JPH0487787A - Device for taking out article of pallet - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] [Industrial application field] TECHNICAL FIELD The present invention relates to a device for picking up articles on a pallet.

[Prior Art] Conventionally, various pallets for supplying articles to various devices have been proposed and used. As is well known, the purpose of such pallets is to serve as containers for transporting and supplying assembled parts, which are articles manufactured by manufacturing equipment, etc., to assembly equipment, etc., and to store articles having predetermined external dimensions. The items are placed on the pallet at a predetermined distance, but in order to maintain the predetermined spacing on the pallet, partitions are usually formed either integrally or separately between the items. be done.

On the other hand, in order to grip the articles separated and housed by the partitions with the robot fingers, which are the gripping devices of the robot device, a space is provided in the side part of the partitions through which the robot fingers can enter and exit from the side. The applicant has proposed a pallet and a take-out device configured to be gripped by the pallet.

[Problems to be Solved by the Present Invention] In the conventional pallet and pallet take-out device, articles are placed on the pallet's placement surface and separated by partitions, but the robot cannot escape from the space of the partitions. There is no particular problem when gripping an object by moving the fingers in and out from the side, but for example, when gripping a part that is the center of gravity of the object, the robot fingers move in and out of the mounting surface rather than from the side. It is moved downward from above and is driven and controlled so as to directly grasp the gripping portion of the article. At this time, if the gripping part of the object is in contact with the side wall of the partition plate, the robot fingers are moved from above to below and cannot descend to the gripping position, resulting in a problem in that the object cannot be gripped. .

Therefore, the pallet article retrieval device of the present invention has been made in view of the above-mentioned problems, and its purpose is to grip and hold the article even when the gripping portion of the article is in contact with the side wall of the partition plate. An object of the present invention is to provide a pallet article takeout device that can take out items from a pallet.

[Means for Achieving the Object] and [Operation] In order to achieve the above-mentioned object and object, the present invention provides a method for placing a plurality of articles on a mounting surface and at least one pair of articles from the side. A device for taking out articles on a pallet in which articles are separated by partitions into which gripping bodies are inserted, the apparatus comprising: recognition means for recognizing the placement state of the articles; If the gripping body cannot directly grip the object, the gripping body moves the object to a position where it can grip it and then grips it, while if the gripping body can directly grip the object. It acts like a direct grip.

[Example] An example of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a side view of a schematic configuration of a pallet take-out device according to an embodiment.

For example, the resin-molded outer box 9 is also called a transit box, and has a reinforcing and holding part integrally formed on the outer periphery as shown in the figure, while the bottom part is integrally formed and has a container shape. A pallet body 1 is housed inside, and the whole is used as a so-called pallet. This pallet body 1
As shown in the figure, a mounting surface 1a on which a workpiece 10 (an article) is placed and a partition body 2 are provided to keep the workpiece 10 approximately at a distance from each other, and a slight clearance is secured from the external dimensions of the workpiece 10. ing.

The pallet constructed in this manner is sent to the supply section of the assembly device, and above this supply section there is a camera device 5 having sufficient resolution to recognize the placement state of the work 10 and the external shape of the partition plate 2. The pallet is monitored using the range indicated by the dotted chain line in the figure as the subject.

On the other hand, as shown in the figure, a robot 4 having a robot finger 3 as a gripping device at its lower end is driven to be movable vertically and horizontally between a camera device 5 and a pallet, and moves the robot finger 3 in the direction of the arrow. Thus, the workpiece 10 is taken out from the pallet (picked) and placed on an assembly device (not shown).

FIG. 2 is a partial plan view of the pallet. In this figure, the partitions 2 have a cross shape as shown, but have a predetermined height, and are spaced apart from each other so as to provide a space 6 for the pallets. It is arranged on the mounting surface 1a of. The workpiece 10 is surrounded on all four sides by the partitions 2 arranged in this manner, and is placed with a degree of freedom of movement, for example, at the positions indicated by the solid lines and broken lines in the figure. In this way, when the work 10 has an abbreviated shape, the work 1
The center of gravity of 0 will move to approximately the center position, but if the workpiece 1o is located at the position indicated by the broken line in the figure, the center of gravity can be directly gripped by the robot fingers 3.
Can be moved directly. However, for example, when the workpiece 10 is located at the position shown by the solid line, the robot finger 3 cannot be moved from above to below to directly grasp the workpiece.

FIG. 3 is a plan view showing the gripping portion of the workpiece 10. In this figure, the gripping portion 1Oa of the workpiece 1o and the gripping portion 1
As shown in the figure, 0b corresponds to the peaks and valleys of the workpiece 10, so these gripping parts are gripped by moving the robot finger 3 in the direction of the arrow.

Next, FIG. 4 is a plan view showing the workpiece 10 placed on a pallet, and the workpiece 10 is placed at the position indicated by the solid line in FIG. 2 and cannot be directly gripped by the robot fingers 3. It shows the case. In this case, first, the robot fingers 3 are moved through the space 6 in the direction of the arrow so as to narrow the width, and grip the workpiece 10 as shown in the figure. Next, as shown in FIG. 5, the robot fingers 3 move diagonally upward to the right while maintaining the above-mentioned clamping state, so that the side surface of the work 10 comes into contact with the wall surface of the partition 2. . Next, as shown in FIG. 6, the grip portion 10a.

In order to be able to grip 10b with the robot fingers 3, the gripping state of the robot fingers 3 is temporarily released. Then, move the robot finger 3 upwards to approximately 4
After rotating 5 degrees, it moves downward and grips the gripping parts 10a and 10b of the workpiece 10 as shown in FIG. The workpiece 10 is picked up while maintaining this gripping state.

Next, FIG. 7 is an operation flowchart of the pallet take-out device configured as shown in FIG. The placement position of the workpiece 10 located within the partition body 2 is detected. Continue,
In step S2, it is determined whether the grip portion 10b of the workpiece 10 is in contact with the partition body 2 or not. If it is determined that they are in contact, the process proceeds to step S3, where the moving operation of the workpiece 10 explained based on FIG. 4.5 is performed.

After that, the process returns to step S1 again and the workpiece 10 is
away from the partition body 2. In this way, when it is determined in step S2 that the workpiece 10 is not in contact with the partition body 2, the process proceeds to step S4, where the above-mentioned kicking operation shown in FIG. 6 is performed, and the process proceeds to subsequent step S5, where the workpiece 10 are assembled or set aside, and the operation for one work is completed.

In addition, in the above-mentioned Example, although the case where the workpiece|work 10 was L-shaped was described, it is needless to say that it is not limited to this. In short, the present invention is applicable to any article as long as the grip part may come into contact with the partition body.

[Effects of the Invention] As explained above, according to the present invention, it is possible to provide an article retrieval device for a pallet that can grip an article even when the gripping portion of the article is in contact with the side wall of the partition body. can.

[Brief explanation of the drawing]

Fig. 1 is a side view of the schematic configuration of the pallet take-out device, Fig. 2 is a partial plan view of the pallet, Fig. 3 is a plan view showing the gripping part of the workpiece 10, and Figs. 4 to 6 are the pallet body. 1 and FIG. 7 are flowcharts of the pallet take-out device. In the figure, 1... Pallet body, 2... Partition body, 3...
- Robot finger, 4... Robot, 5... Camera device, 6... Space part, 9... Outer box, 10...
Workpieces 10a, 10b are gripping parts. Figure 2 Figure 5 Figure 6 Figure 3 1 / 4 ', 3

Claims (1)

[Scope of Claims] An article retrieval device for a pallet in which a plurality of articles are placed on a loading surface and the articles are separated by a partition into which at least one pair of gripping bodies is inserted from the side, A device for taking out articles from a pallet, comprising: a recognition means for recognizing the placement state of the article; and a determining step of determining whether a gripping body can directly grip a gripping portion of the article.