Method and device for controlling workpiece suction gripping actions of a robot
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- DENSO WAVE INC
- Filing Date
- 2021-06-16
- Publication Date
- 2026-07-23
AI Technical Summary
Conventional suction gripping methods for thin packaging materials with contents result in wrinkles, leading to increased product loss due to creases in the packaging material, even if the contents are usable.
A method and device for controlling robot suction gripping that involves pressing the suction gripper against the content with the packaging material in between, starting suction after contact, and smoothing the surface of the packaging material before and after gripping, while ensuring sufficient suction force is generated.
Prevents wrinkles in the packaging material during gripping and transport, reducing product loss by ensuring the packaging material remains flat and smooth, thereby maintaining the quality of the contents.
Smart Images
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Abstract
Description
Background [Technical Field]
[0001] The present invention relates to a method and a device for controlling workpiece suction and gripping actions of a robot, and in particular the method and the device for controlling actions of an industrial robot which suctions and grips a workpiece with a thin packaging material containing a contents therein. [Related state of the art]
[0002] Traditionally, palletizing workpieces transported by a conveying device, such as a conveyor, can be carried out by suction gripping (attachment and gripping). For example, in PTL 1, food products packaged in bags are gripped and transferred or transported by suction. [Citation list][Patent literature]
[0003] [PTL 1] JP 2019-922 A
[0004] To grip a workpiece by suction, sufficient suction force is required. This suction force is generated by a suction gripper drawing in air using a pressure-generating source, such as a vacuum pump.
[0005] However, if the workpiece is encased in a relatively thin packaging material, such as polyethylene, vinyl chloride, cellophane, or paper, containing a product, sufficient suction to grip the workpiece can cause creases in the packaging material. If creases remain in the packaging material, the product with such creases may be rejected, even if the contents themselves are not unusable. This can lead to increased product loss. Summary
[0006] In view of the foregoing circumstances, a method for controlling a robot and a suction gripping device, which are capable of preventing the occurrence of wrinkles in a workpiece with a thin packaging material containing a product, are provided and included. [Solution to the problem]
[0007] According to a first exemplary embodiment, a method for controlling a robot configured to grip a workpiece with a thin packaging material containing contents by suction gripping or suction comprises: pressing a suction gripper against the contents, the packaging material being held between them; and after starting the suction, gripping the workpiece by the suction gripper and transporting the workpiece.
[0008] In this configuration, it is preferred that the suction or extraction is started in a state where the suction gripper is pressed down.
[0009] In the disclosure, the term "this packaging material" is defined, in terms of suitable types of material, as a film-like packaging material in which a content can be provided and contained. Such film-like packaging materials are made, for example, of polyethylene, vinyl chloride, cellophane, or paper.
[0010] Alternatively, the term "thin," in the context of causing wrinkles on a packaging material, refers to a dependence on both the suction and gripping mechanical design of the suction gripper and the thickness and strength of the packaging material. In the disclosure, the term "thin" can therefore be defined as meaning that the material is sensitive to a certain degree, or more, to the suction force provided by the system, such that there is a possibility of wrinkles forming that could damage the surface of the packaging material.
[0011] Sufficient suction force is required to grip a workpiece using suction. This suction force is generated by the suction gripper drawing air in and out. However, even after the air extraction begins, there may be a slight delay before sufficient suction force is generated to achieve the required gripping force.
[0012] For this reason, the conventional method includes such a time delay in the movement time during which the suction gripper is moved to pick up the workpiece; that is, the suction starts at the stage in which the suction gripper is not yet in contact with the workpiece, in order to shorten the overall operating time.
[0013] Since suction begins before the suction gripper makes contact with the workpiece, the thin packaging material can be pulled upwards by the force of the suction, potentially causing wrinkling. Furthermore, wrinkling can persist until the workpiece is placed down, as the suction continues from the moment the suction gripper makes contact with the workpiece until it is set down.
[0014] If creases form or remain in the packaging material, the product with such creases may be rejected, even if the contents themselves are not unusable. This can lead to an increase in food product losses.
[0015] Therefore, in this robot control process, suction begins when the suction gripper is pressed against the workpiece. Since no suction force is generated before the gripper makes contact with the workpiece, the packaging material is prevented from being pulled upwards, thus preventing creases from forming. Because the workpiece is transported while creases are suppressed, the likelihood of creases forming or remaining in the packaging material is reduced.
[0016] According to one example, the method involves smoothing the surface of the packaging material by sliding the suction gripper along a surface of the contents while applying pressure. Similarly, if the packaging material does not initially have a flat surface, it is possible to smooth the surface of the packaging material by gripping the workpiece by suction (suction and gripping), thereby reducing the possibility of creases forming or remaining in the packaging material.
[0017] According to another example, the process involves smoothing the surface of the packaging material by releasing or expelling air when the suction gripper is pressed down. Accordingly, if the packaging material does not initially have a flat surface, it is possible to smooth the surface when the workpiece is suctioned and gripped, thereby reducing the possibility of creases forming or remaining in the packaging material.
[0018] According to another example, the procedure after placing the workpiece and stopping suction involves waiting for a predetermined period until any suction force disappears or decreases sufficiently before the suction gripper is removed from the workpiece. If the suction gripper is removed from the workpiece while suction is still being generated when the workpiece is placed and suction has stopped, wrinkling may occur due to the residual suction. Therefore, after placing the workpiece, the suction gripper can be placed in a standby state until any suction force disappears or decreases sufficiently before the suction gripper is removed from the workpiece, thereby reducing the possibility of wrinkles or residual creases in the packaging material.
[0019] According to another example, the process involves expelling air from the suction gripper once the workpiece has been placed down. If any creases form in the packaging material when the suction gripper is pressed against it, these creases can be removed by expelling the air.
[0020] According to yet another example, a suction gripper configured to grasp a workpiece with thin packaging material containing its contents by suction comprises: a robot; a suction gripper configured to be mounted on the robot and connected to a pressure source; and a controller that controls the robot. The controller is configured to: press the suction gripper against the contents and the packaging material inserted between them, with the suction gripper connected to the pressure source; initiate suction by the pressure source while the suction gripper is pressed against the workpiece; and grasp the workpiece by suction after the suction has been initiated.
[0021] The suction gripping device with the above configuration can also achieve the same effects as those in the above control method, such as preventing an increase in product loss during the manufacture of workpieces with the thin packaging material containing the contents provided and contained therein.
[0022] Furthermore, in the aforementioned first exemplary embodiment, it is still preferred that the suction or removal process is initiated before the suction gripper is pressed against the contents of the workpiece. As long as the suction gripper is pressed firmly against the contents of the workpiece, with the packaging material still positioned between the suction gripper and the contents, so that they are on the same plane or overlapping, it is possible to reduce wrinkles that can form on the surface of the packaging material, compared to a case where suction is initiated after the suction gripper has already been pressed against the workpiece. List of characters
[0023] The attached illustrations show: Fig. 1 An illustration which schematically depicts an exemplary configuration of a suction gripping device of one embodiment; Fig. 2A a figure which schematically represents a side surface of the exemplary configuration of a suction gripper; Fig. 2B a sectional view showing a workpiece; Fig. 3. A diagram of a time sequence in a conventional controller method as a comparative example; Fig. 4 a figure which schematically represents a suction mode in a conventional control method as a comparative example; Fig. 5 a flowchart showing a process for suction gripping of a workpiece in the first embodiment; Fig. 6. A diagram of a time sequence; Fig. 7 a figure which schematically represents a suction mode in the first embodiment; Fig. 8 a figure which schematically represents another smoothing mode; Fig. 9 a figure which schematically represents another smoothing mode; Fig. 10 a flow diagram showing a process for suction gripping a workpiece in a second embodiment; and Fig. 11 a figure which schematically represents a suction mode in the second embodiment. Description of the embodiments
[0024] With reference to the attached illustrations, various embodiments and modifications will now be described. [First embodiment]
[0025] With reference to the illustrations, one embodiment is described. As shown in Fig. 1 shown, includes a suction gripping device 1 according to the present embodiment, an industrial robot 2 , a controller 3 , a pressure generation source 4 and the like. Although the suction gripping device 1in the present embodiment the industrial robot 2 The suction gripping device can be used together with the industrial robot 2 be provided, with the suction gripping device 1 the controller 3 and the pressure generation source 4 includes, but not always includes, the industrial robot 2 .
[0026] In the present embodiment, the industrial robot 2 It is described as a horizontal 4-axis articulated robot. However, it should be noted that the industrial robot 2 It could also be a vertical articulated robot with 6 or 7 axes.
[0027] The industrial robot (simply robot) 2 comprises a base 2a installed on an installation surface, a first arm 2b rotatable about the base 2a, a second arm 2c rotatable relative to the first arm 2b, and a shaft 2d mounted at a distal end of the second arm 2c and vertically movable and rotatable relative to the second arm 2c. As shown in Fig. As shown in Figure 2, a suction gripper is located at a distal end, that is, a lower end of shaft 2d. 5 assembled.
[0028] The suction gripper 5 comprises a gripper section 5a, which has a hollow, conical shape made of an elastic element and is configured such that it directly engages with a workpiece 9 comes into contact, a bellows 5b which has a hollow shape and is connected to the gripper section 5a, a fixing section 5c which is attached to a fixing tool 6 in order to thereby secure the suction gripper 5 on the robot2 to attach, and a connecting section 5d to which an air hose 7 is connected. It should be noted that the above configuration of the suction gripper 5 This is merely an example and other common and well-known configurations, such as configurations with a rigid tube instead of bellows 5b, can also be used.
[0029] The air hose 7 is connected to the suction gripper at one end. 5 and at the other end with a pressure generation source 4 connected. The flexible air hose 7 can generally adapt to a change in the robot's posture. 2 adjust while ensuring airflow even when the robot is moving 2 angles when changing posture.
[0030] The pressure generation source 4 is configured in such a way that this air is drawn from the suction gripper 5sucks in air, as indicated by the arrow F1, and draws air towards the suction gripper. 5 outputs, as indicated by the F2 arrow. For the sake of simplicity, the configuration is shown as a print generation source. 4 possesses. However, other configurations are also possible, in which the pressure generation source 4 for example, it consists of a vacuum pump 4a for suction and an air compressor 4b for delivery or expulsion, and the air hose 7 is connected to the pressure generation source via a branch valve. 4 The air compressor 4b does not necessarily need to be available if no air is being dispensed.
[0031] The controller 3 controls the robot 2 , the timing or point in time of air extraction from the pressure generation source 4 and the suction gripper 5 and the like. As in Fig. As shown in 1, the controller includes3 A control unit 3a, which consists of a microcomputer with a CPU, ROM, RAM, and the like (not shown), and a memory unit 3b, which consists of semiconductor memory and the like. Although not shown, the controller includes 3 Furthermore, an input / output circuit that transmits and receives data to and from external devices.
[0032] The controller 3 controls the robot's posture 2 , the time of intake and expulsion of air from the pressure-generating source 4 and the suction gripper 5 and the like by executing computer programs stored in memory unit 3b. In the present embodiment, it is assumed that the robot's posture 2 is controlled by tracking, whereby the robot 2carries out an operation while this involves a change in the position of the workpiece transported by a conveyor device 8 9 The movement of the conveyor device 8 is controlled accordingly by the controller. 3 controlled. Furthermore, the robot's posture can be adjusted. 2 for example, by using a camera to determine the position of the workpiece. 9 to recognize, instead of being controlled by tracking.
[0033] As in the Fig. 2A and Fig. As shown in 2B, it is assumed that the workpiece 9 In the present embodiment, this corresponds to an object that is a film-like packaging material. 9a with content provided and contained therein 9b possesses the workpiece 9 is from the in Fig. The conveying device 8 shown, like a conveyor, is transported and is carried by the robot. 2Picked up and loaded onto a pallet of 10. Regarding the packaging material... 9a It could, for example, be a relatively thin material such as polyethylene, vinyl chloride, cellophane, or paper. The packaging material is described below. 9a also referred to as a foil-like material.
[0034] Examples of the workpiece 9 This includes foodstuffs such as processed bread packaged in thin-layer packaging, such as plastic bags, for example sweet rolls with red beans sold in supermarkets or hypermarkets, as well as foodstuffs where the foodstuffs are contained in a plastic container which is in turn inside the packaging material. 9a is packaged. The workpiece 9 It should not be limited to food and can also refer to products other than food.
[0035] It is assumed that the content 9bAn elastically deformable object is, like the sweet roll with red beans described above, that is, an object that deforms when the suction cup is applied. 5 against which it is pressed, but recovers from the deformation when the suction gripper 5 is removed from it. Alternatively, the content may be 9b in question an object that does not deform elastically or only deforms slightly, such as the plastic container described above; that is, an object that does not deform significantly, even when the suction gripper is applied. 5 against it. In other words, even if the suction cup... 5 against the workpiece 9 The appearance and quality of the workpiece are affected by the pressure applied. 9 It is not affected when it is laid down.
[0036] Furthermore, it is assumed that the workpiece 9In the present embodiment, an object is formed in which a specific space is created between the packaging material. 9a and the content 9b is formed in a state in which no external force is applied, and the packaging material 9a is deformed or shifted to access the content 9b to trigger when the suction gripper 5 against the workpiece 9 is pressed. In other words, an object, such as a bag filled with liquid, is not separated from the assumed workpiece. 9 includes. In the present embodiment, the assumed workpiece includes 9 however, a bag filled with liquid, which in turn was placed inside the packaging material 9a is packaged.
[0037] The effects of the above configuration are described below. For a suction grip on the workpiece. 9 Sufficient suction power is required to grip the workpiece. 9to grip by suction. However, if there is a suction force sufficient to grip the workpiece. 9 to grip by suction, by drawing air from the suction gripper 5 If this is generated, for example by using the vacuum pump 4a, wrinkling may occur in the packaging material. 9a come.
[0038] It is believed that such creases are due to factors other than the material of the packaging. 9a These wrinkles are likely to form during suction gripping or remain after suction gripping. In particular, it is considered that wrinkles are likely due to the control method used to suction grip the workpiece. 9 to be trained or to be left behind.
[0039] As in a Fig. As shown in the comparative example 3, the suction gripper, which is in a starting position, begins in particular 5At time Ts with its movement, arrives at time Tx with the workpiece 9 In order to record it, Ty concludes the placement of the workpiece at a certain point. 9 It moves from and returns to its starting position at a time Te. That is, a time interval from time Ts to time Te corresponds to one cycle of operating time CT0.
[0040] In a conventional suction gripping method, air extraction begins at a stage where the suction gripper 5 not yet in contact with the workpiece 9This means that the time Ton, at which the air extraction begins, is before time Tx. The reason for this is that, since it is assumed that there is a slight time delay Δt0 between the start of the suction and the achievement of the required suction force, such a time delay is contained in a movement time Δt1, during which the suction gripper is in motion. 5 moved to shorten the overall operating time CT0. Furthermore, in Fig. 3. A time Taus is equal to the time Ty, since the suction occurs at time Ty, when the workpiece 9 is stored, is stopped.
[0041] According to such a conventional control method, as in Fig. As shown in section 4, the suction begins at the moment the sound is heard, when the suction gripper... 5 not yet in contact with the workpiece 9 The film-like packaging material is used accordingly. 9aThe material, which is thin and relatively soft, is pulled upwards by the suction force resulting from the air extraction, thereby forming folds (M). In the present embodiment, the folds (M) are not limited to creases, but can also be irregularities on the surface of the packaging material. 9a include.
[0042] Since the air extraction is active at time Tx, when the suction gripper 5 with the workpiece 9 The workpiece will come into contact with the workpiece and will continue to do so. 9 with the formed folds. Furthermore, the air extraction continues until the workpiece is placed down. 9 If the wrinkling persists, it can continue until the workpiece is laid down. 9 persist. If there are creases in the packaging material 9a The product, which has such creases, can be sorted out or thrown away, even if the contents are not damaged or remain in the product. 9bIt is not itself unusable. This can lead to increased food waste.
[0043] Therefore, the suction gripping device 1 one in Fig. The process described in section 5, that is, a process in Fig. 5. Control method shown, by which to reduce increased product loss during the manufacture of the workpieces 9 with the foil-like packaging material 9a with the content contained therein 9b to suppress. Although the in Fig. The process shown in section 5 is essentially controlled by the controller. 3 The following section will describe the process or procedure carried out by the suction gripping device for better understanding. 1 is carried out.
[0044] In step S1, the suction gripping device moves 1 the suction gripper 5 to a position above the workpiece 9 , and causes the suction gripper to... in step S2 5firmly against the workpiece 9 is pressed. As in a Fig. 6 shown example and in S1 and S2 in Fig. As shown in 7, during a time period from a point in time Ts, at which the suction gripper 5 sets in motion until a time Tx, at which the suction gripper 5 against the workpiece 9 When pressed, the suction from the suction gripper 5 not yet carried out.
[0045] Then the suction gripping device determines 1 in step S3, whether the suction gripper is pressed firmly 5 is completed. In this step, the suction gripping device determines 1 for example, based on whether the lower end of the suction gripper 5 A predetermined height H1 above a storage surface of the conveying device 8 is reached, whether the suction gripper is firmly pressed down. 5 is completed.
[0046] It is assumed that the contents9b the workpieces 9 to be manufactured in the same size. Accordingly, it is considered that the suction gripper 5 against the content 9b is pressed, whereby the packaging material 9a in between, when the lower end of the suction gripper 5 the predetermined height H1 has been reached. Furthermore, it is also possible to provide a sensor to detect an external force and determine that the suction gripper is pressing down. 5 is completed when the suction gripper is attached 5 The applied external force reaches a predetermined value, or a sensor is provided to detect a height above the storage surface and to determine that the suction gripper is pressing down. 5 is completed when the suction gripper 5 a predetermined height above the shelf surface is reached.
[0047] As soon as it is determined that the suction gripper is pressed down 5Once completed, the suction gripping device 1 In step S4, the packaging material is smoothed. 9a through. For example, there may be a case where folds (M) in the packaging material 9a are trained, as in S1 and S2 in Fig. 7 shown. In this case, the wrinkles may remain if the workpieces 9 to be suctioned on unchanged. Therefore, the suction gripping device 1 the suction gripper 5 along a surface of the content 9b sliding, for example in the horizontal direction in the illustration, around the surface of the packaging material 9a to smooth the surface in order to reduce or remove wrinkles. The time required for smoothing corresponds to Δt10 in Fig. 6. If no smoothing is performed, Δt10 is equal to 0.
[0048] Once the smoothing process is complete, the suction gripping device begins. 1in step S5 with the suction of air by the suction gripper 5 , as indicated by the F1 arrow. That is, as in Fig. 6 shown, and as in S5 in Fig. As shown in section 7, the suction gripping device starts. 1 the air extraction from the suction gripper 5 at a time tone that lies after time Tx, at which the suction gripper 5 against the workpiece 9 was pressed. Consequently, deformation of the packaging material can occur. 9a by suction, as above with reference to Fig. As described in section 4, this can be prevented.
[0049] Then the suction gripping device determines 1 In step S6, it is determined whether a suction grip can be performed. That is, in step S6, the suction gripping device is determined. 1 , whether there is sufficient suction power to grip the workpiece 9was obtained. In the present embodiment, it is assumed that sufficient suction power is available to grip the workpiece. 9 This value is obtained if a time interval Δt0 has elapsed after the start of the suction process. If Δt0 has not elapsed after time Tx, the suction gripping device determines the value. 1 Therefore, since it is not possible to perform a suction grip (NO in step S6), it continues the suction.
[0050] If, on the other hand, Δt0 has elapsed after time Tx, the suction gripping device determines 1 that it is possible to perform a suction grip (YES in step S6), and grips the workpiece 9 by suction and transports it to pallet 10 in step S7. When the workpiece is placed 9 Once step S8 is completed, the suction gripping device stops. 1 Then in step S9 the suction starts and in step S10 it goes into a standby state.
[0051] As in Fig. As shown in section 6, the suction gripping device is placed 1 the workpiece 9 at time Ty, the suction stops, and at time Taus it waits for a period of Δt11 in a state where the suction gripper 5 with the workpiece 9 is in contact. The reason for this is that if a suction force is generated in a state where the suction gripper is in contact, it will be in contact with the suction cup. 5 from the workpiece 9 is removed when the workpiece 9 is placed and the suction gripper 5 from the workpiece 9 When removed, wrinkles form in the packaging material. 9a This can occur, as above with reference to Fig. 4 described.
[0052] Therefore, the suction gripping device prevents 1 the generation of suction force in a state in which the suction gripper 5 from the workpiece 9is removed, not only when this is done with the suction grip on the workpiece. 9 begins, but also when this involves the suction gripping of the workpiece. 9 terminated. However, it is assumed that Δt11 depends on the specification of the pressure generation source. 4 The configuration of a valve that generates suction, the suction force generated, and similar factors vary. Accordingly, a preliminary test can be performed to pre-set a suitable value for Δt11. If the suction force is configured such that it disappears almost simultaneously with the cessation of suction, Δt11 can be set to zero or an extremely short time interval.
[0053] Then, when the suction gripping device determines in step S11 that all operations are completed, for example, when all workpieces are 9 The process ends when pallet 10 has been transported (YES in step S11).
[0054] If the suction gripping device 1 On the other hand, it is determined that the processes are not completed, for example if any workpiece 9 If the item to be transported to pallet 10 remains on conveyor 8 (NO in step S11), the process returns to step S1. As in Fig. In the present embodiment, the figure shown in section 6 corresponds to a time Te at which the workpiece 9 was transported to the starting position, at a time Ts, at which the process for the next workpiece 9 begins.
[0055] In this case, the operating time CT in the present embodiment is at least Δt10 longer than the conventional operating time CT0, and can be further extended if the smoothing time (Δt10) and the standby time (Δt11) are added. Thus, in the present embodiment, the operating time is intentionally extended to prevent the formation of creases in the packaging material.9a to prevent. In other words, the suction gripping device 1 and the control method for suction gripping the workpiece 9 According to the present embodiment, the underlying technical idea is that the quality of the workpiece 9 Priority is given to reducing operating hours.
[0056] According to the embodiment described above, the following advantageous effects can be obtained. The method for controlling the robot 2 the foregoing embodiment, which is configured such that it the workpiece 9 with the foil-like packaging material 9a with the content contained therein 9b Gripping by suction includes: pushing or pressing the suction gripper. 5 against the content 9b with the packaging material placed in between 9a ; Starting the suction in a state where the suction gripper 5is pressed down; and after starting the suction, suction gripping of the workpiece. 9 through the suction gripper 5 .
[0057] For suction gripping of the workpiece 9 Sufficient suction power is required to grip the workpiece. 9 required. In this process, the suction force is achieved by drawing air into the suction gripper. 5 generated. However, even when the air extraction begins, there may be a slight time delay until a suction force is generated that is sufficient to obtain the required suction gripping force.
[0058] For this reason, the conventional method includes such a time delay in the movement time during which the suction gripper 5 to pick up the workpiece 9 is moved, that is, the suction begins at the stage when the suction gripper 5 with the workpiece 9is not yet in contact, in order to shorten the overall operating time.
[0059] Because in this case, the suction or extraction begins at the stage where the suction gripper 5 with the workpiece 9 If it is not yet in contact, the foil-like packaging material can 9a The force of the air suction can pull the fabric upwards, leading to wrinkling. This occurs when the air suction begins as soon as the suction gripper... 5 with the workpiece 9 comes into contact until the workpiece is placed down. 9 If the wrinkling persists, it can continue until the workpiece is laid down. 9 continue.
[0060] If in the packaging material 9a If wrinkles have formed or remain in the product, it can be rejected, even if the contents 9b It is not itself unusable. This can lead to increased loss of food products.
[0061] Therefore, the process for controlling the robot starts 2 suction in a state where the suction gripper 5 against the workpiece 9 is pressed. Since no suction force is generated before the suction gripper 5 with the workpiece 9 comes into contact with the packaging material. 9a This prevents it from being pulled upwards, thus preventing the formation of wrinkles. Since the workpiece 9 During transport, while the formation of creases is suppressed, the possibility of creases appearing or remaining in the packaging material can be reduced. 9a be reduced.
[0062] Furthermore, the procedure for controlling the robot includes 2 In the above embodiment, the smoothing of a surface of the packaging material 9a by sliding the suction gripper 5 along a surface of the content 9b, when the suction cup is pressed down. The same applies in the case where the packaging material 9a Initially, it does not have a flat surface; it is possible to change the surface of the packaging material. 9a to smooth, if the workpiece 9 It is gripped by suction to reduce the possibility of creases in the packaging material. 9a arise or remain.
[0063] Furthermore, the procedure for controlling the robot includes 2 of the above embodiment after the workpiece has been placed down 9 and stopping the suction, a wait for a predetermined period of time before the suction gripper 5 from the workpiece 9 is removed. If a suction force is generated in a state where the suction gripper 5 from the workpiece 9 is removed when the workpiece 9When the suction cup is placed down and the suction has stopped, wrinkling can occur. Therefore, the suction cup may 5 after placing the workpiece 9 be put into a standby or ready state until suction power disappears or decreases sufficiently before the suction gripper 5 from the workpiece 9 is removed to eliminate the possibility of creases appearing or remaining in the packaging material. 9a to reduce.
[0064] Furthermore, the suction gripping device includes 1 the foregoing embodiment, which is configured such that it the workpiece 9 with the foil-like packaging material 9a with the content contained therein 9b by suction: the robot 2 ; the suction gripper 5 , which is configured to be attached to the robot 2 mounted and connected to the pressure generation source 4is connected; and the controller 3 , which the robot 2 controls. The controller 3 is configured in such a way that this: the suction gripper 5 against the content 9b presses, whereby the packaging material 9a is arranged in between, with the suction gripper 5 with the print generation source 4 is connected; the suction through the pressure-generating source 4 starts in a state in which the suction gripper 5 is pressed down; and the workpiece 9 through the suction gripper 5 The suction process begins when the intake is activated by suction.
[0065] The suction gripping device 1 The above configuration can also achieve the same effects as the above control method, such as preventing increased product loss during the manufacture of the workpieces. 9 with the foil-like packaging material 9awith the content provided and contained therein 9b .
[0066] Although the example described in the foregoing embodiment includes both the smoothing step and the standby step, the control method need not necessarily include one or both steps.
[0067] In the example described in the preceding embodiment, a surface of the packaging material is 9a smoothed by the suction gripper 5 glides along the surface. However, it is also possible to take a step to smooth the surface of the packaging material. 9a by expelling air when the suction gripper 5 to encompass when pressed. For example, as in a smoothing mode 1 in Fig. 8 shows the folds (M) on a surface of the packaging material. 9a by expelling air after pressing down the suction gripper 5be smoothed.
[0068] Furthermore, smoothing the surface of the packaging material can 9a can also be done by expelling air when the workpiece 9 is stored. Accordingly, even if there are some creases in the packaging material, it can be stored. 9a are trained when the suction gripper 5 When pressure is applied, the wrinkles are eliminated by expelling air.
[0069] Alternatively, as in a smoothing mode 2 in Fig. 8 shows the folds (M) on a surface of the packaging material. 9a smoothed by expelling air before the suction gripper 5 is pressed down. With this configuration, it is also possible to modify the surface of the packaging material. 9a to smooth, if the workpiece 9 It is suctioned and gripped to reduce the possibility of creases in the packaging material. 9aarise or remain. [Second embodiment]
[0070] With reference to the Fig. 10 and Fig. Section 11 now describes a second embodiment of the method and the device according to the present disclosure. In this embodiment, components which are similar or equivalent in their functions and / or structures to those described in the first embodiment are designated by reference numerals for the sake of simplicity.
[0071] In the second embodiment, the control unit 3b (that is, the CPU provided therein) of the controller 3 configured in such a way that it reads a predetermined program for controlling workpiece suction / gripping operations of the robot from memory unit 3b, which is stored in Fig. 10 is outlined. Furthermore, the control unit 3b is configured to execute the steps provided in the program sequentially. Consequently, the Fig. The 11 advantageous processes shown will be provided.
[0072] In particular, the suction gripping device 1 The second embodiment primarily aims to shorten the time period that the robot 2 The control unit 3b handles the processing of steps S1A, S2, S3, S6 - S11 from the start of the suction and gripping processes until their completion. Fig. 10 through, as already described in the first embodiment. In Fig. Steps S4 and S5 are omitted in step 10, which are in Fig. 5 are provided. In addition, step S1A enables the suction gripper to 5 , that is, the robot arm, over the workpiece 9The object is moved, but at this point the vacuum pump 4a has already been activated, meaning the extraction has already started. Subsequently, steps S2, S3, S6 - S11 are carried out in the same way as described in the first embodiment.
[0073] If the suction gripper 5 firmly onto the workpiece 9 is pressed, whereby the packaging material... 9a still between the suction gripper 5 and the workpiece 9 If the suction process is already complete or has started, then it has already been carried out. In this case, some folds M1 and M2 may be new or additional on the packaging material. 9a caused, as in Fig. 11 shown (see step S2), but the degree of wrinkling causation can still be reduced if the suction gripper 5 quickly and firmly onto the packaging material 9a and the content 9b (that is, the workpiece) 9) is pressed. Depending on how the already activated suction gripper 5 to the workpiece 9 is moved closer (that is, how the suction gripper operates) 5 (is designed), the possibility of wrinkling on the packaging material can occur. 9a during the approach of the suction gripper 5 (Steps S1 and S2 in Fig. 11) and the gripping and transport process (steps S5, S6 and S7 in Fig. 11) can of course be further reduced, so that this is still effective in reducing the appearance of such wrinkles. This is mainly due to the fact that the suction cup 5 firmly attached to the content 9b is pressed, whereby the packaging material 9a still tightly between the suction gripper 5 and the content 9b is arranged.
[0074] This makes it possible to accelerate the robot's suction and gripping processes while still reducing wrinkles.
[0075] In the second embodiment, it is of course sufficient that the suction gripper 5 during the movement of the suction gripper 5 in the direction towards the workpiece 9 is activated before it reaches this point.
[0076] In the examples described in the preceding embodiment, a content 9b packaged. In the workpiece 9 However, it can also contain multiple items. 9b in the packaging material 9a be packed up. If there are multiple contents 9b Once packaged, the suction gripper can 5 be configured in such a way that it can withstand a relatively large amount of content 9b with the intervening packaging material 9a is pressed. In this case, the content can 9b , which is larger than the suction surface of the suction gripper 5is preferably selected as a target for pressing. Accordingly, it is possible to reduce the possibility of wrinkling due to unevenness or the like if the suction cup is 5 is pressed down.
[0077] In the example described in the preceding embodiment, a single suction gripper 5 with the robot 2 provided. However, multiple suction grippers can also be used. 5 with the robot 2 be provided by using a fixing tool 6 which has a plurality of suction grippers 5 can be assembled.
[0078] In the example described in the preceding embodiment, the pressure generation source 4 used, which can perform air extraction and discharge. However, if the air discharge step is not required, the pressure generation source can be used. 4It should consist only of the vacuum pump 4a, which can perform the air extraction.
[0079] The aforementioned configurations are merely illustrative and should not be interpreted as limiting the technical scope of protection of the present invention. Various modifications and combinations can be made without deviating from the scope of protection of the present invention, and these modifications and combinations are intended to be included within the scope of equivalence. Reference symbol list
[0080] In the illustrations, the reference symbol denotes 1 a suction gripping device, the reference numeral 2 denotes a robot, the reference symbol 3 denotes a controller, the reference symbol 4 denotes a pressure generation source, the reference mark 5 designates a suction gripper, the reference symbol 9 designates a workpiece, the reference symbol 9a designates a packaging material and the reference mark 9b refers to a content. QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] JP 2019000922 A
[0003]
Claims
[1] A method for controlling a robot configured to suck and grip a workpiece comprising a thin packaging material with a content therein, the method comprising: Pressing a suction cup against the contents with the packaging material inserted between them; and Suction and gripping of the workpiece by the suction gripper and transporting the workpiece. [2] A method of controlling a robot according to claim 1, wherein the method comprises starting the suction in a state where the suction pad is pressed against the contents of the workpiece, before the step of sucking and gripping but after the step of pressing. [3] A method of controlling a robot according to claim 1, wherein the method comprises starting the suction before the suction pad is pressed against the contents of the workpiece. [4] A method of controlling a robot according to claim 2, wherein the method comprises smoothing a surface of the packaging material by sliding the suction pad along a surface of the contents when the suction pad is pressed. [5] A method of controlling a robot according to claim 2 or 4, wherein the method comprises smoothing a surface of the packaging material by ejecting air when the suction pad is pressed. [6] A method of controlling a robot according to any one of claims 2, 4 and 5, wherein the method comprises, after placing the workpiece and stopping suction, waiting for a predetermined period of time until a suction force disappears or decreases sufficiently before removing the suction pad from the workpiece. [7] A method of controlling a robot according to any one of claims 2, 4, 5 and 6, the method comprising ejecting air from the suction pad when the workpiece is deposited. [8] A suction gripping device configured to grip a workpiece comprising a thin packaging material with a content therein by suction, the suction gripping device comprising: a robot; a suction gripper configured to be mounted on the robot and connected to a pressure generating source; and a controller that controls the robot, whereby the controller is configured in such a way that it: presses the suction cup with the packaging material inserted between it against the contents, whereby the suction cup is connected to the pressure generating source, and the workpiece is gripped by the suction gripper after the suction has started. [9] The suction gripping device according to claim 8, wherein the controller is configured to start suction by the pressure generating source in a state where the suction gripper is pressed.