Article adsorption device and article processing device equipped with the article adsorption device

Abstract

To provide an article adsorption device and an article processing device equipped with the article adsorption device, which, when the end of an article adsorbed by an adsorption part is pressed toward a reference surface, a movable part rotates appropriately to easily cause the end of the article to conform to the reference surface, thereby facilitating the transfer of the article from a previous process device to a subsequent process device. [Solution] The article suction device 5 comprises a fixed part 53, a movable part 55 displaceable relative to the fixed part 53, and suction parts 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2 and 59c3 connected to the movable part 55 for suctioning articles W, the movable part 55 is displaceable relative to the fixed part 53 in a first direction intersecting the -Z direction in which the suction parts 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2 and 59c3 are connected to the movable part 55, and the fixed part 53 comprises movable part sliding cylinders 81 and 85 which rotatably press the movable part 55 in the first direction.

Description

[Technical field]

[0001] The present invention relates to an article suction device that sucks up an article so that the article can be set on a placement section of a subsequent process device, and to an article processing apparatus that is equipped with the article suction device and processes the ends of the articles. [Background technology]

[0002] 2. Description of the Related Art Conventionally, devices for suctioning and transferring articles have been known.

[0003] For example, Patent Document 1 is recognized to describe an item transfer device 10 that includes an suction portion 32 connected to the tip of a robot arm 23 of a robot 20, and that uses the suction portion 32 to suck up an item W placed on a loading surface Pa of a pallet P and transports it from a loading position to a loading position (see Figure 1, etc.). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-092793 Summary of the Invention [Problem to be solved by the invention]

[0005] The robot 20 described in Patent Document 1 has an inclined suction portion 32, so that it can reliably suck up the item W even when the item W placed on the loading surface Pa of the pallet P is inclined. However, when this device is used in a previous process, there is a problem that the item W cannot be accurately set in the loading position of the device in the subsequent process.

[0006] In addition, when transferring an item between a pre-processing device and a post-processing device, it is generally necessary to finely adjust the final transfer position of the item depending on the positional relationship between the pre-processing device and the post-processing device, the operation accuracy of the robot, the pickup position accuracy of the item, etc.

[0007] The present invention has been made in response to the above-mentioned problems associated with the conventional technology, and aims to provide an article suction device and an article processing device equipped with such an article suction device, which can easily align the end of an article adsorbed by the suction part with a reference surface when the end of the article is pressed toward a reference surface, thereby facilitating the transfer of the article from a previous process device to a subsequent process device. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the article suction device according to a first aspect of the present invention includes a fixed part, a movable part that is displaceable relative to the fixed part, and a suction part that is connected to the movable part and that is used to suction an article; a pressing portion disposed on the fixed portion and configured to press the movable portion in a predetermined direction; The movable portion is displaceable relative to the fixed portion on a plane intersecting a direction in which the suction portion is connected to the movable portion, A plurality of cover members are provided corresponding to a plurality of first holes formed in the fixing portion, and have an outer diameter larger than the inner diameter of the first holes. A plurality of posts are connected to each of the cover members, pass through each of the first holes, and have an outer diameter smaller than the inner diameter of the first holes. It is characterized by:

[0009] Further, an article suction device according to a second aspect of the present invention includes an articulated robot and an article suction unit connected to a tip of the articulated robot, the article suction unit including a fixed part, a movable part displaceable relative to the fixed part, and a suction part connected to the movable part for suctioning an article; a pressing portion disposed on the fixed portion and configured to press the movable portion in a predetermined direction; The movable portion is displaceable relative to the fixed portion on a plane intersecting a direction in which the suction portion is connected to the movable portion, A plurality of cover members are provided corresponding to a plurality of first holes formed in the fixing portion, and have an outer diameter larger than the inner diameter of the first holes. A plurality of posts are connected to each of the cover members, pass through each of the first holes, and have an outer diameter smaller than the inner diameter of the first holes. It is characterized by:

[0010] In addition, a third aspect of the present invention is an article suction device according to the first aspect, wherein the movable part is The pressing portion presses the movable portion in the predetermined direction, thereby allowing the movable portion to move rotatably. It is characterized by the above.

[0011] Further, in a fourth aspect of the present invention, in the article suction device of the second aspect, the movable part is The pressing portion presses the movable portion in the predetermined direction, thereby allowing the movable portion to move rotatably. It is characterized by the above.

[0012] Further, a fifth aspect of the present invention is the article adsorption device of the first aspect, The movable part is The pressing portion but One point of the movable part in the predetermined direction Press By doing so, it can move rotationally. It is characterized by:

[0013] Further, a sixth aspect of the present invention is the article adsorption device according to the second aspect, The movable part is The pressing portion but One point of the movable part in the predetermined direction Press By doing so, it can move rotationally. It is characterized by:

[0014] Further, a seventh aspect of the present invention is the article adsorption device of the third aspect, The movable part is The pressing portion but One point of the movable part in the predetermined direction Press By doing so, it can move rotationally. It is characterized by:

[0015] Further, an eighth aspect of the present invention is the article adsorption device of the fourth aspect, The movable part is The pressing portion but One point of the movable part in the predetermined direction Press By doing so, it can move rotationally. It is characterized by:

[0016] A ninth aspect of the present invention is the article adsorption device of the first aspect, The suction part is configured to suck the article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in the predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. It is characterized by:

[0017] A tenth aspect of the present invention is the article adsorption device of the second aspect, The suction part is configured to suck the article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in the predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. It is characterized by:

[0018] Further, an eleventh aspect of the present invention is the article adsorption device of the third aspect, The suction part is configured to suck the article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in the predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. It is characterized by:

[0019] Further, a twelfth aspect of the present invention is the article adsorption device of the fourth aspect, The suction part is configured to suck the article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in the predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. It is characterized by:

[0020] In addition, a thirteenth aspect of the present invention is characterized in that, in the article suction device of the first aspect, a spacer is provided between the movable part and the suction part, the suction part is arranged at a distance from the spacer in a first direction intersecting the direction in which the spacer is positioned relative to the movable part, and a supply hole for supplying air to the suction part is arranged in a gap formed by the movable part, the spacer and the suction part.

[0021] Furthermore, an article processing apparatus according to a fourteenth aspect of the present invention includes an article adsorption device according to any one of the first to thirteenth aspects, a placement section for placing an article adsorbed by the article adsorption device, and a reference section disposed near the placement section for contacting an end of the article adsorbed by the article adsorption device; The end was abutted against the reference part. and an end processing unit that transports the article and processes the ends of the article. Effect of the Invention

[0022] According to the first aspect of the present invention, there is provided an article suction device comprising a fixed portion, a movable portion displaceable relative to the fixed portion, and a suction portion connected to the movable portion for suctioning an article, a pressing portion disposed on the fixed portion and pressing the movable portion in a predetermined direction; The movable part is displaceable relative to the fixed part on a plane intersecting a direction in which the suction part is connected to the movable part, A plurality of cover members are provided corresponding to a plurality of first holes formed in the fixing part, and have an outer diameter larger than the inner diameter of the first holes, and a plurality of posts are connected to each of the cover members, pass through each of the first holes, and have an outer diameter smaller than the inner diameter of the first holes. So, With a simple configuration, the movable part can be freely displaced relative to the fixed part, When the end of the article sucked by the suction portion is pressed toward the reference surface, the movable portion is freely displaced, so that the end of the article can be easily made to conform to the reference surface.

[0023] According to a second aspect of the present invention, an article suction device includes an articulated robot and an article suction unit connected to a tip of the articulated robot, the article suction unit including a fixed part, a movable part displaceable relative to the fixed part, and a suction part connected to the movable part for suctioning an article. a pressing portion disposed on the fixed portion and pressing the movable portion in a predetermined direction; The movable part is displaceable relative to the fixed part on a plane intersecting a direction in which the suction part is connected to the movable part, The movable part is connected to the fixed part by a plurality of cover members each having an outer diameter larger than the inner diameter of the first hole portion, which are provided corresponding to a plurality of first hole portions formed in the fixed part, and a plurality of posts each having an outer diameter smaller than the inner diameter of the first hole portion, which are connected to each of the cover members and pass through each of the first hole portions. Therefore, the movable part can be freely displaced relative to the fixed part with a simple configuration,When the end of the article sucked by the suction portion is pressed toward the reference surface, the movable portion is freely displaced, so that the end of the article can be easily made to conform to the reference surface.

[0024] According to a third aspect of the present invention, in the article suction device of the first aspect, the movable part is The pressing part presses the movable part in a predetermined direction, so that the movable part can move rotatably. So, Simple With a simple configuration, the movable part can be freely displaced relative to the fixed part.

[0025] According to a fourth aspect of the present invention, in the article suction device of the second aspect, the movable part is The pressing part presses the movable part in a predetermined direction, so that the movable part can move rotatably. So, Simple With a simple configuration, the movable part can be freely displaced relative to the fixed part.

[0026] According to a fifth aspect of the present invention, in the article adsorption device of the first aspect, The moving parts are: Pressing Part but One point of the moving part In a given direction Press By doing so, it can move rotationally. Therefore, in addition to the effect of the article suction device of the first aspect, the movable part can be aligned with the reference surface with a simple configuration.

[0027] According to a sixth aspect of the present invention, in the article adsorption device of the second aspect, The moving parts are: Pressing Part but One point of the moving part In a given direction Press By doing so, it can move rotationally. Therefore, in addition to the effect of the article suction device of the second aspect, the movable part can be aligned with the reference surface with a simple configuration.

[0028] According to a seventh aspect of the present invention, in the article adsorption device of the third aspect, The moving parts are: Pressing Part but One point of the moving part In a given direction Press By doing so, it can move rotationally. Therefore, in addition to the effect of the article suction device of the third aspect, the movable part can be aligned with the reference surface with a simple configuration.

[0029] According to an eighth aspect of the present invention, in the article adsorption device of the fourth aspect, The moving parts are: Pressing Part but One point of the moving part In a given direction Press By doing so, it can move rotationally. Therefore, in addition to the effect of the article suction device of the fourth aspect, the movable part can be aligned with the reference surface with a simple configuration.

[0030] According to a ninth aspect of the present invention, in the article adsorption device of the first aspect, The suction part is configured to suck an article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in a predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. Therefore, in addition to the effects of the article adsorption device of the first aspect, The article can be accurately sucked, and when the end of the article sucked by the suction portion is pressed toward the reference surface, the end of the article can be easily made to conform to the reference surface.

[0031] According to a tenth aspect of the present invention, in the article adsorption device of the second aspect, The suction part is configured to suck an article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in a predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. Therefore, in addition to the effect of the article adsorption device of the second aspect, The article can be accurately sucked, and when the end of the article sucked by the suction portion is pressed toward the reference surface, the end of the article can be easily made to conform to the reference surface.

[0032] According to an eleventh aspect of the present invention, in the article adsorption device of the third aspect, The suction part is configured to suck an article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in a predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. Therefore, in addition to the effect of the article suction device of the third aspect, The article can be accurately sucked, and when the end of the article sucked by the suction portion is pressed toward the reference surface, the end of the article can be easily made to conform to the reference surface.

[0033] According to a twelfth aspect of the present invention, in the article adsorption device of the fourth aspect, The suction part is configured to suck an article while the movable part is fixed to the fixed part, and the pressing part is configured to press the movable part in a predetermined direction so that the movable part moves rotatably while the movable part is displaceable relative to the fixed part. Therefore, in addition to the effect of the article suction device of the fourth aspect, The article can be accurately sucked, and when the end of the article sucked by the suction portion is pressed toward the reference surface, the end of the article can be easily made to conform to the reference surface.

[0034] In addition, according to the 13th aspect of the article adsorption device of the present invention, in the article adsorption device of the first aspect, a spacer is provided between the movable part and the suction part, and the suction part is arranged at a distance from the spacer in a first direction intersecting the direction in which the spacer is positioned relative to the movable part, and the supply hole for supplying air to the suction part is arranged in the gap formed by the movable part, the spacer and the suction part.Therefore, even if the number of suction parts connected to the movable part is increased, it becomes easy to supply air to the suction parts, and the performance of the article adsorption device can be improved.

[0035] Furthermore, according to a fourteenth aspect of the present invention, an article processing apparatus includes an article adsorption device according to any one of the first to thirteenth aspects, a placement section for placing an article adsorbed by the article adsorption device, and a reference section disposed near the placement section for abutting an end of the article adsorbed by the article adsorption device; The end was abutted against the reference part. Since the apparatus is provided with an end processing section for transporting the article and processing the ends of the article, the ends of the article can be easily processed. [Brief description of the drawings]

[0036] [Figure 1] 1 is an overall perspective view of an article processing apparatus according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a plan view of the article processing apparatus of the present embodiment. [Diagram 3] 1 is an overall perspective view of an article adsorption device according to an embodiment of the present invention; [Figure 4] FIG. 2 is a plan view of the article suction device according to the present embodiment. [Diagram 5] FIG. 2 is a front view of the article suction device according to the present embodiment. [Figure 6] 5 is a cross-sectional view taken along line AA in FIG. 4. [Figure 7] FIG. 2 is a right side view of the article suction device according to the embodiment. [Figure 8] FIG. 2 is a bottom view of the article suction device of the present embodiment. [Figure 9] 5 is a cross-sectional view of FIG. 4 taken along line B-B. [Figure 10] 1 is a block diagram of an article processing apparatus according to an embodiment of the present invention. [Figure 11] 2 is a block diagram of a main controller of the article processing apparatus of the present embodiment. FIG. [Figure 12] 4 is a flowchart of a main program in the article processing apparatus of the present embodiment. [Figure 13] 2 is a diagram showing a first stage in which the article adsorption device adsorbs and transfers an article in the article processing apparatus of the present embodiment. FIG. [Figure 14] 11 is a diagram showing a second stage in which the article adsorption device adsorbs and transfers an article in the article processing apparatus of the present embodiment. FIG. [Figure 15] 13 is a diagram showing a third stage in which the article adsorption device adsorbs and transfers an article in the article processing apparatus of the present embodiment. FIG. [Figure 16] FIG. 16 is an enlarged view of a main part of FIG. [Figure 17] 5 is a cross-sectional view taken along CC in FIG. 4, showing a state in which the movable part of the article suction device is locked relative to the fixed part. [Figure 18] 5 is a cross-sectional view taken along CC in FIG. 4, illustrating a state in which the movable part of the article suction device has been unlocked and is not yet displaced relative to the fixed part. [Figure 19] 5 is a cross-sectional view taken along CC in FIG. 4, illustrating a state after the movable part of the article suction device has been displaced relative to the fixed part. [Figure 20] 1 is a diagram showing the final stage in which the article adsorption device has adsorbed and transferred an article in the article processing apparatus of the present embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0038] (Embodiment) FIG. 1 is an overall perspective view of an article processing apparatus according to an embodiment of the present invention, and FIG. 2 is a plan view of the article processing apparatus according to the embodiment.

[0039] In the article processing device 1 of this embodiment, an example is described in which the workpieces W stacked on the movable cart 200 are removed one by one, transported to the end processing device 7, and edging tape is applied to the end of the workpiece W (the surface facing the reference plate 18 (corresponding to the "reference portion" of the present invention)). However, the article processing device of the present invention is not limited to this example and can be implemented in all forms of processing the end of the workpiece W.

[0040] In addition, in order to show an example of the setting state of the work in the end processing device 7, Figure 1 shows a state in which two types of work W1 and work W2, which have different sizes from the work W of this embodiment, are set on the mounting portion 17 of the end processing device 7.

[0041] As shown in Figures 1 and 2, the item processing device 1 of this embodiment comprises a multi-joint robot 3, an item suction device 5 (corresponding to the ``item suction unit'' of the present invention) rotatably connected to the tip of the multi-joint robot 3, and an end processing device 7 that applies edging tape to the end (the surface facing the reference plate 18) of the item W transported by the multi-joint robot 3 and the item suction device 5.

[0042] The articulated robot 3 is connected to a movable cart 100, and is a general six-axis articulated robot that operates according to commands from a robot controller 8 (see FIG. 10).

[0043] The articulated robot 3 has six axes: a first rotating shaft 33 for rotating the second base 35 relative to the first base 31, a second rotating shaft 37 for rotating the lower arm portion (lower arm portion) 39 back and forth relative to the second base 35, a third rotating shaft 40 for rotating the middle arm portion (middle arm portion) 41 up and down relative to the lower arm portion 39, a fourth rotating shaft 43 for coaxially rotating the upper arm portion (upper arm portion) 45 relative to the middle arm portion 41, a fifth rotating shaft 47 for rotating the base portion 49 up and down relative to the upper arm portion 45, and a sixth rotating shaft 51 for coaxially rotating the article suction device 5 relative to the base portion 49.

[0044] Moreover, the articulated robot 3 is electrically connected to a robot controller 8 (see FIG. 10) by a cable (not shown), and the robot controller 8 is electrically connected to the main controller 6 (see FIG. 10).

[0045] As described above, the end processing device 7 (corresponding to the "end processing device" of the present invention) applies edging tape to the end (the surface facing the reference plate 18) of the item W transported by the articulated robot 3 and the item suction device 5.

[0046] The end processing device 7 is equipped with two rail sections 13 (the rail section closer to the articulated robot 3 is designated 13a, and the rail section farther from the articulated robot 3 is designated 13b) that support the workpiece W for loading and transporting the workpiece W whose end (the surface facing the reference plate 18) is to be processed, a plurality of legs 15 that support the rail sections 13, a loading section 17 that is arranged near the end of the rail sections 13 and on which the item W transferred by the articulated robot 3 and the item suction device 5 is initially loaded, a plurality of rotating rollers 19 that are arranged on the loading section 17 and for transporting the item W, an attachment section 11 that attaches an edging tape to the end (the surface facing the reference plate 18) of the workpiece W that is transported in the +H direction along the rail sections 13, and a reference plate 18 that serves as a reference for transporting the workpiece W, the end of which protrudes from the top of the rail sections 13 and extends from one end of the loading section 17 to the other end of the attachment section 11.

[0047] In addition, the end processing device 7 is driven by a power source 4 (see Figure 10), and the workpiece W placed on the placement section 17 is transported in the +H direction along the reference plate 18 by a rotating roller 19 and a rotating roller (not shown) arranged inside the application section 11, and an edging tape is applied to the end of the workpiece W (the surface facing the reference plate 18).

[0048] In addition, the movable cart 100 is equipped with a control panel 20 that houses the main controller 6 and the robot controller 8, and an air compressor 10, and is equipped near the end processing device 7 with an operation panel 2 that allows the operator of the device to give instructions.

[0049] 3 is an overall perspective view of the article adsorption device of this embodiment, FIG. 4 is a plan view of the article adsorption device, FIG. 5 is a front view of the article adsorption device, and FIG. 6 is a cross-sectional view taken along line AA of FIG.

[0050] 4. FIG. 7 is a right side view of the article adsorption device of this embodiment, FIG. 8 is a bottom view of the article adsorption device, and FIG. 9 is a cross-sectional view taken along line BB of FIG.

[0051] As described above, the article suction device 5 of this embodiment is rotatably connected to the tip of the articulated robot 3, and adsorbs the workpieces W in order to remove the workpieces W stacked on the movable cart 200 one by one.

[0052] As shown in Figures 3 to 9, the article suction device 5 of this embodiment comprises a base 51 rotatably connected to the tip of the articulated robot 3, a fixed part 53 engaged with the base 51 and movable in the +Z direction or the -Z direction relative to the base 51, a movable part 55 engaged with the fixed part 53 and freely displaceable on a plane including the +X direction, the -X direction, the +Y direction and the -Y direction relative to the fixed part 53, and nine first suction parts 59a1, 59a2 and 59a3, second suction parts 59b1, 59b2 and 59b3, and third suction parts 59c1, 59c2 and 59c3 connected to the movable part 55.

[0053] In addition, the fixed portion 53 is in a hanging state relative to the base 51 due to its own weight, and when the article suction device 5 descends to suction an article W and the first suction portions 59a1, 59a2 and 59a3, the second suction portions 59b1, 59b2 and 59b3, and the third suction portions 59c1, 59c2 and 59c3 abut against the article W, the bearings arranged inside each of the four cylindrical members 67a, 67b, 67c and 67d described below rotate, thereby allowing the fixed portion 53 to move in the +Z direction or -Z direction relative to the base 51 together with the columnar members 69a, 69b, 69c and 69d (see Figures 17 to 19).

[0054] In addition, the article suction device 5 of this embodiment is provided with: a movable part X-direction sliding cylinder 85 (corresponding to the "pressing part" of the present invention) that is arranged on the fixed part 53 and pushes the movable part 55 in the +X direction; a movable part Y-direction sliding cylinder 81 (corresponding to the "pressing part" of the present invention) that is also arranged on the fixed part 53 and pushes the movable part 55 in the +Y direction; a movable part X-direction fixing cylinder 79 (corresponding to the "locking mechanism" of the present invention) that is also arranged on the fixed part 53 and fixes the position of the movable part 55 relative to the fixed part 53; and a movable part Y-direction fixing cylinder 87 (corresponding to the "locking mechanism" of the present invention) that is also arranged on the fixed part 53 and fixes the position of the movable part 55 relative to the fixed part 53.

[0055] The base 51 has a generally rectangular shape in plan view, and has four holes 52a, 52b, 52c (not shown), and 52d (not shown) with generally circular cross sections near the four corners of the rectangle (see FIG. 6).

[0056] Each of these holes 52a, 52b, 52c (not shown) and 52d (not shown) has a hole 56a, 56b, 56c (not shown) and 56d (not shown) having a substantially circular cross section, and has a cylindrical member 67a, 67b, 67c and 67d whose upper portion has a larger diameter than the inner diameter of the hole 52a, 52b, 52c (not shown) and 52d (not shown) inserted therein and connected to the base 51.

[0057] In addition, columnar members 69a, 69b, 69c and 69d (see FIG. 17) connected to fixed portion 53 are inserted into holes 56a, 56b, 56c (not shown) and 56d (not shown) of tubular members 67a, 67b, 67c and 67d, respectively, so as to be movable in the +Z direction or the -Z direction relative to tubular members 67a, 67b, 67c and 67d, as described above.

[0058] Stoppers 54b and 54d having a larger diameter than the inner diameter of holes 56b and 56d (not shown) are connected to the upper ends of the columnar members 69b and 69d (see FIG. 17) to prevent the columnar members 69b and 69d (see FIG. 17) from coming off the holes 56b and 56d (not shown).

[0059] Fixed portion 53 has a generally rectangular shape in a plan view, and has fixed therein a movable part X-direction sliding cylinder 85 for pushing movable part 55 in the +X direction, a movable part Y-direction sliding cylinder 81 for pushing movable part 55 in the +Y direction, a movable part X-direction fixing cylinder 79 for fixing the position of movable part 55 relative to fixed portion 53, a movable part Y-direction fixing cylinder 87 for fixing the position of movable part 55 relative to fixed portion 53, columnar members 69a, 69b, 69c, and 69d (see FIG. 17), and tubular members 71b and 71d having holes with generally circular cross sections into which the lower portions of columnar members 69b and 69d (see FIG. 17) are inserted.

[0060] The fixed part 53 further includes protrusions 27 and the like against which contact portions 25 (see FIG. 17) of the cylinder 85 for sliding the movable part in the X direction and the cylinder 81 for sliding the movable part in the Y direction come into contact, two holes into which ring members 29 (see FIG. 17) having a substantially circular cross section are fitted and into which contact portions 99 (see FIG. 17) of the cylinder 79 for fixing the movable part in the X direction and the cylinder 87 for fixing the movable part in the Y direction are inserted, and holes 72a (not shown), 72b (not shown), 72c (not shown), and 72d in the vicinity of the four corners of the rectangular shape for movably fixing the movable part 55.

[0061] Movable portion 55 has a generally rectangular shape in a plan view, and as shown in FIG. 9, is arranged in four hole portions 72a (not shown), 72b (not shown), 72c (not shown), and 72d, and is connected to fixed portion 53 so as to be freely displaceable (in a state in which it can freely slide on a plane including the +X direction, -X direction, +Y direction, and -Y direction) by disk members 73a, 73b, 73c, and 73d (corresponding to the "cover member" of the present invention) having an outer diameter larger than the inner diameters of the four hole portions 72a (not shown), 72b (not shown), 72c (not shown), and 72d.

[0062] Specifically, in the disk member 73a, the movable part 55 is movably connected by disposing a flat ring-shaped lower spacer 91a having a second hole 78a (not shown) in the center between the movable part 55 and the fixed part 53, and a flat ring-shaped upper spacer 77a having a third hole 74a (not shown) in the center between the disk member 73a and the fixed part 53, and connecting the movable part 55 to the center of the disk member 73a with a support 76a (not shown) having an outer diameter smaller than the inner diameters of the first hole 72a (not shown), the second hole 78a and the third hole 74a, including two bolts 75aa and 75ab, through the first hole 72a (not shown) of the fixed part 55, the second hole 78a (not shown) of the lower spacer 91a and the third hole 74a (not shown).

[0063] In addition, in the disk member 73b, the movable part 55 is movably connected by disposing a flat ring-shaped lower spacer 91b having a second hole 78b (not shown) in the center between the movable part 55 and the fixed part 53, and a flat ring-shaped upper spacer 77b having a third hole 74b (not shown) in the center between the disk member 73b and the fixed part 53, and connecting the movable part 55 to the center of the disk member 73b with a support 76b (not shown) having an outer diameter smaller than the inner diameters of the first hole 72b (not shown), the second hole 78b and the third hole 74b, including two bolts 75ba and 75bb, through the first hole 72b (not shown) of the fixed part 55, the second hole 78b (not shown) of the lower spacer 91b and the third hole 74b (not shown).

[0064] In addition, in the disk member 73c, the movable part 55 is movably connected by disposing a flat ring-shaped lower spacer 91c having a second hole portion 78c (not shown) in the center between the movable part 55 and the fixed part 53, and a flat ring-shaped upper spacer 77c having a third hole portion 74c (not shown) in the center between the disk member 73c and the fixed part 53, and connecting the movable part 55 and the center of the disk member 73c with a support 76c (not shown) having an outer diameter smaller than the inner diameters of the first hole portion 72c (not shown), the second hole portion 78c, and the third hole portion 74c, including two bolts 75ca and 75cb, through the first hole portion 72c (not shown), the second hole portion 78c (not shown) of the lower spacer 91c, and the third hole portion 74c (not shown) of the upper spacer 77c.

[0065] Furthermore, in the disc member 73d, a flat ring-shaped lower spacer 91d with a second hole 78d in the center is disposed between the movable part 55 and the fixed part 53, and a flat ring-shaped upper spacer 77d with a third hole 74d in the center is disposed between the disc member 73d and the fixed part 53, and the movable part 55 is movably connected to the center of the disc member 73d by a support 76d having an outer diameter smaller than the inner diameters of the first hole 72d, the second hole 78d, and the third hole 74d, which passes through the first hole 72d of the fixed part 55, the second hole 78d of the lower spacer 91d, and the third hole 74d of the upper spacer 77d, and includes two bolts 75da and 75db.

[0066] Therefore, the movable portion 55 is provided corresponding to the four first holes 72a (not shown), 72b (not shown), 72c (not shown) and 72d formed in the fixed portion 53, and is connected to each of the four disk members 73a, 73b, 73c and 73d having an outer diameter larger than the inner diameter of the first holes 72a (not shown), 72b (not shown), 72c (not shown) and 72d, and the first holes 72a (not shown), 72b (not shown), 72c (not shown) and 72d are connected to the disk members 73a, 73b, 73c and 73d. Since movable portion 55 is connected to fixed portion 53 by a plurality of pillars 76a (not shown), 76b (not shown), 76c (not shown) and 76d which penetrate respective first holes 72a (not shown), 72b (not shown), 72c (not shown) and 72d and have an outer diameter smaller than the inner diameters of first holes 72a (not shown), 72b (not shown), 72c (not shown) and 72d, movable portion 55 can be freely displaced relative to fixed portion 53 with a simple configuration.

[0067] Furthermore, three spacers 57a, 57b and 57c, each of which has a substantially rectangular cross section and is elongated in the +X and -X directions, are fixed to the lower surface of the movable portion 55 and are spaced apart from each other and arranged substantially parallel to each other.

[0068] Specifically, spacer 57a is connected to movable part 55 by bolts 83aa, 83ab, and 83ac, spacer 57b is connected to movable part 55 by bolts 83ba, 83bb (not shown), and 83bc, and spacer 57c is connected to movable part 55 by bolts 83ca, 83cb (not shown), and 83cc.

[0069] In this embodiment, in addition to the three spacers 57a, 57b, and 57c, screw holes 93a, 93b (not shown), and 93c are provided in the movable portion 55 in consideration of the possibility of adding additional spacers.

[0070] Further, three first suction portions 59a1, 59a2, 59a3, three second suction portions 59b1, 59b2, 59b3, and three third suction portions 59c1, 59c2, 59c3 are connected to each of the spacers 57a, 57b, and 57c via plate members.

[0071] Specifically, the first adsorption portion 59a1 is connected to the spacer 57a via plate material 63a1, the first adsorption portion 59a2 is connected to the spacer 57a via plate material 63a2, and the first adsorption portion 59a3 is connected to the spacer 57a via plate material 63a3; the second adsorption portion 59b1 is connected to the spacer 57b via plate material 63b1, the second adsorption portion 59b2 is connected to the spacer 57b via plate material 63b2, and the second adsorption portion 59b3 is connected to the spacer 57b via plate material 63b3; the third adsorption portion 59c1 is connected to the spacer 57c via plate material 63c1, the third adsorption portion 59c2 is connected to the spacer 57c via plate material 63c2, and the third adsorption portion 59c3 is connected to the spacer 57c via plate material 63c3.

[0072] Here, the reason why the adsorption unit in this embodiment is divided into a first adsorption unit, a second adsorption unit and a third adsorption unit is that although the first adsorption unit, the second adsorption unit and the third adsorption unit operate individually by suction from the air compressor 10, the three adsorption units set in each of the first adsorption unit, the second adsorption unit and the third adsorption unit, for example, the first adsorption units 59a1, 59a2 and 59a3, operate simultaneously.

[0073] Not limited to this embodiment, it is of course possible to connect the first suction portion 59a1, the first suction portion 59a2, the first suction portion 59a3, the first suction portion 59b1, the first suction portion 59b2, the first suction portion 59b3, the first suction portion 59c1, the first suction portion 59c2 and the first suction portion 59c3 individually and operate them individually.

[0074] The plate material 63a1 is connected to the spacer 57a by two bolts 65a1a and 65a1b, the plate material 63a2 is connected to the spacer 57a by two bolts 65a2a and 65a2b, and the plate material 63a3 is connected to the spacer 57a by two bolts 65a3a and 65a3b.

[0075] Furthermore, the plate material 63b1 is connected to the spacer 57b by two bolts 65b1a and 65b1b, the plate material 63b2 is connected to the spacer 57b by two bolts 65b2a and 65b2b, and the plate material 63b3 is connected to the spacer 57b by two bolts 65b3a and 65b3b.

[0076] Furthermore, the plate material 63c1 is connected to the spacer 57c by two bolts 65c1a and 65c1b, the plate material 63c2 is connected to the spacer 57c by two bolts 65c2a and 65c2b, and the plate material 63c3 is connected to the spacer 57c by two bolts 65c3a and 65c3b.

[0077] The first suction portions 59a1, 59a2, and 59a3, the second suction portions 59b1, 59b2, and 59b3, and the third suction portions 59c1, 59c2, and 59c3 each have a generally circular cross-section that flares out at the bottom, and each has a suction hole 61a1, 61a2, 61a3, 61b1, 61b2, 61b3, 61c1, 61c2, and 61c3 in the center.

[0078] In addition, a spacer 57a is provided between the movable portion 55 and the first suction portions 59a1, 59a2, and 59a3, and the first suction portions 59a1, 59a2, and 59a3 are arranged at a distance from the spacer 57a in the +Y direction (corresponding to the "first direction" of the present invention) that intersects the direction in which the spacer 57a is positioned relative to the movable portion 55 (-Z direction).

[0079] Furthermore, supply holes 89a1, 89a2 and 89a3, which supply air from the air compressor 10 to the first suction portions 59a1, 59a2 and 59a3, are respectively arranged in gaps 9a1, 9a2 (see Figure 17) and 9a3 (not shown) formed by the movable part 55, the spacer 57a and the first suction portions 59a1, 59a2 and 59a3. Therefore, even if the number of suction portions connected to the movable part 55 is increased, it becomes easy to supply air to the suction portions, thereby improving the performance of the article suction device 5.

[0080] In addition, a spacer 57b is provided between the movable portion 55 and the second suction portions 59b1, 59b2, and 59b3, and the second suction portions 59b1, 59b2, and 59b3 are arranged spaced apart from the spacer 57b in the +Y direction (corresponding to the "first direction" of the present invention) that intersects the direction in which the spacer 57b is positioned relative to the movable portion 55 (-Z direction).

[0081] Furthermore, supply holes 89b1, 89b2 (see Figure 17) and 89b3 (see Figure 9) that supply air from the air compressor 10 to the second suction portions 59b1, 59b2 and 59b3 are respectively arranged in gaps 9b1, 9b2 (see Figure 17) and 9b3 (not shown) formed by the movable part 55, the spacer 57b and the second suction portions 59b1, 59b2 and 59b3. Therefore, even if the number of suction portions connected to the movable part 55 is increased, it becomes easy to supply air to the suction portions, and the performance of the article suction device 5 can be improved.

[0082] Furthermore, a spacer 57c is provided between the movable portion 55 and the third suction portions 59c1, 59c2, and 59c3, and the third suction portions 59c1, 59c2, and 59c3 are arranged spaced apart from the spacer 57c in the +Y direction (corresponding to the "first direction" of the present invention) that intersects the direction in which the spacer 57c is positioned relative to the movable portion 55 (-Z direction).

[0083] Furthermore, supply holes 89c1, 89c2 (see Figure 17) and 89c3 (not shown) that supply air from the air compressor 10 to the third suction portions 59c1, 59c2 and 59c3 are respectively arranged in gaps 9c1, 9c2 (see Figure 17) and 9c3 (not shown) formed by the movable portion 55, the spacer 57c and the third suction portions 59c1, 59c2 and 59c3. Therefore, even if the number of suction portions connected to the movable portion 55 is increased, it becomes easy to supply air to the suction portions, thereby improving the performance of the article suction device 5.

[0084] The cylinder 81 for sliding the movable part in the Y direction is used to push the movable part 55 in the +Y direction, and is arranged on the fixed part 53. As shown in Figures 17 and 19 described below, the cylinder 81 includes a cylinder body 21 having gaps 22a and 22b, a piston 23 that operates within the gaps 22a and 22b of the cylinder body 21, a contact part 25 that is connected to the tip of the piston 23 and has a spherical tip and an approximately circular cross section, and a first supply part 81a and a second supply part 81b for supplying air to the gaps 22a and 22b of the cylinder body 21.

[0085] When air is supplied from the air compressor 10 to the second supply section 81b of the cylinder 81 for sliding the movable part in the Y direction, a gap section 22b is formed (see Figures 17 and 18), and the piston 23 and the abutment section 25 do not protrude from the tip of the cylinder 81 for sliding the movable part in the Y direction, and do not affect the movement of the movable part 55.

[0086] On the other hand, when air is supplied from the air compressor 10 to the first supply section 81a, a gap section 22a is formed (see Figure 19), and the piston 23 and the abutment section 25 protrude from the tip of the cylinder 81 for sliding the movable part in the Y direction and abut against the protruding section 27 at one point, thereby moving the movable part 55 rotatably in the +Y direction relative to the fixed part 53.

[0087] That is, as mentioned above, the abutment portion 25 has a spherical tip shape and an approximately circular cross section, so that it protrudes from the tip of the cylinder 81 for sliding the movable part in the Y direction, and when it abuts against the protruding portion 27, the movable part 55, which is freely displaceable relative to the fixed part 53, moves rotatably in the +Y direction.

[0088] The cylinder 85 for sliding the movable part in the X-direction is used to push the movable part 55 in the +X direction and is arranged on the fixed part 53. Similar to the cylinder 81 for sliding the movable part in the Y-direction, the cylinder 85 comprises a cylinder body (not shown) having a gap (not shown), a piston (not shown) that operates within the gap (not shown) of the cylinder body (not shown), a contact part (not shown) connected to the tip of the piston (not shown) and having a spherical tip and a substantially circular cross section, and a first supply part 85a and a second supply part 85b for supplying air to the gap (not shown) of the cylinder body (not shown).

[0089] As with the cylinder 81 for sliding the movable part in the Y direction, when air is supplied from the air compressor 10 to the second supply section 85b, the piston (not shown) and the contact section (not shown) of the cylinder 85 for sliding the movable part in the X direction do not protrude from the tip of the cylinder 85 for sliding the movable part in the X direction, and do not affect the movement of the movable part 55.

[0090] On the other hand, when air is supplied from the air compressor 10 to the first supply portion 85a, the piston (not shown) and the abutment portion (not shown) protrude from the tip of the cylinder 85 for sliding the movable part in the X direction and abut against the protruding portion (not shown) at one point, thereby rotatably moving the movable part 55 in the +X direction relative to the fixed part 53.

[0091] In this case, the abutment portion has a spherical tip shape and an approximately circular cross section, similar to abutment portion 25, and therefore protrudes from the tip of cylinder 85 for sliding the movable portion in the X direction. When the abutment portion comes into contact with the protruding portion, movable portion 55, which is displaceable relative to fixed portion 53, moves rotatably in the +X direction.

[0092] The cylinder 87 for fixing the movable part in the Y direction is used to fix the position of the movable part 55 relative to the fixed part 53, and is arranged on the fixed part 53. As shown in Figures 17 and 19 described below, the cylinder 87 includes a cylinder body 93 having gaps 95a and 95b, a piston 97 that operates within the gaps 95a and 95b of the cylinder body 93, a conical tip abutment portion 99 connected to the tip of the piston 97, and a first supply portion 87a and a second supply portion 87b for supplying air to the gaps 95a and 95b of the cylinder body 93.

[0093] When air is supplied from the air compressor 10 to the second supply portion 87b of the cylinder 87 for fixing the movable part in the Y direction, the piston 97 and the abutment portion 99 do not protrude from the tip of the cylinder 87 for fixing the movable part in the Y direction, and the movable part 55 is freely displaceable on a plane including the +X direction, -X direction, +Y direction, and -Y direction relative to the fixed part 53 (see Figures 18 and 19).

[0094] On the other hand, when air is supplied from the air compressor 10 to the first supply section 87a, the piston 97 and the abutment section 99 protrude from the tip of the cylinder 87 for fixing the movable section in the Y direction, and the movable section 55 is fixed to the fixed section 53 (see Figure 17).

[0095] In addition, when the piston 97 and the abutment portion 99 protrude from the tip of the cylinder 87 for fixing the movable part in the Y direction and the movable part 55 is fixed to the fixed part 53, each of the pillars 76a, 76b, 76c, and 76d is positioned at the center of the cross section of the first hole portions 72a, 72b, 72c, and 72d of the fixed part 55.

[0096] The cylinder 79 for fixing the movable part in the X-direction is used to fix the position of the movable part 55 relative to the fixed part 53, and is arranged on the fixed part 53. Similar to the cylinder 87 for fixing the movable part in the Y-direction, the cylinder 79 comprises a cylinder body (not shown) having a gap (not shown), a piston (not shown) that operates within the gap (not shown) of the cylinder body (not shown), a conical tip abutment part 98 (see FIG. 7) connected to the tip of the piston (not shown), and a first supply part 79a and a second supply part 79b for supplying air to the gap (not shown) of the cylinder body (not shown).

[0097] When air is supplied from the air compressor 10 to the second supply portion 79b of the cylinder 79 for fixing the movable part in the X-direction, the piston (not shown) and the contact portion 98 do not protrude from the tip of the cylinder 79 for fixing the movable part in the X-direction, and the movable part 55 is freely displaceable on a plane including the +X direction, -X direction, +Y direction, and -Y direction relative to the fixed part 53.

[0098] On the other hand, when air is supplied from the air compressor 10 to the first supply part 79a, the piston (not shown) and the abutment part 98 protrude from the tip of the cylinder 79 for fixing the movable part in the X-direction, and the movable part 55 is fixed to the fixed part 53.

[0099] In this case, as with cylinder 87 for fixing the movable part in the Y direction, when the piston and the abutment portion protrude from the tip of cylinder 79 for fixing the movable part in the X direction and movable part 55 is fixed to fixed part 53, each of the pillars 76a, 76b, 76c, and 76d is positioned at the cross-sectional center of the first hole portions 72a, 72b, 72c, and 72d of fixed part 55.

[0100] Next, a block diagram of the article processing apparatus 1 of this embodiment will be described.

[0101] FIG. 10 is a block diagram of the article processing apparatus of this embodiment, and FIG. 11 is a block diagram of the main controller of the article processing apparatus of this embodiment.

[0102] In FIG. 10, the article processing device 1 includes a main controller 6 electrically connected to a power source 4, an air compressor 10 electrically connected to the main controller 6 for driving a cylinder 85 for sliding the movable part in the X-direction, a cylinder 81 for sliding the movable part in the Y-direction, a cylinder 79 for fixing the movable part in the X-direction, a cylinder 87 for fixing the movable part in the Y-direction, first suction parts 59a1, 59a2, and 59a3, second suction parts 59b1, 59b2, and 59b3, and third suction parts 59c1, 59c2, and 59c3, a robot controller 8 electrically connected to the main controller 6 for controlling the articulated robot 3, and an operation panel 2 through which an operator of the article processing device 1 sends commands to the article processing device 1.

[0103] Also, in FIG. 11, the main controller 6 includes a CPU (Central Processing Unit) 12, a RAM (Random Access Memory) 14 connected to the CPU 12 so as to enable input / output, and a ROM (Read Only Memory) 16 connected to the CPU 12 so as to enable input / output.

[0104] The RAM 14 includes an article information table 14a that stores information about articles to be processed by the article processing device 1, and an operation procedure data table 14b that stores operation procedures of the article processing device 1.

[0105] The ROM 16 also includes a main program 16a that controls the overall operation of the article processing device 1 of this embodiment.

[0106] Next, the operation of the article processing apparatus 1 having the above-mentioned configuration will be described.

[0107] FIG. 12 is a flowchart of a main program in the article processing device of this embodiment.

[0108] As described above, the item processing device 1 of this embodiment removes the workpieces W stacked on the movable cart 200 one by one, transfers them to the end processing device 7 (corresponding to the ``end processing device'' of the present invention), and applies edging tape to the end of the workpiece W (the surface facing the reference plate 18).

[0109] In Figure 12, first, the operator of the device turns on the power switch, then inputs the number of items W to be processed and the type of item W using the operation buttons on the operation panel 2 and presses the start button.The item processing device 1 then moves the arm of the articulated robot 3 to the initial position (S1), obtains item information from the item information table 14a based on the type of item W that was input (S3), and sets the number of items W to be processed (S5).

[0110] Then, after turning OFF the cylinder 85 for sliding the movable part in the X direction and the cylinder 81 for sliding the movable part in the Y direction (S7), the cylinder 79 for fixing the movable part in the X direction and the cylinder 87 for fixing the movable part in the Y direction are turned ON to fix the movable part 55 to the fixed part 53 (S9).

[0111] 17 is a cross-sectional view taken along line CC in FIG. 4, showing a state in which the movable portion 55 of the article suction device 5 is locked relative to the fixed portion 53. As shown in FIG.

[0112] Here, when the abutment portion 98 or 99 of either the cylinder 79 for fixing the movable part in the X-direction or the cylinder 87 for fixing the movable part in the Y-direction is inserted into a hole portion into which the ring member 29 or the like of the movable part 55 is fitted, the connection portions including the two bolts connecting the movable part 55 to the respective central portions of the disc members 73a, 73b, 73c, and 73d are positioned at the cross-sectional centers of the holes 72a (not shown), 72b (not shown), 72c (not shown), and 72d provided in the vicinity of the four rectangular corners of the fixed part 53.

[0113] Thereafter, the articulated robot 3 and the article suction device 5 are driven to pick up one of the workpieces W stacked on the movable cart 200 (S11), and move it to the vicinity of the reference plate 18 of the end processing device 7 (S13).

[0114] Note that Figure 13 is a diagram showing a first stage in which the item suction device 5 in the item processing device 1 of this embodiment adsorbs and transfers the item W, Figure 14 is a diagram showing a second stage in which the articulated robot 3 is then rotated in the +θ direction and the item W faces the mounting section 17 of the end processing device 7, Figure 15 is a diagram showing a third stage in which the articulated robot 3 is then further moved in the +V direction and the item W approaches the reference plate 18 of the end processing device 7, and Figure 16 is an enlarged view of the main parts of Figure 15.

[0115] In FIG. 16, the left end of the article W is spaced a distance Y2 from the reference plate 18, the right end of the article W is spaced a distance Y1 from the reference plate 18, and the inclination angle of the article W with respect to the reference plate 18 is θ1.

[0116] Then, the movable part X-direction fixing cylinder 79 and the movable part Y-direction fixing cylinder 87 are turned OFF, that is, the abutment portions 98 and 99 of the movable part X-direction fixing cylinder 79 and the movable part Y-direction fixing cylinder 87 are moved upward away from the hole portion in which the ring member 29 or the like of the movable part 55 is fitted, allowing the movable part 55 to be freely displaced relative to the fixed part 53 (S15).

[0117] 18 is a cross-sectional view taken along CC in FIG. 4, showing a state in which the movable part 55 of the article suction device 5 has been unlocked and is yet to be displaced relative to the fixed part 53. As shown in FIG.

[0118] Then, the cylinder 81 for sliding the movable part in the Y direction is turned ON, i.e., the abutment portion 25 of the cylinder 81 for sliding the movable part in the Y direction is abutted against the protrusion portion 27 of the movable part 55 and pushed in, thereby rotatably moving the movable part 55 in the +Y direction (S17).

[0119] By doing so, the article W is held by the article suction device 5 while the edge of the article W is aligned with the reference plate 18.

[0120] Note that Figure 19 is a cross-sectional view taken along CC in Figure 4, showing the state after the movable part 55 of the article suction device 5 has been displaced relative to the fixed part 53, and Figure 20 is a diagram showing the final stage in which the article suction device 5 has adsorbed and transferred the article W.

[0121] Then, the article suction device 5 of the article processing device 1 is released while aligning the article W with the reference plate 18 (S19), and then the edge processing device 7 attaches edging tape to the edge of the article W.

[0122] Returning to the main program, it is determined whether the number of items processed by the item processing device 1 has reached the number input by the operator (S21). If the number of items processed by the item processing device 1 has not reached the number input by the operator (S21: No), the processes of S7 to S19 are repeated until the number of items processed by the item processing device 1 reaches the number input by the operator (S21: Yes), and the processes are terminated (S23).

[0123] According to the article suction device 5 of the present embodiment, the device 5 includes a fixed portion 53, a movable portion 55 displaceable relative to the fixed portion 53, and suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 that are connected to the movable portion 55 and that suction the article W. The movable portion 55 is in a direction in which the suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 are connected to the movable portion 55. The movable part 55 is freely displaceable relative to the fixed part 53 on the plane intersecting with the reference plate 18, and the fixed part 53 is provided with movable part sliding cylinders 81 and 85 which press the movable part 55 in a predetermined direction. Therefore, when the end of the article W adsorbed by the suction parts 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 is pressed toward the reference plate 18, the movable part 55 is freely displaced, and the end of the article W can be easily made to follow the reference plate 18.

[0124] Further, the article suction device 5 includes an articulated robot 3 and an article suction unit 5 connected to a tip end of the articulated robot 3. The article suction unit 5 includes a fixed portion 53, a movable portion 55 displaceable with respect to the fixed portion 53, and suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 connected to the movable portion 55 and for suctioning an article W. The movable portion 53 is configured such that the suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 are movable relative to the movable portion 53. 3, 59c1, 59c2 and 59c3 are connected to each other, and fixed portion 53 is provided with movable portion sliding cylinders 81 and 85 which press movable portion 55 in a predetermined direction. Therefore, when the end of article W adsorbed by suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2 and 59c3 is pressed toward reference plate 18, movable portion 55 is freely displaced, and the end of article W can easily be made to follow reference plate 18.

[0125] Furthermore, according to the article suction device 5, the movable part 55 is provided corresponding to the four first hole portions 72a, 72b, 72c and 72d formed in the fixed part 53, and is connected to four disc members 73a, 73b, 73c and 73d having an outer diameter larger than the inner diameter of the first hole portions 72a, 72b, 72c and 72d, and four pillars 76a, 76b, 76c and 76d which are connected to each of the disc members 73a, 73b, 73c and 73d, pass through each of the first hole portions 72a, 72b, 72c and 72d, and have an outer diameter smaller than the inner diameter of the first hole portions 72a, 72b, 72c and 72d.Therefore, in addition to the effect of the article suction device of the first embodiment, the simple configuration makes it possible to make the movable part freely displaceable relative to the fixed part.

[0126] Furthermore, according to the article suction device 5, the movable part sliding cylinders 81 and 85 press one point on the movable part 55, so that the movable part 55 can be aligned with the reference plate 18 with a simple configuration.

[0127] In addition, the article suction device 5 is provided with a cylinder 79 for fixing the movable part in the X-direction or a cylinder 87 for fixing the movable part in the Y-direction, which fixes the movable part 55 to the fixed part 53, so that when the article W is adsorbed, the article W can be adsorbed accurately.

[0128] Further, according to the article suction device 5, the spacer 57a, 57b or 57c is provided between the movable part 55 and the suction parts 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2 or 59c3, and the suction parts 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2 or 59c3 are arranged to be spaced apart from the spacer 57a, 57b or 57c in the +Y direction intersecting the -Z direction in which the spacer 57a, 57b or 57c is positioned relative to the movable part 55. Supply holes 89a1, 89a2, 89a3, 89b1, 89b2, 89b3, 89c1, 89c2 and 89c3 which supply air to 9c2 or 59c3 are arranged in gap portions 9a1, 9a2, 9a3, 9b1, 9b2, 9b3, 9c1, 9c2 or 9c3 formed by movable portion 55, spacer 57a, 57b or 57c and suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2 or 59c3. Therefore, even if the number of suction portions connected to the movable portion is increased, air can be easily supplied to the suction portions, and the performance of the article suction device can be improved.

[0129] Furthermore, the article processing apparatus 1 is equipped with an article adsorption device 5, a mounting section 17 for placing the article W adsorbed by the article adsorption device 5, a reference plate 18 arranged near the mounting section 17 for abutting the end of the article W adsorbed by the article adsorption device 5, and an end processing apparatus 7 that transports the article W along the mounting section 17 and the reference plate 18 and processes the end of the article W, so that the end of the article W can be easily processed.

[0130] The above describes an embodiment of the item processing device 1 of the present invention. However, the present invention is not limited to the above embodiment, and can be modified and implemented in various ways without departing from the spirit of the present invention.

[0131] For example, in the above embodiment, the movable portion 55 has been described as being connected by the four disc members 73a, 73b, 73c, and 73d and the four pillars 76a, 76b, 76c, and 76d via the four first hole portions 72a, 72b, 72c, and 72d formed in the fixed portion 53. However, the number of first hole portions, the number of disc members, and the number of pillars formed in the fixed portion 53 are not limited to four, and may be two or more each.

[0132] In the above embodiment, the direction in which suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 are connected to movable portion 55 is described as the -Z direction, and the plane intersecting this direction is described as a plane including the +X, -X, +Y, and -Y directions. However, the direction in which suction portions 59a1, 59a2, 59a3, 59b1, 59b2, 59b3, 59c1, 59c2, and 59c3 are connected to movable portion 55 may be any direction in three-dimensional space as long as it does not interfere with the article suction device 5, and the plane intersecting this direction may be an inclined plane as long as it does not interfere with the operation of movable portion 55.

[0133] In addition, in the above-mentioned embodiment, the movable part sliding cylinders 81 and 85 have been described as having a simple configuration and pressing one point on the movable part 55, but as long as they press the end face of the article W along the reference plate 18, they do not have to press only one point on the movable part 55. [Explanation of symbols]

[0134] 1. Item handling equipment 2. Operation panel 3. Articulated robot 5...Article suction device 6. Main Controller 7. End Processing Device 8. Robot controller 10. Air compressor 17. Placement section 18...Reference plate 20. Control panel 53... Fixed part 55...Movable part 59a1,59a2,59a3...1st suction part 59b1,59b2,59b3...Second suction part 59c1,59c2,59c3...Third suction part 73a, 73b, 73c, 73d... Disk member 79···Cylinder for fixing movable part in X direction 81····Y-direction sliding cylinder for movable part 85···Y-direction sliding cylinder for movable part 87···Cylinder for fixing movable part in Y direction 100,200···Trolley W,W1,W2...Goods

Claims

1. A fixed portion; a movable part that is displaceable relative to the fixed part; a suction portion connected to the movable portion for suctioning an article; a pressing portion disposed on the fixed portion and configured to press the movable portion in a predetermined direction; Equipped with The movable part is a plurality of cover members provided in correspondence with a plurality of first holes formed in the fixing portion, the cover members having outer diameters larger than inner diameters of the first holes; a plurality of support columns connected to each of the cover members, passing through each of the first holes, and having an outer diameter smaller than an inner diameter of the first holes; An article suction device characterized in that the article suction devices are connected by

2. Articulated robots and an article suction unit connected to the tip of the articulated robot; Equipped with The article adsorption unit includes: A fixed portion; a movable part that is displaceable relative to the fixed part; a suction portion connected to the movable portion for suctioning an article; a pressing portion disposed on the fixed portion and configured to press the movable portion in a predetermined direction; Equipped with The movable part is a plurality of cover members provided in correspondence with a plurality of first holes formed in the fixing portion, the cover members having outer diameters larger than inner diameters of the first holes; a plurality of support columns connected to each of the cover members, passing through each of the first holes, and having an outer diameter smaller than an inner diameter of the first holes; An article suction device characterized in that the article suction devices are connected by

3. The article suction device according to claim 1 , wherein the movable portion is rotatably moved by the pressing portion pressing the movable portion in the predetermined direction.

4. The article suction device according to claim 2 , wherein the movable portion is rotatably moved by the pressing portion pressing the movable portion in the predetermined direction.

5. The article suction device according to claim 1 , wherein the movable portion is rotatably moved by the pressing portion pressing one point of the movable portion in the predetermined direction.

6. The article suction device according to claim 2 , wherein the movable portion is rotatably moved by the pressing portion pressing one point of the movable portion in the predetermined direction.

7. The article suction device according to claim 3 , wherein the movable portion is rotatably moved by the pressing portion pressing one point of the movable portion in the predetermined direction.

8. The article suction device according to claim 4 , wherein the movable portion is rotatably moved by the pressing portion pressing one point of the movable portion in the predetermined direction.

9. a first mode in which the movable part is fixed relative to the fixed part; a second mode in which the movable portion is displaceable relative to the fixed portion on a plane intersecting a direction in which the suction portion is connected to the movable portion; Equipped with The article suction device according to claim 1, characterized in that the suction portion is configured to suction the article in the first mode, and the pressing portion is configured to press the movable portion in the predetermined direction so that the movable portion moves rotatably in the second mode.

10. a first mode in which the movable part is fixed relative to the fixed part; a second mode in which the movable portion is displaceable relative to the fixed portion on a plane intersecting a direction in which the suction portion is connected to the movable portion; Equipped with The article suction device according to claim 2, characterized in that the suction portion is configured to suction the article in the first mode, and the pressing portion is configured to press the movable portion in the predetermined direction so that the movable portion moves rotatably in the second mode.

11. a first mode in which the movable part is fixed relative to the fixed part; a second mode in which the movable portion is displaceable relative to the fixed portion on a plane intersecting a direction in which the suction portion is connected to the movable portion; Equipped with The article suction device according to claim 3, characterized in that the suction portion is configured to suction the article in the first mode, and the pressing portion is configured to press the movable portion in the predetermined direction so that the movable portion moves rotatably in the second mode.

12. a first mode in which the movable part is fixed relative to the fixed part; a second mode in which the movable portion is displaceable relative to the fixed portion on a plane intersecting a direction in which the suction portion is connected to the movable portion; Equipped with The article suction device according to claim 4, characterized in that the suction portion is configured to suction the article in the first mode, and the pressing portion is configured to press the movable portion in the predetermined direction so that the movable portion moves rotatably in the second mode.

13. A spacer is provided between the movable portion and the adsorption portion, the adsorption portion is disposed apart from the spacer in a first direction intersecting a direction in which the spacer is positioned relative to the movable portion, 2. The article suction device according to claim 1, wherein a supply hole for supplying air to the suction portion is disposed in a gap formed by the movable portion, the spacer, and the suction portion.

14. An article adsorption device according to any one of claims 1 to 13, a placement section for placing the article adsorbed by the article adsorption device; a reference portion disposed near the placement portion and adapted to abut an end of the article sucked by the article suction device; an end processing section that transports the article with the end abutted against the reference section and processes the end of the article; An article processing device comprising:

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