TRANSFER DEVICE AND TRANSFER METHOD

• Main Authors: KUSABE KAZUHITO, MAEDA KAORU
• Format: Patent
• Language: English; Japanese
• Published: 06.10.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide a transfer device which can prevent complication of control even when gripping various types of articles.SOLUTION: A transfer device includes: a hand device 20 which has a suction surface 24a for gripping a surface to be sucked of an article; a moving mechanism which moves the position of the hand device 20; and a control section which controls operations of the hand device 20 and the moving mechanism. The control section has a storage section for storing positions of a plurality of reference points A1 to A5, B1 to B5, and C1 to C5, which are preliminarily set with respect to the suction surface 24a, and a gripping posture determination section for determining a reference point and a gripping posture of the suction surface 24a with respect to an article from the positional posture at a transfer destination of the article and the shape of the surface to be sucked. The control section operates the hand device 20 and the moving mechanism so that the hand device 20 grips the article at a gripping posture in which the determined reference point has a prescribed positional relation with respect to a gripping target position of the article and the article is arranged at a desired positional posture at the transfer destination.SELECTED DRAWING: Figure 3 【課題】多品種の物品を把持する場合でも、制御が複雑化するのを防止できる移載装置を提供する。【解決手段】移載装置は、物品の被吸着面を把持する吸着面２４ａを有するハンド装置２０と、ハンド装置２０の位置を移動させる移動機構と、ハンド装置２０および移動機構の動作を制御する制御部とを備える。制御部は、吸着面２４ａに対して予め設定された複数の基準点Ａ１～Ａ５、Ｂ１～Ｂ５、Ｃ１～Ｃ５の位置を記憶する記憶部と、物品の移載先での位置姿勢と被吸着面の形状とから、物品に対する吸着面２４ａの基準点および把持姿勢を決定する把持姿勢決定部とを含む。制御部は、決定された基準点が物品の把持目標位置に対して所定の位置関係となる把持姿勢でハンド装置２０が物品を把持し、移載先で所望の位置姿勢に配置するように、ハンド装置２０および移動機構を動作させる。【選択図】図３