JP2020044598A - Gripping device and carrying device - Google Patents

Abstract

To provide a gripping device and a carrying device which can be prevented from being enlarged in size and increased in cost.SOLUTION: The gripping device according to an embodiment comprises a main body, a main flow path part, a first flow path part, a second flow path part and a switching valve. The main flow path part, arranged in the main body part, is connected with an external flow path part. The first flow path part, arranged in the main body, is connected to the main flow path part and opens to the outside through a first opening provided on an outer surface of the main body. The second flow path part, arranged in the main body, is connected to the main flow path part, has flow path resistance larger than flow path resistance of the first flow path part and opens to the outside through a second opening part provided on the outer surface. The switching valve, arranged in the main flow path part, switches between a state where the outer flow path part, the first flow path part and the second flow path part are communicated with one another and a state where the outer flow path part, the first flow path part and the second flow path part are not communicated with one another.SELECTED DRAWING: Figure 2

Description

  Embodiments of the present invention relate to a gripping device and a transport device.

  2. Description of the Related Art In recent years, a transport device that grips and transports a load using a grip device having a plurality of suction pads is known.

JP 2014-176926 A

  The problem to be solved by the present invention is to provide a gripping device and a transport device that can simplify the structure and prevent cost increase.

  According to the embodiment, the gripping device includes a main body, a main flow path, a first flow path, a second flow path, and a switching valve. The main flow path is provided in the main body and connected to an external flow path. The first flow path is provided in the main body and connected to the main flow path, and opens to the outside through a first opening provided on an outer surface of the main body. The second channel portion is provided in the main body and connected to the main channel portion, has a channel resistance greater than the channel resistance of the first channel portion, and is provided on the outer surface. Through the second opening. The switching valve is provided in the main flow path, the external flow path, a state where the first flow path and the second flow path communicate with each other, the external flow path, The state in which the first flow path and the second flow path are not in communication is switched.

FIG. 2 is a perspective view illustrating a configuration of the transport device according to the first embodiment. Sectional drawing which shows typically the structure of the holding | grip apparatus used for the same conveyance apparatus. The bottom view which shows the structure of the same gripping device typically. FIG. 2 is a block diagram showing a configuration of the transport device. 5 is a flowchart showing an example of the operation of the transport device. Explanatory drawing which shows an example of operation | movement of the same conveyance apparatus typically. FIG. 2 is a cross-sectional view schematically illustrating a state in which the gripping device grips a small package. FIG. 4 is a cross-sectional view schematically illustrating a state in which the gripping device grips a package having a convex surface. FIG. 2 is a cross-sectional view schematically illustrating a state in which the gripping device grips a baggage having a crushed corner. FIG. 6 is a cross-sectional view schematically illustrating a configuration of a gripping device according to a second embodiment. FIG. 4 is a cross-sectional view schematically showing a state in which the holding device has sucked a load. FIG. 9 is a cross-sectional view schematically illustrating a configuration of a gripping device according to a third embodiment. The bottom view which shows the structure of the same gripping device typically. FIG. 4 is a cross-sectional view schematically showing a state in which the holding device has sucked a load. Sectional drawing which shows typically the structure of the holding device which concerns on 4th Embodiment. The bottom view which shows the structure of the same gripping device typically. The bottom view which shows the structure of the same gripping device typically. Sectional drawing which shows typically the structure of the holding device which concerns on 6th Embodiment.

  The transport device 10 according to the first embodiment will be described with reference to FIGS. FIG. 1 is a perspective view illustrating the configuration of the transport device 10. FIG. 2 is a side view schematically illustrating a configuration of the gripping device 40 used in the transport device 10. FIG. 3 is a bottom view schematically illustrating the configuration of the gripping device 40. FIG. 4 is a block diagram illustrating a configuration of the gripping device 40. FIG. 5 is a flowchart illustrating an example of the operation of the transport device 10. FIG. 6 is an explanatory diagram schematically illustrating an example of the operation of the transport device. FIG. 7 is a cross-sectional view schematically illustrating a state where the gripping device 40 grips the small package 6. FIG. 8 is a cross-sectional view schematically illustrating a state in which the gripping device 40 grips the baggage 6 having a convex surface. FIG. 9 is a cross-sectional view schematically illustrating a state where the gripping device 40 grips the baggage 6 whose corner has been crushed.

  As shown in FIGS. 1 to 5, the transport device 10 includes a moving device 20, an article detecting device 30, a grip device 40, a pressure adjusting device 50, a control device 60, and a controller 70. .

The transporting device 10 grips the luggage 6 of the placement unit 5 by suction using the gripping device 40 evacuated by the pressure adjusting device 50, and grips the luggage 6 by the moving device 20, thereby moving the luggage 6 to a transport destination such as a belt conveyor. To 7. The arrangement unit 5 is, for example, a container having an opening on an upper surface and capable of storing a plurality of packages 6. The placement unit 5 is transported by an operator to a predetermined position within the movable range of the moving device 20. In addition, the arrangement | positioning part 5 is not limited to being a container. The arrangement unit 5 may be, for example, a desk or a shelf.

  The moving device 20 is configured to be able to move the gripping device 40 to the placement unit 5 and to move the gripping device 40 holding the luggage 6 sucked and held by the placement unit 5 to the transport destination 7. In addition, the moving device 20 is configured so that the gripping device 40 can be set to a posture in which the outer surface of the load 6 is sucked. Such a moving device 20 is configured by, for example, a multi-axis robot arm. The moving device 20 is, for example, fixed at a position adjacent to the transport destination 7, for example. Note that the moving device 20 is not limited to a configuration fixed to a floor of a warehouse or the like in which the transport device 10 is installed. The moving device 20 may be configured to be movable by a linear stage or a carriage.

The article detection device 30 is configured to be able to detect the package 6 arranged in the arrangement section 5. The article detection device 30 is, for example, an RGB camera. The article detection device 30 is arranged so that the entirety of the plurality of packages 6 arranged in the arrangement unit 5 or a part of the plurality of packages 6 can be included in the field of view.
The article detection device 30 may be fixed to the placement unit 5, the moving device 20, or the grip device 40. Alternatively, the article detection device 30 may be fixed to a facility such as a warehouse where the transport device 10 is installed.

  As shown in FIG. 2, the gripping device 40 includes a main body 41, a main flow path 42, a first flow path 43, a second flow path 44, a plurality of suction pads 45, and a pressure sensor 46. And The state in which the gripping device 40 grips the load 6 is a state in which at least one of the plurality of suction pads 45 suctions the load 6.

  The main body 41 defines a part of the appearance of the gripping device 40. The main body 41 has, for example, a rectangular parallelepiped appearance. The main body 41 has six side surfaces. Here, of the six side surfaces, the surface to which the plurality of suction pads 45 are fixed is hereinafter referred to as a lower surface 41a. The lower surface 41a is an example of the outer surface of the main body 41. The main body 41 is fixed to the moving device 20. In the present embodiment, since the moving device 20 is a multi-axis robot arm, the main body 41 is fixed to the arm 21 at the tip of the moving device 20.

  The main channel section 42 is provided in the main body 41. One end of the main flow path portion 42 is connected to a pipe 52 that forms a part of the pressure regulator 50. The main flow path section 42 supplies the compressed air supplied from the pipe 52 or the evacuation device 53 to the first flow path section 43 and the second flow path section 44 and does not directly discharge the air outside the main body. The main flow path portion 42 is configured by a hollow space provided in the main body 41 as an example. In another example, the main flow path portion 42 may be configured by a pipe provided in the main body 41.

The first flow path 43 branches off from the main flow path 42 and extends to the lower surface 41 a of the main body 41. The first flow path 43 opens to the outside through a first opening 43a provided on the lower surface 41a. The first opening 43a is, for example, an opening formed in the lower surface 41a. The lower surface 41 a is, for example, a side surface of the outer surface of the main body 41 that faces the side surface fixed to the moving device 20. The first opening 43a is arranged, for example, at the center of the lower surface 41a.
As an example, the first flow path section 43 is configured by a hollow space provided in the main body 41. In another example, the first flow path unit 43 may be configured by a pipe provided in the main body 41.

The second flow path 44 branches off from the main flow path 42 and extends to the lower surface 41a. The second flow path 44 opens to the outside through a second opening 44b provided on the lower surface 41a. A plurality of second flow path portions 44 are provided as an example, and four second flow passage portions 44 are further provided as an example. The second openings 44b of the four second flow passages 44 are provided one at each of the four corners of the lower surface 41a. That is, the second opening 44 b of the lower surface 41 a of the second flow path unit 44 is disposed at a position surrounding the first opening 43 a of the lower surface 41 a of the first flow path unit 43. The second flow path portion 44 is configured by a hollow space provided in the main body 41 as an example. In another example, the second flow path unit 44 may be configured by a pipe provided in the main body 41.
The second flow path 44 has a larger flow resistance than the first flow path 43. As an example, the second flow path section 44 is provided with a flow rate suppression mechanism 44a, and the flow rate resistance is configured to be larger than the first flow path section 43 by the flow rate suppression mechanism 44a. . The flow suppression mechanism 44a increases the flow path resistance by reducing the flow path cross-sectional area. The flow suppression mechanism 44a is, for example, a throttle valve. The ratio of the cross-sectional area of the flow path of the flow rate suppressing mechanism 44a to the cross-sectional area of the flow path in other portions is, for example, 1: 8 to 1:16.
In the present embodiment, a part of the flow control mechanism 44 a is provided on the lower surface 41 a of the second flow path unit 44, for example. As an example, the second flow path portion 44 opens to the outside via the flow rate suppressing mechanism 44a. In the present embodiment, the flow suppression mechanism 44a forms a second opening 44b.

  Each of the plurality of suction pads 45 is provided on the lower surface 41a. Each of the plurality of suction pads 45 communicates with the first flow path 43 through the first opening 43a, or each of the plurality of second flow paths 44 through the second opening 44b. ing. Here, the suction pad 45 communicating with the first flow path unit 43 is hereinafter referred to as a first suction pad 47, and the suction pad 45 communicating with the second flow path unit 44 is hereinafter referred to as a second suction pad. The description will be made with reference to a pad 48.

  As an example, the first suction pad 47 and the second suction pad 48 are formed in a truncated conical cylindrical shape. For example, the first suction pad 47 has a larger diameter than the second suction pad 48.

The first suction pad 47 and the second suction pad 48 are configured to be deformable according to the surface shape of the load 6. The first suction pad 47 and the second suction pad 48 are formed of a material having relatively low rigidity, such as silicon rubber, urethane, or nitrile rubber.
The suction surface of the first suction pad 47 and the suction surface of the second suction pad 48 are arranged on the same plane in a state where the holding device 40 does not suction the load 6.

  The pressure sensor 46 is provided in the main flow path section 42. The pressure sensor 46 transmits a signal corresponding to the pressure in the main flow path portion 42 to the control device 60.

  The pressure adjusting device 50 is configured to be capable of adjusting the pressure in the first suction pad 47 and the pressure in the second suction pad 48. The pressure adjusting device 50 includes, for example, a compressor 51, a pipe 52, a vacuuming device 53, and a switching valve 54.

The compressor 51 is installed outside the holding device 40.
The pipe 52 is connected to the compressor 51. Further, the pipe 52 is connected to the main flow path section 42 via a joint 55, for example. The pipe 52 constitutes an external flow passage for feeding the compressed air from the compressor 51 to the evacuation device 53 side. The pipe 52 is, for example, a tube, and is piped along the moving device 20.

  As an example, the evacuation device 53 uses an ejector. The evacuation device 53 is driven by being supplied with compressed air, and sucks air. As an example, the evacuation device 53 has a first port 53a to which compressed air is supplied, a second port 53b for sucking in air, and a third port for exhausting. The evacuation device 53 is housed in the main body 41. The first port 53a is connected to the switching valve 54. The second port 53b is connected to the main channel section 42. The third port of the evacuation device 53 opens outside the main body 41.

The switching valve 54 is provided in a portion of the main flow path portion 42 between the pipe 52 and the evacuation device 53. The switching valve 54 is connected to the evacuation device 53.
The switching valve 54 is configured to be able to switch between the first to third states.

The first state is a closed state. The first state is a state in which the evacuation device 53 and the pipe 52 are not in communication, and the pipe 52 is not in communication with the first flow path 43 and the second flow path 44.
In the present embodiment, the switching valve 54 is configured such that the pipe 52 and the first flow path 43 and the second flow path 44 are not communicated with the switching valve 54 of the main flow path 42. , The pipe 52 and the first flow path 43 and the second flow path 44 are not communicated with each other. The state in which the pipe 52 is not in communication with the first flow path 43 and the second flow path 44 is that the pipe 52 and the first flow path 43 are not in communication, and This is a state in which the second flow path unit 44 is not in communication.

  The second state is a state in which the pipe 52 and the evacuation device 53 are communicated, and the pipe 52 is not in communication with the first flow path 43 and the second flow path 44. In the second state, the compressed air from the pipe 52 is not supplied to the first flow path 43 and the second flow path 44 but is supplied to the evacuation device 53.

  In the second state, the compressed air from the pipe 52 is supplied to the evacuation device 53 from the first port 53a, and the evacuation device 53 is driven. The driven evacuation device 53 sucks air from the second port 53b, so that the inside of the main channel portion 42, the first channel portion 43, the second channel portion 44, and the plurality of suction pads 45 are sucked. Vacuum. Further, the evacuation device 53 discharges the compressed air supplied through the first port 53a and the air sucked through the second port 53b to the outside of the main body 41 from the third port.

  The third state is a state in which the pipe 52 and the evacuation device 53 are not in communication, and the pipe 52 is in communication with the first flow path 43 and the second flow path 44. In the present embodiment, the switching valve 54 communicates the piping 52 with the switching valve 54 of the main channel portion 42 on the first channel portion 43 and the second channel portion 44 side, thereby providing a pipe. 52 and the first flow path 43 and the second flow path 44 are communicated. The state in which the pipe 52 communicates with the first channel section 43 and the second channel section 44 means that the pipe 52 and the first channel section 43 communicate with each other, and the pipe 52 and the second channel section 44 communicate with each other. The road section 44 is in a state of communication. In the third state, the compressed air from the pipe 52 is supplied to the plurality of suction pads 45 through the main flow path 42, the first flow path 43, and the second flow path 44.

  Such a switching valve 54 is, for example, an electromagnetic valve configured as a three-way valve. One of the three ports of the switching valve 54 is connected to the pipe 25 via a part of the main flow path portion 42 and the joint 55. Another one port is connected to the main flow path section 42. The other one port is connected to the first port 53a of the evacuation device 53. The switching valve 54 is controlled by the control device 60. Note that the switching valve 54 may be configured by combining two open / close valves as another example.

The control device 60 includes a recognition unit 61 and a plan control unit 62. The recognition unit 61 obtains information such as the shape, position, and posture of the package 6 based on information from the article detection device 30.
The plan control unit 62 makes an operation plan of the mobile device 20 based on information from the article detection device 30. The operation plan includes a movement path until the baggage 6 is sucked by the gripping device 40 and a movement path for moving the gripping device 40 that has sucked the baggage 6 to the destination 7. Further, the plan control unit 62 receives a signal from the pressure sensor 46. Further, the plan control unit 62 controls the switching valve 54.

  The control device 60 configured as described above is configured by, for example, one personal computer. In other words, one personal computer may serve as the recognition unit 61 and the plan control unit 62. Alternatively, the recognition unit 61 and the plan control unit 62 may each be configured by one personal computer.

The controller 70 controls the driving of the moving device 20 based on the operation plan set by the plan control unit 62.
Next, the operation of the transport device 10 will be described.
First, as shown in FIG. 1, the article detection device 30 captures an image of the placement unit 5 and outputs an image of the package 6 placed in the placement unit 5 (step ST1). The image captured by the article detection device 30 is not limited to one image, and a plurality of images captured while changing the focal length and the imaging angle may be captured. The captured image is sent to the recognition unit 61.

  Next, the recognition unit 61 performs image processing on the image from the article detection device 30 (step ST2). If no luggage 6 is detected, the process ends (No in Step ST3 and End).

  When it is detected that there is one or more packages 6 in the placement unit 5 (Yes in step ST3), the recognition unit 61 performs image processing on the image to separate the packages 6 in the image one by one (step ST4). ).

  Next, the recognizing unit 61 selects one package 6 to be transported next from the cut package 6 according to a predetermined standard (step ST5). The criterion used for selection is not limited. For example, the luggage at the highest position, the luggage in front of the mobile device 20, the luggage with a large clearance with other luggage 6, the luggage arranged in the center of the arrangement unit 5, the luggage previously held on the database, Baggage that is defined as easy to carry or baggage that has a plurality of those conditions is selected.

  Next, the recognition unit 61 detects the shape, position, and posture of the selected package 6 by image processing (step ST6).

  Next, the recognition unit 61 detects the target gripping point of the package 6 based on the information on the shape, the position, and the posture of the package 6 detected in step ST6, and detects the gripping device 40 at the target gripping point. Then, a target gripping posture is generated (step ST7). The target grip point is, for example, the position of the center of the surface to be sucked of the load 6. The attracted surface is the upper surface of the load 6 or the side surface of the load 6. The surface to be sucked is determined according to, for example, the posture of the load 6. The target gripping posture is a posture in which the axial direction of the suction pad 45 is orthogonal to the upper surface of the load 6.

  At this point, the switching valve 54 is in the first state, as shown in FIG. 6A, and has the main flow path 42, the first flow path 43, and the plurality of second flow paths 44. Is the atmospheric pressure.

  Next, the plan control unit 62 sets the moving route of the moving device 20 such that the position of the grip reference point GP of the gripping device 40 matches the target gripping point and the attitude of the gripping device 40 matches the target gripping attitude. To plan. The gripping reference point GP of the gripping device 40 may be set arbitrarily, but in the present embodiment, the gripping reference point GP of the gripping device 40 is, for example, the center of the suction surface of the first suction pad 47. The suction surface of the first suction pad 47 is an open end surface of the first suction pad 47.

  Next, the plan control unit 62 sets the switching valve 54 to the second state (step ST8). When the switching valve 54 is in the second state, the compressed air from the pipe 52 is supplied to the vacuuming device 53 as shown in FIG. By supplying compressed air to the evacuation device 53, the main flow path 42, the first flow path 43, and the plurality of second flow paths 44 are evacuated.

  When the first flow path 43 and the plurality of second flow paths 44 are evacuated, the first suction pad 47 and the plurality of second suction pads 48 pass air through their respective suction surfaces. Inhale. The flow rate of the air suctioned from one second suction pad 48 is smaller than the flow rate of the air suctioned from the first suction pad 47.

  Next, the plan control unit 62 controls the moving device 20 to move the gripping device 40 toward the baggage 6 based on the operation plan so that the gripping device 40 is at the target suction position at the target suction position (step). ST9).

  The plan control unit 62 monitors the pressure in the main flow path unit 42 based on a signal from the pressure sensor 46 during driving of the moving device 20 until the pressure in the main flow path unit 42 becomes equal to or less than a predetermined threshold (No in step ST10). As shown in FIG. 6C, when at least a part of the plurality of suction pads 45 of the gripping device 40 is closed by contacting the load 6, the state is compared with a state before the suction pads 45 are closed. As a result, the pressure in the main flow path 42 decreases. The threshold value is a value used for determining that the baggage 6 has been sucked and held by the gripping device 40, and is, for example, a pressure value when only the first suction pad 47 is closed.

  As shown in FIGS. 7 and 8, in the case of a relatively small baggage 6 that closes only the first suction pad 47, or in the case of a baggage or a baggage 6 in which the surface to be sucked is formed as a convex surface, In the gripping device 40, only the first suction pad 47 is closed by the load 6.

  In this case, since the second suction pads 48 are not closed, the pressure in the main flow path portion 42 is higher than in a state where all the second suction pads 48 are closed. Further, when the baggage 6 is in a bag shape, the bag is wrinkled when the first suction pad 47 is sucked, so that a gap is formed between the suction surface of the first suction pad 47 and the suctioned surface of the baggage 6. Occurs. Air is sucked into the first suction pad 47 through this gap.

  However, since the flow resistance of the second flow path 44 is higher than that of the first flow path 43, the flow rate of the air sucked through the second flow path 44 can be reduced. The degree of vacuum in the first flow path 43 can be kept high. Therefore, even when suction is performed only by the first suction pad 47, a high suction force can be maintained.

  Also, as shown in FIG. 9, in the case of a load 6 or the like having a crushed corner, there may be a case where one or more second suction pads 48 are not closed. However, even if there is the second suction pad 48 that is not closed, the flow resistance of the second flow path 44 is larger than the flow resistance of the first flow path 43, so that the second suction pad 48 is not closed. It is possible to reduce the flow rate of the air sucked through the second suction pad 48 that is not performed.

  The threshold may be set arbitrarily according to the use environment, but is, for example, an arbitrary value between -20 kPa and -40 kPa. Further, the threshold value is not limited to a fixed value, and an appropriate value may be selected according to the characteristics (eg, size, shape, weight, etc.) of the package.

  When the detection value of the pressure sensor 46 is equal to or smaller than the predetermined threshold, the plan control unit 62 determines that at least the first suction pad 47 has suctioned the upper surface of the baggage 6 (Yes in step ST10). The movement of the holding device 40 in the direction toward the surface to be sucked of the load 6 is stopped, and then the moving device 20 moves the holding device 40 and the load 6 to the transport destination 7 (step ST11).

  When moving the gripping device 40 and the package 6 to a position above the transfer destination 7, the plan control unit 62 switches the switching valve 54 to the third state (step ST12). When the switching valve 54 is in the third state, the compressed air from the pipe 52 is supplied to the main flow path 42, the first flow path 43, and the plurality of second flow paths 44.

  As shown in FIG. 6D, compressed air from the pipe 52 is supplied to the main flow path section 42, the first flow path section 43, and the plurality of second flow path sections 44, and the inside of these flow path sections Is positive pressure, the attraction force of the load 6 is lost, and the load 6 is released.

  Next, the plan control unit 62 monitors based on the detection result of the pressure sensor 46 until the pressure in the main flow path unit 42 becomes equal to or higher than the atmospheric pressure (No in step ST13). When the pressure in the main flow path unit 42 becomes equal to or higher than the atmospheric pressure, the plan control unit 62 determines that the package 6 has been released (Yes in step ST13). The released package 6 is placed on the transport destination 7.

  Next, the plan control unit 62 sets the switching valve 54 to the first state (step ST14). When the switching valve 54 is switched to the first state, the pressure in the first suction pad 47 and the pressure in the second suction pad 48 are maintained at the atmospheric pressure.

  Next, the plan control unit 62 operates the mobile device 20 to move the mobile device 20 to a predetermined standby position (step ST15), and repeats the same processing from step ST1.

The gripping device 40 configured as described above can reduce the cost of the gripping device 40 and simplify the structure of the gripping device 40. This effect will be specifically described.
Conventionally, in order to prevent a decrease in the degree of vacuum in the plurality of suction pads, an opening / closing valve is provided in a flow path portion communicating with each of the plurality of suction pads, and the suction pads of the plurality of suction pads that are not in contact with the load A configuration is known in which an on-off valve communicating with the pad is closed to prevent air from flowing into the flow path through the suction pad.

  In the case of this configuration, since the open / close valve is provided in each of the plurality of flow path sections, the configuration of the gripping device is complicated, and the cost of the gripping device is also increased. Furthermore, the routing of the wiring connected to each of the plurality of on-off valves becomes complicated. Furthermore, the movable range of the moving device 20 is limited by these wirings.

  On the other hand, the gripping device 40 of the present embodiment includes the main channel portion 42, the first channel portion 43, the second channel portion 44 having a channel resistance larger than that of the first channel portion 43, and the second channel portion 44. The first suction pad 47 provided in the first flow path 43 and the second suction pad 48 provided in the second flow path 44 are provided.

  For this reason, even when the second suction pad 48 is not closed due to the size of the package 6 or the shape of the package 6, the flow rate of the air flowing through the second suction pad 48 is reduced. Since it is possible to reduce the size, the state in which the degree of vacuum in the main channel portion 42 and the first channel portion 43 is high is maintained.

  That is, an electromagnetic valve configured as an open / close valve is provided in each of the first channel section 43 and the second channel section 44, and the channel section provided with the unblocked suction pad 45 is closed. A high degree of vacuum can be maintained even if there is no configuration that allows for this. Therefore, the holding device 40 can reduce the cost and simplify the structure.

  Further, since the first flow path 43 has a lower flow resistance than the second flow path 44, the pressure of the first suction pad 47 is reduced when the vacuum is broken. 48, the pressure in the main flow path portion 42 also increases, so that the suction force can be reduced quickly. Therefore, it is possible to release the package 6 quickly.

  Further, the pressure adjusting device 50 includes a compressor 51, a vacuum evacuation device 53, and a switching valve 54, and breaks the vacuum using the compressed air from the pipe 52 by setting the switching valve 54 to the third state. . Therefore, it is possible to release the package 6 quickly.

  Further, since the switching valve 54 is a single valve, the cost of the gripping device 40 can be reduced, and the structure of the gripping device 40 can be simplified.

  Furthermore, in the present embodiment, the first flow path 43 opens at the center of the lower surface 41a of the main body 41 of the gripping device 40, and the second flow path 44 opens at each corner of the lower surface 41a. ing. Due to the arrangement of the openings, the plurality of second suction pads 48 are arranged at positions surrounding the first suction pads 47, so that the first suction pads 47 and the second suction pads 48 are covered. It is arranged with good balance to the suction surface. For this reason, it is possible to stabilize the posture of the load 6 when moving the load 6.

Next, a transport device 10A according to a second embodiment will be described with reference to FIGS. Note that components having the same functions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.
FIG. 10 is a cross-sectional view schematically illustrating the configuration of the gripping device 40A. FIG. 11 is a cross-sectional view schematically illustrating a state where the gripping device 40A grips the load 6. The transport device 10A includes a moving device 20, an article detecting device 30, a gripping device 40A, a pressure adjusting device 50, a control device 60, and a controller 70. The configuration other than the holding device 40A of the transport device 10A is the same as that of the first embodiment as an example, and is not shown in FIGS. 10 and 11.

  As shown in FIGS. 10 and 11, the gripping device 40 </ b> A includes a main body 41, a main flow path 42, a first flow path 43, a plurality of second flow paths 44, and a first suction pad. 47A, a plurality of second suction pads 48A, and a pressure sensor 46.

  The first suction pad 47A is fixed to the lower surface 41a, and communicates with the first flow path 43 through the first opening 43a. The second suction pad 48A is fixed to the lower surface 41a, and communicates with the second flow path 44 through the second opening 44b. The arrangement of the first suction pads 47A and the plurality of second suction pads 48A on the lower surface 41a is the same as the arrangement of the first suction pads 47 and the plurality of second suction pads 48 on the lower surface 41a.

  The first suction pad 47A and the plurality of second suction pads 48A are configured to be able to expand and contract in the axial direction. Each of the first suction pad 47A and the plurality of second suction pads 48A is configured as a bellows-shaped tube as an example of a configuration that can expand and contract in the axial direction. The first suction pad 47A and the second suction pad 48A are configured to be able to expand and contract in the axial direction, so that each of them can be deformed according to the shape of the upper surface of the load 6.

  As an example, the first suction pad 47A has a larger diameter than the second suction pad 48A. The suction surface of the first suction pad 47A and the suction surface of the second suction pad 48A are arranged on the same plane in a state where the gripping device 40A does not suction the load 6.

  As shown in FIG. 11, in the case of adsorbing the luggage 6 in which the suctioned surface of the luggage 6 is configured as a convex surface, the first suction pad 47 </ b> A arranged in the center contracts by first contacting the luggage 6. Therefore, after that, the second suction pad 48 </ b> A can be brought into contact with the load 6.

  For this reason, in addition to the same effect as in the first embodiment, the gripping device 40A can cause the first suction pad 47A and the second suction pad 48A to be suctioned to the convex surface.

  Furthermore, the first suction pad 47A and the second suction pad 48A are attached to a baggage 6 such as a bag of baggage, which has a convex surface when the surface to be suctioned is suctioned by the gripping device 40A. After the suction surface is suctioned, the suction surface expands and contracts in accordance with the deformation of the suction surface, so that the state in which the suction surface is suctioned can be maintained.

  When the first suction pad 47A and the second suction pad 48A are configured to be able to expand and contract in the axial direction as in the present embodiment, the rigidity of the first suction pad 47A is reduced by the second suction pad. By making the rigidity smaller than 48A, even when the suction surface is a convex surface, or when the suction surface is convex after being suctioned by the first suction pad 47A and the second suction pad 48A, Since the first suction pad 47A is easily deformed according to the suction surface, the second suction pad 48A is easily brought into contact with the suction surface, or the second suction pad 48 sucks the suction surface. It becomes easy to maintain the state.

  Next, a transport device 10B according to a third embodiment will be described with reference to FIGS. Note that components having the same functions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.

FIG. 12 is a cross-sectional view schematically illustrating a gripping device 40B used in the transport device 10B. FIG. 13 is a bottom view schematically showing the gripping device 40B. FIG. 14 is a cross-sectional view schematically illustrating a state in which the gripping device 40 </ b> B sucks the luggage 6.
The transport device 10B includes a moving device 20, an article detecting device 30, a grip device 40B, a pressure adjusting device 50, a control device 60, and a controller 70. The configuration of the transport device 10B other than the gripping device 40B is the same as that of the first embodiment as an example, and is not shown in FIGS.

  This embodiment is different from the first embodiment in that the number of the second suction pads 48 and the arrangement of the first suction pads 47 and the second suction pads 48 on the lower surface 41a are different from those of the first embodiment. Different from form.

  Specifically, as in the modified examples shown in FIGS. 12 to 14, the first channel portion 43 is located at a position where the first suction pad 47 is disposed at one of the four corners of the lower surface 41a. The second passage portion 44 may be opened at a position where the second suction pad 48 is arranged at each of the remaining three corners. As a result, the first suction pads 47 are arranged at one corner of the lower surface 41a, and the three second suction pads 48 are arranged at the remaining three corners of the lower surface 41a.

  In the present embodiment, similarly to the first embodiment, the structure of the gripping device 40B can be simplified, and the cost of the gripping device 40B can be prevented from increasing. Furthermore, by arranging the first suction pad 47 at the corner of the lower surface 41a instead of at the center, the first suction pad 47 can be arranged near the wall of the arrangement section 5. For this reason, even the relatively small luggage 6 arranged on the wall of the arrangement section 5 can be sucked and gripped using the first suction pad 47. Here, the relatively small package 6 has an upper surface serving as a suctioned surface, an area of the suctioned surface is slightly larger than an area of the suction surface of the first suction pad 47, and the second suction pad 48 cannot be suctioned. Luggage is small enough.

Next, a transport device 10C according to a fourth embodiment will be described with reference to FIGS. Note that components having the same functions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.
FIG. 15 is a cross-sectional view illustrating a configuration of the grip unit 80 included in the transfer device 10C. FIG. 16 is a bottom view schematically illustrating the configuration of the grip unit 80. As shown in FIGS. 15 and 16, the transfer device 10C includes a moving device 20, an article detection device 30, a grip unit 80, a pressure adjustment device 50, a control device 60, and a controller 70. . Since the configuration other than the grip unit 80 is the same as that of the first embodiment, it is not shown in FIGS. 10 and 11.

  The holding unit 80 includes a plurality of holding devices 40. The grip unit 80 includes, for example, four grip devices 40. These four gripping devices 40 are fixed in such a posture that their respective lower surfaces 41a are arranged on the same plane. Further, these four gripping devices 40 are fixed in a posture in which respective corners face each other so as to form, for example, a rectangular parallelepiped.

  In the case of this configuration, as shown in FIG. 15, each of the gripping devices 40 may be provided with a pressure adjusting device 50. Alternatively, a single compressor 51 may be used as the pressure adjusting device 50, a plurality of pipes 52 may be connected to the one compressor, and each of the plurality of pipes 52 may be connected to the gripping device 40. .

  As shown in FIG. 16, the grip reference point GP of the grip unit 80 is the center of gravity of the convex envelope L of the plurality of first suction pads 47 included in the grip unit 80 in plan view. Here, the plan view refers to a state viewed along the axial direction of the first suction pad 47, and in the present embodiment, a state viewed in a direction orthogonal to the lower surface 41a. In FIG. 16, the convex envelope L is indicated by a two-dot chain line.

  In the present embodiment, the same effects as in the first embodiment can be obtained.

  As shown in FIG. 17, the grip unit 80 may be configured to include a plurality of grip devices 40B described in the third embodiment, for example, four. In the case of this configuration, as shown in FIG. 17, as an example, the four gripping devices 40B have their lower surfaces 41a arranged on the same plane, and the first suction pad 47 is provided at the center of the four gripping devices 40B. Is fixed in a posture in which is arranged.

  Further, the gripping unit 80 can detect the position of the package 6 with respect to the gripping unit 80 based on the pressure of each of the main flow paths 42 of the plurality of gripping devices 40. For example, as shown in FIG. 16, when the gripping unit 80 includes four gripping devices 40, for example, when the pressure of the main channel portion 42 of one gripping device 40 is higher than a threshold for determining successful gripping, It is conceivable that 6 is shifted to this gripping device 40.

  By detecting the position of the baggage 6 with respect to the gripping device 40, it is possible to determine the moving speed of the gripping device 40 that has absorbed the baggage 6 according to the position of the baggage 6 with respect to the gripping device 40. For this reason, it becomes possible to carry the luggage 6 safely.

  According to the gripping devices 40, 40A, and 40B of at least one embodiment described above, the first flow path 43, the second flow path 44 having a higher flow resistance than the first flow path 43, and By providing the suction pads 45 communicating with these components, it is possible to simplify the structure of the gripping devices 40, 40A, and 40B and to prevent cost increases.

  In the above-described embodiment, only one first suction pad 47, 47A of the gripping device 40, 40A, 40B is provided, and four or three second suction pads 48, 48A are provided. An example has been described. However, the number of the first suction pads 47, 47A and the number of the second suction pads 48, 48A included in the gripping devices 40, 40A, 40B are not limited.

  For example, as a representative example of the gripping device 40, as shown in a modified example in FIG. 18, the gripping device 40 includes a plurality of, for example, two first flow path portions 43, and a second flow path portion 44. May be provided. As yet another modification, the gripping device 40 includes four first suction pads 47 and twelve second suction pads 48, and these four first suction pads 47 and twelve second suction pads. There is a configuration in which the two suction pads 48 are arranged in the same manner as the four first suction pads 47 and the twelve second suction pads 48 of the grip unit 80 shown in FIG. 16 of the fourth embodiment. May be. In the case of a configuration including the plurality of first suction pads 47, the grip reference point GP is the center of gravity of the convex envelope L of the plurality of first suction pads 47 in plan view. Alternatively, the holding device 40 may be configured to include a plurality of first suction pads 47 and one second suction pad 48. Alternatively, one first suction pad 47 and one second suction pad 48 may be provided. The same applies to the gripping devices 40A and 40B.

  Further, in the above-described embodiment, the configuration is described in which the pressure sensor 46 and the evacuation device 53 and the switching valve 54 that are a part of the pressure adjustment device 50 are accommodated in the main body 41 of the gripping device 40. The configuration is not limited thereto, and at least one of these configurations may be provided outside the main body 41.

In the above-described embodiment, the example in which the evacuation device 53 is an ejector has been described. However, the present invention is not limited to this. In another example, a vacuum pump may be used. In an example of a configuration using a vacuum pump, the vacuum pump is replaced with a compressor 51. The switching valve 54 is configured as an on-off valve that can switch between a communicating state and a non-communicating state of the pipe 52 and the main flow path portion 42. In this configuration, the first suction pads 47 and 47A and the second suction pads 48 and 48A are evacuated by driving the vacuum pump in a state where the pipe 52 and the main flow path 42 communicate with each other.
As a modified example of this configuration, a three-way valve that has three ports and each port is connected to the pipe 52, the main flow path portion 42, and the atmosphere may be used. The switching valve 54 disconnects the vacuum pump and the main flow path portion 42 from each other, and connects the main flow path portion 42 and the atmosphere to each other, so that the inside of the first suction pads 47 and 47A and the second suction pad 48, 48A can be broken in vacuum.

Further, in the above-described embodiment, the example in which the flow rate suppressing mechanism 44a is provided in each of the plurality of second flow path units 44 has been described, but the present invention is not limited to this. One of the flow rate suppression mechanisms 44a that is commonly used for the plurality of second flow path units 44 may be provided. For this example,
In the case where the plurality of second flow passages 44 join at the junction on the side of the main flow passage 42 and the junction communicates with the main flow passage 42, a flow suppression mechanism 44a is provided at the junction. You may.

  Further, in the above-described embodiment, an example has been described in which it is determined whether or not the baggage 6 has been successfully gripped based on the detection result of the pressure sensor 46. However, the present invention is not limited to this. For example, a flow sensor may be provided in the main flow path unit 42, and it may be determined that the baggage 6 has been successfully grasped based on the detection result of the flow path sensor.

  When the load 6 is gripped, the flow of air in the main flow path portion 42 becomes equal to or less than a predetermined flow rate. That is, when the first suction pads 47 and 47A and all the second suction pads 48 and 48A are closed, the flow of air in the main flow path portion 42 becomes zero or substantially zero. Further, even when one or more of the second suction pads 48 and 48A are not closed, the flow resistance of the second flow path 44 is large, so that the flow of air in the main flow path 42 is restricted. Can be smaller.

  For this reason, the flow rate of the air flow in the main flow path portion 42 in a state where only the first suction pad 47 is closed is set as a threshold value, and the flow rate in the main flow path portion 42 is determined based on a signal from the flow rate sensor. When the value is equal to or less than the threshold value, the first suction pads 47 and 47A may be determined to be closed by the load 6, and the success of the grip of the load 6 may be determined.

  Alternatively, the pressure sensor 46 and the flow rate sensor may be used together. When both are used, when the determination of the success of the grip based on the signal from the pressure sensor 46 and the determination of the success of the grip based on the signal from the flow rate sensor are both completed, it is determined that the grip is successful. Good.

  Or you may combine with another optical sensor. For example, an optical distance sensor may be attached to the main body 41 to detect the distance between the lower surface 41a and the baggage 6 in the suction direction, and it may be determined that the baggage 6 has been successfully grasped based on the distance. That is, in the state where the package 6 is sucked, the first suction pad 47 and the second suction pad 48 shrink, so that the distance between the lower surface 41a and the bag 6 is reduced by the first suction pad 47 and the second suction pad. The pad 48 is shorter than the state in which the pad 48 contacts the load 6 and is not contracted. As described above, the distance between the lower surface 41a and the baggage 6 when the baggage 6 is successfully gripped is set as the threshold, and when the distance between the lower surface 41a and the baggage 6 is equal to or smaller than the threshold, the success of the gripping may be determined. .

  Further, in the above-described embodiment, the control device 60 further includes a storage unit, and stores the pressure in the main flow path unit 42 and information on the weight of the baggage estimated from the pressure value in the storage unit. May be.

  For example, when one or more second suction pads 48 are not closed, it is assumed that the load 6 is relatively small, and therefore, it is estimated that the load 6 is also light. In this case, since the one or more second suction pads 48 are not closed, the pressure of the main flow path portion 42 is reduced when the first suction pad 47 and all the second suction pads 48 are closed. In comparison, it will be higher. When the first suction pad 47 and all the second suction pads 48 are closed, it is assumed that the load 6 is relatively large, and therefore the load 6 is relatively heavy. Presumed.

  As described above, information on the weight of the package 6 estimated according to the pressure in the main flow path portion 42 is stored in the storage section. The plan control unit 62 obtains the estimated weight of the package 6 from the detection result of the pressure sensor 46 and the information stored in the storage unit. Then, in consideration of the load 6 obtained here, it is possible to determine the moving speed of the gripping device 40 that has sucked the load 6. For this reason, it becomes possible to carry the luggage 6 safely.

  In the above-described embodiment, the gripping device 40 may further include a plurality of proximity sensors that detect the package 6. Based on the detection result of the proximity sensor, it is possible to detect the position of the package 6 with respect to the gripping device 40. That is, the proximity sensors are installed at, for example, a plurality of locations on the lower surface 41a, and the position of the package 6 with respect to the lower surface 41a can be detected from the detection results of these proximity sensors.

  Further, in the above-described embodiment, an RGB camera is used as an example of the article detection device 30, but as another example, a 3D camera, another optical sensor, or a combination thereof may be used.

  Further, in the above-described embodiment, the example in which the first suction pad 47 and the second suction pad 48 are configured to have the same shape and different sizes has been described, but the invention is not limited thereto. The first suction pad 47 and the second suction pad 48 may have the same shape and the same size. Similarly, the first suction pad 47A and the second suction pad 48A may have the same shape and the same size.

  As the first suction pads 47 and 47A, suction pads having a suction area corresponding to the smallest package 6 size are selected, and the second suction pads 48 and 48A are selected according to the largest package 6 size. I just need.

  In the above-described embodiment, the flow rate suppressing mechanism 44a has, for example, a configuration in which the flow path resistance is increased by reducing the flow path cross sectional area, and as an example, the flow path cross sectional area is varied. The example in which the throttle valve is used has been described. However, the flow rate suppressing mechanism 44a is not limited to a configuration in which the flow path cross-sectional area is variable. In another example, the flow suppression mechanism 44a may have a configuration having a predetermined flow path cross-sectional area. As an example, a film in which a hole is formed is provided in the second flow path unit 44. It may be configured.

  Alternatively, the flow rate suppression mechanism 44a may have a configuration in which the flow rate can be manually adjusted, or a configuration in which the flow path area can be variably controlled by an electric signal. As an example, the configuration of the flow rate control mechanism 44a that can be manually adjusted may be a dial-type flow rate control mechanism 44a having a dial as an operation unit operated at the time of adjustment.

  Although several embodiments of the present invention have been described, these embodiments are provided by way of example and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and their equivalents.

  5 Arrangement part, 6 Luggage, 7 Transportation destination, 10 Transportation apparatus, 20 Moving apparatus, 30 Article detection apparatus, 40 Gripping apparatus, 41 Main body, 41a Lower surface, 42 Main flow path section, 43 .., A first flow path portion, 44... A second flow path portion, 44a... A flow rate suppression mechanism, 45... A suction pad, 46... A pressure sensor, 47. 48, a second suction pad, 48A, a second suction pad, 50, a pressure regulator, 51, a compressor, 52, piping, 53, a vacuum device, 54, a switching valve.

Claims (7)

Body and
A main flow passage portion provided in the main body and connected to an external flow passage portion,
A first channel portion provided in the main body, connected to the main channel portion, and opened to the outside through a first opening portion provided on an outer surface of the main body;
The first channel portion is provided in the main body, is connected to the main channel portion, has a channel resistance greater than the channel resistance of the first channel portion, and opens to the outside through a second opening provided on the outer surface. A second flow path section,
A state in which the external flow path is provided in the main flow path, where the external flow path communicates with the first flow path and the second flow path, the external flow path, and the first flow path A switching valve that switches between a state in which the section and the second flow path section are not in communication with each other;
A gripping device comprising: Comprising an ejector connected to the switching valve and the main flow path portion,
The external flow path unit sends compressed air,
The switching valve is configured such that the external flow path and the ejector are not in communication, and the external flow path is not in communication with the first flow path and the second flow path. State 1, the second state in which the external flow path and the ejector communicate with each other, and the external flow path, the first flow path, and the second flow path are not in communication with each other; And switching the third state in which the external flow path, the first flow path, and the second flow path communicate with each other, and the external flow path and the ejector do not communicate with each other. The gripping device according to claim 1. The holding device according to claim 2, wherein the switching valve is an electromagnetic valve configured as a three-way valve. A plurality of the second flow path portions are provided;
The gripping device according to claim 1, wherein the plurality of second openings are arranged at positions surrounding the first openings. The gripping device according to claim 1, wherein the first opening is disposed at a corner of the outer surface. Any one of the gripping devices according to claim 1,
A moving device for moving the gripping device;
A transport device comprising:   The transfer device according to claim 6, comprising a plurality of the gripping devices.