WO2019102905A1 - Dispositif d'alimentation et système robotisé comprenant celui-ci - Google Patents

Dispositif d'alimentation et système robotisé comprenant celui-ci Download PDF

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Publication number
WO2019102905A1
WO2019102905A1 PCT/JP2018/042013 JP2018042013W WO2019102905A1 WO 2019102905 A1 WO2019102905 A1 WO 2019102905A1 JP 2018042013 W JP2018042013 W JP 2018042013W WO 2019102905 A1 WO2019102905 A1 WO 2019102905A1
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WO
WIPO (PCT)
Prior art keywords
supply device
mover
robot
pair
rail
Prior art date
Application number
PCT/JP2018/042013
Other languages
English (en)
Japanese (ja)
Inventor
一平 長廣
栄二 三井
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to KR1020207014427A priority Critical patent/KR102400594B1/ko
Priority to CN201880075836.4A priority patent/CN111566026B/zh
Publication of WO2019102905A1 publication Critical patent/WO2019102905A1/fr

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Classifications

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

Definitions

  • the present invention relates to a supply device and a robot system including the same.
  • Patent Document 1 proposes a cup supply device.
  • the cup supply device of Patent Document 1 arranges cup units in which a large number of cups are stacked vertically on the horizontal surface of a first cup stocker, and the frontmost row of cup units of these cup units is held by the holding unit of the lifting device.
  • the cup unit received is moved up and down, and the moved cup unit is supplied to a second cup stocker below the first cup stocker.
  • the cups stocked in the second cup stocker are taken out one by one in order from the bottom by the cup feeder and supplied to the food production line.
  • the cup feeding device of Patent Document 1 has a structure for replenishing the cup (work) fed to the food production line from the first cup stocker to the second cup stocker.
  • the cup supply device of Patent Document 1 has a problem that the device configuration is complicated and it takes time to replenish the cup, for example, it is necessary to receive the first cup unit by the lifting device and move it up and down.
  • an object of this invention is to provide the robot system provided with the supply apparatus which can replenish a workpiece
  • a supply device concerning the present invention is a supply device for drawing out and supplying a plurality of works, and a storage part for storing a plurality of works in a stacked state, First and second rails extending along the housing, a first mover moving on the first rail, a second mover moving on the second rail, and the first mover A first pressing member detachably provided, a second pressing member detachably provided to the second mover, and a first biasing member biasing the first mover toward the front end And a second biasing member that biases the second mover toward the front end, wherein the first mover and the second mover can move unrestrictedly with each other, and
  • the accommodation is performed by any of the first pressing member and the second pressing member Characterized in that it is possible to partition the rear end.
  • the supply device can replenish a work with a simple device configuration without spending time.
  • the first biasing member may be configured as a first constant force spring extending along the first rail
  • the second biasing member may be configured as a second constant force spring extending along the second rail.
  • the apparatus further comprises a positioning mechanism that repeats positioning and opening of a plurality of workpieces stored in the housing at the front end of the housing, and the positioning mechanism is such that when one projects inward, the other retracts outward And a pair of positioning members in which one of the pair of positioning members projects inward when the other retracts outward, and the plurality of workpieces accommodated in the housing portion by one of the pair of positioning members projecting inward And the other of the pair of positioning members projects inward to be in contact with the front surface of the workpiece positioned closest to the front end, to the rear end side of the workpiece positioned closest to the front end It may be arranged to abut on the front surface of the positioned work.
  • the pair of positioning members may be configured as a pair of rod members, and the pair of rod members may be provided in two pairs so as to face each other in the inner and outer direction.
  • the positioning of the plurality of workpieces accommodated in the accommodating portion and the opening of the positioning can be reliably performed with a simple configuration.
  • the storage portion may store the plurality of workpieces in a horizontally stacked state.
  • the supply device according to the present invention can be easily adapted to the installation space.
  • the work may be a container for containing food or a lid of the container.
  • a robot system concerning the present invention is a supply device given in either of the above, a plurality of works stored in a receiving part of the supply device, and a work supplied from the supply device
  • a robot for transporting the robot the robot including a robot arm, an end effector attached to the robot arm, and a robot control unit for controlling the robot arm and the end effector , And the end effector holds and transports the workpiece positioned at the front end among the plurality of workpieces stored in the storage unit.
  • the robot system according to the present invention can transport the workpiece while supplying the workpiece to the robot from the supply device capable of replenishing the workpiece with a simple device configuration without spending time.
  • the end effector may hold the workpiece positioned at the foremost end by suctioning it from the front.
  • the robot system according to the present invention can be easily adapted to the installation space.
  • FIG. 1 is a perspective view showing an overall configuration of a robot system provided with a supply device according to an embodiment of the present invention. It is a front view of a robot in a robot system provided with a supply device concerning an embodiment of the present invention. It is a figure showing an end effector of a robot in a robot system provided with a supply device concerning an embodiment of the present invention, (A) is a top view and (B) is a side view. It is a perspective view which shows the whole structure of the supply apparatus which concerns on embodiment of this invention. It is a perspective view which shows the front end part of the accommodating part of the supply apparatus which concerns on embodiment of this invention. It is the schematic which shows the structure of the rear-end division mechanism of the supply apparatus which concerns on embodiment of this invention.
  • FIG. 1 is a plan view showing the overall configuration of a robot system provided with a supply device according to the present embodiment.
  • the robot system 10 includes a supply device 30 according to the present embodiment, a plurality of lids W (workpieces) accommodated in the storage unit 50 of the supply device 30, and a lid supplied from the supply device 30.
  • a robot 11 for transporting W, and a belt conveyor 90 for transporting a plurality of containers W ′ containing food are transported from the near side to the far side in FIG. 1.
  • FIG. 2 is a front view of the robot in the robot system provided with the supply device according to the present embodiment.
  • FIG. 3 is a view showing an end effector of the robot, in which (A) is a plan view and (B) is a side view.
  • the robot 11 according to the present embodiment is disposed along a belt conveyor 90 for transporting containers W ′ containing food, and covers the containers W ′ transported by the belt conveyor 90 with a lid W. Do the work.
  • the robot 11 includes a base 12 fixed to a carriage, and a first robot arm 13a and a second robot arm 13b supported on the base 12 (hereinafter sometimes referred to simply as "a pair of robot arms 13a and 13b").
  • the first end effector 20a connected to the tip of the first robot arm 13a
  • the second end effector 20b connected to the tip of the second robot arm 13b
  • the robot control unit 28 housed in the base 12 And.
  • the robot 11 can be installed, for example, in a limited space (for example, 610 mm ⁇ 620 mm) equivalent to one person.
  • the direction in which the pair of robot arms 13a and 13b is expanded is referred to as the left and right direction
  • the direction parallel to the axial center of the basic axis is referred to as the vertical direction
  • the direction orthogonal to the horizontal direction and the vertical direction is referred to as the front and rear direction.
  • the first robot arm 13a (robot arm on the left side in the figure) and the second robot arm 13b (robot arm on the right side in the figure) are horizontally articulated type configured to be movable relative to the base 12 respectively.
  • Each of the pair of robot arms 13 a and 13 b includes an arm unit 15 and a wrist unit 17. Further, the first end effector 20a is attached to the tip of the first robot arm 13a, and the second end effector 20b is attached to the tip of the second robot arm 13b.
  • the arm part 15 is comprised by the 1st link 15a and the 2nd link 15b in this example.
  • the first link 15 a is connected to the base shaft 16 fixed to the upper surface of the base 12 by the rotary joint J 1, and is rotatable around a rotation axis L 1 passing through the axial center of the base shaft 16.
  • the second link 15b is connected to the tip of the first link 15a by the rotary joint J2 and is rotatable around a rotation axis L2 defined at the tip of the first link 15a.
  • the wrist unit 17 has a mechanical interface 19 to which the first end effector 20a or the second end effector 20b is attached, and is connected to the tip of the second link 15b via the linear joint J3 and the rotary joint J4.
  • the wrist unit 17 can move up and down with respect to the second link 15b by means of the linear motion joint J3.
  • the wrist unit 17 is rotatable about a rotation axis L3 perpendicular to the second link 15b by the rotary joint J4.
  • the pair of robot arms 13a and 13b configured as described above have joints J1 to J4, respectively.
  • the pair of robot arms 13a and 13b are provided with a driving servomotor (not shown) and an encoder (not shown) for detecting the rotation angle of the servomotor, respectively, so as to correspond to the joints J1 to J4.
  • the rotation axis L1 of the first link 15a of the first robot arm 13a and the rotation axis L1 of the first link 15a of the second robot arm 13b are provided on the same straight line, and the first link of the first robot arm 13a
  • the first link 15a of the second robot arm 13b and the first link 15a of the second robot arm 13b are arranged with a difference in height between the upper and lower sides.
  • the first end effector 20 a connects the base end 21 connected to the mechanical interface 19, the support plate 22 in an X shape in plan view, the base end 21 and the support plate 22.
  • Suction part which holds the lid W by drawing the upper surface of the lid W by using a negative pressure and extending downward from the middle portion at the bottom surface of the support plate 22 and the middle portion 23 having a right triangle shape in side view
  • an abutment portion 25 extending downward from each of four ends of the bottom surface of the X-shaped support plate 22 and having its tip end abut or substantially abut the upper surface of the lid W when the lid W is held.
  • abutment portion 25 extending downward from each of four ends of the bottom surface of the X-shaped support plate 22 and having its tip end abut or substantially abut the upper surface of the lid W when the lid W is held.
  • the second end effector 20 b is for holding the container W ′ covered by the lid W on the downstream side of the belt conveyor 90 and transporting the container W to, for example, a pile, but holds the container W ′.
  • the structure is optional if it is a transportable structure, and therefore, it is shown surrounded by a broken line as a black box in FIG.
  • the second end effector 20b may hold the container W ′ covered with the lid W by holding it in the width direction.
  • the robot control unit 28 controls the pair of robot arms 13a and 13b, and the first end effector 20a and the second end effector 20b.
  • the specific configuration of the robot control unit 28 is not particularly limited, for example, a configuration realized by operating a known processor (such as a CPU) according to a program stored in a storage unit (such as a memory) may be employed. .
  • FIG. 4 is a perspective view showing the entire configuration of the supply device according to the present embodiment.
  • the supply device 30 according to the present embodiment is for accommodating the gantry 40 placed on the mounting surface of the food manufacturing site and a plurality of lids W (workpieces) in a stacked state.
  • a rear end partitioning mechanism 70 for partitioning the end.
  • the gantry 40 has a substantially rectangular parallelepiped outer shape configured to include twelve frames 42a to 42l. Specifically, the gantry 40 extends vertically upward from four corners on the bottom surface configured by the frames 42a to 42d and the frames 42a to 42d that extend horizontally and form four sides of the bottom surface of the substantially rectangular parallelepiped shape.
  • Frames 42e to 42h extending horizontally, a frame 42i extending horizontally so that the frame 42e and the frame 42f are mutually connected near the upper ends of the frames 42e to 42h, and a frame 42g and a frame 42h near the upper ends of the frames 42e to 42h
  • Horizontally extending frame 42j extending horizontally
  • frame 42k extending horizontally extending upper end of frame 42e and upper end of frame 42h
  • a frame 42l extending in the direction Constructed.
  • a mounting portion 44 which extends downward and abuts on the mounting surface is provided. Also, a caster 46 is provided in the vicinity of each of the placement units 44.
  • the housing portion 50 is provided to extend in the front-rear direction at the upper end portion of the gantry 40.
  • the storage unit 50 includes two shafts 54a and 54b extending in the front-rear direction so as to mutually connect the center in the left-right direction on the top surface of the frame 42i of the gantry 40 and the center in the left-right direction on the top surface of the frame 42j
  • the accommodation unit 50 supports the bottoms of the plurality of lids W by the shafts 54 a and 54 b, and supports the side portions of the plurality of lids W by the frame members 56 a and 56 b. Can be accommodated in a horizontally stacked state.
  • the space between the frame member 56a and the frame member 56b may be adjusted according to the width dimension of the work.
  • the convenience may be improved by providing an indicator so that the distance between the frame member 56a and the frame member 56b can be read numerically.
  • FIG. 5 is a perspective view showing a front end portion of the housing portion of the supply device according to the present embodiment.
  • the positioning mechanism 60 is provided along the front end of the housing 50.
  • the positioning mechanism 60 has a pair of rod members 62 (a pair of positioning members) in which when one projects inward, the other retracts outward, and when one retracts outward, the other projects inward.
  • two pairs of rod members 62 are provided to face each other in the inward / outward direction (or the left / right direction).
  • the rod member (one of the pair of positioning members) disposed on the front side of the pair of rod members 62 is positioned at the most front end among the plurality of lids W accommodated in the accommodation portion 50 by projecting inward. It arrange
  • the rod member (the other of the pair of positioning members) disposed at the rear side of the pair of lot members 62 is positioned at the rear end side of one of the lid W located at the most front end by projecting inward. It arrange
  • the tip end of the rod member disposed on the rear side may be provided with a tip member 64 whose width dimension is smaller than that of the rod member.
  • FIG. 6 is a schematic view showing the structure of the rear end partitioning mechanism of the supply device according to the present embodiment.
  • the rear end partitioning mechanism 70 includes a first rail 72a and a second rail 72b extending along the housing 50, and a first mover 74a sliding (moving) on the first rail 72a and a second rail 72b.
  • the first pressing member 76a detachably provided for the first mover 74a
  • the second detachably provided for the second mover 74b A pressing member 76b, a first constant force spring 78a (first biasing member) extending along the first rail 72a and biasing the first mover 74a toward the front end, and a extension extending along the second rail 72b , And a second constant load spring 78b (a second biasing member) biasing the second mover 74b toward the front end.
  • the first rail 72a is configured by a pair of rail members provided to extend in the front-rear direction below the frame 42k of the gantry 40 and below the frame 42l. Further, the first mover 74 a is provided to extend in the width direction so as to connect the pair of rail members. Similarly, the second rails 72b extend in the front-rear direction below the frame 42k of the gantry 40 and above the first rail 72a and below the frame 421 and above the first rail 72a. It is comprised by the rail member. Further, the second mover 74 b is provided to extend in the width direction so as to connect the pair of rail members.
  • the first mover 74a and the second mover 74b can move without being restricted to each other, Also, the rear end of the storage portion 50 can be partitioned by any of the first pressing member 76a and the second pressing member 76b.
  • the supply device 30 has the above-described configuration to replenish the storage portion 50 at the rear of any one of the first and second pressing members 76a and 76b that divides the rear end of the storage portion 50.
  • After placing the lid W attach either the first pressing member 76a or the second pressing member 76b to the corresponding first mover 74a or the second mover 74b behind the lid W to be replenished, and
  • the lid W can be replenished to the housing portion 50 by removing any one of the first pressing member 76a and the second pressing member 76b from the corresponding first mover 74a or the second mover 74b.
  • the supply device 30 can replenish the lid W with a simple device configuration without spending time.
  • the first constant force spring 78a (first urging member) urges the first mover 74a toward the front end
  • the second constant force spring 78b (second urging member) performs the second movement.
  • the child 74b is biased toward the front end.
  • the supply device 30 further includes a positioning mechanism 60 that repeats positioning of the plurality of lids W housed in the housing portion 50 at the front end of the housing portion 50 and opening of the positioning. As a result, the supply device 30 can feed and supply the plurality of lids W stored in the storage unit 50 one by one from the lid W located at the most front end at a desired timing.
  • two pairs of rod members 62 included in the positioning mechanism 60 are provided to face each other in the inner and outer direction. Thereby, positioning of the several lid
  • the accommodation unit 50 accommodates the plurality of lids W in a state of being stacked in the horizontal direction. As a result, even if the installation space is limited, the supply device 30 according to the present embodiment can be easily adapted to the installation space.
  • the robot system 10 can transport the lid W while supplying the lid W to the robot 11 from the supply device 30 that can replenish the lid W with a simple device configuration without spending time.
  • the 1st mover 74a explained the case where it slides on the 1st rail 72a, it is not limited to this.
  • the first mover 74 may move on the first rail 72a with wheels, or may move in other manners.
  • each of the first and second biasing members may be configured as a simple spring that is not a constant load, may be configured using an electric motor, and is configured as another biasing member. May be
  • the supply apparatus 30 was equipped with the positioning mechanism 60 which repeats positioning of the several lid W accommodated in the said accommodating part 50 by the front end of the accommodating part 50, and opening of the said positioning, It is not limited to. That is, the supply device 30 does not have to include the positioning mechanism 60, which allows a simpler configuration.
  • the pair of positioning members is configured as the pair of rod members 62, and the pair of rod members 62 has been described as being provided in two pairs so as to face each other in the inside and outside directions.
  • the pair of positioning members may be configured as a pair of flat plate-like members each having an area similar to the area of the lid W in plan view.
  • the accommodation unit 50 can accommodate the plurality of lids W, for example, in a state of being stacked in the vertical direction, or in a state of being stacked in an arbitrary direction according to the installation space.
  • the said embodiment demonstrated the case where a workpiece
  • the work may be a container W ′ for containing food, or any other work that can be stored in the storage unit 50 in a stacked state.
  • the lid W supplied from the supply apparatus 30 was conveyed by the robot 11 was demonstrated in the said embodiment, it is not limited to this. That is, the lid W supplied from the supply device 30 may be transported by any device other than the robot 11, or may be transported manually.
  • the above-mentioned embodiment explained a case where it was constituted as the 1st end effector 20a which holds by holding the lid W located in the front end most by suction from the front, it is not limited to this.
  • the end effector may hold the lid W located at the most front end by holding it in the thickness direction.
  • the robot system 10 includes only one supply device 30 in the above embodiment, the present invention is not limited to this.
  • a plurality of supply devices 30 may be provided. For example, by providing two supply devices 30, while supplying a plurality of lids W from one supply device 30, the plurality of lids W may be replenished to the other supply device 30. Good. As a result, the lid W can be continuously supplied to the robot 11 without interruption.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Specific Conveyance Elements (AREA)
  • Automatic Assembly (AREA)
  • De-Stacking Of Articles (AREA)
  • Manipulator (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Feeding Of Articles To Conveyors (AREA)

Abstract

La présente invention concerne un dispositif d'alimentation pour fournir une pluralité de pièces à usiner en les alimentant, qui est caractérisé en ce qu'il comprend une unité de réception pour recevoir la pluralité de pièces à usiner dans un état empilé, un premier rail et un second rail qui s'étendent le long de l'unité de réception, un premier élément mobile qui se déplace sur le premier rail, un second élément mobile qui se déplace sur le second rail, un premier élément de pression qui est disposé de manière amovible sur le premier élément mobile, un second élément de pression qui est disposé de manière amovible sur le second élément mobile, un premier élément de sollicitation qui sollicite le premier élément mobile vers l'extrémité avant, et un second élément de sollicitation qui sollicite le second élément mobile vers l'extrémité avant, et qui est caractérisé en ce que le premier élément mobile et le second élément mobile peuvent se déplacer de manière non restrictive l'un par rapport à l'autre, et en ce que l'extrémité arrière de l'unité de réception peut être divisée par le premier élément de pression ou le second élément de pression.
PCT/JP2018/042013 2017-11-24 2018-11-13 Dispositif d'alimentation et système robotisé comprenant celui-ci WO2019102905A1 (fr)

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KR1020207014427A KR102400594B1 (ko) 2017-11-24 2018-11-13 공급 장치 및 이를 구비하는 로봇 시스템
CN201880075836.4A CN111566026B (zh) 2017-11-24 2018-11-13 供给装置以及具备该供给装置的机器人系统

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JP2017226310A JP7037922B2 (ja) 2017-11-24 2017-11-24 供給装置及びそれを備えるロボットシステム
JP2017-226310 2017-11-24

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KR (1) KR102400594B1 (fr)
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CN112357173A (zh) * 2020-11-03 2021-02-12 杭州娃哈哈精密机械有限公司 一种胶囊瓶产品与内衬装配设备
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CN112357173A (zh) * 2020-11-03 2021-02-12 杭州娃哈哈精密机械有限公司 一种胶囊瓶产品与内衬装配设备

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KR102400594B1 (ko) 2022-05-20
JP2019094193A (ja) 2019-06-20
TW201936450A (zh) 2019-09-16
KR20200092953A (ko) 2020-08-04
JP7037922B2 (ja) 2022-03-17
TWI686329B (zh) 2020-03-01
CN111566026B (zh) 2021-10-08

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