1. The base 132 is provided on its upper surface with sliding members 136 and 137. The sliding members 136 and 137 are belt-like members extending in the first direction D1, and disposed having an interval therebetween in a fifth direction D5. Although in this embodiment the sliding members 136 and 137 extend parallelly with each other, it is not limited to this configuration. The upper surface of the base 132 is a surface facing in a third direction D3.

Here, the first direction D1 is a direction along a longitudinal direction of the base 132 and is oriented from an end 132a to an end 132b. The ends 132a and 132b are ends of the base 132 on both sides in the longitudinal direction. The second direction D2 is an opposite direction from the first direction D1. The fifth direction D5 is a direction along an upper surface of the base 132, oriented from the sliding member 136 to the sliding member 137, and perpendicular to the directions D1 and D2. A sixth direction D6 is an opposite direction from the fifth direction D5. The third direction D3 is a direction perpendicular to the directions D1, D2, D5, and D6 and is oriented from the base 132 to the sliding members 136 and 137. A fourth direction D4 is an opposite direction from the third direction D3.

The sliding members 136 and 137 are equivalent in height in the third direction D3, and have smooth and flat upper surfaces 136a and 137a, respectively. The sliding members 136 and 137 are made of, for example, material which is low in friction coefficient against the article A, and gives small influence (e.g., damage) on a surface of the article A. The component material of the sliding members 136 and 137 may be resin, for example. The sliding members 136 and 137 made of resin can contribute to a reduction in weight of the robot hand 130.

The attachment base part 131 is connected to the link 120f of the robotic arm 120. The attachment base part 131 is disposed and fixed to the third direction D3 side of the base 132, and disposed on the first direction D1 side of the sliding members 136 and 137. The attachment base part 131 includes an accommodating part 131a and a connecting part 131b. The accommodating part 131a is made of an inverse U-shaped member crossing over the base 132 in the directions D5 and D6, and forms an accommodation space 131a1 therein. The accommodation space 131a1 accommodates components of the holder 134 moved in the first direction D1. The connecting part 131b is connected to a part of the accommodating part 131a on the first direction D1 side, and connected to the link 120f.

The belt driving mechanism 133 is disposed at the base 132 between the sliding members 136 and 137. As illustrated in FIG. 7, the belt driving mechanism 133 is provided with rotatable rollers 133a and 133b, and the driving belt 133c in an endless wheel shape. The rollers 133a and 133b are disposed at the base 132 having an interval therebetween in the first direction D1, and a direction of the rotational axes of the rollers 133a and 133b is the fifth direction D5. The rollers 133a and 133b are disposed near the ends 132a and 132b (see FIG. 3) of the base 132, and are embedded in through-holes penetrating the base 132 in the third direction D3, respectively.

The driving belt 133c is bridged over the rollers 133a and 133b through the two through-holes. The driving belt 133c extends in the first direction D1 on both sides of the upper surface and a lower surface of the base 132 which face the directions D3 and D4, respectively. On the upper surface of the base 132, the driving belt 133c forms on its outer circumferential surface a transferring surface 133c1 which extends in the first direction D1 and faces the third direction D3. By the rollers 133a and/or 133b being rotary driven, the driving belt 133c circles around them, and the transferring surface 133c1 is moved in the first direction D1 or the second direction D2. The driving belt 133c may not have an endless wheel shape. For example, the driving belt 133c may be wound around the rollers 133a and 133b. By the rollers 133a and 133b rotating to send out or to wind therearound the driving belt 133c, the transferring surface 133c1 may be moved in the first direction D1 or the second direction D2.

The height of the transferring surface 133c1 in the third direction D3 is equivalent to the height of the upper surfaces 136a and 137a of the sliding members 136 and 137. Therefore, the article A can be simultaneously placed on the transferring surface 133c1 and the upper surfaces 136a and 137a. The driving belt 133c can move the article A on the upper surfaces 136a and 137a in the first direction D1 or the second direction D2, by moving the transferring surface 133c1.

The belt driver 135 is disposed near the roller 133b, and rotary drives the roller 133b. The belt driver 135 is provided with a servomotor 135a as an electric motor, and a speed reducer 135b. The speed reducer 135b reduces a rotational speed of the servomotor 135a and increases the rotary driving force, and transmits the rotary driving force to the roller 133b. The belt driver 135 is one example of a first driver.

As illustrated in FIGS. 3 to 6, the holder 134 is disposed on the third direction D3 side of the driving belt 133c so as to be movable in the directions D1 and D2. The holder 134 includes an adhesion part 134a, a supporting body 134b, a fixing part 134c, and a lifter 134d.

As illustrated in FIGS. 4 and 7, the supporting body 134b supports the adhesion part 134a, and is connected to the fixing part 134c through the lifter 134d. For example, the supporting body 134b includes a rectangular plate-like member, and stands in the third direction D3 with respect to the sliding members 136 and 137 and the transferring surface 133c1. The supporting body 134b includes surfaces 134b1 and 134b2 facing the directions D1 and D2, respectively. The adhesion part 134a is disposed on the surface 134b2, and the lifter 134d is disposed on the surface 134b1.

FIG. 8 is a front view illustrating the holder 134 illustrated in FIG. 3, when seen in the first direction D1. FIG. 9 is a back view illustrating the holder 134 illustrated in FIG. 3, when seen in the second direction D2. As illustrated in FIG. 8, the adhesion part 134a includes suctioners 134aak (k=a natural number from 1 to n) disposed on the surface 134b2. Each suctioner 134aak has, but not limited to this, for example, a hollow nozzle shape. In this embodiment, each suctioner 134aak has a hollow bellows shape, and is expandable and contractible. Therefore, even when the surface of the article A has an unevenness or an inclination, and is not in parallel with the surface 134b2 of the supporting body 134b, the suctioners 134aak can contact and suck the surface. Each suctioner 134aak is directed in the second direction D2 so as to suck the article A existing on the second direction D2 side. Accordingly, the holder 134 is directed so as to hold the article A existing on the second direction D2 side by using the suctioners 134aak.

In this embodiment, twenty suctioners 134aa1-134aa20 are disposed. The suctioners 134aa1-134aa20 are arranged to form four rows extending in the fifth direction D5 and five columns extending in the third direction D3 (4 rows×5 columns). The suctioners 134aa1-134aa12 constitute a first suctioner group G1, and are arrayed to have a rectangular shape in “4 rows×3 columns.” The suctioners 134aa13-134aa16 constitute a second suctioner group G2, and are arrayed in “4 rows×1 column” at a position on the fifth direction D5 side of the first suctioner group G1. The suctioners 134aa17-134aa20 constitute a third suctioner group G3, and are arrayed in “4 rows×1 column” at a position on the sixth direction D6 side of the first suctioner group G1.

As illustrated in FIGS. 7 and 8, the suctioners 134aa1-134aa20 as described above are lined up in a direction intersecting with the transferring surface 133c1 of the driving belt 133c (in detail, the directions D3 and D4 substantially perpendicular to the transferring surface 133c1), and in a direction toward and away from the transferring surface 133c1. Moreover, the suctioner 134aak distant from the transferring surface 133c1 is positioned on the first direction D1 side compared to the suctioner 134aak near the transferring surface 133c1. The supporting body 134b is slightly inclined in the directions D1 and D2 with respect to the direction perpendicular to the transferring surface 133c1 (in detail, slightly inclined toward the first direction D1 with distance from the transferring surface 133c1 toward the third direction D3).

As illustrated in FIGS. 8 and 9, the suctioners 134aa1-134aa12 communicate with a first piping system 181 (not illustrated) via a connection port 134ba on the surface 134b1. The suctioners 134aa13-134aa16 communicate with a second piping system 182 (not illustrated) via a connection port 134bb on the surface 134b1. The suctioners 134aa17-134aa20 communicate with a third piping system 183 (not illustrated) via a connection port 134bc on the surface 134b1. The piping systems 181-183 are separate piping systems, and each connected to the negative pressure generator 180. Piping, electric cables, etc., extending from the holder 134 (e.g., the piping of the piping systems 181-183) extend to a connection destination, such as the negative pressure generator 180, through inside of an accommodation duct 138 (see FIG. 3) disposed at the base 132. Although the accommodation duct 138 is, for example, a Cableveyor® which is freely bendable, it may have other configurations, as long as it can accommodate the piping and the electric cables. Among the piping systems 181-183, at least arbitrary two of them are examples of a first system and a second system, respectively.

The negative pressure generator 180 selects at least one of the piping systems 181-183, and generate negative pressure at the piping system. That is, the negative pressure generator 180 can select one of the suctioner groups G1-G3 to carry out sucking. For example, by the selection from the suctioner groups G1-G3 to generate the negative pressure corresponding to the shape, size, etc., of the article A, the article A can be sucked efficiently.

As illustrated in FIGS. 7 and 9, the fixing part 134c fixes the supporting body 134b to the driving belt 133c (in detail, the driving belt 133c on the upper surface of the base 132). The supporting body 134b is moved in the directions D1 and D2 together with the transferring surface 133c1, by the driving belt 133c via the fixing part 134c. The fixing part 134c includes a base plate 134c1, a pinching part 134c2, sliding guides 134c3a and 134c3b, and lifting guides 134c4a and 134c4b. The base plate 134c1, the sliding guides 134c3a and 134c3b, and the lifting guides 134c4a and 134c4b are integrated.

The base plate 134c1 is a plate-like member, and disposed on the third direction D3 side of the driving belt 133c to be extended in the fifth direction D5 while crossing over the driving belt 133c. The base plate 134c1 includes surfaces 134c1a and 134c1b facing the directions D3 and D4, respectively.

The pinching part 134c2 is a member disposed between the base 132 and the driving belt 133c. The pinching part 134c2 and the surface 134c1b of the base plate 134c1 are connected to each other while pinching the driving belt 133c therebetween, and thus, the base plate 134c1 is fixed to the driving belt 133c.

The sliding guides 134c3a and 134c3b are disposed at both sides of the driving belt 133c in the directions D6 and D5, respectively, and fixed to the surface 134c1b of the base plate 134c1. Recesses of the sliding guides 134c3a and 134c3b are fitted with base guides 132c and 132d which are band-shaped protrusions, respectively, so as to be slidable in the directions D1 and D2. The base guides 132c and 132d are fixed to or integrated with the base 132, and extend along the driving belt 133c in the first direction D1 on both of the directions D5 and D6 sides of the driving belt 133c, respectively, and in this embodiment, they are parallel with each other. The sliding guides 134c3a and 134c3b are disposed to be separate from each other on the both sides of the driving belt 133c, and the base guides 132c and 132d are disposed to be separate from each other on the both sides of the driving belt 133c. Therefore, a displacement of the base plate 134c1 in an unintended direction can be reduced while guiding the motion of the base plate 134c1 with respect to the base 132 in the directions D1 and D2.

The lifting guides 134c4a and 134c4b are pillar-shaped members extending in the third direction D3, and in this embodiment, they are parallel with each other. The lifting guides 134c4a and 134c4b are fixed to the surface 134c1a of the base plate 134c1 on both of the directions D5 and D6 sides of the lifter 134d, respectively. The lifting guides 134c4a and 134c4b penetrate guiding holes 134b3a and 134b3b of a supporting body guide 134b3, respectively. The supporting body guide 134b3 is a plate-like member protruding from the surface 134b1 of the supporting body 134b in the first direction D1, and has the guiding holes 134b3a and 134b3b penetrating in the directions D3 and D4. The lifting guides 134c4a and 134c4b, and the supporting body guide 134b3 guide the motion of the supporting body 134b with respect to the base plate 134c1 in the directions D3 and D4. The lifting guides 134c4a and 134c4b which are disposed away from each other in the fifth direction D5 suppress the supporting body 134b from rotating with respect to the base plate 134c1, centering on an axis extending in the third direction D3.

The lifter 134d is disposed on the surface 134c1a of the base plate 134cl and connected to the supporting body guide 134b3 and the base plate 134c1. The supporting body 134b is supported by the base plate 134c1 via the lifter 134d. The lifter 134d expands and contracts in the directions D3 and D4, and moves the supporting body guide 134b3 with respect to the base plate 134cl in the directions D3 and D4. That is, the lifter 134d lifts and lowers the supporting body 134b with respect to the base 132 in the directions D3 and D4. The lifter 134d is one example of a fourth driver.

Although in this embodiment the lifter 134d includes a pneumatic cylinder, it may have other configurations, as long as it lifts and lowers the supporting body 134b with respect to the fixing part 134c in the directions D3 and D4. For example, the lifter 134d may be provided with a hydraulic or electric cylinder, an electric linear actuator, or a thread mechanism. The thread mechanism is, for example, a mechanism which includes a threaded rod and a nut (e.g., a ball nut) to be threadedly engaged with the threaded rod, and converts the rotational motion of the nut to the linear motion of the threaded rod. In a case where the lifter 134d is driven to ascend and descend by electric power, it may include, for example, a motor or a linear actuator, etc., which is servo-controlled.

FIG. 10 is a cross-sectional side view of the robot hand 130 illustrated in FIG. 7, in a state where the lifter 134d is expanded. FIG. 11 is a back view of the holder 134 illustrated in FIG. 9, in the state where the lifter 134d is expanded.

As illustrated in FIGS. 7 and 10, the lifter 134d includes a cylinder 134d1 and a piston 134d2 inside the cylinder 134d1. The cylinder 134d1 is fixed to the supporting body guide 134b3, and the piston 134d2 is fixed to the base plate 134c1 through a rod 134d3. The piston 134d2 divides an internal space of the cylinder 134d1 into a first chamber 134d4 located on the third direction D3 side of the piston 134d2 and a second chamber 134d5 located on the fourth direction D4 side of the piston 134d2. The chambers 134d4 and 134d5 are connected to the negative pressure generator 180 through piping systems 184 and 185 (not illustrated), respectively. The negative pressure generator 180 sends in or sucks air to change the relation of air pressure inside the chambers 134d4 and 134d5, and move the cylinder 134d1 with respect to the piston 134d2 in the direction D3 or D4.

As illustrated in FIG. 9, by the lifter 134d contracting to move the cylinder 134d1 in the fourth direction D4, the supporting body 134b is moved in the fourth direction D4 and brought to near the transferring surface 133c1. As illustrated in FIG. 11, by the lifter 134d expanding to move the cylinder 134d1 in the third direction D3, the supporting body 134b is moved in the third direction D3 and brought away from the transferring surface 133c1. The ascending and descending direction of the lifter 134d is not limited to the directions D3 and D4 perpendicular to the transferring surface 133c1, but may be a direction intersecting with the transferring surface 133c1.

[Imaging Device]

The image capture 400 captures an image of the article A which is a target to be processed by the robot 100. As illustrated in FIGS. 3 and 8, although the image capture 400 is disposed at the robot hand 130 (in detail, the attachment base part 131), it may be disposed at any location as long as it can capture the image of the article A which is the processing target. The image capture 400 includes a camera 401 which captures an image for detecting a three-dimensional (3D) position etc., of a to-be-imaged object with respect to the image capture 400 (e.g., a distance to the to-be-imaged object), and a light source 402 which illuminates the to-be-imaged object.

For example, the camera 401 is a camera which captures a digital image, and may have a configuration of, for example, a stereo camera, a monocular camera, a TOF camera (Time-Of-Flight Camera), a pattern light projection camera, such as a stripe projection, or a camera using an light-section method. The light source 402 is, for example, an LED (Light Emitting Diode) or an electronic flash. The camera 401 and the light source 402 are directed in the second direction D2. The image capture 400 may detect, based on the captured image of the article A, the 3D position and posture (orientation) of the article A and output it to the controller 300, or may output the image to the controller 300 and the controller 300 may calculate the 3D position and posture.

[Input Device]

The input device 200 illustrated in FIG. 1 accepts an input of a command, information, etc., from a user who administrates the robot system 1, and outputs the command, the information, etc., to the controller 300. The input device 200 is connected to the controller 300 through a wired communication or a wireless communication. The wired communication and the wireless communication may have any form. For example, the input device 200 may accept an input of information for identifying a configuration of the article A to be processed by the robot 100 (e.g., a type, the shape, the size, and a standard of the article A). Although the configuration of the input device 200 is not particularly limited, in this embodiment, the input device 200 is a terminal device including a button, a key and/or a touch panel.

[Configuration of Control Device]

FIG. 12 is a block diagram illustrating one example of a functional configuration of the controller 300 according to this embodiment. As illustrated in FIG. 12, the controller 300 includes, as functional components, a supervising control module 301, an imaging control module 302, an image processing module 303, a transfer control module 304, an arm control module 305, a belt-drive control module 306, a suction control module 307, a lift control module 308, and a memory 309.

The function of the functional components of the controller 300, except for the memory 309, may be implemented by a computer system including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), may be implemented by a dedicated hardware circuit, such as an electric circuit or an integrated circuit, or may be implemented by a combination of the computer system and the hardware circuit.

For example, the CPU is a processor, and controls the entire processing and operation of the robot system 1. The ROM includes a nonvolatile semiconductor memory etc., and stores a program and data for causing the CPU to control of the processing and operation. The RAM includes a volatile semiconductor memory etc., and temporality stores the program executed by the CPU, under processing or processed data, etc. For example, the program for the operation of the CPU is stored in the ROM etc., in advance. The CPU reads the program from the ROM to the RAM, and develops the program. The CPU executes each command coded in the developed program in the RAM.

The function of the memory 309 is implemented by a memory which is a storage device, such as a semiconductor memory (e.g., a volatile semiconductor memory and a nonvolatile semiconductor memory), an HDD (Hard Disc Drive), and an SDD (Solid State Drive).

The controller 300 may be provided with the CPU, the ROM, the RAM and/or the hardware circuit, and the memory (e.g., the semiconductor memory, the HDD, and the SDD) as hardware.

The supervising control module 301 receives the input of the command etc., from the input device 200, and outputs the command to each of the other functional components according to the input and the program. The supervising control module 301 acquires information on the operation from each of the other functional components, and uses the acquired information to cause the other functional components to operate coordinately, cooperatively and/or collaboratively with each other. The supervising control module 301 can operate at least one of the devices among the camera 401, the light source 402, the transfer driver 160b, the arm drivers M1-M6, the belt driver 135, the negative pressure generator 180, the suctioners 134aa1-134aa20, and the lifter 134d, while operating at least one another device.

The memory 309 stores various information, and allows a read-out of the stored information. The memory 309 stores, as a template, information on a configuration (e.g., the type, shape, size, and standard) of the article which may be processed by the robot 100. The memory 309 may store, for example, map information, such as a work site, the image captured by the camera 401, and the program.

The imaging control module 302 controls operation of the camera 401 and the light source 402 of the image capture 400. For example, the imaging control module 302 may cause the camera 401 to capture an image at a given timing, for example, immediately before the robot 100 starts the transferring of the article A. The imaging control module 302 may cause the light source 402 to light up at a timing when the camera 401 captures the image.

The image processing module 303 uses the image captured by the camera 401 and the template of the article stored in the memory 309 to extract the article A shown in the image, and detects the 3D position, posture, etc., of the article A with respect to the camera 401. For example, the image processing module 303 outputs the 3D position and posture to the arm control module 305. The controller 300 controls the robot 100 based on the 3D position and posture of the article A.

The transfer control module 304 controls operation of the transfer driver 160b. The transfer control module 304 controls the operation of the transfer driver 160b according to the command etc. received from the input device 200 to cause the transfer vehicle 160 to operate correspondingly. For example, the transfer control module 304 may move the transfer vehicle 160 based on the information received from the image processing module 303, and control the position of the robot 100 with respect to the article A. The transfer control module 304 may acquire information on an operating amount (e.g., a rotating amount) of the servomotor from the transfer driver 160b, and may detect the position and direction of the transfer vehicle 160 based on the operating amount. Further, the transfer vehicle 160 may be provided with a position detecting device, such as a GPS (Global Positioning System) receiver, and an IMU (Inertial Measurement Unit). The transfer control module 304 may use a reception signal of the GPS receiver, or an acceleration, an angular velocity, etc., which are measured by the IMU, to detect the position and direction of the transfer vehicle 160. For example, the transfer control module 304 may detect weak inductive current from an electrical wire buried under the floor surface, and detect the position and direction of the transfer vehicle 160 based on the detected value.

The arm control module 305 controls operations of the arm drivers M1-M6. The arm control module 305 controls the arm drivers M1-M6 based on the detection result of the image processing module 303 etc., to cause the robotic arm 120 to operate corresponding to the transferring work of the article A. Further, the arm control module 305 acquires the information on operating amounts (e.g., rotating amounts) of the servomotors of the arm drivers M1-M6, and detects, based on the operating amounts, positional and postural information including positions, postures, moving directions, moving speeds, and moving accelerations of the respective links of the robotic arm 120 and the robot hand 130. The arm control module 305 outputs the positional and postural information to the belt-drive control module 306, the suction control module 307, the lift control module 308, etc. Further, the arm control module 305 uses the positional and postural information as feedback information to control the operations of the arm drivers M1-M6 such that the position and posture of the robot hand 130 become a target position and a target posture.

The belt-drive control module 306 controls operation of the belt driver 135. The belt-drive control module 306 controls, based on the 3D position and posture of the article A which is the transfer target, and the positional and postural information of the robot hand 130, the servomotor 135a of the belt driver 135 to move the holder 134 in the direction D1 or D2.

Here, each servomotor is provided with an electric motor, an encoder which detects a rotational angle of a rotor of the electric motor, and a current sensor which detects a current value of the electric motor. The controller 300 includes at least one CPU (i.e., a processor), a ROM 312, a RAM 313, and a memory 314. As illustrated in FIG. 13, in this embodiment, a single CPU 311 among the at least one CPU controls the operations of servomotors SM1 to SM6 of the arm drivers M1 to M6, the servomotor 135a of the belt driver 135, and a servomotor 160c of the transfer driver 160b. FIG. 13 is a block diagram illustrating one example of a configuration of the CPU 311 of the controller 300, and the servomotors SM1-SM6, 135a, and 160c according to this embodiment.

Each of the servomotors SM1-SM6, 135a, and 160c operates the electric motor according to the command etc., outputted from the CPU 311, and outputs the detection values of the encoder and the electric current sensor to the CPU 311. The CPU 311 detects, based on the detection values of the encoder and the electric current sensor which are fed back from each of the servomotors SM1-SM6, 135a, and 160c, a rotating amount, a rotational speed, a rotational torque, etc., of the rotor of the electric motor, and uses the detection result to control a rotation start timing, a rotation stop timing, the rotational speed, the rotational torque, etc., of the electric motor.

Accordingly, the CPU 311 can cause each of the servomotors SM1-SM6, 135a, and 160c to stop at an arbitrary rotational position, rotate at an arbitrary rotational speed, and operate at an arbitrary rotational torque. Therefore, the CPU 311 can cause the robotic arm 120, the belt driving mechanism 133, the transfer vehicle 160, etc., to operate variously and finely.

The single CPU 311 integrally controls driving at at least eight axes, including driving at six axes corresponding to the servomotors SM1-SM6, and driving at at least two axes corresponding to the servomotors 135a and 160c. The axes corresponding to the servomotors 135a and 160c may be referred to as “external axes.” The single CPU 311 may also integrally control driving of other servomotors provided to the robot hand 130, opening-and-closing devices 181a-183a (described later) which drive the suctioners 134aak, a switching device 187 (described later) which drives the lifter 134d, and the negative pressure generator 180, together with the driving at the at least eight axes. According to this, the CPU 311 can cause the devices to smoothly operate while cooperating with each other.

The suction control module 307 controls operation of the suctioners 134aak. In detail, the suction control module 307 controls the operations of the negative pressure generator 180 and the opening-and-closing devices 181a-183a. The opening-and-closing device 181a is provided to the first piping system 181, and connects or disconnects (intercepts) the first piping system 181. The opening-and-closing device 182a is provided to the second piping system 182, and connects or disconnects the second piping system 182. The opening-and-closing device 183a is provided to the third piping system 183, and connects or disconnects the third piping system 183. The suction control module 307 operates the negative pressure generator 180 and conducts it to each of the opening-and-closing devices 181a-183a so as to generate negative pressure at each of the suctioner groups G1-G3. Each of the opening-and-closing devices 181a-183a is, for example, an on-off valve including a solenoid valve.

The lift control module 308 controls operation of the lifter 134d. In detail, the lift control module 308 controls the operations of the negative pressure generator 180 and the switching device 187. The switching device 187 is provided to the piping systems 184 and 185 which communicate with the chambers 134d4 and 134d5 (see FIG. 10) of the lifter 134d, respectively.

The switching device 187 can switch the communication between the communication of the fourth piping system 184 with the negative pressure generator 180, and the communication of the fifth piping system 185 with the negative pressure generator 180. Further, the switching device 187 may intercept both of the communications. By the lift control module 308 operating the negative pressure generator 180 and causing the switching device 187 to switch the communication, the pressure inside the chamber 134d4 or 134d5 is increased or decreased, and the lifter 134d is expanded or contracted. The switching device 187 is, for example, a switching valve including a solenoid valve.

A first operation of the robot system 1 is described with reference to FIG. 14. FIG. 14 is a flowchart illustrating one example of the first operation of the robot system 1 according to this embodiment. FIGS. 15 and 16 are side views each illustrating one state in the first operation of the robot system 1 according to this embodiment.

The first operation is an operation to transfer, by using the robot hand 130, an article A1 existing at a location upwardly away from a placing surface (e.g., a floor surface). The article A1 is located at a height where the base 132 of the robot hand 130 can be placed below the article A1, and, for example, placed on another article A. In this embodiment, the robot system 1 transfers the article A1 located at the top of a pile of articles A which are piled up in a row in an up-and-down direction. The first operation is a fully automatic operation, and the robot system 1 autonomously detects the 3D position and posture of the article A1 etc., by using the image capture 400, and causes the robot 100 to execute each operation based on the detection result.

At Step S101, as illustrated in FIG. 1, the user who administrates the robot system 1 inputs into the input device 200 the command for executing the transferring work, and the controller 300 accepts the command. The command includes a location of the pile of the piled-up articles A which are the transfer targets, and a location of a transfer destination (e.g., a belt conveyor) of the article A. The command includes a configuration of the article A.

Next, at Step S102, the controller 300 operates the transfer vehicle 160 according to the command received from the input device 200, and moves the robot 100 to a location near the pile of articles A. The controller 300 may use map information stored in the memory 309.

Next, at Step S103, the controller 300 causes the image capture 400 to image the pile of articles A. The controller 300 changes the position and posture of the robot hand 130 as necessary in order to capture the image.

Next, at Step S104, the controller 300 performs image processing to the image captured by the image capture 400 to detect the 3D position, posture, etc., of the article A1 to be transferred. For example, the controller 300 extracts from the memory 309 a template corresponding to the configuration of the article A, and uses the template to detect the article A shown in the image. For example, a method of pattern matching with the template may be used for the detection. Moreover, the controller 300 detects the article A1 at the top of the piled-up articles A, as the transfer target. The controller 300 applies the stereo processing to the image so as to detect the 3D position and posture of the article A1 and the size, etc. of the article A1.

Next, at Step S105, as illustrated in FIG. 15, the controller 300 operates the robotic arm 120 based on the 3D position and posture, etc., of the article A1 to move the robot hand 130 to approach a side of the article A1. The controller 300 causes the robot hand 130 to approach the article A1 from the side in the horizontal direction. At this time, the controller 300 causes the suctioners 134aak to approach a side surface Ala of the article A1, which is oriented horizontally one side, from the side such that the suctioners 134aak face the side surface Ala.

In this process, the controller 300 moves the holder 134 of the robot hand 130 to the endmost position in the second direction D2 within a movable range. According to this, the suctioners 134aak project in the second direction D2 more than the end 132a of the base 132 of the robot hand 130, and easily contacts the side surface Ala. Further, the controller 300 controls the posture of the robot hand 130 so that the holder 134 is positioned higher than the base 132. Moreover, the controller 300 controls the position and posture of the robot hand 130 so that the upper surfaces 136a and 137a of the sliding members 136 and 137 of the base 132 (see FIG. 3) are substantially horizontal and positioned lower than the article A1.

The controller 300 may execute the positional control of the robot hand 130, the posture control of the robot hand 130, and the motion control of the holder 134 in parallel with each other so that at least a part of the controls overlap, or may execute the controls separately in order.

Next, at Step S106, the controller 300 causes the suctioners 134aak to suck the side surface Ala of the article A1. The controller 300 causes the suctioners 134aak to generate negative pressure, and brings the suctioners 134aak to near or in contact with the side surface Ala. In detail, the controller 300 determines, based on the size of the article A1, the suctioner group at which negative pressure is generated, among the suctioner groups G1-G3. In the example of FIG. 15, the size of the side surface Ala of the article A1 is large enough so that the entire suctioners 134aak contact therewith, and thus, the controller 300 causes all of the suctioner groups G1-G3 to generate negative pressure. The controller 300 actuates the negative pressure generator 180 and conducts it to the opening-and-closing devices 181a-183a so as to cause the suctioner groups G1-G3 to suck the side surface Ala. For example, when the article A has a small side surface with which the suctioner groups G2 and G3 cannot contact, the controller 300 causes only the first suctioner group G1 to generate negative pressure.

Next, at Step S107, as illustrated in FIG. 16, the controller 300 moves the holder 134 in the first direction D1 with respect to the base 132 to pull out the article A1 sidewardly from the pile of articles A and place the article A1 on the robot hand 130. In detail, the controller 300 determines completion of the suction by the suctioners 134aa1-134aa20 based on information about, for example, a rise in a load in the negative pressure generator 180, and a rise in a negative pressure value detected by a pressure sensor (not illustrated) provided to the piping systems 181-183. After the completion of the suction, the controller 300 actuates the belt driver 135 to drive the driving belt 133c. The driving belt 133c moves the holder 134 as well as the transferring surface 133c1 in the first direction D1, and the holder 134 and the suctioners 134aa1-134aa20 pull out the article A1 in the first direction D1 so that the article A1 is placed on the sliding members 136 and 137 and the transferring surface 133c1. Then, the article A1 is moved further in the first direction D1 by both of the transferring surface 133c1 and the holder 134. The article A1 smoothly slides on the upper surfaces 136a and 137a of the sliding members 136 and 137.

Next, at Step S108, the controller 300 moves the robot hand 130 to remove the article A1 from the pile of articles A. In detail, the controller 300 stops the belt driver 135 when the holder 134 reaches the endmost position in the first direction D1 within the movable range, and moves the robot hand 130 in the direction away from the pile of articles A. Further, the controller 300 moves the robot hand 130 to the transfer destination of the article A1. Although in this embodiment the controller 300 keeps sucking by the suctioners 134aa1-134aa20 until the robot hand 130 reaches the transfer destination, the sucking may be suspended at any timing after the stopping of the belt driver 135.

Next, at Step S109, the controller 300 unloads the article A1 from the robot hand 130 after the arrival at the transfer destination. In detail, the controller 300 actuates the belt driver 135. The driving belt 133c moves the holder 134 in the second direction D2 as well as the transferring surface 133c1, and the holder 134 pushes the article A1 in the second direction D2. The article A1 is moved in the second direction D2 by the transferring surface 133c1 and the holder 134, and unloaded from the sliding members 136 and 137.

A second operation of the robot system 1 is described with reference to FIG. 17. FIG. 17 is a flowchart illustrating one example of the second operation of the robot system 1 according to this embodiment. FIGS. 18 to 20 are side views each illustrating one state in the second operation of the robot system 1 according to this embodiment.

The second operation is an operation to transfer the article A1 placed directly on the placing surface (e.g., the floor surface) by using the robot hand 130. The article A1 is located at a height where the base 132 of the robot hand 130 cannot be placed below the article A1. In this embodiment, the robot system 1 transfers the article A1 located at the lowest without other articles A being place thereon. The second operation is also a fully automatic operation.

Steps S201-S204 are similar to Steps S101-S104 of the first operation. At Step S204, the controller 300 performs the image processing to the image captured by the image capture 400 so as to detect one article A at the lowest among the piled-up articles A as the article A1, and detects the 3D position and posture, the size, etc. of the article A1.

Next, at Step S205, as illustrated in FIG. 18, the controller 300 causes, based on the 3D position and posture, etc., of the article A1, the robot hand 130 to approach a side of the side surface Ala of the article A1 while taking a first posture which is an inclined state, and causes the suctioners 134aak to approach the side surface Ala while facing thereto. Further, the controller 300 brings the end 132a of the base 132 to near a floor surface FS which is the placing surface of the article A1. In the first posture, the holder 134 is at the position higher than the base 132 and the endmost in the second direction D2. In the first posture, the upper surfaces 136a and 137a of the sliding members 136 and 137, and the transferring surface 133c1 are inclined to be away from the floor surface FS with distance from the article A1, and the end 132b of the base 132 is farther from the floor surface FS than the end 132a.

Next, at Step S206, the controller 300 causes the suctioners 134aak to suck the side surface Ala of the article A1. Similarly to Step S106 of the first operation, the controller 300 causes the suctioner groups G1-G3 determined based on the size of the article A1 to suck.

Next, at Step S207, as illustrated in FIG. 19, the controller 300 raises the holder 134 in the third direction D3 to lift at least a part of the article A1 from the floor surface FS. In detail, after the completion of sucking, the controller 300 actuates the lifter 134d and expands it so that the holder 134 is moved in the third direction D3 with respect to the base 132. The holder 134 and the suctioners 134aa1-134aa20 upwardly pull the side surface Ala to lift the article A1. By the expansion of the lifter 134d, a bottom surface of the article A1 near the side surface Ala is lifted to be positioned higher than the upper surfaces 136a and 137a of the sliding members 136 and 137, and the transferring surface 133c1. The entire article A1 may be lifted up.

Next, at Step S208, as illustrated in FIG. 20, after the completion of the expansion of the lifter 134d, similarly to Step S107 of the first operation, the controller 300 moves the holder 134 in the first direction D1 to sidewardly pull out the article A1. Since the bottom surface of the article A1 is lifted up, the holder 134 can smoothly place the article A1 on the sliding members 136 and 137. Steps S209 and S210 are similar to Steps S108 and S109 of the first operation.

The controller 300 may carry out the first operation and the second operation in combination. For example, the controller 300 may repeatedly execute Steps S103-S109 of the first operation, and Steps S203-S210 of the second operation so as to sequentially transfer the article A of the piled-up articles A automatically.

Effects Etc

The robot hand 130 according to this embodiment as described above is provided with the holder 134 which moves the article A in the first direction D1 while holding the article A, the driving belt 133c which has the transferring surface 133c1 on which the article A is placed, and drives the transferring surface 133c1 to move in the first direction D1, and the belt driver 135 which drives the driving belt 133c. The holder 134 moves in the first direction D1 to place the held article A onto the transferring surface 133c1.

According to this configuration, the holder 134 can place the article A on the transferring surface 133c1 by moving in the first direction D1 while holding the article A. The article A on the transferring surface 133c1 is pulled on the robot hand 130 further along by the driving belt 133c. The moving directions of the holder 134 and the transferring surface 133c1 are both in the first direction D1, and thus, the robot hand 130 can place the article A thereon by the cooperation of the holder 134 and the driving belt 133c. Moreover, the robot hand 130 is disposed such that the side of the article A is oriented in the first direction D1, thus being capable of approaching the article A from the side and pulling out the article A to the side (first direction D1) to transfer it.

The holder 134 may be fixed to the driving belt 133c to be moved together with the transferring surface 133c1. According to this configuration, the configuration for moving the holder 134 can be simplified. Moreover, the holder 134 and the driving belt 133c can make the same movement to move the article A together.

The holder 134 may be directed to hold the article A existing on the second direction D2 side opposite from the first direction D1. According to this configuration, the holder 134 holds the article A located on the second direction D2 side, and moves the article A while pulling it out to the first direction D1. Therefore, the holder 134 can easily move the article A.

The holder 134 may include the adhesion part 134a which holds the article A by adhering (attaching) to the article A. Moreover, the adhesion part 134a may include the suctioner 134aak which sucks the article A. According to this configuration, the holder 134 can hold the article A while attaching the article A to the adhesion part 134a. Further, by the adhesion part 134a being provided with the suctioner 134aak, the adhesion which has less influence (e.g., damage) on the surface of the article A becomes possible.

The adhesion part 134a may include the suctioners 134aak. The suctioner groups G1-G3 which constitute the suctioners 134aak are connected to the negative pressure generator 180 through the piping systems 181-183, respectively, and may suck the article A by negative pressure generated by the negative pressure generator 180. Furthermore, the negative pressure generator 180 may select at least one of the piping systems 181-183 at which the negative pressure is generated. For example, in any of the suctioner groups G1-G3, when a part of the suctioners 134aak cannot contact the surface of the article A, the entire suctioners 134aak may not be able to generate the effective negative pressure. According to the configuration described above, since the suctioner(s) 134aak which sucks the surface of the article A can be changed according to the size, shape, etc., of the to-be-sucked surface of the article A, the effective sucking is possible.

The suctioners 134aak of the adhesion part 134a may be arrayed in the direction intersecting with the transferring surface 133c1 of the driving belt 133c, and in the direction toward and away from the transferring surface 133c1, and the suctioner 134aak distant from the transferring surface 133c1 may be positioned on the first direction D1 side compared to the suctioner 134aak near the transferring surface 133c1. For example, in the first operation, the robot hand 130 pulls out the article A1 from the pile of articles A in the posture in which the transferring surface 133c1 is substantially perpendicular to the side surface Ala of the article A1. In the second operation, the robot hand 130 pulls out the article A1 in the posture in which the transferring surface 133c1 inclines with respect to the state being perpendicular to the side surface Ala of the article A1. By the suctioners 134aak being disposed as described above, the robot hand 130 can cause many suctioners 134aak to suck the side surface Ala in both of the first and second operations.

The robot hand 130 according to this embodiment may include the lifter 134d which moves the holder 134 in the direction intersecting with the transferring surface 133c1 and the direction toward and away from the transferring surface 133c1 (e.g., the third direction D3 and the fourth direction D4). According to this configuration, the lifter 134d can lift the holder 134 so that at least a part of the bottom surface of the article A held by the holder 134 is located higher than the transferring surface 133c1. Therefore, the movement of the article A to above the transferring surface 133c1 becomes smoother.

The robot 100 according to this embodiment includes the robot hand 130, the robotic arm 120 connected at its end to the robot hand 130, and the controller 300 which controls the operation of the belt driver 135 and the lifter 134d of the robot hand 130, and the operation of the arm drivers M1-M6 of the robotic arm 120. According to this configuration, effects similarly to the robot hand 130 according to this embodiment can be achieved. Further, the robot 100 can use the robotic arm 120 to optimally control the position and posture of the robot hand 130 with respect to the article A.

In the robot 100 according to this embodiment, the belt driver 135 and the arm drivers M1-M6 may include the servomotors, and the controller 300 may control the operations of the servomotors of the belt driver 135 and the arm drivers M1-M6 so as to cooperate with each other. The controller 300 may include at least one processor, and the sole processor may control the operations of the servomotors of the belt driver 135 and the arm drivers M1-M6. According to this configuration, the robot 100 can cooperatively execute operations of, for example, operating the robotic arm 120 while driving the driving belt 133c. Moreover, since the sole processor controls the operations of all the servomotors of the robot hand 130 and the robotic arm 120, the cooperation of the operations of the servomotors can be easily and smoothly realized.

The robot 100 according to this embodiment may include the negative pressure generator 180 connected to the suctioner 134aak of the adhesion part 134a, and the controller 300 may control the operation of the negative pressure generator 180. According to this configuration, the robot 100 can place the article A on the robot hand 130 while sucking the article A by negative pressure.

The robot 100 according to this embodiment may include the image capture 400. Moreover, the controller 300 may estimate the size of the article A based on the image captured by the image capture 400 and showing the article A, and may select, based on the estimated size of the article A, at least one of the piping systems 181-183 to cause the negative pressure generator 180 to generate negative pressure. The piping systems 181-183 may connect the corresponding suctioner groups G1-G3 to the negative pressure generator 180. According to this configuration, the robot 100 can automatically determine the suctioner 134aak at which negative pressure is generated according to the article A based on the image captured by the image capture 400.

The controller 300 of the robot 100 according to this embodiment may control the position and posture of the robot hand 130 with respect to the article A, based on the image captured by the image capture 400 and showing the article A. According to this configuration, the robot 100 can automatically and optimally control the position and posture of the robot hand 130 according to the article A.

A robot hand 130A according to Modification 1 is described. The robot hand 130A according to Modification 1 is different from the embodiment in that the robot hand 130A is provided with a moving device 133A which moves the holder 134, separately from the belt driving mechanism 133. Below, Modification 1 is described focusing on the different point from the embodiment, and description similar to the embodiment will suitably be omitted.

FIG. 21 is a perspective view illustrating one example of a configuration of the robot hand 130A according to Modification 1, similarly to FIG. 4. As illustrated in FIG. 21, the robot hand 130A is provided with the moving device 133A of the holder 134, and the holder 134 is not fixed to the driving belt 133c. The moving device 133A is provided with a threaded-hole member 133A1, a threaded rod 133A2, a speed reducer 133A3, and a screw driver 133A4. The moving device 133A is one example of a third driver.

The threaded-hole member 133A1 includes an internally-threaded hole extending in the first direction D1, and is fixed to the base plate 134c1 of the fixing part 134c. The threaded-hole member 133A1 is, for example, a ball nut. In this modification, the sliding guide 134c3b is not provided, but the threaded-hole member 133A1 is disposed at the location of the sliding guide 134c3b.

The threaded rod 133A2 extends in the first direction D1, and is threadedly engaged with the internally-threaded hole of the threaded-hole member 133A1. In this modification, the base guide 132d of the base 132 is not provided, but the threaded rod 133A2 is disposed at the location of the base guide 132d.

The screw driver 133A4 is disposed inside the accommodation space 131a1, and connected to the threaded rod 133A2 via the speed reducer 133A3. The screw driver 133A4 uses electric power as a driving source, includes a servomotor as an electric motor, and is controlled by the controller 300. The speed reducer 133A3 reduces a rotational speed and increases a rotational driving force of the servomotor of the screw driver 133A4, and transmits the increased rotational driving force to the threaded rod 133A2. The screw driver 133A4 can rotary drive the threaded rod 133A2 in a direction of a screw rotation.

The moving device 133A constitutes a screw mechanism, and rotary drives the threaded rod 133A2 by the rotational driving force of the screw driver 133A4, and moves the threaded-hole member 133A1, which is threadedly engaged with the threaded rod 133A2, in the direction D1 or D2 which is an axial direction of the threaded rod 133A2. Accordingly, the moving device 133A moves the holder 134 in the directions D1 and D2.

The robot hand 130A according to Modification 1 as described above can achieve effects similarly to the embodiment. The moving device 133A may be provided at the location of the base guide 132c, or at a location different from the base guides 132c and 132d. Two or more moving devices 133A may be provided. The number and the position of the moving devices 133A may be any number and position. The servomotor 135a of the belt driver 135 may also function as the screw driver 133A4. The moving device 133A is not limited to the screw mechanism, as long as it can move the holder 134 in the directions D1 and D2. For example, the moving device 133A may include, for example, a pneumatic, hydraulic, or electric cylinder, or an electric linear actuator.

A robot hand 130B according to Modification 2 is described. The robot hand 130B according to Modification 2 is different from the embodiment and Modification 1 in that a directing device 134B which changes the oriented direction of the adhesion part 134a of the holder 134 is provided. Below, Modification 2 is described focusing on the different point from the embodiment and Modification 1, and description similar to the embodiment and Modification 1 will suitably be omitted.

FIG. 22 is a back view illustrating one example of a configuration of the robot hand 130B according to Modification 2, similarly to FIG. 9. As illustrated in FIG. 22, the robot hand 130B is provided with the directing device 134B which is one example of a fifth driver, at the fixing part 134c of the holder 134. The directing device 134B has a gimbal structure with two axes, and can turn the supporting body 134b of the holder 134 in a yaw-direction and a pitch-direction. The yaw-direction is a rotational direction centering on an axis in the third direction D3, and the pitch-direction is a rotational direction centering on an axis perpendicular to the third direction D3.

The directing device 134B includes a yaw rotational shaft 134B1, a yaw-rotation driver 134B2, a pedestal member 134B3, a pitch rotational shaft 134B4, a pitch-rotation driver 134B5, and a support member 134B6.

The yaw rotational shaft 134B1 is a shaft extending in the third direction D3 from the surface 134c1a of the base plate 134c1 of the fixing part 134c so as to be freely rotatable, and its axial-center direction is the third direction D3. The yaw-rotation driver 134B2 is embedded in the base plate 134c1, and rotary drives the yaw rotational shaft 134B1 centering on the axial center. The yaw-rotation driver 134B2 uses electric power as a driving source, has a servomotor as an electric motor, and is controlled by the controller 300.

The pedestal member 134B3 is disposed on the third direction D3 side of the yaw rotational shaft 134B1. The pedestal member 134B3 includes a base plate 134B3a connected to the yaw rotational shaft 134B1 so as to rotate integrally, and two shaft supporting parts 134B3b extending in the third direction D3 from the base plate 134B3a. The pedestal member 134B3 is turnable in the yaw-direction with respect to the base plate 134c1.

The support member 134B6 has a similar configuration to the base plate 134c1 in the embodiment. The support member 134B6 is connected, on its upper surface in the third direction D3, to the lifting guides 134c4a and 134c4b, and the rod 134d3 (see FIG. 7) of the lifter 134d. The base plate 134c1 is separated from the lifting guides 134c4a and 134c4b and the rod 134d3.

The two pitch rotational shafts 134B4 rotatably couple the two shaft supporting parts 134B3b to the support member 134B6. Axial centers of the two pitch rotational shafts 134B4 are coaxial and perpendicular to the third direction D3. The support member 134B6 is turnable in the pitch-direction with respect to the pedestal member 134B3. The pitch-rotation driver 134B5 is disposed in the shaft supporting part 134B3b, and rotary drives the pitch rotational shafts 134B4 about their center axes. The pitch-rotation driver 134B5 uses electric power as a driving source, includes a servomotor as an electric motor, and is controlled by the controller 300.

The directing device 134B can arbitrarily change the directions (orientations) of the adhesion part 134a and the supporting body 134b in the yaw-direction and the pitch-direction with respect to the base 132, by the rotational driving forces of the yaw-rotation driver 134B2 and the pitch-rotation driver 134B5.

The robot hand 130B according to Modification 2 as described above can achieve effects similarly to the embodiment. Since the directing device 134B can change the oriented direction of the adhesion part 134a, it can certainly cause the suctioner 134aak to contact and suck the surface of the article A. Although the directing device 134B is configured to change the oriented direction in the rotational directions centering on the two axes, it is not limited to this configuration. The directing device 134B may be configured to change the direction in the rotational direction centering on one axis, or rotational directions centering on three or more axes. The configuration of the directing device 134B is not limited to the gimbal, as long as it can change the direction. The configuration of the robot hand 130B according to Modification 2 may be applied to Modification 1.

A robot hand 130C according to Modification 3 is described. The robot hand 130C according to Modification 3 is different from the embodiment and Modifications 1 and 2 in that the image capture 400 is disposed at a holder 134C. Below, Modification 3 is described focusing on the different point from the embodiment and Modifications 1 and 2, and description similar to the embodiment and Modifications 1 and 2 will suitably be omitted.

FIG. 23 is a perspective view illustrating one example of a configuration of the robot hand 130C according to Modification 3, similarly to FIG. 3. FIG. 24 is a perspective view illustrating one example of the configuration of the robot hand 130C according to Modification 3, similarly to FIG. 5. As illustrated in FIGS. 23 and 24, the robot hand 130C is provided with the holder 134C, and the holder 134C is fixed to the driving belt 133c similarly to the holder 134 of the embodiment.

The image capture 400 is disposed at a supporting body 134Cb of the holder 134C, and movable in the directions D1 and D2 together with the supporting body 134Cb. The supporting body 134Cb includes a first part 134Cb1 in a rectangular flat plate shape, a second part 134Cb2 in an inverse-U flame shape, and two third parts 134Cb3. The second part 134Cb2 is located on the third direction D3 side of the first part 134Cb1. The third parts 134Cb3 are located on the first direction D1 side of the first part 134Cb1 and the second part 134Cb2, and couple the first part 134Cb1 to the second part 134Cb2. The image capture 400 is disposed in an opening 134Cb4 formed between the first part 134Cb1 and the second part 134Cb2, and supported by the third parts 134Cb3. The image capture 400 is directed to the second direction D2. A field of view of the image capture 400 is not interrupted by the holder 134C regardless of the position of the holder 134C in the directions D1 and D2.

FIG. 25 is a front view illustrating the holder 134C of FIG. 23 when seen in the first direction D1, similarly to FIG. 8. As illustrated in FIG. 25, the holder 134C has an adhesion part 134Ca on the supporting body 134Cb, similarly to the holder 134 of the embodiment. The adhesion part 134Ca includes the suctioners 134aak directed in the second direction D2, and includes, for example, twenty-three suctioners 134aa1-134aa23. The suctioners 134aa1-134aa14 are disposed at the first part 134Cb1, and arrayed to form three rows extending in the fifth direction D5. The suctioners 134aa15-134aa23 are disposed at the second part 134Cb2, and lined-up in a row in an inverse-U shape along the second part 134Cb2. The suctioners 134aa1-134aa23 are disposed around the image capture 400 in a direction intersecting with (in detail, orthogonal to) the second direction D2 which is the direction of the image capture 400, so as not to interrupt the field of view of the image capture 400.

On the first part 134Cb1, the suctioners 134aa1-134aa7 disposed on the fifth direction D5 side with respect to the center in the directions D5 and D6, constitute the first suctioner group G1 as surrounded by a broken line, and communicate with the first piping system 181. The suctioners 134aa8-134aa14 disposed on the sixth direction D6 side with respect to the center, constitute the second suctioner group G2 as surrounded by a broken line, and communicate with the second piping system 182. The suctioners 134aa15-134aa23 constitute the third suctioner group G3, and communicate with the third piping system 183. The controller 300 may select from the suctioner groups G1-G3 to generate negative pressure, corresponding to the shape, size, etc., of the article A to be transferred.

The robot hand 130C as described above can load and transfer the article A with various shapes and sizes. FIGS. 26 to 28 are front views each illustrating one example of a loaded state of the article A on the robot hand 130C according to Modification 3. As illustrated in FIG. 26, when the target article A has a width larger than the supporting body 134Cb in the horizontal directions D5 and D6, and a height smaller than the supporting body 134Cb in the vertical directions D3 and D4, the controller 300 operates the robot hand 130C to suck and load the article A while generating negative pressure at a set of the first suctioner group G1 and the second suctioner group G2.

When the target article A has the width and height larger than the supporting body 134Cb in the horizontal direction and the vertical direction, the controller 300 operates the robot hand 130C to suck and load the article A while generating negative pressure at all of the first suctioner group G1 to the third suctioner group G3. For example, as illustrated in FIG. 27, also when the target article is the vertically piled-up two articles A each of which is the article A illustrated in FIG. 26, the controller 300 causes the robot hand 130C to suck and load the two articles A while generating negative pressure at all of the first suctioner group G1 to the third suctioner group G3.

As illustrated in FIG. 28, when the target article A has a width smaller than the supporting body 134Cb in the horizontal direction, and a height larger than the supporting body 134Cb in the vertical direction, the controller 300 operates the robot hand 130C to suck and load the article A while generating negative pressure at a set of the first suctioner group G1 and the third suctioner group G3, or a set of the second suctioner group G2 and the third suctioner group G3. For example, the controller 300 may determine the set to generate negative pressure according to the size of a space adjacent to the article A to be transferred, in the directions D5 and D6. In this modification the suctioners 134aa1-134aa23 are each provided with a check valve so that the negative pressure is prevented from leaking from the suctioner.

In addition, as illustrated in FIGS. 24 and 25, the end 132a of the base 132 of the robot hand 130C is formed with notched parts 132e and 132f. The notched parts 132e and 132f notch a part of the base 132 so as to penetrate the base 132 in the directions D3 and D4, and extend in the first direction D1 from the end 132a. Each of the notched parts 132e and 132f has an elongated slit shape extending in the first direction D1 from the end 132a. The notched parts 132e and 132f are separate from each other in the directions D5 and D6. The notched part 132e is formed between the driving belt 133c and the base guide 132c, and the notched part 132f is formed between the driving belt 133c and the base guide 132d. Such a base 132 has a pectinate shape near the end 132a. The notched parts 132e and 132f are used when unloading the article A loaded on the robot hand 130C.

FIGS. 29 and 30 are perspective views each illustrating one example of operation of the robot hand 130C according to Modification 3 for unloading the loaded article A. As illustrated in FIG. 29, a reception device 500 is disposed in the robot system 1, and the reception device 500 receives the loaded article A from the robot hand 130C. Although in this modification the reception device 500 is included in the robot system 1 as a component, it is not limited to this configuration.

A configuration of the reception device 500 is not limited in particular, as long as the reception device 500 can receive the loaded article A from the robot hand 130C. In this modification, the reception device 500 is a transferring device which can transfer the article A, and is, for example, a conveyor. The reception device 500 is a so-called roller conveyor, and includes rollers 501 aligned in a transferring direction TD, a frame body 502 which rotatably supports the respective rollers 501, and a supporting table 503 which supports the frame body 502 on a supporting surface such as a floor surface. A rotational axis of each roller 501 extends in the horizontal direction perpendicular to the transferring direction TD. The rollers 501 are disposed at heights different from each other so as to form a sloped surface which is gradually lowered in the transferring direction TD. When the article A is placed on the rollers 501, the article A rotates the rollers 501 by the action of gravity, and moves in the transferring direction TD. The rollers 501 significantly lower a sliding resistance of the article A.

The reception device 500 includes projections 504 and 505 at an upstream end of the frame body 502 in the transferring direction TD. Each of the projections 504 and 505 has a pillar shape extending from the frame body 502 in the direction opposite from the transferring direction TD, and is fixed to and supported by the frame body 502 or the supporting table 503. Each of the projections 504 and 505 has, on its upper part, rollers 504a or 505a which are aligned in the transferring direction TD so as to be rotatable. A direction of rotational axes of the rollers 504a and 505a is the same as the direction of the rotational axes of the rollers 501. The rollers