JP2012125907A - Robot hand of depalletizing robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide robot hands of a depalletizing robot for transferring a plurality of loading articles from a loading position where the plurality of the loading articles each having a rectangular shape in a planar view are arranged on one plane to a carrying-out position.SOLUTION: In the robot hands 2 of the depalletizing robot 1, a pair of front and rear holding claws 22, 22 longer than the thickness of the loading article 3 is arranged at an interval longer than one side of the loading article 3, a holding rod 23 is stretched on the lower end of each holding claw 22 to form a holding frame 21, the mutual holding rods 23 are arranged in parallel, each of a pair of the right and left holding frames 21, 21 opposed symmetrically in a right and left direction to a vertical straight line is supported on a body part 24 by rotatively supporting a swinging shaft 226 provided on the upper end of each holding claw 22 on the body part 24, and air cylinders 26 swinging each holding frame 21 are provided on the body part 24 while the holding rods 23, 23 are kept parallel.

Description

  The present invention relates to a robot hand of a depalletizing robot that transfers a plurality of transfer objects that are rectangular in plan view from a loading position in which a plurality of transfer objects are arranged on the same plane to an unloading position.

  From the loading position where a plurality of transfer objects that are rectangular in plan view are arranged in the same plane (the transfer objects may be arranged in the same plane and further stacked, in which case the uppermost layer is the loading position) The loading and unloading work for transferring the transfer object to the unloading position is considered simple and monotonous, and is therefore easy to automate, and various depalletizing robots have been proposed (Patent Document 1). . The depalletizing robot has a configuration in which a robot hand capable of holding and releasing a transfer object is attached to the tip of an articulated robot arm, and using the degree of freedom of the articulated robot arm, a loading position and an unloading position are provided. Regardless of the positional relationship, the robot hand can move and change its posture so that various transferred objects can be loaded and unloaded.

  Patent Document 1 discloses a robot hand of a depalletizing robot in which a suction pad is provided on one of a pair of gripping claws (clamp members) that approach and separate from each other. The robot hand disclosed in Patent Document 1 uses a suction pad to adsorb a transfer object (article), so that the gripping claws are respectively provided on the side surfaces of the transfer object without providing a hook at the lower end of the gripping claws that are approaching and separating. They are placed in contact with each other so that the transfer object can be lifted. As a result, the gripping claw on the side where the suction pad is not provided can be formed into a very thin plate surface, and the gap between the transfer objects to be loaded and unloaded can be kept to a minimum (Patent Document 1 [0007] [0007] [0009] [0014] [0016]).

Japanese Utility Model Publication No. 04-122485

  Although Patent Document 1 does not clearly show a transfer object to be held by a robot hand, it is assumed from the drawing that a box with a rectangular parallelepiped shape is assumed. When the transfer object having a rectangular shape in plan view is a box body, as long as the gap between the transfer objects is not considered, it is most preferable to provide a collar at the lower end of the gripping claw as in the prior art shown in Patent Document 1. It is thought that the transferred material can be held easily and reliably. Moreover, in order to suppress the gap between the transfer objects, which is the object of Patent Document 1, an adsorption pad or the like that adsorbs any surface of the transfer object that is a box and releases the adsorption after unloading is appropriate. It can also be said.

  However, when the transfer object that is rectangular in plan view is a bag body, the bag body is made of paper or a resin film and is flexible, and the contents are granular and moveable. A robot hand with a hook or a suction pad on the nail cannot be held well. In the case of a robot hand with a hook at the tip of the gripping claw, it is likely that the bag will be easily held and lifted if the hook goes around under the bag, but there is a risk that the hook will damage the bag. Absent. Furthermore, it is difficult to wrap the heel part under the bag. Further, in the case of a robot hand provided with suction pads on the gripping claws, there is a possibility that the suction pads cannot be sucked well because the surface of the bag body is uneven and not a uniform plane.

  When the transfer object having a rectangular shape in plan view is a box, the box can be neatly arranged on the same plane at the loading position, so that the depalletizing robot is configured from the robot arm provided with the robot hand disclosed in Patent Document 1. It's easy to do. However, the depalletizing robot is used in place of the operator, that is, the usefulness of automation is increased when a bag body that has some load collapse and cannot always be arranged in an orderly manner is used as a transfer object. Therefore, in order to construct a depalletizing robot from a robot arm equipped with a robot hand that can be lifted reliably without breaking the bag body when the transfer object that is rectangular in plan view is a bag body, The robot hand was examined.

  As a result of examination, a robot hand of a depalletizing robot that transfers a plurality of transfer objects that are rectangular in plan view from a loading position in which they are arranged on the same plane to a carry-out position, which is longer than the thickness of the transfer object A pair of holding claws are arranged in the front and back at intervals longer than one side of the transfer object, and a holding frame is constructed by laying a holding rod on the lower end of each holding claw, making the holding rods parallel to each other and with respect to the vertical line Each of the pair of left and right holding frames that are opposed to each other symmetrically is supported by the main body with a swinging shaft provided at the upper end of each holding claw attached to the main body, and the holding rod remains parallel. A depalletizing robot hand has been developed that has a claw swinging mechanism on the body to swing each carrying frame. Here, “front and back” and “left and right” refer to two directions orthogonal to each other for convenience of explanation, and “vertical line” means a line in the orthogonal direction with respect to both “front and rear” and “left and right” included in the horizontal plane. To do.

  The holding claw swings between the open position where the holding rods of the holding frames arranged in a pair on the left and right sides are separated from the distance between the other sides of the transferred object and the closed position where the distance between the other sides of the transferred object is closer. Move. The “lower end portion” of the holding claw includes, in addition to the lowermost end of the holding claw, the vicinity of the lowermost end where a margin for attaching a buffer roller or the like is provided below the holding rod, as will be described later. The same applies to the “upper end” of the holding nail. The claw swinging means can be exemplified by a stepping motor, a hydraulic cylinder or an air cylinder, which is conventionally found in the same kind of robot hand. The stepping motor connects the rotating shaft directly or indirectly to the swinging shaft of the holding claw that is pivotally attached to the main body, and swings the holding claw by rotating the swinging shaft within a predetermined angle range. The hydraulic cylinder or the air cylinder connects a rod above or below the swinging shaft of the holding claw pivotally attached to the main body, and swings the holding claw by expanding and contracting the rod.

  The robot hand according to the present invention does not sandwich the transfer object with the holding claws, but holds the transfer object by letting the holding rod spanned between the lower ends of the pair of front and rear holding claws into the lower surface side of the transfer object. Lift up. For this reason, each of the pair of front and rear holding claws constituting the holding frame is longer than the thickness of the transferred object so that the holding claws do not interfere with the transferred object when the holding rod is brought into the lower surface side of the transferred object. In addition, it is necessary to be separated by a longer interval than one side (for example, the long side) of the transfer object that is rectangular in plan view. The holding rod is preferably a non-cornered surface that may damage the transferred object when it is dive into the lower surface of the transferred object. It is desirable to be fixed immovable.

  The holding claw may be formed by bending a portion where the holding rod is installed in a direction in which the holding rod approaches the swinging shaft. When the upper nail part is the upper nail part from the bent part, the lower part is the lower nail part from the bent part, the lower nail part is against the upper nail part. Thus, the holding rods are bent so as to approach each other. The holding claw swings from the open position where the holding rod is away from the other side of the transferred object to the closed position where the holding rod is closer to the other side of the transferred object, thereby causing the holding rod to enter the lower surface side of the transferred object. . At this time, if the holding claw bends the lower claw portion in a direction in which the holding rod approaches each other, the holding rod is likely to sink into the lower surface side of the transfer object. The bending of the lower claw portion with respect to the upper claw portion is realized by a side view shape in which the holding claw is bent or bent and the holding rods approach each other.

  In addition, the holding claw is preferably configured such that a portion where the holding rod is installed can be bent in a direction in which the holding rod approaches the swinging shaft. Here, the “part where the holding rod is installed” may be the lower claw portion described above, and the lower claw portion may be freely bent with respect to the upper claw portion. However, it is preferable to make the tip claw part, which is the lower part of the lower claw part, bendable with respect to the upper part of the divided lower claw part. In this way, when the lower claw part or the tip claw part is bendable, when the robot hand is lowered, another transfer object placed on both sides of the transfer object to be lifted or another transfer layered one step below. When the lower claw part or the front claw part or the holding rod hits the loaded object, the lower claw part or the front claw part bends in the direction in which the holding rod approaches each other, and the crushing claw is swung toward the closed position This makes it easier to sink the holding rod into the lower surface side of the transfer object to be lifted. At this time, if the tip claw portion is bent to the upper side of the lower claw portion, the lower claw portion originally bends toward the upper claw portion so that the holding rods approach each other. It is easy to bend the rods in a direction to approach each other.

  The lower claw part or the tip claw part that can be bent abuts the transfer object other than the transfer object to be lifted to maintain the bent state. Is raised, it can be returned to the posture before bending (for example, the posture aligned with the lower claw portion) according to gravity. However, in order to more reliably return to the posture, it is preferable that the lower pawl portion or the tip pawl portion that is freely bent be urged in the return direction (the direction in which the holding rod is moved away from each other). For biasing the lower claw portion or the tip claw portion, an elastic body, for example, a coil spring interposed between the lower claw portion and a torsion coil spring loosely fitted on a bending shaft can be used.

  From the viewpoint of letting the holding rod underneath the transferred object, the holding claw protrudes from the holding rod in one or both of the direction in which the holding rod of each holding frame approaches or separates from below the holding rod. It is good to bridge a buffer roller. The buffer roller, except for the upper surface side of the holding rod that abuts on the lower surface side of the transferred object, before the holding rod turns right, The surface of the transfer object) contacts with the surface of the transfer object, and the risk of damage other than the transfer object lifted by the holding roller is reduced, and it rolls along the transfer object other than the transfer object lifted by the buffer roller. The holding claw is lowered by applying a gap between the transferred objects, and it is easy to sink into the lower surface side of the transferred object that lifts the holding rod. When the buffer roller is connected to the holding rod by a connecting plate and the intermediate portion is supported by the holding rod, it is easy to suppress or prevent the bending.

  Similarly, from the viewpoint of causing the holding rod to enter the lower surface side of the transferred object, the holding claw may be provided with a contact roller that is rotatable on the holding rod. The contact roller is fitted on the holding rod or is attached to the middle of the holding rod. It is desirable that the holding rod does not rotate so that the transferred transfer object does not slide down. However, when the submerged rod does not rotate, the sliding contact resistance increases when it is submerged in the lower surface of the transfer object, and it is difficult to submerge in the lower surface of the transfer object. Therefore, one or a plurality of contact rollers are provided on the holding rod to make it easier for the holding rod to sink into the lower surface of the transfer object. The holding rod that has entered the lower surface of the transferred object comes into direct contact when the lower surface is bent, and prevents the transferred object from sliding down from the holding rod due to frictional resistance with the lower surface.

  In the robot hand according to the present invention, even if the transfer object having a rectangular shape in plan view is a bag body, the transfer object is lifted by the holding rod that has been submerged in the lower surface side of the transfer object. You can lift it without breaking your body. The holding claws that are bent or bent in the direction in which the holding rods approach each other, the buffering rollers arranged near the holding rods, and the contact rollers that are fitted around the holding rods, all have a paper bag as a transfer object. It makes it easy to sneak the holding rod into the lower surface of the transfer object without breaking. Thus, according to the present invention, it is possible to provide a depalletizing robot that uses a bag as a transfer object, which was difficult with a conventional robot hand.

It is a side view showing an example of a depalletizing robot having a robot hand of the present invention. It is a side view of the robot hand of this example. It is a top view of the robot hand of this example. It is a front view of the robot hand of this example. It is the front view showing the stage where the robot hand of this example is descending toward the layered transfer thing. It is the front view showing the stage where the robot hand of this example inserted the holding nail between adjacent transfer things, and bent the tip nail inward. It is the front view showing the stage which the robot hand of this example swung the holding nail | claw toward the closed position, and made the holding rod dive into the lower surface side of a transfer thing. It is the front view showing the stage which the robot hand of this example lifted the transfer thing.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. As shown in FIG. 1, the robot hand 2 of the present invention is attached to the tip of an articulated robot arm 11 whose position is fixed by an installation base 12 to constitute a depalletizing robot 1. The depalletizing robot 1 is a device that transfers the transfer objects 3 in paper bags stacked at the transfer position one by one to an appropriate carry-out position (not shown). In this example, in order to secure the degree of freedom of the robot hand 2, the robot hand 2 is mounted on an articulated robot arm 11, but in addition, the robot hand 2 can be suspended by a crane or moved in a vertical plane along an orthogonal trajectory. The depalletizing robot 1 can be configured by attaching the robot hand 2 to the moving base.

  The robot hand 2 of this example has a connecting part connected to the tip of the robot arm 11 as shown in FIGS. 2 to 4 (in FIG. 4, the connecting part 25 and the air cylinder 26 located on the back side are not shown). 25, a main body portion 24 supported by the connection portion 25, and a pair of left and right holding frames 21 and 21 pivotally attached to the main body portion 24 via a swing shaft 226. In the robot hand 2 of this example, for convenience of explanation, the direction in which the holding claws 22 constituting the holding frame 21 are arranged on the basis of a posture in which the connecting portion 25 and the main body portion 24 are horizontal and the holding frames 21 are suspended in the vertical direction. (The left and right direction in FIG. 2 and FIG. 3) is the left and right direction, and the direction in which the holding claws 22 of the respective holding frames 21 and 21 face each other (the vertical direction in FIG. 3 and the orthogonal direction in FIG. 4) is the front and back direction. And

  The connection unit 25 is configured such that the connection plate 251 connected to the tip of the robot arm 11 and the interposition plate 252 connected to the main body unit 24 are arranged in parallel in a vertical direction, and the lower surface of the connection plate 251 and the interposition plate A connecting portion elastic support spring 254 made of a coil spring is interposed between the upper surface of 252. As a result, the main body 24 and the holding frame 21 are integrally supported by the connection plate 251 in the vertical direction, and the force that is pushed by the transfer object 3 to push up the holding frame 21 is applied to the connection plate 251. Thus, the main body 24 and the holding frame 21 are displaced upward so that the connection portion elastic support spring 254 can absorb.

  The connection plate 251 is provided with a three-dimensional sensor 27 that measures the position of the transfer object 3 by protruding the mounting bracket 271 in the horizontal direction from the main body 24 avoiding an air cylinder 26 that is a claw swinging means described later. The three-dimensional sensor is a camera that captures an image necessary for calculating the position of the transfer object 3 by a spatial code method, a light cutting method, a stereo method, or the like, or a laser sensor that emits and detects line laser light. The three-dimensional sensor 27 of this example faces the right direction in the posture using the robot hand 2 (the posture in FIG. 2), and when the position of the transfer object 3 is measured, the robot hand 2 is turned 90 degrees downward. To.

  The main body 24 is composed of a pair of left and right main body plates 241 and 241 obtained by halving a rectangular shape in plan view having a size surrounding the holding frame 21 in a point-symmetric manner. Each main body plate 241 is provided with a front and rear rail 242 made of a short bar at a position close to each holding frame 21 and a front and rear rail 242 made of a long bar at a position far from the holding frame 21 on the upper surface. The connecting portion 25 is connected to the main body portion 24 by allowing a connecting slider 253 provided on the lower surface of the interposed plate 252 to be fitted on the front and rear rails 242 to be slidable. In this example, there are three connection sliders 253, one for the short front and rear rails 242 and two for the long front and rear rails 242.

  The main body 24 in this example is provided with a spring receiving block 245 facing each connection slider 253 on each main body plate 241 between two connection sliders 253, 253 externally fitted to a front and rear rail 242 made of a long bar. Between the connection slider 253 and the spring receiving block 245, a main body elastic spring 244 comprising a coil spring is interposed. Thereby, each main body plate 241 is elastically supported in the horizontal direction with respect to the connection plate 251, and the force that is pushed by the transfer object 3 and the holding frame 21 is pushed in the front-rear direction is applied to the connection plate 251 with respect to the main body plate 241. Is displaced in the front-rear direction so that the main body elastic spring 244 can absorb.

  The holding frame 21 is provided with a pair of front and rear claws 22 that are longer than the thickness of the transfer object 3 by a distance FL longer than the length WL of the long side of the transfer object 3, and the lower ends of the holding claws 22 and 22. It is constructed by holding the rod 23 in the bridge. Thereby, the holding claw 22 that swings when the holding frame 21 opens and closes does not interfere with the transferred object 3. A pair of left and right holding frames 21 and 21 swings to a pair of front and rear support blocks 243 provided on the upper surface of each main body plate 241 with the holding rods 23 and 23 parallel to each other and opposed to each other symmetrically with respect to the vertical line. A shaft 226 is installed, and the upper end of the upper claw portion 221 of the holding claw 22 is connected to the left and right ends of the swing shaft 226. Each holding frame 21 is a rocking member in which a rod 261 of an air cylinder 26 which is a claw swinging means supported to be swingable with respect to each main body plate 241 is extended upward from an upper claw portion 221 of one holding claw 22. Attaching to the moving lever 262, the holding claw 22 is swung according to the expansion and contraction of the rod 261.

  The holding claw 22 includes an upper claw portion 221 that connects an upper end to the swing shaft 226, and a lower claw portion that is bent in a direction in which the holding rods 23 of the holding frames 21 facing each other approach the upper claw portion 221. 222 and a tip claw portion 223 that is pivotally attached to the lower claw portion 222 and can be bent in a direction in which the holding rods 23 of the holding frames 21 facing each other approach each other. The holding claw 22 of the present example is divided by the lower claw portion 222 into upper and lower parts and a nail bullet supporting spring 225 that is a coil spring is interposed, so that the holding claw 22 is pushed upward by the transfer object 3. The tip claw 223 is displaced upward with respect to the upper claw 221 so that the pushing force can be absorbed by the claw bullet support spring 225.

  The tip claw portion 223 is provided with a claw return spring 224 that is a coil spring between the lower claw portion 222 and is always urged in the return direction (direction in which the holding rod 23 is moved away from each other). The tip claw portion 223 of this example is constructed such that a holding rod 23, which is a rod having a circular cross section with a contact roller 233 rotatably fitted at the center, is installed so as not to rotate, and below the holding rod 23, A pair of left and right buffer rollers 231 and 231 projecting from the holding rod in a direction in which the holding rod 23 of the holding frame 21 approaches and separates from the holding rod 21 is rotatably spanned (see an enlarged portion in FIG. 4). Each buffer roller 231 passes through the connecting plates 232, 232 supported by the holding rod 23 with the contact roller 233 interposed therebetween, and the positional relationship between the holding rod 23 and the buffer roller 231 is constrained via the connecting plate 232. Has been.

  Lifting of the transfer object 3 by the depalletizing robot 1 of this example will be described with reference to FIGS. 4 to 5 (FIG. 4 and subsequent figures, illustration of the connecting portion 25 and the air cylinder 26 located on the far side). The depalletizing robot 1 that has finished measuring the position of the transfer object 3 by the three-dimensional sensor 27 moves the robot arm 11 and moves the robot hand 2 upward to the transfer object 3. At this time, as shown in FIG. 4, the robot hand 2 opens the holding claw 22 to an open position separated from the short side interval of the transfer object, and the plan view shape of the transfer object 3 lifted by each holding rod 23. Accordingly, the posture (orientation in the horizontal plane) is adjusted so that each holding frame 21 is positioned above the gap between the adjacent transfer objects 3 and 3 in parallel with the long side of the transfer object. Thus, when the robot hand 2 is lowered while maintaining the posture, each holding frame 21 (more precisely, the holding rod 23) enters the gap.

  However, since the actual transfer object 3 is not necessarily stacked in an orderly manner, when the robot hand 2 is lowered, the contact roller 233 and the buffer roller 231 fitted around the holding rod 23 are transferred as shown in FIG. Each holding frame 21 is lowered so as to push the surface of the load 3. At this time, the main body portion 24 and the holding frame 21 are integrally displaced upward with respect to the connection portion 25, or the lower claw portion 222 and the tip claw with respect to the upper claw portion 221 of the holding claw 22 constituting each holding frame 21 The part 223 is integrally displaced upward, and the tip claw part 223 is bent with respect to the lower claw part 222, so that each part absorbs the force received in contact with the transfer object 3, and the holding frame 21 is Sew down the gap and go down.

  When the robot hand 2 is further lowered after touching the upper surface of another transfer object 3 below the transfer object 3 lifted by the buffer roller 231, as shown in FIG. As a result, the tip claw portion 223 is greatly bent, and the holding rod 23 is caused to sink from the side surface of the transfer object 3 to the lower surface side. At this time, each holding frame 21 opens the holding claw 22 to an open position separated from the short side interval of the transfer object, so that the holding rod 23 is not limited to the lower surface side of the transfer object 3. It is a typical one. For this reason, if the robot hand 2 is raised in this state, it cannot be lifted well if it is a paper bag or the like in which the transfer object 3 is deformed.

  From here, as shown in FIG. 7, the rod 261 of the air cylinder 26 is extended to the holding claw 22 of each holding frame 21 to the closed position where each holding rod 23 is closer than the short side interval of the transfer object 3. When it is swung (see the black arrow in FIG. 7), the tip claw 223 bent with respect to the lower claw 222 is returned (being straight with respect to the lower claw 222), and the holding rod 23 is moved. Submerge the bottom of the loaded article 3 greatly. As described above, since the holding rod 23 sinks into the lower surface side of the transferred object 3, the holding claw 22 (in this example, the portion protruding from the lower surface side of the main body plate 241) is longer than the thickness of the transferred object 3. Is understood. Whether or not the tip claw portion 223 actually returns depends on the lowered position of the robot hand 2 and the degree of deformation of the transfer object 3. However, since the holding rod 23 has a degree of freedom only in a range where the tip claw portion 223 is bent with respect to the lower claw portion 222, the holding rod 23 surely sinks into the lower surface side of the transfer object 3 according to the swinging of the holding claw 22.

  At this time, the holding rod 23 is displaced in a direction approaching the swinging shaft 226 of the holding claw 22, that is, upward, but the transfer object 3 cannot be lifted only by the swinging of the holding claw 22, and the connecting portion 25. The connecting plate 252, the main body 24, and the holding frame 21 are integrally displaced with respect to the connection plate 251 (refer to the dashed white arrow in FIG. 7). As described above, the claw return spring 224, the claw bullet support spring 225, the main body bullet support spring 244, and the connection portion bullet support spring 254 are buffer members that release the force received from the transfer object 3, respectively. It is also a minute position adjusting member for the holding frame 21 or the holding claw 22 required when the holding rod 23 is submerged in the lower surface side of the transferred object 3.

  When the robot hand 2 is lifted in a state where the holding rod 23 has entered the lower surface side of the transfer object 3, the transfer object 3 straddling the pair of left and right holding rods 23, 23 as shown in FIG. Can be lifted. Since the transfer object 3 is only straddled on the holding rods 23 and 23 having a circular cross section, there is no possibility of tearing even if it is a paper bag. In addition, since the holding rod 23 of this example cannot be rotated, there is no fear that the transfer object 3 will fall off the holding rods 23 and 23 when the robot hand 2 is moved horizontally. Actually, since the flexible paper bag has its lower surface deformed so that the holding rod 23 is bitten, there is no possibility that the transfer object 3 is slipped off from the holding rods 23, 23.

  The procedure for unloading the transfer object 3 from the robot hand 2 is not shown, but is the reverse of the above. At this time, the holding rods 23 are not rotatable and are bitten by the lower surface of the transfer object 3, but the holding claws 22 of the pair of left and right holding frames 21 are opened synchronously, so that each holding rod 23 Since the load of the transfer object 3 is applied to the side away relatively earlier, the transfer object 3 is finally released from the lower surface of the transfer object 3 at the same time, so there is no possibility that the transfer object 3 is inclined and moved to the unloading position. . As described above, the depalletizing robot 1 using the robot hand 2 of the present invention enables the transfer to be stably performed without damaging the transfer object 3 composed of a paper bag or the like that is easily torn.

1 Depalletizing robot 2 Robot hand
21 Carrying frame
22 Claws
23 Carrying rod
24 Main unit
25 Connection
26 Air cylinder
27 3D sensor 3 Transfer

Claims (5)

A robot hand of a depalletizing robot that transfers a plurality of transfer objects that are rectangular in plan view from a loading position to an unloading position in which the transfer objects are arranged on the same plane,
A pair of holding claws that are longer than the thickness of the transfer object are arranged in pairs at intervals longer than one side of the transfer object, and a holding frame is constructed by spanning a holding rod at the lower end of each holding nail,
A pair of left and right holding frames that are parallel to each other and symmetrically opposed to the vertical line are attached to the main body with a swing shaft provided at the upper end of each holding claw. To support,
A robot hand of a depalletizing robot, wherein a claw swinging means for swinging each holding frame is provided in a main body while the holding rod is kept parallel. The robot hand of the depalletizing robot according to claim 1, wherein the holding claw is bent at a portion where the holding rod is installed in a direction in which the holding rod approaches each other from a swing axis. The robot hand of the depalletizing robot according to claim 1 or 2, wherein the holding claw is configured to bend a portion where the holding rod is erected in a direction in which the holding rod approaches the swinging shaft. The holding claw is placed below the holding rod, and a buffering roller protruding from the holding rod is bridged over one or both of the holding rod of each holding frame in the approaching direction or the separating direction. Robot hand of depalletizing robot. The robot hand of a depalletizing robot according to any one of claims 1 to 4, wherein the holding claw is provided with a rotatable contact roller on the holding rod.

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