Hands, holding devices, and material handling systems

Abstract

To provide a hand, a holder, and a cargo handling system capable of stably holding various articles.SOLUTION: The hand comprises a first holding unit and a second holding unit. A plurality of first holding units is provided in a second direction intersecting a first direction so as to be movable independently of each other in the first direction. Each of the first holding units includes a plurality of first holding parts capable of holding articles. The second holding unit is movable in a third direction intersecting a plane parallel to the first and second directions. The second holding unit includes a plurality of second holding parts capable of holding the articles.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , , , , , ,

[0001] Embodiments of the present invention relate to a hand, a holding device, and a handling system.

Background Art

[0002] There is a hand capable of holding an article. The hand holds the article by suction, clamping, or jamming. For this hand, it is required to be able to stably hold a wider variety of articles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The problem to be solved by the present invention is to provide a hand, a holding device, and a handling system that can stably hold a wider variety of articles.

Means for Solving the Problems

[0005] The hand according to the embodiment includes a first holding unit and a second holding unit. The first holding unit is movable independently of each other in a first direction, and a plurality of the first holding units are provided in a second direction intersecting the first direction. Each of the plurality of first holding units includes a plurality of first holding portions capable of holding an article. The second holding unit is movable in a third direction intersecting a plane parallel to the first direction and the second direction. The second holding unit includes a plurality of second holding portions capable of holding the article.

Brief Description of the Drawings

[0006] [Figure 1] FIG. 1 is a perspective view showing a hand according to the embodiment. [Figure 2] Figure 2 is a cross-sectional view showing a part of the hand according to the embodiment. [Figure 3] Figure 3 is a schematic side view showing the hand according to this embodiment. [Figure 4] Figures 4(a) and 4(b) are schematic side views illustrating the operation of the hand according to the embodiment. [Figure 5] Figure 5 is a perspective view showing a hand according to an embodiment. [Figure 6] Figure 6 is a schematic front view showing the hand holding an article according to the embodiment. [Figure 7] Figure 7 is a schematic front view showing the hand holding an article according to the embodiment. [Figure 8] Figures 8(a) to 8(d) are schematic side views illustrating how the hand according to the embodiment holds an article. [Figure 9] Figures 9(a) and 9(b) are schematic front views showing a hand relating to a reference example. [Figure 10] Figure 10 is a schematic perspective view showing a holding device according to an embodiment. [Figure 11] Figure 11 is a flowchart showing part of the first operation. [Figure 12] Figure 12 is a flowchart showing another part of the first operation. [Figure 13] Figures 13(a) to 13(c) are schematic diagrams illustrating the first operation. [Figure 14] Figures 14(a) to 14(c) are schematic diagrams illustrating the first operation. [Figure 15] Figures 15(a) to 15(c) are schematic diagrams illustrating the first operation. [Figure 16] Figure 16 is a flowchart showing part of the second operation. [Figure 17] Figure 17 is a flowchart showing another part of the second operation. [Figure 18] Figures 18(a) and 18(b) are schematic diagrams illustrating the second operation. [Figure 19]Figs. 19(a) to 19(c) are schematic diagrams showing the second operation. [Figure 20] Figs. 20(a) to 20(c) are schematic diagrams showing the second operation. [Figure 21] Fig. 21 is a front view showing a hand according to another embodiment. [Figure 22] Fig. 22 is a side view showing a hand according to another embodiment. [Figure 23] Fig. 23 is a schematic diagram showing a hardware configuration.

Mode for Carrying Out the Invention

[0007] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between parts, etc. are not necessarily the same as those in reality. Even when representing the same part, the dimensions and ratios may be represented differently in the drawings. In the present specification and each figure, the same reference numerals are given to the same elements as those already described, and the detailed description will be omitted as appropriate.

[0008] Fig. 1 is a perspective view showing a hand according to an embodiment. Fig. 2 is a cross-sectional view showing a part of the hand according to the embodiment. Fig. 3 is a side view schematically showing the hand according to the embodiment. In Fig. 1, as an example of the hand according to the embodiment, a suction hand 1 is shown. The suction hand 1 holds (stably grips) an article by vacuum suction. As shown in Figs. 1 to 3, the suction hand 1 includes an arm 10, a base 11, an inclination mechanism 12, a linear guide 13, a connecting frame 14, a fixing mechanism 15, an upper surface suction unit 16 (an example of the first holding unit), a linear guide 17, a connecting plate 18, a cylinder 19, a link mechanism 20, a drive mechanism 21, a side surface suction unit 22 (an example of the second holding unit), a detector 23, and a control unit 25.

[0009] Here, for the sake of explanation, the X direction (front-back direction: the third direction), the Y direction (left-right direction: the second direction), and the Z direction (up-down direction: the first direction) are used. The Z direction is parallel to the direction connecting the upper surface suction unit 16 and the article when the upper surface suction unit 16 sucks the article. The X direction and the Y direction intersect each other. The Z direction intersects the X-Y plane. For example, the X direction and the Y direction are parallel to the horizontal plane and perpendicular to each other. The Z direction is parallel to the vertical direction.

[0010] As shown in FIG. 1, the arm 10 extends along the X direction and supports each component of the suction hand 1. The arm 10 is connected to an external device such as an X-Y orthogonal robot. The arm 10 may be a part of an external device.

[0011] The base 11 is a plate-like member that extends along the X-Z plane. The rear end of the lower part of the base 11 is connected to the tip 10a of the arm 10 via a rotating shaft 10b and is rotatable with respect to the tip 10a.

[0012] The tilting mechanism 12 is provided between the arm 10 and the base 11. Specifically, the tilting mechanism 12 includes a cylinder 12a, a rotating shaft 12b, and a rotating shaft 12c. The arm 10 has a bent portion 10c that bends downward. One end of the cylinder 12a is connected to the bent portion 10c via the rotating shaft 12b and is rotatable with respect to the bent portion 10c. The other end of the cylinder 12a is connected to the rear end of the upper part of the base 11 via the rotating shaft 12c and is rotatable with respect to the rear end. The rotation centers of the rotating shafts 10b, 12b, and 12c are parallel to the Y direction.

[0013] The cylinder 12a is extendable and retractable along the X direction. The height at which the cylinder 12a, the rotating shaft 12b, and the rotating shaft 12c are provided is different from the height at which the rotating shaft 10b is provided. Thereby, when the length of the cylinder 12a changes, the angle of the base 11 around the Y direction changes. In the suction hand 1, the cylinder 12a, the rotating shaft 12b, and the rotating shaft 12c are located above the rotating shaft 10b. For example, when the cylinder 12a extends, the front end of the base 11 tilts downward.

[0014] The linear guide 13 is provided on the side of the base 11. In the suction hand 1, two linear guides 13 are provided on one side of the base 11. The linear guide 13 includes a rail and a block. The rail is fixed to the base 11 and is provided along the Z direction. The block is movable along the rail in the Z direction.

[0015] The connecting frame 14 includes a vertical frame portion 14a extending along the XZ plane and a horizontal frame portion 14b extending along the XY plane. One end of the horizontal frame portion 14b in the Y direction is connected to the lower end of the vertical frame portion 14a. The vertical frame portion 14a is fixed to the block of the linear guide 13. As a result, the connecting frame 14 is movable in the Z direction relative to the base 11.

[0016] The fixing mechanism 15 is provided on the side of the base 11, close to the vertical frame portion 14a. The fixing mechanism 15 can switch between a locked state in which the connecting frame 14 is fixed and an unlocked state in which the connecting frame 14 is movable. Figure 2 shows an XZ cross section passing through the fixing mechanism 15. As shown in Figure 2, the fixing mechanism 15 includes a rod 15a, a fixing plate 15b, a movable plate 15c, a clamper 15d, and a cylinder 15e.

[0017] Rod 15a is fixed to base 11 and extends along the Z direction. Fixed plate 15b is a plate-shaped member that extends along the XY plane and is fixed to connecting frame 14. Movable plate 15c is a plate-shaped member that extends along the XY plane and is attached to fixed plate 15b via clamper 15d and cylinder 15e. In the unlocked state, fixed plate 15b, movable plate 15c, clamper 15d, and cylinder 15e are slidable relative to rod 15a. As connecting frame 14 moves along the Z direction, fixed plate 15b, movable plate 15c, clamper 15d, and cylinder 15e also move along the Z direction.

[0018] The cylinder 15e is extendable and retractable along the Z-direction. When the cylinder 15e extends or retracts, the movable plate 15c moves relative to the fixed plate 15b in the Z-direction. When the distance between the fixed plate 15b and the movable plate 15c increases due to the movement of the cylinder 15e, the components of the clamper 15d are pressed toward the rod 15a. This fixes the positions of the fixed plate 15b, the movable plate 15c, the clamper 15d, and the cylinder 15e in the Z-direction. As a result, the position of the connecting frame 14 in the Z-direction is fixed. When the distance between the fixed plate 15b and the movable plate 15c decreases, the pressure of the clamper 15d on the rod 15a is released. This makes the fixed plate 15b, the movable plate 15c, the clamper 15d, and the cylinder 15e movable. As a result, the connecting frame 14 becomes movable in the Z-direction.

[0019] As shown in Figure 1, the top suction unit 16 is fixed to the lateral frame portion 14b of the connecting frame 14. The top suction unit 16 includes a housing 16a and a plurality of suction parts 16b (an example of a first holding part). Each suction part 16b includes a rod 16c (first rod) and a suction pad 16d (first suction pad). The rod 16c extends along the Z direction. For example, the rod 16c is fixed to the housing 16a. The rod 16c may also be slidable in the Z direction relative to the housing 16a. In this case, the top suction unit 16 is further provided with a clamp for fixing the rod 16c. The suction pad 16d is flexible and is provided at the tip of the rod 16c. Spaces are provided inside the rod 16c and inside the suction pad 16d, and these spaces are in communication with each other.

[0020] Multiple suction parts 16b are arranged along two intersecting directions. The suction surface of the suction pad 16d is parallel to the arrangement direction of the multiple suction parts 16b. In the suction hand 1, the multiple suction parts 16b are arranged along the X and Y directions. The number of suction parts 16b, the size of each suction part 16b, and the spacing between the suction parts 16b are designed as appropriate according to the item to be held.

[0021] The housing 16a is equipped with piping and other components for connecting an exhaust system (not shown) and multiple suction units 16b. The operation of the exhaust system causes the inside of each suction pad 16d to be simultaneously depressurized for a single top suction unit 16.

[0022] The linear guides 17 are provided along the upper surface of the housing 16a. In the suction hand 1, one linear guide 17 is provided on the upper surface of the housing 16a, and another linear guide 17 is provided on the upper surface of the lateral frame portion 14b. Each linear guide 17 includes a rail and a block. The rail is fixed to the lateral frame portion 14b and the housing 16a and extends along the X direction. The block is movable along the rail in the X direction.

[0023] The connecting plate 18 is a plate-shaped member extending along the X direction. The front portion of the connecting plate 18 is parallel to the XY plane and is fixed to each block of linear guide 17. This allows the connecting plate 18 to move in the X direction relative to the upper surface suction unit 16. The rear portion of the connecting plate 18 is slightly inclined downward.

[0024] The cylinder 19 moves the side suction unit 22 in the X direction relative to the top suction unit 16. Specifically, as shown in Figures 1 and 3, the tube body of the cylinder 19 is fixed to the housing 16a. The piston of the cylinder 19 is fixed to the connecting plate 18. The cylinder 19 is extendable and retractable along the X direction. When the cylinder 19 extends or retracts, the connecting plate 18 moves in the X direction relative to the top suction unit 16. As a result, the side suction unit 22, which is connected to the connecting plate 18, moves along the X direction.

[0025] The link mechanism 20 is connected between the connecting plate 18 and the side suction unit 22. As shown in Figure 3, the link mechanism 20 includes a pair of links 20a and 20b. Links 20a and 20b extend parallel to each other and are rotatable in a synchronous manner. One end of link 20a and one end of link 20b are connected to the rear end of the connecting plate 18 via rotating shafts 20c and 20d, respectively. Rotating shafts 20c and 20d are rotatable relative to the connecting plate 18. On the other hand, links 20a and 20b are fixed relative to rotating shafts 20c and 20d, respectively. Therefore, when rotating shafts 20c and 20d rotate relative to the connecting plate 18, links 20a and 20b also rotate.

[0026] The drive mechanism 21 is connected to the connecting plate 18 and the link mechanism 20, and changes the position of the side suction unit 22 in the Z direction. Specifically, the drive mechanism 21 includes a cylinder 21a, a rotating shaft 21b, a rotating shaft 21c, and a bar 21d. The cylinder 21a is provided along the rear portion of the connecting plate 18. The tube body of the cylinder 21a is connected to the connecting plate 18 via the rotating shaft 21b and is rotatable relative to the connecting plate 18. The piston of the cylinder 21a is connected to one end of the bar 21d via the rotating shaft 21c and is rotatable relative to the bar 21d. The other end of the bar 21d is fixed to one of the rotating shafts 20c and 20d. In the suction hand 1, the bar 21d is fixed to the rotating shaft 20c. The side suction unit 22 is connected to the other end of the link 20a and the other end of the link 20b via the rotating shafts 20e and 20f, respectively, and is rotatable relative to the links 20a and 20b.

[0027] Figures 4(a) and 4(b) are schematic side views illustrating the operation of the hand according to the embodiment. In Figure 4(a), the cylinder 21a, the rotating shaft 21b, and the rotating shaft 21c are represented by dashed lines. In Figure 4(b), the cylinder 21a and the rotating shaft 21b are omitted, and the rotating shaft 21c is represented by a dashed line.

[0028] The rotation axes 20c~20f, 21b, and 21c are parallel to the Y direction. As shown in Figures 4(a) and 4(b), when the cylinder 21a extends or retracts, the bar 21d rotates about the rotation axis 20c in the Y direction. Since the bar 21d is fixed to the rotation axis 20c, the rotation axis 20c rotates in accordance with the rotation of the bar 21d. The link 20a, which is fixed to the rotation axis 20c, rotates about the rotation axis 20c in the Y direction. The link 20b also rotates about the Y direction in sync with the link 20a. As a result, the side suction unit 22 rotates about the rotation axis 20c in the Y direction. The position of the side suction unit 22 in the XZ plane can be changed by the operation of the drive mechanism 21. For example, the position of the side suction unit 22 can be switched according to the arrangement of articles held by the suction hand 1.

[0029] The side suction unit 22 includes a housing 22a and a plurality of suction parts 22b (an example of a second holding part). Each suction part 22b includes a rod 22c (second rod) and a suction pad 22d (second suction pad). The rod 22c extends along the X direction. For example, the rod 22c is fixed to the housing 22a. The rod 22c may also be slidable in the X direction relative to the housing 22a. In this case, the side suction unit 22 is further provided with a clamp for fixing the rod 22c. The suction pad 22d is flexible and is provided at the tip of the rod 22c. Spaces are provided inside the rod 22c and inside the suction pad 22d, and these spaces are in communication with each other.

[0030] Multiple suction parts 22b are arranged along two intersecting directions. The suction surface of the suction pad 22d is parallel to the arrangement direction of the multiple suction parts 22b. In the suction hand 1, the multiple suction parts 22b are arranged along the Y and Z directions. The number of suction parts 22b, the size of each suction part 22b, and the spacing between the suction parts 22b are designed as appropriate according to the item to be held.

[0031] The housing 22a is equipped with piping for connecting an exhaust system (not shown) and multiple suction units 22b. The operation of the exhaust system reduces the pressure inside each suction pad 22d simultaneously for a single side suction unit 22. Pressure control for the side suction units 22 is performed independently of pressure control for the top suction unit 16.

[0032] The detector 23 is fixed to the base 11. The detector 23 detects the upward movement of the connecting frame 14 relative to the base 11. Based on the detection signal from the detector 23, it can be determined whether or not the top suction unit 16 is in contact with an article. For example, the detector 23 includes one or more selected from an optical sensor, a proximity sensor, a distance sensor, and a transmission sensor. The detector 23 may be provided in locations other than those shown. For example, the detector 23 may be provided on the top suction unit 16 to more directly detect the approach of an article to the top suction unit 16.

[0033] Figure 5 is a perspective view showing a hand according to an embodiment. Figure 5 shows the suction hand 1 as viewed from a different orientation than that shown in Figure 1. The orientation in Figure 5 from which the suction hand 1 is viewed is approximately symmetrical to the orientation in Figure 1 from which the suction hand 1 is viewed, with respect to the XZ plane passing through the center of the suction hand 1 in the Y direction. As shown in Figures 1 and 5, the suction mechanism 5, which includes the linear guide 13, connecting frame 14, fixing mechanism 15, top suction unit 16, linear guide 17, connecting plate 18, cylinder 19, link mechanism 20, drive mechanism 21, and side suction unit 22, is provided on both sides of the base 11, respectively. For example, in the Y direction, multiple top suction units 16 and multiple side suction units 22 are provided.

[0034] Figures 6 and 7 are schematic front views showing the hand holding an article according to the embodiment. Each suction mechanism 5 is movable independently of the others. Furthermore, each suction mechanism 5 is provided with cylinders 19 and 21a, as shown in Figures 3 and 4. Cylinders 19 and 21a can operate independently of each suction mechanism 5. Therefore, as shown in Figures 6 and 7, the positions of each top suction unit 16 in the Z direction may differ from one another. The positions of each side suction unit 22 in the XZ plane may also differ from one another.

[0035] As shown in Figure 6, multiple suction mechanisms 5 may each hold multiple articles A. As shown in Figure 7, multiple suction mechanisms 5 may hold one article A. As an example, the shape of the article A to be suctioned is a rectangular parallelepiped, as shown in Figures 6 and 7. The top surface of article A may be inclined with respect to the XY plane. Even if the top surface of the article is inclined, each suction pad 22d deforms according to the position on the top surface, allowing the article to be held stably. In particular, even if the inclination of the top surface of the article is large, as shown in Figure 7, the position of each suction mechanism 5 in the Z direction changes according to the top surface, and each suction pad 22d deforms according to the position on the top surface, allowing the article to be held stably.

[0036] The control unit 25 controls each component of the suction hand 1. For example, the control unit 25 operates the cylinders 12a, 15e, 19, and 21a. The control unit 25 also controls the exhaust systems for exhausting the top suction unit 16 and the side suction unit 22, respectively.

[0037] Cylinders 12a, 15e, 19, and 21a are air cylinders (an example of actuators). Other actuators may be provided instead of cylinders 12a, 15e, 19, and 21a. For example, a motor and a mechanical element that converts the rotational motion of the motor into linear motion may be provided.

[0038] Figures 8(a) to 8(d) are schematic side views illustrating how the hand according to the embodiment holds an article. When picking up an item, as shown in Figure 8(a), the top suction unit 16 contacts the top surface of item A and picks up the top surface. Next, the cylinder 19 moves to bring the side suction unit 22 into contact with the side surface of item A, as shown in Figure 8(b). The side suction unit 22 picks up the side surface. Due to the suction of both the top and side surfaces of item A, the suction hand 1 holds item A.

[0039] Next, the suction hand 1 rises. At this time, if the cylinder 12a is open or the thrust from the cylinder 12a is weak, the cylinder 12a extends due to the weight of the suction mechanism 5 and the article A. As a result, as shown in Figure 8(c), the top suction unit 16 and the side suction unit 22 tilt with respect to the XY plane while holding the article A. If the tilt is too large, the contents of article A may collapse. For this reason, the tilt angle with respect to the XY plane is preferably greater than 0 degrees and less than 15 degrees.

[0040] For example, adhesive used for attaching labels or adhesive from packaging tape may be present on the top surface of item A. The top surface of another item A may be stuck to the bottom surface of a held item A by adhesive. By tilting the item, the held item A can be easily separated from the other item A. This reduces friction between the item A being transported and the other item A when transporting the item A.

[0041] As shown in Figure 8(d), the suction hand 1 can also hold article A by attaching only the top suction unit 16 to the top surface of article A. In this case, the side suction unit 22 is positioned at the same height as the top suction unit 16, or above at least a portion of the top suction unit 16. After this, as in Figure 8(c), the top suction unit 16 may be tilted with respect to the XY plane while holding article A.

[0042] Figures 9(a) and 9(b) are schematic front views showing a hand relating to a reference example. The advantages of the embodiment will be explained with reference to Figures 9(a) and 9(b). The suction hand R1 shown in Figure 9(a) includes one upper suction unit 16 that is long in the Y direction and one side suction unit 22 that is long in the Y direction. The suction hand R1 can stably hold large articles. On the other hand, as shown in Figure 6, it is difficult for the suction hand R1 to hold multiple articles of different heights. Also, as shown in Figure 7, it is difficult for the suction hand R1 to hold articles whose upper surfaces are greatly inclined with respect to the XY plane.

[0043] The suction hand R2 shown in Figure 9(b) includes, like the suction hand R1, one upper suction unit 16 that is long in the Y direction and one side suction unit 22 that is also long in the Y direction. In addition, each suction part 16b of the upper suction unit 16 includes a longer rod 16c than that of the suction hand R1. With the suction hand R2, each rod 16c slides in the Z direction depending on the position of the upper surface of the article. This allows for stable holding of articles with inclined upper surfaces. On the other hand, because the sliding distance of the rod 16c is longer, the upper suction unit 16 becomes larger. As a result, the size and weight of the suction hand R2 increase.

[0044] In the suction hand 1 according to this embodiment, a plurality of upper surface suction units 16 are provided. Each upper surface suction unit 16 includes a plurality of suction parts 16b and is movable independently of each other in the Z direction. As shown in Figure 7, even when suctioning an article A with an inclined upper surface, each upper surface suction unit 16 moves in the Z direction according to the position of the upper surface of the article A, thereby stably holding the article A. As shown in Figure 6, each upper surface suction unit 16 can also suction articles A of different heights. Furthermore, since each upper surface suction unit 16 is movable in the Z direction, the length of the rod 16c can be shortened, and the size of the upper surface suction unit 16 can be suppressed. According to this embodiment, a wider variety of articles can be stably held while suppressing the size of the upper surface suction unit 16.

[0045] Furthermore, in the suction hand 1, the side suction unit 22 is connected to the top suction unit 16 via the connecting plate 18 and the link mechanism 20. The position of the side suction unit 22 in the Z direction changes according to the position of the top suction unit 16 in the Z direction. Therefore, variations in the position of the top suction unit 16 in the Z direction relative to the side suction unit 22 can be suppressed, and the side suction unit 22 can be attached to the side of the article more stably.

[0046] Preferably, in each top suction unit 16, the start or end of suction on multiple suction parts 16b is controlled collectively. For example, the internal spaces of multiple rods 16c are connected to a common internal space of the housing 16a, and the start or end of exhaust is performed on the internal space of the housing 16a. The top suction unit 16 is provided with a pressure gauge for measuring the pressure in the internal space, and suction is controlled based on the measurement value of this pressure gauge. This simplifies the structure of the top suction unit 16 compared to individually controlling the pressure of each suction part 16b. For example, each suction part 16b can be arranged at a higher density, improving the holding force and holding stability of the top suction unit 16.

[0047] Similarly, in each side adsorption unit 22, it is preferable that the start or end of adsorption to multiple adsorption sections 22b is controlled collectively. For example, the internal spaces of multiple rods 22c are connected to a common internal space of the housing 22a, and the start or end of exhaust is performed for the internal space of the housing 22a. The side adsorption unit 22 is provided with a pressure gauge for measuring the pressure in the internal space, and adsorption is controlled based on the measured value of this pressure gauge. This simplifies the structure of the side adsorption unit 22 compared to the case where the pressure of each adsorption section 22b is controlled individually. For example, each adsorption section 22b can be arranged at a higher density, improving the holding force and holding stability of the side adsorption unit 22.

[0048] Furthermore, according to the suction hand 1 of this embodiment, the position of the upper suction unit 16 can be fixed by the fixing mechanism 15, thereby fixing the positions of multiple suction parts 16b collectively. This simplifies the structure compared to fixing the position of each suction part 16b individually. For example, the suction parts 16b can be arranged at a higher density, improving the holding force and holding stability of the upper suction unit 16.

[0049] Figure 10 is a schematic perspective view showing a holding device according to an embodiment. The holding device 100 according to this embodiment is used in warehouses and other locations where cargo handling operations are performed. A conveyor C (transport device) for transporting goods A is installed adjacent to the holding device 100. Also, a pallet P loaded with goods A is placed adjacent to the holding device 100. The holding device 100 is positioned between the conveyor C and the pallet P. The holding device 100 holds the goods A loaded on the pallet P. For example, the holding device 100 functions as a cargo handling system that sequentially removes goods A from the pallet P and transports them to the conveyor C.

[0050] As shown in Figure 10, the holding device 100 includes a suction hand 1, a control unit 25, a support frame 110, an imaging device 120, a conveyor 130, a lifting device 140, a moving device 150, a negative pressure generator 160, and a detector 170.

[0051] The support frame 110 supports each component of the holding device 100. The imaging device 120 images the article A placed on the pallet P from above. The conveyor 130 transports the article A, which has been transported into the support frame 110, toward the conveyor C. The lifting device 140 raises or lowers the conveyor 130. The moving device 150 moves the suction hand 1 between the pallet P and the conveyor 130. The negative pressure generating device 160 generates negative pressure on the suction part 16b of the upper suction unit 16 and the suction part 22b of the side suction unit 22. The detector 170 detects the height of the bottom surface of the article A held by the suction hand 1.

[0052] The following provides a detailed description of each component of the holding device 100, including a specific example.

[0053] The support frame 110 constitutes the outer casing of the holding device 100 and is fixed to the floor surface. The support frame 110 includes a main body portion 111 and a protruding portion 112. The main body portion 111 is shaped like a rectangular parallelepiped. The conveyor 130 is installed inside the main body portion 111. The main body portion 111 has an opening 113 facing the pallet P side and an opening 114 facing the conveyor C side. Article A is transported from the pallet P to the conveyor 130 through the opening 113. Article A is also transported from the conveyor 130 to the conveyor C through the opening 114.

[0054] The main body 111 is composed of, for example, four vertical frames 111a and a plurality of horizontal frames 111b that connect the upper ends and lower ends of these four vertical frames 111a, respectively.

[0055] The protruding portion 112 is attached to the front of the upper part of the main body portion 111 and protrudes forward. The protruding portion 112 is located above the pallet P. The protruding portion 112 includes a support portion 112a that supports the imaging device 120.

[0056] The imaging device 120 is fixed to the support part 112a. The imaging device 120 transmits the acquired image (still image) to the control unit 25. The imaging device 120 may also acquire video and extract still images from the video. The control unit 25 detects the dimensions of item A, the height of the top surface of item A, etc., from the acquired image. The control unit 25 and the imaging device 120 function as detection devices that detect information about the item A being transported.

[0057] The conveyor 130 includes a belt 131, pulleys 132, and a motor 133. The belt 131 is an endless belt stretched over a pair of pulleys 132 that are spaced apart in the X direction. One end of the belt 131 is adjacent to the conveyor C. The axis of rotation of the pulleys 132 is parallel to the Y direction. The motor 133 drives the belt 131 by rotating one of the pair of pulleys 132. This transports the article A placed on the conveyor 130 toward the conveyor C.

[0058] The lifting device 140 includes a drive unit 141, a shaft 142, and a wire 143. The drive unit 141 is attached to the upper end of the main body 111. The shaft 142 extends along the Y direction and is connected to the drive unit 141. The wire 143 is wound around the shaft 142. One end of the wire 143 is connected to the conveyor 130. The drive unit 141 rotates the shaft 142. As the shaft 142 rotates, the wire 143 is wound or unwound, causing the conveyor 130 to move along the Z direction.

[0059] The moving device 150 includes a horizontal moving device 151 and a lifting device 152. The horizontal moving device 151 moves the suction hand 1 along the XY plane. The lifting device 152 raises or lowers the horizontal moving device 151. As a result, the suction hand 1, which is connected to the horizontal moving device 151, moves along the Z direction.

[0060] The horizontal movement device 151 includes an arm 151a and a support section 151b. The arm 151a is connected to the arm 10 of the suction hand 1 and is extendable and retractable along the X direction. The movement of the arm 151a allows the suction hand 1 to be moved along the X direction. The support section 151b extends along the Y direction and supports the arm 151a from below in a movable manner. The support section 151b moves the arm 151a along the Y direction. The movement of the support section 151b allows the suction hand 1 to be moved along the Y direction. The arm 151a and the support section 151b are operated by actuators such as motors and air cylinders, respectively.

[0061] The lifting device 152 includes a drive unit 152a, a shaft 152b, and a wire 152c. The drive unit 152a is attached to the upper end of the main body 111. The shaft 152b extends along the Y direction and is connected to the drive unit 152a. The wire 152c is wound around the shaft 152b. One end of the wire 152c is connected to the horizontal moving device 151. The drive unit 152a rotates the shaft 152b. As the shaft 152b rotates, the wire 152c is wound or unwound, causing the horizontal moving device 151 to move along the Z direction.

[0062] The negative pressure generator 160 can individually adjust the pressure of each of the multiple top suction units 16 and each of the multiple side suction units 22. The negative pressure generator 160 includes multiple pipes 161 connected to each of the multiple top suction units 16 and the multiple side suction units 22. In addition, the negative pressure generator 160 includes a vacuum pump, ejector, valves, etc. (not shown).

[0063] The detector 170 is installed, for example, between the main body 111 and the pallet P. The detector 170 detects the height position of the bottom surface of the item A passing above it. The detector 170 transmits the detection result to the control unit 25. The detector 170 includes a distance measuring sensor (e.g., a laser rangefinder).

[0064] The control unit 25 controls the operation of each of the above-described components. For example, the control unit 25 is electrically connected to the suction hand 1, the imaging device 120, the conveyor 130, the lifting device 140, the moving device 150, the negative pressure generator 160, and the detector 170. Based on the image acquired by the imaging device 120 and the detection results of the detector 170, the control unit 25 controls the suction hand 1, the conveyor 130, the lifting device 140, the moving device 150, and the negative pressure generator 160.

[0065] The operation of the holding device 100 will be described below. The control unit 25 switches between a first state in which the side suction unit 22 is in a first position and a second state in which the side suction unit 22 is in a second position. For example, the state switching is performed according to the arrangement of items A on the pallet P, commands from a higher-level system, user operation, or imaging results from the imaging device 120.

[0066] Figure 4(a) shows the side suction unit 22 in its first position. In the first position, the side suction unit 22 is capable of holding the side of an article. When the side suction unit 22 is in the first position, it is located below at least a portion of the top suction unit 16. For example, the suction portion 22b is located below the upper ends of the housing 16a and rod 16c of the top suction unit 16.

[0067] Figure 4(b) shows the side suction unit 22 in the second position. The second position is higher than the first position. When the side suction unit 22 is in the second position, it is positioned above at least a portion of the top suction unit 16. For example, the suction portion 22b is positioned above the suction portion 16b of the top suction unit 16.

[0068] When the holding device 100 transports the articles in the first array, it performs a first operation. In the first operation, the position of the side suction unit 22 is set to a first position. When the holding device 100 transports the articles in the second array, it performs a second operation. In the second operation, the position of the side suction unit 22 is set to a second position. In the first array, articles of approximately the same size are arranged in the X and Y directions and stacked in the Z direction. The positions of the top surfaces of multiple articles A arranged on the same level are substantially the same. In the second array, the sizes of the articles are irregular. The positions of the top surfaces of adjacent articles A in the XY plane may differ from each other.

[0069] Figure 11 is a flowchart of a part of the first operation. Figure 12 is a flowchart of another part of the first operation. Figures 13(a) to 13(c), 14(a) to 14(c), and 15(a) to 15(c) are schematic diagrams showing the first operation. The first operation by the holding device 100 will be explained with reference to Figures 11 to 15(c).

[0070] First, the imaging device 120 images multiple items A on the pallet P. In the example shown in Figure 13(a), multiple items A in the first arrangement are stacked on the pallet P. Based on the obtained image, the control unit 25 selects the item to be held (step S101 in Figure 11). In the first operation, the item A that is closest to the conveyor 130 in the X direction and has the highest top surface is selected. The horizontal moving device 151 moves the suction hand 1 along the XY plane (step S102) to position the suction hand 1 above the selected item A, as shown in Figure 13(b). Also, the position of the conveyor 130 in the Z direction is set to the same position as the bottom surface of the item A to be held.

[0071] The cylinder 21a of the drive mechanism 21 is released (step S103). That is, no force is applied from the cylinder 21a to the link mechanism 20, and the side suction unit 22 becomes movable. The fixing mechanism 15 is set to the unlocked state (step S104), and the connecting frame 14 becomes movable. As shown in Figure 13(c), the lifting device 152 lowers the suction hand 1 toward the item A (step S105). The suction hand 1 is lowered to the position of the top surface of the selected item A. The position of the top surface of item A is calculated by the control unit 25 based on the image.

[0072] While the suction hand 1 is descending, the upper suction unit 16 is movable in the Z direction relative to the base 11. This prevents excessive force from being applied to the upper suction unit 16 when it comes into contact with item A. Also, if the cylinder 21a is open when the suction hand 1 is descending, the side suction unit 22 can move in response to unintentional contact with another item. This prevents excessive force from being applied to the side suction unit 22.

[0073] The top suction unit 16 begins to suction the top surface of article A (step S106). Specifically, the control unit 25 operates the negative pressure generator 160 to exhaust the inside of the suction section 16b. The control unit 25 determines whether the top suction unit 16 is in contact with article A (step S107). Contact is determined based on the detection signal from the detector 23. Alternatively, contact may be determined based on the pressure of the suction section 16b. In step S106, suction (depressurization) by the top suction unit 16 has already begun. Therefore, when the top suction unit 16 comes into contact with article A, the pressure of the suction section 16b decreases. It may also be determined that the top suction unit 16 is in contact with article A if the pressure falls below a preset threshold. If it is determined that the top suction unit 16 is not in contact with article A, the lifting device 152 lowers the suction hand 1 again (step S108). After step S108 is executed, step S107 is executed again.

[0074] A limit may be set on the number of times step S108 can be executed. For example, the number of times step S108 can be executed is set to "1". That is, even if it is determined that the top suction unit 16 is not in contact with item A after step S108 has been executed once, a second step S108 will not be executed. Instead of a second step S108, the control unit 25 may notify that there is an abnormality in the holding device 100. This prevents the top suction unit 16 from being excessively pressed against item A, even if, for example, the detection result by the detector 23 is incorrect and it is incorrectly determined that the top suction unit 16 is not in contact with item A. Alternatively, it prevents the top suction unit 16 from continuing to descend to an incorrect position.

[0075] When it is determined that the top suction unit 16 is in contact with article A, the control unit 25 determines whether the suction of article A by the top suction unit 16 is complete (step S109). Whether or not suction is complete is determined based on the pressure at the suction section 16b. If the pressure at at least some of the multiple suction sections 16b is below a preset threshold, it is determined that suction is complete.

[0076] If it is determined that suction is not complete, the suction by the top suction unit 16 continues. The control unit 25 determines whether a preset time has elapsed since the start of suction (step S110). If suction is not completed even after the set time has elapsed, the control unit 25 terminates the first operation. The control unit 25 may also notify that suction by the top suction unit 16 is not complete.

[0077] Once suction is complete, the fixing mechanism 15 is set to a locked state (step S111), fixing the position of the upper suction unit 16 on the suction hand 1. The cylinder 12a of the tilting mechanism 12 is released (step S112). This allows the upper suction unit 16 and the side suction unit 22 to be tiltable with respect to the XY plane.

[0078] The drive mechanism 21 lowers the side suction unit 22 by the operation of the cylinder 21a (step S113). Fluid is injected into the cylinder 21a, fixing the position of the side suction unit 22 relative to the top suction unit 16. The side suction unit 22 begins suction (step S114). Specifically, the control unit 25 operates the negative pressure generator 160 to exhaust the inside of the suction section 22b.

[0079] The cylinder 19 moves the side suction unit 22 forward (step S115). If the position of the suction hand 1 relative to the article A is appropriate, the side suction unit 22 will come into contact with the side of the article A, as shown in Figure 14(a). The control unit 25 determines whether the suction of article A by the side suction unit 22 is complete (step S116). Whether or not suction is complete is determined based on the pressure at the suction parts 22b. If the pressure at least some of the multiple suction parts 22b is below a preset threshold, it is determined that suction is complete.

[0080] If it is determined that suction is not complete, suction by the side suction unit 22 continues. The control unit 25 determines whether a preset time has elapsed since the start of suction (step S117). If suction is not completed even after the set time has elapsed, the control unit 25 terminates the first operation. The control unit 25 may also notify that suction by the side suction unit 22 is not complete.

[0081] Once suction is complete, the lifting device 152 slightly raises the suction hand 1 (step S118). At this time, since the cylinder 12a of the tilting mechanism 12 is open, the cylinder 12a extends due to the weight of the suction mechanism 5 and the article A. As shown in Figure 14(b), the top suction unit 16 and the side suction unit 22 are tilted with respect to the XY plane. As a result, for example, only one side of the held article A comes into contact with another article A below. This reduces the contact area between articles A.

[0082] After step S118, the horizontal moving device 151 moves the suction hand 1 along the XY plane toward the conveyor 130 (step S121 in Figure 12). As a result, the held article A is transported onto the conveyor 130, as shown in Figure 14(c). The side suction unit 22 terminates its suction to the side of article A (step S122). Specifically, the control unit 25 increases the pressure in the suction section 22b. For example, the control unit 25 releases the inside of the suction section 22b into the atmosphere.

[0083] The cylinder 19 moves the side suction unit 22 backward (step S123). This causes the side suction unit 22 to move away from article A. The control unit 25 determines whether the side of article A, which was being held by the side suction unit 22, has been released (step S124). Whether the side has been released is determined based on the pressure at the suction unit 22b. If the pressure at each suction unit 22b exceeds a preset threshold, it is determined that the side has been released.

[0084] If the control unit 25 determines that the adsorbed side has not been released, it enters standby mode. If the pressure in each adsorption unit 22b increases during standby mode, the side is released. Also during standby mode, the control unit 25 determines whether a preset time has elapsed since the end of adsorption to the side (step S125). If the side is not released after the set time has elapsed, the control unit 25 terminates the first operation. The control unit 25 may also notify that the adsorbed side has not been released.

[0085] When the side that was being held by the suction is released, the top suction unit 16 terminates its suction to the top surface of article A (step S126). Specifically, the control unit 25 increases the pressure of the suction section 16b. For example, the control unit 25 releases the inside of the suction section 16b to the atmosphere. The cylinder 21a of the drive mechanism 21 is released (step S127).

[0086] The control unit 25 determines whether the upper surface of article A, which was being held by the upper surface suction unit 16, is released (step S128). Whether or not the upper surface is released is determined based on the pressure at the suction parts 16b. If the pressure at each suction part 16b exceeds a preset threshold, it is determined that the upper surface is released.

[0087] If the control unit 25 determines that the upper surface that was being held by suction has not been released, it enters standby mode. If the pressure in each suction unit 16b increases during standby mode, the upper surface is released. Also during standby mode, the control unit 25 determines whether a preset time has elapsed since the end of suction to the upper surface (step S129). If the upper surface is not released even after the preset time has elapsed, the control unit 25 terminates the first operation. The control unit 25 may also notify that the held upper surface has not been released.

[0088] When the top surface is released, as shown in Figure 15(a), the conveyed item A is placed on the conveyor 130. The tilting mechanism 12 operates the cylinder 12a so that the suction surface of the top suction unit 16 becomes horizontal (parallel to the XY plane) (step S130). As shown in Figure 15(b), the lifting device 152 raises the suction hand 1 (step S131). As shown in Figure 15(c), the conveyor 130 transports the placed item A to conveyor C (step S131). Conveyor C transports item A to another location. The holding device 100 repeats the above operations until all items A on the pallet P have been transported to conveyor C.

[0089] Figure 16 is a flowchart showing part of the second action. Figure 17 is a flowchart showing another part of the second action. Figures 18(a), 18(b), 19(a) to 19(c), and 20(a) to 20(c) are schematic diagrams showing the second action. The second operation by the holding device 100 will be explained with reference to Figures 16 to 20(c). First, the imaging device 120 images multiple items A on the pallet P. In the example shown in Figure 18(a), multiple items A in the second arrangement are stacked on the pallet P. Based on the obtained image, the control unit 25 selects the item to hold (step S201 in Figure 16). In the second operation, regardless of its position in the X direction, the item A with the highest top surface is selected.

[0090] The horizontal movement device 151 moves the suction hand 1 along the XY plane (step S202) to position the suction hand 1 above the selected item A, as shown in Figure 18(b). The control unit 25 checks whether the side suction unit 22 is in the second position (step S203). If the side suction unit 22 is not in the second position, the control unit 25 operates the drive mechanism 21 to move the side suction unit 22 to the second position.

[0091] The locking mechanism 15 is set to the unlocked state (step S204), and the connecting frame 14 becomes movable. As shown in Figure 19(a), the lifting device 152 lowers the suction hand 1 toward the article A (step S205). The suction hand 1 is lowered to the position of the upper surface of the selected article A. The position of the upper surface of the article A is calculated by the control unit 25 based on the image. While the suction hand 1 is lowering, each of the multiple upper surface suction units 16 is movable in the Z direction relative to the base 11. This prevents excessive force from being applied to the upper surface suction unit 16 when it comes into contact with the article A.

[0092] The top suction unit 16 begins to suction the top surface of article A (step S206). Specifically, the control unit 25 operates the negative pressure generator 160 to exhaust the inside of the suction unit 16b. The control unit 25 determines whether the top suction unit 16 is in contact with article A (step S207). Contact is determined based on the detector 23. If it is determined that the top suction unit 16 is not in contact with article A, the lifting device 152 lowers the suction hand 1 again (step S208). After step S208 is executed, step S207 is executed again. Similar to the first operation, a limit may be set on the number of times step S208 is executed.

[0093] When the control unit 25 determines that the top suction unit 16 is in contact with article A, it determines whether the top suction unit 16 has completed adsorption of article A (step S209). Similar to the first operation, whether or not adsorption is complete is determined based on the pressure at the adsorption section 16b. If it is determined that adsorption is not complete, the top suction unit 16 continues to adsorb. The control unit 25 determines whether a preset time has elapsed since the start of adsorption (step S210). If adsorption is not completed even after the set time has elapsed, the control unit 25 terminates the second operation. The control unit 25 may also notify that adsorption by the top suction unit 16 has not been completed.

[0094] Once suction is complete, the fixing mechanism 15 is set to the locked state (step S211), and the position of the upper suction unit 16 on the suction hand 1 is fixed. The lifting device 152 raises the suction hand 1 as shown in Figure 19(b) (step S212).

[0095] After step S212, the horizontal moving device 151 moves the suction hand 1 along the XY plane (step S221 in Figure 17). As shown in Figure 19(c), the held item A is transported above the conveyor 130. The control unit 25 checks whether the side suction unit 22 is in the second position (step S222). If the side suction unit 22 is not in the second position, the control unit 25 operates the drive mechanism 21 to move the side suction unit 22 to the second position.

[0096] The lifting device 152 begins to lower the suction hand 1 (step S223). As shown in Figure 20(a), when the position of the bottom surface of the held item A has lowered to the position of the top surface of the conveyor 130, the lifting device 152 stops lowering the suction hand 1 (step S224). The position of the bottom surface of item A is calculated by the control unit 25 based on the detection result by the detector 170.

[0097] The top suction unit 16 terminates its suction to the top surface of article A (step S225). Specifically, the control unit 25 increases the pressure in the suction section 16b. For example, the control unit 25 releases the inside of the suction section 16b to the atmosphere. The control unit 25 determines whether the top surface of article A, which was being held by the top suction unit 16, has been released (step S226). Similar to the first operation, whether the top surface has been released is determined based on the pressure in the suction section 16b.

[0098] If the control unit 25 determines that the upper surface that was being held by suction has not been released, it enters standby mode. If the pressure in each suction unit 16b increases during standby mode, the upper surface is released. Also during standby mode, the control unit 25 determines whether a preset time has elapsed since the end of suction to the upper surface (step S227). If the upper surface is not released even after the preset time has elapsed, the control unit 25 terminates the second operation. The control unit 25 may also notify that the held upper surface has not been released.

[0099] When the top surface is released, the lifting device 152 raises the suction hand 1, as shown in Figure 20(b) (step S228). As shown in Figure 20(c), the conveyor 130 transports the placed article A to conveyor C (step S229). Conveyor C transports article A to another location. The holding device 100 repeats the above operations until all article A on the pallet P has been transported to conveyor C.

[0100] The data indicating the arrangement of items A on pallet P may be entered by the user or transmitted to the control unit 25 by communication means. For example, the control unit 25 receives the data indicating the arrangement. Based on the received data, the control unit 25 switches the position of the side suction unit 22.

[0101] The holding device 100 according to this embodiment includes a suction hand 1. Therefore, it can stably hold a wider variety of articles. In addition, by suppressing the enlargement of the upper suction unit 16, interference between the upper suction unit 16 and other elements can be suppressed.

[0102] In the first array of items A of regular size, as shown in Figures 10 and 13(a) to 15(c), the top surface height of each item A is the same in the same row. For example, each item A is packed with the same type of goods. In this case, by transporting the front item A first, both the top suction unit 16 and the side suction unit 22 can hold the item A more stably. Also, compared to holding the item A with only one of the top suction unit 16 or the side suction unit 22, it is possible to suppress the application of large local forces to the item A. This suppresses damage to the item A. Both the top suction unit 16 and the side suction unit 22 are used for the items A in the first array.

[0103] In the second array of articles A of irregular sizes, as shown in Figures 18(a) to 20(c), the positions of the upper surfaces of adjacent articles A in the XY plane may differ. For example, article A is a parcel. In this case, if the top surface suction unit 16 is brought close to article A whose upper surface is in a lower position, part of the holding device 100 may interfere with another article A whose upper surface is in a higher position, potentially damaging the other article A. For this reason, the holding device 100 holds the article A whose upper surface is in the highest position during transport. For articles A in the second array, only the top surface suction unit 16 is used, and the side suction unit 22 is not used.

[0104] Conventionally, different holding devices have been used when transporting items A in the first array and when transporting items A in the second array. Specifically, for items A in the first array, a holding device equipped with a top suction unit 16 and a side suction unit 22 is used. For items A in the second array, a holding device equipped with only a top suction unit 16 is used. However, with the conventional method, it is necessary to assign pallets to the holding devices according to the type of holding device and the arrangement of the items. This makes management complicated. Furthermore, the utilization rate of the holding devices may decrease.

[0105] To address this issue, the holding device 100 according to this embodiment performs a first operation in which both the top suction unit 16 and the side suction unit 22 hold the article A, and a second operation in which only the top suction unit 16 holds the article A. By selectively performing either the first or second operation, the article A can be held regardless of its arrangement. According to this embodiment, the convenience of the holding device 100 can be improved. This, for example, can improve the operating rate of the holding device 100.

[0106] Preferably, the holding device 100 switches between a first state in which the side suction unit 22 is in a first position and a second state in which the side suction unit 22 is in a second position. When holding articles A in a second array, the side suction unit 22 may interfere with articles A other than the one being held. If the side suction unit 22 is in the second position during the second operation, the possibility of the side suction unit 22 interfering with other articles A can be reduced.

[0107] Figure 21 is a front view showing a hand according to another embodiment. Figure 22 is a side view showing a hand according to another embodiment. Figures 21 and 22 show a gripping hand 2 as another example of a hand according to the embodiment. The gripping hand 2 holds an article by gripping it. Compared to the suction hand 1, the gripping hand 2 has a holding unit 31 (another example of the first holding unit) and a holding unit 32 (another example of the second holding unit) instead of the top suction unit 16 and the side suction unit 22. Other structures in the gripping hand 2 can be the same as those of the suction hand 1.

[0108] As shown in Figure 21, the holding unit 31 includes a housing 31a and a clamping mechanism 31b (another example of the first holding part). The clamping mechanism 31b includes a plurality of rod-shaped support parts 31c. Each support part 31c extends along the Z direction and is separated from each other in the X direction. The housing 31a includes actuators for driving the support parts 31c. The clamping mechanism 31b is capable of changing the distance between the support parts 31c in the X direction. With a portion of the article A positioned between the support parts 31c, the article A can be clamped by reducing the distance between the support parts 31c.

[0109] Multiple holding units 31 are provided in the Y direction. Each holding unit 31 is independently movable in the Z direction. Each holding unit 31 includes multiple clamping mechanisms 31b.

[0110] As shown in Figure 22, the holding unit 32 includes a housing 32a and a clamping mechanism 32b (another example of a second holding part). The clamping mechanism 32b includes a plurality of rod-shaped support parts 32c. Each support part 32c extends along the X direction and is separated from each other in the Z direction. The housing 32a includes actuators for driving the support parts 32c. The clamping mechanism 32b is capable of changing the distance between the support parts 32c in the Z direction. With a portion of article A positioned between the support parts 32c, article A can be clamped by reducing the distance between the support parts 32c.

[0111] Multiple holding units 32 are provided in the Y direction. Each holding unit 32 is independently movable in the X direction. Each holding unit 32 includes multiple clamping mechanisms 32b.

[0112] Hand 2, like Hand 1, includes a base 11, a tilting mechanism 12, a linear guide 13, a connecting frame 14, a fixing mechanism 15, a linear guide 17, a connecting plate 18, a cylinder 19, a link mechanism 20, a drive mechanism 21, a detector 23, a control unit 25, and the like. Therefore, each of the multiple holding units 32 is connected to each of the multiple holding units 31. The position of each of the multiple holding units 32 in the Z direction is variable according to the position of each of the multiple holding units 31 in the Z direction. The multiple drive mechanisms 21 can change the position of the multiple holding units 32 in the Z direction by rotating each of the multiple link mechanisms 20 around the Y direction. The tilting mechanism 12 can tilt the holding units 31 and 32 with respect to planes along the Y and X directions. The fixing mechanism 15 can fix the position of the holding unit 31 in the Z direction.

[0113] In the illustrated example, the holding unit 31 includes multiple clamping mechanisms 31b, and the holding unit 32 includes multiple clamping mechanisms 32b. However, the holding unit 31 may include only one clamping mechanism 31b, and the holding unit 32 may include only one clamping mechanism 32b. The holding device 100 may also include a clamping hand 2 instead of the suction hand 1.

[0114] Figure 23 is a schematic diagram representing the hardware configuration. The control unit 25 includes, for example, the hardware configuration shown in Figure 23. The processing unit 90 shown in Figure 23 includes a CPU 91, ROM 92, RAM 93, storage device 94, input interface 95, output interface 96, and communication interface 97.

[0115] ROM92 stores programs that control the computer's operation. ROM92 contains the programs necessary for the computer to perform the processes described above. RAM93 functions as a memory area where the programs stored in ROM92 are deployed.

[0116] The CPU 91 includes processing circuits. The CPU 91 uses the RAM 93 as work memory and executes programs stored in at least one of the ROM 92 or the storage device 94. During program execution, the CPU 91 controls each component via the system bus 98 and performs various processes.

[0117] The memory device 94 stores data necessary for program execution and data obtained through program execution.

[0118] The input interface (I / F) 95 connects the processing unit 90 and the input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0119] The output interface (I / F) 96 connects the processing unit 90 and the output device 96a. The output I / F 96 is a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI®). The CPU 91 can transmit data to the output device 96a via the output I / F 96 and display an image on the output device 96a.

[0120] The communication interface (I / F) 97 connects the processing unit 90 to a server 97a located outside the processing unit 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97. The camera 99 photographs objects and saves the images to the server 97a. The camera 99 functions as an imaging device 120.

[0121] The storage device 94 includes one or more selected from Hard Disk Drives (HDDs) and Solid State Drives (SSDs). The input device 95a includes one or more selected from a mouse, keyboard, microphone (voice input), and touchpad. The output device 96a includes one or more selected from a monitor and a projector. Devices that have the functions of both input device 95a and output device 96a, such as a touch panel, may also be used.

[0122] The various data processing methods described above may be recorded as programs that can be executed by a computer on magnetic disks (flexible disks and hard disks, etc.), optical disks (CD-ROMs, CD-Rs, CD-RWs, DVD-ROMs, DVD±Rs, DVD±RWs, etc.), semiconductor memory, or other non-transitory computer-readable storage media.

[0123] For example, information recorded on a recording medium can be read by a computer (or embedded system). The recording format (storage format) of the recording medium is arbitrary. For example, a computer reads a program from the recording medium and has the CPU execute the instructions written in the program based on this program. In a computer, program acquisition (or reading) may be performed via a network.

[0124] The embodiments may include the following configurations. (Note 1) A first holding unit comprising a plurality of first holding parts that are independently movable in a first direction and provided in a plurality in a second direction intersecting the first direction, and capable of holding an article, A second unit comprising a plurality of second parts that are movable in a third direction intersecting the planes parallel to the first and second directions and capable of holding the article, Equipped with a hand. (Note 2) The second holding unit is a hand as described in Appendix 1, wherein a plurality of units are provided in the second direction. (Note 3) Each of the multiple second holding units is connected to a plurality of the multiple first holding units. The hand according to Appendix 2, wherein the positions of the plurality of second holding units in the first direction are variable according to the positions of the plurality of first holding units in the first direction. (Note 4) The hand according to appendix 2 or 3, further comprising a plurality of actuators for driving each of the plurality of the second holding units in the third direction. (Note 5) The hand according to any one of appendices 2 to 4, further comprising a plurality of drive mechanisms for changing the position of each of the plurality of second holding units in the first direction relative to the plurality of first holding units. (Note 6) The system further comprises a plurality of link mechanisms connected between the plurality of first holding units and the plurality of second holding units, The plurality of second holding units are each connected to the plurality of link mechanisms so as to be rotatable around the second direction, The hand described in Appendix 5, wherein the plurality of drive mechanisms change the position of the plurality of second holding units in the first direction by rotating each of the plurality of link mechanisms around the second direction. (Note 7) The aforementioned plurality of drive mechanisms include a plurality of cylinders each connected to the plurality of link mechanisms, as described in Appendix 6. (Note 8) The hand according to any one of the appendices 1 to 7, further comprising a tilting mechanism for tilting a plurality of the first holding units and the second holding units with respect to a plane along the second and third directions. (Note 9) The hand according to any one of appendices 1 to 8, further comprising a plurality of fixing mechanisms for fixing the positions of a plurality of the first holding units in the first direction. (Note 10) Each of the plurality of first holding parts is A first rod extending along the first direction, A first suction pad is provided at the tip of the first rod, A hand that includes any one of the notes 1-9. (Note 11) Each of the plurality of second holding parts is A second rod extending along the third direction, A second suction pad is provided at the tip of the second rod, A hand that includes any one of the notes 1-10. (Note 12) The hand described in one of the appendices 1 to 11, A moving device for moving the hand along the first direction, the second direction, or the third direction, A retaining device equipped with this device. (Note 13) The hand described in one of the appendices 1 to 11, A moving device for moving the hand along the first direction, the second direction, or the third direction, A conveyor on which an article held by the hand is placed, and on which the placed article is moved, A cargo handling system that is equipped with it. (Note 14) The cargo handling system according to Appendix 13, wherein the conveyor transports the placed articles to a transport device provided adjacent to the conveyor. (Note 15) The cargo handling system according to appendix 13 or 14, further comprising a lifting device for moving the conveyor along the first direction. (Note 16) A cargo handling system according to any one of appendices 13 to 15, further comprising an imaging device for imaging a plurality of the aforementioned loaded items.

[0125] According to the embodiments described above, a hand, a holding device, and a handling system are provided that can stably hold a wider variety of articles.

[0126] Although several embodiments of the present invention have been illustrated above, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. Furthermore, the embodiments described above can be implemented in combination with each other. [Explanation of Symbols]

[0127] 1: Suction hand, 2: Clamping hand, 5: Suction mechanism, 10: Arm, 10a: Tip, 10b: Rotating shaft, 10c: Bending part, 11: Base, 12: Tilting mechanism, 12a: Cylinder, 12b,12c: Rotating shaft, 13: Linear guide, 14: Connecting frame, 14a: Vertical frame part, 14b: Horizontal frame part, 15: Fixing mechanism, 15a: Rod, 15b: Fixing plate, 15c: Movable plate, 15d: Clamper, 15e: Cylinder, 16: Top suction unit, 16a: Housing, 16b: Suction part, 16c: Rod, 16d: Suction pad, 17: Linear guide, 18: Connecting plate, 19: Cylinder, 20: Link mechanism, 20a,20b: Link, 20c~20f: Rotating shaft, 21: Drive mechanism, 21a: Cylinder, 21b, 21c: Rotating shaft, 21d: Bar, 22: Side suction unit, 22a: Housing, 22b: Suction part, 22c: Rod, 22d: Suction pad, 23: Detector, 25: Control unit, 31: Holding unit, 31a: Housing, 31b: Clamping mechanism, 31c: Support part, 32: Holding unit, 32a: Housing, 32b: Clamping mechanism, 32c: Support part, 90: Processing unit, 91: CPU, 92: ROM, 93: RAM, 94: Storage device, 95: Input interface, 95a: Input device, 96: Output interface, 96a: Output device, 97: Communication interface, 97a: Server, 98: System bus, 99: Camera, 100: Holding device (cargo handling system), 110: Support frame, 111: Main body, 111a: Vertical frame, 111b: Horizontal frame, 112: Protrusion, 112a: Support part, 113,114: Opening, 120: Imaging device, 130: Conveyor, 131: Belt, 132: Pulley, 133: Motor, 140: Lifting device, 141: Drive unit, 142: Shaft, 143: Wire, 150: Moving device, 151: Horizontal moving device, 151a: Arm, 151b: Support part, 152: Lifting device, 152a: Drive unit, 152b: Shaft, 152c: Wire, 160: Negative pressure generator, 161: Pipe, 170: Detector, A: Item, C: Conveyor, P: Pallet, R1,R2: Suction hand

Claims

1. A first holding unit comprising a plurality of first holding parts that are movable independently in a first direction and are provided in a plurality in a second direction intersecting the first direction, and which are capable of holding an article, A second holding unit includes a plurality of second holding parts that are movable in a third direction intersecting the planes parallel to the first and second directions and capable of holding the article, Equipped with, The second holding unit is provided in multiple locations in the second direction. Each of the multiple second holding units is connected to each of the multiple first holding units. A hand in which the positions of the plurality of second holding units in the first direction are variable according to the position of each of the plurality of first holding units in the first direction.

2. The hand according to claim 1, further comprising a drive mechanism for changing the positions of the plurality of second holding units in the first direction relative to the plurality of first holding units.

3. The hand according to claim 2, comprising a plurality of the drive mechanisms.

4. A first holding unit comprising a plurality of first holding parts that are movable independently in a first direction and provided in a plurality in a second direction intersecting the first direction, and capable of holding an article, A second holding unit includes a plurality of second holding parts that are movable in a third direction intersecting the planes parallel to the first and second directions and capable of holding the article, Equipped with, The second holding unit is provided in multiple locations in the second direction. A hand further comprising a plurality of drive mechanisms, each of which changes the position of each of the plurality of second holding units in the first direction relative to each of the plurality of first holding units.

5. Each of the plurality of second holding units is connected to each of the plurality of first holding units, The hand according to claim 4, wherein the positions of the plurality of second holding units in the first direction are variable according to the respective positions of the plurality of first holding units in the first direction.

6. The hand according to any one of claims 1 to 5, further comprising actuators for driving each of the plurality of second holding units in the third direction.

7. The hand according to claim 6, comprising a plurality of actuators.

8. Each further comprises a plurality of link mechanisms connected between each of the plurality of first holding units and each of the plurality of second holding units, Each of the plurality of second holding units is connected to each of the plurality of link mechanisms so as to be rotatable around the second direction. The hand according to claim 3 or 4, wherein each of the plurality of drive mechanisms rotates the plurality of link mechanisms around the second direction, thereby changing the position of each of the plurality of second holding units in the first direction.

9. The hand according to claim 8, wherein the plurality of drive mechanisms each include a plurality of cylinders connected to each of the plurality of link mechanisms.

10. The hand according to any one of claims 1 to 5, further comprising a tilting mechanism for tilting the plurality of first holding units and the plurality of second holding units with respect to a plane along the second and third directions.

11. The hand according to any one of claims 1 to 5, further comprising a plurality of fixing mechanisms, each fixing the position of each of the plurality of first holding units in the first direction.

12. Each of the plurality of first holding parts is A first rod extending along the first direction, A first suction pad is provided at the tip of the first rod, A hand according to any one of claims 1 to 5, including the hand described in any one of claims 1 to 5.

13. Each of the plurality of second holding parts is A second rod extending along the third direction, A second suction pad is provided at the tip of the second rod, A hand according to any one of claims 1 to 5, including the hand described in any one of claims 1 to 5.

14. A hand according to any one of claims 1 to 5, A moving device for moving the hand along the first direction, the second direction, or the third direction, A retaining device equipped with this device.

15. A hand according to any one of claims 1 to 5, A moving device for moving the hand along the first direction, the second direction, or the third direction, A conveyor on which an article held by the hand is placed, and on which the placed article is moved, A transport system equipped with [a specific feature / feature].

16. The conveying system according to claim 15, wherein the conveyor transports the placed articles to a transport device provided adjacent to the conveyor.

17. The conveying system according to claim 15, further comprising a lifting device for moving the conveyor along the first direction.

18. The transport system according to claim 15, further comprising an imaging device for imaging a plurality of the loaded articles.

Images