Pick up equipment
A technology for picking up equipment and items, applied in the direction of program control, instrument, and item destacking, etc., can solve problems such as long-term, error-prone maintenance, and unstable item retention.
Active Publication Date: 2022-08-09
DAIFUKU CO LTD
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Problems solved by technology
When the number of articles requiring such posture change is large, it may take a long time to transfer a plurality of articles from the first support to the second support as a whole.
[0007] In addition, when the upper surface of the article in the upright posture SC is smaller than the side surface, if the upper surface of the article in the horizontally long posture SA or the horizontally short posture SB is held by the holding part, it becomes Since the upper surface is relatively narrow, it is easy to make mistakes when holding
In addition, when the height of the article in the sideways long posture SA or the sideways short posture SB is higher than the height of the article in the upright posture SC, if the sideways long posture SA or the sideways short posture is held by the holding part If the upper surface of the article in the posture SB is changed, the distance from the position held by the holding unit to the center of gravity of the article tends to increase, and the holding state of the article during the transfer operation tends to become unstable.
Therefore, it is difficult to increase the speed of the transfer operation.
Therefore, in such a case, it may take a long time as a whole to transfer a plurality of articles from the first support body to the second support body.
Method used
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Embodiment approach
[0025] Embodiments of the pickup apparatus are explained based on the drawings.
[0026] In addition, in the following embodiments, as described later, the first container 51 is formed in a rectangular shape in plan view such as Figure 4 As shown, the direction along the first side of the first container 51 is referred to as the inner longitudinal direction X, the direction along the second side perpendicular to the inner longitudinal direction X of the container is referred to as the inner width direction Y, and the direction along the inner longitudinal direction X of the container is referred to as the inner width direction Y, The direction perpendicular to the longitudinal direction X and the inner width direction Y of the container is referred to as the height direction Z. In addition, the height direction Z corresponds to an up-down direction.
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A pickup device capable of reducing the time required to transfer articles from a first support body to a second support body. Among the plurality of articles ( 50 ) supported by the first support ( 51 ), the article ( 50 ) at the highest position and the upper surface ( T1 ) are present relative to the article ( 50 ) at the highest position. The article ( 50 ) within the range of the set distance (D) on the lower side of the upper surface ( T1 ) of the upper surface ( T1 ) is regarded as the transfer object article ( 50A), and the control device executes to preferentially select the upright posture from the transfer object articles ( 50A). (SC) Selection control of the object to be transferred (50A), and control of the transfer device to move the object to be transferred (50A) selected in the selection control from the first support (51) to the second support load transfer control.
Description
technical field [0001] The present invention relates to a pickup device comprising: a moving device for transferring an article from a first support body to a second support body; a photographing device for photographing the article placed on the first support body from above; and a control The device controls the aforementioned transfer device. Background technique [0002] A conventional pickup device is described in, for example, Japanese Patent Application Laid-Open No. 2015-043175 (Patent Document 1). The pickup device of Patent Document 1 uses the container 51 as the first support body and the article conveyance conveyor 11 as the second support body, and the pickup robot 5 transfers the article from the container 51 to the article conveyance conveyor 11 . In addition, the container 51 normally accommodates the articles 50 in the upright posture SC, but there may be cases in which the articles 50 in the container 51 are overturned due to shaking or vibration when the ...
Claims
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IPC IPC(8): B65G47/91B65G1/137B65G59/04G06T7/70
CPCB65G61/00B65G1/1378B65G47/917B25J9/1697G05B2219/45063G05B2219/39543G05B2219/40564B65G60/00G06T7/70B65G2814/0305B65G2814/0308B65G2201/02B65G1/137B65G59/04B65G2203/0233B65G2203/041
Inventor 权藤卓也岩井正美味生淳
Owner DAIFUKU CO LTD