JP6892770B2 - Hand device, article transfer device, and article removal method - Google Patents

Description

The present invention relates to a hand device for taking out an article, an article transfer device using this hand device, and a method for taking out an article.

Conventionally, for example, the following article transfer device of Patent Document 1 is known.

When taking out the placed article, this article transfer device slides the article to be taken out from the placement position based on the movement of the moving body and moves it onto the lower support portion of the support. Then, when the article is held by the hand device, the hand device moves and transfers the article to a predetermined position.

Japanese Unexamined Patent Publication No. 2016-215358

And, in this kind of device, more stable take-out of an article was required.

The present invention has been made in view of these points, and an object of the present invention is to provide a hand device, an article transfer device , and an article take-out method capable of taking out an article more stably.

The hand device according to claim 1 is a hand device that takes out an article from a placement position on which the article is placed, and sandwiches the article with a support having a lower support portion that supports the article from below . A first moving body and a second moving body that can move in the same direction and can adjust the separation distance are provided, and when the article is taken out from the previously described placement position, the second moving body is in the previously described placement position. By pushing the take-out target article toward the first moving body located on the outer outer periphery of the take-out target article, the take-out target article is sandwiched between the first moving body and the second moving body. the extraction target object to sandwich the first moving body and the second mobile is intended to move the extraction target object on the lower support portion positioned on the side of the first moving body is there.

The hand device according to請Motomeko 2, a hand device for taking out the articles located in the top of the group of articles article was stowed in the vertical direction in the mounting position, the lower support for supporting an article from below A support having a portion and a first moving body and a second moving body that can move in the same direction and can adjust the separation distance by sandwiching the article are provided, and when the article is taken out from the article group, the article is taken out. the lower support portion is located in the outer periphery outside of the article located below the extraction target object in the mounting position, the first mobile is located in the outer periphery outside the extraction target object, the second moving body the but that by extruding the extraction target object toward the first mobile, sandwiching the extraction target object in the first moving body and the second mobile, and sandwich the extraction target object the first mobile and the second mobile body, and moves the extraction target object on the lower support.

Hand device according to claim 3 is the hand device to take out is placed on the pedestal at the mounting location positions the article, sandwiching a support and an article having a lower support portion for supporting the article from below, and a movable and a first movable body capable of adjusting the distance and the second moving body in the same direction, when taking out the article from the pedestal, the lower support portion is located in the outer periphery outside of the pedestal , the first mobile body located on the outer circumference outside of the pedestal, by the second moving body pushes the Eject target object toward the first mobile and the first mobile moving said second sandwiching the extraction target object in the moving body, the extraction target object the first which sandwiches a moving body and the second mobile, said retrieval target item on the lower support It is something that makes you.

The article transfer device according to請Motomeko 4, an article transfer device for transferring articles from the loading position the article is placed, the hand device of any one claim 1 to 3, the hand It is provided with a device main body for moving the device.

The article taking-out method according to claim 5 includes a support having a lower support portion that supports the article from below, a first moving body that holds the article, can move in the same direction, and can adjust the separation distance. A method of taking out an article to be taken out from a placement position on which an article is placed by a hand device including a second moving body, wherein the second moving body is the taking-out target at the previously described placement position. A step of pushing the article to be taken out toward the first moving body located outside the outer periphery of the article and sandwiching the article to be taken out between the first moving body and the second moving body, and the taking out of the article. A step of moving the first moving body and the second moving body in a state of sandwiching the target article, and moving the removal target article on the lower support portion located on the side of the first moving body. It is equipped with.

The article taking-out method according to claim 6 includes a support having a lower support portion that supports the article from below, a first moving body that holds the article, can move in the same direction, and can adjust the separation distance. A method of taking out an article located at the top from an article group in which articles are stacked in the vertical direction at a mounting position by a hand device provided with a second moving body, wherein the lower support portion is in front. The first moving body is located outside the outer circumference of the article to be taken out, and the second moving body is located outside the outer circumference of the article located below the article to be taken out at the described position. A step of pushing the article to be taken out toward the body and sandwiching the article to be taken out between the first moving body and the second moving body, and the first moving body holding the article to be taken out and the first moving body. It includes a step of moving the second moving body and moving the take-out target article on the lower support portion.

The article taking-out method according to claim 7 includes a support having a lower support portion that supports the article from below, a first moving body that holds the article, can move in the same direction, and can adjust the separation distance. A method of taking out an article placed on a pedestal at a mounting position by a hand device provided with a second moving body, wherein the lower support portion is located on the outer outer periphery of the pedestal, and the first The moving body is located outside the outer periphery of the pedestal, and the second moving body pushes out the article to be taken out toward the first moving body, and the first moving body and the second moving body A step of sandwiching the article to be taken out and a step of moving the first moving body and the second moving body holding the article to be taken out to move the article to be taken out onto the lower support portion. Is provided.

According to the present invention, the article can be taken out more stably from the placement position.

It is a side view of the article transfer apparatus which concerns on one Embodiment of this invention. (A) is a plan view showing a loading pattern of articles transferred by the article transfer device of the same as above, and (b) is a front view showing a loading pattern of articles transferred by the article transfer device of the same as above. It is a front view of the hand device in the article transfer device of the same as above. It is a top view of the hand device in the article transfer device of the same as above. It is a side view which shows one side of the hand device in the said article transfer device. It is a side view which shows a part of the 1st moving body and the holding body of the hand device in the said article transfer device. It is a side view which shows the 2nd moving body and the holding body of the hand device in the said article transfer device. (A) to (d) are operation explanatory views of the step-off work by the article transfer apparatus of the same as above. (A) to (d) are operation explanatory views at the time of moving the lower two-stage article in the step-off work by the article transfer device of the same as above. (A) to (c) are plan views which show the modification of the loading pattern of an article.

An embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes an article transfer device, in which the article transfer device 1 is used for a plurality of articles W from a placement position 3 of a first transfer device 2 on which a plurality of articles W are stacked. The transferred article W1 as the item to be taken out, which is the object to be transferred, is taken out and transferred to the station 5 of the second transfer device 4 at a predetermined position.

That is, the article transfer device 1 is placed on the pallet P as a pedestal in a state of being stacked in a predetermined loading pattern on the top of the article group Wg that has been transported to the loading position 3 by the first transfer device 2. This is a step-disassembling device that takes out a positioned article W, transfers the taken-out article W to the station 5 of the second transport device 4, and deparates a plurality of articles W.

Here, the article W is a predetermined set in which, for example, a bag body folded into a rectangular sheet having a longitudinal direction is stacked in a predetermined number (for example, 15 to 20 sheets) in the vertical direction in an unbound state. It is a bundle of bags having a thickness (for example, 30 to 50 mm). That is, a predetermined number of thin bag bodies are laminated to form one set of thin body bundles, and unbound thin body bundles (article W) are stacked in the vertical direction. The article group Wg is composed. The thin body bundle can be bent and deformed by pressing in the left-right direction.

Further, at the mounting position 3, as shown in FIGS. 2A and 2B, four sets of articles W1, W2, W3, and W4 arranged at intervals in each stage are adjacent to each other. They are arranged in a so-called swastika shape while being rotated by about 90 °, and the sets of articles W that overlap in the vertical direction in odd-numbered stages and even-numbered stages are arranged so that their longitudinal directions are substantially vertical to each other. It is stacked in a stacking pattern. That is, in the mounting position 3, in the plan view shown in FIG. 2A, the transferred article W1 and the adjacent articles W2 and W3 are arranged so as to be substantially vertical to each other at intervals. In addition, in the side view shown in FIG. 2B, the articles W3 are arranged so that the longitudinal direction of the article W3 and the longitudinal direction of the article W5 in the lower stage are substantially perpendicular to each other, and the articles W3 are sequentially stacked. Adjacent articles W located in the same stage are arranged so that the longitudinal side surface and the lateral side surface face each other with a gap.

As shown in FIGS. 1 and 3, the article transfer device 1 has an article W1 to be transferred mounted on the loading position 3 of the first transfer device 2 on the tip side of the robot body 6 which is the device body. A hand device (robot hand) 7 for transferring to the station 5 of the second transfer device 4 is provided. The operations of the robot body 6 and the hand device 7 are controlled by the control unit 8. In FIG. 1, the tip side of the robot body 6 is partially omitted, and the hand device 7 is enlarged and shown.

In the robot body 6, the robot arm 12 is rotatably erected on a base 11 fixed to an installation surface.

The robot arm 12 has an arm base 13 rotatably connected to the base 11 about the vertical axis Y. The lower end of the lower arm 14, which is the first arm, is rotatably connected to the arm base 13 about the horizontal axis, and the upper arm, which is the second arm, is connected to the upper end of the lower arm 14. The base ends of 15 are rotatably connected about the horizontal axis.

At the tip of the upper arm portion 15, a rotating shaft portion 16 is rotatably provided about a vertical axis Y, which is an axis in the vertical direction.

A hand device 7 capable of holding the transferred article W1 is connected and fixed to the lower end of the rotating shaft portion 16. Then, the hand device 7 can move in an arbitrary direction within a predetermined range based on the operation of the robot arm 12, and can rotate about the vertical axis Y.

As shown in FIG. 3, the hand device 7 includes a base body 17 that is connected and fixed to the lower end of the rotation shaft portion 16 of the robot arm 12.

The base body 17 has a flat plate 17a connected to the lower end portion of the rotating shaft portion 16 and two frames 17b provided downward from both side portions of the bottom surface of the flat plate 17a. The frames 17b are provided in parallel so as to face each other at intervals.

Then, the base body 17 can move in an arbitrary direction within a predetermined range based on the operation of the robot arm 12, and the vertical axis Y is integrally provided with the rotation shaft portion 16 with respect to the upper arm portion 15 of the robot arm 12. It is rotatable as a center.

A support 21 is fixedly provided on one end side of the base body 17, and a holding body 23 that can move in the vertical direction with respect to the base body 17 is provided on the other end side of the base body 17. Further, between the support 21 and the holder 23, the holder 22 that can move in the vertical direction with respect to the base body 17 and the holder 22 that are independently driven and separated from the support 21 (approach and separate). A first moving body 24 and a second moving body 25 that can move in the horizontal direction are provided.

Further, the base body 17 includes a first driving unit 26 as a driving means for moving the first moving body 24 and a second driving unit 27 as a driving means for moving the second moving body 25. It is provided.

The first drive unit 26 has a drive pulley 26a and a driven pulley 26b provided at intervals from each other.

An electric motor (servo motor) 26c, which is a drive source, is connected to the drive pulley 26a via a speed reducer 26d.

Further, an endless belt (not shown) is hung on the drive pulley 26a and the driven pulley 26b, and a first moving body 24 is attached to the belt.

The second drive unit 27 has a drive pulley 27a and a driven pulley 27b provided at intervals from each other.

An electric motor (servo motor) 27c, which is a drive source, is connected to the drive pulley 27a via a speed reducer 27d.

Further, an endless belt (not shown) is hung on the drive pulley 27a and the driven pulley 27b, and a second moving body 25 is attached to the belt.

Then, the belt rotates according to the rotation of the drive pulleys 26a and 27a that are rotated by the drive of the electric motors 26c and 27c, and the first moving body 24 and the second moving body 25 are separately separated from each other by the base body 17. While being guided by the guide unit 28, it moves closer to or away from the support 21. That is, the first moving body 24 and the second moving body 25 can move in opposite directions and in the same direction as they approach and separate from each other.

That is, the first moving body 24 and the second moving body 25 are independently driven and moved in the horizontal direction to adjust the separation distance and are taken out from the article W stacked on the pallet P. The transferred article W1 which is the target article can be sandwiched, and the transferred article W1 can be moved toward the support 21 by approaching and moving toward the support 21 side while sandwiching the transferred article W1.

As shown in FIGS. 3 and 5, the support 21 has a plurality of, for example, four fork members 32 fixedly attached to one end side of the base body 17 via a fixed attachment member 31.

The fork member 32 includes a fixed base portion 33 attached to one side surface outside the fixed mounting member 31, and a lower support portion 34 extending horizontally from the lower end portion of the fixed base portion 33 to the other end side of the base body 17. It has a substantially L-shape when viewed from the side. Then, the fork member 32 can support the transferred article W1 moved by the first moving body 24 and the second moving body 25 from below by the lower support portion 34.

These fork members 32 are attached to the fixed mounting members 31 so as to be separated from each other in the horizontal direction, and the lower support portions 34 of the lower support portions 34 support the transferred article W1 substantially horizontally. It is installed so that the heights of 34 are aligned. That is, the article support surface, which is the upper surface of each lower support portion 34, constitutes a horizontal plane.

A plurality of rectangular plate-shaped guide members 35, for example, three guide members 35 are attached to the fixed attachment member 31 so as to be located between the fork members 32.

The guide member 35 is a fixed portion 36 fixedly attached to the fixed mounting member 31, and the other end portion of the base body 17 from the fixed base 33 of the fork member 32 located on the tip side which is the lower end side of the fixed portion 36. It has a protruding portion 37 formed so as to protrude to the side.

The protruding portion 37 has a contact portion 38 that is flat in the vertical direction in the vicinity of the tip portion, and one end of the transferred article W1 moved onto the lower support portion 34 comes into contact with the contact portion 38.

Further, on the other side surface inside the fixed mounting member 31, an article detection unit 39 for detecting the presence or absence of the transferred article W1 on the lower support portion 34 is provided.

Further, above the lower support portion 34, a pressing body 41 for stabilizing the supported state of the moved article W1 on the lower support portion 34 is attached to the base body 17 so as to be movable in the vertical direction.

The presser body 41 has a cylinder 43 which is a drive source fixed to the base body 17 via a fixed mounting portion 42.

The cylinder 43 has a tubular main body 44 and a rod portion 45 provided on the main body 44 so as to be able to advance and retreat.

A longitudinal holding portion 46 having a longitudinal direction in the horizontal direction is attached to the tip of the rod portion 45.

The pressing portion 46 has a base portion 47 connected to the rod portion 45. A contact portion 48 formed by bending a metal plate into a U shape is attached to the lower end portion of the base portion 47. The lower end surface of the contact portion 48 faces the surface of the lower support portion 34 on which the transferred article W1 is placed. An elastic body such as rubber may be used for the contact portion 48.

Then, when the article detection unit 39 detects the object to be transferred W1 on the lower support unit 34, the presser body 41 operates. That is, the pressing portion 46 is lowered by the drive of the cylinder 43, and the contact portion 48 comes into contact with the upper surface of the transferred article W1 that has been moved onto the lower support portion 34, and presses the transferred article W1 from above. Further, by pressing the transferred article W1 from above by the pressing body 41 in this way, for example, it is possible to prevent the transferred article W1 which is an unbound bag bundle from being separated on the lower support portion 34, and the hand device. The transferred article W1 is held (sandwiched) between the pressing portion 46 and the lower support portion 34 to stabilize the transferred article W1 so that the transferred article W1 does not separate from the support 21 due to the centrifugal force or the like generated by the movement of 7. The support 21 and the pressing body 41 are vertical holding means in which the separation distance can be adjusted, the article W is sandwiched from the vertical direction, and the article W is held in the hand device 7.

Further, when the transfer of the pressing body 41 to the station 5 is completed and the sandwiching of the transferred article W1 by the first moving body 24 and the second moving body 25 is released, the pressing portion 41 is driven by the cylinder 43. 46 rises and the contact portion 48 separates from the upper surface of the transferred article W1.

As shown in FIGS. 3 and 6, the first moving body 24 has a moving mounting member 51 movably attached to the base body 17.

The mobile mounting member 51 is attached to the belts hung on the drive pulley 26a and the driven pulley 26b via the mounting plate portion 52, and also has a sliding portion 53 slidably connected to the guide portion 28. It is connected to the base body 17 via. Then, the moving mounting member 51 moves in conjunction with the mounting plate portion 52 that moves according to the rotation of the belt, and the moving direction is regulated by the sliding portion 53 guided by the guide portion 28.

Further, a plurality of longitudinal members, for example, two longitudinal members 54 having a longitudinal direction in the vertical direction are attached to the movable attachment member 51 so as to be separated from each other via a bracket 55 fixed to the movable attachment member 51. ..

The longitudinal member 54 has a tubular linear bush 56 fixed to the bracket 55 and a rod-shaped pin 57 as a vertical moving portion that can move in the vertical direction, which is the axial direction of the linear bush 56. The pin 57 is urged to extend downward with respect to the linear bush 56.

The longitudinal member 54 is normally in a state in which the pin 57 is urged downward from the bracket 55 or the linear bush 56 and extends in the longitudinal direction, and when an upward force acts on the pin 57, the longitudinal member 54 contracts in the longitudinal direction. The pin 57 rises against the bracket 55 and the linear bush 56 against the urging force, and the position of the lower end of the pin 57 changes in the vertical direction.

Further, in the vicinity of the lower end portion of the pin 57, a groove portion 58 formed so as to be constricted inward in the radial direction from the outer peripheral surface of the pin 57 is continuously provided along the circumferential direction of the pin 57.

The second moving body 25 has a moving mounting member 61 movably attached to the base body 17, as shown in FIGS. 3 and 7.

The mobile mounting member 61 is attached to the belts hung on the drive pulley 27a and the driven pulley 27b via the mounting plate portion 62, and also has a sliding portion 63 slidably connected to the guide portion 28. It is connected to the base body 17 via. Then, the moving mounting member 61 moves in conjunction with the mounting plate portion 62 that moves according to the rotation of the belt, and the moving direction is regulated by the sliding portion 63 guided by the guide portion 28.

Further, a plurality of longitudinal members, for example, two longitudinal members 64 having a longitudinal direction in the vertical direction are attached to the movable attachment member 61 so as to be separated from each other via a bracket 65 fixed to the movable attachment member 51. ..

The longitudinal member 64 has a tubular linear bush 66 fixed to the bracket 65 and a rod-shaped pin 67 as a vertical moving portion that can move in the vertical direction, which is the axial direction of the linear bush 66. The pin 67 is urged to extend downward with respect to the linear bush 66.

The longitudinal member 64 is normally in a state in which the pin 67 is urged downward from the bracket 65 or the linear bush 66 and extends in the longitudinal direction, and when an upward force acts on the pin 67, the longitudinal member 64 contracts in the longitudinal direction. The pin 67 rises against the bracket 65 and the linear bush 66 against the urging force, and the position of the lower end of the pin 67 changes in the vertical direction.

Further, in the vicinity of the lower end portion of the pin 67, a groove portion 68 formed so as to be constricted inward in the radial direction from the outer peripheral surface of the pin 67 is continuously provided along the circumferential direction of the pin 67.

The distance between the first moving body 24 and the second moving body 25 can be adjusted, and the article W is sandwiched from the left-right direction (sideways) while maintaining the sandwiched state of the transferred article W1. It is a left-right holding means that moves horizontally and moves the transferred article W1 to the position of the vertical holding means.

When the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, the groove 58 of the pin 57 in the longitudinal member 54 of the first moving body 24 is on one side of the transferred article W1. It is preferable that the groove portion 68 of the pin 67 in the longitudinal member 64 of the second moving body 25 is in contact with the end portion and is in contact with the other end portion of the transferred article W1. That is, it is preferable that the first moving body 24 and the second moving body 25 hold the transferred article W1 so as to be hooked on the groove 58 and the groove 68.

Further, when the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, the first moving body 24 and the second moving body 25 are separated from the width dimension of the transferred article W1. It is preferable to hold the transferred article W1 in a bent state by bringing it slightly closer. That is, the first moving body 24 and the second moving body 25 approach each other until the transferred article W1 is in a bent state, and sandwich the transferred article W1.

Here, the separation distance between the longitudinal members 54 in the first moving body 24 is longer than the separation distance between the longitudinal members 64 in the second moving body 25. That is, in a state where the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, the longitudinal member 54 and the longitudinal member 64 are displaced from each other in the width direction of the transferred article W1 so as not to face each other. Arranged, the contact point with the transferred article W1 by the longitudinal member 54 of the first moving body 24 is the longitudinal length of the transferred article W1 from the contact point with the transferred article W1 by the longitudinal member 64 of the second moving body 25. Located on the outside in the direction. With such an arrangement, when the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, it has a substantially trapezoidal shape in a plan view (may be a substantially isosceles triangle shape). Since the opposite side surface of the transferred article W1 can be supported, the transferred article W1 is prevented from rotating and the pinched state is stabilized.

Further, in the moving range of the second moving body 25 in the base body 17, a measuring device 69 which is a detecting means for detecting the height of the transferred article W1 placed at the mounting position 3 to the lower article W. Is fixed and attached.

The measuring device 69 measures the height from the article W one step below the transferred article W1 by utilizing the gap between the transferred article W1 and the article W2 arranged in the same stage. Then, when the measured height reaches a predetermined height due to the lowering of the base body 17 based on the operation of the robot arm 12, the lowering of the base body 17 is decelerated and stopped. Further, when the lowering of the base body 17 is stopped, the holding bodies 22 and 23 are operated.

As shown in FIGS. 3, 4 and 6, the holding body 22 is attached via a fixed mounting portion 71 fixed to the base body 17 so as to project outward in the width direction of the base body 17. ing.

Further, the holding body 22 is provided with cylinders 72, which are drive sources, fixed at both ends of the fixed mounting portion 71.

The cylinder 72 has a tubular main body portion 73 and a rod portion 74 provided on the main body portion 73 so as to be able to advance and retreat.

Further, a longitudinal holding portion 75 having a longitudinal direction in the horizontal direction is attached to the tip of the rod portion 74.

The pressing portion 75 has a base portion 76 connected to the rod portion 74 and a contact portion 77 attached to the base portion 76. The contact portion 77 is formed of a metal plate bent in a U shape. An elastic body such as rubber may be used for the contact portion 77.

Then, the holding body 22 lowers the pressing portion 75 by the drive of the cylinder 72, so that, among the plurality of articles W placed at the mounting position 3, for example, the holding body 22 is placed on the upper surface of the article W3 adjacent to the transferred article W1. The contact portion 77 contacts and presses. That is, the holding body 22 presses the article W3 located around the transferred article W1 when the transferred article W1 is moved to the support 21 by the first moving body 24 and the second moving body 25. , The article W3 is held in the loading position 3, and when the movement of the transferred article W1 to the support 21 is completed, the holding portion 75 is raised to release the holding state of the article W3.

As shown in FIGS. 3, 4, and 7, the holding body 23 has a cylinder 82 which is two drive sources fixed to the base body 17 via a fixed mounting portion 81 and separated from each other.

The cylinder 82 has a tubular main body portion 83 and a rod portion 84 provided on the main body portion 83 so as to be able to advance and retreat.

Further, a longitudinal holding portion 85 having a longitudinal direction in the horizontal direction is attached to the tip of the rod portion 84.

The pressing portion 85 has a base portion 86 connected to the rod portion 84 and a contact portion 87 attached to the lower end portion of the base portion 86.

Then, the holding body 23 comes into contact with the upper surface of the article W2 adjacent to the transferred article W1 among the plurality of articles W placed at the mounting position 3 by lowering the pressing portion 85 by driving the cylinder 82. The part 87 comes into contact with and presses. That is, the holding body 23 presses the article W2 located around the transferred article W1 when the transferred article W1 is moved to the support 21 by the first moving body 24 and the second moving body 25. , The article W2 is held in the loading position 3, and when the movement of the transferred article W1 to the support 21 is completed, the holding portion 85 is raised to release the holding state of the article W2.

Next, the operation and the like of the above-described embodiment will be described.

When performing the step disassembling work (deparating work) in the article transfer device 1, for example, it is shown in FIGS. 2 (a) and 2 (b) on the pallet P at the mounting position 3 of the first transfer device 2. One set of articles W is transferred in each stage of articles W stacked in a loading pattern.

Specifically, first the transferred article W1 is transferred, then the article W2 arranged next to the transferred article W1 is transferred, and similarly, the article W3 and the article W4 are sequentially transferred, and then the transferred article W1 is transferred. The article W arranged in the lower part of the article W1 is transferred. Similarly, the articles W in each stage are sequentially transferred.

When the transferred article W1 is transferred from the mounting position 3, the hand device 7 first of the second moving body 25 and the holding portion 75 of the holding body 22 based on the operation of the robot arm 12. One and one of the holding portions 85 of the holding body 23 move to a position where the articles W stacked at the mounting position 3 are arranged above.

Next, the measuring device 69 measures the height from the article W3, which is one step below the transferred article W1, by utilizing the gap between the transferred article W1 and the article W2, and the hand device 7 lowers.

When the hand device 7 is lowered, the pin 67 comes into contact with the upper surface of the lower article W of the transferred article W1 as shown in FIG. 8A. Further, as the hand device 7 further lowers as it is, the pin 67 moves so as to be pushed upward against the urging force. The lowering position of the pin 67 may be a gap formed between the articles W in the same stage. Further, in FIG. 8, a part of the configuration of the holding body 22 and the like is omitted.

Further, when the hand device 7 is lowered, the measuring device 69 detects the height of the transferred article W1 from the lower article W, and when the height from the article W reaches a predetermined height, the hand The descent of the device 7 slows down and stops.

When the lowering of the hand device 7 is stopped, the holding body 22 lowers the pressing portion 75 by driving the cylinder 72, and one of the contact portions 77 of the pressing portions 75 comes into contact with the upper surface of the article W3 to push the article W3. Press from above to hold down. Further, in the holding body 23, the pressing portion 85 is lowered by the drive of the cylinder 82, and one of the contact portions 87 of the pressing portions 85 comes into contact with the upper surface of the article W2 to press and press the article W2 from above.

Next, the electric motor 27c is driven by the control unit 8 under control, and as shown in FIG. 8B, the second moving body 25 moves in the horizontal direction so as to approach the support 21.

When the second moving body 25 approaches the support 21, the longitudinal member 64 moves with the tip of the pin 67 in contact with the upper surface of the article W, and is covered by the movement of the second moving body 25. The transferred article W1 moves to the side of the first moving body 24. That is, the second moving body 25 moves toward the first moving body 24 located outside the outer circumference of the transferred article W1, which is the article to be taken out, while pushing the transferred article W1 from the mounting position 3. ..

Further, as shown in FIG. 8C, the second moving body 25 moved slightly toward the first moving body 24 side from the length in the width direction of the transferred article W1, and the transferred article W1 was bent. In the state, it is sandwiched between the first moving body 24 and the second moving body 25.

Then, while the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, the tip of the pin 67 is in contact with the upper surface of the lower article W of the transferred article W1. The moving body 24 of 1 and the moving body 25 of the second move to the support 21 side.

Even if the pin 67 moves while contacting the upper surface of the lower article W in this way, the articles W2 and the article W3 adjacent to the transferred article W1 are pressed by the holding body 22 and the holding body 23. It is possible to prevent the articles W other than the transferred article W1, that is, the articles W2, W3, W4 and the lower article W from being displaced from the placement position 3 due to the movement of the pin 67 and the transferred article W1. Articles W other than the transferred article W1 are held at the placement position 3.

By moving the first moving body 24 and the second moving body 25, the sandwiched article W1 to be transferred is moved onto the lower support portion 34. The lower support portion 34 is located outside the outer circumference of the lower article W of the article W1 to be transferred. Further, the lower support portion 34 is located outside the outer circumference of the transferred article W1 in a state of being placed at the placement position 3 and diagonally downward.

When the transferred article W1 is moved onto the lower support portion 34, one end of the transferred article W1 comes into contact with the abutting portion 38, and one end of the transferred article W1 is positioned.

Further, as shown in FIG. 8D, in the pressing body 41, the pressing portion 46 is lowered by the drive of the cylinder 43, and the transferred article sandwiched between the first moving body 24 and the second moving body 25. The contact portion 48 comes into contact with the upper surface of W1 and presses the transferred article W1 from above. By pressing the transferred article W1 from above by the pressing body 41 in this way, for example, the transferred article W1 which is an unbound bag bundle is prevented from falling apart on the lower support portion 34 on the lower support portion 34. Stabilize the pinched state.

Next, the holding state of the other article W by the holding body 22 and the holding body 23 is released.

Then, with the transferred article W1 supported by the support 21, the transferred article W1 is moved to the station 5 of the second transport device 4 at a predetermined position by the movement of the hand device 7 based on the operation of the robot arm 12. Transport towards.

After being transferred to the station 5, the second moving body 25 moves in a direction away from the first moving body 24 and the support 21 to release the holding state, and the pressing state by the pressing body 41 is released. , The transferred article W1 is placed on the roller of the station 5 and unloaded by the movement of the hand device 7.

Further, the hand device 7 retracts from the station 5 based on the operation of the robot arm 12.

Next, the hand device 7 moves upward once, and then moves again toward the upper side of the mounting position 3 of the first transfer device 2.

Further, the transferred article W1 placed on the station 5 of the second transfer device 4 is transferred by the second transfer device 4.

Further, the articles W2, W3, and W4 are sequentially transferred in the same manner, and then the lower article W is also sequentially transferred in the same manner, and the articles W in each stage are transferred.

Here, in the lower stage (for example, the lowermost two stages), as shown in FIG. 9A, the vicinity of the lower end portion of the pin 57 of the first moving body 24 does not interfere with the pallet P. The first moving body 24 stands by with the pin 57 arranged on the outer periphery of the pallet P.

Then, as shown in FIG. 9B, the second moving body 25 moves horizontally toward the first moving body 24 so as to approach the support 21, and the second moving body 25 moves. Due to the movement, the transferred article W1 moves to the side of the first moving body 24. That is, the second moving body 25 moves toward the first moving body 24 located on the outer periphery of the pallet P, which is the pedestal portion, while pushing the transferred article W1 from the mounting position 3.

Further, when the second moving body 25 approaches the first moving body 24, as shown in FIG. 9C, the transferred article W1 is formed by the first moving body 24 and the second moving body 25. Hold in a bent state.

The first moving body 24 and the second moving body 25 move toward the support 21 side while the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25.

The lower support portion 34 of the support 21 is located outside the outer circumference of the pallet P, and the movement of the first moving body 24 and the second moving body 25 causes the sandwiched article W1 to be transferred to the lower support portion. 34 Moved up.

Further, as shown in FIG. 9D, the pressing portion 46 is lowered by the drive of the cylinder 43 and comes into contact with the upper surface of the transferred article W1 sandwiched by the first moving body 24 and the second moving body 25. The part 48 comes into contact and presses the transferred article W1 from above.

Next, the holding state of the other article W by the holding body 22 and the holding body 23 is also released, and the transferred article W1 is transported to a predetermined position by moving to the hand device 7 based on the operation of the robot arm 12. Transfer to station 5 of device 4.

After being transferred to the station 5, the second moving body 25 moves in a direction away from the first moving body 24 and the support 21 to release the holding state, and the pressing state by the pressing body 41 is released. , The transferred article W1 is placed on the roller of the station 5 and unloaded by the movement of the hand device 7.

Further, the hand device 7 retracts from the station 5 based on the operation of the robot arm 12 and moves again toward the upper side of the mounting position 3 of the first transport device 2, and similarly, the other article W Also move.

Then, according to such an article transfer device 1, since the hand device 7 includes the first moving body 24 and the second moving body 25 that can move with respect to the support 21, the cover of the mounting position 3 is provided. When the transferred article W1 is taken out and moved onto the lower support portion 34, the transferred article W1 can be moved while being sandwiched, and the transferred article W1 can be stably moved to the support 21 side.

Further, for example, as shown in FIG. 2, even if the articles W are stacked in a so-called swastika-shaped loading pattern, they move in a state of sandwiching the transferred article W1, so that the article W does not depend on the loading pattern. , The transferred article W1 can be appropriately moved without breaking the stacked other articles W that are not the objects to be moved.

Since the holding body 41 that presses the transferred article W1 supported by the lower support portion 34 from above is provided, the transferred article W1 can be stably held on the lower support portion 34, and the transferred article W1 is in a predetermined position. It can be stably transferred to station 5.

When the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25 by providing the holding body 22 and the holding body 23 that hold the article W other than the transferred article W1 at the mounting position 3. And when moving to the support 21 side, it is possible to prevent the misalignment of the other article W due to the influence of the movement of the first moving body 24 and the second moving body 25.

In a state where the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, the transferred article W1 can be more reliably sandwiched by bending the transferred article W1. Therefore, the support 21 The transferred article W1 can be stably moved to the side.

Further, in a state where the transferred article W1 is sandwiched between the first moving body 24 and the second moving body 25, the pin 57 that comes into contact with the transferred article W1 in the first moving body 24 is the second moving body 25. The position of the pin 57 and the position of the pin 67 in the width direction of the transferred article W1 are deviated from the pin 67 in contact with the transferred article W1. As a result, it is easy to prevent the transferred article W1 from being displaced so as to rotate due to the pinching force of the first moving body 24 and the second moving body 25, and the transferred article W1 can be pinched more stably.

In the above embodiment, the article W is stacked inside the pallet P in a so-called swastika shape (for example, pin wheel stacking), but the loading pattern is not limited to this. In the article transfer device 1, for example, as shown in FIG. 10 (a), the article W is placed and stacked along the edge of the pallet P, or in FIGS. 10 (b) and 10 (c). ), It corresponds to the case where the articles W of the same stage are arranged in parallel and the articles W of the lower stage are arranged substantially perpendicular to the article W of the stage in a so-called swastika. It is possible.

Further, although the pallet P is used as the pedestal, the pedestal may be a member having a predetermined height, and for example, a table, a stage, a base, a transport device, or the like can be used as the pedestal.

The first moving body 24 and the second moving body 25 are respectively driven independently, but these first moving body 24 and the second moving body 25 can sandwich the article W and the article W. It suffices to have a structure which moves up to the lower support part 34 in a state of sandwiching. That is, the first moving body 24 and the second moving body 25 need only be movable in the same direction and the separation distance can be adjusted. For example, both the first driving means for operating at least one of the first moving body 24 and the second moving body 25 to adjust the separation distance, and both the first moving body 24 and the second moving body 25. It may be configured to include a second driving means for moving all at once. By independently driving each of the first moving body 24 and the second moving body 25, finer control is possible.

The hand device 7 is configured to include the holding body 22, the holding body 23, and the holding body 41, but is not limited to such a configuration, and at least one of the holding body 22, the holding body 23, and the holding body 41 is used. The configuration may not be provided.

In the configuration in which the holding body 22, the holding body 23, and the holding body 41 are provided, the timing at which the holding body 22, the holding body 23, and the holding body 41 are operated to act on the article W can be appropriately changed.

The first moving body 24 and the second moving body 25 are configured to have the longitudinal members 54 and 64, but are not limited to such a configuration, and can be driven independently of each other to sandwich the transferred article W1. It may be a configuration.

The above-described embodiment does not limit the scope of the present invention, and various modifications can be made without departing from the gist of the present invention.

1 Goods transfer device 3 Placement position 6 Robot body which is the device body 7 Hand device
21 support
24 First mobile
25 Second mobile
34 pallets W article as lower support P base
W1 Items to be transferred as items to be taken out
W2 goods
W3 goods
W4 goods
W5 goods
Wg goods group

Claims (7)

A hand device that takes out an article from the placement position where the article is placed.
A support having a lower support portion that supports the article from below,
It is provided with a first moving body and a second moving body that can hold an article, move in the same direction, and adjust the separation distance.
When removing the article from the above-mentioned placement position
The first moving body and the second moving body are obtained by pushing the taking-out target article toward the first moving body located outside the outer circumference of the taking-out target article at the previously described placement position. The article to be taken out is sandwiched between the moving body and the moving body.
The extraction wherein the target object is sandwiched the first mobile and the second mobile body, characterized in that to move the extraction target object on said lower support portion positioned on the side of the first moving body Hand device. A hand device that takes out an article located at the top from a group of articles in which articles are stacked in the vertical direction at the mounting position.
A support having a lower support portion that supports the article from below,
It is provided with a first moving body and a second moving body that can hold an article, move in the same direction, and adjust the separation distance.
When taking out an article from the article group,
The lower support portion is located in the outer periphery outside of the article located below the extraction target object in the mounting position, the first mobile is located in the outer periphery outside the extraction target object, the second moving body There by extruding the extraction target object toward the first mobile, sandwiching the extraction target object in the first moving body and the second moving body,
Wherein said sandwiching the extraction target object first mobile and the second mobile body, wherein the to Ruha command device that moves the extraction target object on the lower support. It is a hand device that takes out the article placed on the pedestal at the mounting position.
A support having a lower support portion that supports the article from below,
It is provided with a first moving body and a second moving body that can hold an article, move in the same direction, and adjust the separation distance.
When removing an article from the pedestal
The lower support portion is located in the outer periphery outside of the pedestal, the first mobile is located in the outer periphery outside of the pedestal, the second object moving body eject toward said first mobile by extruding the article, sandwiching the extraction target object in the first moving body and the second moving body,
Wherein said sandwiching the extraction target object first mobile and the second mobile body, wherein the to Ruha command device that moves the extraction target object on the lower support. An article transfer device that transfers an article from the placement position where the article is placed.
The hand device according to any one of claims 1 to 3 and
An article transfer device including a device body for moving the hand device. By a hand device including a support having a lower support portion that supports the article from below, and a first moving body and a second moving body that hold the article and can move in the same direction and adjust the separation distance. , A method of taking out an article to be taken out from the placement position where the article is placed.
The second moving body pushes out the taking-out target article toward the first moving body located outside the outer circumference of the taking-out target article at the previously described placement position, and the first moving body and the second moving body move. The step of sandwiching the item to be taken out with the body and
The first moving body and the second moving body in a state of sandwiching the take-out target article are moved, and the take-out target article is moved onto the lower support portion located on the side of the first moving body. With steps to make
A method for taking out an article. By a hand device including a support having a lower support portion that supports the article from below, and a first moving body and a second moving body that hold the article and can move in the same direction and adjust the separation distance. , A method of taking out an article located at the top from a group of articles in which articles are stacked in the vertical direction at the placement position.
The lower support portion is located outside the outer periphery of the article located below the article to be taken out at the above-mentioned placement position, the first moving body is located outside the outer periphery of the article to be taken out, and the second moving body Pushes the article to be taken out toward the first moving body, and sandwiches the article to be taken out between the first moving body and the second moving body.
The first moving body and the second moving body that sandwich the article to be taken out are moved, and the step to move the article to be taken out onto the lower support portion is provided.
A method for taking out an article. By a hand device including a support having a lower support portion that supports the article from below, and a first moving body and a second moving body that hold the article and can move in the same direction and adjust the separation distance. , A method of taking out an article placed on a pedestal at a placement position.
The lower support portion is located outside the outer periphery of the pedestal, the first moving body is located outside the outer circumference of the pedestal, and the second moving body points the article to be taken out toward the first moving body. A step of extruding and sandwiching the article to be taken out between the first moving body and the second moving body.
The first moving body and the second moving body that sandwich the article to be taken out are moved, and the step to move the article to be taken out onto the lower support portion is provided.
A method for taking out an article.

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