JP7037922B2 - 供給装置及びそれを備えるロボットシステム - Google Patents

供給装置及びそれを備えるロボットシステム Download PDF

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Publication number
JP7037922B2
JP7037922B2 JP2017226310A JP2017226310A JP7037922B2 JP 7037922 B2 JP7037922 B2 JP 7037922B2 JP 2017226310 A JP2017226310 A JP 2017226310A JP 2017226310 A JP2017226310 A JP 2017226310A JP 7037922 B2 JP7037922 B2 JP 7037922B2
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JP
Japan
Prior art keywords
supply device
accommodating portion
robot
mover
pair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2017226310A
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English (en)
Japanese (ja)
Other versions
JP2019094193A (ja
Inventor
一平 長廣
栄二 三井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Priority to JP2017226310A priority Critical patent/JP7037922B2/ja
Priority to CN201880075836.4A priority patent/CN111566026B/zh
Priority to PCT/JP2018/042013 priority patent/WO2019102905A1/ja
Priority to KR1020207014427A priority patent/KR102400594B1/ko
Priority to TW107141807A priority patent/TWI686329B/zh
Publication of JP2019094193A publication Critical patent/JP2019094193A/ja
Application granted granted Critical
Publication of JP7037922B2 publication Critical patent/JP7037922B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/44—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation from supply magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/28—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers
    • B65B7/2807—Feeding closures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/10—De-stacking nested articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0308—Destacking devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)
  • Automatic Assembly (AREA)
  • Feeding Of Articles To Conveyors (AREA)
  • Manipulator (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • De-Stacking Of Articles (AREA)
JP2017226310A 2017-11-24 2017-11-24 供給装置及びそれを備えるロボットシステム Active JP7037922B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2017226310A JP7037922B2 (ja) 2017-11-24 2017-11-24 供給装置及びそれを備えるロボットシステム
CN201880075836.4A CN111566026B (zh) 2017-11-24 2018-11-13 供给装置以及具备该供给装置的机器人系统
PCT/JP2018/042013 WO2019102905A1 (ja) 2017-11-24 2018-11-13 供給装置及びそれを備えるロボットシステム
KR1020207014427A KR102400594B1 (ko) 2017-11-24 2018-11-13 공급 장치 및 이를 구비하는 로봇 시스템
TW107141807A TWI686329B (zh) 2017-11-24 2018-11-23 供給裝置及具備其之機器人系統

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017226310A JP7037922B2 (ja) 2017-11-24 2017-11-24 供給装置及びそれを備えるロボットシステム

Publications (2)

Publication Number Publication Date
JP2019094193A JP2019094193A (ja) 2019-06-20
JP7037922B2 true JP7037922B2 (ja) 2022-03-17

Family

ID=66631671

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017226310A Active JP7037922B2 (ja) 2017-11-24 2017-11-24 供給装置及びそれを備えるロボットシステム

Country Status (5)

Country Link
JP (1) JP7037922B2 (zh)
KR (1) KR102400594B1 (zh)
CN (1) CN111566026B (zh)
TW (1) TWI686329B (zh)
WO (1) WO2019102905A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110683314B (zh) * 2019-08-30 2021-08-10 上海大学 一种用于自动化加工设备的自动上下料机器人单元及方法
CN112938025B (zh) * 2019-12-11 2022-09-30 泰科电子(上海)有限公司 电子产品包装系统
CN112357173B (zh) * 2020-11-03 2023-04-14 杭州娃哈哈精密机械有限公司 一种胶囊瓶产品与内衬装配设备
CN114104364B (zh) * 2021-12-07 2023-04-07 南京华捷飞智能科技有限公司 稀土永磁行业工艺过程自动码垛机

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003211096A (ja) 2002-01-18 2003-07-29 Fuji Photo Film Co Ltd 物品の仕分け・整列装置

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US3139714A (en) * 1962-02-28 1964-07-07 Lillian E Hall Machine for loading stacks of packages in cartons
US3176978A (en) * 1962-09-07 1965-04-06 Bradford Speed Packaging And D Blank feeders for box forming machines
US4016708A (en) * 1974-08-13 1977-04-12 Docutronix, Inc. Envelope processing machine
JPH04189221A (ja) * 1990-11-21 1992-07-07 Hitachi Maxell Ltd 箱型製品の供給方法
JPH0488424U (zh) * 1990-12-06 1992-07-31
JP2594653Y2 (ja) * 1991-09-14 1999-05-10 日本山村硝子株式会社 方形バルク品整列排出装置
JP2577768Y2 (ja) * 1992-02-18 1998-07-30 トーヨーカネツ株式会社 物品供給装置
JPH07257763A (ja) * 1994-03-17 1995-10-09 Nippon Rika Seishi Kk 自動給袋装置
US6731795B1 (en) 2000-05-31 2004-05-04 International Business Machines Corporation Method and apparatus for removing defects from digital images
DE60206487T3 (de) 2001-04-12 2013-03-21 Mitsubishi Shoji Foodtech Co., Ltd. Verfahren zur entsalzung einer zuckerlösung und anionenaustauscher
JP4942157B2 (ja) 2006-05-12 2012-05-30 株式会社冨士製作所 カップ供給装置
JP5065809B2 (ja) 2007-08-23 2012-11-07 株式会社テイエルブイ 蒸気使用設備シミュレートシステム、及び、それを用いた蒸気使用設備の改善手法探索方法
JP5024627B2 (ja) 2008-05-07 2012-09-12 株式会社ダイフク 駆動軸カバー装置
JP6110085B2 (ja) * 2012-07-13 2017-04-05 株式会社古川製作所 給袋装置
KR101634115B1 (ko) * 2014-07-11 2016-06-28 한국항공대학교산학협력단 제함기용 박스공급장치
JP6225086B2 (ja) * 2014-08-26 2017-11-01 東洋自動機株式会社 スパウト付き袋の供給装置
KR101963334B1 (ko) * 2014-12-26 2019-03-28 카와사키 주코교 카부시키 카이샤 더블 아암 로봇
US9555978B1 (en) * 2015-05-27 2017-01-31 Amazon Technologies, Inc. Semi-automated inventory transfer station
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CN107140411A (zh) * 2017-01-20 2017-09-08 深圳市辉睿达科技有限公司 直入式smd轨道及其供料方法
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Also Published As

Publication number Publication date
CN111566026A (zh) 2020-08-21
JP2019094193A (ja) 2019-06-20
TW201936450A (zh) 2019-09-16
CN111566026B (zh) 2021-10-08
KR102400594B1 (ko) 2022-05-20
TWI686329B (zh) 2020-03-01
KR20200092953A (ko) 2020-08-04
WO2019102905A1 (ja) 2019-05-31

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