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JP-7857003-B2 - Item pickup system

JP7857003B2JP 7857003 B2JP7857003 B2JP 7857003B2JP-7857003-B2

Inventors

  • 野村 弘行
  • 塩谷 昌行
  • 石川 真也
  • 津川 久志
  • 岡部 修一
  • 清水 亮

Assignees

  • 株式会社アールティ

Dates

Publication Date
20260512
Application Date
20220214

Claims (4)

  1. A pick-up system for goods, Robots and, Weighing device and A storage member capable of accommodating the aforementioned article, Equipped with, The aforementioned robot consists of the robot body and At least one arm member that is movable relative to the robot body, A control unit that controls the movement of the arm member, Equipped with, The weighing device has at least one weighing section arranged in a first direction, The housing member is positioned between the weighing unit and the robot in a second direction perpendicular to the first direction. The control unit drives the arm member so that it picks up the item from the storage member and places the item in one of the weighing units. The housing member is arranged to be movable in the first direction. A pick-up system for goods.
  2. The article pickup system according to claim 1 , wherein the replacement storage member containing the article can be positioned on either one of the two sides of the storage member in the first direction.
  3. The article pickup system according to claim 1 or 2 , wherein, in the first direction, an empty auxiliary storage member or a backup auxiliary storage member containing the article is further disposed from at least one of both sides of the storage member.
  4. The robot comprises at least two arm members, The article pickup system according to any one of claims 1 to 3 , wherein the two arm members are provided on both sides of the robot body in the first direction.

Description

This invention relates to an article pickup system. Patent Document 1 discloses a robot that drives an arm member, uses tongs at the tip of the arm member to pick up noodle products contained in a container, and places them on a weighing tray. Patent No. 6680387 This is a plan view of a pickup system according to one embodiment of the present invention.This is a front view of Figure 1.This is a side view of Figure 1.This is a perspective view of Figure 1.This is a perspective view showing a certain posture of the first robot according to one embodiment of the present invention.This is a front view showing a certain posture of the first robot.This is a perspective view of the end effector.This is a schematic diagram of the first arm member.This is a plan view showing preliminary operations performed by the first arm member.This is a perspective view showing the pickup operation of noodle products by the first arm member.This is a perspective view showing the pickup operation of noodle products by the first arm member.This is a perspective view showing the pickup operation of noodle products by the first arm member.This is a front view showing the state of the first arm member before the first rotation operation.This is a front view showing the first rotation operation of the first arm member.This is a front view showing the second rotation operation of the first arm member.This is a front view showing the vertical movement operation of the first arm member.This is a side view showing the placement operation of noodle products by the first arm member.This is a side view showing the placement operation of noodle products by the first arm member.This is a side view showing the placement operation of noodle products by the first arm member. The following describes an embodiment of the article pickup system according to the present invention applied to a noodle product pickup system, with reference to the drawings. Noodle products, as used here, include, for example, pasta, udon, and soba. Figure 1 is a plan view of the pickup system according to this embodiment, Figure 2 is a front view of Figure 1, Figure 3 is a partial side view of Figure 1, and Figure 4 is a perspective view of Figure 1 (with one robot omitted). In the following description of the conveying device, the description will follow the directions shown in Figures 1 to 4. Similarly, the description of the robot will follow the directions shown in Figure 5, which will be described later. However, the present invention is not limited to these directions and can be configured in various directions. As shown in Figures 1 to 4, the pickup system according to this embodiment comprises a first robot 100, a second robot 200, and a noodle product N conveying device 300. The conveying device 300 comprises a plurality of weighing conveyors 311 to 317, 321 to 327, a first conveying conveyor 33 that conveys the noodle products N supplied from each of the weighing conveyors 311 to 317, 321 to 327, and a second conveying conveyor 34 that conveys the noodle products N supplied from the first conveying conveyor 33. This conveying device 300 is positioned between the two robots 100 and 200. Between each robot 100 and 200 and the conveying device 300, there are storage members 41 and 42, respectively, which contain the noodle products N. Each robot 100 and 200 picks up a predetermined amount of noodle products N from the storage members 41 and 42 and places them on one of the weighing conveyors 311 to 317, 321 to 327. The noodle products N, placed on weighing conveyors 311-317 and 321-327, are supplied to and transported by the first transport conveyor 33, and then transferred to and transported by the second transport conveyor 34. The transport device 300 will be described in detail first, followed by a detailed description of the robots 100 and 200. <1. Conveying Equipment> As shown in Figures 1 to 4, the conveying device 300 has a pair of weighing conveyor groups 301 and 302 that are spaced apart in the left-right direction, and each weighing conveyor group 301 and 302 is provided with multiple weighing conveyors 311 to 317 and 321 to 327, respectively. A first conveying conveyor 33 extending in the front-rear direction is positioned between each weighing conveyor group 301 and 302, and a second conveying conveyor 34 extending in the left-right direction is positioned at the front end of the first conveying conveyor 33. Furthermore, an operation indicator 35 is positioned at the rear end of the left weighing conveyor group 302. The operation of each of these devices is controlled by a control device (not shown). In the following, the group of weighing conveyors on the right side of the first transport conveyor 33 will be referred to as the first weighing conveyor group 301, and the group of weighing conveyors on the left side will be referred to as the second weighing conveyor group 302. The first robot 100 is positioned on the right side of the first weighing conv