Package identification code, sheet or sticker sheet displaying same, and robot hand used for same
View Patent ↗The present invention is provided to achieve smooth devanning or depalletizing of rectangular packages while managing various situations. Package identification codes 10 a, 10 b, 10 c, 10 d are displayed at a predetermined position of each of four surfaces of front, back, left and right or on each of all surfaces of a package 5 A having a rectangular shape, and code data-of the identification codes is identified by a predetermined controller via a reading unit. The code data includes size information of a height size and a width size of a code display surface of the package 5 A. The controller of a robot having the reading unit and a robot hand is configured to position the robot hand with the package 5 A based on a code display position and the size information.
1. A sheet or a sticker sheet displaying a package identification code displayed at a predetermined position of each of four surfaces of front, back, left and right or each of all surfaces of a package having a rectangular shape so that code data of the package identification code is configured to be identified by a predetermined controller of a robot via a reading unit, the predetermined controller having the reading unit and a robot hand, wherein
the code data includes size information indicating a height size and a width size of a code display surface of the package,
the predetermined controller is configured to position the robot hand with the package based on a code display position and the size information,
the code data includes position information identifying the code display position on the code display surface by a coordinate position on the code display surface,
the sheet or the sticker sheet has a predetermined shape,
the package identification code is configured to be displayed on each of the four surfaces of front, back, left and right or each of the all surfaces of the package when the sheet or the sticker sheet is adhered to the predetermined position of each of the four surfaces or each of the all surfaces,
three package identification codes are arranged in an L-shape while interposing a predetermined distance between the three package identification codes so that one of the three package identification codes is located at a center of the three package identification codes and other two of the three package identification codes are arranged so as to form a right angle,
the sheet or the sticker sheet is formed in the L-shape and configured to be adhered on three surfaces forming a corner portion of the package having the rectangular shape while the sheet or the sticker sheet is bent between neighboring package identification codes at a right angle so that the package identification code is displayed on each corner of the three surfaces, and
the package identification code is displayed on each of different three surfaces of the package only by adhering one sheet or one sticker sheet.
2. The package identification code according to claim 1 , wherein
the code data includes information of a depth size based on the code display surface or/and a weight of the package.
3. A robot hand for picking up the package displaying a package identification code displayed at a predetermined position of each of four surfaces of front, back, left and right or each of all surfaces of a package having a rectangular shape so that code data of the package identification code is configured to be identified by a predetermined controller of a robot via a reading unit, the predetermined controller having the reading unit and a robot hand, wherein
the code data includes size information indicating a height size and a width size of a code display surface of the package,
the predetermined controller is configured to position the robot hand with the package based on a code display position and the size information,
the code data includes position information identifying the code display position on the code display surface by a coordinate position on the code display surface,
the robot hand comprising:
the reading unit provided on an arm tip side of the robot, the reading unit being configured to read the package identification code;
a support plate configured to support a bottom surface of the package from below, the support plate being capable of adjusting an angle of an upper surface of the support plate by vertically swinging a tip side of the support plate within a predetermined range; and
a suction-pullout unit configured to pull out the package and place the package on the support plate while sucking the code display surface, and
the package is configured to be held in a state of being pulled out and placed on the support plate while positioning the tip side of the support plate with the package based on the code display position of the position information and the size information.
4. The package identification code according to claim 3 , wherein
the code data includes information of a depth size based on the code display surface or/and a weight of the package.