JP2500122B2 - Robot hand and work suspension method using the robot hand - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for suspending a work using an industrial robot on a hanger, and a work suspending method using the robot hand.

[0002]

2. Description of the Related Art Conventionally, in a coating line or the like, an operation of grasping a work carried to a set position and suspending it from a hanger installed on a hanger conveyor has been automated. However, it is difficult to accurately set the hooking position of the hanger due to swing, replacement of the hanger itself due to change of the work, deformation of the hanger itself, and the like. For this reason, there is a drawback that the hooked portion of the work is small and there is a high probability that the work will be caught when accurate position setting is required. In order to prevent such a catching failure, it is necessary to perform precise dimensional control of the hanger itself, improve the accuracy of position control of the industrial robot and hanger conveyor, or upgrade the industrial robot to give a visual sense. However, both of them cause a large increase in cost.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to prevent a work from being caught even if the hanger is displaced to a certain extent due to rocking or the like, and it is possible to accurately suspend a work at a relatively low cost. (EN) Provided is a possible robot hand and a method of suspending a work using the robot hand.

[0004]

SUMMARY OF THE INVENTION A robot hand of the present invention is a holding body attached to an arm of a robot, and a hanger for detachably grasping a work and a hanger for detachably grasping a hanger for suspending a work. The gripping hand was attached in a predetermined relative positional relationship. In order to more reliably suspend the work, use the robot hand to set the hooked part of the work grasped by the work gripping hand above the hooking part of the hanger, and then use the hanger gripping hand to move the hanger. Grasp the vertical member loosely, then lower the robot hand downward to hook the hooked part of the work on the hooking part of the hanger, then open the work gripping hand and the hanger gripping hand and release the work and hanger Work hanging method It was adopted.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to FIGS. FIG. 3 shows an industrial robot 100 equipped with the robot hand 1 of the present invention, in which workpieces 2 sequentially conveyed to a set position on a conveyor 200 are successively transferred to a hanger 3 conveyed to a set position on a hanger conveyor 300. Hang.

The robot 100 has a body 11 installed on the floor.
An arm 120 having a large number of joints is attached to 0.
The robot hand 1 is configured such that a work gripping hand 4 and a hanger gripping hand 5 are attached to a holding body 11 attached to a tip of an arm 120 in a predetermined relative positional relationship (in this embodiment, a vertical distance is a certain distance). . Work gripper 4
Is a pair of fingers 41 having a well-known configuration and whose gap is widened or narrowed by an actuator and a link mechanism,
41. The fingers 41, 41 have plate-shaped claws 42, 42
Has been concluded.

The hanger gripping hand 5 has a structure similar to that of the work gripping hand 4, and is separated from the fingers 51, 51 by a predetermined distance.
A pair of claws 52, 52 are attached. Opposite notches 53, 53 are provided in each of the claws 52, 52, and the fingers 5
When 1 and 51 are narrowed, a substantially rectangular gap 54 surrounded by claws 52 and 52 is formed in the center.

For the work 2, a sheet metal is formed on a rectangular frame 21,
One end is closed by the bottom plate 22. A diamond-shaped punched hole 24 is formed near the corner of the short material 23 of the frame 21 and serves as a hooked portion.

The hanger conveyor 300 has a number of hangers 3 attached to the track 31 at regular intervals. Each hanger 3 is composed of a hanger main body 34 in which a large number of ribs 33 are welded in parallel to each other in a direction orthogonal to the horizontal trunk 32, and bar-shaped hooks 6 suspended from both ends of each rib 33. The hook 6 has a triangular plate-shaped wedge 6 having an upper end engaging portion 61 with the hanger body, a middle rod-shaped portion 62, a lower end bent into a J shape, and a tip having a portion having a width larger than the maximum width of the punched hole.
3 is a hook portion 64 welded upward.
In this embodiment, the bar portion 62 of the hook is the vertical member of the hanger.

The operation of the robot hand 1 of this embodiment will be described. The robot 100 has an arm 1 so that the robot hand 1 is placed on a work 2 carried by a conveyor 200.
20 is moved to operate so that the predetermined position of the longitudinal member 25 of the work 2 is almost in the middle between the fingers 41, 41 of the open work gripping hand. Next, the fingers are narrowed and the long member 25 is held between the claws 42.

Next, the arm 120 is moved so that the punched hole 24 of the work 2 is directly above the wedge 63. At this time, as shown in FIG. 2, the hanger gripping hand 5 is set such that the rod-shaped portion 62 of the hook, which is a vertical member of the hanger, is positioned between the claws 52, 52 attached to the spread fingers 51, 51. Next, as shown in FIG. 4, the fingers 51, 51 are narrowed, and the rod-shaped portion 62 is placed in the gap 54 formed by the claws 52, 52 in the center.
Hold loosely.

When the tip of the arm 120 is vertically lowered in this state, the robot hand 1 keeps the hanger gripping hand 5 loosely gripping the rod portion 62 of the hook while the work gripping hand 4 grips the work 2. Since it is displaced downward, the punched hole 24 is reliably caught by the wedge 63 as shown in FIG. Next, when the space between the fingers 41 of the work gripping hand is expanded, the work 2 is released and hung on the hook 6. Furthermore, the space between the fingers 51, 51 of the hand of the hanger is widened and the hook 6 is released.

This completes the process of suspending the work 2 on the hanger 3, and the robot 100 grasps the next work. Therefore, the robot hand 1 at the tip of the arm 120 is placed on the next work carried by the conveyor 200. To move.

In the process of lowering the tip of the arm 120, the work 2 freely falls when the fingers 41 of the work gripping hand 4 are widened, and the punching hole 24 is associated with the wedge 63. Although not a mandatory requirement,
It is desirable to do so in order to reduce hanging loss.

The hanger gripping hand 5 may have a pair of claws 52, but by using two pairs of claws 52 as in the above-described embodiment, the relative position between the wedge 63 and the punched hole 24 can be set more accurately and the hanging can be performed. The probability of failing to lower is reduced.

The construction of the present invention is not limited to electrostatic coating in which a liquid or powder coating is sprayed on the work in the air, and enamel coating in which the work is dipped in the coating liquid, plating, degreasing cleaning, or work in powder. It can be applied to all of the work of suspending and transporting the work, such as the coating method of immersing the work, and further, such as the parts supply conveyor of the assembly line.

The shapes of the hanger and the work and the structures of the hooked portion and the hooked portion are not limited to those in the above embodiments, and the hanger gripping hand and the work gripping hand can be freely selected according to the shapes of the hook and the work. For example, the shape of the hole of the hooked portion may be a polygonal hole such as a triangle, a rectangle, or a pentagon, as well as a substantially rhombic hole. The wedge-shaped portion of the hook may have a triangular plate shape or a polygonal pyramid shape.

[0018]

As described above, this robot hand is provided with a hanger gripping hand in addition to the work gripping hand, grips the hanger when hooking the work, and accurately matches the hooked portion of the hanger with the hooked portion of the work. In the hanging operation, it is possible to prevent the hanger from being damaged due to the displacement or swing of the hanger.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot hand of the present invention.

FIG. 2 is a plan view of the robot hand of the present invention.

FIG. 3 is a perspective view showing a work of suspending a work by a robot.

FIG. 4 is an enlarged perspective view of an essential part showing the work of suspending a work by a robot.

FIG. 5 is an enlarged perspective view of an essential part showing the work of suspending a work by a robot.

[Explanation of symbols]

 1 Robot hand 2 Work 3 Hanger 4 Work gripping hand 5 Hanger gripping hand

Claims (2)

(57) [Claims] 1. A holding body mounted on an arm of a robot has a work gripper for detachably gripping a work and a hanger gripper for detachably gripping a hanger for suspending the work in a predetermined relative positional relationship. Attached robot hand. 2. A holding body mounted on a robot arm,
A work gripper attached to the holding body for detachably grasping the work, and a hanger gripper for detachably grasping the hanger for suspending the work, which is attached to the holder in a predetermined relative positional relationship with the work grasping hand. With an industrial robot equipped with a robot hand consisting of and, set the hooked part of the work grasped by the work gripping hand above the hooking part of the hanger, then loosely grip the vertical member of the hanger with the hanger gripping hand, In this state, the robot hand is lowered to hook the hooked portion of the work on the hooking portion of the hanger, and then the work gripping hand and the hanger gripping hand are opened to release the work and the hanger.