Actuator apparatus, object taking-out method using actuator apparatus, and object taking-out system

An object taking-out method for taking out an object from a placement table, while sucking the object with a suction nozzle, among objects being placed on the placement table such that surfaces of the objects are in contact with each other, the method comprising:

• using an actuator apparatus including
• an actuator,
• a first setter,
• an operation controller, and
• a first acquirer,
• setting, by the first setter, a taking-out movement distance by which the object is to be moved by the actuator from the placement table, and controlling, by the operation controller, suction and taking-out operations performed by the actuator including the suction nozzle for sucking the object such that the object is sucked by the suction nozzle at a first suction position and taken out from the placement table while a side surface of the object is in contact with another object,
• (i) acquiring, by the first acquirer, as a moment applied to the suction nozzle and acquired by the first acquirer, a difference between a first moment applied to the suction nozzle when the object is sucked by the suction nozzle and a second moment applied to the suction nozzle when the object is taken out by a first taking-out movement distance by the suction nozzle from the placement table,
• where the first taking-out movement distance is a distance by which the object is moved until the object is taken out from the placement table, and
• (ii) controlling, by the operation controller, based on the difference between the first and second moments acquired by the first acquirer, whether or not the taking-out operation is further continued.

A storage medium,

• the storage medium being nonvolatile and computer-readable,
• the storage medium including a program for an actuator apparatus to take out an object from a placement table, while sucking the object with a suction nozzle, among objects being placed on the placement table such that side surfaces of the objects are in contact with each other,
• the actuator apparatus including
• an actuator,
• a first setter,
• an operation controller, and
• a first acquirer,
• the actuator including the suction nozzle for sucking the object,
• the program causing a computer to have:
• a function of sucking the object at a first suction position by the suction nozzle and taking out the object from the placement table while a side surface of the object is in contact with another object;
• a function for the first setter to set a taking-out movement distance by which the actuator is to move the object from the placement table;
• the operation controller controlling sucking and taking-out operations of the actuator,
• a function for the first acquirer to acquire a moment applied to the suction nozzle,
• (i) a function for the first acquirer to acquire a difference, as the moment, a difference between a first moment applied to the suction nozzle when the object is sucked by the suction nozzle and a second moment applied to the suction nozzle when the object is taken out by a first taking-out movement distance by the suction nozzle from the placement table, where the first taking-out movement distance is a distance by which the object is moved until the object is taken out from the placement table, and
• (ii) a function for the operation controller to control whether or not to further continue the taking-out operation based on the difference between the first and second moments acquired by the first acquirer.

An object taking-out system comprising actuator apparatuses each disposed in an environment and each configured to take out an object from a placement table, while sucking the object with a suction nozzle, among objects being placed on the placement table such that side surfaces of the objects are in contact with each other,

• each actuator apparatus comprising
• an actuator,
• an operation controller, and
• a first acquirer,
• the system comprising:
• a first setter;
• a server,
• an operation target object database, and
• an operation result database, wherein
• the server is connected to the actuator apparatus, and to the first setter, the operation target object database, and the operation result database,
• the actuator includes the suction nozzle for sucking the object and takes out the object from the placement table while the nozzle sucks the an object at a first suction position and a side surface of the object is in contact with another object,
• the first setter sets a taking-out movement distance by which the object is to be moved by the actuator from the placement table, and stores the taking-out movement distance in the operation target object database via the server,
• the operation controller controls sucking and taking-out operations by the actuator based on the taking-out movement distance of the object stored in the operation target object database,
• the first acquirer acquires a moment applied to the suction nozzle,
• (i) the first acquirer acquires, as the moment, a difference between a first moment applied to the suction nozzle when the object is sucked by the suction nozzle and a second moment applied to the suction nozzle when the object is taken out by a first taking-out movement distance by the suction nozzle from the placement table, where the first taking-out movement distance is a distance by which the object is moved until the object is taken out from the placement table, and
• (ii) the operation controller controls whether or not to further continue the taking-out operation based on the difference between the first and second moments acquired by the first acquirer.

An object taking-out method, comprising:

• causing a nozzle to suck a first part of an object;
• acquiring, in a first period starting immediately after the sucking, first moments output by a force sensor provided between the nozzle and arms;
• causing the arms to move the object immediately after the first period;
• causing the arms to stop moving the object when the object moves by a first distance;
• acquiring, in a second period starting immediately after the stopping, second moments output by the force sensor;
• continuing the stopping over the second period;
• and
• causing the nozzle to suck a second part different from the first part in a case where an average value of the second moments is equal to or greater than a sum of an average value of the first moments and a predetermined value.