CN108620839B - Slider conveying device and conveying method thereof - Google Patents

Abstract

The invention provides a slider conveying device and a slider conveying method, which can convey sliders in different postures and directions. The slider carrying device includes: an image sensor for recognizing the posture and direction of the slider; a robot arm having a transfer section for transferring the slider and a posture resetting section at a tip thereof; and a controller. The posture resetting unit of the robot arm includes a pair of plate-like elastic bodies. The controller receives the recognition result of the image sensor, judges whether the slider is transportable, controls the robot arm to transport the slider when the slider is transportable, and controls the posture resetting part of the robot arm to change the posture and the direction of the slider when the slider is not transportable.

Description

Slider conveying device and conveying method thereof

technical field

The present invention relates to a conveying device in a product assembling process, and more particularly, to a conveying device and a conveying method of a slider in a slide fastener assembling process.

Background technique

The slide fastener is assembled from a plurality of parts, and includes at least a pair of tapes, fastener elements (element fasteners) mounted on the tapes, and sliding on the fastener elements to open and close the fastener tapes The slider and other parts on both sides of the belt, etc. By pulling the slider of the zipper, the two sides of the chain cloth belt can be quickly opened and closed, so that the zipper has been widely and multi-purposely used in a variety of products, such as jackets and trousers. , shoes, handbags, backpacks, mobile wardrobes, luggage, etc.

The general zipper assembly method is to install the fastener elements on the chain belt, and install the slider to the chain belt that already has the fastener elements. In such an assembling method, it is necessary to attach the slider to the fastener tape in a predetermined posture, so the slider needs to be transported to a certain place in a predetermined posture, and then lined up and then attached, for example, transported to a slider arranging device, and the slider The arranging device is arranged, and then successively installed to the chain belt from the slider arranging device.

However, the slider at least includes a slider body and a pull tab hanging on the slider body. There are many types of the slider body, and the shape and size of the slider body are various. An apparatus capable of conveying a certain slider in a predetermined posture may not necessarily be able to convey another slider. It is impractical to order a dedicated transport device for each slider. In particular, although the pull tab is hung on the slider main body, the two are actually shaken with each other, so it becomes more difficult to convey in a predetermined posture.

SUMMARY OF THE INVENTION

Based on the above problems, the present invention provides a slider conveying device and a conveying method thereof, which can automatically convey sliders with different postures and directions, without manual sorting and arrangement of sliders, which can reduce labor.

The invention provides a conveying device for a slider, which conveys the slider. The conveying device for the slider includes: an image sensor for recognizing the posture and direction of the slider; and a pose repositioning section; and a controller. The controller receives the recognition result of the image sensor, and determines whether the slider can be transported. When it is determined that the slider can be transported, the controller controls the transport part of the robotic arm to transport the slider. When it is determined that the slider cannot be transported, the controller controls the robotic arm. to change the posture and direction of the slider.

The present invention also provides a method for conveying the slider, which conveys the slider, and the method for conveying the slider includes:

a sensing step, using an image sensor to identify the posture and direction of the slider; and

Judging step, according to the recognition result of the image sensor, judging whether the slider is in a transportable form, and the transportable form includes a variety of slider postures and directions that can be transported;

When the judging result of the judging step is no, the posture resetting step is performed, the posture and direction of the slider are changed, and the sensing step and the judging step are performed again.

In the conveying apparatus of the said slider, the attitude|position resetting part pushes a slider with a plate-shaped elastic body, and changes the attitude|position and direction of a slider. The pair of plate-shaped elastic bodies is openably and closably mounted on the front end of the robot arm and has a gripping function. The posture resetting part uses the clamping function of the plate-shaped elastic body to clamp the slider, move it to a predetermined height, and then drop it to change the posture and direction of the slider.

In the above-mentioned method for transporting the slider, the posture resetting step includes pushing the slider body of the slider within the recognition range of the image sensor. The posture resetting step may also include gripping the slider within the recognition range of the image sensor, moving the slider to a predetermined height, and then dropping it.

In the above-mentioned method for transporting the slider and the device for transporting the slider, determining whether the slider is in a transportable form includes: comparing the recognition result with a plurality of preset transportable forms, and judging whether there are any of the plurality of transportable forms There is no transportable form that matches the recognition result, and when it is determined that there is a transportable form that matches the identification result among the plurality of transportable forms, the transport means is determined according to the transportable form that matches the identification result, And the slider is conveyed according to the determined conveyance means. The conveying means include gripping or sucking the slider.

In the conveyance method of the said slider, and the conveyance apparatus of a slider, the said slider is equipped with the slider main body and the handle attached to the slider main body. The slider body has an upper plate, a lower plate, and a connecting column connected between the upper plate and the lower plate. There are mounting posts on the upper plate for mounting the pull tabs. The slider may further include a cover covering and fixed on the mounting post.

In the conveying method of the slider and the conveying device of the slider, the conveyable form includes: various slider postures and directions in which the mounting column (or cover) faces upwards, and various slider postures in which the lower plate faces upwards. , direction, the connection column is upwards for a variety of slider postures and directions.

In the above-mentioned slider conveying device, the conveying part of the robot arm may include a claw part and a suction part, and the conveying means is that the slider is clamped by the claw part, and the slider is suctioned by the suction part.

In the above-mentioned slider conveyance method and slider conveyance device, when the conveyable form that matches the recognition result is the conveyable form in which the lower plate faces upward, the conveying means is to adsorb the lower part of the slider body. plate. When the transportable form that matches the recognition result is the transportable form in which the connecting column faces upward, the transporting means to be determined is the connecting column that clamps the slider body. When the transportable form that matches the recognition result is the transportable form in which the mounting post (or cover) faces upward, the transport means to be determined is the mounting post (or cover) holding the slider body.

Description of drawings

FIG. 1 : is a perspective schematic diagram of an example of the slider conveyed by this invention.

Fig. 2 is a schematic perspective view of another example of the slider conveyed in the present invention.

It is a perspective schematic diagram of the conveying apparatus of the slider in embodiment of this invention.

It is a flowchart of the conveyance method of the slider in embodiment of this invention.

5A-5C are schematic diagrams of the transportable form in the embodiment of the present invention (the handle is omitted).

FIGS. 6A to 6C are schematic perspective views of the slider in the transportable form being picked up by the transport unit 122, as viewed from the front of the platform 103, respectively.

7 is a schematic perspective view of a manipulator of a manipulator in another embodiment of the present invention.

It is a flowchart of the conveyance method of the slider in another embodiment of this invention.

9A and 9B are schematic diagrams of a posture resetting method in another embodiment of the present invention.

Description of reference numerals

10, 10′: Puller

12, 12': main body of the slider

12a: Upper board

12b: Lower plate

12c: connecting column

12d: Mounting Post

12e: cover

14: Pull tab

100: Conveying device for slider

101: Device body

103: Platform

110: Image sensor

120: Robotic Arm

121: Manipulator

122: Transfer Department

122a: Claw

122aw: grip claw

122b: Adsorption part

124: Posture Reset Department

124a: Plate Elastomer

130: Controller

S100: Sensing step

S200: Judgment Step

S300: Posture reset steps

S400: Conveying step

θ: angle

Detailed ways

In the assembling process of the slide fastener, when attaching the slider to the fastener tape, it is necessary to attach the slider to the fastener tape in a predetermined posture and direction. When attaching the slider to the fastener tape in the predetermined predetermined posture and direction, it is necessary to continuously supply the slider to the fastener tape in the same direction.

Robots are often used to pick up objects. When the robot is combined with an image sensor that can recognize the distance, position, and shape of the object, it can recognize the position of the object, pick up the object, and adjust the object to a predetermined posture for transportation. However, it takes time to recognize the object, especially when the pose and direction of the object to be recognized are scattered and not fixed, it takes a lot of time. Also, when there are many kinds of objects to be picked up, more time is required.

In the present invention, through the combination of the robot arm and the image sensor, the conveying device picks up the sliders with different postures and directions, and the sliders picked up by the conveying device are conveyed to the slider arranging part. Arrange the sliders in succession in the determined posture and direction. In the assembling process of the slide fastener, the slider can be supplied to the fastener tape from the slider arrangement part in a predetermined posture and direction. And according to the characteristics of the slider, the inventor of the present application pre-stored in the controller in the form of a plurality of transportable forms that can take the slider, and let the controller determine whether the posture and direction of the slider belong to the plurality of transportable forms. a pattern. The controller determines the conveying means based on the determined conveyable form, and controls the robot arm to convey the slider according to the determined conveying means. When the controller determines that the slider is not in the transportable form, it performs a posture resetting step, changes the posture and direction of the slider, and performs recognition and judgment again.

When referring to FIG. 1, an example of the slider to be conveyed by this invention is shown. The slider 10 includes a slider body 12 and a pull tab 14 attached to the slider body 12 . The slider body 12 has an upper plate 12a, a lower plate 12b, and a connecting column 12c connected between the upper plate 12a and the lower plate 12b, and has a mounting column 12d to which the pull tab 14 is attached to the upper plate 12a.

When referring to FIG. 2, another example of the slider to be conveyed by this invention is shown. The difference between FIG. 2 and FIG. 1 is that the slider body 12' of the slider 10' is mounted with a cover 12e, and the cover 12e is covered and fixed on the mounting post (not shown) (due to the structure of the slider 10' in FIG. The structure of the slider 10 of FIG. 1 is slightly different, and the mounting posts of these are also slightly different, but are not shown here). An attachment post (not shown) is provided on the upper plate 12a of the slider 10', the attachment post is provided with a lock pin spring for stopping the movement of the slider, and the lock pin spring is in contact with the cover 12e. The cover 12e is partially pressed and fixed to the mounting post. Figures 1 and 2 are only examples of general sliders. According to Figures 1 and 2, they are in the following two forms: when the lower plate 12b of the sliders 10 and 10' is placed on a flat surface, it is usually the mounting post 12d. It is exposed above (FIG. 1), or the cover 12e is exposed above (FIG. 2). Examples of other existing sliders are, for example, Japanese Patent Laid-Open No. 10-127313, Japanese Patent Laid-Open No. 11-127918, and the like. These are generally commercially available sliders, and the structure of the slider will not be described in detail here.

3, FIG. 4, FIG. 3 shows the perspective schematic diagram of the conveying apparatus of the slider in embodiment of this invention, FIG. 4 shows the flowchart of the conveyance method of the slider in embodiment of this invention. The up-down, left-right, and front-rear directions are shown by arrows in FIG. 3 .

The slider conveying device 100 includes an image sensor 110 , a robot arm 120 , and a controller 130 . A robot arm 120 is provided on the apparatus body 101 of the slider conveying apparatus 100 . A robot arm 121 is provided at the front end of the robot arm 120 , and a conveying part 122 is provided on the robot arm 121 for conveying the sliders 10 and 10 ′. The image sensor 110 is provided above the robot arm 120. For example, the image sensor 110 can be arranged above the robot arm 120 by any method as long as it can identify the sliders 10 and 10' to be conveyed. The image sensor 110 and the robotic arm 120 are commercially available products, wherein the image sensor 110 is a 3D vision sensor, which can recognize the distance, position, and shape of the object with sensor technology and arithmetic processing. The robotic arm 120 can be a multi-joint type For example, it is a vertical multi-joint robotic arm, as long as it can pick up and transport objects with different postures and directions according to the recognition result of the image sensor 110 . The sliders 10 and 10 ′ of different postures and directions are conveyed by the conveying part 122 of the robot arm 120 , and the sliders 10 and 10 ′ are conveyed to the slider arrangement part (not shown), and are sequentially and continuously supplied to the sliders. The head arrangement parts are arranged in the same direction.

A platform 103 is provided on the device body 101, and the plurality of sliders 10 (or 10') are located on the platform 103 at different positions in different directions. Each slider 10 (or 10') is sometimes placed on the platform 103 in different postures and directions, or is sometimes stacked up, down, left, and right in different postures and directions. Below the robot arm 120 and within the range that the image sensor 110 can sense, the slider 10 (or 10') is fed into the platform 103 in an arbitrary posture and direction by a slider supply device not shown. In the sensing step S100 , the image sensor 110 recognizes the position, posture, and direction of the slider 10 (or 10 ′), and transmits the recognition result to the controller 130 . In the judgment step S200, the controller 130 judges whether the slider 10 (or 10') is in a transportable form according to the above identification result. In the conveying step S400, the controller 130 determines the conveying means according to the judgment result of the above-mentioned conveyable form, controls the conveying part 122 of the manipulator 121 of the robot arm 120, and adjusts the slider 10 (or 10') to the conveying means according to the determined conveying means. Prescribed posture and transport. The judging step S200 and the conveying step S400 will be further described below.

The inventor of the present application found that when the sliders 10 and 10' are sent to the recognition range of the image sensor 110 (the range where the sensor can detect and recognize the object) on the platform 103 in any posture and direction, there are at least several types of sliders. The postures and directions of 10 and 10' are such that the conveying part 122 of the robot 121 can stably pick up and convey the sliders 10 and 10'. As an example, as shown in FIGS. 5A to 5C , it is hereinafter referred to as a transportable form.

FIGS. 5A to 5C are views of the transportable form (the pull tab 14 is omitted) viewed from the perspective of the image sensor 110 , and the direction in which the paper exit surface is upward is defined as the upper side (the upper side shown in FIG. 3 ). FIGS. 6A to 6C are schematic perspective views of the slider in the transportable form being picked up by the transport unit 122, as viewed from the front of the platform 103, respectively. FIGS. 6A to 6C take the slider 10 without a cover as an example, and other sliders (with or without a cover, sliders of other shapes and sizes) and pull tabs of other shapes and sizes may be used. The transportable form includes at least the following types.

First, as shown in FIG. 5A , the slider 10 assumes various postures and directions with the mounting post 12d facing upward. The posture and the orientation shown in FIG. 1 are one of the forms in which the mounting post 12d faces upward. In the case of other types of sliders 10', it refers to various postures and directions in which the cover 12e faces upward. The posture and the orientation shown in FIG. 2 are one of the forms in which the cover 12e is directed upward. 6A is an example in which the attachment post 12d of the slider 10 is picked up by the claw part 122a of the conveyance part 122. As shown in FIG.

Second, as shown in FIG. 5B , the slider 10 assumes various postures and directions with the lower plate 12b facing upward. FIG. 6B is an example in which the lower plate 12b of the slider 10 is sucked by the suction part 122b of the conveyance part 122 .

Third, as shown in FIG. 5C , the slider 10 assumes various postures and directions with the connecting column 12c facing upward. FIG. 6C is an example in which the connecting column 12c of the slider 10 is picked up by the claw part 122a of the conveying part 122. As shown in FIG.

In FIGS. 5A to 5C , only five transportable forms are illustrated, but there are actually many more transportable forms. For example, due to the difference in the movement trajectory of the robot 121 , the arbitrary angle θ in the posture of the slider 10 has angles such as 90°, 180°, 270°, etc. 122 and are in transportable form. In the example of the above-mentioned conveyance form, every 90° is a conveyable form, but different angular intervals may be set according to the characteristics, performance, and size and shape of the robot arm.

In the determination step S200, the controller 130 receives the recognition result of the image sensor 110, and determines whether the slider 10 (or 10') is in a transportable form according to the recognition result of the image sensor 110. Furthermore, the controller 130 determines the conveyance means based on the conveyable form including the various types of slider postures and directions that can be conveyed, and comparison with the recognition result.

As shown in FIG. 3 , a manipulator 121 is provided at the distal end of the articulated manipulator 120 , and the manipulator 121 is provided with a conveying portion 122 that conveys the sliders 10 and 10 ′. The conveying part 122 of the manipulator 121 of the robot arm 120 includes a claw part 122a, and the conveying means may be an installation post 12d (FIG. 6A) or a connecting post 12c (FIG. 6C) of the slider body 12 clamped by the claw part 122a. When the other kind of slider 10' as shown in Fig. 2 is conveyed, the conveying means may be the cover 12e or the connecting post 12c which clamps the slider body 12' by the claw portion 122a. The conveying part 122 can also be equipped with a suction part 122b, such as a suction cup, a vacuum chuck, an electromagnet, etc., and the conveying means can also be the lower plate 12b of the slider body 12 suctioned by the suction part 122b (FIG. 6B). The suction cup generates suction by extruding air, the vacuum chuck generates suction by vacuuming, and the electromagnet generates suction by energizing, through these methods, the slider 10 (or 10') can be sucked. The conveyance part 122 illustrated in FIG. 3 has the claw part 122a and the adsorption|suction part 122b, of course, you may have only the claw part 122a, and may have only the adsorption|suction part 122b.

The conveying portion 122 includes a claw portion 122a, and the claw portion 122a includes at least one gripping claw 122aw for gripping the sliders 10 and 10', that is, only one gripping claw 122aw may be attached to the conveying portion 122 of the robot 121, or it may be attached A plurality of (two are taken as an example in FIG. 3 ) grip claws 122aw. When one gripping claw 122aw is attached to the conveying part 122, the gripping claw 122aw is also used for gripping the mounting post 12d (or cover 12e) of the slider body 12 and the connecting post 12c of the slider body 12, for example. Claw 122aw. When two gripping claws 122aw are installed on the conveying portion 122 (the claw portion 122a), the two gripping claws 122aw may also be claws of the same shape, and the two gripping claws are respectively used to hold the slider. The mounting post 12d (or the cover 12e) of the main body 12 and the connecting post 12c of the slider main body 12. Of course, these gripping claws 122aw are replaceable, and corresponding to the slider 10 (or 10') to be gripped and taken, the gripping claws 122aw of suitable shape can be replaced by human hands (manually). Alternatively, the robot arm 121 at the front end of the robot arm 120 can be rotated to automatically switch to the appropriately shaped gripping claw 122aw. In FIG. 3 , the two gripping claws 122aw of the same shape mounted on the claws 122a are taken as an example, but since the shapes of the mounting posts 12d (or the cover 12e ) of the slider body 12 and the connecting posts 12c of the slider body 12 are different, Therefore, two (or more) different-shaped gripping claws 122aw are installed in the claw portion 122a corresponding to the position where the slider 10 (or 10') is gripped. When the image sensor 110 recognizes the slider 10 (or 10 ′) in different postures and directions, the controller 130 controls the robot 121 at the front end of the robot arm 120 to select an appropriate gripping claw 122aw 10') of the attachment post 12d (or the cover 12e), or the grip claws 122aw of the shape of the connection post 12c, grip and convey the slider 10 (or 10'). The holding claws 122aw are composed of a pair of separate claws, the pair of claws can move inward to hold the slider 10 (or 10'), and the pair of claws are moved outward to release the slider 10 (or 10'). ) of the grip. Moreover, since the size and shape of the slider 10 (or 10') to be held are different, a plurality of different-shaped holding claws 122aw can be attached to the claws 122a.

A plurality of the above-mentioned transportable forms are preset in the controller 130, and in the determination step S200, for example, the controller 130 compares the recognition result of the image sensor 110 with the preset plurality of transportable forms, and finds out whether there are any and the recognition results Consistent transportable form. When a transportable form matching the recognition result is found, the transport step S400 is performed, a transport means is determined according to the transportable form matching the identification result, and the slider 10 (or 10') is transported according to the transport means. When the found transportable form is the transportable form in which the slider 10 (or 10') is in the posture and direction with the mounting post 12d (or the cover 12e) facing upward, the transporting means determined by the controller 130 uses the claw portion 122a. The holding claws 122aw hold the mounting post 12d (or the cover 12e) of the slider body 12 (or 12'). When the found transportable form is that the lower plate 12b faces upward, the transport means determined by the controller 130 is to suck the lower plate 12b of the slider body 12 (or 12') by the suction part 122b. When the found transportable form is that the connecting column 12c faces upwards, the transport means determined by the controller 130 is to hold the connecting column 12c of the slider body 12 (or 12') with the gripping claws 122aw of the claw portion 122a.

Referring to FIGS. 7 and 8 , FIG. 7 shows a modification of the robot arm 121 at the front end of the robot arm 120 , and FIG. 8 shows a flowchart of a slider conveying method in this modification. The already described symbols and steps are still applicable in this variation, and will not be described again.

When a plurality of sliders are overlapped in the front-rear, left-right, or up-down direction, and each slider is placed on the platform 103 in different postures and directions, the claw portion 122 a of the conveying portion 122 or suction may be used in the movable area of the robot arm 120 . The conveyance means such as the portion 122b cannot hold or suck the slider 10 (or 10'), so that the conveyance cannot be performed. For example, this case is the case of "NO" in the judgment step S200 whether the slider 10 (or 10') is in the transportable state (refer to the "NO" after the judgment step S200 in FIG. 8). The manipulator 121 at the front end of the manipulator 120 further includes a posture reset unit 124 . The posture resetting unit 124 includes a pair of plate-like elastic bodies 124a, and when in the judgment step S200, the result of comparing the recognition result with the transportable form shows that there is no transportable form that matches the recognition result (refer to the judgment step S200 and subsequent steps in FIG. 8 ) “No”), the posture resetting step S300 is performed, and the controller 130 controls the posture resetting part 124 of the robot arm 121 of the robot arm 120 to change the posture and direction of the slider.

As for the method of changing the posture and direction of the slider by the posture reset unit 124, the robot arm 121 at the front end of the robot arm 120 is moved to the slider within the recognition range of the image sensor 110 (referring to the range in which the sensor can detect and recognize the object). 10 (or 10'), the slider 10 (or 10') is pushed by the plate-like elastic body 124a to change the posture and direction of the slider 10 (or 10'). As shown in the example in the middle of FIG. 9A , this is the posture and direction of a slider that is not transportable. When the controller 130 determines that the current slider 10 (or 10 ′) is not transportable according to the recognition result of the image sensor 110 When it is in the shape (“No” in the judgment step S200 of FIG. 8 ), push the slider 10 (or 10 ′) in the direction of the dotted line, for example, in the direction of the arrow A1 in FIG. 9A , as a result, the slider 10 (or 10 ′) may be pushed. ) when the mounting post 12d (or the cover 12e) faces upward, that is, it becomes a transportable form. For example, by pushing in the direction of the arrow A2 in FIG. 9A , the slider 10 (or 10 ′) may be turned into a state where the lower plate 12 b faces upward, that is, it becomes a transportable state. For example, one or both of the pair of plate-shaped elastic bodies 124a may be brought into contact with a part of the slider 10 (or 10') including the pull-tab 4, and the plate-shaped elastic bodies 124a may be bent or curved in contact with each other. deformed. The plate-shaped elastic body 124a is not limited to the rectangular shape as shown in FIG. 7 , and may have a deformable shape and thickness.

The plate-shaped elastic body 124a is attached to the manipulator 121 at the front end of the manipulator 120 so as to be openable and closable, for example, and has a gripping function. The manipulator 121 at the front end of the manipulator 120 moves, and as shown in FIG. 9B , the posture resetting unit 124 utilizes the clamping function of the plate-like elastic body 124a, and the image sensor 110 recognizes the range (referring to the range in which the sensor can detect and recognize the object). ), grip the slider 10 (or 10'), move it to a predetermined height to release the grip of the plate-shaped elastic body 124a, and then drop the slider 10 (or 10'), thereby changing the slider 10 (or 10') posture, orientation. Since the plate-like elastic body 124a of the posture resetting part 124 has flexibility, even if the slider 10 (or 10') is not in the transportable state, the slider 10 (or 10') can be held. For the slider 10 (or 10 ′) that is not in the transportable form even after being pushed and bumped once or several times, it is also a method to change the posture and direction by gripping and dropping it. Of course, the above method of changing the posture and direction of the slider is just an example, and the slider may only be pushed and bumped, or the slider may be clamped and then dropped, or a combination of these methods may be used.

After changing the posture and direction of the slider 10 (or 10'), the sensing step S100 can be repeated again to identify the posture and direction of the slider 10 (or 10'), and the judgment step S200 is performed to find and identify again Conveyable form with consistent results. When the transportable form that matches the recognition result is found (“Yes” in the determination step S200 in FIG. 8 ), the transport step S400 is performed, and the controller 130 determines the transport means according to the found transportable form, and controls the robot arm 120 The conveyance part 122 of the robot 121 conveys the slider 10 (or 10') according to the determined conveyance means.

In the slider conveying device and the slider conveying method of the present invention, the conveying means is determined by comparing the recognition result of the image sensor and the conveyable form, and the slider is conveyed according to the conveying means, and the slider can be conveyed in a scattered posture and direction. placed slider.

In the slider conveyance device and the slider conveyance method of the present invention, by resetting the posture and direction of the slider not in the conveyable form by the posture resetting unit, the slider can be conveyed after being in the conveyable form. .

The slider 10 (or 10 ′) shown in FIG. 1 or FIG. 2 is only an example, and the present invention can be applied to various sliders. Basically, as long as the slider body 12 (or 12 ′) has a mounting post 12d (or a cover) 12e), the connecting column 12c, and the lower plate 12b are not limited to their shapes, and are all applicable to the scope of the present invention.

In addition, as another slider, a groove is formed on the mounting post, a locking pin spring is inserted and fixed into the groove, and the movement of the slider is stopped by the locking pin spring. Such a slider can also be used in the present invention. scope of application.

The present invention has been shown in the above embodiment, but the present invention is not limited to this, any person skilled in the art can make changes and corrections within the scope of the spirit of the present invention, so the protection scope of the present invention extends to within an equal range.

For example, depending on the size or shape of the slider 10 (or 10'), the attachment post 12d (or the cover 12e) can also be adsorbed by the adsorption portion 122b. The conveying apparatus and the conveying method of this invention can also be used for the slider which is provided with the mounting post or the cover on both sides of the upper plate and the lower plate of the slider main body, and the handle is attached to both surfaces of the upper plate and the lower plate. A part of the slider should just be grasped or adsorbed by the conveyance apparatus and its conveyance method of this invention.

Claims (21)

1. A conveying device (100) for a slider, which conveys a slider (10, 10'), wherein the conveying device (100) for the slider is characterized by comprising: an image sensor (110) for recognizing the posture and direction of the slider (10, 10'); a robot arm (120) having a conveying part (122) and a posture resetting part (124) at the front end for conveying the sliders (10, 10'); and A controller (130) receives the recognition result of the image sensor (110), and determines whether the sliders (10, 10') can be transported, and when it is determined that the sliders (10, 10') can be transported, the controller (130) controls The conveying part (122) of the robot arm (120) conveys the sliders (10, 10'), and when it is determined that conveyance is impossible, the controller (130) controls the robot arm (120) to change the posture and direction of the slider (10, 10') by the posture resetting part (124), The posture resetting part (124) uses a pair of plate-shaped elastic bodies (124a) to push against the slider (10, 10') to change the posture and direction of the slider (10, 10'). 2 . The slider conveying device ( 100 ) according to claim 1 , wherein the plate-shaped elastic body ( 124 a ) is openably and closably mounted on the front end of the robotic arm ( 120 ) and has a clamping device. 3 . function, the posture reset part (124) grips the slider (10, 10') and moves it to a predetermined height by using the gripping function of the plate-shaped elastic body (124a). fall to change the posture and direction of the slider (10, 10'). 3. The slider conveying device (100) according to claim 1, wherein the controller (130) matches a plurality of preset conveyable forms according to the recognition result of the image sensor (110) By comparison, it is judged whether any of the plurality of transportable forms has a transportable form consistent with the identification result, thereby determining whether the slider (10, 10') is transportable, and the transportable form includes a transportable form. The posture and direction of the various sliders (10, 10') to be conveyed. 4. The slider conveying device (100) according to claim 3, wherein the controller (130) determines the robotic arm (120) according to the conveyable form consistent with the recognition result ), the conveying means (122) of the conveying part (122) controls the robot arm (120) and conveys the sliders (10, 10') according to the determined conveying means, the conveying means including clamping or Adsorb the sliders (10, 10'). 5. The slider conveying device (100) according to claim 4, wherein the slider (10, 10') comprises a slider body (12, 12') and a pull tab (14), The slider body (12, 12') has an upper plate (12a), a lower plate (12b), and a connecting column (12c) connected between the upper plate (12a) and the lower plate (12b) and a mounting post (12d) for mounting the pull tab (14) on the upper plate (12a). 6. The slider conveying device (100) according to claim 5, characterized in that: the slider (10, 10') further comprises a cover (12e) that covers and is fixed on the mounting post (12d) ). 7. The slider conveying device (100) according to claim 4, wherein the conveying part (122) comprises a claw part (122a), and the conveying means is determined by the claw part (122a) ) clamps the sliders (10, 10'). 8. The slider conveying device (100) according to claim 5, wherein the conveying part (122) comprises a claw part (122a), and the conveying means is clamped by the claw part (122a) Hold the mounting post (12d) or the connecting post (12c) of the slider body (12, 12'). 9. The slider conveying device (100) according to claim 6, wherein the conveying part (122) comprises a claw part (122a), and the conveying means is clamped by the claw part (122a) Hold the cover (12e) or the connecting post (12c) of the slider body (12, 12'). 10. The slider conveying device (100) according to claim 4, wherein the conveying part (122) comprises a suction part (122b), and the conveying means is determined by the suction part (122b) ) adsorb the sliders (10, 10'). 11. The slider conveying device (100) according to claim 5 or 6, characterized in that: the conveying part (122) comprises a suction part (122b), and the conveying means is determined by the suction part (122b) Adsorbing the lower plate (12b) of the slider body (12, 12'). 12. A method for transporting a slider, comprising: A sensing step (S100), using an image sensor (110) to identify the posture and direction of the slider (10, 10'); and Judging step (S200), according to the recognition result of the image sensor (110), judging whether the slider (10, 10') is in a transportable form, and the transportable form includes a variety of slider postures that can be transported ,direction; When the judging result of the judging step (S200) is NO, perform the posture resetting step (S300), change the posture and direction of the slider (10, 10'), and perform the sensing step (S100) again ) and the judging step (S200). 13. The method for transporting a slider according to claim 12, characterized in that: determining whether the slider (10, 10') is in a transportable form comprises: matching the recognition result with a plurality of preset transportable forms By comparison, it is determined whether or not there is a transportable form in the plurality of transportable forms that agrees with the recognition result. 14 . The method for transporting a slider according to claim 13 , wherein when the judgment result in the judgment step ( S200 ) is that the plurality of transportable forms have transportable shapes that are consistent with the identification results. 15 . In the case of a form, a conveying step (S400) is performed, and a conveying means including gripping or sucking the slider (10, 10') is determined according to the conveyable form consistent with the recognition result, and conveying is carried out according to the conveying means the slider (10, 10'). 15. The method for transporting a slider according to claim 12, characterized in that: the posture resetting step (S300) comprises pushing and bumping the slider (10, 10'). 16. The method for transporting a slider according to claim 12 or 15, wherein the posture resetting step (S300) comprises clamping the slider (S300) within the recognition range of the image sensor (110). 10, 10') and make it move to the specified height and then drop. 17. The method for transporting a slider according to claim 14, wherein the slider (10, 10') comprises a slider body (12, 12') and a slider body (12, 12') mounted on the slider body (12, 12'). 12') on the pull tab (14), the slider body (12, 12') has an upper plate (12a), a lower plate (12b), and is connected to the upper plate (12a) and the lower plate The connecting column (12c) between (12b) has a mounting column (12d) for mounting the pull tab (14) on the upper plate (12a). 18. The method for transporting a slider according to claim 17, wherein the slider (10, 10') further comprises a cover (12e) covering and being fixed on the mounting post (12d). 19 . The method for transporting a slider according to claim 17 , wherein the transportable form includes: various slider postures and directions in which the mounting post ( 12d ) faces upward, and the lower plate ( 12 d ) faces upward. 20 . 12b) Various slider postures and directions facing upward, and various slider postures and directions in which the connecting column (12c) is facing upward. 20. The method for transporting a slider according to claim 18, characterized in that: the transportable form comprises: various slider postures and directions in which the cover (12e) faces upward, the lower plate (12b) ) upward-facing various slider postures and directions, and various upward-facing slider postures and directions for the connecting column (12c). 21. The method for transporting a slider according to claim 19 or 20, wherein when the transportable form consistent with the recognition result is the transportable form in which the lower plate (12b) faces upward, The determined conveying means includes the lower plate (12b) for attracting the slider body (12, 12'), When the transportable form consistent with the recognition result is the transportable form in which the connecting column (12c) faces upwards, the determined transporting means includes the aforementioned means for sandwiching the slider body (12, 12'). connecting post (12c), When the transportable form consistent with the recognition result is the transportable form in which the mounting post (12d) faces upwards, the determined transporting means includes the transportable form holding the slider body (12, 12'). mounting post (12d), When the transportable form corresponding to the recognition result is the transportable form in which the cover (12e) is facing upward, the determined transport means includes gripping the cover (12e).

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