Removal device

Abstract

To provide a simple-to-use extraction device that minimizes damage to the device and the object to be extracted, and allows for easy extraction. [Solution] The extraction device 10 includes an adsorption means 11 for adsorbing the object to be extracted M2, a holding means 12 for guiding and holding the adsorption means 11 so that it can move in the vertical direction, a moving means 13 for moving the holding means 12, and a detection means 14 for detecting the upward relative movement of the adsorption means 11 with respect to the holding means 12. Preferably, the detection means 14 has a proximity sensor 14A that is fixed in position relative to the holding means 12, and a detected part 14B that moves integrally with the adsorption means 11 and is detected by the proximity sensor 14A.

Description

Technical Field

[0001] The present invention relates to a taking-out device that adsorbs and takes out randomly stacked objects to be taken out, for example.

Background Art

[0002] In the manufacture of various products, for example, when arranging and processing parts, the parts may be randomly stacked and supplied on a pallet or the like, and the parts may be taken out one by one from the pallet or the like and arranged at predetermined positions. When the parts are randomly stacked in this way, the positions and orientations of the parts are scattered and not unified. Conventionally, for example, the parts have been taken out by an operator. Also, the position of the parts has been discriminated three-dimensionally by a camera, and the parts have been taken out by an industrial robot. However, there is a problem that the work by an operator is time-consuming, and when using a camera, a high-performance camera capable of three-dimensional measurement is required, resulting in a problem that the equipment cost becomes high.

[0003] Also, for example, Patent Document 1 describes that in a work taking-out device, a work is adsorbed by an electromagnet, and the fact that the work has been adsorbed is detected by detecting a detected part that has descended due to the weight of the adsorbed work by a proximity switch. However, in the device of Patent Document 1, since it is necessary for the detected part to descend due to the weight of the work, if the work is adsorbed in a state where the work has reached the bottom, the detected part cannot be lowered due to the weight of the work, and the fact that the work has been adsorbed cannot be detected. Therefore, there is a problem that the lowering of the adsorption part is continued to adsorb the work, and the work is continuously pushed, which may cause deformation or damage to the device or the work.

Prior Art Documents

Patent Documents

[0004]

Patent Document

Summary of the Invention

Problems to be Solved by the Invention

[0005] This invention was made in response to these problems, and aims to provide an extraction device that has a simple configuration, suppresses damage to the device and the object to be extracted, and allows for easy extraction. [Means for solving the problem]

[0006] The extraction device of the present invention comprises an adsorption means for adsorbing an object to be extracted, a holding means for guiding and holding the adsorption means so that it can move in the vertical direction, a moving means for moving the holding means, and a detection means for detecting the upward relative movement of the adsorption means with respect to the holding means. [Effects of the Invention]

[0007] According to the present invention, the holding means holds the suction means so that it can move vertically, and the detection means detects the upward relative movement of the suction means with respect to the holding means. Therefore, when the suction means comes into contact with the object to be removed and the object is pressed downward, the reaction force causes the suction means to move upward along the holding means, and this movement can be detected by the detection means. Thus, it is possible to detect that the object to be removed has been attracted to the suction means and easily remove the object, while also preventing damage to the removal device and the object due to excessive force.

[0008] Furthermore, if the detection means includes a proximity sensor positioned at a fixed relative position to the holding means, and a detected part that moves integrally with the suction means and is detected by the proximity sensor, detection can be easily performed with a simple configuration.

[0009] Furthermore, if the length of the guide that allows the suction means of the holding means to move freely in the vertical direction is made longer than the depth of the storage container in which the object to be removed is stored, even if the detection means malfunctions, the suction means will be pressed firmly against the object to be removed, preventing damage to the removal device and the object to be removed. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram showing the configuration of an extraction device according to one embodiment of the present invention. [Figure 2] Figure 1 is a diagram illustrating the operation of the conveying device. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0012] Figure 1 shows the configuration of the extraction device 10 according to one embodiment of the present invention. Figure 2 shows the operation of the extraction device 10.

[0013] The retrieval device 10 retrieves objects M2 that are randomly stacked and stored in a storage container M1, such as a pallet, by suction. The retrieval device 10 includes a suction means 11 for suctioning the objects M2, a holding means 12 for guiding and holding the suction means 11 so that it can move vertically, a moving means 13 for moving the holding means 12, and a detection means 14 for detecting the upward relative movement of the suction means 11 with respect to the holding means 12.

[0014] The adsorption means 11 can have any configuration as long as it can adsorb the object to be removed M2. The adsorption means 11 may adsorb the object to be removed M2 by means of a magnet, or by means of reduced pressure or vacuum, but the one using a magnet is preferred because it can be easily constructed. The magnet may be a permanent magnet or an electromagnet.

[0015] The suction force of the suction means 11, for example, magnetic force, only needs to be sufficient to attract and hold the object to be removed M2 when it comes into contact with it; there is no need to increase the suction force unnecessarily. This is because the suction means 11 is in contact with the object to be removed M2 to attract it, rather than leaving a gap between the suction means 11 and the object to be removed M2 and pulling the object to be removed M2 towards it. Furthermore, by adjusting the suction force in this way, it is preferable that a single object to be removed M2 can be attracted without having to attract multiple objects to be removed M2.

[0016] The holding means 12 holds the suction means 11 and guides it so that it can move vertically. The holding means 12 can be made up of, for example, a guide rail that extends vertically. Preferably, the suction means 11 is mounted to the holding means 12 so that it can move, for example, by an arrangement member 15. Preferably, the arrangement member 15 supports the suction means 11 and is also movable along the holding means 12. As a result, under normal circumstances, the suction means 11 is positioned at the lowest position within the range of movement guided by the holding means 12 due to its own weight, and when the suction means 11 comes into contact with the object to be removed M2 and the object to be removed M2 is pressed downwards, the suction means 11 moves upward along the holding means 12 due to the reaction force.

[0017] The holding means 12 is, for example, arranged relative to the moving means 13. The length of the holding means 12 that guides the suction means 11 to move freely in the vertical direction, that is, the length over which the suction means 11 can move vertically, is preferably longer than the depth of the storage container M1 in which the object to be removed M2 is stored. This is because even if the detection means 14 malfunctions, the suction means 11 moves upward along the holding means 12, preventing the suction means 11 from being pressed firmly against the object to be removed M2 and damaging the removal device 10 and the object to be removed M2.

[0018] The moving means 13 moves the holding means 12 to bring the suction means 11 into contact with the object to be removed M2, and after the object to be removed M2 has been picked up, it lifts and moves the suction means 11 and the object to be removed M2. The moving means 13 can be made up of, for example, an industrial robot such as an articulated robot. The moving means 13 is configured to be able to move the holding means 12 in the vertical and horizontal directions, for example. Furthermore, it is preferable that the moving means 13 is controlled to lift the holding means 12 when, for example, the holding means 12 is lowered from above the object to be removed M2 and the detection means 14 detects the upward relative movement of the suction means 11 with respect to the holding means 12, it is determined that the object to be removed M2 has been picked up by the suction means 11.

[0019] The detection means 14 can have any configuration as long as it can detect the upward relative movement of the suction means 11 with respect to the holding means 12, but it is preferable to use a proximity sensor 14A, for example, because it can be easily configured. Specifically, the detection means 14 preferably has, for example, a proximity sensor 14A that is fixed in position relative to the holding means 12, and a detected part 14B that moves integrally with the suction means 11 and is detected by the proximity sensor 14A.

[0020] The proximity sensor 14A is a sensor that detects, for example, the presence or absence of an approaching or nearby object non-contact by changes in eddy currents due to electromagnetic induction. The configuration of the proximity sensor 14 is not particularly limited. Preferably, the proximity sensor 14A is disposed on the moving means 13 or the holding means 12 and is configured to move integrally with the holding means 12. Preferably, the detected part 14B is made of metal and disposed on the mounting member 15.

[0021] The proximity sensor 14A is preferably disposed, for example, above the detection target portion 14B so as to correspond to the detection target portion 14B when the suction means 11 is in the normal position, that is, the lowermost position of the movement range guided by the holding means 12. Thereby, when the suction means 11 abuts on the extraction target object M2 and is pushed from below, the detection target portion 14B moves upward integrally with the suction means 11, approaches the proximity sensor 14A, and is detected.

[0022] This extraction device 10 can operate as follows, for example, to extract the extraction target object M2. First, for example, as shown in FIG. 1, the moving means 13 moves the suction means 11 held by the holding means 12 above the randomly stacked extraction target objects M2. At that time, the suction means 11 is located at the normal position, that is, the lowermost position of the movement range guided by the holding means 12, due to its own weight.

[0023] Next, for example, the moving means 13 lowers the holding means 12 to lower the suction means 11 and bring it into contact with the extraction target object M2. As a result, for example, as shown in FIG. 2, the extraction target object M2 is pressed downward, and the suction means 11 moves upward along the holding means 12 due to the reaction force. When the suction means 11 moves upward relative to the holding means 12, the detection target portion 14B moves upward integrally with the suction means 11, approaches the proximity sensor 14A, and is detected by the proximity sensor 14A.

[0024] When the proximity sensor 14A detects the detection target portion 14B, it sends a detection signal to the moving means 13. The moving means 13, for example, determines that the extraction target object M2 is adsorbed to the suction means 11 when receiving the detection signal, lifts the holding means 12, and lifts the suction means 11 and the extraction target object M2 upward. Subsequently, the moving means 13, for example, moves the holding means 12 to move the extraction target object M2 to a predetermined position.

[0025] As described above, according to this embodiment, the holding means 12 holds the suction means 11 so that it can move vertically, and the detection means 14 detects the upward relative movement of the suction means 11 with respect to the holding means 12. Therefore, when the suction means 11 comes into contact with the object to be removed M2 and the object to be removed M2 is pressed downward, the reaction force causes the suction means 11 to move upward along the holding means 12, and this movement can be detected by the detection means 14. Thus, it is possible to detect that the object to be removed M2 has been attracted to the suction means 11 and easily remove the object to be removed M2, while also preventing strong forces from being applied to the removal device 10 and the object to be removed M2, which could cause damage.

[0026] Furthermore, if the detection means 14 includes a proximity sensor 14A positioned at a fixed relative position to the holding means 12, and a detected part 14B that moves integrally with the suction means 11 and is detected by the proximity sensor 14A, detection can be easily performed with a simple configuration.

[0027] Furthermore, if the length of the guide for the suction means 11 of the holding means 12 to move freely in the vertical direction is made longer than the depth of the storage container M1, even if the detection means 14 malfunctions, the suction means 11 will be pressed firmly against the object to be removed M2, preventing damage to the removal device 10 and the object to be removed M2.

[0028] The present invention has been described above with reference to embodiments, but the present invention is not limited to the above embodiments and can be modified in various ways. For example, although each component was described in detail in the above embodiments, the specific structure and shape of each component may differ, and the present invention does not have to include all of the above-mentioned components, but may include other components as well. [Explanation of symbols]

[0029] 10...Removal device, 11...Suction means, 12...Holding means, 13...Moving means, 14...Detection means, 14A...Proximity sensor, 14B...Detected part, 15...Installation member, M1...Storage container, M2...Object to be removed

Claims

1. A suction means for adsorbing the object to be removed, A holding means that guides and holds the aforementioned suction means so that it can move in the vertical direction, A moving means for moving the holding means, A detection means for detecting the upward relative movement of the adsorption means with respect to the holding means, An extraction device characterized by being equipped with

2. The detection means is A proximity sensor is positioned so as to be fixed relative to the holding means, The part to be detected moves integrally with the adsorption means and is detected by the proximity sensor. The extraction device according to claim 1, characterized by having the following:

3. The object to be removed is stored in a storage container. The length of the holding means that guides the suction means so as to be movable in the vertical direction is longer than the depth of the storage container. The extraction device according to claim 1, characterized by the features described above.

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