JP7110585B2 - robot hand - Google Patents

Description

TECHNICAL FIELD The present invention relates to a robot hand provided for a robot that packs articles.

Due to the labor shortage in recent years, there is a shortage of workers for the packaging process, which has traditionally been done manually. In particular, the work of packing articles such as tubes and bottles into a bag is a simple work in which the same work is repeated over a long period of time.

Therefore, it is desired to automate the bagging operation by using a robot or a peripheral device for the robot.

On the other hand, in order to save resources and display high-density products in stores, bags that are not large enough to accommodate the products are being used. For this reason, in automating the packing of articles, it is difficult to firmly push articles into small bags to predetermined positions. It's a problem.

A funnel-shaped guide with a conical member made of elastic material attached to an annular member is provided at the entrance of the bag in order to ensure that the articles are inserted into the bag even when the bag is not large enough for the articles. In this case, it has been proposed to open the bag by suction and then insert the article into the bag through a guide (Patent Document 1).

JP-A-2007-55670

The article can be passed through the opening of the bag by inserting the article into the bag through a funnel-shaped guide provided at the entrance of the bag. However, if the bag is vertically long or has gussets on the bottom or sides that may resist insertion, it is difficult to reliably insert the articles to the bottom of the bag. On the other hand, if an attempt is made to automate the operation of opening the bag to the bottom, the packaging cost will increase due to the complication of the operation process, the enlargement of the apparatus, and the increase in processing time.

Therefore, in the bag stuffing operation of inserting an article into a bag, even when using a bag that does not have enough room for the article, the bag is vertically long and the article is pushed to the bottom just by opening the bag. It is an object of the present invention to automate a simple process without using a large-scale device, even when the process is difficult.

The inventor of the present invention conceived that it would be effective to devise a robot hand to push the articles into the bag in order to carry out the bagging operation of the articles efficiently and at low cost, and We have completed the present invention.

That is, the present invention provides an article pushing robot hand for a robot that packs articles,
A rod-shaped member for opening the bottom of the bag that is inserted into the opened bag to open the bag to the bottom, a rod-shaped member for pushing an article into the opened bag from the opening to the bottom, and an article-pushing member having a suction part for sucking the article. Offer a robot hand.

The present invention also provides an article bagging method using an article-pushing robot hand provided in a robot, wherein the robot hand includes a bar-shaped member for opening the bottom of the bag, a bar-shaped member for pushing, and a suction member. Using an article pushing robot hand having a part,
Bagging of goods
a step of picking up an article in the article supply section by the suction section and placing it on a temporary placement position of the article;
A step of inserting a rod-shaped member for opening the bottom of the bag from the opening of the opened bag to open the bag to the bottom;
moving the article from the temporary placement position to the pushing position;
A step of pushing an article into the bag that has been opened from the opening to the bottom with a pushing rod-shaped member;
To provide a bagging method having

When the robot hand of the present invention is used to pack an article into a bag, the bag can be opened to the bottom using the bag bottom-opening rod-shaped member before the article is inserted into the bag, and the article is inserted into the bag. Occasionally, the movement of the robot hand itself can be used to shallowly push an article into the bag, or the pushing bar member can be used to push the article deep into the bag. To securely pack articles without being caught in a bag and without damaging or deforming the bag.

Furthermore, according to the robot hand of the present invention, there are two types of rod-shaped members: a bag bottom-opening rod-shaped member that opens the bottom of the bag, and a push-in rod-shaped member that pushes articles into the opened bag from the opening to the bottom. Therefore, the work of opening the bag to the bottom and the work of pushing the article into the bag can be alternately and quickly repeated by using the most appropriate rod-like members. In this case, the amount of movement of the robot hand itself is small, and the bagging work speed can be improved.

In addition, since the configuration of this robot hand is simple and can be used with a general-purpose robot, it is possible to carry out bagging work at low cost without using a large-scale device.

FIG. 1 is a schematic front view of a dual-arm robot equipped with an article pushing robot hand of an embodiment. FIG. 2A is a top view of the vicinity of the workbench where the robot packs bags. FIG. 2B is a top view and a cross-sectional view showing a state in which the robot places the article-pushing robot hand and the bag-opening device (bag-opening robot hand) above the workbench. FIG. 3A is a four-sided view of an article pushing robot hand. FIG. 3B is an explanatory diagram of the deformability of the bottom-opening rod-shaped member provided in the article-pushing robot hand. FIG. 3C is an explanatory diagram of the deformability of the bottom-opening rod-shaped member provided in the article-pushing robot hand. 4A and 4B are explanatory diagrams of the action of the article pushing members of (a) Example and (b) Comparative Example. FIG. 5 is a three-sided view of the bag-opening device with the suction portion facing the workbench. FIG. 6 is an explanatory diagram of vertically elongated articles to be bagged. FIG. 7 is an explanatory diagram of vertically elongated articles to be bagged. FIG. 8 is an explanatory diagram of the bag-opening process in the method of packing articles. FIG. 9A is an illustration of how to open the bottom of the bag. FIG. 9B is an explanatory diagram of the process of pushing an article. FIG. 9C is an explanatory diagram of a state in which the article has been completely pushed. FIG. 10A is a process explanatory diagram of a method for packing articles. FIG. 10B is a process explanatory diagram of a method for packing articles. FIG. 10C is a process explanatory diagram of a method for packing articles. FIG. 10D is a process explanatory diagram of a method for packing articles. FIG. 10E is a process explanatory diagram of a method for packing articles. FIG. 10F is a process explanatory drawing in the method of packing articles. FIG. 10G is a process explanatory diagram of a method for packing articles. FIG. 10H is a process explanatory diagram of a method for packing articles. FIG. 10I is a process explanatory diagram of a method for packing articles. FIG. 10J is a process explanatory diagram of a method for packing articles. FIG. 10K is a process explanatory drawing in the method of packing articles. FIG. 10L is a process explanatory diagram of a method for packing articles. FIG. 11A is an explanatory diagram of a different mode of the bagging method for articles. FIG. 11B is an explanatory diagram of a different mode of the bagging method for articles.

The present invention will now be described in detail with reference to the drawings. In each figure, the same reference numerals denote the same or equivalent components.
FIG. 1 is a schematic front view of a robot 1 equipped with an article pushing robot hand 10 according to an embodiment of the present invention, and FIG. 2A is a top view of the vicinity of a workbench 30 where the robot 1 performs bagging. 2B is a top view of the robot 1 placing the robot hand 10 above the work table 30. FIG.

[Outline of bagging work of goods]
The robot 1 shown in FIG. 1 is a double-armed robot that performs bagging work in a production line for bagged products, and has an article pushing robot hand 10 of the embodiment of the present invention as its right hand. As a left hand, it has a moving base 22 forming part of a bag opening device 20 for opening bags. In other words, the left hand is a bag-opening robot hand 28 comprising the mobile base 22 . In general, the bagging operation of articles is carried out by taking out the bag 2 supplied from the bag supply device 40 onto the workbench 30 by the moving base 22 of the bag opening device 20 on the left hand, opening the bag 2 on the workbench 30, On the other hand, the article 3 supplied from the article supply device 50 is taken out onto the workbench 30 by the article pushing robot hand 10 of the right hand, and the bag 2 opened by the bag opening device 20 is further opened to the bottom, This is done by pushing the article 3 into the bag 2 . The bag into which the articles are stuffed in this way is sent to the next process for closing the bag.

[Goods]
Although there are no particular restrictions on the articles to be bagged, the present invention is particularly effective when dealing with vertically long articles.
Examples of vertically elongated articles include the bottle container shown in FIG. 6 and the tube container shown in FIG. In addition, the article may be in the form of a vertically long flat plate, or a container having a smaller diameter at the bottom than at the cap.

[bag]
Bags used for packing goods include flat bags such as palm-to-palm type and three-sided seal type, gusset bags with both sides sealed and having gussets on the bottom, and gusset bags with gussets on the bottom and sides. can be mentioned. In particular, a gusset bag is likely to be caught when the article is pushed to the bottom even if the front and back of the bag are pulled by suction to open the bag, so the effect of the present invention is fully exhibited.

[robot]
Although FIG. 1 shows a vertically articulated dual-arm robot as the robot 1, the type of robot to which the robot hand of the present invention is attached is not particularly limited. For example, a serial type vertical multi-joint robot, a serial type horizontal multi-joint (scalar type) robot, a parallel link type robot, and the like can be used.

When the bag stuffing operation is performed using the article pushing robot hand 10 and the bag opening robot hand 28, the bag opening action and the article pushing action into the bag are performed while the left and right hands are close to each other. As the robot, a serial type is particularly preferable because the robot arms and hands are less likely to interfere with each other.

A dual-arm robot is more preferable in that it is easy to control each of the left and right arms, and the left and right arms can be controlled in conjunction with each other, so that movements that do not interfere with the left and right arms can be easily created. In addition, since the double-arm robot has a common attachment portion for the left and right robot arms, the robot arm for attaching the article pushing robot hand 10 and the bag-opening robot arm for attaching the bag-opening robot hand 28 can be installed compactly. But preferred. On the other hand, in the present invention, the robot may have more than two arms, that is, have three or more robot arms.

Moreover, it is preferable to appropriately select the type of robot according to the position of the article supply unit relative to the work position for bagging, the position of the bag supply unit, the position at which the bagged articles are sent to the next process, and the like. For example, if most of the movement of the robot arm is left, right, up and down, it is preferable to use a horizontal articulated (scalar type) robot that can move horizontally at high speed and has a wide range of horizontal movement. It is necessary to pick up items and bags that are supplied in various positions and directions, or it is necessary to stand the bagged items and supply them to the next process. When movement is required, it is preferable to use a serial-type vertical multi-joint robot that has a large vertical movement range and a large degree of freedom and is capable of complex wrist movements.

The robot 1 shown in FIG. 1 has a horizontal rotating part 1a also at the waist to widen the workable range in order to widen the range of motion. In this way, the robot can have more rotating shafts in addition to the robot arm.

When an article to be bagged or a bag to be used for packing is taken out from a fixed position and used, the bagging work can be performed even if the robot does not have an image recognition device. It becomes possible to pack articles supplied in a certain range from a direction.

The imaging device used in the image recognition device is not particularly limited, and may be a two-dimensional type or a three-dimensional type. A color or black-and-white imaging device is selected in consideration of the time required for image processing, the color of the article, the background color of the article, cost, and the like, and the number of pixels is also appropriately selected.

Also, the installation position of the imaging device is not particularly limited, and for example, it can be installed above the pick position, or it can be installed on the head of the dual-arm robot.
If the imaging device is installed above the picking position, the direction and position of the article can be accurately recognized, so positional deviation during picking can be minimized. An imaging device may be installed above the picking position separately from the robot, or an imaging device may be installed on the robot arm to take an image from above the picking position.

When the imaging device is installed on the head of the dual-arm robot, the relative position of the imaging device with respect to the robot arm is determined. No adjustment is required.

[Robot hand for pushing in goods]
FIG. 3A is four views (a top view, a front view, a right side view, and a left side view) of the article pushing robot hand 10. FIG.
This article pushing robot hand 10 includes a bag bottom opening rod member 12 which is inserted into an opened bag to open the bottom of the bag, a pushing rod member 14 which pushes an article into the opened bag, and an article sucker. A suction jig 17 having a suction portion 19 is provided. These are attached to the hand base 11 so as to be aligned in the longitudinal direction and arranged side by side on a common working plane.

(Bar-shaped member for opening bag bottom)
The bar-shaped member 12 for opening the bag bottom is a bar-shaped member inserted into the bag 2 after the bag 2 is opened at the bag filling position 33 by the bag-opening device 20, and the bag 2 is reliably extended to the bottom of the bag 2. It opens. Therefore, the bag-bottom-opening bar member 12 has a bag-bottom-opening member 12a as a leading end member suitable for opening the bag, and an air cylinder 13 for projecting the bag-bottom-opening member 12a forward. The protruding means is not particularly limited, and may be an electric actuator.

The size of the bag bottom opening member 12a is smaller than the inner size of the bag 2.例文帳に追加Moreover, the size of the bag bottom opening member 12a is preferably equal to or slightly reduced from the maximum size of the article 3 to be pushed into the bag 2 . As a result, the bag 2 can be prevented from being damaged by being excessively expanded, and the bottom portion of the bag 2 can be reliably expanded according to the size of the article 3.例文帳に追加

The shape of the bag bottom opening member 12a is preferably a truncated conical shape with a tapered tip, and it is preferably made of a material having a smooth surface and a small coefficient of friction with the inner surface of the bag so that the bag can be opened smoothly.

As a method for reliably expanding the bag to the bottom, as shown in FIG. By supplying the inside 2, the bag 2 may be opened to the bottom. In this case, it is preferable to make the size of the bag bottom opening member 12a smaller than the inner dimension of the bag and to make it as close as possible to the inner dimension of the bag, in order to minimize air leakage and to reliably open the bag to the bottom. When the bag is opened by air, the bag bottom opening member 12a may be pushed to the bottom of the bag, or may be pushed to the front, that is, halfway before reaching the bottom of the bag. Since the inner dimension of the bag bottom opening member 12a is close to the inner dimension of the bag, pushing it to the bottom may damage the bag.

As a method of expanding the bag to the bottom more reliably, as shown in FIG. 3C, an air supply port 12b is provided at the tip of the bag bottom opening member 12a, and an expandable member 12c is placed behind the bag bottom opening member 12a. may be provided. Assuming that the diameter of the expandable member 12c when contracted is less than the inner dimension of the bag (Fig. 1(a)) and the diameter when expanded is the inner dimension of the bag (Fig. 1(b)), the bag is positioned at the bottom. The bag bottom opening member 12a is pushed into the bag when the bag is expanded to the maximum, the diameter of the member 12c whose outer dimension is expandable is expanded, and air is supplied from the tip of the bag bottom opening member 12a to substantially eliminate air leakage. This is preferable because the bottom of the bag can be spread more reliably (Fig. 1(c)).

The member whose external dimensions are expandable is not particularly limited. A so-called balloon-like member that shrinks when pressure is applied can be used.

As for the pushing amount of the bag bottom opening member 12a when using a member with an expandable outer dimension, it may be pushed to the bottom, or the pushing may be stopped just before the bottom or near the opening. The outer dimension is expandable so that even if the bag is expanded by the expansion of the expandable member and the bag is deformed, the deformation is not conspicuous and the opening of the bag is not torn. It is preferable that the member is pushed slightly closer to the bottom side than the opening.

(Pushing rod-shaped member)
The pushing bar member 14 is a member for pushing the articles 3 into the bag 2 after the bag 2 has been fully opened to the bottom by the bag bottom opening bar member 12 . Therefore, it is preferable that the pushing rod-shaped member 14 has an article pushing member 15 suitable for pushing at the tip thereof and an air cylinder 16 for projecting the article pushing member 15 forward.

The article pushing member 15 has a pushing surface with a slightly smaller diameter than the body of the article 3, so that even if the part where the article is pushed by the bar-like member is narrowed like the sealing part of the tube, the article can be reliably put into the bag. be pushed inside. Also, the article pushing member 15 has a protrusion 15a on the bottom side. As shown in FIG. 4A, the projection 15a is inserted into the groove 35 formed in the workbench 30 in the pushing direction of the article pushing member 15, so that the projection 15a is inserted into the groove 35 of the workbench 30. In this state, the article pushing member 15 is made to push the article 3.例文帳に追加As a result, when the tubular article 3 is pushed, the sealing portion 4 does not slip under the article pushing member 15, and the article can be pushed reliably. On the other hand, when the protrusion 15a is not formed on the article pushing member 15, as shown in FIG. Occasionally, the seal portion 4 slips under the article pushing member 15 and becomes caught, making it impossible to push the article in any further. As described above, the method of inserting the protrusion 15a formed on the article pushing member 15 into the groove 35 of the workbench 30 and pushing the article 3 allows the article pushing member 15 to push an article such as a tubular article. This is particularly useful because it prevents the part to be pushed under the article pushing member 15 when the part to be pushed by is located near the workbench 30 . In order to prevent the projection 15a from interfering with the lower part of the bag 2, the movement stroke of the article pushing member 15 when protruding may be a movement stroke halfway through the pushing. Even if the movement stroke is halfway through the pushing, it is possible to completely insert the article with the force of pushing the article.

(Adsorption part)
The adsorption portion 19 is formed of a vacuum pad. A plurality of suction parts 19 are arranged on a suction part base 18, and the suction parts 19 and the suction part base 18 constitute a suction jig 17 (FIG. 3A). The suction jig 17 plays a role of moving to the article supply section 55 by the motion of the article pushing robot hand 10 , picking up the article 3 with the suction section 19 , lifting the article 3 , and placing the article 3 on the temporary placement position 32 .

[Bag opening device]
The bag opening device 20 includes a fixed base 21 having a suction portion (vacuum pad) 23 , a moving base 22 having a suction portion (vacuum pad) 24 and an elastic member 25 , and the moving base 22 with respect to the fixed base 21 . It is equipped with a drive for movement (Fig. 2B). FIG. 5 is a trihedral view (top view, side view, front view) of the moving base 22 of the bag opening device 20 with the suction portion facing the workbench 30. FIG.

In the apparatus configuration shown in FIGS. 1, 2A and 2B, the bagging position 33 of the workbench 30 is used as the fixed base 21, and a plurality of suction units 23 are attached to the bagging position 33 of the workbench 30. They are arranged in the longitudinal direction of the bag placed on the stuffing position 33 . By arranging the suction portions in this manner, the vertically long bag can be reliably opened from the opening to the vicinity of the bottom.

In the movable base 22, the suction portions 24 and the elastic members 25 are alternately arranged on the surface for sucking the bag 3, and when the fixed base 21 and the movable base 22 are opposed to each other when opening the bag, the fixed base 21 is moved. The adsorption portion 23 and the adsorption portion 24 of the moving base 22 are provided at positions that do not overlap each other. When a bag is sandwiched between a fixed base 21 and a moving base 22, the front and back sides of the bag are respectively sucked by suction parts 23 and 24, and the moving base 22 is lifted from the fixed base 21 to open the bag, the fixed base 21 When the attracting portion 23 of the moving base 22 and the attracting portion 24 of the moving base 22 are positioned to face each other, the attracting portion is generally made of a flexible material. In some cases, flexible materials press the bag against each other, and the suction surface is not stable, so there are cases where the article cannot be suctioned. On the other hand, if the suction portion 23 of the fixed base 21 and the suction portion 24 of the movable base 22 are not overlapped with each other, the suction portions 23 and 24 can stably suck the bag.

Preferably, as shown in FIG. 2B, a pad 25 made of an elastic material is provided at a portion of the moving base 22 facing the suction portion 23 of the fixed base 21, and more preferably, the suction portion of the moving base 22. A pad 26 made of an elastic material is also provided on the portion of the fixed base 21 facing the pad 24 . By pressing with this elastic material, the bag 2 is surely sucked by the suction portion 23 of the fixed base 21 and the suction portion 24 of the moving base 22, and the bag 2 can be opened by lifting the moving base 22 from the fixed base 21. - 特許庁.

Here, a vacuum pad of a flat type, a bellows type (bellows type), or the like can be used as the suction portion. In particular, it is preferable to provide a bellows-type (bellows-type) vacuum pad at the suction portion 23 near the opening of the bag 2 on the fixed base 21 . As a result, the bellows-type vacuum pad is flexibly deformed even when an unexpected force is applied when the articles 3 are pushed into the bag 2 or when the bag bottom is opened by the bar-shaped member 12 for opening the bag bottom, so that the suction is released. can be prevented. Further, it is preferable that the vacuum pad for sucking the area other than the vicinity of the opening of the bag 2 is of a flat type in that the sucking area can be widened and the bag can be fixed with a strong force.

Rubber, hard sponge, and the like can be given as examples of the elastic material that is opposed to the suction portion. A buffer (spring plunger) may be used as an elastic material facing the vacuum pad.

On the other hand, the bag opening device 20 has a pivoting device 27 at the connecting portion between the moving base 22 and the hand base 11 . The moving base 22 is rotated by the rotating device 27 to direct the suction portion 24 of the moving base 22 toward the bag supply portion 43 to take out the bag 2 from the bag supply portion 43 by suction. It is possible to perform an operation such as directing to By having the turning device 27 in the hand, a desired operation can be performed without moving the robot arm to a large extent. In addition, since such a turning motion can be performed by the robot arm and the robot hand in the case of the vertical articulated robot, if the configuration of the robot enables the turning motion, the bag opening device 20 can be used. The swivel device 27 can be omitted, and the hand can be simplified and lightened.

[Workbench]
The workbench 30 has a pushing position 31 where the article is pushed by the pushing rod-shaped member, and a temporary placement position where the article 3 supplied from the article supply unit supply is temporarily placed until the article 3 is moved to the pushing position 31. 32. A bagging position 33 is secured, which is the position where the bag is placed when the article 3 is pushed into the bag (Fig. 2A).

An article regulating guide 34 is provided on one side of the workbench, and the other side serves as a regulating guide for the article 3 placed at the temporary placement position 32, and also serves as a guide for regulating the article 3 at the temporary placement position 32. An article moving plate and article regulation guide 56 is provided which also functions as a plate-like member for moving the article parallel to the pushing position 31 .

Also, when pushing an article at the pushing position 31 into the bag at the bagging position with the pushing rod member 14, the projection 15a at the tip of the pushing rod member 14 is inserted into the workbench 30, and the rod member is pushed into the bag. A groove 35 that slides in the longitudinal direction (pushing direction) is provided.

At the bagging position 33, there are a suction pad 23a of a fixed base that sucks the opening side of the bag 2 placed on the bagging position 33, a suction pad 23b that sucks the central portion of the bag, and a bottom side of the bag. A suction pad 23c for sucking is provided (FIG. 2A).

The robot 1 having the article pushing robot hand 10 and the movement base 22 of the bag opening device 20 is placed on the front surface of the workbench 30 near the article pushing position 31 shown in FIG. 2A. At this time, the bottom-opening rod-shaped member 12, the suction jig 17, and the pushing rod-shaped member 14 of the article pushing robot hand 10 are arranged so that their longitudinal directions (i.e., extension directions) are in the pushing direction of the article on the workbench 30 ( the direction in which the groove 35 extends), the pushing bar member 14 is located on the upper side of the direction in which the article is moved from the article supply section 55 to the article temporary placement position 32, and the bottom opening bar member 12 is poor. By arranging the bottom-opening bar member 12, the suction jig 17, and the pushing bar member 14 of the article-pushing robot hand 10 in this manner, as will be described later, the articles can be efficiently packed in bags without waste. be able to.

[Bag supply device]
The bag supply device 40 includes a stacking bag supply table 41 on which a stack of flatly crushed bags 2 is placed and a bag supply that regulates the stacking position of the stack of bags on both sides of the stacking bag supply table 41 . A section guide 42 and a bag pushing section 44 for pushing the stack of bags toward the bag supply section 43 of the bag 2 are provided (FIG. 2A). A stopper portion slightly narrower than the width of the bag 2 is provided on the side of the bag supply section guide 42 from which the bag 2 is taken out. The bag 2 is held at a fixed position on the take-out side by the bag pushing portion 44. - 特許庁When the bag 2 is picked, the bag 2 is deformed so that only one picked can escape from the stopper.

[Article supply device]
The article supply device 50 includes a belt conveyor 51, a pair of article supply section guides 53 defining an article conveyance path 52 on the belt conveyor 51, an article stopper 54 provided at the tip of the belt conveyor 51 in the conveyance direction, The articles to be bagged are sequentially delivered to the article supply section 55 (Fig. 2A).

The space between the pair of article supply section guides 53 is slightly narrower than the width of the article 3, and the article 3 is tilted in the conveying path 52 between the pair of article supply section guides 53. (Fig. 2B). As a result, while the tube is being conveyed along the conveying path 52 as the article 3, the linear seal portion 4 at the bottom of the tube may run over the body of the tube being conveyed following the tube. , can be prevented from crawling under.

[Method of bagging goods]
By using the robot 1 shown in FIG. 1 equipped with the article pushing robot hand 10 and the bag opening device 20 of the present invention on the workbench 30 shown in FIG. 2A, articles are bagged as follows. .

(Step 1)
The suction unit 19 of the article pushing robot hand 10 sucks the article 3 carried to the article supply section 55 and picks it up. On the other hand, the moving base 22 of the bag opening device 20 directs the suction surface toward the bag supply device 40, sucks the bag 2 in the bag supply section 43, and picks it up (FIG. 10A). At the time of this picking, since the bag group in the bag supply device 40 has elastic properties, the bag 2 is pressed against the suction portion 24 of the moving base 22, and the bag 2 is reliably suctioned by the suction portion 24 of the moving base 22. can do.

(Step 2)
The suction unit 19 of the article pushing robot hand 10 places the article 3 at the temporary placement position 32 . On the other hand, the bag opening device 20 moves the bag sucked by the sucking portion of the moving base 22 to above the bag filling position 33 (FIG. 10B).

(Step 3)
The suction part 19 of the article pushing robot hand 10 is located above the temporary placement position 32 where the article 3 is placed. On the other hand, the bag opening device 20 rotates the moving base 22 to move the adsorbed bag 2 onto the bagging position 33 used as a fixed base (FIG. 8A), place it there (FIG. 8B), and further Move base 22 is lowered toward fixed base 21 (FIG. 8C). As can be seen from FIGS. 8A to 8C, there is a pad 25 formed of an elastic material at a position of the moving base 22 facing the suction portion 23 of the fixed base 21, and a fixing portion facing the suction portion 24 of the moving base 22 is provided. There is no suction portion at the position of the base 21 and it is a flat portion. Therefore, even if the moving base 22 is further lowered and the suction portions 23 and 24 are pressed against the bag 2, the suction portions 23 and 24 do not tilt or float, and the suction portions 23 and 24 reliably suck the bag 2. can do. In particular, when the pad 25 made of an elastic material of the moving base 22 is lowered and the suction portion 23 provided on the fixed base 21 is compressed, the suction portion 23 of the fixed base 21 facing the pad 25 is more securely moved. to suck the bag 2. When both sides of the bag 2 are sucked by the suction part 23 and the suction part 24, the moving base 22 starts to rise and the bag 2 starts to open (FIG. 8D) (FIG. 10C).

In the moving base 22, an elastic member is provided at a position facing the suction portion 23 of the fixed base 21, so that when the bag 2 is carried to the fixed base 21 by the moving base 22, that is, the article pushing robot hand 10, the fixed base It is preferable that the fixed base 21 is provided with a flat portion, preferably formed of an elastic member, at a position facing the suction portion 24 of the moving base 22. This is preferable because the bag is more reliably pressed against each suction portion and sucked.

(Step 4)
The suction part 19 of the article pushing robot hand 10 is still on the temporary placement position 32 where the article 3 is placed, but pushes the bag bottom opening bar member 12 toward the bag 2 opened at the bag stuffing position 33. position adjustment for The bag opening device 20 raises the moving base 22 to open the bag 2 widely (FIG. 8E) (FIG. 10D).

(Step 5)
The article pushing robot hand 10 advances the bag bottom opening member 12a of the bag bottom opening bar member 12 to the bottom of the opened bag 2, thereby completely opening the bag 2 to the bottom (FIG. 9A). The bag-opening device 20 holds the bag 2 in an open state at the suction portion of the bagging position (fixed base) 33 and the suction portion of the moving base 22 (FIG. 10E).

(Step 6)
The article pushing robot hand 10 retracts the bag bottom opening member 12 a of the bag bottom opening bar member 12 from the bag 2 . The bag opening device 20 continues to hold the open state of the bag 2 with the suction portion of the fixed base 21 and the suction portion of the moving base 22 (FIG. 10F).

(Step 7)
The article pushing robot hand 10 further retracts the bag bottom opening bar member 12 so that the bag bottom opening member 12 a does not come into contact with the pushing position 31 . The sucking part 19 also stops sucking and retreats away from the article 3 . The bag opening device 20 continues to hold the open state of the bag 2 with the suction portion of the fixed base 21 and the suction portion of the moving base 22 (FIG. 10G).

(Step 8)
By parallelly moving the article moving plate/article regulation guide 56 of the workbench, the article at the temporary placement position 32 is moved to the push-in position 31 (FIG. 10H).

(Step 9)
The article pushing robot hand 10 is moved from its pushing rod member 14 toward the bag bottom opening rod member 12, and the article pushing member 15 of the pushing rod member 14 is aligned with the article at the pushing position 31 (FIG. 10I). ).

(Step 10)
The entire article pushing robot hand 10 is moved to the pushing position 31 side, and the article pushing member 15 is used to push the article to the middle of the bag 2 . (Fig. 9B) (Fig. 10J)
During this pushing, the projection 15a of the article pushing member 15 moves in the extending direction in the groove 35 while being inserted into the groove 35 formed in the workbench 30, so that the portion of the article 3 pushed is the sealing portion 4 of the tube. However, the seal part 4 does not slip under the article pushing member 15, and the articles 3 can be reliably moved into the bag 2.例文帳に追加

(Step 11)
The article 3 is pushed to the bottom of the bag 2 by the force of movement of the article 3 in the previous process. The article pushing robot hand 10 is slightly raised to a position where the protrusion 15a of the article pushing member 15 does not interfere with the lower part of the bag, and the article pushing member 15 of the article pushing robot hand 10 is moved by the air cylinder 16 or by the robot arm. By further forward movement, the article 3 may be pushed to the bottom of the bag 2 (Fig. 9C).
A bagged article can thus be obtained (FIG. 10K).

(Step 12)
Since the bagged article is sucked by the moving base 22, which is the bag-opening robot hand 28, the bag-opening robot hand 28 can lift the bagged article if the fixed base 21 is released from the suction. It becomes possible. The bag-opening robot hand 28 moves in the discharge direction and releases the suction to drop the articles 3 onto the discharge chute 36 . The bagged articles are discharged from the discharge chute 36 and sent to the next process. In the next process, the bag is sealed. On the other hand, the article pushing robot hand 10 returns to the position of step 1 .

In the steps 1 to 12 described above, the article pushing robot hand 10 makes only one reciprocation in the direction perpendicular to the article pushing direction, and there is no useless movement. Therefore, it is possible to pack articles in a short time.

The method of the invention can take various forms.
For example, in order to move the articles from the article supply section 55 to the temporary placement position 32, without using the article moving plate/article regulation guide 56, after opening the bag 2 at the bagging position 33 in step 4, 11A, the article moving plate/article regulation guide 56 is moved between the article temporary placement position 32 and the article pushing position 31, and the bag 2 opened at the packing position 33 is moved to open the bottom of the bag. After inserting the rod-like member 12 and opening the bag to the bottom, as shown in FIG. , the article 3 may be pushed into the bag by the pushing bar member 14 . According to this method, the place position of the article when it is moved from the temporary placement position 32 to the push-in position 31 and the movement path when it is moved from the push-in position 31 into the bag are regulated by the article moving plate/article regulation guide 56. can do.

1 robot 1a horizontal rotating unit 2 bag 3 article 4 sealing unit 10 article pushing robot hand 11 hand base 12 bag bottom opening rod member 12a bag bottom opening member 12b air supply port 12c expandable member 13 air cylinder 14 Pushing bar member 15 Article pushing member 15a Projection 16 Air cylinder 17 Suction jig 18 Suction unit base 19 Suction unit (vacuum pad)
20 Bag opening device 21 Fixed base 22 Moving bases 23, 23a, 23b, 23c Suction parts (suction pads) of the fixed base
24 Adsorption parts 25 and 26 of moving base Pad made of elastic material, elastic member 27 Turning device 28 Bag-opening robot hand 30 Working table 31 Pushing position 32 Temporary placement position 33 Bag filling position 34 Article regulation guide 35 Groove 36 Ejection Chute 40 Bag supply device 41 Collecting bag supply base 42 Bag supply section guide 43 Bag supply section 44 Bag push section 50 Article supply device 51 Belt conveyor 52 Conveyance path 53 Article supply section guide 54 Article stopper 55 Article supply section 56 Also serves as an article moving plate Goods Control Guide

Claims (8)

An article pushing robot hand for a robot that packs articles,
A rod-shaped member for opening the bottom of a bag that is inserted into an opened bag and advances toward the bottom of the bag to open the bag to the bottom, a rod-shaped member for pushing an article into the opened bag from the opening to the bottom, and an article has an adsorption part that adsorbs the
A robot hand for pushing an article, wherein the pushing rod-shaped member has a projection inserted into a groove of a work table for pushing the article into the bag on the work table having a groove in the article pushing direction . 2. The article pushing robot hand according to claim 1, wherein the bag bottom-opening rod-shaped member and the pushing rod-shaped member are arranged side by side, and the suction portion is provided between the bag bottom-opening rod-shaped member and the pushing rod-shaped member. 3. The article pushing robot hand according to claim 1, wherein said robot comprises a bag-opening robot hand that places the bag from the bag supply section to the bag filling position and opens the bag. 4. The robot hand according to claim 3 , wherein said robot is a double-armed robot having an article pushing robot hand on one arm and a bag opening robot hand on the other arm. A robot that packs articles has an article-pushing robot hand on one arm, and a bag-opening arm on the other arm that places a bag from a bag supply section to a bag-packing position and opens the bag. A robot hand for pushing an article in the case of a dual-arm robot having a robot hand,
The article pushing robot hand includes a bar-shaped member for opening the bottom of the bag that is inserted into the opened bag and advances toward the bottom of the bag to open the bag to the bottom, and an article that is inserted into the opened bag from the opening to the bottom. An article-pushing robot hand having a pushing rod-shaped member for pushing and a suction section for sucking an article. One arm of the dual-arm robot is equipped with an article-pushing robot hand , and the other arm is equipped with a bag-opening robot that places a bag from the bag supply section to the bag-packing position and opens the bag. A method for stuffing an article into a bag using a hand, wherein a rod-shaped member for opening the bottom of the bag, a rod-shaped member for pushing, and a suction portion are used as the robot hand for pushing the article,
Bagging of goods
a step of picking up an article in the article supply section by the suction section and placing it on a temporary placement position of the article;
A step of inserting a rod-shaped member for opening the bottom of the bag from the opening of the opened bag by the robot hand for opening the bag, and advancing the rod-shaped member for opening the bottom of the bag toward the bottom of the bag to open the bag to the bottom;
moving the article from the temporary placement position to the pushing position;
A step of pushing an article into the bag that has been opened from the opening to the bottom with a pushing rod-shaped member;
A method of bagging. 7. The bagging method according to claim 6 , wherein the bag is a vertically long rectangular gusset bag having a gusset on the bottom or side. 8. The bagging method according to claim 6 or 7 , wherein the article has a tubular shape with a sealed portion at the bottom.

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