JP6769768B2 - Transfer device - Google Patents

Description

The present invention relates to a transfer device that transfers by adsorbing and holding a box body.

There is a transfer device in which an article to be transferred is sucked and held from above by a vacuum device, and in this state, the vacuum device is moved in the vertical and horizontal directions by a moving device to transfer the article.

For such a transfer device, for example, a technique as disclosed in Patent Document 1 is adopted. According to Patent Document 1, the vacuum device includes a vacuum cup for sucking and holding an article from above vertically, an exhaust hose connected to a vacuum pump to exhaust air in the vacuum cup, and a joint extending in the vertical direction to the lower end. It has a shaft member to which a vacuum cup is connected via a hose.

When the article is adsorbed by the vacuum cup, the shaft member is moved in the vertical direction to lower the vacuum cup and adsorb it to the upper surface of the article, and the article is lifted and moved while being adsorbed by the vacuum cup. It has become.

Published Utility Model No. 1-84994 (Page 4, Fig. 1)

However, in Patent Document 1, when the box body in which the article is stored is sucked and held by the vacuum device, the position where the box body is sucked and held is greatly separated from the center of gravity of the box body depending on the storage position of the article in the box body and the like. Therefore, there is a risk that the box body will tilt and cause suction failure. In addition, there is a possibility that the inclination of the box body may be promoted by the movement of the articles in the box body after the adsorption and holding. Therefore, in order to prevent poor adsorption, it is necessary to take measures such as increasing the adsorption force of the vacuum device.

The present invention has been made by paying attention to such a problem, and an object of the present invention is to provide a transfer device capable of stably adsorbing and holding a box body.

In order to solve the above problems, the transfer device of the present invention is used.
It is a transfer device that can transfer the box body by a pickup device that can move in the vertical and horizontal directions.
The pickup device moves the vacuum device that sucks the upper surface of the box body, the advancing / retreating member that can contact one side surface of the box body located below the suction surface of the vacuum device, and the advancing / retreating member downward. It is equipped with a means of transportation for moving the box body in one side direction .
Using the moving means, the advancing / retreating member is moved downward to one side surface of the box body, and the advancing / retreating member is pressed against one side surface of the box body, and the vacuum device is used with respect to the upper surface of the box body. The suction is started, and the box body is held and moved in two directions from one side surface and the upper surface of the box body by using the frictional force generated between the advancing / retreating member and the box body and the suction force of the vacuum device. It is characterized by letting it.
According to this feature, the balance of the box body can be maintained by bringing the advancing / retreating member into contact with the side surface of the box body while the upper surface of the box body is attracted by the vacuum device, and the box body does not require a strong suction force. Can be stably adsorbed and held.

The advancing / retreating member is characterized in that it is a plate-shaped member.
According to this feature, the surface of the plate-shaped member can be brought into contact with the side surface of the box body, and the balance of the box body can be reliably maintained.

The advancing / retreating member is characterized in that it can be retracted to a position above the suction surface of the vacuum device.
According to this feature, the pickup device can be moved in a state where the advancing / retreating member is retracted to a position higher than the suction surface of the vacuum device, so that the advancing / retreating member interferes with the box body and interferes with the suction operation of the vacuum device. It never becomes.

The vacuum device is characterized in that a plurality of vacuum devices are provided in a direction substantially parallel to a surface of the advancing / retreating member that comes into contact with the box body.
According to this feature, since the upper surface of the box body is attracted by the plurality of vacuum devices, it is possible to suppress the inclination of the box body in the horizontal direction in a direction that cannot be regulated by the advancing / retreating member.

The plate-shaped member is characterized by having a corner portion having an apex protruding from the lower end of the shape when viewed along a line of sight in a direction substantially perpendicular to the surface in contact with the box body .
According to this feature, the plate-shaped member can be easily brought into contact with the side surface of the box even when the lateral gap of the box is narrow because the corners move downward in advance.

It is a perspective view which shows the state which sucked and held the box body by the pickup device of the transfer device in an Example. (A) is a perspective view showing a state in which the lid of the box body is closed, and (b) is a perspective view showing a state in which the lid of the box body is opened. (A) is a front view showing the structure of the pickup device of the transfer device, and (b) is also a side view. (A) to (c) are schematic views showing the adsorption structure by the vacuum apparatus. It is a schematic diagram which shows the mechanism of suction holding of a box body, and shows the positional relationship between a vacuum apparatus and a plate-like member when a box body in a vertical state is sucked and held. (A) to (c) show an example of the suction holding operation of the box body in the vertical installation state, and are schematic diagrams showing the operation of shifting the box body. (A) to (c) show an example of the suction holding operation of the box body in the vertically placed state, and is the schematic diagram which shows the operation which arranges the plate-shaped member on the side of the box body. (A) to (c) show an example of the suction holding operation of the box body in the vertical installation state, and is the schematic diagram which shows the operation of sucking and lifting a box body. (A) to (b) show an example of the suction holding operation of the box body in a flat state, and are schematic diagrams showing the operation of shifting the box body. (A) to (b) show an example of the suction holding operation of the box body in the flat state, and is a model showing the operation of arranging the plate-shaped member on the side of the box body and sucking and lifting the box body. It is a figure. An example of the suction holding operation of the box in the flat state with the plate-shaped member arranged on the side of the box raised is shown, and it is a schematic diagram which shows the state which the balance of the box is lost. It is a schematic diagram which shows the state which adsorbed and held the box body by the pickup device of the transfer device.

A mode for carrying out the transfer device according to the present invention will be described below based on examples.

The transfer device according to the embodiment will be described with reference to FIGS. 1 to 12. Hereinafter, the front side of the paper surface of FIG. 3A and the left side of the paper surface of FIG. 3B will be referred to as the front side (front side) of the transfer device, and the vertical and horizontal directions when viewed from the front side thereof will be described as a reference.

As shown in FIG. 1, the transfer device of this embodiment is shown in a state where the box body 2 which is the object to be transferred is sucked and held by the pickup device 1 capable of sucking and holding the box body 2 from above and lifted. The box body 2 is transferred to a desired position by moving the box body 2 in the vertical direction and the horizontal direction by a moving device such as a well-known robot arm.

As shown in FIG. 2A, in the box body 2 in the present embodiment, the accommodating portion 2a capable of accommodating products and the like and the lid 2b closing the opening portion of the accommodating portion 2a are connected by a continuous portion 2e. As shown in FIG. 2B, the lid 2b opens and closes the opening portion of the accommodating portion 2a by rotating the front edge portion 2f side around the accommodating portion 2a with respect to the accommodating portion 2a. It is possible. Further, the surface attracted and held by the pickup device 1 changes depending on the orientation in which the box body 2 is placed. However, in the present embodiment, when the box body 2 is placed vertically (see FIG. 6), it will be described later. The surface 2c on which the vacuum device 5 is attracted is the side surface of the accommodating portion 2a connected to the lid 2b by the continuous portion 2e, and the surface 2d on which the plate-shaped member 63 (advancing / retreating member) described later is brought into contact is the lid 2b. Will be described as an aspect of forming a surface that closes the opening portion of the accommodating portion 2a. Further, when the box body 2 is placed flat (see FIG. 9), the surface 2c is a surface that constitutes the lid 2b and closes the opening portion of the accommodating portion 2a, and the surface 2d is covered by the continuous portion 2e. It will be described as an aspect of the accommodating portion 2a connected to the 2b.

The pickup device 1 includes a housing 10 connected to a moving device (not shown), a pressure gauge 4 provided on the front side of the housing 10 for measuring the pressure at the time of suction, and downward from the front lower surface of the housing 10. A rod-shaped arm 3 extending toward the arm 3, a plurality of vacuum devices 5 and 5 provided at the lower end of the arm 3, and a plate-shaped member 63 provided on the back side of the housing 10 (indicated by a two-dot chain line for convenience of explanation). It is mainly composed of an advancing / retreating device 6 having the above.

A 3D camera (not shown) is provided above the pickup device 1. The 3D camera detects the three-dimensional position of the box 2 by an information processing unit (not shown) built in the 3D camera based on the image data obtained by imaging the box 2 from above, and the three-dimensional of the box 2 is detected. The position information can be transmitted to a control unit (not shown). The control unit controls the operation of the pickup device 1 and the advance / retreat device 6 based on the three-dimensional position information transmitted from the 3D camera.

As shown in FIG. 3A, a front-view inverted substantially T-shaped branching portion 51 that branches to the left and right is attached to the lower end of the arm 3, and vacuum devices 5 and 5 are attached to the left and right ends of the branching portion 51, respectively. It is installed. The vacuum devices 5 and 5 include a vacuum cup 52, 52 that opens downward, and a suction pad 53, 53 that is fitted inside the vacuum cup 52, 52 and that expands and contracts in the vertical direction (see FIG. 4A). It is mainly composed of and.

The suction pads 53, 53 have a tubular shape with the upper and lower ends open, and the upper end side is connected so as to communicate with the inside of the branch portion 51, and the lower end side thereof is naturally the lower end edge 52a of the vacuum cups 52, 52. , 52a is inserted in a state of protruding downward (see FIG. 4A).

As shown in FIG. 1, the branch portion 51 is provided with an exhaust port 51a that communicates with the inside at a predetermined position, and the air inside the branch portion 51 is exhausted from the exhaust port 51a by using a vacuum pump or the like. As a result, the air inside the suction pads 53 and 53 of the vacuum devices 5 and 5, which communicate with the inside of the branch portion 51, can be exhausted at the same time.

As shown in FIGS. 1 and 3B, the advancing / retreating device 6 is attached to the back surface of the housing 10 of the pickup device 1 and has a rail member 61 having two guide grooves 61a and 61a in the vertical direction. It has a moving body 62 that can move in the vertical direction along the guide grooves 61a and 61a of the rail member 61. A substantially rectangular plate-shaped member 63 is screwed to the moving body 62, and the plate-shaped member 63 can move in the vertical direction in accordance with the movement of the moving body 62.

Next, the adsorption by the vacuum devices 5 and 5 will be described in detail with reference to FIG. In FIG. 4, the box body 2 will be described as being placed vertically. First, as shown in FIG. 4A, the moving device is operated based on the three-dimensional position information transmitted from the 3D camera, the pickup device 1 moves in the horizontal direction, and the vacuum devices 5 and 5 are box bodies. It is aligned so that it is arranged vertically above the surface 2c of 2.

Next, as shown in FIG. 4B, the pickup device 1 is lowered based on the three-dimensional position information transmitted from the 3D camera, and the lower end openings 53a, 53a (suction surface) of the suction pads 53, 53 are lowered. Is brought into contact with the surface 2c of the box body 2, and then the pickup device 1 is further lowered to bring the lower end edges 52a and 52a of the vacuum cups 52 and 52 into contact with the surface 2c of the box body 2. At this time, the suction pads 53, 53 contract in the vertical direction from the state where the lower end openings 53a, 53a are in contact with the surface 2c of the box body 2, and are housed in the vacuum cups 52, 52. The lower end edges 52a, 52a of the vacuum cups 52, 52 and the lower end openings 53a, 53a of the suction pads 53, 53 are in contact with the surface 2c of the body 2 at the same time.

By bringing the lower end edges 52a and 52a of the vacuum cups 52 and 52 into contact with the surface 2c of the box body 2, the lower end openings 53a and 53a of the suction pads 53 and 53 are brought into contact with the surface 2c of the box body 2. Are relatively inseparable.

Next, as shown in FIG. 4C, the lower end edges 52a, 52a of the vacuum cups 52, 52 and the lower end openings 53a, 53a of the suction pads 53, 53 are both provided with respect to the surface 2c of the box body 2. By exhausting the air inside the branch portion 51 using an ejector or the like in the abutted state, the lower end openings 53a, 53a of the suction pads 53, 53 can be sucked onto the surface 2c of the box body 2. it can.

Next, the plate-shaped member 63 of the advancing / retreating device 6 will be described in detail. As described above, the plate-shaped member 63 can move in the vertical direction in accordance with the movement of the moving body 62, and as shown in FIG. 1, the lower end portion 63a of the plate-shaped member 63 is the box body 2. It can be moved downward from the suction surfaces (lower end openings 53a, 53a of the suction pads 53, 53) of the vacuum cups 52, 52 in a state where the surface 2c is sucked, and brought into contact with the surface 2d of the box body 2. ..

Next, the mechanism of suction and holding of the box body 2 by the pickup device 1 of the transfer device of this embodiment will be described with reference to FIG. The center of the balance of the center of gravity of the box body 2 will be described as the virtual center lines A1-A1. As shown in FIG. 5, the surface 2c of the box body 2 in the vertically placed state is attracted by the vacuum devices 5 and 5, and the plate-shaped member 63 is moved downward and brought into contact with the surface 2d of the box body 2. The tilting of the box body 2 can be regulated by the plate-shaped member 63 while the box body 2 is attracted and held by the vacuum devices 5 and 5.

Further, when the surface 2c of the box body 2 is attracted by the vacuum devices 5 and 5 at a position on the front side of the virtual center lines A1-A1 before and after the box body 2 in the vertically installed state, the balance of the center of gravity thereof is used. , A force rotating in the direction of the colored arrow acts on the box body 2, and the upper portion of the surface 2d of the box body 2 comes into contact with the plate-shaped member 63. In this way, by intentionally sucking the surface 2c of the box body 2 at a position on the front side of the virtual center line A1-A1 by the vacuum devices 5 and 5, the box body 2 is always in a predetermined direction, that is, in the plate-shaped member 63 direction. Can be pressed, and the box body 2 can be prevented from tilting in the direction opposite to the plate-shaped member 63 direction. Further, with respect to the box body 2 in the vertical installation state, the rotation of the lid 2b can be directly regulated by the plate-shaped member 63, and opening and closing can be reliably prevented.

In the vacuum device 5, since the suction pad 53 is fitted inside the vacuum cup 52, the suction pad 53 can be suppressed from being twisted or bent by the inner wall of the vacuum cup 52. Further, in the vacuum device 5, the lower end opening 53a of the suction pad 53 protrudes downward from the vacuum cup 52 before suction, and the suction pad 53 contracts in the axial direction at the time of suction, and the lower edge of the vacuum cup 52 and the suction pad 53. The lower edge of is located on substantially the same plane. At the time of suction, the suction pad 53 sucks the surface 2c of the box 2 on the inner diameter side of the vacuum cup 52, and the lower end edge of the vacuum cup 52 abuts the surface 2c of the box 2 on the outer diameter side of the suction pad 53. Since it is supported, the inclination of the suction pad 53 with respect to the surface 2c of the box body 2 can be suppressed.

Further, by using the plate-shaped member 63 having a large surface 63b that comes into contact with the box body 2 as the advancing / retreating member, the plate-shaped member 63 can be stably brought into contact with the surface 2d of the box body 2, and the box body 2 can be stably contacted. It is easier to maintain the balance of.

Next, the suction holding operation of the box body 2 by the pickup device 1 will be described with reference to FIGS. 6 to 8. In addition, in FIGS. 6 to 8, among the box bodies 2A, 2B, 2C, 2D, and 2E housed vertically in the storage portion 20a of the container 20 whose upper side is open, the inside of the front side of the container 20. The suction holding operation of the pickup device 1 when the box body 2A closest to the wall surface 20b is transferred will be described as an example.

As shown in FIG. 6A, first, the pickup device 1 is moved in the horizontal direction based on the three-dimensional position information transmitted from the 3D camera, and the box 2B adjacent to the rear side of the box 2A is moved. Align it so that it is placed above.

Next, as shown in FIG. 6B, the pickup device 1 is moved backward with the pickup device 1 lowered and the surface 2c of the box body 2B sucked by the vacuum devices 5 and 5 with the surface 2c of the box body 2B. By moving horizontally to the side, the plurality of boxes 2B to 2E are collectively arranged so as to be biased toward the inner wall surface 20c on the rear side of the container 20 (see FIG. 6C). As a result, the distance between the box body 2A and the box body 2B is widened. An example of biasing the boxes 2B to 2E toward the inner wall surface 20c in a state where the surface 2c of the box 2B is sucked by the vacuum devices 5 and 5 has been described, but instead of the suction by the vacuum devices 5 and 5, a plate shape is described. The box bodies 2B to 2E may be biased by using the member 63.

Next, as shown in FIG. 7A, the vacuum devices 5 and 5 release the suction of the surface 2c of the box body 2B to raise the pickup device 1, and then move the pickup device 1 in the horizontal direction. Then, the lower end portion 63a of the plate-shaped member 63 is aligned so as to be arranged above the gap between the box body 2A and the box body 2B (see FIG. 7B). Subsequently, the plate-shaped member 63 is moved downward along the guide grooves 61a and 61a of the rail member 61 based on the three-dimensional position information transmitted from the 3D camera, and the plate-shaped member 63 is moved downward on the surface of the box body 2A. It is arranged so as to face 2d (see FIG. 7C).

Next, as shown in FIG. 8A, the pickup device 1 is moved in the horizontal direction so that the surface 63b of the plate-shaped member 63 comes into contact with the surface 2d of the box body 2A. At this time, by further moving the pickup device 1 to the front side in the horizontal direction, the plate-shaped member 63 is pressed against the surface 2d of the box body 2A, and the box body 2A is pressed against the inner wall surface 20b of the container 20. It is sandwiched between the plate-shaped member 63 and aligned. According to this, even if the box body 2A is arranged at an angle with respect to the inner wall surface 20b of the container 20, the box body 2A is rotated in the horizontal direction by pressing to make the surface 2g the inner wall surface 20b. Can be brought into contact with each other. That is, the surface 2d of the box body 2A and the surface 63b of the plate-shaped member 63 can be brought into contact with each other substantially in parallel.

Next, as shown in FIG. 8B, with the box body 2A sandwiched between the inner wall surface 20b of the container 20 and the plate-shaped member 63 and aligned, the pickup device 1 is lowered to form the box body. The lower end edges 52a and 52a of the vacuum cups 52 and 52 are brought into contact with the surface 2c of 2A and are attracted by the vacuum devices 5 and 5.

According to this, in the state where the surface 2c of the box body 2 is attracted by the vacuum devices 5 and 5, the surface 2d of the box body 2A is pressed in the direction of the plate-shaped member 63, and the vacuum devices 5 and 5 Since the box body 2 can be sandwiched from the upper side and the rear side by the plate-shaped member 63, the box body 2 can be sucked and held more stably. Further, since the frictional force generated between the surface 2d of the box body 2A and the surface 63b of the plate-shaped member 63 is increased, the suction force of the vacuum devices 5 and 5 can be reduced. The surface 63b of the plate-shaped member 63 has a high friction coefficient. For example, the surface 63b is blasted, and a high-friction material is attached to the plate-shaped member 63 to form the surface 63b. The frictional force may be increased.

Finally, the pickup device 1 is raised while the box body 2A is sandwiched between the vacuum devices 5 and 5 and the plate-shaped member 63 from two directions, the upper side and the rear side (see FIG. 8C). In this way, the vacuum devices 5 and 5 are attracted to the surface 2c of the box 2A in a state where the plate-shaped member 63 is surely brought into contact with the surface 2d of the box 2A. Therefore, the surface of the box 2A The predetermined position of 2c can be sucked and held by the vacuum devices 5 and 5.

Further, a plurality of vacuum devices 5 and 5 are provided in a direction substantially parallel to the surface 63b of the plate-shaped member 63, and the upper surface of the box body is attracted by the plurality of vacuum devices 5 and 5, so that the plate-shaped member 63 cannot regulate. It is possible to suppress the inclination of the box body 2 in the horizontal direction. Further, since at least a part of the plate-shaped member 63 is located between the rear view and the vacuum devices 5 and 5, that is, the box is located between the rear view and the box body 2A and the points of action of the vacuum devices 5 and 5. Since the body 2A and the point of action of the plate-shaped member 63 are located, the posture of the box body when the box body 2A is sucked and held is stable.

Further, the lower end portion 63a of the plate-shaped member 63 can be moved up to a position higher than the lower end openings 53a, 53a of the suction pads 53, 53 of the vacuum devices 5 and 5 in the natural state. According to this, when the pickup device 1 is moved horizontally by the moving device to align with the box body 2, the lower end portion 63a of the plate-shaped member 63 does not hit the box body 2 and does not get in the way.

Further, as shown in FIG. 3A, the lower end portion 63a of the plate-shaped member 63 is inclined so that the right end side protrudes downward, so that the protruding portion moves downward in advance. As a result, even when the side gap of the box body 2 is narrow, the plate-shaped member 63 can be easily brought into contact with the surface of the box body 2.

Further, since the outer peripheral surfaces of the suction pads 53 and 53 are guided by the inner walls of the vacuum cups 52 and 52 so that they can come into contact with the surface 2c of the box body 2 substantially vertically, suction failure can be caused. Hard to wake up.

Although not shown, when the box body 2B in the container 20 is transferred, the box body 2B is pressed against the box body 2A to perform suction holding by performing the suction holding operation described above. It can be carried out.

Further, when a plurality of boxes 2, 2, ... In a flat state are transferred to the storage portion 20a of the container 20, the suction holding operation is performed as shown in FIGS. 9 and 10. Further, the surface 2c of the box body 2 is attracted by the vacuum devices 5 and 5 at a position rearward from the virtual center lines A2-A2 (see FIG. 10B) before and after the box body 2A in the flat state. In this case, due to the weight balance, a force (not shown) that rotates in the direction of the plate-shaped member 63 acts on the box body 2A, and the upper portion of the surface 2d of the box body 2A comes into contact with the plate-shaped member 63. As a result, the box body 2A can always be pressed in a predetermined direction, that is, in the direction of the plate-shaped member 63, as in the case of the vertical installation state, and the box body 2A is prevented from tilting in the direction opposite to the direction of the plate-shaped member 63. be able to. Further, in the flat state, the surfaces 2c constituting the lid 2b of the box body 2A are adsorbed by the vacuum devices 5 and 5, but the accommodating portion 2a connected to the lid 2b by the continuous portion 2e By bringing the plate-shaped member 63 into contact with the side surface 2d, the surface 2c and the surface 2d of the box body 2A can be suppressed at substantially right angles, so that the rotation of the lid 2b can be restricted and the opening and closing can be reliably performed. Can be prevented.

Further, as shown in FIG. 11, for example, the lid of the box body 2A placed flat by the vacuum devices 5 and 5 in a state where the plate-shaped member 63 in contact with the surface 2d of the box body 2A is moved upward. When the surface 2c constituting the 2b is adsorbed, unlike the present embodiment shown in FIG. 10, the surface 63b of the plate-shaped member 63 is separated from the surface 2d of the box body 2A held by adsorption, and the balance of the box body 2A is lost. Since the rotation of the lid 2b of the box body 2A is not restricted, the lid 2b of the box body 2A opens. Although not shown, the same applies to the case of the box body 2 in the vertical installation state.

Further, as shown in FIG. 12, the pickup device 1 is displaced backward from the virtual center line A3-A3 in front of and behind the box 21 with respect to the large box 21 (flat state). The surface 21c of the box body 21 is sucked by the vacuum device 5 at the position, but as described above, the box body 21 can be pressed in the direction of the plate-shaped member 63, and the direction opposite to the direction of the plate-shaped member 63 can be obtained. Since the box body 2A can be prevented from tilting, even a box body 21 having a large size can be sucked and held in a stable state.

Therefore, even when the box body 21 having a large size, the box body 2A in the vertical placement state, and the box body 2B in the flat placement state are mixed and housed in the container 20, the suction and holding of the pickup device 1 described above By performing the operation, all the boxes can be sucked and held.

Although examples of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these examples, and any changes or additions within the scope of the gist of the present invention are included in the present invention. Is done.

For example, in the above-described embodiment, the transfer target of the transfer device has been described as a mode in which a box body capable of storing articles and a lid are connected in series and the lid can be opened and closed. Not limited to this, the transfer object of the transfer device may be a box body or a vinyl package of another form as long as it can be adsorbed and held by the vacuum device.

Further, the control unit may be built in the housing of the pickup device 1.

Further, in the above embodiment, the vacuum device 5 sucks the surface 2c of the box body 2 by the lower end opening 53a of the suction pad 53 forming a substantially suction surface on the inner diameter side of the vacuum cup 52, and the suction pad 53. The lower end edge 52a of the vacuum cup 52 abuts and supports the surface 2c of the box body 2 on the outer diameter side of the box body 2 to suppress the inclination of the suction pad 53 with respect to the surface 2c of the box body 2. As a configuration in which the air between the cup 52 and the suction pad 53 is also exhausted, the suction surface of the box 2 with respect to the surface 2c may be enlarged to increase the suction force of the vacuum device 5.

Further, in the above-described embodiment, the air inside the branch portion 51 is exhausted from the exhaust port 51a by using a vacuum pump or the like, thereby simultaneously exhausting the air inside the plurality of suction pads 53, 53. However, the present invention is not limited to this, and a plurality of exhaust ports may be provided so that the air inside the suction pad can be exhausted.

Further, by attaching insert members having a plurality of through holes arranged to the lower end openings 53a and 53a of the suction pads 53 and 53 to adjust the suction force, for example, wrinkles are formed on the vinyl after the vinyl package is sucked. You may not leave it.

Further, in the above embodiment, the vacuum cups 52, 52 of the vacuum device 5 are provided in pairs along the plate-shaped member 63 of the advancing / retreating device 6 at predetermined intervals on the left and right, but the present invention is not limited to this. The vacuum cup may be composed of two or more, and may be provided continuously on the left and right without being separated from each other. Further, the number of vacuum cups may be one as long as the suction surface is formed with a predetermined dimension width in the left-right direction.

Further, in the advancing / retreating device 6, the power transmitting means to the moving body 62 for moving the plate-shaped member 63 up and down may be freely configured, and for example, it can be moved in the up and down direction by using an electric motor, a hydraulic cylinder, or the like. You may.

Further, in the above embodiment, the plate-shaped member 63 has been described as a mode in which the plate-shaped member 63 moves relative to the vacuum device 5 only in the vertical direction, but the present invention is not limited to this, and the plate-shaped member is relative to the vacuum device in the horizontal direction. It may be a moving one.

Further, in the above embodiment, the lower end portion 63a of the plate-shaped member 63 can be moved up to a height position above the lower end openings 53a, 53a of the suction pads 53, 53 of the vacuum device 5 in the natural state. However, not limited to this, if the lower end portion of the plate-shaped member can be moved up to a height position equal to or higher than the lower end opening of the suction pad, it does not interfere with the movement of the pickup device. Further, in the case of sucking and holding an article (for example, a vinyl package) that does not need to be held by the plate-shaped member 63, the lower end portion 63a of the plate-shaped member 63 is set to the lower end edges 52a, 52a or more of the vacuum cups 52, 52. If it is moved up to the height position of, it does not interfere with the adsorption of the article by the vacuum device 5.

Further, in the above embodiment, the pickup device 1 is moved in the vertical direction by the moving device, but the present invention is not limited to this, and the pick-up device itself may be moved in the vertical direction, for example, an arm portion. May be expanded and contracted up and down.

The above-mentioned transfer method is
It is characterized in that the upper surface of the box is adsorbed by a vacuum device while the plate-shaped member is pressed against the side surface of the box.
According to this feature, the balance of the box can be maintained by bringing the plate-shaped member into contact with the side surface of the box while the upper surface of the box is sucked by the vacuum device, and the box does not require a strong suction force. The body can be stably adsorbed and held.

Further, after sucking and moving the upper surface of the box body, the box-shaped member is moved downward so as to be arranged on the side surface of the box body, and the plate-shaped member moves the box body in the direction of the object. The feature is that the upper surface of the box is sucked again after being pushed into contact with the box.
According to this feature, the box body can be stably held by the vacuum device at a predetermined position on the upper surface of the box body while the plate-shaped member is surely brought into contact with the side surface of the box body. Can be adsorbed and held.

Further, it is characterized in that the upper surface of the box body is sucked in a state where the plate-shaped member is retracted to a position higher than the suction surface of the vacuum device.
According to this feature, when the vacuum device is aligned with respect to the box body, the lower end of the plate-shaped member does not hit the box body and does not get in the way.

Further, the plate-shaped member pushes the box body into the inner wall surface of the container to bring it into contact with the inner wall surface of the container, and then sucks the upper surface of the box body again.
According to this feature, the box body can be stably sucked and held by the vacuum device because the box body can be sucked and held at a predetermined position on the upper surface of the box body while the box body is sandwiched between the inner wall surface of the container and the plate-shaped member. can do.

1 Pickup device 2, 2A to 2E Box body 2a Storage part 2b Lid 2c, 2d Surface 2e Continuous part 2f Front edge part 5 Vacuum device 6 Advance / retreat device 20 Container 20b Inner wall surface 20c Inner wall surface 51 Branch part 52 Vacuum cup 52a Lower edge 53 Suction pad 53a Lower end opening 61 Rail member 62 Moving body 63 Plate-shaped member (advance / retreat member)
63a Lower end 63b surface

Claims (5)

It is a transfer device that can transfer the box body by a pickup device that can move in the vertical and horizontal directions.
The pickup device moves the vacuum device that sucks the upper surface of the box body, the advancing / retreating member that can contact one side surface of the box body located below the suction surface of the vacuum device, and the advancing / retreating member downward. It is equipped with a means of transportation for moving the box body in one side direction.
Using the moving means, the advancing / retreating member is moved downward to one side surface of the box body, and the advancing / retreating member is pressed against one side surface of the box body, and the vacuum device is used with respect to the upper surface of the box body. The suction is started, and the box body is held and moved in two directions from one side surface and the upper surface of the box body by using the frictional force generated between the advancing / retreating member and the box body and the suction force of the vacuum device. A transfer device characterized by being made to. The transfer device according to claim 1, wherein the advancing / retreating member is a plate-shaped member. The transfer device according to claim 1 or 2, wherein the advancing / retreating member can be retracted to a position equal to or higher than the suction surface of the vacuum device. The transfer device according to any one of claims 1 to 3, wherein a plurality of the vacuum devices are provided in a direction substantially parallel to a surface of the advancing / retreating member that comes into contact with the box body. The plate-shaped member is characterized in that the plate-shaped member includes a corner portion having an apex protruding from the lower end of the shape when viewed along a line of sight in a direction substantially perpendicular to the surface in contact with the box body. 2. The transfer device according to 2.

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