Industrial robot

Abstract

Provided is an industrial robot that transports an object to be transported, the industrial robot being capable of transporting the object to be transported from or into a storage unit even if the vertical spacing of a plurality of objects to be transported stacked and stored in the storage unit in a state of being spaced apart in the vertical direction is narrow. This industrial robot is provided with: a first hand (5) having an engagement section that engages with an end of an object to be conveyed (2); and a second hand (6) having a placement section (6a) on which the object to be conveyed (2) is placed. The first hand (5) performs at least one of a pull-out operation in which the object to be transported (2) housed in the housing section is pulled out from the housing section in which the object to be transported (2) is housed to a position at which the object to be transported (2) can be placed on the placement section (6a), and a push-in operation in which the object to be transported (2) placed on the placement section (6a) is pushed to a position at which the object to be transported (2) is housed in the housing section.

Description

Technical Field

[0001] The present invention relates to an industrial robot for carrying a transport object. Background Art

[0002] Conventionally, there is known an industrial robot that carries a flat-plate-shaped object to be carried (see, for example, Patent Document 1). The industrial robot described in Patent Document 1 includes: two hands that carry the object to be carried; two arms to which the two hands are rotatably connected at the front end; and a main body to which the base ends of the two arms are rotatably connected. The hand includes: a hand base rotatably connected to the front end of the arm; and a plurality of forks extending from the hand base in the horizontal direction. The object to be carried is carried on the forks.

[0003] The industrial robot described in Patent Document 1 carries out a transport object from a storage box that contains a plurality of transport objects, and carries the transport object into the storage box. A plurality of transport objects are stored in the storage box in an overlapping manner with intervals in the vertical direction. When carrying out the transport object from the storage box, the fork of the hand enters between the transport objects stored in the storage box in an overlapping manner in the vertical direction (i.e., the fork enters the inner side of the storage box), and then lifts the transport object and carries it out. In addition, when carrying the transport object into the storage box, the fork carrying the transport object enters the inner side of the storage box to place the transport object in the storage box. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-167045 Summary of the invention

[0005] Technical problem to be solved by the invention In the case of the industrial robot described in Patent Document 1, when the vertical spacing (pitch) of the transported objects stored in the storage box becomes narrower, the fork of the hand cannot be inserted into the inner side of the storage box, and there is a possibility that the transported objects cannot be moved out of the storage box or moved into the storage box.

[0006] Therefore, the technical problem of the present invention is to provide an industrial robot for transporting transport objects, wherein even if the vertical interval between multiple transport objects that are overlapped and stored in a storage section with intervals in the vertical direction is narrow, the transport objects can be transported out of the storage section or moved into the storage section. Technical solutions adopted to solve technical problems

[0007] In order to solve the above-mentioned technical problems, the industrial robot of the present invention carries a transport object and comprises: a first hand, the first hand having an engagement portion that engages with an end portion of the transport object; and a second hand, the second hand having a loading portion that carries the transport object, the first hand performs at least one of a pulling-out action and a pushing-in action, in which the transport object stored in the storage portion is pulled out from the storage portion storing the transport object to a position where it can be loaded on the loading portion, and in which the pushing-in action is used to push the transport object loaded on the loading portion into a position where it is stored in the storage portion.

[0008] In the industrial robot of the present invention, the first hand having an engaging portion that engages with the end of the transported object performs at least one of a pulling action and a pushing action. In the pulling action, the transported object stored in the storage portion is pulled out from the storage portion to a position where it can be placed on the loading portion of the second hand. In the pushing action, the transported object placed on the loading portion of the second hand is pushed into a position where it is stored in the storage portion.

[0009] Therefore, in the present invention, even if the first hand is not inserted into the inner side of the storage section, the object pulled out from the storage section can be placed on the placement section of the second hand by the pulling action of the first hand with the engagement section engaged with the end of the object, and the object can be moved out of the storage section, or the object placed on the placement section can be moved into the storage section by the pushing action of the first hand with the engagement section engaged with the end of the object. Therefore, in the present invention, even if the interval in the vertical direction of the objects of transport that are stacked and stored in the storage section with a gap in the vertical direction is narrow and the first hand and the second hand cannot be inserted into the inner side of the storage section, the object of transport can be moved out of the storage section or moved into the storage section.

[0010] In the present invention, for example, an industrial robot comprises: a first arm, a first hand is rotatably connected to the front end side of the first arm; a second arm, a second hand is rotatably connected to the front end side of the second arm; and a main body, a base end side of the first arm and a base end side of the second arm are rotatably connected to the main body. In this case, for example, the first hand moves linearly in the horizontal direction, one side of the first hand relative to the moving direction of the storage section is set as the near front side, and the side opposite to the near front side is set as the inner side, the industrial robot is arranged on the near front side of the storage section, the engaging portion engages with the end of the near front side of the transported object during the pulling-out action and the pushing-in action, and the second hand stops at a position where the loading portion is adjacent to the storage section on the near front side of the storage section during the pulling-out action and the pushing-in action.

[0011] In the present invention, it is preferred that the engaging portion has a holding mechanism for holding an end of the transported object. According to this structure, the end of the transported object can be held by the holding mechanism during the pulling-out action or the pushing-in action, so that the state of the transported object can be stabilized during the pulling-out action or the pushing-in action. In addition, according to this structure, when the transported object placed on the loading portion is transported, the end of the transported object can be held by the holding mechanism, so that when the transported object placed on the loading portion is transported, the state of the transported object can be stabilized.

[0012] In the present invention, for example, the first hand moves linearly in the horizontal direction, and the direction perpendicular to the moving direction of the first hand and the up-down direction is set as the first direction, the gripping mechanism grips the center portion of the transported object in the first direction, and a loading surface for loading the two end portions of the transported object in the first direction is formed on both end sides of the loading portion in the first direction, and the portion between the two loading surfaces in the first direction of the upper surface of the loading portion is arranged at a position lower than the loading surface. In this case, when the first hand performs a pulling-out action or a pushing-in action, interference between the components of the gripping mechanism and the loading portion can be prevented.

[0013] In the present invention, it is preferred that the first hand moves linearly in the horizontal direction, a direction perpendicular to the moving direction of the first hand and the vertical direction is set as the first direction, and the placing portion is formed with a guide portion for limiting the movement of the transported object in the first direction. According to this structure, when the transported object placed on the placing portion is transported, the state of the transported object can be stabilized. Effects of the Invention

[0014] As described above, in the industrial robot of the present invention, even if the vertical pitch of a plurality of objects stacked and stored in the storage section at intervals in the vertical direction is narrow, the objects can be carried out from the storage section or carried into the storage section. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a perspective view of the main part of the industrial robot according to the embodiment of the present invention. Figure 2 is used Figure 1 A schematic top view of the industrial robot manufacturing system shown. Figure 3 It is used to illustrate Figure 1 A block diagram of the structure of an industrial robot is shown. Figure 4 It is used to illustrate Figure 1 A top view of the structure of the first hand is shown. Figure 5 Is used from Figure 4A diagram illustrating the structure of the engaging portion in the EE direction. Figure 6 It is used to illustrate Figure 1 The diagram shown is a diagram of the operation of the industrial robot when it transports an object to be transported to a storage unit. Figure 7 It is used to illustrate Figure 1 The diagram shown is a diagram of the operation of the industrial robot when it transports an object to be transported to a storage unit. DETAILED DESCRIPTION

[0016] Embodiments of the present invention will be described below with reference to the accompanying drawings.

[0017] (Overall structure of industrial robot) Figure 1 It is a perspective view of the main part of the industrial robot 1 according to the embodiment of the present invention. Figure 2 is used Figure 1 A schematic top view of a manufacturing system 4 of an industrial robot 1 is shown. Figure 3 It is used to illustrate Figure 1 The block diagram of the structure of the industrial robot 1 is shown.

[0018] An industrial robot 1 (hereinafter referred to as “robot 1”) of the present embodiment is used to transport a predetermined transport object 2 (see Figure 4 The robot 1 is a horizontal multi-jointed robot (such as a robot 1 for conveying objects 2). The conveyed object 2 is formed into a rectangular flat plate shape, for example. In addition, the conveyed object 2 is formed into a thin flat plate shape. The robot 1 is used in a predetermined manufacturing system 4, and a storage box 3 is provided in the predetermined manufacturing system 4 as a storage portion for storing a plurality of conveyed objects 2. The robot 1 takes out the conveyed object 2 from the storage box 3 and carries the conveyed object 2 into the storage box 3.

[0019] The thickness direction of the transport object 2 stored in the storage box 3 is consistent with the up-down direction (vertical direction). In the storage box 3, a plurality of transport objects 2 are stored in an overlapping manner with intervals in the up-down direction. A plurality of box side loading portions for loading the transport objects 2 are formed inside the storage box 3. The intervals (pitch) in the up-down direction between the transport objects 2 stored in the storage box 3 are narrow.

[0020] The robot 1 includes: two hands 5 and 6; an arm 7, the hand 5 is rotatably connected to the front end side of the arm 7; an arm 8, the hand 6 is rotatably connected to the front end side of the arm 8; a main body 9, the base ends of the arms 7 and 8 are rotatably connected to the main body 9; a housing 10, the housing 10 accommodates the lower part of the main body 9; and a support member (not shown), which supports the main body 9 and the housing 10 so as to be movable in the horizontal direction. The hand 5 of this embodiment is the first hand, and the hand 6 is the second hand. In addition, the arm 7 of this embodiment is the first arm, and the arm 8 is the second arm.

[0021] The arms 7 and 8 are multi-joint arms that extend and retract in the horizontal direction. The arms 7 and 8 are composed of two arm parts, a first arm part 13 and a second arm part 14. The base end side of the first arm part 13 is rotatably connected to the main body part 9. The base end side of the second arm part 14 is rotatably connected to the front end side of the first arm part 13. The hands 5 and 6 are rotatably connected to the front end side of the second arm part 14.

[0022] The first arm portion 13 is arranged on the upper side of the main body portion 9. The second arm portion 14 is arranged on the upper side of the first arm portion 13. The hands 5 and 6 are arranged on the upper side of the second arm portion 14. The base end side of the first arm portion 13 of the arm 7 and the base end side of the first arm portion 13 of the arm 8 are connected to the main body portion 9 in a state of being adjacent to each other in the horizontal direction. In addition, the arm 7 and the arm 8 are arranged adjacent to each other and at the same position in the up-down direction.

[0023] In the horizontal direction, the distance between the rotation center of the first arm portion 13 relative to the main body 9 and the rotation center of the second arm portion 14 relative to the first arm portion 13 is equal to the distance between the rotation center of the second arm portion 14 relative to the first arm portion 13 and the rotation center of the hands 5 and 6 relative to the second arm portion 14. The arms 7 and 8 can extend and retract in the horizontal direction between a position where the arms 7 and 8 are extended so that the front ends of the hands 5 and 6 are away from the main body 9 and a position where the arms 7 and 8 are retracted so that the front ends of the hands 5 and 6 are close to the main body 9.

[0024] The main body 9 can rotate relative to the housing 10 with the up-down direction as the axis of rotation. In addition, the main body 9 can be raised and lowered relative to the housing 10. The housing 10 can move linearly in the horizontal direction relative to the support member. In the following description, the moving direction of the housing 10 relative to the support member ( Figure 2 The Y direction in the figure is called the "left-right direction", and the direction perpendicular to the left-right direction and the up-down direction is called the "up-down direction". Figure 2 The X direction is called the "front-rear direction". Figure 2 The X1 direction side of the same is called the "front" side or the "near front" side, and the opposite side is Figure 2 The X2 direction side is referred to as the "rear" side or the "inner" side.

[0025] In the present embodiment, for example, two storage boxes 3 are arranged in a state where they are spaced apart in the left-right direction. In addition, the storage box 3 is arranged on the rear side of the robot 1. That is, the robot 1 is arranged on the front side of the storage box 3. When the transported object 2 formed in a rectangular flat plate shape is stored in the storage box 3, the long side direction of the transported object 2 is roughly consistent with the front-back direction, and the short side direction of the transported object 2 is roughly consistent with the left-right direction.

[0026] The robot 1 also includes: an arm driving mechanism 15 for extending and retracting the arm 7 and rotating the hand 5; an arm driving mechanism 16 for extending and retracting the arm 8 and rotating the hand 6; a main body rotating mechanism 17 for rotating the main body 9; a main body lifting mechanism 18 for raising and lowering the main body 9; a horizontal moving mechanism 19 for moving the main body 9 together with the shell 10 in the horizontal direction; and a control unit 20 for controlling the robot 1.

[0027] The arm driving mechanism 15 includes: a motor as a driving source; and a power transmission mechanism that transmits the power of the motor to the arm 7 and the hand 5. Similar to the arm driving mechanism 15, the arm driving mechanism 16 includes: a motor as a driving source; and a power transmission mechanism that transmits the power of the motor to the arm 8 and the hand 6. The arm driving mechanisms 15 and 16 are electrically connected to the control unit 20. Specifically, the motors and the like of the arm driving mechanisms 15 and 16 are electrically connected to the control unit 20.

[0028] The arm driving mechanism 15 extends and retracts the arm 7 and rotates the hand 5, so that the hand 5 moves linearly in the horizontal direction while being oriented in a fixed direction relative to the main body 9. That is, the hand 5 moves linearly in the horizontal direction. The arm driving mechanism 16 extends and retracts the arm 8 and rotates the hand 6, so that the hand 6 moves linearly in the horizontal direction while being oriented in a fixed direction relative to the main body 9. That is, the hand 6 moves linearly in the horizontal direction. The hand 5 and the hand 6 move linearly in the same direction.

[0029] When the object 2 is carried out of the storage box 3 or when the object 2 is carried into the storage box 3 (hereinafter referred to as "when the object 2 is carried relative to the storage box 3"), the hand 5 moves linearly in the front-to-back direction relative to the storage box 3 while facing a fixed direction. In addition, when the object 2 is carried relative to the storage box 3, the hand 6 moves linearly in the front-to-back direction relative to the storage box 3 while facing a fixed direction. In the present embodiment, the front-to-back direction (X direction) is the movement direction of the hands 5 and 6 relative to the storage box 3.

[0030] The main body rotation mechanism 17 rotates the main body 9 relative to the housing 10 with the up-down direction as the axial direction of rotation. The main body rotation mechanism 17 includes: a motor as a driving source; and a power transmission mechanism that transmits the power of the motor to the main body 9. The main body rotation mechanism 17 is accommodated in the housing 10. The main body rotation mechanism 17 is electrically connected to the control unit 20. Specifically, the motor of the main body rotation mechanism 17 and the like are electrically connected to the control unit 20.

[0031] The main body lifting mechanism 18 lifts the main body 9 relative to the housing 10. In addition, the main body lifting mechanism 18 lifts the main body rotating mechanism 17 together with the main body 9. The main body lifting mechanism 18 is accommodated in the housing 10. The main body lifting mechanism 18 includes: a motor as a driving source; and a power transmission mechanism that transmits the power of the motor to the main body 9. The main body lifting mechanism 18 is electrically connected to the control unit 20. Specifically, the motor and the like of the main body lifting mechanism 18 are electrically connected to the control unit 20.

[0032] The horizontal moving mechanism 19 moves the housing 10 linearly in the left-right direction relative to the supporting member. The horizontal moving mechanism 19 includes: a motor as a driving source; and a power transmission mechanism that transmits the power of the motor to the housing 10. The horizontal moving mechanism 19 is electrically connected to the control unit 20. Specifically, the motor of the horizontal moving mechanism 19 and the like are electrically connected to the control unit 20.

[0033] (Hand structure) Figure 4 It is used to illustrate Figure 1 The structure of the hand 5 is shown in a top view. Figure 5 is from Figure 4 The diagram is a diagram illustrating the structure of the engaging portion 23 along the EE direction.

[0034] As described above, the hands 5 and 6 move linearly in the horizontal direction relative to the main body 9. In addition, the hands 5 and 6 move linearly in the same direction relative to the main body 9. In the following description, the direction perpendicular to the moving direction and the up-down direction of the hands 5 and 6 is referred to as the first direction. When the transport object 2 is transported relative to the storage box 3, the first direction coincides with the left-right direction.

[0035] The hand 5 includes an engaging portion 23 that engages with an end portion of the conveyed object 2. The engaging portion 23 constitutes a distal end portion of the hand 5. The base end portion of the hand 5 is connected to the arm 7. The engaging portion 23 includes a gripping mechanism 24 for gripping the end of the conveyed object 2. The gripping mechanism 24 includes, for example, an upper gripping member 25 and a lower gripping member 26 for gripping the end of the conveyed object 2 in the vertical direction; and a gripping member lifting mechanism 27 for lifting the upper gripping member 25 (see Figure 3 The upper holding member 25 is arranged above the end of the conveyed object 2 held by the holding mechanism 24, and the lower holding member 26 is arranged below the end of the conveyed object 2 held by the holding mechanism 24. The end of the conveyed object 2 is placed on the upper surface of the lower holding member 26.

[0036] The holding member lifting mechanism 27 moves the upper holding member 25 to the holding position ( Figure 5 The position shown by the solid line in the figure) and the retreat position ( Figure 5The holding component lifting mechanism 27 is raised and lowered between the positions (indicated by the double-dotted line in FIG. 2 ), at the holding position, the upper holding component 25 contacts the upper surface of the end of the conveyed object 2 and the holding mechanism 24 holds the conveyed object 2, and at the retreat position, the upper holding component 25 retreats away from the upper surface of the end of the conveyed object 2. The holding component lifting mechanism 27 includes: a driving source such as a motor, a solenoid or a cylinder; and a power transmission mechanism that transmits the power of the driving source to the upper holding component 25. The holding component lifting mechanism 27 is electrically connected to the control unit 20. Specifically, the driving source of the holding component lifting mechanism 27 is electrically connected to the control unit 20. In addition, the holding component lifting mechanism 27 can also lift the two holding components, the upper holding component 25 and the lower holding component 26.

[0037] As described above, when the object 2 is carried relative to the storage box 3, the hand 5 moves linearly in the front-rear direction relative to the storage box 3 while facing a fixed direction. When the object 2 is carried relative to the storage box 3, the engaging portion 23 constitutes the rear end of the hand 5 and engages with the front end (end near the front side) of the object 2. That is, when the object 2 is carried relative to the storage box 3, the gripping mechanism 24 grips the front end of the object 2.

[0038] The width of the upper holding member 25 and the lower holding member 26 in the first direction (i.e., the width of the upper holding member 25 and the lower holding member 26 in the left-right direction when the object 2 is transported relative to the storage box 3) is narrower than the width in the short side direction of the object 2. When the object 2 is transported relative to the storage box 3, the upper holding member 25 and the lower holding member 26 hold the left-right center portion of the front end portion of the object 2. That is, the holding mechanism 24 holds the center portion of the object 2 in the first direction.

[0039] The hand 6 includes a placing portion 6a for placing the transport object 2. The placing portion 6a constitutes the front end portion of the hand 6. The base end portion of the hand 6 is connected to the arm 8. The center of the placing portion 6a in the first direction and the center of the engaging portion 23 in the first direction are arranged at the same position in the first direction. As described above, when the transport object 2 is transported relative to the storage box 3, the hand 6 moves linearly in the front-rear direction relative to the storage box 3 while being oriented in a fixed direction. When the transport object 2 is transported relative to the storage box 3, the placing portion 6a constitutes the rear end portion of the hand 6.

[0040] The loading portion 6a is formed with a loading surface 6b for loading the end portions of the short side direction of the transported object 2. The loading surface 6b is formed at two locations on both end sides of the first direction. That is, loading surfaces 6b are formed on both end sides of the first direction of the loading portion 6a (that is, both end sides of the loading portion 6a in the left-right direction relative to the storage box 3 when the transported object 2 is transported), and the two end portions of the first direction on which the transported object 2 is loaded are loaded. The loading surface 6b is a plane perpendicular to the up-down direction. The lower surface of the transported object 2 contacts the loading surface 6b. The loading surface 6b is formed in a rectangular shape that is longer in the moving direction of the hand 6. The length of the loading surface 6b in the long side direction is shorter than the length of the long side direction of the transported object 2.

[0041] The portion of the upper surface of the hand 6 located between the two loading surfaces 6b in the first direction, that is, the front end side upper surface 6c, is a plane arranged on the lower side of the loading surface 6b. That is, the portion of the upper surface of the hand 6 located between the two loading surfaces 6b in the first direction is arranged on the lower side of the loading surface 6b. The front end side upper surface 6c is a plane perpendicular to the up-down direction. The upper surface of the portion of the hand 6 other than the loading portion 6a is arranged at the same position as the front end side upper surface 6c in the up-down direction. The upper surface of the portion of the hand 6 other than the loading portion 6a is a plane perpendicular to the up-down direction and is connected to the front end side upper surface 6c.

[0042] In addition, the loading portion 6a is formed with a guide portion 6d, which restricts the movement of the conveyed object 2 in the first direction (that is, restricts the movement of the conveyed object 2 in the short side direction of the conveyed object). The guide portion 6d is formed at two locations at both ends of the loading portion 6a in the first direction. The guide portion 6d is formed outside the loading surface 6b in the first direction. The guide portion 6d protrudes upward. The end surface of the conveyed object 2 parallel to the long side can contact the guide portion 6d.

[0043] (Industrial robot movements) Figure 6 and Figure 7 It is used to illustrate Figure 1 The diagram shows the operation of the robot 1 when conveying the conveyance object 2 with respect to the storage box 3 .

[0044] When the robot 1 carries out the transport object 2 from the storage box 3, the hand 5 performs a pulling action to pull the transport object 2 stored in the storage box 3 out of the storage box 3 to a position where it can be placed on the placement portion 6a of the hand 6. In the pulling action, the hand 5 pulls out the transport object 2 from the storage box 3 with the front end portion engaged with the engagement portion 23.

[0045] In the pull-out action, first, configure Figure 6The hand 5 at the predetermined standby position shown in (A) is moved toward the storage box 3 toward the rear side (inner side) to a position where the front end (end near the front side) of the conveyed object 2 can be grasped by the grasping mechanism 24 (see Figure 6 That is, the arm 7 is extended to a position where the gripping mechanism 24 can grip the front end of the object 2. Then, the gripping mechanism 24 grips the front end of the object 2 (see Figure 6 That is, the engaging portion 23 engages with the end portion of the conveyed object 2 on the near side during the pulling operation.

[0046] Before, during or after the movement of the hand 5, the Figure 6 The hand 6 at the predetermined standby position shown in (A) also moves backward toward the storage box 3. Specifically, the hand 6 moves backward to a position where the placement portion 6a is adjacent to the storage box 3 on the front side of the storage box 3, and then stops. That is, in the pulling-out operation, the hand 6 stops at a position where the placement portion 6a is adjacent to the storage box 3 on the near front side of the storage box 3, and stands by at a position close to the front side of the storage box 3. At this time, the placement surface 6b of the hand 6 is arranged at the same position in the vertical direction as the lower surface of the transport object 2 to be carried out.

[0047] Then, the hand 5 holding the transport object 2 moves forward (i.e., the arm 7 contracts) to pull the transport object 2 out of the storage box 3 to the front. When the hand 5 holding the transport object 2 moves forward, the front end of the transport object 2 is finally placed on the placement surface 6b of the placement portion 6a. Thereafter, the hand 5 moves further forward until the rear end of the transport object 2 is placed on the placement surface 6b. When this action is completed, the pulling action of the hand 5 is completed.

[0048] When the rear end of the object 2 is placed on the placement surface 6b and the pulling-out action of the hand 5 is completed, the hand 5 and the hand 6 move forward together (see FIG. Figure 7 ). That is, arms 7 and 8 are retracted. For example, hands 5 and 6 are moved forward together. Figure 7 At this time, the gripping mechanism 24 grips the front end of the object 2. Thereafter, the robot 1 performs the rotation of the main body 9, the lifting and lowering of the main body 9, the horizontal movement of the main body 9, and the extension and retraction of the arms 7 and 8, etc., to transport the object 2 taken out of the storage box 3 to a predetermined position. At this time, the gripping mechanism 24 grips the end of the object 2.

[0049] Furthermore, when the robot 1 carries the transport object 2 into the storage box 3, the hand 5 performs a pushing action to push the transport object 2 placed on the placement portion 6a to a position where the transport object 2 is stored in the storage box 3. In the pushing action, the hand 5 pushes the transport object 2 whose front end is engaged with the engaging portion 23 into the storage box 3. That is, the engaging portion 23 engages with the end of the transport object 2 near the front side during the pushing action.

[0050] Before the push action, for example, configure Figure 7 The hands 5 and 6 at the position shown move together toward the rear side of the storage box 3. Specifically, the hands 5 and 6 move together toward the rear side to a position where the loading portion 6a is adjacent to the storage box 3 on the front side of the storage box 3. At this time, the gripping mechanism 24 grips the front end of the transported object 2. Thereafter, the hand 6 stops. That is, in the pushing action, the hand 6 stops at a position where the loading portion 6a is adjacent to the storage box 3 on the near front side of the storage box 3. At this time, the loading surface 6b of the hand 6 and the loading surface of the storage box 3 (the loading surface of the box side loading portion) on which the transported object 2 is carried are arranged at the same position in the up and down direction.

[0051] In the subsequent pushing action, the hand 5 further moves to the rear side and pushes the transport object 2 to the rear side (inside) until the front end of the transport object 2 is placed on the front end of the storage box 3. That is, the hand 5 pushes the transport object 2 to the back side until the transport object 2 is stored in the storage box 3. After that, the hand 5 releases the gripping state of the transport object 2 by the gripping mechanism 24. When the gripping state of the transport object 2 is released, the pushing action of the hand 5 is completed. Thereafter, the hands 5 and 6 move, for example, to the front side.

[0052] (Main Functions of the Present Embodiment) As described above, in the present embodiment, the hand 5 having the engaging portion 23 engaged with the front end portion of the transported object 2 performs a pulling action and a pushing action. In the pulling action, the transported object 2 stored in the storage box 3 is pulled out from the storage box 3 to a position where it can be placed on the loading portion 6a of the hand 6. In the pushing action, the transported object 2 placed on the loading portion 6a is pushed in to a position where it can be stored in the storage box 3.

[0053] Therefore, in the present embodiment, even if the hand 5 is not inserted into the inner side of the storage box 3, the object 2 pulled out from the storage box 3 can be placed on the placement portion 6a by the pulling-out action of the hand 5 with the engagement portion 23 being engaged with the front end of the object 2, and the object 2 placed on the placement portion 6a can be moved into the storage box 3. Therefore, in the present embodiment, even if the interval in the vertical direction of the objects 2 stored in the storage box 3 is narrow and the hands 5 and 6 cannot be inserted into the inner side of the storage box 3, the object 2 can be moved out of the storage box 3 and can also be moved into the storage box 3.

[0054] In the present embodiment, the engaging portion 23 includes a gripping mechanism 24 for gripping the end of the transported object 2, and when the hand 5 performs a pulling-out action and when the hand 5 performs a pushing-in action, the end of the transported object 2 is gripped by the gripping mechanism 24. Therefore, in the present embodiment, the state of the transported object 2 when the pulling-out action or the pushing-in action is performed can be stabilized. In addition, in the present embodiment, even when the transported object 2 placed on the placement portion 6a is transported, the end of the transported object 2 is gripped by the gripping mechanism 24, and therefore, the state of the transported object 2 placed on the placement portion 6a can be stabilized when the transported object 2 is transported.

[0055] In the present embodiment, the placing portion 6a is formed with a guide portion 6d that restricts the movement of the transported object 2 in the first direction. Therefore, in the present embodiment, when the transported object 2 placed on the placing portion 6a is transported, the state of the transported object 2 can be stabilized. In addition, in the present embodiment, the portion of the upper surface of the hand 6 located between the two placing surfaces 6b in the first direction, that is, the front end side upper surface 6c is a plane arranged below the placing surface 6b, so when the hand 5 performs a pulling or pushing action, interference between the lower gripping member 26 and the placing portion 6a can be prevented.

[0056] (Other embodiments) The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited thereto, and various modifications can be made within the scope of the present invention.

[0057] In the above embodiment, the guide portion 6d may not be formed on the placement portion 6a as long as the object 2 placed on the placement portion 6a can be held in a more stable state by the holding mechanism 24. In the above embodiment, the object 2 is held by the upper holding member 25 and the lower holding member 26 by clamping the ends of the object 2 in the vertical direction. However, if the width of the object 2 in the short side direction is narrow, the object 2 may be held by clamping the ends of the object 2 in the first direction by the two holding members.

[0058] In the above embodiment, the engaging portion 23 may not include the holding mechanism 24. In this case, for example, an engaging hole is formed at the end of the transported object 2, and the engaging portion 23 includes an engaging claw inserted into and engaged with the engaging hole. In this case, during the pulling-out action and the pushing-in action of the hand 5, the engaging claw of the engaging portion 23 engages with the engaging hole of the transported object 2. In addition, in the above embodiment, the hand 5 may only perform the pulling-out action or only perform the pushing-in action. In addition, in the above embodiment, the transported object 2 may also be formed into a flat plate shape other than a rectangular shape. For example, the transported object 2 may be formed into a square flat plate shape or a circular plate shape.

[0059] In the above-mentioned embodiment, the arm 7 and the arm 8 are arranged at the same position in the up-down direction and are adjacent to each other in the horizontal direction, but, for example, as disclosed in Japanese Patent Publication No. 2021-167041, the arm 7 and the arm 8 may also be arranged at positions offset from each other in the up-down direction. In addition, in the above-mentioned embodiment, the robot 1 has two arms 7 and 8, but the robot 1 may also have an arm to which the two hands 5 and 6 are connected in a rotatable manner at the front end side. In this case, for example, as disclosed in Japanese Patent Publication No. 2018-89739, the arm may be composed of three arm parts or two arm parts. In addition, the robot 1 may also have an arm that holds the two hands 5 and 6 in a manner that enables the two hands 5 and 6 to move linearly in the same direction in the horizontal direction, as disclosed in Japanese Patent Publication No. 2019-25587.

[0060] (Structure of this technology) Note that the present technology can adopt the following structures. (1) An industrial robot that carries an object to be carried. The transport device comprises: a first hand having an engaging portion engaged with an end portion of the transport object; and a second hand having a placing portion for placing the transport object. The first hand performs at least one of a pulling action and a pushing action. In the pulling action, the transport object stored in the storage section is pulled out from the storage section storing the transport object to a position where it can be placed on the loading section. In the pushing action, the transport object placed on the loading section is pushed into a position where it is stored in the storage section. (2) The industrial robot according to (1) comprises: a first arm, the first hand being rotatably connected to the front end side of the first arm; a second arm, the second hand being rotatably connected to the front end side of the second arm; and a main body, the base end side of the first arm and the base end side of the second arm being rotatably connected to the main body. (3) The industrial robot according to (2), wherein: The first hand moves in a straight line in the horizontal direction, The side of the first hand relative to the moving direction of the storage portion is defined as the near side, and the side opposite to the near side is defined as the back side. The industrial robot is arranged on the front side of the storage portion. The engaging portion engages with the end portion of the transport object on the front side during the pulling-out operation and the pushing-in operation. During the pulling-out operation and the pushing-in operation, the second hand stops at a position where the placement portion is adjacent to the storage portion on the front side of the storage portion. (4) The industrial robot according to any one of (1) to (3), wherein: The engaging portion includes a gripping mechanism that grips an end portion of the conveyance object. (5) The industrial robot according to (4), wherein: The first hand moves in a straight line in the horizontal direction, The direction perpendicular to the moving direction of the first hand and the up-down direction is set as the first direction, The holding mechanism holds the center portion of the transport object in the first direction. On both end sides of the placing portion in the first direction, placing surfaces for placing both end portions of the conveyed object in the first direction are formed. A portion of the upper surface of the placement portion between the two placement surfaces in the first direction is arranged below the placement surfaces. (6) The industrial robot according to any one of (1) to (5), wherein: The first hand moves in a straight line in the horizontal direction, The direction perpendicular to the moving direction of the first hand and the up-down direction is set as the first direction, The placing portion is formed with a guide portion that restricts movement of the conveyance object in the first direction. Explanation of symbols

[0061] 1Robot (industrial robot) 2Transportation Objects 3 Storage Box (Storage Section) 5 lots (first lot) 6 lots (second-hand) 6a Loading section 6b Loading surface 6d guide 7 arms (first arm) 8 arms (second arm) 9 Main body 23. Engagement part 24 Control mechanism X The moving direction of the first hand relative to the storage part X1 near front X2 inside.

Claims

1. An industrial robot for transporting an object, characterized in that: The transport device comprises: a first hand having an engaging portion engaged with an end portion of the transport object; and a second hand having a placing portion for placing the transport object. The first hand performs at least one of a pulling action and a pushing action, in which the object to be transported stored in the storage section is pulled out from the storage section storing the object to be transported to a position where it can be placed on the placement section, and in which the first hand performs at least one of a pulling action and a pushing action, in which the object to be transported placed on the placement section is pushed into a position where it is placed in the storage section.

2. The industrial robot according to claim 1, characterized in that: The device comprises: a first arm, the first hand being rotatably connected to the front end side of the first arm; and a second arm, the second hand being rotatably connected to the front end side of the second arm; and a main body to which the base end side of the first arm and the base end side of the second arm are rotatably connected.

3. The industrial robot according to claim 2, characterized in that: The first hand moves in a straight line in the horizontal direction, The side of the first hand relative to the moving direction of the storage portion is defined as the near side, and the side opposite to the near side is defined as the back side. The industrial robot is arranged on the front side of the storage portion. The engaging portion engages with the end portion of the transport object on the front side during the pulling-out operation and the pushing-in operation. During the pulling-out operation and the pushing-in operation, the second hand stops at a position where the placement portion is adjacent to the storage portion on the front side of the storage portion.

4. The industrial robot according to any one of claims 1 to 3, characterized in that: The engaging portion includes a gripping mechanism that grips an end portion of the conveyance object.

5. The industrial robot according to claim 4, characterized in that: The first hand moves in a straight line in the horizontal direction, The direction perpendicular to the moving direction of the first hand and the up-down direction is set as the first direction, The holding mechanism holds the center portion of the transport object in the first direction. On both end sides of the placing portion in the first direction, placing surfaces for placing both end portions of the conveyed object in the first direction are formed. A portion of the upper surface of the placement portion between the two placement surfaces in the first direction is arranged below the placement surfaces.

6. The industrial robot according to any one of claims 1 to 3, characterized in that: The first hand moves in a straight line in the horizontal direction, The direction perpendicular to the moving direction of the first hand and the up-down direction is set as the first direction, The placing portion is formed with a guide portion that restricts movement of the conveyance object in the first direction.

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