JPH06320464A - Hand device for industrial robot and work conveying method - Google Patents

Abstract

PURPOSE:To perform revolution of the hand device of a robot without interference with a peripheral device and to perform a work to depalletize works assembled without any gap. CONSTITUTION:The work pressing mechanism 22 of a hand device 9 is incorporated in a stopper 21 arranged below a hand device body 10. A work press piece 23 elevated by the work press mechanism 22 is arranged or a suction pad is mounted on the tip part of the work press piece 23. Since the work press mechanism 22 is located below the body 10, no limitation on revolution is placed. In a device having a suction pad, a work 14 is sucked and raised by means of the suction pad. The work 14 is firmly held in a way that a fork claw 11 is inserted in a position under the work 14 and the suction pad is lowered.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device which is applied to an industrial robot and holds a work, and a method of transporting the work by the hand device.

[0002]

2. Description of the Related Art FIG. 7 is an explanatory view showing a conventional industrial robot hand device and work transfer method.

In the figure, (1) is a floor, (2) is a robot installed on the floor (1), (3) is its turning axis, (4) is the lifting axis, and (5) is the lifting axis ( It is a first arm that moves up and down by 4) and swivels by a swivel axis (2), and has a swivel axis (6) at its tip. (7) is a second arm which revolves around a revolving shaft (6), and has a revolving shaft (8) at its tip. Reference numeral (9) denotes a hand device provided on the turning shaft (8), which is fixed to the turning shaft (8) via the main body (10).

(11) is a fork pawl that is moved forward and backward by a drive mechanism (not shown) built in the main body (10),
2) is fixed to the body (10) and consists of an air cylinder, etc.
A work pressing mechanism protruding on the upper surface of the main body (10), (13) is fixed to the lower end of the work pressing mechanism (12), a pressing piece for pressing the work (14), and (15) is fixed to the main body (10). Hanging down, work
(14) is a stopper that controls the position, (16) is a pallet on which the work (14) placed on the floor (1) is placed, and (17) is a work supply conveyor that conveys the work (14) to a predetermined position. ,work
A notch (not shown) is provided under (14) so that the fork pawl (11) of the hand device (9) can be inserted.

The conventional industrial robot hand device is constructed as described above, and the hand device (9) is moved up and down by the elevating shaft (4) of the robot (2) to rotate the swivel shaft (3) and the first arm (5). ), The swivel axis (6), the second arm (7), and the swivel axis (8) to swivel in a horizontal plane. The supply conveyor (17) conveys the works (14) (for example, a newspaper bundle, a magazine bundle, etc.) to a predetermined position. Hand device
(9) approaches the conveyed work (14) and advances the fork pawl (11) to move the work (14) as shown by the alternate long and short dash line.
Insert below.

As a result, the work pressing mechanism (12) operates to lower the pressing piece (13), and the work (14) is held between the pressing piece (13) and the fork pawl (11). In this state, the hand device (9) holds and moves the work (14) and places it on the pallet (16). Then, as shown by the two-dot chain line, the work (14) is restricted by the stopper (15), the fork pawl (11) is retracted, the work (14) is released, and the work (14) is separated from the pallet (16).

[0007]

In the conventional hand device for the industrial robot as described above, since the work pressing mechanism (12) projects on the upper surface of the hand device (9), it may interfere with peripheral devices. However, there is a problem in that peripheral devices may become large and expensive because it is necessary to avoid them.

Further, the work pressing mechanism (12) is a hand device.
Since it projects to the upper surface of (9), it is necessary to hold the work (14) transported by the supply conveyor (17) or to stack the work (14) on the pallet (16). When turning (8), the work pressing mechanism (12) causes the peripheral device or the second arm to move.
This may interfere with (7) and the required amount of turning may not be obtained, and the hand device such as the supply conveyor (17) is limited.

As a result, the entire system becomes large,
There is a problem that the transportation time becomes long and sometimes the required work cannot be performed.

Further, in the conventional work transfer method for the industrial robot as described above, the fork pawl (11) is moved to the work (14).
Since it cannot be inserted underneath, the work (14) stacked on the pallet (16) without gap cannot be subjected to so-called depalletizing work in which a predetermined number is moved from above to another place.

The present invention has been made in order to solve the above problems, and is capable of transferring and stacking works in a short time without being restricted by the arrangement of peripheral devices such as robots, work supply conveyors and pallets. An object of the present invention is to provide a hand device for an industrial robot and a work transfer method, which are capable of performing depalletizing work of works stacked without any gap.

[0012]

In a hand device for an industrial robot according to a first aspect of the present invention, a stopper for contacting a work disposed below the hand body and regulating the position thereof is attached to the hand body. The stopper is provided with a work pressing mechanism, and the work pressing mechanism is provided with a suction mechanism that is driven up and down to suck the work.

Further, in the hand device of the industrial robot according to the second invention, the hand body is provided with a stopper which is installed on a work disposed below the hand body and regulates the position thereof.
The stopper is provided with a work pressing mechanism, and the work pressing mechanism is provided with a suction mechanism that is driven up and down to suck the work.

In the industrial robot hand device according to the third aspect of the present invention, a work pressing mechanism is attached to the hand body,
The work pressing mechanism is provided with a suction mechanism that is driven up and down to suck the work.

Further, in the work transfer method for the industrial robot according to the fourth aspect of the invention, the work held at a predetermined position is sucked and raised by the work suction mechanism, the fork pawl is inserted under the work, and then the work is forked. The work is lowered onto the pawl, and the work is pressed and sucked and held by the work suction mechanism to be conveyed.

[0016]

In the first aspect of the present invention, since the work pressing mechanism mounted on the hand main body is arranged below the hand main body, even if the work pressing mechanism turns, it does not interfere with peripheral devices.

Further, in the second aspect of the invention, since the stopper which is mounted on the hand main body and regulates the position of the work is arranged below the hand main body and the work pressing mechanism is mounted on this stopper, the work pressing mechanism is a stopper. Combined.

Further, in the third aspect of the invention, since the work pressing mechanism mounted on the hand body is provided with the suction mechanism,
The work can be sucked up by the suction mechanism.

Further, in the fourth invention, after the work is sucked and raised and the fork pawl under the work is inserted,
Since the works are lowered, and the works are pressed and adsorbed and held to be conveyed, it is possible to hold the stacked works without a gap.

[0020]

【Example】

Example 1. 1 and 2 are views showing an embodiment of the first and second inventions of the present invention, and FIG. 1 is a front view of a hand device,
FIG. 2 is a left side view of FIG. 1, and the same parts as those of the conventional device are denoted by the same reference numerals (the same applies to the second and subsequent embodiments).

1 and 2, (21) is a hand device
A stopper that is fixed to the body (10) of (9) and hangs down to restrict the position of the work (14). (22) is installed in parallel with the stopper (21) and has a built-in lift drive mechanism such as a rodless cylinder. The work pressing mechanism is also used as a work pressing mechanism, and (23) is a work pressing piece which is moved up and down by the work pressing mechanism (22).

In the industrial robot hand apparatus constructed as described above, when the work (14) is being conveyed, the work pressing piece (23) is positioned so as not to interfere with the work (14) (shown by a chain double-dashed line in the figure). The hand device (9) is moved to a position where the stopper (21) and the work pressing mechanism (22) contact the side surface of the work (14). Next, the work pressing mechanism (22) lowers the work pressing piece (23), and the work (14) is held by the work pressing piece (23) and the fork pawl (11).

The hand device (9) is moved to convey the work (14) to a predetermined position, the fork pawl (11) is retracted, and only the work (14) is stacked at the predetermined position. During this time, the hand device (9) can swivel without restrictions on the supply posture of the works (14), the loading direction of the works (14), and the like.

Example 2. FIG. 3 shows the first and second aspects of the present invention.
FIG. 7 is an explanatory view of a hand device showing another embodiment of the invention of FIG.
In this embodiment, as shown in FIG. 3, a suction pad (25) is provided at the tip of the work pressing piece (23).

The operation of this embodiment is similar to that described in the first embodiment, but since the work pressing piece (23) has the suction pad (25) at the tip thereof, the work (14) is It is possible not only to press and hold but also to raise by suction. In addition,
Details of the operation will be described later in the fourth embodiment.

Example 3. In Example 2, the suction pad (25)
Although the work pressing mechanism (22) having the above is arranged below the main body (10), in one embodiment of the third invention, the suction pad (25) is arranged as shown in FIG.
The pressing piece (13) at the lower end of the conventional work pressing mechanism (12) shown in
It is provided instead of. Even with this configuration,
Since the work (14) can be sucked up by the suction pad (25), it is useful in terms of depalletizing work and reliable transport of the work (14).

Example 4. 3 to 6 are views showing an embodiment of the fourth invention of the present invention, and FIGS. 4 to 6 are explanatory views of the depalletizing work. This embodiment shows a method of carrying the work (14) by using the hand device (9) shown in FIG. 3, and its operation will be described below.

First, as shown in FIG. 4, the suction pad (25)
The work piece (14) stacked on the pallet (16) so that it does not interfere with the work pieces (14), and then set the fork pawl (11) to the stopper (2
1) and work pressing mechanism (22) (hereinafter, simply stopper (21) (2
2))) from the front. Next, the stopper (21)
The front of (22) contacts the side of the work (14), and the fork pawl (1
As shown in FIG. 4, the hand device (9) is moved so that the lower surface of 1) maintains a slight gap with the upper surface of another work (14A). Then, lower the suction pad (25) to
Adsorb 4).

Next, as shown in FIG. 5, the suction pad (25)
, Lift the work (14) slightly and lift the fork
Advance (11) and insert the fork pawl (11) into the lower surface of the work (14). Next, as shown in FIG. 6, the suction pad (25) is lowered to attach the work (14) to the suction pad (25) and the fork claw.
Hold in (11). After that, move the hand device (9),
The work (14) is conveyed to a predetermined position, the fork pawl (11) is retracted, and only the work (14) is stacked at the predetermined position.

At this time, since the work (14) is adsorbed by the suction pad (25) and held between the fork pawl (11), the work (14) is securely fixed to the hand device (9). To be done. Therefore, even when the robot (2) is swung in the horizontal direction at high speed, the work (14) does not move with respect to the hand device (9) by centrifugal force. That is, high-speed operation of the robot (2) can be realized, and high-speed transportation is possible.

Example 5. In the first embodiment, the work pressing mechanism
Although (22) is incorporated in one stopper, it may be provided separately from the stopper. That is, the stopper in FIG.
Even if a dedicated work pressing mechanism is placed at a position (right side) slightly retracted from the work (14) contact surface of (21) and (22), this work pressing mechanism must be projected upward from the main body (10). Thus, it is possible to obtain the same function as that of the first embodiment.

[0032]

As described above, in the first aspect of the present invention, since the work pressing mechanism mounted on the hand body of the robot is arranged below the hand body, the peripheral device is rotated even if the work pressing mechanism turns. There is an effect that the robot, the work supply device, the pallet, etc. can be compactly arranged without interfering with the work efficiency and the work efficiency can be improved.

Further, in the second aspect of the invention, since the stopper mounted on the hand main body for restricting the position of the work is arranged below the hand main body and the work pressing mechanism is mounted on this stopper, the work pressing mechanism is a stopper. There is also an effect that the hand device can be configured compactly as well.

Further, in the third invention, since the work pressing mechanism mounted on the hand main body is provided with the suction mechanism, it is possible to hold the stacked works without a gap, and there is an effect that the depalletizing work can be made into a robot. .

Further, in the fourth invention, since the works are sucked and raised, the fork pawls under the works are inserted, the works are lowered, and the works are pressed and sucked and held to be conveyed. The attached work can be held, and the depalletizing work can be robotized.

[Brief description of drawings]

FIG. 1 is a front view of a hand device showing a first embodiment of the present invention.

FIG. 2 is a left side view of FIG.

FIG. 3 is a front view of a hand device showing Embodiments 2 and 4 of the present invention.

FIG. 4 is an explanatory diagram of a depalletizing work showing a fourth embodiment of the present invention.

FIG. 5 is an explanatory view of a depalletizing operation showing the continuation of FIG. 4;

FIG. 6 is an explanatory view of the depalletizing work showing the continuation of FIG. 5;

FIG. 7 is an explanatory diagram showing a conventional hand device for an industrial robot and a work transfer method.

[Explanation of symbols]

 2 Robot 5 1st arm 6 Revolving axis 7 2nd arm 8 Revolving axis 9 Hand device 10 Hand device body 11 Fork pawl 14, 14A Work piece 21 Stopper 22 Workpiece pressing mechanism also serving as stopper 23 Workpiece pressing piece 25 Adsorption mechanism (suction pad)

Claims (4)

[Claims] 1. A hand main body which is provided at a tip of an arm and which is rotated on a horizontal plane, a work pressing mechanism which is arranged below the hand main body and which is attached to the hand main body, and a work which is driven up and down by the work pressing mechanism. A hand device for an industrial robot, which is provided with a suction mechanism for sucking the. 2. A hand main body which is provided at a tip of an arm and which is rotated on a horizontal plane, a stopper which is disposed below the hand main body, is attached to the hand main body, and which contacts a work and regulates the position thereof, and the stopper. A hand device for an industrial robot comprising a work pressing mechanism provided and a suction mechanism that is driven up and down by the work pressing mechanism to suck the work. 3. A hand main body which is provided at the tip of an arm and is rotated on a horizontal plane, a work pressing mechanism mounted on the hand main body, and a suction mechanism which is driven up and down by the work pressing mechanism to suck the work. Hand device for industrial robots. 4. A work placed at a predetermined position is sucked and raised by a work pressing mechanism, a fork pawl is inserted under the work, and then the work is lowered onto the fork pawl, and the work pressing mechanism is used to move the work. A work transfer method for an industrial robot that transfers a work by pressing, adsorbing and holding the work.