JP2022101793A - Hand device and article transfer device - Google Patents

Abstract

To provide a hand device capable of coping with holding of many kinds of articles.SOLUTION: A hand device 20 holds a plurality of articles 12 each having a first face 12a being a face including an engaged part 28 and a second face 12b being a face crossing the first face 12a. The hand device 20 has: a first movement body 31 provided on a base 30 and moving in a first direction x; and a plurality of grip parts 50 provided on the first movement body 31 and arranged in a second direction crossing the first direction x. Each grip part 50 has a first pressing part 51 moving in a third direction z crossing the first direction z and the second direction, and a second pressing part 53 moving in the third direction z and arranged at an interval between itself and the first pressing part 51. In each of the plurality of grip parts 50, the first pressing part 51 moved in the third direction z presses the second face 12b of the article 12, the second pressing part 53 presses the engaged part 28 of the article 12, and the article 12 is gripped by the first pressing part 51 and the second pressing part 53.SELECTED DRAWING: Figure 3

Description

The present invention relates to a hand device for holding an article and an article transfer device provided with the hand device.

Conventionally, for example, the hand device described in Patent Document 1 below is known.

In this hand device, a moving body that is movable with respect to the base moves forward toward the article, and a suction pad provided on the moving body sucks and lifts the side surface of the article, and this moving body moves forward. Moves backward in the opposite direction, pulls up the article adsorbed by the suction pad on the support portion fixed to the base, and holds the article on the support portion.

Japanese Unexamined Patent Publication No. 10-87074

In such a hand device, the side surface of the article is sucked and held, but holding by suction may not be suitable depending on the articles having different dimensions and shapes.

The present invention has been made in view of such a point, and an object of the present invention is to provide a hand device and an article transfer device capable of holding a wide variety of articles.

The hand device of the present invention is a hand device that holds a plurality of articles having a first surface that is a surface including an engaged portion and a second surface that is a surface that intersects the first surface, and is a base. A moving body provided and moving in the first direction and a plurality of gripping portions provided on the moving body and arranged in the second direction intersecting the first direction are provided, and each of the gripping portions is described. A first pressing portion that moves in a third direction that intersects the first direction and the second direction, and a second pressing portion that is arranged at a distance between the first pressing portion and moves in the third direction. The moving body that has moved in the first direction with the base arranged on the second surface side of the article approaches or comes into contact with the first surface of the article, and the plurality of said articles. In each of the grip portions, the first pressing portion moved in the third direction presses the second surface of the article, and the second pressing portion presses the engaged portion of the article. The article is gripped by the first pressing portion and the second pressing portion.

According to the hand device of the present invention, it is possible to hold a wide variety of articles.

It is a front view of the article transfer stem including the article transfer apparatus using the hand apparatus which shows one Embodiment of this invention. Same as above, the article handled by the hand appliance is shown, (a) is a side view along the long side of the plan view of the article, and (b) is a side view along the short side of the plan view of the article. It is the front view of the hand device of the same as above. FIG. 3 is a cross-sectional view taken along the line AA of FIG. 3 of the same hand device. FIG. 3 is a cross-sectional view taken along the line BB of FIG. 3 of the same hand device. Same as above It is a plan view of the hand device. It is explanatory drawing which shows the article taking-out method using the same hand device in the order of (a)-(c). It is explanatory drawing which shows the article taking-out method following FIG. 7 in the order of (a)-(c). It is explanatory drawing which shows the article taking-out method following FIG. 8 in the order of (a), (b). FIG. 3 is a cross-sectional view taken along the line AA of FIG. 3 showing an example of gripping articles of different heights of the same hand device.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows an article transfer system 10. The article transfer system 10 is, for example, a depalletizing system that takes out a predetermined number of articles 12 stacked on a pallet 11 and transfers them to a predetermined transfer location.

The article transfer system 10 is an article transfer device 15 for taking out and transferring the article 12, an article supply unit 16 to which the article 12 is supplied by the pallet 11, and a transfer place for transferring the article 12 taken out by the article transfer device 15. It is equipped with an article transfer unit 17.

The article transfer device 15 includes a hand device 20 capable of holding a plurality of articles 12 at the same time, and a moving device 21 for moving the hand device 20. In the present embodiment, the mobile device 21 is an articulated robot, and includes a base 22 and a robot arm 23 rotatably provided on the base 22. The robot arm 23 has a plurality of rotatable shafts, and a hand device 20 is attached to the tip thereof. The moving device 21 is not limited to the articulated robot, and may be, for example, an orthogonal moving device composed of three orthogonal slide axes.

Further, the article supply unit 16 is supplied with a pallet 11 in which a plurality of articles 12 are stacked, and the article 12 on the pallet 11 is positioned and arranged at a predetermined position. The article supply unit 16 uses a pallet conveyor that carries in a pallet (actual pallet) 11 in which a plurality of articles 12 are stacked and carries out an empty pallet (empty pallet) 11 from which the article 12 is taken out. ..

Further, the article transfer unit 17 transfers the article 12 taken out by the article transfer device 15. The article transfer unit 17 uses a station conveyor that receives the article 12 to be transferred by the article transfer device 15 and transports it to a predetermined transport location.

Then, as shown in FIG. 2, the article 12 is a rectangular box-shaped container having a rectangular shape in a plan view, which allows the stored items to be stored inside. The article 12 may have at least a container body 26 having an open upper surface side, and may further have a lid member that opens and closes the upper surface side of the container body 26. The container body 26 may be provided with an upper frame 27 on the upper peripheral edge portion and a handle hole for finger hooking on the side surface thereof. The article 12 may be, for example, a folding container that can be folded and made compact when not in use. Further, the article 12 has an engaged portion 28 that allows a part of the hand device 20 to be engaged from below. The engaged portion 28 is composed of an upper frame 27 projecting laterally from the side surface of the article 12, an edge portion (for example, an upper edge portion) of a handle hole provided on the side surface, a rib, and the like. In the present embodiment, in the standing posture of the article 12, the side surface along the longitudinal direction in the plan view is the first surface 12a, which is the surface including the engaged portion 28, and intersects the first surface 12a. The upper surface side, which is a surface, is the second surface 12b. Further, although a protrusion is partially projected on the upper surface side of the article 12, the second surface 12b is assumed to include this protrusion and the like.

As shown in FIG. 1, the articles 12 stacked on the pallet 11 are arranged in a plurality of stages, for example, two in the longitudinal direction of the article 12 in the plan view and three in the lateral direction. It is piled up in. Articles 12 stacked in a plurality of stages are stacked in a single row in the vertical direction. The articles 12 adjacent to each other in the horizontal direction of each stage may be in contact with each other or may be in a slightly separated state.

Since the side surface of such an article 12 has an uneven shape or the side surface has a folded structure, it may not be suitable to hold the side surface by adsorption, and the upper surface side is opened or opened upward. Since there is a lid, it may not be suitable to hold the upper surface side by suction, but the hand device 20 of the present embodiment can also hold such an article 12.

Further, FIG. 1 shows a case where articles 12 having the same dimensions and shapes are stacked on the pallet 11, but there are cases where various kinds of articles 12 having different dimensions and shapes are mixed on the pallet 11 or the pallet. Articles 12 of different types may be stacked for each 11. When many types of articles 12 are mixed on the pallet 11, the same types are stacked in the vertical direction. The hand device 20 of the present embodiment can also hold such a wide variety of articles 12.

Next, FIGS. 3 to 6 show the configuration of the hand device 20. The hand device 20 can hold a plurality of articles 12 arranged at the same time, and in the present embodiment, it is possible to hold two articles 12 arranged at the same time. The hand device 20 includes a base 30, a first moving body 31, a pair of second moving bodies 32, and a third moving body 33, which are movable bodies provided on the lower surface side of the base 30, respectively. ..

The first moving body 31 and the third moving body 33 are movable in the first direction x which is the front-back direction with respect to the base 30, and the pair of second moving bodies 32 are integrated with the first moving body 31 in the first direction x. It is possible to move in the second direction y, which is the left-right direction intersecting with the first direction x. The vertical direction, which is the crossing direction intersecting the first direction x and the second direction y, is referred to as the third direction z. Further, as shown in FIG. 3, the first moving body 31 is arranged in the central region of the first direction x with respect to the base 30, and the second moving body 32 is arranged on one end side of the first direction x. The third moving body 33 is arranged on the other end side of one direction x. Hereinafter, the movement of the first moving body 31 and the second moving body 32 toward the article 12 is advanced and the direction is forward, and the movement of the first moving body 31 and the second moving body 32 away from the article 12 is retracted. The direction is called the backward direction.

The base 30 includes a quadrilateral frame-shaped frame 37 having a frame portion 35 arranged on both sides of the first direction x and a plurality of frame portions 36 provided along the first direction x between the frame portions 35 on both sides thereof. , A connecting portion 38 provided on the frame 37 is provided. The center of the connecting portion 38 is attached to and supported by the support shaft 23a at the tip of the robot arm 23. On the lower surface side of each frame portion 36, a plurality of guide rails 39 that movably support the moving bodies 31 and 32 are arranged along the first direction x.

Further, the first moving body 31 is divided into a plurality of pieces in the second direction y, and each of the articles 12 can be individually held. In the present embodiment, the first moving body 31 has a split structure in which two are arranged side by side in the second direction y, and can hold two articles 12 arranged side by side. The two first moving bodies 31 have a substantially common structure. The first moving body 31 may have an integrated structure instead of a divided structure.

The first moving body 31 includes a first moving portion 41 that can move in the first direction x along the guide rail 39. The first moving portion 41 is provided in a flat plate shape arranged in parallel with the lower surface side of the base 30, and a plurality of guide blocks 42 sliding in the first direction x along the guide rail 39 are attached to the upper surface side. There is. The first moving unit 41 moves in the first direction x by the first palm cylinder 43, which is a moving body driving unit attached to the base 30. The first palm cylinder 43 can use a cylinder with a brake (with a lock) as a moving drive unit with a stop mechanism that operates by air pressure and is fixed in a non-moving state with respect to an external force at a predetermined stop position. .. A cylinder with a brake is, for example, a device capable of applying a brake to a rod extending or contracting from the cylinder body at all stroke positions by switching between air exhaust and supply to the brake as a stop mechanism. Is configured so that the brake is activated when the solenoid valve installed in the air flow path is switched to the exhaust side, and conversely, the brake is released when the solenoid valve is switched to the air supply side.

The first moving body 31 includes a first palm 44 provided in the first moving portion 41. The first palm 44 includes an outer palm 45 which is a moving member attached to the first moving portion 41, and an inner palm 46 attached to the front side of the outer palm 45. The front side of the palms 45 and 46 is a surface facing the first surface 12a of the article 12, and is arranged so as to intersect the first direction x. The outer palm 45 is provided in a substantially quadrangular flat plate shape, and the upper side is fixed to the lower surface side of the first moving portion 41 so as to be arranged substantially perpendicular to the lower surface of the first moving portion 41. The inner palm 46 is provided in a flat plate shape having notches 47 and 48 at the top and bottom of the center in the width direction, and is attached at a position separated from the front side of the outer palm 45 with respect to the outer palm 45.

A plurality of gripping portions 50 for gripping the article 12 are arranged side by side in the second direction y on the first moving body 31. That is, the grip portion 50 is arranged on each of the two first moving bodies 31.

The grip portion 50 includes a first pressing portion 51, a first pressing driving portion 52 that moves the first pressing portion 51 in the vertical direction, which is the third direction z, a second pressing portion 53, and the second pressing portion 53. It is provided with a second pressing drive unit 54 that moves in the vertical direction. Two sets of the first pressing unit 51 and the first pressing driving unit 52 are used, and are arranged at both sides of the palms 45 and 46 in the left-right width direction. A set of the second pressing unit 53 and the second pressing driving unit 54 is used and is arranged at the center position in the left-right width direction of the palms 45 and 46. The first pressing portion 51 presses the second surface 12b of the article 12 downward, the second pressing portion 53 presses the engaged portion 28 of the article 12 upward, and the first pressing portion 51 and the second pressing portion 53 Presses and grips the upper frame 27 of the article 12 from above and below. If there is a lid member, the lid member may be pressed at the same time as the upper frame 27.

The first pressing drive unit 52 is arranged on the front side, which is the surface of the outer palm 45 facing the first surface 12a of the article 12, and is fixed in a state of being sandwiched between the outer palm 45 and the inner palm 46. There is. As the first pressing drive unit 52, an air cylinder operated by air pressure is used, the cylinder body is fixed between palms 45 and 46, and the first pressing unit 51 is attached to the tip of a rod protruding upward from the cylinder body. ing. The first pressing portion 51 is provided wide in the width direction of the palms 45 and 46, is arranged in the upper region of the inner palm 46 and can move in the vertical direction, and the tip portion thereof is larger than the front side of the inner palm 46. It is projected forward. The tip of the first pressing portion 51 is provided in the shape of a hook protruding downward.

The second pressing drive unit 54 is fixed to the front surface side of the outer palm 45. An air cylinder operated by air pressure is used for the second pressing drive unit 54, the cylinder body is fixed to the front side of the outer palm 45, and the second pressing unit 53 is attached to the tip of a rod protruding downward from the cylinder body. Has been done. The second pressing portion 53 is provided wide in the width direction of the palms 45 and 46, is arranged in the upper area of the inner palm 46 and can move in the vertical direction, and the tip portion thereof is larger than the front side of the inner palm 46. It is projected forward. The second pressing portion 53 is located below the first pressing portion 51, is arranged at a vertical interval from the first pressing portion 51, and enters the notch 47 of the inner palm 46 when descending. As a result, it is possible to descend to a predetermined descending position.

The first pressing drive unit 52 and the second pressing drive unit 54 are configured so that the pressing force is balanced while the article 12 is gripped by the first pressing unit 51 and the second pressing unit 53, and the article 12 of different types. It is said that it can handle the difference in gripping position. At least the second pressing drive unit 54 uses the cylinder with a brake described above. The cylinder with a brake described above may also be used for the first pressing drive unit 52.

The first moving body 31 detects that the distance between the front side of the first moving body 31, that is, the front side of the inner palm 46 and the first surface 12a of the article 12 has become a preset distance. The detection unit 55 is arranged. The article detection unit 55 is arranged so as to face the notch 48 on the lower side of the inner palm 46, and the detection light 55a is projected toward the first surface 12a of the article 12 and receives the reflected light through the notch 48. A sensor or the like that measures the distance to the article 12 is used. The article detection unit 55 detects the article 12 at a position slightly before or close to the front surface of the inner palm 46 in contact with the side surface of the article 12.

Further, the pair of left and right second moving bodies 32 are arranged in front of the front side of the inner palm 46, and are in the second direction y so as to approach and separate from each other with respect to the center of the second direction y of the hand device 20. It is opened and closed. The second moving body 32 is attached to the first moving portion 41 of each first moving body 31, and moves integrally with the first moving body 31 in the first direction x. A plurality of guide rails 60 are provided on the lower surface of the first moving portion 41 along the second direction y.

The second moving body 32 includes a second moving part 61 that can move in the second direction y along a plurality of guide rails 60 installed in the first moving part 41. A plurality of guide blocks 62 that move in the second direction y along the guide rail 60 are attached to the second moving portion 61. The second moving unit 61 moves in the second direction y by the second palm cylinder 63, which is a second moving body driving unit attached between the second moving unit 61 and the first moving unit 41. As the second palm cylinder 63, the cylinder with a brake described above is used.

The second moving body 32 includes a second palm 64 provided in the second moving portion 61. The second palm 64 is provided in a flat plate shape, and the upper side thereof is fixed to the second moving portion 61 and protrudes downward from the second moving portion 61. The second palm 64 is arranged so that the surfaces of the second palm 64 intersect in the second direction y and intersect with the front side of the palms 45 and 46 of the first moving body 31. Then, the pair of left and right second palms 64 facing each other sandwich and hold the two articles 12 from the left and right directions. A friction member such as a friction sheet for holding the article 12 is attached to the surfaces of the second palm 64 facing each other.

A pair of left and right second palms 64 is equipped with an article detection unit 65 that detects the position of the upper surface of the article 12 when the hand device 20 descends from above the article 12 and moves to a take-out position for holding the article 12. There is. The article detection unit 65 uses a photoelectric switch that detects the article 12 by transmitting and receiving the detection light 65a between the pair of left and right second palms 64 and blocking the optical axis of the detection light 65a by the article 12. .. The article detection unit 65 is arranged at two locations having different heights in the vertical direction, and may be used to decelerate by shading from the upper sensor and stop by shading from the lower sensor, or the article to be processed. At least one of the 12 height types may be used.

Further, the third moving body 33 includes a third moving portion 70 that can move in the first direction x along the guide rail 39 of the base 30. A plurality of guide blocks 71 that slide in the first direction x along the guide rail 39 are attached to the third moving portion 70. The third moving unit 70 moves in the first direction x by the fork cylinder 72, which is a third moving body driving unit attached to the base 30.

The third moving body 33 is a plurality of forks 73 that are support portions that can support the article 12, and an elevating drive unit that supports the forks 73 so as to be movable in the vertical direction with respect to the third moving portion 70. It is equipped with a cylinder 74. The fork 73 is formed in a substantially L shape, is arranged at a predetermined interval in the second direction y, the base end portion is attached to the elevating portion 75 that is elevated and lowered by the elevating cylinder 74, and the tip side is first moved. It protrudes substantially horizontally toward the lower part of the body 31.

In the elevating cylinder 74, the cylinder body is attached to the third moving portion 70, and the elevating portion 75 is attached to the tip of a rod protruding downward from the cylinder body. As the elevating cylinder 74, the cylinder with a brake described above is used. The elevating cylinder 74 has a guide structure that guides the elevating part 75 to the third moving part 70 so as to be able to move up and down.

The third moving body 33 is provided with an article detection unit 76 for detecting the article 12 on the upper surface side of the horizontal portion of the fork 73. The article detection unit 76 uses a photoelectric sensor or the like that projects the detection light 76a toward the tip of the fork 73 and receives the reflected light to detect the article 12. When the article detection unit 76 detects the article 12, the elevating cylinder 74 is stopped from rising and the brake is operated to fix the position of the cylinder rod.

Further, the article transfer device 15 includes a control unit that controls the article transfer device 15. The control unit inputs detection signals from each axis control unit that controls each axis motor that drives each axis of the moving device 21, and the article detection units 55, 65, 76 of the hand device 20, and each cylinder 43, It is equipped with a hand control unit that controls 63, 72, 74 and each pressing drive unit 52, 54.

Next, an article taking-out method using the hand device 20 of the article transfer device 15 controlled by the control unit will be described with reference to FIGS. 7 to 9.

When the pallet 11 on which the articles 12 are stacked is supplied to the article supply unit 16, the article transfer device 15 starts the operation of taking out the articles 12 on the pallet 11. The article transfer device 15 executes an operation of simultaneously taking out two articles 12 arranged in order from the top of the articles 12 stacked on the pallet 11.

FIG. 7 (a) shows step 1 of the article taking-out method. The article transfer device 15 controls the moving device 21 to move the hand device 20 based on the information on the type of the article 12 and the loading status of each pallet 11 acquired in advance by the program executed by the control unit.

The moving device 21 arranges the base 30 of the hand device 20 on the second surface 12b side of the article 12, and moves the two hand devices 20 to the upper area of the extraction position of the article 12 to be taken out, and then hands. The device 20 is lowered, and the lowering of the hand device 20 is stopped at a position where the article detection unit 65 of the hand device 20 detects the upper side of the article 12. The stop position of the hand device 20 is the take-out position of the article 12.

The position of the article 12 may be specified from the image pickup information obtained by capturing the actual loading status of the article 12, and the hand device 20 may be moved to the extraction position of the article 12 to be taken out, or the actual article 12 is detected. The hand device 20 may be moved to the extraction position of the article 12 to be extracted by the detection signal from the sensor.

In the hand device 20 when moving to the take-out position, the first moving body 31 and the second moving body 32 are integrally moved backward with respect to the base 30, and the first pressing portion 51 of the first moving body 31 is moved upward. At the same time, the second pressing portion 53 is moved downward, and the pair of left and right second palms 64 of the second moving body 32 are moved apart from each other and are at the origin positions. Further, the fork 73 is in the origin position where the fork 73 is moved backward and upward with respect to the base 30.

At the take-out position of the hand device 20, the first palms 44 of the first moving body 31 are arranged facing each other with a distance from the first surface 12a of the article 12 in which two first palms 44 are lined up, and a pair of left and right second moving bodies 32. The second palms 64 of the above are arranged facing each other at a distance on the left and right sides of the article 12 in which two of them are lined up. In each first palm 44, the front surface side of the inner palm 46 faces the first surface 12a of the article 12, and the first pressing portion 51 protruding from the front surface side of the inner palm 46 is the upper surface side of the article 12. The second pressing portion 53 is located above the two surfaces 12b and below the engaged portion 28 of the article 12.

Subsequently, FIG. 7B shows step 2 of the article removal method. The operation of the first palm cylinder 43 causes the first moving body 31 to move forward with respect to the base 30. When the article detection unit 55 detects that the distance from the first surface 12a of the article 12 has reached a preset distance during the forward movement of the first moving body 31, the first palm cylinder 43 is stopped and the second palm cylinder 43 is stopped. 1 The forward movement of the moving body 31 is stopped, and the first moving body 31 is fixed at the stop position by stopping the first palm cylinder 43 and operating the brake. At this time, the second moving body 32 is also moving forward together with the first moving body 31.

At the stop position of the first moving body 31, the front surface side of the inner palm 46 approaches or comes into contact with the first surface 12a of the article 12, and the first pressing portion 51 is arranged to face the second surface 12b of the article 12. The second pressing portion 53 is arranged to face the lower side of the engaged portion 28 of the article 12.

Since the first moving body 31 is attached to two of the two lined up articles 12 corresponding to each of the two lined up articles 12, even if the positions of the first surface 12a of the two lined up articles 12 are different, the second of the two lined up articles 12 Each moves to a position corresponding to the difference in the position of the one surface 12a, and is arranged at an appropriate position so that each article 12 can be gripped by the first pressing portion 51 and the second pressing portion 53 of each first moving body 31. To.

Subsequently, FIG. 7 (c) shows step 3 of the article taking-out method. By the operation of the second palm cylinder 63, the second palm 64 of the pair of left and right second moving bodies 32 moves closer to each other, and the pair of left and right second palm 64 sandwiches and holds the two side-by-side articles 12. In a state where two side-by-side articles 12 are sandwiched between a pair of left and right second palm 64s, one second palm cylinder 63 has moved to the extended end, and air supply to the other second palm cylinder 63 continues. Will be done. As a result, the pressing force of the other second palm 64 toward one second palm 64 is maintained, so that the gap between the pair of left and right second palm 64s is prevented from widening, and the two articles 12 side by side are stable. And be held.

Subsequently, FIG. 8A shows step 4 of the article taking-out method. In each grip portion 50 of the first moving body 31, the first pressing portion 51 is moved downward by the first pressing driving portion 52, and the first pressing portion 51 is brought into contact with the second surface 12b of the article 12 and pressed downward. .. The first pressing drive unit 52 is an air cylinder operated by air pressure, and when the pressing force for pressing the second surface 12b of the article 12 downward by the first pressing unit 51 reaches a preset predetermined pressing force. By letting air escape through the pressure reducing valve, the second surface 12b of the article 12 is pressed with a predetermined pressing force.

Subsequently, FIG. 8B shows step 5 of the article taking-out method. In each grip portion 50 of the first moving body 31, the second pressing portion 53 is moved upward by the second pressing driving portion 54, and the second pressing portion 53 is brought into contact with the engaged portion 28 of the article 12 and pressed upward. do. The second pressing drive unit 54 is an air cylinder operated by air pressure, and the pressing force for pressing the engaged portion 28 of the article 12 upward by the second pressing unit 53 reaches a predetermined pressing force set in advance. Then, the air is released by the pressure reducing valve to press the engaged portion 28 of the article 12 with a predetermined pressing force.

Then, the upper frame 27 of the article 12 is pressed and gripped from above and below by the first pressing portion 51 and the second pressing portion 53, respectively. The first pressing portion 51 and the second pressing portion 53 press the upper frame 27 of the article 12 from the vertical direction, respectively, and the pressing force is balanced in the gripped state. Therefore, depending on the type of the article 12. Even if the height position of the second surface 12b and the height position of the engaged portion 28 are different, and even if the width between the second surface 12b and the engaged portion 28 is different, these various types of articles 12 It can be gripped, and even if the types of the two articles 12 are different, they can be gripped respectively. For example, as shown in the example of FIG. 10, when the heights of the second surface 12b of the two articles 12 are different, the heights of the first pressing portion 51 and the second pressing portion 53 are different in each of the grip portions 50. Each article 12 is gripped from the vertical direction with a predetermined pressing force at the vertical position, and the pressing force is balanced in the gripped state. In the case of the example of FIG. 10, the upper article detection unit 65 of the upper and lower article detection units 65 is used based on the information on the type and loading status of the article 12 acquired in advance, and the article 12 is used. Detects the height position of the second surface 12b.

Then, when the article 12 is gripped by the first pressing unit 51 and the second pressing unit 53, the operations of the first pressing drive unit 52 and the second pressing drive unit 54 are stopped. At least the second pressing drive unit 54 uses a cylinder with a brake, and when the balance between the pressing state of the first pressing unit 51 and the second pressing unit 53 in the state where the article 12 is gripped is lost, the brake is activated to operate the brake. 2 Fix the pressing part 53 to the stop position. The first pressing drive unit 52 may use a cylinder with a brake, but even when the cylinder with a brake is not used, the first pressing unit 51 and the first pressing unit 51 can be used by maintaining the pressing pressure of the first pressing unit 51. 2 It is possible to maintain the grip of the article 12 by the pressing portion 53.

Further, the timing at which the gripping of the article 12 is completed by the operation of the first pressing unit 52 and the second pressing driving unit 54 is within a predetermined time set in advance from the start of lowering of the first pressing unit 51. This predetermined time is the time during which the first pressing portion 51 and the second pressing portion 53 can grip the articles 12 having different types of gripped positions from the start of movement, and when gripping a plurality of articles 12, they move. When a predetermined time has elapsed from the start, a plurality of articles 12 are gripped all at once.

Subsequently, FIG. 8 (c) shows step 6 of the article taking-out method. The hand device 20 is moved up by the moving device 21, and two articles 12 lined up are lifted at the same time. At the same time, the fork 73 is lowered by the elevating cylinder 74.

When the hand device 20 is moved upward, a part of the mass of the article 12 is applied to the grip portion 50 of the first palm 44, and the article 12 is lifted in a cantilevered state. A force in the direction may be applied. At this time, since the first palm 44 is fixed by the first palm cylinder 43, the first palm 44 does not move with respect to the base 30, and the article 12 is displaced or the article 12 is the first palm. It is possible to prevent the 44 from falling off from the grip portion 50.

Further, a part of the mass of the article 12 is applied to the second pressing portion 53 that supports the engaged portion 28 of the article 12 from below, but the second pressing portion 53 can be fixed by the second pressing drive portion 54. The second pressing portion 53 does not descend with respect to the first palm 44, and can prevent the article 12 from being displaced or the article 12 from falling off from the grip portion 50 of the first palm 44.

Subsequently, FIG. 9A shows step 7 of the article taking-out method. The fork 73 is moved forward by the fork cylinder 72, and the fork 73 is placed below the article 12 lifted by the hand device 20.

Subsequently, FIG. 9B shows step 8 of the article removal method. The fork 73 is moved up by the elevating cylinder 74. When the article detection unit 76 provided on the fork 73 detects the article 12, the elevating cylinder 74 is stopped to stop the ascending movement of the fork 73, and the fork 73 is fixed to the stop position by the elevating cylinder 74.

In this way, the hand device 20 can simultaneously hold two articles 12 arranged side by side even if the articles 12 have different types such as dimensions and shapes.

Then, the hand device 20 holding the article 12 is moved to the article transfer unit 17 by the moving device 21, and the article 12 is transferred from the hand device 20 to the station conveyor. To transfer the article 12, the fork 73 is lowered and then moved backward on the station conveyor, the first pressing portion 51 is moved upward, and the second pressing portion 53 is moved downward to release the grip of the article 12, and the pair is left and right. The second palm 64 of the above is moved away from each other to release the pinching of the two articles 12 lined up, and the first moving body 31 is moved backward to move the hand device 20 away from the article 12 and move the article 12 on the station conveyor. Reprinted in.

As described above, according to the hand device 20 of the present embodiment, even articles 12 having different types such as dimensions and shapes can be held.

That is, in a state where the first moving body 31 is close to or in contact with the first surface 12a of the article 12, the first pressing portion 51 presses the second surface 12b of the article 12, and the second pressing portion 53 covers the article 12. Since the engaging portion 28 is pressed and the article 12 is gripped by the first pressing portion 51 and the second pressing portion 53, even articles 12 having different types such as dimensions and shapes can be held.

Moreover, a plurality of articles 12 can be gripped at the same time, and articles 12 having different types such as dimensions and shapes can be held at the same time.

Further, the first palm cylinder 43 for moving the first moving body 31 can be fixed in a non-moving state with respect to an external force in a state where the first moving body 31 is close to or in contact with the first surface 12a of the article 12. Therefore, when the article 12 is lifted by the hand device 20, it is possible to prevent the first moving body 31 from moving with respect to the base 30 so that the position of the article 12 is displaced or dropped.

Further, since the first pressing drive unit 52 and the second pressing drive unit 54 are arranged on the front surface side of the outer palm 45 on the first moving body 31, the first pressing unit 51 and the second pressing unit 51 are arranged in front of the outer palm 45. 2 Pressing portions 53 can be arranged, and the outer palm 45 does not need to be provided with grooves or holes in which the first pressing portion 51 and the second pressing portion 53 project forward, which improves the manufacturability of the outer palm 45 and improves the outer palm. The strength of the palm 45 can be ensured.

Further, since the article 12 is pressed by the first pressing portion 51 and the second pressing portion 53 from the vertical direction and the pressing force is balanced in the gripped state, the second pressing portion depends on the type of the article 12. Even if the height position of the surface 12b and the height position of the engaged portion 28 are different, and even if the width between the second surface 12b and the engaged portion 28 is different, it is possible to grip these various types of articles 12. In addition to being able to handle it, it is possible to hold a plurality of articles 12 at the same time even if they are of different types.

Further, in a state where the base 30 is arranged with reference to the position of the second surface 12b of the relatively protruding article 12 detected by the article detecting portion 65, the first pressing portion 51 is provided in each of the plurality of grip portions 50. And the second pressing portion 53 are located so as to sandwich the second surface 12b of each article 12 and the engaged portion 28, and the first pressing portion 51 and the second pressing portion 53 that have moved for a predetermined time from the start of movement are plurality. Since the articles 12 are gripped all at once, it is possible to handle gripping a wide variety of articles 12, and even if a plurality of articles 12 are lined up in different types, they can be gripped at the same time.

Even in the case of the article 12 whose upper surface side is the first surface 12a including the engaged portion 28 and the side surface is the second surface 12b, it is possible to hold the article 12 by changing the direction of the hand device 20 by 90 °. Will be.

Further, the cylinder with a brake used for each cylinder may be a device capable of stopping and fixing the rod, and an appropriate configuration can be appropriately selected.

Further, the hand device 20 is not limited to holding two articles 12 arranged side by side, but may hold three or more articles 12 arranged side by side. In this case, the hand device 20 may include three or more grip portions 50.

Further, the hand device 20 may include one grip portion 50 and hold one article 12. In this case as well, it is possible to handle the holding of a wide variety of articles 12.

Further, the hand device 20 can also be used for palletizing in which a plurality of articles 12 arranged by a station conveyor or the like are taken out and transferred to a pallet 11 which is a transfer destination. Therefore, the hand appliance 20 can be used for various operations for the purpose of taking out the article 12, regardless of the purpose of the transfer operation including palletizing and depalletizing.

Although the embodiments of the present invention and variations thereof have been described above, various combinations of configurations, omissions, replacements, and changes can be made.

12 Goods
12a first side
12b second side
15 Goods transfer device
20 hand device
21 Mobile device
28 Engaged part
30 base
31 The first mobile body that is a mobile body
43 First palm cylinder, which is a mobile drive unit
45 Outer palm, which is a moving member
50 Grip
51 First pressing part
52 First pressing drive unit
53 Second pressing part
54 Second pressing drive unit
65 Article detector x 1st direction y 2nd direction z 3rd direction

Claims (7)

A hand device for holding a plurality of articles having a first surface including an engaged portion and a second surface which is a surface intersecting the first surface.
A moving body provided on the base and moving in the first direction,
The moving body is provided with a plurality of grip portions provided in the moving body and arranged in a second direction intersecting the first direction.
Each of the grip portions is arranged with a space between the first pressing portion moving in the third direction intersecting the first direction and the second direction and the first pressing portion, and the third direction. Has a second pressing part that moves to
The moving body that has moved in the first direction with the base arranged on the second surface side of the article approaches or contacts the first surface of the article, and each of the grip portions thereof. In the first pressing portion moved in the third direction, the second pressing portion presses the second surface of the article, and the second pressing portion presses the engaged portion of the article, so that the first pressing portion and the first pressing portion are pressed. A hand device characterized in that the article is gripped by the second pressing portion. The moving body is moved in the first direction, and the moving body that has moved in the first direction can be fixed in a non-moving state with respect to an external force at a position where the moving body approaches or comes into contact with the first surface of the article. The hand device according to claim 1, further comprising a moving body driving unit. The grip portion further includes a first pressing drive portion for moving the first pressing portion and a second pressing driving portion for moving the second pressing portion.
The first or second claim, wherein the moving body has a moving member in which the first pressing drive unit and the second pressing drive unit are arranged on a surface of the article facing the first surface. Hand device. The hand according to claim 3, wherein the first pressing drive unit and the second pressing drive unit balance the pressing force while the article is gripped by the first pressing unit and the second pressing unit. Device. Further, an article detecting unit for detecting the position of the second surface, which is relatively protruding from the plurality of articles having different positions of the second surface, is provided.
In a state where the base is arranged with reference to the position of the relatively protruding second surface detected by the article detection unit, the first pressing portion and the second pressing portion are placed in each of the plurality of grip portions. The first pressing portion and the second pressing portion, which are located so as to sandwich the second surface of each of the articles and the engaged portion and have moved for a predetermined time from the start of movement, simultaneously hold a plurality of the articles. The hand device according to any one of claims 1 to 4, wherein the hand device is gripped. A hand device for holding an article having a first surface including an engaged portion and a second surface that intersects the first surface.
A moving body provided on the base and moving in the first direction,
It is provided with a grip portion provided on the moving body, and is provided with a grip portion.
The grip portion includes a first pressing portion that moves in an intersecting direction intersecting the first direction and a second pressing portion that is arranged at a distance between the first pressing portion and moves in the intersecting direction. Have and
The moving body that has moved in the first direction with the base arranged on the second surface side of the article approaches or contacts the first surface of the article, and in the grip portion, in the crossing direction. The moved first pressing portion presses the second surface of the article, the second pressing portion presses the engaged portion of the article, and the first pressing portion and the second pressing portion are used to press the engaged portion. A hand device characterized by gripping an article. The hand device according to any one of claims 1 to 6 and
An article transfer device comprising a moving device for moving the hand device.

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