JP7349700B2 - Transfer device and method - Google Patents

Description

The present invention relates to a transfer device and a transfer method that take out a plurality of articles from a bucket at once and transfer them to a subsequent process.

Conventionally, work efficiency has been improved by using robots in boxing equipment, etc., but especially when it is necessary to handle multiple thin and unstable items such as pouches at once, it is difficult to handle tasks such as gripping and boxing. During work, there is a problem in which stacked items collapse or fall over, and various studies have been made to deal with this problem.

For example, in a device that packs multiple bundles of bags into boxes, there is a bag-boxing device that can pack new bag bundles into the box without the bag bundles that have already been placed in the box falling over. known (for example, see Patent Document 1).

By the way, during work such as packing or transporting items, there are cases where it is desired to take out multiple items that are stored in the storage section of the bucket in an unbound state (individually independent state) and transfer (convey) them to the next process. .

As an example shown in FIG. 9, in a bucket B having a plurality of storage sections 50, a predetermined number of articles XA1 of the same shape, such as one box, are individually stored in each storage section 50 without being bundled. They are stored independently and transported from the upstream process.

The article XA1 is, for example, a thin, lightweight, and flexible sheet-like mask that is individually wrapped, and a plurality of articles XA1 are stored in one storage section 50 with an open top surface. The bags are stored in a state in which they are arranged in the thickness direction so that the sheet surfaces (bag surfaces) stand up against the bottom surface of the storage section 50.

At the predetermined take-out position, the plurality of articles XA1 stored in each storage section are taken out at once (as an article group XA2) and transferred to the next process.

Patent No. 5071634

However, the current situation is that the work of taking out the article group XA2 from the storage unit 50 shown in FIG. 9(A) must be done manually.

That is, since the articles XA1 are light, thin, and slippery, and are accommodated individually (separately) in the storage section 50, the postures of the plurality of articles XA1 tend to become irregular. In this state, in order to take out all at once using the gripping section 200 of a transfer device, for example, it is conceivable to hold the articles XA1 from both sides in the stacking direction (left and right directions in the figure) as shown in FIG. , if the postures of the article XA1 are irregular, it is difficult to securely grip (pindle) the article.

Specifically, as shown in FIG. 2B, there may be cases where there is an article XA1 that cannot be gripped, or when the gripping section 200 is inserted into the storage section 50, the article XA1 may come into contact with and be pushed into the article XA1. There is a risk of injury.

In addition, as shown in FIG. 3C, if a plurality of articles XA1 are held in uneven postures by the gripping section 200 or the like, even if the articles XA1 on both outer sides can be grasped, the articles XA1 between the articles XA1 may be held. Problems arise, such as not being able to hold it, or even if it can be held, it may fall off during transportation. In particular, if the article XA1 is a package, the contents may move irregularly inside the bag, making it even more difficult to grip the article more reliably.

Furthermore, in a line that handles a plurality of different types of articles XA1 (for example, cosmetics and masks), the bucket B may be shared. In the shared bucket B, the size of the storage section 50 is often set for general purposes, and the surplus space for the stored articles XA1 (article group XA2) is inevitably large, and the inside of the storage section 50 is The posture of the article XA1 also becomes more likely to be disturbed (FIG. 12(A) and FIG. 14(B)).

In this case, it becomes more difficult to collectively grasp (pindle) using the device's gripping section 200, etc., and as a result, flexible manual work is required, which may require securing workers or improving work efficiency. This can lead to problems such as not being able to plan.

The present invention has been made in view of the above-mentioned problems, and even when a plurality of lightweight and thin articles are stored in a storage unit in an unbound state, they can be reliably taken out all at once. It is an object of the present invention to provide a transfer device and a transfer method that allow transfer to the next process.

The present invention provides a transfer device that collectively takes out a group of articles made up of a plurality of articles stored in one storage part of a bucket and transfers them to a downstream process, the device comprising a gripper that can grip the group of articles at once. a bucket support means capable of supporting a bucket; a first arm movably supporting the bucket support means in three dimensions; and a second arm movably supporting the gripping means in three dimensions. and a control means capable of controlling the first arm and the second arm, the gripping means having a first gripping part and a second gripping part, and the gripping means having a first gripping part and a second gripping part. has a first gripping surface that can make surface contact with the article, the second gripping part has a second gripping surface that can make surface contact with the article, and the gripping means has a second gripping surface that can make surface contact with the article. the first gripping part is fixedly arranged with respect to the connecting part, and the second gripping surface has a distal end close to and spaced apart from the first gripping part. The control means is configured to be swingable so as to change the posture of the bucket by the first arm to create an insertion area for the gripping means in the storage section, and to change the attitude of the bucket by the second arm. inserting the first gripping surface into the insertion region;
Changing the attitude of the bucket by the first arm to create another insertion region, inserting the second gripping surface into the other insertion region, and inserting the first gripping surface and the second gripping surface into the other insertion region . The transfer device is characterized in that it grips the group of articles by bringing a surface into surface contact with a part of the articles, and by bringing the tip of the second gripping surface close to the first gripping surface . .

The present invention also provides a gripping means capable of collectively gripping a group of articles stored in one storage part of the bucket, a bucket support means capable of supporting the bucket, and a gripping means capable of supporting the bucket support means. A first arm, a second arm that supports the gripping means, and a control means that can control the first arm and the second arm, and the gripping means has a first gripping part. and a second gripping part, the first gripping part has a first gripping surface that can make surface contact with the article, and the second gripping part has a first gripping surface that can make surface contact with the article. 2 gripping surfaces, the second gripping surface is configured to be swingable such that a tip thereof approaches and separates from the first gripping portion , and the control means is configured to move the bucket into a plurality of gripping portions. While changing the posture, the first gripping surface is inserted into the storage part to bring a part of the article into surface contact with the first gripping surface , and then the tip of the second gripping surface is The present invention relates to a transfer device that grips and takes out the group of articles at once in close proximity to the first gripping surface, and transfers them to a downstream process.

The present invention also provides a transfer method in which a gripping means takes out a plurality of articles stored in one storage part of a bucket all at once and transports them to a downstream process, wherein the gripping means includes a first a first gripping part having a gripping surface and a second gripping part having a second gripping surface , the attitude of the bucket is changed by a first arm movably supporting the bucket in three dimensions; creating an insertion region for the gripping means in the accommodation portion; and inserting the first gripping surface into the insertion region by a second arm that supports the gripping means in a three-dimensionally movable manner. Then , the attitude of the bucket is changed by the first arm to bring a part of the article into surface contact with the first gripping surface , and another insertion area is created, and the second inserting a gripping surface, and swinging the tip of the second gripping surface in a direction approaching the first gripping surface to hold the article by the first gripping surface and the second gripping surface. The present invention relates to a transfer method characterized by comprising the step of collectively grasping a group.

The present invention also provides a gripping means capable of collectively gripping a group of articles stored in one storage part of the bucket, a bucket support means capable of supporting the bucket, and a gripping means capable of supporting the bucket support means. A transfer method in a transfer device comprising: a first arm; a second arm supporting the gripping means; and a control means capable of controlling the first arm and the second arm. The means has a first gripping portion and a second gripping portion, the first gripping portion having a first gripping surface, and the second gripping portion having a second gripping surface. The second gripping surface is configured to be swingable so that the tip thereof approaches and moves away from the first gripping part, and the second gripping surface is configured to be swingable so that the tip thereof approaches and separates from the first gripping part, and while changing the bucket to a plurality of postures, the second gripping surface holds the bucket in the storage part. After inserting the first gripping surface and bringing the first gripping surface into surface contact with a part of the article, the tip of the second gripping surface is brought close to the first gripping surface . This relates to a transfer method characterized in that the group of articles is gripped and taken out at once by swinging , and transferred to a downstream process.

According to the present invention, even if a plurality of lightweight and thin articles are stored in the storage unit in an unbound state, they can be reliably taken out all at once and transferred to the next process. A transfer device and method can be provided.

FIG. 2 is a diagram illustrating a transfer device according to an embodiment of the present invention, (A) a schematic diagram of the transfer device, (B) a plan view of an article, (C) a side view of the article, (D) a plan view of a bucket, ( E) It is a cross-sectional view taken along the line XX of (D). It is a side sectional view explaining bucket support means concerning an embodiment of the present invention. FIG. 3 is a schematic diagram illustrating a gripping means according to an embodiment of the present invention, and includes (A) a side view, (B) another side view, and (C) to (F) side views. FIG. 3 is a diagram illustrating an ejection operation in an embodiment of the present invention. FIG. 3 is a side view illustrating the operation of the gripping means according to the embodiment of the present invention. FIG. 7 is a side sectional view showing another example of the attitude of the bucket according to the embodiment of the present invention. FIG. 7 is a side sectional view showing another example of the attitude of the bucket according to the embodiment of the present invention. It is a figure explaining the operation|movement of taking out in other embodiments of this invention. FIG. 2 is a diagram illustrating a conventional technique.

Hereinafter, a transfer device 10 according to an embodiment of the present invention will be described with reference to the drawings. Note that in each figure, some components are omitted as appropriate to simplify the drawings. Further, in each figure, the size, shape, thickness, etc. of members are appropriately exaggerated.

FIG. 1 is a diagram showing an outline of a transfer device 10 according to this embodiment. Figure (A) is a schematic diagram of the transfer device 10, Figure (B) is a plan view of article XA1, Figure (C) is a side view of article XA1, and Figure (D) is a plane view of bucket B. (Top) Figure (E) is a sectional view taken along line XX in Figure (D).

As shown in FIG. 1(A), the transfer device 10 of the present invention includes a bucket support means 11, a gripping means 12, a first arm 13, a second arm 14, a control means 15, etc. This is a device that collectively grips (holds) and takes out a plurality of articles XA1 stored in a transported bucket B, and transports them to a downstream process.

The bucket support means 11 is a means for supporting (holding) the bucket B, which accommodates and transports the article XA1 from the upstream process, at a predetermined support position and releasing the support (holding) at a predetermined release position.

The first arm 13 is one multi-joint arm of a multi-axis robot (for example, a six-axis robot), and supports the bucket support means 11 in a three-dimensionally movable manner. Specifically, the bucket support means 11 is coaxially and rotatably supported at one end of the first arm 13, and the other end of the first arm 13 is attached to the base 30 so as to be three-dimensionally rotatable. ing. That is, the first arm 13 can change the bucket B that it supports via the bucket support means 11 into a plurality of postures.

The gripping means 12 is configured to be able to collectively grip (pindle) an article group XA2 made up of a plurality of articles XA1 stored in one storage section 50 of the bucket B, and transport the group to a downstream process.

The second arm 14 is another multi-joint arm of the multi-axis robot, and supports the gripping means 12 in a three-dimensionally movable manner. Specifically, the gripping means 12 is coaxially and rotatably supported at one end of the second arm 14, and the other end of the second arm 14 is attached to the base 30 so as to be rotatable three-dimensionally. There is. In other words, the second arm 14 can insert the gripping means 12 into the accommodating portion 50 of the bucket B supported by the first arm 13 to grip and take out the article group XA2 all at once.

The control means 15 is composed of, for example, a CPU, a RAM, a ROM, etc., and comprehensively controls various controls of each part of the transfer device 10, including the operations of the first arm 13 and the second arm 14. The CPU is a so-called central processing unit, and executes various programs to realize various functions. RAM is used as a work area for the CPU. The ROM stores the basic OS and programs executed by the CPU.

As shown in Figures (B) and (C), the article XA1 of the present embodiment is, for example, a thin, lightweight, and flexible sheet-like sheet that is individually wrapped with a packaging film or the like. It is a packaged mask.

Further, as shown in FIGS. 3(D) and 4(E), the bucket B has a plurality of storage portions 50 partitioned into, for example, a square shape. Then, a predetermined number (for example, several to several dozen) of articles XA1 having the same shape are individually housed in each housing section 50 without being bundled, and transported from the upstream process. . Bucket B (each accommodating section 50) has an open top surface, and each accommodating section 50 has a bottom surface 51 and two opposing side surfaces 52A and 52B that are erected in a direction substantially perpendicular to the bottom surface 51. have at least

In each of the storage sections 50, a plurality of articles XA1 (article group XA2) are placed with their respective sheet surfaces (bag surfaces) SS (FIGS. They are housed in a state where they are lined up in the thickness direction so as to stand up.

The bucket support means 11 will be explained with reference to FIG. This figure is a schematic side view showing an example of the bucket support means 11. As shown in FIG. 2A, the bucket support means 11 is, for example, swingably fixed to an axis AX at the tip of the first arm 13, and includes a mounting section 25 on which the bottom surface of the bucket B can be placed, and a mounting section 25 on which the bottom surface of the bucket B can be placed. and a fixing (engaging) means (not shown) capable of fixing (engaging) the mounting portion 25.

The bucket support means 11 places and fixes the bucket B conveyed from upstream on the placing section 25 at a predetermined position ((B) in the same figure). The first arm 13 supports the bucket support means 11 in a three-dimensionally movable manner, so that the bucket B can change into a plurality of postures.

In this embodiment, "change in posture" refers to the initial position where the bucket B is transported and supported by the bucket support means 11 (for example, as shown in FIG. ) from its resting position horizontal to the floor (hereinafter referred to as the "horizontal position").

Specifically, for example, as shown in FIG. 2C, when the placing portion 25 (bottom surface of bucket B) is moved from a horizontal position, one side of bucket B (for example, the right side in the figure) is lower and the other side (for example, the right side in the figure) is lower. It is possible to change the posture so that the left side) is higher.

In addition, as shown in FIG. 2D, when the placing portion 25 (bottom surface of bucket B) is set from a horizontal position, one side of bucket B (for example, the right side in the figure) is higher and the other side (for example, the left side in the figure) is higher. ) side can be tilted to a lower position.

That is, the bucket B can be swung around the axis AX of the first arm 13.

Furthermore, by moving the first arm 13, it is possible to reciprocate in the horizontal direction (left and right directions in the figure) in the horizontal position shown in FIG. The posture after the change is also included in the change in posture.

The gripping means 12 will be explained with reference to FIG. This figure is a schematic diagram showing an example of the gripping means 12. The same figure (A), the same figure (C) - the same figure (F) are side views of the gripping means 12 seen from one side, and the same figure (B) is a lower part (first part) of the gripping means 12. FIG. 2 is a side view of the first gripping section 12A and a part of the second gripping section 12B, as viewed from the left direction (the right direction is also the same) in the same figure (A).

The gripping means 12 has a first gripping part 12A and a second gripping part 12B that are close to and separated from each other.

Specifically, as shown in FIG. 2A, the gripping means 12 has a connecting portion 121 that continues from one end of the second arm 14, a bracket 122 is provided at the tip of the connecting portion 121, and a first The grip portion 12A is fixed. The shape of the first gripping part 12A is, for example, as shown in FIG. The article XA1 is gripped (held) by bringing the sheet surface (bag surface) SS of the article XA1 into contact with the surface 12AS).

Furthermore, at the other end of the bracket 122, there is a slider 123 that is movable in a direction perpendicular to the bracket 122 (see arrow α in FIG. A movable slider 124 is provided at the arrow β in FIG. The rotary actuator 125 can swing around a swing shaft 126 such that the tip (lower end) of the second gripping part 12B approaches and separates from the first gripping part 12A ((F) in the same figure). (see arrow γ). The shape of the second gripping part 12B is, for example, a plate-like body of a size that can be inserted into the accommodating part 50 similarly to the first gripping part 12A (see (A) and (B) in the same figure), and one surface ( The article XA1 is gripped (held) by bringing the sheet surface (bag surface) SS of the article XA1 into contact with the gripping surface 12BS).

In other words, the gripping means 12 is configured such that the second gripping part 12B is movable relative to the first gripping part 12A. Specifically, first, as shown in FIG. A state in which the housing section 50 is substantially perpendicular to the bottom surface 51 will be described as a reference state.

As shown in FIG. 2D, the control means 15 slides the second gripping portion 12B in the direction of the gripping surface 12BS so as to approach the second arm 14 direction (upward in the figure), thereby adjusting the second gripping portion 12B to a second position relative to the reference state. 1 can be separated from the gripping portion 12A. The state of the second gripping portion 12B in this case is referred to as an upwardly retracted state. The second gripping part 12B in this upwardly retracted state is in a state where it is retracted to a position where it does not interfere with the storage part 50 (bucket B) when a part of the first gripping part 12A is stored in the storage part 50. .

In addition, as shown in FIG. 5E, the control means 15 moves the first gripping portion 12A closer to the reference state so that the facing distance is reduced when the first gripping portion 12A is opposed to the first gripping portion 12A. be able to. The state of the second gripping portion 12B in this case is referred to as a close state.

Next, the operation of the transfer device 10 of this embodiment will be explained with reference to FIG. This figure is a schematic diagram mainly showing the operation of gripping and taking out the group of articles XA2 from the bucket B by the transfer device 10.

First, as shown in FIG. 4A, the control means 15 causes the bucket support means 11 supported by the first arm 13 (not shown in FIG. 4, the same applies hereinafter) to wait at a predetermined support position, and The bucket B being transported is supported (held, fixed) at the support position. At least one storage section 50 of the bucket B stores a plurality of articles XA1 in an unbound state.

Next, as shown in FIG. 2B, the control means 15 changes the posture of the bucket B using the first arm 13 to create an insertion region 20 for the first gripping section 12A in the storage section 50. More specifically, the first arm 13 moves the bucket B so that the bottom surface 51 of the storage section 50 (the bottom of the bucket B) is in a first attitude tilted from the horizontal position (the position shown in FIG. 2A). move. In this example, as shown in FIG. 5B, the bottom surface 51 (the bottom of the bucket B) is tilted from the horizontal position so that the right end of the bottom surface 51 of the storage section 50 is lower than the left end. It is changing to As a result, the plurality of articles XA1 accommodated in the accommodation section 50 are each biased toward the side surface 52A on one side (the right side in the same figure) of the accommodation section 50, and ) side surface 52B and the article XA1 (article group XA2), there is a space (hereinafter referred to as (referred to as "first insertion area 20") is created.

Note that the degree of deviation of the plurality of articles XA1 in this case depends on the state (posture) of the plurality of articles XA1 in the storage section 50 during transportation (FIG. 2(A)) and the movement of the bucket B to change the posture. The size of the first insertion region 20 (space) also differs depending on the extent of the insertion.

In the present embodiment, the first arm 13 moves the bucket B appropriately as needed, so that at least a portion of the first gripping portion 12A sufficient for gripping the article XA1 can be inserted into the first insertion point. The attitude of bucket B is changed so that region 20 is created.

Next, as shown in FIG. 4C, the control means 15 causes the second arm 14 (not shown in FIG. 4, the same applies hereinafter) to move the gripping means 12 above the bucket B, and the second gripping part 12B is moved. In the upward retracted state (FIG. 3(D)), at least a portion of the first gripping portion 12A sufficient to grip the article XA1 is inserted into the created first insertion region 20. Here, the expression "at least a portion of the first gripping part 12A that is sufficient to grip the article XA1" means that depending on the shape (depth) of the bucket B, the first gripping part 12A is sufficient to grip the article XA1. This is intended to include the possibility that not all objects are inserted into the storage section 50, and the first gripping section 12A is set at a position where the object XA1 can be held most reliably depending on the type and shape of the object XA1 and the shape of the bucket B. shall be inserted into the Therefore, in the following description, "inserting at least a portion of the first gripping part 12A sufficient to grip the article XA1" may be simply written as "inserting the first gripping part 12A into the first insertion area 20". .

Even if the postures of the articles XA1 in each storage section 50 vary in the figure (A), the bucket B is changed to the first posture as in the figure (B) or the figure (C). As a result, the posture of at least a portion of the article XA1 is adjusted by the side surface 52A and gravity.

In addition, in the same figure (C), the gripping means 12 (first gripping part 12A) is moved by the second arm 14 in a direction parallel to the bottom surface 51, and the article XA1 (article group XA2) is brought closer to the side surface 52A side. It's okay. This makes it possible to adjust the posture of at least a portion of the article XA1.

Thereafter, as shown in FIG. 2D, with the first gripping section 12A inserted into the storage section 50, the first arm 13 changes the bucket B to a second posture different from the first posture. . Specifically, the first arm 13 moves the bottom surface 51 of the storage section 50 (the bottom of the bucket B) in a horizontal position, so that, for example, the right end of the bottom surface 51 of the storage section 50 is higher than the left end. The bottom surface 51 (bottom of bucket B) is tilted from the horizontal position as shown in FIG.

As a result, the plurality of articles XA1 accommodated in the storage section 50 are each biased toward the side surface 52B on the other (left side in the figure) side of the storage section 50, and are also placed above a portion of the first gripping section 12A. Parts of the article group XA2 are arranged to overlap. There is a space ( Hereinafter, a "second insertion area 21") is created. Further, the postures of the plurality of articles XA1 are further adjusted.

In this way, in the present embodiment, the bucket B is tilted in different directions (the first By swinging the arm 13 about the axis AX), the posture of the plurality of articles XA1 can be adjusted by gravity and the side surfaces 52A and 52B.

In this case as well, the degree of deviation of the plurality of articles XA1 varies depending on the state (posture) of the plurality of articles XA1 in the immediately preceding storage section 50 and the degree of movement of the bucket B to change the posture. The size of the area 21 (space) also differs.

It is assumed that the first arm 13 changes the attitude of the bucket B so that a second insertion region 21 into which at least a portion of the second gripping portion 12B sufficient for gripping the article XA1 can be inserted is created. Therefore, for example, if the second insertion region 21 can be formed when the bucket B is moved to a horizontal position, there is no need to tilt it any further.

Next, as shown in FIG. 3(E), the control means 15 moves the second gripping part 12B of the gripping means 12 to the reference state (FIGS. 3(A) and 3(C))), and the created At least a portion of the second gripping portion 12B sufficient to grip the article XA1 is inserted into the second insertion region 21. Here, the description "at least a portion of the second gripping part 12B sufficient to grip the article XA1" also means that the shape (depth) of the bucket B may cause the second gripping part 12B to be large enough to grip the article XA1. This is intended to include the possibility that not all of the objects may be inserted into the accommodating section 50. In other words, the second gripping section 12B is inserted at a position where the article XA1 can be held most reliably as appropriate depending on the type and shape of the article XA1 and the shape of the bucket B. In some cases, "inserting at least a portion of the second gripping part 12B sufficient for gripping" may be simply written as "inserting the second gripping part 12B into the second insertion region 21."

Then, as shown in FIG. 3(F), the control means 15 moves the second gripping portion 12B to the close state (FIG. 3(E)). As a result, the plurality of articles XA1 are sandwiched between the first gripping part 12A and the second gripping part 12B, and their postures are further adjusted by following both of them.

Then, as shown in FIG. 3(G), the control means 15 returns the bucket B to the horizontal position and moves the second gripping portion 12B to the state close to the tip (FIG. 3(F)). Thereby, the plurality of articles XA1 (article group XA2) are reliably gripped (pinched) by the first gripping part 12A and the second gripping part 12B.

Thereafter, as shown in FIG. 3H, the control means 15 extracts the gripping means 12 from the storage section 50 using the second arm 14, and transfers the article group XA2 all at once to the next process. Note that after bringing the bucket B into the close state as shown in FIG. The group of articles XA2 may be held by the gripping portion 12B, or the gripping means 12 may be pulled out diagonally to the upper left while the group of articles XA2 is being held.

In this way, the transfer device 10 of the present embodiment changes the B posture of the bucket by the first arm 13 that supports the bucket B in a three-dimensionally movable manner, and the gripping means 12 (the first gripping portion 12A) of creating a first insertion region 20, and a step of creating a first insertion region 20 of the gripping means 12 in the first insertion region 20 by the second arm 14 that supports the gripping means 12 three-dimensionally movably. 12A).

More specifically, the transfer device 10 biases the plurality of articles XA1 toward one side surface 52B of the two opposing side surfaces 52A52B of the storage section 50, and places the first article between the other side surface 52A and the article group XA2. creating an insertion region 20; inserting at least a portion of the first gripping portion 12A into the first insertion region 20; and at least a portion of the plurality of articles XA1 overlapping at least a portion of the first gripping portion 12A. creating a second insertion region 21 between one side surface 52B and the group of articles XA2 by biasing the plurality of articles XA1 toward the other side surface 52A; A step of inserting at least a portion of the article group XA2 and gripping the article group XA2 by the second gripping part 12B and the first gripping part 12A is executed. As a result, the article group XA2 consisting of the plurality of articles XA1 accommodated in one of the storage portions 50 of the bucket B is taken out at once by the gripping means 12 and transferred to a downstream process.

Note that the manner of gripping the article group XA2 in this embodiment is not limited to the above example. In this embodiment, the first arm 13 changes the posture of the bucket B (for example, by swinging the bucket B) to create the first insertion region 20, and the second arm 14 inserts the first insertion region 20 into the first insertion region 20. After inserting the gripping portion 12A, the posture of the bucket B is changed again by the first arm 13 (for example, by swinging the bucket B) to create a second insertion region 21, and a second gripping portion is inserted into the second insertion region 21. Any configuration may be used as long as the part 12B is inserted to grip the article group XA2.

That is, after moving the second grip part 12B from the upward retracted state as shown in FIGS. 5(A) and 4(D) to the reference state shown in FIG. 5(B) and FIG. 4(E), After the tip is in the close state as shown in FIG. 5(C), it may be moved to the close state as shown in FIG. 5(D) to grip the article group XA2.

Further, if it is possible to grasp the article group XA2 in the state where the tip is close as shown in FIG. 5(C), it is not necessary to go through the close state shown in FIG. 5(D).

Furthermore, as shown in FIGS. 5(E) and 5(F), the gripping means 12 may have a configuration in which the sliders 123 and 124 are not provided and sliding in the vertical and horizontal directions is not performed. In this case, the second gripping section 12B only swings (moves only between the reference state and the tip proximity state) by the rotary actuator 125, and grips the article group XA2 in the tip proximity state shown in FIG. Although not shown, in FIGS. 5(E) and 5(F), one of the sliders 123 and 124 is provided, and the second gripping portion 12B is connected to one of the vertical and horizontal slides. , it may be configured to perform rocking by a rotary actuator 125.

6 and 7 are other examples of changes in the attitude of the bucket B of this embodiment, and may be added to or replaced with the above-described embodiment as appropriate.

As shown in FIG. 6(A), the first arm 13 is moved at an appropriate time, for example, immediately after supporting the bucket B transported from the upstream process and/or before being gripped by the first gripping part 12A and the second gripping part 12B. At the timing of , the process of moving the bucket B left and right while maintaining the horizontal state of the bottom of the bucket B as shown by the arrow a in the figure (B), or moving the bucket B around the axis AX as shown by the arrow b. A rocking step may also be performed. As a result, the posture of the article XA1 can be further adjusted before starting the gripping operation, and more reliable gripping becomes possible.

Further, as shown in FIG. 7(A), after inserting the second gripping part 12B into the second insertion area 21, the bottom surface 51 of the accommodating part 50 (the bottom of the bucket) is made to be approximately perpendicular to the floor surface. Then, bucket B may be moved. In this case, between the first gripping part 12A and the second gripping part 12B, the plurality of articles XA1 are stacked with the sheet surface (bag surface) SS in a substantially horizontal state, so that the subsequent In some cases, the gripping by the first gripping part 12A and the second gripping part 12B can be performed reliably. It is also suitable, for example, when the sheet surfaces (bag surfaces) SS of the articles XA1 are stacked and received in a substantially horizontal state in the next step.

In the embodiment described above, the gripping means 12 are sequentially inserted into the plurality of accommodating parts 50 of the bucket B to grip the article group XA2. In other words, if the series of operations shown in FIG. All articles XA1 are taken out.

In this case, for example, compared to the article XA1 in the first storage section 50 to be taken out, the postures of the articles XA1 in the second and subsequent storage sections 50 are adjusted as the removal operation is repeated. In other words, the operation for taking out the second and subsequent accommodating portions 50 may be appropriately simplified from the series of operations shown in FIG. 4 .

FIG. 8 is a diagram showing an example of another embodiment. The transfer device 10 may have a configuration in which the second arm 14 is provided with a plurality of (for example, four) gripping means 12. To explain an example of the extraction operation in this case, the bucket B is swung to create the first insertion area 20, and the four first gripping parts 12A are inserted at the same time ((A) in the same figure).

In addition, the attitude of the bucket B is changed (swinged) to create the second insertion area 21, and the four second gripping parts 12B are inserted, and the second gripping parts 12B are brought close to the first gripping parts 12A (the same Figure (C)), each grips the article group XA2 and takes it out (Figure (D)).

Due to the change in attitude (swinging) of the bucket B, the postures of the articles XA1 in all the storage sections 50 are adjusted in the same way. By providing this, these can be taken out all at once. However, in this case, the weight at the tip of the second arm 14 increases, and depending on the shape of the bucket B, it becomes necessary to adjust the positions of the plurality of (four) gripping means 12.

As described above, according to the present embodiment, even if the thin, lightweight, and flexible sheet-like articles are stored in the storage section without being bundled, the plurality of articles XA1 can be collected at once. It can be reliably taken out and transferred to the next process.

Further, in a line in which a common bucket B is used for multiple types of articles XA1 (for example, cosmetics and masks), the storage section 50 may be set for general purpose. In such a case, there is a problem that the storage section 50 is large with respect to the article group XA2, and the posture of the article XA1 tends to vary; however, according to the present embodiment, the space of the storage section 50 is used to store the bucket B. The attitude of article XA1 is adjusted while changing the attitude. Then, the first insertion area 20 is created, the first gripping part 12A is inserted, the attitude of the bucket B is changed again, the second insertion area 21 is created, the second gripping part 12B is inserted, and the article group XA2 grasp.

Therefore, even if the bucket B is shared, it is possible to reliably hold the article XA1, and it is possible to automate the work that was conventionally done manually. In other words, it is possible to reduce the number of personnel and improve work efficiency.

Note that the bucket support means 11 is not limited to the above-mentioned example as long as it is a means that can support (hold) the bucket B in a plurality of postures as described above, for example, the edge (side surface) of the bucket B, etc. The structure may be such that it is supported by gripping or suctioning.

The control means 15 also moves the second gripping part 12B away from the first gripping part 12A so that the distance between the second gripping part 12B and the first gripping part 12A increases from the reference state, or changing the distance between the second gripping part 12B and the first gripping part 12B from the reference state. The second gripping part 12B may be movable so as to swing rearward so that the tip of the second gripping part 12B moves away from the tip of the first gripping part 12A.

As mentioned above, the transfer device 10 according to the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit and technical idea of the present invention.

That is, in the above embodiments, the position, size, length, shape, material, orientation, etc. of each component can be changed as appropriate.

10 Transfer device 11 Bucket support means 12 Gripping means 12A First gripping part 12B Second gripping part 13 First arm 14 Second arm 15 Control means 20 First insertion area 21 Second insertion area 50 Storage part 51 Bottom surface 52A, 52B Side surface

Claims (9)

A transfer device that collectively takes out a group of articles consisting of a plurality of articles stored in one storage part of a bucket and transfers them to a downstream process,
a gripping means capable of gripping the group of articles at once;
Bucket support means capable of supporting the bucket;
a first arm that supports the bucket support means in a three-dimensionally movable manner;
a second arm that supports the gripping means in a three-dimensionally movable manner;
A control means capable of controlling the first arm and the second arm,
The gripping means has a first gripping part and a second gripping part,
The first gripping part has a first gripping surface that can make surface contact with the article,
The second gripping part has a second gripping surface that can make surface contact with the article,
The gripping means has a connecting part connected to the second arm,
the first gripping part is fixedly arranged with respect to the connecting part,
The second gripping surface is configured to be swingable so that the tip thereof approaches and moves away from the first gripping portion,
The control means causes the first arm to change the attitude of the bucket to create an insertion region for the gripping means in the storage portion, and causes the second arm to insert the first gripping surface into the insertion region. insert,
changing the attitude of the bucket by the first arm to create another insertion region, and inserting the second gripping surface into the other insertion region;
Gripping the group of articles by bringing the first gripping surface and the second gripping surface into surface contact with a part of the articles, and bringing the tip of the second gripping surface close to the first gripping surface ;
A transfer device characterized by: The housing part is a box-shaped body having a first side surface and a second side surface,
The control means includes:
changing the bucket to a first attitude with the first arm so as to bias the group of articles toward the first side surface and create the insertion area between the second side surface and the group of articles;
inserting the first gripping surface into the insertion region by the second arm;
changing the bucket to a second attitude by the first arm so as to bias the group of articles toward the second side to create another insertion area between the first side and the group of articles; , bringing the first gripping surface into surface contact with the article;
gripping the group of articles by swinging the second gripping surface close to the first gripping surface;
The transfer device according to claim 1, characterized in that: The control means includes:
changing the posture so that at least a portion of the article group overlaps at least a portion of the first gripping portion;
The transfer device according to claim 1 or 2, characterized in that: the article has a flat shape;
The transfer device according to any one of claims 1 to 3, characterized in that: a gripping means capable of collectively gripping a group of articles stored in one storage part of the bucket ;
Bucket support means capable of supporting the bucket;
a first arm supporting the bucket support means;
a second arm supporting the gripping means;
A control means capable of controlling the first arm and the second arm,
The gripping means has a first gripping part and a second gripping part,
The first gripping part has a first gripping surface that can make surface contact with the article,
The second gripping part has a second gripping surface that can make surface contact with the article,
The second gripping surface is configured to be swingable so that the tip thereof approaches and moves away from the first gripping portion,
The control means includes:
While changing the bucket into a plurality of postures, inserting the first gripping surface into the storage section and bringing the first gripping surface into surface contact with a part of the article, and then inserting the first gripping surface into the second gripping surface. Bringing the tip end of the object close to the first gripping surface to grip and take out the group of articles at once, and transporting the group to a downstream process;
A transfer device characterized by: A transfer method in which a group of articles containing a plurality of articles stored in one storage part of a bucket is taken out at once by a gripping means and transferred to a downstream process,
The gripping means includes a first gripping part having a first gripping surface and a second gripping part having a second gripping surface ,
changing the posture of the bucket by a first arm that supports the bucket in a three-dimensionally movable manner to create an insertion region for the gripping means in the accommodating portion;
inserting the first gripping surface into the insertion region by a second arm that supports the gripping means in a three-dimensionally movable manner ;
The attitude of the bucket is changed by the first arm to bring a portion of the article into surface contact with the first gripping surface , creating another insertion area, and adding the second gripping surface to the other insertion area. inserting a gripping surface of the
a step of swinging the tip of the second gripping surface in a direction approaching the first gripping surface to collectively grip the group of articles by the first gripping surface and the second gripping surface; and,
has,
A transport method characterized by: biasing the group of articles toward the first side of opposing first and second side surfaces of the storage section, creating the insertion area between the second side and the group of articles ;
inserting the first gripping surface into the insertion region;
biasing the group of articles toward the second side surface to bring the first gripping surface into surface contact with the article and creating another insertion area between the first side surface and the group of articles; , has
The transfer method according to claim 6, characterized in that: changing the posture so that at least a portion of the article group overlaps at least a portion of the first gripping portion to create the other insertion region ;
The transfer method according to claim 7, characterized in that: a gripping means capable of collectively gripping a group of articles stored in one storage part of the bucket;
Bucket support means capable of supporting the bucket;
a first arm supporting the bucket support means;
a second arm supporting the gripping means;
A transfer method in a transfer device comprising a control means capable of controlling the first arm and the second arm,
The gripping means has a first gripping part and a second gripping part,
The first gripping part has a first gripping surface,
The second gripping part has a second gripping surface ,
The second gripping surface is configured to be swingable so that the tip thereof approaches and separates from the first gripping part,
While changing the bucket into a plurality of postures, inserting the first gripping surface into the storage section and bringing the first gripping surface into surface contact with a part of the article, and then inserting the first gripping surface into the second gripping surface . swinging the tip of the article so as to bring it close to the first gripping surface , gripping and taking out the group of articles all at once, and transporting the article to a downstream process ;
A transport method characterized by:

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