JP6840482B2 - Scooping device - Google Patents

Description

The present invention relates to an apparatus for scooping up appropriate articles for transfer.

Patent Document 1 describes a device for inserting a thin plate and scooping it up under a transfer object installed on a predetermined mounting surface. In the apparatus of Patent Document 1, two flat plate-shaped thin plates on which a film material is wound are arranged so as to be overlapped with a gap. According to the description of Patent Document 1, two thin plates are inserted under the transfer object, and at the same time, the upper film and the transfer object are placed between the upper film and the transfer object, or the lower film and the transfer object are placed. Each film is configured to be fed according to the movement of the thin plate so that there is no relative speed difference between the film and the surface.

Japanese Patent No. 5567202

In the device described in Patent Document 1, when the film is moved by the driving device, resistance due to frictional force or the like acts between the film and the thin plate. If the resistance acting between the sheet and the film is large, the film may not be fed properly when the sheet is inserted under the object to be transferred, and between the sheet and the film. The durability of the film may decrease due to the frictional force. Further, the thin plate is quickly inserted into the lower side of the object to be transferred, or the object to be transferred is lifted. At that time, if the mass of the thin plate is large, the thin plate bends or the thin plate is displaced due to its own weight. Since the device described in Patent Document 1 may use food as an object to be transferred, when the thin plate makes an unintended movement such as bending or displacement, the food is scooped up or carried. There is a risk that the food cannot be moved reliably due to changes in the posture of the food or a part of the food falling.

The present invention has been made by paying attention to the above technical problems, and is a scooping device capable of suppressing resistance generated between a thin plate and a film and reliably moving an object to be transferred. It is intended to be provided.

In the present invention, in order to achieve the above object, when a film is wound around a holding member on which an object is placed so as to be interposed between the holding member and the object, and the holding member is inserted under the object. said by surface in contact with the object is sent in a direction opposite to the insertion direction of Ru inserted of said holding member, said difference and inclusive direction of the holding member between the object and the film of the film In the scooping device configured so as not to cause relative movement in the above, the holding member has two mounting members that are overlapped with a gap, and the first of the two mounting members. The first mounting member is located above the second mounting member, and both the first mounting member and the second mounting member extend in the traveling direction of the film and are parallel to the film. comprising a plurality of shaft-like member provided in parallel with each other at the inner, and a plate-like member which is continuously provided on the opposite side of the object side of the distal end portion of the shaft-like member in the insertion direction The shaft-shaped member in the first mounting member and the shaft-shaped member in the second mounting member alternate in a direction orthogonal to the traveling direction of the film in the plane. are arranged, prior SL film includes a first film to be wound in a state of covering the distal end portion of the lower side plugged Ru said first mounting member of the object, inserted into the lower side of the object It said shaft in said wound around the state of covering the distal end of the second mounting member has a second film, portions where the first film and the relative traveling in the first mounting member occurs Re that The gap between the shaped members forms a first non-contact portion in which the shaft-shaped member of the first mounting member is separated from the first film, and the second film of the second mounting member. The gap between the shaft-shaped members at the place where the relative travel occurs forms a second non-contact portion in which the shaft-shaped member in the second mounting member is separated from the second film. When the tip of the first mounting member and the tip of the second mounting member are inserted into the lower side of the object, the first film has the first mounting member on the lower side of the object. forced inserted is running on the upper side of the first mounting member from the lower side of the first mounting member through the distal end portion of the first mounting member with the Rukoto to said second film, said lower side of the second mounting member is the object the second mounting member through the distal end portion of the second mounting member from the upper side of the second mounting member with the Rukoto inserted below the To The first film and the first film are formed on the surfaces of the plate-shaped member of the first mounting member and the plate-shaped member of the second mounting member, respectively, which are configured to be allowed to travel. A plurality of projecting portions projecting toward the two films are formed, and the first film comes into contact with the projecting portions formed on the plate-shaped member of the first mounting member, and the second mounting member is placed. The second film comes into contact with the protruding portion formed on the plate-shaped member of the member, and the target is placed at the tip of the first mounting member in the insertion direction from the tip of the second mounting member. objects projecting bent portion and is bent in the second mounting member side side is characterized that you have been formed.

According to the present invention, the contact area between the holding member and the film can be reduced by the non-contact portion provided on the contact surface between the holding member and the film. Therefore, the resistance generated between the holding member and the film can be suppressed. Therefore, the relative running between the thin plate and the film can be smoothed, and the deterioration of the durability of the film due to the frictional force between the thin plate and the film can be suppressed. Further, by providing the non-contact portion, the mass of the holding member can be relatively reduced. Due to this weight reduction, bending and displacement due to the weight of the holding member can be reduced. That is, when the object is placed on the holding member and moved, it is possible to suppress or avoid the occurrence of unintended movement of the holding member. Therefore, it is possible to prevent the posture of the object scooped up by the holding member from changing or the object from falling, and the object can be reliably moved.

It is a figure for demonstrating the stacking mechanism which attached the scooping device in the Example of this invention. It is a top view which shows the overall structure of the scooping device in FIG. It is a figure for demonstrating the scooping apparatus in FIG. 1, and is the figure which shows by breaking a part. It is a figure for demonstrating the mounting member of the scooping device in FIG. It is a figure for demonstrating operation of the mounting member of the scooping device in the Example of this invention. It is a figure for demonstrating another structure of the mounting member in this invention.

As shown in FIG. 1, the scooping device 1 in the embodiment of the present invention is a device attached to the stacking mechanism 20 which is an articulated robot. Below the scooping device 1, a carry-in conveyor 15 that sends the object 2 in a mounted state is arranged. A camera (not shown) for determining the position of the object 2 sent by the carry-in conveyor 15 is arranged above the carry-in conveyor 15. The image obtained by the camera is analyzed, the data is transmitted to the stacking mechanism 20, and the scooping device 1 attached to the stacking mechanism 20 is configured to scoop up according to the position and posture of the object 2. There is. The camera described above does not have to be a camera as long as it has a mechanism capable of determining the position and posture of the object 2 in this way.

The scooping device 1 is configured to scoop up the object 2 placed on the carry-in conveyor 15. Then, the scooping device 1 places the scooped object 2 on the other object 2 on the carry-in conveyor 15 in the same posture. The objects 2 stacked in this way are scooped up from the carry-in conveyor 15 and sent to a predetermined position or the next process. At this time, the stacking mechanism 20 operates based on the image data obtained by analyzing the image obtained by the above camera, and by scooping and stacking the objects 2, the postures or directions of the objects 2 are aligned and scooped up. be able to.

As shown in FIGS. 1 to 3, the scooping device 1 according to the embodiment of the present invention includes a tsunder unit 3 for lifting an object 2. In the tsundere unit 3, the object 2 is interposed in each of the two mounting members 4 and 5 and the two mounting members 4 and 5, which are parts for holding the object 2 when it is transferred. The films 6 and 7 wound in this way are attached. The mounting members 4 and 5 are members corresponding to the holding members in the present invention.

The mounting members 4 and 5 are attached to a plurality of rod-shaped members 4A and 5A long in the direction in which the mounting members 4 and 5 are inserted and other end sides, and are orthogonal to the plurality of rod-shaped members 4A and 5A. It is composed of fixing members 4B and 5B that are long in the direction. A plurality of rod-shaped members 4A and 5A are fixed by the fixing members 4B and 5B. These mounting members 4 and 5 are in a state in which the first mounting member 4 arranged on the upper side in the vertical direction and the second mounting member 5 arranged on the lower side in the vertical direction are overlapped with each other. Have been placed. Since the mounting members 4 and 5 are composed of rod-shaped members 4A and 5A which are axial members provided parallel to each other in the insertion direction, they are not in the gap between the rod-shaped members 4A and 5A. Contact portions 4C and 5C are formed. At this time, the plurality of rod-shaped members 4A and 5A are arranged at intervals such that the upper surface and the lower surface of the films 6 and 7 do not come into contact with each other via the non-contact portions 4C and 5C.

As shown in FIG. 3, the first mounting member 4 includes a bent portion 4F formed by bending the other end side toward the second mounting member 5. Then, as shown in FIG. 3, the bent portion 4F projects toward the other end side of the second mounting member 5 when the first mounting member 4 and the second mounting member 5 are overlapped with each other. It is arranged like this.

Further, as shown in FIGS. 2 and 4, the plane faces the vertical direction at one end, which is the end opposite to the side where the fixing members 4B, 5B of the mounting members 4 and 5 are attached. The plate-shaped members 4D and 5D that have been formed are attached to the rod-shaped members 4A and 5A, respectively, by welding or the like. Further, as shown in FIG. 4, the second plate-shaped member 5D attached to one end side of the second mounting member 5 has a protruding portion 5E protruding from the plane toward the first mounting member 4. Multiple are formed. The protruding portion 5E is formed by reducing the plate thickness of the recess, which is a portion of the second plate-shaped member 5D excluding the protruding portion 5E. In other words, by reducing the plate thickness to form the recess, the plate thickness of the protruding portion 5E is configured to have a plate thickness required for design in the second plate-shaped member 5D. Since it is configured in this way, as shown in FIG. 5, when the second film 7 is wound so as to wrap the entire second mounting member 5, the second film 7 and the second plate-shaped member 5D face each other. The second film 7 and the projecting portion 5E come into point contact with each other on the surface to be formed. Therefore, the portion of the second plate-shaped member 5D where the protrusion 5E is not formed, that is, the recess formed between the plurality of protrusions 5E is the non-contact portion 5C. The protruding portion 5E projects smaller than the stopper portion 5F, which will be described later, on the second roll 10 side. Further, both ends of the plate-shaped members 4D and 5D in the width direction are engaged by sliding into a groove (not shown) provided in the frame 12, and the mounting members 4 and 5 and the frame 12 are attached. .. Although not shown, the first mounting member 4 is also formed with a protrusion similar to the protrusion 5E formed on the second plate-shaped member 5D.

The second plate-shaped member 5D is provided with a stopper portion 5F on the outer side in the width direction with respect to the protruding portion 5E. When the first mounting member 4 and the second mounting member 5 are overlapped with each other, the stopper portion 5F has an end portion on the side opposite to the side joined to the rod-shaped member 4A of the first plate-shaped member 4D. It is a member that can be positioned by being brought into contact with it. Further, in the stopper portion 5F, when the first plate-shaped member 4D is superposed on the second plate-shaped member 5D, the upper surface of the first plate-shaped member 4D and the upper surface of the stopper portion 5F are at the same height. It protrudes toward the second roll 10B.

As shown in FIG. 2, the two mounting members 4 and 5 have three rolls 8A, 9A and 10A and three rolls 8B, 9B and 10B attached to the respective shafts 8A, 9A and 10A on one end side thereof. Is placed. The three shafts 8A, 9A, and 10A are rotatably held by a frame 12 provided with holes 11A, 11B, and 11C through which both ends thereof penetrate. The pressing rolls 8B arranged at positions closest to the fixing members 4B and 5B of the mounting members 4 and 5 are arranged so that the first film 6 wound around the first mounting members 4 does not float. The first roll 9B arranged adjacent to the pressing roll 8B is arranged on the upper side in the vertical direction of the second plate-shaped member 5D, and the first film 6 is wound around the first roll 9B. The second film 7 is wound around the second roll 10B, which is arranged adjacent to the first roll 9B. Further, a drive roller 13 that comes into contact with the second roll 10B is attached on the upper side of the second roll 10B in the vertical direction. The drive roller 13 is rotated in a predetermined direction by a drive device such as a motor (not shown), and the rotation causes the second roll 10B to rotate.

Next, the operation of the tundle unit 3 will be described. As described above, when the object 2 is carried by the carry-in conveyor 15, the position and orientation of the object 2 are determined by a camera or the like, and the data is sent to the stacking mechanism 20. When the object 2 comes to a predetermined position, the stacking mechanism 20 moves the tsundere unit 3 to the vicinity of the object 2. When the tsundere unit 3 is moved in the vicinity of the object 2, the entire tsundere unit 3 is moved toward the object 2 by the above-mentioned drive device, and a mounting member is placed between the carry-in conveyor 15 and the object 2. 4 and 5 are inserted. At this time, since the end portion of the first mounting member 4 on the side where the fixing member 4B is attached is bent toward the second mounting member 5, the mounting members 4 and 5 are targeted as the carry-in conveyor 15. It can be easily inserted between the object 2 and the object 2.

At the same time that the mounting members 4 and 5 are inserted, the second roll 10B is rotated by the rotation of the drive roller 13, and the films 6 and 7 are fed in a predetermined direction. Specifically, as shown in FIG. 5, the surface of the second film 7 in contact with the carry-in conveyor 15, that is, the lower surface is the direction in which the carry-in conveyor 15 moves, that is, the second mounting member 5. Is sent in the direction opposite to the direction in which it is inserted. Further, as shown in FIG. 5, the surface of the first film 6 that comes into contact with the object 2, that is, the upper surface, is the direction in which the object moves, that is, the direction in which the first mounting member 4 is inserted. Sent in the opposite direction. At this time, as shown in FIG. 5, the first film 6 and the second film 7 have an adhesive, an adhesive seal, etc. (not shown) on the surface where the first mounting member 4 and the second mounting member 5 face each other. It is joined by. Therefore, such movement of the first film 6 is caused by the movement of the second film 7 being rotated by the drive roller 13 and the second roll 10B. At this time, the moving speeds of the films 6 and 7 are relative to each other between the first film 6 and the object 2, or between the second film and the carry-in conveyor 15 on which the object 2 is placed. It is configured to move, that is, to have a speed that does not cause a relative speed difference.

Then, when the object 2 mounted on the first mounting member 4 is transferred to a predetermined position, the mounting members 4 and 5 are pulled out in order to lower the object 2 to the predetermined position. Even when the object 2 is placed, there is no relative speed difference between the first mounting member 4 and the object 2, or the second mounting member 5 and the predetermined mounting surface on which the object 2 is placed. It is configured to have the feeding direction and speed of the films 6 and 7. By moving the mounting members 4 and 5 and the films 6 and 7 in this way, it is possible to reduce resistance such as friction generated on the predetermined mounting surface, the object 2 and the films 6 and 7 on which the mounting members 4 and 5 are mounted. The object 2 can be transferred without causing damage to each member or the object 2.

According to this configuration, the non-contact portion 4C, which is provided on the surface where the mounting members 4 and 5 and the films 6 and 7 come into contact with each other, that is, where relative travel occurs between the mounting members 4 and 5 and the film. With 5C, the contact area between the mounting members 4 and 5 and the films 6 and 7 can be reduced. Therefore, the frictional force generated between the mounting members 4 and 5 and the films 6 and 7 can be reduced. Therefore, the relative running between the mounting members 4 and 5 and the films 6 and 7 can be smoothed, and the frictional force acting between the mounting members 4 and 5 and the films 6 and 7 causes the frictional force. It is possible to suppress a decrease in the durability of the films 6 and 7. Further, by providing the non-contact portions 4C and 5C, the mass of the mounting members 4 and 5 can be relatively reduced. Due to this weight reduction, bending and displacement of the mounting members 4 and 5 can be suppressed or reduced. That is, when the object 2 is placed on the mounting members 4 and 5 and moved, it is possible to suppress or avoid unintended movement of the mounting members 4 and 5. Therefore, it is possible to prevent the posture of the object 2 scooped up by the mounting members 4 and 5 from changing or the object 2 from falling, so that the object can be reliably moved.

Next, other configurations of the mounting members 4 and 5 according to the present invention will be described with reference to the second mounting member 5 illustrated in FIG. In the configuration of the second mounting member 5 shown in FIG. 6, a slit 5G is formed on the surface of the second mounting member 5 formed in a thin plate shape so as to face the second film 7. Further, the second plate-shaped member 5D is provided with a plurality of holes 5H. The slit 5G and the hole 5H bring the second mounting member 5 and the second film 7 into line contact or point contact. Therefore, the non-contact portion 5C can be formed on the contact surface between the second mounting member 5 and the second film 7, the contact area can be reduced, and the mass of the mounting members 4 and 5 can be reduced. it can. Therefore, the same effect as the above-mentioned effect can be obtained.

The non-contact portions 4C and 5C are provided in the mounting members 4 and 5 in parallel with each other in the recesses or holes, the recesses between the protrusions protruding on the film side, or the relative traveling direction. It may be formed so as to be separated from the films 6 and 7 by the gap between the shaft-shaped members. In other words, the non-contact portions 4C and 5C may be formed so that the contact area between the mounting members 4 and 5 and the films 6 and 7 becomes small. For example, by forming protrusions such as rivets on the entire thin plate-shaped mounting members 4 and 5, the contact surfaces between the mounting members 4 and 5 and the films 6 and 7 are brought into point contact, and the contact area thereof is reduced. Non-contact portions 4C and 5C can be formed. Further, by using a corrugated thin plate for the mounting members 4 and 5, the contact surfaces of the mounting members 4 and 5 and the films 6 and 7 are brought into line contact, so that the contact area is reduced. Parts 4C and 5C can be formed. Since the corrugated thin plate has higher strength than the flat plate, the weight can be reduced by reducing the thickness of the entire corrugated thin plate. When the mounting members 4 and 5 and the films 6 and 7 are in line contact with each other, the mounting members 4 and 5 are in contact with the object 2 in the direction in which the mounting members 4 and 5 and the films 6 and 7 are in continuous contact with each other. It is preferable that the direction is such that the film is inserted between the mounting surface and the mounting surface.

1 ... scooping device, 2 ... object, 3 ... tsundere unit, 4, 5 ... mounting member, 4A, 5A ... rod-shaped member, 4B, 5B ... fixing member, 4C, 5C ... non-contact part, 4D, 5D ... Plate-shaped member, 5E ... projecting part, 5G ... slit, 5H ... hole, 6,7 ... film.

Claims (1)

A film is wound around a holding member on which an object is placed so as to be interposed between the object and the object, and when the holding member is inserted under the object, the surface of the film that comes into contact with the object is the surface. by being sent bayonet direction of Ru inserted a holding member in a direction opposite to the film and the object and the holding member and the difference was included direction scooping configured as not to cause relative movement in the apparatus of the In
The holding member has two mounting members that are overlapped with a gap.
The first mounting member of the two mounting members is located above the second mounting member.
Wherein the first mounting member and the second mounting member together, a plurality of shaft-like member provided in parallel with each other in the travel extending in a direction and the film parallel to the plane of the film, the insertion direction The shaft-shaped member is provided with a plate-shaped member continuously provided on the side opposite to the tip end portion on the object side .
The shaft-shaped member in the first mounting member and the shaft-shaped member in the second mounting member are alternately arranged in a direction orthogonal to the traveling direction of the film in the plane. Orthogonal
Before SL film wherein the first film to be wound in a state of covering the distal end portion of the lower side plugged Ru said first mounting member of the object, the second of Ru inserted underneath side of the object It has a second film that is wrapped around the tip of the mounting member.
The gap between the shaft-shaped members at the position where the relative travel occurs with the first film in the first mounting member is such that the shaft-shaped member in the first mounting member is separated from the first film. 1 Makes a non-contact part,
The gap between the shaft-shaped members at the position where the relative traveling with the second film in the second mounting member occurs is such that the shaft-shaped member in the second mounting member is separated from the second film. 2 Non-contact part,
When inserting the tip of the first mounting member and the tip of the second mounting member into the lower side of the object,
Wherein said first film, said first mounting member is passed through the distal portion of the first mounting member from the lower side of the with the Rukoto inserted below the first mounting member of said object It is run on the upper side of the first mounting member,
Said second film, said second mounting member is passed through the distal portion of the from the upper second mounting member of the second mounting member with the Rukoto inserted into a lower side of the object first 2 It is configured so that it can run under the mounting member.
A plurality of protrusions protruding toward the first film and the second film on each of the surfaces of the plate-shaped member of the first mounting member and the plate-shaped member of the second mounting member facing each other. The part is formed,
The first film comes into contact with the protruding portion formed on the plate-shaped member of the first mounting member, and the second film touches the protruding portion formed on the plate-shaped member of the second mounting member. The film comes in contact
The distal end portion of the first mounting member, that is the protruding in the insertion direction on the object side and the bent portion which is bent to the second mounting member side than the distal end portion of the second mounting member A scooping device characterized by that.

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