WO2022113242A1 - Article processing device - Google Patents

Article processing device Download PDF

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Publication number
WO2022113242A1
WO2022113242A1 PCT/JP2020/044048 JP2020044048W WO2022113242A1 WO 2022113242 A1 WO2022113242 A1 WO 2022113242A1 JP 2020044048 W JP2020044048 W JP 2020044048W WO 2022113242 A1 WO2022113242 A1 WO 2022113242A1
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WO
WIPO (PCT)
Prior art keywords
article
portions
article processing
processing apparatus
container
Prior art date
Application number
PCT/JP2020/044048
Other languages
French (fr)
Japanese (ja)
Inventor
辰巳 菱川
Original Assignee
スターテクノ株式会社
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 スターテクノ株式会社 filed Critical スターテクノ株式会社
Priority to PCT/JP2020/044048 priority Critical patent/WO2022113242A1/en
Priority to JP2021512462A priority patent/JP7066244B1/en
Publication of WO2022113242A1 publication Critical patent/WO2022113242A1/en

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    • 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
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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

Definitions

  • the present invention relates to an article processing apparatus capable of grasping and transferring a box member (including a container, a pallet, and a tray), and grasping, transferring, and storing an article in the box member.
  • a box member including a container, a pallet, and a tray
  • Patent Document 1 describes a robot 2 that grips an article W1 conveyed by a conveyor 4 and stacks it on a pallet 3, and a regulation device 1 that closes a gap between the articles W1 stacked by the robot 2 (FIG. 1).
  • the regulation members 13a and 13b provided in the regulation device 1 the regulation members 14a and 14b, and the regulation members 15a and 15b are configured so that their respective intervals can be changed (FIGS. 3 and 3). See 4th grade).
  • the robot 2 and the regulation device 1 described in Patent Document 1 are two devices and process two operations of grasping articles and stacking them on a pallet and closing a gap between the stacked articles. Therefore, there is also a problem that the operation of the entire device becomes complicated.
  • the present invention has been made in response to the above-mentioned problems of the prior art, and is an article processing apparatus capable of appropriately processing articles of different sizes by one articulated robot, and further, one. It is an object of the present invention to provide an article processing device capable of grasping and moving a box member by an articulated robot and appropriately storing an article in the box member.
  • the article processing apparatus comprises an articulated robot, a base connected to the tip of the articulated robot, and a direction intersecting the base from the base.
  • the first suction portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. It is characterized by being arranged.
  • the pair of gripping portions grip the box member, and the first suction portion is It is characterized in that an article different from the box member is adsorbed and stored in the box member.
  • the pair of gripping portions and the first suction portion are arranged in each arm portion. It is characterized by having at least one second suction portion arranged so as to protrude from the surface of a surface different from the surface.
  • the pair of gripping portions grip the box member, and the second suction portion is the same as the box member. Is characterized in that different articles are adsorbed and stored in the box member.
  • the article processing apparatus has an articulated robot, a base connected to the tip of the articulated robot, and extends from the base in a direction intersecting the base, and the interval thereof can be changed.
  • the second grip portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. It is characterized by being arranged.
  • the pair of first gripping portions grips the box member, and the second gripping portion is used.
  • the unit is characterized in that an article different from the box member is gripped and stored in the box member.
  • the pair of the first grip portion and the second grip portion are arranged in each arm portion. It is characterized by having at least one third grip portion arranged so as to protrude from the surface of a surface different from the surface to be formed.
  • the pair of first gripping portions grips a box member
  • the third gripping portion is the box. It is characterized in that an article different from the member is gripped and stored in the box member.
  • the articulated robot, the base connected to the tip of the articulated robot, and extending from the base in a direction intersecting the base, the interval thereof can be changed.
  • the two arm portions, the pair of grip portions arranged on each arm portion, and the pair of grip portions of each arm portion are arranged so as to protrude from the surface of a surface different from the surface on which the pair of grip portions are arranged. Since it is provided with at least one first suction portion, one articulated robot can easily grip a relatively large first article using a pair of grip portions, and at least one. An article smaller than the first article can be easily adsorbed by using one first adsorption section.
  • the first suction portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. Since it is arranged, in addition to the effect of the article processing apparatus of the first aspect, even an article having a relatively small projected area can be easily adsorbed, and the grasped article can be easily moved to a box member or the like. Can be stored.
  • the pair of gripping portions grips the box member, and the first suction portion is Since the article different from the box member is adsorbed and stored in the box member, in addition to the effect of the article processing device of the first aspect or the second aspect, the box member is subjected to one articulated robot. It is possible to reliably perform gripping and transfer, suction and transfer of an article different from the box member, and storage of the article in the box member.
  • the pair of gripping portions and the first suction portion are arranged in each arm portion.
  • the second suction portion can be used to grip yet another article.
  • the pair of gripping portions grips the box member, and the second suction portion is the box member. Since different articles are adsorbed and stored in the box member, in addition to the effect of the article processing device of the fourth aspect, one articulated robot grips and transfers the box member, and an article different from the box member. Can be reliably adsorbed and transferred, and the goods can be stored in the box member.
  • the articulated robot the base connected to the tip of the articulated robot, and extending from the base to the base in a direction of intersecting the base, and changing the interval thereof.
  • Two possible arm portions a pair of first grip portions arranged on each arm portion, and a surface of each arm portion where the pair of grip portions are arranged so as to project from a surface different from the surface.
  • one articulated robot can easily grip a first article using a pair of first grips.
  • At least one second grip can be used to easily grip a second article that is different from the first article.
  • the second grip portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. Since it is arranged, in addition to the effect of the article processing apparatus of the sixth aspect, even an article having a relatively small projected area can be easily grasped, and the grasped article can be easily moved to a box member or the like. Can be stored.
  • the pair of first gripping portions grips the box member, and the second gripping portion is used. Since the unit grips and stores an article different from the box member in the box member, in addition to the effect of the article processing device of the sixth or seventh aspect, the box is provided by one articulated robot. It is possible to reliably grip and transfer the member, grip and transfer an article different from the box member, and store the article in the box member.
  • a pair of a first grip portion and a second grip portion are arranged in each arm portion.
  • it comprises at least one third grip that is disposed so as to project from the surface of the surface different from the surface of the surface. With one articulated robot, the third gripping portion can be used to grip yet another article.
  • the pair of first gripping portions grips the box member
  • the third gripping portion is the box member.
  • the box member is gripped and transferred by one articulated robot, and the box member is a box member. It is possible to reliably grip and transfer different articles and store the articles in a box member.
  • FIG. 1 is an overall view of an article processing apparatus according to an embodiment of the present invention.
  • the article processing device 1 of the present embodiment includes an articulated robot 3 and a gripping device 5 rotatably connected to the tip of the articulated robot 3.
  • the articulated robot 3 is a general 5-axis articulated robot that operates according to a command from the robot controller 18 (see FIG. 4).
  • the articulated robot 3 has a first rotation shaft 33 for turning the second base 35 with respect to the first base 31, and a lower arm portion (lower arm portion) with respect to the second base 35.
  • Five axes of a fourth rotating shaft 45 for rotating the upper arm portion (upper arm portion) 47 coaxially with respect to the portion 43 and a fifth rotating shaft 49 for rotating the gripping device 5 with respect to the upper arm portion 47.
  • the articulated robot 3 is electrically connected to the robot controller 18 (see FIG. 4) by a cable (not shown), and the robot controller 18 is electrically connected to the main controller 16 (FIG. 4). 4).
  • FIG. 2 is an explanatory diagram for explaining the overall operation of the article processing apparatus of the present embodiment.
  • the article processing apparatus 1 of the present embodiment grips the uppermost container P21 of the container P2 loaded on the belt conveyor 7e arranged on the conveyor stand 9e, and is placed on the trolley D arranged in the vicinity of the article processing apparatus 1. 1st operation of moving to, and after being molded in the injection molding machine 2, the article W1 or W2 (see FIGS. 11 and 14) taken out by the taking-out robot 4 and then placed on the belt conveyor 6 is grasped. Then, the second operation of storing in the uppermost container P41 of the container P4 stacked on the trolley D is performed by one device.
  • five conveyor stands 9a, 9b, 9c, 9d and 9e are arranged in parallel with the belt conveyor 6 on which the articles W1 or W2 (see FIGS. 11 and 14) are placed.
  • Belt conveyors 7a, 7b, 7c, 7d and 7e are arranged on each of the conveyor stands.
  • a container will be described as an example of the "box member" of the present invention for storing articles.
  • the belt conveyors 7a, 7b, 7c, 7d and 7e With the rotation operation, the container P moves toward the article processing device 1.
  • the empty containers P1 (P11, P12, P13, P14, P15, P16) loaded in the 6th stage are moved onto the belt conveyor 7d, and the empty containers P2 (P21, P22) loaded in the 3rd stage are moved. , P23) is shown on the belt conveyor 7e.
  • the article W1 or W2 (see FIGS. 11 and 14) molded by the injection molding machine 2 is taken out from the injection molding machine 2 by the take-out robot 4, then moved and placed on the belt conveyor 6. .. After that, the article W1 or W2 (see FIGS. 11 and 14) is moved by the belt conveyor 6 within the movable range of the article processing device 1.
  • the article processing device 1 of the present embodiment is configured so that a plurality of operations can be executed by one device, and as described above, as the first operation, an empty container P2 loaded on the belt conveyor 7e. Of these, the empty container P21 on the uppermost stage is grasped and moved onto the trolley D arranged in the vicinity of the article processing device 1.
  • the container P3 (P31, P32, P33) in which the goods are stored in the third stage and the container P4 (P41, P42, P43) in which the goods are stored in the third stage are placed on the trolley D. Indicates the mounted state.
  • the article processing device 1 of the present embodiment is divided into four patterns for each operation, and each is illustrated as an article processing device 1a, an article processing device 1b, an article processing device 1c, and an article processing device 1d.
  • the article processing device 1a shows a state in which the gripping device 5a connected to the tip of the articulated robot 3a is gripping the container P21 mounted on the belt conveyor 7e, and the article processing device 1b is an articulated robot. It shows a state in which the gripping device 5b connected to the tip of the robot 3b grips and moves the container P41 on the trolley D.
  • the article processing device 1c is in a state where the gripping device 5c connected to the tip of the articulated robot 3c is gripping the articles W1 or W2 (see FIGS. 11 and 14) placed on the belt conveyor 6. As shown, the article processing device 1d stores articles W1 or W2 (see FIGS. 11 and 14) in a container P41 in which a gripping device 5d connected to the tip of an articulated robot 3d is loaded on a trolley D. It shows the state.
  • FIG. 3 is an overall perspective view of the gripping device in the article processing device of the present embodiment.
  • the gripping device 5 is provided on the base portion 11, two inverted T-shaped arm portions 13a and arm portions 13b extending perpendicular to the base portion 11, and the inner side surface of the arm portion 13a.
  • Arranged hook claws 23a and 23b (see FIG. 11, corresponding to the "grip portion” and “first grip portion” of the present invention), and hook claws 23c and 23d arranged on the inner side surface of the arm portion 13b (FIG. 11).
  • the arm portion driving motor 15 for changing the distance between the arm portion 13a and the arm portion 13b is mounted on the base portion 11.
  • a drive pulley (not shown) is inserted into the motor shaft of the arm portion drive motor 15, and a timing belt is wound around the drive pulley along the longitudinal direction of the base portion 11.
  • the arm portion 13a is fixed to one of the belts, and the arm portion 13b is fixed to the other of the timing belts.
  • the hook claws 23a, 23b, 23c and 23d of the present embodiment are fixed to the arm portion 13a or the arm 13b, but are between the hook claws 23a and the hook claws 23b, and the hook claws 23c and the hook claws 23d. It is also possible to configure the space to open and close.
  • a hook claw drive motor is arranged in the base 11, a rotation shaft is arranged along the longitudinal direction of the base 11 so as to rotate by the rotation of the hook claw drive motor, and the rotation of the rotation shaft causes the rotation shaft.
  • a rotating hook claw opening / closing timing belt is arranged along each of the arm portion 13a and the arm portion 13b, the hook claw 23a is fixed to one of the hook claw opening / closing timing belts, and the hook is hooked to the other of the hook claw opening / closing timing belts.
  • the arm portion 13a and the arm portion 13b of the present embodiment extend so as to be orthogonal to the base portion 11, but are not limited to the orthogonal form and extend in a direction intersecting the base portion 11. Just do it.
  • FIG. 4 is a block diagram of the article processing apparatus of the present embodiment
  • FIG. 5 is a block diagram of the main controller of the article processing apparatus of the present embodiment.
  • the article processing device 1 is electrically connected to a main controller 16 electrically connected to a power source 10 and the main controller 16 thereof, and is electrically connected to a first tip suction unit 21a, a second tip suction unit 21b, and a second tip suction unit 21b.
  • the driver circuit 20 for driving the arm drive motor 15, the operation panel 8 for receiving input from the operator of the device, the container sensor 12 for detecting the presence or absence of the container P on the belt conveyor 7e, and the belt conveyor 6
  • An article sensor 14 for detecting the presence or absence of the above article is provided.
  • the main controller 16 has a CPU (central processing unit) 28, a RAM (Random Access Memory) 24 connected to the CPU 28 so as to be input / output, and a ROM connected to the CPU 28 so as to be input / output. (Read Only Memory) 26 is provided.
  • CPU central processing unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • the RAM 24 includes a container information data table 24a that stores information such as the dimensions of the container P, and an article information data table 24b that stores information such as the dimensions of the articles to be stored.
  • the ROM 26 includes a main program 26a that controls the operation of the entire article processing device 1 of the present embodiment, and an article gripping selection program 26b for selecting a gripping method by the article processing device 1.
  • FIG. 6 is a flowchart of the main program in the article processing apparatus of the present embodiment
  • FIG. 7 is a flowchart of the article gripping selection program in the article processing apparatus of the present embodiment.
  • the article processing device 1 of the present embodiment grips the container loaded on the belt conveyor 7e and moves it onto the trolley D arranged in the vicinity of the article processing device 1.
  • FIG. 6 first, after the operator of the device turns on the power switch, the number of articles W processed, the type of article W, and the type of container are input by the operation buttons on the operation panel 8, and the start button is pressed.
  • the article processing device 1 moves the arm of the articulated robot 3 to the initial position (S1), sets the number of articles W to be processed (S3), and stores container information based on the input container type in the container information data table. Obtained from 24a (S5), it is determined whether or not the container sensor 12 is ON, that is, whether or not the container P is arranged on the belt conveyor 7e (S7).
  • the container processing apparatus 1 grips the uppermost container P among the containers P loaded on the belt conveyor 7e (S11), moves the container P, and places it on the trolley D (S13). ), The article gripping selection program is executed (S15).
  • FIG. 8 is a perspective view showing a state in which the article processing apparatus 1 of the present embodiment holds the container P21
  • FIG. 9 is a rear view thereof
  • FIG. 10 is a left side view thereof.
  • the articulated robot 3 moves the gripping device 5 to the upper part of the container P21 with a space between the arm portion 13a and the arm portion 13b. After that, the gripping device 5 is lowered to a height at which the arm portion 13a and the arm portion 13b abut on the side surface of the container P21, and finally, the space between the arm portion 13a and the arm portion 13b is closed to grip the container P21. It has become like.
  • the hook claws 23a and 23b fixed to the arm portion 13a enter one side surface of the container P21, and the hook claws 23c and 23d fixed to the arm portion 13b. Enters the other side surface of the container P21, so that the arm portion 13a and the arm portion 13b grip the container P21.
  • the article gripping selection program information such as the size and weight of the article is acquired from the article information data table 24b based on the input type of the article W (S33), and the arm portion 13a and the arm portion 13b are vertically arranged. It is determined whether or not the width 2X1 (see FIG. 11) is shorter than the storage length of the container P (S35), and when the vertical width 2X1 of the arm portion 13a and the arm portion 13b is not shorter than the storage length of the container. (S35: No) determines that the arm portion 13a and the arm portion 13b themselves cannot enter the container P in the first place, displays a warning, and then returns to the main program (S55).
  • the article processing device 1 uses the articulated robot 3 to use the first tip suction unit. After rotating the gripping device 5 so that the 21a and the second tip suction portion 21b face the article W, the first tip suction portion 21a of the arm portion 13a is turned ON (S39), and the arm portion 13a and the arm portion 13b It is determined whether or not the vertical width 2X1 (see FIG. 11) is shorter than the storage length of the container P and the weight of the article W is heavier than the predetermined first weight (S41).
  • the first weight is set to a weight that can be sucked by the first tip suction portion 21a, and in the present embodiment, the first weight is set to 500 g.
  • FIG. 11 is a rear view showing a state in which the first tip suction portion 21a and the second tip suction portion 21b in the article processing apparatus 1 of the present embodiment suck the article W1
  • FIG. 12 is a left side view thereof. Is.
  • the article W1 when the weight of the article W1 is lighter than the first weight, the article W1 is sucked only by the first tip suction portion 21a and the second tip suction portion 21b is not used, but the article W1 is used. Even when the weight of the first tip suction portion is lighter than the first weight, for safety, the first tip suction portion 21a and the second tip suction portion 21b may be turned on for use.
  • FIG. 14 is a perspective view showing a state in which the first side surface suction portions 19a and 19b and the second side surface suction portions 19c and 19d of the article processing device 1 of the present embodiment are turned on to suck the article W2.
  • FIG. 15 is a left side view thereof.
  • FIG. 11 is a rear view showing a state in which the first tip suction portion 21a and the second tip suction portion 21b in the article processing apparatus 1 of the present embodiment suck the article W1.
  • FIG. 12 is a rear view. 14 is a left side view thereof, and
  • FIG. 14 is a perspective view showing a state in which the first side surface suction portions 19a and 19b and the second side surface suction portions 19c and 19d of the article processing apparatus 1 of the present embodiment suck the article W2.
  • FIG. 15 is a left side view thereof.
  • FIG. 12 show the state before the article is stored in the container 41, but in FIG. 13, the first tip suction portion 21a and the second tip suction portion 21b sucked. It is a figure which showed the state which stores the article W1 in a container P41.
  • Two possible arm portions 13a and 13b, hook claws 23a and 23b arranged on the arm portion 13a, hook claws 23c and 23d arranged on the arm portion 13b, and hook claws 23a and 23b of the arm portion 13a are arranged.
  • the first tip suction portion 21a and / or the hook claws 23c and 23d of the arm portion 13b are arranged so as to protrude from the surface of the surface different from the surface on which the hook claws 23c and 23d are arranged.
  • the container can be easily gripped by using the hook claws 23a, 23b, 23c and 23d of one articulated robot 3.
  • the first tip suction portion 21a and / or the second tip suction portion 21b can be used to easily suck the article W1 smaller than the container.
  • the first tip suction portion 21a or the second tip suction portion 21b is arranged so as to further project in the tip direction from the surface of the longitudinal tip portion of the arm portion 13 or the arm portion 13b. Therefore, even an article having a relatively small projected area can be easily adsorbed, and the grasped article can be easily moved to a container and stored.
  • the hook claws 23a, 23b, 23c and 23d grip the container P, and the first tip suction portion 21a and / or the second tip suction portion 21b Since the article W1 different from the container P is adsorbed and stored in the container P, one articulated robot 3 grips and transfers the container P, and adsorbs and transfers the article W1 different from the container P. The storage of the article W1 in the container can be reliably performed.
  • the surface on which the hook claws 23a, 23b, 23c and 23d, the first tip suction portion 21a and the second tip suction portion 21b are arranged is provided with the first side surface suction portions 19a and 19b and / or the second side surface suction portions 19c and 19d arranged so as to project from the surfaces of different surfaces.
  • the portions 19a and 19b and / or the second side surface suction portions 19c and 19d can be used to grip and the like.
  • the hook claws 23a, 23b, 23c and 23d grip the container P, and the first side surface suction portions 19a and 19b and / or the second side surface suction portions 19c. And 19d suck and transfer the article W2 different from the container P and store it in the container P. Therefore, one articulated robot 3 grips and transfers the container P and sucks the article W2 different from the container P. And transfer, and storage of the article W2 in the container can be reliably performed.
  • a plurality of 21a and a second tip suction portion 21b may be provided in each arm portion, one in one arm portion, and a plurality in the other arm portion, and further, each arm may be provided with a plurality of 21a and the second tip suction portion 21b.
  • the number of each may be different.
  • first base end suction portion may be provided on the surface facing the surface on which the first tip suction portion 21a is arranged
  • second tip suction portion 21b may be provided on the surface facing the surface on which the second tip suction portion 21b is arranged.
  • a base end suction portion may be provided.
  • the third side surface suction unit, the fourth side surface suction unit, the fifth side surface suction unit, and the sixth side surface suction unit may be provided.
  • the container has been described as an example of the "box member" of the present invention, but the present invention is not limited to the container and can be applied to all the box members capable of storing articles. Is.
  • the first tip suction section 21a, the second tip suction section 21b, the first side surface suction sections 19a and 19b, and the second side surface suction sections 19c and 19d are respectively subjected to the article gripping selection program.
  • the operation panel is not limited to the above, and the operator of the device recognizes the article to be sucked, selects the suction part to be sucked in advance, and operates the panel. You may enter it in 8.
  • the articles mounted on the belt conveyor 6 include the first tip suction section 21a, the second tip suction section 21b, the first side surface suction sections 19a and 19b, or the second side surface suction section 19c and the like.
  • a grip portion such as a robot hand or a robot gripper (corresponding to the "second grip portion” and / or the "third grip portion” of the present invention) may be provided on the side surface.
  • the article is heavier than the first tip suction portion 21a, the second tip suction portion 21b, the first side surface suction portions 19a and 19b, or the second side surface suction portions 19c and 19d. Even if there is, it can be grasped.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

This article processing device (1) comprises: a multi-jointed robot (3); a base (11) which is connected to the tip of the multi-jointed robot (3); two arms (13a and 13b) which extend from the base (11) in a direction intersecting the base (11), the gap between the two arms being changeable; hooks (23a and 23b) which are disposed on one arm (13a) and hooks (23c and 23d) which are disposed on the other arm (13b); and a first tip suction unit (21a) which is disposed projecting from a surface other than the surfaces where the hooks (23a and 23b) are disposed on the one arm (13a) and/or and a second tip suction unit (21b) which is disposed projecting from a surface other than the surfaces where the hooks (23c and 23d) are disposed on the other arm (13b).

Description

物品処理装置Goods processing equipment
本発明は、箱部材（コンテナ、パレット、トレイを含む）の把持及び移送、並びに物品の把持、移送及び箱部材内への物品の収納を可能にした物品処理装置に関する。 The present invention relates to an article processing apparatus capable of grasping and transferring a box member (including a container, a pallet, and a tray), and grasping, transferring, and storing an article in the box member.
従来から、物品を把持し、移送する装置が知られている。 Conventionally, a device for gripping and transferring an article has been known.
例えば、特許文献１には、コンベア４によって搬送された物品Ｗ１を把持してパレット３上に積み上げるロボット２と、ロボット２によって積み上げられた物品Ｗ１の隙間を詰める規正装置１とが記載され（図２等参照）、規正装置１に設けられた規正部材１３ａ及び１３ｂ、規正部材１４ａ及び１４ｂ、並びに規正部材１５ａ及び１５ｂは、各々の間隔が変更可能なように構成されている（図３及び図４等参照）。 For example, Patent Document 1 describes a robot 2 that grips an article W1 conveyed by a conveyor 4 and stacks it on a pallet 3, and a regulation device 1 that closes a gap between the articles W1 stacked by the robot 2 (FIG. 1). (See 2 etc.), the regulation members 13a and 13b provided in the regulation device 1, the regulation members 14a and 14b, and the regulation members 15a and 15b are configured so that their respective intervals can be changed (FIGS. 3 and 3). See 4th grade).
特開２０１７－１４１０６８号公報Japanese Unexamined Patent Publication No. 2017-141068
しかしながら、特許文献１に記載のロボット２及び規正装置１は、二つの装置で、物品を把持してパレット上に積み上げ、積み上げられた物品の隙間を詰める動作を処理するため、装置全体が大型化するという問題があった。 However, since the robot 2 and the regulation device 1 described in Patent Document 1 handle the operation of grasping articles, stacking them on a pallet, and closing the gaps between the stacked articles, the entire device becomes large. There was a problem of doing.
また、特許文献１に記載のロボット２及び規正装置１は、二つの装置で、物品を把持してパレット上に積み上げる動作と、積み上げられた物品の隙間を詰めるという動作の２つの動作を処理するため、その装置全体の動作が複雑となるという問題もあった。 Further, the robot 2 and the regulation device 1 described in Patent Document 1 are two devices and process two operations of grasping articles and stacking them on a pallet and closing a gap between the stacked articles. Therefore, there is also a problem that the operation of the entire device becomes complicated.
そして、装置の簡略化の観点からすれば、複数の動作を一つの装置で処理することが望ましい。 From the viewpoint of simplification of the device, it is desirable to process a plurality of operations by one device.
また、大きさが異なる物品を同時に取り扱う場合には、物品の大きさに応じて把持等する箇所及び方法が異なる場合があり、その点も考慮する必要がある。 In addition, when handling articles of different sizes at the same time, the location and method of gripping may differ depending on the size of the articles, and this point also needs to be taken into consideration.
本発明は、従来技術が有する上述した問題に対応してなされたものであり、１つの多関節ロボットによって、大きさの異なる物品を適切に処理することができる物品処理装置、さらには、１つの多関節ロボットによって、箱部材を把持移動させるとともに、箱部材内に物品を適切に収納することができる物品処理装置を提供することを目的とする。 The present invention has been made in response to the above-mentioned problems of the prior art, and is an article processing apparatus capable of appropriately processing articles of different sizes by one articulated robot, and further, one. It is an object of the present invention to provide an article processing device capable of grasping and moving a box member by an articulated robot and appropriately storing an article in the box member.
上述した課題を解決するために、本発明の第１の態様の物品処理装置は、多関節ロボットと、その多関節ロボットの先端に接続された基部と、その基部から前記基部に交差する方向に延び、その間隔を変更可能な２本のアーム部と、各アーム部に配置された１対の把持部と、各アーム部の前記１対の把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第１吸着部と、を備えたことを特徴とする。 In order to solve the above-mentioned problems, the article processing apparatus according to the first aspect of the present invention comprises an articulated robot, a base connected to the tip of the articulated robot, and a direction intersecting the base from the base. A surface of a surface different from the surface on which the two arm portions that can be extended and their intervals can be changed, the pair of grip portions arranged on each arm portion, and the surface on which the pair of grip portions are arranged on each arm portion. It is characterized by including at least one first suction portion arranged so as to protrude from the surface.
また、本発明の第２の態様は、第１の態様の物品処理装置において、前記第１吸着部は、２本の前記アーム部の長手方向先端部の表面からさらに先端方向に突出するように配置されていることを特徴とする。 Further, in the second aspect of the present invention, in the article processing apparatus of the first aspect, the first suction portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. It is characterized by being arranged.
また、本発明の第３の態様は、第１の態様または第２の態様の物品処理装置において、前記１対の把持部は、箱部材を把持するものであって、前記第１吸着部は、前記箱部材とは異なる物品を吸着し、前記箱部材内に収納するものであることを特徴とする。 Further, in the third aspect of the present invention, in the article processing apparatus of the first aspect or the second aspect, the pair of gripping portions grip the box member, and the first suction portion is It is characterized in that an article different from the box member is adsorbed and stored in the box member.
また、本発明の第４の態様は、第１の態様乃至第３の態様の何れかの物品処理装置において、各アーム部において、前記１対の把持部及び前記第１吸着部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第２吸着部を備えたことを特徴とする。 Further, in the fourth aspect of the present invention, in the article processing apparatus according to any one of the first to third aspects, the pair of gripping portions and the first suction portion are arranged in each arm portion. It is characterized by having at least one second suction portion arranged so as to protrude from the surface of a surface different from the surface.
また、本発明の第５の態様は、第４の態様の物品処理装置において、前記１対の把持部は、箱部材を把持するものであって、前記第２吸着部は、前記箱部材とは異なる物品を吸着し、前記箱部材内に収納するものであることを特徴とする。 Further, in the fifth aspect of the present invention, in the article processing apparatus of the fourth aspect, the pair of gripping portions grip the box member, and the second suction portion is the same as the box member. Is characterized in that different articles are adsorbed and stored in the box member.
また、本発明の第６の態様の物品処理装置は、多関節ロボットと、その多関節ロボットの先端に接続された基部と、その基部から前記基部に交差する方向に延び、その間隔を変更可能な２本のアーム部と、各アーム部に配置された１対の第１把持部と、各アーム部の前記１対の把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第２把持部と、を備えたことを特徴とする。 Further, the article processing apparatus according to the sixth aspect of the present invention has an articulated robot, a base connected to the tip of the articulated robot, and extends from the base in a direction intersecting the base, and the interval thereof can be changed. Two arm portions, a pair of first grip portions arranged on each arm portion, and a surface of each arm portion on which the pair of grip portions are arranged so as to project from a surface different from the surface. It is characterized by comprising at least one second grip portion which is arranged.
また、本発明の第７の態様は、第６の態様の物品処理装置において、前記第２把持部は、２本の前記アーム部の長手方向先端部の表面からさらに先端方向に突出するように配置されていることを特徴とする。 Further, in the seventh aspect of the present invention, in the article processing apparatus of the sixth aspect, the second grip portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. It is characterized by being arranged.
また、本発明の第８の態様は、第６の態様または第７の態様の物品処理装置において、前記１対の第１把持部は、箱部材を把持するものであって、前記第２把持部は、前記箱部材とは異なる物品を把持し、前記箱部材内に収納するものであることを特徴とする。 Further, in the eighth aspect of the present invention, in the article processing apparatus of the sixth aspect or the seventh aspect, the pair of first gripping portions grips the box member, and the second gripping portion is used. The unit is characterized in that an article different from the box member is gripped and stored in the box member.
また、本発明の第９の態様は、第６の態様乃至第８の態様の何れかの物品処理装置において、　各アーム部において、前記１対の第１把持部及び前記第２把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第３把持部を備えたことを特徴とする。 Further, in the ninth aspect of the present invention, in the article processing apparatus according to any one of the sixth aspect to the eighth aspect, the pair of the first grip portion and the second grip portion are arranged in each arm portion. It is characterized by having at least one third grip portion arranged so as to protrude from the surface of a surface different from the surface to be formed.
さらに、本発明の第１０の態様は、第９の態様の物品処理装置において、前記１対の第１把持部は、箱部材を把持するものであって、前記第３把持部は、前記箱部材とは異なる物品を把持し、前記箱部材内に収納するものであることを特徴とする。 Further, in the tenth aspect of the present invention, in the article processing apparatus of the ninth aspect, the pair of first gripping portions grips a box member, and the third gripping portion is the box. It is characterized in that an article different from the member is gripped and stored in the box member.
本発明の第１の態様の物品処理装置によれば、多関節ロボットと、その多関節ロボットの先端に接続された基部と、その基部から前記基部に交差する方向に延び、その間隔を変更可能な２本のアーム部と、各アーム部に配置された１対の把持部と、各アーム部の前記１対の把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第１吸着部と、を備えているので、１つの多関節ロボットによって、１対の把持部を使用して比較的大きな第１の物品を簡単に把持することができ、少なくとも１つの第１吸着部を使用して第１の物品よりも小さな物品を簡単に吸着することができる。 According to the article processing apparatus of the first aspect of the present invention, the articulated robot, the base connected to the tip of the articulated robot, and extending from the base in a direction intersecting the base, the interval thereof can be changed. The two arm portions, the pair of grip portions arranged on each arm portion, and the pair of grip portions of each arm portion are arranged so as to protrude from the surface of a surface different from the surface on which the pair of grip portions are arranged. Since it is provided with at least one first suction portion, one articulated robot can easily grip a relatively large first article using a pair of grip portions, and at least one. An article smaller than the first article can be easily adsorbed by using one first adsorption section.
また、本発明の第２の態様によれば、第１の態様の物品処理装置において、第１吸着部は、２本のアーム部の長手方向先端部の表面からさらに先端方向に突出するように配置されているので、第１の態様の物品処理装置の効果に加え、比較的投影面積の小さな物品であっても簡単に吸着することができ、把持した物品を箱部材等に簡単に移動して収納することができる。 Further, according to the second aspect of the present invention, in the article processing apparatus of the first aspect, the first suction portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. Since it is arranged, in addition to the effect of the article processing apparatus of the first aspect, even an article having a relatively small projected area can be easily adsorbed, and the grasped article can be easily moved to a box member or the like. Can be stored.
また、本発明の第３の態様によれば、第１の態様または第２の態様の物品処理装置において、１対の把持部は、箱部材を把持するものであって、第１吸着部は、箱部材とは異なる物品を吸着し、箱部材内に収納するものであるので、第１の態様または第２の態様の物品処理装置の効果に加え、１つの多関節ロボットによって、箱部材の把持及び移送、箱部材とは異なる物品の吸着及び移送、並びに物品の箱部材への収納を確実に実行することができる。 Further, according to the third aspect of the present invention, in the article processing apparatus of the first aspect or the second aspect, the pair of gripping portions grips the box member, and the first suction portion is Since the article different from the box member is adsorbed and stored in the box member, in addition to the effect of the article processing device of the first aspect or the second aspect, the box member is subjected to one articulated robot. It is possible to reliably perform gripping and transfer, suction and transfer of an article different from the box member, and storage of the article in the box member.
また、本発明の第４の態様によれば、第１の態様乃至第３の態様の何れかの物品処理装置において、各アーム部において、前記１対の把持部及び前記第１吸着部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第２吸着部を備えているので、第１の態様乃至第３の態様の何れかの物品処理装置の効果に加え、１つの多関節ロボットによって、第２吸着部を使用してさらに他の物品を把持等することができる。 Further, according to the fourth aspect of the present invention, in the article processing apparatus according to any one of the first to third aspects, the pair of gripping portions and the first suction portion are arranged in each arm portion. In addition to the effect of the article processing apparatus according to any one of the first to third aspects, since it is provided with at least one second suction portion arranged so as to protrude from the surface of the surface different from the surface of the surface. With one articulated robot, the second suction portion can be used to grip yet another article.
また、本発明の第５の態様によれば、第４の態様の物品処理装置において、１対の把持部は、箱部材を把持するものであって、第２吸着部は、箱部材とは異なる物品を吸着し、箱部材内に収納するものであるので、第４の態様の物品処理装置の効果に加え、１つの多関節ロボットによって、箱部材の把持及び移送、箱部材とは異なる物品の吸着及び移送、並びに物品の箱部材への収納を確実に実行することができる。 Further, according to the fifth aspect of the present invention, in the article processing apparatus of the fourth aspect, the pair of gripping portions grips the box member, and the second suction portion is the box member. Since different articles are adsorbed and stored in the box member, in addition to the effect of the article processing device of the fourth aspect, one articulated robot grips and transfers the box member, and an article different from the box member. Can be reliably adsorbed and transferred, and the goods can be stored in the box member.
また、本発明の第６の態様の物品処理装置によれば、多関節ロボットと、その多関節ロボットの先端に接続された基部と、その基部から基部に交差する方向に延び、その間隔を変更可能な２本のアーム部と、各アーム部に配置された１対の第１把持部と、各アーム部の前記１対の把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第２把持部と、を備えているので、１つの多関節ロボットによって、１対の第１把持部を使用して第１の物品を簡単に把持することができ、少なくとも１つの第２把持部を使用して第１の物品とは異なる第２の物品を簡単に把持することができる。 Further, according to the article processing apparatus of the sixth aspect of the present invention, the articulated robot, the base connected to the tip of the articulated robot, and extending from the base to the base in a direction of intersecting the base, and changing the interval thereof. Two possible arm portions, a pair of first grip portions arranged on each arm portion, and a surface of each arm portion where the pair of grip portions are arranged so as to project from a surface different from the surface. With at least one second grip located in, one articulated robot can easily grip a first article using a pair of first grips. At least one second grip can be used to easily grip a second article that is different from the first article.
また、本発明の第７の態様によれば、第６の態様の物品処理装置において、第２把持部は、２本のアーム部の長手方向先端部の表面からさらに先端方向に突出するように配置されているので、第６の態様の物品処理装置の効果に加え、比較的投影面積の小さな物品であっても簡単に把持することができ、把持した物品を箱部材等に簡単に移動して収納することができる。 Further, according to the seventh aspect of the present invention, in the article processing apparatus of the sixth aspect, the second grip portion is further projected in the tip direction from the surface of the longitudinal tip portions of the two arm portions. Since it is arranged, in addition to the effect of the article processing apparatus of the sixth aspect, even an article having a relatively small projected area can be easily grasped, and the grasped article can be easily moved to a box member or the like. Can be stored.
また、本発明の第８の態様によれば、第６の態様または第７の態様の物品処理装置において、１対の第１把持部は、箱部材を把持するものであって、第２把持部は、箱部材とは異なる物品を把持し、箱部材内に収納するものであるので、第６の態様または第７の態様の物品処理装置の効果に加え、１つの多関節ロボットによって、箱部材の把持及び移送、箱部材とは異なる物品の把持及び移送、並びに物品の箱部材への収納を確実に実行することができる。 Further, according to the eighth aspect of the present invention, in the article processing apparatus of the sixth aspect or the seventh aspect, the pair of first gripping portions grips the box member, and the second gripping portion is used. Since the unit grips and stores an article different from the box member in the box member, in addition to the effect of the article processing device of the sixth or seventh aspect, the box is provided by one articulated robot. It is possible to reliably grip and transfer the member, grip and transfer an article different from the box member, and store the article in the box member.
また、本発明の第９の態様によれば、第６の態様乃至第８の態様の何れかの物品処理装置において、各アーム部において、１対の第１把持部及び第２把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第３把持部を備えているので、第６の態様乃至第８の態様の何れかの物品処理装置の効果に加え、１つの多関節ロボットによって、第３把持部を使用してさらに他の物品を把持等することができる。 Further, according to the ninth aspect of the present invention, in the article processing apparatus according to any one of the sixth to eighth aspects, a pair of a first grip portion and a second grip portion are arranged in each arm portion. In addition to the effect of the article processing apparatus of any of the sixth to eighth aspects, it comprises at least one third grip that is disposed so as to project from the surface of the surface different from the surface of the surface. With one articulated robot, the third gripping portion can be used to grip yet another article.
さらに、本発明の第１０の態様によれば、第９の態様の物品処理装置において、１対の第１把持部は、箱部材を把持するものであって、第３把持部は、箱部材とは異なる物品を把持し、箱部材内に収納するものであるので、第９の態様の物品処理装置の効果に加え、１つの多関節ロボットによって、箱部材の把持及び移送、箱部材とは異なる物品の把持及び移送、並びに物品の箱部材への収納を確実に実行することができる。 Further, according to the tenth aspect of the present invention, in the article processing apparatus of the ninth aspect, the pair of first gripping portions grips the box member, and the third gripping portion is the box member. In addition to the effect of the article processing device of the ninth aspect, the box member is gripped and transferred by one articulated robot, and the box member is a box member. It is possible to reliably grip and transfer different articles and store the articles in a box member.
本発明の実施形態の物品処理装置の全体図である。It is an whole view of the article processing apparatus of embodiment of this invention. 本実施形態の物品処理装置の全体動作を説明するための説明図である。It is explanatory drawing for demonstrating the whole operation of the article processing apparatus of this embodiment. 本実施形態の物品処理装置における把持装置の全体斜視図である。It is an overall perspective view of the gripping device in the article processing device of this embodiment. 本実施形態の物品処理装置のブロック図である。It is a block diagram of the article processing apparatus of this embodiment. 本実施形態の物品処理装置のメインコントローラのブロック図である。It is a block diagram of the main controller of the article processing apparatus of this embodiment. 本実施形態の物品処理装置におけるメインプログラムのフローチャートである。It is a flowchart of the main program in the article processing apparatus of this embodiment. 本実施形態の物品処理装置における物品把持選択プログラムのフローチャートである。It is a flowchart of the article gripping selection program in the article processing apparatus of this embodiment. 本実施形態の物品処理装置がコンテナを把持した状態を示す斜視図である。It is a perspective view which shows the state which the article processing apparatus of this embodiment holds a container. 本実施形態の物品処理装置がコンテナを把持した状態を示す背面図である。It is a back view which shows the state which the article processing apparatus of this embodiment holds a container. 本実施形態の物品処理装置がコンテナを把持した状態を示す左側面図である。It is a left side view which shows the state which the article processing apparatus of this embodiment holds a container. 本実施形態の物品処理装置における第１吸引部が物品を吸引した状態を示す背面図である。It is a back view which shows the state which the 1st suction part in the article processing apparatus of this embodiment sucked an article. 本実施形態の物品処理装置における第１吸引部が物品を吸引した状態を示す左側面図である。It is a left side view which shows the state which the 1st suction part in the article processing apparatus of this embodiment sucked an article. 本実施形態の物品処理装置における第１吸引部が吸引した物品をコンテナ内に収納する状態を示した図である。It is a figure which showed the state which stores the article sucked by the 1st suction part in the article processing apparatus of this embodiment in a container. 本実施形態の物品処理装置における第２吸引部が物品を吸引した状態を示す斜視図である。It is a perspective view which shows the state which the 2nd suction part in the article processing apparatus of this embodiment sucked an article. 本実施形態の物品処理装置における第２吸引部が物品を吸引した状態を示す左側面図である。It is a left side view which shows the state which the 2nd suction part in the article processing apparatus of this embodiment sucked an article.
以下、本発明の実施形態について、図面を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
（実施形態）
図１は、本発明の実施形態の物品処理装置の全体図である。 (Embodiment)
FIG. 1 is an overall view of an article processing apparatus according to an embodiment of the present invention.
図１に示すように、本実施形態の物品処理装置１は、多関節ロボット３と、その多関節ロボット３の先端に回転可能に接続された把持装置５と、を備える。 As shown in FIG. 1, the article processing device 1 of the present embodiment includes an articulated robot 3 and a gripping device 5 rotatably connected to the tip of the articulated robot 3.
多関節ロボット３は、ロボットコントローラ１８（図４参照）からの指令によって動作する一般の５軸の多関節ロボットである。 The articulated robot 3 is a general 5-axis articulated robot that operates according to a command from the robot controller 18 (see FIG. 4).
多関節ロボット３は、第１の基台３１に対して、第２の基台３５を旋回させるための第１回転軸３３と、第２の基台３５に対して下腕部（下アーム部）３９を前後に回動させるための第２回転軸３７と、下腕部３９に対して中腕部（中アーム部）４３を上下に回動させるための第３回転軸４１と、中腕部４３に対して上腕部（上アーム部）４７を同軸に回転させるための第４回転軸４５と、上腕部４７に対して把持装置５を回転させるための第５回転軸４９との５軸を備える。 The articulated robot 3 has a first rotation shaft 33 for turning the second base 35 with respect to the first base 31, and a lower arm portion (lower arm portion) with respect to the second base 35. ) A second rotation shaft 37 for rotating 39 back and forth, a third rotation shaft 41 for rotating the middle arm portion (middle arm portion) 43 up and down with respect to the lower arm portion 39, and a middle arm. Five axes of a fourth rotating shaft 45 for rotating the upper arm portion (upper arm portion) 47 coaxially with respect to the portion 43 and a fifth rotating shaft 49 for rotating the gripping device 5 with respect to the upper arm portion 47. To prepare for.
また、多関節ロボット３は、ケーブル（図示せず）によってロボットコントローラ１８（図４参照）に電気的に接続されており、ロボットコントローラ１８は、メインコントーラ１６に電気的に接続されている（図４参照）。 Further, the articulated robot 3 is electrically connected to the robot controller 18 (see FIG. 4) by a cable (not shown), and the robot controller 18 is electrically connected to the main controller 16 (FIG. 4). 4).
　なお、把持装置５の詳細については後述する。 The details of the gripping device 5 will be described later.
図２は、本実施形態の物品処理装置の全体動作を説明するための説明図である。 FIG. 2 is an explanatory diagram for explaining the overall operation of the article processing apparatus of the present embodiment.
本実施形態の物品処理装置１は、コンベア台９ｅに配置されたベルトコンベア７ｅ上に積載されたコンテナＰ２の最上段のコンテナＰ２１を把持して、物品処理装置１近傍に配置された台車Ｄ上に移動させる第１の動作と、射出成型機２内で成型された後、取り出しロボット４によって取り出され、その後ベルトコンベア６に載置された物品Ｗ１またはＷ２（図１１及び図１４参照）を把持して、台車Ｄに積層されたコンテナＰ４の最上段のコンテナＰ４１内に収納する第２の動作とを、１つの装置で行うものである。 The article processing apparatus 1 of the present embodiment grips the uppermost container P21 of the container P2 loaded on the belt conveyor 7e arranged on the conveyor stand 9e, and is placed on the trolley D arranged in the vicinity of the article processing apparatus 1. 1st operation of moving to, and after being molded in the injection molding machine 2, the article W1 or W2 (see FIGS. 11 and 14) taken out by the taking-out robot 4 and then placed on the belt conveyor 6 is grasped. Then, the second operation of storing in the uppermost container P41 of the container P4 stacked on the trolley D is performed by one device.
本実施形態においては、物品Ｗ１またはＷ２（図１１及び図１４参照）を載置するベルトコンベア６に並行して、５つのコンベア台９ａ、９ｂ、９ｃ、９ｄ及び９ｅが配置されており、それらの各コンベア台には、ベルトコンベア７ａ、７ｂ、７ｃ、７ｄ及び７ｅが配置されている。 In this embodiment, five conveyor stands 9a, 9b, 9c, 9d and 9e are arranged in parallel with the belt conveyor 6 on which the articles W1 or W2 (see FIGS. 11 and 14) are placed. Belt conveyors 7a, 7b, 7c, 7d and 7e are arranged on each of the conveyor stands.
　なお、本実施形態においては、物品を収納する本発明の「箱部材」の１例として、コンテナを例に取り説明する。 In the present embodiment, a container will be described as an example of the "box member" of the present invention for storing articles.
ここで、本実施形態の物品処理装置１の動作を説明すると、先ず、作業者Ｍがベルトコンベア７ａ上に空のコンテナＰを載置すると、各ベルトコンベア７ａ、７ｂ、７ｃ、７ｄ及び７ｅの回転動作に伴って、コンテナＰは物品処理装置１に向かって移動する。 Here, to explain the operation of the article processing apparatus 1 of the present embodiment, first, when the worker M places an empty container P on the belt conveyor 7a, the belt conveyors 7a, 7b, 7c, 7d and 7e With the rotation operation, the container P moves toward the article processing device 1.
図２は、６段に積載された空のコンテナＰ１（Ｐ１１、Ｐ１２、Ｐ１３、Ｐ１４、Ｐ１５、Ｐ１６）がベルトコンベア７ｄ上に移動され、３段に積載された空のコンテナＰ２（Ｐ２１、Ｐ２２、Ｐ２３）がベルトコンベア７ｅ上に移動された状態を示す。 In FIG. 2, the empty containers P1 (P11, P12, P13, P14, P15, P16) loaded in the 6th stage are moved onto the belt conveyor 7d, and the empty containers P2 (P21, P22) loaded in the 3rd stage are moved. , P23) is shown on the belt conveyor 7e.
一方、射出成型機２によって成形された物品Ｗ１またはＷ２（図１１及び図１４参照）は、取り出しロボット４によって射出成型機２から取り出された後、移動され、ベルトコンベア６上に載置される。その後、物品Ｗ１またはＷ２（図１１及び図１４参照）は、物品処理装置１の可動範囲内にベルトコンベア６によって移動される。 On the other hand, the article W1 or W2 (see FIGS. 11 and 14) molded by the injection molding machine 2 is taken out from the injection molding machine 2 by the take-out robot 4, then moved and placed on the belt conveyor 6. .. After that, the article W1 or W2 (see FIGS. 11 and 14) is moved by the belt conveyor 6 within the movable range of the article processing device 1.
本実施形態の物品処理装置１は、複数の動作を１つの装置で実行可能なように構成されており、上述した通り、第１の動作として、ベルトコンベア７ｅ上に積載された空のコンテナＰ２のうち、最上段の空のコンテナＰ２１を把持して、物品処理装置１近傍に配置された台車Ｄ上に移動させる。 The article processing device 1 of the present embodiment is configured so that a plurality of operations can be executed by one device, and as described above, as the first operation, an empty container P2 loaded on the belt conveyor 7e. Of these, the empty container P21 on the uppermost stage is grasped and moved onto the trolley D arranged in the vicinity of the article processing device 1.
図２は、３段に積載された物品収納済みのコンテナＰ３（Ｐ３１、Ｐ３２、Ｐ３３）と、３段に積載された物品収納中のコンテナＰ４（Ｐ４１、Ｐ４２、Ｐ４３）とが台車Ｄ上に載置された状態を示す。 In FIG. 2, the container P3 (P31, P32, P33) in which the goods are stored in the third stage and the container P4 (P41, P42, P43) in which the goods are stored in the third stage are placed on the trolley D. Indicates the mounted state.
また、図２では、本実施形態の物品処理装置１を動作毎に４パターンに分け、夫々を物品処理装置１ａ、物品処理装置１ｂ、物品処理装置１ｃ及び物品処理装置１ｄとして図示している。 Further, in FIG. 2, the article processing device 1 of the present embodiment is divided into four patterns for each operation, and each is illustrated as an article processing device 1a, an article processing device 1b, an article processing device 1c, and an article processing device 1d.
すなわち、物品処理装置１ａは、多関節ロボット３ａの先端に接続された把持装置５ａがベルトコンベア７ｅ上に載置されたコンテナＰ２１を把持している状態を示し、物品処理装置１ｂは、多関節ロボット３ｂの先端に接続された把持装置５ｂが台車Ｄ上にコンテナＰ４１を把持して移動させた状態を示している。 That is, the article processing device 1a shows a state in which the gripping device 5a connected to the tip of the articulated robot 3a is gripping the container P21 mounted on the belt conveyor 7e, and the article processing device 1b is an articulated robot. It shows a state in which the gripping device 5b connected to the tip of the robot 3b grips and moves the container P41 on the trolley D.
また、物品処理装置１ｃは、多関節ロボット３ｃの先端に接続された把持装置５ｃがベルトコンベア６上に載置された物品Ｗ１またはＷ２（図１１及び図１４参照）を把持している状態を示し、物品処理装置１ｄは、多関節ロボット３ｄの先端に接続された把持装置５ｄが台車Ｄ上に積載されたコンテナＰ４１内に物品Ｗ１またはＷ２（図１１及び図１４参照）を収納している状態を示している。 Further, the article processing device 1c is in a state where the gripping device 5c connected to the tip of the articulated robot 3c is gripping the articles W1 or W2 (see FIGS. 11 and 14) placed on the belt conveyor 6. As shown, the article processing device 1d stores articles W1 or W2 (see FIGS. 11 and 14) in a container P41 in which a gripping device 5d connected to the tip of an articulated robot 3d is loaded on a trolley D. It shows the state.
次に、把持装置５について説明する。図３は、本実施形態の物品処理装置における把持装置の全体斜視図である。 Next, the gripping device 5 will be described. FIG. 3 is an overall perspective view of the gripping device in the article processing device of the present embodiment.
把持装置５は、図３に示すように、基部１１と、その基部１１に対して直交して延びる逆Ｔ字状の２本のアーム部１３ａ及びアーム部１３ｂと、アーム部１３ａの内側側面に配置されたフック爪２３ａ及び２３ｂ（図１１参照、本発明の「把持部」及び「第１把持部」に相当）と、アーム部１３ｂの内側側面に配置されたフック爪２３ｃ及び２３ｄ（図１１参照、本発明の「把持部」及び「第１把持部」に相当）と、アーム部１３ａの図面上下面に配置された第１側面吸引部１９ａ及び１９ｂ（本発明の「第２吸引部」及び「第３把持部」に相当）と、アーム部１３ｂの図面上下面に配置された第２側面吸引部１９ｃ及び１９ｄ（図９参照）（本発明の「第２吸引部」及び「第３把持部」に相当）と、アーム部１３ａの図面上先端側面に配置された第１先端吸引部２１ａ（図９参照、本発明の「第１吸引部」及び「第２把持部」に相当）と、アーム部１３ｂの図面上先端側面に配置された第２先端吸引部２１ｂ（図９参照、本発明の「第１吸引部」及び「第２把持部」に相当）と、を備える。 As shown in FIG. 3, the gripping device 5 is provided on the base portion 11, two inverted T-shaped arm portions 13a and arm portions 13b extending perpendicular to the base portion 11, and the inner side surface of the arm portion 13a. Arranged hook claws 23a and 23b (see FIG. 11, corresponding to the "grip portion" and "first grip portion" of the present invention), and hook claws 23c and 23d arranged on the inner side surface of the arm portion 13b (FIG. 11). Reference, "corresponding to the" gripping portion "and" first gripping portion "of the present invention) and the first side surface suction portions 19a and 19b (corresponding to the" second suction portion "of the present invention" arranged on the upper and lower surfaces of the drawing of the arm portion 13a. And "corresponding to the" third gripping portion ") and the second side surface suction portions 19c and 19d (see FIG. 9) arranged on the upper and lower surfaces of the drawing of the arm portion 13b ("second suction portion" and "third suction portion" of the present invention. Corresponding to the "grip portion") and the first tip suction portion 21a arranged on the front end side surface of the arm portion 13a (see FIG. 9, corresponding to the "first suction portion" and the "second grip portion" of the present invention). And a second tip suction portion 21b (see FIG. 9, corresponding to the "first suction portion" and the "second grip portion" of the present invention) arranged on the front end side surface of the arm portion 13b on the drawing.
　また、基部１１には、アーム部１３ａとアーム部１３ｂとの間隔を変更する為のアーム部駆動用モータ１５が装着されている。 Further, the arm portion driving motor 15 for changing the distance between the arm portion 13a and the arm portion 13b is mounted on the base portion 11.
　アーム部駆動用モータ１５のモータ軸には、駆動プーリ（図示せず）が挿入され、その駆動プーリには、基部１１の長手方向に沿ったタイミングベルトが巻回され、タイミングベルトのうち、タイミングベルトの一方にアーム部１３ａが固定され、タイミングベルトの他方にアーム部１３ｂが固定されている。 A drive pulley (not shown) is inserted into the motor shaft of the arm portion drive motor 15, and a timing belt is wound around the drive pulley along the longitudinal direction of the base portion 11. The arm portion 13a is fixed to one of the belts, and the arm portion 13b is fixed to the other of the timing belts.
したがって、アーム部駆動用モータ１５が回転すると、タイミングベルトが回転し、タイミングベルトの回転方向によって、アーム部１３ａとアーム部１３ｂとの間が開閉することとなる。 Therefore, when the arm portion driving motor 15 rotates, the timing belt rotates, and the space between the arm portion 13a and the arm portion 13b opens and closes depending on the rotation direction of the timing belt.
なお、本実施形態のフック爪２３ａ、２３ｂ、２３ｃ及び２３ｄは、アーム部１３ａまたはアーム１３ｂに固定されているが、フック爪２３ａとフック爪２３ｂとの間、及びフック爪２３ｃとフック爪２３ｄとの間が開閉するように構成することも可能である。 The hook claws 23a, 23b, 23c and 23d of the present embodiment are fixed to the arm portion 13a or the arm 13b, but are between the hook claws 23a and the hook claws 23b, and the hook claws 23c and the hook claws 23d. It is also possible to configure the space to open and close.
例えば、基台１１内にフック爪駆動用モータを配置し、そのフック爪駆動用モータの回転によって回転するように回転軸を基台１１の長手方向に沿って配置し、その回転軸の回転によって回転するフック爪開閉用タイミングベルトをアーム部１３ａ及びアーム部１３ｂの夫々に沿って配置し、フック爪開閉用タイミングベルトの一方にフック爪２３ａを固定し、フック爪開閉用タイミングベルトの他方にフック爪２３ｂを固定するとともに、フック爪開閉用タイミングベルトの一方にフック爪２３ｃを固定し、フック爪開閉用タイミングベルトの他方にフック爪２３ｄを固定することにより、フック爪２３ａとフック爪２３ｂとの間、及びフック爪２３ｃとフック爪２３ｄとの間を開閉することができる。 For example, a hook claw drive motor is arranged in the base 11, a rotation shaft is arranged along the longitudinal direction of the base 11 so as to rotate by the rotation of the hook claw drive motor, and the rotation of the rotation shaft causes the rotation shaft. A rotating hook claw opening / closing timing belt is arranged along each of the arm portion 13a and the arm portion 13b, the hook claw 23a is fixed to one of the hook claw opening / closing timing belts, and the hook is hooked to the other of the hook claw opening / closing timing belts. By fixing the claw 23b, fixing the hook claw 23c to one of the hook claw opening / closing timing belts, and fixing the hook claw 23d to the other of the hook claw opening / closing timing belt, the hook claw 23a and the hook claw 23b can be fixed. It is possible to open and close the space and between the hook claw 23c and the hook claw 23d.
なお、本実施形態のアーム部１３ａ及びアーム部１３ｂは、それぞれ基部１１に対して直交するように延びているが、直交した形態に限定されるものではなく、基部１１に交差する方向に延びていれば良い。 The arm portion 13a and the arm portion 13b of the present embodiment extend so as to be orthogonal to the base portion 11, but are not limited to the orthogonal form and extend in a direction intersecting the base portion 11. Just do it.
また、フック爪２３ａ、２３ｂ、２３ｃ及び２３ｄ、第１側面吸引部１９ａ及び１９ｂ、第２側面吸引部１９ｃ及び１９ｄ、第１先端吸引部２１ａ及び第２先端吸引部２１ｂの動作については後述する。 The operations of the hook claws 23a, 23b, 23c and 23d, the first side surface suction portions 19a and 19b, the second side surface suction portions 19c and 19d, the first tip suction portion 21a and the second tip suction portion 21b will be described later.
次に、本実施形態の物品処理装置１のブロック図について説明する。 Next, the block diagram of the article processing apparatus 1 of this embodiment will be described.
図４は、本実施形態の物品処理装置のブロック図であり、図５は、本実施形態の物品処理装置のメインコントローラのブロック図である。 FIG. 4 is a block diagram of the article processing apparatus of the present embodiment, and FIG. 5 is a block diagram of the main controller of the article processing apparatus of the present embodiment.
図４において、物品処理装置１は、電源１０に電気的に接続されたメインコントローラ１６と、そのメインコントローラ１６に電気的に接続され、第１先端吸引部２１ａ、第２先端吸引部２１ｂ、第１側面吸引部１９ａ及び１９ｂ並びに第２側面吸引部１９ｃ及び１９ｄを駆動するためのエアコンプレッサー２２と、メインコントローラ１６に電気的に接続され、多関節ロボット３を制御するためのロボットコントローラ１８と、アーム部駆動用モータ１５を駆動するためのドライバー回路２０と、装置の操作者からの入力を受け付ける操作パネル８と、ベルトコンベア７ｅ上のコンテナＰの有無を検出するコンテナセンサー１２と、ベルトコンベア６上の物品の有無を検出する物品センサー１４と、を備える。 In FIG. 4, the article processing device 1 is electrically connected to a main controller 16 electrically connected to a power source 10 and the main controller 16 thereof, and is electrically connected to a first tip suction unit 21a, a second tip suction unit 21b, and a second tip suction unit 21b. An air compressor 22 for driving the first side suction portions 19a and 19b and the second side suction portions 19c and 19d, a robot controller 18 electrically connected to the main controller 16 to control the articulated robot 3, and a robot controller 18. The driver circuit 20 for driving the arm drive motor 15, the operation panel 8 for receiving input from the operator of the device, the container sensor 12 for detecting the presence or absence of the container P on the belt conveyor 7e, and the belt conveyor 6 An article sensor 14 for detecting the presence or absence of the above article is provided.
また、図５において、メインコントローラ１６は、ＣＰＵ（中央演算処理装置）２８と、そのＣＰＵ２８に入出力可能に接続されたＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）２４と、ＣＰＵ２８に入出力可能に接続されたＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）２６とを備える。 Further, in FIG. 5, the main controller 16 has a CPU (central processing unit) 28, a RAM (Random Access Memory) 24 connected to the CPU 28 so as to be input / output, and a ROM connected to the CPU 28 so as to be input / output. (Read Only Memory) 26 is provided.
ＲＡＭ２４は、コンテナＰの寸法等の情報を記憶したコンテナ情報データテーブル２４ａと、収納される物品の寸法等の情報を記憶した物品情報データテーブル２４ｂとを備える。 The RAM 24 includes a container information data table 24a that stores information such as the dimensions of the container P, and an article information data table 24b that stores information such as the dimensions of the articles to be stored.
また、ＲＯＭ２６は、本実施形態の物品処理装置１全体の動作を司るメインプログラム２６ａと、物品処理装置１による把持方法を選択するための物品把持選択プログラム２６ｂとを備える。 Further, the ROM 26 includes a main program 26a that controls the operation of the entire article processing device 1 of the present embodiment, and an article gripping selection program 26b for selecting a gripping method by the article processing device 1.
次に、上述した構成の物品処理装置１の動作について説明する。 Next, the operation of the article processing apparatus 1 having the above-described configuration will be described.
図６は、本実施形態の物品処理装置におけるメインプログラムのフローチャートであり、図７は、　本実施形態の物品処理装置における物品把持選択プログラムのフローチャートである。 FIG. 6 is a flowchart of the main program in the article processing apparatus of the present embodiment, and FIG. 7 is a flowchart of the article gripping selection program in the article processing apparatus of the present embodiment.
本実施形態の物品処理装置１は、上述した通り、ベルトコンベア７ｅ上に積載されたコンテナを把持して、物品処理装置１近傍に配置された台車Ｄ上に移動させる第１の動作と、取り出しロボット４によって取り出された後、ベルトコンベア６に載置された物品Ｗ１またはＷ２（図１１及び図１４参照）を把持して、台車Ｄに積層されたコンテナ内に収納する第２の動作と、を行うものである。 As described above, the article processing device 1 of the present embodiment grips the container loaded on the belt conveyor 7e and moves it onto the trolley D arranged in the vicinity of the article processing device 1. A second operation of grasping the article W1 or W2 (see FIGS. 11 and 14) placed on the belt conveyor 6 after being taken out by the robot 4 and storing the articles W1 or W2 (see FIGS. 11 and 14) in a container laminated on the carriage D. Is to do.
図６において、先ず、装置の操作者が電源スイッチを入れた後、操作パネル８上の操作ボタンによって物品Ｗの処理個数、物品Ｗの種類及びコンテナの種類を入力してスタートボタンを押下すると、物品処理装置１は、多関節ロボット３のアームを初期位置に移動させ（Ｓ１）、物品Ｗの処理個数をセットし（Ｓ３）、入力されたコンテナの種類に基づいてコンテナ情報をコンテナ情報データテーブル２４ａから取得し（Ｓ５）、コンテナセンサー１２がＯＮしているか否か、すなわち、コンテナＰがベルトコンベア７ｅに配置されているか否かを判断する（Ｓ７）。 In FIG. 6, first, after the operator of the device turns on the power switch, the number of articles W processed, the type of article W, and the type of container are input by the operation buttons on the operation panel 8, and the start button is pressed. The article processing device 1 moves the arm of the articulated robot 3 to the initial position (S1), sets the number of articles W to be processed (S3), and stores container information based on the input container type in the container information data table. Obtained from 24a (S5), it is determined whether or not the container sensor 12 is ON, that is, whether or not the container P is arranged on the belt conveyor 7e (S7).
　コンテナセンサー１２がＯＮしていない場合には（Ｓ７：Ｎｏ）、コンテナＰがベルトコンベア７ｅに移動されるまで待ち、コンテナセンサー１２がＯＮしている場合には（Ｓ７：Ｙｅｓ）、コンテナ移動フラグをＯＦＦし（Ｓ９）、物品処理装置１は、ベルトコンベア７ｅに積載されたコンテナＰのうち、最上段のコンテナＰを把持した後（Ｓ１１）、移動させ、台車Ｄ上に載置し（Ｓ１３）、物品把持選択プログラムを実行する（Ｓ１５）。 If the container sensor 12 is not ON (S7: No), wait until the container P is moved to the belt conveyor 7e, and if the container sensor 12 is ON (S7: Yes), the container movement flag. (S9), the article processing apparatus 1 grips the uppermost container P among the containers P loaded on the belt conveyor 7e (S11), moves the container P, and places it on the trolley D (S13). ), The article gripping selection program is executed (S15).
図８は、本実施形態の物品処理装置１がコンテナＰ２１を把持した状態を示す斜視図であり、図９は、その背面図であり、図１０は、その左側面図である。 8 is a perspective view showing a state in which the article processing apparatus 1 of the present embodiment holds the container P21, FIG. 9 is a rear view thereof, and FIG. 10 is a left side view thereof.
　なお、物品処理装置１がコンテナＰ２１を把持する場合には、先ず、多関節ロボット３がアーム部１３ａとアーム部１３ｂとの間隔を空けた状態で、把持装置５をコンテナＰ２１の上部まで移動させ、その後、アーム部１３ａ及びアーム部１３ｂがコンテナＰ２１の側面に当接する高さにまで把持装置５を下降させ、最後に、アーム部１３ａとアーム部１３ｂとの間を閉じてコンテナＰ２１を把持するようになっている。 When the article processing device 1 grips the container P21, first, the articulated robot 3 moves the gripping device 5 to the upper part of the container P21 with a space between the arm portion 13a and the arm portion 13b. After that, the gripping device 5 is lowered to a height at which the arm portion 13a and the arm portion 13b abut on the side surface of the container P21, and finally, the space between the arm portion 13a and the arm portion 13b is closed to grip the container P21. It has become like.
　具体的には、図８及び図９に示すように、アーム部１３ａに固定されたフック爪２３ａ及び２３ｂがコンテナＰ２１の一方の側面に入り込むと共に、アーム部１３ｂに固定されたフック爪２３ｃ及び２３ｄがコンテナＰ２１の他方の側面に入り込むことにより、アーム部１３ａ及びアーム部１３ｂがコンテナＰ２１を把持する。 Specifically, as shown in FIGS. 8 and 9, the hook claws 23a and 23b fixed to the arm portion 13a enter one side surface of the container P21, and the hook claws 23c and 23d fixed to the arm portion 13b. Enters the other side surface of the container P21, so that the arm portion 13a and the arm portion 13b grip the container P21.
図７において、物品把持選択プログラムでは、入力された物品Ｗの種類に基づいて物品の寸法・重量等の情報を物品情報データテーブル２４ｂから取得し（Ｓ３３）、アーム部１３ａ及びアーム部１３ｂの縦幅である２Ｘ１（図１１参照）がコンテナＰの収納長さよりも短いか否かを判断し（Ｓ３５）、アーム部１３ａ及びアーム部１３ｂの縦幅２Ｘ１がコンテナの収納長さよりも短くない場合には（Ｓ３５：Ｎｏ）、アーム部１３ａ及びアーム部１３ｂ自体がそもそもコンテナＰ内に侵入できないと判断し、警告表示を行った後（Ｓ３７）メインプログラムに戻る（Ｓ５５）。 In FIG. 7, in the article gripping selection program, information such as the size and weight of the article is acquired from the article information data table 24b based on the input type of the article W (S33), and the arm portion 13a and the arm portion 13b are vertically arranged. It is determined whether or not the width 2X1 (see FIG. 11) is shorter than the storage length of the container P (S35), and when the vertical width 2X1 of the arm portion 13a and the arm portion 13b is not shorter than the storage length of the container. (S35: No) determines that the arm portion 13a and the arm portion 13b themselves cannot enter the container P in the first place, displays a warning, and then returns to the main program (S55).
一方、アーム部１３ａ及びアーム部１３ｂの縦幅２Ｘ１がコンテナの収納長さよりも短い場合には（Ｓ３５：Ｙｅｓ）、物品処理装置１は、多関節ロボット３を使用して、第１先端吸引部２１ａ及び第２先端吸引部２１ｂが物品Ｗに対向するように把持装置５を回転させた後、アーム部１３ａの第１先端吸引部２１ａをＯＮし（Ｓ３９）、アーム部１３ａ及びアーム部１３ｂの縦幅２Ｘ１（図１１参照）がコンテナＰの収納長さよりも短く、かつ物品Ｗの重量が所定の第１重量よりも重いか否かを判断する（Ｓ４１）。 On the other hand, when the vertical width 2X1 of the arm portion 13a and the arm portion 13b is shorter than the storage length of the container (S35: Yes), the article processing device 1 uses the articulated robot 3 to use the first tip suction unit. After rotating the gripping device 5 so that the 21a and the second tip suction portion 21b face the article W, the first tip suction portion 21a of the arm portion 13a is turned ON (S39), and the arm portion 13a and the arm portion 13b It is determined whether or not the vertical width 2X1 (see FIG. 11) is shorter than the storage length of the container P and the weight of the article W is heavier than the predetermined first weight (S41).
ここで、第１重量は、第１先端吸引部２１ａが吸引可能な重量に設定されており、本実施形態では、第１重量を５００ｇと設定している。 Here, the first weight is set to a weight that can be sucked by the first tip suction portion 21a, and in the present embodiment, the first weight is set to 500 g.
そして、アーム部１３ａ及びアーム部１３ｂの縦幅２Ｘ１（図１１参照）がコンテナＰの収納長さよりも短く、かつ物品Ｗの重量が所定の第１重量よりも重いと判断された場合には（Ｓ４１：Ｙｅｓ）、物品Ｗを第１先端吸引部２１ａのみでは吸引できないと判断し、アーム部１３ｂの第２先端吸引部２１ｂをＯＮし（Ｓ４３）、アーム部１３ａ及びアーム部１３ｂの縦幅２Ｘ１（図１３参照）がコンテナＰの収納長さよりも短く、かつ物品Ｗの重量が所定の第１重量よりも重いと判断されない場合には（Ｓ４１：Ｎｏ）、第１先端吸引部２１ａのみがＯＮされた状態でＳ４５が実行される。 When it is determined that the vertical width 2X1 (see FIG. 11) of the arm portion 13a and the arm portion 13b is shorter than the storage length of the container P and the weight of the article W is heavier than the predetermined first weight (see FIG. 11). S41: Yes), it is determined that the article W cannot be sucked only by the first tip suction portion 21a, the second tip suction portion 21b of the arm portion 13b is turned ON (S43), and the vertical width 2X1 of the arm portion 13a and the arm portion 13b. When (see FIG. 13) is shorter than the storage length of the container P and the weight of the article W is not determined to be heavier than the predetermined first weight (S41: No), only the first tip suction portion 21a is turned on. S45 is executed in this state.
なお、図１１は、本実施形態の物品処理装置１における第１先端吸引部２１ａ及び第２先端吸引部２１ｂが物品Ｗ１を吸引した状態を示す背面図であり、図１２は、その左側面図である。 11 is a rear view showing a state in which the first tip suction portion 21a and the second tip suction portion 21b in the article processing apparatus 1 of the present embodiment suck the article W1, and FIG. 12 is a left side view thereof. Is.
なお、本実施形態においては、物品Ｗ１の重量が第１重量よりも軽い場合には、第１先端吸引部２１ａのみで物品Ｗ１を吸引し、第２先端吸引部２１ｂを使用しないが、物品Ｗ１の重量が第１重量よりも軽い場合であっても、安全のために、第１先端吸引部２１ａ及び第２先端吸引部２１ｂをＯＮさせて使用するようにしても良い。 In the present embodiment, when the weight of the article W1 is lighter than the first weight, the article W1 is sucked only by the first tip suction portion 21a and the second tip suction portion 21b is not used, but the article W1 is used. Even when the weight of the first tip suction portion is lighter than the first weight, for safety, the first tip suction portion 21a and the second tip suction portion 21b may be turned on for use.
次に、アーム部１３ａ及びアーム部１３ｂの横幅Ｘ２（図１５参照）がコンテナＰの収納長さよりも短いか否かを判断し（Ｓ４５）、アーム部１３ａ及びアーム部１３ｂの横幅Ｘ２がコンテナの収納長さよりも短くない場合には（Ｓ４５：Ｎｏ）、Ｓ５１の処理を実行する。 Next, it is determined whether or not the width X2 of the arm portion 13a and the arm portion 13b (see FIG. 15) is shorter than the storage length of the container P (S45), and the width X2 of the arm portion 13a and the arm portion 13b is the container. If it is not shorter than the storage length (S45: No), the process of S51 is executed.
一方、アーム部１３ａ及びアーム部１３ｂの横幅Ｘ２（図１５参照）がコンテナＰの収納長さよりも短いと判断された場合には（Ｓ４５：Ｙｅｓ）、それまでＯＮしていた第１先端吸引部２１ａ及び／または第２先端吸引部２１ｂをＯＦＦし（Ｓ４７）、第１側面吸引部１９ａ及び１９ｂをＯＮする（Ｓ４９）。 On the other hand, when it is determined that the width X2 (see FIG. 15) of the arm portion 13a and the arm portion 13b is shorter than the storage length of the container P (S45: Yes), the first tip suction portion that has been turned on until then. The 21a and / or the second tip suction portion 21b is turned off (S47), and the first side surface suction portions 19a and 19b are turned on (S49).
そして、物品処理装置１は、アーム部１３ａ及びアーム部１３ｂの横幅Ｘ２（図１５参照）がコンテナＰの収納長さよりも短く、かつ物品Ｗ２の重量が所定の第２重量よりも重いか否かを判断し（Ｓ５１）、アーム部１３ａ及びアーム部１３ｂの横幅Ｘ２（図１５参照）がコンテナＰの収納長さよりも短く、かつ物品Ｗ２の重量が所定の第２重量よりも重いと判断されない場合には（Ｓ５１：Ｎｏ）、メインプログラムに戻る（Ｓ５５）。 Then, in the article processing device 1, whether or not the width X2 (see FIG. 15) of the arm portion 13a and the arm portion 13b is shorter than the storage length of the container P and the weight of the article W2 is heavier than the predetermined second weight. (S51), when the width X2 (see FIG. 15) of the arm portion 13a and the arm portion 13b is shorter than the storage length of the container P, and the weight of the article W2 is not determined to be heavier than the predetermined second weight. (S51: No), return to the main program (S55).
一方、アーム部１３ａ及びアーム部１３ｂの横幅Ｘ２（図１５参照）がコンテナＰの収納長さよりも短く、かつ物品Ｗ２の重量が所定の第２重量よりも重い場合には（Ｓ５１：Ｙｅｓ）、物品Ｗ２を第１側面吸引部１９ａ及び１９ｂのみでは吸引できないと判断し、第１側面吸引部１９ａ及び１９ｂに加えて、第２側面吸引部１９ｃ及び１９ｄをＯＮして（Ｓ５３）、メインプログラムに戻る（Ｓ５５）。 On the other hand, when the width X2 (see FIG. 15) of the arm portion 13a and the arm portion 13b is shorter than the storage length of the container P and the weight of the article W2 is heavier than the predetermined second weight (S51: Yes). It is determined that the article W2 cannot be sucked only by the first side surface suction portions 19a and 19b, and in addition to the first side surface suction portions 19a and 19b, the second side surface suction portions 19c and 19d are turned on (S53) to enter the main program. Return (S55).
なお、図１４は、本実施形態の物品処理装置１における第１側面吸引部１９ａ及び１９ｂ、並びに、第２側面吸引部１９ｃ及び１９ｄをＯＮして、物品Ｗ２を吸引した状態を示す斜視図であり、図１５は、その左側面図である。 Note that FIG. 14 is a perspective view showing a state in which the first side surface suction portions 19a and 19b and the second side surface suction portions 19c and 19d of the article processing device 1 of the present embodiment are turned on to suck the article W2. Yes, FIG. 15 is a left side view thereof.
図６のメインプログラムに戻ると、ベルトコンベア６上の物品の有無を判断する物品センサー１４がＯＮしているか否かが判断され（Ｓ１７）、物品センサー１４がＯＮしていない場合には（Ｓ１７：Ｎｏ）、ベルトコンベア６によって物品が搬送されるまでそのまま待ち、物品センサー１４がＯＮしている場合には（Ｓ１７：Ｙｅｓ）、物品処理装置１の把持装置５は、ベルトコンベア６に載置されている物品Ｗ１またはＷ２を把持し（Ｓ１９）、把持した物品Ｗ１またはＷ２をコンテナ４１に収納する（Ｓ２１）。 Returning to the main program of FIG. 6, it is determined whether or not the article sensor 14 for determining the presence or absence of the article on the belt conveyor 6 is ON (S17), and if the article sensor 14 is not ON (S17). : No), wait as it is until the article is conveyed by the belt conveyor 6, and when the article sensor 14 is ON (S17: Yes), the gripping device 5 of the article processing device 1 is placed on the belt conveyor 6. The article W1 or W2 is gripped (S19), and the gripped article W1 or W2 is stored in the container 41 (S21).
なお、上述したように、図１１は、本実施形態の物品処理装置１における第１先端吸引部２１ａ及び第２先端吸引部２１ｂが物品Ｗ１を吸引した状態を示す背面図であり、図１２は、その左側面図であり、図１４は、本実施形態の物品処理装置１における第１側面吸引部１９ａ及び１９ｂ、並びに、第２側面吸引部１９ｃ及び１９ｄが物品Ｗ２を吸引した状態を示す斜視図であり、図１５は、その左側面図である。 As described above, FIG. 11 is a rear view showing a state in which the first tip suction portion 21a and the second tip suction portion 21b in the article processing apparatus 1 of the present embodiment suck the article W1. FIG. 12 is a rear view. 14 is a left side view thereof, and FIG. 14 is a perspective view showing a state in which the first side surface suction portions 19a and 19b and the second side surface suction portions 19c and 19d of the article processing apparatus 1 of the present embodiment suck the article W2. FIG. 15 is a left side view thereof.
図１１、図１２、図１４及び図１５は、物品がコンテナ４１に収納される前の状態を示しているが、図１３は、第１先端吸引部２１ａ及び第２先端吸引部２１ｂが吸引した物品Ｗ１をコンテナＰ４１内に収納する状態を示した図である。 11, FIG. 12, FIGS. 14 and 15 show the state before the article is stored in the container 41, but in FIG. 13, the first tip suction portion 21a and the second tip suction portion 21b sucked. It is a figure which showed the state which stores the article W1 in a container P41.
そして、現在収納中のコンテナＰ４１が満杯か否かが判断され（Ｓ２３）、現在収納中のコンテナＰ４１が満杯でない場合には（Ｓ２３：Ｎｏ）、物品処理装置１の処理個数が操作者によって入力された処理個数に達したか否かが判断され（Ｓ２７）、現在収納中のコンテナＰ４１が満杯である場合には（Ｓ２３：Ｙｅｓ）、コンテナ移動フラグをＯＮした後（Ｓ２５）、物品処理装置１の処理個数が操作者によって入力された処理個数に達したか否かが判断される（Ｓ２７）。 Then, it is determined whether or not the container P41 currently stored is full (S23), and if the container P41 currently stored is not full (S23: No), the processing number of the article processing device 1 is input by the operator. It is determined whether or not the number of processed items has been reached (S27), and if the container P41 currently stored is full (S23: Yes), after turning on the container movement flag (S25), the article processing device. It is determined whether or not the number of processes of 1 has reached the number of processes input by the operator (S27).
物品処理装置１の処理個数が操作者によって入力された処理個数に達していない場合には（Ｓ２７：Ｎｏ）、コンテナ移動フラグがＯＮしているか否かが判断され（Ｓ２９）、コンテナ移動フラグがＯＮしていない場合には（Ｓ２９：Ｎｏ）、Ｓ１７の処理に戻り、コンテナ移動フラグがＯＮしている場合には（Ｓ２９：Ｙｅｓ）、Ｓ７の処理に戻る。 If the number of processed items in the article processing device 1 has not reached the number of processed items input by the operator (S27: No), it is determined whether or not the container movement flag is ON (S29), and the container movement flag is set. If it is not ON, the process returns to the process of S17 (S29: No), and if the container move flag is ON (S29: Yes), the process returns to the process of S7.
一方、物品処理装置１の処理個数が操作者によって入力された処理個数に達している場合には（Ｓ２７：Ｙｅｓ）、処理を終了する（Ｓ３1）。 On the other hand, when the processing number of the article processing apparatus 1 has reached the processing number input by the operator (S27: Yes), the processing is terminated (S31).
本実施形態の物品処理装置１によれば、多関節ロボット３と、その多関節ロボット３の先端に接続された基部１１と、その基部１１から基部１１に交差する方向に延び、その間隔を変更可能な２本のアーム部１３ａ及び１３ｂと、アーム部１３ａに配置されたフック爪２３ａ及び２３ｂ並びにアーム部１３ｂに配置されたフック爪２３ｃ及び２３ｄと、アーム部１３ａのフック爪２３ａ及び２３ｂが配置された面とは異なる面の表面から突出するように配置された第１先端吸引部２１ａ、及び／または、アーム部１３ｂのフック爪２３ｃ及び２３ｄが配置された面とは異なる面の表面から突出するように配置された第２先端吸引部２１ｂと、を備えているので、１つの多関節ロボット３のフック爪２３ａ、２３ｂ、２３ｃ及び２３ｄを使用してコンテナを簡単に把持することができ、第１先端吸引部２１ａ及び／または第２先端吸引部２１ｂを使用して、コンテナよりも小さな物品Ｗ１を簡単に吸着することができる。 According to the article processing device 1 of the present embodiment, the articulated robot 3, the base 11 connected to the tip of the articulated robot 3, and the base 11 extending in a direction intersecting the base 11 and changing the interval thereof. Two possible arm portions 13a and 13b, hook claws 23a and 23b arranged on the arm portion 13a, hook claws 23c and 23d arranged on the arm portion 13b, and hook claws 23a and 23b of the arm portion 13a are arranged. The first tip suction portion 21a and / or the hook claws 23c and 23d of the arm portion 13b are arranged so as to protrude from the surface of the surface different from the surface on which the hook claws 23c and 23d are arranged. Since it is provided with a second tip suction portion 21b arranged so as to be used, the container can be easily gripped by using the hook claws 23a, 23b, 23c and 23d of one articulated robot 3. The first tip suction portion 21a and / or the second tip suction portion 21b can be used to easily suck the article W1 smaller than the container.
また、物品処理装置１によれば、第１先端吸引部２１ａまたは第２先端吸引部２１ｂは、アーム部１３またはアーム部１３ｂの長手方向先端部の表面からさらに先端方向に突出するように配置されているので、比較的投影面積の小さな物品であっても簡単に吸着することができ、把持した物品をコンテナに簡単に移動して収納することができる。 Further, according to the article processing apparatus 1, the first tip suction portion 21a or the second tip suction portion 21b is arranged so as to further project in the tip direction from the surface of the longitudinal tip portion of the arm portion 13 or the arm portion 13b. Therefore, even an article having a relatively small projected area can be easily adsorbed, and the grasped article can be easily moved to a container and stored.
また、物品処理装置１によれば、フック爪２３ａ、２３ｂ、２３ｃ及び２３ｄは、コンテナＰを把持するものであって、第１先端吸引部２１ａ、及び／または、第２先端吸引部２１ｂは、コンテナＰとは異なる物品Ｗ１を吸着し、コンテナＰ内に収納するものであるので、１つの多関節ロボット３によって、コンテナＰの把持及び移送、コンテナＰとは異なる物品Ｗ１の吸着及び移送、並びに物品Ｗ１のコンテナ内への収納を確実に実行することができる。 Further, according to the article processing device 1, the hook claws 23a, 23b, 23c and 23d grip the container P, and the first tip suction portion 21a and / or the second tip suction portion 21b Since the article W1 different from the container P is adsorbed and stored in the container P, one articulated robot 3 grips and transfers the container P, and adsorbs and transfers the article W1 different from the container P. The storage of the article W1 in the container can be reliably performed.
また、物品処理装置１によれば、各アーム部１３ａ及びアーム部１３ｂにおいて、フック爪２３ａ、２３ｂ、２３ｃ及び２３ｄ、第１先端吸引部２１ａ並びに第２先端吸引部２１ｂが配置された面とは異なる面の表面から突出するように配置された第１側面吸引部１９ａ及び１９ｂ、及び／または、第２側面吸引部１９ｃ及び１９ｄを備えているので、１つの多関節ロボット３の第１側面吸引部１９ａ及び１９ｂ、及び／または、第２側面吸引部１９ｃ及び１９ｄを使用してさらに他の物品を把持等することができる。 Further, according to the article processing apparatus 1, in each arm portion 13a and arm portion 13b, the surface on which the hook claws 23a, 23b, 23c and 23d, the first tip suction portion 21a and the second tip suction portion 21b are arranged is The first side surface suction of one articulated robot 3 is provided with the first side surface suction portions 19a and 19b and / or the second side surface suction portions 19c and 19d arranged so as to project from the surfaces of different surfaces. The portions 19a and 19b and / or the second side surface suction portions 19c and 19d can be used to grip and the like.
さらに、物品処理装置１によれば、フック爪２３ａ、２３ｂ、２３ｃ及び２３ｄは、コンテナＰを把持するものであって、第１側面吸引部１９ａ及び１９ｂ、及び／または、第２側面吸引部１９ｃ及び１９ｄは、コンテナＰとは異なる物品Ｗ２を吸着し、コンテナＰ内に収納するものであるので、１つの多関節ロボット３によって、コンテナＰの把持及び移送、コンテナＰとは異なる物品Ｗ２の吸着及び移送、並びに物品Ｗ２のコンテナ内への収納を確実に実行することができる。 Further, according to the article processing apparatus 1, the hook claws 23a, 23b, 23c and 23d grip the container P, and the first side surface suction portions 19a and 19b and / or the second side surface suction portions 19c. And 19d suck and transfer the article W2 different from the container P and store it in the container P. Therefore, one articulated robot 3 grips and transfers the container P and sucks the article W2 different from the container P. And transfer, and storage of the article W2 in the container can be reliably performed.
以上、本発明の実施形態における物品処理装置１について説明してきたが、本発明は上記実施形態に限られるものではなく、その要旨を逸脱しない範囲において種々変更して実施することが可能である。 Although the article processing apparatus 1 according to the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist thereof.
例えば、上述の実施形態においては、アーム部１３ａに１つの第１先端吸引部２１ａを、アーム部１３ｂに１つの第２先端吸引部２１ｂを設けた態様を説明してきたが、第１先端吸引部２１ａ及び第２先端吸引部２１ｂは、各アーム部に複数個設けるようにしても良く、一方のアーム部に一つ、他方のアーム部に複数設けるようにしても良く、さらには、各アームに複数設けた場合には、それぞれの設置個数を異ならせるようにしても良い。 For example, in the above-described embodiment, the embodiment in which one first tip suction portion 21a is provided on the arm portion 13a and one second tip suction portion 21b is provided on the arm portion 13b has been described. A plurality of 21a and a second tip suction portion 21b may be provided in each arm portion, one in one arm portion, and a plurality in the other arm portion, and further, each arm may be provided with a plurality of 21a and the second tip suction portion 21b. When a plurality of them are provided, the number of each may be different.
また、第１先端吸引部２１ａが配置された面と対向する面に、第１基端吸引部を設けても良く、第２先端吸引部２１ｂが配置された面と対向する面に、第２基端吸引部を設けるようにしても良い。 Further, the first base end suction portion may be provided on the surface facing the surface on which the first tip suction portion 21a is arranged, and the second tip suction portion 21b may be provided on the surface facing the surface on which the second tip suction portion 21b is arranged. A base end suction portion may be provided.
さらに、第１側面吸引部１９ａ及び１９ｂ並びに第２側面吸引部１９ｃ及び１９ｄが配置された側面とは異なる側面に、第３側面吸引部、第４側面吸引部、第５側面吸引部、第６側面吸引部を設けるようにしても良い。 Further, on a side surface different from the side surface where the first side surface suction portions 19a and 19b and the second side surface suction portions 19c and 19d are arranged, the third side surface suction unit, the fourth side surface suction unit, the fifth side surface suction unit, and the sixth side surface suction unit. A side suction portion may be provided.
また、本実施形態においては、本発明の「箱部材」の１例として、コンテナについて説明してきたが、本発明は、コンテナに限られるものではなく、物品を収納可能な箱部材すべてについて適用可能である。 Further, in the present embodiment, the container has been described as an example of the "box member" of the present invention, but the present invention is not limited to the container and can be applied to all the box members capable of storing articles. Is.
また、本実施形態においては、第１先端吸引部２１ａ、第２先端吸引部２１ｂ、第１側面吸引部１９ａ及び１９ｂ、並びに第２側面吸引部１９ｃ及び１９ｄは、物品把持選択プログラムによって、各々の形状及び吸引する物品の重量によって選択されるように説明してきたが、それに限られるものではなく、装置の操作者が吸引される物品を認識し、吸引する吸引部を予め選択して、操作パネル８に入力するようにしても良い。 Further, in the present embodiment, the first tip suction section 21a, the second tip suction section 21b, the first side surface suction sections 19a and 19b, and the second side surface suction sections 19c and 19d are respectively subjected to the article gripping selection program. Although it has been described that the selection is made according to the shape and the weight of the article to be sucked, the operation panel is not limited to the above, and the operator of the device recognizes the article to be sucked, selects the suction part to be sucked in advance, and operates the panel. You may enter it in 8.
さらに、本実施形態においては、ベルトコンベア６に載置された物品は、第１先端吸引部２１ａ、第２先端吸引部２１ｂ、第１側面吸引部１９ａ及び１９ｂ、または第２側面吸引部１９ｃ及び１９ｄによって吸引されるように説明してきたが、物品がそれらの吸引部によって吸引できないような場合には、これらの吸引部に代わって、アーム部１３ａ及びアーム部１３ｂの先端面、基端面、及び側面にロボットハンド、ロボットグリッパー等の把持部（本発明の「第２把持部」及び／または「第３把持部」に相当）を設けるようにしても良い。これらの把持部を設けた場合には、第１先端吸引部２１ａ、第２先端吸引部２１ｂ、第１側面吸引部１９ａ及び１９ｂ、または第２側面吸引部１９ｃ及び１９ｄに比べ、さらに重い物品であっても把持することができる。 Further, in the present embodiment, the articles mounted on the belt conveyor 6 include the first tip suction section 21a, the second tip suction section 21b, the first side surface suction sections 19a and 19b, or the second side surface suction section 19c and the like. Although it has been described that the article is sucked by 19d, when the article cannot be sucked by those suction parts, the tip surface, the base end surface, and the arm portion 13a and the arm portion 13b are replaced with these suction portions. A grip portion such as a robot hand or a robot gripper (corresponding to the "second grip portion" and / or the "third grip portion" of the present invention) may be provided on the side surface. When these gripping portions are provided, the article is heavier than the first tip suction portion 21a, the second tip suction portion 21b, the first side surface suction portions 19a and 19b, or the second side surface suction portions 19c and 19d. Even if there is, it can be grasped.
１・・・物品処理装置
２・・・射出成型機
３・・・多関節ロボット
４・・・取り出しロボット
５・・・把持装置
６，７ａ，７ｂ，７ｃ，７ｄ，７ｅ・・・ベルトコンベア
８・・・操作パネル
１２・・・コンテナセンサー
１４・・・物品センサー
１５・・・アーム部駆動用モータ
１６・・・メインコントローラ
１８・・・ロボットコントローラ
１９ａ，１９ｂ・・・第１側面吸引部
１９ｃ，１９ｄ・・・第２側面吸引部
２０・・・ドライバー回路
２１ａ・・・第１先端吸引部
２１ｂ・・・第２先端吸引部
２２・・・エアコンプレッサー
２３ａ，２３ｂ，２３ｃ，２３ｄ・・・フック爪
Ｄ・・・台車
Ｐ１，Ｐ２，Ｐ３，Ｐ４・・・コンテナ
Ｗ１，Ｗ２・・・物品 1 ... Article processing device 2 ... Injection molding machine 3 ... Articulated robot 4 ... Extraction robot 5 ... Gripping device 6, 7a, 7b, 7c, 7d, 7e ... Belt conveyor 8・ ・ ・ Operation panel 12 ・ ・ ・ Container sensor 14 ・ ・ ・ Article sensor 15 ・ ・ ・ Arm drive motor 16 ・ ・ ・ Main controller 18 ・ ・ ・ Robot controllers 19a, 19b ・ ・ ・ First side suction part 19c , 19d ... Second side surface suction unit 20 ... Driver circuit 21a ... First tip suction unit 21b ... Second tip suction unit 22 ... Air compressors 23a, 23b, 23c, 23d ... Hook claw D ... trolley P1, P2, P3, P4 ... container W1, W2 ... article

Claims (10)

  1. 多関節ロボットと、
    その多関節ロボットの先端に接続された基部と、
    その基部から前記基部に交差する方向に延び、その間隔を変更可能な２本のアーム部と、
    各アーム部に配置された１対の把持部と、
    各アーム部の前記１対の把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第１吸着部と、
    を備えたことを特徴とする物品処理装置。     With articulated robots
    The base connected to the tip of the articulated robot,
    Two arm portions extending from the base portion in a direction intersecting the base portion and whose spacing can be changed,
    A pair of grips arranged on each arm and
    With at least one first suction portion arranged so as to protrude from the surface of a surface different from the surface on which the pair of grip portions of each arm portion is arranged,
    An article processing device characterized by being equipped with.
  2. 前記第１吸着部は、２本の前記アーム部の長手方向先端部の表面からさらに先端方向に突出するように配置されていることを特徴とする請求項１に記載の物品処理装置。 The article processing apparatus according to claim 1, wherein the first suction portion is arranged so as to further project in the tip direction from the surface of the tip portions of the two arm portions in the longitudinal direction.
  3. 前記１対の把持部は、箱部材を把持するものであって、前記第１吸着部は、前記箱部材とは異なる物品を吸着し、前記箱部材内に収納するものであることを特徴とする請求項１または請求項２に記載の物品処理装置。 The pair of gripping portions grip the box member, and the first suction portion sucks an article different from the box member and stores the article in the box member. The article processing apparatus according to claim 1 or 2.
  4. 　各アーム部において、前記１対の把持部及び前記第１吸着部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第２吸着部を備えたことを特徴とする請求項１乃至請求項３の何れかに記載の物品処理装置。 Each arm portion is characterized by having at least one second suction portion arranged so as to project from a surface different from the surface on which the pair of grip portions and the first suction portion are arranged. The article processing apparatus according to any one of claims 1 to 3.
  5. 前記１対の把持部は、箱部材を把持するものであって、前記第２吸着部は、前記箱部材とは異なる物品を吸着し、前記箱部材内に収納するものであることを特徴とする請求項４に記載の物品処理装置。 The pair of gripping portions grip the box member, and the second suction portion sucks an article different from the box member and stores the article in the box member. The article processing apparatus according to claim 4.
  6. 多関節ロボットと、
    その多関節ロボットの先端に接続された基部と、
    その基部から前記基部に交差する方向に延び、その間隔を変更可能な２本のアーム部と、
    各アーム部に配置された１対の第１把持部と、
    各アーム部の前記１対の第１把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第２把持部と、
    を備えたことを特徴とする物品処理装置。     With articulated robots
    The base connected to the tip of the articulated robot,
    Two arm portions extending from the base portion in a direction intersecting the base portion and whose spacing can be changed,
    A pair of first grips arranged on each arm,
    With at least one second grip portion arranged so as to project from the surface of a surface different from the surface on which the pair of first grip portions of each arm portion is arranged.
    An article processing device characterized by being equipped with.
  7. 前記第２把持部は、２本の前記アーム部の長手方向先端部の表面からさらに先端方向に突出するように配置されていることを特徴とする請求項６に記載の物品処理装置。 The article processing apparatus according to claim 6, wherein the second grip portion is arranged so as to further project in the tip direction from the surface of the tip portions of the two arm portions in the longitudinal direction.
  8. 前記１対の第１把持部は、箱部材を把持するものであって、前記第２把持部は、前記箱部材とは異なる物品を把持し、前記箱部材内に収納するものであることを特徴とする請求項６または請求項７に記載の物品処理装置。 The pair of first grip portions grips the box member, and the second grip portion grips an article different from the box member and stores the article in the box member. The article processing apparatus according to claim 6 or 7.
  9. 　各アーム部において、前記１対の第１把持部及び前記第２把持部が配置された面とは異なる面の表面から突出するように配置された少なくとも１つの第３把持部を備えたことを特徴とする請求項６乃至請求項８の何れかに記載の物品処理装置。 Each arm portion is provided with at least one third grip portion arranged so as to project from a surface different from the surface on which the pair of first grip portions and the second grip portion are arranged. The article processing apparatus according to any one of claims 6 to 8.
  10. 前記１対の第１把持部は、箱部材を把持するものであって、前記第３把持部は、前記箱部材とは異なる物品を把持し、前記箱部材内に収納するものであることを特徴とする請求項９に記載の物品処理装置。
          The pair of first grip portions grips the box member, and the third grip portion grips an article different from the box member and stores the article in the box member. The article processing apparatus according to claim 9.
PCT/JP2020/044048 2020-11-26 2020-11-26 Article processing device WO2022113242A1 (en)

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JPH10309686A (en) * 1997-05-07 1998-11-24 Okura Yusoki Co Ltd Transferring article holding device
WO2016002019A1 (en) * 2014-07-01 2016-01-07 株式会社安川電機 Liquid transport system and liquid transport method
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