JP7383085B1 - picking equipment - Google Patents

Abstract

A picking device capable of holding a component and a component tray with the same hand is provided. A picking device includes a hand 31, pads 34, 35, and a control section. The hand 31 has fingers 2 and 3 facing each other. The pad 34 is attached to a portion of the finger 2 opposite to the portion facing the finger 3. The pad 35 is attached to a portion of the finger 3 opposite to the portion facing the finger 2 . The control unit brings the fingers 2 and 3 closer to each other when holding a component, and separates the fingers 2 and 3 when holding a tray in which a plurality of pockets are formed. [Selection diagram] Figure 2

Description

The present invention relates to a picking device for picking parts of a product.

In a product assembly process in a factory, a sorting operation is performed in which each part is taken out from a plurality of parts and supplied to a predetermined work position. When an assembly worker performs such sorting work, the burden on the assembly worker increases, and the time that could be spent on other tasks with high added value is reduced. Therefore, in recent years, picking devices that automatically perform sorting work have been developed.

Japanese Patent Application Publication No. 11-300670

For example, in the article pickup device described in Patent Document 1, an image of the bolt group is captured by photographing a bolt group arranged on a tray. Based on the captured image, isolated bolts with no overlap with other bolts are searched for. The isolated bolt is grasped by the robot's hand and transferred to a predetermined position. When an isolated bolt cannot be found, the overlapping state of the bolt group is loosened by vibrating the tray.

A necessary number of parts necessary for assembling a product may be taken out of a plurality of parts and sorted into predetermined pockets of a parts tray. In this case, it is necessary to sequentially bring in a plurality of component trays to be sorted. Therefore, it is conceivable to carry in the parts tray using a robot hand. However, since the rigidity of the component tray is relatively low, if the hand tries to hold the component tray in the same motion as when holding the component, the component tray will be damaged. Therefore, it is not easy to hold the component and the component tray with the same hand.

An object of the present invention is to provide a picking device that can hold a component and a component tray with the same hand.

A picking device according to one aspect of the present invention includes a hand having a first finger and a second finger facing each other, and a hand that is attached to a part of the first finger opposite to a part facing the second finger. a second pad attached to a portion of the second finger opposite to a portion facing the first finger; and the first finger and the second finger. By bringing the first finger and the second finger close to each other, a holding operation of holding the component can be selectively performed; and by separating the first finger and the second finger, a holding operation of holding a tray in which a plurality of pockets are formed can be selectively performed. and a control unit that causes the hand to execute the operation .

According to the present invention, it is possible to hold a component and a component tray with the same hand.

1 is a schematic external perspective view of a picking device according to an embodiment of the present invention. FIG. 2 is a perspective view showing the configuration of a hand. FIG. 3 is an end view of the hand of FIG. 2; FIG. 3 is a perspective view showing an example of a component to be held symmetrically. FIG. 7 is a perspective view showing another example of a component to be held symmetrically. It is a perspective view showing an example of a tray. FIG. 6 is a diagram for explaining an example of a tray holding operation. FIG. 6 is a diagram for explaining an example of a tray holding operation. FIG. 7 is a diagram for explaining another example of the tray holding operation. FIG. 7 is a diagram for explaining another example of the tray holding operation. 2 is a flowchart illustrating an example of a picking process executed by a control unit in FIG. 1. FIG. 2 is a flowchart illustrating an example of a picking process executed by a control unit in FIG. 1. FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A picking device according to an embodiment of the present invention will be described below with reference to the drawings. The picking device described below is basically used to pick out each part from a plurality of parts having a common shape and store it in a predetermined tray. The predetermined tray is made of resin, for example, and includes a plurality of pockets. Note that the component used in the following description means either a component to be held by the picking device according to the embodiment or a held component.

1. Basic Configuration of Picking Device FIG. 1 is a schematic external perspective view of a picking device according to an embodiment of the present invention. As shown in FIG. 1, a picking device 100 according to the present embodiment mainly includes a tray conveyance table 10, a rough separation device 20, a pickup robot 30, an imaging device 40, and a control section 50.

In the picking device 100, a three-dimensional coordinate system (hereinafter referred to as a device coordinate system) unique to the device is defined. The device coordinate system of this example includes an origin and mutually orthogonal X, Y, and Z axes. In the following description, the direction parallel to the X axis of the device coordinate system will be referred to as the X direction, the direction parallel to the Y axis will be referred to as the Y direction, and the direction parallel to the Z axis will be referred to as the Z direction. In FIG. 1 and in certain subsequent figures, directions according to the device coordinate system are indicated by arrows where appropriate.

The tray conveyance table 10 extends in one direction (the X direction in this example). The tray transport table 10 is configured to be able to place a tray 11 thereon and to slide the placed tray 11 in the X direction. The tray 11 used in this example has a substantially rectangular shape in plan view and includes a plurality of pockets 12 that open upward. The plurality of pockets 12 are arranged in a matrix.

A standby position PN1 is set at one end of the tray conveyance platform 10. Further, a workpiece position PN2 is set in a portion of the tray conveyance table 10 adjacent to the standby position PN1. An empty tray 11 is placed at the standby position PN1 of the tray conveyance platform 10. In the example of FIG. 1, a plurality of trays 11 are stacked at a standby position PN1 of the tray conveyance platform 10. One tray 11 is placed on the workpiece position PN2 of the tray transport table 10. One tray 11 accommodates one or more parts separated from a plurality of parts by the operations of a rough separation device 20 and a pickup robot 30, which will be described later.

A rough separation device 20 is provided at a position adjacent to the standby position PN1 of the tray transport platform 10 in the Y direction when viewed from above. The rough separation device 20 accommodates a plurality of parts. The rough separation device 20 includes an actuator such as an air cylinder, and by driving the actuator, roughly separates the accommodated parts so that the overlapping parts are eliminated. The rough separation method by the rough separation device 20 is not particularly limited.

A pickup robot 30 having a hand 31 is provided at a position adjacent to the workpiece position PN2 of the tray transport platform 10 in the Y direction and adjacent to the rough separation device 20 in the X direction in plan view. The pick-up robot 30 holds the roughly separated parts present in the rough separation device 20 with a hand 31, and stores them in one of the pockets 12 of the tray 11 located at the work position PN2.

Further, the pickup robot 30 presses the hand 31 against the tray 11 located at the workpiece position PN2, and presses the tray 11 in the X direction. In this case, the tray 11 pressed by the hand 31 slides in the X direction on the tray transport table 10 so as to move away from the work position PN2. Further, the pickup robot 30 holds the empty tray 11 at the standby position PN1 with the hand 31 and transports it to the workpiece position PN2. Details of the pickup robot 30 will be described later.

The imaging device 40 is a camera including a lens and an imaging element. The imaging device 40 is held by a support column 41 so as to be located above the coarse separation device 20 . The position and orientation of the imaging device 40 are fixed such that a predetermined portion of the coarse separation device 20 is located within the imaging field of view of the imaging device 40. The imaging device 40 images the coarse separation device 20 from above. In this case, the imaging device 40 outputs a plurality of pieces of pixel data.

The control unit 50 includes, for example, a CPU (central processing unit) and a memory or a microcomputer. A picking program is stored in the memory. The control unit 50 includes a coarse separation control unit 51, an image generation unit 52, an image determination unit 53, and a pickup control unit 54 as functional units. The functional units of the control unit 50 are realized by the CPU of the control unit 50 executing a picking program stored in the memory. Part or all of the functional units of the control unit 50 may be realized by hardware such as an electronic circuit.

The rough separation control section 51 controls the operation of the rough separation device 20. The image generation unit 52 controls the operation of the imaging device 40 and generates image data representing an image based on a plurality of pixel data output from the imaging device 40. In this example, the image data represents a two-dimensional image. The image determination unit 53 determines whether or not there are any parts whose overlaps have been eliminated in the rough separation device 20, based on the image data generated by the image generation unit 52. The hand control unit 94 controls the operation of the pickup robot 30 based on the determination result by the image determination unit 53.

2. Pickup Robot The pickup robot 30 includes a hand 31, a movable arm 32, a base portion 33, and a pair of pads 34 and 35 (see FIGS. 2 and 3 described later). The base portion 33 supports the movable arm 32 rotatably around an axis in the Z direction. The base portion 33 has a built-in driving device (not shown) that rotates the movable arm 32 around an axis in the Z direction. The movable arm 32 is a multi-joint arm and holds the hand 31 at its tip. The movable arm 32 has a built-in driving device (not shown) that moves the distal end portion between a plurality of positions. The movable arm 32 does not need to be a multi-joint arm as long as it is movable in the X, Y, and Z directions.

FIG. 2 is a perspective view showing the configuration of the hand 31. FIG. 3 is an end view of the hand 31 of FIG. 2. As shown in FIGS. 2 and 3, the hand 31 includes a driving section 1 and a pair of fingers 2 and 3. As shown in FIGS. Further, the hand 31 further includes a drive device (not shown) that rotates the pair of fingers 2 and 3 around the Z axis.

The drive unit 1 is, for example, an air chuck, and includes a main body 1A and a pair of protrusions 1B and 1C. The main body portion 1A has a substantially rectangular parallelepiped shape. The protruding parts 1B and 1C protrude horizontally and parallel to each other from one end surface of the main body part 1A while facing each other. By supplying air to the main body 1A, the distance between the protrusions 1B and 1C changes.

Finger 2 includes a base end 2A and a distal end 2B. The base end portion 2A extends in the vertical direction (Z direction in this example) and is formed wider than the distal end portion 2B. The upper portion of the base end portion 2A is attached to the protrusion portion 1B. The distal end portion 2B protrudes downward from the lower part of the proximal end portion 2A. Finger 3 includes a base end 3A and a distal end 3B. The proximal end portion 3A extends in the vertical direction and is formed wider than the distal end portion 3B. The upper part of the base end portion 3A is attached to the protrusion portion 1C. The distal end portion 3B protrudes downward from the lower part of the proximal end portion 3A.

According to the above configuration, the fingers 2 and 3 extend downward from the protrusions 1B and 1C, respectively, while facing each other. When hand 31 is holding neither a component nor tray 11, fingers 2 and 3 are spaced apart from each other by a fixed distance. The state of the hand 31 at this time is called a non-holding state. By driving the drive unit 1, the distance between the protrusions 1B and 1C changes. As a result, the fingers 2 and 3 are brought closer to each other or separated from each other than in the non-held state.

Each pad 34, 35 has a cylindrical shape, for example, and is made of a rubber member. The rubber member may include, for example, urethane, nitrile rubber or silicone. Each pad 34, 35 may be formed of other materials having a relatively large coefficient of friction (coefficient of static friction). Further, each pad 34, 35 may have another shape such as a prismatic shape. Further, the bottom or top surface of each pad 34, 35 may be slightly inclined. The bottom surface of the pad 34 is attached to a portion of the base end 2A of the finger 2 opposite to the portion facing the finger 3. The bottom surface of the pad 35 is attached to a portion of the base end 3A of the finger 3 opposite to the portion facing the finger 2.

3. Holding Operation FIG. 4 is a perspective view showing an example of parts to be held. As shown in FIG. 4, the component 13 of the holding symmetry in this example is a hexagonal shaft. During the holding operation of the component 13, the fingers 2 and 3 of the hand 31 enter the rough separation device 20 of FIG. Furthermore, the fingers 2 and 3 sandwich a specific component 13 from above. In this state, fingers 2 and 3 are brought close to each other. In this case, the inner surface of the tip 2B of the finger 2 and the inner surface of the tip 3B of the finger 3 come into contact with the outer peripheral surface of the component 13. As a result, the component 13 is held (held) by the tips 2B, 3B of the fingers 2, 3.

What is the holding operation of the parts? It is not limited to the above example. FIG. 5 is a perspective view showing another example of parts to be held symmetrically. As shown in FIG. 5, the component 14 to be held and symmetrical in this example is a cylindrical member. The component 14 is made of, for example, a metal material. As an example of the dimensions of the component 14, the inner diameter is 7 mm, the outer diameter is 10.5 mm, and the height is 4.5 mm. When the part to be held is the part 14 in FIG. 5, the hand 31 is in the non-holding state when the fingers 2 and 3 are brought closest to each other.

During the holding operation of the component 14, the fingers 2 and 3 of the hand 31 enter the rough separation device 20 of FIG. Furthermore, the fingers 2 and 3 are inserted into the central hole of the specific component 14 from above. In this state, fingers 2 and 3 are separated. In this case, the outer surface of the tip 2B of the finger 2 and the outer surface of the tip 3B of the finger 3 come into contact with the inner peripheral surface of the component 14. As a result, the component 14 is held by the tips 2B and 3B of the fingers 2 and 3.

In this way, the parts 13, 14 are held by the lower tips 2B, 3B of the fingers 2, 3. In this example, the width of the tip end 2B of the finger 2 is smaller than the width of the base end 2A. Further, the width of the tip end 3B of the finger 3 is smaller than the width of the base end 3A. Therefore, even when the dimensions of the parts 13 and 14 are relatively small, the parts 13 and 14 can be appropriately held by the tip end 2B of the finger 2 and the tip part 3B of the finger 3. The held parts 13 and 14 are accommodated in one of the pockets 12 of the tray 11 placed at the work position PN2 of the tray conveyance table 10 in FIG.

FIG. 6 is a perspective view showing an example of the tray 11. As shown in FIG. 6, the tray 11 has a substantially rectangular shape in plan view, consisting of a pair of sides extending in the D1 direction and another pair of sides extending in the D2 direction. As an example of the dimensions of the tray 11, the length in the D1 direction is 184 mm, the length in the D2 direction is 178 mm, and the height is 30 mm. In FIG. 1, each tray 11 is placed on the tray transport table 10 with the D1 direction along the Y direction and the D2 direction along the X direction.

In the tray 11, 20 pockets 12 are arranged in 5 rows and 4 columns. Specifically, five pockets 12 are arranged in the D1 direction and four pockets 12 are arranged in the D2 direction. Each pocket 12 is formed by a pair of wall portions W1 separated by a distance L1 in the D1 direction and another pair of wall portions W2 separated by a distance L2 in the D2 direction. In addition, in this example, the cross section of each pocket 12 when viewed from the D1 direction has a semicircular shape. In this case, the product assembly worker can easily take out the parts 13 and 14 stored in the pocket 12 by sliding his or her fingers along the bottom surface of the pocket 12.

7 and 8 are diagrams for explaining an example of the holding operation of the tray 11. As shown in FIG. 7, during the holding operation of the tray 11, the fingers 2 and 3 of the hand 31 enter a specific pocket 12 of the tray 11 placed at the standby position PN1 of the tray conveyance platform 10. In this state, fingers 2 and 3 are separated. In this case, as shown in FIG. 8, the top surface of the pad 34 attached to the base end 2A of the finger 2 and the top surface of the pad 35 attached to the base end 3A of the finger 3 are connected to one another of the pocket 12. respectively, abut against the wall surface portion W1 of. Thereby, the tray 11 is held by the base end portions 2A, 3A of the fingers 2, 3 via the pads 34, 35.

In this way, the tray 11 is held by the base end portions 2A, 3A, which are the upper portions of the fingers 2, 3, via the pads 34, 35. Here, the specific pocket 12 into which the fingers 2 and 3 enter during the holding operation of the tray 11 may be a pocket 12 located within a predetermined range from the center of gravity G (FIG. 6) of the tray 11. In this example, the fingers 2 and 3 are inserted into any of the four pockets 12A, 12B, 12C, and 12D surrounding the center of gravity G out of the 20 pockets 12. In this case, the tray 11 can be stably held while easily maintaining its posture. The held tray 11 is transported to the work position PN2 on the tray transport table 10.

9 and 10 are diagrams for explaining other examples of the holding operation of the tray 11. In each pocket 12 of the tray 11 of this example, the distance L2 between the wall portions W2 is larger than the distance L1 between the wall portions W1. Therefore, during the holding operation of the tray 11, the fingers 2 and 3 are inserted into a specific pocket 12 of the tray 11 while being lined up in the D2 direction, as shown in the upper part of FIG. At this time, in the hand 31, the fingers 2 and 3 may be closer to each other than in the non-held state.

In this case, as shown in the lower part of FIG. 9, a relatively large gap is ensured between the top surface of each pad 34, 35 and the wall surface portion W2. Therefore, the fingers 2 and 3 can be reliably entered into any pocket 12 of the tray 11. In particular, when a plurality of trays 11 are stacked at the standby position PN1, the positions of the trays 11 vary depending on how the plurality of trays 11 overlap. Even in such a case, the fingers 2 and 3 can be easily inserted into any pocket 12.

After the fingers 2 and 3 enter the pocket 12, as shown in the upper part of FIG. 10, the fingers 2 and 3 are rotated 90 degrees around the Z axis so that they are aligned in the D1 direction. Thereafter, the fingers 2 and 3 are separated from each other as in FIG. 8 . According to this holding operation, as shown in the lower part of FIG. 10, since the gap between the top surface of each pad 34, 35 and the wall surface part W1 is small, even if the movable range of the fingers 2, 3 is relatively small. , the tray 11 can be easily held.

4. Picking Process FIGS. 11 and 12 are flowcharts showing an example of a picking process executed by the control unit 50 of FIG. 1. The picking processing in FIGS. 11 and 12 is performed by the CPU of the control unit 50 executing a picking program stored in the memory. In the initial state, the hand 31 is in a non-holding state. Further, a plurality of empty trays 11 are stacked at the standby position PN1 of the tray conveyance platform 10, and no tray 11 exists at the workpiece position PN2. Hereinafter, the picking process will be explained using the part 13 in FIG. 4 as the part to be held.

First, the pickup control unit 54 causes the fingers 2 and 3 to enter the pocket 12 of the tray 11 at the standby position PN1 with the fingers 2 and 3 lined up in the D2 direction (step S1). Next, the pickup control unit 54 rotates the fingers 2 and 3 by 90 degrees around the Z axis so that the fingers 2 and 3 are lined up in the D1 direction (step S2). Note that when the distance L1 between the wall surfaces W1 of each pocket 12 is relatively large, in step S1, the pickup control unit 54 moves the fingers 2 and 3 to the standby position with the fingers 2 and 3 lined up in the D1 direction. It may also be inserted into the pocket 12 of the tray 11 of PN1. In this case, step S2 is omitted.

After that, the pickup control unit 54 separates the fingers 2 and 3 (step S3). As a result, the empty tray 11 is held by the hand 31. Next, the pickup control unit 54 transports the tray 11 held in step S3 to the work position PN2 (step S4). Subsequently, the pickup control unit 54 puts the hand 31 into a non-holding state (step S5). As a result, the held tray 11 is placed at the workpiece position PN2.

Thereafter, the rough separation control unit 51 roughly separates the accommodated parts 13 by controlling the rough separation device 20 (step S6). Next, the image generation unit 52 images the rough separation device 20 by controlling the imaging device 40 (step S7). As a result, image data representing a two-dimensional image is generated. Next, the image determination unit 53 determines whether or not there is a coarsely separated component 13 in the rough separation device 20, based on the image data of the generated two-dimensional image (step S8).

If there is no roughly separated component 13 in the rough separation device 20, the process returns to step S6. Steps S6 to S8 are repeated until the roughly separated parts 13 are present in the rough separating device 20. If the roughly separated components 13 are present in the rough separating device 20, the pickup control unit 54 causes the fingers 2 and 3 to enter the rough separating device 20 (step S9). Next, the pickup control unit 54 brings the fingers 2 and 3 close to each other while sandwiching the roughly separated parts 13 (step S10). Thereby, the component 13 is held.

Thereafter, the pickup control unit 54 causes the fingers 2 and 3 to enter one of the pockets 12 of the tray 11 placed at the workpiece position PN2 in step S4 (step S11). Next, the pickup control unit 54 puts the hand 31 into a non-holding state (step S12). As a result, the component 13 held in step S10 is accommodated in the pocket 12 of the tray 11.

Next, the pickup control unit 54 determines whether accommodation has been completed (step S13). This process may be performed, for example, based on whether a predetermined number of parts 13 are accommodated in the tray 11 placed at the workpiece position PN2. If it is determined that accommodation has not been completed, the process returns to step S7. Note that if it is determined in step S13 that accommodation has not been completed, the process may be returned to step S8.

When it is determined in step S13 that accommodation is complete, the pickup control unit 54 uses the hand 31 to move the tray 11 containing the parts 13 from the work position PN2 (step S14). As a result, the tray 11 located at the work position PN2 is slid to a position shifted from the work position PN2. Subsequently, the process returns to step S1.

5. Effects In the picking device 100 according to the present embodiment, the fingers 2 and 3 are brought close to each other, so that the component 13 is sandwiched between the fingers 2 and 3. Thereby, the component 13 is held. Furthermore, by separating the fingers 2 and 3, one of the pockets 12 of the tray 11 is pressed by the fingers 2 and 3. Thereby, the tray 11 is held.

Here, a pad 34 is located between the finger 2 and the pocket 12 of the tray 11. A pad 35 is located between the finger 3 and the pocket 12 of the tray 11. In this case, the tray 11 can be easily held due to the friction between the pads 34, 35 and the tray 11. Therefore, there is no need to increase the pressing force by the fingers 2 and 3, and the tray 11 will not be damaged. As a result, the component 13 and the tray 11 can be held by the same hand 31.

The finger 2 includes a distal end portion 2B that holds the component 13, and a proximal end portion 2A that is formed wider than the distal end portion 2B and that holds the tray 11 via a pad 34. The finger 3 includes a distal end portion 3B that holds the component 13, and a proximal end portion 3A that is formed wider than the distal end portion 3B and that holds the tray 11 via a pad 35. In this case, since the proximal ends 2A, 3A are formed wider than the distal ends 2B, 3B, the pressing force applied to the tray 11 is reduced even when the driving torque of the fingers 2, 3 is large. Thereby, the tray 11 can be held more easily.

The pads 34 and 35 are formed from a rubber member. In this case, the frictional force between the pads 34, 35 and the tray 11 becomes larger. Thereby, the tray 11 can be held more easily. When the rubber member includes urethane, nitrile rubber, or silicone, the tray 11 can be held more easily.

6. Other Embodiments In the above embodiments, the proximal ends 2A, 3A of the fingers 2, 3 are formed wider than the distal ends 2B, 3B, but the embodiments are not limited to this. When the rigidity of the tray 11 is relatively high or when the parts 13 and 14 are relatively large, the proximal ends 2A and 3A of the fingers 2 and 3 need not be formed wider than the distal ends 2B and 3B. Good too.

Further, in the above embodiment, the fingers 2 and 3 enter the pocket 12 located within a predetermined range from the center of gravity G of the tray 11 during the holding operation of the tray 11, but the embodiment is not limited to this. As long as the tray 11 can be stably held, the fingers 2 and 3 may be inserted into any pocket 12 of the tray 11 during the tray 11 holding operation.

7. Correspondence between each part of the embodiment and each component of the claims Hereinafter, an example of the correspondence between each component of the claims and each element of the embodiment will be described, but the present invention is not limited to the following examples. Various other elements having the configuration or function described in the claims can also be used as each component in the claims.

In the above embodiment, finger 2 is an example of a first finger, finger 3 is an example of a second finger, hand 31 is an example of a hand, and pad 34 is an example of a first pad. The pad 35 is an example of the second pad. The component 13 is an example of a component, the pocket 12 is an example of a pocket, the tray 11 is an example of a tray, the control unit 50 is an example of a control unit, the picking device 100 is an example of a picking device, and the tip The portion 2B is an example of a first distal end, and the proximal end 2A is an example of a first proximal end. The distal end portion 3B is an example of the second distal end portion, the proximal end portion 3A is an example of the second proximal end portion, the wall portion W1 is an example of the first pair of wall portions, and the wall portion W2 is an example of the second pair of wall portions. This is an example of the second pair of wall surfaces, and the center of gravity G is an example of the center of gravity.

8. Summary of Embodiments (Section 1) The picking device according to Section 1 is
a hand having first fingers and second fingers facing each other;
a first pad attached to a portion of the first finger opposite to a portion facing the second finger;
a second pad attached to a portion of the second finger opposite to a portion facing the first finger;
The first finger and the second finger are brought close to each other during a component holding operation, and the first finger and the second finger are spaced apart during a holding operation of a tray in which a plurality of pockets are formed. and a control section.

In this picking device, the first finger and the second finger are brought close to each other, so that the component is sandwiched between the first finger and the second finger. This holds the parts. Moreover, by separating the first finger and the second finger, any pocket of the tray is pressed by the first finger and the second finger. This holds the tray.

Here, a first pad is located between the first finger and the pocket of the tray. Further, a second pad is located between the second finger and the pocket of the tray. In this case, the tray can be easily held due to the friction between the first pad and the second pad and the tray. Therefore, there is no need to increase the pressing force by the first finger and the second finger, and the tray will not be damaged. As a result, the component and the component tray can be held by the same hand.

(Section 2) In the picking device according to Section 1,
The first finger has a first tip that holds the component, and a first proximal end that is wider than the first tip and that holds the tray via the first pad. including the
The second finger has a second tip that holds the component, and a second proximal end that is wider than the second tip and that holds the tray via the second pad. It may also include a part.

In this case, the first proximal end and the second proximal end are formed wider than the first distal end and the second distal end, so that the driving torque of the first finger and the second finger is Even if it is large, the pressing force applied to the tray is reduced. This allows the tray to be held more easily.

(Section 3) In the picking device according to Item 1 or 2,
The first pad or the second pad may be formed of a rubber member.

In this case, the frictional force between the first pad and the second pad and the tray becomes larger. This allows the tray to be held more easily.

(Section 4) In the picking device according to Section 3,
The rubber member may include urethane, nitrile rubber, or silicone.

In this case, the tray can be held more easily.

(Section 5) In the picking device according to any one of Items 1 to 4,
Each pocket of the tray has a first pair of wall portions spaced apart a first distance in a first direction and a second pair of wall portions spaced apart a second distance greater than the first distance in a second direction. formed by a pair of wall portions,
The control unit may, during the holding operation of the tray,
controlling the first finger and the second finger to enter a specific pocket of the tray while being aligned in the second direction;
Control to rotate the first finger and the second finger so that they are lined up in the first direction;
The control for separating the first finger and the second finger may be performed sequentially.

In this case, the first finger and the second finger can be easily entered into specific pockets of the tray. Moreover, even if the movable range of the first finger and the second finger is relatively small, the tray can be easily held.

(Section 6) In the picking device according to any one of Items 1 to 5,
The control unit may cause the first finger and the second finger to enter pockets located within a predetermined range from the center of gravity of the tray during the holding operation of the tray.

In this case, the tray can be stably held while easily maintaining its posture.

DESCRIPTION OF SYMBOLS 1... Drive part, 1A... Main body part, 1B, 1C... Projection part, 2, 3... Finger, 2A, 3A... Base end part, 2B, 3B... Tip part, 10... Tray conveyance table, 11... Tray, 12, 12A to 12D...Pocket, 13, 14...Parts, 20...Rough separation device, 30...Pickup robot, 31...Hand, 32...Movable arm, 33...Base part, 34, 35...Pad, 40...Imaging device, 41... Support column, 50...Control unit, 51...Rough separation control unit, 52...Image generation unit, 53...Image determination unit, 54...Pickup control unit, 100...Picking device, G...Gravity center, PN1...Standby position, PN2...Work Position, W1...Wall surface part, W2...Wall surface part

Claims (6)

a hand having first fingers and second fingers facing each other;
a first pad attached to a portion of the first finger opposite to a portion facing the second finger;
a second pad attached to a portion of the second finger opposite to a portion facing the first finger ;
A holding operation for holding the component by bringing the first finger and the second finger close together, and a plurality of pockets by separating the first finger and the second finger. and a control unit that causes the hand to selectively perform a holding operation to hold a formed tray . The first finger has a first tip that holds the component, and a first proximal end that is wider than the first tip and that holds the tray via the first pad. including the
The second finger has a second tip that holds the component, and a second proximal end that is wider than the second tip and that holds the tray via the second pad. The picking device according to claim 1, comprising: a. The picking device according to claim 1 or 2, wherein the first pad or the second pad is formed of a rubber member. The picking device according to claim 3, wherein the rubber member includes urethane, nitrile rubber, or silicone. Each pocket of the tray has a first pair of wall portions spaced apart a first distance in a first direction and a second pair of wall portions spaced apart a second distance greater than the first distance in a second direction. formed by a pair of wall portions,
The control unit may, during the holding operation of the tray,
Controlling the first finger and the second finger to enter a specific pocket of the tray while being aligned in the second direction;
Control to rotate the first finger and the second finger so that they are lined up in the first direction;
The picking device according to claim 1 or 2, wherein control for separating the first finger and the second finger is executed sequentially. 3. The picking device according to claim 1, wherein the control section causes the first finger and the second finger to enter pockets located within a predetermined range from the center of gravity of the tray during the holding operation of the tray.

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