WO2018230441A1

WO2018230441A1 - Conveyance device and conveyance method

Info

Publication number: WO2018230441A1
Application number: PCT/JP2018/021894
Authority: WO
Inventors: 賢二坂東; 和範平田; 恵太笹木
Original assignee: 川崎重工業株式会社
Priority date: 2017-06-12
Filing date: 2018-06-07
Publication date: 2018-12-20
Also published as: TWI673208B; JP6472485B2; CN111148706A; KR20200043363A; JP2019001560A; CN111148706B; TW201919952A

Abstract

Provided are: a conveyance device that, even if a workpiece changes orientation and position, can convey another workpiece being conveyed thereafter without an interference with the former workpiece; a box packing device; and a conveyance method. A control unit determines that there is an abnormality in conveying a workpiece if, at the time for the workpiece to be conveyed to a detection position, a distal end sensor detects that the workpiece is not in the detection position.

Description

Conveying apparatus and conveying method

The present invention relates to a transport apparatus that transports a work by a transport means and a transport method that transports a work by a transport means.

Conventionally, there has been proposed a device for holding a rice ball and placing the held rice ball in the box so that the rice ball can be placed in the box without human intervention. An example of such an apparatus is disclosed in Patent Document 1. In Patent Document 1, when a rice ball is conveyed to a predetermined position, the rice ball is held by the device, and the device moves the held rice ball into the box.

JP 2011-251702 A

However, there is a possibility that the workpiece may change its posture and position for some reason before it is transported to a position where the workpiece such as a rice ball is held. If the posture or position changes significantly, the device may not be able to hold the workpiece. Further, when the apparatus cannot hold the workpiece, there is a possibility that the workpiece cannot be arranged in the box.

If the workpiece whose posture has been changed is left in the position where it is held by the holding unit of the device, it will interfere with the next conveyed workpiece, and the next workpiece will be held at the position where it will be held by the holding unit. There is a possibility that it cannot be transported. In addition, if the next workpiece cannot be transported to the position held by the holding unit, the device cannot hold the next workpiece, so that the subsequent workpiece may not be placed in the box. is there.

Therefore, in view of the above-described circumstances, the present invention can carry a workpiece that is subsequently conveyed without interfering with the workpiece even when the workpiece has changed its posture or position. An object of the present invention is to provide a boxing device and a conveying method.

The conveying apparatus of the present invention guides the workpiece so as to guide conveyance of the workpiece having an acute angle portion having two surfaces intersecting an acute angle, and conveyance of the workpiece conveyed by the conveying device. An angle formed between the guide surface and the pressing portion, the guide portion having a guide portion provided so that a guide surface to be extended extends in the conveyance direction, and a pressing portion that stops conveyance of the workpiece by pressing the workpiece. The workpiece is present at a detection position inside a region sandwiched between the stopper and the guide surface and the pressing portion, the stopper being arranged to have an acute angle greater than the angle of the acute angle portion of the workpiece. The first detection means for detecting whether or not the workpiece is present, and the workpiece does not exist at the detection position at the timing when the workpiece is conveyed to the detection position. When it is detected by said first detection means, characterized in that it comprises a first determining means for determining that there is an abnormality in the conveyance of the workpiece.

In the transport apparatus having the above-described configuration, when the workpiece is not transported in the normal position and posture at the detection position where detection is performed by the first detection unit, it can be detected, so the normal position and posture It is possible to remove the workpiece that has not been transported by the transporting path by the transporting means. Therefore, it is possible to prevent a workpiece that has not been conveyed at a normal position and posture from remaining on the conveyance path and interfere with the next workpiece to be conveyed, so that continuous workpiece conveyance can be performed efficiently. it can.

In addition, the apparatus includes passage detection means capable of detecting that the workpiece has passed through a trigger position upstream in the conveyance direction with respect to the detection position in the conveyance means, and the timing is detected by the passage detection means. It may be the time when the time required for transporting the workpiece from the trigger position to the detection position has elapsed since the passage of the position has been detected.

The first detection means is present at the detection position at the timing when the time required for transporting the work from the trigger position to the detection position has elapsed after the passage detection means detects that the work has passed the trigger position. When it is detected that the workpiece has not been detected, it is determined that there is an abnormality in the workpiece transfer.Therefore, when the workpiece is being transferred normally, the workpiece is surely reached the detection position. Whether or not exists is detected. Therefore, it can be reliably detected whether or not the work is being conveyed normally.

In addition, the transport device of the present invention is configured to transport a work having a sharp angle portion having two surfaces intersecting an acute angle, and to guide the work to be transported by the transport means. A guide portion provided so that a guide surface for guiding the workpiece extends along the conveyance direction, and a pressing portion that stops conveyance of the workpiece by pressing the workpiece, between the guide surface and the pressing portion. The workpiece is at a detection position inside a region sandwiched between the stopper and the guide surface and the pressing portion arranged so that the formed angle becomes an acute angle that is equal to or larger than the angle of the acute angle portion of the workpiece. A first detecting means for detecting whether or not the second detecting means and a second detecting means for detecting whether or not the work is staying at a staying position upstream of the first detecting means; The first detection means detects that the workpiece does not exist at the detection position, and the second detection means detects that the workpiece stays at the stay position. And a second determination means for determining that there is an abnormality in the conveyance of the workpiece.

In the transport apparatus having the above configuration, when the work stays up to the stay position where detection is performed by the second detection means, it can be detected, so the work staying on the transport path by the transport means is transported. Can be removed from the path. Accordingly, it is possible to suppress the work staying on the transport path from staying on the transport path and interfering with the next transported work, thereby enabling efficient continuous work transport.

Further, the staying position may be located at least upstream from the detection position by a length along the transport direction of the workpiece.

Since the staying position is located upstream from the detection position by a length along the conveying direction of the work, it is possible to reliably detect that the work is staying.

Further, the workpiece may have a triangular prism shape having three acute angle portions.

Since the workpiece has a triangular prism shape, the workpiece can easily enter the region sandwiched between the guide surface and the pressing portion, and detection of whether or not the workpiece exists by the first detection means at the detection position. It can be done reliably.

Further, the stopper may be provided with a stopper moving means for moving the stopper from a stop position where the pressing portion stops the conveyance of the workpiece to a conveyance position where the pressing portion does not stop the conveyance of the workpiece.

Since the stopper moves from the stop position where the stopper stops the transfer of the workpiece to the transfer position where the transfer of the workpiece is not stopped, when it is determined that there is an abnormality in the transfer of the workpiece, the workpiece is moved to the downstream side of the transfer path. It can suppress that it interferes with the workpiece | work conveyed and conveyed next.

In addition, when it is determined that there is an abnormality in the conveyance of the workpiece, the workpiece may be arranged in a retreat unit that is retreated from a conveyance path by the conveyance means.

When it is determined that there is an abnormality in the transfer of the work, the work is placed in the retreating part that is retracted from the transfer path by the transfer means, so that the work does not remain on the transfer path and interferes with the next transferred work. Can be suppressed.

In addition, the transport method of the present invention includes a transport unit that transports a workpiece having an acute angle portion having two surfaces that intersect at an acute angle, and guides the transport of the workpiece that is transported by the transport unit. A guide portion provided so that a guide surface for guiding the workpiece extends along the conveyance direction, and a pressing portion that stops conveyance of the workpiece by pressing the workpiece, between the guide surface and the pressing portion. A transport method that transports the workpiece using a transport device including a stopper that is arranged so that an angle formed is an acute angle that is equal to or greater than an angle of the acute angle portion in the workpiece, A first detection step for detecting whether or not the workpiece is present at a detection position inside a region sandwiched between the guide surface and the pressing portion; and the first detection step. In this case, when it is detected that the workpiece does not exist at the detection position at the timing when the workpiece is transferred to the detection position, a first determination is made that the transfer of the workpiece is abnormal. And a determining step.

In the transport method configured as described above, if there is an abnormality in the position and posture of the workpiece at the detection position, it is determined in the first determination step that there is an abnormality in the transport of the workpiece. The workpiece that is not conveyed in the posture can be removed from the conveying path by the conveying means. Therefore, it is possible to prevent a workpiece that has not been conveyed at a normal position and posture from remaining on the conveyance path and interfere with the next workpiece to be conveyed, so that continuous workpiece conveyance can be performed efficiently. it can.

In addition, the transport method of the present invention includes a transport unit that transports a workpiece having an acute angle portion having two surfaces that intersect at an acute angle, and guides the transport of the workpiece that is transported by the transport unit. A guide portion provided so that a guide surface for guiding the workpiece extends along the conveyance direction, and a pressing portion that stops conveyance of the workpiece by pressing the workpiece, between the guide surface and the pressing portion. A transport method that transports the workpiece using a transport device including a stopper that is arranged so that an angle formed is an acute angle that is equal to or greater than an angle of the acute angle portion in the workpiece, A first detection step for detecting whether or not the workpiece is present at a detection position inside an area sandwiched between the guide surface and the pressing portion; In the second detection step for detecting whether or not the workpiece is staying at the flow-side stay position, and in the first detection step, it is detected that the workpiece does not exist at the detection position; and The second detection step includes a second determination step of determining that there is an abnormality in the conveyance of the workpiece when it is detected that the workpiece is retained at the retention position. And

In the transport method configured as described above, when the work stays up to the stay position, it is determined in the second determination step that the work is transported abnormally. It can be removed from the transport path. Accordingly, it is possible to suppress the work staying on the transport path from staying on the transport path and interfering with the next transported work, thereby enabling efficient continuous work transport.

According to the present invention, when an abnormality occurs in the posture or position during the conveyance of a workpiece, this can be detected. Therefore, the workpiece in which an abnormality has occurred can be removed from the conveyance path, and the next workpiece to be conveyed can be reliably conveyed. Thereby, continuous workpiece conveyance can be reliably performed.

It is a top view of the boxing apparatus concerning a 1st embodiment of the present invention. It is a perspective view of the conveying apparatus in the boxing apparatus of FIG. It is a front view of the boxing apparatus main-body part in the boxing apparatus of FIG. (A) is a front view of the suction head comprised as a hand part of the boxing apparatus main-body part of FIG. 3, (b) is a side view of a suction head. (A) is a front view of the holding unit comprised as a hand part of the boxing apparatus main-body part of FIG. 3, (b) is a side view of a holding unit. It is the block diagram shown about the structure of the control system of the boxing apparatus of FIG. FIG. 2 is a perspective view of the boxing device in a state where the suction head is sucking a workpiece in the boxing device of FIG. 1. FIG. 2 is a perspective view of the boxing device in a state where the tip of the suction head to which the suction port is attached is rotated and the workpiece is placed on the table with the posture changed in the boxing device of FIG. 1. In the boxing apparatus of FIG. 1, it is a perspective view of the boxing apparatus of the state in which four workpiece | works are arrange | positioned on a stand with a different attitude | position. FIG. 2 is a perspective view of the boxing device in a state where four workpieces arranged on a table are collectively held by a holding unit and the holding unit is moving in a direction toward the box in the boxing device of FIG. 1. FIG. 3 is a plan view showing a state in which the work is being transported to a holding position at a normal position and posture in the transport apparatus of FIG. FIG. 3 is a side view showing a state in which the work is being transported to a holding position at a normal position and posture in the transport apparatus of FIG. FIG. 3 is a plan view illustrating a state in which the workpiece is conveyed to a holding position when the posture of the workpiece is abnormal in the conveyance device of FIG. 2. FIG. 3 is a plan view showing a state in which the stopper is moved to retract the workpiece to the retracted position when the posture of the workpiece is abnormal in the transport device of FIG. 2. FIG. 3 is an explanatory diagram for explaining a configuration in which the work is accommodated in a region sandwiched between a stopper and a guide portion even when the posture of the work is unstable when the work is transported in the transport device of FIG. 2. . It is the flowchart shown about the flow at the time of boxing of a workpiece | work by the boxing apparatus of FIG. In the boxing apparatus concerning 2nd Embodiment of this invention, it is the top view of the conveying apparatus shown about the state in which the retention of the workpiece | work has arisen in the conveying apparatus. FIG. 17 is a plan view showing a state where the stopper is moved to retract the plurality of workpieces to the retracted position when the plurality of workpieces stay in the transfer device of FIG. 16. It is the flowchart shown about the flow at the time of boxing of a workpiece | work by the boxing apparatus which concerns on 2nd Embodiment. It is the top view shown about the example about a tip side sensor and a stay sensor in other embodiments.

Hereinafter, a boxing apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a diagram showing a configuration of a boxing device according to an embodiment of the present invention. As shown in FIG. 1, the boxing device 10 carries the workpiece 40 and boxes the box 41.

In this embodiment, the work 40 is a rice ball having a triangular prism shape. The workpiece 40 may not be a rice ball, and food such as a sandwich having a triangular prism shape may be applied. Moreover, the workpiece | work 40 does not need to be a foodstuff and the workpiece | work 40 may be another thing provided with the shape of a triangular prism. Further, the workpiece 40 does not have to have a triangular prism shape, and includes a portion (acute angle portion) having two surfaces intersecting at an acute angle, and is formed at an acute angle by a guide portion and a stopper as described later. Other shapes may be used as long as they can be brought into contact with the portion.

The boxing device 10 includes a boxing device body 11, a transport device 50 that transports the workpiece 40 to a holding position where the workpiece 40 is held by the boxing device body 11, and a workpiece 40 held by the boxing device body 11. A work table 70 to be placed and a box 41 that accommodates the workpiece 40 and is supported by a support table 80 are provided.

The conveying device 50 includes a belt conveyor (conveying means) 51, a guide part 52, a stopper 53, a retracting part 54, a tip side sensor (first detecting means) 55, and a staying sensor (second detecting means). 56.

The belt conveyor 51 conveys the workpiece 40 along one direction until the workpiece 40 reaches the holding position 51a. When the work 40 reaches the holding position 51 a by being conveyed by the belt conveyor 51, the boxing device main body 11 holds the work 40 and moves the work 40 into the box 41.

The guide unit 52 extends along the conveyance direction by the belt conveyor 51 so as to guide conveyance of the workpiece 40 conveyed on the belt conveyor 51. In addition, the guide unit 52 is attached on the conveyance path of the belt conveyor 51. The guide portion 52 is fixedly attached to the outer frame of the belt conveyor 51 so that the guide portion 52 does not move even when the belt conveyor 51 is driven and the workpiece 40 moves. Therefore, the guide part 52 is kept stationary.

The stopper 53 is configured to stop the conveyance of the workpiece 40 by pressing the workpiece 40 conveyed on the belt conveyor 51. The stopper 53 has a pressing portion 53 a that is a portion that comes into contact with the workpiece 40 and presses the workpiece 40. The stopper 53 is disposed so that the pressing portion 53 a extends in a direction intersecting the conveying direction of the workpiece 40 by driving the belt conveyor 51. When the workpiece 40 comes into contact with the pressing portion 53a extending in the direction intersecting the conveying direction, the conveyance of the workpiece 40 can be stopped.

The stopper 53 is disposed so as to be inclined with respect to the conveying direction by the belt conveyor 51. Accordingly, the pressing portion 53a of the stopper 53 is disposed to be inclined with respect to the guide surface 52a extending along the conveyance direction by the belt conveyor 51. Therefore, the stopper 53 is disposed such that the angle formed between the guide surface 52a of the guide portion 52 and the pressing portion 53a of the stopper 53 is an acute angle. In particular, the angle formed between the guide surface 52a and the pressing portion 53a of the stopper 53 is an acute angle portion in the workpiece 40 so that the workpiece 40 can enter an area sandwiched between the pressing portion 53a and the guide surface 52a. It is arrange | positioned so that it may become an acute angle which has an angle more than this angle.

The stopper 53 has a rotating shaft 53b and a motor 53c. The rotating shaft 53b is rotationally driven by the motor 53c, and the portion where the pressing portion 53a of the stopper 53 is formed is configured to be rotatable around the rotating shaft 53b. As described above, the stopper 53 controls the rotational drive of the portion where the pressing portion 53a is formed around the rotational shaft 53b by controlling the rotational drive of the rotational shaft 53b.

The retracting unit 54 guides the workpiece 40 to the inside and retracts the workpiece 40 from the conveyance path when it is determined that there is an abnormality in the conveyance of the workpiece 40. The workpiece 40 determined to be abnormal in posture and position is temporarily stored in the retracting portion 54, and then the workpiece 40 is taken out from the retracting portion 54.

The work table 70 is provided as a space for placing the work 40 once. The work table 70 is substantially square in plan view, and is attached to a position close to the holding position 51 a of the belt conveyor 51. A rectangular sheet 71 in a plan view is disposed at a predetermined position on the work table 70. The sheet 71 is formed so that the workpiece 40 can be held on the upper surface. The workpiece 40 that has reached the holding position 51 a of the belt conveyor 51 is held by the boxing device main body 11 and disposed on the upper surface of the sheet 71 on the work table 70. Thereby, the workpiece 40 is held on the upper surface of the sheet 71 on the work table 70.

The box 41 is supported by a support base 80. The box 41 is configured to be able to accommodate the workpiece 40 therein. The plurality of workpieces 40 arranged on the upper surface of the sheet 71 of the work table 70 are collectively held by the boxing device main body 11, and the plurality of workpieces 40 are collectively stored in the box 41.

The front end side sensor 55 includes a light emitting unit 55a and a light receiving unit 55b. The light emitting unit 55a and the light receiving unit 55b of the front end side sensor 55 detect whether or not the workpiece 40 is at a predetermined position at a position close to the front end of the belt conveyor 51. In this embodiment, the front end side sensor 55 detects whether or not the workpiece 40 has reached the holding position 51a on the belt conveyor 51 where the workpiece 40 is held by the boxing device main body 11 at a normal position and posture. To do. In the present embodiment, the light emitting unit 55a is provided on the side of the belt conveyor 51 on the side where the stopper 53 is provided, and the light receiving unit 55b is provided on the side opposite to the side on which the stopper 53 is provided. Is provided. The positional relationship between the light emitting unit 55a and the light receiving unit 55b may be reversed. Moreover, in this embodiment, LED is used as the light emission part 55a. The light receiving unit 55b receives light from the light emitting unit 55a by the LED.

The stagnation sensor 56 includes a light emitting unit 56a and a light receiving unit 56b, like the tip side sensor 55. The light emitting unit 56 a and the light receiving unit 56 b of the staying sensor 56 detect whether or not there is a workpiece 40 at a position upstream of the belt conveyor 51 relative to the tip side sensor 55. The staying sensor 56 detects whether or not the workpiece 40 has reached a position on the belt conveyor 51 upstream of the front end sensor 55 in a normal position and posture. In the present embodiment, the light emitting unit 56a is provided on the side of the belt conveyor 51 on the side where the stopper 53 is provided, and the light receiving unit 56b is provided on the side opposite to the side on which the stopper 53 is provided. Is provided. The positional relationship between the light emitting unit 56a and the light receiving unit 56b may be reversed. Moreover, in this embodiment, LED is used as the light emission part 56a. The light receiving unit 56b receives light from the light emitting unit 56a by the LED.

Next, the configuration of the boxing device main body 11 will be described.

FIG. 3 shows a front view of the boxing device main body 11 of the present embodiment. As shown in FIG. 3, the boxing device main body 11 is constituted by a horizontal articulated double-arm robot including a pair of robot arms 13.

The boxing device main body 11 includes a first robot arm 13A and a second robot arm 13B. A first holding part 26 is provided at the tip of the first robot arm 13A. A second holding portion 27 is provided at the tip of the second robot arm 13B. Hereinafter, when the first robot arm 13A and the second robot arm 13B are not distinguished, they may be simply referred to as the robot arm 13.

The boxing device main body 11 includes a control unit 14 and a vacuum generator 60.

The control unit 14 is provided, for example, inside the support base 12 of the boxing device main body 11. However, the present invention is not limited to this. For example, the robot arm 13 may be provided. Further, it may be provided in another vacant space.

The vacuum generator 60 includes, for example, a vacuum pump and CONVUM (registered trademark). Similarly to the control unit 14, the vacuum generator 60 is also provided, for example, inside the support base 12. However, the present invention is not limited to this, and the vacuum generator 60 may be provided in another place such as the inside of the robot arm 13. The vacuum generator 60 is connected to the suction head 18 described later via a pipe (not shown). For example, an on-off valve (not shown) is provided in the pipe, and the pipe is opened and closed by the on-off valve. The operation of the vacuum generator and the opening / closing of the on-off valve are controlled by a control device. The vacuum generator 60 is configured to be able to generate a negative pressure at the suction port 22 of the suction head 18.

The first robot arm 13A moves the first holding unit 26 within a predetermined operation range. The second robot arm 13B moves the second holding unit 27 within a predetermined operation range. The robot arm 13 is, for example, a horizontal articulated robot arm, and includes an arm unit 15 and a wrist unit 17. Further, the first robot arm 13A and the second robot arm 13B can operate independently of each other or operate in association with each other.

The first holding unit 26 and the second holding unit 27 are configured to be able to hold a hand unit having a function.

The boxing device main body 11 includes a support base 12 and a base shaft 16 extending vertically upward from the support base 12. The base shaft 16 is attached to the support base 12 so as to be capable of rotating.

The arm 15 is attached to the base shaft 16 so as to extend in the horizontal direction. The arm portion 15 is attached to be rotatable about a base shaft 16.

The arm unit 15 includes a first link 15a and a second link 15b. The first link 15a and the second link 15b are supported so as to be rotatable along the horizontal direction. The first robot arm 13 </ b> A and the second robot arm 13 </ b> B are connected to the base shaft 16 via the arm unit 15.

The arm unit 15 positions the wrist unit 17 attached to the tip of the first robot arm 13A and the second robot arm 13B at an arbitrary position within the operation range.

The base end of the first link 15a is connected to the base shaft 16 of the support base 12 by the rotary joint J1, and can rotate around the rotation axis L1 passing through the axis of the base shaft 16. The second link 15b is connected to the distal end portion of the first link 15a by the rotary joint J2, and is rotatable around the rotation axis L2 defined at the distal end portion of the first link 15a.

The list unit 17 changes the mechanism connected to the destination to an arbitrary posture. The wrist part 17 includes an elevating part 17a and a rotating part 17b. The raising / lowering part 17a is connected with the front-end | tip part of the 2nd link 15b by the linear motion joint J3, and can be moved up-and-down with respect to the 2nd link 15b. The rotating part 17b is connected to the lower end part of the elevating part 17a by the rotary joint J4, and is rotatable around the rotation axis L3 defined at the lower end of the elevating part 17a.

In this embodiment, the rotation axes L1 to L3 are parallel to each other and extend, for example, in the vertical direction. Further, the extending direction of the rotation axes L1 to L3 and the moving direction of the lifting unit 17a are parallel to each other.

The arm 13 is provided with a drive servo motor (not shown) and an encoder (not shown) for detecting the rotation angle of the servo motor so as to be associated with each of the joints J1 to J4. Yes. The rotation axis L1 of the first robot arm 13A and the rotation axis L1 of the second robot arm 13B are on the same straight line, and the first link 15a of the first robot arm 13A and the first link 15a of the second robot arm 13B. Are arranged with a difference in height above and below.

Next, the hand part that can be gripped by the first holding part 26 and the second holding part 27 will be described. In the present embodiment, the first holding unit 26 holds the suction head 18 as a hand unit.

4 (a) shows a front view of the suction head 18, and FIG. 4 (b) shows a side view of the suction head 18. As shown in FIG. The suction head 18 is configured to hold the workpiece 40 in a first posture with the first surface portion 40a horizontal and to change the posture of the workpiece 40 from a first posture to a second posture in which the second surface portion 40b is horizontal. Has been.

The suction head 18 includes a base portion 20 including a rotating portion 17b of the wrist portion 17, a rotary joint J5 having a rotation axis L4 extending in the horizontal direction, a distal end portion 21 connected to the base portion 20 so as to be rotatable. The suction port 22 is provided at the distal end portion 21 and sucks the workpiece 40 (first surface portion 40a).

The base portion 20 is connected to the lifting / lowering portion 17a of the wrist portion 17 through the rotary joint J4 and is connected to the distal end portion 21 through the rotary joint J5. The base 20 is bent in an approximately L shape in a side view (see FIG. 4B). The base 20 includes a drive unit 25 for the rotary joint J5 inside the L-shaped member.

The distal end portion 21 is connected to the base portion 20 through a rotary joint J5. A suction port 22 is attached to the distal end portion 21. The distal end portion 21 is bent into a substantially L shape in a side view (see FIG. 4B). In the present embodiment, six suction ports 22 are provided at the distal end portion 21. The suction port 22 is connected to the vacuum generator 60 via a pipe (not shown). For example, an on-off valve (not shown) is provided in the pipe. By opening and closing the piping with the on-off valve, the workpiece 40 is adsorbed and released by the suction port 22.

The workpiece 40 is sucked and held by the suction port 22 of the suction head 18, and the tip portion 21 is rotated 90 degrees with respect to the base portion 20 by the rotary joint J5, whereby the posture of the workpiece 40 is changed from the first posture to the second posture. Can be changed.

The second holding unit 27 holds the holding unit 19 as a hand unit. FIG. 5A shows a front view of the holding unit 19, and FIG. 5B shows a side view of the holding unit 19.

The holding unit 19 is configured to overlap and hold the four workpieces 40 supplied in the second posture at predetermined positions on the work table 70. The holding unit 19 includes four pairs of holding members 32 and four driving members 33 that can drive each of the four pairs of holding members 32 independently.

The rotating portion 17b of the wrist portion 17 extends in the horizontal direction perpendicular to the rotation axis L3 when viewed from the front. Each holding member 32 is connected to the rotating portion 17 b of the wrist portion 17 through the driving member 33.

Each pair of holding members 32 is configured to hold, at a predetermined position on the workbench 70, each of the workpieces 40 in which the first surface portion 40a is stacked in the second posture facing the first direction.

In the present embodiment, each pair of holding members 32 is configured to sandwich the second surface portion 40b of the workpiece 40 from both sides thereof. Each holding member 32 has a shape corresponding to the inclination of the second surface portion 40 b of the workpiece 40, and has a contact surface 32 a that contacts the workpiece 40. The holding member 32 has, for example, a rectangular flat plate shape.

As the material of the holding member 32, for example, a resin plate or a metal plate is used. In the present embodiment, since a triangular rice ball is used for the workpiece 40, each pair of holding members 32 is arranged such that the distance between each pair becomes narrower toward the upper end portion, and a mountain shape that extends downward ( Inverted V-shape).

The driving member 33 is configured to be able to move the pair of holding members 32. The drive member 33 includes an actuator (not shown) and the like, and in the present embodiment, each of the pair of holding members 32 can be moved linearly. Thereby, the mutual space | interval of a pair of holding member 32 can be changed. When the work 40 is held by the holding unit 19, the pair of holding members 32 are held by the drive member 33 while the work 40 is sandwiched between the pair of holding members 32 by reducing the distance between them.

In the present embodiment, the pair of holding members 32 maintain each other in the direction of the arrow in FIG. 5B while maintaining an angle (approximately 60 degrees) matched to the inclination of the second surface portion 40b of the workpiece 40. The interval is controlled to expand and contract. In the present embodiment, the workpiece 40 is held by the frictional force generated when the contact surface 32a of the holding member 32 and the second surface portion 40b of the workpiece 40 are in contact with each other. Note that a suction port may be provided on the contact surface 32a, and the workpiece 40 may be held by a suction force from the suction port.

Next, the control unit 14 that controls the operation of the boxing device main body 11 will be described. FIG. 6 is a block diagram schematically illustrating a configuration example of a control system of the boxing device main body 11.

As shown in FIG. 6, the control unit 14 includes a calculation unit 14a, a storage unit 14b, and a servo control unit 14c.

The control unit 14 is a robot controller including a computer such as a microcontroller. The control unit 14 may be configured by a single control unit 14 that performs centralized control, or may be configured by a plurality of control units 14 that perform distributed control in cooperation with each other.

The storage unit 14b stores information such as a basic program as a robot controller and various fixed data. The calculation unit 14a controls various operations of the boxing device main body 11 by reading and executing software such as a basic program stored in the storage unit 14b. That is, the arithmetic unit 14a generates a control command for the boxing device main body unit 11 and outputs it to the servo control unit 14c.

The servo control unit 14c drives servo motors corresponding to the joints J1 to J4 of the first robot arm 13A and the second robot arm 13B of the boxing device main body 11 based on the control command generated by the calculation unit 14a. Is configured to control.

Next, the operation when the work 40 is boxed by the boxing device 10 will be described.

FIG. 7 shows a perspective view of the boxing device 10 in a state where the suction head 18 sucks the workpiece 40 to the suction port 22. In the present embodiment, the workpiece 40 is conveyed by the belt conveyor 51 in a first posture in which the first surface portion 40a is horizontal. The workpiece 40 is conveyed while being guided by a guide portion 52 provided on the belt conveyor 51 so as to extend along the conveyance direction. When the workpiece 40 is conveyed and the workpiece 40 reaches the holding position 51 a, the workpiece 40 comes into contact with the pressing portion 53 a of the stopper 53. When the work 40 comes into contact with the pressing portion 53 a of the stopper 53, the work 40 is sucked by the suction port 22 of the suction head 18.

At this time, the suction head 18 (the elevating part 17a of the wrist part 17) is lowered, and the suction port 22 is brought into contact with the first surface part 40a of the work 40 on the belt conveyor 51. The workpiece 40 in the first posture is held by suction by the suction head 18.

The work 40 sucked and held by the suction head 18 is temporarily placed on the work table 70. FIG. 8 is a perspective view of the boxing device 10 in a state where one work 40 is disposed on the work table 70.

The work 40 sucked and held by the suction head 18 is placed on a sheet 71 provided on the work table 70. A pair of support members 50 b for supporting the workpiece 40 when the workpiece 40 is arranged is arranged on the sheet 71. Accordingly, the workpiece 40 disposed on the sheet 71 is stably supported.

When placing the workpiece 40 on the sheet 71, the control unit 14 controls the operation of the arm 13A, and the tip portion 21 of the suction head 18 is rotated around the rotation axis L4 with respect to the base 20 by the rotary joint J5. Turn 90 degrees. Thereby, the suction port 22 rotates 90 degrees from the reference position. Due to the rotation of the tip 21 of the suction head 18, the posture of the work 40 held by suction in the first posture is changed from the first posture to the second posture. When the posture of the workpiece 40 is changed to the second posture, the workpiece 40 is disposed on the sheet 71.

At this time, the control unit 14 controls the operation of the arm 13A to supply the workpiece 40 held in the second posture by the suction head 18 to the position of the sheet 71 of the work table 70. The sheet 71 can support four workpieces 40 at the same time. Therefore, it is possible to arrange the four workpieces 40 by repeating the operation of arranging the workpieces 40 on the sheet 71 four times.

By repeating the above operation, four workpieces 40 are sequentially supplied onto the sheet 71 of the work table 70.

FIG. 9 shows a perspective view of the boxing device 10 in a state where the four workpieces 40 are arranged on the sheet 71.

When the four workpieces 40 are arranged on the sheet 71, the control unit 14 controls the operation of the arm 13 </ b> B and is supplied by the holding unit 19 to the position on the sheet 71 of the work table 70 in the second posture. Each work 40 is held in piles. In FIG. 9, the four workpieces 40 are collectively held by the holding unit 19.

Next, the held four workpieces 40 are accommodated in the box 41 by the movement of the holding unit 19. FIG. 10 shows a perspective view of the boxing device 10 in a state where the holding unit 19 holds the four workpieces 40 together and moves them into the box 41.

At this time, the control unit 14 controls the movement of the holding unit 19 by controlling the operation of the arm 13B. Since the four workpieces 40 arranged on the sheet 71 can be collectively arranged inside the box 41, the workpieces 40 can be efficiently packed.

Thus, by packing the work 40 using the boxing apparatus 10 of the present embodiment, the work 40 can be efficiently packed into the box 41.

(Detection of the workpiece 40 by the front end side sensor 55)
Next, conveyance of the workpiece 40 by the conveyance device 50 that conveys the workpiece 40 to the holding position 51a where the workpiece 40 is held by the boxing device main body 11 will be described.

When the work 40 is conveyed by the belt conveyor 51, the work 40 reaches the holding position 51 a where the work 40 can be sucked by the suction head 18 of the boxing device main body 11.

FIG. 11 is a plan view of the periphery of the holding position 51a in the transfer device 50 in a state where the workpiece 40 is transferred to the holding position 51a in a normal position and posture. FIG. 12 shows a side view of the periphery of the holding position 51a in the transfer apparatus 50 in a state where the workpiece 40 is transferred to the holding position 51a in a normal position and posture. FIG. 13 is a plan view of the periphery of the holding position 51a in the transport device 50 when the position and posture of the workpiece 40 are abnormal.

At the timing when the workpiece 40 reaches the holding position 51a, the light emitting portion 55a of the tip side sensor 55 emits light. When the light emitting unit 55a emits light, if the work 40 is disposed at the holding position 51a in a normal position and posture, light from the light emitting unit 55a is blocked by the work 40 and does not reach the light receiving unit 55b. When the light from the light emitting unit 55a is not received by the light receiving unit 55b, it is determined that the workpiece 40 is disposed at the holding position 51a in a normal position and posture.

If the position and posture of the workpiece 40 are abnormal when the light emitting unit 55a emits light, the light reaches the light receiving unit 55b without being blocked by the workpiece 40. When the light from the light emitting unit 55a is received by the light receiving unit 55b, it is determined that the position and posture of the workpiece 40 are abnormal.

As described above, when it is detected that the workpiece 40 does not exist at the detection position by the tip side sensor 55 at the timing when the workpiece 40 is conveyed to the detection position by the tip side sensor 55, the position of the workpiece 40, It is judged that the posture is abnormal. That is, if the workpiece 40 is detected at the detection position by the tip sensor 55 at the timing when the workpiece 40 is conveyed to the detection position by the tip sensor 55, the conveyance of the workpiece 40 is abnormal. It is judged. In the present embodiment, the control unit 14 functions as a determination unit (first determination unit) that determines whether there is an abnormality in the conveyance of the workpiece 40.

Here, the timing at which the workpiece 40 is transported to the detection position by the tip side sensor 55 is the detection position by the stay sensor 56 after detecting that the work 40 has passed the detection position (trigger position) by the stay sensor 56. It is the time when the time taken to transport the workpiece 40 from the detection position to the detection position by the tip side sensor 55 has elapsed. Since the stay sensor 56 is attached to the upstream side of the front end side sensor 55, it is possible to detect that the workpiece 40 has passed at a position upstream of the detection position by the front end side sensor 55 in the transport direction. It is. Therefore, in the present embodiment, it functions as a passage detection unit that detects that the workpiece 40 has passed at a position upstream of the detection position by the front end side sensor 55 in the transport direction.

As described above, in the present embodiment, the stay sensor 56 also functions as a passage detection unit that detects that the workpiece 40 has passed at a position upstream of the detection position by the front end sensor 55 in the transport direction. Yes. Therefore, a sensor for detecting whether or not stagnation by the plurality of workpieces 40 occurs at a position upstream of the detection position by the front end side sensor 55 and the detection position by the front end side sensor 55. The sensor for detecting that the workpiece 40 has passed at a position on the upstream side in the direction is configured as the same sensor. However, a sensor for detecting whether or not stagnation is caused by the plurality of workpieces 40 at a position upstream of the detection position by the front end side sensor 55 and the detection position by the front end side sensor 55. A different sensor may be used between the sensor for detecting that the workpiece 40 has passed at a position upstream in the direction.

When it is detected that the workpiece 40 has passed at the detection position (trigger position) by the stay sensor 56, the signal is transmitted to the control unit 14. The control unit 14 detects that the workpiece 40 has passed the detection position by the stay sensor 56, and then the time taken to transport the work 40 from the detection position by the stay sensor 56 to the detection position by the front end sensor 55 has elapsed. At this time, it is determined whether or not the workpiece 40 is present at the position detected by the tip side sensor 55.

FIG. 12 shows a side view of the periphery of the holding position 51a in the transport device 50 as viewed from the light emitting portion 55a side of the tip side sensor 55. As shown in FIG. 12, the light emitting portion 55 a is attached so that the optical axis L emitted from the light emitting portion 55 a in the distal end side sensor 55 passes below the guide portion 52. The optical axis L emitted from the light emitting unit 55 a in the front end side sensor 55 proceeds toward the light receiving unit 55 b through a gap formed between the guide unit 52 and the belt conveyor 51. Therefore, when the workpiece 40 is present at the position detected by the tip side sensor 55, the light emitted from the light emitting portion 55a and passing through the gap formed between the guide portion 52 and the belt conveyor 51 is the workpiece 40. And does not reach the light receiving portion 55b. When the workpiece 40 is not present at the detection position by the front end side sensor 55, the light emitted from the light emitting unit 55a passes through the gap formed between the guide unit 52 and the belt conveyor 51, and receives the light receiving unit 55b. Is received by.

When it is determined that the position and posture of the workpiece 40 are abnormal, the belt conveyor 51 is driven and the stopper 53 is moved. By driving the motor 53c, the rotating shaft 53b is rotated, and the portion of the stopper 53 where the pressing portion 53a is formed is moved in a direction for retracting from the conveyance path of the workpiece 40.

FIG. 13 shows a region R1 sandwiched between the guide surface 52a of the guide portion 52 and the pressing portion 53a of the stopper 53. The trajectory of the light emitted by the light emitting portion 55a of the distal end side sensor 55 passes through a region R1 sandwiched between the guide surface 52a of the guide portion 52 and the pressing portion 53a of the stopper 53. That is, the detection position by the front end side sensor 55 is located inside a region R <b> 1 sandwiched between the guide surface 52 a of the guide portion 52 and the pressing portion 53 a of the stopper 53. The tip side sensor 55 detects whether or not the workpiece 40 is present at a detection position inside the region R1 sandwiched between the guide surface 52a and the pressing portion 53a. In this embodiment, the detection position by the front end side sensor 55 is the downstream side in the conveyance direction by the belt conveyor 51 in the region R1 sandwiched between the guide surface 52a of the guide portion 52 and the pressing portion 53a of the stopper 53. It is a position close to. It is detected whether or not there is an abnormality in the position and posture of the workpiece 40 at a position closer to the downstream side in the transport direction by the belt conveyor 51 in the region R1 sandwiched between the guide surface 52a and the pressing portion 53a.

Here, the region R1 sandwiched between the guide surface 52a and the pressing portion 53a has the length of the overlapping portion between the pressing portion 53a and the region R1 and the length of the overlapping portion between the guide surface 52a and the region R1. Let isosceles triangles be equally formed. That is, the length of the portion where the region R1 and the guide surface 52a overlap is equal to the length of the pressing portion 53a that protrudes to the inside of the transport path from the guide surface 52a.

FIG. 14 is a plan view of the transport device 50 in a state where the portion of the stopper 53 where the pressing portion 53a is formed has moved in the retracting direction.

The stopper 53 is arranged so as to extend along the conveyance path by the belt conveyor 51 as shown in FIG. 14 from the position arranged so as to block the conveyance path by the belt conveyor 51 as shown in FIG. Move to the specified position. That is, the stopper 53 moves from a stop position where the conveyance of the workpiece 40 by the belt conveyor 51 is stopped to a conveyance position where the conveyance of the workpiece 40 by the belt conveyor 51 is not stopped. At this time, the motor 53c functions as a stopper moving unit that moves the stopper 53 from the stop position to the transport position. Since the belt conveyor 51 is driven and the stopper 53 moves, the workpiece 40 is further conveyed to a position downstream of the stopper 53, and the workpiece 40 is put into the retracting portion 54 as shown in FIG. Arranged. The workpiece 40 arranged inside the evacuation unit 54 is taken out by a person, for example, and removed from the transfer device 50.

(Configuration of stopper 53)
When the stopper 53 is disposed so as to stop the conveyance of the workpiece 40, the stopper 53 is disposed so as to be inclined with respect to a direction orthogonal to the conveyance direction in the belt conveyor 51, as shown in FIG. 15. The stopper 53 is disposed such that the tip of the stopper 53 is inclined so as to face the upstream side of the direction perpendicular to the conveying direction in the belt conveyor 51.

Since the stopper 53 is inclined, the pressing portion 53 a that stops the conveyance of the workpiece 40 in the stopper 53 is inclined with respect to the conveyance direction of the belt conveyor 51. Accordingly, the angle formed between the guide surface 52a of the guide portion 52 that guides the conveyance and the pressing portion 53a is smaller than 90 degrees and is configured to be an acute angle.

Since the angle formed between the pressing portion 53a of the stopper 53 and the guide surface 52a of the guide portion 52 is formed as an acute angle, the two surfaces intersecting the acute angle in the workpiece 40 having a triangular shape when viewed in a plan view. A portion having an acute angle (acute angle portion) is sandwiched between the pressing portion 53a and the guide surface 52a. Since the portion formed at an acute angle of the workpiece 40 is sandwiched between the pressing portion 53a and the guide surface 52a and held at the holding position 51a, the workpiece 40 that has reached the holding position 51a is pressed against the pressing portion 53a and the guide surface 52a. And is securely held by.

As shown in FIG. 15, the posture of the workpiece 40 may be inclined so that a part in the front in the transport direction is separated from the guide surface 52a in the guide portion 52 (40c), and a part in the rear in the transport direction is a guide. The posture may be inclined so as to be separated from the guide surface 52a in the portion 52 (40d). Such a small change in the posture of the work 40 can be corrected by the work 40 being sandwiched between the pressing portion 53a and the guide surface 52a.

When the workpiece 40 enters the region R1 sandwiched between the pressing portion 53a and the guide surface 52a, the entrance of the region R1 sandwiched between the pressing portion 53a and the guide surface 52a is formed relatively wide. 40 easily enters the region R1. Further, since the stopper 53 is disposed to be inclined with respect to the conveying direction by the belt conveyor 51, the region R1 is formed so as to become narrower toward the downstream in the conveying direction. Therefore, as the workpiece 40 moves downstream in the region R1, the position and posture of the workpiece 40 are corrected by the pressing portion 53a and the guide surface 52a, and the workpiece 40 moves toward the holding position 51a in the correct posture and position. become. Therefore, when the workpiece 40 reaches the holding position 51a, there is a high possibility that the workpiece 40 is arranged in the correct position and posture.

Thus, even if the position and orientation of the work 40 have changed before entering the region R1, the position and orientation can be corrected within the region R1. Therefore, even if there is a slight shift in the position and posture of the workpiece 40 before the workpiece 40 enters the region R1, the shift can be corrected inside the region R1. Therefore, when the holding position 51a is reached, the workpiece 40 can be arranged in the correct position and posture.

Since the change in the posture of the workpiece 40 can be corrected, when the workpiece 40 reaches the holding position 51a, the workpiece 40 is more reliably placed in the holding position 51a in the normal position and posture. Since the workpiece 40 is arranged in a normal position and posture when the workpiece 40 reaches the holding position 51a, the workpiece 40 is reliably sucked when the workpiece 40 is sucked by the suction head 18 of the boxing device main body 11. be able to. Therefore, the workpiece 40 can be more reliably arranged on the sheet 71 in the work table 70.

If the stopper pressing part is arranged extending in the direction perpendicular to the conveying direction by the belt conveyor, the posture of the workpiece cannot be corrected when the workpiece reaches the holding position, and the posture of the workpiece remains as it is. The work is held and the work is boxed. At this time, if there is a deviation in the posture of the workpiece, there is a possibility that the workpiece cannot be accurately held. For this reason, when the workpiece is held, the workpiece is held in a shifted state, and it may not be possible to accurately pack the workpiece.

In the present embodiment, since the angle formed between the pressing portion 53a of the stopper 53 and the guide surface 52a of the guide portion 52 is formed at an acute angle, the workpiece 40 is sandwiched between the pressing portion 53a and the guide surface 52a. , Kept stable. Therefore, when the boxing by the boxing device main body 11 is performed, the workpiece 40 can be reliably held, and the boxing can be performed more accurately.

(Packing flow)
FIG. 16 shows a flowchart when the boxing operation of the workpiece 40 is performed by the boxing device 10.

When the workpiece 40 is conveyed by the belt conveyor 51 and reaches the holding position 51a (S1), it is determined by the tip side sensor 55 whether or not the workpiece 40 has reached the holding position 51a in a normal position and posture. . Whether or not the workpiece 40 has reached the holding position 51a in a normal position and posture is determined by whether or not the workpiece 40 is detected by the front end side sensor 55 at the timing when the workpiece 40 reaches the holding position 51a. Performed (S2). At this time, whether or not the workpiece 40 is present is detected at a detection position inside the region R1 sandwiched between the guide surface 52a and the pressing portion 53a (first detection step).

If the light emitting portion 55a of the tip side sensor 55 emits light at the timing when the workpiece 40 reaches the holding position 51a and is not received by the light receiving portion 55b, it is determined that the workpiece 40 is in the holding position 51a in a normal position and posture. . If it is determined that the workpiece 40 is in the holding position 51a at the normal position and posture, it is determined that the workpiece 40 is arranged in a posture that can be accurately held by the suction head 18 at the holding position 51a (S3).

If it is determined that the workpiece 40 is arranged in a posture that can be accurately held by the suction head 18 at the holding position 51 a, the suction head 18 holds the workpiece 40 by sucking and holds the workpiece 40 on the sheet 71 of the work table 70. Arranged (S4). In the present embodiment, the conveyance by the belt conveyor 51 is stopped while the suction head 18 approaches the work 40 and the suction head 18 is trying to hold the work 40 while sucking it. The suction head 18 sucks and holds the workpiece 40 in a state where the belt conveyor 51 is stopped.

When the work 40 is repeatedly arranged on the sheet 71 of the work table 70 and the number of works 40 that can be arranged on the sheet 71 is arranged, the works 40 on the sheet 71 are collectively put together by the holding unit 19. Grasped. In the present embodiment, the four workpieces 40 are held together by the holding unit 19. When the workpieces 40 on the sheet 71 are collectively held by the holding unit 19, the holding unit 19 moves to the box 41, and the workpiece 40 held by the holding unit 19 is arranged inside the box 41 (S5). ). Thereby, arrangement | positioning to the inside of the box 41 of the workpiece | work 40 can be performed efficiently.

On the other hand, in S2, if the workpiece 40 cannot be detected by the tip side sensor 55 at the timing when the workpiece 40 reaches the holding position 51a, it is determined that the position and posture of the workpiece 40 are abnormal. (S6). That is, when it is detected that the workpiece 40 does not exist at the detection position by the tip side sensor 55 at the timing when the workpiece 40 is transferred to the detection position by the tip side sensor 55, the conveyance of the workpiece is abnormal. Is determined (first determination step). When the work 40 reaches the holding position 51a, when the light emitting unit 55a of the tip side sensor 55 emits light and the light receiving unit 55b receives light from the light emitting unit 55a, the light is emitted to a predetermined position of the holding position 51a. It is judged that there is nothing to block. Therefore, it is determined that the workpiece 40 does not exist at the detection position inside the holding position 51a, and the workpiece 40 is not disposed at the holding position 51a in a normal position and posture. Therefore, it is determined that the posture and position of the workpiece 40 are abnormal.

If it is determined that there is an abnormality in the posture and position of the workpiece 40, there is a possibility that the suction holding by the suction head 18 may not be performed accurately. Therefore, the workpiece 40 is moved to the retracting portion 54, and the workpiece 40 is retracted from the conveyance path. (S7).

When moving the workpiece 40 to the retracting portion 54, the belt conveyor 51 is driven and the workpiece 40 is conveyed, and the stopper 53 moves downstream in the conveying direction of the belt conveyor 51. Thereby, the workpiece | work 40 moves to the conveyance direction downstream side of the belt conveyor 51 rather than the holding position 51a. When the downstream end of the belt conveyor 51 is reached, the workpiece 40 is thrown into the retracting portion 54. As a result, the workpiece 40 is disposed inside the retracting portion 54.

When the work 40 is placed inside the retracting section 54, a person removes the work 40 from the retracting section 54 (S8). Thereby, the workpiece 40 is removed from the transfer device 50.

As described above, according to the method for transporting the workpiece 40 of the present embodiment, when the workpiece 40 reaches the holding position 51a, if there is an abnormality in the posture and position of the workpiece 40, this can be detected. it can. When it is detected that there is an abnormality in the posture and position of the workpiece 40, the workpiece 40 can be retracted to the retracting portion 54, and the workpiece 40 can be removed from the conveyance path.

When there is an abnormality in the position and orientation of the workpiece 40, the abnormal workpiece 40 is removed from the conveyance path, so that the abnormal workpiece 40 is then sucked to the holding position 51a. , Keep out of the way. Therefore, the boxing operation of the workpieces 40 that are continuously conveyed can be performed more smoothly.

In the above embodiment, the work 40 retracted to the retracting portion 54 is removed by a human hand, but the present invention is not limited to this. The workpiece 40 retracted to the retracting unit 54 may be automatically removed from the transfer device 50. Alternatively, the workpiece 40 retracted to the retracting unit 54 may be returned to the belt conveyor 51, conveyed again, held by the boxing device main body 11, and disposed inside the box 41.

(Second Embodiment)
Next, a boxing device according to a second embodiment of the present invention will be described. In addition, description is abbreviate | omitted about the part comprised similarly to the said 1st Embodiment, and only a different part is demonstrated.

In the first embodiment, the tip side sensor 55 detects whether or not the workpiece 40 is disposed at the holding position 51a in a normal position and posture. In the second embodiment, the front end side sensor 55 and the staying sensor 56 are used to detect whether or not a plurality of workpieces 40 are staying around the holding position 51a.

FIG. 17 is a plan view of the periphery of the holding position 51a in the transport device 50 in a state where the plurality of works 40 are arranged around the holding position 51a and the work 40 is retained.

The work 40 reaches the holding position 51 a by being conveyed by the belt conveyor 51. At this time, if the next workpiece 40 is continuously conveyed in a state where the position and posture of the first workpiece 40 are abnormal, the workpiece 40 having an abnormal position and posture is subsequently conveyed. There is a possibility that a plurality of workpieces 40 may stay in the way of holding. Therefore, it may be detected whether or not a plurality of workpieces 40 are staying around the holding position 51a. When the stagnation by the plurality of works 40 occurs, the plurality of stayed works 40 may be removed from the conveyance path.

When detecting whether or not a plurality of workpieces 40 are staying, first, the light emitting portion 55a of the tip side sensor 55 emits light at the timing when the workpiece 40 reaches the holding position 51a. If the position and posture of the work 40 are abnormal when the light emitting unit 55a emits light, the light reaches the light receiving unit 55b without being blocked by the work 40. When the light from the light emitting unit 55a is received by the light receiving unit 55b, there is a high possibility that the position and posture of the workpiece 40 are abnormal. In the second embodiment, it is not determined at this stage that an abnormality has been detected in the conveyance of the workpiece 40 yet. In this state, since the workpiece 40 is not detected at the position of the front end side sensor 55, the belt conveyor 51 continues to be driven, and the conveyance of the workpiece 40 is continued. Therefore, the workpiece 40 continues to be conveyed toward the holding position 51a after that.

In FIG. 17, when there is an abnormality in the position and posture of the first workpiece 40, the two workpieces 40 are successively conveyed toward the holding position 51a, and a total of three workpieces 40 are conveyed around the holding position 51a. It is shown about the state. For this reason, the three workpieces 40 stay around the holding position 51a.

When the three workpieces 40 stay, the staying sensor 56 detects the staying workpiece 40. The stay sensor 56 detects the presence / absence of the workpiece 40 at a position upstream of the tip side sensor 55. The detection position (retention position) by the stay sensor 56 is located at least upstream from the detection position by the front end sensor 55 by a length along the conveyance direction of the workpiece 40. Since the detection position by the staying sensor 56 is located upstream of the detection position by the front end side sensor 55 by the length of the work 40, this can be detected when the staying is caused by the plurality of works 40. . Whether or not a plurality of workpieces 40 are retained is detected based on the result of detection of the presence or absence of the workpiece 40 by the front end side sensor 55 and the detection result on whether or not the workpiece 40 is retained by the retention sensor 56. can do.

The light emitted from the light emitting part 56a in the staying sensor 56 is blocked by the staying work 40 and is not received by the light receiving part 56b. If it will be in this state, it will detect that the workpiece | work 40 exists in the detection position of the stay sensor 56, and it will be detected by the stay sensor 56 that the some workpiece | work 40 is staying.

As described above, when it is detected that the workpiece 40 does not exist at the detection position by the tip side sensor 55 and the detection of the workpiece 40 at the detection position (retention position) by the stay sensor 56 is detected. In addition, it is determined that the stagnation is caused by the plurality of workpieces 40. Accordingly, it is determined that an abnormality has occurred in the conveyance of the workpiece 40. At this time, the control unit 14 functions as a determination unit (second determination unit) that determines whether there is an abnormality in the conveyance of the workpiece 40.

When it is detected that a plurality of workpieces 40 are staying, the belt conveyor 51 is driven and the stopper 53 is moved as shown in FIG. By driving the motor 53c, the rotating shaft 53b is rotated, and the portion of the stopper 53 where the pressing portion 53a is formed is moved in a direction for retracting from the conveyance path of the workpiece 40.

FIG. 18 shows a plan view of the transport device 50 in a state where a plurality of workpieces 40 are staying and the portion where the pressing portion 53a is formed in the stopper 53 is moved in the retracting direction.

When it is detected that the stagnation is caused by the plurality of workpieces 40, the stopper 53 is moved from the position where the stopper 53 extends in the direction blocking the conveyance path by the belt conveyor 51 as shown in FIG. As shown, it moves to a position arranged so as to extend along the conveyance path by the belt conveyor 51. That is, the stopper 53 moves from a stop position where the conveyance of the workpiece 40 by the belt conveyor 51 is stopped to a conveyance position where the conveyance of the workpiece 40 by the belt conveyor 51 is not stopped. At this time, the motor 53c functions as a stopper moving unit that moves the stopper 53 from the stop position to the transport position.

Since the belt conveyor 51 is driven and the stopper 53 moves, the plurality of workpieces 40 are further conveyed to a position downstream of the stopper 53, and the plurality of workpieces 40 are moved to the retracting portion 54 as shown in FIG. It is thrown inside and arranged. The workpiece 40 arranged inside the evacuation unit 54 is taken out by a person, for example, and removed from the transfer device 50.

(Packing flow)
FIG. 19 shows a flowchart when the boxing operation of the workpiece 40 is performed by the boxing apparatus 10.

When the workpiece 40 is conveyed by the belt conveyor 51 and reaches the holding position 51a (S21), it is determined by the tip side sensor 55 whether or not the workpiece 40 has reached the holding position 51a in a normal position and posture. . Whether or not the workpiece 40 has reached the holding position 51a in a normal position and posture is determined depending on whether or not the workpiece 40 can be detected by the tip side sensor 55 at the timing when the workpiece 40 reaches the holding position 51a. (S22) (first detection step).

If the light emitting portion 55a of the tip side sensor 55 emits light at the timing when the workpiece 40 reaches the holding position 51a and is not received by the light receiving portion 55b, it is determined that the workpiece 40 is in the holding position 51a in a normal position and posture. It is determined that the workpiece 40 is arranged in a posture that can be accurately held by the suction head 18 at the holding position 51a (S23).

If it is determined that the workpiece 40 is arranged in a posture that can be accurately held by the suction head 18 at the holding position 51 a, the suction head 18 holds the workpiece 40 by sucking and holds the workpiece 40 on the sheet 71 of the work table 70. Arranged (S24). In the present embodiment, the conveyance by the belt conveyor 51 is stopped while the suction head 18 approaches the work 40 and the suction head 18 is trying to hold the work 40 while sucking it. The suction head 18 sucks and holds the workpiece 40 in a state where the belt conveyor 51 is stopped.

When the arrangement of the workpieces 40 on the sheet 71 of the work table 70 is repeated four times and the four workpieces 40 are arranged on the sheet 71, the four workpieces 40 on the sheet 71 are held together. It is gripped by the unit 19. When the four workpieces 40 on the sheet 71 are collectively held by the holding unit 19, the holding unit 19 moves to the box 41, and the four workpieces 40 held by the holding unit 19 are placed inside the box 41. Arrange (S25).

In S22, even if the workpiece 40 cannot be detected by the tip side sensor 55 at the timing when the workpiece 40 reaches the holding position 51a, in the second embodiment, it is determined that the conveyance is abnormal. Not. When the workpiece 40 cannot be detected by the front end side sensor 55, the presence / absence of the workpiece 40 is detected by the stay sensor 56 (S26). That is, the stay sensor 56 detects whether or not the workpiece 40 is staying at a position upstream from the detection position by the tip sensor 55 (stay position) (second detection step).

When the light emitted from the light emitting unit 56a in the stay sensor 56 is not received by the light receiving unit 56b, the work 40 blocks the light between the light emitting unit 56a and the light receiving unit 56b, and the light emitting unit 56a and the light receiving unit 56b It is determined that the workpiece 40 is in the middle position. That is, the workpiece 40 is detected by the stay sensor 56. When the work 40 is detected by the stay sensor 56, the position and posture of the work 40 are abnormal, and a plurality of works are arranged around the holding position 51a, and it is determined that the plurality of works 40 are staying. (S27). That is, when it is detected that the workpiece 40 does not exist at the detection position by the tip side sensor 55 and the detection of the workpiece 40 at the detection position (stay position) by the stay sensor 56 is detected, It is determined that the stagnation due to the plurality of workpieces 40 has occurred. Accordingly, it is determined that an abnormality has occurred in the conveyance of the workpiece 40. In this way, it is determined whether or not an abnormality has occurred in the conveyance of the workpiece 40 (second determination step).

If it is determined by the stay sensor 56 that a plurality of workpieces 40 are staying, it is determined that there is an abnormality in the transport of the workpieces 40, and there is a possibility that the suction holding by the suction head 18 cannot be performed accurately. Accordingly, the plurality of workpieces 40 are moved to the retracting portion 54, and the plurality of workpieces 40 are retracted from the conveyance path (S28).

When moving the plurality of workpieces 40 to the retreating portion 54, the stopper 53 moves downstream in the conveying direction of the belt conveyor 51 while the belt conveyor 51 is driven and the workpiece 40 is conveyed. Thereby, the some workpiece | work 40 which stayed moves to the conveyance direction downstream side of the belt conveyor 51 rather than the holding position 51a. When the plurality of workpieces 40 reach the downstream end of the belt conveyor 51, the plurality of workpieces 40 are thrown into the retracting portion 54. As a result, the plurality of workpieces 40 are arranged inside the retracting portion 54.

In the present embodiment, when the three workpieces 40 are arranged around the holding position 51a, the stay sensor 56 detects the workpiece 40 and detects that the workpiece 40 is staying. Therefore, when the three workpieces 40 stay around the holding position 51a, the three workpieces 40 move to the downstream side in the transport direction of the belt conveyor 51 from the holding position 51a, and the three workpieces 40 Arranged inside.

When the plurality of workpieces 40 are arranged inside the retracting portion 54, a person removes the plurality of workpieces 40 from the retracting portion 54 (S29). Thereby, the plurality of workpieces 40 are excluded from the transfer device 50.

When the work 40 is not detected by the stay sensor 56 in S26, the work 40 is not detected by the front end sensor 55, and the work 40 is not detected by the stay sensor 56, so the belt conveyor 51 continues to convey the work 40. The flow returns to S22.

When the next workpiece 40 reaches the periphery of the holding position 51a, it is determined again in S22 whether or not the workpiece 40 has reached the holding position 51a in a normal position and posture by the tip side sensor 55. At the timing when the workpiece 40 reaches the holding position 51a, the workpiece 40 is detected by the tip side sensor 55 (S22).

Hereinafter, it is determined whether there is an abnormality in the conveyance of the workpiece 40 according to the above-described flow.

As described above, whether or not there is an abnormality in the conveyance of the workpiece 40 is not determined based on the detection result of the presence / absence of the workpiece at the detection position by the front end sensor 55, but is determined by the staying sensor 56. Judgment is made by detecting whether or not the stagnation of the workpiece 40 has occurred. Therefore, in the second embodiment, it is determined that there is an abnormality in the conveyance of the workpiece 40 when the stay is caused by the plurality of workpieces 40.

When the work 40 is transported, the work 40 may be intermittently transported along the transport path, for example, when it is determined that the inspection of the upstream work 40 is inappropriate and is removed from the transport path. In such a case, if the workpiece 40 is retracted to the retracting portion 54 when the workpiece 40 is not detected at the timing when the workpiece 40 is conveyed, the number of times the workpiece 40 is retracted to the retracting portion 54 is reduced. As a result, it takes a long time to convey the workpiece 40. Further, although the work is being conveyed normally, the retreating process to the retreat unit 54 is performed, and time may be wasted.

In this embodiment, when a plurality of workpieces 40 stay, it is determined that an abnormality has occurred in the conveyance of the workpieces 40. Therefore, even when the workpiece 40 is conveyed intermittently and the workpiece 40 is not detected at the timing when the workpiece 40 is conveyed, the next workpiece 40 is moved without performing the retreating process to the retreating portion 54. It is conveyed to the holding position 51a. Therefore, the number of useless evacuation steps can be reduced, and the work 40 can be transported more efficiently. Since the work 40 can be transported more efficiently, the time required for transporting the work 40 can be reduced. Therefore, the cost for conveying the workpiece 40 can be reduced.

Thus, according to the transfer method of the present embodiment, when a plurality of workpieces 40 stays at positions around the holding position 51a, this can be detected. When staying by a plurality of workpieces 40 is detected, the plurality of workpieces 40 can be retracted to the retracting portion 54 and the plurality of workpieces 40 can be excluded from the conveyance path. Thereby, conveyance and boxing of the workpiece | work 40 conveyed after that can be performed, and conveyance and boxing of the continuous workpiece | work 40 can be performed.

(Other embodiments)
In the above-described embodiment, the tip side sensor 55 and the staying sensor 56 have been described as being configured by an optical sensor that includes a light emitting unit and a light receiving unit and uses an LED as the light emitting unit. However, the present invention is not limited to the above embodiment. Other optical configurations may be used as the light emitting unit and the light receiving unit. For example, a form in which the light emitting unit emits a laser beam may be used. Any light emitting unit and light receiving unit may be used as long as the presence or absence of the workpiece 40 can be detected between the light emitting unit and the light receiving unit.

Further, the front end side sensor 55 and the stay sensor 56 may be configured by mechanical sensors. FIG. 20 is a plan view of an example in which a mechanical sensor is used as the tip side sensor 55.

As shown in FIG. 20, the sensor member 57 is disposed in a region sandwiched between the pressing portion 53 a of the stopper 53 and the guide surface 52 a of the guide portion 52. The sensor member 57 is configured such that an abutting portion 57a that abuts on the workpiece 40 can rotate about the rotation shaft 57b. In addition, the sensor member 57 includes a detection unit 57c that is in contact with the contact portion 57a and detects that the workpiece 40 is in contact with the contact portion 57a. The detection unit 57c is configured to be able to detect contact with the contact portion 57a and contact with the contact portion 57a when the contact portion 57a rotates around the rotation shaft 57b.

When the workpiece 40 is transported and reaches a region sandwiched between the pressing portion 53a of the stopper 53 and the guide surface 52a of the guide portion 52, the workpiece 40 comes into contact with the contact portion 57a and the contact portion 57a detects. This can be detected by the detection unit 57c in contact with the unit 57c. Thereby, when the workpiece 40 reaches the region sandwiched between the pressing portion 53a and the guide surface 52a, this can be detected by the sensor member 57.

Thus, the tip side sensor 55 and the stay sensor 56 may be constituted by mechanical sensors.

Further, the front end side sensor 55 and the stay sensor 56 may be configured by a mechanical sensor of a type different from the sensor member 57 described above. Any other type of sensor may be used as long as the presence or absence of the workpiece 40 can be detected at each detection position. Further, different types of sensors may be used for the front end side sensor 55 and the staying sensor 56.

DESCRIPTION OF SYMBOLS 14 Control part 50 Conveyance apparatus 51 Belt conveyor 52 Guide part 52a Guide surface 53 Stopper 53a Press part 55 Front end side sensor 56 Residence sensor

Claims

Conveying means for conveying a workpiece having an acute angle portion having two surfaces intersecting at an acute angle;
A guide portion provided so that a guide surface for guiding the workpiece extends along a conveyance direction so as to guide conveyance of the workpiece conveyed by the conveyance means;
A pressing portion that stops conveyance of the workpiece by pressing the workpiece, and an angle formed between the guide surface and the pressing portion is an acute angle that is greater than an angle of the acute angle portion of the workpiece. Arranged stoppers,
First detection means for detecting whether or not the workpiece is present at a detection position inside an area sandwiched between the guide surface and the pressing portion;
When the first detection means detects that the workpiece does not exist at the detection position at the timing when the workpiece is transferred to the detection position, it is determined that there is an abnormality in the transfer of the workpiece. And a first determination unit.
Passage detection means capable of detecting that the workpiece has passed the trigger position upstream in the transport direction from the detection position in the transport means,
The timing is a time when a time required for transporting the workpiece from the trigger position to the detection position has elapsed since the passage detection unit detected that the trigger position was passed. The transport apparatus according to claim 1.
Conveying means for conveying a workpiece having an acute angle portion having two surfaces intersecting at an acute angle;
A guide portion provided so that a guide surface for guiding the workpiece extends along a conveyance direction so as to guide conveyance of the workpiece conveyed by the conveyance means;
A pressing portion that stops conveyance of the workpiece by pressing the workpiece, and an angle formed between the guide surface and the pressing portion is an acute angle that is greater than an angle of the acute angle portion of the workpiece. Arranged stoppers,
First detection means for detecting whether or not the workpiece is present at a detection position inside an area sandwiched between the guide surface and the pressing portion;
Second detection means for detecting whether or not the workpiece is staying at a stay position upstream of the first detection means;
When the first detection means detects that the workpiece is not present at the detection position, and when the second detection means detects that the workpiece is staying at the stay position And a second determination means for determining that there is an abnormality in the conveyance of the workpiece.
The conveying apparatus according to claim 3, wherein the staying position is at least upstream of the detection position by a length along the conveying direction of the workpiece.
5. The conveying apparatus according to claim 1, wherein the workpiece has a triangular prism shape having three acute angle portions.
6. A stopper moving means for moving the stopper from a stop position at which the pressing portion stops the conveyance of the workpiece to a conveyance position at which the pressing portion does not stop the conveyance of the workpiece. The transfer apparatus according to any one of the above.
7. The apparatus according to claim 1, wherein when it is determined that there is an abnormality in the conveyance of the workpiece, the workpiece is disposed in a retreat portion that is retreated from a conveyance path by the conveyance unit. Transport device.
Conveying means for conveying a workpiece having an acute angle portion having two surfaces intersecting at an acute angle;
A guide portion provided so that a guide surface for guiding the workpiece extends along a conveyance direction so as to guide conveyance of the workpiece conveyed by the conveyance means;
A pressing portion that stops conveyance of the workpiece by pressing the workpiece, and an angle formed between the guide surface and the pressing portion is an acute angle that is greater than an angle of the acute angle portion of the workpiece. A transport method for transporting the workpiece using a transport device including a stopper disposed,
The transport method is
A first detection step of detecting whether or not the workpiece is present at a detection position inside an area sandwiched between the guide surface and the pressing portion;
In the first detection step, when it is detected that the workpiece is not present at the detection position at the timing when the workpiece is transferred to the detection position, the conveyance of the workpiece is abnormal. And a first determination step of determining.
Conveying means for conveying a workpiece having an acute angle portion having two surfaces intersecting at an acute angle;
A guide portion provided so that a guide surface for guiding the workpiece extends along a conveyance direction so as to guide conveyance of the workpiece conveyed by the conveyance means;
A pressing portion that stops conveyance of the workpiece by pressing the workpiece, and an angle formed between the guide surface and the pressing portion is an acute angle that is greater than an angle of the acute angle portion of the workpiece. A transport method for transporting the workpiece using a transport device including a stopper disposed,
The transport method is
A first detection step of detecting whether or not the workpiece is present at a detection position inside an area sandwiched between the guide surface and the pressing portion;
A second detection step of detecting whether or not the workpiece is staying at a stay position upstream from the detection position;
In the first detection step, it is detected that the workpiece does not exist at the detection position, and in the second detection step, it is detected that the workpiece is staying at the stay position. And a second determination step of determining that there is an abnormality in the conveyance of the workpiece.