JP2019094112A - Robot hand - Google Patents

Abstract

To solve the problem that bagging operation for inserting an article into a bag is automated in a simple process, without using a large-scale device, even when using a bag whose size is not enough for the article and even if it is difficult to push the article into a bottom part of the bag just by opening the bag because the bag has an oblong shape.SOLUTION: A robot hand 10 for pushing-in an article, which is provided in a robot 1 that performs work for bagging an article, has a rod-like member for opening a bag bottom by which the article is inserted into an opened bag so that a range up to the bottom part of the bag is opened, a rod-like member for pushing-in by which the article is pushed into the bag whose range from an opening part to the bottom part is opened, and an adsorption part that adsorbs the article.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot hand provided to a robot for bagging articles.

  Due to the labor shortage in recent years, workers are also lacking in the packaging process conventionally performed manually. In particular, the work such as bagging for packing articles such as tubes and bottles in bags is a simple work that repeats the same work over a long period of time, and workers are reluctant to gather and hard to gather.

  Therefore, it is desirable to automate the bagging operation using a robot or a peripheral device of a robot.

  On the other hand, because of resource saving and high-density display of goods at the storefront, bags having a size that is not large enough for articles have come to be used for bagging of articles. Therefore, in the automation of bagging of articles, it may be difficult to firmly push articles into a small bag to a predetermined position, or the bag may be damaged or deformed to forcibly push articles into the bag. It is a problem.

  In order to securely insert an article into a bag even when using a bag having no extra space for the article, a funnel-shaped guide member having a conical member formed of an elastic body attached to an annular member is used at the entrance of the bag. It has been proposed that, after opening the bag by suction, the article is inserted into the bag through the guide (Patent Document 1).

Japanese Patent Application Publication No. 2007-55670

  When an article is inserted into the bag through a funnel-shaped guide placed at the entrance of the bag, the article can be passed through the opening of the bag. However, it is difficult to reliably insert the article to the bottom of the bag if the bag is elongated or there is a gusset that may be resistant to insertion at the bottom or sides. On the other hand, if it is attempted to automate the operation of opening the bag to the bottom, the packaging cost becomes high due to the complication of the work process, the enlargement of the apparatus, and the increase of the processing time.

  Therefore, according to the present invention, even if the bagging operation for inserting an article into a bag is used for a bag whose size is not large enough for the article, the article is pushed to the bottom only by opening the bag with the bag long. Even if it is difficult, the task is to automate in a simple process without using a large-scale device.

  The present inventor has conceived that it is effective to devise the robot hand and press the article into the bag in order to efficiently and inexpensively carry out the bagging operation of the article at low cost. The present invention has been completed.

That is, the present invention is an article pushing robot hand for a robot for bagging articles,
For pushing an article which is inserted into an opened bag and opens the bag to the bottom, a rod for pushing the article into the bag opened from the opening to the bottom, and an adsorbing part for adsorbing the article Provide a robot hand.

Further, the present invention is a bagging method for articles using a robot hand equipped with an article pushing robot provided in a robot, wherein the robot hand includes a rod member for opening the bottom, a rod member for pressing, and an adsorption Use a robot hand for pushing objects with
Although the bagging of goods,
A step of adsorbing and taking out an article in the article supply unit by the adsorption unit and placing the article at a temporary placement position of the article;
Inserting a rod member for opening the bottom of the bag from the opening of the bag being opened and opening the bag to the bottom;
Moving the article from the temporary storage position to the pressing position;
Pushing an article into the bag opened from the opening to the bottom with the push rod member;
Providing a bagging method having the

  When the robot hand of the present invention is used for bagging an article, the bag can be opened to the bottom using an open bottom bar member before the article is inserted into the bag, and the article is inserted into the bag. Sometimes it is possible to perform the operation of pushing the articles into the bag shallowly by the movement of the robot hand itself and the operation of pushing the articles deeply to the bottom of the bag using the pushing rod member, so Articles can be reliably bagged without being caught in the bag and without damaging or deforming the bag.

  Furthermore, according to the robot hand of the present invention, there are provided two types of rod-like members: a bottom-open rod member for opening the bottom of the bag, and a pressing rod member for pushing articles into the bag opened from the opening to the bottom. Therefore, the opening operation to the bottom of the bag and the pressing operation of the articles into the bag can be alternately and rapidly repeated using the rod members suitable for each. In this case, the movement amount of the robot hand itself is small, and the bagging operation speed can be improved.

  In addition, since the configuration of this robot hand is simple and can be used with a general-purpose robot, bagging work can be performed at low cost without using a large-scale device.

FIG. 1 is a schematic front view of a dual-arm robot equipped with an article pushing robot hand according to the embodiment. FIG. 2A is a top view of the vicinity of the work bench where the robot performs bagging. FIG. 2B is a top view and a cross-sectional view of a state in which the robot places an article pushing robot hand and a bag opening device (a bag opening robot hand) in the air above the work bench. FIG. 3A is a four-sided view of an article pushing robot hand. FIG. 3B is an explanatory view of the deformability of the bottom opening rod member provided in the article pushing robot hand. FIG. 3C is an explanatory view of the deformability of the bottom opening rod member provided in the article pushing robot hand. FIG. 4: is explanatory drawing of an effect | action of the articles | goods pushing member of (a) Example and (b) comparative example. FIG. 5 is a three-sided view of the bag opening device in a state in which the suction unit is directed to the work bench. FIG. 6 is an explanatory view of a vertically long article to be bagged. FIG. 7 is an explanatory view of a vertically long article to be bagged. FIG. 8 is an explanatory view of the bag opening process in the method of bagging articles. FIG. 9A is an explanatory view of a method of opening the bottom of the bag. FIG. 9B is an explanatory view of a process of pushing an article. FIG. 9C is an explanatory view of a state where pushing of the article is completed. FIG. 10A is a process explanatory view of the bagging method of the article. FIG. 10: B is process explanatory drawing of the bagging method of articles | goods. FIG. 10C is a process diagram of the bagging method of the article. FIG. 10D is a process diagram of the bagging method of the article. FIG. 10E is an explanatory view of the process of the bagging method of the article. FIG. 10F is an explanatory view of the process of the bagging method of the article. FIG. 10G is a process explanatory view in the bagging method of the article. FIG. 10H is a process explanatory view in the method of bagging articles. FIG. 10I is an explanatory view of the process of the bagging method of the article. FIG. 10J is a process explanatory view in the bagging method of the article. FIG. 10K is a process explanatory view in the bagging method of the article. FIG. 10L is a process explanatory view in the method of bagging articles. FIG. 11A is an illustration of another aspect of the method of bagging articles. FIG. 11B is an illustration of another aspect of the method of bagging articles.

Hereinafter, the present invention will be described in detail based on the drawings. In the drawings, the same reference numerals denote the same or equivalent components.
FIG. 1 is a schematic front view of a robot 1 equipped with an article pushing robot hand 10 according to an embodiment of the present invention, and FIG. 2A is a top view of the vicinity of a work bench 30 where the robot 1 performs bagging. FIG. 2B is a top view of the robot 1 with the robot hand 10 empty above the work table 30.

[Outline of bagging work of goods]
The robot 1 shown in FIG. 1 is a double-arm robot that performs a bagging operation for articles in a bagging product manufacturing line, and has a robot hand 10 for pushing an article according to the embodiment of the present invention as a right hand. As a left hand, a movement base 22 which forms a part of the bag opening device 20 for opening the bag is provided. In other words, the left hand is the bag opening robot hand 28 composed of the moving base 22. In the bagging operation of the article, generally, the bag 2 supplied from the bag supply device 40 is taken out to the work table 30 by the moving base 22 of the bag opening device 20 of the left hand, and the bag 2 is opened on the work table 30, On the other hand, the article 3 supplied from the article supply device 50 is taken out onto the work table 30 by the robot hand 10 for pushing the article in the right hand, and the bag 2 opened by the bag opening device 20 is further opened up to the bottom. It is performed by pushing the article 3 into the bag 2. In addition, the bag in which the goods were pushed in in this way is sent to the next process which performs the sealing operation of a bag.

[Article]
There is no particular limitation on the articles to be bagged, but the present invention is particularly effective in the case of vertically oriented articles.
As an example of a longitudinally long article, the bottle container shown in FIG. 6, the tube container shown in FIG. 7, etc. can be mentioned. In addition to this, the article may be in the form of a vertically long flat plate or the like, and a container in which the diameter of the bottom of the container is smaller than that of the cap may be mentioned.

[bag]
As a bag used for bagging articles, a flat bag such as a double-handed type, a three-seal type, a gusset bag having a gusset on the bottom with a gusset on the bottom and a gusset bag having a gusset on the bottom and sides It can be mentioned. Among them, even if the gusset bag is pulled by pulling the front and back of the bag by suction, it is easily caught when the article is pushed to the bottom, so the effect of the present invention is sufficiently exhibited.

[robot]
Although FIG. 1 shows a vertical articulated double-arm robot as the robot 1, the type of robot to which the robot hand according to the present invention is attached is not particularly limited. For example, serial type vertical articulated robots, serial type horizontal articulated (scalar type) robots, parallel link type robots, etc. may be mentioned.

  When bagging work is performed using the robot hand 10 for article pushing and the robot hand 28 for bag opening, the opening operation of the bag and the pushing operation of the article into the bag are performed with the left and right hands close to each other. The robot is particularly preferably a serial type in which the robot arm and the hand are less likely to interfere with each other.

  The dual-arm robot is preferable in that it is easy to control the left and right arms and can control the left and right arms in conjunction with each other, so that the operation in which the left and right arms do not interfere can be easily created. In addition, since the dual arm robot has a common attachment portion for the left and right robot arms, the robot arm for attaching the robot hand 10 for pushing in the article and the open robot arm for attaching the robot hand 28 for bag opening can be compactly installed. But it is preferable. On the other hand, in the present invention, the robot may have more than two arms, ie, a robot having three or more robot arms.

  Further, it is preferable that the type of robot be appropriately selected also according to the position of the article supply unit with respect to the bagging operation position, the position of the bag supply unit, the position of the bagged articles to be sent to the next process, and the like. For example, in the case where the left and right up and down movements are most in motion of the robot arm, it is preferable to use a horizontal articulated (scalar type) robot capable of high speed movement in the horizontal direction and having a large horizontal movement range. It is necessary to take out the articles and bags supplied in various positions and directions, and it is necessary to supply the bag-packed articles and the like to the next process, and the hand is lifted up, shaken down, rotated etc. When movement is required, it is preferable to use a serial type vertical articulated robot that has a large vertical movement range and freedom and can also perform complex movements of the wrist.

  The robot 1 shown in FIG. 1 has a horizontal rotation part 1a also at the waist to widen the workable range in order to widen the movement range. As described above, the number of rotation axes can be appropriately increased in addition to the robot arm in the robot.

  If you take out the items to be bagged and the bags used for buffling from their respective fixed positions and use them, you can perform the buffing operation even if the robot does not have an image recognition device, but if there is an image recognition device, it is optional It becomes possible to bag the articles supplied in a certain range from the direction.

  The imaging device used for the image recognition device is not particularly limited, and may be a two-dimensional type or a three-dimensional type. A color or black and white imaging device is selected in view of the time required for image processing, the color of the article, the background color of the article, the cost, and the like, and the number of pixels is also appropriately selected.

Also, the installation position of the imaging device is not particularly limited. For example, the imaging device can be installed in the sky above the pick position, and can also be installed on the head of a dual arm robot.
When the imaging device is installed above the pick position, the direction and the position of the article can be accurately recognized, so that the positional deviation at the time of picking can be minimized. Apart from the robot, an imaging device may be installed above the pick position, or an imaging device may be installed on the robot arm to capture an image from above the pick position.

  When the imaging device is installed on the head of a dual arm robot, the relative position of the imaging device with respect to the robot arm is determined. Therefore, even if the robot installation position and the pick position change, the positional relationship between the captured image called the calibration and the robot arm No adjustment is required.

[Robot hand for pushing goods]
FIG. 3A is a four-sided view (a top view, a front view, a right side view, a left side view) of the article pushing robot hand 10.
The article pushing robot hand 10 is inserted into the opened bag to open the bottom of the bag, the bottom opening rod 12, the pushing rod 14 pushing the article into the opened bag, and the article to be adsorbed. A suction jig 17 having a suction portion 19 is provided. These are attached to the hand base 11 so as to align in the longitudinal direction on a common work plane.

(Rod-shaped member for opening the bottom of the bag)
The bag bottom opening rod member 12 is a rod member inserted into the bag 2 after the bag opening device 20 opens the bag 2 at the bagging position 33, and ensures that the bag 2 is to the bottom of the bag 2. It is something that can be opened. Therefore, the bag bottom opening rod member 12 has a bag bottom opening member 12a as a tip member suitable for opening a bag, and has an air cylinder 13 for causing the bag bottom opening member 12a to project forward. The means for projecting is not particularly limited, and may be an electric actuator.

  The size of the bottom opening member 12 a is smaller than the inner size of the bag 2. The size of the bottom opening member 12a is preferably equal to or slightly smaller than the largest part of the size of the article 3 to be pushed into the bag 2. This can prevent the bag 2 from being excessively spread and damaged, and the bottom of the bag 2 can be reliably spread according to the size of the article 3.

  The shape of the bottom opening member 12a is preferably a truncated cone having a tapered tip, a smooth surface, and a material having a small coefficient of friction with the inner surface of the bag so that the bag can be opened smoothly.

  As a method of reliably extending to the bottom of the bag, as shown in FIG. 3B (a), an air supply port 12b is provided in the vicinity of the tip of the bag bottom opening member 12a, from which air is bagged as shown in FIG. By feeding the inside 2, the bag 2 may be opened to the bottom. In this case, it is preferable to make the size of the bag bottom opening member 12a smaller than the inner size of the bag and to be as close as possible to the inner size of the bag as air leakage can be minimized and the bag bottom can be reliably opened. When the bag is opened by air, the bag bottom opening member 12a may be pushed to the bottom of the bag, or may be pushed in front of it, that is, halfway to not reach the bottom of the bag. Since the inner dimension of the bag bottom opening member 12a is close to the inner dimension of the bag, the bag may be damaged if pushed to the bottom, so it is preferable to push the bag halfway.

  Further, as a method of surely extending to the bottom of the bag, as shown in FIG. 3C, an air supply port 12b is provided at the tip of the bottom cover opening member 12a, and an outside dimension expandable member 12c is provided behind the bottom cover opening member 12a. May be provided. Assuming that the outer diameter of the expandable member 12c is smaller than the inner diameter of the bag ((a) in the figure), and the inner diameter of the expandable member 12c is the inner size of the bag (in (b) in the same figure) When unfolded, the bottom opening member 12a is pushed into the bag, and the outer dimension expandable member 12c is expanded in diameter, and air is supplied from the tip of the bottom opening member 12a to substantially eliminate air leakage. (B) because the bag bottom can be expanded more reliably.

  The external dimension expandable member is not particularly limited, but for example, the external dimension expandable member is formed of a hollow expandable elastic rubber member, expanded by air supply, and usually by stopping the air supply. A so-called balloon-like member can be mentioned which shrinks when pressure is applied.

  The amount of depression of the bottom opening member 12a in the case of using a member whose outer dimension is expandable may be pushed to the bottom or may be stopped before or near the opening. Expansion of the outer dimension is an expansion of the outer dimension so that expansion of the expandable member causes the bag to be spread out, so that even if the bag is deformed, the deformation is not noticeable and the mouth of the bag is not torn. It is preferable that the member be slightly pushed to the bottom side of the opening.

(Rod member for pushing in)
The pushing rod member 14 is a member that pushes the article 3 into the bag 2 after the bag 2 is sufficiently opened to the bottom by the bag bottom opening rod member 12. Therefore, it is preferable that the pushing rod member 14 has an article pushing member 15 suitable for pushing at its tip, and that it has an air cylinder 16 for causing the article pushing member 15 to project forward.

  The article pushing member 15 has a pushing surface having a diameter slightly smaller than that of the body of the article 3 and reliably bags the article even if a portion where the article is pushed by the rod-like member shrinks like a sealed portion of a tube. It can be pushed inside. Further, the article pushing member 15 has a protrusion 15 a on the bottom side. As shown in FIG. 4A, the projection 15a is inserted into the groove 35 formed in the work table 30 in the pushing direction of the article pushing member 15, so that the projection 15a is inserted into the groove 35 of the work table 30. Then, the article pushing member 15 can push the article 3 in the closed state. As a result, when the tubular article 3 is pushed in, the seal portion 4 does not go under the article pushing member 15, and the article can be pushed reliably. On the other hand, when the protrusion 15a is not formed in the article pushing member 15, as shown in FIG. 4 (b), the linear seal portion 4 of the article 3 of the tube is pushed by the article pushing member 15. Sometimes, the seal portion 4 is in a state of being dipped in and pinched below the article pushing member 15, and it may become impossible to push any more. Thus, the method of inserting the protrusion 15a formed on the article pushing member 15 into the groove 35 of the work table 30 and pushing the article 3 is that the article pushed by the article pushing member 15 is the article pushing member 15 like a tube-like article. This is particularly useful because it is possible to prevent the part from sinking under the article pushing member 15 when the part to be pressed is close to the work table 30. In order to prevent the protrusion 15 a from interfering with the lower part of the bag 2, the movement stroke when projecting the article pushing member 15 may be a movement stroke up to the middle of the pushing. Even with the movement stroke to the middle of pushing, it is possible to cause the article to be completely inserted by the momentum when pushing the article.

(Suction part)
The suction unit 19 is formed of a vacuum pad. A plurality of suction units 19 are arranged in the suction unit base 18, and the suction unit 19 and the suction unit base 18 constitute a suction jig 17 (FIG. 3A). The adsorption jig 17 is moved to the article supply unit 55 by the movement of the article pushing robot hand 10, and adsorbs and lifts the article 3 by the adsorption unit 19 and has the role of placing the article 3 at the temporary placement position 32.

[Open bag device]
The bag opening device 20 includes a fixed base 21 having a suction unit (vacuum pad) 23, a moving base 22 having a suction unit (vacuum pad) 24 and an elastic member 25, and a moving base 22 against the fixed base 21. It has a drive to move (Figure 2B). FIG. 5 is a three-face view (a top view, a side view, a front view) in a state in which the moving base 22 of the bag opening device 20 faces the suction unit to the work table 30.

  In the apparatus configuration shown in FIG. 1, FIG. 2A and FIG. 2B, the bagging position 33 of the workbench 30 is used as the fixed base 21, and a plurality of suction parts 23 are bags at the bagging position 33 of the workbench 30. They are arranged in the longitudinal direction of the bag placed at the filling position 33. By arranging the suction portions in this manner, the longitudinally long bag can be reliably opened from the opening to the vicinity of the bottom.

  In the moving base 22, the adsorbing portions 24 and the elastic members 25 are alternately arranged on the surface for adsorbing the bag 3, and when the fixed base 21 and the moving base 22 are opposed when the bag is opened, The suction unit 23 and the suction unit 24 of the movement base 22 are provided at positions not overlapping with each other. When the bag is sandwiched between the fixed base 21 and the moving base 22 and the suction parts 23 and 24 of the bag adsorb the front and back of the bag, and the moving base 22 is lifted from the fixed base 21 to open the bag, the fixed base 21 When the adsorbing portion 23 of the second embodiment and the adsorbing portion 24 of the moving base 22 face each other, the adsorbing portion is generally formed of a flexible material, and thus the adsorbing portion is pressed against the bag to adsorb the bag. At times, flexible materials are used to press the bag together, which may make it impossible to adsorb an article because the adsorption surface is not stable. On the other hand, when the adsorbing portion 23 of the fixed base 21 and the adsorbing portion 24 of the moving base 22 do not overlap each other, each of the adsorbing portions 23 and 24 can stably adsorb the bag.

  Preferably, as shown in FIG. 2B, it is preferable to provide a pad 25 formed of an elastic material at a portion of the movable base 22 opposite to the adsorption portion 23 of the fixed base 21, more preferably, the adsorption portion of the movable base 22 A pad 26 formed of an elastic material is also provided on the portion of the fixed base 21 facing the portion 24. By pressing with this elastic material, the suction portion 23 of the fixed base 21 and the suction portion 24 of the movable base 22 securely adsorb the bag 2, and by lifting the movable base 22 from the fixed base 21, the bag 2 can be opened. .

  Here, a vacuum pad such as a flat type or a bellows type (bellows type) can be used as the suction portion. In particular, it is preferable to provide a bellows type (bellows type) vacuum pad in the suction portion 23 in the fixed base 21 close to the opening of the bag 2. As a result, even when an unexpected force is applied, such as when the article 3 is pushed into the bag 2 or when the bag bottom is opened by the bag bottom opening rod member 12, the bellows type vacuum pad deforms flexibly, so that the suction is released. Can be prevented. Moreover, it is preferable that the vacuum pad which adsorb | suck other than the opening part vicinity of the bag 2 is flat-shaped in that the adsorption area can be expanded and a bag can be fixed by strong force.

  As an elastic material made to oppose an adsorption part, rubber, hard sponge, etc. can be mentioned. A buffer (spring plunger) may be used as an elastic material facing the vacuum pad.

  On the other hand, the bag opening device 20 has a turning device 27 at the connection between the moving base 22 and the hand base 11. The moving base 22 is turned by the turning device 27 to direct the suction unit 24 of the moving base 22 to the bag supply unit 43, and the bag 2 is taken out from the bag supply unit 43 by suction. It is possible to perform operations such as turning to the By having the turning device 27 in the hand, desired operation can be performed without moving the robot arm significantly. In addition, since such a turning operation can be performed by the robot arm and the robot hand according to the vertical articulated robot, when the turning operation is possible with the configuration on the robot side, the bag opening device 20 Thus, the turning device 27 can be omitted, and the hand can be simplified and made lighter.

[Workbench]
The work position 30 is a temporary placement position where the article 3 is temporarily placed until the article 3 supplied from the article supply unit supply is moved to the indentation position 31. 32. A bagging position 33 is secured, which is the placement position of the bag when the article 3 is pushed into the bag (FIG. 2A).

  An article control guide 34 is provided on one side of the work table, and the other side functions as a control guide for the articles 3 placed in the temporary placement position 32 and the articles 3 in the temporary placement position 32. An article moving plate-cum-article regulating guide 56 is also provided which functions as a plate-like member for moving the pressing position 31 in parallel to the pressing position 31.

  Further, when the article at the pushing position 31 is pushed into the bag at the bagging position by the pushing rod member 14, the projection 15a of the tip of the pushing rod member 14 is inserted into the work table 30, and the rod member A groove 35 sliding in the longitudinal direction (pushing direction) is provided.

  At the bagging position 33, a fixed base suction pad 23a for suctioning the opening side of the bag 2 placed at the bagging position 33, a suction pad 23b for suctioning the central portion of the bag, and the bottom side of the bag A suction pad 23c is provided for suctioning (FIG. 2A).

  The robot 1 having the article pushing robot hand 10 and the movement base 22 of the bag opening device 20 is placed on the front surface near the article pushing position 31 of the work table 30 shown in FIG. 2A. At this time, the bottom opening rod member 12, the suction jig 17, and the pressing rod member 14 of the robot hand 10 for pushing article move the pushing direction of the article on the work table 30 in the longitudinal direction (that is, the extension direction). In the direction in which the grooves 35 extend), the pushing rod members 14 are in the direction of moving the articles from the article supply unit 55 to the article temporary storage position 32, and the bottom opening rod members 12 are arranged. Is poor. With this arrangement, the bottom opening rod member 12, the suction jig 17 and the pressing rod member 14 of the robot hand 10 for article pushing are used efficiently to pack articles in a waste-free operation as described later. be able to.

[Bag supply device]
The bag supply device 40 is a bag supply that regulates the mounting position of the stack of bags on both sides of the accumulation bag supply stand 41 and the accumulation bag supply stand 41 on which the laminated body of the bag 2 in a flattened state is placed. A section guide 42 and a bag pushing section 44 for pushing the stack of bags toward the bag supply section 43 of the bag 2 are provided (FIG. 2A). A stopper portion slightly narrower than the width of the bag 2 is provided on the take-out side of the bag 2 of the bag feeder guide 42. The bag 2 is kept at a fixed position on the take-out side by the bag pushing portion 44. When the bag 2 is picked, the bag 2 is deformed so that only one picked from the stopper can be pulled out.

[Item supply device]
The article supply device 50 includes a belt conveyor 51, a pair of article supply section guides 53 for defining a conveyance path 52 for articles on the belt conveyor 51, and an article stopper 54 provided at the tip of the belt conveyor 51 in the conveyance direction. The articles to be bagged are sequentially sent out to the article supply unit 55 (FIG. 2A).

  The distance between the pair of article supply guides 53 is slightly narrower than the width of the article 3, and the articles 3 are obliquely inclined in the conveyance path 52 sandwiched by the pair of article supply guides 53. (Figure 2B). Thereby, while the tube as the article 3 is transported in the transport path 52, the linear seal portion 4 at the bottom of the tube rides on the body of the tube subsequently transported behind the tube. , Can be prevented from diving into the bottom.

[Packaging method of goods]
By using the robot 1 shown in FIG. 1 equipped with the robot hand 10 for pushing in an article according to the present invention and the bag opening device 20 at the work table 30 shown in FIG. 2A, the articles are packed as follows. .

(Step 1)
The suction unit 19 of the article pushing robot hand 10 sucks and picks the article 3 conveyed to the article supply unit 55. On the other hand, the moving base 22 of the bag opening device 20 directs the suction surface to the bag supply device 40, and sucks and picks the bag 2 in the bag supply unit 43 (FIG. 10A). At the time of this picking, the bags in the bag supply device 40 have elastic characteristics, so the bag 2 is pressed against the suction portion 24 of the moving base 22, and the suction portion 24 of the moving base 22 securely sucks the bag 2. can do.

(Step 2)
The suction unit 19 of the article pushing robot hand 10 places the article 3 at the temporary placement position 32. On the other hand, the bag opening device 20 moves the bag adsorbed by the suction unit of the moving base 22 into the air above the bagging position 33 (FIG. 10B).

(Step 3)
The suction unit 19 of the article pushing robot hand 10 is on the temporary placement position 32 where the article 3 is placed. On the other hand, the bag opening device 20 pivots the moving base 22 to move the suctioned bag 2 onto the bagging position 33 used as the fixed base (FIG. 8A) and place there (FIG. 8B). The moving base 22 is lowered to the fixed base 21 (FIG. 8C). As can be seen from FIGS. 8A to 8C, there is a pad 25 made of an elastic material at the position of the moving base 22 facing the suction portion 23 of the fixed base 21, and fixing of the moving base 22 against the suction portion The suction portion does not exist at the position of the base 21 and is a flat portion. Therefore, even if the moving base 22 is further lowered to press the suction portions 23 and 24 against the bag 2, the suction portions 23 and 24 securely hold the bag 2 without the suction portions 23 and 24 being inclined or floating. can do. In particular, when the pad 25 formed of the elastic material of the moving base 22 is lowered to compress the suction portion 23 provided on the fixed base 21, the suction portion 23 of the fixed base 21 facing the pad 25 is more reliable Adhere the bag 2 to the When both sides of the bag 2 are adsorbed by the adsorbing unit 23 and the adsorbing unit 24, the moving base 22 starts to rise, and the bag 2 begins to open (FIG. 8D) (FIG. 10C).

  By providing an elastic member at a position facing the suction portion 23 of the fixed base 21 in the movement base 22, when the bag 2 is carried to the fixed base 21 by the movement base 22, that is, the robot hand 10 for pushing an article, Preferably, the fixed base 21 is provided with a flat portion preferably formed of an elastic member at a position facing the suction portion 24 of the movable base 22 because the suction portion 23 reliably sucks it. It is preferable because the bag is more reliably pressed and adsorbed to each adsorbing portion.

(Step 4)
The suction portion 19 of the robot hand 10 for pushing in articles is still on the temporary placement position 32 where the articles 3 are placed, but pushes the rod member 12 for opening the bottom of the bag toward the bag 2 opened in the bagging position 33. Perform position adjustment. The bag opening device 20 raises the moving base 22 to open the bag 2 widely (Fig. 8E) (Fig. 10D).

(Step 5)
The article pushing robot hand 10 advances the bag bottom opening member 12a of the bag bottom opening rod member 12 to the bottom of the opened bag 2 and completely opens the bag 2 to the bottom (FIG. 9A). In the bag opening device 20, the suction state of the bagging position (fixed base) 33 and the suction portion of the moving base 22 hold the opened state of the bag 2 (FIG. 10E).

(Step 6)
The article pushing robot hand 10 retracts the bag bottom opening member 12 a of the bag bottom opening rod member 12 from the bag 2. The bag opening device 20 continues to hold the open state of the bag 2 by the suction portion of the fixed base 21 and the suction portion of the moving base 22 (FIG. 10F).

(Step 7)
The article pushing robot hand 10 further retracts the bag bottom opening rod member 12 so that the bag bottom opening member 12 a does not come into the pressing position 31. The adsorption unit 19 also stops adsorption and moves away from the article 3 and retreats. The bag opening device 20 continues to hold the open state of the bag 2 by the suction portion of the fixed base 21 and the suction portion of the moving base 22 (FIG. 10G).

(Step 8)
The article moving plate-cum-article regulation guide 56 of the work bench is moved in parallel to move the article at the temporary placement position 32 to the pressing position 31 (FIG. 10H).

(Step 9)
The article pushing robot hand 10 is moved from the pushing rod member 14 in the direction of the bag bottom opening rod member 12 to align the article pushing member 15 of the pushing rod member 14 with the article at the pushing position 31 (FIG. 10I) ).

(Step 10)
The entire article pushing robot hand 10 is moved to the pushing position 31 side, and the article pushing member 15 is used to push the article to the middle of the bag 2. (FIG. 9B) (FIG. 10J)
At the time of this pushing, the projection 15a of the article pushing member 15 is moved in the extending direction in the groove 35 while being inserted into the groove 35 formed in the work table 30, so the pushing part of the article 3 is the seal portion 4 of the tube. Even if the seal portion 4 does not get under the article pushing member 15, the article 3 can be reliably moved into the bag 2.

(Step 11)
The momentum of movement of the article 3 in the previous process pushes the article 3 to the bottom of the bag 2. The article pushing robot hand 10 is slightly raised to a position where the projection 15a of the article pushing member 15 does not interfere with the lower portion of the bag, and the article pushing member 15 of the article pushing robot hand 10 is the air cylinder 16 or the robot arm The article 3 may be pushed to the bottom of the bag 2 by further advancing it by the movement of (3) (FIG. 9C).
Thus, a bagged article can be obtained (FIG. 10K).

(Step 12)
Since the bagged articles are adsorbed by the moving base 22 which is the bag opening robot hand 28, if the adsorption of the fixed base 21 is released, the bag open articles may be lifted by the bag opening robot hand 28. It becomes possible. The bag-opening robot hand 28 moves in the discharge direction, and releases the suction to drop the article 3 onto the discharge chute 36. The bagged articles are discharged from the discharge chute 36 and sent to the next process. In the next process, sealing work of the bag is performed. On the other hand, the article pushing robot hand 10 returns to the position of step 1.

  In steps 1 to 12 described above, the robot hand 10 for pushing the article only reciprocates once in the direction perpendicular to the pushing direction of the article, and there is no useless operation. Therefore, the bagging of articles can be performed in a short time.

The method of the present invention can take various aspects.
For example, after the bag 2 in the bagging position 33 is opened in step 4 without using the article moving plate / article restriction guide 56 in order to move the articles from the article supply unit 55 to the temporary placement position 32, FIG. As shown in FIG. 11A, the article transfer plate / article regulation guide 56 is moved between the temporary placement position 32 and the pressing position 31 of the article, and the bag 2 is opened at the bagging position 33 for opening the bottom of the bag. After inserting the rod-like member 12 and opening it to the bottom of the bag, as shown in FIG. 11B, the article 3 is moved from the temporary placement position 32 to the pressing position 31 using the suction portion 19 of the article pushing robot hand 10 The article 3 may be pushed into the bag by the pushing rod member 14. According to this method, the article moving plate / article regulation guide 56 regulates the place position of the article when moving the article from the temporary placement position 32 to the pushing position 31 and the moving path when moving from the pushing position 31 into the bag. can do.

DESCRIPTION OF SYMBOLS 1 robot 1a horizontal rotation part 2 bag 3 article 4 seal part 10 robot hand 11 for article push in 11 hand base 12 rod-like member 12a for bag bottom opening 12b bottom member 12b air supply port 12c member 13 which can expand outside size 13 air cylinder 14 Rod member for pushing in 15 Member for pushing in article 15a Projection 16 air cylinder 17 adsorption jig 18 adsorption base 18 adsorption part (vacuum pad)
20 opening apparatus 21 fixed base 22 moving base 23, 23a, 23b, 23c fixed base suction section (suction pad)
24 Moving base suction parts 25 and 26 Pads formed of an elastic material, elastic members 27 Turning device 28 Robot opening for bag opening 30 Working platform 31 Pushing position 32 Temporary placement position 33 Packing position 34 Article control guide 35 Groove 36 Discharge Chute 40 bag supply device 41 storage bag supply base 42 bag supply part guide 43 bag supply part 44 bag pushing part 50 article supply device 51 belt conveyor 52 conveyance path 53 article supply part guide 54 article stopper 55 article supply part 56 article moving plate Article Regulation Guide

Claims (11)

An article pushing robot hand provided for a robot for bagging an article, the robot hand comprising:
An article pushing member having a bottom opening rod member for inserting into an opened bag and opening the bag to the bottom, a pressing rod member for pushing an article into the bag opened from the opening to the bottom part, and an adsorbing portion for adsorbing the article Robot hand.   An article pushing robot hand according to claim 1, wherein the suction portion is provided between the bag bottom opening rod member and the pushing rod member.   An article pushing robot hand according to claim 1 or 2, wherein the bag bottom opening rod member and the pushing rod member are arranged in parallel.   The rod-shaped member for opening the bottom of a bag according to any one of claims 1 to 3, wherein the protrusion inserted into the groove of the work table has a projection inserted to push the article into the bag on the work table having a groove in the pushing direction of the product. Robotic hand for pushing objects.   The article handling robot hand according to any one of claims 1 to 4, wherein the robot is provided with a bag open robot hand for placing a bag from a bag supply section to a bagging position and opening the bag.   The robot hand according to claim 5, wherein the robot is a double-arm robot having an article pushing robot hand on one arm and a bag opening robot hand on the other arm. A method of bagging articles using a robot hand for pushing in an article provided in a robot, wherein the robot hand uses a robot hand for opening the bottom of a bag, a stick member for pushing in, and a suction unit.
Although the bagging of goods,
A step of adsorbing and taking out an article in the article supply unit by the adsorption unit and placing the article at a temporary placement position of the article;
Inserting a rod member for opening the bottom of the bag from the opening of the bag being opened and opening the bag to the bottom;
Moving the article from the temporary storage position to the pressing position;
Pushing an article into the bag opened from the opening to the bottom with the push rod member;
With bagging method.   8. The bagging method according to claim 7, wherein the robot is provided with a bag-opening robot hand for placing the bag from the bag supply section to the bagging position and opening the bag.   9. The bagging method according to claim 7, wherein the robot is a double-arm robot having an article pushing robot hand on one arm and a bag opening robot hand on the other arm.   The bagging method according to any one of claims 7 to 9, wherein the bag is a longitudinally-long rectangular shape and is a gusset bag having a gusset at the bottom or the side.   The bagging method according to any one of claims 7 to 10, wherein the article has a tube shape having a seal at the bottom.

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