JP6504780B2 - Supply apparatus and supply method - Google Patents

Description

  The present invention relates to a supply device and a supply method for supplying an article.

  Conventionally, in a feeding device for transferring between different conveyors while changing the distance between articles to be transported, a robot moves a picking head for gripping an article by a robot three-dimensionally, or a plurality of adsorbers arranged in the picking head There is known a feeding device in which the interval can be changed (see, for example, Patent Document 1). When the picking head is moved in three dimensions as in the supply device described in Patent Document 1, the picking head is reduced in weight as much as possible to ensure freedom and accuracy of movement, and picking (holding The number of possible articles should also be relatively small. And since the number of articles which can be transferred at one time is limited to a small amount, in the conventional feeding apparatus, the moving speed of the picking head is increased to improve the processing capacity.

JP, 2011-32089, A

  However, by moving the picking head at high speed, the posture of the article during transfer is disturbed, and particularly when the article is held by a suction tool, the adsorption of the article is released (the article is detached), etc. There's a problem. For this reason, there is a limit to improving the processing capacity by moving the picking head at high speed.

  Moreover, in the supply apparatus of patent document 1, it is the structure which approaches or pulls apart by predetermined space | interval differently on the basis of the center suction tool. That is, the articles before or after the adsorption are arranged at the predetermined intervals on the conveying means, and the operation becomes complicated when they are transported (or placed) at an arbitrary interval.

  For example, in the supply device of Patent Document 1, when holding an article transported at an arbitrary interval (randomly), it is necessary to move the picking head every time the article is held by each adsorber, and the suction is already performed. The item held by the tool may be moved unnecessarily. And there is also a problem that the adsorption of the article is released at an unintended position by such unnecessary movement of the article.

  In addition, in the supply device of Patent Document 1, when a plurality of articles held by the transport means are collected in a predetermined number and transferred, it is necessary to replace the picking head for each predetermined number.

  The present invention has been made in view of the above problems, and in the case of transferring an article from the first conveying means to the second conveying means, it is possible to stably increase the number of articles which can be held (grasped) at one time. An object of the present invention is to provide a feeding device which can be transferred.

(1) The present invention performs control of the picking head provided with the carrying means for carrying a plurality of articles, and a plurality of holding means capable of arbitrarily moving a predetermined track by linear motor drive. A control unit, wherein the control unit specifies the position of each of the plurality of articles from the image information at a certain timing of the plurality of articles, and the timing is determined based on the information including the transport speed of the transport means The holding position of each of the plurality of articles after a predetermined time has elapsed since the calculation of the distance from the position of each of the plurality of holding means to the corresponding holding position, and the information including the transport speed for each of the holding means calculates the moving speed and the moving amount in the picking head, moves the picking head toward the holding position It is moved at the moving speed and the moving amount independently of the plurality of holding means while, the plurality of articles on the conveying means and held by each of the plurality of holding means, the distance between the plurality of holding means Changing the spacing between the plurality of articles by changing the plurality of articles, and placing the plurality of articles on the conveying means.

  According to the present invention, in the case of transferring an article, even when the number of articles that can be held at one time is increased to improve the processing efficiency, the article can be stably transferred.

  Specifically, using a robot that moves a picking head provided with a large number of holding means at least one-dimensionally with respect to the number of holding means of a conventional feeding device, a large number of articles are held in one holding process. Since the transfer is performed, the processing capacity of the supply device can be improved.

  In addition, the moving speed of the picking head can be made slower than in the prior art, since a larger number of articles can be retained in a single holding step than in the past. Thereby, the posture of the article at the time of transfer can be stabilized, and detachment of the article from the picking head can be prevented, and the article can be stably transferred (supplied).

  In addition, since the picking head can individually control movement of the suction nozzles by linear drive motor control, it is possible to deliver an article at an arbitrary position. Specifically, even if the article is transported at an arbitrary position and interval (nonuniformly) on the transport means, these are held by controlling the movement of the suction nozzle individually, and the interval is fixed. , And can be transferred (supplied) to the transport means.

  (2) The present invention is also the supply device according to the above (1), wherein the holding means is moved in synchronization with the transfer speed of the transfer means to hold or release the article. .

  (3) According to the present invention, the transporting means includes a first transporting means and a second transporting means, and the picking head is interposed between the first transporting means and the second transporting means. A robot for transferring the plurality of articles conveyed by the first conveyance means to the second conveyance means, and holding the articles by the holding means from the first conveyance means The article spacing of the plurality of articles is changed by changing the spacing of the holding means, and the articles are transferred to the second transport means, the article according to the above (1) or (2) It is a supply device.

  According to the present invention, when transferring articles from the first transport means to the second transport means, stable transfer is achieved even when the number of articles that can be held at one time is increased to improve the processing efficiency. Can be loaded.

  In addition, since the picking head can individually control movement of the suction nozzles by linear drive motor control, it is possible to deliver an article at an arbitrary position. Specifically, even if the article is transported at an arbitrary position and interval (nonuniformly) on the first transport means, these are held by individually controlling movement of the suction nozzle, It can be transferred (supplied) to the second conveying means for conveying the article at a constant interval and at a constant speed.

  (4) Further, according to the present invention, the control unit moves the plurality of holding means individually in accordance with an arbitrary holding position of the plurality of articles conveyed by the first conveying means, and thereby the plurality of articles , And a process of changing an interval between the plurality of holding means, and a process of releasing the plurality of articles at a predetermined release position on the second conveyance means. It is a supply apparatus as described in said (3) made into said.

(5) The present invention also performs the process of moving the plurality of holding means while moving the picking head between the first conveying means and the second conveying means. It is a supply apparatus as described in said (3) or (4) characterized by the above.

  According to such a configuration, even when the article XA is conveyed at an arbitrary interval on the first conveyance means, the article XA is aligned at a constant interval and placed on the second conveyance means be able to.

  (6) In the invention, moreover, the control unit moves the picking head in a direction perpendicular to the moving direction of the holding means by the robot. It is a supply apparatus as described in these.

  (7) The present invention is also characterized in that the control unit moves the picking head in the vertical direction by the robot to simultaneously hold or release a plurality of articles. The supply device according to any one of the above.

  (8) In the invention, any one of (1) to (7) is characterized in that the control unit is capable of moving the holding means in a direction perpendicular to the conveyance surface of the conveyance means. It is a supply apparatus described in.

  According to such a configuration, it is possible to reduce the restriction due to the mounting position of the article XA as much as possible, and to provide the supply device corresponding to various mounting patterns.

  (9) Further, according to the present invention, the control unit moves the holding means in the conveying direction of the article, moves the picking head at a higher speed than the holding means in the conveying direction, and holds the article. It is a supply apparatus in any one of said (1) to (8) characterized by releasing.

  According to such a configuration, the holding means can be moved to the upstream side of the picking head as a whole while being moved in synchronization with the articles conveyed by the first conveying means. That is, even if the holding means is moved in synchronization with the article in order to hold or release the article, the position of the holding means in the picking head is not accelerated or decelerated to the article held by the holding means. It can be moved upstream (without decelerating the holding means or moving it in reverse at high speed). This makes it possible to secure a long movable area of the holding means when holding or releasing the article.

  (10) Further, according to the present invention, the control unit releases the plurality of articles after moving the picking head holding the plurality of articles from the downstream side to the upstream side in the conveyance direction of the articles. The supply device according to any one of the above (1) to (9), characterized in that

  According to such a configuration, the length of the supply device can be shortened, and space saving can be achieved.

  (11) According to the present invention, the picking head further includes driving means for moving the plurality of holding means up and down individually, and the control unit moves the holding means from the downstream side to the upstream side of the picking head. The supply device according to any one of the above (1) to (10), characterized by sequentially driving to hold or release the article.

  (12) The present invention is also the supply device according to any one of the above (1) to (11), wherein the holding means is an adsorption means.

(13) The present invention is also a feeding method for transferring a plurality of articles conveyed by the conveying means using a picking head provided with a plurality of holding means, wherein the plurality of holding means have predetermined trajectories Each of the plurality of articles can be arbitrarily moved, and the position of each of the plurality of articles can be specified from the image information at a certain timing of the plurality of articles, and can be determined from the timing based on the information including the transport speed of the transport means. Calculating a holding position of each of the plurality of articles after a lapse of time, a distance from each position of the plurality of holding means to the corresponding holding position, and information including the transport speed calculating a moving speed and moving amount in the picking head for each of said holding means, said holding position of said plurality of articles on said conveying means A step of the facing is moved by said moving speed and the moving amount independently of the plurality of holding means while moving the picking head plurality of holding means for holding a plurality of articles, said plurality of And changing the spacing of the holding means, and releasing the article from the holding means and transferring the article from the holding means at a predetermined release position on the conveying means.

  According to the present invention, in the case of transferring an article, even when the number of articles that can be held at one time is increased to improve the processing efficiency, the article can be stably transferred.

  Specifically, using a robot that moves a picking head provided with a large number of holding means at least one-dimensionally with respect to the number of holding means of a conventional feeding device, a large number of articles are held in one holding process. Since the transfer is performed, the processing capacity of the supply device can be improved.

  In addition, the moving speed of the picking head can be made slower than in the prior art, since a larger number of articles can be retained in a single holding step than in the past. Thereby, the posture of the article at the time of transfer can be stabilized, and detachment of the article from the picking head can be prevented, and the article can be stably transferred (supplied).

  In addition, since the picking head can individually control movement of the suction nozzles by linear drive motor control, it is possible to deliver an article at an arbitrary position. Specifically, even if the article is transported at an arbitrary position and interval (nonuniformly) on the transport means, these are held by controlling the movement of the suction nozzle individually, and the interval is fixed. , And can be transferred (supplied) to the transport means.

  (14) Further, according to the present invention, the conveyance means includes a first conveyance means and a second conveyance means, and the picking head is interposed between the first conveyance means and the second conveyance means. A robot for transferring a plurality of articles transported by the first transport means to the second transport means by moving the first transport means, the robot being placed on an arbitrary holding position of the plurality of articles on the first transport means The step of individually moving the holding means together to hold the plurality of articles by the holding means, the step of changing the distance between the plurality of holding means, and the picking head at least to the conveyance surface of the article Moving in the horizontal direction, and releasing and transferring the article from the holding means at a predetermined release position on the second conveyance means. Supply method described .

  According to the present invention, when transferring articles from the first transport means to the second transport means, stable transfer is achieved even when the number of articles that can be held at one time is increased to improve the processing efficiency. Can be loaded.

  In addition, since the picking head can individually control movement of the suction nozzles by linear drive motor control, it is possible to deliver an article at an arbitrary position. Specifically, even if the article is transported at an arbitrary position and interval (nonuniformly) on the first transport means, these are held by individually controlling movement of the suction nozzle, It can be transferred (supplied) to the second conveying means for conveying the article at a constant interval and at a constant speed.

  (15) The present invention is also characterized in that the plurality of holding means are moved while moving the picking head between the first conveyance means and the second conveyance means. It is a supply method as described.

  (16) The present invention also transfers the plurality of articles to the transport means while moving the holding means in the downstream direction of the transport direction, any one of the above (13) to (15) It is a supply method as described in.

  (17) Further, according to the present invention, after the plurality of articles are held by the plurality of holding means, at least one of the holding means is moved in the upstream direction of the conveyance direction while the picking head is being moved. (16) The supply method according to the above (16), wherein the plurality of articles are transferred onto the means.

  (18) In the present invention, after the plurality of articles are held by the plurality of holding means, the picking head is moved upstream in the conveyance direction to transfer the plurality of articles to the conveyance means. (16) or (17), characterized in that

  (19) The present invention is also characterized in that the holding means is lowered while being moved in the downstream direction of the conveying direction to hold the plurality of articles on the conveying means from the above (16) to (18). The supply method according to any one of the above.

  (20) The present invention also places the articles in a plurality of rows by moving the picking head in the width direction of the transport means and releasing the holding of the articles sequentially from the downstream holding means. The supply method according to any one of (13) to (19), characterized in that:

  According to the supply device described in the above (1) to (20) of the present invention, it is possible to stably transfer while improving the processing efficiency by increasing the number of articles which can be held (held) at one time. A feeding device can be provided.

It is a top view of the supply apparatus in the embodiment of the present invention. Figure 2 is a side view of the delivery device shown in Figure 1; It is a side view which shows the other form of the supply apparatus shown by FIG. It is a top view which shows the outline | summary of the supply method (operation | movement aspect) by the supply apparatus of this embodiment. It is a flowchart which shows an example of a process of the supply method of this embodiment. It is a top view which shows the movement aspect of the picking head in this embodiment. It is a figure which shows the outline | summary of the other supply method (operation | movement aspect) by the supply apparatus of this embodiment, (a) Side view, (b)-(d) It is a top view. It is a side view which shows the outline | summary of the other supply method (operation aspect) by the supply apparatus of this embodiment. It is a figure which shows the outline | summary of the other supply method (operation | movement aspect) by the supply apparatus of this embodiment, (a) Side view, (b) It is a top view. It is a side view which shows the outline | summary of the other supply method (operation aspect) by the supply apparatus of this embodiment. It is a top view which shows the outline | summary of the other supply method (operation | movement aspect) by the supply apparatus of this embodiment. It is a side view which shows the outline | summary of the other supply method (operation aspect) by the supply apparatus of this embodiment.

<Overall configuration>
Hereinafter, the supply device according to the embodiment of the present invention will be described in detail with reference to the drawings.

  First, the structure of the supply apparatus 1 of this embodiment is demonstrated using FIG.1 and FIG.2. FIG. 1 is a top view of the supply device 1. FIG. 2 is a side view of the supply device 1. In the drawings and the subsequent drawings, a part of the configuration is appropriately omitted to simplify the drawings. And in this figure and each subsequent figure, the size, shape, thickness, etc. of a member are exaggerated and expressed suitably.

  As shown in FIGS. 1 and 2, the feeding device 1 includes a picking head 2, a robot 3 for holding the picking head 2, and a control unit 4 for controlling the picking head 2 and the robot 3; It is an apparatus which supplies the article XA conveyed by 5 to the 2nd transportation means 6 (transfer).

  As shown in FIG. 1, the first transport means 5 is, for example, a belt conveyor, and transports a plurality of articles XA (XA1, XA2...) Placed at arbitrary positions and intervals in the transport direction T (view) Transport in the X direction). That is, in the figure, the right side is the upstream side of the transport path, and the left side is the downstream side. The second transport means 6 is, for example, a finger conveyor, and transports the articles XA placed at predetermined intervals from the upstream side to the downstream side of the transport path. The first conveying means 5 and the second conveying means 6 are disposed parallel to each other in top view as an example, and the conveying direction T of the article XA is the same in the first conveying means 5 and the second conveying means 6.

  As shown in FIG. 6A, the picking head 2 is capable of independently moving a plurality of (for example, 10) picks on a predetermined track of the picking head 2 (here, on a track along the transport direction T). A holding means 21 is provided. The holding unit 21 is, for example, a suction unit (suction nozzle). The control unit 4 moves the plurality of suction nozzles 21 arbitrarily (at an arbitrary distance and at an arbitrary speed) on a predetermined trajectory of the picking head 2 by, for example, linear motor drive. That is, the suction nozzle 21 is held by a drive unit 21 d provided with a coil that constitutes a linear motor. The drive unit 21 d can travel on the track of the picking head 2 at independent speeds and can stop on the track by the magnetic action according to the current supplied from the control unit 4.

  The robot 3 holds the picking head 2 at the tip of the arm 31. In the present embodiment, an example in which the picking head 2 is held by one arm 31 is shown, but it is desirable that the picking head 2 be held at a plurality of places according to the length thereof. The control unit 4 controls the robot 3 to move the picking head 2 in at least one dimension, and the plurality of articles XA conveyed by the first conveyance means (belt conveyor) 5 to the second conveyance means (finger conveyor) 6 Transfer (supply) (see (b) in the figure). Further, the control unit 4 controls the robot 3 to move the picking head 2 onto the belt conveyor 5 again to hold the article XA (see FIG. 6C). As described above, in this example, the robot 3 moves the picking head 2 in the Y direction at least in the plane (X-Y plane) parallel to the conveyance plane of the article XA of the belt conveyor 5 (finger conveyor 6).

  Further, as shown in FIG. 2A, the control unit 4 individually adjusts the plurality of suction nozzles 21 of the picking head 2 to arbitrary positions (holding positions) of the plurality of articles XA conveyed by the belt conveyor 5. , Along the transport direction T. Then, the plurality of suction nozzles 21 are moved (dropped) vertically (here, in the vertical direction, which is the Z direction in the drawing) individually with respect to the transport surface to hold the plurality of articles XA. Further, the control unit 4 can change the intervals of the plurality of suction nozzles 21 along the transport direction T. The control unit 4 not only moves the suction nozzle 21 in the transport direction T and the vertical direction while the picking head 2 is moving (while moving in the horizontal direction) as well as when the picking head 2 is stopped. It is movable.

  Further, the control unit 4 controls the robot 3 to move the picking head 2 onto the finger conveyer 6 as shown in FIG. 6B, and the suction nozzle at a predetermined release position (loading position) on the finger conveyer 6 21 controls to release the article XA. The articles XA are placed at predetermined positions between the fingers 6 f of the finger conveyor 6 at substantially equal intervals. The figure (b) has shown the example which mounts the articles | goods XA sequentially toward the upstream from the downstream side of the finger conveyor 6, and cancels | releases adsorption | suction (holding | holding) of the adsorption nozzle 21. As shown in FIG.

  Further, as shown in FIG. 6C, a plurality of suction nozzles 21 capable of moving up and down individually are simultaneously driven to collectively place a plurality of articles XA on the finger conveyor 6 and release the holding. You may

  In addition, the control unit 4 can control the robot 3 and the picking head 2 to release the article XA after moving the picking head 2 in a state of holding the article XA from the downstream side to the upstream side in the transport direction T. .

  As described above, the suction nozzle 21 of the picking head 2 is movable in the forward direction and the backward direction (X direction) along the transport direction T on the track of the picking head 2. Thus, by moving the suction nozzle 21 upstream while the picking head 2 is moving, the movable region of the suction nozzle 21 when the suction nozzle 21 holds or releases the article can be increased. As a result, the entire length of the picking head 2 can be shortened.

  The suction nozzle 21 of the picking head 2 can be moved (lifted and lowered) in a direction (Z direction) perpendicular to the conveyance surface, and the robot 3 moves the picking head 2 parallel (horizontally) to the conveyance surface. It is also movable parallel (horizontal) to the transport surface. The suction nozzle 21 can be moved up and down by, for example, an air cylinder.

  Further, the control unit 4 causes the robot 3 to move the picking head 2 in a plurality of directions in a horizontal plane (here, an XY plane). That is, the picking head 2 is moved from the upstream side to the downstream side in the transport direction T, and is moved from the downstream side to the upstream side in the transport direction T, a direction orthogonal to the transport direction T (direction from the belt conveyor 5 to the finger conveyor 6 or Move from the finger conveyor 6 to the direction of the belt conveyor 5).

  In addition, the picking head 2 is moved obliquely from the downstream side of the belt conveyor 5 to the upstream side of the finger conveyor 6, or from the downstream side of the finger conveyor 6 to the upstream side of the belt conveyor 5, that is, in a top view (one horizontal surface (X It may be made to move two-dimensionally in -Y plane).

  On the other hand, the robot 3 does not move the picking head 2 in the vertical direction, but as described above, moves the suction nozzle 21 up and down to hold and release the article XA.

  As described above, the feeding device 1 moves the suction nozzles 21 of the picking head 2 in the direction along the conveyance direction T of the belt conveyor 5 by linear motor drive, and moves the picking head 2 in the direction other than the conveyance direction T. Is performed by the two-axis (two-dimensional) robot 3 or the one-axis robot 3. Furthermore, when the picking head 2 is long, the feeding device 1 supports this at two or more places in the length direction. Therefore, since the entire length of the picking head 2 can be increased, the picking head 2 can be provided with a large number of holding means (suction nozzles 21) as compared to the number of holding means of the conventional feeding device.

  The robot 3 may be one (including a three-axis (three-dimensional) robot) capable of moving the picking head 2 in the vertical direction (vertical direction). This eliminates the need to provide separate lifting means for the plurality of holding means. FIG. 3 is a side view showing an example in which the robot 3 moves the picking head 2 in the vertical direction.

  As shown in FIG. 6A, the control unit 4 controls the suction nozzle 21 to move individually in the conveyance direction according to the article XA conveyed by the belt conveyor 5, and Without lowering the picking head 2 in the vertical direction by the robot 3 to hold the plurality of articles XA collectively as shown in FIG. And although illustration is abbreviate | omitted, the picking head 2 is moved on the finger conveyor 6, and holding | maintenance of several articles | goods XA is collectively released and mounted. In this case, the suction nozzles 21 may be respectively lowered (raised) while the picking heads 2 are lowered (raised). Thereby, the article XA can also be adsorbed and held sequentially from the downstream side toward the upstream side.

  As described above, the control unit 4 moves the suction nozzle 21 individually according to any holding position of the plurality of articles XA conveyed on the belt conveyor 5 to hold the plurality of articles XA, and a plurality of steps. For example, moving the suction nozzle 21 so as to make the intervals even, moving the picking head 2 horizontally at least with respect to the article transport surface, and holding the suction nozzle 21 at a predetermined release position on the finger conveyor 6. And releasing the article XA from the storage medium.

  Further, the control unit 4 can execute the process of moving the plurality of suction nozzles 21 while moving the picking head 2 between the belt conveyor 5 and the finger conveyor 6 in the above process. Specifically, the control unit 4 can perform a process of holding the plurality of articles XA on the belt conveyor 5 by lowering the suction nozzle 21 while moving the suction nozzle 21 in the downstream direction of the transport direction T of the articles XA. Further, the process of transferring the plurality of articles XA to the finger conveyor 6 can be performed while moving the suction nozzle 21 in the downstream direction. Further, after the plurality of articles XA are held by the plurality of suction nozzles 21 respectively, at least one suction nozzle 21 is moved upstream in the transport direction T to transfer the plurality of articles XA onto the finger conveyor 6 It can be carried out. Further, after the control unit 4 holds the plurality of articles XA with the plurality of suction nozzles 21, the control unit 4 moves the picking head 2 in the upstream direction of the transport direction T to transfer the plurality of articles XA onto the finger conveyor 6 It can be performed.

  With such a configuration, for example, the feeding device 1 moves the picking head 2 above the belt conveyor 5 and holds the article XA conveyed on the belt conveyor 5 at an arbitrary interval (for example, uneven interval). At the same time, the suction nozzle 21 is moved downward while being lowered in the downstream direction to suction and hold the article XA, and the picking head 2 is changed while changing the distance between the suction nozzles 21 to a different distance from the distance between the suction nozzles 21 at this time. A process of moving an article to a predetermined position of the finger conveyor 6 while moving to the upper side of the second conveying device 6 and moving the suction nozzle 21 in the downstream direction according to the conveying speed of the second conveying device 6 It can be carried out.

  In addition, while moving the picking head 2 toward the finger conveyor 6, only the suction nozzle 21 is moved in the upstream direction without moving the picking head 2 in the upstream direction, and the suction nozzle 21 is adjusted according to the transport speed of the finger conveyor 6. The article can also be transferred while moving in the downstream direction.

  Also, while moving the picking head 2 toward the finger conveyor 6, move the picking head 2 in the upstream direction (two-dimensional movement in one horizontal plane (X-Y plane)) It can also be disposed on the side, and in this case, the suction nozzle 21 can also be moved from the downstream side to the upstream side (in the direction opposite to the transport direction T).

  As described above, according to the supply device 1 of the present embodiment, the number of articles that can be held at one time can be increased by using the picking head 2 provided with a larger number of holding means (suction nozzles 21) than in the prior art. It can be improved. In addition, in the case where the article XA is transferred from the belt conveyor 5 to the finger conveyor 6, even if the number of articles that can be held at one time is increased to improve the processing efficiency, stable transfer can be performed. .

  Specifically, the picking head 2 provided with a large number (for example, 10) of holding means (suction nozzles 21) compared with the number (for example, 3) of the holding means of the conventional feeding apparatus is moved at least one-dimensionally Since the robot 3 is used to hold and transfer a large number of articles XA in one holding step, the processing capacity of the supply device 1 can be improved.

  In addition, the moving speed of the picking head 2 can be made slower than that of the conventional one in order to hold a larger number of articles XA than in the conventional one in one holding process. Thereby, the posture of the article XA at the time of transfer can be stabilized, detachment of the article XA from the picking head 2 can be prevented, and the article XA can be stably transferred (supplied).

  In addition, since the picking head 2 can individually move and control the suction nozzles 21 by linear drive motor control, delivery of the article XA can be performed at an arbitrary position. Specifically, even when the article XA is conveyed at an arbitrary position and interval (nonuniformly) on the belt conveyor 5, the suction nozzles 21 are individually moved and held to hold them. It can be transferred (supplied) to the finger conveyor 6 that conveys the article XA at a constant interval and at a constant speed.

<Operation Aspect of Supply Device (First Embodiment)>
With reference to FIG. 4 to FIG. 6, a method of supplying (transferring) the articles of the supply device 1 (a control method of the picking head 2 and the suction nozzle 21) will be described by giving a specific example. FIG. 4 is a schematic diagram for explaining an example of a control method of the picking head 2 and the suction nozzle 21. FIG. 5 is a flow diagram showing an example of a flow of control of the picking head 2 and the suction nozzle 21. FIG. 6 is a schematic view showing the movement of the picking head 2.

  As shown in FIG. 4, the belt conveyor (first conveyance means) 5 and the finger conveyor 6 (second conveyance means) 6 are arranged in parallel in top view so that the conveyance direction T of the article XA is the same. . The articles XA (here, for example, the six articles XA1 to XA6) are assumed to be mounted (unevenly) at arbitrary positions and intervals on the belt conveyor 5 and conveyed.

  The robot 3 of the supply device 1 moves the picking head 2 two-dimensionally in, for example, the XY plane. The picking head 2 moves (advances and retracts) the suction nozzle 21 in the X direction and moves (raises or lowers) in the Z direction.

  That is, the feeding device 1 can freely move the picking head 2 two-dimensionally in the horizontal plane (X-Y plane) including the direction orthogonal to the conveying direction T of the belt conveyor 5 and the finger conveyor 6. The suction nozzles 21 (suction nozzles 211 to 216) are moved in accordance with the intervals of the articles XA1 to XA6 transported by and the plurality of articles XA1 to XA6 are collectively suctioned at the respective holding positions Pa1 to Pa6. The articles XA1 to XA6 are supplied at the mounting positions Pb1 to Pb6 of the finger conveyor 6 by changing the interval of the nozzles 21 to a predetermined pitch corresponding to the predetermined mounting position of the finger conveyor 6.

  As described above, in the present embodiment, the picking head 2 having a large number of suction nozzles 21 is moved at least one-dimensionally in the Y direction (here, two-dimensional movement in the XY direction). The processing capability of the supply device 1 can be improved because the robot 3 is used to hold and transfer a large number (for example, five or more) of the articles XA in one holding step.

  In addition, the moving speed of the picking head 2 can be made slower than that of the conventional one in order to hold a larger number of articles XA than in the conventional one in one holding process. Thereby, the posture of the article XA at the time of transfer can be stabilized, detachment of the article XA from the picking head 2 can be prevented, and the article XA can be stably transferred (supplied).

  In addition, since the picking head 2 can individually move and control the suction nozzles 21 by linear drive motor control, delivery of the article XA can be performed at an arbitrary position. Specifically, even if the article XA is conveyed (unevenly) at any position and interval on the belt conveyor (first conveying means) 5, movement control of the suction nozzles 21 is performed individually. Then, they can be transferred (supplied) to the finger conveyor (second conveying means) 6 that holds the articles and conveys the articles at constant intervals and at a constant speed.

  FIG. 5 is a flow chart showing an example of the flow of processing of a supply (transfer) method using the supply apparatus 1 of the present embodiment.

  First, in step S01, in order to hold the articles XA1 to XA6 at arbitrary positions conveyed by the belt conveyor (first conveying means) 5 by the respective suction nozzles 21 of the picking head 2, the holding positions Pa1 to Pa6 thereof are grasped Do.

  For example, the control unit 4 may use position information (image information) at a certain timing of the articles XA1 to XA6 (for example, a timing at which the picking head 2 is at the initial position as illustrated) or the article XA1 to XA6 (belt conveyor 5). The conveyance signal of the belt conveyor 5 based on the conveyance speed Va or the like is received, and the position of the articles XA1 to XA6 after a predetermined time has elapsed from that timing, that is, the time to move the picking head 2 onto the belt conveyor 5 has elapsed. Holding positions Pa1 to Pa6 of subsequent articles XA1 to XA6 are calculated.

  In step S02, the moving amount and moving speed for moving each suction nozzle 21 of the picking head 2 to the holding positions Pa1 to Pa6 on the belt conveyor 5 are calculated.

  For example, as shown in FIG. 4, when the head suction nozzle 211 located at the initial position P01 is transferred to the holding position Pa1 of the moving belt conveyor 5, the suction nozzle 211 holding the article XA1 is an XY plane It is necessary to move the distance WL11 within. Similarly, the suction nozzle 212 is a distance WL12 from the initial position P02 to the holding position Pa2 of the belt conveyor 5, the suction nozzle 213 is a distance WL13 from the initial position P03 to the holding position Pa3 of the belt conveyor 5, and the suction nozzle 214 is an initial The suction nozzle 215 holds the distance WL14 from the initial position P05 to the holding position Pa5 of the belt conveyor 5, and the suction nozzle 216 holds the belt conveyor 5 from the initial position P06 to the holding position Pa4 from the position P04. It is necessary to move each distance WL16 to the position Pa6.

  For this reason, the control unit 4 determines the moving speeds Vt of the suction nozzles 211 to 216 and the inside of the picking head 2 from the information of the distances WL11 to WL16, the conveying speed Va of the belt conveyor 5 and the holding positions Pa1 to Pa6, etc. Calculate the amount of movement (moving distance) in the X direction. In addition, in the calculation of the movement amount and the movement speed Vt of the suction nozzle 21, the movement amount and the movement speed of the picking head 2 are also taken into consideration.

  In step S03, the control unit 4 moves the suction nozzles 21 in alignment with the holding positions Pa1 to Pa6 of the articles XA1 to XA6 while moving the picking head 2 onto the belt conveyor 5. Then, the suction nozzles 21 are lowered in the Z direction to hold the articles XA1 to XA6. Even if the positions of the articles XA1 to XA6 are arbitrary (even if they are not transported at constant intervals), move the suction nozzles 21 individually according to the holding positions Pa1 to Pa6 of the respective articles XA1 to XA6. As a result, the plurality of articles XA1 to XA6 can be reliably held together. The holding of the articles XA1 to XA6 may be performed simultaneously by the six suction nozzles 21 or sequentially. In any case, the picking head 2 can hold a plurality of articles XA collectively. In this example, although the number of the articles XA is six, the articles XA of the number (for example, up to ten) corresponding to the number of the suction nozzles 21 can be held at the maximum.

  In addition, you may control separately the descent | fall amount of the adsorption nozzle 21 by acquiring the attitude | position (direction) of articles | goods XA1-XA6 as a conveyance signal in step S01. Thereby, even if the attitude | position of articles | goods XA1-XA6 is arbitrary, each adsorption nozzle 21 can hold | maintain reliably.

  In step S04, the placement positions of the articles XA1 to XA6 on the finger conveyor 6 are grasped. The control unit 4 may control the picking head 2 after holding the article XA to return to the initial position, or may control to move it on the finger conveyor (second conveying means) 6 as it is .

  The control unit 4 controls, for example, the articles XA1 to XA6 on the finger conveyor (second conveying means) 6 at a certain timing (for example, a timing when the picking head 2 is at the initial position or immediately after holding the articles XA1 to XA6). Receiving a transport signal of the finger conveyor 6 based on position information (image information) of the placement position scheduled area (or finger 6f) of the second embodiment and the transport speed Vb of the finger conveyor 6, etc. The position of the planned placement area (or finger 6f), that is, the placement position (release position) Pb1 to Pb6 of the articles XA1 to XA6 after the time for moving the picking head 2 onto the finger conveyor 6 has elapsed is calculated. Do.

  In step S05, the moving amount and moving speed for moving each suction nozzle 21 of the picking head 2 to the mounting positions Pb1 to Pb6 on the finger conveyor 6 are calculated.

  For example, as shown in FIG. 4, in the case where the article XA1 held at the holding position Pa1 on the belt conveyor 5 is transferred to the placement position Pb1 of the moving finger conveyor 6, the suction nozzle 211 holds the article XA1. Needs to move the distance WL21 in the X-Y plane. Similarly, the suction nozzle 212 has a distance WL22 from the holding position Pa2 on the belt conveyor 5 to the mounting position Pb2 of the finger conveyor 6, and the suction nozzle 213 has a holding position Pa3 on the belt conveyor 5 to the mounting position of the finger conveyor 6. The distance WL23 to Pb3 is from the holding position Pa4 on the belt conveyor 5 to the mounting position Pb4 of the finger conveyor 6, and the suction nozzle 215 is from the holding position Pa5 on the belt conveyor 5 to the finger conveyor 6 The suction nozzle 216 is required to move the distance WL26 from the holding position Pa6 on the belt conveyor 5 to the mounting position Pb6 of the finger conveyor 6 respectively.

  For this reason, the control unit 4 determines the moving speed Vt of each of the suction nozzles 211 to 216 and the inside of the picking head 2 based on the distances WL21 to WL26, the transfer speed Vb of the finger conveyor 6 and the information of the mounting positions Pb1 to Pb6. The movement amount (movement distance) (in the X direction) is calculated. In addition, in the calculation of the movement amount and the movement speed Vt of the suction nozzle 21, the movement amount and the movement speed of the picking head 2 are also taken into consideration.

  In step S06, the suction nozzles 211 to 216 are individually controlled and moved based on the moving amounts and moving speeds Vt of the suction nozzles 211 to 216 calculated in step S05, and the moving finger conveyor 6 follows (moves) The articles XA1 to XA6 are released at the mounting positions Pb1 to Pb6. Since the suction nozzles 21 can be individually controlled, at least one suction nozzle 21 can be moved upstream in the transport direction T while moving the picking head 2 after holding the article XA. By doing this, even when the interval between the articles XA is unevenly placed on the belt conveyor 5, the transfer speed of the belt conveyor 5 and the finger conveyor 6 can be reduced without lowering the predetermined speed of the finger conveyor 6. The article XA can be supplied to the placement position of

  In step S07, in order to hold the next article XA (articles XA7, XA8,...) On the belt conveyor 5, the picking head 2 and the suction nozzles 21 (211 to 216) are returned to their initial positions.

  That is, similarly to the calculation of the movement amount and movement speed Vt in step S02, the return amount (movement distance) from the position of each suction nozzle 21 when releasing the articles XA1 to XA6 to the initial position P01 to P06 of the suction nozzle 21 And calculate the moving speed. The amount of return of the picking head 2 to the initial position and the moving speed are also taken into consideration.

  In step S08, based on the return amount and the moving speed calculated in step S07, the picking head 2 and the suction nozzles 211 to 216 are moved and returned to the initial positions P01 to P06.

  Thereafter, the process returns to step S01, and the holding of the article XA (for example, XA7 to XA12) on the belt conveyor 5, the movement of the picking head 2 and the suction nozzle 21, and the release of the article XA on the finger conveyor 6 are repeated.

  In steps S07 and S08, the holding positions of the next articles XA7 to XA12 are directly calculated without returning the picking head 2 and the suction nozzle 21 to the predetermined initial positions, and control is performed so as to hold these. good.

  That is, control unit 4 sets the positions of articles XA7 to XA12 at the timing based on the position where articles XA1 to XA6 are released in step S06 (assuming picking head 2 and suction nozzle 21 at the release position are at initial positions). Information (image information) and a conveyance signal of belt conveyor 5 based on conveyance speed Va of articles XA7 to XA12 (belt conveyor 5) are received, and holding positions Pa7 to X7 of articles XA7 to XA12 after a predetermined time has elapsed from that timing. Calculate XA12.

  Then, with the holding positions Pa7 to Pa12 as return positions, the amount of return and movement speed from the mounting positions (release positions) Pb1 to Pb6 of the suction nozzle 21 (picking head 2) are calculated in the same manner as step S05. It may be possible to directly return (move) to ~ Pa12.

  As mentioned above, although an example of the flow of supply processing was explained, the order of processing (Steps S01 to S08) shown in Drawing 5 is not restricted to this. That is, the suction nozzle 21 (picking head 2) is moved individually by an arbitrary moving amount so as to follow the belt conveyor (first conveying means) 5, and the articles XA1 to XA6 are held at holding positions Pa1 to Pa6 at arbitrary intervals. And moves the suction nozzle 21 (picking head 2) following the finger conveyor (second transport means) 6 to release (place) the articles XA1 to XA6 at the predetermined placement positions Pb1 to Pb6. If it is possible, the execution order of the above-mentioned steps S01 to S08 may be interchanged, a plurality of processes (steps) may be executed simultaneously, or some steps may be omitted. It may be

  FIG. 6 is a top view showing the movement of the picking head 2 of the present embodiment. The suction nozzle 21 moves following (synchronizing) the movement of the belt conveyor (first conveying means) 5 and the finger conveyor (second conveying means 6), but the picking head 2 of this embodiment is the same as FIG. As shown in Fig. 2A, the belt conveyor 5 does not move in the X direction (the transport direction T), but moves horizontally between the belt conveyor 5 and the finger conveyor 6 only in the Y direction.

  Alternatively, as shown in FIG. 6B, the picking head 2 also moves in the Y direction between the belt conveyor 5 and the finger conveyor 6 while moving in the X direction (conveying direction T) as in the suction nozzle 21. It may be In this case, the picking head 2 may move to the upstream side of the finger conveyor 6 after moving to the downstream side of the belt conveyor 5 following the belt conveyor 5 to hold the article XA. In this case, after moving to the downstream side of the finger conveyor 6 following the finger conveyor 6 and releasing the article XA, the picking head 2 moves to the upstream side of the belt conveyor 5 (in a substantially eight shape in top view Move the picking head 2 to).

  As described above, the picking head 2 in a state of holding the plurality of articles XA is moved from the downstream side to the upstream side in the conveyance direction of the articles XA to release the plurality of articles XA. After holding the article XA on the side, the picking head 2 is horizontally moved in the Y direction, and the article XA is released while moving along the downstream side of the belt conveyor 5 as the upstream side of the finger conveyor 6 and following the finger conveyor 6 As compared with the above, the conveyance path can be shortened (shortened to 1/2 at the shortest), and the miniaturization of the supply device 1 is realized.

<Operation Aspect of Supply Device (Second Embodiment)>
The feeding device 1 may move the picking head 2 in the Y direction not only between the two conveying means but also on at least one wide conveying means. By doing this, even if the suction nozzles 21 in the picking head 2 are arranged in a row along the transport direction T, the articles XA arranged in a plurality of rows (parallel) with respect to the transport direction T Can be held, or the articles XA can be supplied (transferred) in a plurality of rows (parallel) with respect to the transport direction T.

  This will be described with reference to FIG. FIG. 7 is a schematic view showing the picking head 2, the suction nozzle 21, the first conveying means 5 and the second conveying means 6 in an extracted manner, and FIG. 7 (a) holds the article XA on the first conveying means 5. It is a side view which shows a mode that it does, and the figure (b)-(d) is the top view.

  As shown to the figure (a), each adsorption nozzle 21 shall hold article XA on the 1st transportation means 5 one by one from the front (downstream side of conveyance direction T), and the adsorption nozzle which held article XA 21 moves so as to retreat forward to the extent that the suction nozzles 21 do not buffer each other while the subsequent other suction nozzles 21 hold the article XA. Accordingly, it is possible to hold the article XA conveyed by the separation distance L2 shorter than the distance L1 when the suction nozzles 21 arranged in series along the conveyance direction T are closest to each other.

  The picking head 2 reciprocates in the width direction (Y direction) of the first conveyance means 5 while the suction nozzle 21 holds the article XA from the downstream side, and is disposed at an arbitrary position (random position). Hold the item XA.

  The figure (b) is a top view which shows the correspondence of adsorption | suction nozzles 211-216 and articles | goods XA1-XA6 which these plan to hold, respectively, and the figure (c) shows the adsorption | suction nozzles 211-214 as articles XA1-XA4. FIG. 7D is a top view of the state where the suction nozzle 215 holds the article XA5.

  In this manner, by moving the picking head 2 in the Y direction on the first conveyance means 5 while retracting the suction nozzle 21 holding the article XA forward, the separation distance L2 between the articles XA is between the suction nozzles 21. .. Are arranged in the width direction of the first conveyance means 5 (a plurality of rows along the conveyance direction T) (even in the case of 0). Even in the (parallel) case (see the articles XA4 and XA5 in FIG. 6B), the suction nozzles 211, 212, 213,... Can be sequentially held in series along the transport direction T. .

<Operation Aspect of Supply Device (Third Embodiment)>
As shown in FIG. 8, the supply device 1 moves the picking head 2 from one end side to the other end side in the width direction, and arranges the articles XA1, XA2, XA3. May be sequentially held from one end side to the other end side in the width direction.

  For example, as shown in FIGS. 8 (a) and 8 (b), the feeding device 1 is one end side of the picking head 2 in the width direction of the first transport means 5 (left end side in the transport direction T in the illustrated example). The suction nozzles 21 are moved to the upstream side or the downstream side in the transport direction T and, for example, the suction nozzles 212, 214, 215 respectively hold the articles XA2, XA4, XA5 disposed on the left end side.

  After that, as shown in FIGS. 7B and 7C, the supply device 1 moves the picking head 2 to the other end side in the width direction of the first transport means 5 (the right end side in the transport direction T in the illustrated example). ) And move each suction nozzle 21 to the upstream side or the downstream side in the transport direction T, and hold the articles XA1, XA3 and XA6 arranged on the right end side by the suction nozzles 211, 213 and 216, for example .

  As described above, since the suction nozzles 21 are also movable to the upstream and downstream of the transport direction T, the holding of the article XA does not have to be sequentially performed from the suction nozzles 21 (211) disposed on the downstream side, The plurality of suction nozzles 21 arranged in a line along the transport direction T may hold the article XA in random order (randomly). Further, in FIG. 6A, the articles XA2, XA4, XA5 aligned at one end may be moved up and down at different timings of the suction nozzles 212, 214, 215 and held sequentially, or the articles XA2, XA4, XA5. The suction nozzles 212, 214, and 215 may simultaneously move up and down (or the picking head 2 may move up and down) simultaneously, and may be collectively held (the same applies to the other end).

<Operation Aspect of Supply Device (Fourth Embodiment)>
With reference to FIG. 9, the operation in the case where the articles XA1, XA2, XA,... Held in the above-described embodiments are placed (supplied) in parallel in a plurality of rows along the transport direction T of the transport means Do. The figure (a) is a side view which shows a mode that the articles | goods XA are released on the 2nd conveyance means 6, and the figure (b) is a top view.

  Here, as an example, each suction nozzle 21 places the article XA on the second conveyance means 6 sequentially from the front, and in the suction nozzle 21 holding the article XA, the other suction nozzles 21 that follow are articles While the XA is placed, the suction nozzles 21 are moved forward so as not to buffer each other. During this time, the picking head 2 is moved in the Y direction on the second transport means 6.

  That is, for example, the picking head 2 is moved toward the right end in the transport direction T, the article XA1 held by the suction nozzle 211 is placed, the suction nozzle 211 is retracted forward, and the picking head 2 is While moving to the left end side (here, near the center) in the Y direction in FIG. 7B, the suction nozzle 212 is moved up and down as appropriate, and the article XA2 is placed parallel to the article XA1. Thereafter, while withdrawing the suction nozzle 212 forward and moving the picking head 2 to the left end side in the width direction, the suction nozzle 213 is appropriately moved upstream and downstream, and the article XA3 is placed parallel to the articles XA1 and XA2. Place. By doing this, the articles XA can be placed in parallel (here, in three rows) in the width direction of the second conveyance means 6.

  It should be noted that the suction nozzle 21 after releasing the article XA may not have to stand forward if there is no buffer with the subsequent suction nozzle 21.

  In addition, the picking head 2 may be moved in a rectangular wave in top view, and the article XA may be placed so as to be aligned in the width direction of the second conveyance means 6. Specifically, in FIG. 9B, after picking head 2 is moved in the Y direction to place articles XA1 and XA2 at first stage placement positions Pb1 and Pb2, respectively, the article is placed at placement position Pb3. XA3 is placed, and the article XA6 is placed at the second stage placement position Pb6 following the placement position Pb3 without moving the picking head 2. Then, the picking head 2 is moved in the Y direction to place the articles XA5 and XA4 at the placement positions Pb5 and Pb4, respectively. By doing this, the article XA (here, the articles XA3 and XA6) supplied to the end in the width direction of the second transport means 6 is not moved along the transport direction T without moving the picking head 2 Since the supply can be continuously performed to the rear side, the number of movements of the picking head 2 can be reduced.

  The flow of processing of the supply (transfer) method using the supply device 1 shown in FIGS. 7 to 9 will be described with reference to the flowchart of FIG. 5.

  First, in step S01, the holding position for holding the articles XA1 to XA6 conveyed by the belt conveyor (first conveying means) 5 by the respective suction nozzles 21 of the picking head 2 is grasped.

  For example, the control unit 4 determines positional information (image information) at a certain timing of the articles XA1 to XA6 (for example, a timing at which the picking head 2 is at the initial position), a conveyance speed Va of the articles XA1 to XA6 (belt conveyor 5), etc. The conveyance signal of the belt conveyor 5 based on the above is received, and the holding positions Pa1 to Pa6 of the articles XA1 to XA6 after a predetermined time elapses from the timing are calculated. In addition, the moving amount and moving speed of each suction nozzle 21 for holding Pa1 to Pa6 are calculated.

  In step S02, the moving speed Vt of each of the suction nozzles 211 to 216 and the moving amount (in the X direction) in the picking head 2 (moving distance) from the conveying speed Va and the holding positions Pa1 to Pa6 of the belt conveyor 5, etc. The moving speed of the picking head 2 and the moving distance of the picking head 2 in the Y direction are calculated.

  In step S03, the control unit 4 moves the picking head 2 onto the belt conveyor 5, and first moves the leading suction nozzle 211 to the holding position Pa1 of the article XA1. Then, the suction nozzle 211 is lowered in the Z direction to hold the article XA1. Thereafter, the control unit 4 retracts the suction nozzle 211 forward in the picking head 2.

  Next, the control unit 4 calculates the moving amount and moving speed of the picking head 2 and the suction nozzle 212 up to the holding position Pa2 in order to hold the article XA2 with the second suction nozzle 212, and holds the suction nozzle 212 at the holding position Pa2. Move to fit.

  Then, the suction nozzle 212 is lowered in the Z direction to hold the article XA2. Thereafter, the control unit 4 causes the suction nozzle 212 to retreat forward in the picking head 2 to an extent not to buffer the suction nozzle 211. Similarly, the suction nozzles 213 to 216 hold the articles XA3 to XA6.

  By moving the picking head 2 in the Y direction on the belt conveyor 5, even when the article XA is disposed at an arbitrary position in the width direction (Y direction) of the belt conveyor 5, the article XA is held. can do.

  In step S04, the placement positions (release positions) Pb1 to Pb6 of the articles XA1 to XA6 on the finger conveyor (second transport means) 6 are grasped. Here, as an example, the case where a plurality (for example, three pieces) are placed side by side in the width direction (Y direction) of the finger conveyor 6 will be described as an example.

  In step S05, the moving speed Vt of each of the suction nozzles 211 to 216 and the moving amount (in the X direction) in the picking head 2 (moving distance) from the conveying speed Vb of the finger conveyor 6 and the mounting positions Pb1 to Pb6. And the movement speed of the picking head 2 and the movement distance of the picking head 2 in the Y direction are calculated.

  In step S06, based on the movement amount and movement speed of suction nozzles 211 to 216 calculated in step S04 and the movement amount and movement speed of picking head 2 in the Y direction, picking head 2 and adsorption nozzles 211 to 216 are individually selected. The articles XA1 to XA6 are released at the mounting positions Pb1 to Pb6 of the finger conveyor 6 which is controlled and moved and moved. After releasing the article XA, each suction nozzle 21 retreats forward as in step S03.

  For example, the leading suction nozzle 211 places the article XA1 at the placement position Pb1 on the finger conveyor 6 and retreats forward. Next, while the picking head 2 moves in the Y direction, the second suction nozzle 212 mounts the article XA2 at the mounting position Pb2 of the finger conveyor 6 (the position where Pb1 is horizontally aligned). The finger conveyor 6 is moved at the transport speed Vb from when the article XA1 is placed to when the article XA2 is placed, and the control unit 4 sets the picking head 2 to Y based on the result calculated in step S15. While moving in the direction, the suction nozzle 212 is appropriately moved in the upstream and downstream of the transport direction T to place the article XA2 at a position adjacent to the article XA1 and to be retracted forward. Furthermore, while the picking head 2 is moving in the Y direction, the suction nozzle 213 moves up and down appropriately to place the article XA3 at a position aligned with the article XA2 and retreats forward.

  As described above, the articles XA1 to XA6 can be transferred to the respective mounting positions Pb1 to Pb6 while moving the suction nozzle 21 following (in synchronization with) the moving finger conveyor 6. Even when at least one of the mounting positions Pb1 to Pb6 is arranged in the width direction of the finger conveyor 6, the article XA can be mounted. In FIG. 9B, the articles XA are placed in alignment, for example, in three rows in the width direction. The subsequent processing is the same as steps S07 to S08 in FIG. Also in this case, the order of processing is not limited to this, and a plurality of steps may be processed simultaneously, or there may be steps for omitting the processing. In addition, the suction nozzle 21 after releasing the article XA may not have to stand forward if there is no buffer in the subsequent suction nozzle 21.

  Although illustration is omitted, the release of the article XA on the second conveyance means 6 can also be performed in the same operation as the holding operation of the article XA of the third embodiment shown in FIG. That is, the picking heads 2 holding the articles XA respectively by the plurality of suction nozzles 21 are moved, for example, to the right end side in the conveyance direction T of the second conveyance unit 2 and are sequentially arranged from the downstream to the downstream. The article XA is placed (or all at once) and then moved to the left end side of the second conveyance means 2 so that the article XA is placed sequentially (or all at once) from the downstream direction so as to line up from the downstream. You may Although the case where two columns are arranged in parallel is illustrated here, three or more columns may be arranged in parallel including the center column.

  As shown in this example, the supply device 1 of the present embodiment narrows the interval of the predetermined number of articles XA to the second conveyance means 6 (or arranges in the width direction of the conveyor) and supplies the same. It also functions as a grouping device.

<Operation Aspect of Supply Device (Fifth Embodiment)>
FIG. 10 is a side view showing another example in which the supply device 1 is made to function as a grouping device. By moving the suction nozzles 21 in series, the supply device 1 can collect (group) the articles XA into an arbitrary number and put them on (reposition).

  For example, as shown in FIG. 6A, the suction nozzle 21 holding the article XA is moved along the transport direction T to gather three pieces at a time, thereby grouping three pieces of each on the finger conveyor 6 Can be placed. Further, as shown in FIG. 6B, the suction nozzle 21 holding the article XA is moved along the transport direction T to assemble two by two pieces, thereby grouping the two groups of articles on the finger conveyor 6. It can be placed. Conventionally, when the number of articles XA to be grouped changes, it is necessary to replace the picking head 2. However, according to the present embodiment, the control of the picking head 2 and / or the suction nozzle 21 is changed. The number of articles XA to be grouped can be changed without changing the picking head 2, and the working efficiency is greatly improved.

<Operation Mode of Supply Device (Sixth Embodiment)>
FIG. 11 is a top view showing another example of the supply device 1. As shown to the figure (a), the 1st conveyance means 5 and the 2nd conveyance means 6 may be arrange | positioned in series along the conveyance direction T. As shown in FIG. In this example, one picking head 2 is disposed so as to straddle both the first conveyance means 5 and the second conveyance means 6, and the suction nozzle 21 moves in the picking head 2 to perform the first conveyance. The articles XA conveyed by the means 5 at intervals of the distance LL1 (or at any intervals) are held, and the articles XA are arranged at different intervals (distance LL2) or aligned (or grouped) on the second conveying means 6 ) Can be placed (supplied). In this case, the transport speed V1 of the first transport means T1 and the transport speed V2 of the second transport means 6 may be different.

  Further, as shown in FIG. 6B, the interval between the articles XA transported on one transport means 5 can be changed and placed again. In this example, the suction nozzle 21 holds the articles XA randomly arranged on the upstream side, and aligns and repositions them at the uniform distance LL2 on the downstream side. In this case, the upstream side may be transported at a uniform distance (for example, the distance LL1) different from the downstream side.

  Furthermore, in the example of FIG. 10, the picking head 2 may be moved along the transport direction T. Also, the picking head 2 may be movable in the Y direction. By doing this, the article XA can be placed in series or in parallel on the second transport means 6 in the same figure (a), and can be placed in series or in parallel on the downstream side in the same figure (b) The articles XA can be placed into groups.

<Operation Aspect of Supply Device (Seventh Embodiment)>
FIG. 12 is a side view showing another example of the supply device 1. The supply device 1 is capable of moving the suction nozzle 21 and the picking head 2 along the transport direction T of the article XA, and moves the picking head 2 at a moving speed V2 faster than the moving speed V1 of the suction nozzle 21. You may

  By doing this, while moving the suction nozzles 21 in synchronization with the articles XA conveyed by the first conveyance means 5 (by adsorbing the articles), the suction nozzles positioned on the downstream side of the picking head 2 21 (see (a) in the figure) can be moved to the upstream side of the picking head 2 as a whole (see (b) in the figure). In the case where the article XA is placed on the second conveyance means 6, the movement control can be similarly performed. That is, even if the suction nozzle 21 is moved in synchronization with the product XA in order to hold or release the product XA (even if the product is adsorbed while being moved), the position of the suction nozzle 21 in the picking head 2 The article XA held by the suction nozzle 21 can be moved upstream without being accelerated or decelerated (without decelerating the suction nozzle 21 or moving it in a reverse direction at high speed). Thereby, a long movable area of the suction nozzle 21 when holding or releasing the article XA can be secured.

  Also, by controlling the holding (adsorption) timing of the article XA or the release timing of the article XA, a plurality of articles XA can be stacked or supplied in a sashimi form.

  The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit and the technical idea of the present invention.

  That is, in the above embodiment, the position, size, length, shape, material, orientation, and the like of each component can be changed as appropriate.

  For example, in the above embodiment, the robot 3 holds the picking head 2 so as to be able to move in two directions in the Y and X directions, but holds it so as to move in one dimension only in the Y direction. It may be In addition, the robot 3 may hold the picking head 2 so as to be able to move in three dimensions in the X direction, the Y direction, and the Z direction.

  In addition, although the case where the first conveyance means 5 is a belt conveyor and the second conveyance means 6 is a finger conveyor has been described as an example, the invention is not limited thereto, and each may be a chain conveyor, a plate conveyor, a bucket conveyor, a direct acting type Or the like.

  In the above embodiment, the first conveying means (belt conveyor) 5 and the second conveying means (finger conveyor) 6 are arranged in parallel and conveyed in the same direction, but they are conveyed in opposite directions. You may. The first conveying means 5 and the second conveying means 6 may be arranged to intersect (orthogonal) each other.

  In addition, the holding means may be a holding means (for example, a means for holding the article XA in a plurality of directions and holding it).

  Not limited to the oblique movement of the picking head, it may be moved from downstream to upstream after moving horizontally.

  Furthermore, although the picking head 2 has been described by way of example in the case of the method (linear movement type) in which the holding means 21 is linearly reciprocated, it may be a method in which the holding means 21 is reciprocated in a ring shape.

1 feeding device 2 picking head 3 robot 4 control unit 5 first conveying means (belt conveyor)
6 Second transport means (finger conveyor)
21, 211, 212 · · · Holding means (suction nozzle)
XA, XA1, XA2 ... Articles

Claims (20)

Transport means for transporting a plurality of articles;
A picking head provided with a plurality of holding means capable of arbitrarily moving a predetermined track by linear motor drive;
A control unit that controls the picking head;
The control unit
The position of each of the plurality of articles is specified from the image information at a certain timing of the plurality of articles, and each of the plurality of articles after a predetermined time has elapsed from the timing based on the information including the transport speed of the transport means Calculate the holding position of the
Based on information including the distance from the position of each of the plurality of holding means to the corresponding holding position and the conveyance speed, the movement speed and the movement amount in the picking head are calculated for each holding means. And
The plurality of holding means are independently moved at the movement speed and the movement amount while moving the picking head toward the holding position;
The plurality of articles on the conveying means are respectively held by the plurality of holding means, and the intervals between the plurality of holding means are changed to change the article spacing of the plurality of articles, and the plurality of articles are changed to the conveyance means. Put the goods,
A feeding device characterized by It said holding means moves in synchronization with the conveying speed of the conveying means, holding said article, or to release,
The supply device according to claim 1, characterized in that: The conveying means includes a first conveying means and a second conveying means.
The picking head is moved between the first conveying means and the second conveying means to transfer the plurality of articles conveyed by the first conveying means to the second conveying means. Equipped with a robot
The articles are held by the holding means from the first conveying means, and the spacing between the plurality of articles is changed by changing the distance between the holding means, and the articles are transferred to the second conveying means. Do,
The supply device according to claim 1 or 2, characterized in that: The control unit
A process of individually moving the plurality of holding means in accordance with an arbitrary holding position of the plurality of articles conveyed by the first conveyance means, and holding the plurality of articles respectively;
A process of changing an interval of the plurality of holding means;
And releasing the plurality of articles at a predetermined release position on the second transport means.
The feeding device according to claim 3, characterized in that: The control unit performs a process of moving the plurality of holding means while moving the picking head between the first conveyance means and the second conveyance means.
The supply device according to claim 3 or 4 characterized by things. The control unit moves the picking head by the robot in a direction orthogonal to the moving direction of the holding unit.
The feeding device according to any one of claims 3 to 5, characterized in that. The control unit moves the picking head up and down by the robot to simultaneously hold or release a plurality of articles.
The feeding device according to any one of claims 3 to 6, characterized in that. The control unit is capable of moving the holding unit in a direction perpendicular to the conveyance surface of the conveyance unit.
The supply device according to any one of claims 1 to 7, characterized in that: The control unit moves the holding means in the conveyance direction of the article, moves the picking head in the conveyance direction at a higher speed than the holding means, and holds or releases the article.
The supply device according to any one of claims 1 to 8, characterized in that. The control unit
After the picking head holding the plurality of articles is moved from the downstream side to the upstream side in the conveying direction of the articles, a process of releasing the plurality of articles is performed.
The supply device according to any one of claims 1 to 9, characterized in that: The picking head includes driving means for moving the plurality of holding means up and down individually.
The control unit sequentially drives the holding means from the downstream side to the upstream side of the picking head to hold or release the article.
The supply device according to any one of claims 1 to 10, characterized in that: The holding means is an adsorption means,
The feeding device according to any one of claims 1 to 11, characterized in that: A feeding method for transferring a plurality of articles conveyed by a conveying means using a picking head provided with a plurality of holding means, comprising:
The plurality of holding means are each capable of arbitrarily moving a predetermined trajectory,
The position of each of the plurality of articles is specified from the image information at a certain timing of the plurality of articles, and each of the plurality of articles after a predetermined time has elapsed from the timing based on the information including the transport speed of the transport means Calculating the holding position of
Based on information including the distance from the position of each of the plurality of holding means to the corresponding holding position and the conveyance speed, the movement speed and the movement amount in the picking head are calculated for each holding means. Step to
The plurality of holding means are independently moved at the movement speed and the movement amount while moving the picking head toward the holding position of the plurality of articles on the conveyance means, and the plurality of holding means are moved by the plurality of holding means. Holding the plurality of articles;
Changing the spacing of the plurality of holding means;
Releasing and transferring the article from the holding means at a predetermined release position on the transport means.
A supply method characterized by The conveying means includes a first conveying means and a second conveying means.
A robot which transfers the plurality of articles conveyed by the first conveyance means to the second conveyance means by moving the picking head between the first conveyance means and the second conveyance means Equipped with
Moving the holding means individually according to any holding position of the plurality of articles on the first conveying means, and holding the plurality of articles by the holding means;
Changing the spacing of the plurality of holding means;
Moving the picking head at least horizontally with respect to the transport surface of the article;
Releasing and transferring the article from the holding means at a predetermined release position on the second transport means.
A method according to claim 13, characterized in that. Moving the plurality of holding means while moving the picking head between the first conveying means and the second conveying means
A method according to claim 14, characterized in that. The plurality of articles are transferred onto the transport unit while the holding unit is moved downstream in the transport direction.
A method according to any of claims 13 to 15, characterized in that. After the plurality of articles are held by the plurality of holding means, at least one of the holding means is moved in the upstream direction of the transport direction while the picking head is moved, and the plurality of articles are transferred to the transport means. To put
A method according to claim 16, characterized in that. After the plurality of articles are held by the plurality of holding means, the picking head is moved upstream in the conveyance direction to transfer the plurality of articles onto the conveyance means.
A method according to claim 16 or 17, characterized in that. The holding means is lowered while being moved in the downstream direction of the transport direction to hold the plurality of articles on the transport means.
A method according to any of the claims 16-18, characterized in that. The articles are placed in a plurality of rows by moving the picking head in the width direction of the transport means and releasing the holding of the articles sequentially from the downstream holding means.
20. A method according to any of claims 13 to 19, characterized in that.

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