JP7027030B2 - Picking hand and picking transfer device - Google Patents

Description

The present invention relates to, for example, a vacuum gripping device for adsorbing an object, and in particular, an article vacuum gripping device for an automatic article transfer robot arm in refilling and transferring a delivery box of a wide variety of articles at a distribution collection and delivery base. The present invention relates to a picking hand and a picking transfer device.

At product distribution bases, robots and the like are used to transfer products to shipping containers for sorting and packaging a large number of high-mix products that are received by destination. In this case, only the designated product is specified from the products having various shapes of other types, and the product is picked up by operating the robot arm. For this purpose, the inside of the product box is imaged using a camera image recognition device or the like. A photograph is taken, only a specific product is recognized, and the robot arm moves to a designated position according to data such as the outer shape of the product to grasp the designated product, and then moves to the shipping container to place the product. However, since this work requires identification by image recognition of the product, robot operation by a very detailed program such as holding operation according to the product outline by the arm is required, and a large number of products are transferred as quickly and efficiently as possible. At distribution bases where it is required to do so, the work is too slow, and the economic load such as expensive robots is heavy due to careful program control, which does not lead to realistic efficiency improvement.

In the actual holding of products by a robot arm, the main technology is to apply a vacuum suction pad to the product and hold the product by vacuum suction, but for articles with a uniform flat surface, suction by the vacuum suction pad is the main technology. However, it has not yet reached a technology that exhibits a function of sequentially sucking and gripping products having a wide variety of appearance shapes.

For example, in Patent Document 1, in an automated picking system using a robot or the like, a work picking position is calculated for each operation using a vision system that replaces the human eye, and a movement instruction is given to the robot for picking. The technical idea is disclosed. However, in this example, the system is finely configured by the camera, the lighting equipment, and the controller, which leads to the complexity of the system and the high cost. It does not provide a fundamental solution to traditional economic problems. In other words, it can be said that it is not suitable for picking for delivery and shipping to a large number of customers of many items and many products that require speed.

Japanese Unexamined Patent Publication No. 2013-169640

In the prior art, in a picking automation system using a robot or the like, a work picking position is calculated for each operation using a vision system that replaces the human eye, and a movement instruction is given to the robot. In this method, when picking a work using a robot system, the position information of the case and the work must be measured and an operation instruction must be given to the robot. This processing time is a number that is always included in each operation, which leads to an increase in cycle time. In addition, a general vision system is composed of a camera, lighting equipment, and a controller, which leads to system complexity and high cost.

A simple vacuum suction pad can significantly improve the economic efficiency of identifying products, safely grasping them, and transferring them quickly, without using expensive robots that operate based on precise programs. It is an object of the present invention to provide a picking hand and a picking transfer device.

In order to solve such a problem, the picking hand of the picking transfer device according to the present invention is characterized by provided with a confirmation means for confirming the existence of a transport object for picking. That is, an adsorption means provided with a plurality of adsorption mechanisms for adsorbing an object to be transported, an air cylinder that supplies / sucks air to each of the plurality of adsorption mechanisms, and each of the plurality of adsorption mechanisms. On the other hand, the adsorption state determination unit that determines the presence or absence of air adsorption from the air cylinder, and the air cylinder to each of the plurality of adsorption mechanisms according to the determination of the presence or absence of air adsorption by the adsorption state determination unit. On the other hand, it is provided with an adsorption control unit that controls air supply / suction.

In the above configuration, the confirmation means for confirming the presence of the object to be transported is further provided, and the adsorption control unit may control the supply and / or suction of the air according to the result of the confirmation by the confirmation means. good.

The picking hand of the picking transfer device according to the present invention does not give an operation instruction to the robot after measuring the position of the individual work to be picked, but moves the hand into the case including the target work to obtain the hand. Pick individual works at your discretion. For example, when one work is taken out from a case in which a work (product) of the same item is stored, an independent vacuum suction pad arranged in a plurality of matrices is placed in a case containing a target work positioned in advance. By moving and approaching the picking hand to be held, and by preferentially operating the vacuum suction pad that was first sucked by the confirmation means for confirming the existence of the work, one work (product) is surely picked. Then, the work can be moved while being gripped and transferred to another case.

For example, if the shape of the tip of the picking hand is almost the same as the inner plane of the case in which the work is stored, and there are many suction pads in a mesh shape on the surface, the work is located at any position in the case. Also, one of the suction pads of the picking hand can catch and grip the work.

That is, when the suction head, which is the tip device of the picking hand of the picking transfer device according to the present invention, is used in a transport line, the suction plate (probably a rectangular shape) having an area corresponding to the size of the slot of the transport box, for example. Twenty adsorption ports are provided, and these adsorption ports can independently control the adsorption of air. When the adsorption plate is put into the transport box, only the adsorption port that first comes into contact with the product is the sensor. (The other suction ports are stopped) and stick to the product to take it out. The operation details follow a pre-programmed algorithm.

In the above configuration, the suction means may be configured such that the suction ports of a plurality of suction mechanisms are provided on the bottom of the flat plate-shaped pad.

Further, in the above configuration, the adsorption means may be configured as a substantially sphere or a substantially polyhedron having the adsorption mechanism provided on the surface.

Further, in the above configuration, the suction means is flexible so that when at least a part of the suction mechanism engages with the surface of the object to be transported or a part thereof, the suction means adapts to the shape of the object to be transported and deforms. It may be configured to have. The present invention does not limit the overall shape of the suction portion of the suction mechanism, and is characterized in that it can be flexibly configured according to the shape of the article to be adsorbed.

If the suction pad and / or the member constituting the picking hand is a flexible member, it can be gripped with cushioning property without damaging the product or the like which is a work at the moment of suction gripping. The flexible member may be a silicon resin, a synthetic rubber resin, a soft vinyl chloride resin, a soft urethane resin, a soft polyethylene resin, a fibrous member, or the like, but the present invention limits them. is not it. It is for imparting a function of softly gripping.

The picking transfer device according to the present invention includes a suction means having a plurality of suction mechanisms on a surface having a certain surface area, an air control device for supplying / sucking air to each of the plurality of suction mechanisms, and the above. The suction state determination unit that determines the presence or absence of air adsorption from the air control device for each of the plurality of suction mechanisms, and the air control device that determines the presence or absence of air adsorption by the suction state determination unit. A picking hand provided with a control unit that controls air supply / suction to each of the plurality of suction mechanisms, a robot arm connected to the suction means, and a manipulator directly or indirectly connected to the robot arm. A moving mechanism for moving the robot arm via the manipulator when the object to be transported is held by the picking hand, and a confirmation means for confirming the object to be transported for further picking are provided. Can also be featured.

For example, the picking transfer device according to the present invention has a picking hand laid at the tip of a moving manipulator such as a robot arm, and can have a substantially spherical shape having a plurality of suction plates on the surface of the tip. It can also be configured from a flexible suction head. If the suction head is substantially spherical, the suction head can move in the case according to the movement of the manipulator, come into contact with the work surface, and grip the work. The suction head may further have a polyhedral shape. Any flexible member having a function of gripping the object to be transported so as to softly wrap it is preferable. However, the present invention does not limit the shape of the suction head. Further, the air control device may be an air cylinder device or the like capable of supplying or sucking air, and does not limit the air control method.

The picking transfer device according to the present invention can be either a manipulator type in which the robot itself is placed next to the transport line or a short-axis type in which the suction plate is lowered from a rail provided on the transport line. can. The present invention is not limited to a moving mechanism and a driving system for moving a picking hand to transfer a work.

According to the picking transfer device according to the present invention, the processing time of the Bichon system can be omitted in the movement or transfer work of a wide variety of articles, so that the cycle time can be shortened.

According to the picking transfer device according to the present invention, there is no risk of failure associated with the vision sensor. In addition, cost reduction can be achieved because a vision sensor and peripheral devices are not required.

According to the picking transfer device according to the present invention, the moving or transferring work of an article can be handled by a safe, fast, and low-cost simple system, which leads to a great improvement in work efficiency.

According to the present invention, in the refilling and transferring of delivery boxes and the like of other kinds of goods at a distribution collection and delivery base, products can be easily selected, sucked and picked and transferred without using an expensive program-controlled robot arm. Therefore, it is possible to transfer goods safely and with good workability, and a distribution collection and delivery base that can significantly improve economic efficiency will be realized.

It is a conceptual diagram which showed the whole image of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the detail of the suction pad part of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed 1 suction part which constitutes the suction pad of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the whole image of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the detail of the suction pad part of the picking transfer apparatus which concerns on one Embodiment of this invention. It is sectional drawing which showed the detail of the suction pad part of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the movement of the suction pad portion of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the suction head of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the movement of the suction pad of the picking transfer apparatus which concerns on one Embodiment of this invention in the operation flow diagram. It is a conceptual diagram which showed the suction head of the picking transfer apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which showed the movement of the suction head of the picking transfer apparatus which concerns on one Embodiment of this invention in the operation flow diagram.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following, the scope necessary for the explanation for achieving the object of the present invention will be schematically shown, and the scope necessary for the explanation of the relevant part of the present invention will be mainly explained. It shall be based on known technology.

FIG. 1 is a conceptual diagram showing an overall image of a picking transfer device according to an embodiment of the present invention. As shown in this figure, the raw material BOX 2 containing the goods for shipping and the collection BOX 1 for shipping move on the conveyor line toward the picking transfer device according to the embodiment of the present invention.

Products are randomly contained in the raw material BOX2. As shown in FIG. 1, the manipulator 5 of the picking transfer device 4 according to the embodiment of the present invention includes a suction head 7 equipped with a suction device at its tip. The shape of the suction head 7 is smaller than or equivalent to the inner area of the raw material BOX 2, and the product enters the raw material BOX and sucks and grips one of the products that came into contact earlier. The suction device is an air cylinder device or the like capable of supplying or sucking air, and does not limit the air control method.

The manipulator 5 can then move the gripped product to the inspection shelf, and the inspection sensor can inspect whether the product is a product to be picked up. The inspection method may be weight measurement or the like. For example, after the inspection is completed, the manipulator 5 adsorbs the product again and transfers it to the collection BOX (collection BOX) 1 to finish the inspection.

FIG. 2 is a conceptual diagram showing details of a suction head portion of the picking transfer device according to the embodiment of the present invention. The lower figure of the figure is a view of the tip of the suction head from below, and the upper figure is a view of the suction head 6 from the side. As shown in the figure, a large number of suction pads 10 are mounted in a mesh shape on the suction head portion. As shown in the above figure, a manipulator 5 of a picking transfer device for vacuum suctioning the suction pad 10 is connected. (In FIG. 2, it is indicated by an arrow.) The mesh-like arrangement method is not limited to a simple square, and may be a fine arrangement.

FIG. 3 is a conceptual diagram showing a suction pad portion of 1 constituting the suction pad of the picking transfer device according to the embodiment of the present invention. As shown in the figure, one suction pad includes a suction plate 11, a contraction portion 13, and a sensor portion 12, and the product is sucked onto the suction plate 11 by vacuum suction. At the same time, the contracted portion 13 freely contracts or stretches to fit the shape of the product.

The sensor unit 12 may be, for example, an air pressure sensor for controlling a valve / pressure switch of each air pipe. Further, it may be a weighing sensor that detects the weight of the gripped product. Alternatively, it may be an electrical contact detection sensor, a pressure sensitive sensor, or the like. It suffices if it is possible to detect that the product is adsorbed, that the product is a designated product, that there is only one product, and the like. Any sensor with a sensing function that can easily determine the product gripping state can be handled with conventional technology. The adsorption mechanism will be described later.

The suction plate 11 and the suction pad 10 are made of a flexible member as a whole. Silicon resin, soft vinyl chloride resin, soft urethane resin, soft polyethylene resin, soft synthetic rubber resin and the like can be considered, but other soft members or fibrous members may be used. As a result, when the article is sucked and gripped, it adheres securely according to the shape of the surface of the article and prevents the suction air from leaking.

As shown in FIGS. 1 and 2, the suction head 7 inside the raw material BOX 2 sucks and sucks the first contacted product by suction suction of the suction pad, and the sensor unit 12 of the suction pad 10 senses it. do. Then, after detecting that there is only one product, it is moved by the manipulator 5.

FIG. 4 is a conceptual diagram showing an overall image of the picking transfer device according to the embodiment of the present invention. As shown in the figure, the device for operating the suction pad may be a single-axis robot using a suction device or a simple arm using a manipulator. In FIG. 4, for example, both devices are divided into a primary picking 14 and a secondary picking 15 and are shown in an easy-to-understand manner. The product 3 picked from the raw material BOX 2 in the primary picking 14 is inspected on the inspection shelf 8 to see if it is a product as instructed, and is transferred to the pickup BOX 1 by the secondary picking 15. Of course, this operation may be performed by one device and the manipulator 5.

The suction head 7 of the primary picking 14 picks an instructed number of products from the raw material BOX 2 in which a plurality of products of one type are stored. The suction head 7 of the secondary picking 15 transfers the inspected product 3 to the shipping BOX 1. However, the product data (dimensions, weight, etc.) in the raw material BOX is input to the control program of the picking transfer device before the start of the picking operation.

The equipment configuration in the case of FIG. 4 includes a primary picking unit and an inspection shelf 8 on the transport line of the raw material BOX 2, a transport line of the shipping BOX 1, and a manipulator (secondary picking) 5, for example, a suction head for each product size. Etc. can be designed. The product form is premised on general products handled by online shopping, etc., but of course, unstable shapes that do not fit the suction of the suction pad externally may be excluded.

When the raw material BOX 2 arriving at the primary picking unit is positioned, the suction pad 7 incorporated in the single-axis robot 16 is lowered to suck the product in the raw material BOX 2. The suction pad is configured to have multiple systems with check valves. As for the adsorption operation, the other systems can be turned off when the adsorption signal is first turned on so that multiple products are not adsorbed at once. Details will be described later.

When the product is sucked, the single-axis robot 16 rises, and the product is transferred to the inspection shelf 8 via the suction device. After transferring the product, the suction pad returns to the home position.

The inspection shelf is installed on an electronic scale, for example, and an output area sensor is built around it. It is possible to inspect the weight or shape of the product by means such as an electronic scale or image recognition and recognize that the product is as instructed. These inspection functions can be supported by conventional techniques.

Based on the collected data from the above, the quantity and position data of the products on the inspection shelf are calculated and calculated, and the products are picked up by the suction hand of the manipulator 5 and put into the shipping BOX1. If data cannot be collected due to product placement, etc., try collecting data again by tilting the inspection shelf and shifting the product position. The surplus products remaining on the inspection shelf may be returned to the raw material BOX 2 by the manipulator 5. Alternatively, the inspection shelf can be tilted and dropped into the raw material BOX2. These operations may be pre-programmed.

As shown in FIG. 4, the suction head of the picking transfer device according to the embodiment of the present invention is not limited to a rectangular shape corresponding to the shape of the raw material BOX 2 shown in FIG. The shape of the suction head can be randomly set, for example, circular or spherical. This may be determined in consideration of the shape and form of the product to be transferred.

FIG. 5 is a conceptual diagram showing details of a suction pad portion of the picking transfer device according to the embodiment of the present invention. As shown in the figure, the case where the suction head 7 is substantially spherical is shown. A large number of suction plates 11 of suction pads 10 are provided on the spherical surface. Since the suction head 7 is filled with the flexible member as described above, the surface shape can be flexibly changed.

FIG. 6 is a cross-sectional conceptual diagram showing the details of the suction pad portion of the picking transfer device according to the embodiment of the present invention. As shown in the figure, inside the spherical suction head 7 having a large number of suction plates 11 on the surface, the sensor unit 12 is connected to each suction plate 11 and the sensor detects that the product is sucked and gripped. .. A specification example of the sensor unit 12 will be described later.

When the product is sucked and gripped, the suction head 7 having a substantially spherical shape is deformed into a shape that fits the outer shape of the product, and the product can be gripped safely and surely. Since the constituent member is composed of a flexible member having flexibility as described above, there is flexibility to match the outer shape of the product. As a result, the suction head can be closely gripped according to the shape of the product.

FIG. 7 is a conceptual diagram showing the movement of the suction pad portion of the picking transfer device according to the embodiment of the present invention. As shown in the figure, for example, if the suction head 7 is spherical as shown in FIGS. 5 and 6, the manipulator 5 of the picking transfer device according to the embodiment of the present invention is a suction head in the raw material BOX 2. When 7 enters, for example, as shown in the figure, it is possible to adsorb and grip the internal product while moving (searching for) from the position of A in the order of B, C, D, E, F.

The suction head 7 can suck and grip the first product, sense the sensor, pick it, and transfer it. With such a spherical suction head 7, even if the size of the raw material BOX is changed, the movement of the manipulator 5 is simply programmed to match the internal shape of the raw material BOX, for example, the operation of the above A to F. Can be handled with. This function will be referred to as the "finding function" hereafter.

When the suction head 7, which is the tip device of the picking transfer device according to the embodiment of the present invention, is used in a transfer line, the suction head (probably a rectangular shape) or a substantially spherical shape having an area corresponding to the size of the loading port of the transfer box. For example, 30 adsorption ports are provided on the adsorption head of the above, and these adsorption ports can independently control the adsorption of air, and when the adsorption plate is put into the transport box, it first contacts the product. Only the suction port that has been sucked reacts by the sensor to perform the suction operation (the other suction ports stop), and it sticks to the product and is taken out.

The above-mentioned method is a method of quickly and efficiently taking out only one product from the boxes in which the same product is put in the transport box being transported by the transport line of FIG. Conventionally, the tip device attached to this type of robot arm is equipped with a large number of sensors such as cameras at the tip, even if the suction method is the same as that of the present invention, and the position of the product can be accurately determined by using these. It was stipulated that the three main processes of "image recognition", "position detection", and "removal" of indexing and then picking up the product should be performed according to strict program control.

However, picking while checking the location one by one on the line where the products are transported at a reasonable speed is inefficient and cannot be handled at speed.

The picking transfer device according to the embodiment of the present invention may be a manipulator type in which the robot itself is placed next to the transfer line, or a short axis type in which the suction head is lowered from a rail provided on the transfer line. , Either can be handled. It will be possible to handle with an extremely simple mechanical device.

FIG. 8 is a conceptual diagram showing a suction head of the picking transfer device according to the embodiment of the present invention. As shown as a specific example in this figure, a pad-shaped suction head 7 having a plurality of suction pads 10 is laid at the tip of a manipulator 5 by a piece picking robot. Further, a circuit example for controlling the air pressure of each suction pad 10 is shown in the figure in the two-dot chain line portion. The sensor unit 12 is, for example, a pressure sensing unit that senses that the product 3 is being gripped at a constant pressure. Further, the sensor unit 12 may be a weight sensing sensor, and can detect whether or not the product is being gripped as instructed. The control mechanism 17 may be connected to the overall control computer.

FIG. 9 is a conceptual diagram showing the movement of the suction pad of the picking transfer device according to the embodiment of the present invention in an operation flow diagram. This figure shows a specific example of the piece picking robot in an operation flow, and shows an example of the operation of the suction head and the suction pad and a programmatic judgment system in each operation.

In FIG. 9, the operation flow of picking the product 3 in the raw material BOX 2 by the suction pad 10 of the suction head 7 is shown in the order of process A to process H. In the process B, the head 7 is close to the product, and in the process C, one product is adsorbed and gripped, and in the process D, the weight and the like are inspected while rising. If the inspection is passed, the goods are put into the pickup BOX 1 in the process E.

For example, when a plurality of products are adsorbed and gripped as in process F, which is the same stage as process C, in the weight inspection of process G, the adsorption of extra products is removed so that the products become one. If the inspection such as weight is passed, the process E is reached. The inspection NG course shows a repetitive process. The order in which the air pressure of the suction pad is released and excess products are dropped may be arbitrarily set, for example, from the products on the outside of the head. Further, instead of the weight inspection, the inspection may be performed based on the number of suction plates sucked by suction air pressure, and the suction of excess products may be released.

FIG. 10 is a conceptual diagram showing a suction head of the picking transfer device according to the embodiment of the present invention. This figure shows a case where the suction pad 10 has a substantially spherical shape or a substantially polyhedral shape. As shown in FIG. 10, the suction head 7 having a substantially spherical or substantially polyhedral shape represents an image in which a plurality of suction pads 10 are laid on the surface thereof. Further, a circuit example for controlling the air pressure of each suction pad 11 is shown in a schematic diagram in the two-dot chain line portion. When the sensor unit 12 laid on each suction pad 11 senses, for example, the suction air pressure, the pressure is transmitted to the control mechanism 17 to receive an instruction to maintain or release (open) the pressure.

FIG. 11 is a conceptual diagram showing the movement of the suction pad of the picking transfer device according to the embodiment of the present invention in an operation flow diagram. As shown in the broken line in the figure, the suction head 7 having a substantially spherical or substantially polyhedral shape has a so-called locating function 18 for detecting a product while moving in the supplied product BOX. The finding function 18 is as described in FIG. Since the individual suction pads are arranged on a substantially spherical surface, the product can be detected in a direction other than the vertical direction.

As shown in FIG. 11, the operation flow of picking the product 3 in the raw material BOX 2 by the suction pad 10 of the suction head 7 is shown in the order of process A to process H. In the process B, the head 7 is close to the product, and in the process C, one product is adsorbed and gripped, and in the process D, the weight and the like are inspected while rising. If the inspection is passed, the goods are put into the pickup BOX 1 in the process E.

For example, when a plurality of products are adsorbed and gripped at the stage of process C as in process F, in the weight inspection of process G, the adsorption of excess products is removed so that the products become one. If the inspection such as weight is passed, the process E is reached. The inspection NG course shows a repetitive process. The order in which the suction pad 10 is opened and the excess product is dropped may be arbitrarily set, for example, removed from the product on the outside of the head.

For example, the suction head 7 typically shown in FIG. 5 is mainly described in the case of having a weight measurement of an adsorbed object and an article detection and recognition function by suction air pressure, but other detection recognition methods may be used. As shown in FIG. 7, the suction head 7 has a function of searching for an article to be sucked by itself, that is, a so-called “searching function”. Among the sensor functions for demonstrating the search function, image shooting recognition (image image recognition), ultrasonic sensor, temperature sensor, pressure sensor, electric signal sensor, magnetic sensor, electromagnetic wave detection such as ultraviolet rays and infrared rays, etc. are supported. can. By equipping the suction head unit 7, the suction plate 11 or the sensor unit 12 with these sensors and having a recognition determination program corresponding to each sensor in the computer which is the control mechanism 17, the finding function depends on the characteristics of the object to be adsorbed. Needless to say, it will serve the purpose of picking.

Finding is the continuation of the work of recognizing and detecting the article through the contact of the hand suction part with the article or product to be searched, and repeating the work of determining whether or not the article is the object until the object can be recognized. Say that. For example, image recognition and determination by IR or UV electromagnetic waves and ultrasonic waves are non-contact detection, but recognition by sensors such as temperature, pressure, suction pressure, and weight is contact recognition. Although the present invention is an operation using a suction head, the contact or non-contact is not particularly limited in the recognition of an article. This is because if an article or a product can be recognized, suction picking can still be performed by the suction head.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention. All of these are part of this technical idea.

As described above, according to the invention of the present application, when refilling and transferring a delivery box or the like of another kind of goods at a distribution collection / delivery base, a product can be easily selected without using an expensive program-controlled robot arm. Since it can be picked and transferred by suction, it is possible to transfer goods safely and with good workability, and a distribution collection and delivery base that can significantly improve economic efficiency is realized.

The present invention can be used not only for a product picking process at a distribution collection / delivery base but also for transfer of all kinds of goods. For example, it can also be used for selective transfer of assembled parts in the manufacturing process. Therefore, the present application brings great benefits to various industries.

1 Collection BOX (collection BOX)
2 Raw material BOX
3 Product 4 Picking transfer device 5 Manipulator 6 Air cylinder 7 Suction head 8 Inspection shelf 9 Inspection sensor 10 Suction pad 11 Suction board 12 Sensor part 13 Shrinkage part 14 Primary picking 15 Secondary picking 16 Single axis robot 17 Control mechanism 18 Search function

Claims (5)

An adsorption means configured as a substantially sphere or a substantially polyhedron having a plurality of adsorption mechanisms for adsorbing an object to be transported on the surface .
It is a picking hand characterized by being provided with a control mechanism for operating the suction means so as to perform a search function for finding a transport object for picking.
The finding function is such that when the adsorption means is made to enter the raw material BOX containing the object to be transported, the adsorption means moves in a plane as set by the program in the raw material BOX. A picking hand that recognizes and detects an article through contact with the object and determines whether or not the object is the object to be transported until the object to be transported can be recognized. An air control device that supplies / sucks air to each of the plurality of adsorption mechanisms, and
An adsorption state determination unit that determines whether or not air is adsorbed from the air control device for each of the plurality of adsorption mechanisms.
The feature is that the air control device further includes a suction control unit that controls the supply / suction of air to each of the plurality of suction mechanisms according to the determination of the presence / absence of air adsorption by the adsorption state determination unit. The picking hand according to claim 1. The suction means is characterized by having flexibility that adapts to the shape of the object to be transported and deforms when at least a part of the suction mechanism engages with the surface of the object to be transported or a part thereof. The picking hand according to claim 1 or 2 . An adsorption means configured as a substantially sphere or a substantially polyhedron in which a plurality of adsorption mechanisms are provided on a surface having a certain surface area.
A picking transfer device comprising a control mechanism for operating the suction means so as to perform a search function for finding a transport object for picking.
The finding function is such that when the adsorption means is made to enter the raw material BOX containing the object to be transported, the adsorption means moves in a plane as set by the program in the raw material BOX. A picking transfer device that repeats the work of recognizing and detecting an article through the contact of the object and determining whether or not the object is the object to be transported until the object to be transported can be recognized. An air control device that supplies / sucks air to each of the plurality of suction mechanisms, and a suction state determination unit that determines whether or not air is adsorbed from the air control device for each of the plurality of suction mechanisms. A picking hand provided with a suction control unit that controls air supply / suction from the air control device to each of the plurality of suction mechanisms according to the determination of the presence or absence of air adsorption by the suction state determination unit.
A robot arm connected to the suction means and
A manipulator that is directly or indirectly connected to the robot arm,
The picking transfer device according to claim 4 , further comprising a moving mechanism for moving the robot arm via the manipulator when the object to be transported is held by the picking hand.

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