JP7211208B2 - Depalletizing device and depalletizing method - Google Patents

Description

The present invention relates to a depalletizing device and a depalletizing method.

2. Description of the Related Art Conventionally, in physical distribution facilities, a depalletizing operation has been performed to transfer a plurality of packages stacked on a pallet to a conveyor or the like. In recent years, such depalletizing work is performed by an industrial robot that sucks and supports a load, which is an object to be transported, as disclosed in Patent Document 1, for example. The industrial robot disclosed in Patent Literature 1 has a pair of gripping fingers, and can stably support a load by gripping the load sucked and supported by the gripping fingers.

JP-A-9-141588

By the way, in order to realize more efficient transportation of cargo, it is necessary to shorten the cycle time in the depalletizing work. For this purpose, it is necessary to improve the transport speed of the load in the industrial robot.

For example, it is possible to prevent the load from falling off by holding the load with the gripping fingers as in Patent Document 1. In such a case, it is necessary to support the load with gripping fingers so as to sandwich the load from both sides. However, since it is common for a plurality of packages to be placed closely next to each other on a pallet, it is difficult to grip the packages with gripping fingers.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a depalletizing apparatus and a depalletizing method capable of transporting packages densely placed adjacent to each other.

The present invention employs the following configurations as means for solving the above problems.

A first invention is a depalletizing apparatus comprising an industrial robot having a hand that sucks and supports an object to be conveyed, wherein the industrial robot is provided on the hand and moves the object to be conveyed sucked by the hand. A configuration is adopted in which an inertial force supporting portion is provided that abuts on the side surface of the object to be conveyed and receives the inertial force generated when the object to be conveyed is conveyed.

A second aspect of the invention employs a configuration in which the hand and the inertia force support portion are connected to each other in the first aspect, and a support portion moving mechanism capable of moving the inertia force support portion with respect to the hand is provided. do.

In a third invention based on the second invention, the hand includes a suction pad capable of suction on the surface of the object to be conveyed, and a base to which the suction pad is fixed, and the support moving mechanism includes: A configuration is adopted in which the inertial force support portion can be extended to the outside of the base.

In a fourth aspect based on any one of the first to third aspects, the industrial robot includes a hand driving section for rotating the hand about a rotation axis, and the rotation axis and the The inertial force support section employs a configuration in which they are arranged across the center position of the hand.

In a fifth aspect based on any one of the first to fourth aspects, the inertial force support portion includes a first contact portion that contacts a first side surface of the object to be conveyed and a first contact portion that is connected to the first side surface. and a second contact portion that contacts the second side surface.

A sixth aspect of the present invention is any one of the first to fifth aspects of the invention, further comprising a control device for controlling the industrial robot, wherein the control device moves the object to be conveyed during an acceleration period of the object to be conveyed. The posture of the hand is controlled so that the inertia force support portion comes into contact with the object to be conveyed from behind in the direction, and the inertia force support portion is moved from the front in the traveling direction of the object to be conveyed during the deceleration period of the object to be conveyed. A configuration is adopted in which the posture of the hand is controlled so as to abut on the object to be conveyed.

In a seventh aspect based on the sixth aspect, the control device controls the movement of the inertial force support portion from the outside in the radial direction about the turning axis of the industrial robot during a constant-speed movement period of the object to be conveyed. A configuration is adopted in which the posture of the hand is controlled so that the hand abuts on the object to be conveyed.

An eighth invention is a depalletizing method for transporting the object to be transported by an industrial robot having a hand that sucks and supports the object to be transported. A configuration is adopted in which the inertia force support portion is brought into contact with the inertia force support portion to receive the inertia force generated when the object to be conveyed is conveyed.

A ninth aspect of the present invention is a depalletizing apparatus comprising: a conveying section; a hand rotatably connected to the conveying section; a suction surface provided on the hand; and an inertial force supporting part that makes contact with the object to be conveyed that is attracted to the body, and rotation control that rotates the hand with respect to the conveying part on the conveying path in line with the conveying path along which the conveying part conveys the object to be conveyed. A configuration including a part is adopted.

According to a tenth aspect, in the ninth aspect, a configuration is adopted in which the inertial force support portion moves horizontally and comes into contact with the object to be conveyed.

According to an eleventh aspect, in the tenth aspect, the transfer section supports the hand from above in the vertical direction via a rotating shaft.

In a twelfth invention, in any one of the ninth to eleventh inventions, the hand rotates 90 degrees or more between a gripping position of the object to be conveyed on the conveying path and a release position of the object to be conveyed. Adopt a moving configuration.

In a thirteenth aspect based on any one of the ninth to twelfth aspects, the conveying portion is an arm rotatable around a base, and the surface of the inertial force supporting portion that abuts on the object to be conveyed. A configuration is adopted in which the normal line and the rotation axis of the base intersect at least once on the transport path.

In the present invention, the object to be conveyed is conveyed in a state in which the inertial force supporting portion that receives the inertial force during conveyance is in contact with the side surface of the object without holding the object. According to the above aspect of the invention, the inertial force support portion receives the inertial force during transportation, so that the object to be transported can be transported at high speed. Moreover, according to the present invention, it is possible to prevent the object to be conveyed from falling off from the hands without clamping the object to be conveyed.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram which shows schematic structure of the depalletizing apparatus in 1st Embodiment of this invention, (a) is a side view, (b) is a top view. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows schematic structure of the depalletizing apparatus in 1st Embodiment of this invention. FIG. 1 is an enlarged schematic diagram including a schematic configuration of a hand provided in the depalletizing device according to the first embodiment of the present invention, where (a) is a side view seen from the same direction as FIG. 1 (a), and (b) is a front view; and (c) is a bottom view. FIG. 4 is a schematic explanatory diagram of the operation of the depalletizing device according to the first embodiment of the present invention when a load is transferred from a pallet to a conveyor; FIG. 4 is a schematic explanatory diagram of the operation of the depalletizing device according to the first embodiment of the present invention when a load is transferred from a pallet to a conveyor; FIG. 4 is a schematic explanatory diagram of the operation of the depalletizing device according to the first embodiment of the present invention when a load is transferred from a pallet to a conveyor; FIG. 4 is a schematic explanatory diagram of the operation of the depalletizing device according to the first embodiment of the present invention when a load is transferred from a pallet to a conveyor; FIG. 4 is a schematic explanatory diagram of the operation of the depalletizing device according to the first embodiment of the present invention when a load is transferred from a pallet to a conveyor; FIG. 4 is a schematic explanatory diagram of the operation of the depalletizing device according to the first embodiment of the present invention when a load is transferred from a pallet to a conveyor; FIG. 5 is a side view schematically showing a schematic configuration including a hand provided in a depalletizing device according to a second embodiment of the present invention; FIG. 11 is a side view schematically showing a schematic configuration including a hand provided in a depalletizing device according to a third embodiment of the present invention; FIG. 11 is a bottom view schematically showing a schematic configuration including a hand provided in a depalletizing device according to a fourth embodiment of the present invention; FIG. 5 is a schematic diagram showing a modified example of the inertial force support section provided in the depalletizing device of the present invention;

An embodiment of a depalletizing device and a depalletizing method according to the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic diagram showing a schematic configuration of a depalletizing device 1 according to a first embodiment of the present invention, where (a) is a side view and (b) is a plan view. FIG. 2 is a block diagram showing a schematic configuration of the depalletizing device 1 in this embodiment. The depalletizing apparatus 1 of the present embodiment performs a depalletizing operation of transferring packages X one by one onto a conveyor C from a pallet P on which a plurality of packages X (objects to be conveyed) are stacked. As shown in FIGS. 1 and 2, the depalletizing device 1 of this embodiment includes an industrial robot 2, a vacuum generator 3, and a control device 4. As shown in FIGS.

The industrial robot 2 includes a base 2a, an articulated arm 2b, an arm driving section 2c, a hand 2d, a hand driving section 2e, and an inertial force support mechanism 2f. As shown in FIG. 1, the base 2a is a platform for supporting the articulated arm 2b. The articulated arm 2b includes a plurality of arms that are tiltably connected to each other by joints. Such a multi-joint arm 2b has a root portion connected to the base 2a so as to be tiltable and rotatable, and a tip portion connected to the hand 2d.

The arm drive unit 2c is a mechanism for changing the posture of the multi-joint arm 2b, and includes a turning motor for turning the multi-joint arm 2b around a turning axis La passing through substantially the center of the base 2a, a joint unit, and the like. and includes a drive motor and the like for tilting the arm. Note that the swing motor and the drive motor included in these arm drive units 2c are accommodated, for example, in the case of the multi-joint arm 2b, and are omitted from the illustration in FIG.

The hand 2d is fixed to the tip of the articulated arm 2b. 3A and 3B are enlarged schematic diagrams including a schematic configuration of the hand 2d, where (a) is a side view seen from the same direction as FIG. 1(a), (b) is a front view, and (c) is a It is a bottom view. The posture of the hand 2d can be arbitrarily displaced depending on the shape of the articulated arm 2b, etc., but the posture in which the suction surface of the suction pad 2d4, which will be described later, faces downward is the standard posture. In the following description, the vertical direction of the hand 2d will be described based on this reference posture. As shown in these figures, the hand 2d includes two suction units 2d1, a connecting portion 2d2 that connects the suction units 2d1, and a bracket 2d3 that connects the suction unit 2d1 to the articulated arm 2b.

The suction unit 2d1 includes a plurality of flexible suction pads 2d4 and a base 2d5 to which the plurality of suction pads 2d4 are attached on the lower surface. The suction pad 2d4 is connected to the vacuum generator 3, and the negative pressure generated by the vacuum generator 3 can be supplied via the base 2d5. These adsorption pads 2d4 are capable of being adsorbed on the surface of the cargo X. As shown in FIG. The base 2d5 is a substantially plate-shaped member containing a valve or the like for switching the state of supply of negative pressure to each suction pad 2d4, and is fixed to the lower surface in a state in which a plurality of suction pads 2d4 are densely arranged. It is That is, each suction unit 2d1 has a structure in which a plurality of suction pads 2d4 are provided on the lower surface of a substantially plate-like base 2d5. It is also possible to mount a vacuum generator on the suction unit 2d1. In such a case, the vacuum generator 3 in this embodiment can be omitted.

Each suction unit 2d1 has the same shape as shown in FIG. These suction units 2d1 are arranged at a constant distance in a state in which the lower surfaces of the suction pads 2d4 (contact surfaces with the load X) are at the same height. The connecting portion 2d2 is arranged in a gap between the suction units 2d1 and connects the suction units 2d1.

In addition, as shown in FIG. 3(c), each suction unit 2d1 has a substantially rectangular shape when viewed from below, and is arranged so that the long axes thereof are parallel. The length dimension of the connecting portion 2d2 in the direction along the major axis is shorter than the length dimension of the adsorption unit 2d1 in the same direction. Also, the connecting portion 2d2 is arranged in a state of being shifted to one side in the same direction. As a result, slits 2d6 are formed between the suction units 2d1 as shown in FIG. 3(c). The slit 2d6 is formed linearly along the longitudinal direction of the adsorption unit 2d1, one end side is closed by the connecting portion 2d2, and the other end side is an open end. Such a slit 2d6 is used as a movement space for a suspension support portion 2f3 (see FIG. 3(b)) of the inertial force support mechanism 2f, which will be described later.

The bracket 2d3 is fixed to the upper surface of the suction unit 2d1, and is tiltably connected to the distal end of the multi-joint arm 2b. The bracket 2d3 has a portal shape as shown in FIG. 3(b) so as to be connected to each suction unit 2d1.

In such a hand 2d, a negative pressure is supplied from the vacuum generator 3 to the suction pad 2d4 in a state where the lower edge of the suction pad 2d4 is in contact with the upper surface of the package X. , and sucks and supports the cargo X that is in contact with the suction pad 2d4.

The hand drive unit 2e rotates the hand 2d connected to the tip of the multi-joint arm 2b with respect to the tip of the multi-joint arm 2b. Such a hand drive unit 2e is composed of a rotary motor or the like provided at the distal end of the articulated arm 2b. In addition, as shown in FIG. 3A, the hand driving section 2e rotates the hand 2d around a rotation axis L orthogonal to the adsorption surface of the adsorption unit 2d1. In this embodiment, the rotation axis L is located on the side opposite to the support plate 2f4 of the inertial force support mechanism 2f across the center position O of the hand 2d. In other words, the hand drive unit 2e rotates the center position O of the hand 2d with respect to the rotation axis L when viewed from the direction along the rotation axis L, and the support plate 2f4 rotates further than the center position O. The hand 2d is rotated so as to rotate radially outward about the driving axis L.

The center position O of the hand 2d is a position where the center of the left-right dimension and the center of the depth dimension of the hand 2d intersect. It should be noted that, for example, the center position O may be the center of gravity of the hand 2d.

The inertial force support mechanism 2f includes two support plate moving mechanisms 2f1 (support portion moving mechanisms), a connecting portion 2f2, a suspension support portion 2f3, and a support plate 2f4. As shown in FIG. 3B, the support plate moving mechanism 2f1 is provided on the upper surface of the suction unit 2d1 across a slit 2d6 provided between the suction units 2d1. These support plate moving mechanisms 2f1 are composed of linear motors in this embodiment, and move the movers in the direction along the slits 2d6 based on instructions from the control device 4. As shown in FIG.

The connecting portion 2f2 connects the support plate moving mechanisms 2f1 and is fixed to the movers of the respective support plate moving mechanisms 2f1. Such a connecting portion 2f2 is moved in the direction along the slit 2d6 (the direction toward the center position O or the direction away from the center position O) as the mover of the support plate moving mechanism 2f1 moves. The hanging support portion 2f3 is a rod-shaped portion extending from the central portion of the connecting portion 2f2 to below the suction unit 2d1 through the slit 2d6. The suspension support portion 2f3 suspends and supports the support plate 2f4 below the suction unit 2d1.

The support plate 2f4 is a plate-like member, and is fixed to the hanging support portion 2f3 so that one surface faces the center position O of the hand 2d. The support plate 2f4 is connected to the support plate moving mechanism 2f1 via a connecting portion 2f2 and a hanging support portion 2f3, and moves along the slit 2d6 as the moving element of the support plate moving mechanism 2f1 moves. direction is moved. When the cargo X is conveyed by the depalletizing device 1 of this embodiment, the support plate 2f4 is brought into contact with the side surface of the cargo X, and receives the inertial force acting on the cargo X when the cargo X is conveyed. To support a load X from the side without pinching it.

Such an industrial robot 2 carries out an operation of transporting the load X under the control of the control device 4 . For example, when the industrial robot 2 receives an instruction from the control device 4 to the arm drive section 2c, the arm drive section 2c changes the shape of the articulated arm 2b to change the posture of the hand 2d. Further, when the industrial robot 2 receives an instruction from the control device 4 to the hand drive section 2e, the hand drive section 2e changes the rotation angle of the hand 2d with respect to the articulated arm 2b. Further, when the industrial robot 2 receives an instruction from the control device 4 to the support plate moving mechanism 2f1, the support plate moving mechanism 2f1 changes the position of the support plate 2f4.

The vacuum generator 3 generates a negative pressure under the control of the control device 4 and supplies the negative pressure to the adsorption unit 2d1. Incidentally, as described above, when a vacuum generator is incorporated in the suction unit 2d1, the vacuum generator 3 can be omitted. Such a vacuum generator 3 generates a negative pressure by, for example, supplying power or compressed air from the outside.

The control device 4 performs overall control of the depalletizing device 1 based on instructions from the host system to which the depalletizing device 1 of this embodiment is connected. In this embodiment, the control device 4 controls the industrial robot 2 so that when the load X is transported, the load X is adsorbed by the adsorption unit 2d1 and the inertial force of the load X during transport is received by the support plate 2f4. .

Next, referring to FIGS. 4 to 9, in the depalletizing device 1 of the present embodiment, the operation (depalletizing method) when the cargo X is transferred from the pallet P to the conveyor C based on the control of the control device 4. will be explained. In addition, in the description of this operation, the subject of the operation is the control device 4 . Also, in FIGS. 4 to 9, a part of the industrial robot 2 and the vacuum generator 3 are omitted in order to improve visibility. In addition, in FIGS. 4 to 9, the baggage X to be transported is shown hatched in order to improve visibility.

First, the industrial robot 2 brings the hand 2d closer to the load X to be transported placed on the pallet P as shown in FIG. At this time, the hand 2d is brought closer to the load X so that the support plate 2f4 faces the side of the load X that is not hidden by other loads X, and the suction unit 2d1 faces the upper surface of the load X. be done.

Subsequently, the industrial robot 2 lowers the hand 2d by the arm driving section 2c, and brings the suction surface of the suction pad 2d4 of the suction unit 2d1 into contact with the upper surface of the load X as shown in FIG. Furthermore, the negative pressure generated by the vacuum generator 3 is supplied to the suction pad 2d4, whereby the load X is suction-supported by the hand 2d. Further, the industrial robot 2 brings the support plate 2f4 into contact with the side surface of the load X by the support plate moving mechanism 2f1 of the inertial force support mechanism 2f.

Subsequently, the industrial robot 2 pulls up the load X with the support plate 2f4 in contact with the side surface of the load X, as shown in FIG. Further, the industrial robot 2 rotates the hand 2d by the hand drive unit 2e as shown in FIG. Let Here, as shown in FIG. 8, the industrial robot 2 is arranged such that the support plate 2f4 is arranged rearward in the movement direction of the load X (the direction toward the conveyor C).

Subsequently, the industrial robot 2 moves the load X to the conveyor C, as shown in FIG. In addition, in FIG. 9, the load X and the hand 2d that are moved over time are shown in one drawing. The industrial robot 2 moves the hand 2d in the direction of the conveyor C by turning the articulated arm 2b in the direction of the conveyor C when moving the load X sucked and supported by the hand 2d toward the conveyor C. As shown in FIG. At this time, when the industrial robot 2 starts moving the load X, the hand 2d is accelerated at a predetermined acceleration until the hand 2d reaches the target speed. Here, the control device 4 controls the posture of the hand 2d so that the support plate 2f4 abuts the load X from behind in the traveling direction during the acceleration period of the hand 2d (that is, the load X). When the load X is accelerated, an inertial force acts on the load X toward the rear in the traveling direction. That is, the control device 4 controls the posture of the hand 2d so that the support plate 2f4 receives the inertial force of the load X from behind in the direction of travel while the load X is accelerating.

Subsequently, when the acceleration of the load X is completed, the industrial robot 2 moves the hand 2d at a constant speed. Here, the control device 4 adjusts the posture of the hand 2d so that the support plate 2f4 abuts the load X from the outside in the radial direction centering on the turning axis La during the constant-speed movement period of the hand 2d (that is, the load X). to control. Centrifugal force (inertial force) acts on the load X when the load X is turned around the turning axis La at a constant speed. That is, the control device 4 controls the attitude of the hand 2d so that the inertial force acting on the load X is received from the radially outer side by the support plate 2f4 while the load X is moving at a constant speed.

Subsequently, when the cargo X approaches the conveyor C, the industrial robot 2 starts decelerating the hand 2d. Here, the control device 4 controls the posture of the hand 2d so that the support plate 2f4 contacts the load X from the front in the traveling direction during the deceleration period of the hand 2d (that is, the load X). When the load X decelerates, an inertial force acts on the load X forward in the traveling direction. That is, the control device 4 controls the posture of the hand 2d so that the support plate 2f4 receives the inertial force acting on the load X from the front in the direction of travel while the load X is decelerating. Note that the control device 4 may control the attitude of the hand 2d in advance so that the support plate 2f4 comes into contact with the load X from the front in the traveling direction before the deceleration period starts.

Subsequently, when the industrial robot 2 moves the load X above the conveyor C, the hand 2d (that is, the load X) stops moving in the horizontal direction, and the load X is lowered and placed on the conveyor C. After that, the package X is separated from the hand 2d. Then, the industrial robot 2 moves the hand 2d to the pallet P again and conveys the next package X to the conveyor C in the same manner.

According to the depalletizing apparatus 1 and the depalletizing method of the present embodiment as described above, the object to be conveyed is conveyed in a state in which the support plate 2f4, which receives the inertial force during conveyance, is in contact with the side surface of the object X without nipping the object X. transport. In addition, according to the depalletizing device 1 and the depalletizing method of the present embodiment, it is possible to transport the packages X that are densely placed adjacent to each other. According to the depalletizing device 1 and the depalletizing method of the present embodiment, the load X can be conveyed at high speed without being pinched by receiving the inertial force acting on the load X during transportation with the support plate 2f4. is possible, and it is possible to prevent the load X from falling off from the hand 2d.

The depalletizing apparatus 1 of the present embodiment also includes a support plate moving mechanism 2f1 that connects the hand 2d and the support plate 2f4 and that can move the support plate 2f4 relative to the hand 2d. Therefore, after the cargo X is adsorbed by the adsorption unit 2d1, the support plate 2f4 can be moved to come into contact with the side surface of the cargo X. As shown in FIG. Therefore, according to the depalletizing device 1 of the present embodiment, the support plate 2f4 can be brought into contact with the load X with certainty.

Further, in the depalletizing apparatus 1 of the present embodiment, the industrial robot 2 includes a hand driving section 2e that rotates the hand 2d around the rotation axis L, and the rotation axis L and the support plate 2f4 are aligned. , are arranged across the center position O of the hand 2d. Therefore, when the hand 2d is rotated about the rotation axis L, the support plate 2f4 is arranged on the side that receives the centrifugal force acting on the load X. Detachment of the baggage X can be suppressed.

Further, in the depalletizing apparatus 1 of the present embodiment, the control device 4 controls the posture of the hand 2d so that the support plate 2f4 comes into contact with the load X from behind in the traveling direction of the load X during the acceleration period of the load X, The posture of the hand 2d is controlled so that the support plate 2f4 comes into contact with the load X from the front in the traveling direction of the load X while the load X is decelerating. Therefore, when the load X is accelerated or decelerated, the inertial force acting on the load X can be received by the support plate 2f4.

In the depalletizing apparatus 1 of the present embodiment, the control device 4 causes the support plate 2f4 to move the load X from the outside in the radial direction centering on the turning axis La of the industrial robot 2 during the constant speed movement period of the load X. The posture of the hand 2d is controlled so as to abut. Therefore, the inertial force acting on the load X can be received by the support plate 2f4 while the load X is moving at a constant speed.

In addition, in the depalletizing device 1 of the present embodiment, the articulated arm 2b (conveying section), the hand 2d rotatably connected to the articulated arm 2b, the suction surface provided on the hand 2d, the hand The support plate 2f8 provided in 2d and brought into contact with the load X adsorbed on the adsorption surface and the multi-joint arm 2b are aligned with the transport path along which the load X is transported, and the hand 2d is placed against the multi-joint arm 2b on the transport path. and a control device 4 (rotation control section) for rotating.

Further, in the depalletizing device 1 of the present embodiment, the support plate 2f8 moves horizontally and comes into contact with the load X. As shown in FIG.

In addition, in the depalletizing device 1 of the present embodiment, the articulated arm 2b supports the hand 2d from above in the vertical direction via the rotation shaft.

Further, in the depalletizing device 1 of the present embodiment, the hand 2d rotates by 90 degrees or more between the position at which the load X is gripped on the conveying path and the position at which the load X is released.

Further, in the depalletizing device 1 of the present embodiment, the articulated arm 2b is an arm that can rotate around the base 2a. It intersects with the turning axis La (rotating axis) at least once on the transport path.

(Second embodiment)
Next, a second embodiment of the invention will be described with reference to FIG. In the description of the present embodiment, the description of the same parts as those of the first embodiment will be omitted or simplified.

FIG. 10 is a side view schematically showing a schematic configuration including a hand 2d provided in the depalletizing device of this embodiment. As shown in this figure, in the depalletizing device of the present embodiment, the support plate moving mechanism 2f1 of the inertial force support mechanism 2f includes a cylinder rod 2f5 having a support plate 2f4 fixed to the tip thereof, and a base 2d5 of the adsorption unit 2d1. and a cylinder tube 2f6 that supports a cylinder rod 2f5 so that the end portion to which the support plate 2f4 is fixed can extend to the outside of the base 2d5.

Also in this embodiment, two supporting plate moving mechanisms 2f1 are provided. The support plate 2f4 is fixed to the tip of the cylinder rod 2f5 via a connecting portion 2e2 connected to the cylinder rod 2f5 of one support plate moving mechanism 2f1 and the cylinder rod 2f5 of the other support plate moving mechanism 2f1. .

In the depalletizing device of this embodiment, the support plate 2f4 can be arranged outside the base 2d5 by extending the cylinder rod 2f5 from the cylinder tube 2f6. Therefore, even when transporting a load X whose side surface is located outside the base 2d5, the support plate 2f4 can be brought into contact with the side surface of the load X, and the load X can be stably transported. becomes.

(Third embodiment)
Next, a third embodiment of the invention will be described with reference to FIG. In the description of the present embodiment, the description of the same parts as those of the first embodiment will be omitted or simplified.

FIG. 11 is a side view schematically showing a schematic configuration including a hand 2d provided in the depalletizing device of this embodiment. As shown in this figure, in the depalletizing device of this embodiment, a plurality of suction pads 2f7 are provided for the support plate 2f4. These suction pads 2 f 7 are arranged so that their suction surfaces face the center position O of the hand 2 d and are connected to the vacuum generator 3 . Such an adsorption pad 2f7 is supplied with a negative pressure from the vacuum generator 3, thereby adsorbing the side surface of the load X and suppressing the separation of the load X from the support plate 2f4.

In such a case, the supporting plate 2f4 and the suction pad 2f7 contact the side surface of the load X without pinching the load X attached to the hand 2d and adsorbed by the hand 2d. An inertial force supporting portion that receives an inertial force is configured.

(Fourth embodiment)
Next, a fourth embodiment of the invention will be described with reference to FIG. In the description of the present embodiment, the description of the same parts as those of the first embodiment will be omitted or simplified.

FIG. 12 is a bottom view schematically showing a schematic configuration including a hand 2d provided in the depalletizing device of this embodiment. As shown in this figure, the depalletizing device of this embodiment includes a support plate 2f8 that is bent at right angles when viewed from below. The support plate 2f8 has a first contact portion 2g that contacts the first side surface of the package X and a second contact portion 2h that contacts the second side surface connected to the first side surface of the package X. there is

According to the depalletizing device of this embodiment, the support plate 2f8 can be brought into contact with the two side surfaces of the load X. As shown in FIG. Therefore, by receiving the inertial force acting on the load X by either the first contact portion 2g or the second contact portion 2h, the load X can be stably conveyed. It becomes possible to shorten the turning motion of 2d. Therefore, according to the depalletizing device of this embodiment, it is possible to shorten the cycle time of the depalletizing work.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above embodiments. The various shapes, combinations, and the like of the constituent members shown in the above-described embodiment are merely examples, and can be variously changed based on design requirements and the like without departing from the gist of the present invention.

For example, in the above embodiment, the configuration using the plate-like support plate 2f4 as the inertial force support portion has been described. However, the invention is not limited to this. For example, as shown in FIG. 13, instead of the support plate 2f4, it is possible to employ a configuration including an inertial force support portion 2i having a plurality of rod members 2i1.

In addition, in the above-described embodiment, a configuration in which the support plate moving mechanism 2f1 is provided and the support plate 2f4 is movable with respect to the hand 2d is adopted. However, the present invention is not limited to this, and it is also possible to employ a configuration in which the support plate 2f4 is fixed to the hand 2d.

Also, the number of suction pads 2d4 included in the suction unit 2d1 can be changed. For example, it is possible to employ a configuration in which a single suction pad is provided for the hand 2d.

1 depalletizing device 2 industrial robot 2a base 2b articulated arm (conveyor)
2c Arm driving part 2d Hand 2d1 Suction unit 2d2 Connection part 2d3 Bracket 2d4 Suction pad 2d5 Base 2d6 Slit 2e Hand driving part 2e2 Connecting part 2f Inertia force support mechanism 2f1 Support plate moving mechanism (support part moving mechanism)
2f2 connecting portion 2f3 suspension support portion 2f4 support plate (inertial force support portion)
2f5 cylinder rod 2f6 cylinder tube 2f7 suction pad 2f8 support plate 2g first contact portion 2h second contact portion 2i inertia force support portion 2i1 rod member 3 vacuum generator 4 control device (rotation control portion)
C Conveyor L Rotation axis La Rotation axis (rotation axis)
O Center position P Pallet X Cargo (object to be conveyed)

Claims (7)

A depalletizing device comprising an industrial robot having a hand that adsorbs and supports an object to be conveyed,
The industrial robot includes an inertial force support unit provided in the hand and receiving an inertial force generated when the object to be conveyed is conveyed by abutting on the side surface of the object to be conveyed that is attracted to the hand without holding the object to be conveyed. prepared,
A control device for controlling the industrial robot,
The control device is
controlling the posture of the hand so that the inertial force support portion abuts on the object to be conveyed from behind in the traveling direction of the object to be conveyed during an acceleration period of the object to be conveyed;
The posture of the hand is controlled so that the inertial force support portion comes into contact with the object to be conveyed from the front in the moving direction of the object to be conveyed during the deceleration period of the object to be conveyed.
A depalletizing device characterized by: 2. A depalletizing apparatus according to claim 1, further comprising a supporting portion moving mechanism that connects said hand and said inertial force supporting portion and is capable of moving said inertial force supporting portion with respect to said hand. The hand includes a suction pad that can be suctioned on the surface of the object to be conveyed, and a base to which the suction pad is fixed,
3. The depalletizing device according to claim 2, wherein the support portion moving mechanism allows the inertial force support portion to extend to the outside of the base. The industrial robot includes a hand drive unit that rotates the hand about a rotation axis,
The depalletizing device according to any one of claims 1 to 3, wherein the rotation axis and the inertia force support section are arranged with the center position of the hand interposed therebetween. The inertial force support portion has a first contact portion that contacts a first side surface of the object to be conveyed, and a second contact portion that contacts a second side surface connected to the first side surface. The depalletizing device according to any one of claims 1 to 4. The control device controls the movement of the hand so that the inertial force support portion comes into contact with the object to be conveyed from the outside in a radial direction centering on the turning axis of the industrial robot during a constant-speed movement period of the object to be conveyed. 6. The depalletizing apparatus according to any one of claims 1 to 5, wherein the attitude is controlled. A depalletizing method for transporting an object to be transported by an industrial robot having a hand that adsorbs and supports the object to be transported,
receiving an inertial force generated when the object to be conveyed is conveyed by contacting the inertial force support portion against the side surface of the object to be conveyed without sandwiching the object to be conveyed;
controlling the posture of the hand so that the inertial force support portion abuts on the object to be conveyed from behind in the traveling direction of the object to be conveyed during an acceleration period of the object to be conveyed;
The posture of the hand is controlled so that the inertial force support portion comes into contact with the object to be conveyed from the front in the moving direction of the object to be conveyed during the deceleration period of the object to be conveyed.
A depalletizing method characterized by:

Images