Transfer device

Abstract

To provide a transfer device capable of automatically exchanging suction boxes fitted to a robot arm accurately.SOLUTION: A transfer device 10 for sucking and moving an article 3 includes: a plurality of suction boxes 20 for sucking and holding the article 3; a robot arm 15 having a box connection part 16 for removably fitting the suction boxes 20 at the end thereof; and a box housing part 30 housing unused suction boxes 20 which has an inclined housing panel 31 installed inclined and a protrusion protruding from a panel surface of the inclined housing panel 31 to the right side, and a box support member 32 for supporting the suction boxes 20 that are falling by self weight on the panel surface with the projection and locating them at a housing place. The suction boxes 20 fitted to the end of the robot arm 15 are automatically exchanged.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transfer device for moving an article. [Background technology]

[0002] Conventionally, there have been provided packing devices (product insertion devices) that are transfer devices for packing products (items) into cardboard boxes, and one such device is disclosed, for example, in Patent Document 1. In Patent Document 1, the product is sucked and picked up by a suction member attached to the tip of a robot arm, and then transferred into the cardboard box, and the suction of the suction member is then released to release the product, thereby packing the product into the box. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-50023 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the suction members used to suck and pick up products are shaped to match the shapes of the products to be picked up and the cardboard boxes into which they are packed. If the shape or size of the products or cardboard boxes to be packed changes, the packing machine must be stopped and an operator must manually change the suction members attached to the robot arm to ones shaped to match the new products and cardboard boxes.

[0005] However, if an operator manually replaces the suction member, the operator must be stationed there each time the replacement is required, reducing manufacturing efficiency. Furthermore, human work is prone to human error, and there is a risk of the wrong size suction member being installed.

[0006] The present invention has been made in view of the above problems, and aims to provide a transfer device that can automatically and accurately replace a suction box attached to the tip of a robot arm. [Means for solving the problem]

[0007] In order to solve the above problem, the transfer device of the present invention is a transfer device for suctioning and moving items, comprising: a plurality of suction boxes that suction and hold the items; a robot arm having box connection parts at its tip for detachably attaching the suction boxes; and a box storage section for storing the suction boxes that are not in use, the box storage section having an inclined storage panel installed at an angle; and a box support member having a protrusion that protrudes from the panel surface of the inclined storage panel to the front side, and which supports the suction boxes that tend to fall on the panel surface due to their own weight by the protrusion and positions them in a storage location, and is characterized in that the suction boxes attached to the tip of the robot arm are automatically replaced. [Effects of the Invention]

[0008] According to the transfer device of the present invention, the suction box attached to the tip of the robot arm can be automatically and accurately replaced. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing the configuration of a product input device according to an embodiment of the present invention. [Figure 2] FIG. 2 is an enlarged front view of the tip of the articulated robot arm according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing the configuration of the suction box according to the embodiment of the present invention. [Figure 4] FIG. 4 is an enlarged front view of a state in which a suction box is attached to the tip of a multi-joint robot arm according to an embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing a configuration of a plurality of suction boxes according to an embodiment of the present invention. [Figure 6] FIG. 6 is a front view showing the configuration of the box storage unit according to the embodiment of the present invention. [Figure 7] FIG. 7 is a side view showing the configuration of the box storage unit according to the embodiment of the present invention. [Figure 8] FIG. 8 is a rear view showing the configuration of the box storage unit according to the embodiment of the present invention. [Figure 9] FIG. 9 is a front view showing the configuration of the box storage unit according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a product input device 10, which is a transfer device according to this embodiment, will be described with reference to the drawings. This embodiment is characterized in that the product input device 10 can automatically change the suction box 20 for suctioning products, thereby automatically and sequentially packing products (items) 3 of different shapes and cardboard boxes 5 of different shapes.

[0011] The product insertion device 10 includes a frame 11 serving as a housing, an articulated robot arm 15, a plurality of suction boxes 20 of different sizes, a box storage section 30, a vacuum pump line 50, a product supply line 60, and a cardboard box supply line 65. The product insertion device 10 uses the suction boxes 20 to pick up products 3 conveyed on the product supply line 60, and packs the products into cardboard boxes 5 conveyed on the cardboard box supply line 65.

[0012] The articulated robot arm 15 is a six-axis vertical articulated robot arm, and at its tip is provided with a box connection part 16 for detachably attaching the suction box 20, a cylindrical vacuum line connecting member 17 for connecting the vacuum pump line 50 and the suction box 20, and a plate-shaped parallel connecting member 18 for connecting the box connection part 16 and the vacuum line connecting member 17 in parallel (see Figure 2).

[0013] The box connection part 16 is a cam lock type tool changer that is used in combination with the arm connection part 25 of the suction box 20, with the box connection part 16 being a robot adapter and the arm connection part 25 being a tool adapter. By electrically switching the box connection part 16 between ON (connected) and OFF (disconnected), the suction box 20 can be attached to and detached from the tip of the articulated robot arm 15.

[0014] The vacuum line connecting member 17 is a cylindrical member with open upper and lower ends for connecting the vacuum pump line 50 to the vacuum line connecting portion 26 of the suction box 20, and the tip of the vacuum pump line 50 is connected and fixed to the upper side of the vacuum line connecting member 17. The vacuum line connecting portion 26 is connected to the lower side of the vacuum line connecting member 17.

[0015] As shown in Figure 3, the suction box 20 has a thin, hollow rectangular box shape and is equipped with a hollow housing 21, a product suction surface 22, an arm connection part 25, and a vacuum line connection part 26.

[0016] 3(a) is a plan view of the suction box 20, FIG. 3(b) is a bottom view of the suction box 20, FIG. 3(c) is a front view of the suction box 20, FIG. 3(d) is a right side view of the suction box 20, FIG. 3(e) is a left side view of the suction box 20, and FIG. 3(f) is a perspective view of the suction box 20.

[0017] The product suction surface 22 is a metal plate with a large number of suction holes aligned and installed on the underside of the housing 21. When the vacuum pump line 50 connected to the vacuum line connection part 26 is operated, a negative pressure is created inside the housing 21, so that when the product suction surface 22 is brought into contact with the product 3, the product 3 is sucked and adsorbed onto the product suction surface 22.

[0018] In this suction state, the articulated robot arm 15 can be controlled to move the suction box 20, and after the product 3 has been moved to a predetermined location, the vacuum pump line 50 can be stopped, whereby the product 3 is released from the product suction surface 22 and can be transferred to the predetermined location.

[0019] In this embodiment, five different sizes of suction boxes 20 are prepared, and the suction boxes 20 that are not attached to the tip of the articulated robot arm 15 are stored in a predetermined storage location in the box storage unit 30. Fig. 5 is a plan view showing the configurations of the remaining four types of suction boxes 20 other than the suction box 20 shown in Fig. 3.

[0020] The shape of the box-shaped suction box 20 in a plan view is matched to the shape of the rectangular entrance opening of the cardboard box 5 in which the product 3 is stored, and suction boxes 20 of corresponding shapes are prepared for cardboard boxes 5 of different sizes.

[0021] More specifically, the shape of each suction box 20 in a plan view is a rectangle that is slightly smaller than the rectangular shape of the entrance opening of the cardboard box 5 to which each suction box 20 is associated, and each suction box 20 is configured to be able to enter each cardboard box 5 with just a small gap.

[0022] The arm connection part 25 is a member for attaching and detaching the suction box 20 to the tip of the articulated robot arm 15, and as described above, is a cam lock type tool changer used in combination with the box connection part 16 installed at the tip of the articulated robot arm 15.

[0023] The vacuum line connection part 26 is a cylindrical member with an open upper end, and the upper part of the vacuum line connection part 26 is detachably connected to the vacuum pump line 50 via the vacuum line connecting member 17 in order to create a negative pressure in the internal space of the suction box 20.

[0024] As shown in Figure 4, the vacuum line connection part 26 is installed in parallel next to the arm connection part 25, and when the suction box 20 is attached to the tip of the articulated robot arm 15 by connecting the box connection part 16 and the arm connection part 25, the vacuum line connection part 26 and the vacuum line connecting member 17 are also connected in parallel at the same time.

[0025] The cylindrical shape of the vacuum line connection part 26 is slightly smaller than the cylindrical inner wall surface of the vacuum line connection member 17 of the articulated robot arm 15, and the upper part of the vacuum line connection part 26 is configured so that it can fit snugly into the vacuum line connection member 17 with only a small gap.

[0026] The vacuum line connection part 26 fits into the vacuum line connecting member 17, thereby connecting the internal space of the suction box 20 to the vacuum pump line 50. There is only a small gap between the outer wall surface of the vacuum line connection part 26 and the inner wall surface of the vacuum line connecting member 17, so there is no problem with the product 3 being suctioned to the suction box 20 by negative pressure.

[0027] The box storage unit 30 is a member for storing a plurality of types of suction boxes 20 that are attached to and detached from the tip of the articulated robot arm 15, and includes an inclined storage panel 31 and a support 35 that supports the inclined storage panel 31. Fig. 6 is a front view of the box storage unit 30 in a state where all five types of suction boxes 20 are stored, and Figs. 7 to 9 are views of the box storage unit 30 in a state where none of the suction boxes 20 are stored.

[0028] The inclined storage panels 31 are plate-like members and are installed in two tiers, one above the other. Each inclined storage panel 31 is supported by a support 35 at an inclination angle (30° in this embodiment) from the vertical. The inclined storage panel 31 includes a V-shaped box support member 32 installed on the panel surface to support and store the suction box 20 on the panel surface.

[0029] Three sets of V-shaped box support members 32 are installed side by side on the panel surface of the upper inclined storage panel 31, and two sets are similarly installed on the lower inclined storage panel 31, making it possible to store three suction boxes 20 on the upper level and two on the lower level.

[0030] The V-shaped box support member 32 is composed of multiple (three or four in this embodiment) L-shaped metal fittings 33, one of which is fixed to the panel surface of the inclined storage panel 31 and the other of which is installed so that it protrudes perpendicularly from the panel surface. The tips of the protruding parts of the L-shaped metal fittings 33 are bent inward so that the stored suction boxes 20 do not easily come out of the storage location.

[0031] The L-shaped metal fittings 33 are installed so that their protruding surfaces are positioned on the two orthogonal left and right sides that intersect at a convex corner facing downward on the panel surface, and two L-shaped metal fittings are installed on each of the two left and right sides.

[0032] When the suction box 20 is placed on the panel surface of the inclined storage panel 31 configured in this manner so that the product suction surface 22 is in contact with the panel surface, the suction box 20 will tend to fall downward along the panel surface due to its own weight.

[0033] Therefore, when the suction box 20 is placed on the panel surface with a predetermined corner portion facing downwards and in the vicinity of the upper portion of the L-shaped metal fittings 33, the left and right side surfaces of the suction box 20 that sandwich the corner portion collide with and are supported by the left and right L-shaped metal fittings 33. The position where the suction box 20 is supported by the L-shaped metal fittings 33 is the storage location for the suction box 20.

[0034] In this embodiment, the storage locations of the five suction boxes 20 are predetermined and fixed. In each storage location, an L-shaped bracket 33 is installed at a position that matches the shape of the suction box 20 to be stored in that storage location (see FIGS. 6 and 9).

[0035] In this way, by employing the inclined storage panels 31 installed at an angle as the box storage section 30 and by installing the inclined storage panels 31 in multiple stages, the installation area of ​​the box storage section 30 can be made compact.

[0036] Furthermore, since the left and right sides of the stored suction box 20 are pressed against the V-shaped box support member 32 by its own weight, the storage location of the suction box 20 will not shift even if the box storage section 30 shakes or vibrates due to external factors, and the box can be stored stably.

[0037] The vacuum pump line 50 is equipped with a vacuum pump (not shown) and can create a negative pressure in the internal space of the suction box 20 connected via the vacuum line connecting member 17. The operation and stop of the vacuum pump line 50 is controlled by turning on / off an electromagnetic valve (not shown) installed on the line.

[0038] The product supply line 60 is a line for transporting the products 3 to be packed into the cardboard boxes 5 to the packing position of the product insertion device 10. The cardboard box supply line 65 is a line for transporting the cardboard boxes 5 into which the products 3 will be packed to the packing position of the product insertion device 10.

[0039] Next, a description will be given of a configuration for checking whether the desired suction box 20 has been attached or stored. In this embodiment, the product feeding device 10 is equipped with an arm tip box detector for checking whether the suction box 20 attached to the tip of the articulated robot arm 15 is the desired suction box 20, and a storage unit box detector for checking whether the desired suction box 20 is stored in each storage location of the box storage unit 30.

[0040] The arm tip box detector and storage section box detector are reflective photoelectric sensors. The arm tip box detector includes an arm tip light emitter / receiver 13 (see Figure 1) installed on a frame 11 above the cardboard box supply line 65, upstream of the packing position, and an arm tip reflector 28 (see Figures 3 and 5) installed on each suction box 20.

[0041] The arm tip reflector 28 is installed on the upper surface of the suction box 20 opposite the product suction surface 22, and the installation location of the arm tip reflector 28 differs for each suction box 20. Specifically, the position of the arm tip reflector 28 in the short side direction of the product suction surface 22 is the same, but the position in the long side direction (distance from the short side) differs for each suction box 20.

[0042] After replacing the suction box 20 , the product feeding device 10 controls the articulated robot arm 15 to move the arm tip reflector 28 to a position facing the arm tip light emitter / receiver 13 .

[0043] As described above, the installation location of the arm tip reflector 28 on the suction box 20 varies for each suction box 20, and therefore the arm tip box detector can identify the attached suction box 20 depending on whether the arm tip light emitter / receiver 13 can detect the arm tip reflector 28. In other words, the arm tip box detector can confirm whether the desired suction box 20 is attached to the tip of the articulated robot arm 15.

[0044] The storage box detector comprises a storage light emitter / receiver 38 installed at each storage location of the box storage section 30, and a storage reflector 29 installed inside the product adsorption surface 22 side of the adsorption box 20.

[0045] As shown in Fig. 3, the storage section reflector 29 is installed inside the product suction surface 22 side of the suction box 20, in a position facing the light-transmitting hole 21a through which the laser light enters and exits, which is formed on the product suction surface 22. Note that in Fig. 5 and other figures other than Fig. 3, the storage section reflector 29 is omitted, and only the light-transmitting hole 21a is depicted.

[0046] As shown in Fig. 8, the storage section light-emitter / receiver 38 is installed on the back side of the inclined storage panel 31 of each storage location in the box storage section 30, facing the location where the storage section reflector 29 will be located when a correct suction box 20 is stored. At the location where the storage section light-emitter / receiver 38 is installed on the inclined storage panel 31, a light-transmitting hole 31a is formed to allow laser light to pass between the storage section light-emitter / receiver 38 and the storage section reflector 29 located on the front side (see Fig. 9).

[0047] The installation location of the storage section reflector 29 of each suction box 20 differs for each suction box 20 (see Figs. 3 and 5), and the position of the storage section reflector 29 of each suction box 20 (relative position with respect to the V-shaped box support member 32) when stored in a regular storage location also differs for each storage location. In addition, the installation position of the storage section light-emitting / receiving device 38 for each storage location, which is installed opposite the storage section reflector 29, also differs for each storage location.

[0048] Therefore, the storage section light-emitting / receiving device 38 installed in each storage location can detect the reflected light from the storage section reflector 29 only when the correct suction box 20 is stored in that storage location, and cannot detect the reflected light when no suction box 20 is stored in that storage location or when the wrong suction box 20 is stored. Therefore, the storage section box detector can confirm whether the correct suction box 20 is stored in each storage location.

[0049] The configuration of the product feeding device 10 has been described above, and next we will explain the process flow when the product feeding device 10 automatically replaces the suction box 20. This automatic replacement is performed when the shape or size of the products 3 or cardboard boxes 5 to be packed in the product feeding device 10 is changed.

[0050] When automatically replacing the suction box 20, first, the suction box 20 attached to the tip of the articulated robot arm 15 is removed and stored in the box storage unit 30. The articulated robot arm 15 moves the attached suction box 20 to a predetermined storage location in the box storage unit 30.

[0051] At this time, the articulated robot arm 15 moves the suction box 20 to a position slightly above the storage location supported by the V-shaped box support members 32 of the inclined storage panel 31 along the panel surface. At this time, the articulated robot arm 15 moves the suction box 20 so that the product suction surface 22 of the suction box 20 is positioned on the inclined storage panel 31 side and a predetermined corner is positioned at the lowest position.

[0052] After the movement, the box connection part 16 is turned OFF to separate the arm connection part 25, and the suction box 20 is separated from the tip of the articulated robot arm 15. The released suction box 20 falls slightly downward on the panel surface of the inclined storage panel 31 and collides with the V-shaped box support member 32, stopping its fall.

[0053] The place where it stops is the storage location, and the suction box 20 is stored while being supported by the V-shaped box support member 32. After storage, a storage box detector is used to check whether the correct suction box 20 has been stored in the storage location.

[0054] Subsequently, in order to mount the next suction box 20 on the tip of the now empty articulated robot arm 15, the tip of the articulated robot arm 15 is moved to the storage location of the next suction box 20. By connecting the box connection part 16 of the articulated robot arm 15 to the arm connection part 25 of the next suction box 20 and coupling (ON), the next suction box 20 can be fixed and mounted on the tip of the articulated robot arm 15.

[0055] At this time, the vacuum line connecting member 17 located at the tip of the articulated robot arm 15 in parallel with the box connection part 16 also engages with the vacuum line connection part 26 of the suction box 20, and the suction box 20 and the vacuum pump line 50 are connected.

[0056] After the next suction box 20 is attached, the arm tip box detector checks whether the desired suction box 20 has been attached. Specifically, the suction box 20 attached to the tip of the articulated robot arm 15 is moved to the vicinity of the arm tip light emitter / receiver 13 installed on the frame 11, whereby the suction box 20 can be identified and checked.

[0057] After confirmation, the product insertion device 10 packs the products into new suction boxes 20. Specifically, the attached suction boxes 20 are moved onto the product supply line 60, and the suction boxes 20 sequentially suction and hold the products 3 that are sequentially conveyed along the line.

[0058] After suction, the articulated robot arm 15 is operated to move the suction box 20 above the cardboard box 5 that has been transported to the packing position on the cardboard box supply line 65, and the suction box 20 is lowered so that the suctioned product 3 enters the cardboard box 5.

[0059] When at least a part of the product 3 being sucked is inside the cardboard box 5, the vacuum pump line 50 is stopped to release the sucked state, so that the product 3 falls inside the cardboard box 5 and is packed.

[0060] This embodiment has been described in detail above. According to this embodiment, when changing the shape or size of the product 3 or the cardboard box 5, this can be done automatically without the need for a worker to perform manual work, so that the packing work can be done efficiently.

[0061] Furthermore, when a worker performs the replacement work, there is a risk of human error, such as attaching the wrong suction box 20 or storing the suction box 20 in the wrong storage location, but by performing the work automatically, such mistakes can be prevented.

[0062] In particular, this embodiment is equipped with an arm tip box detector and a storage section box detector, which can reliably prevent the wrong suction box 20 from being attached to the tip of the articulated robot arm 15 or from being stored in the wrong storage location.

[0063] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the present invention. For example, the shape, size, material, etc. of the components constituting the product feeding device 10 can be changed as appropriate.

[0064] In addition, in the above embodiment, a product loading device was used as an example of a transfer device, but the transfer device of the present invention can be applied as appropriate to any device that sucks up and moves products using a suction head.

[0065] Furthermore, the V-shaped box support member that supports the suction box in the box storage section does not have to be V-shaped, but may be, for example, a support member that extends horizontally and protrudes vertically from the panel surface, and the shape can be changed appropriately to match the shape of the suction box.

[0066] In addition, the inclined storage panels of the box storage section are installed in two tiers, one above the other, but they may be installed in one tier or in three or more tiers above and below. However, in order to make the installation area of ​​the box storage section compact, it is desirable to install the inclined storage panels in multiple tiers above and below. [Explanation of symbols]

[0067] 10 Product loading device 11 frames 13. Arm tip emitter / receiver 15 Articulated Robot Arm 16 Box Connection 17 Vacuum line connecting member 18 Parallel connecting members 20 Suction box 21. Cabinet 21a Transparent hole 22 Product suction surface 25 Arm connection part 26 Vacuum line connection 28 Arm tip reflector 29 Reflector for storage area 30 Box storage section 31 Inclined Storage Panel 31a Transparent hole 32 V-shaped box support member 33 L-shaped bracket 35 Pillar 38 Storage area light emitter / receiver 29 Reflector for storage area 50 Vacuum Pump Line 60 product supply lines 65 Cardboard Box Supply Line 3 products 5 cardboard boxes

Claims

1. A transfer device for adsorbing and moving an article, a plurality of suction boxes that suction and hold the articles; a robot arm having at its tip a box connecting portion for detachably mounting the suction box; A box storage unit for storing the unused suction box, A tilted storage panel installed at an angle, a box support member having a protrusion protruding from the panel surface of the inclined storage panel toward the front side, the box support member supporting the suction box, which tends to fall from the panel surface due to its own weight, by the protrusion and positioning the suction box in a storage location; a box storage unit having and a transfer device which automatically replaces the suction box attached to the tip of the robot arm.

2. The transfer device described in claim 1, characterized in that the box support member is V-shaped, with the protrusions located on two orthogonal left and right sides that intersect at a convex corner facing downward on the panel surface, and supports the suction box by contacting it from both the left and right sides.

3. 2. The transfer device according to claim 1, wherein the inclined storage panels are arranged in a plurality of stages, one above the other.

4. 2. The transfer device according to claim 1, wherein the plurality of suction boxes are different in shape, and the storage locations of the box storage section are fixed for each of the suction boxes.

5. The transfer device according to claim 4, further comprising a storage section box detector that has a storage section light emitter / receiver installed in the box storage section and a storage section reflector installed in the suction box, and that confirms whether the suction box stored in the storage location is genuine.

6. 2. The transfer device according to claim 1, further comprising an arm tip box detector having an arm tip light emitter / receiver installed on a frame of the transfer device and an arm tip reflector installed on the suction box, and for confirming whether the suction box attached to the tip of the articulated robot arm is the desired one.

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