JP5288908B2 - Article alignment system and robot hand - Google Patents

Description

  The present invention relates to an article alignment system including a robot. The present invention also relates to a robot hand used in an article alignment system.

  2. Description of the Related Art Conventionally, various arrangements of article alignment systems that align a plurality of articles supplied in an irregular arrangement into a regular arrangement using a robot are known. In this type of article alignment system, generally, a visual sensor acquires two-dimensional image data (including position and orientation data) of a plurality of articles supplied in an irregular arrangement, and a robot acquires an acquired two-dimensional image. Based on the data, each article is grasped and picked up and arranged in a predetermined regular arrangement.

  In addition, for an article having a distinction between the front and back surfaces, a system that can perform an alignment process from an irregular arrangement in which positions and postures are miscellaneous and front and back are mixed to a regular arrangement in which the posture and front and back are aligned is proposed. ing. For example, the “Small Work Delivery Control Device” described in Patent Document 1 captures a large number of small workpieces that are irregularly placed on a conveyor by using a pair of cameras, and sets the take-out target position of these small workpieces. The pair of first robots take out the small workpieces at the take-out target position, place the small workpieces on the pair of first jigs in an irregular horizontal posture, and the second robot Pick up small workpieces with irregular front and back on one jig as they are, convert them from a horizontal posture to a vertical posture, place them on a second jig, and place them on the second jig. The front and back reversing mechanism mounted on the second jig identifies the front and back of each small work on the two jigs, and each small work is individually turned over to unify the front and back directions of all small works. It has a configuration. The front / back reversing mechanism is to individually rotate and rotate a plurality of rotating shafts each having an intermediate jig on which a small work is placed by 180 degrees with a dedicated front / back reversing motor.

Japanese Patent Application Laid-Open No. 2002-274641

  In the delivery control device described in Patent Document 1, the first and second robots, the first and second jigs, and the second jig are mounted to align the position, posture, and front and back of the small work. Since the front / back reversing mechanism is equipped, the configuration of the apparatus becomes complicated and the overall size tends to increase. Also, workpiece transfer from the conveyor to the first jig by the first robot, workpiece transfer from the first jig to the second jig by the second robot (including posture conversion), and individual workpieces by the front / back reversing mechanism Since the number of steps for the alignment process is large, such as inversion, the entire processing time is long and inefficient, and there is a concern that the control mechanism becomes complicated.

  The object of the present invention is to align the posture and the front and back from an irregular arrangement in which the position and posture are miscellaneous and the front and back are mixed in an article alignment system equipped with a robot. It is an object of the present invention to provide a compact and highly efficient article alignment system which can perform an alignment process in a regular arrangement to align, and can simplify the system configuration and reduce the number of steps for the alignment process.

  Another object of the present invention is to provide a robot hand used in an article alignment system that can simplify the configuration of the article alignment system and reduce the number of steps for the alignment process. .

  In order to achieve the above object, the invention according to claim 1 is characterized in that the first surface having the same shape and dimensions as each other, each having a first surface feature, and a first surface opposite to the first surface. A plurality of articles comprising two surfaces having a second surface feature different from the first surface feature, and the articles are in the same posture with each other. In an article alignment system that automatically aligns a regular arrangement that aligns in the same direction, a plurality of articles are arranged at various positions in a two-dimensional plane with each of the first surface and the second surface facing upward. And an article supply unit that supplies an irregularly arranged article supply unit, and an article temporary placement unit that receives a plurality of articles supplied by the article supply unit, and the first surface of the plurality of irregularly arranged articles faces upward. Temporary items individually A first temporary placement region having a plurality of temporary placement locations that can be arranged at equal intervals, and a plurality of temporary placement locations on which articles having the second surface facing upward can be placed individually, An article temporary placement section having a second temporary placement area having the same equidistant alignment arrangement as the one temporary placement area in parallel with each other, and an article alignment section further receiving a plurality of articles received by the article temporary placement section, An article alignment unit having an alignment area in which an article placed in the first temporary placement area and an article placed in the second temporary placement area can be placed in a regular arrangement, and an irregular arrangement supplied by the article supply unit A visual sensor that captures the position, orientation, and surface feature data of each of the plurality of irregularly arranged articles by processing a captured two-dimensional image of the articles, and a visual sensor, Data on the position and orientation of each of the acquired items Based on the data of the surface characteristics of each of the plurality of articles obtained by the visual sensor, and picking up each of the plurality of irregularly arranged articles supplied by the article supply unit, Several articles with the first surface facing upward are placed in several temporary placement locations in the first temporary storage area of the temporary article storage section in the same first posture in a two-dimensional plane. Place two or more articles with the second surface facing upward in a two-dimensional plane at some temporary placement locations in the second temporary placement area of the temporary article placement section. The first robot placed in the same second posture, with the second surface facing upward, and in a second posture that is a mirror image of the first posture, and the first robot in the first temporary placement unit Grip a plurality of articles placed in one temporary placement area and second temporary placement area Among the picked up articles, the article in the first posture is rotated in the first direction in which the first surface is oriented sideways, and the article in the second orientation is rotated in the second direction in which the second surface is oriented sideways. An article alignment comprising: a second robot that rotates in a second direction opposite to the first direction and places the articles in an alignment region of the article alignment unit in a regular arrangement. Provide a system.

  According to a second aspect of the present invention, in the article alignment system according to the first aspect, the first robot takes a first posture between the first temporary placement area and the second temporary placement area of the temporary article placement section. The first surface is positioned so that the article to be presented and the article to be in the second posture are shifted from each other in the alignment direction by a distance exceeding the dimension of one article viewed from the mutual mirror image position in the alignment direction of the temporary placement location. Several articles that face upward and some articles that face the second surface upward are respectively a plurality of temporary placement locations in the first temporary placement area and a plurality of temporary placement locations in the second temporary placement area. An article alignment system is provided that is placed at several temporary locations selected from

  The invention according to claim 3 is the article alignment system according to claim 1 or 2, wherein the article temporary placement unit includes a plurality of temporary placement places in each of the first temporary placement area and the second temporary placement area. The first robot provides an article alignment system that places a plurality of articles in a first temporary placement area and a second temporary placement area according to the plurality of marks.

  According to a fourth aspect of the present invention, the article alignment system according to the third aspect further includes a mark detection unit that detects a plurality of marks and acquires position data of the marks in the temporary article placement unit. A robot provides an article alignment system that places a plurality of articles in a first temporary placement area and a second temporary placement area based on position data of a plurality of landmarks acquired by a landmark detection unit.

  According to a fifth aspect of the present invention, in the article alignment system according to any one of the first to fourth aspects, the second robot picks up one article placed in the first temporary placement area of the temporary article placement section. A first gripper that can be gripped and displaced in the first direction, and a second gripper that is separate from the first gripper, and that is placed in a second temporary placement region of the article temporary placement part An article alignment system is provided that includes a hand having a second gripper that can grip and displace an article in a second direction.

  According to a sixth aspect of the present invention, in the article alignment system according to the fifth aspect, the hand is installed at a plurality of second positions arranged at the same interval as the alignment interval of the plurality of temporary placement locations in the first temporary placement area. One gripping part and a plurality of second gripping parts installed at the same interval as the alignment interval of the plurality of temporary placement locations in the second temporary placement area, and the second robot The desired number of articles placed in the temporary placement area and the desired number of articles placed in the second temporary placement area are simultaneously gripped and picked up by the corresponding number of first gripping portions and second gripping portions of the hand, An article alignment system is provided.

  The invention according to claim 7 is the article alignment system according to any one of claims 1 to 6, wherein the article supply unit conveys a plurality of articles in an irregular arrangement, and conveyance of the supply conveyor And a speed sensor for detecting the speed. The visual sensor has an imaging unit installed on the upstream side of the first robot when viewed in the transport direction of the supply conveyor. The first robot detects the speed sensor. An article alignment system is provided that performs tracking operation based on the conveyance speed of the supplied conveyor and grips and picks up each of a plurality of irregularly arranged articles conveyed by the supply conveyor.

  The invention according to claim 8 is the article alignment system according to any one of claims 1 to 7, wherein the article temporary placement unit includes a first temporary placement area and a second temporary placement area. The first robot has a discharge conveyor for conveyance and a speed detector for detecting the conveyance speed of the discharge conveyor, and the first robot performs a tracking operation based on the conveyance speed of the discharge conveyor detected by the speed detector, thereby An article alignment system is provided in which articles are placed at each of a temporary placement location of a temporary placement area and a temporary placement location of a second temporary placement area.

  According to a ninth aspect of the present invention, in the article alignment system according to the eighth aspect, the second robot performs a tracking operation based on the transport speed of the discharge conveyor detected by the speed detector, and the first temporary placement of the discharge conveyor. An article alignment system is provided that grips and picks up a plurality of articles placed in each of a region and a second temporary placement region.

  According to a tenth aspect of the present invention, in the article alignment system according to the ninth aspect, the article alignment unit is provided in the discharge conveyor, and the second robot performs a tracking operation based on the conveyance speed of the discharge conveyor detected by the speed detector. Thus, an article alignment system is provided that places a plurality of picked-up articles in a regular arrangement in the alignment area.

The invention according to claim 11 has the same shape and dimensions as each other, each of which includes a first surface having a first surface feature and a second surface opposite to the first surface, In a robot hand capable of simultaneously gripping a plurality of articles having a second surface having a second surface feature different from the surface feature of the first hand, and gripping one article with the first surface facing upward, A first gripper that operates to rotate the article in a first direction in which the first surface is sideways, and one article with the second surface facing upward, while the second surface faces the gripped article sideways A second gripping portion that operates to rotate in a second direction opposite to the first direction, and a gripping position for gripping the first gripping portion with an article with the first surface facing upward From the first side The first movable arm first surface is rotated displaces the aligned position to release in a lateral state to the second grip portion, the grip position for gripping the article to a second surface facing upwards, in the gripping position There is provided a robot hand comprising: a second movable arm that rotates a gripped article in a second direction and displaces the gripped article to an alignment position that is released in a state where the second surface is sideways .

A twelfth aspect of the present invention is the robot hand according to the eleventh aspect, wherein a plurality of first gripping portions installed at predetermined intervals and a plurality of first gripping portions installed at the same intervals as the first gripping portions. And a plurality of first movable arms extending in one direction from the fixed arm and individually displacing the plurality of first gripping parts, and a fixed arm. A plurality of second movable arms extending from the arm in a direction opposite to the one direction and paired with each of the plurality of first movable arms, wherein the plurality of second gripping portions are individually displaced. A robot hand comprising a plurality of second movable arms is provided.

Invention according to claim 13, in the robot hand according to claim 1 2, some of the first movable arm, displaces the first grip gripping the article by the gripping position to the aligned position, they number There are provided a robot hand in which several second movable arms that do not form a pair with the first movable arm displace the second gripping part that grips the article at the gripping position to the alignment position .
The invention according to claim 14 is the robot hand according to any one of claims 11 to 13, wherein the first movable arm and the second movable arm are a first gripping portion, a second gripping portion, and the like. Are displaced between a first position separated from each other and a second position facing each other, and at least one of the first gripping portion and the second gripping portion grips the article with the first position as the gripping position. And a robot hand that releases the article with the second position as the alignment position.
The invention according to claim 15 is the robot hand according to any one of claims 11 to 13, wherein the first movable arm and the second movable arm are a first grip portion, a second grip portion, and the like. Are displaced between a first position separated from each other and a second position separated from the first position, wherein at least one of the first gripping portion and the second gripping portion is Provided is a robot hand that grips an article with a position as a gripping position and releases the article with a second position as an alignment position.

  In the article alignment system according to the present invention, the first robot uses the first surface to place articles supplied in an irregular arrangement at temporary placement locations in the first and second temporary placement areas set in advance in the temporary article placement section. An article with the first posture facing upward and an article with the second posture with the second surface facing upward (mirror image of the first posture) are arranged in parallel in two rows, and the second robot is placed in two rows The sorted article in the first posture and the article in the second posture are picked up from the article temporary placement unit, and the articles in the first and second mirror images are rotated in the first and second directions opposite to each other. By doing so, the articles are aligned in a state where the first and second surfaces are oriented in the same direction (that is, regularly arranged) in the same posture. Therefore, according to the present invention, an article can be regulated by only the first and second robots without using the front / back reversing mechanism required in addition to the robot in the prior art for alignment processing for aligning the posture and front / back of the article. Therefore, the system configuration can be simplified and the number of steps for the alignment process can be reduced, thereby realizing a compact and highly efficient article alignment system.

  The first robot places the article in the first posture and the article in the second posture in the first and second temporary placement areas so as to be shifted from each other from the mutual mirror image position. Collisions between each other can be avoided.

  By providing a mark for clearly indicating the temporary placement location in the first and second temporary placement areas, and equipped with a mark detection unit that acquires position data of the mark in the temporary article placement section, the control program for the temporary article placement work is simplified. Can be

  The hand of the second robot holds the article in the first temporary placement area and displaces it in the first direction, and holds the article in the second temporary placement area in the second direction (opposite of the first direction). If the second gripping part that is displaced in the direction) is provided, the gripped article can be quickly transferred to a regular arrangement by the displacement of the first and second gripping parts. Moreover, if all are provided with several 1st and 2nd holding parts, several goods can be collectively transferred to regular arrangement | positioning.

  By using the supply conveyor as the article supply section and the discharge conveyor as the article temporary placement section and the article alignment section, it is possible to continuously execute the article temporary placement work and the article alignment work without delay for a large number of articles. it can.

  Further, according to the robot hand according to the present invention, by rotating the article with the first surface facing upward and the article with the second surface facing upward in the first and second directions opposite to each other, Since the first and second surfaces can be aligned in the same direction with respect to each other in the same orientation (that is, regularly arranged), the robot hand is used in the article alignment system, so that the article alignment system can be used. And the number of steps for the alignment process can be reduced.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Corresponding components are denoted by common reference symbols throughout the drawings.
Referring to the drawings, FIG. 1 is a functional block diagram showing the basic configuration of an article alignment system 10 according to the present invention. The article alignment system 10 includes a first surface S1 having the same shape and dimensions as each other, each having a first surface feature, and a second surface S2 opposite to the first surface S1, wherein the first surface S1 is a first surface S1. A plurality of articles W including a second surface S2 having a second surface characteristic different from the surface characteristics of the first surface S1 and the second surface S2 in the same direction with the articles W in the same posture. Automatic alignment processing is performed for regular arrangements that are lined up.

  The article alignment system 10 includes an article supply section 12 that supplies a plurality of articles W in an irregular arrangement, an article temporary placement section 14 that receives and temporarily supports a plurality of articles W supplied by the article supply section 12, and an article. An article alignment unit 16 that further receives and supports the plurality of articles W received by the temporary placement unit 14 in a regular arrangement. The article supply unit 12 supplies a plurality of articles W in an irregular arrangement in which each of the first surface S1 and the second surface S2 faces upward and exhibits various positions and postures in a two-dimensional plane. The article temporary placement unit 14 includes a plurality of temporary placement places 18 in which the articles W with the first surface S1 facing upward among the plurality of articles W supplied in an irregular arrangement can be temporarily placed. The same as the first temporary placement area 20, for example, the first temporary placement area 20 having a spacing alignment arrangement, and a plurality of temporary placement places 22 on which articles having the second surface S <b> 2 facing upward can be temporarily placed individually. The second temporary placement regions 24 having a spacing alignment arrangement are provided in parallel with each other. The article alignment unit 16 has the first surface S1 of the article W placed in the first temporary placement region 20 of the article temporary placement unit 14 and the article W placed in the second temporary placement region 24 in the same posture. And an alignment region 26 that can be placed in a regular arrangement that aligns the second surfaces S2 in the same direction. Here, the first temporary placement region 20 and the second temporary placement region 24 of the article temporary placement unit 14 are “parallel to each other”, as shown in the drawing, the regions 20 and 24 are arranged in parallel to each other. This means that the temporary placement points 18 and 22 are in a positional relationship facing each other in a direction orthogonal to the extending direction of the regions 20 and 24.

  The article alignment system 10 images a plurality of irregularly arranged articles W supplied by the article supply unit 12 and processes the captured two-dimensional image G of the articles W to obtain a plurality of irregularly arranged articles W. A visual sensor 28 is further provided for acquiring each position data Dp, posture data Do, and surface feature data Df. The visual sensor 28 includes, for example, an imaging unit such as a CCD camera and an image processing unit that is a function of a dedicated image processing device or a robot controller described later.

  The article alignment system 10 grips each of the plurality of irregularly arranged articles W supplied by the article supply unit 12 based on the position data Dp and the posture data Do of each of the plurality of articles W acquired by the visual sensor 28. The first robot 30 to be taken up is further provided. Based on the surface feature data Df of each of the plurality of articles W acquired by the visual sensor 28, the first robot 30 selects several articles W with the first surface S1 facing upward from the plurality of articles W picked up. The first posture in the first temporary placement area 20 of the article temporary placement portion 14 is the same first posture in the two-dimensional plane with the first surface S1 facing upward. In the two-dimensional plane, several articles W with the second surface S2 facing upward are placed on several temporary placement locations 22 in the second temporary placement area 24 of the temporary article placement section 14. The second posture is the same second posture, with the second surface S2 facing upward, and a second posture that is a mirror image of the first posture (that is, plane symmetry). The operation is hereinafter referred to as an article temporary placement operation.) The first robot 30 includes, for example, a mechanism unit such as an articulated manipulator and a robot controller that controls the operation of the mechanism unit.

  The article alignment system 10 further includes a second robot 32 that holds and picks up a plurality of articles W placed by the first robot 30 in the first temporary placement area 20 and the second temporary placement area 24 of the temporary article placement section 14. Prepare. The second robot 32 rotates the article W exhibiting the first posture among the plurality of articles W taken up in the first direction α in which the first surface S1 faces sideways, and causes the article W exhibiting the second posture to be the second surface. The articles W are rotated in the second direction β in which S2 is turned sideways and in the second direction β opposite to the first direction α, and the articles W are placed in the alignment region 26 of the article alignment unit 16 in the same posture with each other. The first surface S1 and the second surface S2 are placed in a regular arrangement in which they are aligned in the same direction (such a series of operations by the second robot 32 is hereinafter referred to as an article alignment operation). The second robot 32 includes, for example, a mechanism unit such as an articulated manipulator and a robot controller that controls the operation of the mechanism unit.

  In the article alignment system 10 having the above-described configuration, the first robot 30 is miscellaneous in position and posture in the two-dimensional plane and has one of the first surface S1 and the second surface S2 facing upward (that is, the front and back surfaces). The articles W supplied in an irregular arrangement (in which the directions are mixed) are picked up from the article supply unit 12 and temporarily placed in the first and second temporary placement areas 20 and 24 in the article temporary placement unit 14. 22 in accordance with a predetermined rule, the article temporary placement unit 14 is provided with the article W in the first attitude with the first surface S1 facing upward and the second attitude with the second surface S2 facing upward ( The articles W in the first posture are distributed in two rows and arranged in parallel. Therefore, the second robot 32 at the rear stage picks up the article W in the first posture and the article W in the second posture, which are distributed in two rows, from the article temporary placement unit 14, and sets the first and second postures of the mirror images to each other. By rotating the presenting article W in the first and second directions α and β opposite to each other, the articles W are in the same posture with each of the first surface S1 and the second surface S2 in the same direction. It can be aligned in a directed state (ie regular arrangement). Therefore, according to the article alignment system 10, the first robot 30 and the second robot 32 can be used without using the front / back reversing mechanism required in addition to the robot in the prior art for the alignment process for aligning the posture and front / back of the articles. Since the articles W can be aligned in a regular arrangement, the system configuration can be simplified and the number of steps for the alignment process can be reduced, thereby realizing a compact and highly efficient article alignment system 10.

  Next, with reference to FIGS. 2-6, the structure of the article | item alignment system 40 by one Embodiment of this invention is demonstrated. The article alignment system 40 has the basic configuration of the article alignment system 10 described above, and corresponding components are denoted by common reference numerals and description thereof is omitted.

  The article alignment system 40, as the article supply unit 12 (FIG. 1), a supply conveyor 42 that supports and conveys the plurality of articles W input from the previous process A of the article alignment system 40 in the irregular arrangement described above, And a speed detector 44 that detects a transport speed V1 of the supply conveyor 42. The supply conveyor 42 is a known article conveying device including a moving body 46 such as an endless belt, and moves the moving body 46 continuously or intermittently at a conveying speed V1 by driving a driving source (not shown). The article W mounted on the upper surface of 46 is conveyed in the direction of the arrow in the figure. The speed detector 44 is a known displacement detector such as a drive source of the supply conveyor 42 or a pulse coder installed on the moving body 46, and sends the detected conveyance speed V 1 to the first robot 30 as movement speed data of the article W. .

  The article alignment system 40 includes, as a visual sensor 28 (FIG. 1), an imaging unit 48 such as a CCD camera installed on the upstream side of the first robot 30 as viewed in the conveyance direction of the supply conveyor 42, and wirelessly to the imaging unit 48. And an image processing unit 50 connected by wire. The imaging unit 48 has a visual field 52 that covers the entire width of the moving body 46 of the supply conveyor 42 and extends over a predetermined distance in the transport direction, as indicated by a broken line in the figure. The image processing unit 50 includes a dedicated image processing device or a function of the robot controller of the first robot 30, and processes the two-dimensional images G of the irregularly arranged articles W captured by the imaging unit 48. Position data Dp (X coordinate, Y coordinate), attitude data Do (R (roll) angle) and surface feature data Df of the article W are acquired. The first and second surface features of the article W can include patterns, irregularities, colors, and the like. In any case, the visual sensor 28 can identify the two-dimensional image. Is required.

  The first robot 30 includes a mechanism unit 54 such as an articulated manipulator and a robot controller (not shown) that controls the operation of the mechanism unit 54. The robot controller of the first robot 30 is based on the position data Dp and posture data Do of each of the plurality of articles W acquired by the image processing unit 50 and the conveyance speed V1 of the supply conveyor 42 detected by the speed detector 44. The mechanism unit 54 is caused to perform tracking operation on each article W moving at the speed V1. By this tracking operation, the first robot 30 operates to track the article W moving at the speed V1, and is supplied by a hand (not shown) attached to the end (usually the wrist shaft) of the mechanism unit 54. Each of the plurality of irregularly arranged articles W conveyed by the conveyor 42 is gripped and picked up one by one. The control method of the tracking operation of the robot can be applied since a known method can be applied. Further, the configuration of the hand of the first robot 30 is arbitrary.

  The imaging unit 48 of the visual sensor 28 is controlled in operation by an imaging control unit (not shown) based on the conveyance speed V1 of the supply conveyor 42, and intermittently captures a still image of an object in the field of view 52 at a predetermined timing. Run. At this time, for the purpose of imaging all articles W without omission, the imaging timing is set so that a two-dimensional image G including a certain amount of overlap is obtained when viewed in the transport direction. Such an imaging control unit can be configured as one function of the robot controller of the first robot 30. Then, the robot controller of the first robot 30 accurately matches the positions and orientations based on the position and orientation data Dp and Do of the plurality of articles W acquired by the image processing unit 50 from the plurality of two-dimensional images G. It is determined that the articles are the same article W, and the mechanism unit 54 is controlled so as not to repeat the picking operation described above for one article W.

  In this way, by using the supply conveyor 42 as the article supply unit 12 and causing the first robot 30 to perform the tracking operation, the article temporary placement operation can be performed efficiently and continuously for a large number of articles without delay. Can do.

  The article alignment system 40 supports, as the article temporary placement unit 14 (FIG. 1), a discharge conveyor 56 that supports and conveys a plurality of articles W received from the supply conveyor 42, and a speed detection that detects a conveyance speed V2 of the discharge conveyor 56. Instrument 58. The discharge conveyor 56 is a known article conveying device including a moving body 60 such as an endless belt, and moves the moving body 60 continuously or intermittently at a conveying speed V2 by driving a driving source (not shown). The article W mounted on the upper surface of 60 is conveyed in the direction of the arrow in the figure. The speed detector 58 is a known displacement detector such as a drive source of the discharge conveyor 56 or a pulse coder installed on the moving body 60, and uses the detected transport speed V 2 as moving speed data of the article W and the moving body 60. The first robot 30 and the second robot 32 are sent.

  The discharge conveyor 56 temporarily places the article W with the first surface S1 facing upward on the upper surface of the moving body 60 and the article T with the second surface S2 facing upward. And a second temporary placement region 24 that can be placed in parallel with each other. In the first robot 30, based on the surface feature data Df of each of the plurality of articles W acquired by the image processing unit 50 of the visual sensor 28, the plurality of articles W picked up from the supply conveyor 42 face up any of the surfaces S 1 and S 2. The article W having the first surface S1 facing upward among the articles W is described above in the temporary placement location 18 (FIG. 1) in the first temporary placement area 20 of the discharge conveyor 56. The article W placed so as to exhibit the first posture and the second surface S2 facing upward is placed in the temporary placement location 22 (FIG. 1) in the second temporary placement region 24 of the discharge conveyor 56 in the second posture (first 1 position mirror image).

  At this time, the first robot 30 moves the moving body 60 (the first temporary placement area 20 and the second temporary placement area 24) moving at the speed V2 based on the transport speed V2 of the discharge conveyor 56 detected by the speed detector 58. On the other hand, the mechanism unit 54 is caused to perform a tracking operation. By this tracking operation, the first robot 30 operates to track the moving body 60 that moves at the speed V2, and the article W gripped by the hand (not shown) of the mechanism unit 54 is moved to the first temporary placement area. Each of the 20 temporary placement points 18 (FIG. 1) and the temporary placement point 22 (FIG. 1) of the second temporary placement region 24 is divided into an article W in the first posture and an article W in the second posture. , Arrange them in two rows.

  As described above, by using the discharge conveyor 56 as the article temporary placement unit 14 and causing the first robot 30 to perform the tracking operation, the article temporary placement operation is continuously and efficiently performed for many articles without any delay. be able to.

  When the article temporary placement operation described above is performed, the robot controller of the first robot 30 places the hand and the article W at a predetermined relative position / posture when holding the article W on the supply conveyor 42 with the hand, for example. Then, the operation of the mechanism unit 54 (and the hand) is controlled so as to grip a predetermined gripping position on the article W. When the article W gripped by the hand is placed in the first and second temporary placement areas 20 and 24 of the discharge conveyor 56, the robot controller of the first robot 30 moves the mechanism unit 54 (and the hand) to each area 20, The robot 24 is operated so as to shift to the robot posture taught in advance for 24. Thereby, the article W can be placed in the first and second temporary placement areas 20 and 24 in the first and second postures, respectively. Alternatively, an appropriate portion of the supply conveyor 42 on which the article W can be gripped is gripped by the hand, and the regions 54 and 24 are taught in advance based on the position and orientation of the mechanism unit 54 (and the hand) when gripped. By correcting the robot posture, the article W can be placed in the first and second temporary placement areas 20 and 24 in the first and second postures, respectively.

  During the article temporary placement work described above, the first robot 30 preferably exhibits the first posture between the first temporary placement area 20 and the second temporary placement area 24 of the discharge conveyor 56 (article temporary placement section 14). The temporary placement location from the mutual mirror image position where the article W (that is, the first surface S1 is upward) and the article W that is in the second posture (that is, the second surface S2 is upward) face each other in the width direction of the discharge conveyor 56. Some of the first surfaces S1 face upward so that they are displaced from each other in the alignment direction by a distance exceeding the dimension L of one article W as viewed in the alignment direction 18, 22 (FIG. 1) (FIG. 2). An article W and several articles W with the second surface S2 facing upward are arranged between a plurality of temporary placement places 18 in the first temporary placement area 20 and a plurality of temporary placement places 22 in the second temporary placement area 24. It is placed in some temporary places 18 and 22 selected from each. Thereby, the collision of the articles | goods W can be avoided in the article alignment operation | work mentioned later.

  In this configuration, the first robot 30, in accordance with the order in which the articles W are picked up from the discharge conveyor 56, each of the articles W having the first surface S1 facing upward and the articles W having the second surface S2 facing upward, The article W is always placed in one of the temporary placement places 18 and 22 arranged in the width direction of the discharge conveyor 56 in the temporary placement place 18 of the placement area 20 and the temporary placement place 22 of the second temporary placement area 24. It is sufficient to place them sequentially from the downstream side to the upstream side in the conveyor conveyance direction. As a result, the articles W in the first and second postures are respectively placed at the temporary placement places 18 and 22 appropriately selected from the plurality of temporary placement places 18 and 22.

  As shown in FIG. 3, the discharge conveyor 56 (article temporary placement unit 14) has a plurality of temporary placements in each of the first temporary placement region 20 and the second temporary placement region 24 formed on the upper surface of the moving body 60. It is advantageous to have a plurality of indicia 62 that define the points 18,22. In this case, the first robot 30 can distribute and place the plurality of articles W in the first temporary placement area 20 and the second temporary placement area 24 as described above according to the plurality of marks 62. By comprising in this way, the control program of article temporary placement work can be simplified. 3A is an imaginary line for clarifying the outlines of the first and second temporary placement areas 20 and 24 and the temporary placement places 18 and 22 on the drawing. In fact, only a plurality of marks 62 are present on the upper surface of the moving body 60. The shape and size of each mark 62 and the position in the temporary placement places 18 and 22 are arbitrary, and for example, a frame-shaped mark corresponding to an imaginary line drawn with a one-dot chain line may be employed. Considering that the moving body 60 has an endless structure, it is preferable to provide a plurality of marks 62 on the entire surface of the moving body 60.

  In the above configuration, the mark detection unit 64 (FIG. 2) that detects a plurality of marks 62 provided on the discharge conveyor 56 (article temporary placement unit 14) and acquires position data Dm of the marks 62 on the discharge conveyor 56. ) Is desirable. The mark detection unit 64 is a known object detector such as a photoelectric sensor installed on the upstream side of the first robot 30 when viewed in the transport direction of the discharge conveyor 56, and the detected position data Dm of the mark 62 is detected by the first robot. Send to 30. The first robot 30 performs a plurality of articles by the tracking operation described above based on the transport speed V2 of the discharge conveyor 56 detected by the speed detector 58 and the position data Dm of the plurality of marks 62 acquired by the mark detection unit 64. W can be distributed and placed in the first temporary placement area 20 and the second temporary placement area 24.

  The second robot 32 includes a mechanism unit 66 such as an articulated manipulator and a robot controller (not shown) that controls the operation of the mechanism unit 66. The robot controller of the second robot 32 determines the first temporary placement area 20 and the second temporary placement area 24 of the discharge conveyor 56 by the first robot 30 based on the transport speed V2 of the discharge conveyor 56 detected by the speed detector 58. The mechanism unit 66 is caused to perform a tracking operation with respect to each of the plurality of articles W distributed (moved at the speed V2). By this tracking operation, the second robot 32 operates to track the article W moving at the speed V2, and the hand 68 attached to the end (usually the wrist shaft) of the mechanism unit 66 (FIGS. 4 and 5). Thus, the plurality of articles W in the first temporary placement area 20 and the second temporary placement area 24 conveyed by the discharge conveyor 56 are gripped and taken up.

  The hand 68 of the second robot 32 is a robot hand according to an embodiment of the present invention. 4 and 5, the hand 68 grips one article W placed in the first temporary placement area 20 of the discharge conveyor 56 (article temporary placement section 14), and the first surface S1 faces upward. The first gripping portion 70 capable of displacing the article W having the first posture in the first direction α in which the first surface S1 faces sideways is a second gripping portion 72 that is different from the first gripping portion 70. Then, the article W having a second posture in which the second surface S2 is in the upward direction is grasped by holding the one article W placed in the second temporary placement region 24 of the discharge conveyor 56 (article temporary placement unit 14). And a second grip 72 that can be displaced in a second direction β (a direction opposite to the first direction α) in which S2 is lateral.

  In particular, in the illustrated embodiment, the hand 68 includes a plurality of first sets installed at the same interval T as the alignment interval of the plurality of temporary placement locations 18 (or marks 62) (FIG. 3) in the first temporary placement area 20. A gripping portion 70 and a plurality of second gripping portions 72 installed at intervals T corresponding to the alignment intervals of the plurality of temporary placement locations 22 (or marks 62) (FIG. 3) in the second temporary placement region 24. , In parallel with each other. Here, the plurality of first gripping portions 70 and the plurality of second gripping portions 72 are “parallel to each other” means that, as illustrated, the row of the first gripping portions 70 and the second gripping portions 72. This means that the first and second gripping portions 70 and 72 in each row are in a positional relationship facing each other in a direction orthogonal to the extending direction of the row. In addition, the “interval” between the temporary placement points 18 and 22 and the first gripping portion 70 or the second gripping portion 72 is not a gap between the temporary placement points 18 and 22 and the gripping portions 70 and 72 adjacent in the alignment direction. Means the pitch between the temporary placement points 18 and 22 and the gripping portions 70 and 72 adjacent to each other in the alignment direction.

  The hand 68 further includes a base 74 attached to the end (usually a wrist axis) of the mechanism portion 66 of the second robot 32, a fixed arm 76 that extends linearly to both sides around the base 74, and a fixed arm 76. And a plurality of sets (five sets in the figure) of movable arms 78 extending in two directions orthogonal to the fixed arm 76 from a plurality of locations in the longitudinal direction. A first gripping portion 70 and a second gripping portion 72 are individually supported on the distal ends of a pair of movable arms 78 installed at the same position in the longitudinal direction of the fixed arm 76. These movable arms 78 function as an operating mechanism that operates the first gripping portion 70 and the second gripping portion 72 simultaneously.

  The pair of movable arms 78 constituting each set is configured such that the first gripping portion 70 and the second gripping portion 72 at the tip end of the article W with the first surface S1 facing upward (that is, the first temporary placement region of the discharge conveyor 56). 20 and the article W with the second surface S2 facing upward (that is, the article W placed in the second temporary placement region 24 of the discharge conveyor 56 in the second attitude). Holding positions separated from each other (FIG. 4), and alignment positions facing each other (FIG. 5) after rotating the articles W gripped at the holding positions in the first direction α and the second direction β, respectively. In between, it is rotationally displaced over a central angle of about 90 degrees. Such a movable arm 78 can individually incorporate driving means (not shown) such as an air cylinder and a link. Further, instead of the air cylinder, another driving source such as an electric motor can be mounted on the hand 68.

  In the illustrated embodiment, each of the first gripping portion 70 and the second gripping portion 72 has a configuration of a suction pad that vacuum-sucks the article W. In this case, all of the first and second gripping portions 70 and 72 can be gripped / released by switching ON / OFF of a vacuum circuit (not shown) connected to the hand 68. Further, the first gripping portion 70 and the second gripping portion 72 of each pair of movable arms 78 are arranged with the suction surfaces of both suction pads facing the same side in the gripping position (FIG. 4B). In the aligned position, the suction surfaces of both suction pads are arranged to face each other with a gap capable of sandwiching one article W between the suction surfaces (FIG. 5B). Therefore, when the hand 68 having this configuration is used, as described above, the articles W exhibiting the first attitude and the articles W exhibiting the second attitude are disposed in the first and second temporary placement areas 20 and 24 of the discharge conveyor 56. Need to be shifted from each other from the mutually mirror image positions facing the discharge conveyor 56 in the width direction. Note that the first or second gripping portions 70 and 72 that are not gripping the article W at the gripping position move to the alignment position, and then the article W is gripped by the opposing first or second gripping portions 70 and 72. It is also possible to operate to grip the surface on the opposite side (first or second surface S1, S2) again.

  The second robot 32 provided with the hand 68 having the above-described configuration is provided with a desired number (three in the figure) of articles W placed in the first temporary placement area 20 of the discharge conveyor 56 and the first of the discharge conveyor 56. 2 The desired number (two in the figure) of articles W placed in the second placement area 24 in the second posture is matched to the corresponding number of first grips 70 and second grips 72 of the hand 68 by the tracking operation described above. At the same time, it can be gripped and picked up (FIG. 4). The second robot 32 grips the first and second gripping portions 70 and 72 by simultaneously operating all the movable arms 78 of the hand 68 at a position sufficiently above the moving body 60 of the discharge conveyor 56. The article W is displaced from the position to the alignment position, and the article W gripped by the first and second gripping portions 70 and 72 is rotated in the first direction α and the second direction β, respectively. When all of the first and second gripping portions 70 and 72 have reached the alignment position, the plurality of articles W gripped by the hand 68 have the same posture and the same first surface S1 and second surface S2. They are aligned in a direction (ie regular arrangement) (FIG. 5). Note that the operation of the movable arm 78 for displacing the first and second gripping portions 70 and 72 from the gripping position to the alignment position does not necessarily have to be performed by all the movable arms 78, and the article W Only the movable arm 78 held by the second holding portions 70 and 72 may be operated.

  In the article alignment system 40, the article alignment unit 16 (FIG. 1) is provided on the discharge conveyor 56. In this configuration, as shown in FIG. 2, the alignment region 26 for placing a plurality of articles W in the above-described regular arrangement in a predetermined region on the moving body 60 close to the downstream end in the transport direction of the discharge conveyor 56. Is formed. The alignment area 26 is basically an area defined by imaginary lines on the moving body 60, like the first and second temporary placement areas 20 and 24 described above. Alternatively, when the article W has a shape that is difficult to stand by in a regularly arranged posture, a groove for receiving the article W is formed on the surface of the movable body 60, for example, as shown in FIG. The alignment region 26 can also be formed by installing the stationary guide 80 at a position separated from the surface.

  Based on the transport speed V2 of the discharge conveyor 56 detected by the speed detector 58, the second robot 32 performs a tracking operation of the mechanism unit 66 on the moving body 60 (alignment region 26) that moves at the speed V2. By this tracking operation, the second robot 32 operates so as to track the moving body 60 moving at the speed V2, and the article W gripped by the hand 68 (FIGS. 4 and 5) of the mechanism unit 66 is described above. It arranges in the alignment area | region 26 by regular arrangement | positioning. At this time, since the plurality of articles W gripped by the hand 68 are already in a regular arrangement state before being arranged in the alignment area 26, the second robot 32 is positioned above the alignment area 26. All the first and second gripping portions 70 and 72 are released, and the plurality of articles W are arranged on the discharge conveyor 56 by simply displacing from the alignment position to the normal standby position (for example, the gripping position). Can be placed in a regular arrangement. Then, the plurality of articles W placed in a regular arrangement in the alignment region 26 are discharged from the discharge conveyor 56 to the post-process B (FIG. 2) of the article alignment system 40.

  As described above, the article alignment system 40 basically exhibits the operational effects of the article alignment system 10 described above. Particularly in the article alignment system 40, the second robot 32 transfers a plurality of articles W from the first and second temporary placement areas 20, 24 on the discharge conveyor 56 to the alignment area 26 on the same discharge conveyor 56. The function of the hand 68 allows the articles W to be collectively transferred to a regularly arranged state, thereby improving work efficiency. In addition, since the alignment area 26 itself does not require a function of shifting the articles W to the regular arrangement, the alignment area 26 is further provided in the discharge conveyor 56 functioning as the temporary article placement section 14, and the same discharge conveyor 56 is aligned with the article. It is possible to function as the unit 16 as well. At this time, by the tracking operation of the second robot 32, the article alignment operation can be performed continuously and efficiently for a large number of articles without any delay. Therefore, according to the article alignment system 40, the system configuration can be simplified and the space efficiency and work efficiency can be further improved.

The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the illustrated embodiments, and various modifications can be made.
For example, the hand 68 attached to the second robot 32 includes a plurality of sets of movable arms 78 and is configured to be able to simultaneously grip a plurality of articles W at the same time. It can also be set as the structure provided only with. In this case, the second robot 32 moves the article W placed in one of the temporary placement locations 18 and 22 of the first and second temporary placement areas 20 and 24 of the discharge conveyor 56 to the first and second gripping portions. 70 and 72, gripping and picking up, moving both movable arms 78 in the first and second directions α and β, and shifting one gripped article W to a regularly arranged state, In addition, the articles W in a regularly arranged state are operated one by one in the alignment area 26. Even with such a configuration, it is possible to place a plurality of articles W in the alignment region 26 in a regular arrangement by repeatedly executing the article alignment operation by the second robot 32.

  In addition, the hand 68 attached to the second robot 32 includes first and second gripping portions 70 and 72 made of suction pads. Instead of this, other known gripping means such as a so-called mechanical chuck is used. The first and second gripping portions 70 and 72 can also be configured. In this case, when the first and second gripping portions 70 and 72 are arranged at the aligned positions, the chuck components of the other gripping portion 70 and 72 do not collide with the article W gripped by the one gripping portion 70 and 72. It is necessary to devise the arrangement of both chuck components.

  In addition, when the first and second gripping portions 70 and 72 are arranged at the aligned positions, the hand 68 attached to the second robot 32 holds the one article W therebetween. It is configured to be opposed to each other with a possible gap, but instead, a configuration in which two articles W can be arranged between the first and second gripping portions 70 and 72 in the aligned position, and You can also According to this configuration, the first robot 30 places the articles W in all the temporary placement locations 18 and 22 of the first and second temporary placement areas 20 and 24 of the discharge conveyor 56, and the second robot 32 moves the hand 68. By grasping the articles W by all the first and second grasping portions 70 and 72, the articles W can be arranged in the alignment region 26 so as to be aligned in two rows each having a regular arrangement.

  Further, the hand 68 attached to the second robot 32 is configured to rotate and displace the first and second gripping portions 70 from the gripping positions (FIG. 4) separated from each other to the alignment positions (FIG. 5) facing each other. Instead of this, at the gripping positions separated from each other (FIG. 4), the first and second gripping portions 70 are rotated 90 degrees in the first and second directions (in opposite directions) with the movable arm 78 itself as the central axis. This position can also be used as the alignment position. According to this configuration, for example, in the case of the hand 68 shown in FIG. 4, all the articles W have their first and second surfaces S <b> 1 perpendicular to the conveying direction of the discharge conveyor 56 and in the same direction. , They are arranged in a state of being arranged in two rows (that is, regular arrangement). The article alignment system according to the present invention can cope with the demand for such an alignment form.

  In the illustrated embodiment, the discharge conveyor 56 is provided with the alignment region 26 to form the article alignment unit 16. Instead, another conveyor or the like having the alignment region 26 is installed on the downstream side of the discharge conveyor 56. The article alignment unit 16 can also be configured. In addition, the alignment region 26 is not limited to the illustrated configuration that supports the bottom surface of the article W, and may be configured to support the article W in a state in which the article W is hooked and hung.

  The article supply unit 12, the article temporary placement unit 14, and the article alignment unit 16 are not limited to a configuration including moving bodies such as the supply conveyor 42 and the discharge conveyor 56, but the stationary article supply unit 12 and the article temporary placement unit 14. The first and second robots 30 and 32 may perform a temporary article placement operation and an article alignment operation on the article alignment unit 16. In this configuration, instead of eliminating the need to control the tracking operation, the positions of all the temporary placement locations 18 and 22 in the first and second temporary placement areas 20 and 24 of the temporary article placement unit 14 are set in advance to the first robot 30. Need to be taught. In addition, any one of the article supply unit 12, the article temporary placement unit 14, and the article alignment unit 16 may be a moving body, and the other may be a stationary body.

  In addition, the temporary article placement operation for transferring the article W from the article supply unit 12 to the temporary article placement unit 14 may be performed by a plurality of first robots 30. In this configuration, the appropriate articles W are picked up from the article supply unit 12 in an appropriate order so that the individual first robots 30 do not interfere with each other, and are placed in the first and second temporary placement areas 20 and 24 of the temporary article placement unit 14. Each first robot 30 is controlled so that the articles W are placed in an appropriate order. In addition, by adopting a three-dimensional sensor as the visual sensor 28, the temporary article placement work can be performed on the articles W supplied in an overlapping manner by the article supply unit 12.

It is a functional block diagram which shows the basic composition of the goods alignment system which concerns on this invention. It is a top view showing typically composition of an article alignment system by one embodiment of the present invention. It is a figure which shows typically the 1st and 2nd temporary placement area | region of the goods temporary placement part in the goods alignment system of FIG. 2, (a) An enlarged plan view, (b) It is sectional drawing seen from the arrow III. It is a figure which shows typically the structure of the hand of the 2nd robot in the article | item alignment system of FIG. 2, in a holding position, (a) An enlarged plan view, (b) It is sectional drawing seen from arrow IV. FIG. 3 is a diagram schematically showing the configuration of a hand of a second robot in the article alignment system of FIG. 2 at an alignment position, (a) an enlarged plan view and (b) a cross-sectional view seen from an arrow V. It is a figure which shows typically the alignment area | region of the article alignment part in the article alignment system of FIG. 2, (a) An enlarged plan view, (b) It is sectional drawing seen from arrow VI.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 40 Article alignment system 12 Article supply part 14 Article temporary placement part 16 Article alignment part 18, 22 Temporary placement location 20 1st temporary placement area 24 2nd temporary placement area 26 Alignment area 28 Visual sensor 30 1st robot 32 2nd Robot 42 Supply conveyor 44, 58 Speed detection unit 46, 60 Moving body 48 Imaging unit 50 Image processing unit 54 First robot 56 Discharge conveyor 62 Mark 64 Mark detection unit 66 Second robot 68 Hand 70 First grip 72 72 Second grip Part 78 Movable arm

Claims (15)

A first surface having the same shape and dimensions as each other and each having a first surface having a first surface feature and a second surface opposite to the first surface, the first surface feature being different from the first surface feature. Automatically aligning a plurality of articles comprising a second surface having two surface features into a regular arrangement in which the articles are aligned in the same orientation with each of the first and second surfaces oriented in the same direction. In the article alignment system to be processed,
An article supply unit that supplies the plurality of articles in an irregular arrangement in which each of the first surface and the second surface faces upward and exhibits various positions and postures in a two-dimensional plane;
An article temporary storage unit that receives the plurality of articles supplied by the article supply unit, and temporarily temporarily puts the articles with the first surface facing upward among the plurality of articles in the irregular arrangement. A first temporary placement region having a plurality of temporary placement locations that can be arranged at equal intervals, and a plurality of temporary placement locations on which articles having the second surface facing upward can be placed individually, An article temporary placement section provided with a second temporary placement area having the same equidistant alignment arrangement as the first temporary placement area in parallel with each other;
An article alignment unit that further receives the plurality of articles received by the article temporary placement unit, wherein the article placed in the first temporary placement area and the article placed in the second temporary placement area are defined as the rule. An article alignment section comprising an alignment area that can be placed in a general arrangement;
The plurality of irregularly arranged articles supplied by the article supply unit are imaged, and the captured two-dimensional image of the articles is processed, and the position of each of the irregularly arranged articles, A visual sensor for acquiring posture and data of the surface features;
Based on the position and orientation data of each of the plurality of articles acquired by the visual sensor, each of the plurality of articles in the irregular arrangement supplied by the article supply unit is grasped and picked up. Based on the data of the surface characteristics of each of the plurality of articles acquired by the sensor, among the plurality of articles picked up, some articles with the first surface facing upward are arranged in the first article placement section. Placed in several temporary placement locations in one temporary placement area so as to exhibit the same first posture in a two-dimensional plane and with the first surface facing upward, the second Several articles with the surface facing upward are in the same second position in a two-dimensional plane at the several temporary placement locations in the second temporary placement area of the temporary article placement section, and the second With the surface facing up A first robot put to exhibit a second position which is a mirror image of the first orientation,
The first robot grasps and picks up the plurality of articles placed in the first temporary placement area and the second temporary placement area of the article temporary placement section, and the first robot among the picked up multiple articles An article exhibiting one posture is rotated in a first direction in which the first surface is oriented sideways, and an article exhibiting the second posture is in a second direction in which the second surface is oriented sideways, which is opposite to the first direction. A second robot that places the articles in the alignment region of the article alignment unit in the regular arrangement.
An article alignment system comprising:   In the first robot, an article exhibiting the first attitude and an article exhibiting the second attitude are mutually mirror images between the first temporary placement area and the second temporary placement area of the temporary article placement section. The plurality of articles with the first surface facing upward and the first surface so as to be displaced from each other in the alignment direction by a distance exceeding a dimension of one article as viewed in the alignment direction of the temporary placement location. The several articles with two surfaces facing upward are selected from the plurality of temporary placement locations of the first temporary placement region and the plurality of temporary placement locations of the second temporary placement region, respectively. The article alignment system of claim 1, wherein the article alignment system is placed at several temporary locations.   The article temporary placement unit includes a plurality of marks that clearly indicate the plurality of temporary placement locations in each of the first temporary placement area and the second temporary placement area, and the first robot The article alignment system according to claim 1 or 2, wherein the plurality of articles are placed in the first temporary placement area and the second temporary placement area according to a mark.   The apparatus further includes a mark detection unit that detects the plurality of marks and acquires position data of the marks in the article temporary placement unit, and the first robot includes position data of the marks acquired by the mark detection unit. 4. The article alignment system according to claim 3, wherein the plurality of articles are placed in the first temporary placement area and the second temporary placement area.   The second robot is capable of gripping one article placed in the first temporary placement area of the article temporary placement section and displacing it in the first direction, and the first gripping section. A second gripper that is different from the second gripper and is capable of gripping one article placed in the second temporary placement region of the article temporary placement part and displacing the same in the second direction. The article alignment system according to any one of claims 1 to 4, further comprising:   The hand includes a plurality of the first gripping portions installed at the same interval as an alignment interval of the plurality of temporary placement locations in the first temporary placement region, and the plurality of the plurality of temporary placement regions. A plurality of the second gripping portions installed at the same interval as the alignment interval of the temporary placement places are provided in parallel with each other, and the second robot has a desired number of articles placed in the first temporary placement region. The article according to claim 5, wherein a desired number of articles placed in the second temporary placement region are picked up and picked up simultaneously by the corresponding number of the first gripping parts and the second gripping parts of the hand. Alignment system.   The article supply unit includes a supply conveyor that conveys the plurality of articles in the irregular arrangement, and a speed detector that detects a conveyance speed of the supply conveyor, and the visual sensor includes a conveyance direction of the supply conveyor. And an imaging unit installed on the upstream side of the first robot, and the first robot performs a tracking operation based on the conveyance speed of the supply conveyor detected by the speed detector, and the supply conveyor The article alignment system according to any one of claims 1 to 6, wherein each of the plurality of articles in the irregular arrangement that is conveyed is gripped and picked up.   The article temporary placement unit includes a discharge conveyor that has the first temporary placement area and the second temporary placement area to transport the article, and a speed detector that detects a transport speed of the discharge conveyor, The first robot performs a tracking operation based on the transport speed of the discharge conveyor detected by the speed detector, so that the temporary placement area and the second temporary placement area of the first temporary placement area of the discharge conveyor The article alignment system according to claim 1, wherein the article is placed at each of the temporary placement locations.   The second robot is placed in each of the first temporary placement region and the second temporary placement region of the discharge conveyor by performing a tracking operation based on the transport speed of the discharge conveyor detected by the speed detector. The article alignment system according to claim 8, wherein the plurality of articles are gripped and picked up.   The article alignment unit is provided in the discharge conveyor, and the second robot performs a tracking operation based on the transport speed of the discharge conveyor detected by the speed detector, and the plurality of picked-up articles are placed in the alignment area. The article alignment system of claim 9, wherein the article alignment system is placed in the regular arrangement. A first surface having the same shape and dimensions as each other and each having a first surface having a first surface feature and a second surface opposite to the first surface, the first surface feature being different from the first surface feature. In a robot hand capable of simultaneously gripping a plurality of articles having a second surface having two surface characteristics,
A first gripper that grips one article with the first surface facing upward and operates to rotate the gripped article in a first direction in which the first surface is lateral;
A single article with the second surface facing upward is gripped, and the gripped article is rotated in a second direction in which the second surface faces sideways and opposite to the first direction. A second gripper that operates on
The first gripping portion is rotated from the gripping position for gripping the article with the first surface facing upward to rotate the article gripped at the gripping position in the first direction so that the first surface is in a sideways state. A first movable arm displaced to an alignment position to be released;
The second gripping portion is rotated from the gripping position for gripping the article with the second surface facing upward to rotate the article gripped at the gripping position in the second direction so that the second surface is in a sideways state. A second movable arm displaced to the alignment position to be released ;
A robot hand comprising: A plurality of the first gripping portions installed at predetermined intervals and a plurality of the second gripping portions installed at the same interval as the first gripping portions are provided in parallel with each other , and a fixed arm A plurality of first movable arms extending in one direction from the fixed arm and individually displacing the plurality of first gripping portions; and extending from the fixed arm in a direction opposite to the one direction. A plurality of second movable arms that are paired with each of the plurality of first movable arms, the plurality of second movable arms individually displacing the plurality of second gripping portions; comprising a robot hand of claim 11. Some of the first movable arms displace the first gripping part that grips the article at the gripping position to the alignment position, and some of the first movable arms are not paired with the first movable arms. The robot hand according to claim 12, wherein the second movable arm displaces the second gripping part that grips the article at the gripping position to the alignment position. The first movable arm and the second movable arm are configured to displace the first gripping portion and the second gripping portion between a first position spaced apart from each other and a second position facing each other. And at least one of the first gripping part and the second gripping part grips the article with the first position as the gripping position and releases the article with the second position as the alignment position. The robot hand according to any one of claims 11 to 13. The first movable arm and the second movable arm are spaced apart from each other in a first position and a first position where the first grip portion and the second grip portion are separated from each other. And at least one of the first gripping portion and the second gripping portion grips the article with the first position as the gripping position, and the second position is shifted between the second position and the second position. The robot hand according to claim 11, wherein the article is released as the alignment position.

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