JP2019126863A - Work holding device - Google Patents

Abstract

To surely hold a sheet-like work capable of folding up a corrugated board.SOLUTION: A work holding device (1) supports a body part (41b) of a work (40) arranged on a table (21) in a state of folding up the body part by support parts (23b and 23c), and generates a prescribed interval between first and second tongue pieces (42b and 42c) by adsorbing one of the first and second tongue pieces (42b and 42c) in a mutually overlapped state by a first suction pad (23a).SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work holding device.

  Conventionally, a packaging device and a box making device for assembling a cardboard box are known (see Patent Literature 1 and Patent Literature 2). In these devices, two side surfaces of the box material in a folded state are adsorbed and developed three-dimensionally by the suction pad, and an assembly operation is performed while holding the box material expanded in a cylindrical shape.

JP 2013-86837 A International Publication No. 2014/125627

  However, in the above prior art, when the box material is developed three-dimensionally, the suction pad that holds the box material may come off. As a result, the work efficiency of the assembly work is reduced. This is a problem common to not only cardboard boxes but also foldable sheet-like work in general.

  The present invention has been made to solve the above-described problems, and an object thereof is to reliably hold a foldable sheet-like workpiece.

  In order to achieve the above object, a work holding device according to an aspect of the present invention includes a cylindrical main body, and a first tongue piece and a second tongue extended from the peripheral edge of one opening of the main body. A workpiece holding device, wherein the first and second tongue pieces overlap each other and the work piece is placed in a state where the main body portion is folded, and a base portion. A support portion configured to be able to support the folded main body portion and the base portion and configured to be able to adsorb one of the first and second tongue pieces that are overlapped with each other. The first suction pad, and a control unit that controls the operation of the support unit and the first suction pad, and the workpiece disposed on the mounting base in a state in which the main body unit is folded by the support unit. And supporting the main body of the first suction pad Ri, causing a predetermined spacing between adsorbed the first and second tongues one of said first and second tongue in a state of overlapping each other.

  According to the above configuration, one of the two tongue pieces (flaps) that are overlapped by the suction pad is sucked by the support portion while the main body portion of the work arranged on the mounting table is supported, and the two pieces in the overlapped state are absorbed. A predetermined interval is created between the two tongue pieces. For example, the robot hand makes it easy to hold the two tongues of the work. The work can be held securely.

  Further, the work holding device may be a first holding portion configured to be able to hold one of the first and second tongues, and a second holding portion configured to be capable of holding the other of the first and second tongues. (2) A robot body having a first robot arm having a holder, a first robot arm to which the first holder is attached, and a second robot arm to which the second holder is attached, and a robot controller for controlling the operation of the robot body And the first holding portion holds one of the first and second tongue pieces having the predetermined interval, and the second holding portion holds the first and second tongues. You may make it hold | maintain the other tongue piece and expand | deploy the said main-body part folded up in a cylinder shape.

  According to the above configuration, the workpiece main body portion is obtained by holding the two tongue pieces (flaps) of the workpiece having a predetermined interval by the left and right robot hands (first holding portion and second holding portion) of the double-arm robot. Can be expanded into a cylindrical shape.

  In the robot main body, the first holding unit includes a pair of holding members that sandwich one of the first and second tongue pieces from both sides thereof, and the second holding unit includes the first and second tongues. You may make it provide a pair of holding member which pinches the other side of the piece from the both sides.

  According to the above configuration, each of the left and right robot hands (the first holding unit and the second holding unit) includes the pair of holding members, so that the tongue piece of the work can be easily held from both sides.

  The pair of holding members may have a flat plate shape.

  According to the said structure, since a pair of holding member has flat plate shape, it is easy to insert a pair of holding member between two tongue pieces. It becomes easy to hold the work.

  The base has a rotary joint configured to be able to rotate the base main body about a predetermined rotation axis, and the rotary joint has a predetermined first posture and a predetermined second posture. The base main body is set in the second posture, the main body portion of the work placed on the mounting table is supported by the support portion, and the first suction pad overlaps each other. One of the first and second tongue pieces in a closed state is adsorbed, and then the posture of the base body is changed from the second posture to the first posture by the rotating joint, and then the support portion In a state where the main body portion is supported, a predetermined interval is generated between the first and second tongue pieces that are overlapped by folding the tongue pieces sucked by the first suction pad with respect to the main body portion. You may do so.

  According to the above configuration, since the base (adsorption unit) is configured to be rotatable around a predetermined rotation axis, the base body is set to the second posture, and the workpiece disposed on the mounting table by the support unit While supporting a main-body part, one of the two tongue pieces (flap) of the state which mutually overlap | superposed with the 1st suction pad is adsorbed. Thereafter, the attitude of the base body is changed from the second attitude (for example, the horizontal direction) to the first attitude (for example, the vertical direction) by the rotary joint. Thereafter, in a state in which the main body portion is supported by the support portion, a predetermined distance is generated between the two overlapping tongue pieces by bending the tongue pieces adsorbed by the first suction pad to the main body portion. As a result, since the two tongues spaced by a predetermined distance can be held in a desired posture (for example, the vertical direction), for example, the robot hand can easily hold the work.

  The support portion is configured of a second suction pad and a support protrusion provided on the base, and while the main body portion is supported by the support protrusion, the second suction pad adsorbs the main body portion, and One of the first and second tongue pieces is adsorbed by an adsorption pad, and the main portion is adsorbed by the second adsorption pad, with the support projection as a fulcrum, the first adsorption pad with respect to the main body. A predetermined interval may be generated between the first and second tongue pieces in an overlapped state by folding the adsorbed tongue pieces.

  According to the above configuration, since the support portion (suction unit) has the second suction pad and the support projection, the second suction pad adsorbs the main body portion while the support projection is the supporting point, and The tongue piece sucked by one suction pad can be bent. This tends to cause a predetermined distance between the first and second tongues in the overlapping state.

  The workpiece is a box material configured to be unfoldable in a cylindrical shape from a folded state, and the main body portion includes four side plates that are connected via a folding line, and the tongue piece May be a flap extending from the peripheral edge of the opening of the four side plates via a fold line. The material of the box material may be cardboard or plastic.

  The first suction pad has a base end portion, and a cylindrical portion attached to the base end portion, in which a negative pressure from a vacuum generation source acts on the inside, and is axially expandable and contractible. The cylinder is configured to reduce the pressure inside the cylindrical portion with the vacuum generation source in a state in which the tip of the cylindrical portion is in contact with one of the first and second tongue pieces in a state of overlapping each other. You may make it bend the said tongue piece which the front-end | tip of the said cylindrical part is contacting with respect to the said main-body part by shrinking a shape part to an axial direction.

  According to the above configuration, the cylindrical portion attached to the base end of the first suction pad is constructed so that negative pressure from the vacuum generation source acts on the inside to be axially expandable and contractible. With the tip of the portion in contact with one of the first and second tongues in a mutually overlapping state, the pressure in the cylindrical portion is reduced by the vacuum source to axially contract the cylindrical portion, The tongue piece with which the tip of the cylindrical portion is in contact with the main body portion is bent. This allows a predetermined spacing to occur between the first and second tongues.

  The present invention has the configuration described above, and can reliably hold a foldable sheet-like workpiece.

FIG. 1 is a view showing the overall configuration of a workpiece holding device according to an embodiment. FIG. 2 is a view showing a configuration of an end effector of the robot of FIG. FIG. 3 is a functional block diagram schematically showing the configuration of the control device of FIG. FIG. 4 is a diagram showing the configuration of the work of FIG. FIG. 5 is a front view for explaining the operation of the suction and pivoting mechanism of FIG. FIG. 6 is a plan view for explaining the operation of the suction and pivoting mechanism of FIG. FIG. 7 is a perspective view for explaining the operation of the robot of FIG.

  Hereinafter, preferred embodiments will be described with reference to the drawings. In the following, the same or corresponding elements are denoted by the same reference numerals throughout all the drawings, and the redundant description thereof will be omitted. In addition, the drawings schematically show the respective components in order to facilitate understanding. Furthermore, the direction in which the pair of arms is spread is referred to as the left-right direction, the direction parallel to the axial center of the base axis is referred to as the vertical direction, and the direction orthogonal to the horizontal direction and the vertical direction is referred to as the front-rear direction.

  FIG. 1 is a diagram showing an overall configuration of a work holding device 1 according to an embodiment of the present invention. The workpiece holding device 1 of the present embodiment is introduced to a production site of a product, and is used for an assembly operation of a box material as a product packaging material. As shown in FIG. 1, the workpiece holding device 1 includes a robot 11 and an attraction and rotation mechanism 20 disposed on the left side of the robot 11.

  The robot 11 is a double-arm robot including a pair of robot arms 13 and 13 supported by a base 12. However, the workpiece holding device 1 is not limited to the configuration including the robot 11. Although a horizontal articulated double arm robot will be described as the robot 11, a vertical articulated double arm robot can be employed. The robot 11 can be installed in a limited space (for example, 610 mm × 620 mm) equivalent to one person.

  The robot 11 includes a base 12 fixed to a carriage, a pair of robot arms (hereinafter may be simply referred to as “arm”) 13 and 13 supported by the base 12, and controls housed in the base 12. The apparatus 14 and the vacuum generator 50 are provided. The vacuum generation device 50 is a device that generates a negative pressure in suction pads (23a, 23b) described later such as, for example, a vacuum pump or CONVUM (registered trademark). Each arm 13 is a horizontal articulated robot arm configured to be movable with respect to the base 12, and includes an arm unit 15, a wrist unit 17, and end effectors 18 and 19. The right arm 13 and the left arm 13 may have substantially the same structure. Also, the right arm 13 and the left arm 13 can operate independently or in conjunction with each other.

  In this example, the arm portion 15 includes a first link 15a and a second link 15b. The first link 15 a is connected to the base shaft 16 fixed to the upper surface of the base 12 by the rotary joint J 1 and is rotatable about a rotation axis L 1 passing through the axis of the base shaft 16. The second link 15b is connected to the tip of the first link 15a by the rotary joint J2 and is rotatable around a rotation axis L2 defined at the tip of the first link 15a.

  The wrist unit 17 includes an elevating unit 17a and a rotating unit 17b. The lifting unit 17a is connected to the tip of the second link 15b by the linear motion joint J3 and can move up and down with respect to the second link 15b. The rotation unit 17b is connected to the lower end of the elevation unit 17a by the rotary joint J4 and is rotatable around a rotation axis L3 defined at the lower end of the elevation unit 17a.

  The end effectors 18 and 19 are connected to the rotating part 17b of the wrist part 17, respectively. The end effector 18 is provided at the tip of the right arm 13, and the end effector 19 is provided at the tip of the left arm 13.

  Each arm 13 having the above-described configuration has each joint J1 to J4. The arm 13 is provided with a servomotor (not shown) for driving, an encoder (not shown) for detecting the rotation angle of the servomotor, and the like so as to correspond to each of the joints J1 to J4. It is done. The rotation axes L1 of the first links 15a and 15a of the two arms 13 and 13 are on the same straight line, and the first link 15a of one arm 13 and the first link 15a of the other arm 13 are vertically arranged. It is arranged with a height difference. In the present embodiment, the work area of the pair of robot arms 13 and 13 is an area that covers the suction turning mechanism 20.

  The suction turning mechanism 20 includes a table 21 on which the workpiece 40 is placed, and a suction unit 22 for sucking the workpiece 40.

  In the present embodiment, the table 21 is a table composed of a top plate and legs. The upper surface of the table is formed horizontally. A folded sheet-like work 40 is stacked at a predetermined position on the table. A jig for fixing the work 40 at a predetermined position may be provided on the table. The work 40 has a cylindrically deployable main body portion 41, a lid flap 42 extended from a peripheral edge portion of one opening of the main body portion 41 via a fold line 45, and a peripheral edge of another opening of the main body portion 41. And a bottom flap 43 extending from the section through a fold line 45. The work 40 is configured to be able to be assembled in a box shape from a state of being folded in a sheet shape, as described later. In the present embodiment, the lid flap 42 corresponds to the "tongue" of the present invention.

  The suction unit 22 includes a frame member 23 having a longitudinal shape, and a first suction pad 23a, a second suction pad 23b, and a support protrusion 23c provided along the longitudinal direction of the frame member 23. The first suction pad 23a has a proximal end 23d and a cylindrical portion 23e attached to the proximal end 23d. The negative pressure from the vacuum generator 50 acts on the inside of the cylindrical portion 23e, and the cylindrical portion 23e is configured to be axially expandable. In the present embodiment, the cylindrical portion 23e has a bellows shape. The second suction pad 23b has the same configuration as the first suction pad 23a. At the base end of the frame member 23, a rotary joint J5 configured to be able to pivot the frame member 23 main body around a horizontal rotation axis (L4) is provided. The rotary joint J5 can rotate the main body of the frame member 23 between a predetermined first posture and a predetermined second posture. Although only one set of suction units 22 is shown in FIG. 1, two sets of suction units 22 are arranged in the front-rear direction (the depth direction of the sheet of FIG. 1) in this embodiment. The two revolute joints J5 are synchronously controlled such that the rotation axes rotate simultaneously.

  At the manufacturing site of the product in which the work holding device 1 of the present embodiment is introduced, the sheet-like work 40 is sucked by the suction turning mechanism 20, and the work 40 sucked by the suction turning mechanism 20 is held by the robot 11. Expand in three dimensions. Thereafter, the robot 11 sets the work 40 in a box making apparatus (not shown). The work 40 is assembled into a box shape by the box-making apparatus, and then the product is packed.

  Next, the configuration of the end effectors 18 and 19 attached to the arms 13 and 13 of the robot 11 will be described. Since the end effectors 18 and 19 have a symmetrical structure, only one of them will be described here. FIG. 2 is a diagram showing the configuration of the end effector 18 of the right arm 13. FIG. 2A shows a front view. FIG. 2 (B) shows a perspective view.

  The end effector 18 is a holding mechanism that holds the workpiece 40. The end effector 18 is connected to the base 30 including the rotating portion 17 b of the wrist portion 17, the bracket 31 connected to the base 30, the actuator 32 connected to the bracket 31 via the base 30, and the bracket 31. A slide mechanism 33 and a pair of holding members 34 coupled to the slide mechanism 33 are provided.

  The slide mechanism 33 includes a guide member 33a and a drive member 33b. A rail (not shown) is provided on the upper side of the guide member 33a. The drive member 33b is configured to be slidable relative to the guide member 33a in a predetermined direction (longitudinal direction in the drawing).

  Each of the pair of holding members 34 includes a base end portion 34a and a holding portion 34b. The base end portion 34a of one holding member 34 is connected to the lower side of the guide member 33a of the slide mechanism 33, and the holding portion 34b of the one holding member 34 has a flat plate shape, and its plane is directed in the vertical direction Configured as. The proximal end 34 a of the other holding member 34 is connected to the front side of the drive member 33 b of the slide mechanism 33. The holding portion 34 b of the other holding member 34 has a flat plate shape, and the plane thereof is configured to face in the vertical direction. The holding portions 34 b of the pair of holding members 34 are disposed to face each other.

  The drive member 33b of the slide mechanism 33 slides in a predetermined direction with respect to the guide member 33a. As a result, the pair of holding members 34 can extend and contract the distance between the flat holding portions 34 b to hold or release the sheet-like work 40 from both sides thereof.

  The actuator 32 includes a servo motor 32a and a speed reducer 32b. The actuator 32 is connected to the bracket 31 via the base 30. The rotational force of the servo motor 32 a is transmitted to the bracket 31, and the pair of holding members 34 can be rotated with respect to the base 30. For example, in a state in which the work 40 is held, the angle of the two flat holding parts 34b can be arbitrarily changed.

  FIG. 3 is a functional block diagram schematically showing the configuration of the control device 14 of the robot 11. As shown in FIG. As shown in FIG. 3, the control device 14 includes an arithmetic unit 14 a such as a CPU, a storage unit 14 b such as a ROM and a RAM, and a servo control unit 14 c. The control device 14 is a robot controller provided with a computer such as a microcontroller, for example. The control device 14 may be configured by a single control device 14 that performs centralized control, or may be configured by a plurality of control devices 14 that perform distributed control in cooperation with each other.

  The storage unit 14b stores information such as a basic program as the robot controller and various fixed data. The arithmetic unit 14a controls various operations of the robot 11 by reading and executing software such as a basic program stored in the storage unit 14b. That is, the calculation unit 14a generates a control command of the robot 11, and outputs this to the servo control unit 14c. The servo control unit 14c is configured to control the driving of the servo motors corresponding to the joints J1 to J5 of each arm 13 of the robot 11 based on the control command generated by the calculation unit 14a.

  The control device 14 controls the operation of the vacuum generator 50 (see FIG. 1) and the opening / closing of the on-off valve. By opening and closing the pipe by opening and closing the on-off valve, suction and release by the first suction pad 23a and the second suction pad 23b are performed.

  FIG. 4 is a diagram showing the configuration of the workpiece 40. The work 40 is a cardboard box configured to be able to be expanded in a cylindrical shape from a state of being folded in a sheet shape. FIG. 4A is a perspective view showing the work 40 in a state of being folded in a sheet shape. FIG. 4 (B) is a perspective view showing the work 40 in a three-dimensionally expanded state. The main body portion 41 of the work 40 has four side plates 41 a, 41 b, 41 c and 41 d which are continuously provided via the folding line 45. The lid flap 42 is composed of four flaps 42a, 42b, 42c, 42d extended from the peripheral edge of one opening of the four side plates 41a, 41b, 41c, 41d via a fold line 45. The bottom flap 43 is composed of four flaps 43a, 43b, 43c, 43d extended from the peripheral edge of the other openings of the four side plates 41a, 41b, 41c, 41d via a fold line 45.

  As shown in FIG. 4A, in a state where the work 40 is folded, the side plate 41b and the side plate 41c are folded via the fold line 44, and the side plate 41a and the side plate 41d are folded via the fold line 44. . Meanwhile, the flaps 42b and 42c overlap each other, and the flaps 42a and 42d overlap each other. Similarly, flaps 43b and 43c overlap one another and flaps 43a and 43d overlap one another.

  As shown in FIG. 4B, in the state in which the work 40 is expanded in a cylindrical shape, the side plate 41a and the side plate 41c face each other, and the side plate 41b and the side plate 41d face each other. Meanwhile, the flaps 42a and 42c face each other, and the flaps 42b and 42d face each other. Similarly, the flaps 43a and 43c face each other, and the flaps 43b and 43d face each other.

  Next, operation | movement of the workpiece holding apparatus 1 is demonstrated using drawing. FIG. 5 shows the operation of the suction and swing mechanism 20 as viewed from the front. FIG. 6 shows an operation of the suction and pivoting mechanism 20 as viewed from above.

  As shown in FIGS. 5A and 6A, the workpiece 40 is stacked on the table 21 in a folded state. In the main body portion 41, the side plates 41b and 41c are folded via the fold line 44, and the side plates 41b and 41d are folded via the fold line 44. In the lid flap 42, the flaps 42b and 42c overlap vertically, and the flaps 42a and 42d overlap vertically. In the bottom flap 43, the flaps 43b and 43c overlap vertically, and the flaps 43a and 43d overlap vertically. Further, in the present embodiment, two sets of suction units 22 are installed in the front-rear direction, and the rotary joint J5 can rotate the frame member 23 main body between a predetermined first posture and a predetermined second posture. it can. As shown in FIG. 5A, in the first posture, the rotation axis (L4) is controlled to a first angle such that the longitudinal direction of the frame member 23 main body coincides with the substantially vertical direction (vertical direction in the drawing). Ru.

  Next, as shown in FIGS. 5B and 6B, the control device 14 drives the rotary joints J5 of the two sets of suction units 22 to set the main body of the frame member 23 from the first posture to the second posture. Change to attitude. As shown in FIG. 5B, the rotation axis (L4) rotates from the first angle to a second angle such that the longitudinal direction of the frame member 23 substantially coincides with the horizontal direction (horizontal direction in the drawing). . In the present embodiment, two sets of suction units 22 are synchronously controlled to rotate simultaneously.

  In the second posture, the first set of suction units 22 sucks the side plate 41b of the main body 41 by the second suction pad 23b and supports it by the tip of the support protrusion 23c. Furthermore, the upper flap 42b of the two flaps 42b and 42c in a state of being overlapped vertically is adsorbed by the first suction pad 23a.

  Similarly, the second set of suction units 22 sucks the side plate 41a of the main body portion 41 with the second suction pad 23b and supports it with the tip of the support projection 23c in the second posture. Furthermore, the first suction pad 23a sucks the upper flap 42a of the two flaps 42a and 42d in a state of being overlapped vertically.

  Next, as shown in FIGS. 5C and 6C, the control device 14 drives the rotary joints J5 of the two sets of suction units 22 to set the main body of the frame member 23 from the second posture to the first position. Change to attitude. The rotation axis (L4) rotates from the second angle to the first angle. Here again, the two sets of suction units 22 are synchronously controlled to rotate simultaneously.

  The first set of suction units 22 support the side plate 41b of the main body 41 by the second suction pads 23b and the support protrusions 23c in the first posture, and suction the flaps 42b by the first suction pads 23a, The inside of the cylindrical portion 23e at the tip of the first suction pad 23a is decompressed by the vacuum generator 50 (see FIG. 1). Thereby, the cylindrical portion 23e of the first suction pad 23a is contracted in the axial direction. The flap 42b in contact with the tip of the cylindrical portion 23e is bent with respect to the side plate 41b. In addition, since the support projection 23c is a supporting point, the flap 42b can be easily bent with respect to the side plate 41b. This creates a predetermined distance between the two overlapping flaps 42b and 42c, and the end effector 18 of the robot 11, for example, tends to hold one of the two flaps 42b and 42c. Also, the two flaps 42 b and 42 c are maintained in the first position so as to be easily held by the end effector 18. The flaps 42b and 42c correspond to the "first and second tongues" of the present invention.

  Similarly, the second suction unit 22 supports the side plate 41a of the main body 41 by the second suction pad 23b and the support protrusion 23c and sucks the flap 42a by the first suction pad 23a in the first posture. In this state, the inside of the cylindrical portion 23e at the tip of the first suction pad 23a is decompressed by the vacuum generator 50 (see FIG. 1). Thereby, the cylindrical portion 23e of the first suction pad 23a is contracted in the axial direction. The flap 42a in contact with the tip of the cylindrical portion 23e is bent with respect to the side plate 41a. In addition, since the support projection 23c is a supporting point, the flap 42a can be easily bent with respect to the side plate 41a. This creates a predetermined distance between the two overlapping flaps 42a and 42d, and the end effector 19 of the robot 11, for example, tends to hold one of the two flaps 42a and 42d. Also, the two flaps 42 a and 42 d are maintained in the first posture so as to be easily held by the end effector 19. The flaps 42a and 42d correspond to the "first and second tongues" of the present invention.

  FIG. 7 shows the holding operation of the workpiece 40 of the robot 11. Here, only the end effectors 18 and 19 attached to the left and right robot arms 13 and 13 are shown.

  As shown in FIG. 7A, the robot 11 holds one of the two flaps 42b and 42c having a predetermined distance by the end effector 18 and holds the flap 42c. The end effector 19 holds the other flap 42a of the two flaps 42a and 42d. The pair of holding members 34 can hold the flaps 42a and 42c from both sides by reducing the distance between the holding members 34. Further, since each holding member 34 has a flat plate shape, it is easy to insert the holding member 34 between the two flaps.

  Next, as shown in FIG. 7B, the robot 11 is folded by moving the robot arms 13 and 13 while holding the two flaps 42c and 42a by the end effectors 18 and 19. The side plates 41a, 41b, 41c, 41d of the portion 41 are developed into a cylindrical shape. As described above, according to the workpiece holding device 1 of the present embodiment, the workpiece 40 can be reliably held, and the work efficiency of the subsequent box-making operation and packing operation can be improved.

  In the present embodiment, the material of the work 40 is cardboard, but other paper or plastic may be used.

  In the present embodiment, the main body portion 41 of the workpiece 40 is supported by both the second suction pad 23b and the support protrusion 23c. However, the main body 41 may be supported by the second suction pad 23b or the support protrusion 23c, for example, a clamp. You may be comprised so that the main-body part 41 may be pinched | interposed and fixed by a member.

  In the present embodiment, the table 21 is a table composed of a top plate and legs (see FIG. 1). However, any pallet may be used as long as the workpiece 40 can be placed thereon, or a conveying device such as a conveyor. Or a robot. It may also be the floor of the work space. In addition, the table 21 may be a member capable of supporting the work 40.

  The workpiece holding device 1 of the present embodiment is provided with two sets of suction units 22 and is synchronously controlled such that they rotate simultaneously, but may be configured to rotate one set of suction units 22. When the adsorption unit 22 is one set, the shape of the frame member 23 is not limited to the longitudinal shape, and may be formed, for example, in a large plate shape.

  In the present embodiment, the work 40 is held by the two-arm robot 11 and developed in a three-dimensional manner, but this is realized by a dedicated device that includes the end effectors 18 and 19 and can control the positioning. Alternatively, the operator may hold the workpiece 40 and expand it three-dimensionally.

  From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Accordingly, the above description should be taken as exemplary only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present invention. The structural and / or functional details may be substantially altered without departing from the spirit of the present invention.

  The present invention is useful in the manufacturing field of products.

DESCRIPTION OF SYMBOLS 1 Workpiece holding device 11 Robot 12 Base 13 Robot arm 14 Control device 17 List part 18, 19 End effector 20 adsorption turning mechanism 21 placing stand 22 adsorption unit 23 frame member 23a 1st adsorption pad 23b 2nd adsorption pad 23c support projection 23d base end Part 23e Cylindrical part 30 Base part 31 Bracket 32 Actuator 32a Servo motor 32b Reducer 33 Slide mechanism 34 Holding member 40 Work piece 41 Main body part 42 Cover flap 43 Bottom flaps 44, 45 Fold line 50 Vacuum generator

Claims (8)

A workpiece holding device having a cylindrical main body, and a first tongue and a second tongue extending from a peripheral edge of one opening of the main body,
A table on which the workpiece is disposed in a state in which the first and second tongues overlap each other and the body portion is folded;
The base,
A support provided on the base and configured to be capable of supporting the folded main body;
A first suction pad provided on the base and configured to be able to suction one of the first and second tongues overlapped with each other;
A control unit that controls the operation of the support unit and the first suction pad;
The support portion supports the main body portion of the workpiece disposed on the mounting base in a state where the main body portion is folded, and the first and second tongues are in a state of being overlapped with each other by the first suction pad. A work holding device for attracting one of the pieces to create a predetermined distance between the first and second tongues. A first holding portion configured to hold one of the first and second tongue pieces; a second holding portion configured to hold the other of the first and second tongue pieces; and the first holding portion. A robot body having a first robot arm attached with a second arm, and a second robot arm attached with the second holder;
A robot control unit that controls an operation of the robot body;
And further
The first holding portion holds one of the first and second tongue pieces having the predetermined interval, and the second holding portion holds the other of the first and second tongue pieces. The workpiece holding device according to claim 1, wherein the folded main body portion is expanded in a tubular shape. The first holding portion includes a pair of holding members sandwiching one of the first and second tongues from both sides thereof;
The second holding portion includes a pair of holding members sandwiching the other of the first and second tongues from both sides thereof.
The workpiece holding device according to claim 2.   The work holding apparatus according to claim 3, wherein the pair of holding members have a flat plate shape. The base has a rotary joint configured to pivot the base main body about a predetermined rotation axis,
The revolute joint can rotate the base body between a predetermined first posture and a predetermined second posture.
The base main body is set to the second posture, and the support portion supports the main body portion of the work disposed on the mounting table, and the first and second suction pads overlap each other. Adsorb one of the tongues,
Thereafter, the attitude of the base body is changed from the second attitude to the first attitude by the revolute joint,
Thereafter, in a state where the main body portion is supported by the support portion, between the first and second tongue pieces overlapped by bending the tongue piece adsorbed by the first suction pad to the main body portion The workpiece holding device according to any one of claims 1 to 4, wherein a predetermined interval is generated. The support portion is configured of a second suction pad and a support protrusion provided on the base portion,
While the main body portion is supported by the support projection while the main body portion is adsorbed by the second suction pad, one of the first and second tongue pieces is adsorbed by the first suction pad;
The first and second overlapping states by bending the tongue piece adsorbed by the first adsorption pad to the main body with the support projection as a fulcrum while adsorbing the main body by the second adsorption pad 6. A workpiece holding device according to any one of the preceding claims, wherein a predetermined spacing is produced between the tongues of the. The work is a box material configured to be cylindrically deployable from a folded state,
The main body portion has four side plates continuously connected via a fold line, and the tongue piece is a flap extended from the peripheral edge of the opening of the four side plates via a fold line. The workpiece holding device according to any one of Items 1 to 6. The first suction pad is
At the proximal end,
A tubular portion attached to the base end portion, a negative pressure from a vacuum generation source acting inside, and configured to be axially extensible and contractible,
Have
The cylindrical shape is obtained by reducing the pressure inside the cylindrical portion with the vacuum generation source in a state in which the tip of the cylindrical portion is in contact with one of the first and second tongue pieces in a state of overlapping each other. Shrinking the portion in the axial direction, and bending the tongue in which the end of the cylindrical portion is in contact with the main body portion;
The workpiece holding device according to any one of claims 1 to 7.

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