Gripping apparatus for plate-shaped workpiece and gripping method for plate-shaped workpiece
A gripping apparatus includes a tray, a detector, a robot, and a controller. The tray has a placement surface on which multiple workpieces of plate shape are to be placed. The placement surface is provided with multiple recesses. The detector is configured to detect arrangement of the workpieces placed on the tray. The robot is attached with a hand. The controller is configured to move and insert the workpieces into the recesses by vibrating the tray, specify the workpieces in a standing state with the detector, and instruct the robot to grip one of the workpieces in the standing state with the hand in a predetermined direction.
1. A gripping apparatus comprising:
a tray capable of being vibrated and having a placement surface on which a plurality of workpieces of plate shape is to be placed, the placement surface provided with a plurality of recesses configured to cause the workpieces placed on the tray to be in a standing state with respect to the placement surface;
a detector configured to detect arrangement of the workpieces placed on the tray;
a robot attached with a hand configured to grip one of the workpieces; and
a controller configured to control the detector, the robot, and vibration of the tray, wherein
each of the plurality of workpieces has an identifier, and
the controller is further configured to:
move and insert the workpieces into the recesses by vibrating the tray;
specify the workpieces in the standing state with the detector; and
instruct the robot to grip one of the workpieces in the standing state with the hand in a predetermined direction; and
when one of the workpieces is inserted into one of the recesses in a state of being upside down from the predetermined direction, vibrate the tray in a vertical direction so that the one of the workpieces is momentarily lifted from the placement surface and discharged from the one of the recesses, and arrangement of the one of the workpieces is reset,
determine whether one of the plurality of workpieces inserted into one of the recesses is in the predetermined direction or in the state of being upside down from the predetermined direction based on a position of the identifier detected by the detector.
2. The gripping apparatus according to claim 1 , wherein
the controller is further configured to instruct the robot to assemble the one of the workpieces that is gripped to an object without re-gripping the one of the workpieces.
3. The gripping apparatus according to claim 1 , wherein
each of the recesses has a groove and an inclined surface,
the groove has such a size that one of the workpieces is capable of being inserted in the groove in the standing state, and
the inclined surface is inclined toward the groove.
4. The gripping apparatus according to claim 1 , wherein
the controller is further configured to change the amount of vibration when vibrating the tray based on the number of workpieces in the standing state.
5. The gripping apparatus according to claim 1 , wherein
the detector includes a camera.
6. A gripping method comprising:
using a gripping apparatus including a tray, a detector, a robot, and a controller, the tray capable of being vibrated and having a placement surface on which a plurality of workpieces of plate shape is to be placed, the placement surface provided with a plurality of recesses configured to cause the workpieces placed on the tray to be in a standing state with respect to the placement surface, the detector configured to detect arrangement of the workpieces placed on the tray, the robot attached with a hand configured to grip one of the workpieces, the controller configured to control the detector, the robot and vibration of the tray;
moving and inserting the workpieces into the recesses by vibrating the tray;
specifying the workpieces in the standing state by detecting arrangement of the workpieces with the detector;
controlling the robot to grip one of the workpieces that are specified with the hand in a predetermined direction; and
when one of the workpieces is inserted into one of the recesses in a state of being upside down from the predetermined direction, vibrating the tray in a vertical direction so that the one of the workpieces is momentarily lifted from the placement surface and discharged from the one of the recesses, and arrangement of the one of the workpieces is reset, wherein:
each of the plurality of workpieces has an identifier, and
the gripping method further comprises determining whether one of the plurality of workpieces inserted into one of the recesses is in the predetermined direction or in the state of being upside down from the predetermined direction based on a position of the identifier detected by the detector.
7. A gripping apparatus comprising:
a tray having a placement surface on which a plurality of workpieces of plate shape is to be supplied, the placement surface provided with a plurality of recesses having such a size that one of the workpieces is capable of being inserted in one of the recesses in a standing state with respect to the placement surface each of the plurality of workpieces having an identifier;
a vibration mechanism configured to vibrate the tray mounted on the vibration mechanism;
a detector configured to detect arrangement of the workpieces placed on the tray;
a robot attached with a hand configured to grip one of the workpieces; and
a controller including a processor and a memory, the memory storing a computer program including instructions configured to, when executed by the processor, cause the processor to:
move and insert the workpieces in the recesses by instructing the vibration mechanism to vibrate the tray;
specify the workpieces in the standing state based on the arrangement of the workpieces detected by the detector;
instruct the robot to grip one of the workpieces in the standing state with the hand in a predetermined direction; and
when one of the workpieces is inserted into one of the recesses in a state of being upside down from the predetermined direction, vibrate the tray in a vertical direction so that the one of the workpieces is momentarily lifted from the placement surface and discharged from the one of the recesses, and arrangement of the one of the workpieces is reset; and
determine whether one of the plurality of workpieces inserted into one of the recesses is in the predetermined direction or in the state of being upside down from the predetermined direction based on a position of the identifier detected by the detector.
8. The gripping apparatus according to claim 1 , wherein
the identifier is positioned at an upper portion of each of the plurality of workpieces when each of the plurality of workpieces is in the predetermined direction.
9. The gripping method according to claim 6 , wherein
the identifier is positioned at an upper portion of each of the plurality of workpieces when each of the plurality of workpieces is in the predetermined direction.
10. The gripping apparatus according to claim 7 , wherein
the identifier is positioned at an upper portion of each of the plurality of workpieces when each of the plurality of workpieces is in the predetermined direction.