CN107708941A - Article keeps tool, conveying machine people and article transport method - Google Patents
Article keeps tool, conveying machine people and article transport method Download PDFInfo
- Publication number
- CN107708941A CN107708941A CN201680028987.5A CN201680028987A CN107708941A CN 107708941 A CN107708941 A CN 107708941A CN 201680028987 A CN201680028987 A CN 201680028987A CN 107708941 A CN107708941 A CN 107708941A
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- China
- Prior art keywords
- article
- tool
- movable
- keeps
- keep
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This article of the present invention keeps tool (7) to possess：Tool body (8) is kept, is kept with can discharging by the movable tine of robot hand；Tool movable part (9) is kept, be arranged on holding tool body (8) with can shifting, and allows hand over the article holding position for keeping article and the article off-position of releasing；And hold mode maintains device (18,19,20), tool (7) is kept in the state of robot hand is cut off in article, tool movable part (9) will be kept to maintain article holding position.Without using the complicated and expensive device such as tool changer, and a variety of conveyance objects can be transported without barrier by robot.
Description
Technical field
The present invention relates to it is a kind of load and unload be mounted freely on robot hand article keep tool, have this thing is installed
Product keep the conveying machine people of the robot hand of tool and the article transport method using this conveying machine people.
Background technology
In recent years, the various operations of conventional operating personnel progress are replaced by robot and makes the system of Automation of Manufacturing Process
Just extensively practical (patent document 1).
For example, the operation of the ad-hoc location on the product by the relatively large machine installation of weight in the mill, in the past
Machine is sling using hoist etc., operating personnel is allowed to be moved to ad-hoc location, and consolidates with the product in the relative manufacture such as bolt
Determine machine, but the system for the conveyance operation for making robot replace carrying out this machine be present.
In such systems, the species of the conveyance object of robot is varied, therefore exists and be difficult to a kind of robot
Hand corresponds to the situation of a variety of conveyance objects.In this case, as will be with the corresponding special purpose robot of conveyance object
Hand is arranged on the mechanism of robots arm front end with automatic replacing, and uses tool changer (patent document 2).
[prior art document]
[patent document]
[patent document 1] Japanese Patent Laid-Open 2013-193155 publications
[patent document 1] Japanese Patent Laid-Open 2013-94892 publications
The content of the invention
[inventing problem to be solved]
However, in the mode that a variety of special hands are suitably changed using tool changer, to driving instrument converter
Mechanism it is complex, in addition, cause equipment cost to increase because tool changer is expensive in itself, and then, because must be in machine
The place to place of a variety of special hands is ensured in people's unit, therefore the problem of being difficult to minimize robot cell be present.
Especially, in the case where conveyance object is large and heavy objects, corresponding to this, special hand is also re-quantization, maximization,
Cause cost further up or the maximization of robot cell.
The present invention be in view of conventional art the problem of point and complete, its object is to provide one kind without using such as work
Have the complicated and expensive device as converter, and the article of a variety of conveyance objects can be transported without barrier by robot
Keep tool and there is the conveying machine people for being installed with the robot hand that this article keeps having and use this transporter
The article transport method of device people.
[technological means for solving problem]
In order to solve described problem, the 1st aspect of the invention is characterised by, it is that handling are mounted freely on to remove
Send the article of the robot hand of the conveying machine people of article to keep tool, and possess：Tool body is kept, by the robot
The movable tine in portion is kept in which can discharge；Tool movable part is kept, be arranged on the holding tool body with can shifting, and
Allow hand over the article holding position and the article off-position of the release article for keeping the article；And hold mode maintains
Device, tool is kept in the state of the robot hand is cut off in the article, to keep having movable part maintenance by described
In the article holding position.
The 2nd aspect of the present invention is according to the 1st aspect, it is characterised in that being configured to can be by the institute of the robot hand
State the movable tine switching article holding position for keeping tool movable part and the article off-position.
The 3rd aspect of the present invention is according to the 1st or the 2nd aspect, it is characterised in that：The hold mode maintains device to have
To keep having movable part to the elastic force-applying force application mechanism in the article holding position by described.
The 4th aspect of the present invention is according to the 3rd aspect, it is characterised in that is configured to keeping tool release institute from the article
When stating article, the force strength that the force application mechanism is resisted by the movable tine of the robot hand is described to make
Tool movable part is kept to be displaced to the article off-position.
The 5th aspect of the present invention is any aspect in the 1 to the 4th, it is characterised in that is configured to from the machine
The article that device human hand is cut off is kept in the state of tool remains the article, by can described in the robot hand
Jaw member keeps described and keeps tool body, thus keeps tool movable part to be fixed on the article holding position by described.
The 6th aspect of the present invention is any aspect in the 1 to the 5th, it is characterised in that：It is described to keep tool body
The abutting maintaining part of the article is kept with being connected to the article and being collaborated with the holding tool movable part.
The conveying machine people of the 7th aspect of the present invention is characterised by possessing：The article of any aspect in 1 to the 6th
Keep tool；And robot hand, handling freely install the article and keep tool.
The 8th aspect of the present invention is according to the 7th aspect, it is characterised in that：Changeable 1st keeps pattern to keep mould with the 2nd
Formula, the 1st holding pattern is that one side maintains the article to keep hold mode of the tool to the article, simultaneously by described movable
Tine keeps described and keeps tool body, and the 2nd holding pattern is that one side releases the article holding tool to the article
Hold mode, simultaneously keep described by the movable tine and keep tool body.
The 9th aspect of the present invention is characterised by that it is to transport article using the conveying machine people of the 7th or the 8th aspect
Article transport method, and possess：Keep tool to keep step, installation is kept by the movable tine of the robot hand
The holding for keeping tool in the article of the article has body；Article transport step, drive the conveying machine people
And by the article transport to specific conveyance destination together with keeping tool with the article；Hold mode releases step, passes through
Article described in the movable pawl operation of components of the robot hand keeps the holding tool movable part of tool, releases the thing
Product keep hold mode of the tool to the article；And tool removal step is kept, the conveying machine people is driven, will be in and be arranged on
The article of the state of the robot hand keeps tool from the article removal.
The 10th aspect of the present invention is according to the 9th aspect, it is characterised in that：In the holding tool keeps step, pass through
The movable tine keeps described and keeps tool body, and the holding thus is had into movable part is fixed on the article holding position
Put.
The 11st aspect of the present invention is according to the 9th or the 10th aspect, it is characterised in that：Step is released in the hold mode
In, simultaneously release the article and keep hold mode of the tool to the article, simultaneously by described in the movable tine holding
Keep tool body.
[The effect of invention]
In accordance with the invention it is possible to provide a kind of complicated and expensive device without using such as tool changer, and pass through
The article that robot can transport a variety of conveyance objects without barrier keeps tool and keeps tool with this article is installed with
The conveying machine people of robot hand and the article transport method using this conveying machine people.
Brief description of the drawings
Fig. 1 is the side view for the conveying machine people for schematically showing an embodiment of the present invention.
Fig. 2A is the sectional elevation for schematically showing the robot hand of the conveying machine people shown in Fig. 1.
Fig. 2 B are the vertical profiles for the line B-B along Fig. 2A for schematically showing the robot hand of the conveying machine people shown in Fig. 1
View.
Fig. 3 A are to schematically show that the article installed in the robot hand of the conveying machine people shown in Fig. 1 keeps bowing for tool
View.
Fig. 3 B are the front views that the article shown in schematic representation 3A keeps having, and are to represent that maintaining part movable part is located at
The figure of the state of article holding position.
Fig. 3 C are the side views that the article shown in schematic representation 3A keeps having, and are to represent that maintaining part movable part is located at
The figure of the state of article holding position.
Fig. 3 D are the front views that the article shown in schematic representation 3A keeps having, and are to represent that maintaining part movable part is located at
The figure of the state of article off-position.
Fig. 3 E are the front views that the article shown in schematic representation 3A keeps having, and are to represent that maintaining part movable part is located at
The figure of other states of article off-position.
Fig. 4 A are to schematically show the article shown in Fig. 3 A keeping tool installed in the top view of the state of article.
Fig. 4 B are to schematically show the article shown in Fig. 3 A keeping tool installed in the front view of the state of article.
Fig. 5 A are the top views of action when illustrating to keep the article holding tool shown in Fig. 3 A with robot hand.
Fig. 5 B are the front views of action when illustrating to keep the article holding tool shown in Fig. 3 A with robot hand.
Fig. 6 A are the top views for schematically showing the state for keeping the article shown in Fig. 3 A to keep tool with robot hand.
Fig. 6 B are the front views for schematically showing the state for keeping the article shown in Fig. 3 A to keep tool with robot hand.
Fig. 7 A be illustrate by shown in Fig. 3 A article keep tool from article removal when action top view.
Fig. 7 B be illustrate by shown in Fig. 3 A article keep tool from article removal when action front view.
Fig. 8 A be illustrate by shown in Fig. 3 A article keep tool from article removal when action other top views.
Fig. 8 B be illustrate by shown in Fig. 3 A article keep tool from article removal when action other front views.
Fig. 9 A be illustrate by shown in Fig. 3 A article keep tool from article removal when action other top views.
Fig. 9 B be illustrate by shown in Fig. 3 A article keep tool from article removal when action other front views.
Figure 10 be illustrate by shown in Fig. 3 A article keep tool from article removal when action other front views.
Figure 11 A be illustrate by shown in Fig. 3 A article keep tool from article removal when action other top views.
Figure 11 B be illustrate by shown in Fig. 3 A article keep tool from article removal when action other front views.
Figure 12 be illustrate from shown in article removal Fig. 3 A article keep tool when action other front views.
Figure 13 be illustrate from article shown in article removal Fig. 3 A keep have when action other front views.
Figure 14 A are to schematically show that other articles that can be arranged on the robot hand of the conveying machine people shown in Fig. 1 are protected
Hold the top view of tool.
Figure 14 B are Figure 14 A line B-B sectional views.
Figure 14 C are Figure 14 A line C-C arrow views.
Figure 15 is the longitudinal section of action when illustrating for the article holding tool shown in Figure 14 A to be arranged on article.
Figure 16 is to represent the article shown in Figure 14 A keeping tool installed in the longitudinal section of the state of article.
Figure 17 is to illustrate to keep the article shown in Figure 14 A to keep the vertical profile of action during tool to regard with robot hand
Figure.
Figure 18 A are to schematically show to keep the article shown in Figure 14 A to keep the vertical profile of the state of tool to regard with robot hand
Figure.
Figure 18 B are the top views for schematically showing the state for keeping the article shown in Figure 14 A to keep tool with robot hand.
Figure 19 be illustrate from shown in article removal Figure 14 A article keep tool when action longitudinal section.
Figure 20 be illustrate from shown in article removal Figure 14 A article keep tool when action other longitudinal sections.
Figure 21 is the longitudinal section for schematically showing the state that tool is kept from the article shown in article removal Figure 14 A.
Embodiment
Hereinafter, the conveying machine people to an embodiment of the present invention, the article guarantor being used together with this conveying machine people
Tool and the article transport method using this conveying machine people are held, is described with reference to the accompanying drawings.
The conveying machine people 1 of present embodiment shown in Fig. 1 has the robots arm 2 of joint type, installed in this machine
The robot hand 3 of the front end of device robot arm 2 and drive control robots arm 2 and the robot controller 4 of robot hand 3.Separately
Outside, in this example using 6 axis articulated robots, but the robot as the application of the present invention is not limited to this,
Various robots can be applied the present invention to.
As shown in Figure 2 A, robot hand 3 is overall generally cylindrical, in its front end face (lower surface in Fig. 2 B),
3 movable tines 5 with the equiangularly spaced configuration centered on wrist axis L.In addition, in this example, by movable claw
The setting number of part 5 is set to 3, but it can be also set to 2 or more than 4.
Each movable tine 5 can be moved by the driving force from power sources such as servomotors in radial direction,
And the closed action close to wrist axis L, the opening action with remote wrist axis L can be carried out.By making movable tine 5
Closed action is carried out, object can be maintained to the inner surface 5a of movable tine 5.In addition, it is maintained at by ring-type object
In the case of the inner peripheral surface, by making movable tine 5 carry out opening action, object can be maintained to movable tine 5
Outer surface 5b.
As shown in Figure 2 B, in the inner surface 5a of movable tine 5, the fixing recess towards depression on the outside of radial direction is formed
6, the upper surface 6a of recess 6 is held compared with the 6b of lower surface, and the size of radial direction is set to larger.Can be by the convex of object
Partly (such as flange shape part) is embedded in the fixing recess 6 of movable tine 5 and holds object with movable tine 5.
As shown in Fig. 3 A to Fig. 3 C, the article of present embodiment keeps tool 7 to have holding tool body 8 and can shift
Ground is arranged on the holding tool movable part 9 for keeping tool body 8.
Keep tool body 8 to have by the closed action of the movable tine 5 of robot hand 3 and the inner side held to justify
Cartridge unit 10, and beam parts 11 are set in the lower surface of inner side cylinder part 10.The upper end periphery of cylinder part 10 in inner side
Face, form the flange shape projection 10a mutually chimeric with the fixing recess 6 of the movable tine 5 of robot hand 3.
L-shaped part 12 is set respectively in the both ends lower surface of beam parts 11, in the front end upper surface of L-shaped part 12
The abutting holding member 13 for being connected to article (workpiece) lower surface is set.
Keep having outside cylindrical part 14 of the movable part 9 with than 10 bigger footpath of inside cylindrical part and more billet, and
The center of outside cylindrical part 14, form the through hole 14a for supplying inside cylindrical part 10 to insert.Outside cylindrical part 14 can be
Do not shifted in its central axial direction with inside cylindrical part 10 relative to the relativity of inside cylindrical part 10 interferingly.Such as
Shown in Fig. 3 A and Fig. 3 C, the inside of cylinder part 14 in outside, 3 blocks are equiangularly arranged at intervals around its central axis
Part 15.
In the lower section of beam parts 11, the liter than the more billet of beam parts 11 is set with the width roughly the same with beam parts 11
Plate 16 drops, and lifter plate 16 is spirally connected the leading section of lifter plate carrying bolt 17 in its length direction central portion.Lifter plate supports spiral shell
Bolt 17 is inserted in the central through hole to be formed in inner side cylinder part 10 with having surplus.In the both ends upper surface of lifter plate 16
Erect guide rod 18 respectively, guide rod 18 by be arranged on beam parts 11 tubular linear guide 19 and above-below direction movement from
Support by ground.
Spiral helicine compression spring (force application mechanism) 20 is set in guide rod 18, the upper end of compression spring 20 is connected to be formed
Flange part in the lower end of linear guide 19, the lower end of compression spring 20 are connected to the upper surface of lifter plate 16.As shown in Figure 3 D,
When the force strength for resisting compression spring 20 rises lifter plate 16, outside cylindrical part 14 integrally rises with it.
In addition, by fastening lifter plate carrying bolt 17 and lifter plate 16 as shown in FIGURE 3 E by the side of inner side cylinder part 10
Further, thus lifter plate 16 can be maintained to top position (article off-position).
As shown in Figure 3A, in the length direction central portion of lifter plate 16, set and prolong in the direction kept straight on to lifter plate 16
A pair of the horizontal connecting rods 21 stretched.Horizontal connecting rod 21 is attached at the following table of outside cylindrical part 14 by being vertically connected to bar 22
Face.Configured by beam parts 11 are clipped in the middle in both sides 2 of 1 horizontal connecting rod 21 are vertically connected to bar 22 and supported.
A pair of article pressing plates 23 in the end set of horizontal connecting rod 21, a pair of pressing plates 23 configure across beam parts 11
In both sides.Article pressing plate 23 can have body 8 (inside cylindrical part 10, beam with the one of outside cylindrical part 14 relative to holding
Part 11 etc.) and relativity lift.Thus, article pressing plate 23 allows hand over the article holding position for keeping article (workpiece)
(lower position), the article off-position (top position) with releasing (workpiece).
Guide rod 18, linear guide 19 and compression spring 20 in present embodiment are the hold mode dimensions for forming the present invention
Holder part, that is, by article keep tool from robot hand cut off in the state of to by keep tool movable part maintain thing
The hold mode of product holding position maintains device.In addition, can by act on the gravity of article pressing plate 23 or guide rod 18 with
In the case that article pressing plate 23 fully keeps article, it can also omit compression spring 20 and form hold mode and maintain device.
Secondly, the method for transporting article (workpiece) to the conveying machine people 1 using present embodiment, is said referring to the drawings
It is bright.
First, initially as the preparatory stage, as shown in fig. 4 a and fig. 4b, operating personnel is by workpiece with complex shape
(article) W is arranged on article and keeps tool 7.That is, resist applying for compression spring 20 in fastening lifter plate carrying bolt 17
Force amount lifts article pressing plate 23, expand article pressing plate 23 with abut holding member 13 between the upper and lower in the state of, by work
Part W is inserted between its grade.Then, unclamp lifter plate carrying bolt 17 and releasing pressing plate 23, pass through applying for compression spring 20
Force amount and gravity decline it, and workpiece W upper surface is pressed with article pressing plate 23.Thus, protected by article pressing plate 23 with abutting
Hold part 13 and sandwich holding workpiece W.
Further, since the article of this example keeps the shape of central portion opening of the tool 7 with such as top or the peripheral part on top
The workpiece W for only existing the shape of edge is keeping object, therefore in order to press workpiece W upper edge or profile portion, article pressing plate 23 is simultaneously
The non-underface for being arranged on beam parts 11, but beam parts 11 are clipped in the middle and set a pair in both sides.With the difference
In the case of the workpiece of shape, for example, it is not open in center upper portion portion and in the case of can directly pressing, article pressing plate can be
The underface of beam parts sets 1.
When keeping tool 7 to be arranged on workpiece W article as shown in fig. 4 a and fig. 4b, pass through the driving machine of robot controller 4
Device robot arm 2, robot hand 3 is moved to workpiece W surface as shown in Fig. 5 A and Fig. 5 B.Now, the 3 of robot hand 3
Individual movable tine 5 as shown in Figure 5A, positioned at the 3 block parts for being arranged on article and keeping on the outside cylindrical part 14 of tool 7
15 surface.In addition, 3 movable tines 5 are in opened condition.
From the state shown in Fig. 5 A and Fig. 5 B, make the decline of robot hand 3 up to the fixing recess 6 of movable tine 5
Inside upper surface 6a is connected to the upper surface of inside cylindrical part 10, and the lower end of movable tine 5 is abutted to block part 15
Upper surface, and stop here.From this state, as shown in Fig. 6 A and Fig. 6 B, 3 movable tines 5 are made to carry out closure dynamic
Make, the fixing recess 6 of movable tine 5 is embedded in the flange shape projection 10a of inside cylindrical part 10.Thus, by robot
Portion 3 keeps article to keep tool 7 (keeping tool to keep step).
In this state, as shown in Figure 6B, because the lower end of movable tine 5 is connected to the upper table of block part 15
Face, therefore outside cylindrical part 14 can not rise relative to the relativity of inside cylindrical part 10.Due to outside cylindrical part 14 with
The integration of article pressing plate 23, and inside cylindrical part 10 is integrated with abutting holding member 13, thus maintenance with article pressing plate 23 and
Abut holding member 13 and sandwich the state for keeping workpiece W.
Secondly, robots arm 2 is driven by robot controller 4, transported workpiece W to spy together with article holding tool 7
Fixed conveyance destination (article transport step).In this article transport step, as described above, because maintaining with article pressing plate 23
The workpiece W state of keeping is sandwiched with abutting holding member 13, therefore workpiece W is without departing from dropping in way is transported.
When workpiece W is transported to specific conveyance destination load when, pass through the driving machine of robot controller 4
Human hand 3, as shown in figs. 7 a and 7b, 3 movable tines 5 are made to carry out opening action and switch to open shape from closure state
State.Thus, the hold mode that robot hand 3 keeps tool 7 to article is released.
Secondly, robot hand 3 is driven by robot controller 4 to make robot hand 3 be rotated around wrist axis line L,
As shown in Fig. 8 A and Fig. 8 B, the position directly above of movable tine 5 from block part 15 is set to be moved to non-position directly above.From this
Kind state makes movable tine 5 carry out closed action, as shown in Fig. 9 A and Fig. 9 B, holds inner side again by movable tine 5
Cylinder part 10.
Then, robots arm 2 is driven robot hand 3 is somewhat declined by robot controller 4.Now, as above
It is described, because the position directly above of movable tine 5 from block part 15 is moved to non-position directly above, so movable tine
5 down maneuver will not be prevented by block part 15.
When making robot hand 3 somewhat decline in the state of with movable tine 5 fixing inside cylindrical part 10, because
Workpiece W is positioned in specific conveyance destination and can not moved, therefore as shown in Figure 10, beam parts 11 and abutting holding member 13
Integratedly decline with inside cylindrical part 10.Thus, solution divided by article pressing plate 23 sandwich holding workpiece W with abutting holding member 13
Hold mode (hold mode releasing step).In addition, in this hold mode releases step, with the decline of beam parts 11
Action, compression spring 20 are further shunk.
From the state shown in Figure 10, robot hand 3 is driven by robot controller 4, as shown in FIG. Figure 11 A and 11 B,
Movable tine is set to carry out opening action and switch to open mode from closure state.Thus, the radial direction of movable tine 5
Lateral surface (the outer surface 5b in Fig. 2 B) is pressed against the inner peripheral surface 14b of outside cylindrical part 14.As a result, pass through movable claw
Part 5 keeps outside cylindrical part 14.
In this state, the inside upper surface 6a of the fixing recess 6 of movable tine 5 maintains to be connected to inside cylindrical portion
The state of the upper surface of part 10.That is, pass through the force strength of compression spring 20, the upper surface quilt of inside cylindrical part 10
It is pressed against the inside upper surface 6a of the fixing recess 6 of movable tine 5.
From the state shown in Figure 11 B, robots arm 2 is driven by robot controller 4 and make robots arm 2 somewhat on
Rise.Consequently, it is possible to because article keeps the outside cylindrical part 14 of tool 7 to be kept by the movable tine 5 of robot hand 3, therefore
Article keeps tool 7 somewhat to rise with the one of robot hand 3.Thus, article keeps the article pressing plate 23 of tool 7 from the upper table of workpiece
Face is left, and as shown in figure 12, workpiece W keeps tool 7 to turn into mutually non-touching state with article.
From the state shown in Figure 12, robots arm 2 is driven by robot controller 4, article is kept the court of tool 7 and beam portion
The horizontal direction that the length direction of part 11 is orthogonal moves, and as shown in figure 13, keeps tool 7 (to keep tool removals from workpiece W removals article
Step).
Action more than, the workpiece W of tool 7 conveyance is kept using the conveying machine people 1 of present embodiment and article
The end of job.
Secondly, tool is kept for other articles of the robot hand 3 for the conveying machine people 1 that can be arranged on shown in Fig. 1,
It is described with reference to the accompanying drawings.
As shown in Figure 14 A to Figure 14 C, this article keeps tool 30 to have holding tool body 31 and set with can shifting
Put and keeping the holding of tool body 31 to have movable part 32.Keep tool body 31 that there is the movable pawl by robot hand 3
The opening action of part 5 and the cylinder part 33 kept, flange shape part 34 is set in the lower surface of cylinder part 33.
3 movable lockings for keeping tool movable part 32 that there is the central axis around cylinder part 33 to be equiangularly spaced configuration
Part 35, movable latch for printed circuit 35 by be arranged on keep tool body 31 flange shape part 34 upper surface linear guide
Mechanism 36 and can movably be support in radial direction.In the lower end of movable latch for printed circuit 35, formed to radial direction
The protuberance 35a of inner side extension.In the fixed movable level board 37 of the radial direction inner top side of movable latch for printed circuit 35.
In the upper surface for the flange shape part 34 for keeping tool body 31,3 are correspondingly arranged with each movable latch for printed circuit 35
Individual jack back 38, each jack back 38 are fixed on vertically extending rotary shaft 39 in the centre position of its grade.Thus, shake
Bar 38 can rotate integrally with rotary shaft 39.Torsionspring 40 is set in rotary shaft 39, passes through applying for this torsionspring 40
Force amount, and jack back 38 exerts a force toward the clockwise direction in Figure 14 A.
Jack back 38 sets adjustment screw 41 in its one end, and is being opposite with adjustment screw 41 across rotary shaft 39
Side forms elongated hole 42.Billet fulcrum 44 can be movably inserted in elongated hole 42, the billet fulcrum 44 is arranged on that be fixed on can
The upper end of the movable vertical plate 43 of the upper surface of dynamic level board 37.
Movable latch for printed circuit 35, movable level board 37 and the one of movable vertical plate 43 are mobile.When movable vertical plate 43 is half
When footpath direction is moved, the edge of the elongated hole 42 of jack back 38 is pressed by the billet fulcrum 44 of movable vertical plate 43, so as to jack back
38 shake.
Exerted a force as noted previously, as jack back 38 is twisted spring 40, therefore this force strength passes via billet fulcrum 44
Movable vertical plate 43 and movable level board 37 are handed to, movable level board 37 is exerted a force to radial direction inner side.Thus, with moveable water
The movable latch for printed circuit 35 of the integration of flat board 37 is also exerted a force to radial direction inner side.
When using described article to keep annular work piece (article) W shown in the conveyance of tool 30 Figure 15, first initially as
Preparatory stage, operating personnel confrontation torsionspring 40 force strength and by movable latch for printed circuit 35 to pushing away on the outside of radial direction
In the state of opening, workpiece W is set to be located at the inner side of movable latch for printed circuit 35.Movable latch for printed circuit 35 is discharged in this state, is led to
Cross the force strength of torsionspring 40 and movable latch for printed circuit 35 is locked on workpiece W as shown in figure 16.
As shown in figure 16, when keeping tool 30 to be arranged on workpiece W article, robot is driven by robot controller 4
Arm 2, robot hand 3 is moved to workpiece W surface as shown in figure 17.Now, 3 movable claws of robot hand 3
Part 5 is closure state.
From the state shown in Figure 17, decline robot hand 3 and make movable tine 5 positioned at holding tool body 31
The inner side of cylinder part 33.From this state, the movable tine 5 of manipulator 3 is set to carry out opening action, such as Figure 18 A and Figure 18 B
It is shown, the radial direction lateral surface (Fig. 2 B outer surface 5b) of movable tine 5 is pressed against the inner peripheral surface of cylinder part 33.By
This, (the holding tool holding of the 1st holding pattern of cylinder part 33 for keeping tool body 31 is remain by 3 movable tines 5
Step).
In keeping having holding step, the movable tine 5 of robot hand 3 keeps the cylindrical portion of tool body 31
The position of part 33, it is that the radial direction outboard end of movable tine 5 is connected to the adjustment screw of jack back 38 as shown in figure 18b
The position on 41 head.That is, when the movable tine 5 by robot hand 3 keeps the circle of tool body 31
During cartridge unit 33, companion is as it does so, the radial direction outboard end of movable tine 5 is connected to the head of the adjustment screw 41 of jack back 38
Portion.
As a result, the spinning movement of jack back 38 counterclockwise is limited in Figure 18 B, and then movable latch for printed circuit
35 are limited to the movement on the outside of radial direction.That is, in keeping having holding step, article is maintained to keep 30 pairs of works of tool
Part W hold mode.
Secondly, robots arm 2 is driven by robot controller 4, workpiece W is transported to spy together with article holding tool 30
Fixed conveyance destination (article transport step).In this article transport step, as described above as, due to maintain article keep
Has the hold mode of 30 pairs of workpiece, therefore workpiece W is without departing from dropping in way is transported.
When transporting to specific conveyance destination and being placed in now workpiece W, machine is driven by robot controller 4
Human hand 3,3 movable tines 5 are made to carry out closed action and switch to closure state from open mode.Thus, machine is released
Human hand 3 keeps the hold mode of tool 30 to article.
Secondly, robot hand 3 is driven by robot controller 4, robot hand 3 is rotated around wrist axis line L, such as
Be moved to the movable tine 5 of robot hand 3 shown in Figure 19 keeps the movable latch for printed circuit 35 of tool 30 corresponding with article
Position.From this state, the movable tine 5 of robot hand 3 is carried out opening action, pass through movable claw as shown in figure 20
The radial direction outboard end of part 5 and make movable vertical plate 43 towards radial direction lateral displacement.Thus, movable latch for printed circuit 35 to
Radial direction lateral displacement and release workpiece W hold mode.
Now, the radial direction outer peripheral face (the outer surface 5b in Fig. 2 B) of movable tine 5 is pressed against article and keeps tool
The inner peripheral surface 33a of 30 cylinder part 33, thus, turn into the state for keeping article to keep tool 30 by movable tine 5.Also
It is to say, in this example, simultaneously releases the hold mode that article keeps 30 couples of workpiece W of tool, thing is simultaneously kept by movable tine 5
Product keep tool 30 (the 2nd keeps pattern).
From the state shown in Figure 20, robots arm 2 is driven by robot controller 4, makes robot as shown in figure 21
Portion 3 rises and keeps tool 30 (keeping tool removal step) from workpiece W removals article.
As described above, according to present embodiment, prepare according only to the workpiece W of conveyance object shape article keep tool 7,
30, without using the complicated and expensive device such as tool changer, and shape can be transported using common robot hand 3
Different various workpieces W.
In addition, in said embodiment, maintained due to keeping article to keep tool 7,30 by using robot hand 3
Article keeps 7,30 couples of workpiece W of tool hold mode, therefore workpiece W drops when can be prevented securely from conveyance.
In addition, in the article shown in Figure 14 A to Figure 14 C keeps tool 30, pass through the movable tine 5 of robot hand 3
It is also to keep article to keep tool 30 by movable tine 5 to release article and keep the action of 30 couples of workpiece W of tool hold mode
Action, it is thus possible to which the activity duration is shortened into job step simplification.
[explanation of symbol]
1 conveying machine people
2 robots arms
3 robot hands
4 robot controllers
5 movable tines
5a movable pawl component inner surfaces
5b movable pawl member outer surfaces
The fixing recess of 6 movable tines
6a holds the upper surface of recess
6b holds the lower surface of recess
7 articles keep tool
8 keep tool body
9 keep tool movable part
10 inside cylindrical parts
The flange shape projection of 10a inside cylindrical parts
11 beam parts
12 L-shaped parts
13 abut holding member
14 outside cylindrical parts
The through hole of 14a outside cylindrical parts
The inner peripheral surface of 14b outside cylindrical parts
15 block parts
16 lifter plates
17 lifter plate carrying bolts
18 guide rods
19 linear guides
20 compression springs (force application mechanism)
21 horizontal connecting rods
22 are vertically connected to bar
23 article pressing plates
30 articles keep tool
31 keep tool body
32 keep tool movable part
33 keep the cylinder part of tool body
The inner peripheral surface of 33a cylinder parts
34 keep the flange shape part of tool body
35 movable latch for printed circuit
The protuberance of the movable latch for printed circuit of 35a
36 linear guide mechanisms
37 movable level boards
38 jack backs
The rotary shaft of 39 jack backs
40 torsionsprings
41 adjustment screws
42 elongated holes
43 movable vertical plates
44 billet fulcrums
L wrist axis
W workpiece (article)
Claims (11)
1. a kind of article keeps tool, its handling is mounted freely on to transport the robot hand of the conveying machine people of article,
And possess：
Tool body is kept, is kept with can discharging by the movable tine of the robot hand；
Tool movable part is kept, is arranged on the holding tool body with can shifting, and allow hand over the thing for keeping the article
Product holding position and the article off-position for discharging the article；And
Hold mode maintains device, the article is being kept into tool in the state of the robot hand is cut off, to by institute
State holding tool movable part and maintain the article holding position.
2. article according to claim 1 keeps tool, it is characterised in that being configured to can be by the institute of the robot hand
State movable tine and switch the article holding position for keeping tool movable part and the article off-position.
3. article according to claim 1 or 2 keeps tool, it is characterised in that：The hold mode maintains device to have use
To keep having movable part to the elastic force-applying force application mechanism in the article holding position by described.
4. article according to claim 3 keeps tool, it is characterised in that is configured to keeping tool release institute from the article
When stating article, by the movable tine of the robot hand, resist the force strength of the force application mechanism and make institute
State holding tool movable part and be displaced to the article off-position.
5. article according to any one of claim 1 to 4 keeps tool, it is characterised in that is configured to from the robot
In the state of the article holding tool that hand is cut off remains the article, pass through the movable pawl of the robot hand
Part keeps described and keeps tool body, thus keeps tool movable part to be fixed on the article holding position by described.
6. article according to any one of claim 1 to 5 keeps tool, it is characterised in that：It is described to keep tool body tool
Have and be connected to the article and the abutting maintaining part for keeping the article is collaborated with the holding tool movable part.
7. a kind of conveying machine people, it is characterised in that possess：
Article any one of claim 1 to 6 keeps tool；And
Robot hand, handling freely install the article and keep tool.
8. conveying machine people according to claim 7, it is characterised in that：Allow hand over the 1st holding pattern and keep mould with the 2nd
Formula, the 1st holding pattern is that one side maintains the article to keep hold mode of the tool to the article, simultaneously by described movable
Tine keeps described and keeps tool body, and the 2nd holding pattern is that one side releases the article holding tool to the article
Hold mode, simultaneously keep described by the movable tine and keep tool body.
A kind of 9. article transport method, it is characterised in that：Conveying machine people described in its usage right requirement 7 or 8 transports article,
And possess：
Keep tool to keep step, remained mounted on by the movable tine of the robot hand described in the article
Article keeps the holding tool body of tool；
Article transport step, drive the conveying machine people and by the article transport to specific together with keeping tool with the article
Conveyance destination；
Hold mode releases step, and tool is kept to operate the article by the movable tine of the robot hand
It is described to keep tool movable part, release the article and keep hold mode of the tool to the article；And
Tool removal step is kept, the conveying machine people is driven, by described in the state installed in the robot hand
Article keeps tool from the article removal.
10. article transport method according to claim 9, it is characterised in that：In the holding tool keeps step, pass through
The movable tine keeps described and keeps tool body, and the holding thus is had into movable part is fixed on the article holding position
Put.
11. the article transport method according to claim 9 or 10, it is characterised in that：Step is released in the hold mode
In, simultaneously release the article and keep hold mode of the tool to the article, simultaneously by described in the movable tine holding
Keep tool body.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-103000 | 2015-05-20 | ||
| JP2015103000A JP6734023B2 (en) | 2015-05-20 | 2015-05-20 | Article holder, conveyance robot, and article conveyance method |
| PCT/JP2016/064199 WO2016186008A1 (en) | 2015-05-20 | 2016-05-12 | Article holder, conveyance robot, and article conveyance method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107708941A true CN107708941A (en) | 2018-02-16 |
| CN107708941B CN107708941B (en) | 2021-08-17 |
Family
ID=57320237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680028987.5A Active CN107708941B (en) | 2015-05-20 | 2016-05-12 | Article holder, transfer robot, and article transfer method |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6734023B2 (en) |
| CN (1) | CN107708941B (en) |
| TW (1) | TWI617404B (en) |
| WO (1) | WO2016186008A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7134621B2 (en) * | 2017-11-30 | 2022-09-12 | キヤノン株式会社 | Tool stocker system, robot system, exchange tool, robot system control method, article control method, control program and recording medium |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN112908561B (en) * | 2021-02-04 | 2022-08-02 | 珠海格力智能装备有限公司 | Transfer mechanism, transfer equipment and plug cord production line |
| CN113957408A (en) * | 2021-09-03 | 2022-01-21 | 广东汇成真空科技股份有限公司 | Large-scale vacuum coating machine with workpiece hanging plate rotating cabin synchronous conveying manipulator |
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| CN1128934A (en) * | 1994-09-16 | 1996-08-14 | Lg产电株式会社 | Tool for surface mounting device head and automatic changing apparatus thereof |
| US20020069516A1 (en) * | 2000-12-13 | 2002-06-13 | Mirae Corporation | Grip tip of gripper for parts having different shape in surface mount device |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6734023B2 (en) | 2020-08-05 |
| TWI617404B (en) | 2018-03-11 |
| TW201702032A (en) | 2017-01-16 |
| WO2016186008A1 (en) | 2016-11-24 |
| CN107708941B (en) | 2021-08-17 |
| JP2016215320A (en) | 2016-12-22 |
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