JP2017113843A - Pipe conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make both extraction of an original pipe and conveyance of a molded pipe compatible.SOLUTION: A pipe conveying device 1 comprises: a pair of shafts 16 and 17 provided in parallel to each other; turning parts 19 and 24, provided in the pair of shafts 16 and 17 respectively, which can rotate around the shafts 16 and 17; pins 22 and 25 which are connected to the turning parts 19 and 24 and protrude to outside in a radial direction of the shafts 16 and 17; and adsorbing parts 23 and 26 which are connected to the turning parts 19 and 24, protrude to outside in the radial direction of the shafts 16 and 17, and contact and adsorb the pipe 30. When the adsorbing parts 23 and 26 adsorb the pipe 30, the pins 22 and 25 contact the pipe along a circumferential direction of the pipe 30 and the adsorbing parts 23 and 26 turn in interlock with the pins 22 and 25, which restricts rotation angles of the adsorbing parts 23 and 26.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a pipe transfer device using a robot hand.

  Conventionally, there is JP, 2013-223905, A as a technique of such a field. In the robot hand described in this publication, an adsorber is provided at the tip of each pair of fingers. In this robot hand, a wire is connected to the tip of a rotatable finger, and the angle of the adsorber is adjusted by adjusting the pulling amount of the wire.

JP 2013-223905 A

However, in the conventional robot hand described above, it is necessary to visually confirm the angle of the suction unit when carrying the pipe, and adjustment may take time. Here, in general, in the pipe processing step, there are a step of taking out and transporting the raw tubes aligned in the pallet, and a step of transporting the tube after forming by bending. When removing the pipes aligned in the pallet, the pipes and walls other than the other gripping target are adjacent to each other, and the gripping target pipe cannot be gripped from the side. Extraction is performed by suction using a vacuum. At this time, the gripping force is ensured by increasing the adsorption area. On the other hand, when the molded pipe is conveyed, a dedicated jig is used to hold the pipe by sandwiching it in accordance with the shape of the molded pipe. That is, the jig that sucks the raw pipe and the jig that holds the formed pipe have different functions and require a separate dedicated jig, which increases the cost.
The present invention provides a pipe transport device that can take out a raw tube and transport a formed tube.

The pipe conveying device according to the present invention is provided on each of the pair of shafts provided in parallel to each other and the pair of shafts, and is connected to the rotating unit capable of rotating around the shaft, and the rotating unit, A pin that protrudes radially outward of the shaft; and an adsorption portion that is coupled to the rotating portion, protrudes radially outward of the shaft, and abuts against the pipe to adsorb the pipe. In doing so, the pin abuts along the circumferential direction of the pipe, and the suction portion rotates in conjunction with the pin, thereby restricting the rotation angle of the suction portion.
Thereby, when the pipe is gripped by the suction portion, the angle of the suction portion can be easily changed by the pin.

  Thereby, it is possible to achieve both the removal of the raw tube and the conveyance of the formed tube.

It is a top view of a pipe conveyance apparatus. It is a front view of the pipe conveyance apparatus seen from AA. It is a figure which shows the state which the vacuum cup contact | abutted on the upper part of the pipe of a raw-tube state. It is a figure which shows the state by which the pipe conveyance apparatus has been arrange | positioned above the aligned elementary tube. It is a figure which shows operation | movement of the pipe conveyance apparatus at the time of hold | gripping a pipe from a horizontal direction. It is a figure which shows the state which hold | gripped the pipe from the horizontal direction. It is a side view which shows the state which hold | gripped the pipe refracted by shaping | molding. It is a front view which shows the state which hold | gripped the pipe refracted by shaping | molding.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the pipe conveying device 1 includes a base 11, a right arm 12 provided below the right side of the base 11, a left arm 13 provided below the left side of the base 11, It is a parallel chuck provided with. In FIG. 1, the base 11 is omitted for easy understanding of the drawing.

  The base 11 is formed long in the front-rear direction and the left-right direction. For example, the base 11 formed in the shape of a rectangular parallelepiped has a motor (not shown) for operating the right arm 12 and the left arm 13 in the left-right direction, and the driving force of the motor on the right arm 12. And a mechanism such as a reduction gear that transmits to the left arm 13, a control unit (not shown) that controls the operation of the motor, and a first gripping unit 18 and a second gripping unit 19 for generating an attractive force. And a pump (not shown).

  The right arm portion 12 includes a first arm portion 14A provided on the right front side of the base portion 11, a second arm portion 14B provided on the right rear side of the base portion 11, a first arm portion 14A and a second arm portion 14A. And a first shaft 16 extending so as to connect between the arm portions 14B. A plurality of first gripping portions 18 are arranged on the first shaft 16.

  The first arm portion 14 </ b> A is provided to protrude downward on the right front side of the base portion 11. Due to the driving force of the motor provided in the base 11, it moves in the left-right direction at a location connected to the base 11. One end of a first shaft 16 extending in the front-rear direction is connected to the lower portion of the first arm portion 14A.

  The second arm portion 14 </ b> B is provided to protrude downward on the right rear side of the base portion 11. The second arm portion 14 </ b> B moves in the left-right direction at a location where it is connected to the base portion 11 by the driving force of the motor provided on the base portion 11. The other end portion of the first shaft 16 is connected to the lower portion of the second arm portion 14B. The first arm portion 14A and the second arm portion 14B move in the left-right direction in conjunction with each other, thereby moving in the left-right direction while maintaining the state in which the first shaft 16 extends in the front-rear direction.

  Both ends of the columnar first shaft 16 are fixed to the lower side of the first arm portion 14A and the lower side of the second arm portion 14B. In addition, a plurality of first gripping portions 18 are arranged on the first shaft 16 side by side in the extending direction of the first shaft 16.

  The left arm portion 13 includes a third arm portion 15A provided on the left front side of the base portion 11, a fourth arm portion 15B provided on the left rear side of the base portion 11, a third arm portion 15A and a fourth arm portion 15A. And a second shaft 17 extending so as to connect between the arm portions 15B. A plurality of second grips 19 are arranged on the second shaft 17.

  The third arm portion 15 </ b> A is provided to protrude downward in front of the left side of the base portion 11. The third arm portion 15 </ b> A moves in the left-right direction at a location connected to the base portion 11 by the driving force of the motor provided on the base portion 11. One end of a second shaft 17 extending in the front-rear direction is connected to the lower portion of the third arm portion 15A.

  The fourth arm portion 15 </ b> B is provided to protrude downward on the left rear side of the base portion 11. The fourth arm portion 15 </ b> B moves in the left-right direction at a location connected to the base portion 11 by the driving force of the motor provided on the base portion 11. The other end portion of the second shaft 17 is connected to the lower portion of the fourth arm portion 15B. The third arm portion 15A and the fourth arm portion 15B move in the left-right direction in conjunction with each other, thereby moving in the left-right direction while maintaining the state in which the second shaft 17 extends in the front-rear direction.

  Both end portions of the cylindrical second shaft 17 are fixed to the lower side of the third arm portion 15A and the lower side of the fourth arm portion 15B. Here, the height at which the first shaft 16 and the second shaft 17 are disposed is substantially the same, and is disposed in parallel with each other in a state of extending in the front-rear direction. A plurality of second grip portions 19 are arranged side by side along the extending direction of the second shaft 17. In addition, as shown in FIG. 1, the 1st holding part 18 and the 2nd holding part 19 are arrange | positioned in the state shifted | deviated back and forth in zigzag form so that the position of a horizontal direction may not mutually overlap.

  The first gripping portion 18 includes a first rotating portion 21 that rotates around the first shaft 16 with the front-rear direction as an axial direction, and a first pin 22 that protrudes outside the first rotating portion 21. And a first vacuum cup 23 connected to the outside of the first rotating portion 21.

  The 1st rotation part 21 is the cylindrical shape formed short in the front-back direction, and the 1st shaft 16 is inserted in the hole penetrated in the front-back direction. The first rotating portion 21 slides in the circumferential direction with the front-rear direction of the first shaft 16 as the central axis. As a result, the first pin 22 and the first vacuum cup 23 connected to the first rotating portion 21 rotate in an interlocked manner with the front-rear direction of the first shaft 16 as the central axis. .

  The first pin 22 connected to the first rotating portion 21 protrudes outward in the radial direction of the first shaft 16. The first pin 22 is disposed so as to extend in the lower left direction when the first vacuum cup 23 is disposed below the first rotating portion 21. For example, as shown in FIG. 3, the first pin 22 contacts along the circumferential direction at the upper part of the pipe 30.

  The first vacuum cup (adsorption part) 23 is a place where the pipe 30 is adsorbed. For example, the first vacuum cup 23 sucks the pipe 30 on the suction surface provided on the tip side by evacuation by a pump provided in the base 11. Since the first vacuum cup 23 is connected to the first rotating portion 21, the first rotating portion 21 is viewed from the front when the first pin 22 contacts the pipe 30 and moves upward. In the case of turning counterclockwise, the angle is similarly changed by turning counterclockwise. That is, the direction of the first vacuum cup 23 is changed in synchronization with the push-up of the first pin 22 by the pipe 30 on the front end side.

  The second gripping part 19 includes a second rotating part 24 that rotates around the second shaft 17 with the front-rear direction as an axial direction, and a second pin 25 that protrudes outside the second rotating part 24. And a second vacuum cup 26 connected to the outside of the second rotating portion 24.

  The second rotating portion 24 has a cylindrical shape that is formed short in the front-rear direction, and the second shaft 17 is inserted into a hole that is provided through the front-rear direction. The second rotating portion 24 slides in the circumferential direction with the front-rear direction of the second shaft 17 as the central axis. As a result, the second pin 25 and the second vacuum cup 26 connected to the second rotating portion 24 rotate in an interlocked manner with the front-rear direction of the second shaft 17 as the central axis. .

  The second pin 25 connected to the second rotating portion 24 protrudes outward in the radial direction of the second shaft 17. The second pin 25 is disposed so as to extend in the lower right direction when the second vacuum cup 26 is disposed below the second rotating portion 24. The second pin 25 is in contact with the upper portion of the pipe 30 along the circumferential direction.

  The second vacuum cup (adsorption part) 26 is a place where the pipe 30 is adsorbed. For example, the second vacuum cup 26 sucks the pipe 30 on the suction surface provided on the tip side by evacuation by a pump provided in the base 11. Since the second vacuum cup 26 is connected to the second rotating part 24, the second pin 25 contacts the pipe 30 and moves upward so that the second rotating part 24 is viewed from the front. In the case of turning clockwise, the angle is changed by similarly turning clockwise. That is, the direction of the second vacuum cup 26 is changed in synchronization with the push-up of the second pin 25 by the pipe 30 on the tip side.

  Next, the operation of pipe conveyance by the pipe conveyance device 1 will be described. First, a case where the pipes 30 are taken out by the pipe conveying device 1 in a state where a plurality of pipes 30 in a raw pipe state before forming are aligned in a pallet will be described.

  As shown in FIG. 4, the pipe conveyance device 1 is disposed above the pipe 30 to be grasped. At this time, the space between the right arm portion 12 and the left arm portion 13 is narrowly closed. That is, the first shaft 16 and the second shaft 17 are arranged in parallel with approaching each other. At this time, the front-end | tip part which has the adsorption surface of the 1st vacuum cup 23 is the state which faced the downward direction. Similarly, the tip end side having the suction surface of the second vacuum cup 26 is in a state of facing downward.

  Next, the pipe conveyance device 1 performs a lowering operation. At this time, as shown in FIG. 3, the first vacuum cups 23 provided on the plurality of first gripping portions 18 and the second vacuum cups 26 provided on the plurality of second gripping portions 19. The respective front end portions of the pipes are in contact with the upper part of the pipe 30 while being arranged below.

  The pipe transfer device 1 performs evacuation by a pump provided in the base portion 11, and sucks the pipe 30 from above by the first vacuum cup 23 and the second vacuum cup 26. Thereafter, the pipe conveyance device 1 is raised while maintaining the suction state.

  Thereby, the pipe conveyance apparatus 1 can adsorb | suck and convey the pipe 30 from upper direction, even when there is no space which puts the right arm part 12 and the left arm part 13 in the side surface of the pipe 30. FIG.

  Next, the operation for conveying the molded pipe 30 will be described. In the following description, it is assumed that the side surface of the molded pipe 30 has a sufficient space for inserting the right arm portion 12 and the left arm portion 13 when gripping.

  As shown in FIG. 5A, the pipe transfer device 1 sets the initial state when the right arm portion 12 and the left arm portion 13 are closed.

  Thereafter, as shown in FIG. 5B, the pipe transfer device 1 increases the distance between the right arm portion 12 and the left arm portion 13 by a distance slightly longer than the width of the pipe 30. That is, the first shaft 16 and the second shaft 17 are arranged in parallel in a state slightly separated from the width of the pipe 30.

  The pipe transfer device 1 moves downward above the pipe 30 and then performs a lowering operation. At this time, as shown in FIG. 5 (c), the pipe 30 enters between the right arm portion 12 and the left arm portion 13, whereby each first pin 22 provided on the plurality of first grip portions 18. Then, each second pin 25 provided on the plurality of second grip portions 19 is pushed up.

  Here, as shown in FIG. 6, when the first pin 22 is pushed up, the first rotating portion 21 rotates counterclockwise around the first shaft 16 as viewed from the front. Thereby, the 1st vacuum cup 23 connected with the 1st rotation part 21 rotates counterclockwise by front view. Similarly, when the second pin 25 is pushed up, the second rotating portion 24 rotates clockwise around the second shaft 17 in a front view. Thereby, the 2nd vacuum cup 26 connected with the 2nd rotation part 24 rotates clockwise by front view.

  The tip portions of the first vacuum cup 23 and the second vacuum cup 26 are brought into contact with the pipe 30 from the lateral direction. For example, the first vacuum cup 23 and the second vacuum cup 26 are brought into contact with each other from the lateral direction of the pipe 30 by reducing the distance between the right arm portion 12 and the left arm portion 13. Thereafter, the pipe transfer device 1 performs evacuation by a pump provided in the base 11, and sucks the pipe 30 from the lateral direction by the first vacuum cup 23 and the second vacuum cup 26.

  In addition, as shown in FIG. 7, when conveying the pipe 30 extended in the front-back direction processed so that it may have a location refracted in the up-down direction, as shown in FIG. When viewed from −B, the portion formed to be disposed at a low position in the pipe 30 is a low position between the predetermined pair of the first gripping portion 18 and the second gripping portion 19. Is gripped by. Further, as shown in FIG. 8B, when viewed from CC in FIG. 7, the portion formed so as to be arranged at a high position in the pipe 30 is another pair of first It is gripped at a high position between the gripping part 18 and the second gripping part 19.

  At this time, the push-up amounts of the first pins 22 and the second pins 25 provided in the first holding portions 18 and the second holding portions 19 change according to the shape of the pipe 30. Accordingly, the first vacuum cups 23 and the second vacuum cups 26 have slightly different orientations for each height at which the pipe 30 is disposed inside the right arm portion 12 and the left arm portion 13. Thereby, the front-end | tip part of each 1st vacuum cup 23 and the 2nd vacuum cup 26 will be in the state which opposes the outer peripheral part of the shape | molded pipe 30, and adsorption | suction is performed.

  Therefore, when there is no space for holding the pipe 30 that is in the form of a raw pipe from the side, the pipe transfer device 1 can adsorb and take out the pipe 30 from above. In addition, the pipe conveying device 1 automatically adjusts the orientation of the first vacuum cup 23 and the second vacuum cup 26 in accordance with the state of refraction of the pipe 30 that is shaped to be bent in the vertical direction. can do. Thereby, the pipe conveyance apparatus 1 can reduce the effort to adjust the orientation of the vacuum cups 23 and 26 by visual observation and the like while simultaneously taking out the pipe 30 in the raw pipe state and the formed pipe 30.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, a pump or the like for evacuating the first vacuum cup 23 and the second vacuum cup 26 may be provided outside the pipe transfer device 1 without being provided in the base 11. Moreover, the number of the 1st holding parts 18 and the 2nd holding parts 19 provided in the pipe conveyance apparatus 1 is not restricted to the number shown in FIG.1 and FIG.7.

DESCRIPTION OF SYMBOLS 1 Pipe conveyance apparatus 11 Base 12 Right arm part 13 Left arm part 14A 1st arm part 14B 2nd arm part 15A 3rd arm part 15B 4th arm part 16 1st shaft 17 2nd shaft 18 1st 1 gripping portion 19 second gripping portion 21 first rotating portion 22 first pin 23 first vacuum cup 24 second rotating portion 25 second pin 26 second vacuum cup 30 pipe

Claims (1)

A pair of shafts provided in parallel to each other;
A rotating part provided in each of the pair of shafts, and capable of rotating around the shaft;
A pin connected to the rotating part and projecting radially outward of the shaft;
An adsorbing part connected to the rotating part, protruding outward in the radial direction of the shaft, and adsorbing by adhering to a pipe;
When the pipe is adsorbed by the adsorbing part, the pin abuts along the circumferential direction of the pipe, and the adsorbing part rotates in conjunction with the pin, thereby restricting the rotation angle of the adsorbing part. To be
Pipe conveying device.

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