JP2021079476A - Work sorting system and work sorting robot - Google Patents

Abstract

To prevent a work from falling to an unexpected location during sorting of the work.SOLUTION: A work sorting system includes a work supplier storing a work, a work vertically moving mechanism that lifts and lowers the work stored in the work supplier, and a work sorting robot that sorts the plurality of work. The work sorting robot is equipped with a robot hand that holds the work, holds the work with the robot hand, and perms inclining action for inclining the robot hand for inclining the work with respect to a horizontal surface by a predetermined angle. The work vertical moving mechanism performs lowering action for lowering the work stored in the work supplier by a predetermined distance, when the inclining action is performed by the work sorting robot.SELECTED DRAWING: Figure 8

Description

The present invention relates to a work sorting system for sorting works and a work sorting robot.

Conventionally, in the field of logistics and the like, the work of sorting thin packages (hereinafter referred to as workpieces) to be transported according to the destination or the like may be performed by a sorting robot. Regarding the holding of the work at the time of sorting, a technique for holding the work by sucking the work with a suction pad provided in the sorting robot has been developed.

Here, when a force is applied to the work being sucked by the suction pad from the outside, a situation may occur in which it becomes difficult to maintain stability due to the work being displaced. In response to this situation, Patent Document 1 discloses a technique for improving the stability of holding the work by fixing the inclination of the work with a fixing rod arranged outside the suction pad.

JP-A-2010-188465

By the way, the work before sorting is often housed in a supply tool such as a supply box and carried to a predetermined position where the sorting robot can work. At this time, another work may be attached to the target work due to static electricity or the like, and when the sorting robot sucks and carries the work with the suction pad, the other work attached to the work may be attached. The work may come off and fall to an unexpected place.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a work sorting system and a work sorting robot for preventing a work from falling to an unexpected place at the time of sorting the work.

The work sorting system according to the present invention includes a work feeder containing the work, a work vertical movement mechanism for raising or lowering the work housed in the work feeder, and a work sorting robot for sorting the plurality of works. The work sorting system includes, the work sorting robot includes a robot hand for holding the work, the work is held by the robot hand, and the work is brought to a horizontal plane by inclining the robot hand. The work vertical movement mechanism performs a tilting operation of tilting the work by a predetermined angle, and when the work sorting robot performs the tilting motion, the work vertical movement mechanism performs a descending motion of lowering the work housed in the work feeder by a predetermined distance. It is characterized by that.

Further, the work sorting system may further include a control means for controlling the tilting operation by the work sorting robot and the lowering operation by the work vertical movement mechanism.

Further, the control means may cause the work sorting robot to perform the tilting operation by using a control program prepared in advance, and after the tilting operation, cause the work vertical movement mechanism to perform the descending operation. ..

Further, the control means has the work vertical movement mechanism in response to the detection that the work held by the robot hand is tilted by a predetermined angle by causing the work sorting robot to perform the tilting operation. May perform the descending operation.

Further, the work feeder has at least one vertical movement hole formed on the bottom surface for raising or lowering the housed work, and the work vertical movement mechanism corresponds to each of the vertical movement holes. At least one work up / down moving rod that supports the work and raises or lowers the work is provided, and as the lowering operation, at least one of the works accommodated in the work feeder is moved by lowering the work up / down moving rod by a predetermined distance. It may be lowered by a predetermined distance.

Further, the work sorting robot according to the present invention has a work feeding tool in which a work is housed, a work vertical movement mechanism for raising or lowering the work housed in the work feeding tool, and a work sorting machine for sorting a plurality of works. The work sorting robot that constitutes a work sorting system including a robot, includes a robot hand that holds the work, holds the work by the robot hand, and tilts the work by tilting the robot hand. When the tilting operation is performed, the work vertical movement mechanism performs a descending operation of lowering the work housed in the work feeder by a predetermined distance. It is a feature.

The embodiments of the present application solve one or more shortages.

It is an external view which shows the appearance example of the structure of the work sorting system 1 of embodiment of this invention. It is a block diagram which shows the connection example between the apparatus of the work sorting system 1 of embodiment of this invention. It is explanatory drawing explaining the example of the work supply box 20 of embodiment of this invention. It is a figure for demonstrating the robot hand 580 of embodiment of this invention. It is explanatory drawing for demonstrating the example of the work suction part 585 and work fixing part 586 of embodiment of this invention. It is sectional drawing for demonstrating the example of the appearance that the work W is housed in the work supply box 20 of embodiment of this invention. It is explanatory drawing for demonstrating the example of the state which the work W in the work supply box 20 of embodiment of this invention is adsorbed. It is explanatory drawing for demonstrating an example of a state in which the holding work W of the embodiment of this invention is tilted by a predetermined angle, and another work W is lowered by a predetermined distance by a work vertical movement device 30. When the held work W according to the embodiment of the present invention is tilted and another work W is attached to the work W, the work W housed in the work supply box 20 by the work vertical movement device 30 It is explanatory drawing for demonstrating the example of the state which lowered a predetermined distance. It is explanatory drawing for demonstrating the example of the state after the robot hand 580 of embodiment of this invention holds a work W. It is a flowchart which shows an example of the operation flow of the work sorting system 1 in the case where the controller 70 of the Embodiment of this invention performs a tilting operation and a descending operation by the control program prepared in advance. Flow chart when the controller 70 of the embodiment of the present invention causes the work vertical movement device 30 to perform a descending operation in response to the detection that the work W is tilted by a predetermined angle due to the tilting operation of the work sorting robot 50. It is a flowchart which shows an example.

<1. Configuration example of work sorting system 1>
Hereinafter, an example of the work sorting system 1 according to the embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an external view showing an external example of the configuration of the work sorting system 1 according to the embodiment of the present invention. Further, FIG. 2 is a block diagram showing an example of connection between the devices of the work sorting system 1 according to the embodiment of the present invention. As shown in FIGS. 1 and 2, the work sorting system 1 includes a conveyor 10, a work supply box 20, a work vertical movement device 30, a fixed camera 40, a work sorting robot 50, and a sorting destination box group 60. , The controller 70 and the work rise detection sensor 80 are included.

The conveyor 10 is used to convey the work W to be sorted to a predetermined position. The work W here may be any work that can be sorted by the work sorting robot 50 described later. In this example, the work W is a thin baggage. The conveyor 10 includes a pedestal 110, a roller portion 120, and a box stop portion 130, and has a function of transporting a work supply box 20 containing a plurality of work Ws to a predetermined position. The "predetermined position" here means the position of the work supply box 20 in which the housed work W can be sorted by the work sorting robot 50.

The pedestal 110 supports the roller portion 120 and the box stop portion 130. In this example, the roller portions 120 are arranged side by side in two rows when viewed from above, and in one row, the work supply box 20 containing the work W is conveyed from the rear to the front. In the other row, the work supply box 20 from which the work W has been taken out is transported to the supply source for return by tilting downward from the front to the rear. The roller unit 120 is, for example, a roller conveyor. The box stop unit 130 restricts the forward movement of the work supply box 20 and stops the work supply box 20 at a predetermined position. The work W of the work supply box 20 stopped by the box stop unit 130 is sorted by the work sorting robot 50.

The work supply box 20 is an example of a work supply tool in which the work W is housed. Here, "the work W is accommodated" means that the work W is placed in, for example, the work supply box 20. Further, "placed in the work supply box 20" here means, for example, being stacked in the work supply box 20. In this example, the work supply box 20 corresponding to the work supply tool is a box-shaped object having a side wall, but the shape of the work supply tool is not limited to this example. For example, even when the work feeder does not have a side wall, a wall, a fence, or the like may be provided around the predetermined position in the same direction and height instead of the side wall.

Further, the work supply box 20 may have at least one vertical moving hole 210 formed on the bottom surface for raising or lowering the housed work W. The vertical movement hole 210 is formed so as to conduct the bottom surface of the work supply box 20 in the vertical direction, and is used when the work W is moved up and down by the work vertical movement device 30 described later. Here, the plurality of works W may be stacked in the work supply box 20 to a height with the upper end of the side wall of the work supply box 20 as the upper limit.

The work vertical movement device 30 is an example of a work vertical movement mechanism for raising or lowering at least one work W housed in the work supply box 20. Specifically, the work vertical movement device 30 lowers the work W housed in the work supply box 20 by a predetermined distance through at least one vertical movement hole 210 when the work sorting robot 50 holds the work W. Do the action. In the example shown in FIG. 1, the work vertical movement device 30 includes a device main body portion 310, a work vertical movement rod 320, and a bottom plate 330.

The device main body 310 is connected to the bottom plate 330 and controls the height of the bottom plate 330. The work vertical movement rod 320 is a rod-shaped member extending in the vertical direction, and corresponds to each vertical movement hole 210 to support the work W and raise or lower it. The bottom plate 330 is provided so as to connect the device main body 310 and the work vertical movement rod 320, and supports the work vertical movement rod 320. When the bottom plate 330 rises or falls with reference to the device main body 310, the work vertical movement rod 320 also rises or falls in conjunction with it.

Here, the work vertical movement device 30 performs a lowering operation of lowering the work W housed in the work supply box 20 by a predetermined distance when the work sorting robot 50 described later tilts the held work W by a predetermined angle. The predetermined angle and the predetermined distance here may be predetermined, and may be determined, for example, by the type of the work W, the size and shape of each work W, the material, the size of the work supply box 20, and the like.

FIG. 3 is an explanatory diagram illustrating an example of the work supply box 20 according to the embodiment of the present invention. 3A is a top view of the work supply box 20, FIG. 3B is a front view of the work supply box 20, and FIG. 3C is a side view of the work supply box 20. In the example shown in FIGS. 3A to 3C, the work supply box 20 has side walls surrounding the four sides of the housed work W, and further has a partition 220 that divides the work W into two spaces as the side wall. doing. In each of the divided spaces, the work W can be accommodated, and the vertical moving holes 210a to 210g and the vertical moving holes 210h to 210n are formed, respectively.

In the example shown in FIG. 3, the work vertical movement device 30 is formed by inserting a plurality of work vertical movement rods 320 corresponding to each of the vertical movement holes 210a to 210g and the vertical movement holes 210h to 210n from the lower side. The work W housed in the supply box 20 is lifted by the plurality of work vertical moving rods 320. The arrangement of the vertical movement holes 210 is not limited to the above example, as long as the work vertical movement rod 320 can support the work W.

The fixed camera 40 is attached downward above a predetermined position where the work supply box 20 is conveyed by the conveyor 10, and the work sorting robot 50, which will be described later, reads sorting information necessary for sorting the work W. The sorting information is, for example, identification information of the work W, a destination of the work W, and the like, and is displayed on the upper surface of each work W housed in the work supply box 20, for example, by a bar code, a number, a character, or the like.

The work sorting robot 50 is a robot that sorts the work W housed in the work supply box 20. Here, "sorting the work W" means, in this example, transporting each work W to a predetermined place based on the sorting information. Further, in this example, the work sorting robot 50 is a vertical articulated robot. The work sorting robot 50 includes a gantry portion 510, a base portion 520, a first joint portion 530, a front-rear movement portion 540, a second joint portion 550, a vertical movement portion 560, and a third joint portion 570. The robot hand 580 and the suction hose 590 are provided.

The gantry portion 510 supports the base portion 520 to the suction hose 590. Further, the gantry portion 510 has a vacuum pump inside and is used for suctioning the work W by the robot hand 580 and the suction hose 590, which will be described later. The base portion 520 swivels around an axis perpendicular to the horizontal plane with respect to the gantry portion 510. The first joint portion 530 connects the base portion 520 and the front-rear movement portion 540 so that the front-rear movement portion 540 can rotate about an axis parallel to the horizontal plane. The second joint portion 550 connects the front-rear movement portion 540 and the vertical movement portion 560 so that the vertical movement portion 560 can rotate about an axis parallel to the horizontal plane. The third joint portion 570 connects the vertical movement portion 560 and the robot hand 580 so that the robot hand 580 can rotate about an axis parallel to the horizontal plane. The suction hose 590 is used to suck the work W in holding the work W by the robot hand 580.

The robot hand 580 holds the work W. Specifically, the robot hand 580 includes at least one suction pad capable of sucking the work W, and holds the work W by sucking the work W on the suction pad. As a method of suction by the suction pad, a vacuum pump provided in the gantry portion 510 is connected to the suction pad through a suction hose 590, and the work W is sucked by sucking using the suction pad as a suction port. Can be mentioned. The suction pad to the vacuum pump are connected via a suction tube included in the robot hand 580 and the suction hose 590 described above. Further, the robot hand 580 sucks the work W by the suction pad and fixes the inclination of the work W with respect to itself. Further, the work sorting robot 50 holds the work W by the robot hand 580, and tilts the work W by tilting the robot hand 580 to tilt the work W by a predetermined angle with respect to the horizontal plane. A detailed configuration example and operation example of the robot hand 580 will be described later.

The sorting destination box group 60 is a sorting box group of the sorting destinations of the work W by the work sorting robot 50. In the example shown in FIG. 1, the sorting destination box group 60 includes the sorting destination boxes 610a to 610c. Each work W is transported to any of the sorting destination boxes 610a to 610c by the work sorting robot 50 based on the sorting information read by the fixed camera 40. In FIG. 1, the sorting destination box group 60 and the conveyor 10 are in a positional relationship with the work sorting robot 50 sandwiched between them, but if the work sorting robot 50 can carry the work W, other parts may be used. It may be installed in a position.

As shown in FIG. 2, the controller 70 is an example of a control means connected to the work vertical movement device 30, the fixed camera 40, the work sorting robot 50, and the work rise detection sensor 80. The controller 70 controls the operation of the work vertical movement device 30, the fixed camera 40, and the work sorting robot 50. For example, the controller 70 may control the tilting operation by the work sorting robot 50 and the descending operation by the work vertical movement device 30 by using a control program prepared in advance.

Further, for example, the controller 70 causes the work vertical movement device 30 to perform a descending operation in response to the detection that the work W held by the robot hand 580 is tilted by a predetermined angle due to the tilting operation by the work sorting robot 50. You may. The controller 70 may detect the inclination of the robot hand 580 or the work W by, for example, taking a picture with the fixed camera 40. Further, the controller 70 may detect the inclination of the work W by various sensors included in the robot hand 580. The operation control related to the holding of the work W of the robot hand 580 by the controller 70, which is an example of the control means, will be described in detail later.

The work rise detection sensor 80 is a sensor that detects whether the position of the work W in the work supply box 20 is the height at which the work W is attracted to the robot hand 580. Its height is substantially the same as the upper end of the work supply box 20, and the work rise detection sensor 80 is, for example, a photoelectric sensor.

<2. Configuration example of robot hand 580>
Subsequently, a configuration example of the robot hand 580 according to the embodiment of the present invention will be described with reference to FIGS. 4 (a) to 4 (d). FIG. 4A is a schematic perspective view for explaining an outline of the robot hand 580 according to the embodiment of the present invention. FIG. 4B is a front view for explaining an example of the robot hand 580 according to the embodiment of the present invention. FIG. 4C is a top view for explaining an example of the robot hand 580 according to the embodiment of the present invention. FIG. 4D is a side view for explaining an example of the robot hand 580 according to the embodiment of the present invention. The robot hands 580 shown in FIGS. 4 (a) to 4 (d) are divided into two hands, and are configured to hold two workpieces W at a time. The direction symbols in FIGS. 4A to 4D are shown independently of other drawings.

The robot hand 580 includes a cylinder mounting portion 581, a cylinder base portions 582a and 582b, a cylinder slide portion 583a and 583b, an elevating plate 584a and 584b, a work suction portion 585a to 585d, and a work fixing portion 586a to 586h. It includes suction tubes 587a to 587d, flat plates 588a and 588b, and a calibration camera 589.

The cylinder mounting portion 581 connects the third joint portion 570 and the robot hand 580, and also connects to the cylinder base portions 582a and 582b. Cylinder slide portions 583a and 583b are attached to the cylinder base portions 582a and 582b, respectively. The cylinder slide portions 583a and 583b are members capable of moving in a predetermined distance in the vertical direction with reference to the cylinder base portions 582a and 582b, respectively. The elevating plates 584a and 584b are plate-shaped members extending in the vertical direction, and are fixed to the cylinder slide portions 583a and 583b, respectively. The flat plates 588a and 588b are plate-shaped members extending on a horizontal plane, and are fixed to the elevating plates 584a and 584b, respectively.

The work suction portions 585a to 585d suck the work W. The work fixing portions 586a to 586h fix the work W. For example, in FIG. 4C, the work suction portions 585a and 585b and the work fixing portions 586a to 586d are connected to the flat plate 588a to suck and fix one work W. Further, the work suction portions 585c and 585d and the work fixing portions 586e to 586h are connected to the flat plate 588b, and one work W is further sucked and fixed.

Here, an example of the work suction portion 585 and the work fixing portion 586 according to the embodiment of the present invention will be described with reference to FIG. FIG. 5A is an explanatory diagram for explaining an example of the work suction unit 585 according to the embodiment of the present invention. FIG. 5B is an explanatory diagram for explaining an example of the work fixing portion 586 according to the embodiment of the present invention.

The work suction portion 585 includes a suction rod 5851, a stopper 5852, a tube connector 5583, a pad holder 5854, a spring 5855, and a suction pad 5856. The suction rod 5851 is connected to the tube connector 5853 via the stopper 5852, and is connected to the suction pad 5856 via the pad holder 5854. The suction rod 5851 and the stopper 5852 have a passage inside in the longitudinal direction, and are connected to the suction tube 587 from the suction port of the suction pad 5856 through an internal passage between the inside of the suction rod 5851 and the stopper 5852. Further, the spring 5855 is wound around the entire suction rod 5851 and is provided so as to be able to expand and contract in the longitudinal direction of the suction rod 5851.

The work fixing portion 586 includes a fixing rod 5861, a stopper 5862, a fixing connector 5863, a pad holder 5864, a spring 5856, and a fixing pad 5866, and the suction rods 5851 to the suction pads 5856 of the work suction portion 585, respectively. It has the same configuration as. The difference from the work suction portion 585 is that the fixing rod 5861 and the stopper 5862 do not have a longitudinal passage inside, and the fixing connector 5863 is not connected to the suction tube 587. Of course, the work fixing portion 586 may have the same configuration except for the tube connector 5853.

Returning to FIG. 4, the description of the robot hand 580 will be continued. The suction tubes 587a to 587d are connected to the tube connector 5853 as described above, and further connected to the suction hose 590 through an internal passage provided in the cylinder mounting portion 581 as shown in FIG. 4A. It is connected to the vacuum pump inside the gantry part 510.

The flat plates 588a and 588b are connected to the elevating plates 584a and 584b so as to extend in the horizontal direction, respectively, and move in conjunction with the vertical movement of the elevating plates 584a and 584b. Further, the flat plates 588a and 588b are formed with holes opened in the vertical direction for attaching the work suction portion 585 and the work fixing portion 586.

In the flat plate 588a, the work suction portions 585a and 585b and the work fixing portions 586a to 586d are inserted into the holes, respectively. In the flat plate 588b, the work suction portions 585c and 585d and the work fixing portions 586e to 586h are inserted into the holes, respectively. As shown in FIG. 4, the work W can be stably held by arranging the work fixing portion 586 around the work suction portion 585. The hole is formed so that the suction rod 5851 and the fixing rod 5861 can be inserted into the work suction portion 585 and the work fixing portion 586, respectively, and the stopper 5852 and the stopper 5862 cannot be inserted. Here, the springs 5855 and 5856 are located below the flat plates 588a and 588b. Therefore, when the flat plate 588 moves downward with respect to the work suction portion 585 and the work fixing portion 586, the springs 5855 and 5856 are elastically forced to shrink and return to their original positions.

The calibration camera 589 calibrates the position adjustment of the robot hand 580 with respect to the work W to be sorted.

<3. Work retention control example>
Subsequently, an example of holding control of the work W by the controller 70 will be described with reference to FIGS. 6 to 10.

FIG. 6 is a cross-sectional view for explaining an example in which a plurality of work Ws are housed in the work supply box 20 according to the embodiment of the present invention. On the left side of FIG. 6, a work supply box 20 and a plurality of work Ws housed so as to be stacked in the work supply box 20 are shown. Further, the work vertical movement rods 320a, 320c and 320f of the work vertical movement device 30 are inserted from below the vertical movement holes 210a, 210c and 210f to support a plurality of work Ws. Here, among the plurality of work Ws, the first work from the top is referred to as the work W1, the second work from the top is referred to as the work W2, and the work below it is referred to as the work group WG. On the right side of FIG. 6, the robot hand 580 in contact with the upper surface of the work W1 is shown. From the left side of FIG. 6 to the right side of FIG. 6, the fixed camera 40 reads the sorting information displayed on the upper surface of the work W1.

FIG. 7 is an explanatory diagram for explaining an example in which the work W in the work supply box 20 according to the embodiment of the present invention is adsorbed. The left side of FIG. 7 is a side view for explaining an example of a side surface in which the work W in the work supply box 20 according to the embodiment of the present invention is adsorbed.

On the left side of FIG. 7, the robot hand 580 that has started to suck the work W1 by the work suction portions 585c and 585d is shown on the right side of FIG. Here, the work fixing portions 586e to 586h are in a state of holding the work W1 from above. Therefore, in the work W1, the central portion sucked by the work suction portions 585c and 585d is raised upward as compared with the state on the right side of FIG.

The right side of FIG. 7 is a front view for explaining an example of the front view in which the work W in the work supply box 20 corresponding to the left side of FIG. 7 is sucked. As shown on the right side of FIG. 7, the central portion of the work W1 is sucked upward by the work suction portions 585c and 585d, and is higher than the portions held by the work fixing portions 586e to 586h. Further, as shown on the right side of FIG. 7, a space is generated between the work W1 and the work W2. By creating a space between the work W to be held and another work W adjacent to the work W in this way, it is possible to prevent sorting of the work W with the other work W attached.

FIG. 8 is an explanatory diagram for explaining an example in which the held work W according to the embodiment of the present invention is tilted by a predetermined angle and another work W is lowered by a predetermined distance by the work vertical movement device 30. .. On the left side of FIG. 8, a state in which the work W1 held by the robot hand 580 is tilted by a predetermined angle from the state of FIG. 7 is shown. When the work W1 is tilted, the work W1 and the work W2 are separated from the end portion. When only the central part is raised between the two works W, the lower work W may remain attached, but on the other hand, by raising the work W from the end part, the work W is surely separated. It is possible to more reliably prevent other work W from adhering when lifting the entire work W held by the robot hand 580.

On the right side of FIG. 8, it is shown that the work W2 and the WG are lowered by a predetermined distance by the work vertical movement device 30 from the state on the left side of FIG. Here, a large space is generated between the work W1 and the work W2 as compared with the left side of FIG. 8, and the space is surrounded by the side wall of the work supply box 20 in the horizontal plane. As described above, on the right side of FIG. 8, the work W1 and the work W2 are completely released from the adhered state.

When the state on the left side of FIG. 8 changes to the state on the right side of FIG. 8, the work suction portion 585 and the work fixing portion 586 are no longer in the state of holding the work W2 and WG from above, and the work suction portion 585 and the work fixing portion are no longer held. The springs 5855 and 5856 of the 586 are released, respectively. Therefore, the downward force from the springs 5855 and 5856 with respect to the work W1 makes it possible to more reliably drop the work W2 into the work supply box 20. That is, it is possible to prevent the work W from falling to an unexpected place.

Here, a case where the work W2 is attached to the work W1 when the work W1 is tilted will be described with reference to FIG. FIG. 9 shows a state in which another work W is attached to the work W when the held work W according to the embodiment of the present invention is tilted, and the work W is housed in the work supply box 20 by the work vertical movement device 30. It is explanatory drawing for demonstrating an example of a state in which the work W is lowered by a predetermined distance. The left side of FIG. 9 shows a state in which the work W1 held by the robot hand 580 is tilted by a predetermined angle from the state of FIG. 7, but unlike the left side of FIG. 8, the work W2 is attached to the work W1. Is.

On the right side of FIG. 9, it is shown that the work W2 and the WG are lowered by a predetermined distance by the work vertical movement device 30 from the state on the left side of FIG. Here, the work W2 adhering to the work W1 is peeled off and dropped. Here, the work W2 falls into the work supply box 20 because the fall path is regulated by the side wall of the work supply box 20. In this way, even if another work W is halfway attached to the work W when the held work W is tilted, the other work W is more reliably dropped into the work supply box 20. Will be possible. That is, it is possible to prevent the work W from falling to an unexpected place. In addition, in FIGS. 8 and 9, an example in which the inclination direction of the robot hand 580 with respect to the horizontal plane is the same has been described, but if it is possible to peel off the other attached work W (release the adhered state), the inclination direction Is not limited to such an example.

The controller 70 may cause the work sorting robot 50 to perform a tilting operation and the work vertical movement device 30 to perform a descending operation using a control program prepared in advance. The "preliminarily prepared control program" here is a program capable of instructing the work sorting robot 50 and the work up / down movement device 30 at once, for example, the tilting operation and the descending operation, respectively. By performing the tilting operation and the descending operation using the control program prepared in advance, it is possible to sort the work W in a shorter time than when confirming the completion of each operation and moving to the next operation. become. Further, in response to the detection that the work W is tilted by a predetermined angle due to the tilting motion of the work sorting robot 50, the controller 70 moves the work up and down before the work sorting robot 50 performs the next motion of the tilting motion. The lowering operation by the moving device 30 may be performed. By detecting that the work W is tilted at a predetermined angle with respect to the horizontal plane by the tilting motion and then performing the descending motion, the work W is dropped to the outside of the work supply box 20 as compared with the case where the tilting of the work W is not detected. It is possible to sort the work W reliably without any problem.

FIG. 10 is an explanatory diagram for explaining an example after the robot hand 580 according to the embodiment of the present invention holds the work W. On the left side of FIG. 10, it is shown that the robot hand 580 is raised after the robot hand 580 tilts the robot hand 580 at a predetermined angle and the work vertical movement device 30 lowers the work a predetermined distance. After holding the work W1, the work sorting robot 50 transports the work W1 to any of the sorting destination boxes 610 of the sorting destination box group 60. On the left side of FIG. 10, in the work vertical movement device 30, since the work W2 is the target to be sorted next, the vertical movement rods 320a, 320c and 320d are raised, and the upper end portion of the side wall of the work supply box 20 is in the same horizontal plane. Raise the work W2 to the height at which is present. As the climbing distance of the work W2, for example, the work rise detection sensor 80 is used as shown on the right side of FIG. The height is substantially the same as the height of the work W1 (upper end surface of the work supply box 20) on the left side of FIG. In this way, when transporting the work W, by keeping the work W to be transported at substantially the same height, it is not necessary for the work sorting robot 50 to perform an operation according to the height of the work W currently to be sorted. ..

<4. Operation example of work sorting system 1>
Subsequently, an example of the operation flow of the work sorting system 1 according to the embodiment of the present invention will be described with reference to FIGS. 11 and 12.

First, with reference to FIG. 11, an operation example in which the controller 70 uses a control program prepared in advance to perform a tilting operation by the work sorting robot 50 and a lowering operation by the work vertical movement device 30 will be described. To do. FIG. 11 shows a flow chart when the controller 70 according to the embodiment of the present invention uses a control program prepared in advance to perform a tilting operation by the work sorting robot 50 and a descending operation by the work vertical movement device 30. It is a flowchart which shows an example.

First, the fixed camera 40 reads the sorting information displayed on the upper surface of the work W in the work supply box 20 at a predetermined position (step S101). Next, the controller 70 identifies the sorting destination box 610 of the corresponding work W based on the sorting information read in step S101 (step S102). Next, the robot hand 580 of the work sorting robot 50 holds the work W by the work suction portion 585 and the work fixing portion 586 under the control of the controller 70 (step S103). Next, the robot hand 580 tilts the work W held in step S103 by a predetermined angle with respect to the horizontal plane based on the control using the control program prepared in advance by the controller 70 (step S104).

Next, the work vertical movement device 30 lowers the work W housed in the work supply box 20 by a predetermined distance based on the control by the controller 70 using the control program (step S105). Next, the work sorting robot 50 lifts the work W held in step S103 under the control of the controller 70 (step S106), and sets the position of the robot hand 580 according to the sorting destination box 610 specified in step S102, for example. It is moved to the front of the input port of the sorting destination box 610 (step S107). Next, the work sorting robot 50 releases the work W by finishing the suction of the work W by the robot hand 580 and puts the work W in the sorting destination box 610 (step S108). Next, the work vertical movement device 30 raises the work W by a predetermined distance by raising the vertical movement rod 320 (step S109), and the operation ends.

Subsequently, with reference to FIG. 12, the operation when the controller 70 causes the work vertical movement device 30 to perform the descending operation in response to the detection that the work W is tilted by a predetermined angle due to the tilting operation by the work sorting robot 50. An example will be described. FIG. 12 shows a case where the controller 70 according to the embodiment of the present invention causes the work vertical movement device 30 to perform a descending operation in response to detecting that the work W is tilted by a predetermined angle due to the tilting operation by the work sorting robot 50. It is a flowchart which shows an example of the operation flow. Here, steps S201 to S203 and steps S206 to S209 correspond to steps S101 to S103 and steps S106 to S109 of FIG. 11, respectively.

In step S204, when the robot hand 580 performs a tilting operation of tilting the work W held in step S103 by a predetermined angle with respect to the horizontal plane under the control of the controller 70, and it is detected that the work W is tilted by a predetermined angle. (Step S204-Y), the process proceeds to step S205. On the other hand, if it is not detected that the work W is tilted by a predetermined angle (step S204-N), the process returns to step S204. Further, in step S205, the work vertical movement device 30 lowers the work W housed in the work supply box 20 by a predetermined distance under the control of the controller 70 (step S205).

As described above, according to the work sorting system according to the present invention, there are a plurality of work feeders containing the work and a work vertical movement mechanism for raising or lowering the work housed in the work feeder. The work sorting robot includes a work sorting robot for sorting the work, the work sorting robot is provided with a robot hand for holding the work, the work is held by the robot hand, and the work is tilted with respect to a horizontal plane. A work tilting motion is performed to tilt the work by a predetermined angle, and the work vertical movement mechanism performs a lowering motion of lowering the work housed in the work feeder by a predetermined distance when the work sorting robot performs the tilting motion. It becomes possible to prevent the robot from falling to an unexpected place.

Further, if the work sorting system further includes a control means for controlling the tilting motion by the work sorting robot and the descending motion by the work vertical movement mechanism, the tilting motion and the descending motion in the work sorting system can be flexibly linked. It becomes possible to make it.

Further, if the control means is configured to cause the work sorting robot to perform a tilting motion by using a control program prepared in advance and then cause the work vertical movement mechanism to perform a descending motion after the tilting motion, each operation can be performed. It is possible to sort the workpieces in a shorter time than when the next operation is performed after confirming the completion.

Further, the control means causes the work vertical movement mechanism to perform a descending operation in response to the detection that the work held by the robot hand is tilted by a predetermined angle due to the work sorting robot performing the tilting operation. If the configuration is adopted, it becomes possible to more reliably prevent the work from falling to an unexpected place.

Further, at least one vertical movement hole for raising or lowering the housed work is formed on the bottom surface of the work feeder, and the work vertical movement mechanism corresponds to the vertical movement hole, respectively, and supports and raises the work. Alternatively, if at least one work up / down moving rod for lowering is provided and at least one work housed in the work feeder is lowered by a predetermined distance by lowering the work up / down moving rod by a predetermined distance as a lowering operation, the work. Since only the vertical moving holes need to be formed in the supply box, the user of the work sorting system can easily prepare a work supply tool for the system.

Further, the work sorting robot according to the present invention has a work feeding tool in which a work is housed, a work vertical movement mechanism for raising or lowering the work housed in the work feeding tool, and a work sorting machine for sorting a plurality of works. The work sorting robot that constitutes a work sorting system including a robot, includes a robot hand that holds the work, holds the work by the robot hand, and tilts the work by tilting the robot hand. When the tilting motion is performed, the work vertical movement mechanism performs a descending motion of lowering the work housed in the work feeder by a predetermined distance. Therefore, it is possible to prevent the work from falling to an unexpected place.

1 Work sorting system 10 Conveyor 20 Work supply box 30 Work vertical movement device 310 Device main body 320 Work vertical movement rod 330 Bottom plate 40 Fixed camera 50 Work sorting robot 510 Stand part 520 Base part 530 First joint part 540 Front and rear movement part 550 2nd joint 560 Vertical movement 570 3rd joint 580 Robot hand 590 Suction hose 60 Sorting box group 70 Controller 80 Work lift detection sensor

Claims (6)

A work sorting system including a work feeder containing a work, a work vertical movement mechanism for raising or lowering the work housed in the work feeder, and a work sorting robot for sorting the plurality of works.
The work sorting robot
A robot hand for holding the work is provided.
The work is held by the robot hand, and the work is tilted by tilting the robot hand to tilt it at a predetermined angle with respect to the horizontal plane.
The work vertical movement mechanism is
A work sorting system characterized in that when the tilting operation is performed by the work sorting robot, the work housed in the work feeder is lowered by a predetermined distance. The work sorting system according to claim 1, further comprising a control means for controlling the tilting operation by the work sorting robot and the lowering operation by the work vertical movement mechanism. The work sorting system according to claim 2, wherein the control means causes the work sorting robot to perform the tilting motion and the work vertical movement mechanism to perform the descending motion by using a control program prepared in advance. .. The control means causes the work vertical movement mechanism to perform the tilting operation in response to the detection that the work held by the robot hand is tilted by a predetermined angle by causing the work sorting robot to perform the tilting operation. The work sorting system according to claim 2, wherein a descending motion is performed. The work feeder is
At least one vertical moving hole for raising or lowering the accommodated work is formed on the bottom surface.
The work vertical movement mechanism is
A work vertical movement rod corresponding to each of the vertical movement holes is provided, and at least one work vertical movement rod for supporting the work and raising or lowering the work is provided.
According to any one of claims 1 to 4, as the lowering operation, at least one of the works accommodated in the work feeder is lowered by a predetermined distance by lowering the work vertical moving rod by a predetermined distance. Described work sorting system. The work sorting system including a work feeding tool containing a work, a work vertical movement mechanism for raising or lowering the work housed in the work feeding tool, and a work sorting robot for sorting the plurality of works is configured. A work sorting robot
A robot hand for holding the work is provided.
The work is held by the robot hand, and the work is tilted by tilting the robot hand to tilt it at a predetermined angle with respect to the horizontal plane.
A work sorting robot characterized in that when the tilting motion is performed, the work vertical movement mechanism performs a descending motion of lowering the work housed in the work feeder by a predetermined distance.

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