JP2022114733A - Work-piece holding hand system and work-piece transfer method - Google Patents

Abstract

To provide a work-piece holding hand system which can satisfactorily take in and take out a work-piece from a storage chamber of a returnable case.SOLUTION: A work-piece holding hand system 91S comprises: a work-piece holding hand 91 having a claw drive part which moves a pair of holding claws 5, which extend in a first direction, toward and away from a body part 2, and a support body drive part 61 which reciprocates a support body 63, which is so located as to be spaced from the holding claw, in the first direction toward and away from the body part; an arm device 92 to a tip of which the work-piece holding hand is attached, and which moves the work-piece holding hand from a first position PT1 to a second position PT2; and a control device 93 which controls operations of the work-piece holding hand and the arm device. The control device so makes the work-piece holding hand as to take a such a posture that the first direction inclines with respect to the vertical and the support body supports a lower side of a work-piece W under the pair of holding claws when moving the work-piece holding hand from the first position to the second position in the state of sandwiching and holding the work-piece by the holding claws.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work holding hand for holding and transferring a work and a work transfer method.

Patent Literature 1 describes a workpiece gripping hand that grips and moves a workpiece.
A workpiece gripping hand described in Patent Document 1 grips and holds a rectangular workpiece, and has two pairs of movable claws that sandwich and grip two pairs of opposing outer surfaces of the rectangular workpiece.

JP-A-5-004186

2. Description of the Related Art A returnable box capable of collectively accommodating a plurality of works is sometimes used when carrying works in and out of an assembly apparatus.
The interior of the returnable box is partitioned into a plurality of storage chambers by grid-like partition plates, and a work is stored in each storage chamber.

In order to ensure versatility, the inner dimension of the storage chamber is set larger than the outer dimension of the maximum work that can be accommodated, with a certain amount of leeway.
When a workpiece having a smaller external size is accommodated in this versatile storage chamber, the gap between the workpiece and the partition plate is widened. As a result, although the workpieces are stored in the storage chamber in a substantially aligned posture, the horizontal position and the rotation posture about the vertical axis in the storage chamber are not constant.
On the other hand, when a work having a large external size is stored in the storage chamber, the work is stored in an almost uniform posture, but the gap between the work and the partition plate becomes narrow.

In the former case, the gap between the workpiece and the partition plate may be extremely small or may disappear due to variations in the position of the workpiece accommodated in the storage chamber. In the latter, the gap between the partition plate is narrow for all the workpieces.

Therefore, if a workpiece gripping hand, which grips the outer shape of the workpiece as described in Patent Document 1, is used to take the workpiece in and out of the storage chamber of the returnable box, the gripping claws can be accurately inserted between the workpiece and the partition plate. There is a problem that it is difficult to hold the work, and there is a case where the work cannot be held.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a workpiece holding hand system and a workpiece transferring method that can favorably take workpieces in and out of compartments of a returnable container.

In order to solve the above problems, the present invention has the following configurations and procedures.
1) a main body, a pair of holding claws extending in parallel from the main body in a first direction, a claw driving portion for moving the pair of holding claws toward or away from each other, and the main body and the pair of holding claws a work holding hand having a support disposed at a position away from the claw, and a support driving section for reciprocating the support in the first direction so as to approach and separate the support from the main body;
an arm device that attaches the work holding hand to its tip and moves it from a first position to a second position in the space;
a control device that controls operations of the work holding hand and the arm device;
with
The control device is
When the work holding hand is moved from the first position to the second position while the pair of holding claws are moved toward or away from each other to sandwich or hold the work,
In the work holding hand system, the work holding hand is tilted in the first direction with respect to the vertical direction so that the supporting body is positioned below the pair of holding claws to support the lower side of the work.
2) a workpiece holding hand having a pair of holding claws extending in parallel in a first direction and moving toward or away from each other and a support disposed at a position spaced apart from the pair of holding claws; and the workpiece holding hand. Using the arm device attached to the tip,
When the work is transferred from the first position to the second position in the space while the work is pinched or held with the pair of holding claws approaching or separated from each other, the work holding hand is moved so that the first direction is vertical. In the work transfer method, the support body is positioned below the pair of holding claws to support the lower side of the work.

ADVANTAGE OF THE INVENTION According to this invention, the effect that a workpiece|work can be satisfactorily taken in and out with respect to the storage chamber by which division|segmentation formation of the returnable container was carried out is acquired.

FIG. 1 is a diagram showing a work holding hand system 91S, which is an example of a work holding hand system according to an embodiment of the present invention. FIG. 2 is a front view showing the work holding hand 91 in the work holding hand system 91S. 3 is a side view of the work holding hand 91. FIG. 4 is a bottom view of the work holding hand 91. FIG. 5A and 5B are diagrams showing the work W held by the work holding hand 91, where (a) is a top view, (b) is a front view, and (c) is a side view. FIG. 6 is a top view of the first returnable box 81 containing a plurality of works W. FIG. FIG. 7 is a block diagram of the work holding hand system 91S. FIG. 8 is a first diagram for explaining the movement of the workpiece W in and out of the first returnable container 81 by the workpiece holding hand 91. As shown in FIG. FIG. 9 is a second view for explaining the movement of the workpiece W in and out of the first returnable container 81 by the workpiece holding hand 91. As shown in FIG. FIG. 10 is a cross-sectional view taken along line S10-S10 in FIG. FIG. 11 is a third diagram for explaining the operation of the work holding hand 91 taking the work W into and out of the first returnable container 81. As shown in FIG. FIG. 12 is a fourth view for explaining the operation of the work holding hand 91 taking the work W into and out of the first returnable container 81. As shown in FIG. FIG. 13 is a fifth view for explaining the operation of the work holding hand 91 taking the work W into and out of the first returnable container 81. As shown in FIG. FIG. 14 is a sixth view for explaining the movement of the workpiece W with respect to the first returnable container 81 by the workpiece holding hand 91. As shown in FIG. FIG. 15 is a seventh view for explaining the movement of the workpiece W in and out of the first returnable container 81 by the workpiece holding hand 91. As shown in FIG. FIG. 15 is a flow chart showing the procedure of the operation of taking the work W into and out of the first returnable container 81 by the work holding hand 91. As shown in FIG. FIG. 17 is a cross-sectional view showing another example of how the workpiece W is held by the workpiece holding hand 91. As shown in FIG.

A work holding hand system and a work transfer method according to an embodiment of the present invention will be described with reference to a work holding hand system 91S of an embodiment.

As shown in FIG. 1, the work holding hand system 91S includes a work holding hand 91, an arm device 92, a control device 93, an imaging device 943 and an imaging device 953. As shown in FIG.
The arm device 92 is a robot arm device having a plurality of degrees of freedom, and includes a body portion 921, an elevating portion 922, a first rotating portion 926, a first arm portion 923, a second rotating portion 927, and a second arm portion. 924 , a third rotating portion 928 , a rotating driving portion 925 and a hand holder 929 .

The body portion 921 is installed on the floor and has an elevation driving portion 921m inside. The elevation unit 922 ascends and descends relative to the main body 921 as indicated by an arrow D11 by the operation of the elevation drive unit 921m, and rotates about an axis line CL92 extending in the vertical direction as indicated by an arrow D11R.
One end of the first arm portion 923 is connected to the first rotating portion 926 on the upper portion of the lifting portion 922, and is rotated by the first rotating driving portion 926m as indicated by an arrow D12.
One end of the second arm portion 924 is connected to the other end of the first arm portion 923 by a second rotating portion 927, and is rotated by a second rotating driving portion 927m as indicated by an arrow D13.
The rotation driving portion 925 is connected to the other end portion of the second arm portion 924 by a third rotation portion 928, and is rotated as indicated by an arrow D14 by a third rotation driving portion 928m.
In addition, the rotation driving portion 925 is rotatable around one axis (axis line CL91) as indicated by an arrow D15.
The hand holder 929 is integrated with the rotation drive section 925, and the workpiece holding hand 91 can be detachably attached thereto.

2 to 4 are a front view, a side view and a bottom view of the workpiece holding hand 91, respectively.
As shown in FIGS. 1 to 3, the workpiece holding hand 91 has a joint portion 1, a body portion 2, a chuck portion 3, a holding claw portion 5, and a support portion 6. As shown in FIGS.
The joint part 1 is detachably attached to the hand holder 929 of the arm device 92 .
The body portion 2 is a base portion of the workpiece holding hand 91 to which the joint portion 1, the chuck portion 3 and the support portion 6 are attached, and has a prismatic shape.
The chuck portion 3 is attached to the end portion of the body portion 2 opposite to the joint portion 1 and has a claw driving portion 31 and a pressure sensor 32 .

The holding claw portion 5 has a pair of holding claws 51 and 52 . The holding claws 51 and 52 are a pair of rod-shaped members extending from the chuck portion 3 in parallel with the axis CL91. The tip portions of the holding claws 51 and 52 are formed in a conical shape with a pointed tip.
The axis CL51 of the holding claws 51 and the axis CL52 of the holding claws are parallel to each other, and parallel to the axis CL91. A virtual plane including the axis CL51 and the axis CL52 is defined as a plane SF5.

A claw driving portion 31 of the chuck portion 3 moves so as to separate and approach the pair of holding claws 51 and 52 . The pressure sensor 32 measures the external pressure exerted on the pair of holding claws 51 and 52 in the directions of approaching and separating from each other, and outputs it to the control device 93 as pressure information J3.

The support section 6 has an air cylinder 61 through which a rod 62 moves in and out, and a support 63 attached to the tip of the rod 62 . The air cylinder 61 has a rod 62 attached to the main body 2 in a posture along the axis CL91.
Accordingly, the operation of the air cylinder 61 causes the support 63 to reciprocate in the direction parallel to the axis CL91. That is, the air cylinder 61 functions as a support driving section that moves the support 63 .
Specifically, the support body 63 has a retracted position, which is a first position indicated by solid lines in FIGS. and an extended position, which is a second position indicated by a two-dot chain line.
When the support 63 is in the extended position, the tip of the support 63 is preferably positioned to protrude beyond the tips of the holding claws 51 and 52 .

FIG. 5 is a trihedral view showing a workpiece W as an example of the workpiece held by the workpiece holding hand 91, where (a) is a top view, (b) is a front view, and (c) is a side view. For convenience of explanation of FIG. 5, each direction of up, down, left, right, front and back is defined as the direction of the arrow.
The workpiece W is assumed to be representative of parts having a general shape, and has the following shape.

That is, as shown in FIGS. 5(a) to 5(c), the workpiece W has a substantially rectangular parallelepiped base 71 and a projecting portion 72 projecting rearward from a rear side surface 71a on the top of the base 71. As shown in FIGS.
The base 71 has a support surface 74 and a rear side surface 71a as a pair of side surfaces in the front-rear direction. The support surface 74 is a planar portion formed by gouging the front surface of the base body 71 toward the rear side except for both edges in the left-right direction. The rear side surface 71 a is formed as a surface parallel to the support surface 74 .
The base body 71 extends with an axis line CL731 and an axis line CL732 parallel to the rear side surface 71a, and has a hole portion 73 penetrating between the upper surface 71b and the lower surface 71c. In this example, the hole portion 73 has a pair of first hole 731 and second hole 732 .
The inner diameter of the first hole 731 and the inner diameter of the second hole 732 are different, and in this example, the inner diameter of the first hole 731 is larger.
The first hole 731 and the second hole 732 are separated in the left-right direction, and the positions of the axes CL731 and CL732 and the distance from the rear side surface 71a are different. In this example, the axis CL732 of the second hole 732 is a distance L2 away from the distance L1 between the axis CL731 of the first hole 731 and the rear side surface 71a.

Further, the position of the center of gravity G of the workpiece W is not at the center of the base body 71, but at a biased position. Specifically, it is located at a position shifted upward and rearward from the center in the left-right direction. That is, it is on the rear side of the line segment LNa connecting the axis CL731 and the axis CL732 in the top view shown in FIG. 5(a).

FIG. 6 is a top view of the first returnable container 81 in which a plurality of works W are collectively accommodated.
The first returnable box 81 has an outer box 811 whose top is open, and a partition body 812T in which a plurality of partition plates 812 are arranged in a grid pattern.
The partition body 812T is placed inside the outer box 811 and partitions the inner space of the outer box 811 into a plurality of storage chambers Rm arranged in a matrix when viewed from above.
Each storage chamber Rm is open at the top and has a rectangular box shape when viewed from above. .
Therefore, the accommodation position and the accommodation attitude of each work W in the accommodation room Rm are different.

The imaging device 943 and the imaging device 953 are provided at the first and second points when the workpiece holding hand system 91S transfers the workpiece W from the first position PT1 to the second position PT2 shown in FIG. .
For example, as shown in FIG. 1, a pedestal device 94 and a pedestal device 95 are installed at the first position PT1 and the second position PT2, respectively.
The pedestal device 94 has a pedestal portion 941 on which the first returnable container 81 and the like are placed, and an arm 942 erected to extend upward from the pedestal portion 941 . The imaging device 943 is supported by the arm 942 and images the mounting table section 941 from above.
The pedestal device 95 has a similar structure, and has a pedestal portion 951 and an arm 952. An imaging device 953 is supported by the arm 952 and images the pedestal portion 951 from above.

As shown in FIG. 7 , the control device 93 has a CPU (Central Processing Unit) 931 and a storage section 936 . The CPU 931 has an arm control section 932 , a reference point setting section 933 , an image analysis section 934 and a hand control section 935 .
The arm control section 932 closes the operations of the elevation drive section 921m, the first rotation drive section 926m, the second rotation drive section 927m, the third rotation drive section 928m, and the rotation drive section 925 in the arm device 92. loop control.

The storage unit 936 stores in advance work information J1, which is information about the shape of the work W, and tote box information J2, which is information about the shapes of the first tote box 81 and the second tote box 82 .

The image analysis unit 934 analyzes the images captured by the imaging device 943 and the imaging device 953, and extracts information about the work W such as the presence or absence of the work W within the imaging range and the position and orientation of the work W. In addition, information related to the returnable container such as the positions and orientations of the housing chambers Rm of the first returnable container 81 and the second returnable container is extracted.
The image analysis unit 934 sets the workpiece W to be held by the workpiece holding hand 91 in the next operation based on the images captured by the imaging devices 943 and 953 and the workpiece information J1 and returnable box information J2 stored in the storage unit 936. , and the accommodation room Rm for the held work W are also set.
The hand control section 935 controls the operation of the claw driving section 31 based on the operation of the air cylinder 61 of the work holding hand 91 and the pressure information J3 from the pressure sensor 32 .

Next, the operation of the work holding hand system 91S will be described with reference to FIGS. 8 to 15 and FIG. 16 of the flow. This operation, as shown in FIG. 1, takes out one workpiece from the first returnable container 81 in which a plurality of workpieces W are placed and placed on the table device 94 at the first position PT1, and moves it to another second position. This is the operation of transferring to the empty second returnable container 82 in PT2. In FIG. 16, the workpiece holding hand 91 is simply described as hand 91 for simplification.

Prior to this operation, the reference point setting unit 933 sets the reference point for controlling the position of the workpiece holding hand 91 as the first reference point P1, as shown in FIGS. set to As a result, the arm control section 932 and the hand control section 935 recognize the first reference point P1 as the reference position of the workpiece holding hand 91, and execute respective controls.

(The work holding hand 91 is placed above the work W)
The image analysis unit 934 analyzes the image of the imaging device 943 based on the work information J1 and the tote box information J2 stored in the storage unit 936 and sets the work W to be held and transferred by the work holding hand 91 .

As shown in FIGS. 8 and 16, the arm control unit 932 moves the workpiece holding hand 91 from among the plurality of workpieces W stored in the storage chamber Rm of the first toteable container 81 as shown by an arrow D8. The work holding hand 91 is arranged above the work W to be held next to be transferred, which is set by the analysis unit 934 .
Specifically, the arm control unit 932 moves the work holding hand 91 such that the plane SF5 of the work holding hand 91 is parallel to the support surface 74 of the work W, and the first reference point P1 is on the axis line CL731 of the first hole 731 of the work W. is positioned above the height position Ha of the upper end of the first returnable container 81 (Step 1).
The hand control unit 935 pulls the rod 62 of the air cylinder 61 to keep the support 63 at the retracted position.

(Inserting the holding claws 51 and 52 into the first hole 731 and the second hole 732)
The arm control section 932 lowers the work holding hand 91 as indicated by an arrow D9 to insert the holding claws 51 and 52 into the first hole 731 and the second hole 732 of the work W (Step 2).
The insertion depth of the holding claws 51 and 52 is such that the lower end of the support 63 is higher than the height position Ha, and the pair of holding claws 51 and 52 are brought close to each other so that the work W can be held and moved. Set the amount in advance. In this example, since the length (height) of the work W is relatively large, the holding claws 51 and 52 enter from the upper surface 71b of the work W to approximately half the depth of the first hole 731 and the second hole 732. be done.

(Holding of workpiece W)
The hand control unit 935 instructs the claw driving unit 31 to move the pair of holding claws 51 and 52 so as to approach each other and sandwich the holding claws 51 and 52 . monitor the pressure information J3. When the holding claws 51 and 52 that initially move do not move and the pressure information J3 from the pressure sensor 32 of the holding claws 51 and 52 rises to a predetermined pressure value or more, the state is maintained. Thereby, the workpiece W is held by the holding claws 51 and 52 (Step 3).
FIG. 10 is a cross-sectional view at the position S10-S10 in FIG. 9 in this state. The position of the center of gravity G of the work W is on the left side (rear side of the work W) of the plane SF5 in FIG.
In this manner, the work W is held by the work holding hand 91 by sandwiching the portion between the first hole 731 and the second hole 732 with the holding claws 51 and 52 .

(Uplift of work holding hand 91)
As indicated by an arrow D111 in FIG. 11, the arm control section 932 vertically raises the workpiece holding hand (Step 4).
Further, the hand control unit 935 operates the air cylinder 61 to extend the rod 62 downward and lower the support body 63 to the extended position of the second position, as indicated by the arrow D112 (Step 5).

(Incline support of work W)
As shown in FIG. 12, the arm control section 932 rotates the work holding hand 91 clockwise in FIG. 12 by the third rotating section 928 as indicated by an arrow D121 while holding the work W. As shown in FIG. That is, the posture of the work holding hand 91 is set such that the support 63 is positioned below the holding claws 51 and 52 .

The workpiece W is located at a position where the center of gravity G is separated from the plane SF5. Further, the holding claws 51 and 52 have relatively smaller outer diameters than the inner diameters of the first hole 731 and the second hole 732, respectively, and are only inserted halfway without engaging with the respective holes. Therefore, holding the work W only by the holding claws 51 and 52 is not necessarily firm.
As a result, the workpiece W is further rotated counterclockwise in FIG.

The work holding hand 91 has a support portion 6, and a support 63 of the support portion 6 is arranged on the support surface 74 side of the work W at the extended position.
As a result, when the workpiece W assumes an inclined posture, the support surface 74 abuts against the support body 63 at the abutment point P3, and further inclination is restricted.

That is, when the work holding hand 91 is tilted, the work W assumes a tilted posture that is further tilted with respect to the tilt of the work holding hand 91 . The work W in the inclined posture is stably maintained because the support 63 abuts and supports the support surface 74 (Step 6).
That is, the holding of the work W by the holding claws 51 and 52 is supported by the support body 63 contacting the support surface 74 by inclining the work W. As shown in FIG.

As shown in FIG. 11, the work holding hand 91 can also transfer the work W without support support from the support member 63 in a non-tilted standing posture with the holding claws 5 extending in the vertical direction (vertical direction). It is possible.
However, in this case, when the work holding hand 91 moves to the left in FIG. 11, the work W swings due to the holding mode of the thin holding claws 51 and 52, which is easy to swing, and the inertia of the work W itself. In some cases, the downward tilts to the right. In this case, the posture of the work W is not stable, and it is difficult to store the work W in the storage portion of the tote box to which it is transferred.

Therefore, the control device 93 of the work holding hand system 91S tilts the work holding hand 91 while holding the work W as described above, supports the work W by the support 63, and transfers the work W while maintaining a stable tilted posture. .
The inclined posture of the work W depends on the shape of the work W and the holding claws 51 and 52, the insertion depth of the holding claws 51 and 52, and the position of the support 63 that supports and supports and the distance from the holding claws 51 and 52. determined stably.
That is, as shown in FIG. 12, when the lowermost corner of the base body 71 is the second reference point P2 in the inclined posture of the workpiece W, the second reference point P2 is the distance from the first reference point P1. The direction is stable and determined.
Therefore, the three-dimensional position coordinates of the second reference point P2 are obtained by adding correction values (ΔZ, ΔY, ΔZ) to the position coordinates (X, Y, Z) of the first reference point P1 (X+ΔX, Y+ΔY, Z+ΔZ ).

Therefore, the reference point setting unit 933 of the control device 93 changes the reference point for positioning in the control of the workpiece holding hand 91 from the first reference point P1 to the second reference point P2 after setting the workpiece W in an inclined posture ( Step 7).

The image analysis unit 934 analyzes the image of the second returnable container 82 captured from above by the imaging device 953 based on the work information J1 and the returnable container information J2 stored in the storage unit 936 , and holds the second returnable container 82 with the work holding hand 91 . A storage chamber Rm of the second returnable box 82 for storing the works W which are held is set.

Next, the arm control section 932 moves the workpiece holding hand 91 to a predetermined position (Step 8) and positions it.
In this example, the predetermined position is above the storage chamber Rm of the second returnable container 82, and the second reference point P2 of the workpiece W is used for positioning.
That is, as shown in FIG. 13, the arm control section 932 positions the workpiece W at a predetermined position of the empty second returnable container 82 to which the second reference point P2 is the transfer destination (Step 9).
Specifically, in the storage chamber Rm set by the image analysis unit 934, a predetermined distance L3 separated from the inner surface of the partition plate 822 in the horizontal direction of FIG. 13 and a distance downward from the upper end in the vertical direction It is placed at the position of H1.
The distance L3 is half the distance obtained by subtracting the distance L5 (see FIG. 5), which is the length of the workpiece W in the front-rear direction, from the inner distance L4 of the storage chamber Rm in the left-right direction in FIG.
Regarding the direction perpendicular to the paper surface in FIG. 13 in the storage chamber Rm, similarly, the workpiece W is set at a position in which the distance between the work W and the partition plate 822 in the direction perpendicular to the paper surface in the storage chamber Rm is equal between the front side and the back side. .

Next, the arm control section 932 returns the workpiece holding hand 91 from the inclined posture to the standing posture as indicated by the arrow D13 in FIG. 13, and moves the support body 63 as indicated by the arrow 142 in FIG. It is pulled into the standby position (Step 10).
The arm control unit 932 rotates the workpiece holding hand 91 around the second reference point P2 to change the posture to the standing posture.

After that, the arm control section 932 lowers the work holding hand 91 as indicated by an arrow DR141 in FIG. 14, and lands the work W on the bottom surface of the storage room Rm as shown in FIG. 15 (Step 11).
Then, the hand control section 935 opens the holding claws 51 and 52 to release the work W (Step 12), and then the arm control section 932 raises the work holding hand 91 as indicated by the arrow D15 in FIG. (Step 13).
This completes the transfer of the workpiece W from the first position PT1 to the second position PT2.

In this manner, the workpiece W is successfully taken out of the storage chamber Rm of the first returnable container 81 and stored in the storage chamber Rm of the second returnable container 82 by the workpiece holding hand system 91S.

As is clear from the above, the work holding hands 91 do not hold the work W by sandwiching the outer surface of the work W, but hold the work W using the holes of the work W. As shown in FIG. Specifically, the work holding hand 91 has a pair of holding claws 51 and 52 extending from the main body 2 in parallel with the axis CL91 in the first direction, and the work W has the pair of holding claws 51 and 52. After being inserted into the first hole 731 and the second hole 732, the work W can be held by being brought close to each other.
As a result, the work holding hand 91 and the work holding hand system 91S having the work holding hand 91 are in contact with the partition plate 812 without gaps, regardless of the posture of the work W stored in the storage chamber Rm. can be held and transported well.

The manner in which the workpiece W is held by the holding claws 51 and 52 inserted into the first hole 731 and the second hole 732 is defined by a virtual plane SF5 including the shape of the workpiece W and the axes CL51 and CL52 of the pair of holding claws 51 and 52, respectively. It may be difficult to maintain a firm and stable holding posture due to the deviation of the center of gravity G from the
Therefore, when the work W is transferred, the work W may be tilted due to an inertial force acting in a direction opposite to the direction in which the work W is transferred, and the posture of the work W may not be stable. In order to cope with this, the work holding hand system 91S intentionally tilts the work holding hand 91, and the support body 63 that supports the inclined lower surface of the work W to assist in holding the work W is attached to the work holding hand. 91.
As a result, the posture of the work W in the inclined posture during transfer is stabilized, and the work holding hand system 91S performs the operation of taking out the work W from the storage chamber Rm and the operation of storing the work W in another storage chamber Rm. It can be done stably and well.

The embodiments described in detail above are not limited to the configurations and procedures described above, and modifications may be made without departing from the gist of the present invention.

The work holding hand 91 does not have to hold the work W by inserting the pair of holding claws 51 and 52 into the first hole 731 and the second hole 732 of the hole portion 73 and then bringing them close to each other. For example, as shown in FIG. 17(a), the holding claws 51 and 52 may be held by inserting them into the first hole 731 and the second hole 732, separating them, and stretching them.
In this case, as shown in FIG. 17B, even if the work W1 has one hole 733 as the hole portion 73, the work holding hand 91 inserts both the holding claws 51 and 52 into the hole 733. After that, the work W1 can be held by being separated from the work W1.

As indicated by an arrow D2 in FIG. 2, the support portion 6 of the work holding hand 91 has a support body position adjusting portion 64 that can move the support body 63 away from and closer to the holding claw portion 5. good too. Specifically, the support body position adjustment section 64 adjusts the distance L6 between the inner surface 63a of the support body 63 and the virtual plane SF5 under the control of the hand control section 935 .
As a result, the workpiece W in the inclined posture after being held by the holding claws 51 and 52 is stably supported by the support 63 regardless of differences in shape and weight balance.
The support body position adjusting section 64 may be able to adjust the position of the support body 63 at the extended position in a direction parallel to the plane SF5.

Reference Signs List 1 joint part 2 body part 3 chuck part 31 claw driving part 32 pressure sensor 5 holding claw part 51, 52 holding claw 6 support part 61 air cylinder (support body driving part)
62 rod 63 support 63a inner surface 64 support position adjustment part 71 base 71a rear side 71b upper surface 71c lower surface
72 projection 73 hole 731 first hole 732 second hole 74 support surface 81 first returnable box 82 second returnable box 811, 821 outer box 812, 822 partition plate 812T partition 91 work holding hand 91S work holding hand system 92 arm device 921 main body 921m elevation drive section 922 elevation section 923 first arm section 924 second arm section 925 rotation drive section 926 first rotation section 926m first rotation drive section 927 second rotation section 927m Second Rotation Drive Section 928 Third Rotation Section 928m Third Rotation Drive Section 929 Hand Holder 93 Control Device 931 CPU (Central Processing Unit)
932 Arm control unit 933 Reference point setting unit 934 Image analysis unit 935 Hand control unit 936 Storage unit 94, 95 Stand device 941, 951 Stand unit 942, 952 Arm 943, 953 Imaging device CL51, CL52, CL731, CL732, CL91, CL92 Axis J1 Work information J2 Returnable box information J3 Pressure information G Center of gravity Ha Height positions L1, L2, L3, L4, L5, L6, H1 Distance LNa Line segment PT1 First position PT2 Second position P1 First reference point , P2 Second reference point P3 Contact point Rm Storage chamber SF5 Plane W, W1 Workpiece

Claims (4)

a main body, a pair of holding claws extending in parallel from the main body in a first direction, a claw driving unit for moving the pair of holding claws toward or away from each other, and the main body and the pair of holding claws a work holding hand having a support arranged at a distant position and a support driving section for reciprocally moving the support in the first direction so as to approach and separate the support from the main body;
an arm device that attaches the work holding hand to its tip and moves it from a first position to a second position in the space;
a control device that controls operations of the work holding hand and the arm device;
with
The control device is
When the work holding hand is moved from the first position to the second position while the pair of holding claws are moved toward or away from each other to sandwich or hold the work,
A work holding hand system in which the work holding hand is inclined in the first direction with respect to the vertical direction so that the supporting body is positioned below the pair of holding claws to support the lower side of the work. The work holding hand is
2. A workpiece holding hand system according to claim 1, further comprising a support body position adjusting section that moves the position of said support body in a direction perpendicular to a virtual plane containing the axes of said pair of holding claws. a workpiece holding hand having a pair of holding claws extending parallel to a first direction and moving toward or away from each other; Using the attached arm device,
When the work is transferred from the first position to the second position in the space while the work is pinched or held with the pair of holding claws approaching or separated from each other, the work holding hand is moved so that the first direction is vertical. A work transfer method in which the support body is positioned below the pair of holding claws to support the lower side of the work. When the second position is a box-shaped housing chamber with a rectangular top open when viewed from above,
A position where the lower end of the work holding the work holding the work in the inclined posture and transferred from the first position is separated from the inner surface of the storage chamber by a predetermined distance and has entered the interior of the storage chamber. Positioning so that
4. The method of transferring a work according to claim 3, wherein the work is then lowered by changing its posture so that the first direction is returned to the vertical direction, and the work is stored in the storage chamber.

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