JP2653306B2 - Transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device using a robot.

[0002]

2. Description of the Related Art Many kinds of articles are piled up on individual pallets for each kind, and a desired number of kinds are mixed from a particular pallet onto a specific empty pallet using a robot. There is work to pack.

FIGS. 8 and 9 show, for example, Japanese Patent Publication No. 3-29.
FIG. 8 is a plan view, and FIG. 9 is an elevational view of the transfer apparatus having the same operation as that shown in Japanese Patent No. 698. In the figure, reference numerals 1 (1a, 1b, 1c) denote conveyed objects of different types (hereinafter referred to as cases), 2 (2a,
2b and 2c) are single type loading pallets in which the case 1 is loaded for each type, and are arranged in the supply area 3. 4
Is a mixing pallet for mixing and stacking desired cases 1 by a desired number, and is arranged in the shipping area 5. A traveling robot 6 travels while engaging with the traveling rail 7. The traveling rail 7 is laid between the supply area 3 and the shipping area 5. 6a is an arm of the traveling robot 6, and 8 is a hand attached to the tip of the arm 6a and having a plurality of suction pads 8a. A robot controller 9 controls the traveling robot 6 based on a loading command issued from the loading command means 10. Reference numeral 11 denotes a temporary placing table for temporarily placing the case 1, and the traveling robot 6
And a space in which a plurality of cases 1 can be temporarily placed.

Next, the operation of the conventional apparatus will be described. First, the single-type loading pallets 2a, 2b, and 2c are moved to a predetermined position in the supply area 3 by a conveyor (not shown) or the like .
That is, they are transferred and arranged at the transport start position . Further, the mixed pallet 4 is located at a predetermined position in the shipping area 5, that is,
It is arranged at the transfer end position .

Next, the traveling robot 6 and the hand 8 are operated based on a loading command issued from the loading command means 10.
Is controlled by the robot controller 9, and the traveling robot 6 is first arranged to face the supply area. Subsequently, the hand 8 picks up the desired case 1 a from the single-type loading pallet 2 and temporarily places it on the temporary placing table 11. (This is called depalletizing.) Similarly, the cases 1b and 1c are temporarily placed on the temporary placing table 11 based on the stowage command. This temporary placing operation is repeated, and a plurality of temporary placing operations are performed on the temporary placing stand 7 (3 in FIG. 8 ).
Are temporarily placed.

Next, the traveling robot 6 travels in the direction of the shipping area 5, and the temporary placing table 1 on which the case 1 is temporarily placed.
When the pallet 1 and the mixed product pallet 4 face each other, it stops. (Position B in FIG. 8) Then, the hand 8 sequentially picks up the plurality of cases 1 temporarily placed on the temporary placing table 11 and stacks them on the mixed pallet 4. (This is called palletizing.) Naturally, the stacking order and the stacking position of the case 1 are based on the stacking instruction from the stacking instruction means 10.

[0007] The series of operations described above (the operations from depalletizing to palletizing) are repeated a required number of times, and a desired number of desired cases 1 are stacked on the mixed pallet 4 from the single-type loading pallet 2. Attached.

[0010] The reason why the temporary placing table 11 is used in this operation is to increase the number of cases 1 that can be transported by the traveling robot 6 traveling once to increase the transport efficiency.

[0009]

In the above-described transfer apparatus, a temporary placing table 1 on which a plurality of cases 1 are temporarily placed is provided.
The case 1 moves while being fixed to the traveling robot 6, and the case 1 is stacked on the mixed pallet 4 from the single-type loading pallet 2 via the temporary placing table 11. For this reason, the transport efficiency per time can be improved.

However, in a general shipping area, the single-type loading pallet 2 and the mixed pallet 4 are not always arranged in a straight line as shown in FIG. It may be arranged on a substantially extension of the rail 7.

In this case, the case 1 temporarily placed on the temporary placing table 11 is stacked on the mixed pallet 4A by the traveling robot 6 via the path D (shown in FIG. 8). The path is longer than that of stacking on the mixed pallet 4 via the path C from the table 11.
And the longer the route, the longer the loading operation required.

In other words, if the temporary placing table 11 and the mixed pallet 4 are disposed apart from each other in the shipping area 5, it takes time to load the case 1 from the temporary placing table 11 onto the mixed pallet 4. Despite the use of the temporary placing table 11, there is a problem that the transport efficiency of the entire apparatus is reduced. In addition, in the supply area 3, when the single-type loading pallet 2 and the temporary placing table 11 are arranged apart from each other, a similar problem occurs.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem. In a transfer device provided with a traveling robot and a temporary placing table, the temporary placing table and a transfer start position or a transfer end position of an object to be transferred are determined. It is an object of the present invention to provide a transfer device in which the path between the objects is shortened, the transfer time of the transferred object by the traveling robot is shortened, and the transfer efficiency is improved.

[0014]

According to an aspect of the present invention, there is provided a transport device, comprising: a traveling robot having a hand for gripping an object to be transported and traveling between a transport start position and a transport end position of the object; A plurality of transported objects on the way are temporarily placed,
There is a temporary table that changes its relative position with respect to the traveling robot.

Further, there is provided a temporary placing table which is pivotally mounted on a shaft provided on a side portion of the traveling robot and is rotated by being driven by a rotation driving device.

[0016] Further, it is provided separately from the traveling robot,
There is provided a temporary placing table which is driven by a traveling driving machine and engages with a moving rail to travel.

Further, there is provided a temporary placing table which can change a relative position with respect to the traveling robot when the traveling robot is in a traveling state.

Further, the temporary placing table is provided with a suction tool.

[0019]

In the transfer device configured as described above, the temporary placing table is disposed near the transfer start position or the transfer end position of the transferred object, and the transfer of the transferred object is performed by the traveling robot.

In addition, while the traveling robot is traveling,
The temporary placing table is arranged while changing the relative position with respect to the traveling robot.

Further, the suction tool sucks the transported object temporarily placed on the temporary placing table.

[0022]

【Example】

Embodiment 1 FIG. One embodiment of the present invention will be described with reference to FIGS. 1 and 2 are plan views of the present invention, FIGS. 3 and 4 are elevation views, and FIG. 5 is a block diagram for explaining the operation. In the figure, the same or corresponding parts as those of the conventional apparatus shown in FIGS. 8 and 9 are denoted by the same reference numerals, and description thereof is omitted.

In the figure, reference numeral 12 denotes a rotating drive unit comprising a servomotor or the like fixed to the side of the traveling robot 6, and 13 denotes a shaft provided on the traveling robot 6 and arranged vertically. And driven to rotate. Reference numeral 14 denotes a temporary placing table, and 14a denotes a support forming a part of the temporary placing table 14,
One side is fixed to the shaft 13. Reference numeral 15 denotes a stowage commanding unit, and reference numeral 16 denotes a robot controller. In addition, the mixed pallet 4A is disposed in the shipping area 5 substantially on the extension of the traveling rail 7.

Next, the operation of this embodiment will be described. The rotation driving device 12 fixed to the traveling robot 6 includes:
Driven under the control of the robot controller 16. Then, when the rotation driving device 12 is driven and the support 14a rotates about the shaft 13, the temporary placing table 14 fixed to the rotation end side of the support 14a is configured to rotate.

First, in the supply area 3, as shown in FIGS. 1 and 3, the temporary placing table 14 approaches and faces the single-type loading pallet 2 (for example, as shown in L in FIG. 1). Placed in When a loading command is issued from the loading command means 15, the plurality of cases 1 are temporarily placed on the temporary placing table 14 sequentially from the single-type loading pallet 2 by the hand 8 of the traveling robot 6.

Next, under the control of the robot controller 16, the traveling robot 6 travels toward the shipping area 5,
At the same time, the rotation driving device 12 is driven, and the temporary placing table 14 turns. Then, when the traveling robot 6 arrives at the shipping area 5 and stops, the temporary placing table 14 approaches the mixed pallet 4A and is arranged at a position facing the mixed pallet 4A (position R in FIG. 2).

Thereafter, the case 1 temporarily placed on the temporary placing table 14 is stacked on the mixed pallet 4A by the traveling robot 6 via the path E (shown in FIG. 2).
Therefore, the stacking path is shorter than the stacking path via the path D (shown in FIG. 8) of the conventional apparatus.

That is, in this embodiment, in both the supply area 3 and the shipping area 5, the temporary placing table 14 is arranged so as to approach the single-type loading pallet 2 or the mixed pallet 4A and face the same. For this reason, using the traveling robot 6, the path for transferring (depalletizing and palletizing) the case 1 from the single-type loading pallet 2 to the temporary placing table 14 or from the temporary placing table 14 to the mixed loading pallet 4 </ b> A is established. The transport time is correspondingly reduced. Accordingly, the number of cases 1 to be transported per time increases, so that the transport efficiency of the apparatus can be improved.

In this embodiment, the temporary placing table 14 is turned while the traveling robot 6 is traveling. For example, after the traveling robot 6 arrives at the shipping area 5 and stops, the temporary placing table 14 is turned. However, in many cases, the transfer time can be reduced, so that the transfer efficiency can be improved.

Embodiment 2 FIG. FIG. 6 is a plan view showing the second embodiment. In the drawing, reference numeral 20 denotes a temporary placing table on which a plurality of cases 1 can be temporarily placed, and 21 denotes a temporary placing table 20 laid between the supply area 3 and the shipping area 5 in parallel with the traveling rail 7 of the traveling robot 6. It is a rail for movement. A traveling wheel that engages with the moving rail 21 and a traveling drive unit (neither is shown) for driving the traveling wheel are provided below the temporary placing table 20.

In this embodiment, the temporary placing table 20 is provided separately from the traveling robot 6. When the traveling drive device provided on the temporary placing table 20 drives the traveling wheels under the control of a robot controller (not shown), the temporary placing table 20 follows the traveling robot 6 and moves on the moving rail 21. To travel. Then, in the supply area 3, the temporary placing table 20 is arranged at a position approaching the single-type loading pallet 2 and facing the same (for example, the position of LA in FIG. 6). In the shipping area 5, a position where the temporary placing table 20 approaches and faces the mixed pallet 4A (position RA in FIG. 6).
Placed in

Accordingly, also in this embodiment, the traveling robot 6 is used to move the
Pallet 4A for mixed loading from above or from temporary storage table 20
Upward, the path for transferring the case 1 is shortened, and the transport time is correspondingly shortened. Therefore, the transport efficiency of the apparatus can be improved.

Embodiment 3 FIG. FIG. 7 is an elevational view showing the third embodiment. In the figure, 22
The temporary base of the case 1, a plurality of adsorption pad preparative That sucker provided on the temporary placement table 22 is 23, 24 a vacuum pump provided in the traveling robot 6, 25 and suction device 23 and the vacuum pump 24 26 is the air pipe 2
5 is an air opening / closing valve provided in the middle of 5, 5 is a stowage command means, and 28 is a robot controller. In addition, the suction tool 23 is disposed so as to contact the bottom surface of the case 1 temporarily placed on the temporary placing table 22.

In this embodiment, in response to a loading command issued from the loading command means 27, the robot controller 28 causes the traveling robot 6, the rotating drive 12 for the temporary placing table 22, the vacuum pump 24, The valve 26 is controlled. Then, when the traveling robot 6 travels I toward or shipping area 5 from the supply area 3, and the temporary storage table 22 is in the turning state, i.e. when the temporary placement table 22 is moving, the vacuum pump 24 is operated And a predetermined air opening / closing valve 26
Is opened, and the suction tool 23 suctions the case 1 temporarily placed on the temporary placement table 22.

Accordingly, even if a large acceleration in the traveling direction and the turning direction is applied to the case 1 on the temporary placing table 22, the suction tool 23 attracts the case 1 and fixes it on the temporary placing table 22, so that the case 1 There is no displacement on the temporary placing table 22 or drop from the temporary placing table 22. For this reason, the temporary placing table 22
The transfer speed can be increased, the transfer time can be reduced, and the transfer efficiency of the transfer device can be increased.

[0036]

As described above, the transfer apparatus according to the present invention includes a traveling robot having a hand for gripping an object and traveling between a transfer start position and a transfer end position of the object, A plurality of transported objects are temporarily placed, and a temporary placing table whose relative position to the traveling robot is changed, and the temporary placing table is arranged near the transport start position or the transport end position of the transported object. Since the transfer of the transferred object is performed by the traveling robot, the transfer path of the transferred object is shortened, the transfer time is shortened, and the transfer efficiency of the apparatus can be improved.

When the traveling robot is in a traveling state, the temporary placing table is rotated by being driven by the rotation driving device, and changes its relative position with respect to the traveling robot to start or end the transportation of the transported object. because it is located near a position, it is possible to transport time transported object is shortened, increasing the transport efficiency of the device.

Further, a suction device is provided on the temporary placing table,
Since the suction tool sucks the object to be transported and securely fixes it on the temporary storage table, the moving speed of the temporary storage table can be increased.
Therefore, the transfer time is shortened, and the transfer efficiency of the apparatus can be increased.

[Brief description of the drawings]

FIG. 1 is a plan view showing a first embodiment of the present invention.

FIG. 2 is a plan view showing Embodiment 1 of the present invention.

FIG. 3 is an elevational view showing the first embodiment of the present invention, and is a view as seen from an arrow M in FIG. 1;

FIG. 4 is an elevational view showing Embodiment 1 of the present invention;
It is an arrow view.

FIG. 5 is a block diagram for explaining the operation of the first embodiment of the present invention;

FIG. 6 is a plan view showing a second embodiment of the present invention.

FIG. 7 is an elevation view of a main part showing Embodiment 3 of the present invention.

FIG. 8 is a plan view showing a conventional transport device.

FIG. 9 is an elevational view of the conventional transport device, as viewed from the arrow P in FIG. 8;

[Explanation of symbols]

1 ··································································································· ···················· Supply area 4, 4A ··························································································· ································································ Hand 12 ·········· Rotating drive machine 14, 20, 22 ··· Temporary placing table 21 ······························· ..... Suction device

Claims (5)

(57) [Claims] A traveling robot having a hand for gripping an object to be transported and traveling between a transport start position and a transport end position of the object to be transported, and a plurality of the transported objects being transported being temporarily moved. a temporary placement table for placing, by changing the relative position between the mobile robot is placed in the vicinity of the conveyance start position or the transport end position of the transported object, a line passing the transferred object by the hand A transfer device, comprising: Wherein base can the temporary location is axially mounted to the shaft body provided on the side of the mobile robot, according to claim 1 which is driven by the rotation drive motor and characterized in that pivoting Transport device. 3. A movement rails between the transport start position and the transport end position of the transported object is laid, the said mobile robot is the temporary stand which is disposed separately, the traveling drive unit The transport device according to claim 1 , wherein the transport device is driven and engages with the moving rail to travel. 4. While the traveling robot is traveling,
The transport device according to claim 1, wherein the temporary placing table is arranged so as to change a relative position with respect to the traveling robot. 5. The transfer device according to claim 1, wherein a suction device for sucking the transferred object temporarily placed on the temporary placement table is provided on the temporary placement table.