Article supplying apparatus and combinatorial weighing device
An article supplying apparatus includes a retention unit configured to retain an article, a robot hand configured to insert the article retained in the retention unit into a container, and a control unit configured to control operation of the robot hand. The robot hand has a holding portion for holding the article. The control unit executes holding control in which the article is held by the holding portion; and stand-by insertion control in which after the holding portion is temporarily disposed at a stand-by position different from a position immediately above an article insertion port in the container and set on a movement path from a start position of the holding through the holding control to the position immediately thereabove, the holding portion is moved to the position immediately thereabove, and the article is inserted into the container via the article insertion port.
1. An article supplying apparatus comprising:
a retention unit configured to retain an article serving as an insertion target;
a robot hand configured to insert the article retained in the retention unit into a container; and
a control unit configured to control operation of the robot hand,
wherein the robot hand has a holding portion for holding the article, and
wherein the control unit executes
holding control in which the holding portion holds the article retained in the retention unit and then begins moving the article along a movement path from the retention unit toward an article insertion port above a container, the location in which the holding portion begins holding the article in the retention unit defines a start position of the article held by the holding portion, and
stand-by insertion control in which the holding portion is temporarily stopped at a stand-by position that is different from the start position and different from a position immediately above the article insertion port of the container, and after completion of the stand-by insertion control, the article is moved to a position above the article insertion port where the article is inserted into the container via the article insertion port,
wherein the control unit:
operates the holding portion to hold the article and determines whether or not the article is able to be inserted into the container,
executes the stand-by insertion control in response to determining that the article is not to be inserted into the container, and
executes direct insertion control in which the holding portion is instantly moved to the position immediately above the article insertion port without being temporarily disposed at the stand-by position and the article is inserted into the container via the article insertion port when in response to the control unit determining that the article is to be inserted into the container.
2. The article supplying apparatus according to claim 1 , wherein the stand-by position is set at a position closer to the article insertion port than the start position of the holding through the holding control.
3. The article supplying apparatus according to 2 ,
wherein the stand-by position is set in a region adjacent to the article insertion port when viewed from above.
4. The article supplying apparatus according to claim 2 , wherein a collection portion receiving the article which has fallen from the holding portion is disposed below the stand-by position.
5. The article supplying apparatus according to claim 2 , wherein the stand-by position is set at a height position higher than the article insertion port and between the retention unit and the article insertion port when viewed from above.
6. The article supplying apparatus according to claim 1 , wherein the stand-by position is set in a region adjacent to the article insertion port when viewed from above.
7. The article supplying apparatus according to claim 6 , wherein a collection portion receiving the article which has fallen from the holding portion is disposed below the stand-by position.
8. The article supplying apparatus according to claim 6 , wherein the stand-by position is set at a height position higher than the article insertion port and between the retention unit and the article insertion port when viewed from above.
9. The article supplying apparatus according claim 1 , wherein a collection portion receiving the article which has fallen from the holding portion is disposed below the stand-by position.
10. The article supplying apparatus according to claim 9 , wherein the stand-by position is set at a height position higher than the article insertion port and between the retention unit and the article insertion port when viewed from above.
11. The article supplying apparatus according to claim 1 , wherein the stand-by position is set at a height position higher than the article insertion port and between the retention unit and the article insertion port when viewed from above.
12. A combinatorial weighing device comprising:
a retention unit configured to retain an article serving as an insertion target;
a plurality of hoppers configured to allow the article to be inserted thereinto and to temporarily retain the article;
a weighing unit configured to weigh each of a plurality of the articles retained in the plurality of hoppers;
a robot hand configured to insert the article retained in the retention unit into the hopper; and
a control unit configured to control operation of the robot hand, to select a plurality of the articles, of which a sum of weighing values becomes a target mass value set in advance, from the plurality of the articles weighed by the weighing unit, and to discharge the plurality of the selected articles from the hoppers,
wherein the robot hand has a holding portion for holding the article, and
wherein the control unit executes
holding control in which the holding portion holds the article retained in the retention unit and then begins moving the article along a movement path from the retention unit toward an article insertion port above a container, the location in which the holding portion begins holding the article in the retention unit defines a start position of the article held by the holding portion, and
stand-by insertion control in which the holding portion is temporarily stopped at a stand-by position that is different from the start position and different from a position immediately above the article insertion port of the hopper, and after completion of the stand-by insertion control, the article is moved to a position closer to the article insertion port than the start position and then the article is inserted into the hopper via the article insertion port,
wherein the control unit:
operates the holding portion to hold the article and determines whether or not the article is able to be inserted into the container,
executes the stand-by insertion control in response to determining that the article is not to be inserted into the container, and
executes direct insertion control in which the holding portion is instantly moved to the position immediately above the article insertion port without being temporarily disposed at the stand-by position and the article is inserted into the container via the article insertion port when in response to the control unit determining that the article is to be inserted into the container.