US 12,447,622 B2
Article conveyance processing system
Takashi Ueda, Osaka (JP); Yoshiaki Uemizo, Osaka (JP); Tomonori Kitano, Osaka (JP); Shin Iose, Osaka (JP); Kazuyoshi Nakatani, Osaka (JP); and Yoshimi Ezawa, Osaka (JP)
Assigned to Japan Cash Machine Co., Ltd., (JP)
Appl. No. 18/572,102
Filed by JAPAN CASH MACHINE CO., LTD., Osaka (JP)
PCT Filed Feb. 9, 2022, PCT No. PCT/JP2022/005172
§ 371(c)(1), (2) Date Dec. 19, 2023,
PCT Pub. No. WO2023/276236, PCT Pub. Date Jan. 5, 2023.
Claims priority of application No. 2021-108378 (JP), filed on Jun. 30, 2021.
Prior Publication US 2024/0286289 A1, Aug. 29, 2024
Int. Cl. B25J 13/08 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1687 (2013.01) [B25J 9/0027 (2013.01); B25J 9/1697 (2013.01); B25J 13/089 (2013.01); B25J 15/0616 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An article conveyance processing system for taking out an article from a mobile cart having a horizontal frame and a vertical frame and/or conveying and placing an article on the mobile cart, comprising:
a robot hand that grips and conveys an article;
a moving mechanism configured to perform attitude control and movement control for the robot hand; and
a control unit that controls the robot hand and the moving mechanism,
wherein the robot hand comprises:
a frame; and
a telescopic mechanism, an adsorption mechanism, a first distance sensor, a second distance sensor, and an imaging unit that are installed in the frame,
wherein the control unit performs:
a first distance obtaining step of measuring a distance between a first measurement point on a horizontal frame of the mobile cart and the first distance sensor by the first distance sensor in a state in which the robot hand is attitude-controlled to have a predetermined attitude with respect to the mobile cart, and obtaining the measured value as a first distance;
a second distance obtaining step of, in a state of controlling the attitude of the robot hand in the same attitude as the predetermined attitude, measuring a distance between the first measurement point on the horizontal frame of the mobile cart and a second measurement point different from the first measurement point, and obtaining the measured value as a second distance;
a horizontal error determination step of determining whether a difference between the first distance and the second distance is equal to or less than a predetermined value;
a cart coordinate system horizontal axis setting step of, when it is determined that the difference between the first distance and the second distance is equal to or less than a predetermined value in the horizontal error determination step, setting an axis in substantially the same direction as a vector from the position of the robot hand when the first distance has been measured to the position of the robot hand when the second distance has been measured as a horizontal axis of the cart coordinate system that is a coordinate system used as references when controlling the movement and/or attitude for the mobile cart by the robot hand; and
a robot hand control step of controlling the robot hand based on the cart coordinate system.