JP6682685B1 - Transfer device, transfer method, and robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: It is possible to transfer even a work with insufficient regulation. A transfer device is a transfer device that includes a robot hand and transfers a work forming a bulk body, and the robot hand includes a suction unit that sucks the work in units of rows. And a gripping plate for sandwiching the workpieces, which are sucked by the suction unit in units of rows, with the suction unit. A row of suction holes for sucking the work by negative pressure can be formed on the front surface of the suction unit. [Selection diagram] Figure 8

Description

  The present invention relates to a transfer device, a transfer method, and a robot hand suitable for use when transferring a work (transfer target) to a downstream line in a row unit.

  There are a method of using a magnetic force and a method of using a negative pressure by a vacuum pump or the like in order to adsorb the works when the works arranged vertically and horizontally are transferred to a downstream line.

  In the case of using the magnetic force, the material of the work is limited to a magnetic material such as steel, so that a work made of a material other than a magnetic material such as a PET bottle made of PET (polyethylene terephthalate) is used. There is a problem that can not be sucked.

  When negative pressure is used, it is necessary to position the work accurately with respect to the position of the vacuum pad that has generated the negative pressure, so it is necessary to regulate the work (align it to an appropriate position) before suction. .

  As a method for regulating the work, for example, Patent Document 1 describes a regulation arrangement for regulating the work by pressing the work from four directions.

JP, 2017-141068, A

  According to the train wheel setting device described in Patent Document 1, in the case of works (for example, aluminum cans, steel cans, and the like) formed of materials that slide with each other, sufficient train control can be performed.

  However, in the case of workpieces made of materials that do not slide with each other (for example, PET bottles), it may not be possible to set the workpieces at appropriate positions even with a trainer, and in this case, the workpieces are transferred to the downstream line. There are things you can't do.

  The present invention has been made in view of such a situation, and an object of the present invention is to enable transfer of a work with insufficient regulation.

  The present invention includes a plurality of means for solving at least a part of the above problems, and examples thereof are as follows.

  In order to solve the above problems, a train control apparatus according to an aspect of the present invention is a transfer apparatus that includes a robot hand and transfers a work forming a bulk body, wherein the robot hand transfers the work. It is characterized by including a suction unit that sucks in a row unit, and a grip plate that holds the work in a row unit that is sucked by the suction unit between the suction unit.

  A row of suction holes for sucking the work by negative pressure can be formed on the front surface of the suction unit.

  A plurality of rows of the suction holes may be vertically formed on the front surface of the suction unit.

  The plurality of rows of the suction holes formed on the front surface of the suction unit may be formed so that the non-opening portions of the suction holes do not overlap at any position in the horizontal direction.

  A convex portion may be formed on the front surface of the suction unit, and the suction hole may be formed on the convex portion.

  The convex portion of the suction unit may be formed so that the shape thereof substantially matches the shape of the concave portion of the side surface of the work.

  The curvature of the convex portion of the suction unit may be smaller than the curvature of the concave portion of the side surface of the work.

  The robot hand includes a first grip plate moving unit that moves the grip plate in the vertical direction, and a second grip plate moving unit that moves the grip plate in the horizontal direction to approach the suction unit. You can

  A slip stopper can be attached to the surface of the grip plate.

  The transfer device may include a robot arm and an arm tip end portion that is attached to a tip end of the robot arm and detachably holds the robot hand.

  A regulation method according to another aspect of the present invention is a transfer method using a transfer device that includes a robot hand and transfers a work forming a bulk body, wherein the robot hand includes a suction unit and a gripping unit. A plate, and a suction step, in which the suction unit presses the one-stage work set in a predetermined direction to set the work, and the suction unit sucks the pressed work in a row unit, It is characterized in that a suction step of pulling out and a sandwiching step of sandwiching the works between the gripping plate and the suction unit in a row unit are performed.

  In the holding step, by moving the grip plate in the vertical direction, the grip plate is inserted behind the pulled-out work, and the grip plate is moved in the horizontal direction to approach the suction unit. The work can be held between the suction unit and the suction unit in a row unit.

  A robot hand according to still another aspect of the present invention is a robot hand of a robot that transfers a work forming a bulk body, and includes a suction unit that sucks the work in a row unit, and a suction unit that sucks the work. And a gripping plate for sandwiching the work in row units between the suction unit and the suction unit.

  According to the present invention, it is possible to transfer a work even if the regulation is insufficient.

  Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

FIG. 1 is a diagram showing the shape of a PET bottle as an example of a work. FIG. 2 is a diagram showing an example of a bulk body in which works are stacked. FIG. 3 shows an example of a bulk body in which a work is arranged at an appropriate position. FIG. 3 (A) is a top view of the bulk body, and FIG. 3 (B) is a side view of the bulk body. 4A and 4B show an example of a bulk body in which a work is displaced from an appropriate position. FIG. 4A is a top view of the bulk body and FIG. 4B is a side view of the bulk body. FIG. 5: is a figure which shows an example of a train control apparatus. 6A and 6B show an example of a state in which the work can be properly regulated. FIG. 6A shows a state before the regulation, and FIG. 6B shows a state after the regulation. FIG. 7 shows an example of a situation in which the work could not be properly regulated, FIG. 7 (A) is a state before the regulation, and FIG. 7 (B) is a diagram after the regulation. FIG. 8: is a figure which shows an example of the transfer apparatus which concerns on one Embodiment of this invention. 9A and 9B show a configuration example of a robot hand of the transfer device. FIG. 9A is a state in which the grip plate is raised, FIG. 9B is a state in which the grip plate is lowered, and FIG. It is a figure showing the state where the work was pinched by the grasping board and the suction unit. FIG. 10 is a diagram showing an example of the grip plate viewed from the suction unit side. 11: is a figure which shows an example of the suction unit seen from the holding plate side. FIG. 12 is a top view showing a configuration example of a robot hand in the transfer device of FIG. FIG. 13 shows an example of a suction unit, FIG. 13 (A) is a partial front view of the suction unit, and FIG. 13 (B) is a side view of the suction unit. FIG. 14 is a flowchart illustrating an example of the work transfer processing by the trainer and transfer apparatus. FIG. 15 is a diagram for explaining the state of the workpiece transfer processing. FIG. 16 is a diagram showing a modified example of the transfer device. FIG. 17 is a diagram showing a configuration example of a robot hand in a modified example of the transfer device. FIG. 18 is a top view showing a configuration example of a robot hand including a suction unit. FIG. 19 is a diagram showing a state in which the separate sheet is sucked by the suction unit. FIG. 20 is a flowchart illustrating an example of a workpiece transfer process by a modification of the train control apparatus and the transfer apparatus. FIG. 21 is a trihedral view for explaining the effect of the present embodiment, FIG. 21 (A) is a diagram showing the action of the present embodiment, and FIG. 21 (B) is a diagram showing the action of the conventional technique. . 22A and 22B are diagrams for explaining the effect of the present embodiment, FIG. 22A is a diagram showing the action of the present embodiment, and FIG. 22B is a diagram showing the action of the conventional technique.

  An embodiment according to the present invention will be described below with reference to the drawings. In all the drawings for explaining the embodiments, the same members are denoted by the same reference symbols in principle, and the repeated description thereof will be omitted. Further, in the following embodiments, it goes without saying that the constituent elements (including element steps and the like) are not necessarily essential unless otherwise specified or in principle considered to be essential. Yes. Also, when referring to “consisting of A”, “consisting of A”, “having A”, and “including A”, except for the case where it is explicitly stated that only the element is included, other elements are excluded. It goes without saying that this is not what you do. Similarly, in the following embodiments, when referring to shapes, positional relationships, etc. of constituent elements, etc., the shapes, etc. are substantially the same, unless otherwise specified or in principle not apparently. And the like, etc. are included.

<Outline of this embodiment>
First, the outline of the transfer device according to the present embodiment will be described. The transfer device according to the present embodiment is used for the operation of transferring the works from the bulk body in which the works are stacked in a row to the downstream line. Specifically, for example, in a factory for soft drinks, etc., the PET bottles are lined up from a bulk body in which empty PET bottles are stacked to a downstream line that conveys the PET bottles to the step of filling the soft drinks, etc. It is used for the work of transferring in units.

  FIG. 1 shows a PET bottle which is an example of a work W to be transferred. The PET bottle has a circular horizontal cross section and has a recess 1 on the side surface. However, the shape of the PET bottle as the work W is not limited to that shown in the figure. For example, the horizontal cross section of the PET bottle may be a polygon such as a quadrangle, or the side surface may not be concave. Further, the work W is not limited to the PET bottle.

  FIG. 2 shows an example of the bulk body 4 in which PET bottles as the work W are stacked. In the case of the same figure, in the bulk body 4, the works W are arranged horizontally and vertically on the pallet 3 to form one stage, and the separate sheet 2 is sandwiched between each stage to form a plurality of stages (in the same figure). In this case, 8 layers are stacked. In general, in the bulk body 4, the works W are often stacked in 3 to 10 layers.

  The work W on the bulk body 4 may be displaced from an appropriate arrangement due to a defect in the process of forming the bulk body 4 or contact in the transporting process of the bulk body 4.

  FIG. 3 shows an example of the bulk body 4 in which the PET bottle as the work W is arranged at an appropriate position. FIG. 3A is a top view of the bulk body 4, and FIG. 3B is the bulk body. 4 is a side view of FIG. However, the work W for two stages is shown in FIG. As shown in the figure, when the work W is aligned at an appropriate position, the train-setting by the train-setting device 20 (FIG. 5) is unnecessary, or only a slight train-setting is required.

  Next, FIG. 4 shows an example of the bulk body 4 in which the PET bottle as the work W is arranged displaced from an appropriate position, and FIG. 4A is a top view of the bulk body 4 and FIG. B) is a side view of the bulk body 4. However, FIG. 2B shows the work W for only two stages. The work W may be displaced in the horizontal direction as shown in FIG. 7A, or may be displaced in the vertical direction as shown in FIG. Although the horizontal displacement shown in FIG. 7A is corrected by using the train-set device 20, it may not be set in an appropriate position.

  Next, FIG. 5 shows an example of the configuration of the train wheel setting device 20 for training the deviation of the work W.

  The train wheel setting device 20 includes base members 21a and 21b, a movable member 22, train wheel setting members 23a, 23b, 23c, 23d, 23e and 23f, and a pallet conveyor 26. In addition, the train wheel setting device 20 includes a plurality of power units (reference numerals are omitted) including a movable member 22 and a motor for moving the train wheel setting members 23a to 23f. The movements of the movable member 22, the train-set members 23a to 23f, and the pallet conveyor 26 are controlled by the control device 100 (FIG. 8).

  The base members 21a and 21b are formed in a columnar shape, and are installed on the floor surface such that the longitudinal direction thereof is orthogonal to the floor surface. In the example of the figure, two base members 21 are provided, but the number of base members 21 may be one or three or more.

  The movable member 22 is formed in a columnar shape, and is provided on the base members 21a and 21b so that the longitudinal direction thereof is orthogonal to the longitudinal directions of the base members 21a and 21b. The movable member 22 is attached to the base members 21a and 21b so as to be movable in the stacking direction (z-axis direction) of the works W forming the bulk body 4.

  The train wheel setting members 23a and 23b are formed in a plate shape, and are provided on the movable member 22 so as to extend in the x-axis direction. Further, the train wheel setting members 23a and 23b are attached to the movable member 22 so as to be movable in the directions (y-axis direction) facing each other.

  The train wheel setting members 23c and 23d are formed in a plate shape, and are provided on the train wheel setting member 23b so as to extend in the y-axis-direction. Further, the train wheel setting members 23c and 23d are attached to the train wheel setting member 23b so as to be movable in a direction (x-axis direction) facing each other.

  The train wheel setting members 23e and 23f are formed in a plate shape, and are provided on the train wheel setting member 23a so as to extend in the y-axis + direction. The train wheel setting members 23e and 23f are attached to the train wheel setting member 23a so as to be movable in directions (x-axis direction) facing each other.

  The train wheel setting members 23a to 23f are configured such that their respective heights are located on the same xy plane. The area surrounded by the train wheel setting members 23a to 23f has an area in which the bulk body 4 placed on the pallet conveyor 26 can be accommodated. The inner surface of the train wheel setting members 23a to 23f functions as a front wheel surface that presses the outer peripheral side surface of the work W.

  The bulk body 4 is placed on the pallet conveyor 26. The pallet conveyor 26 conveys the placed bulk body 4 to the front of the trainer 20.

  In the train wheel setting device 20, the pallet conveyor 26 conveys the bulk body 4 directly below the region surrounded by the train wheel setting members 23a to 23f, and the movable member 22 moves in the z-axis direction to move the train wheel setting members 23a to 23f at a desired height. Move to. Then, the work W of the bulk body 4 can be set by moving the setting members 23a to 23f on the xy plane and pressing the work W.

  Next, FIG. 6 shows an example of a state in which the PET bottle as the work W has been properly regulated by the regulation device 20, where FIG. 6A shows the state before the regulation and FIG. 6B shows the state after the regulation. Shows the state of. According to the train wheel setting device 20, the work W can be aligned at an appropriate position by pressing the work W from the four directions by the train wheel setting members 23a to 23f. However, depending on the material of the work W, the shape, and the arrangement before the regulation, the regulation may not be possible.

  Next, FIG. 7 shows an example of a state in which the work W could not be properly set by the train setting device 20, where FIG. 7A shows the state before the setting and FIG. 7B shows the state after the setting. Shows. As described above, when the works W are formed of materials that do not slide with each other, or as shown in FIG. 7A, the rows of the works W are aligned with the faces of the train control members 23a to 23f of the train wheel setting device 20. When the workpiece W is inclined, the work W may not be set in an appropriate position as shown in FIG.

  In the transfer device according to the present embodiment, the work W properly set as shown in FIG. 6B is, of course, an appropriate position even after the set as shown in FIG. 7B. The transfer of the works W, which is slightly deviated from the above, is realized in a row unit.

<Example of configuration of transfer device 30 according to the present embodiment>
Next, FIG. 8 shows a configuration example of the transfer device 30 according to the present embodiment.

  The transfer device 30 is, for example, an arm robot, and includes an installation base 31, a body 32, a robot arm 33, an arm tip portion 34, and a robot hand 40. The transfer device 30 is installed, for example, at a position facing the train wheel setting device 20 shown in FIG.

  The installation base 31 is fixed to the floor surface via the installation base stand 31b. The body 32 is provided on the installation base 31 and can rotate around the z axis. A base portion of the robot arm 33 is fixed to the body 32, and an arm tip portion 34 provided at a tip thereof is arranged above the body 32.

  The body 32 has a built-in mechanism such as a drive unit for operating the robot arm 33 and a drive unit for operating the body 32 (both not shown). Each drive unit built in the body 32 is connected to the control device 100 installed outside the transfer device 30, and the operation (rotation direction, rotation speed, etc.) of each drive unit is controlled by the control device 100. It The control device 100 may be installed in the body 32.

  The robot arm 33 is configured by connecting a plurality of links with a plurality of joints. By interlocking the joints, the position of the arm tip portion 34 is maintained in the x-axis direction and the z-axis direction while maintaining the posture of the arm tip portion 34. Can be moved to. The robot arm 33 can also swivel the arm tip portion 34 around the z-axis along with the rotation operation of the body 32.

  The arm tip portion 34 detachably holds the robot hand 40. The drive portion 35 provided on the arm tip portion 34 can rotate about its axis P1. Therefore, the robot hand 40 held by the drive unit 35 can swivel as the drive unit 35 rotates about the axis P1. The axis P1 is normally controlled to be vertical, but may be controlled to be tilted.

  The robot hand 40 includes a suction unit 44 and a grip plate 47. The suction unit 44 is formed in a box shape, and a pipe connection portion 443 (FIG. 11) is provided on the upper surface thereof, and a suction hole 442 (FIG. 11) is provided on the front surface (the surface facing the work W). There is. A pipe (not shown) connected to the vacuum pump is connected to the pipe connecting portion 443. Then, the suction unit 44 sucks the work W by the negative pressure generated in the suction hole 442. A blower may be used instead of the vacuum pump.

  The grip plate 47 can move in the z-axis-direction (the lower side of the drawing) and in the x-axis-direction (the right side of the drawing), so that the workpiece W sucked by the suction unit 44 is placed between the suction unit 44. Hold it.

  Next, FIG. 9 shows a detailed configuration example of the robot hand 40. In FIG. 9A, the grip plate 47 is in the initial position, and in FIG. 9B, the grip plate 47 is in the z-axis-direction. FIG. 6C shows a state in which the grip plate 47 has further moved in the x-axis-direction.

  The robot hand 40 has a suction unit 44 and a grip plate 47, as well as a connection portion 41, a base member 42, a support member 43, and grip plate moving portions 45 and 46. The connecting portion 41 connects the arm tip portion 34 and the base member 42. A support member 43 is connected to the lower surface (xy surface) of the base member 42, and a suction unit 44 is connected below the support member 43. A grip plate moving unit 45 is connected to the side surface (yz surface) of the base member 42.

  The grip plate moving unit 45 includes a grip plate moving unit 46 connected to the lower surface (xy surface) and a grip plate 47 connected to the side surface (yz surface) of the grip plate moving unit 46 from the initial position in the z-axis. -It can be moved in the direction (downward in the drawing). The initial position of the grip plate 47 in the z-axis direction is set so that the lower end thereof is higher than the upper end of the work W.

  The grip plate moving unit 46 can move the grip plate 47 from the initial position in the x-axis-direction (right side in the drawing). The initial position of the grip plate 47 in the x-axis direction is set so that the distance between the grip plate 47 and the suction unit 44 is wider than the lateral width of the work W. The grip plate moving units 45 and 46 correspond to the first and second grip plate moving units of the present invention.

  After the grip plate 47 is moved from the initial position in the z-axis direction as shown in FIG. 7B, the grip plate 47 is moved in the x-axis direction as shown in FIG. By moving, the work W sucked by the suction unit 44 can be held between the suction unit 44 and the grip plate 47.

  Next, FIG. 10 is a diagram showing an example of a state in which the grip plate 47 moved by the grip plate moving unit 45 in the z-axis − direction is viewed from the suction unit 44 side as shown in FIG. 9B. Is. However, the illustration of the suction unit 44 is omitted.

  As shown in the figure, the grip plate 47 is formed to be long in the y-axis direction, and its length is formed to be at least longer than the length of one row of the work W. A slip stopper 48 made of a plate rubber or the like is attached to a surface (yz surface) of the grip plate 47 facing the suction unit 44 (hereinafter referred to as a surface of the grip plate 47). This can prevent the work W from slipping on the surface of the grip plate 47.

  11: is a figure which shows an example of the suction unit 44 seen from the holding plate 47 side. However, the illustration of the grip plate 47 is omitted.

  As shown in the figure, the suction unit 44 is formed in the shape of a box that is long in the y-axis direction like the grip plate 47, and its length is at least longer than the length of one row of the work W. ing. A pipe connecting portion 443 for connecting a pipe connected to a vacuum pump is provided on the upper surface (xy surface) of the suction unit 44.

  A convex portion 441 is provided on the front surface (yz surface) of the suction unit 44, and a suction hole 442 is formed in the convex portion 441. The details of the convex portion 441 and the suction hole 442 will be described later with reference to FIG. 13.

  FIG. 12 is a top view showing a configuration example of the robot hand 40 looking down from the arm tip portion 34 side. However, the illustration of the arm tip portion 34 is omitted.

  As shown in the figure, the front surface of the suction unit 44 and the surface (yz plane) of the grip plate 47 are configured to be parallel to each other along the y-axis direction. As a result, the grip plate 47 is lowered in the z-axis-direction to the same height as the suction unit 44, and is further moved in the x-axis direction so as to be closer to the suction unit 44, so that the workpiece W sucked by the suction unit 44. (Not shown) can be held.

  Next, FIG. 13 shows an example of the suction unit 44. FIG. 13A shows a partial front view of the suction unit 44, and FIG. 13B shows a side view of the suction unit 44.

  As shown in FIG. 3A, the suction unit 44 has a plurality of rows (two rows in the case of FIG. 2) of suction holes 442 extending in the horizontal direction on the front surface (yz plane) in the horizontal direction. Has been.

  The plurality of rows of suction holes 442 provided on the front surface of the suction unit 44 are formed so that the non-opening portions 444 of the suction holes 442 do not overlap at any position in the y-axis direction. As a result, the suction unit 44 can suction even the work W deviated in the y-axis direction or the work W slightly deviated in the z-axis direction with respect to the front surface of the suction unit 44.

  The opening of the suction hole 442 is not limited to the horizontal direction, and may be an oblique direction with respect to the horizontal plane.

  Further, as shown in FIG. 2B, a convex portion 441 is formed on the front surface (yz surface) of the suction unit 44 so that its shape substantially matches the concave portion 1 of the PET bottle as the workpiece W to be sucked. Has been done. The curvature of the convex portion 441 is preferably smaller than the curvature of the concave portion 1 of the PET bottle. As a result, the suction unit 44 can be in close contact with the recess 1 of the PET bottle as the work W at the projection 441, and the work W can be sucked more reliably.

<Work transfer processing by trainer 20 (FIG. 5) and transfer device 30 (FIG. 8)>
Next, FIG. 14 is a flowchart illustrating an example of the work transfer processing by the trainer 20 and the transfer device 30. FIG. 15 is a diagram for explaining the state of the work transfer processing.

  The work transfer process is a process executed for the entire bulk body 4, and is started in response to a predetermined operation from the user. As a premise, it is assumed that the bulk body 4 is placed on the pallet conveyor 26 of the train wheel setting device 20.

  First, the pallet conveyor 26 of the train wheel setting device 20 conveys the placed bulk body 4 between the train wheel setting device 20 and the transfer device 30 under the control of the control device 100 (step S1).

  Next, the uppermost separate sheet 2 of the bulk body 4 is removed manually or by another device, and then the train control device 20 moves the movable member 22 in the z-axis direction according to the control from the control device 100. The train wheel setting members 23a to 23f are moved to the height of the uppermost stage of the bulk body 4. Then, as shown in the upper left side of FIG. 15, the train-setting members 23a to 23f are moved to the work W side on the xy plane, thereby pressing the work W from four directions to set the work W (step S2).

  Next, under the control of the control device 100, the train wheel setting device 20 opens the front face of the train wheel by the train wheel setting members 23d and 23f among the train wheel setting members 23a to 23f (step S3).

  Next, the transfer device 30 moves the robot hand 40 under the control of the control device 100, thereby sucking the workpiece W from the open surface as shown in the lower left side and the upper center of FIG. The work W is set by pressing the unit 44 (step S4).

  Next, the transfer device 30 moves the robot hand 40 in the x-axis direction while sucking the work W by the suction unit 44 as shown in the center middle stage of FIG. 15 under the control of the control device 100. The work W for one row is pulled out in the x-axis direction to widen the distance between the first row and the second row of the work W (step S5).

  Next, the transfer device 30 is pulled out by moving the gripping plate 47 in the z-axis-direction by the gripping plate moving unit 45 under the control of the control device 100, as shown in the lower middle part of FIG. The grip plate 47 is inserted between the first row and the second row of the works W (behind the pulled-out works W) (step S6).

  Next, the transfer device 30 moves the gripping plate 47 in the x-axis direction by the gripping plate moving unit 46 under the control of the control device 100, so that the gripping plate 47 and the gripping plate 47 are moved as shown in the upper right side of FIG. The work W for one row is held between the suction unit 44 and the suction unit 44 (step S7).

  Next, the transfer device 30 moves the robot hand 40 while holding the work W for one row between the grip plate 47 and the suction unit 44 under the control of the control device 100. As shown in the right middle section and the lower right section of 15, the work W for one row is moved to the downstream line, and the holding of the work W is released (step S8). As a result, the works W for one row are transferred to the downstream line.

  Next, the control device 100 determines whether or not the transfer of all the works W arranged in one stage which is the processing target of the bulk body 4 has been completed (step S9). When it is determined that all the works W arranged in the one stage to be processed have not been transferred to the downstream line, that is, the work W remains in the one stage to be processed (NO in step S9). The control device 100 returns the process to step S4 and repeats steps S4 to S9.

  After that, the control device 100 transfers all the works W arranged in one stage which is the processing target of the bulk body 4 to the downstream line, that is, the work W does not remain in the one stage which is the processing target. When the determination is made (YES in step S9), the control device 100 next determines whether or not transfer of all stages of the bulk body 4 is completed (step S10). If it is determined that the transfer of all the stages of the bulk body 4 has not been completed, that is, if there is a stage that is not the processing target (NO in step S10), the control device 100 returns the process to step S2. , Steps S2 to S10 are repeated.

  After that, when the control device 100 determines that the transfer of all the stages of the bulk body 4 is completed (YES in step S10), the work transfer process is ended.

  According to the work transfer processing described above, even the work W slightly deviated from the appropriate position can be held between the gripping plate 47 and the suction unit 44, so that the work can be reliably downstream. It is possible to transfer to the line. However, as described above, it is necessary to remove the separate sheet 2 provided between the stages of the bulk body 4 manually or by another device.

<Modification of Transfer Device 30>
Next, FIG. 16 shows a configuration example of a transfer device 50 which is a modified example of the transfer device 30 according to the present embodiment.

  The transfer device 50 is obtained by adding a suction unit 60 to the robot hand 40 of the transfer device 30 (FIG. 8). Components other than the suction unit 60 of the transfer device 50 are assigned the same reference numerals as those of the transfer device 30, and description thereof will be omitted.

  Next, FIG. 17 shows a configuration example of the robot hand 40 including the suction unit 60. FIG. 18 is a top view showing a configuration example of the robot hand 40 including the suction unit 60, which is looked down from the arm tip portion 34 side. However, the illustration of the arm tip portion 34 is omitted.

  The suction unit 60 includes a connection portion 61, a base member 62, a plurality of moving portions 63, a plurality of support members 64, and a plurality of suction portions 65. The connecting portion 61 connects the arm tip portion 34 and the base member 62. The base member 62 connects the base member 42 to the lower surface (xy surface) via the connecting portion 41. The moving portion 63 is connected to both side surfaces (yz surface) of the base member 62. The moving portion 63 moves the support member 64 having suction portions 65 at both ends in the z-axis direction so that the suction portion 65 moves from a position higher than the lower end of the grip plate 47 to a position lower than the suction unit 44. Can be moved to. The suction unit 65 is connected to, for example, a vacuum pump (not shown) like the suction unit 44, and can suck an object (for example, the separate sheet 2).

  In the case of FIG. 18, the suction unit 60 has four suction portions 65. However, the number of suction units 65 is not limited to four. The plurality of suction units 65 can suction an object that spreads in the xy plane, such as the separate sheet 2, for example.

  Next, in FIG. 19, the moving section 63 moves the support member 64 in the z-axis direction, whereby the suction section 65 is moved to a position lower than the suction unit 44, and the suction section 65 sucks the separate sheet 2. It shows the state. As shown in the figure, if the separate sheet 2 is sucked by the suction unit 60 and removed from the bulk body 4, it is possible to save the user the trouble of removing the separate sheet 2.

<Work transfer process by trainer 20 (FIG. 5) and transfer device 50 (FIG. 16)>
Next, FIG. 20 is a flowchart illustrating an example of the work transfer processing by the trainer 20 and the transfer device 50.

  The work transfer process is a process executed for the entire bulk body 4, and is started in response to a predetermined operation from the user. As a premise, it is assumed that the bulk body 4 is placed on the pallet conveyor 26 of the train wheel setting device 20.

  First, the pallet conveyor 26 of the train setting device 20 conveys the placed bulk body 4 between the train setting device 20 and the transfer device 50 under the control of the controller 100 (step S21). Next, the transfer device 50 moves the robot hand 40 under the control of the control device 100, and sucks and removes the separate sheet 2 on the upper surface of the bulk body 4 by the suction unit 60, thereby obstructing the subsequent steps. It is moved to a position where it does not become (step S22).

  Next, the train wheel setting device 20 moves the movable members 22 in the z-axis direction under the control of the control device 100, thereby moving the train wheel setting members 23a to 23f to the height of the uppermost stage of the bulk body 4, and the train wheel setting member 23a. By moving ~ 23f to the work W side on the xy plane, the work W is pressed from four directions and set (step S23). Next, the train wheel setting device 20 opens the front face of the train wheel by the train wheel setting members 23d and 23f among the train wheel setting members 23a to 23f under the control of the control device 100 (step S24).

  Next, the transfer device 50 moves the robot hand 40 under the control of the control device 100, thereby pressing the suction unit 44 against the work W from the opened surface to regulate the work W ( Step S25). Next, the transfer device 50 moves the robot hand 40 in the x-axis direction while sucking the work W by the suction unit 44 under the control of the control device 100, thereby moving one row of the works W in the x-axis direction. To widen the space between the first and second rows of the work W (step S26).

  Next, the transfer device 50 moves the gripping plate 47 in the z-axis-direction by the gripping plate moving unit 45 under the control of the control device 100, so that the first row and the second row of the workpieces W that have been pulled out. The grip plate 47 is inserted between and (step S27). Next, the transfer device 50 moves the gripping plate 47 in the x-axis direction by the gripping plate moving unit 46 under the control of the control device 100, so that one line is provided between the gripping plate 47 and the suction unit 44. Holds the workpiece W (step S28).

  Next, the transfer device 50 moves the robot hand 40 while holding the work W for one row between the grip plate 47 and the suction unit 44 under the control of the control device 100. The works W for the rows are moved to the downstream line, and the holding of the works W is released (step S29). As a result, the works W for one row are transferred to the downstream line.

  Next, the control device 100 determines whether or not the transfer of all the works W arranged in one stage which is the processing target of the bulk body 4 has been completed (step S30). When it is determined that all the works W arranged in the one stage to be processed have not been transferred to the downstream line, that is, the works W remain in the one stage to be processed (NO in step S30). The control device 100 returns the process to step S25 and repeats steps S25 to S30.

  After that, the control device 100 transfers all the works W arranged in one stage to be processed of the bulk body 4 to the downstream line, that is, no work W remains in the one stage to be processed. (YES in step S30), the control device 100 then determines whether transfer of all stages of the bulk body 4 has been completed (step S31). When it is determined that the transfer of all the stages of the bulk body 4 has not been completed, that is, there is a stage that is not the processing target (NO in step S31), the control device 100 returns the process to step S22. , Steps S22 to S31 are repeated.

  After that, when the control device 100 determines that the transfer of all the stages of the bulk body 4 is completed (YES in step S31), the work transfer process is ended.

  According to the work transfer processing described above, even if the work W is slightly deviated from an appropriate position without manually removing the separate sheet 2 of the bulk body 4, the grip plate 47 and the suction unit 44 As a result, since it can be held between them, it is possible to surely transfer to the downstream line.

<Effects of this embodiment>
Next, the effect of this embodiment will be described.

  FIG. 21 is a three-sided view showing the difference between the present embodiment and the prior art when sucking the works W in a row unit. FIG. 21A shows the suction unit 44 of the present embodiment in a row unit of the works W. FIG. 2B shows how the work piece W is sucked by the vacuum pad 110 as a conventional technique. In addition, each vacuum pad 110 shall be arrange | positioned so that the workpiece | work W regulated in the suitable position can be attracted | sucked.

  As shown in FIG. 4A, when the rows of the work W after the alignment are aligned without any deviation, the work W can be sucked in the row unit in both the present embodiment and the prior art.

  However, as shown in FIG. 6B, when the rows of the work W after the train are displaced in the y-axis direction and the z-axis direction, the work W can be sucked in the row unit in the present embodiment. The work W that cannot be sucked by the conventional technique is generated.

  Further, as shown in FIG. 7C, when the row of the work W after the train is deviated in the x-axis direction, the work W that cannot be sucked occurs in both the present embodiment and the conventional technique.

  However, with respect to the works W that could not be sucked, in the present embodiment, the grip plate 47 moves to the suction unit 44 side and presses these works W against the suction unit 44, so that finally all the works W are sucked. Can be reprinted. On the other hand, in the conventional technique, since there is no method of pressing the work W deviated in the x-axis direction to the vacuum pad 110 side, it is necessary to perform the regulation again.

  Next, FIG. 22 shows a difference between the present embodiment when sucking the work W and the conventional technique, and FIG. 22A shows a state of sucking the work W by the suction unit 44 of the present embodiment. FIG. 1B shows how the work W is sucked by the vacuum pad 110 as a conventional technique. In addition, in the case of FIG. 2B, each vacuum pad 110 is arranged so as to suck a position slightly higher than the center of gravity of the work W.

  In the case of the prior art shown in FIG. 1B, if the vacuum pad 110 sucks a position slightly higher than the center of gravity of the work W in the x-axis-direction, the work W may fall. On the other hand, in the present embodiment, a plurality of rows of suction holes 442 are provided on the front surface of the suction unit 44 in the z-axis direction, so that as shown in FIG. Even if sucked in the direction, the work W can be prevented from falling over regardless of the height of the center of gravity of the work W.

  As described above, according to the transfer device 30 of the present embodiment, it is possible to reliably transfer the work W, which is insufficiently regulated, to the downstream line in a row unit without tipping over. . Further, according to the transfer device 50 which is a modified example thereof, the works W forming the bulk body 4 can be transferred to the downstream line in a row unit without manually removing the separate sheet 2 of the bulk body 4. As a result, the work W can be supplied without delay to the process performed in the downstream line (for example, the process of filling the PET bottle as the work W with the liquid).

  In addition, in the above-described embodiment, the configuration has been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to one including all the configurations described.

  DESCRIPTION OF SYMBOLS 1 ... Recessed part, 2 ... Separate sheet, 3 ... Pallet, 4 ... Bulk body, 20 ... Trainer, 21 ... Base member, 22 ... Movable member, 23 ...・ Regulating member, 26 ... Pallet conveyor, 30 ... Transfer device, 31 ... Installation base, 31b ... Installation base stand, 32 ... Body, 33 ... Robot arm, 34 ... Arm tip portion, 35 ... drive portion, 40 ... robot hand, 41 ... connection portion, 42 ... base member, 43 ... support member, 44 ... suction unit, 45, 46 ... Gripping plate moving part, 47 ... Gripping plate, 48 ... Anti-slip, 50 ... Transfer device, 60 ... Suction unit, 61 ... Connection part, 62 ... Base member , 63 ... moving part, 64 ... support member, 65 ... suction part, 100 ..Control device, 110 ... Vacuum pad, 441 ... Convex portion, 442 ... Suction hole, 443 ... Pipe connecting portion, 444 ... Non-opening portion, P1 ... Shaft, W. ··work

Claims (12)

A transfer device equipped with a robot hand for transferring a work forming a bulk body,
The robot hand is
A suction unit for sucking the workpieces in rows,
A gripping plate for sandwiching the work in units of rows being sucked by the suction unit between the suction unit and the suction unit,
On the front surface of the suction unit, there is a horizontal row composed of a plurality of suction holes for sucking the work by negative pressure, and a non-opening portion where the suction holes do not exist at any position in the row direction. A plurality of them are formed in the vertical direction so that they do not overlap,
The transfer device is characterized in that the suction hole has a horizontal length longer than a vertical length. The transfer device according to claim 1, wherein
The robot hand is
A transfer device comprising: a suction unit including a plurality of suction units movable from a position higher than a lower end of the grip plate to a position lower than the suction unit. The transfer device according to claim 2 ,
In the bulk body, the workpieces are stacked with a separate sheet interposed therebetween,
The transfer device, wherein the suction unit suctions the separate sheet. The transfer device according to any one of claims 1 to 5 ,
A convex portion is formed on the front surface of the suction unit,
The transfer device, wherein the suction hole is formed in the convex portion. The transfer device according to claim 4 ,
The transfer device, wherein the convex portion of the suction unit substantially matches the shape of the concave portion of the side surface of the work. The transfer device according to claim 4 ,
The transfer device, wherein the curvature of the convex portion of the suction unit is smaller than the curvature of the concave portion of the side surface of the workpiece. The transfer device according to any one of claims 1 to 7 ,
The robot hand is
A first grip plate moving unit for moving the grip plate in the vertical direction;
A second grip plate moving unit that moves the grip plate in the horizontal direction to bring it closer to the suction unit;
A transfer device having: The transfer device according to any one of claims 1 to 9 ,
A transfer device, wherein a slip stopper is attached to the surface of the grip plate. The transfer device according to any one of claims 1 to 9 ,
A robot arm,
An arm tip part attached to the tip of the robot arm and detachably holding the robot hand,
A transfer device comprising: A transfer method using a transfer device that includes a robot hand and transfers a work forming a bulk body,
The robot hand is
A suction unit,
And a grip plate,
On the front surface of the suction unit, there is a horizontal row composed of a plurality of suction holes for sucking the work by negative pressure, and a non-opening portion where the suction holes do not exist at any position in the row direction. A plurality of them are formed in the vertical direction so that they do not overlap,
The suction hole has a horizontal length longer than a vertical length,
By the suction unit, a setting step for pressing and fixing the work for one step that has been set from a predetermined direction,
By the suction unit, a suction step of sucking the pressed work in a row unit and pulling it out,
A holding step of holding the work between the gripping plate and the suction unit in a row unit,
A transfer method characterized by executing. The transfer method according to claim 10 , wherein
The pinching step is
By moving the grip plate in the vertical direction, the grip plate is inserted behind the pulled-out work,
A transfer method, wherein the grip plate is moved in the horizontal direction to approach the suction unit so that the work is sandwiched between the suction unit and the suction unit in a row unit. A robot hand of a robot for transferring a work forming a bulk body,
A suction unit for sucking the workpieces in rows,
A gripping plate for sandwiching the work in units of rows sucked by the suction unit between the work and the suction unit,
On the front surface of the suction unit, there is a horizontal row composed of a plurality of suction holes for sucking the work by negative pressure, and a non-opening portion where the suction holes do not exist at any position in the row direction. A plurality of them are formed in the vertical direction so that they do not overlap,
The robot hand according to claim 1, wherein the suction hole has a horizontal length longer than a vertical length.

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