Box body gripping device and method for gripping box body

Abstract

To provide a box body gripping device and a method for gripping a box body that can hold a box body even when many box bodies are piled up and an opposite side that is opposite to one side of the box body abuts on adjacent another box body.SOLUTION: A box body gripping device 10 includes: a first gripping part 14 for gripping a flange part F that is present in one side of a box body H; and a second gripping part 16 for gripping another flange part F that is present in another side continuing to the one side. The first gripping part 14 and the second gripping part 16 respectively include: support parts 32, 62 for supporting a flange part F from below; and pressing parts 36, 66 for pressing the flange part F from above.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a box gripping device for gripping a box having a flange portion (projection portion), and a box gripping method. [Background technology]

[0002] 2. Description of the Related Art Up to now, boxes having flanges (projections) have been widely used as members for storing parts, food, home appliances, furniture, and the like.

[0003] In recent years, there has been a strong demand for labor saving in factories and the like, and the demand for robots to handle boxes has increased dramatically.

[0004] For this reason, a variety of robots have been developed for handling boxes (for example, Patent Document 1).

[0005] Incidentally, some boxes have a flange portion (protruding portion) extending horizontally from the entire circumference of their upper end, and many box gripping devices have been developed specifically for robots to grip such boxes. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2000-313522 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, previous box gripping devices were designed to grip one side of a box that was rectangular in plan view and the opposing side opposite it. When a large number of these boxes were piled up and an opposing side was abutting against an side of an adjacent box, there were cases where the box could not be gripped because the opposing side could not be held.

[0008] The present invention has been made to solve such problems, and its object is to provide a box gripping device and a box gripping method that can hold boxes even when a large number of boxes are piled up and an opposing edge of one side of a box abuts against another adjacent box. [Means for solving the problem]

[0009] According to one aspect of the invention, A first gripping portion that grips a flange portion on one side of the box body; and a second gripping portion that grips another flange portion on another side that is continuous with the one side, The first gripping portion and the second gripping portion each include: A support portion that supports the flange portion from below; and a pressing portion that presses the flange portion from above. A box gripping device is provided.

[0010] Preferably, The support portion is A main body portion, a pair of protruding portions protruding horizontally from the main body toward the box body, The pair of protruding portions are adapted to support the flange portion from below at their upper sides.

[0011] Preferably, Distance sensors for measuring the distance to the box body are provided near each of the protruding portions in order to adjust the orientation of the support portion and the pressing portion relative to the box body.

[0012] According to another aspect of the present invention, A flange portion on one side of the box body is gripped by a first gripping portion, A box-body gripping method in which another flange portion on another side following the one side is gripped by a second gripping portion, The first gripping portion and the second gripping portion each include: The flange portion is gripped by a support portion that supports the flange portion from below and a pressing portion that presses the flange portion from above. A method of gripping a box is provided.

[0013] Preferably, The flange portion is supported from below by the upper sides of a pair of protruding portions that protrude horizontally from the main body of the support portion toward the box body.

[0014] Preferably, The orientations of the support portion and the pressing portion relative to the box are adjusted based on the distances to the box measured by distance sensors provided in the vicinity of each of the protruding portions. Effect of the Invention

[0015] According to the present invention, a flange portion on one side of the box body is gripped by a first gripping portion, and another flange portion on another side adjacent to the first side is gripped by a second gripping portion. Therefore, even when a large number of boxes are piled up and an opposing side facing one side of a box body is abutting against an adjacent box body, the two sides, one side and the other side, of the box body can be gripped, and the entire box body can be gripped. [Brief description of the drawings]

[0016] [Figure 1] 1 is an overall perspective view showing a state in which a box-body gripping device 10 according to the present embodiment is attached to a six-axis robot hand R. FIG. [Diagram 2] 1 is a perspective view showing an overall configuration of a box-body gripping device 10 according to an embodiment of the present invention. [Diagram 3] 1 is a front view showing a box body H handled by a box body gripping device 10 according to the present embodiment. [Figure 4] FIG. 2 is a perspective view illustrating a box-holding method using the box-holding device 10 according to the present embodiment. [Diagram 5] FIG. 2 is a perspective view illustrating a box-holding method using the box-holding device 10 according to the present embodiment. [Figure 6]FIG. 2 is a perspective view illustrating a box-holding method using the box-holding device 10 according to the present embodiment. [Figure 7] FIG. 2 is a perspective view illustrating a box-holding method using the box-holding device 10 according to the present embodiment. [Figure 8] 10 is an enlarged perspective view showing a second gripping portion 16 of a box-body gripping device 10 according to a first modified example. FIG. [Figure 9] 1 is a side view of a box-body gripping device 10 according to a first modified example. FIG. [Figure 10] 1 is an enlarged side view showing a first gripping part 14 of a box-body gripping device 10 according to a first modified example. FIG. [Figure 11] 1 is an enlarged side view showing a first gripping part 14 of a box-body gripping device 10 according to a first modified example. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. The names and functions of the components are also the same. Therefore, detailed description thereof will not be repeated.

[0018] <Overall configuration of the box gripping device 10 according to this embodiment> First, the overall configuration of a box body gripping device 10 according to this embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is an overall perspective view showing a state in which the box body gripping device 10 according to this embodiment is attached to a six-axis robot hand R. Fig. 2 is a perspective view showing the overall configuration of the box body gripping device 10 according to this embodiment.

[0019] 3, the box H handled by the box gripping device 10 according to this embodiment has a box body G with an open top surface and a lid body J that covers the top surface, and a flange part F (projection part) is formed extending horizontally from the entire periphery of the upper end part of the box body G. Also, a rib K is raised from the peripheral edge of the top surface of the lid body J.

[0020] Returning to FIG. 2, the box-holding device 10 according to this embodiment is generally composed of a device main body 12, a first holding section 14, and a second holding section 16.

[0021] The device body 12 is a member to which the first gripping portion 14 and the second gripping portion 16 are attached, and is also a member to which the robot hand R is attached.

[0022] In the case of this embodiment, the device main body 12 has a pair of main body plates 20 formed in a substantially L-shape, a side plate 22, and a robot hand mount member 24.

[0023] The main body plate 20 is a plate material having an external shape formed in a substantially L-shape, and through holes for arranging the members constituting the first gripping portion 14 and the second gripping portion 16 are appropriately formed.

[0024] In this embodiment, a pair of main body plates 20 are disposed facing each other with a predetermined distance therebetween, and a side plate 22 for maintaining the distance is provided between the pair of main body plates 20 .

[0025] The robot hand mount member 24 is a member for attaching the tip of the robot hand R to the box gripping device 10, and in this embodiment, is disposed facing upward at a corner of the upper surface of the main body plate 20 arranged on the upper side.

[0026] The first gripping portion 14 is a part that grips the flange portion F of the box body H, and is equipped with a first horizontal movement device 30, a first support portion 32, a distance sensor 33, a first vertical movement device 34, and a first pressing portion 36.

[0027] The first horizontal movement device 30 is a device that moves the first support part 32 in a substantially horizontal direction, and is attached to the lower main body plate 20. In this embodiment, the first horizontal movement device 30 has a first horizontal movement member 38 and a first horizontal drive part 40 that moves the first horizontal movement member 38 substantially horizontally on the upper surface of the lower main body plate 20. In addition, the first horizontal movement member 38 has a first horizontal movement pin 42 that moves the first support part 32.

[0028] The first support portion 32 is a part that supports the flange portion F of the box body H (in this embodiment, the flange portion F extending horizontally from the entire circumference of the upper end portion of the box body G) from below, and has a first main body portion 44, a first protrusion portion 46, and a first engagement portion 48.

[0029] In this embodiment, the first main body portion 44 has a first rod-shaped portion 50 extending in a substantially horizontal direction, and an L-shaped angle portion 52 fixed to the first rod-shaped portion 50.

[0030] The first protrusion portion 46 is a portion that protrudes horizontally from the first rod-shaped portion 50 of the first main body portion 44 toward the box body H, and in this embodiment, a pair of first protrusion portions 46 are formed at one end and the other end of the first rod-shaped portion 50.

[0031] Further, a distance sensor 33 is provided near (below in this embodiment) each of the first protrusions 46. The distance sensor 33 measures the distance between each of the first protrusions 46 and the box body H.

[0032] The first engagement portions 48 are a pair of portions protruding vertically upward from the L-shaped angle portion 52 of the first main body portion 44, and the first horizontally movable pin 42 is adapted to fit between this pair of first engagement portions 48.

[0033] The first horizontal driving portion 40 of the first horizontal movement device 30 moves the first horizontal movement pin 42 of the first horizontal movement member 38 in an approximately horizontal direction, so that the entire first support portion 32 moves closer to or away from the side of the box body H via the first engagement portion 48.

[0034] Next, the first vertical movement device 34 is a device that moves the first pressing portion 36 in a substantially vertical direction, and is attached to the lower main body plate 20.

[0035] The first pressing portion 36 is a part that presses the flange portion F of the box body H from above (in this embodiment, the flange portion F extending horizontally from the entire circumference of the upper end portion of the box body G), and has a pressing portion main body portion 54 that moves in the vertical direction by the first vertical movement device 34, and a pressing end portion 56 that abuts against the top surface and inner side surface of the rib K formed on the lid body J of the box body H.

[0036] In this manner, in the case of the box body H having the lid body J as in this embodiment, the first pressing portion 36 presses the flange portion F from above via the rib K of the lid body J. Of course, in the case of the box body H without the lid body J, the first pressing portion 36 presses the flange portion F directly from above.

[0037] The second gripping portion 16 is a portion that grips another flange portion F on another side continuing from one side of the flange portion F of the box body H gripped by the above-mentioned first gripping portion 14, and includes a second horizontal movement device 60, a second support portion 62, a distance sensor 33, a second vertical movement device 64, and a second pressing portion 66. Note that the second horizontal movement device 60, the second support portion 62, the distance sensor 33, the second vertical movement device 64, and the second pressing portion 66 are the same as the above-mentioned first horizontal movement device 30, the first support portion 32, the distance sensor 33, the first vertical movement device 34, and the first pressing portion 36, respectively, and therefore the description thereof is hereby incorporated by reference.

[0038] <Box gripping method using box gripping device 10 according to this embodiment> A procedure for gripping the box H using the above-mentioned box gripping device 10 will be described. First, in the first gripping unit 14, the first horizontal movement device 30 is used to move the first support part 32 to a position where the first protrusion 46 is separated from the side surface of the box H, and the first vertical movement device 34 is used to move the first pressing part 36 to a position where it is separated from the lid J of the box H.

[0039] Similarly, in the second gripping portion 16, the second horizontal movement device 60 is used to move the second support portion 62 so that the second protrusion portion 68 is in a position away from the side of the box body H, and the second pressing portion 66 is moved using the second vertical movement device 64 to a position away from the lid body J of the box body H.

[0040] 4, the robot hand R is used to move the box gripping device 10 close to the box H to be gripped. When the box gripping device 10 approaches the box H to be gripped, the distance sensors 33 disposed near the pair of first protrusions 46 and second protrusions 68 measure the distance to the opposing side of the box H.

[0041] At this time, as shown in Fig. 5, the entire box gripping device 10 is moved using the robot hand R so that the distances measured by the two distance sensors 33 arranged near the pair of first protrusions 46 match each other and the distances measured by the two distance sensors 33 arranged near the pair of second protrusions 68 match each other, and the first support part 32 and the second support part 62 are made to face the box H. At this time, it is preferable to move the entire box gripping device 10 while checking the position of the box H from above with a 3D camera (not shown). In this embodiment, checking the box H from above means checking the lid J of the box H with the 3D camera.

[0042] From this state, the first horizontal movement device 30 is used to move the first support portion 32 until the first protrusion portion 46 abuts against the side of the box body H, and the second horizontal movement device 60 is used to move the second support portion 62 until the second protrusion portion 68 abuts against the side of the box body H.

[0043] 6, the first pressing part 36 is moved downward using the first vertical movement device 34 to a position where it abuts against the lid body J of the box body H, and the second pressing part 66 is moved downward using the second vertical movement device 64 to a position where it abuts against the lid body J of the box body H. Note that the entire box gripping device 10 may be moved upward by the robot hand R so that the first protruding part 46 of the first support part 32 and the second protruding part 68 of the second support part 62 abut against the flange part F of the box body H from below.

[0044] 7, the flange portion F on one side of the box body H is gripped by the first support portion 32 that supports the flange portion F from below and the first pressing portion 36 that presses the flange portion F from above (through the lid body J), and similarly the flange portion F on another side continuing from the first side is gripped by the second support portion 62 and the second pressing portion 66. In this way, the box body H can be gripped, and by moving the robot hand R, the box body H can be moved to any position.

[0045] According to the box-body gripping device 10 of this embodiment, a flange portion F on one side of a box body H is gripped by a first gripping portion 14, and another flange portion F on another side adjacent to the first side is gripped by a second gripping portion 16. Therefore, even when a large number of box bodies H are piled up and an opposing side opposite one side of a box body H is abutting against an adjacent box body H, the entire box body H can be gripped by gripping two sides, one side and the other side of the box body H.

[0046] (Variation 1) In the embodiment described above, the first horizontal movement device 30, the first support portion 32 and the first vertical movement device 34, and the first pressing portion 36 of the first gripping portion 14 are each independently attached to the device body 12 and move individually (the same applies to the second support portion 62 and the second pressing portion 66 of the second gripping portion 16). Alternatively, as shown in Figures 8 and 9, the first vertical movement device 34 and the first pressing portion 36 may be attached to the first body portion 44 of the first support portion 32, and the second vertical movement device 64 and the second pressing portion 66 may be attached to the second body portion 72 of the second support portion 62.

[0047] 10 and 11, when the first support part 32 is moved in a substantially horizontal direction by the first horizontal movement device 30, the first vertical movement device 34 and the first pressing part 36 also move in a substantially horizontal direction at the same time (similarly to the second gripping part 16). Therefore, by setting positions of the first support part 32 and the first pressing part 36 suitable for the box body H to be gripped in advance, the first support part 32 can be correctly abutted against the side surface of the box body H (below the flange part F) using the distance sensor 33 and the robot hand R, so that the first pressing part 36 can automatically press the box body H from above at the correct position.

[0048] The box body H used in the above description is just one example, and any shape of box body can be handled by the box body holding device 10 as long as it has a flange F (projection portion) extending horizontally and is rectangular in a plan view. For example, the presence or absence of a lid body J, whether or not it is foldable, the number and arrangement positions of ribs K, and the material of the ribs K are not particularly limited.

[0049] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0050] 10...Box gripping device, 12...Device main body, 14...First gripping part, 16...Second gripping part 20: main body plate, 22: side plate, 24: robot hand mount member Reference Signs List 30...first horizontal movement device, 32...first support portion, 33...distance sensor, 34...first vertical movement device, 36...first pressing portion, 38...first horizontal movement member, 40...first horizontal drive portion, 42...first horizontal movement pin, 44...first main body portion, 46...first protruding portion, 48...first engagement portion, 50...first rod-shaped portion, 52...L-shaped angle portion, 54...pressing portion main body portion, 56...pressing end portion 60... second horizontal movement device, 62... second support portion, 64... second vertical movement device, 66... ​​second pressing portion, 68... second protruding portion, 70... second engagement portion, 72... second main body portion R: Robot hand, H: Box, G: Box body, J: Lid, F: Flange, K: Rib

Claims

1. A first gripping portion that grips a flange portion on one side of the box body; and a second gripping portion that grips another flange portion on another side that is continuous with the one side, The first gripping portion and the second gripping portion each have A support portion that supports the flange portion from below; and a pressing portion that presses the flange portion from above. Box gripping device.

2. The support portion is A main body portion, a pair of protruding portions protruding horizontally from the main body toward the box body, The pair of protruding portions are configured to support the flange portion from below on the upper sides thereof. The box gripping device according to claim 1 .

3. Distance sensors for measuring the distance from the box body to adjust the orientation of the support portion and the pressing portion relative to the box body are provided near each of the protruding portions. The box gripping device according to claim 1 .

4. A flange portion on one side of the box body is gripped by a first gripping portion, A box-body gripping method for gripping another flange portion on another side following the one side with a second gripping portion, The first gripping portion and the second gripping portion each have The flange portion is gripped by a support portion that supports the flange portion from below and a pressing portion that presses the flange portion from above. How to grip the box.

5. The flange portion is supported from below by the upper sides of a pair of protruding portions that protrude horizontally from the main body of the support portion toward the box body. The box gripping method according to claim 4.

6. The orientation of the support portion and the pressing portion relative to the box body is adjusted based on the distance between the support portion and the box body measured by a distance sensor provided in the vicinity of each of the protruding portions. The box gripping method according to claim 4.

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