WO2017154719A1

WO2017154719A1 - Article-transporting device

Info

Publication number: WO2017154719A1
Application number: PCT/JP2017/008235
Authority: WO
Inventors: 健浩前田
Original assignee: 三菱電機株式会社
Priority date: 2016-03-07
Filing date: 2017-03-02
Publication date: 2017-09-14
Also published as: CN108698767A; JPWO2017154719A1

Abstract

The purpose of the present invention is to obtain an article-transporting device with which it is possible to transport a plurality of articles to be transported which are accommodated in random orientations, to a specific position in a highly accurate manner and so that positional displacement is suppressed. The present invention is provided with: an article feed unit 111 capable of feeding at least one article from among a plurality of articles 9 accommodated in a storage unit 10 to the downstream side in the transporting direction X; a first transporting device 21 on which the article received from the article feed unit 111 is placed and which transports the article to the downstream side at a first speed; and a second transporting device 22 provided on the downstream side of the first transporting device, the second transporting device 22 being capable of transporting the placed article at a second speed greater than the first speed.

Description

Goods transfer device

The present invention relates to an article transfer device that is preferably used when, for example, a component supplied in a random posture is supplied to a predetermined position in a predetermined posture.

In recent years, production sites have been automated to reduce production costs and stabilize quality, and parts are automatically supplied to automatic machines. In general, a parts feeder is often used for automatic supply of parts. However, this requires a dedicated design for one kind of part, and cannot be used for many kinds. However, in recent years, there has been a demand for an automatic machine that can cope with variable-variable production in which the model and production volume fluctuate in accordance with the diversification of market needs, and the same applies to parts supply devices. Conventionally, in order to supply a wide variety of parts to a single facility, the above-mentioned parts feeder must be prepared and switched, or the parts can be supplied in a pre-aligned state on a magazine or pallet. Yes. However, the former needs to prepare a parts feeder for each model of parts, which increases the number of apparatus components and increases the size of the entire apparatus. In the latter case, parts must be supplied in a pre-aligned state. In many cases, they are aligned by humans, so the effect of reducing production costs by automation is small, and devices such as pallet / magazine replacement are also required. More elements. Thus, in recent years, a component supply apparatus that can handle a wide variety of components has been developed. As one of such systems, there is a system in which a target part is supplied in a non-aligned state on a conveyor, and then a position is measured by a vision sensor and taken out by a robot.
For example, in Patent Document 1, the position of an object that is moved in a messy arrangement on a conveyor is detected by a vision sensor, and its upper surface is gripped by vacuum suction using a suction pad and taken out.
Patent Document 2 is a container alignment device that breaks up the stacked containers with a rotating brush while conveying the supplied containers on a conveyor to unify the posture. The container is further conveyed by a conveyor, and after the position of the container is detected by a vision sensor, the container is supplied to the next process in a fixed posture / fixed position by a robot having a suction pad.

JP 09-052623 A (paragraph [0017], FIG. 1) Japanese Patent Laid-Open No. 06-329235 (FIG. 3)

In any of the conventional techniques described above, the target component is gripped and moved in the vertical direction by vacuum suction using a suction pad or the like. Grasping by vacuum suction generates a vacuum between the target component and the pad, and lifts the component by a pressure difference from the surroundings. In this method, in order to generate a vacuum pressure, the pad is made of a soft material such as rubber and is made to follow the surface of the component, thereby maintaining the airtightness between the component and the pad. For this reason, when the part is transferred in the horizontal direction by the robot, the pad is deformed by the inertial force acting on the part and the position accuracy of the part is lowered.
In addition, since the positional relationship between the component and the pad in the horizontal direction during suction transfer is maintained only by the frictional force generated between the pad and the component, if an inertial force exceeding the frictional force occurs during transfer, the component and the pad In some cases, slipping may occur and the position of the parts may shift. As described above, there is a problem that it is difficult to transfer parts with suction with high accuracy. Further, the gripping by vacuum suction has a problem that if the suction surface has a hole, the vacuum cannot be maintained and the gripping cannot be performed.

The present invention has been made to solve the above-described problems, and a plurality of articles to be transferred accommodated in a random posture can be transferred to a predetermined position with high accuracy and can be transferred with high accuracy. The object is to provide an article transfer device.

An article transporting apparatus according to the present invention mounts an article delivery section capable of delivering at least one article downstream of a plurality of parts accommodated in a storage section, and the article received from the article delivery section. A first transfer device that is placed downstream and transferred at a first speed, and the article placed and placed on the downstream side of the first transfer device at a second speed that is faster than the first speed. And a second transfer device that can be transferred.

According to the present invention, when an article randomly stored in the storage unit is transferred on the second transfer device, a predetermined gap can be formed between the articles in a predetermined posture. An article can be accurately grasped by a grasping hand of the apparatus and transferred to a predetermined position set with high positional accuracy.

It is a front view which shows notionally the external appearance of the article | item transfer apparatus which concerns on Embodiment 1 of this invention. It is a perspective view which illustrates the appearance of the target article concerning Embodiment 1 of the present invention according to posture. 2A and 2B are diagrams for explaining an operation by the gripping hand shown in FIG. 1, wherein FIG. 3A is a front view, and FIG. 3B is a cross-sectional view taken along line AA in FIG. It is a top view which shows notionally the whole structure of the articles | goods transfer apparatus shown by FIG. FIG. 5 is a cross-sectional view taken along line BB in FIG. 4. It is a top view which expands and shows the storage part and article | item delivery part which were shown by FIG. It is a front view which expands and shows the rotating brush which comprises the accumulation elimination apparatus shown by FIG. 1, and its vicinity. It is a front view explaining the attitude | position change operation | movement of the articles | goods by the modification of the holding | grip hand shown by FIG. It is a figure which shows notionally the storage part and goods delivery part of the goods transfer apparatus which concern on Embodiment 2 of this invention, (a) is a top view, (b) is in the FF line of Fig.9 (a). It is arrow sectional drawing. FIG. 10 is a diagram conceptually illustrating a state where the effective width changing unit of the article delivery unit illustrated in FIG. 9 is operated, in which (a) is a plan view and (b) is a line II in FIG. 9 (a). It is arrow sectional drawing. It is a figure which expands and conceptually shows the rotating brush which comprises the accumulation elimination apparatus of the article | item transfer apparatus which concerns on Embodiment 3 of this invention, and its vicinity, (a) is a top view, (b) is a front view. It is. It is a figure which shows notionally the whole structure of the article | item transfer apparatus which concerns on Embodiment 4 of this invention, (a) is a top view, (b) is a front view. It is a figure which shows notionally the whole structure of the article | item transfer apparatus which concerns on Embodiment 5 of this invention, (a) is a top view, (b) is a front view. It is a partial front view which shows the positional relationship of the 2nd conveyor and shooter shown by FIG. It is a front view which shows the structure of the article conveyance apparatus in Embodiment 6.

Embodiment 1 FIG.
FIG. 1 is a front view conceptually showing the external appearance of an article transfer device according to Embodiment 1 of the present invention, and FIG. 2 is a perspective view illustrating the external appearance of a target article according to Embodiment 1 of the present invention by posture. . In the figure, the article transfer device selects a hopper-shaped storage unit 10 that can store a large number of articles 9 such as parts thrown in a random posture, and an article 9 in a predetermined posture from the articles 9 in the storage unit 10. An article delivery section 11 capable of delivering a small number of articles downstream from the transfer direction; a first transfer device 21 comprising a conveyor for placing the article 9 delivered from the article delivery section 11 and transporting the article 9 downstream at a first speed; The second transfer device 22 composed of a conveyor that can be transferred at a second speed higher than the first speed, and the rotation that is installed above the first transfer device 21 and eliminates the stacking of the articles 9 on the transfer path A vision sensor 4 having an image pickup device for detecting the position and posture of an article 9 being transferred on the second transfer device 22, and a vision sensor 4 having a gripping hand 51. Article 9 based on the detection result of Gripped by and a robotic device 5 for supplying a preset position. The first transfer device 21 and the second transfer device 22 may be collectively referred to as the conveyor unit 2 for convenience.

Here, in order to facilitate understanding of the invention, the case where the shape of the article 9 to be supplied is a rectangular parallelepiped shape as shown in FIG. 2 will be described, but it is not particularly limited to a rectangular parallelepiped shape. In FIG. 2, (a) shows a case where the state when placed on the conveyor unit 2 is the posture 9A, (b) shows the same posture 9B, and (c) shows the same posture 9C. Posture 9A is the case where the shortest side 9a is placed parallel to the Z-axis direction, which is the vertical direction, giving a height Ha, and posture 9B is the middle length side 9b placed parallel to the Z-axis direction. In some cases, the height Hb is given, and the posture 9C is the case where the longest side 9c is placed parallel to the Z-axis direction and gives the height Hc. Here, the center of gravity of the article 9 to be transferred is G, and the distance from the end of the longest side 9c to the center of gravity G is Lg.
FIG. 2A shows a posture when the article 9 is gripped by the robot apparatus 5, and it is assumed that the article 9 at that time is not upside down.

The apparatus configuration will be specifically described below with reference to FIGS. 3 is a diagram for explaining the operation by the gripping hand shown in FIG. 1. FIG. 3A is a front view showing a state in which the article 9 is gripped when it is in the posture 9A, and FIG. 2 is a cross-sectional view taken along line AA in FIG. 4 is a plan view conceptually showing the overall configuration of the article transfer apparatus shown in FIG. 1, and FIG. 5 is a cross-sectional view taken along line BB in FIG.
As shown in FIG. 3, in the present embodiment, the pair of

gripping claws

53, 53 provided on the chuck 52 constituting the gripping hand 51, which are opposed to each other, are moved in the direction of arrow C, respectively. The article 9 is taken out by holding the long side 9c. At this time, in order to hold the article 9 on the second transfer device 22, the length L of the movement distance m of the gripping claw 53 and the thickness t of the gripping claw 53 is combined on both sides of the article 9 in the posture 9A. In addition, it is necessary to secure gaps S in the regions indicated by broken lines in FIG.

The storage unit 10 into which the article 9 is inserted includes a wall surface member 10a that surrounds the three sides excluding the downstream surface in the transfer direction X where the article delivery unit 11 is installed, and an article disposed on the inner bottom of the wall surface member 10a. A bottom wall 10b that is inclined so that the side of the delivery unit 11 is lower, that is, lower in the transfer direction X side, and a front wall provided in a vertical direction that forms a downstream surface in the transfer direction where the article delivery unit 11 is installed The member 110 is configured. The articles 9 randomly placed in the storage unit 10 move so as to slide toward the transfer direction X side along the upper surface of the bottom surface member 10b inclined by its own weight. The upper end surface of the front wall member 110 is smooth without excessive impact or vibration on the upper surface of the first transfer device 21 on the downstream side by the weight of the article 9 cut out by the cutting member 111 of the article delivery unit 11 described later. The inclined surface is extended by a predetermined length which becomes lower toward the transfer direction X side so as to slide down.

The article delivery unit 11 includes the front wall member 110 described above, a cutting member 111 provided to move up and down along the inner surface of the front wall member 110, and a guide member 112 that guides the vertical movement of the cutting member 111. And a cutting member fixing portion 113 that fixes the cutting member 111 to the apparatus main body via the guide member 112, and a cylinder 114 that is attached to the cutting member fixing portion 113 and moves the cutting member 111 up and down in the Z-axis direction. Has been. The cutting member 111 cyclically moves up and down by a cylinder 114 controlled at a predetermined timing set in advance by a control device (not shown). When the cut-out member 111 is positioned at the lower end as shown in FIG. 5, the upper surface portion 111a has the same gradient as the inclined surface of the bottom surface member 10b of the storage portion 10 or a larger gradient than that. A continuous continuous inclined surface is formed. Therefore, when the cutting member 111 is at the lower end, the article 9 put into the storage unit 10 slides down to the upper surface portion 111a of the cutting member 111 through the upper surface of the bottom surface member 10b and the inner wall surface of the front wall member 110. It is comprised so that it may contact | abut and stop.

Next, with reference to FIG. 6, a description will be given of a configuration in the article delivery unit 11 that selects an article 9 in a predetermined posture from a large number of randomly accommodated articles 9 and sends the articles 9 to the downstream side in the transfer direction X. FIG. 6 is an enlarged plan view showing the storage section and the article delivery section shown in FIG.
The effective width W in the transfer direction X in the upper surface portion 111 a of the cutting member 111 is formed to be shorter than the distance Lg from the longest side 9 c of the article 9 to the center of gravity G. Therefore, among the plurality of articles 9 that are partially or wholly placed on the upper surface portion 111a of the cutting member 111, the longest side 9c at the illustrated time point faces the transfer direction X, and the position of the center of gravity G is the upper surface. Since it comes off from the part 111a, when the cutting member 111 rises, it falls in the storage part 10, and cannot move to the 1st transfer apparatus 21 of the transfer direction downstream.

In the example of FIG. 6, the articles 91 and 92 having the longest side 9c facing the width direction Y are raised with the rising of the cutting member 111 due to the operation of the cylinder 114 because the position of the center of gravity G is on the cutting member 111. When the inclined surface of the upper surface portion 111a of the cutting member 111 coincides with the inclined surface of the upper surface of the front wall member 110 or rises above the upper surface position of the front wall member 110, the articles 91 and 92 are It slips by its own weight and moves to the first transfer device 21 of the conveyor unit 2. However, the

articles

93, 94, and 95 have the center of gravity G not on the cutout member 111, that is, the cutout member 111 is raised because it exists on the left side of the cutout member 111 from the top surface 111a. Since it sometimes falls in the direction of the bottom surface member 10b of the storage unit 10, it does not move in the direction of the first transfer device 21.

In this way, among the many articles 9 in the storage unit 10, only the articles 9 in a predetermined posture, that is, those having the longest side 9c facing the width direction Y of the apparatus are selectively placed downstream in the transfer direction. Moved in small numbers. In other words, the article delivery unit 11 has a function of selecting an article in a predetermined posture from a plurality of articles randomly stored in the storage unit 10 and sending the articles one by one downstream in the transfer direction. The posture of the article 9 to be moved to the upper surface of the one transfer device 21 is selected so that the surface on which the article 9 is gripped in the subsequent process faces the operation direction of the chuck 52.
The article 9 that has moved onto the first transfer device 21 moves to the stacking elimination device 3 while being placed on the upper surface of the belt that moves in the transfer direction X by a drive roller that rotates in the direction of arrow D in FIG.

Next, referring to FIGS. 7 and 8 in addition to FIGS. 1 to 6 described above, the article 9 passes through the stacking elimination device 3 on the first transfer device 21 and is set in a predetermined position by the robot device. The configuration up to the point of supply will be specifically described. 7 is an enlarged front view of the rotating brush constituting the stacking elimination device shown in FIG. 1 and its vicinity, and FIG. 8 is a posture of the article 9 according to a modification of the gripping hand shown in FIG. It is a front view explaining change operation.
As shown in FIGS. 4 and 5, the stacking elimination device 3 includes a rotating brush 31, a motor 32 that drives the rotating brush 31, a brush fixing plate 33, a guide 34, a guide fixing plate 35, and a cylinder 36. Consists of Here, the rotating brush 31 is connected to a motor 32, and rotates in the same D direction as the first transfer device 21 by the motor 32. The rotating brush 31 and the motor 32 are fixed to a brush fixing plate 33, and the brush fixing plate 33 is fixed to the apparatus via a guide 34 and a guide fixing plate 35. Further, a cylinder 36 that is driven in the operation direction of the guide 34 is attached to the brush fixing plate 33, and the height of the rotating brush 31 can be adjusted by the operation of the cylinder 36.

As shown in FIG. 7, the dimension H31 between the lowermost end of the rotating brush 31 and the transport surface 21a of the first transfer device 21 is in the posture 9A where the height is the lowest when the article 9 is placed on a plane. Is higher than the height Ha of the posture 9B, lower than the height Hb of the posture 9B and the height Hc of the posture 9C, and the height of 2 × Ha when two of the lowest posture 9A are stacked. It is lower than this. Thereby, what is transferred to the stacking elimination device 3 in the posture 9A passes through the stacking elimination device 3 as it is, but what is transferred to the stacking elimination device 3 in the postures 9B and 9C is knocked down by the rotating brush 31. Then, after changing to the posture 9A, it passes through the stacking elimination device 3. The stacked state is also pushed back by the rotating brush 31 and passes through the stacking elimination device 3 without any stacking.

As shown in FIG. 5, the transport surface 22a of the second transfer device 22 rotates in the same direction as the transport surface 21a of the first transfer device 21, and an encoder 22c that is not shown in detail in the rotating portion 22b. It is possible to grasp the amount of rotation from a certain time. Here, the transfer surface 22a of the second transfer device 22 is set at a position slightly lower than the transfer surface 21a of the first transfer device 21, and is transferred to the extreme end in the transfer direction X of the first transfer device 21. The article 9 falls onto the transport surface 22a of the second transfer device 22 by its own weight.

The second transfer device 22 operates at a higher speed than the first transfer device 21, and the gripping dimension Lb (illustrated in FIG. 3) of the article 9 when the first transfer device 21 grips the article 9 in a certain time. If the article 9 is moved in the transfer direction X by the same distance, the second transfer device 22 adds the operating distance m of the gripping claw 53 to the gripping dimension Lb of the article 9 and the thickness t of the gripping claw 53 in the same time. The vehicle is operated at a speed that moves the article 9 over a distance of a certain length. As a result, the article 9 that has previously dropped on the second transfer device 22 can be moved by an extra speed difference until the next article 9 falls on the second transfer device 22. It is possible to secure a length that is a gap necessary for gripping, which is a combination of the operating distance m of the gripping claws 53 and the thickness t of the gripping claws 53.
Further, the vision sensor 4 is installed above the second transfer device 22, and the position and orientation of the article 9 entering the visual field of the vision sensor 4 on the second transfer device 22 are measured. The vision sensor 4 may be provided in the robot device 5.

The robot apparatus 5 includes a gripping hand 51 as shown in FIG. 5, and the gripping hand 51 is configured using a chuck 52 and a gripping claw 53 attached to the tip of the chuck 52. The robot apparatus 5 measures the measurement result of the vision sensor 4 and the amount of movement of the article 9 after being measured by the vision sensor 4 with respect to the article 9 in the posture 9A being transferred by the second transfer device 22. Then, the position and posture of the article 9 on the second transfer device 22 at the time of gripping are specified, the gripping hand 51 is lowered to that position, the gripping claws 53 are closed by the operation of the chuck 52, and both sides of the article 9 are The article 9 is taken out from the second transfer device 22 and supplied to a predetermined position (not shown) in a predetermined posture.

Further, as shown in the modified example of FIG. 8, a rotation mechanism 54 having an axis in a direction different from the rotation axis of the gripping hand 51 is provided at a connection portion between the gripping hand 51 and the robot apparatus 5, and the gripping hand 51 is moved in the direction of arrow E. It is also possible to use a robot that can rotate the robot device 5 or rotate the hand multi-axis like the vertical articulated robot. In such a configuration, the posture taken out from the second transfer device 22 may be used. The direction can be changed and supplied to the next process.

In the first embodiment configured as described above, the article 9 to be transferred is put in a random state on the bottom surface member 10b that is inclined so as to become lower in the transfer direction X side in the hopper-shaped storage unit 10. Is done. The article 9 moves so as to slide down under its own weight due to the inclination of the bottom member 10b. A cutting member 111 that moves up and down by a cylinder 114 that constitutes the article delivery unit 11 is disposed at the tip end in the transfer direction X. When the cutting member 111 is positioned at the lowest position, the inclined surface of the upper surface portion 111a is the bottom surface. Since a series of the same gradient continuous with the inclined surface of the member 10b or an inclined surface having a steeper slope than the inclined surface of the bottom member 10b is formed, a large number of articles 9 are cut out in a random state as shown in FIG. It reaches the upper surface portion 111 a of the member 111, and the article 9 at the distal end in the moving direction comes into contact with the inner wall surface of the front wall member 110 and stops.

Since the effective width W in the transfer direction X of the upper surface portion 111a is formed shorter than the distance from the longest side 9c of the article 9 to the position of the center of gravity G of the article 9, the cutting member 111 is formed of the front wall member 110. Only when the center of gravity G of the article 9 is present on the upper surface portion 111a of the cutting member 111, specifically when the short side direction of the article 9 is directed to the transfer direction when the height rises higher than the upper end. The first transfer device 21 moves at the first speed. In the transfer path of the first transfer device 21, the stack of articles 9 is canceled when passing through the stack elimination device 3. Next, it falls on the 2nd transfer apparatus 22 which can be transferred at 2nd speed faster than 1st speed, a position is measured by the vision sensor 4, and it is hold | gripped by the robot apparatus 5 and taken out.

In addition, although the case where the article | item 9 was a rectangular parallelepiped from which the length of three sides mutually differs was demonstrated, the shape of the article | item 9 is not limited to this, For example, a rectangular parallelepiped with the same length of two sides, or 12 of a rectangular parallelepiped The distance from the end of the longest side of the article to the center of gravity is cut out even if one or more of the ridges are curved or parts other than a rectangular parallelepiped, or processed materials, products, containers, etc. If it is shorter than the effective width W of the upper surface part 111a of the member 111, it can transfer similarly, and it is also possible to supply many kinds of articles | goods with the same apparatus structure.

As described above, according to the first embodiment, an article 9 in a predetermined posture is selected and aligned in the article delivery unit 11 from a plurality of articles 9 randomly placed in the storage unit 10 and is downstream in the transfer direction X. The stacking state is eliminated by the stacking elimination device 3 and the posture is unified, and a clearance for the gripping claws 53 to be secured by the speed difference between the first transfer device 21 and the second transfer device 22 is ensured. it can. Therefore, the article 9 can be taken out at a fixed position / fixed posture by measurement by the vision sensor 4, position correction by the robot apparatus 5, and gripping of the gripping hand 51.
In addition, since the cutting member 111 that pushes up the article 9 in the storage unit 10 has an effective width W that is shorter than the distance from the longest side of the article 9 to the center of gravity, the article 9 put in a random posture is used. Thus, the longest side (side to be gripped) of the article 9 can be supplied so as to face the conveyance direction X. This makes it possible to reliably secure a gap necessary for gripping in the side portion of the side to be gripped when transferring from the first transport device 21 to the second transport device 22, and more reliably removing by gripping. It becomes possible.
In the first embodiment, since the article 9 is taken out from the transfer device by gripping with the gripping claws 53, the article is caused by deformation of the suction pad or slipping of the suction surface as in the case of taking out by the conventional suction. 9 does not occur, and the article 9 can be transferred with high accuracy and supplied to the next process. Further, since the removal is performed by gripping, an effect that an article that cannot be taken out by vacuum suction, such as an article having a hole, can be transferred.
In the present embodiment, the stacking elimination device 3 is installed at the top of the first transfer device 21, but the position of the article 4 is measured from the front wall member 110 by the vision sensor 4 of the second transfer unit 22. If it is the upper part of the transfer surface of the article | item 9 until it carries out, there will be no change in the function which cancels | releases the stacked state of the article | item 9 to be transferred, and unifies to the attitude | position 9A.

Embodiment 2. FIG.
FIG. 9 is a diagram conceptually showing a storage section and an article delivery section of the article transfer device according to the second embodiment of the present invention, where (a) is a plan view and (b) is an F- It is arrow sectional drawing in the F line.
FIGS. 10A and 10B are diagrams conceptually showing a state in which the effective width changing means of the article delivery unit shown in FIG. 9 is operated. FIG. 10A is a plan view, and FIG. It is arrow sectional drawing in I line. The configuration other than the article delivery unit 11 is the same as that of the first embodiment. In the figure, the opposing surfaces of the cutting member 111 and the front wall member 110 are provided with concave and convex portions formed in a comb shape so that the convex portions enter the concave portion on the other side when viewed from above. The engagement is made by shifting the pitch in the width direction Y. The cutting member 111 can move up and down in the Z-axis direction while maintaining the engagement with the front wall member 110, and the X in the upper surface portion 111 a of the cutting member 111 can be changed by changing the relative distance in the transfer direction X of each other. The effective width W in the axial direction can be arbitrarily changed between W1 (FIG. 9) and W2 (FIG. 10). In addition, in this document, in order to clarify member shapes, such as the front wall member 110 and the cutting member 111, surface parts other than a cross section may be hatched and illustrated.

In the second embodiment, the front wall member 110 is provided so as to be movable in the transfer direction X with respect to the apparatus main body, and the position in the transfer direction X is set by a cylinder 117 provided on the apparatus main body via a fixing plate 116. Is configured to change. The front wall member 110 is provided with a plurality of bar-shaped guide members 115 extending in parallel with the transfer direction X, and the aforementioned fixed plate 116 slides smoothly in the transfer direction X. The guide member 115 is engaged so as to be able to. Here, in the state of FIG. 9, the front wall member 110 is located at the left end portion of the drawing, and the cutting member 111 has an effective width W when the effective width W1 of the upper surface portion 111a is the first embodiment shown in FIG. The article 9 in the storage unit 10 is lifted in the same manner as in the first embodiment, and has the center of gravity on the upper surface portion 111a having the effective width W, and moves to the first transfer device 21.

The effective width changing means extends in the vertical direction on the downstream side in the transfer direction of the hook-shaped upper surface portion forming portion protruding in the downstream direction in the transfer direction X at the upper end portion of the cutting member 111 forming the upper surface portion 111a. Are formed on the opposing surfaces of the comb-shaped engaging portion 111k in which the groove portions and the protruding portions are alternately formed and the cut-out member 111 in the front wall member 110, and constitutes the comb-shaped engaging portion 111k. The cutting member 111 is inserted into the groove portion between the adjacent protrusions, and the cutting member 111 is engaged in a comb-like manner in the entire vertical movement range of the cutting member 111 and the entire relative movement range of the transfer direction X. Comb-shaped irregularities 110k that maintain engagement with the portion 111k, and a cylinder 117 as a drive device that can change the relative distance of the cutting member 111 and the front wall member 110 in the transfer direction X. Yes.
FIG. 10 shows a state when the position of the front wall member 110 is moved from the state of FIG. 9 in the transfer direction X by the cylinder 117, and the upper surface portion 111a of the front wall member 110 is enlarged to the effective width W2. ing. The effective width W can be arbitrarily changed between W1 and W2.
By changing the effective width W by the effective width changing means, it becomes possible to transfer articles having different sizes.

As described above, according to the second embodiment, the effective width W of the upper surface portion 111a of the cutting member 111 can be adjusted in accordance with the size of the article 9 to be transferred, which is larger than that of the first embodiment. It is possible to obtain an unprecedented effect that it is possible to cope with a change in the size of the article 9.
The article 9 that can be transferred in the second embodiment needs to have the shortest side length longer than the width 110Y between the comb teeth of the front wall member 110 and the width 111Y between the comb teeth of the cutting member 111. Yes, this is to prevent the article 9 to be transferred from dropping or getting caught in the gap between the comb teeth.
Further, the width of the comb teeth needs to have sufficient rigidity to lift the article 9.

Embodiment 3 FIG.
FIG. 11 is a diagram conceptually showing an enlarged view of a rotating brush and its vicinity constituting a stacking elimination device for an article transfer device according to a third embodiment of the present invention, wherein (a) is a plan view and (b). Is a front view. Other parts are the same as those in the first embodiment, and can be applied to the second embodiment. In the figure, a transmission type area sensor 37 for detecting the presence or absence of the article 9 in the detection area 37a is provided on the upstream side in the transfer direction X of the rotary brush 31 constituting the stacking elimination device 3.

In the third embodiment, the transmission type area sensor 37 can detect the presence of the article 9 or the like in the detection area 37a when the light receiving unit (not shown) is shielded from light. Here, when the article 9 or the like is clogged in front of the rotary brush 31 by the transmissive area sensor 37, the transmissive area sensor 37 is maintained in a light-shielded state for a long time. In the third embodiment, the detection result of the transmissive area sensor 37 is monitored by a control device (not shown). Therefore, the rotary brush 31 is raised by the operation of the cylinder 36 provided in the stacking elimination device 3, and the article 9 clogged with the stacking elimination device 3 is discharged to the downstream side. 9 can be configured to automatically recover from clogging.

Embodiment 4 FIG.
FIG. 12 is a diagram conceptually showing the overall configuration of an article transfer device according to Embodiment 4 of the present invention, where (a) is a plan view and (b) is a front view. In the fourth embodiment, the front and back of the article 9 are discriminated without changing the configuration of the robot device 5 or the like when the front and back of the article 9 need to be transferred in a predetermined direction with respect to the transfer destination. This function can be accommodated by adding a circulation device 6 that circulates the article 9 in a posture in which the front and back of the article 9 do not match the transfer destination to the article delivery unit 11. In the first embodiment, the case where the front and back of the supply posture of the article 9 is not questioned has been described. However, in practice, the front and back of the article 9 may be determined, and the supply may be required by unifying the front and back. In the first embodiment, when only one side is distinguished from the front and back to be transferred by the robot apparatus 5, about half of the articles 9 are stochastically excluded from the transfer target, and in order to align the front and back with respect to the transfer destination, For example, as the robot apparatus 5, an article 9 having a multi-axis and multi-joint structure and having the opposite sides needs to reverse the posture of the grasped article 9 by 180 degrees.

The shape of the article 9 is the same as that of the first embodiment, and in the posture of FIG. 2A, for example, the top surface is the front side and the back surface is the back side. The control device (not shown) has a function of distinguishing the front and back of the article 9 from the characteristic parts when processing the image data picked up by the vision sensor 4. It is assumed that the robot apparatus 5 is set so that the control of gripping the article 9 is performed only when the front side faces upward.
In FIG. 12, the circulation device 6 includes a shooter 61, a circulation conveyor 62, a shooter 63, and a circulation hopper 64. The shooter 61 is installed at a position where the article 9 transferred to the end of the second transfer device 22 falls, and is inclined so as to become lower toward the circulation conveyor 62. As a result, the article 9 dropped on the shooter 61 slides on the shooter 61 by its own weight and moves onto the circulation conveyor 62. The circulation conveyor 62 rotates in the J direction, which is opposite to the first transfer device 21 and the second transfer device 22, and transfers the article 9 that has moved from the shooter 61 toward the storage unit 10.

The shooter 63 is installed at a position where the article 9 transferred to the end of the circulation conveyor 62 falls, and is inclined so as to become lower in the transfer direction of the circulation conveyor 62. As a result, the article 9 that has fallen on the shooter 63 falls on the circulation hopper 64 due to its own weight.
The circulation hopper 64 includes a circulation hopper 641, a stopper 642, a tension spring 643, a guide 644, and a cylinder 645. The article 9 put in from the shooter 63 is temporarily stored in the circulation hopper 641. At this time, the bottom surface of the circulation hopper 641 is inclined so as to become lower in the width direction Y, and moves toward the storage unit 10 by its own weight. The circulation hopper 641 is fixed to the guide 644, and can be raised in the Z-axis direction by the operation of the cylinder 645. When the bottom surface of the circulation hopper 641 rises above the upper end in the Z-axis direction of the wall surface member 10a of the storage unit 10, The article 9 inside the circulation hopper 641 falls into the storage unit 10 and is supplied to the conveyor unit 2 as in the first embodiment.

Here, the stopper 642 is applied with a force upward in the Z-axis direction by a tension spring 643. When the circulation hopper 641 is lowered, the circulation hopper 641 is pushed and lowered to open the outlet of the shooter 63, and when the circulation hopper 641 is raised, it is lifted by the force of the tension spring 643. And the subsequent article 9 is prevented from falling from the shooter 63 to the space after the circulating hopper 641 is lifted. Thereby, the article 9 that has not been taken out by the robot device 5 because the front and back are reversed on the second transfer device 21 is returned to the storage unit 10 and circulated so that the alignment and shaping operations are performed again. It becomes possible to sequentially supply the transfer destination in a correct posture.

As described above, according to the fourth embodiment, when it is necessary to transfer the front and back of the article 9 in a predetermined direction with respect to the transfer destination, the vision sensor 4 determines the front and back of the article 9; By adding the circulation device 6 that returns and circulates the article 9 that does not match the front and back of the article 9 with respect to the transfer destination to the article delivery unit 11, the front and back of the article 9 can be changed without changing other configurations such as the robot apparatus 5. The effect that it can be transported in a unified manner is obtained.

Embodiment 5 FIG.
FIG. 13 is a plan view and a front view showing the configuration of the article transporting apparatus in the fifth embodiment. In the fourth embodiment, the articles 9 supplied in the reverse orientation to the required posture are all uncirculated and circulated through the hopper unit 10. In the present embodiment, a method for increasing the capability of the component supply device by taking out a part of the article 9 moved to the circulation conveyor 62 in a required posture will be described.
In the fifth embodiment, the position of the robot of the fourth embodiment is changed to a robot 54 that can access both the second conveyor 22 and the circulation conveyor 62, and the second vision sensor 41 is added. In addition, the shooter of the circulation part is changed to the shooter 611.
Here, FIG. 14 shows the positional relationship between the second conveyor 22 and the shooter 611. The shooter 611 is installed at a position where the article 9 transported to the end of the second conveyor 22 falls, and the drop height 611h at this time is larger than the cut-out plate width 111X. The front and back are reversed with the probability of.
The article 9 dropped on the shooter 611 moves onto the circulation conveyor 62 as in the fourth embodiment. The second vision sensor 41 is installed on the circulation conveyor 62, and the position of the article 9 entering the field of view of the second vision sensor is measured on the conveyor.
The circulation conveyor 62 rotates in the direction D, which is opposite to the first conveyor 21 and the second conveyor 22, and a circulation conveyor encoder 622 is provided in the rotating unit 621 so as to grasp the rotation amount from a certain time. Is possible.
The robot 54 circulates the position of the article 9 conveyed by the circulation conveyor 62 from the measurement result of the vision sensor 41 and the movement amount of the article 9 measured by the vision sensor 41 acquired by the encoder 622. The position of the article 9 on 62 is specified, the hand 541 is lowered to that position, the gripping claw 543 is closed by the operation of the chuck 542, the article 9 is sandwiched, and the article 9 is taken out from the circulation conveyor 62.
As a result, among the articles 9 that could not be taken out by the robot 54 from the second conveyor, the articles 9 supplied in the required posture on the circulation conveyor 62 can be taken out. Supply capacity can be improved.

Embodiment 6 FIG.
FIG. 15 is a front view showing the configuration of the article conveying apparatus in the sixth embodiment. In the present embodiment, a third transfer device 23 is provided between the first transfer device 21 and the second transfer device 22 of the article supply device of the first embodiment, and the transport surface 21a of the first transfer device 21 is The transfer surface 23 a of the third transfer device 23 is installed at a position higher than the transfer surface 23 a of the third transfer device 23 and higher than the transfer surface 22 a of the second transfer device 22. The transfer device 23 has a higher transfer speed than the transfer device 21, and the transfer device 22 has a higher transfer speed than the transfer device 23.
In the case of the article conveying apparatus of the first embodiment, the interval between the articles 9 is ensured only by the speed difference between the first transfer apparatus 21 and the second transfer apparatus 22, but the required interval between the articles 9 is wide. As a result, the speed difference between the first transfer device 21 and the second transfer device 22 increases. Then, when the article 9 is transferred from the first transfer device 21 to the second transfer device 22, a rapid acceleration is applied, and the posture of the article 9 on the transfer surface may change. Therefore, by installing the third transfer device 23 between the first transfer device 21 and the second transfer device 22, the acceleration generated in the article 9 when the article 9 is transferred between the transfer devices is reduced, and the article 9 undesired posture changes can be prevented.
In the present embodiment, the acceleration generated in the article 9 is reduced only by the third transfer device 23, but the fourth transfer device and the fifth transfer device are provided between the third transfer device 23 and the second transfer device 22. , The acceleration generated in the article 9 can be further reduced.
Moreover, in order to ensure the space | interval of articles | goods 9 on the 2nd transfer apparatus 22, it is possible if the speed difference has generate | occur | produced between the 1st transfer apparatus 21 and the 2nd transfer apparatus 22, and the middle Thus, even if the speed of the first transfer device 21 is set higher than that of the third transfer device 23 or the same speed is satisfied, the same function is satisfied.

It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

10 storage part, 10a wall surface member, 10b bottom surface member,
11 article delivery part, 110 front wall member, 110k comb-like uneven part,
110Y Width between the comb teeth of the front wall member, 111 cutout member,
111a upper surface portion, 111k comb-like engagement portion,
111Y Width between the comb teeth of the cutting member, 112 guide member,
113 cutting member fixing portion, 114 cylinder, 115 guide member,
116 fixed plate, 117 cylinder, 2 conveyor section,
21 First transfer device, 21a Transport surface, 22 Second transfer device,
22a conveying surface, 22b rotating part, 22c encoder,
3 Stack removal device, 31 rotating brush, 32 motor,
33 brush fixing plate, 34 guide, 35 guide fixing plate,
36 cylinders, 37 transmissive area sensor, 37a detection area,
4 vision sensors, 5 robot devices, 51 gripping hands,
52 chuck, 53 gripping claw, 54 rotating mechanism, 6 circulation device,
61 Shuta, 62 Circulating conveyor, 63 Shuta,
64 Circulation hopper, 641 Circulation hopper, 642 Stopper,
643 tension spring, 644 guide, 645 cylinder, 9 articles,
9A, 9B, 9C posture, 9a shortest side, 9b middle length side,
9c longest side, m distance of gripping claw, t thickness of gripping claw,
L length (moving claw operating distance m + gripping claw thickness t),
Lb Gripping dimensions, G center of gravity, Ha, Hb, Hc height,
Lg Distance from the end of the longest side to the center of gravity, Td Depth dimension of gripping claw,
S Clearance, W Effective width.

Claims

Of the plurality of parts housed in the storage unit, an article delivery unit capable of delivering at least one article downstream in the transfer direction, and the article received from the article delivery unit placed on the downstream side A first transfer device for transferring at a speed; a second transfer device capable of transferring the article placed and placed downstream of the first transfer device at a second speed higher than the first speed; An article transfer apparatus comprising:
The stacking elimination device is provided at an upper part of the article delivery unit, the first transfer device, and the second transfer device, and restricts a height from a transfer surface of an article to be transferred. Article transfer device Article transfer device.
The storage portion is formed in a hopper shape so that a bottom surface member thereof is lowered toward the downstream side in the transfer direction, and the article delivery portion is a front wall member disposed on the downstream side in the transfer direction of the storage portion. The upper surface is inclined so as to be lowered downstream in the transfer direction, and the effective width W of the upper surface in the transfer direction is from the longest side of the article. A cutting member formed shorter than the distance to the position of the center of gravity G is provided, and when the cutting member is moved to the lower end, the plurality of articles are moved by gravity from the upper surface of the bottom surface member onto the upper surface portion. The article transfer apparatus according to claim 1, wherein when the cutting member is moved upward, an article having a predetermined posture is selected from the plurality of articles by the upper surface portion.
4. The article transporting apparatus according to claim 3, wherein the article delivery unit includes an effective width changing means capable of arbitrarily changing the effective width W within a preset range.
The effective width changing means is configured such that grooves and protrusions extending in the vertical direction are alternately arranged in a direction perpendicular to the transport direction on the downstream side in the transport direction of the top surface forming part forming the top surface of the cutting member. The comb-shaped engaging portion formed on the front wall member and the cut-out member facing the cut-out member are shaped to receive the protrusions forming the comb-shaped engaging portion, and adjacent to each other. A comb-like concavo-convex portion that enters a groove portion between the protrusions, and a drive device that can change the relative distance in the transfer direction of the cutout member and the front wall member, The article transfer apparatus according to claim 4.
3. The article transfer device according to claim 2, wherein the stacking elimination device is capable of adjusting heights from the article delivery unit, the first transfer device, and the second transfer device.
A vision sensor that detects the article being transferred on the second transfer device; and a robot apparatus that grips the article and supplies the article to a predetermined position based on a detection result of the vision sensor. The article transfer device according to any one of claims 1 to 6.
The vision sensor has a function of discriminating the front and back of the article, and stops the operation by the robot device when detecting an article in a posture in which the front and back of the article do not match a transfer destination, and the posture does not match The article transfer device according to claim 7, further comprising a circulation device that circulates the article back to the storage unit.
A third transfer device is provided between the first transfer device and the second transfer device, the transfer surface of the first transfer device is higher than the transfer surface of the third transfer device, and the transfer surface of the third transfer device Is installed at a position higher than the conveying surface of the second transfer device,
The article transfer device according to any one of claims 1 to 8, wherein the third transfer device has a higher transfer speed than the first transfer device and a higher transfer speed than the second transfer device. .