JP2006096408A

JP2006096408A - Article retaining device

Info

Publication number: JP2006096408A
Application number: JP2004287529A
Authority: JP
Inventors: Masahiro Sakamoto; 匡弘坂本; Masaki Ura; 正樹浦
Original assignee: Shibuya Kogyo Co Ltd
Current assignee: Shibuya Corp
Priority date: 2004-09-30
Filing date: 2004-09-30
Publication date: 2006-04-13

Abstract

PROBLEM TO BE SOLVED: To prevent the bottom face of an article from being in contact with a conveyor without providing an air cylinder, while the air cylinder to make each gripper go up and down is provided conventionally so that the bottom face of the article retained with the gripper is not in contact with the conveyor. SOLUTION: The article retaining device is equipped with the conveyor (loading means) 4 on which two or more articles 1 are laid, two or more grippers (retaining means) 15A and 15B which are provided on a supporting member 14 and retain each article on the conveyor, a robot (driving means) 11 to move the supporting member going up and down and a control device 16 to control them. The control device makes the second gripper 15B retain the article in a state that the supporting member 14 is controlled in a height position at which the bottom face of the article retained with other first gripper 15A is not in contact with the conveyor 4 when the article 1 is retained with the empty second gripper 15B. COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、物品を保持する保持手段を備えた物品保持装置に関し、より詳しくは複数の保持手段で順次物品を保持するようにした物品保持装置に関する。 The present invention relates to an article holding apparatus including holding means for holding an article, and more particularly to an article holding apparatus configured to hold an article sequentially by a plurality of holding means.

従来、複数の保持手段を備えた物品保持装置として、複数の物品が載置される載置手段（コンベヤ）と、支持部材に設けられてそれぞれ上記載置手段上の物品を保持する複数の保持手段（バキュームパッド）と、上記支持部材を昇降移動させる駆動手段（ロボット）と、上記各保持手段の作動と駆動手段の作動とを制御して、上記複数の各保持手段で順次物品を保持させる制御装置とを備えたものが知られている（特許文献１）。
上記各保持手段は、それぞれエアシリンダを介して支持部材に設けられており、各保持手段で物品を保持する際には、物品を保持しようとする保持手段のみをエアシリンダを伸張させて他の保持手段よりも下方に突出させて、該保持手段で物品を保持させるようにしている。
そして物品を保持した保持手段はエアシリンダを収縮させることにより上方に移動させるようにしており、したがって該保持手段で保持された物品も上方位置に保持されることになる。
この状態では、次に物品を保持しようとする保持手段のみをエアシリンダを伸張させて他の保持手段よりも下方に突出させれば、該保持手段で物品を保持させる際に、既に保持手段で保持された物品の下面が上記載置手段に接触することを防止しながら、下方に突出させた該保持手段で円滑に物品を保持させることができる。
特許第３０７７５６４号 Conventionally, as an article holding device having a plurality of holding means, a placing means (conveyor) on which a plurality of articles are placed, and a plurality of holdings that are provided on a support member and hold the articles on the placing means, respectively. By controlling the means (vacuum pad), the driving means (robot) for moving the support member up and down, the operation of the holding means and the operation of the driving means, the plurality of holding means hold the article sequentially. A device including a control device is known (Patent Document 1).
Each of the holding means is provided on a support member via an air cylinder. When holding an article with each holding means, only the holding means for holding the article can be extended by extending the air cylinder. The article is projected downward from the holding means, and the article is held by the holding means.
The holding means holding the article is moved upward by contracting the air cylinder, and therefore the article held by the holding means is also held at the upper position.
In this state, if only the holding means for holding the article next is extended below the other holding means by extending the air cylinder, the holding means is already used when holding the article by the holding means. While preventing the lower surface of the held article from coming into contact with the placing means, the article can be smoothly held by the holding means protruding downward.
Japanese Patent No. 3077564

上記エアシリンダは、既に保持手段で保持された物品の下面が載置手段に接触してしまうのを防止するために設けるものであるが、各保持手段毎に設ける必要があるので重量が増大するとともに高価となり、またエアシリンダの伸縮作動を必要とするため、その分、高速化を阻害する要因となっていた。
本発明はそのような事情に鑑み、上記エアシリンダを必要としない物品保持装置を提供するものである。 The air cylinder is provided in order to prevent the lower surface of the article already held by the holding means from coming into contact with the placing means. However, since the air cylinder needs to be provided for each holding means, the weight increases. At the same time, it becomes expensive, and the expansion and contraction operation of the air cylinder is required.
In view of such circumstances, the present invention provides an article holding device that does not require the air cylinder.

請求項１の発明は、複数の物品が載置される載置手段と、支持部材に設けられてそれぞれ上記載置手段上の物品を保持する複数の保持手段と、上記支持部材を昇降移動させる駆動手段と、上記各保持手段の作動と駆動手段の作動とを制御して、上記複数の各保持手段で順次物品を保持させる制御装置とを備えた物品保持装置において、
上記制御装置は、空の保持手段で物品を保持する際に、既に他の保持手段で保持されている物品の下面が載置部材に当接しない高さ位置に上記支持部材を位置制御して、該空の保持手段で物品を保持させることを特徴とするものである。 According to the first aspect of the present invention, there are provided mounting means for mounting a plurality of articles, a plurality of holding means provided on the support member for holding the articles on the mounting means, and the support member is moved up and down. In an article holding device comprising: a driving means; and a control device that controls the operation of each holding means and the driving means to sequentially hold the articles by the plurality of holding means.
When the article is held by the empty holding means, the control device controls the position of the support member at a height position at which the lower surface of the article already held by another holding means does not contact the placement member. The articles are held by the empty holding means.

請求項１の発明によれば、最初に、全ての保持手段、例えば第１保持手段と第２保持手段との両方が物品を保持していない状態では、一方の第１保持手段で物品を保持することができる。この際には、他の第２保持手段は物品を保持していないので、該第２保持手段で保持されている物品の下面が載置部材に当接するといった事態が発生する余地はない。
次に、上記第１保持手段で物品を保持したら、空の第２保持手段で新たな物品を保持することになるのであるが、この際には、上記制御装置は、空の第２保持手段で物品を保持する際に、既に他の第１保持手段で保持されている物品の下面が載置部材に当接しない高さ位置に上記支持部材を位置制御するようになっており、この状態を維持して空の第２保持手段で物品を保持させることができる。
その結果、従来のようにエアシリンダを設けることなく、第１保持手段で保持されている物品の下面が載置部材に当接することが防止できるので、従来に比較してエアシリンダを省略した分だけ軽量化を図ることができるとともに、安価に製造することができ、さらにエアシリンダの伸縮作動も必要としないため、高速化を図ることが可能となる。 According to the invention of claim 1, first, when all the holding means, for example, both the first holding means and the second holding means are not holding the article, the first holding means holds the article. can do. At this time, since the other second holding means does not hold the article, there is no room for the situation that the lower surface of the article held by the second holding means comes into contact with the placement member.
Next, when the article is held by the first holding means, a new article is held by the empty second holding means. At this time, the control device is configured to use the empty second holding means. When the article is held at the position, the support member is controlled to a height position where the lower surface of the article already held by the other first holding means does not come into contact with the placing member. And the article can be held by the empty second holding means.
As a result, it is possible to prevent the lower surface of the article held by the first holding means from coming into contact with the mounting member without providing an air cylinder as in the prior art. Thus, the weight can be reduced as well as the manufacturing cost can be reduced. Further, since the expansion / contraction operation of the air cylinder is not required, the speed can be increased.

以下図示実施例について本発明を説明すると、図１において、本発明に係る物品保持装置は、同一形状、同一高さを有する複数の物品１を箱２内に収容するケーサとして構成してある。
上記物品１は第１コンベヤ３により１列の状態で、かつランダムの間隔で連続的に搬送されるようなっている。上記第１コンベヤ３の先端部には、本発明における物品の載置手段としての第２コンベヤ４を設けてあり、この第２コンベヤ４は第１コンベヤ３の先端部にこれと平行に配設してある。
上記第１コンベヤ３の先端部には、第１コンベヤ３から第２コンベヤ４に向けて斜めにガイド部材５を配設してあり、このガイド部材５によって第１コンベヤ３から搬送されてきた物品１を第２コンベヤ４に受け渡し、この第２コンベヤ４上に載置した複数の物品１を１列の状態で搬送することができるようにしてある。このとき、上記第２コンベヤ４の速度は第１コンベヤ３の速度よりも早く設定してあり、それによって前後に隣接する物品１間に確実に所定量以上の間隔Ｌが生じるようにしてある。 Hereinafter, the present invention will be described with reference to the illustrated embodiment. In FIG. 1, an article holding device according to the present invention is configured as a caser that houses a plurality of articles 1 having the same shape and the same height in a box 2.
The article 1 is continuously conveyed by the first conveyor 3 in a row and at random intervals. A second conveyor 4 is provided at the front end of the first conveyor 3 as a means for placing articles in the present invention, and the second conveyor 4 is disposed at the front end of the first conveyor 3 in parallel therewith. It is.
At the front end of the first conveyor 3, a guide member 5 is disposed obliquely from the first conveyor 3 toward the second conveyor 4, and the article conveyed from the first conveyor 3 by the guide member 5. 1 is transferred to the second conveyor 4, and a plurality of articles 1 placed on the second conveyor 4 can be conveyed in a single row. At this time, the speed of the second conveyor 4 is set to be faster than the speed of the first conveyor 3, thereby ensuring that a space L of a predetermined amount or more is generated between the articles 1 adjacent to each other.

上記第２コンベヤ４の下流側には、本発明の駆動手段としてのロボット１１を設けてあり、このロボット１１が備えるロボットアーム１２の先端部に、図２に示すように、回転機構１３を介して支持部材１４を設けている。そしてこの支持部材１４に、図示実施例では２つの保持手段としての第１グリッパ１５Ａと第２グリッパ１５Ｂとを設けてあり、各グリッパ１５Ａ、１５Ｂの開閉作動によってそれぞれ物品１を上方から把持することができるようにしてある。
上記ロボット１１は、ロボットアーム１２の可動範囲内における任意の位置に上記支持部材１４を昇降移動させることができるようになっており、また上記回転機構１３は、ロボットアーム１２に対して支持部材１４をＸ−Ｙ−Ｚの３軸で回転させることにより、該支持部材１４を必要な任意の方向に向けることができるようになっている。
そして上記ロボット１１や回転機構１３、或いは各グリッパ１５Ａ、１５Ｂは、それぞれ制御装置１６によってその作動が制御されるようになっている。 A robot 11 as a driving means of the present invention is provided on the downstream side of the second conveyor 4, and a tip of a robot arm 12 provided in the robot 11 is provided with a rotating mechanism 13 as shown in FIG. The support member 14 is provided. In the illustrated embodiment, the support member 14 is provided with a first gripper 15A and a second gripper 15B as two holding means, and each of the grippers 15A and 15B is operated to open and close to hold the article 1 from above. It is made to be able to.
The robot 11 can move the support member 14 up and down to an arbitrary position within the movable range of the robot arm 12, and the rotation mechanism 13 can support the robot arm 12 with respect to the support member 14. Is rotated about the three axes XYZ so that the support member 14 can be directed in any desired direction.
The operation of the robot 11, the rotation mechanism 13, or the grippers 15A and 15B is controlled by the control device 16, respectively.

上記第２コンベヤ４の上方位置には、ロボット１１よりも上流側位置に、第２コンベヤ４によって搬送されてきた物品１の位置と向きとを認識するための認識手段を構成するカメラ２１を設けてある。このカメラ２１は、第２コンベヤ４上の所要の範囲Ａを撮影することができるようになっている。
図示しないが、上記認識手段は第２コンベヤ４を駆動するモータに設けられたエンコーダを備えており、上記カメラ２１からの信号とエンコーダからの信号とが制御装置１２に入力されることにより、該制御装置１２は第２コンベヤ４によって搬送されてきた物品１の位置と向きとを検出することができるようになっている。
そして制御装置１２は、上記物品１の位置検出と同時に上記ロボット１１や回転機構１３、或いは各グリッパ１５Ａ、１５Ｂを制御することにより、後に詳述するように、各グリッパ１５Ａ、１５Ｂに順次物品１を把持させることができるようになっている。 A camera 21 constituting recognition means for recognizing the position and orientation of the article 1 conveyed by the second conveyor 4 is provided at a position upstream of the robot 11 at a position upstream of the robot 11. It is. The camera 21 can capture a required range A on the second conveyor 4.
Although not shown, the recognizing means includes an encoder provided in a motor for driving the second conveyor 4, and the signal from the camera 21 and the signal from the encoder are input to the control device 12. The control device 12 can detect the position and orientation of the article 1 conveyed by the second conveyor 4.
Then, the control device 12 controls the robot 11 and the rotation mechanism 13 or the grippers 15A and 15B simultaneously with the position detection of the article 1 to sequentially apply the articles 1 to the grippers 15A and 15B as will be described in detail later. Can be gripped.

さらに、上記第２コンベヤ４における上記ロボット１１の反対側には、箱２の載置台２２（図３参照）が設けてあり、図示しない箱供給装置又は人手により上記載置台２２上に箱２が供給されるようになっている。図３に示すように、上記載置台２２は箱２の上端開口部をロボット１１側に向けて斜めに載置することができるようになっている。
上記箱２内にはボール紙製の中仕切り２３を設けてあり、図示実施例ではこの中仕切り２３によって箱２内を４行×４列の１６個の物品収容空間２４に仕切ってある。 Further, on the opposite side of the second conveyor 4 to the robot 11, a mounting table 22 (see FIG. 3) for the box 2 is provided, and the box 2 is placed on the mounting table 22 by a box supply device (not shown) or manually. It comes to be supplied. As shown in FIG. 3, the mounting table 22 can be placed obliquely with the upper end opening of the box 2 facing the robot 11 side.
A cardboard partition 23 is provided in the box 2. In the illustrated embodiment, the box 2 is partitioned into 16 article storage spaces 24 of 4 rows × 4 columns by the partition 23.

以上の構成において、第１コンベヤ３からガイド部材５に沿って第２コンベヤ４に受け渡された物品１は、前述したように前後に隣接した物品１間に所定量以上の間隔Ｌが形成された状態で、第２コンベヤ４によって搬送されてくる。そして制御装置１２は、カメラ２１を含む上記認識手段からの信号を入力して、第２コンベヤ４によって搬送される物品１の位置と向きとを検出する。
上記制御装置１２は、上記ロボット１１と回転機構１３を制御することにより、第２コンベヤ４によって搬送される物品１の位置と向きとを検出しながら、最初に第１グリッパ１５Ａによって物品１を把持させ、その後に第２グリッパ１５Ｂによって他の物品１を、両方の物品の向きを揃えた状態で把持させるようになっている。 In the above configuration, the article 1 delivered from the first conveyor 3 to the second conveyor 4 along the guide member 5 is formed with a gap L of a predetermined amount or more between the articles 1 adjacent to each other as described above. In this state, it is conveyed by the second conveyor 4. And the control apparatus 12 inputs the signal from the said recognition means containing the camera 21, and detects the position and direction of the articles | goods 1 conveyed by the 2nd conveyor 4. FIG.
The control device 12 controls the robot 11 and the rotation mechanism 13 to first grasp the article 1 by the first gripper 15 A while detecting the position and orientation of the article 1 conveyed by the second conveyor 4. After that, the other article 1 is gripped by the second gripper 15B in a state in which both articles are aligned.

この際、図２に示すように、先に物品１を把持する第１グリッパ１５Ａは、後に物品を把持する第２グリッパ１５Ｂよりも低い位置Ｈ１（物品１の上端面からの距離Ｈ１が大きい位置）で物品を把持するようになっており、したがって第２グリッパ１５Ｂは第１グリッパ１５Ａによる把持位置Ｈ１よりも高い位置Ｈ２（物品１の上端面からの距離Ｈ２が小さい位置）で物品１を把持するようになっている。
その結果、第２グリッパ１５Ｂが物品１を把持する際には、既に第１グリッパ１５Ａによって把持されている物品１は、上記高さの差ΔＨ（＝Ｈ１−Ｈ２）だけ第２コンベヤ４から浮上された状態に維持されることになる。そして各グリッパ１５Ａ、１５Ｂによって物品１を把持する際には、回転機構１３により物品１の向きに対応して支持部材１４の向きが揃えられることになるが、その際、前後に隣接した物品１間に所定量Ｌ以上の間隔が確保されているので、各グリッパ１５Ａ、１５Ｂや第１グリッパ１５Ａによって把持されている物品１が後続の物品１に衝突してこれを転倒させるといったことがない。
このように、制御装置１６は、後に物品を把持する第２グリッパ１５Ｂが物品１を把持する際には、上記第１グリッパ１５Ａによって既に把持されている物品１の下面が第２コンベヤ４に当接しないように支持部材１４の高さ位置を位置制御するようになっており、それによって既に第１グリッパ１５Ａによって把持されている物品１の下面が第２コンベヤ４に接触されるのを防止することができる。 At this time, as shown in FIG. 2, the first gripper 15 A that holds the article 1 first is lower than the second gripper 15 B that holds the article later (a position where the distance H 1 from the upper end surface of the article 1 is large). ) So that the second gripper 15B grips the article 1 at a position H2 higher than the gripping position H1 by the first gripper 15A (position where the distance H2 from the upper end surface of the article 1 is small). It is supposed to do.
As a result, when the second gripper 15B grips the article 1, the article 1 already gripped by the first gripper 15A floats from the second conveyor 4 by the height difference ΔH (= H1−H2). It will be maintained in the state which was done. When the article 1 is gripped by the grippers 15A and 15B, the rotation mechanism 13 aligns the orientation of the support member 14 in accordance with the orientation of the article 1. In this case, the article 1 adjacent to the front and rear is arranged. Since an interval of a predetermined amount L or more is secured between them, the articles 1 held by the grippers 15A and 15B and the first grippers 15A do not collide with the subsequent articles 1 and cause the articles to fall.
As described above, when the second gripper 15B that grips the article later grips the article 1, the control device 16 applies the lower surface of the article 1 already gripped by the first gripper 15A to the second conveyor 4. The height position of the support member 14 is controlled so as not to contact, thereby preventing the lower surface of the article 1 already gripped by the first gripper 15 A from coming into contact with the second conveyor 4. be able to.

上記両グリッパ１５Ａ、１５Ｂによって物品１が把持されると、図３に示すように、上記制御装置１２はロボット１１と回転機構１３を制御することにより、両物品１を箱２内の中仕切り２３によって区切られた物品収容空間２４内にその最下段から収容させる。
この際、制御装置１２は、斜めになっている箱２及び中仕切り２３に対して鉛直上方から両物品１を降下させ、両物品１の底部の上側となる一部分（図３における物品１の底部右側部分）が中仕切り２３内に挿入されたら、両物品１を図３における反時計方向に僅かに回転させて、中仕切り２３をその物品１の底部右側部分で右上方向に押し上げて、物品収容空間２４における開口部分を拡大させる。
この後、両物品１の長手方向を物品収容空間２４の長手方向に揃えながら、物品１の底部全体を物品収容空間２４に所要の深さまで収容させ、この状態となったら両グリッパ１５Ａ、１５Ｂによる各物品１の把持を解放して、各物品１を自重により物品収容空間２４に完全に落下収容させる。 When the article 1 is gripped by the both grippers 15A and 15B, the control device 12 controls the robot 11 and the rotating mechanism 13 as shown in FIG. Are accommodated from the lowest level in the article accommodation space 24 partitioned by
At this time, the control device 12 lowers both articles 1 from vertically above with respect to the box 2 and the partition 23 which are inclined, and a part above the bottom of both articles 1 (the bottom of the article 1 in FIG. 3). When the right part) is inserted into the inner partition 23, both articles 1 are slightly rotated counterclockwise in FIG. 3, and the inner partition 23 is pushed up in the upper right direction at the bottom right part of the article 1 to accommodate the article. The opening in the space 24 is enlarged.
Thereafter, while aligning the longitudinal direction of both articles 1 with the longitudinal direction of the article accommodating space 24, the entire bottom of the article 1 is accommodated in the article accommodating space 24 to a required depth. The gripping of each article 1 is released, and each article 1 is completely dropped and accommodated in the article accommodation space 24 by its own weight.

同様にして、最下段の物品収容空間２４内から順次上方の段の物品収容空間２４内に物品１を収容し、最後に最上段の物品収容空間２４内に物品１を収容する際には、図４に示すように、斜めになっている箱２及び中仕切り２３に対して、先ず両物品１の長手方向を物品収容空間２４の長手方向に概ね揃えさせる。そして両物品１の底部の下側となる一部分（図４における物品１の底部左側部分）が中仕切り２３内に挿入されたら、両物品１を図４における時計方向に僅かに回転させて、中仕切り２３をその物品１の底部左側部分で左下方向に押し下げて、物品収容空間２４における開口部分を拡大させる。
この後、両物品１の長手方向を物品収容空間２４の長手方向に揃えながら、物品１の底部全体を物品収容空間２４に所要の深さまで収容させ、この状態となったら両グリッパ１５Ａ、１５Ｂによる各物品１の把持を解放して、各物品１を自重により物品収容空間２４に完全に落下収容させる。
このように、物品１の底部の一側部分で中仕切り２３を押し広げることにより、中仕切り２３が変形していてもそれと物品１との干渉を防止して、確実に物品１を物品収容空間２４に収容させることができる。 Similarly, when the articles 1 are accommodated in the article accommodating space 24 in the upper stage sequentially from the innermost article accommodating space 24, and finally the articles 1 are accommodated in the uppermost article accommodating space 24, As shown in FIG. 4, first, the longitudinal direction of both articles 1 is generally aligned with the longitudinal direction of the article accommodating space 24 with respect to the box 2 and the partition 23 that are inclined. Then, when a part of the bottom of both articles 1 (the bottom left part of the article 1 in FIG. 4) is inserted into the partition 23, the articles 1 are slightly rotated clockwise in FIG. The partition 23 is pushed down in the lower left direction at the bottom left portion of the article 1 to enlarge the opening in the article accommodation space 24.
Thereafter, while aligning the longitudinal direction of both articles 1 with the longitudinal direction of the article accommodating space 24, the entire bottom of the article 1 is accommodated in the article accommodating space 24 to a required depth. The gripping of each article 1 is released, and each article 1 is completely dropped and accommodated in the article accommodation space 24 by its own weight.
In this way, by pressing and expanding the middle partition 23 at one side portion of the bottom of the article 1, even if the middle partition 23 is deformed, interference with the article 1 is prevented, and the article 1 is reliably placed in the article accommodation space. 24 can be accommodated.

ところで、図５に示すように、上記両グリッパ１５Ａ、１５Ｂの間隔が隣接する物品収容空間２４の間隔よりも広くなってしまう場合には、両グリッパ１５Ａ、１５Ｂの間隔を１つおきの物品収容空間２４の間隔に一致させればよい。
この場合、第１回目に２つの物品１を箱２内に収容させる際には、符号Ａで示すように最下段の４つの物品収容空間２４のうち、１つおきの２つの物品収容空間２４内に物品１を収容させ、次の第２回目に２つの物品１を箱２内に収容させる際には、符号Ｂで示すように残りの２つの物品収容空間２４内に物品１を収容させればよい。
以後、上段の各４つの物品収容空間２４についても同様に物品１を収容することにより、全ての物品収容空間２４に物品１を収容することができる。 By the way, as shown in FIG. 5, when the gap between the grippers 15A and 15B is larger than the gap between the adjacent article storage spaces 24, the gap between the grippers 15A and 15B is set every other article. What is necessary is just to make it correspond to the space | interval of the space 24. FIG.
In this case, when the two articles 1 are accommodated in the box 2 for the first time, as shown by the symbol A, every other two article accommodation spaces 24 out of the four lowest article accommodation spaces 24. When the article 1 is accommodated in the container 2 and the second article 1 is accommodated in the box 2 in the next second time, the article 1 is accommodated in the remaining two article accommodation spaces 24 as indicated by reference numeral B. Just do it.
Thereafter, the articles 1 can be accommodated in all the article accommodation spaces 24 by similarly accommodating the articles 1 in each of the upper four article accommodation spaces 24.

他方、図６に示すように、上記両グリッパ１５Ａ、１５Ｂの間隔が隣接する物品収容空間２４の間隔よりも広くなるが、図５の場合よりも狭くできるような場合には、両グリッパ１５Ａ、１５Ｂの間隔を下段の物品収容空間２４とこれに対して斜め上方に隣接する物品収容空間２４との間隔に一致させることができる。
この場合には、第１回目に２つの物品１を箱２内に収容させる際には、図６の符号Ａで示すように最下段の１つの物品収容空間２４とその斜め上方に隣接する１つの物品収容空間２４とに物品１を収容させ、次の第２回目に２つの物品１を箱２内に収容させる際には、符号Ｂで示すように、上記符号Ａと交差させた位置となる２つの物品収容空間２４内に物品１を収容させることができる。
以後同様にして、全ての物品収容空間２４に物品１を収容することができる。 On the other hand, as shown in FIG. 6, the gap between the two grippers 15A and 15B is wider than the gap between the adjacent article storage spaces 24. The interval of 15B can be made to coincide with the interval between the lower article accommodation space 24 and the article accommodation space 24 obliquely adjacent to the lower article accommodation space 24.
In this case, when the two articles 1 are accommodated in the box 2 for the first time, as shown by the symbol A in FIG. When the article 1 is accommodated in one article accommodating space 24 and the two articles 1 are accommodated in the box 2 in the next second time, as indicated by the reference numeral B, The articles 1 can be accommodated in the two article accommodating spaces 24.
Thereafter, the articles 1 can be accommodated in all the article accommodation spaces 24 in the same manner.

なお、上記実施例では保持手段として物品を把持するグリッパ１５Ａ、１５Ｂを用いているが、これに限定されるものではなく、例えば特許文献１で使用されているバキュームカップによる吸着で物品を保持するものであってもよい。また上記支持部材１４を昇降移動させる駆動手段としてロボット１１を用いているが、これに限定されるものでもない。
さらに、上記実施例では本発明をケーサに適用しているが、これに限定されるものではなく、例えば特許文献１で使用されている容器整列装置に本発明を適用できることは明らかである。 In the above-described embodiment, grippers 15A and 15B that grip an article are used as holding means. However, the present invention is not limited to this. For example, the article is held by suction using a vacuum cup used in Patent Document 1. It may be a thing. Moreover, although the robot 11 is used as a drive means for moving the support member 14 up and down, the present invention is not limited to this.
Furthermore, although the present invention is applied to the caser in the above embodiment, the present invention is not limited to this. For example, it is apparent that the present invention can be applied to the container alignment device used in Patent Document 1.

本発明の第１実施例を示す平面図。The top view which shows 1st Example of this invention. 図１の要部の正面図。The front view of the principal part of FIG. 物品１を箱２へ収容する際の作動を説明する部分断面側面図。The partial cross section side view explaining the action | operation at the time of accommodating the articles | goods 1 in the box 2. FIG. 図３と異なる作動状態を示す部分断面側面図。The partial cross section side view which shows the operation state different from FIG. ２つの物品１を箱２の物品収容空間２４内に挿入する際の挿入順を説明するための説明図。Explanatory drawing for demonstrating the insertion order at the time of inserting the two articles | goods 1 in the articles | goods accommodation space 24 of the box 2. FIG. 図５と異なる挿入順を説明するための説明図。Explanatory drawing for demonstrating the insertion order different from FIG.

Explanation of symbols

１物品２箱
４第２コンベヤ（載置手段）１１ロボット（駆動手段）
１４支持部材１５Ａ、１５Ｂグリッパ（保持手段）
１６制御手段 DESCRIPTION OF SYMBOLS 1 Goods 2 Box 4 2nd conveyor (mounting means) 11 Robot (driving means)
14 Support member 15A, 15B Gripper (holding means)
16 Control means

Claims

Placement means for placing a plurality of articles, a plurality of holding means provided on the support member for holding the articles on the placement means, a drive means for moving the support member up and down, and the holding means In an article holding apparatus comprising: a control device that controls the operation of the means and the operation of the driving means, and holds the article sequentially by each of the plurality of holding means.
When the article is held by the empty holding means, the control device controls the position of the support member at a height position at which the lower surface of the article already held by another holding means does not contact the placement member. An article holding apparatus, wherein the article is held by the empty holding means.

The holding means for holding the article first holds the article at a position lower than the holding means for holding the article later, whereby when holding the article by the holding means for holding the article after, The height position of the support member is controlled so that the lower surface of the article already held by the holding means for holding the article does not contact the mounting member. Article holding device.

The placing means is a transport conveyor for placing and transporting an article, and a recognition means for recognizing the position of the article transported by the transport conveyor is provided, and the control device inputs a signal from the recognition means. 3. The article holding apparatus according to claim 1, wherein the holding means sequentially controls the operation of each holding means and the operation of the driving means to hold the articles sequentially by each of the plurality of holding means.

4. The article holding apparatus according to claim 1, wherein the holding means is a gripper that holds an article.