JPS6145826A - Article transferring robot - Google Patents

Abstract

PURPOSE:To carry out very efficiently the transferring and palletizing process of articles by providing a bed on which are mounted articles movable along with a hand section in a transferring portion of the hand section. CONSTITUTION:When an article (case) 2 in one pallet 3 position is grasped and lifted, the article 2 picked up by a hand 10 of a hand section Rb is mounted on a bed 35 provided in a transferring portion Ra for transferring the hand section Rb in a article passage, while a hand 10 itself also grasps the article 2. Next, after the hand section Rb and the bed 35 are transferred onto the other pallet 5 by the transferring portion Ra, the article 2 on the bed 35 moved along with the hand section Rb and the article 2 grasped by the hand 10 are sequentially unloaded onto the other pallet 5 by the hand 10.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to industrial robots, and primarily to robots for transporting articles.

Conventional technology In most cases when robots are used for transporting goods, they move box-shaped or case-shaped goods from a predetermined stack of pallets to another pallet;・1
This is the process of stacking the pallet again into a predetermined shape, that is, palletizing it, but if this process is performed by a robot, it will certainly be possible to pick out a predetermined item from the group of items stacked on one pallet. The picking up work (depalletizing work) and the stacking work on the other pallet (palletizing work) are performed accurately, and the articles are piled up in an orderly manner, but the number of articles that can be transported in one transport operation is limited. Since there are at most 2 to 3 pieces and it takes time to depalletize and palletize, it takes an hourly amount.
The efficiency of handling debris is not so high compared to using a conveyor and having workers load and unload before and after the conveyor. The hand part is a so-called double hand (a hand that has two functions for grasping objects).
Even if we try to create a hand that can grip a large number of objects, in that case, only the hand part would be too large and heavy, making it unfeasible in terms of cost and structure, and making it impossible to perform depalletizing and palletizing operations smoothly. There are problems such as the fact that it is extremely difficult to simultaneously grip and tighten a large number of objects that are placed in a relatively rough position on the multiple gripping function parts, or that the casing of the hand part itself is not properly positioned on the pallet. A serious problem arises in that the hand may interfere with objects other than the target object, making it impossible for the hand to approach the target object.

Problems to be Solved by the Invention Therefore, this invention solves the problem of low processing efficiency per hour when the robot 1 is used for the above-mentioned transportation work, which causes new problems as described below. It is intended to solve the problem without any problem.

Means for Solving the Problems This invention provides a mounting table for an article that moves along with the hand section in the moving section of the hand section, so that when picking up the article,
At the time of deparation), the goods picked up by the hand are placed on the placing table, and the hand itself is also made to grasp the goods. The above problem is solved by carrying out a process of sequentially loading and unloading the carried articles by hand.

Function As mentioned above, when an article is picked up at one pallet position, the picked up article is carried by both the hand and the mounting table near the hand, and after moving onto the other pallet, it is transferred to the hand. 1. The articles on the mounting table that have been moved along with the articles held by the hands are unloaded all at once.

Embodiment First, a first embodiment of the present invention will be described with reference to FIGS. 1 to 5, regarding a Cartesian coordinate robot used in a conveyance and palletizing system for plastic cases containing bottles.

This conveyance and palletizing system transports approximately rectangular plastic cases (2) containing a large number of bottled beverages (1) from large pallets (3) at three locations (A), (B), and (C) using robot hands. This is a system in which the plastic cases (2) loaded on the large pallet (3) at three locations (5) (B) (q) are placed on a small pallet (5) at one location (p).
The types of bottled drinks (1) in ) are different, and the robot ■ picks up the small pallets (
5) Transport case (2) upwards.

Therefore, the moving part (Ra) of the orthogonal coordinate robot (8) in this example is
The hand part (Rb) moved by the moving part (Ra) is particularly suitable for grasping and lifting the plastic case (2). It is made with a similar structure.

The moving part (Ra) and hand part (Rb) of this robot will be explained in detail below.

That is, the moving part (Ra) has a concave frame (with a long rail part (6) along the X-axis direction) and a concave frame having a long rail part (6) along the It consists of a Y-axis frame (8) and a vertical arm (9) that moves the Y-axis frame (8) along the Y-axis.
As mentioned above, the vertical arm (9) is movable in parallel along the Y axis and is also movable up and down.
In addition, in this example, a robot hand (10) is attached to the lower end of the vertical arm (9), and in this example, another vertical arm (11) that has the same function, that is, is movable along the Y-axis and the Z-axis, is installed parallel to the vertical arm (9). Another hand (13) is provided and has a vacuum pad (12) at the lower end of the vertical arm C11).
A hand (13) is attached so that the hand (13) can also carry and palletize articles that can be carried by suction, such as cardboard boxes, but this hand (13) will not be discussed. Therefore, the hands (10) and (13) constitute a hand section (Rb). The hand (10) is rotatable around a vertical axis via a rotary actuator (14) at the lower end of the vertical arm (9), and as described above, this hand (10) is attached to the plastic case (2). It has a structure suitable for gripping.

That is, each dog pallet (3) old plastic case (2) is loaded onto the pallet (3) in a predetermined preset position and orientation, but the positional accuracy is rough (
The hand (10) picks up the loaded cases (2) with this rough positioning accuracy, and after moving the small pallet (5)
In addition, the bottom and top surfaces of the case (2) are shaped to fit into each other (Fig. 3.4), so that each pallet I-+31 (5
) The upper cases (2) must all be loaded with the upper case (2) fitted to the lower case (2), and the hand (10) must be of the following type that satisfies the above requirements. It has a structure.

That is, as shown in the third and fourth figures, the hand (10) is a so-called double hand, and the cylinder (15)
A pair of grip claws (16) (1) that are driven to open and close by
7) movable frames (18) (19) that slidably support the
The moving frames (18) and (19) themselves are held by the gripping claws (16).
) (17) Two types of frames (18) (19) with a support frame (21) that is slidably supported in a direction orthogonal to the sliding direction of (17)
and (21), and a vertical arm (9) is connected to the support frame (21) via the actuator (14).

(22) is a guide rod for the grill claws (16) and (17) installed on each moving frame (, 18) and (19), and (23) is a guide rod for the moving frame (18) and (19) installed on the supporting frame (21). ), and the Gaitoro sodo (22) is provided with stopper parts C24 and C25 at the middle of the grip claws (16) and (17) and on one grip claw (17) side, respectively, Depending on the stopper part (24), the cylinder (15
) restricts the moving end (closing width) when the grip claws (16, 17) close, and depending on the stopper part (25), the grip claws (16, 17) open and close the case (2).
Grip claw (16) C17 in the state where it is gripped (Fig. 4)
), the entire case (2) is integrated into the cylinder C26.
) to restrict the right-hand end when moving to the right in Figure 4, that is, case (2) for hand (10).
) in the right direction in Figure 4 is restricted.

In other words, assuming that the left-right direction in FIG. The position is determined by the grip claw (17) coming into contact with the stopper part (25).

Furthermore, in the closed state in which the grip claws (16) and (17) are regulated by the stopper portion (24), one case (2) may shift in the Y direction when the hand (10) descends. Even if the lower ends of the grip claws (16) and (17) are
2) 20m that prevents contact with the bottle (1) inside.
If there is a shift in the Y direction of rn or more, one of the grip claws (16) (17) will come into contact with the upper edge of the case and the robot will come to an emergency stop. (27) is a detection bar protruding horizontally from the lower end of the grip claws (16) and (17),
0) is descending, and if the positional deviation in the X direction in Figure 3.4 of case (2) is severe (approximately 20 fights or more),
The detection bar (27) comes into contact with the upper edge of the case (2) to prevent the hand (10) from moving downward, and also to emergency stop the operation of the robot.

Then, each of the above moving frames (18) (19) and the support frame (21)
) are connected with cylinders (28 x 29) that expand and contract in the left-right direction cX-axis direction in Figure 3, respectively.
28) When (29) contracts, the case (
2), grip claws (16x17), moving frame (18) (1
9) are each moved to the right in Figure 3, and the case (2) supported by the moving frame (19) comes into contact with the lower end (21a) of one of the support frames (21). The case (2) is positioned and supported by the moving frame (18).
is the first positioned case (2) on the right side of Figure 3 above.
It is designed to be positioned by coming into contact with it.

(31) and (32) are stopper parts provided on the guide rod (23), respectively, and the positions (X (axial position). (33) is a moving frame (
This is a bracket for connecting to the cylinder (28) protruding from the cylinder (28).

In addition, the upper left end of FIG. 4 of the above-mentioned moving frames (18) and (19),
The upper left end of the support frame (21) in Figure 3 is the same as the hand (10).
) is placed inside the outer edge of the target case (2) when it is held at the case gripping position, and the case (2) is loaded on the side of the desired case (2) to be gripped. Even when another case (2) (dashed line in Fig. 3.4) is present, the hand (10) can be lowered to a position directly above the desired case (2) to be gripped.

In this embodiment, the case (2) is mounted on the Y-axis frame (8) to which the hand (10) as described above is attached via the vertical arm (9) via the vertical plate (34). The mounting stand (35) is fixed.

The mounting table (35) has two hands (10) in this embodiment.
Since the scales can grip several cases (2), it has an upper surface area equivalent to two cases, and a total of four cases (2) can be placed on top of it in two rows and two stages. (Fig. 2), the mounting table (
The size, shape, etc. of 35) can be varied depending on the size and type of the article to be handled, the number of articles that can be held at one time by the hand, etc.

Further, as shown in the plan view shown in FIG.
39), the position of the case [2] can be aligned by moving with the pushers C36) C, 37).
35) The robot hand (10) has the advantage of being able to increase the positioning accuracy of the case (2) on the mounting table (35).
It is also possible to increase the positioning accuracy when gripping an object by the robot hand (10), which makes it easier to draw the robot hand (10) and to improve the positioning accuracy when gripping an object. Positioning work can be omitted and the time required for the process can be shortened. In Fig. 5, (35a) is a U-shaped rising wall, and (,35b) is a positioning surface (38).
) (39).

Next, the conveyance and palletizing process by the conveyance robot of the first embodiment will be explained.

In other words, the -10 bot receives commands from the upper control device and moves the Y-axis frame (8) to predetermined positions (c) and (c).
, (moves onto the large pallet (3) at q, depallets the commanded number of cases (2) from the pallet (3) at the relevant position, and stacks them onto the small conveyor diameter pallet (5). However, in that case, the mounting table (35) is the Y-axis frame (8)
Since it is fixed to the hand (10) and is always near the hand (10), and moves along with the movement of the hand (10), the transport process is as follows.

In other words, as mentioned above, each plastic case (2) is attached to a large pallet (3) with a positioning accuracy of approximately ±20 yttm.
Since the hand (10) closes the grip claws (16) and (17), the hand (10) closes the grip claws (16) and (17), and moves each moving frame (18)
19) descends while in contact with the stopper parts (31) and (32) (Fig. 3), and first insert the tips of the grip claws (16 x 17) between the upper edge of the case (2) and the bottle inside the case. the case (
2) into the handle hole (2a). When the grip claws (16x17) are engaged with the case (2), the movement of the grip claws (16) and (17) in the horizontal plane (movement in the X and Y axis directions) is as follows: □ Each guide rod (22) (23) (at this point, the cylinders (26), (28, and C29) can freely expand and contract), so even if the position of the case (2) deviates from its normal position, the case ( Align the grip claws (16) with the
) (17) opens, and without applying excessive force to the case (2), even if the case (2) is fitted with the lower case (2), it can be picked up without any problem (in this example) In this case, since the handle hole (2a) is wide, there is no problem in the X-axis direction). Also, if the position of case (2) is ±201
In severe cases of Fl171 or higher, grip claws (16)
As described above, the tip of the hand (17) or the detection bar (27) comes into contact with the upper edge of the case (2) to prevent the hand (10) from descending and emergency stop the operation.

Then, with the grip claws (16 x 17) open and engaged under low pressure, raise the hand (10) and the vertical arm (9)) to grab the case (2) and lift it up. Grip claws (16) (17)
) The bent portion of the tip is securely engaged with the upper surface of the handle hole (2a), and at this point, the feeding pressure to the cylinder (15) is switched to high pressure, and the cylinder (26) C
28) and (29) by contraction.

As described above, the case (2) is positioned in the X and Y axis directions. When positioning in this X-axis direction.

The grip claw C16) (17) is relatively attached to the handle hole (2a).
), but the width of the handle hole (2a) is sufficiently wider than the grip claw (16 x 17), and the upper surface of the hole (2a) is a smooth horizontal surface.
The movement and positioning of the case (2) by bringing it into contact with the lower end (21a) of the support frame is performed smoothly.

The case (2) picked up as described above is positioned with respect to the hand (10), and once positioned, it is lowered onto the mounting table (35).

That is, when there are three or more cases (2) to be transported, the first two cases picked up as described above are once unloaded onto the mounting table (35).

Thereafter, depending on the number of cases (2) to be transported, one new case (2) is gripped by the hand (10), or two cases (2) are gripped from above the same pallet (3). A process of raising the case and stacking it on the case (2) on the mounting table (35) is performed. In other words, the cases (2) are stacked on the mounting table (35) where the third or more cases (2) that cannot be held by the hand (10) are temporarily placed on the mounting table (35). Even when the cases (2) are placed in the hand (10), the cases (2) are already positioned relative to the hand (10), so the cases (2) below can be stacked quickly and easily in a fitted state.

After completing the above depalletization work, the Y-axis frame (8
) to position the hand (10) on the small pallet (5), but as the Y-axis frame (8) moves, the mounting table C35) also moves at the same time, so the small pallet (5) ), palletize with the robot hand (10) as follows.

That is, first, one or two cases (2) held in the hand (10) are loaded and unloaded onto a predetermined position on the small pallet (5), and then the cases are loaded onto the mounting table (35). After picking up (2), the hand (10
), as well as the case (2) held on the mounting table (3).
5) Since the upper case (2) is also accurately positioned and loaded, the process from picking it up from the loading table (35) to loading and unloading it on the small pallet (5) This is done quickly and smoothly without requiring new positioning.

(A) (13) (C) Deparation and soto work from any large pallet and soto (3) and small pallet (5)
) The above palletizing work is performed as described above, and thereafter, other types of cases (2) are transported from above the other large pallet (3) and palletized onto the small pallet (5) in the same manner. To go.

A small pallet (5) on which a predetermined number of different types of cases (2) are stacked as described above is a small pallet (5).
5) is pushed by the pusher (42) provided on the front of the lifter (41) which also serves as a loading table, and is transferred to the transport fork (43) located at the rear, and thereafter the fork (43) is transported to the next process.

In addition, as in the above-mentioned conveyance and palletizing system, when it is necessary to depalletize various articles in different numbers from different locations (C pallets), a loading table (3
5) can be used as a temporary storage area for articles in the following manner to further increase processing efficiency.

That is, in the above embodiment, if the number of articles transported from the 0 position to the 0 position of each (A) is an odd number, first the pallets at each position of (A) ([3) (C1) are transported. It is sufficient to transport (predetermined number - 1) pieces (an even number) from each position, and then depalletize one pallet from each of the (5), (B), and (C) positions. Using the mounting table (35), move the Y-axis frame (8) sequentially from the top of the pallet at position (5) at one end to position (q) to depalletize one piece at a time and remove the depalletized pieces. Each case (2) is temporarily placed on the mounting table (35), and when the position (D) is reached, the various cases (2) that have been temporarily placed on the mounting table (35) are moved. ) onto the small pallet (5) at once, and when the mounting table (35) is not used, the Y-axis frame (8) can be moved between each position (5) to 0, same) to 0. (q〜0
The time required is significantly reduced compared to the case where the device has to be moved back and forth each time.

Also, for example, when transporting certain types of cases,
Taking into account the number of pieces to be transported next time when transporting the specific case (2), add a fraction (for example, 1 to 1) to the number of pieces to be transported next time.
3 pieces), if the fractional pieces are left on the mounting table (35) when transporting the specific case (2) for the first time, the number of pieces will be removed during the second transport process. Stand C3
5) The specific type of cases (2) remaining on the top can be immediately stacked onto the target pallet, and a new Y-axis frame (8) is moved to the pallet position where the specific type of cases (2) are loaded. ) and then depalletizing the fractions anew, the time required is significantly reduced.

In addition, in the above-mentioned first embodiment, the hand (10) has two pairs of gripping claws (16) (, 17) and grips two cases (2) at once, which is a so-called double hand type. However, the hand (10) may be of any other type (and of course may have other holding mechanisms such as a vacuum type), and the hand (10) may hold objects that can be grasped at one time. The number is not limited to two, and the shape and size of the mounting table (35) are not limited to those described above.

In addition, in the above embodiment, the mounting table (35) is the Y-axis frame (
It was installed vertically from 8) and was able to place relatively light weight items, but 1. Weight of items to be transported in bulk: If the quantity is large or the transport route is over a long distance, it is possible to provide a track for the loading table (35). This will be explained as an example.

That is, as shown in FIG. 6, the orthogonal coordinate robot of the second embodiment has almost the same configuration as the first embodiment, and has a gate-shaped frame (4
5), a Y-axis frame (47) that runs on the rail (46) of the portal frame A (45), and a Y-axis frame (47) that runs on the rail (46) of the portal frame A (45).
7) A vertical arm that moves up and down along the Y axis (
48x49), a hand moving part (Ra),
and a hand portion (Rb) attached to the lower end of the vertical arm (48) C49).

The hand portion (Rb) is a grip claw type having a vacuum type hand (51) and two pairs of grip claws (52) attached to the lower ends of two vertical arms (48B49), respectively, as in the first embodiment. Hand (53) and case (2) on pallet (54
) can be picked up and unloaded.

In this example, the base end side of the Y-axis frame (47) extends downward, and the mounting table (5) is provided at the lower end (47a).
6) are connected □: The mounting table (56) is particularly provided with wheels (57), and is mounted on a rail (58) extending in the X-axis direction laid on the base of the concave frame (45). It is a matter of support.

(61) and (62) are free-rotating balls that allow the pallets (54) and (55) to move smoothly on the pallet mounts (63) and 1 (56), respectively.

Since the mounting table (56) of this second embodiment is configured as described above, the large pallet (54) can be moved by the hand (53).
) Place the detached case (2) from above on the mounting table (56).
) Even if a large number of items are loaded on top, 1. The mounting table (56) is mounted on a rail (
58), the vertical plate (34) supporting the mounting table (35) as in the first embodiment described above
), there is no risk that the mounting table (35) will be easily damaged due to excessive bending moment, and there is no need to make the vertical plate (34) from extremely strong material, and the mounting table (56) Many cases above (2)
can be loaded, and the movement in the X-axis direction is extremely smooth.

In addition, the above mounting table (56) and the lower end of the Y-axis frame (47
The connection point with a) is connected by a locking device (64) that can release the connected state of the groove structure in which the engaging pin appears and retracts when lined up, and the conveyance operation can be performed without using the mounting table (56). In this case, the locking device (64) can be released and the Y-axis frame (47) can be used as a conventional type of moving means without a mounting table (56), or the robot can be used in the first embodiment described above. When carrying out the same conveyance and palletizing work as explained in the example, the locking device (64) is turned on and off as appropriate, and the mounting table (56)
, 'YY axis frame 47) can be fixed or released. Unfixed mounting table (
56) is independent of the movement of the Y-axis frame (47).
Although it is stopped at a fixed point on the axis, even in this state, it is of course possible to use the scale as a mounting table for the article (c case), and also to use the scale as a mounting table to move the mounting table (56) again along with the hand part (Rb). When used as a mounting table (56), the Y-axis frame (47) is moved to the position of the mounting table (56) stopped at a fixed point on the rail (58), and then the above-mentioned locking device (64) is Just input and concatenate.

Although the first and second embodiments of Ji described above both relate to orthogonal coordinate type robots, an embodiment relating to another type of robot will now be described.

That is, as shown in FIG. 7, the cylindrical coordinate type robot main body (Re) is mounted on the I-rubber cart (65), and the article (P) is placed on the traverse cart (65). ), and in the case of this embodiment, the moving part (Ra) of the robot hand part (Rb) is
) is a traverse cart (65) and a robot body (Rc
) and the vertical guide post (67) of the guide post (
67) and a rotating arm (68) that moves back and forth in the horizontal direction.

Therefore, the mounting table (66) can also be provided on another moving part (Ra) other than on the traverse cart (65).

It goes without saying that the robot body (Re) on the traverse cart (65) 'S1 may be of other types, such as a multi-joint type or a polar coordinate type.

Effects of the Invention As is clear from the above explanation, the article conveyance robot of the present invention can: - Convey articles and palletize processes with extremely high efficiency;

□ Since a small number of articles can be preliminarily stored on the mounting table, the target palletizing process can be carried out in the process of palletizing various articles in different numbers onto the pickup as in the first embodiment described above. If the number of items to be loaded and unloaded at a location is sufficient with the preloaded items on the loading table, the preloaded items may be immediately unloaded at the target location, and the hand section is moved onto the large pallet of the item of the type. There is no need to perform a new depalletizing operation, and depending on the type of conveyance system applied, the loading table can be used as a temporary storage area for articles, which can improve the efficiency of conveying articles.

[Brief explanation of the drawing]

Figures 1 to 5 show the first embodiment, Figure 1 is a front view of the whole, Figure 2 is a side view of the same, Figure 3 is a front view of the hand part, and Figure 4 is a longitudinal section of the hand part. 5 is a plan view of the mounting table, FIG. 6 is a side view of the second embodiment, and FIG. 7 is a side view of the third embodiment.
FIG. (2)...Case, (Force...Concave frame (8)...Y-axis frame, (9)
... Vertical arm (I O) ... Robot hand, (11) ... Vertical arm (13) ...
...Robot hand, (35) ...Placement stand (R
a)...Movement part, (Rb)...Hand part. Figure 4Figure 3

Claims (1)

[Claims] A robot having a hand section for picking up an article, and a moving section for moving the hand section between conveyance paths of the article, wherein the moving section has a mounting table for the article that moves along with the hand section. A robot for transporting goods characterized by the following features: