first control command signal for releasing the grasping hand;
A robot system having a cleaning device characterized by: A tableware basket that stores dishes with residue attached thereto and has gripped parts provided on both sides, and grips and releases the gripped parts of the tableware basket stored in a first container. a first robot device including a first gripping hand having a first gripping portion and operating the first gripping hand based on a first control command signal;
a conveyor on which the dish basket is placed and which conveys the dish basket based on a conveyance command signal;
a cleaning device that is installed on a conveyance path along which the tableware basket is conveyed and that cleans the conveyed tableware and the tableware basket;
A robot system having a cleaning device including the first robot device, the transfer conveyor, and a control device that controls the cleaning device,
The first container is open at the front , has a locking part at the rear for securing the rear end of the dish basket , has a flat placing part on which the dish basket is placed, and has a flat placing part on which the dish basket is placed. The portion is provided with a pair of guide portions that guide both side portions of the tableware basket in the front and back direction,
The control device includes a starting position where the tip of the first gripping hand abuts the front part of the tableware basket placed on the first container while the first container is stopped at a reference position; a teaching storage means for storing position information in which a grasping position for grasping a gripped portion of a dish basket and an opening position for moving the first grasping hand to open the dish basket and place it on the transport conveyor are taught in advance; ,
Generates the first control command signal for taking out the tableware basket from the first container and placing it on the conveyor while gripping the tableware basket with the first gripping hand based on the position information read from the teaching storage means. a first control command generating means that generates a first control command;
While the first container is stopped at a reference position based on the first control command signal and the first gripping hand is gripped from the open side of the first container, The front side of the dish basket stored in the first container is pushed by the tip of the first gripping hand to slide the dish basket between the pair of guide parts, and the rear end of the dish basket is pushed. a first step of stopping the first gripping hand by bringing the part into contact with the locking part;
a second step of separating the tip of the first gripping hand from the front surface of the dish basket based on the first control command signal;
a third step of opening the first gripping hand wider than the width of the dish basket based on the first control command signal;
a fourth step of moving the first gripping part to the gripped part while the first gripping hand is released based on the first control command signal;
Based on the first control command signal, the first gripping hand grips the gripped portion of the tableware basket, and while gripping the tableware basket, takes it out of the first container and transfers it to the conveyor. and a fifth step of releasing the first gripping hand after the loading,
Executing the first step to the fifth step in order;
A method of operating a robot system having a cleaning device, characterized in that: Instead of the third step and the fourth step,
After moving the first gripping hand upward based on the first control command signal, the first gripping hand is released and the first gripping part is moved to the gripped part of the tableware basket. with alternative steps to move;
sequentially executing the first and second steps, the alternative step, and the fifth step;
A method for operating a robot system having a cleaning device according to claim 2. a detection means for transporting the washed dish basket, detecting that the dish basket has been transported to a predetermined position, and generating a detection signal;
a second robot device having a second gripping hand capable of opening and gripping the tableware basket and operating the second gripping hand;
Based on the detection signal, after stopping the conveyor, a second control command signal is generated to cause the second gripping hand to move while gripping the tableware basket and store it in a second container. a second control command generating means for;
A robot system comprising the cleaning device according to claim 1. A plurality of the tableware baskets are placed side by side in the first container,
The first robot device has a plurality of first gripping hands arranged side by side,
The first control command generation means further moves the plurality of first gripping hands in the X, Y, and Z axis directions in synchronization, and independently controls the opening and gripping of the plurality of first gripping hands. generating the first control command signal that operates as follows;
A robot system comprising the cleaning device according to claim 1 or 4.

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