WO2018105121A1 - Article-locating and -gripping device - Google Patents

Abstract

Provided is an article-locating and –gripping function capable of recognizing and specifying merchandise by a variety of sensor functions, safely gripping an article with the most suitable method and quickly transferring the same without using an expensive robot that is operated on the basis of a detailed program. This article-locating and –gripping device is equipped with: sensors for detecting articles; a mechanism for gripping the article; an article-gripping and –transferring mechanism that comprises said sensors and said gripping mechanism; and a control mechanism for controlling the article detection information of said sensors, said gripping mechanism, and said article-gripping and –transferring mechanism.

Description

Article search and gripping device

The present invention relates to an article gripping device for recognizing, gripping, and transferring an object. In particular, the present invention relates to an article gripping device of a robot arm for automatic article transfer in refilling transfer of a delivery box or the like of a variety of products at a distribution / delivery base.

At product distribution bases, robots are used to transfer products to shipping containers for sorting and packaging multi-variety products received in large quantities by destination. In this case, only the designated product is identified and recognized from products having various other shapes, and the robot arm is operated to hold (pick up) the product. For this purpose, a camera image recognition device or the like is used. The inside of the product box is imaged, only the specific product is recognized, the robot arm moves to the specified position according to the data such as the external shape of the product, grips the specified product, and then moves to the shipping container Place (transfer).

However, this work requires identifying the product by image recognition and confirming the shape, so robot operation by a very detailed program such as holding operation according to the product outer shape by the arm is required, and mass production is performed as quickly and efficiently as possible. In logistics bases that are required to transfer products, work is too slow and requires expensive robots with careful program control. Work has not been completed.

In actual product holding with a robot arm, the main technique is to hold a product by vacuum suction by applying a vacuum suction pad to the product. However, it has not yet reached a technology that exhibits the function of successively attracting and holding products having a wide variety of external shapes.

For example, in Patent Document 1, in an automated system for gripping an article using a robot or the like, an object gripping by suction suction using a suction head by calculating a workpiece gripping position for each operation using a vision system that replaces human eyes The technical idea of is disclosed. However, in this example, since it is a technical idea of gripping an article only by a technique using adsorption, a technique for recognizing and gripping an article having various shapes has not been achieved. It is not suitable for gripping an article that is recognized while searching for articles having various shapes and that selects the method that is most easily gripped.

In another conventional technique, in an article gripping automation system using a robot or the like, a work gripping position is calculated for each operation and a movement instruction is issued to the robot using a vision system that replaces human eyes. In this system, when gripping a workpiece using a robot system, the position information of the case and the workpiece must be measured and the robot must be instructed to operate. This processing time is a number that is always included in each operation, leading to an increase in cycle time. In addition, a general vision system is composed of a camera, lighting equipment, and a controller, which leads to a complicated system and high cost.

JP 2013-169640 A

Rather than using an expensive robot that operates based on a precise program, a variety of sensor functions can be used to identify and identify products, safely grasp the goods in the most suitable way, and quickly transfer them. Providing a gripping function is an object of the present invention.

In order to solve such a problem, an article search and gripping device according to the present invention includes:
A sensor for sensing an article; a mechanism for gripping an article; an article gripping transfer mechanism having the sensor and the gripping mechanism; an article sensing information of the sensor; the gripping mechanism; and a control mechanism for controlling the article gripping transfer mechanism. It is provided and configured.

The article search and gripping device according to the present invention receives article information whose position is recognized by the sensing sensor, and the control mechanism controls the gripping mechanism and the article gripping transfer mechanism to search and grip the article. It has the feature to do.

In general, most of the methods for recognizing an article in the object gripping work are mainly based on image recognition. In what order and how to grasp and transfer the article to the article recognized by the image in the next order. An algorithm is set in advance, and a program is made according to the instruction, leading to machine operation.

In the article searching and gripping apparatus according to the present invention, the detection sensor includes a negative pressure (air pressure) sensor and / or a laser sensor and / or an ultraviolet sensor and / or an infrared sensor and / or a visible light sensor and / or Or a microwave sensor and / or an ultrasonic sensor, and / or the sensing sensor is a limit switch and / or a temperature sensor (thermistor) and / or a conductive probe and / or a photoelectric tube and / or a pressure sensitive sensor and / or magnetic. It is characterized by being a sensor.

A plurality of these article detection sensors are installed substantially uniformly or randomly on the gripping mechanism, and can detect the presence of the article while approaching the article according to the movement of the gripping mechanism. The installation direction of the sensor is not limited, and may be installed over the entire surface of the gripping mechanism. As is well known, each sensing sensor has a unique sensing function. Moreover, it does not exclude that an image recognition is provided.

Many methods have already been known as well-known techniques and conventional techniques for recognizing articles. For example, there are recognition techniques using various methods such as negative pressure of suction air, light (ultraviolet, visible, infrared), electromagnetic wave, contact, electricity, sound wave, and temperature. These selections need to consider both the application as a sensing sensor mechanism and the perceived physical properties of the actually recognized article.

For example, when the temperature of an article is sensed and recognized in comparison with other temperatures, the sensing sensor (thermistor) recognizes the article as a temperature difference by electrically sensing the difference in electrical resistance with respect to conductivity. In ultrasonic recognition, the presence of an article is detected by irradiating the article with ultrasonic waves and capturing the response sound waves. Depending on the detection level, even the size and shape of the article can be recognized.

Vacum is an adsorption method for gripping and does not participate in the sensing and recognition of the article, but can also be used as a means for sensing and recognizing the article by detecting the weight of the article adsorbed by the bacum. . The change in negative air pressure in the vacuum also functions as a detection sensor.

The article searching and gripping device according to the present invention is characterized in that the gripping mechanism performs an operation of searching for an article in accordance with a program of the control mechanism that receives article information from the sensing sensor.

The operation of searching for an article is an operation in which the article moves close to the inside of a container in which the article is randomly placed, for example, the inside rotates clockwise from the outline toward the center, for example, the inside from the center. It is an operation that moves to rotate outward while drawing a circular arc counterclockwise, and gradually approaches the article. As the gripping mechanism performs this operation, the article detection sensor installed in the gripping mechanism sequentially senses articles and transmits information to the control unit.

The article search and gripping device according to the present invention determines the next operation to be performed by the article gripping / transferring mechanism based on the transmission information. These operations are performed by instructions of a control mechanism programmed according to a predetermined algorithm. It may be determined on the basis of a judgment algorithm such as the ease of gripping the article, the approach distance with the article, or whether the article is limited or not.

In the article search and gripping device according to the present invention, the gripping mechanism is a vacuum suction suction mechanism and / or an electrostatic suction pad mechanism and / or an electromagnet mechanism and / or a pick hand mechanism (28 in FIG. 7). Have

The method of gripping an article includes suction suction gripping using a suction pad, electrostatic suction suction gripping using an electrostatic suction pad, magnetic force suction gripping using an electromagnet, and a method of gripping and gripping an article like a pick hand. There is. The detailed components of these gripping mechanisms can be installed on almost the entire surface of the gripping mechanism as well as the sensing sensor. The present invention does not limit the gripping mechanism which is the details of the article gripping transfer mechanism.

In the article search and gripping device according to the present invention, the gripping mechanism grips and transfers the article according to information instructed by the control mechanism based on the article detection information from the detection sensor. The gripping mechanism is selected according to the aspect of the article being gripped. For example, if the base material of the gripping mechanism is a flexible member, the suction pad can be enclosed and sucked and sucked from the outside so as to wrap an article having an indefinite shape.

The article searching and gripping device according to the present invention can selectively grip only an article selected according to the characteristics of the article. For example, when an article having magnetism is sensed, magnetic force adsorption and gripping may be performed. For example, when only a frozen article is gripped, the article may be selected using a thermistor sensor. For example, when holding and transferring a bag-like air-packed article, it may be held using suction suction or a pick hand.

The article search and gripping device according to the present invention is not limited to the details of the sensing sensor and the gripping mechanism installed in the gripping mechanism, but the gripping mechanism having the same article gripping mechanism as the gripping mechanism details of multiple types of sensors and multiple methods. It may be installed in. The gripping ability improves as each part is reduced. It is possible to select and select a dedicated gripping mechanism according to the type of article, or to include a plurality of gripping functions according to the type of article in one gripping mechanism.

The article searching and gripping device according to the present invention is a technical idea for performing a gripping and transferring operation having a function of approximating an operation in which a human hand enters a container, searches for an article, and grasps and takes out the article. The control mechanism controls the detection sensor mechanism and the gripping mechanism.

According to the present invention, various articles (products) can be selected and transferred quickly and efficiently. Further, it can be held and transferred without being restricted by properties such as the size, weight, outer shape, and surface state of the article. According to the present invention, it is possible to realize an article searching and gripping apparatus capable of significantly improving the safety and workability of sorting and transferring various kinds of goods at a distribution base and at the same time improving the economic efficiency.

It is a conceptual diagram which shows the outline | summary of the articles | goods search holding | grip apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the outline | summary of a detection using the vacuum suction sensor of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the outline | summary of a detection using the optical sensor of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the outline | summary of a detection using the contact switch of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the outline | summary of a detection using the thermistor of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the attraction | suction outline | summary using the electrostatic attraction board of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the outline | summary of the holding | grip using the electromagnet of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram which shows the holding | grip outline | summary using the pick hand of the article search and holding apparatus which concerns on one Embodiment of this invention. It is a conceptual diagram at the time of using the light emitting and receiving phototube as the article detection function of the article search and gripping apparatus according to an embodiment of the present invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following, the range necessary for the description for achieving the object of the present invention is schematically shown, and the range necessary for the description of the relevant part of the present invention will be mainly described. According to a known technique.

FIG. 1 is a conceptual diagram showing an outline of an article search and gripping device according to an embodiment of the present invention. As shown in the figure, an article search and gripping device according to an embodiment of the present invention includes an arm 10 and a gripping mechanism 11 of a robot mechanism. In FIG. 1, only the distal end portion of the arm 10 is shown, and the arm 10 connected to the robot system or the like is connected to the gripping mechanism 11 via the rotation drive mechanism 12. The rotation drive mechanism 12 can turn the gripping mechanism 11 in any direction by being driven to rotate. The arm 10 is a system that can move in the three-dimensional directions of the X, Y, and Z axes.

As shown in FIG. 1, in the lower surface direction, which is an article (product) holding surface of the holding mechanism 11 of the article searching and holding apparatus according to the embodiment of the present invention, for example, the surface of the article is vacuum-sucked and held. The suction pads 13 are arranged substantially evenly. Optical sensors 14 arranged substantially evenly are installed in the gap between the suction pads.

The optical sensor 14 shown in FIG. 1 has a sensor function of sensing an article by irradiating visible light, ultraviolet light, infrared light, or the like from its tip. There are a number of well-known techniques for sensing an article by detecting the attenuation rate of reflected light of the irradiated light, the frequency, the blocking of light, and the like, such as many types of phototubes.

As shown in FIG. 1, for example, the shape of an article (product) 15 whose presence has been detected by a number of optical sensors 14 is recognized by the control mechanism of the article search and gripping device according to an embodiment of the present invention, The arm 10 and the gripping mechanism 11 operate and are sucked and gripped by the suction pad 13. The plurality of suction pads 13 include an air suction mechanism inside, for example, and suck and hold the surface of the article 15 by vacuum suction according to the shape of the article. The suction pad 13 that is not in contact with the article may be opened by stopping the suction operation.

As shown in FIG. 1, the feature of the article search and gripping device according to an embodiment of the present invention is that the article to be gripped can be freely recognized by utilizing the function of the optical sensor 14 as described above. That is, the optical sensor 14 has a searching function for sensing an article in accordance with the driving of the arm 10 and the rotation driving mechanism 12. For example, even when there are a large number of different articles, the optical sensor 14 of the gripping mechanism 11 can sense a large number of different articles forward according to the movement of the arm 10 and the rotary drive mechanism 12. All the information is transmitted and grasped to the control mechanism of the article search and gripping device according to the embodiment of the present invention, and it is determined which article at which position is to be sucked and gripped. Then, the article is sucked and held according to the function. The gripped article is moved and placed in, for example, a shipping box (a series of operations of sensing, gripping, moving, and placing is referred to as gripping / transferring work).

FIG. 1A is a conceptual diagram showing an outline of detection using a vacuum suction sensor of an article searching and gripping apparatus according to an embodiment of the present invention. The broken line portion in the figure shows the article detection and gripping mechanism using the vacuum suction sensor 2. The article (product) 15 that has come into contact with the suction pad 13 sucked by the air 1 is suctioned and gripped by the gripping mechanism 11. At this time, the vacuum suction sensor 2 that functions as a sensor senses (detects) the reduced pressure generated by gripping the article 15. You may detect a weight etc. simultaneously. These pieces of information are sent to the control mechanism 19. Then, according to the instruction of the control mechanism 19, the air suction of the suction pad 13 on which the article is not sucked is stopped, and the arm 10 of the article gripping / transferring mechanism works to move and place the article.

FIG. 2 is a conceptual diagram showing an outline of detection using an optical sensor of an article searching and holding mechanism according to an embodiment of the present invention. FIG. 2 is a conceptual diagram showing the concept of functions including the inside of FIG. As shown in the figure, optical sensors 14 (photoelectric tubes 14A in the figure) are arranged substantially evenly in the gripping mechanism 11, and suction pads 13 are installed substantially evenly in the gaps. As described with reference to FIG. 1, the article sensed by the optical sensor 14 is vacuum-sucked by the suction pad 13. The vacuum degassing system 17 is performed through the air pipe 16.

As shown in the figure, for example, a plurality of phototubes 14A are installed in the gripping mechanism 11, and a plurality of suction pads 13 are provided in the gap between the phototubes 14A. The phototube 14A has a sensor function for transmitting detection light to an article underneath and sensing and detecting the presence of the article.

As shown in FIG. 1, since the phototubes are uniformly distributed, the entire shape of the sensed article can be recognized. Information on the recognized article is transmitted to the control mechanism 19, and the suction pad 13 sucks and holds the article in accordance with an instruction from the control mechanism 19. Since the suction pads 13 are equally distributed as in the photoelectric tube 14A, the suction gripping by the plurality of suction pads 13 may be a specification in which only the suction pads instructed from the control mechanism 19 operate. Of course, there is no problem because the portion where the article does not contact is not involved in the suction operation.

The means for recognizing the presence of an article is not limited to a phototube. For example, the reflection may be captured by irradiating a laser beam, or the reflection may be detected by irradiating infrared, ultraviolet or microwave. Although it is not a problem of the definition of optical, the same applies to a sound wave such as an ultrasonic sensor. In other words, this means that a class of sensors called optical sensors can be used. The structure is the same as the article sensing by the phototube. The article search and gripping device according to an embodiment of the present invention is characterized in that such various optical sensors can be arbitrarily arranged.

The control mechanism 19 shown in FIG. 2 not only controls the movement of the article searching and gripping device according to one embodiment of the present invention, but also has a pre-programmed algorithm for searching for and transferring all articles. The specific operation of the searching and picking / transferring apparatus according to the embodiment of the present invention is only one operation extracted from the operation.

FIG. 3 is a conceptual diagram showing an outline of detection using a contact switch of an article search and gripping device according to an embodiment of the present invention. As shown in the figure, a contact switch 20 is used in the inside of the gripping mechanism 11 of the article searching and gripping device according to the embodiment of the present invention, not an optical sensor. A typical contact switch 20 includes a limit switch 21 and the like. A conceptual diagram of the limit switch 21 is shown in a broken line in FIG. It has a function of electrically sensing the article by the contact of the plunger 22.

As shown in the figure, the article search and gripping device according to an embodiment of the present invention can use an article recognition mechanism using a contact switch 20 instead of an optical sensor such as a phototube in the case of FIG. . A typical contact sensor is a limit switch 21. The limit switch 21 installed in the gripping mechanism 11 in an evenly distributed manner pushes up the plunger 22 by contact with an article and exhibits a contact sensing function.

The limit switch 21 sequentially contacts the surface of the article as the gripping mechanism 11 moves downward. That is, the sensed information of the contact plunger 22 is directly linked to the control mechanism 19 to recognize the shape of the article. The control mechanism 19 may analyze the article shape information and hold the article using the most suitable suction pad 13. The limit switch 21 and the suction pad 13 can perform a movement operation suitable for the article suction grip together with the gripping mechanism 11. Here, the direction in which the limit switch 20 is installed need not be limited to the downward direction as shown in FIG. It is added that the direction in which the limit switch 20 faces can be arbitrarily set. These directions should just be set effectively in the direction in which the gripping mechanism operates based on the searching function.

FIG. 4 is a conceptual diagram showing an outline of detection using the thermistor of the article searching and gripping device according to the embodiment of the present invention. As shown in the figure, the sensor mechanism for detecting an article is constituted by a thermistor (temperature detection sensor) 23. The thermistor 23 can recognize the article by detecting a temperature difference by contact with the article. Similar to FIGS. 2 and 3, sensing an article is the same. However, what is most characteristic of the thermistor 23 is the characteristics of the sensed article.

The thermistor 23 recognizes the shape of the article simultaneously with the contact with the article. However, the thermistor 23 has a function of selecting a necessary article from various articles by giving and limiting a certain detection temperature to the thermistor 23. it can. In other words, this is effective when, for example, it is desired to search and recognize only frozen items from a large number of articles. The sensing function using the thermistor 23 of the article search and gripping device according to one embodiment of the present invention can selectively select and grip the article.

The thermistor 23 instructed by the control mechanism 19 to detect a constant temperature senses only an article having a constant temperature, and based on the article information, the control mechanism 19 operates the suction pad 13 to grip and transfer the article. It will be posted.

FIG. 5 is a conceptual diagram showing an outline of attraction using an electrostatic attraction disk of an article search and gripping device according to an embodiment of the present invention. As shown in the figure, the specification of the suction pad 13 is replaced with an electrostatic suction disk 24. For example, if the surface of the electrostatic suction disk 24 is a flexible member, when it comes into contact with the article, the attractive force due to electrostatic attraction also functions, contacts in a large area so as to cover the article surface, and is soft instead of air suction. It has a function to grip an article flexibly.

FIG. 6 is a conceptual diagram showing an outline of gripping using an electromagnet of an article searching and gripping device according to an embodiment of the present invention. As shown in the figure, a conductive probe 25 having an electrode at the tip is used for a sensor function for sensing an article. In addition, the specification for suction gripping is the electromagnet 26 instead of the suction pad 13. The outline of the function of the conductive probe 25 is shown in the broken line. The article is electrically sensed by contacting the article with the tip probe.

For example, if the article to be gripped and transferred is a magnetic material specification, the magnetism of the magnetic article can be stimulated by passing a constant current from the conductive probe 25 at the same time as detecting the contact of the conductive probe 25 with the article. The magnetic material is gripped by magnetic force by a gripping plate that is an electromagnet 26.

As long as the gripping specification using the electromagnet 26 of the article search and gripping device according to the embodiment of the present invention is used, only the magnetic article can be selected and sensed and transferred as in the thermistor detection in FIG. That is, the search-and-pick transfer apparatus according to an embodiment of the present invention enables a user to search for an article by freely utilizing a sensor function, and to select and transfer according to the characteristics of the article.

FIG. 7 is a conceptual diagram showing an outline of a gripping mechanism using a pick hand of an article searching and gripping apparatus according to an embodiment of the present invention. As shown in the figure, a pick hand 28 is used in place of the article gripping mechanism with a suction pad. The pick hand 28 has a plurality of gripping claws 29 at its tip, and has a function of sandwiching and gripping the surface of the article by opening and closing the gripping claws 29. It functions for gripping soft articles, cloth articles, bag-like articles, and the like.

As shown in FIG. 7, for example, an article is sensed by a plunger 22 (shown by a broken line in FIG. 3) of the limit switch 20 and is a soft article, a cloth article, or a bag-like article together with information such as the outer shape of the article. Can also be obtained, so that the article gripping mechanism can be selected as the pick hand 28. A large number of pick hands 28 arranged uniformly serve a function of effectively gripping and transferring a soft article, a cloth article, an irregular article, or the like.

FIG. 8 is a conceptual diagram in the case where the article detection function of the article search and gripping device according to an embodiment of the present invention is a light emitting / receiving phototube. As shown by the broken line portion in the figure, the light emitting / receiving photoelectric tube 30 has a tip portion divided into two, one is constituted by a light projector 32 and the other is constituted by a light receiver 31, and light 33 running through the gap. Sensation of decay. When the surface of the article is sensed by the light emitting / receiving photoelectric tube 30, the article can be picked and picked by the pick hand 28 as in FIG. 7 based on the article recognition information as described above.

As described above, the article searching and gripping device according to the embodiment of the present invention searches for and senses an article by the sensor mechanism laid on the gripping mechanism 11, and sends all information that can be grasped by the sensor function to the control mechanism. Then, the control mechanism sends instruction information for gripping the article to the article gripping mechanism according to a preprogrammed algorithm, and the gripping mechanism 11 grips and transfers the article based on the optimum function.

These sensor mechanisms and article gripping / transferring mechanisms can use various sensors as described above, and the gripping mechanism can also use various types of gripping mechanisms as described above. Even if the sensor mechanism and the gripping mechanism are well known as sensor technologies, the article search and gripping device according to an embodiment of the present invention can be arranged in any position, direction, number, arrangement, etc. in the gripping mechanism. By providing it side by side, it is possible to perform optimum gripping transfer corresponding to the specification of the article gripped in accordance with the optimum gripping instruction of the control mechanism. Depending on the function of the sensor mechanism, it is also possible to selectively hold and transfer articles.

The shape of the gripping mechanism 11 of the article searching and gripping device according to the embodiment of the present invention is not limited to the planar shape described with reference to the above figure. It is a technical idea that includes a substantially circular, elliptical, substantially spherical shape as a gripping mechanism, and an arbitrary shape as an indefinite shape in some cases. Further, not only the gripping mechanism but also a flexible material or the like can be selected as the material of the sensor mechanism and the gripping transfer mechanism. The laying arrangement and direction of the sensor mechanism and the gripping mechanism of the article gripping transfer mechanism can be arbitrarily set.

These arbitrary arrangement, direction, and material should be selected according to the specification of the article to be gripped and transferred, and the combined specification that enables the selectivity is the technical idea of the present invention. Needless to say, being able to perform the gripping / transferring work by the method that is most easily detected and gripping / transferring produces the highest efficiency of the gripping / transferring work and is the most efficient gripping / transferring mechanism economically. It is the article searching and gripping device according to the present invention that makes this possible.

Further, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. And the difference in the individual component specifications of the sensor mechanism and the gripping mechanism in the above description is not allowed outside the technical scope of the present invention, but is included in the technical idea of the present invention. In short, these are all part of this technical idea.

According to the present invention, various articles (products) can be selected and transferred quickly and efficiently. Moreover, it can be held and transferred without being restricted by the form such as the size, weight, outer shape, and surface state of the article. An article search and gripping device that can significantly improve the safety and workability of sorting and transferring a wide variety of articles at a distribution base and can also improve economic efficiency is realized.

Therefore, the present application is not limited to merchandise selection and transfer in the logistics industry, but brings great benefits to all industries including the manufacturing industry.

DESCRIPTION OF SYMBOLS 1 Air 2 Vacuum suction sensor 10 Arm 11 Holding mechanism 12 Rotation drive mechanism 13 Suction pad 14 Optical sensor 14A Photoelectric tube 15 Article (product)
16 Air Piping 17 Vacuum Suction 18 Light 19 Control Mechanism 20 Contact Switch 21 Limit Switch 22 Plunger 23 Thermistor 24 Electrostatic Adsorption Pad 25 Conductive Probe 26 Electromagnet 27 Outline of Conductive Probe 28 Pick Hand 29 Holding Claw 30 Light Emitting / Receiving Photoelectric Tube 31 Light Receiver 32 Projector 33 Optical axis

Claims (6)

A sensor for sensing an article; a mechanism for gripping an article; an article gripping transfer mechanism having the sensor and the gripping mechanism; an article sensing information of the sensor; the gripping mechanism; and a control mechanism for controlling the article gripping transfer mechanism. An article search and gripping device provided. 2. The article search according to claim 1, wherein the article information is received by the sensor and the control mechanism grips the article by controlling the gripping mechanism and the article gripping transfer mechanism. Addressing device. 3. The sensor according to claim 2, wherein the sensor is a negative pressure sensor and / or a laser sensor and / or an ultraviolet sensor and / or an infrared sensor and / or a visible light sensor and / or a microwave sensor and / or an ultrasonic sensor. The article search and gripping device according to claim 1. 3. The article search grip according to claim 2, wherein the sensor is a limit switch and / or a temperature sensor (thermistor) and / or a conductive probe and / or a photoelectric tube and / or a pressure sensor and / or a magnetic sensor. apparatus. The article search according to any one of claims 2 to 4, wherein the gripping mechanism is a vacuum suction suction mechanism and / or an electrostatic suction pad mechanism and / or an electromagnet mechanism and / or a pick hand mechanism. Addressing device. 6. The article search and gripping according to claim 1, wherein the gripping mechanism searches for an article in accordance with a program of the control mechanism that receives the article information from the sensor. apparatus.

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