Object processing device

Abstract

An object processing device (1) comprises: a holding part (34) for holding an object (71); holding part actuators (33, 35) for causing the holding part (34) to move; and a contact member (41) that is supported so as to be moveable with respect to the holding part (34). When the holding part (34) is holding the object (71) and before the object (71) is raised, the contact member (41) contacts second sections (73, 74) of the object (71) which are spaced apart from a first section (75) where the object contacts the holding part (34), in order to reduce tilting of the object (71).

Description

Material handling equipment

[0001] The technology of the present disclosure relates to an object processing device.

[0002] An automatic recyclable waste sorting device is known that automatically sorts multiple wastes transported along a transport path by material. The automatic recyclable waste sorting device includes an object recognition device that determines the material and position of the waste based on an image of the waste, a gripping unit that grips recyclable waste made of a predetermined material, and an actuator that moves the gripping unit so that the recyclable waste is removed from the transport path. A robot hand that can appropriately grip an inclined workpiece is known (Japanese Patent Laid-Open Publication No. 2001-205584).

[0003] Japanese Patent Application Laid-Open No. 2001-205584

[0004] However, when the recyclable waste lifted by the gripping portion tilts, the tilted recyclable waste may collide with other objects, resulting in the recyclable waste not being properly removed from the transport path.

[0005] The disclosed technology has been made in consideration of these points, and aims to provide an object processing device that prevents lifted objects from tilting.

[0006] An object processing device according to one aspect of the present disclosure comprises a gripper for gripping an object, a gripper actuator for moving the gripper, and a contact member movably supported relative to the gripper, wherein the contact member contacts a second portion of the object away from a first portion of the object that is in contact with the gripper when the gripper is gripping the object and before the object is lifted, so as to reduce tilt of the object.

[0007] The disclosed object processing device can prevent the lifted object from tilting.

[0008] FIG. 1 is a plan view showing an automatic recyclable waste sorting apparatus equipped with an object processing apparatus of Example 1. FIG. 2 is a perspective view showing the automatic recyclable waste sorting apparatus. FIG. 3 is a side view showing a robot main body. FIG. 4 is a perspective view showing a portion of the robot main body. FIG. 5 is a vacuum circuit diagram showing a pad, a vacuum device, and a contact member actuator. FIG. 6 is a block diagram showing an object processing apparatus. FIG. 7 is a flowchart showing the operation of moving recyclable waste to be processed from a conveying path to a dust chute. FIG. 8 is a cross-sectional view showing the robot main body when the pad contacts the recyclable waste to be processed. FIG. 9 is a perspective view showing the robot main body when the contact member contacts the recyclable waste to be processed. FIG. 10 is a side view showing a robot main body of an object processing apparatus of a comparative example. FIG. 11 is a perspective view showing a compression spring of an object processing apparatus of Example 2. FIG. 12 is a side view showing a compression spring of the object processing apparatus of Example 2 when the contact member is positioned at the contact position. FIG. 13 is a side view showing the contact member when the pad grips the recyclable waste to be processed in the object processing apparatus of Example 2. FIG. 14 is a side view showing the robot main body of an object processing apparatus of Example 3. Fig. 15 is a plan view showing the pad, the first contact portion, and the second contact portion of the object processing apparatus of Example 3. Fig. 16 is a flowchart showing the operation of moving recyclable waste to be processed from the transport path to the dust chute in the object processing apparatus of Example 3.

[0009] An object processing apparatus according to an embodiment of the present disclosure will be described below with reference to the drawings. Note that the following description does not limit the technology of the present disclosure. In the following description, the same components are given the same reference numerals, and duplicated descriptions will be omitted.

[0010] As shown in Fig. 1, the object processing device 1 of Example 1 is provided in an automatic recyclable waste sorting device 2. Fig. 1 is a plan view showing the automatic recyclable waste sorting device 2 in which the object processing device 1 of Example 1 is provided. The automatic recyclable waste sorting device 2 includes a transport device 3 and the object processing device 1. The transport device 3 is formed from a belt conveyor and includes a belt conveyor frame 5 and a belt 6, and a belt drive device (not shown). The belt conveyor frame 5 is placed on and fixed to an installation surface 7 on which the automatic recyclable waste sorting device 2 is installed. The belt 6 is made of a flexible material and is formed into a loop-shaped band.

[0011] A conveying path 8 is formed in the conveying device 3. The conveying path 8 extends along another plane parallel to the plane along which the installation surface 7 extends, and the straight line along which the conveying path 8 extends is parallel to a conveying direction 11 which is parallel to the plane along which the installation surface 7 extends. The belt 6 has a conveying path facing portion 12. The conveying path facing portion 12 is disposed below the conveying path 8 and extends along the conveying path 8. The belt 6 is further supported by the belt conveyor frame 5 so as to be movable via a belt driving device. The belt driving device moves the belt 6 so that the conveying path facing portion 12 moves in the conveying direction 11.

[0012] The transport path 8 includes an image capture area 14 and an object removal area 15, and also includes an object supply area (not shown). The object removal area 15 is located downstream of the image capture area 14 in the transport direction 11. The object supply area is located upstream of the image capture area 14 in the transport direction 11.

[0013] The object processing device 1 includes an object recognition device 21 and a robot 22. The object recognition device 21 is arranged near the image capture area 14. The object recognition device 21 includes a camera (not shown) pointed toward the image capture area 14, and captures an image of an object placed in the image capture area 14 as if seen from directly above. The robot 22 is arranged near the object removal area 15. The automatic recyclable waste sorting device 2 further includes a dust chute 23. The dust chute 23 is arranged beside the transport device 3 and near the object removal area 15.

[0014] FIG. 2 is a perspective view showing the automatic recyclable waste sorting device 2. The robot 22 includes a robot body 24 and a robot cover 25. The robot cover 25 is generally box-shaped. The robot cover 25 is disposed above the object removal area 15 of the transport path 8 and the dust chute 23 so that the object removal area 15 of the transport path 8 and the robot body 24 are located inside the robot cover 25 (see FIG. 1). The robot cover 25 is fixed to the belt conveyor frame 5 and is fixed to the installation surface 7 via the belt conveyor frame 5. The robot cover 25 prevents objects handled by the robot body 24 in the object removal area 15 from scattering out of the object removal area 15.

[0015] FIG. 3 is a side view showing the robot main body 24. The robot main body 24 includes a translational support member 32, an X-axis actuator 33, a pad 34, a Z-axis actuator 35, a vacuum device 36, and a gripping vacuum pipe 37. The translational support member 32 is supported by a base 31 (see FIG. 2 ) fixed to the installation surface 7 so as to be translatable parallel to the X-axis direction via the X-axis actuator 33. The X-axis direction is perpendicular to the conveying direction 11 and parallel to the plane along which the conveying path 8 runs. The pad 34 is made of elastomer. An internal pad space 38 and an opening 39 are formed in the pad 34. The internal pad space 38 is formed inside the pad 34 and is connected to the outside of the pad 34 via the opening 39. The pad 34 is supported by the translational support member 32 so as to be translatable parallel to the Z-axis direction via the Z-axis actuator 35. The Z-axis direction is perpendicular to the X-axis direction and to the conveying direction 11; that is, perpendicular to the plane along which the conveying path 8 extends and parallel to the vertical direction. The Z-axis actuator 35 translates the pad 34 parallel to the Z-axis direction relative to the translation support member 32. The translation support member 32 can translate parallel to the X-axis direction via the X-axis actuator 33, so that the pad 34 is positioned above the object removal area 15 of the conveying path 8 or above the dust chute 23.

[0016] The vacuum device 36 is fixed to the translation support member 32. The gripping vacuum pipe 37 includes a flexible pipe. A flow path through which air flows is formed inside the gripping vacuum pipe 37. One end of the gripping vacuum pipe 37 is connected to the vacuum device 36, and the other end of the gripping vacuum pipe 37 is connected to the pad 34.

[0017] FIG. 4 is a perspective view showing a portion of the robot body 24. The robot body 24 further includes a contact member 41 and a contact member actuator 42. The contact member 41 is formed in a ring shape. The contact member 41 is arranged along another plane parallel to the plane along which the transport path 8 is arranged, is supported by the pad 34 via the contact member actuator 42 so as to be translatable parallel to the Z-axis direction, and is arranged at either the retracted position or the contact position. The contact member actuator 42 translates the contact member 41 parallel to the Z-axis direction. When the contact member 41 is arranged at the retracted position, as shown in FIG. 4, the contact member 41 is arranged above the pad 34. The contact member 41 moves toward the contact position by descending from the retracted position.

[0018] 5 is a vacuum circuit diagram showing the pad 34, the vacuum device 36, and the contact member actuator 42. The vacuum device 36 is formed with a nozzle 43 and a diffuser 44, and is also formed with a compressed air supply port 45, an exhaust port 46, and a suction port 47. The nozzle 43 discharges compressed air supplied to the vacuum device 36 via the compressed air supply port 45 toward the diffuser 44 at high speed. The diffuser 44 exhausts the compressed air discharged from the nozzle 43 together with air from the suction port 47 to the outside of the vacuum device 36 through the exhaust port 46. In other words, when compressed air is supplied to the compressed air supply port 45, the vacuum device 36 sucks air through the suction port 47 as air from the suction port 47 is exhausted through the exhaust port 46. When compressed air is not supplied to the compressed air supply port 45, the vacuum device 36 circulates air between the exhaust port 46 and the suction port 47 so that the air pressure at the suction port 47 becomes equal to the air pressure (atmospheric pressure) at the exhaust port 46. The suction port 47 is connected to the intra-pad space 38 of the pad 34 via the gripping vacuum pipe 37.

[0019] The contact member actuator 42 includes a cylinder 51, a piston 52, a rod 53, and a spring 54. A cylindrical intra-cylinder space 55 is formed inside the cylinder 51. The piston 52 is also cylindrical, fitted into the intra-cylinder space 55, and supported by the cylinder 51 so as to be able to translate parallel to the Z-axis direction. With the piston 52 fitted into the intra-cylinder space 55, the contact member actuator 42 defines a cylinder chamber 56 surrounded by the cylinder 51 and the piston 52. The cylinder chamber 56 is connected to the intra-pad space 38 of the pad 34 via an actuator vacuum pipe 57.

[0020] The rod 53 is formed in a bent rod shape. One end of the rod 53 is joined to the piston 52, and the other end of the rod 53 is joined to the contact member 41. That is, the contact member 41 is fixed to the rod 53, and is fixed to the piston 52 via the rod 53. The spring 54 is formed from a compression coil spring. One end of the spring 54 is fixed to the cylinder 51, and the other end of the spring 54 is fixed to the piston 52. The spring 54 elastically deforms and applies an elastic force to the piston 52 so that the piston 52 rises relative to the cylinder 51, i.e., so that the contact member 41 translates toward the retracted position.

[0021] 6 is a block diagram showing the object processing apparatus 1. The object processing apparatus 1 further includes a compressor 61 and a control device 62. The compressor 61 compresses air to generate compressed air. The compressor 61 is further controlled by the control device 62 to supply the compressed air to the vacuum device 36 or stop supplying the compressed air to the vacuum device 36.

[0022] The control device 62 is a computer and includes a storage device 63 and a CPU (Central Processing Unit) 64. The storage device 63 stores computer programs installed in the control device 62 and stores information used by the CPU 64. The CPU 64 executes the computer programs installed in the control device 62, processes information, controls the storage device 63, and controls the object recognition device 21, the X-axis actuator 33, the Z-axis actuator 35, and the compressor 61.

[0023] The computer programs installed in the control device 62 include a plurality of computer programs that cause the control device 62 to realize a plurality of functions, respectively. The plurality of functions include a sorting unit 65 and a robot control unit 66.

[0024] The sorting unit 65 controls the object recognition device 21 so that a waste sorting image is captured that shows multiple objects placed in the image capturing area 14 of the transport path 8. The sorting unit 65 further controls the storage device 63 so that the waste sorting image is recorded in the storage device 63 in association with the capturing time at which the waste sorting image was captured. The sorting unit 65 performs image processing on the waste sorting image, selects recyclable waste to be processed from the multiple objects captured in the waste sorting image, and calculates the position at which the recyclable waste to be processed is located.

[0025] The robot control unit 66 controls the X-axis actuator 33, the Z-axis actuator 35, and the compressor 61 based on the position of the recyclable waste to be processed calculated by the sorting unit 65 so that the recyclable waste to be processed is removed from the conveying path 8 and placed in the dust chute 23.

[0026] [Operation of the automatic recyclable waste sorting device 2] The operation of the automatic recyclable waste sorting device 2 includes an operation of transporting multiple pieces of waste along the conveying path 8 and an operation of moving recyclable waste to be processed from the conveying path 8 to the dust chute 23. In the operation of transporting multiple pieces of waste along the conveying path 8, first, the user operates the conveying device 3 to start the conveying device 3. When the conveying device 3 is started, the belt drive unit of the conveying device 3 moves the belt 6 so that the conveying path facing portion 12 of the belt 6 translates in the conveying direction 11 at a predetermined constant conveying speed.

[0027] The user then places multiple pieces of waste on the portion of the transport path facing portion 12 that faces the object supply area. The multiple pieces of waste include recyclable waste to be processed. The recyclable waste to be processed is recyclable waste that needs to be removed from the transport path 8 and that needs to be moved to the dust chute 23. An example of the recyclable waste to be processed is a bottle made of glass that is colored a predetermined color (e.g., brown).

[0028] The plurality of dust particles placed on the conveying path facing portion 12 are conveyed in the conveying direction 11 at a conveying speed along the conveying path 8 as the belt 6 translates. The plurality of dust particles conveyed along the conveying path 8 are placed in an image capturing area 14. The plurality of dust particles placed in the image capturing area 14 are further conveyed along the conveying path 8 and placed in an object removal area 15. The plurality of dust particles placed in the object removal area 15 are further conveyed along the conveying path 8 and placed in an area downstream of the object removal area 15.

[0029] FIG. 7 is a flowchart showing the operation of moving recyclable waste to be processed from the conveyance path 8 to the dust chute 23. The operation of moving recyclable waste to be processed from the conveyance path 8 to the dust chute 23 is performed while multiple wastes are being transported along the conveyance path 8. The control device 62 uses the object recognition device 21 to capture a waste sorting image showing multiple wastes placed in the image capture area 14. The control device 62 records the waste sorting image in the storage device 63 in association with the capture time when the waste sorting image was captured. The control device 62 processes the waste sorting image and selects recyclable waste to be processed from the multiple wastes captured in the waste sorting image (step S1). The control device 62 further calculates the image capture coordinates based on the results of the image processing. The image capture coordinates indicate the location of the recyclable waste to be processed at the capture time.

[0030] The control device 62 calculates the gripping timing and gripping preparation position based on the transport speed, the time of image capture, and the coordinates at the time of image capture. The gripping timing indicates the timing at which the recyclable waste to be processed passes through the range of motion of the pad 34. The gripping preparation position indicates a position above the position at which the recyclable waste to be processed will be placed at the gripping timing. The control device 62 controls the X-axis actuator 33 to place the pad 34 at the gripping preparation position at a timing prior to the gripping timing (step S2).

[0031] The contact member actuator 42 positions the contact member 41 in the retracted position when the pad 34 is positioned in the grip preparation position. That is, the pad intra-space 38 of the pad 34 is open to the atmosphere when the opening 39 is not blocked. Because the pad intra-space 38 is open to the atmosphere, the cylinder chamber 56 is opened to the atmosphere via the actuator vacuum pipe 57. When the cylinder chamber 56 is opened to the atmosphere, the piston 52 rises due to the elastic force of the spring 54. As the piston 52 rises, the contact member 41 moves toward the retracted position and is positioned at the retracted position.

[0032] After the pad 34 is positioned in the gripping preparation position, the control device 62 controls the Z-axis actuator 35 to lower the pad 34 so that it will contact the recyclable waste to be processed at the gripping timing (step S3). By positioning the contact member 41 in the retracted position, the object processing device 1 can prevent the contact member 41 from contacting waste other than the recyclable waste to be processed among the multiple wastes placed in the object removal area 15 when the pad 34 is lowered. By positioning the contact member 41 in the retracted position, the object processing device 1 can further prevent the contact member 41 from contacting the recyclable waste to be processed when the pad 34 is lowered. By preventing the contact member 41 from contacting the object when the pad 34 contacts the recyclable waste to be processed, the object processing device 1 can properly bring the pad 34 into contact with the recyclable waste to be processed.

[0033] As shown in Fig. 8, when the pad 34 comes into contact with the recyclable waste 71 to be processed, the pad 34 elastically deforms and is blocked by the recyclable waste 71 to be processed. Fig. 8 is a cross-sectional view showing the robot main body 24 when the pad 34 comes into contact with the recyclable waste 71 to be processed. The internal space 38 of the pad 34 is sealed from the outside as the opening 39 is blocked by the recyclable waste 71 to be processed.

[0034] After the pad 34 is positioned in the gripping preparation position, the control device 62 further controls the compressor 61 to supply compressed air to the vacuum device 36 and cause the pad 34 to adsorb the recyclable waste 71 to be processed (step S4). That is, when compressed air is supplied from the compressor 61 to the compressed air supply port 45, the nozzle 43 of the vacuum device 36 discharges the compressed air toward the diffuser 44. When the compressed air is discharged from the nozzle 43 toward the diffuser 44, the diffuser 44 exhausts air from the suction port 47 along with the compressed air. When the air is exhausted from the suction port 47, the vacuum device 36 sucks air from the intra-pad space 38 of the pad 34 through the gripping vacuum pipe 37, thereby reducing the pressure of the intra-pad space 38. When the opening 39 is blocked by the recyclable waste 71 to be processed, the pad 34 adsorbs the recyclable waste 71 to grip the recyclable waste 71 to be processed, as the intra-pad space 38 is depressurized.

[0035] When the pad space 38 is depressurized, the contact member actuator 42 moves the contact member 41 toward the contact position (step S5). Specifically, as the pad space 38 is depressurized, air is sucked into the cylinder chamber 56 of the contact member actuator 42 through the actuator vacuum pipe 57, thereby depressurizing the cylinder chamber 56. When the cylinder chamber 56 is depressurized, the piston 52 descends due to atmospheric pressure against the elastic force of the spring 54. As the piston 52 descends, the contact member 41 moves toward the contact position and comes into contact with the first contact portion 73 and the second contact portion 74 of the recyclable waste 71 to be processed, as shown in FIG. 9 . FIG. 9 is a perspective view showing the robot main body 24 when the contact member 41 comes into contact with the recyclable waste 71 to be processed. At this time, the first contact portion 73 is positioned on one side of the pad contact portion 75, which contacts the pad 34 of the recyclable waste 71 to be processed, in the longitudinal direction of the recyclable waste 71, and is spaced apart from the pad contact portion 75. The second contact portion 74 is positioned away from the pad contact portion 75 on the other side of the pad contact portion 75 in the longitudinal direction of the recyclable waste 71 to be processed. In other words, the pad contact portion 75 that contacts the pad 34 of the recyclable waste 71 to be processed is positioned between the first contact portion 73 and the second contact portion 74. The contact member actuator 42 presses the first contact portion 73 and the second contact portion 74 downward by moving the contact member 41 toward the contact position.

[0036] After the contact member 41 comes into contact with the recyclable waste to be processed, the control device 62 controls the Z-axis actuator 35 to raise the pad 34. As the pad 34 rises, the recyclable waste 71 to be processed is lifted away from the belt 6. When the recyclable waste 71 to be processed is lifted, the object processing device 1 can prevent the recyclable waste 71 to be processed from tilting or swinging because the first contact portion 73 and the second contact portion 74 are pressed downward.

[0037] After the pad 34 has risen to a predetermined height, the control device 62 controls the X-axis actuator 33 to move the pad 34 to the dumping position above the dust chute 23 and place the pad 34 at the dumping position (step S6). After the pad 34 has been placed at the dumping position, the control device 62 releases the recyclable waste 71 to be treated from the pad 34. That is, after the pad 34 has been placed above the dust chute 23, the control device 62 controls the compressor 61 to stop the supply of compressed air to the vacuum device 36 (step S7). With the supply of compressed air no longer being supplied to the vacuum device 36, the vacuum device 36 supplies air from the exhaust port 46 to the pad interior space 38, opening the pad interior space 38 to the atmosphere. With the pad interior space 38 now open to the atmosphere, the recyclable waste to be treated is released from the pad 34, falls, and is placed in the dust chute 23.

[0038] When the pad intra-space 38 is opened to the atmosphere, the contact member actuator 42 moves the contact member 41 toward the retracted position (step S8). That is, when the pad intra-space 38 is opened to the atmosphere, the actuator vacuum pipe 57 supplies air from the pad intra-space 38 to the cylinder chamber 56, opening the cylinder chamber 56 to the atmosphere. When the cylinder chamber 56 is opened to the atmosphere, the piston 52 rises due to the elastic force of the spring 54. When the piston 52 rises, the contact member 41 moves toward the retracted position and is disposed at the retracted position.

[0039] When multiple pieces of recyclable waste to be treated are included among the multiple pieces of waste captured in the waste sorting image captured in step S1, the control device 62 repeatedly executes the processes from step S2 onwards so that the multiple pieces of recyclable waste to be treated are moved one by one from the conveying path 8 to the dust chute 23.

[0040] As shown in FIG. 10 , the object processing apparatus of the comparative example is identical to the object processing apparatus 1 of the first embodiment, except that the contact member 41 and the contact member actuator 42 are omitted. FIG. 10 is a side view showing the robot body 24 of the object processing apparatus of the comparative example. In the object processing apparatus of the comparative example, the lifted recyclable waste 71 to be processed may tilt or swing so that the first contact portion 73 or the second contact portion 74 is positioned above the pad contact portion 75. In the object processing apparatus of the comparative example, the tilting or swinging of the lifted recyclable waste 71 to be processed may cause malfunctions. For example, as the pad 34 moves toward the dust chute 23, the tilted recyclable waste 71 to be processed may come into contact with other waste than the recyclable waste among the multiple wastes placed in the object removal area 15, and may come into contact with the belt conveyor frame 5. Contact with other objects may cause the recyclable waste 71 to become detached from the pad 34 or become damaged. Furthermore, among the multiple pieces of waste placed in the object removal area 15, any waste that comes into contact with the recyclable waste to be processed may move along the conveyance path facing portion 12 of the belt 6 or may become damaged. Furthermore, the belt conveyor frame 5 may come into contact with the recyclable waste 71 to be processed and become damaged. By preventing the recyclable waste 71 to be processed from tilting or swinging, the object processing device 1 can prevent such problems from occurring compared to the object processing device of the comparative example.

[0041] Effect of the object processing apparatus 1 of Example 1 The object processing apparatus 1 of Example 1 includes a pad 34 that grips the recyclable waste 71 to be processed, an X-axis actuator 33 and a Z-axis actuator 35 that move the pad 34, and a contact member 41 that is supported so as to be movable relative to the pad 34. When the pad 34 is gripping the recyclable waste 71 to be processed and before the recyclable waste 71 to be processed is lifted, the contact member 41 comes into contact with a first contact portion 73 and a second contact portion 74 of the recyclable waste 71 to be processed that are different from the pad contact portion 75 that is in contact with the pad 34. In this case, the object processing apparatus 1 of Example 1 can prevent the recyclable waste 71 to be processed from tilting or shaking when the recyclable waste 71 to be processed is lifted.

[0042] The object processing apparatus 1 of Example 1 further includes a contact member actuator 42. The contact member actuator 42 moves the contact member 41 toward the contact position when the pad 34 is gripping the recyclable waste 71 to be processed, and moves the contact member 41 so that the contact member 41 is positioned in the retracted position when the pad 34 is not gripping the recyclable waste 71 to be processed. In this case, the object processing apparatus 1 of Example 1 can prevent the contact member 41 from coming into contact with the recyclable waste 71 to be processed before the pad 34 grips the recyclable waste 71 to be processed, allowing the pad 34 to properly grip the recyclable waste 71 to be processed.

[0043] The object processing apparatus 1 of Example 1 also includes a vacuum device 36 that reduces the pressure in the pad interior space 38 surrounded by the pad 34 and the recyclable waste 71 to be processed when the pad 34 comes into contact with the recyclable waste 71 to be processed. The contact member actuator 42 includes a cylinder 51, a piston 52, an actuator vacuum pipe 57, and a spring 54. The piston 52 is fixed to the contact member 41. The actuator vacuum pipe 57 connects a cylinder chamber 56 surrounded by the cylinder 51 and the piston 52 to the pad interior space 38. The spring 54 applies force to the piston 52 so that the contact member 41 moves toward the retracted position. In this case, the object processing apparatus 1 of Example 1 does not need to electrically control the contact member actuator 42, and the mechanism for moving the contact member 41 depending on whether the recyclable waste 71 to be processed is gripped by the pad 34 can be simplified.

[0044] Although the contact member actuator 42 of the object processing apparatus 1 of Example 1 mechanically moves the contact member 41 depending on whether the pressure in the pad space 38 is reduced, this may be replaced with another electrically controlled contact member actuator. That is, the control device 62 controls the contact member actuator so that the contact member 41 is positioned in the retracted position before the pad 34 grips the recyclable waste 71 to be processed, and so that the contact member 41 moves toward the contact position after the pad 34 grips the recyclable waste 71 to be processed. Even in this case, the object processing apparatus can prevent the recyclable waste 71 to be processed from tilting or swinging when it is lifted, and can prevent the contact member 41 from interfering with the pad 34 gripping the recyclable waste 71 to be processed.

[0045] Furthermore, the contact member 41 of the object processing apparatus 1 of Example 1 is formed in a ring shape so that the contact member 41 surrounds the pad 34 when the contact member 41 is disposed in the contact position. In this case, the object processing apparatus 1 of Example 1 can reliably bring the contact member 41 into contact with the recyclable waste 71 to be processed when the pad 34 grips the recyclable waste 71 to be processed. By ensuring that the contact member 41 comes into contact with the recyclable waste 71 to be processed, the object processing apparatus 1 of Example 1 can reliably prevent the recyclable waste 71 to be processed from tilting or shaking when the recyclable waste 71 to be processed is lifted.

[0046] As shown in FIG. 11 , the object processing apparatus of Example 2 is identical to the object processing apparatus 1 of Example 1, except that the contact member actuator 42 of the object processing apparatus 1 of Example 1 described above is replaced with a compression spring 81. FIG. 11 is a perspective view showing the compression spring 81 of the object processing apparatus of Example 2. The compression spring 81 is formed of a coil spring. One end of the compression spring 81 is fixed to the pad 34, and the other end of the compression spring 81 is fixed to the contact member 41. FIG. 12 is a side view showing the compression spring 81 of the object processing apparatus of Example 2 when the contact member 41 is positioned at the contact position. When the contact member 41 is positioned at a position different from the contact position, the compression spring 81 elastically deforms and applies an elastic force to the contact member 41 so that the contact member 41 translates toward the retracted position.

[0047] 13 is a side view showing the contact member 41 when the pad 34 grips the recyclable waste 82 to be processed in the object processing apparatus of Example 2. The contact member 41 moves to a position other than the contact position while the pad 34 is descending and when the contact member 41 comes into contact with other waste different from the recyclable waste 82 to be processed among the plurality of wastes placed in the object removal area 15, or with the recyclable waste 82 to be processed. By moving the contact member 41, the object processing apparatus of Example 2 can prevent the contact member 41 from interfering with the pad 34 contacting the recyclable waste to be processed, and can allow the pad 34 to properly contact the recyclable waste to be processed.

[0048] When a pad contact portion 83 of the recyclable waste 82 to be processed is attracted to the pad 34, the contact member 41 comes into contact with a first contact portion 84 and a second contact portion 85 of the recyclable waste 82 to be processed. The pad contact portion 83 is disposed between the first contact portion 84 and the second contact portion 85. The compression spring 81 applies an elastic force to the contact member 41 so that the contact member 41 presses the first contact portion 84 and the second contact portion 85 downward when the contact member 41 comes into contact with the first contact portion 84 and the second contact portion 85. When the pad contact portion 83 is attracted to the pad 34, the first contact portion 84 and the second contact portion 85 are pressed downward, thereby preventing the recyclable waste 82 to be processed from tilting or swinging.

[0049] As shown in FIG. 14 , the object processing apparatus of Example 3 replaces the contact member 41 of the object processing apparatus 1 of Example 1 with another contact member 91, and adds an up / down slider 92 and a rotation actuator 93 to the object processing apparatus 1 of Example 1. FIG. 14 is a side view showing the robot main body 24 of the object processing apparatus of Example 3. The up / down slider 92 is supported on the translation support member 32 via a Z-axis actuator 35 so as to be translatable in the Z-axis direction. The Z-axis actuator 35 is controlled by the control device 62 to translate the up / down slider 92 parallel to the Z-axis direction. The pad 34 and the contact member 91 are supported on the up / down slider 92 via a rotation actuator 93 so as to be rotatable about a rotation axis 94. The rotation axis 94 is parallel to the Z-axis direction, intersects the pad 34 and the up / down slider 92, and is fixed to the pad 34 and the up / down slider 92. The rotary actuator 93 is controlled by the control device 62 to rotate the pad 34 and the contact member 91 around the rotation axis 94. Even when the pad 34 and the contact member 91 rotate around the rotation axis 94, the pad 34 does not move relative to the vertical slider 92 and the installation surface 7 because the rotation axis 94 intersects with the pad 34.

[0050] The contact member 91 includes a first contact portion 95 and a second contact portion 96. The contact member 91 is formed so that the first contact portion 95 and the second contact portion 96 do not intersect the rotation axis 94, and so that the first contact portion 95, the second contact portion 96, and the pad 34 are arranged on a single horizontal plane. The contact member 91 is further formed so that the pad 34 intersects a line segment connecting the first contact portion 95 and the second contact portion 96, as shown in FIG. 15 . FIG. 15 is a plan view showing the pad 34, the first contact portion 95, and the second contact portion 96 of the object processing apparatus of Example 3. That is, the first contact portion 95 is arranged on one side of the pad 34, and the second contact portion 96 is arranged on the side of the pad 34 opposite to the side on which the first contact portion 95 is arranged. When the rotary actuator 93 rotates the pad 34 and the contact member 91 around the rotation axis 94, the first contact portion 95 and the second contact portion 96 rotate around the pad 34 because the rotation axis 94 does not intersect with the first contact portion 95 and the second contact portion 96.

[0051] The operation of the automatic recyclable waste sorting apparatus equipped with the object processing device of Example 3 is the same as that of the automatic recyclable waste sorting apparatus 2 of the object processing device 1 of Example 1, except that the operation of moving recyclable waste to be processed from the conveying path 8 to the dust chute 23 is replaced with another operation. FIG. 16 is a flowchart showing the operation of moving recyclable waste to be processed from the conveying path 8 to the dust chute 23 in the object processing device of Example 3. While the operation of transporting multiple pieces of waste along the conveying path 8 is being performed, the control device 62 captures a waste sorting image showing multiple pieces of waste placed in the image capture area 14, similar to the processing of step S1 described above, and selects the recyclable waste to be processed from the multiple pieces of waste shown in the waste sorting image (step S11). Based on the waste sorting image, the control device 62 calculates the image capture coordinates where the recyclable waste to be processed is located at the time of image capture. Based on the waste sorting image, the control device 62 further calculates the longitudinal direction 97 (see FIG. 15 ) of the recyclable waste to be processed.

[0052] The control device 62 places the pad 34 in the gripping preparation position at a timing prior to the gripping timing, similar to the processing of step S2 described above (step S12). The control device 62 further controls the rotation actuator 93 to rotate the contact member 91 so that the line segment connecting the first contact portion 95 and the second contact portion 96 of the contact member 91 is parallel to the longitudinal direction 97 of the recyclable waste to be processed (step S13).

[0053] After the pad 34 is placed in the gripping preparation position, the control device 62 lowers the pad 34 (step S14) and brings the pad 34 into contact with the recyclable waste to be processed at the gripping timing, similar to the process of step S3 described above. After the pad 34 is placed in the gripping preparation position, the control device 62 further supplies compressed air to the vacuum device 36 to adsorb the recyclable waste 71 to the pad 34 (step S15), similar to the process of step S4 described above. When the pad 34 comes into contact with the recyclable waste to be processed, the first contact portion 95 and the second contact portion 96 of the contact member 91 come into contact with the recyclable waste to be processed because the pad 34, the first contact portion 95, and the second contact portion 96 of the object processing device are arranged on the same plane.

[0054] The control device 62 raises the pad 34 after the first contact portion 95 and the second contact portion 96 come into contact with the recyclable waste 71 to be processed. When the recyclable waste 71 to be processed is lifted, the object processing device 1 can prevent the recyclable waste 71 to be processed from tilting or shaking because the first contact portion 95 and the second contact portion 96 are in contact with the recyclable waste 71 to be processed.

[0055] After the pad 34 has risen to a predetermined height, the control device 62 moves the pad 34 above the dust chute 23 and places the pad 34 in the dumping position above the dust chute 23 (step S16), similar to the processing in step S6 described above. After the pad 34 has been placed in the dumping position, the control device 62 stops the supply of compressed air to the vacuum device 36 (step S17), similar to the processing in step S7 described above, and releases the recyclable waste 71 to be treated from the pad 34. The recyclable waste to be treated is released from the pad 34 by the space 38 within the pad being opened to the atmosphere, and falls to be placed in the dust chute 23.

[0056] When multiple pieces of recyclable waste to be treated are included among the multiple pieces of waste captured in the waste sorting image captured in step S11, the control device 62 repeatedly executes the processing from step S12 onwards so that the multiple pieces of recyclable waste to be treated are moved one by one from the conveying path 8 to the dust chute 23.

[0057] Like the object processing device of the previously described embodiments, the object processing device of Example 3 also prevents the lifted recyclable waste from tilting or shaking by bringing a contact member 91 into contact with the recyclable waste to be processed before the recyclable waste is lifted.

[0058] Although the contact member 91 of the object processing device of Example 3 described above is provided with a first contact portion 95 and a second contact portion 96, it may be formed with only one contact portion. In this case, the control device 62 estimates, based on the waste sorting image, the portion of the recyclable waste to be processed that will rise above the pad contact portion 75 when the recyclable waste to be processed is lifted, and uses the rotation actuator 93 to rotate the contact member so that the contact portion comes into contact with the raised portion. Even in this case, the object processing device can prevent the recyclable waste to be processed from tilting or shaking due to the contact portion coming into contact with the recyclable waste to be processed.

[0059] In the object processing apparatus of Example 3 described above, the contact member 91 is fixed to the pad 34, but like the contact member 41 described above, the contact member 91 may be raised and lowered relative to the pad 34 using the contact member actuator 42 described above. Even in this case, the object processing apparatus can prevent the recyclable waste to be processed from tilting or shaking due to the contact member 91 coming into contact with the recyclable waste to be processed.

[0060] While the pad 34 of the object processing device of the previously described embodiment grips the recyclable waste by reducing the pressure in the space 38 within the pad, this may be replaced with a gripping unit that grips the recyclable waste by other methods. For example, a gripping unit that grips the recyclable waste by pinching it is an example of such a gripping unit. Similar to the object processing device of the previously described embodiment, an object processing device equipped with such a gripping unit can prevent the recyclable waste from tilting or shaking by contacting the contact members 41, 91 with the recyclable waste.

[0061] Although the embodiments have been described above, the embodiments are not limited to the above content. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the scope of so-called equivalents. Furthermore, the above-described components can be combined as appropriate. Furthermore, at least one of various omissions, substitutions, and modifications of the components can be made within the scope that does not deviate from the gist of the embodiments.

[0062] 1: Object processing device 2: Automatic recyclable waste sorting device 3: Conveying device 21: Object recognition device 24: Robot body 33: X-axis actuator 34: Pad 35: Z-axis actuator 36: Vacuum device 38: Space inside pad 41: Contact member 42: Contact member actuator 51: Cylinder 52: Piston 54: Spring 56: Cylinder chamber 57: Vacuum piping for actuator 62: Control device 71: Recyclable waste to be processed 73: First contact part 74: Second contact part 75: Pad contact part 91: Contact member 93: Rotary actuator

Claims

1. A gripping unit that grips an object; A gripping portion actuator that moves the gripping portion; A contact member supported movably relative to the gripping portion; a contact member actuator that moves the contact member so that the contact member is located at a retracted position when the gripper is not gripping the object and so that the contact member is located at a contact position when the gripper grips the object; and a vacuum device that reduces the pressure in a first chamber surrounded by the gripper and the object when the gripper comes into contact with the object; Equipped with the contact member contacts a second portion of the object away from a first portion contacting the gripper when the gripper is gripping the object and before the object is lifted, such that tilt of the object is reduced; The contact member actuator includes: A cylinder; A piston fixed to the contact member; a vacuum pipe connecting a second chamber surrounded by the cylinder and the piston to the first chamber; a biasing portion that applies a force to the piston so as to move the contact member toward the retracted position; having Material handling equipment.

2. an imaging unit that captures an image showing the object; a rotation actuator that rotates the contact member; a control unit that controls the rotary actuator based on the image so that the contact member contacts the object when the contact member is disposed at the contact position. The object processing apparatus of claim 1 further comprising:

3. The contact member is configured such that the contact member surrounds the grip portion when the contact member is disposed at the contact position. The object processing apparatus of claim 1 .