WO2016189946A1

WO2016189946A1 - Component for attracting article

Info

Publication number: WO2016189946A1
Application number: PCT/JP2016/059299
Authority: WO
Inventors: 幸祐渡辺; 卓也岩佐; 紀男川西
Original assignee: 株式会社イシダ
Priority date: 2015-05-26
Filing date: 2016-03-24
Publication date: 2016-12-01
Also published as: GB2554619A; JP6600354B2; GB2554619B; JPWO2016189946A1; CN107530886A; CN107530886B; GB201720204D0

Abstract

A component (10A) for attracting an article comprises first and second suction members (51, 52), first and second attraction devices (71, 72), and a multi-chamber unit (20A). The multi-chamber unit (20A) has: a suction mechanism-side member (30A) having first and second suction mechanism-side connection openings (21, 22); an article-side member (40A) having first and second article-side connection openings (23, 24); and a separator (25A) provided to either the suction mechanism-side member (30A) or the article-side member (40A). The first and second suction members (51, 52) are respectively connected to the first and second suction mechanism-side connection openings (21, 22). In a first state (F1), the first and second article-side connection openings (23, 24) are each in communication only with a corresponding one of the first and second suction mechanism-side connection openings (21, 22). In a second state (F2), the first and second article-side connection openings (23, 24) are each in communication with both the first and second suction mechanism-side connection openings (21, 22).

Description

Parts for article adsorption

The present invention relates to an article adsorption component.

Articles may be attached to the tip of an industrial robot arm. This article adsorbing part adsorbs and holds an article by air suction. The robot and article adsorbing component disclosed in Patent Document 1 (Japanese Patent No. 4168008) move the article in the following manner. First, after the article adsorbing part contacts the article, it is gripped by air suction. Next, the article is moved by changing the posture of the robot arm. Finally, when the air suction is completed at the destination, the article suction component opens the article.

If a method called “double pick” is used, a large number of articles can be moved more efficiently. The double pick is performed in the following manner using an article suction component having two air suction paths. First, after the article adsorbing part contacts one article, the first path grips it. Next, after the article adsorbing part comes into contact with another article, the second path grips it. Next, the robot moves the two articles. Finally, the article adsorbing part releases the two articles.

It is preferable that the article picking part that can be double picked has a rotation mechanism so that the arrangement direction of the two articles can be changed.

The air suction path is often configured using a flexible hose. When the rotating mechanism operates, the hose may be twisted, swung, and contact with other equipment. This can cause wear, deterioration or damage to the hose.

In particular, when the article handled by the article adsorbing part is an aggregate of small pieces, particles, powder, etc., wrapped in a bag made of a film, the hose is expected to be damaged earlier. This is because this type of article is flexible and easily deformed, so that it is difficult to grip the article. In order to reliably hold this type of article, it is necessary to increase the diameter of the suction port of the article suction component that comes into contact with the article and to suck a larger volume of air per unit time. Therefore, a thick and heavy hose used for this purpose is likely to have poor durability against twisting and swinging.

An object of the present invention is to reduce damage to members constituting a suction path in an article adsorbing part that can be double picked and rotated.

The article suction component according to the first aspect of the present invention includes a first suction member, a second suction member, a first suction device, a second suction device, and a multi-bundle unit. The first suction member extends from the suction mechanism. The second suction member extends from the suction mechanism. The first adsorption device adsorbs an article. The second adsorption device adsorbs the article. An internal space is formed in the multi-bundle unit. The multi-bundle unit can have a first state and a second state. The multi-bundle unit includes a suction mechanism side member, an article side member, and a separator. The suction mechanism side member is formed with a first suction mechanism side connection port and a second suction mechanism side connection port. The first suction mechanism side connection port is connected to the first suction member. The second suction mechanism side connection port is connected to the second suction member. The article-side member is formed with a first article-side connection port and a second article-side connection port. The first article side connection port is connected to the first suction device. The second article side connection port is connected to the second suction device. The article side member rotates with respect to the suction mechanism side member. The separator is provided on either the article side member or the suction mechanism side member. The separator divides the internal space to form a plurality of tufts. In the first state, the separator allows the first article side connection port to communicate with only the first suction mechanism side connection port, and allows the second article side connection port to communicate only with the second suction mechanism side connection port. In the second state, the separator causes both the first article side connection port and the second article side connection port to communicate with both the first suction mechanism side connection port and the second suction mechanism side connection port.

According to this configuration, the first suction member and the second suction member are both connected to the suction mechanism side member and are not connected to the article side member. Accordingly, in the article suction component that can be double-picked, the first suction member and the second suction member are not easily swung even if the article-side member rotates, so that the first suction member and the second suction member are damaged. Can be reduced.

The article adsorbing part according to the second aspect of the present invention is the article adsorbing part according to the first aspect, wherein the separator is provided on the article side member.

According to this configuration, the separator is provided on the article side member. Therefore, the separator can be an integral part of the rotating shaft, and the rotating shaft need not slide with the separator.

The article adsorbing part according to the third aspect of the present invention is the article adsorbing part according to the first aspect, wherein the separator is provided on the suction mechanism side member.

According to this configuration, the separator is provided on the suction mechanism side member. Therefore, the shape of the article-side member only needs to block the opening vacated below the suction mechanism-side member, so that the degree of freedom in design increases.

The article adsorbing part according to the fourth aspect of the present invention is the article adsorbing part according to any one of the first to third aspects, wherein the article-side member is switched between the first state and the second state. This is done by rotating 90 ° with respect to the suction mechanism side member.

According to this configuration, double picking is possible by taking the first state when gripping the article and the second state when placing the article, and further reducing wear of the first suction member and the second suction member at that time. it can.

The article adsorbing part according to the fifth aspect of the present invention is the article adsorbing part according to any one of the first to fourth aspects, further comprising a first switching element and a second switching element. The first switching element switches presence / absence of transmission of the suction force of the suction mechanism to the first suction member. The second switching element switches presence / absence of transmission of the suction force of the suction mechanism to the second suction member. Each adsorption | suction operation | movement of a 1st adsorption device and a 2nd adsorption device is performed independently.

According to this configuration, the respective suction operations of the first suction device and the second suction device are performed independently. Therefore, the first suction device and the second suction device can share a single suction mechanism.

The article suction component according to the sixth aspect of the present invention is the article suction part according to any one of the first to fifth aspects, further comprising a rotation angle detection unit and a type determination unit. The rotation angle detection unit detects the rotation angle of the article side member. The type determination unit determines the type of the article-side member according to the output of the rotation angle detection unit. A protrusion is formed on the article-side member. A limiting portion is formed on the suction mechanism side member. The restricting portion restricts the rotation of the article-side member by contacting the protruding portion.

According to this configuration, the type of the article-side member, and further, the type of the first suction instrument and the second suction instrument can be determined based on the angle at which the article-side member can rotate. Accordingly, it is possible to suppress mounting of an incorrect type of component.

The article suction component according to the first aspect of the present invention can reduce damage to the first suction member and the second suction member.

The article adsorbing part according to the second aspect of the present invention eliminates the need for the rotating shaft to slide with the separator.

The article adsorbing part according to the third aspect of the present invention increases the degree of freedom in design.

According to the article suction component according to the fourth aspect of the present invention, consumption of the first suction member and the second suction member in the double pick can be further reduced.

According to the article suction component according to the fifth aspect of the present invention, the first suction device and the second suction device can share a single suction mechanism.

According to the article adsorption component according to the sixth aspect of the present invention, it is possible to suppress mounting of an incorrect type of component.

1 is a schematic view of a boxing device 100 on which an article suction component 10A according to a first embodiment of the present invention is mounted. Schematic of the internal configuration of the packaging device 100. FIG. The exploded view of 10 A of articles | goods adsorption parts which concern on 1st Embodiment of this invention. The circuit diagram which shows the air suction path | route of 10 A of articles | goods adsorption parts. Sectional drawing which shows the 1st state F1 of 10 A of articles | goods adsorption parts. Sectional drawing which shows the 1st state F1 of 10 A of articles | goods adsorption parts. Sectional drawing which shows the 1st state F1 of 10 A of articles | goods adsorption parts. Sectional drawing which shows the 2nd state F2 of 10 A of articles | goods adsorption parts. Sectional drawing which shows 10 A 'of articles | goods adsorption parts which concern on the modification of 1st Embodiment of this invention. The exploded view of the goods adsorption | suction component 10B which concerns on 2nd Embodiment of this invention. Sectional drawing which shows the 1st state F1 of the goods adsorption | suction component 10B. Sectional drawing which shows the 1st state F1 of the goods adsorption | suction component 10B. Sectional drawing which shows the 1st state F1 of the goods adsorption | suction component 10B. Sectional drawing which shows the 2nd state F2 of the goods adsorption | suction component 10B.

<First Embodiment>
(1) Overall Configuration FIG. 1 shows a packaging apparatus 100 on which an article suction component 10A according to a first embodiment of the present invention is mounted. The boxing device 100 is for putting a plurality of articles P into one box B. A parallel link robot 82 that collects a plurality of articles P in one place and a boxing robot 83 that puts the collected articles P into a box B are attached to the frame 81 of the boxing device 100. The article suction component 10 </ b> A is mounted on the parallel link robot 82.

FIG. 2 shows the internal configuration of the boxing device 100. The 1st conveyor 91 conveys the goods P put in from the goods entrance PI one by one. The parallel link robot 82 lifts the two articles P on the first conveyor 91 and rotates them 90 ° to place the article row R composed of the two articles P on the second conveyor 92. The second conveyor 92 creates an article group G composed of four articles P by adjusting the conveyance speed. The boxing robot 83 simultaneously holds the four articles constituting the article group G and puts them into the box B waiting at the box standby unit 84.

Box B is inserted from box inlet BI1 or box inlet BI2, moves on conveyor roller 94, and is pushed toward third conveyor 93 by extrusion mechanism 95. Thereafter, the box B is conveyed to the box standby unit 84 by the third conveyor 93 and receives the group of articles G multiple times. Thereafter, the box B is again conveyed by the third conveyor 93 and exits from the box outlet BO.

The parallel link robot 82 efficiently moves the article P from the first conveyor 91 to the second conveyor 92 by double pick. The double pick is performed in the following manner using the article suction component 10A having the first suction device 71 and the second suction device 72 connected to the two air suction paths, respectively. First, the parallel link robot 82 brings the first suction device 71 into contact with one article P on the first conveyor 91 and grips the article P. Next, the parallel link robot 82 moves the article suction component 10A, brings the second suction device 72 into contact with another one article P on the first conveyor 91, and holds the article P. Finally, the parallel link robot 82 rotates the gripped two articles P by 90 ° and places them on the second conveyor 92. As a result, the article row R is formed on the second conveyor 92.

(2) Detailed Configuration FIG. 3 is an exploded view of the article suction component 10A, and FIG. 4 is a circuit diagram of an air suction path of the article suction component 10A. As shown in these drawings, the article suction component 10A includes a multi-bundle unit 20A, a metal pipe 11, a first suction device 71, a second suction device 72, a first suction member 51, a second suction member 52, a first The first switching element 53, the second switching element 54, and the suction mechanism 58 are included.

(2-1) Multi-cell unit 20A
As shown in FIG. 3, the multi-bundle unit 20A includes a suction mechanism side member 30A and an article side member 40A.

(2-1-1) Suction mechanism side member 30A
The suction mechanism side member 30A is a cylindrical member whose lower side is open. In the suction mechanism side member 30A, a first suction mechanism side connection port 21, a second suction mechanism side connection port 22, and a hole 31 are formed. The 1st suction mechanism side connection port 21 and the 2nd suction mechanism side connection port 22 are for connecting the 1st suction member 51 and the 2nd suction member 52 which are mentioned later, respectively. The hole 31 is for passing a rotating shaft 41 described later.

(2-1-2) Article side member 40A
The article-side member 40A is a disk-like member that is rotatably fitted to the suction mechanism-side member 30A. A first article side connection port 23 and a second article side connection port 24 are formed in the article side member 40A. A rotating shaft 41 extending upward is formed at the center of the article-side member 40A. The rotating shaft 41 is for receiving power transmission from a motor (not shown) in order to rotate the article-side member 40A. A separator 25A extends from the rotating shaft 41 toward the outer periphery. The separator 25A is for dividing the internal space of the multi-unit unit 20A into two chambers in order to create two air suction paths.

(2-2) Metal pipe 11
The metal pipe 11 is fixed to the suction mechanism side member 30A. A rotating shaft 41 is accommodated in the internal space of the metal pipe 11.

(2-3) First adsorption device 71
The first suction device 71 is for gripping the article P by air suction, and has a manifold 711, an air outlet 712, and a contact tool 713. The manifold 711 is a hollow box-shaped member. An air outlet 712 for connecting to the first article side connection port 23 of the article side member 40 </ b> A is formed on the upper surface of the manifold 711. A plurality of holes are formed in the lower surface of the manifold 711, and a contact tool 713 is attached to each hole. The contact tool 713 is in contact with the article P and establishes airtightness in air suction. The contact tool 713 is a cylindrical member made of a flexible material that can be expanded and contracted.

(2-4) Second suction device 72
The second suction device 72 is the same component as the first suction device 71, and includes a manifold 721, an air outlet 722, and a contact tool 723. The air outlet 722 is connected to the second article side connection port 24.

(2-5) First suction member 51 and second suction member 52
As shown in FIG. 4, the 1st suction member 51 and the 2nd suction member 52 are members which comprise the path | route for guide | inducing air, for example, are a hose. The first suction member 51 and the second suction member 52 extend from the first suction mechanism side connection port 21 and the second suction mechanism side connection port 22, respectively.

(2-6) First switching element 53 and second switching element 54
The first switching element 53 and the second switching element 54 are devices that switch communication or division of the air suction path, and are, for example, electromagnetic valves. The first switching element 53 and the second switching element 54 are connected to the first suction member 51 and the second suction member 52, respectively.

(2-7) Suction mechanism 58
The suction mechanism 58 includes a suction device 55 and a suction mechanism side duct 56.

(2-7-1) Suction device 55
The suction device 55 is a device that generates air suction power, for example, a vacuum pump.

(2-7-2) Suction mechanism side conduit 56
The suction mechanism side pipe 56 is a Y-shaped pipe that branches at a branch point 57, and connects the first switching element 53, the second switching element 54, and the suction device 55.

(3) Operation In the double pick, the article suction component 10A enters the first state F1 when picking up the article P, and enters the second state F2 when the article is moved.

(3-1) First state F1
5 to 7 show the first state F1 of the article suction component 10A. In the first state F1, the two air suction paths are completely independent. Therefore, in the first state F1, the two air suction paths can be operated individually.

FIG. 5 is a cross-sectional view along a horizontal plane. 6 is a cross-sectional view taken along line VV in FIG. FIG. 7 is a cross-sectional view taken along line VI-VI in FIG. As shown in these drawings, in the first state F1, the air sucked from the first suction device 71 enters one tuft of the multi-bundle unit 20A via the first article side connection port 23, and the first suction Go out from the mechanism side connection port 21. On the other hand, the air sucked from the second suction device 72 enters one chamber of the multi-unit unit 20 </ b> A via the second article-side connection port 24 and exits from the second suction mechanism-side connection port 22. These two air suction paths are separated by a separator 25A.

(3-2) Second state F2
FIG. 8 shows the second state F2 of the article suction component 10A. In the second state F2, the direction of the article-side member 40A is rotated by 90 ° from the first state F1. In the second state F2, the two air suction paths merge in the multi-unit unit 20A. Therefore, in the second state F2, it is not assumed that the two air suction paths are individually operated. It is assumed that the second state F2 is assumed when both the first suction device 71 and the second suction device 72 are holding the article P.

(4) Features (4-1)
Both the first suction member 51 and the second suction member 52 are connected to the suction mechanism side member 30A, and are not connected to the article side member 40A. Accordingly, in the article suction component 10A capable of double picking, the first suction member 51 and the second suction member 51 are not easily swung even if the article-side member 40A rotates. Damage to the suction member 52 can be reduced.

(4-2)
The separator 25A is provided on the article side member 40A. Therefore, the separator 25A can be an integral part of the rotating shaft 41, and the rotating shaft 41 does not need to slide with the separator 25A.

(4-3)
Double picking is possible by taking the first state F1 when the article P is gripped and the second state F2 when the article P is placed, and the consumption of the first suction member 51 and the second suction member 52 is further reduced. it can.

(4-4)
The suction operations of the first suction device 71 and the second suction device 72 are performed independently. Therefore, the first suction device 71 and the second suction device 72 can share the single suction mechanism 58 or the suction device 55.

(5) Modification (5-1) Head Type Determination Mechanism FIG. 9 shows a part of an article suction component 10A ′ according to a modification of the first embodiment of the present invention. The multi-bundle unit 20A of the article adsorption component 10A ′ is different from the article adsorption component 10A according to the first embodiment described above in that the restriction unit 35 and the protrusion 45 are provided.

The protrusion 45 is provided on the article-side member 40A. The restricting portion 35 is provided on the suction mechanism side member 30A. Due to the rotation of the article-side member 40A, the protrusion 45 moves on a circular path. The restricting portion 35 blocks a part of the circular orbit, thereby physically restricting the rotation of the article side member 40A.

When carrying out boxing operations for various types of articles P, the first suction device 71, the second suction device 72, and the article-side member 40B to which they are attached having an optimum structure for each type of the article P are prepared. Is assumed. However, at the site of the boxing operation, there is a risk that an incorrect type of these parts is mounted due to human error in setting the boxing device 100.

However, according to the article adsorbing part 10A 'according to the present modification, the type of the article-side member 40B mounted can be confirmed. That is, each type of article-side member 40B is designed such that the position of the protrusion 45 is different. For this reason, the rotatable angle is different for each type of article-side member 40B. When the projecting portion 45 restricts the restricting portion 35 at an angle that is the limit of rotation, the current consumption of the motor that rotates the article-side member 40B increases. Therefore, by monitoring the current value, the installation position of the protrusion 45 can be grasped, and the type of the article-side member 40B can be determined thereby.

The detection of the rotation angle and the type determination of the article-side member 40B are executed by a control circuit and a program responsible for controlling each part of the article suction component 10A.

According to this configuration, the type of the article-side member 40B, and further, the type of the first suction instrument 71 and the second suction instrument 72 can be determined based on the angle at which the article-side member 40A can rotate. Accordingly, it is possible to suppress mounting of an incorrect type of component.

(5-2) Shape of Multi-Batch Unit 20A In the first embodiment described above, the suction mechanism side member 30A and the article side member 40A have a cylindrical shape or a disk shape. Instead, the suction mechanism side member 30A and the article side member 40A may have other shapes as long as the rotation of the article side member 40A is not hindered.

(5-3) Number of bunches of multi-bundle unit 20A In the first embodiment described above, the internal space of the multi-bundle unit 20A is divided into two bunches. Alternatively, the multi-bundle unit 20A may have a structure having a number of bunches other than 2, such as 3 or 4.

Second Embodiment
(1) Overall Configuration FIG. 10 shows an article suction component 10B according to the first embodiment of the present invention. The structure of the multi-cell unit 20B of the article suction component 10B is different from the multi-cell unit 20A according to the first embodiment. Specifically, the separator 25B of the multi-bundle unit 20B is provided not on the rotating article-side member 40B but on the fixed suction mechanism-side member 30B.

(2) Operation In the double pick, the article adsorbing part 10B is in the first state F1 when picking up the article P, as in the article adsorbing part 10A according to the first embodiment. Two state F2 is set.

(2-1) First state F1
11 to 13 show the first state F1 of the article suction component 10B. Similar to the first embodiment, in the first state F1, the two air suction paths are completely independent.

FIG. 11 is a cross-sectional view along a horizontal plane. 12 is a cross-sectional view taken along line XII-XII in FIG. 13 is a cross-sectional view taken along line XIII-XIII in FIG. As shown in these drawings, in the first state F1, the two air suction paths are separated by a separator 25B provided in the suction mechanism side member 30B.

(2-2) Second state F2
FIG. 14 shows a second state F2 of the article suction component 10B. In the second state F2, the direction of the article side member 40B is rotated by 90 ° from the first state F1. Similar to the first embodiment, in the second state F2, the two air suction paths merge in the multi-unit unit 20B.

(3) Features The separator 25B is provided on the suction mechanism side member 30B. Therefore, the shape of the article-side member 40B only needs to block the opening vacated below the suction mechanism-side member 30B, so that the degree of design freedom increases.

(4) Modification A modification of the first embodiment may be applied to this embodiment.

P article F1 first state F2 second state 10A article suction part 10B article suction part 11 metal pipe 20A multi-bundle unit 20B multi-bottle unit 21 first suction mechanism side connection port 22 second suction mechanism side connection port 23 first Article side connection port 24 Second article side connection port 25A Separator 25B Separator 30A Suction mechanism side member 30B Suction mechanism side member 31 Hole 35 Limiting part 40A Article side member 40B Article side member 41 Rotating shaft 45 Protrusion 51 First suction member 52 Second suction member 53 First switching element 54 Second switching element 55 Suction device 56 Suction mechanism side conduit 57 Branch point 58 Suction mechanism 71 First suction instrument 72 Second suction instrument 100 Boxing device 711 Manifold 712 Air outlet 713 Contact Tool 721 Manifold 722 Empty Exit 723 contact device

Japanese Patent No. 4168008

Claims

A first suction member extending from the suction mechanism;
A second suction member extending from the suction mechanism;
A first adsorption device for adsorbing an article;
A second adsorption device for adsorbing articles;
An internal space is formed, and a multi-unit unit that can take a first state and a second state;
With
The multi-bundle unit is
A suction mechanism side member formed with a first suction mechanism side connection port connected to the first suction member and a second suction mechanism side connection port connected to the second suction member;
An article-side member that is formed with a first article-side connection port to which the first suction device is connected and a second article-side connection port to which the second suction device is connected, and rotates with respect to the suction mechanism-side member;
A separator that is provided on any one of the article side member and the suction mechanism side member, and divides the internal space to form a plurality of tufts;
Have
The separator is
In the first state, the first article side connection port is communicated only with the first suction mechanism side connection port, and the second article side connection port is communicated only with the second suction mechanism side connection port.
In the second state, both the first article side connection port and the second article side connection port are communicated with both the first suction mechanism side connection port and the second suction mechanism side connection port.
Parts for adsorbing goods.
The separator is provided on the article-side member.
The article adsorbing part according to claim 1.
The separator is provided on the suction mechanism side member,
The article adsorbing part according to claim 1.
Switching between the first state and the second state is performed when the article-side member rotates 90 ° with respect to the suction mechanism-side member.
The article adsorption part according to any one of claims 1 to 3.
A first switching element for switching presence / absence of transmission of the suction force of the suction mechanism to the first suction member;
A second switching element for switching presence or absence of transmission of the suction force of the suction mechanism to the second suction member;
Further comprising
Each suction operation of the first suction device and the second suction device is performed independently.
The article | suction part for articles | goods as described in any one of Claim 1 to 4.
A rotation angle detector that detects a rotation angle of the article-side member;
A type determination unit that determines the type of the article-side member according to the output of the rotation angle detection unit;
Further comprising
A protrusion is formed on the article-side member,
The suction mechanism side member is formed with a limiting portion that limits the rotation of the article side member by contacting the protrusion.
The article adsorbing part according to any one of claims 1 to 5.