JP2020059078A - Picking device - Google Patents

Abstract

To quickly hold a shaft-shaped workpiece as an upright attitude with a simple constitution.SOLUTION: A picking device that picks a shaft-shaped workpiece includes a suction part which sucks the workpiece with its lower part and its side part, a moving part which moves the suction part, an imaging part which images the workpiece, a setting processing part which processes the image imaged by the imaging part and sets a suction position from a range excluding both ends in an axial direction among side faces of the workpiece, and a control part which controls the suction part and the moving part so that a workpiece is rotated so as to approach the side part of the suction part with the suction position as a support point by a self-weight moment of the workpiece by sucking the suction position of the workpiece with the lower part of the suction part and raising the suction part, and the side face of the workpiece whose the attitude is changed into such an upright attitude that the axial direction is a vertical direction is sucked with the side part of the suction part and the attitude is converted into a holding state.SELECTED DRAWING: Figure 3

Description

  The present specification discloses a picking device.

  BACKGROUND ART Conventionally, there has been proposed an apparatus for picking one cylindrical work or one cylindrical work that is housed in a box or the like in a stacked state (for example, see Patent Document 1). This device is equipped with a hand that has a plurality of electromagnetic attraction surfaces.The shape, position, and orientation of the workpiece to be attracted are used to set which electromagnetic attraction surface is used to attract the workpiece, and the side and end surfaces of the workpiece are set. It is supposed to be adsorbed.

JP 2012-183593A

  In some cases, the work on the work is picked up in a standing posture in which the axial direction is the vertical direction. In that case, since it is necessary to change the posture by re-grabbing the work during picking, a time loss occurs due to the re-gripping and the work efficiency is reduced. Further, in addition to the mechanism for holding the workpiece in the standing posture, a mechanism for gripping the workpiece so as to hold it in the standing posture is also provided, which complicates the apparatus configuration.

  The main purpose of the present disclosure is to quickly hold a shaft-shaped work in a standing posture with a simple configuration.

  The present disclosure adopts the following means in order to achieve the above-mentioned main object.

  A picking device according to the present disclosure is a picking device that picks a shaft-shaped work, and includes a suction unit configured to suck the work by a lower portion and a side portion, a moving unit that moves the suction unit, and An image pickup section for picking up an image of a work, a setting processing section for processing the image picked up by the image pickup section to set a suction position from a range of the side surface of the work excluding both ends in the axial direction, and a lower part of the suction section. By raising the suction part after adsorbing the suction position of the work, the work is rotated by the self-weight moment of the work so as to approach the side part of the suction part with the suction position as a fulcrum, and the shaft. A control unit that controls the suction unit and the moving unit so that the side surface of the workpiece, which has changed to a vertical posture in a vertical direction, is sucked and held by a side portion of the suction unit. The gist of the Rukoto.

  The picking device according to the present disclosure sets the position of the side surface of the work excluding both ends in the axial direction to the suction position, and sucks the suction position of the work at the lower part of the suction unit, and then raises the suction unit. The workpiece is rotated so that it approaches the side of the suction part with the suction position as the fulcrum due to its own moment of gravity. Then, the side surface of the workpiece, which has been changed to the standing posture in which the axial direction is the vertical direction, is adsorbed by the side portion of the adsorbing portion to be held. As a result, the work can be changed to the standing posture and held using the self-weight moment without re-grabbing the work. Therefore, the shaft-like work can be quickly held in the standing posture with a simple structure, and the efficiency of the work of performing the work in the standing posture can be improved.

The schematic explanatory drawing of the work system 10. The perspective view of adsorption unit 50. The flowchart which shows an example of a bolt transfer process. The flowchart which shows an example of a picking operation process. Explanatory drawing which shows the mode of picking operation. Explanatory drawing which shows the mode of picking operation. Explanatory drawing of the cylindrical guide 65 and the height control member 67 of a modification.

  Next, a mode for carrying out the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic explanatory view of the work system 10, and FIG. 2 is a perspective view of the suction unit 50. As shown in FIG. 1, the work system 10 includes a system control unit 12, a work spraying device 20, a work transfer device 40, and a work storage box 80. In the present embodiment, the bolt 37 will be described as an example of the work. 1 and 2, the left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

  The system control unit 12 controls the entire system, and is configured as a microprocessor including a CPU. The system controller 12 is electrically connected to the work spraying device 20, the work transfer device 40, and the like, outputs signals to these devices, and inputs signals from these devices.

  As shown in FIG. 1, the work spraying device 20 includes a multi-axis robot arm 21, a spraying unit 22, and a spraying controller 28. The sprinkling unit 22 is a unit that collects a plurality of bolts 37 supplied from a supply unit (not shown) and sprinkles them on the work plate 81 of the work storage box 80, and is attached to the arm tip of the multi-axis robot arm 21. The spraying unit 22 has a rod 24 that can be moved up and down by an actuator 25, and a columnar suction portion 23 fixed to the lower end of the rod 24. The attracting portion 23 is a relatively strong electromagnet and attracts the plurality of bolts 37 at once by the magnetic force. The suction unit 23 can be freely moved horizontally and vertically by the multi-axis robot arm 21 and the actuator 25. The spraying control unit 28 is configured as a microprocessor having a CPU as a center, and controls the operation of the work spraying device 20.

  The work transfer device 40 includes a multi-axis robot arm 41, a suction unit 50, a camera 45, an illumination 46, and a transfer control unit 48. The suction unit 50 is a unit that magnetically attracts and holds one bolt 37 from the plurality of bolts 37 (see FIG. 1) sprinkled on the work plate 81 of the work storage box 80. It is attached to the tip of the arm. The suction unit 50 can freely move horizontally and vertically by the multi-axis robot arm 41. The camera 45 and the illumination 46 are fixed to the arm tip of the multi-axis robot arm 41. The camera 45 images the plurality of bolts 37 and the like scattered on the work plate 81 and outputs the images to the transfer control unit 48. The illumination 46 is a ring light in which light emitting sources such as LEDs are annularly arranged, and is arranged coaxially with the camera 45. The transfer control unit 48 is configured as a microprocessor centered on a CPU and controls the operation of the work transfer device 40.

  As shown in FIG. 2, the suction unit 50 of the work transfer device 40 has an L-shaped member 51 attached to the tip of an arm and a bracket 53 connected to the L-shaped member 51 via a support shaft 52. The adsorption unit 50 also includes an electromagnet 56 that adsorbs the bolt 37, and an elevating mechanism 70 that elevates and lowers the electromagnet 56 in the vertical direction (Z-axis direction). The bracket 53 also supports the camera 45 and the illumination 46 (see the alternate long and short dash line in FIG. 2).

  The electromagnet 56 is a rectangular parallelepiped member disposed below the bracket 53, and is configured to generate a magnetic force (adsorption force) of a plurality of stages (for example, three stages) according to the supplied electric power. In the electromagnet 56, the front side of the side portion 56b in the Y-axis direction and the lower portion 56a are curved in a concave shape in accordance with the circular cross section of the shaft portion 39 of the bolt 37. Similarly, a corner portion 56c connecting the lower portion 56a and the side portion 56b has a concavely curved shape. The side portion 56b of the electromagnet 56 is provided with a magnet member 57 which is formed of a permanent magnet and has a stronger magnetic force than the lower portion 56a and the side portion 56b. The magnet member 57 is embedded in the side portion 56b so as to be flush with the curved surface of the side portion 56b.

  The elevating mechanism 70 includes an air cylinder 71 in which a rod (piston rod) 72 is reciprocally moved in the Z-axis direction on the bracket 53, and a Z arranged below the air cylinder 71 and extending in the Z-axis direction. An axis rail 74 and a Z-axis slider 76 attached to the lower end of the rod 72 and moved on the Z-axis rail 74 by driving the air cylinder 71 are provided. The electromagnet 56 is fixed to the lower end of the Z-axis slider 76, and the lifting mechanism 70 moves the Z-axis slider 76 by driving the air cylinder 71 to move the electromagnet 56 up and down (Z-axis direction).

  In addition to the electromagnet 56 and the lifting mechanism 70, the suction unit 50 includes a V-shaped guide 58 and a rotation trigger member 62 as various components used for changing the posture and adjusting the position of the bolt 37 attracted by the electromagnet 56. And a tapered guide 64 and a height regulating member 66. The V-shaped guide 58 is provided on the upper surface of the electromagnet 56 and moves up and down integrally with the electromagnet 56. The V-shaped guide 58 includes a base member 58a having two flat surfaces (inner surfaces) forming a V shape in a top view, and flat magnet members 58b attached to the two flat surfaces of the base member 58a. The V-shaped guide 58 is arranged so that the center of the V-shape of the base member 58a and the center of the curved surface of the side portion 56b of the electromagnet 56 are substantially aligned with each other. The bolt 37 can be positioned substantially at the center of the side portion 56b by abutting on two sides of the shaft portion 39 of the shaft 37. The height at which the side portion 56b of the electromagnet 56 and the magnet member 58b of the V-shaped guide 58 can adsorb is referred to as an adsorption height H.

  The rotation trigger member 62 is a cylindrical member provided so as to project downward from the bracket 53. The rotation trigger member 62 is provided at a position where it can come into contact with the side surface of the head portion 38 of the bolt 37 from above when the electromagnet 56 attracting the bolt 37 rises so that the axial direction becomes horizontal. The tapered guide 64 has a V-shape in a top view and has two tapered flat surfaces that taper from the lower side toward the upper side, so that the inner surface 64 a faces the electromagnet 56 and the V-shaped guide 58. It is arranged. The tapered guide 64 guides the rising of the bolt 37 by slidingly contacting the bolt 37 at the inner surface 64a when the electromagnet 56 attracting the bolt 37 rises in a standing posture in which the axial direction is the vertical direction. The height regulating member 66 is a columnar member disposed above the tapered guide 64. In the height regulating member 66, the electromagnet 56 that adsorbs the bolt 37 in a standing posture moves up and comes into contact with the tip end surface of the shaft portion 39 of the bolt 37 guided by the tapered guide 64 from above. The tapered guide 64 and the height regulating member 66 are fixed to a frame 68 supported by the bracket 53.

  The work storage box 80 is a box having an open top as shown in FIG. 1, and a work plate 81 is horizontally supported. A plurality of work storage boxes 80 (here, six) are placed on one storage base 82. The accommodation table 82 is movable along a rail 84 laid on the upper surface of the frame 14 between a retracted position (see a dotted line in FIG. 1) and a processing position (see a solid line in FIG. 1) by a drive unit (not shown). Has become. In the present embodiment, the housings 82 are provided one on each of the left and right sides of the upper surface of the frame 14.

  The pallet 36 is a member for mounting the bolts 37 in an aligned state as shown in FIG. In the pallet 36, a single-sided multi-pole magnetized sheet in which a plurality of magnetic poles are magnetized in a predetermined magnetizing pattern is attached to the upper surface of a resin plate such as acrylic resin, and the head of the bolt 37 which is a magnetic body. 38 is magnetically held. On the pallet 36, the bolt 37 is placed at a position determined according to the size of the bolt 37. The pallet 36 is carried in by the conveyor belt 34, stopped at the transfer position of the bolts 37, and is carried out after the bolts 37 are mounted.

  Next, the operation of the work system 10 of the present embodiment configured as described above, in particular, the bolt transfer process of aligning and mounting the bolts 37 in the work storage box 80 on the pallet 36 will be described. Prior to the bolt transfer process, the work spraying device 20 sprays a plurality of bolts 37 onto the work plate 81 of the work storage box 80 and stores the bolts in a random posture. The work transfer device 40 picks up the bolts 37 on the work plate 81 one by one by the suction unit 50 to move the bolts 37 to a predetermined position on the pallet 36 and place them.

  FIG. 3 is a flowchart showing an example of the bolt transfer process. The bolt transfer process is executed by the transfer control unit 48 of the work transfer device 40. In this process, the transfer control unit 48 first images the plurality of bolts 37 on the work plate 81 with the camera 45 (S100), performs image processing on the captured image, and processes one of the plurality of bolts 37. 37 is recognized and the positions of both ends thereof are detected (S110). Next, the transfer control unit 48 sets a position, which is a predetermined distance L corresponding to the above-described suction height H, from one end on the side surface of the shaft portion 39 of the bolt 37 as the suction position P by the electromagnet 56 (S120). ). The reason for setting the suction position P in this way will be described later. Subsequently, the transfer control unit 48 executes a picking operation process of picking the bolt 37 with the suction unit 50 (S130). Then, the transfer control unit 48 moves the suction unit 50 picking the bolt 37 onto the pallet 36 (S140), mounts the bolt 37 at the target position on the pallet 36 (S150), and performs the bolt transfer process. To finish. The details of the picking operation process of S130 will be described below. FIG. 4 is a flow chart showing an example of the picking operation process, and FIGS. 5 and 6 are explanatory diagrams showing the state of the picking operation.

  In the picking operation process, the transfer control unit 48 first lowers the adsorption unit 50 by the multi-axis robot arm 41 to adsorb the adsorption position P of the bolt 37 by the lower portion 56a of the electromagnet 56 (S200, FIG. 5A). Note that FIG. 5A shows a state in which the axial direction of the bolt 37 is horizontal due to the attraction of the electromagnet 56. Next, the transfer control unit 48 controls the elevating mechanism 70 so that the electromagnet 56 rises from above to the position where the rotation trigger member 62 contacts the side surface of the head 38 of the bolt 37 (S210, FIG. 5B). When the rotation trigger member 62 comes into contact with the side surface of the head portion 38 from above, the head portion 38 side of the bolt 37 is inclined downward. Then, the self-weight moment of the bolt 37 causes the bolt 37 to rotate such that the head portion 38 moves downward and the tip of the shaft portion 39 moves upward with the suction position P as a fulcrum. The rotated bolt 37 stops in a state where the shaft portion 39 is attracted to the side portion 56b of the electromagnet 56 and changes to a standing posture (FIG. 5C). In this way, the rotation trigger member 62 triggers the rotation of the bolt 37 by coming into contact with the side surface of the head portion 38 from above, and can also be referred to as a member that imparts a rotational force. As described above, since the magnet member 57 is provided on the side portion 56b, the rotated bolt 37 is reliably attracted to facilitate the change to the standing posture and the bolt 37 in the standing posture is securely held. be able to. Further, a V-shaped guide 58 is provided above the side portion 56b, and the rotated bolt 37 is held by suction while the side surface of the shaft portion 39 comes into contact with the two flat plate-shaped magnet members 58b to stop. . For this reason, it is possible to prevent the position of the bolt 37 from being displaced when the bolt 37 is attracted to the side portion 56b, so that the shaft portion 39 can be easily accommodated in the side portion 56b. The V-shaped guide 58 and the side portion 56b hold the bolt 37 so that the axial center of the bolt 37 coincides with a predetermined center line. The predetermined center line is a line that serves as the center of operations such as picking and mounting of the bolt 37, and passes through a position separated from the center bottom of the curved surface of the side portion 56b by the radius of the shaft portion 39 of the bolt 37, for example. It becomes things.

  In this way, when the bolt 37 is held in an upright posture by suction on the side portion 56b of the electromagnet 56, the transfer control unit 48 raises the electromagnet 56 to a position where the bolt 37 is guided by the tapered guide 64 and comes into contact with the height regulating member 66. The elevating mechanism 70 is controlled (S220, FIG. 6A, FIG. 6B) to complete the picking operation process. Since the bolt 37 is guided by the tapered guide 64, the inclination of the bolt 37 and the like can be corrected and the axial center of the bolt 37 can be more surely aligned with the predetermined center line. Further, when the bolt 37 comes into contact with the height regulating member 66, the electromagnet 56 can be raised, but the bolt 37 cannot be raised any further. Therefore, since the height position of the bolt 37 can be matched with the height position of the lower surface of the height regulating member 66, it is possible to correct the height position variation when the bolt 37 is changed to the standing posture by rotation. You can Therefore, when the bolts 37 are placed on the pallet 36, it is possible to prevent a placement error due to variations in the height positions of the bolts 37.

  When the picking operation is completed, the suction unit 50 places the bolt 37 on the pallet 36 in S150. At that time, the transfer control unit 48 lowers the adsorption unit 50 to a position immediately before the head 38 of the bolt 37 contacts the upper surface of the pallet 36, and releases the adsorption by the electromagnet 56. Even when the attraction by the electromagnet 56 is released, the magnet member 57 and the magnet member 58b of the V-shaped guide 58 attract the bolt 37. Then, the transfer control unit 48 controls the elevating mechanism 70 to further raise the electromagnet 56. Even if the electromagnet 56 rises, the bolt 37 abuts against the height regulating member 66 and cannot be raised. Therefore, the adsorption unit 50 separates the bolt 37 from the magnet member 57 or the magnet member 58b of the V-shaped guide 58 to remove the bolt 37. It can be placed on the pallet 36.

  Here, the correspondence relationship between the components of the present embodiment and the components of the present disclosure will be clarified. The electromagnet 56 of the present embodiment corresponds to the attraction unit of the present disclosure, the multi-axis robot arm 41 and the lifting mechanism 70 correspond to the moving unit, the camera 45 corresponds to the imaging unit, and the bolt transfer process of FIG. The transfer control unit 48 that executes S110 and S120 corresponds to the detection processing unit, the transfer control unit 48 that executes S130 of the bolt transfer process corresponds to the control unit, and the work transfer device 40 corresponds to the picking device. To do. The rotation trigger member 62 corresponds to the rotation trigger member, the height restricting member 66 corresponds to the height restricting member, the V-shaped guide 58 corresponds to the positioning member, and the tapered guide 64 corresponds to the guide member. The multi-axis robot arm 41 that moves the adsorption unit 50 including the electromagnet 56 may be the first moving unit, and the elevating mechanism 70 that moves the electromagnet 56 with respect to the adsorption unit 50 may be the second moving unit.

  The work transfer device 40 described above rotates the bolt 37 so as to approach the side portion 56b of the electromagnet 56 by using the adsorption position P as a fulcrum by the own weight moment of the bolt 37 adsorbed by the lower portion 56a of the electromagnet 56. Then, the side surface of the shaft portion 39 of the bolt 37, which has changed to the standing posture, is adsorbed by the side portion 56b to be held. Accordingly, the bolt 37 can be quickly held in the standing posture with a simple configuration without re-grabbing the bolt 37, and thus the efficiency of the work of performing the bolt 37 in the standing posture can be improved.

  Further, since the suction unit 50 includes the rotation trigger member 62, it is possible to reliably start the rotation due to the self-weight moment and change the bolt 37 to the standing posture. Further, since the magnet member 57 is provided on the side portion 56b of the electromagnet 56, the bolt 37 can be stably held in a standing posture. Further, since the suction unit 50 includes the height regulating member 66, the height position of the end surface of the shaft portion 39 of the bolt 37, which is changed to the standing posture, can be made constant. Further, since the attraction unit 50 sets the attraction position P at a distance corresponding to the attraction height H of the side portion 56b and the magnet member 58b from one end in the axial direction of the bolt 37, the bolt changed to the standing posture. The shaft portion 39 of 37 can be more appropriately adsorbed and stably held. Further, since the suction unit 50 includes the V-shaped guide 58 and the tapered guide 64, the bolt 37 is properly centered so that the axial center of the bolt 37 coincides with a predetermined center line, and the positional deviation or inclination of the bolt 37 is increased. Can be prevented. Further, since the magnet member 58b is attached to the V-shaped guide 58, the attracting and holding force can be increased and the bolt 37 can be held more stably.

  It is needless to say that the present disclosure is not limited to the above-described embodiments and can be implemented in various modes as long as they are within the technical scope of the present disclosure.

  For example, in the above-described embodiment, the suction unit 50 includes the rotation trigger member 62, but the invention is not limited to this. The suction unit 50 may not include the rotation trigger member 62 as long as the workpiece has a shape such as the bolt 37 that easily starts rotation due to its own weight moment. However, it is preferable that the suction unit 50 includes the rotation trigger member 62 if the work has a center of gravity located at the center in the axial direction. In addition, the transfer control unit 48 makes the rising speed of the electromagnet 56 relatively high when the electromagnet 56 is rotated to rotate the bolt 37 in S210 in order to easily start the rotation due to the self-weight moment, for example, The speed may be higher than the rising speed of the electromagnet 56 in S220.

  In the above-described embodiment, by providing the magnet member 57, the attraction force of the side portion 56b of the electromagnet 56 is stronger than that of the lower portion 56a, but the present invention is not limited to this. For example, the lower portion 56a and the side portion 56b may be configured by separate members without providing the magnet member 57, and the supplied power may be different to increase the attraction force of the side portion 56b. Alternatively, the side portion 56b may be configured to have the same suction force as the lower portion 56a without increasing the suction force.

  In the embodiment described above, the height regulating member 66 is arranged above the tapered guide 64, but the present invention is not limited to this, and it may be arranged inside the tapered guide 64. Alternatively, the height regulating member 66 may not be provided.

  In the above-described embodiment, the transfer control unit 48 sets the attraction position P at a distance corresponding to the attraction height H between the side portion 56b and the magnet member 58b from one end of the bolt 37, but the present invention is not limited to this. The suction position P may be set at a distance corresponding to at least the suction height of the side portion 56b. Alternatively, the suction position P may be set from a position excluding both ends in the axial direction of the bolt 37 so that the rotated bolt 37 is sucked by the side portion 56b.

  In the above-described embodiment, the adsorption unit 50 is provided with the V-shaped guide 58 above the electromagnet 56, but the present invention is not limited to this, and a V-shaped guide shape may be provided inside the side portion 56b. Further, the V-shaped guide 58 is not limited to contacting the side surface of the shaft portion 39 at two locations, and may be configured to contact and guide at three or more locations. Further, although the magnet member 58b is attached to the V-shaped guide 58, the magnet member 58b may not be attached. The V-shaped guide 58 may be omitted.

  In the above-described embodiment, the suction unit 50 is provided with the tapered guide 64 having two flat surfaces forming a tapered V shape, but the present invention is not limited to this, and the diameter gradually decreases from the lower side to the upper side. It may be provided with a tapered conical or semi-conical guide or the like. FIG. 7 is an explanatory view of a cylindrical guide 65 and a height regulating member 67 of a modified example. As shown in the figure, the tubular guide 65 is composed of a tapered portion 65a whose diameter gradually decreases from the lower side toward the upper side, and a cylindrical portion 65b extending upward from the upper end of the tapered portion 65a. . Further, a height restricting member 67 that protrudes radially inward from the inner peripheral surface is provided on the upper side of the cylindrical portion 65b. In this modification, the V-shaped guide 58 is not provided. Also in this modification, the tubular guide 65 guides the rising of the bolt 37 in the standing posture. Therefore, even if the bolt 37 is held by the electromagnet 56 in a state where the shaft center is slightly inclined with respect to the vertical direction (FIG. 7A), when the bolt 37 is lifted, the cylindrical guide 65 guides the shaft 37 to tilt the shaft center. It can be modified (Fig. 7B). Further, the height of the bolt 37 can be made constant by bringing the end face of the shaft portion 39 into contact with the height regulating member 67 (FIG. 7C).

  In the above-described embodiment, the suction unit 50 sucks the bolts 37 by magnetic force, but the present invention is not limited to this, and the bolts 37 may be sucked by negative pressure. For example, the location of the magnet member 57 on the side portion 56b may be changed to a suction port, and a negative pressure may be applied to the suction port to suction the side surface of the shaft portion 39. In addition, by disposing a sponge member in the suction port and adsorbing the side surface of the shaft portion 39 that is in contact with the sponge member through the sponge member, the pressure loss due to the unevenness of the screw thread of the shaft portion 39 is suppressed and the suction property is improved. May be used to enhance Alternatively, in addition to the electromagnet 56, a suction nozzle whose suction port faces sideways or a suction nozzle whose suction port faces downward may be arranged. In such a case, the nozzles on the side of the nozzles on the lower side may exert a negative pressure so that the suction force becomes stronger. The suction unit 50 may perform chucking with a pair of left and right gripping claws separately from suction by magnetic force or negative pressure.

  Although the bolt 37 is illustrated as the work in the above-described embodiment, any shape work may be used as long as it is a shaft-shaped work such as a cylindrical shape or a cylindrical shape.

  Here, the picking device of the present disclosure may be configured as follows. For example, in the picking device of the present disclosure, a rotation trigger member that comes into contact with the side surface of the work from above so as to trigger the rotation of the work when the suction part that has suctioned the suction position of the work rises. It may be provided. By doing so, even a work having a shape in which it is difficult to start rotation due to its own weight moment can be given a trigger for rotation to change to a standing posture. Therefore, the work can be easily changed to the standing posture regardless of the shape of the work.

  In the picking device of the present disclosure, the suction portion may be configured such that the suction force of the side portion is stronger than the suction force of the lower portion. This makes it possible to prevent the work from dropping when the work rotates due to its own weight moment and changes to the standing posture. Further, the work piece in the standing posture can be stably held.

  In the picking device of the present disclosure, the control unit controls the moving unit so that the suction unit moves upward in the holding state, and controls the upper end of the work that rises as the suction unit rises in the holding state. A height regulating member may be provided which abuts on the upper end of the work from above so as to regulate at a predetermined height position. By doing so, the height position can be made constant even for a workpiece that has been changed to a standing posture by rotation, so that it is possible to prevent the work from being affected by variations in the height position of the workpiece. .

  In the picking device of the present disclosure, the setting processing unit sets, as the suction position, a position spaced from one end in the axial direction of the side surface of the workpiece by a distance corresponding to a suction height at a side portion of the suction unit. It may be one. With this configuration, the side surface of the workpiece changed to the standing posture by rotation can be more appropriately sucked by the side portion of the suction unit, so that the workpiece in the standing posture can be held more stably.

  In the picking device of the present disclosure, the picking device is provided on a side part of the suction part or above the side part, and when the work changes to a standing posture, the axis of the work matches a predetermined center line. A positioning member that positions at least two positions on the side surface of the work may be provided. Alternatively, in the picking device of the present disclosure, the control unit controls the moving unit so that the suction unit rises in the holding state, and the workpiece that rises as the suction unit rises in the holding state. A guide member may be provided to guide the work so that its axis coincides with a predetermined center line. By doing so, the work can be properly centered even if the work is changed to the standing posture without the need to change the grip, so that it is possible to prevent the work from being affected by the work position displacement. You can

  The present disclosure can be used for an apparatus such as a robot arm that picks a work.

  10 work system, 12 system control unit, 14 frame, 20 work spraying device, 21 multi-axis robot arm, 22 spraying unit, 23 suction unit, 24 rod, 25 actuator, 28 spraying control unit, 34 conveyor belt, 36 pallet, 37 Bolts, 38 heads, 39 shafts, 40 work transfer devices, 41 multi-axis robot arms, 45 cameras, 46 lighting, 48 transfer control units, 50 suction units, 51 L-shaped members, 52 support shafts, 53 brackets, 56 electromagnet, 56a lower part, 56b side part, 56c corner part, 57 magnet member, 58 V-shaped guide, 58a base member, 58b magnet member, 62 rotation trigger member, 64 tapered guide, 64a inner surface, 65 tubular guide, 65a Tapered part, 65b Cylindrical part, 66, 67 Height Control member, 68 frame, 70 lifting mechanism, 71 air cylinder, 72 piston rod, 74 Z-axis rail, 76 Z-axis slider, 80 work storage box, 81 work plate, 82 storage base, 84 rail, H suction height, L Predetermined distance, P Adsorption position.

Claims (7)

A picking device for picking an axial work,
A suction part configured to be capable of suctioning the work with a lower part and a side part,
A moving part for moving the suction part,
An imaging unit for imaging the work,
A setting processing unit that processes the image captured by the image capturing unit and sets the suction position from a range of the side surface of the workpiece excluding both ends in the axial direction;
By adsorbing the adsorption position of the work at the lower part of the adsorption part and then raising the adsorption part, the work is moved so as to approach the side part of the adsorption part with the adsorption position as a fulcrum by the self-weight moment of the work. Control for controlling the suction part and the moving part so that the side surface of the workpiece, which has been changed to a standing posture in which the axial direction is the vertical direction, is sucked by the side part of the suction part and is held Department,
Picking device comprising. The picking device according to claim 1, wherein
A picking device comprising: a rotation trigger member that comes into contact with the side surface of the work from above so as to trigger the rotation of the work when the suction part that has sucked the suction position of the work rises. The picking device according to claim 1 or 2, wherein
The picking device may be configured such that the suction force of the side portion is stronger than the suction force of the lower portion. The picking device according to any one of claims 1 to 3,
The control unit controls the moving unit so that the suction unit moves up in the holding state,
A picking device comprising a height regulating member that comes into contact with the upper end of the work from above so as to regulate the upper end of the work that rises as the suction unit rises in the holding state at a predetermined height position. The picking device according to any one of claims 1 to 4,
The picking device is configured such that the setting processing unit sets, as the suction position, a position separated from one end in the axial direction of the side surface of the workpiece by a distance corresponding to a suction height on a side portion of the suction unit. The picking device according to any one of claims 1 to 5, wherein
At least two positions on the side surface of the work are provided on the side of the suction unit or above the side, and when the work changes to a standing posture, the axis of the work coincides with a predetermined center line. Picking device comprising a positioning member for positioning the. A picking device according to any one of claims 1 to 6, wherein
The control unit controls the moving unit so that the suction unit moves up in the holding state,
A picking device comprising: a guide member that guides the work so that an axis of the work that rises as the suction unit rises in the holding state coincides with a predetermined center line.