JP2605824B2 - Robot hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention has been continuously conveyed on a roller conveyor in a production processing line for plate-like objects, sheet-like articles, and the like, and an integrated article conveying line thereof. Parallel opening and closing used for a palletizing robot arm to sequentially and vertically and horizontally align and stack plate-like and sheet-like stacked articles on a pallet or other loading table by clamping them sequentially with a robot hand The present invention relates to improvement of a robot hand of a mold clamping system.

(Prior Art) A parallel-clamp-type robot hand attached to the tip of an arm of a conventional palletizing robot has a repetitively rotating opening / closing member that holds an article from below an article clamped in a clamp space. There is something.
For example, as shown in FIG.
A, such as a plate-like or sheet-like workpiece conveyed by
A pair of clamp plates 3, 3 provided vertically above a support plate 2 attached to the distal end of the robot 1 by a motion operation of the robot body operation arm 1 in the XYZ directions. After positioning, the clamp plates 3, 3 are closed in the direction of the arrow to clamp both sides of the article a in parallel,
In addition, the open / close claw 5 provided outside the one clamp plate 3 is repeatedly rotated to protrude below the article a, and the article a is supported from below to prevent the article a from slipping from between the relative clamp plates. Things. Then, the operating arm 1 is raised in the Z direction, and subsequently moved in the XY directions, and is positioned above a predetermined pallet 7 as shown in FIG. At this time, the operating arm 1 is stopped with the distal end portion of the clamp plate 3 of the robot hand placed at an appropriate distance h from the upper surface of the pallet 7 so as not to hinder the opening operation due to the repeated rotation of the opening / closing claw 5. As shown in FIG. 4 (c), after the opening / closing claw 5 is repeatedly rotated to open the lower side of the article a, FIG. 4 (d)
The article a is dropped onto the pallet 7 by releasing the clamp plates 3, 3 as shown in FIG. In such a conventional parallel opening / closing type clamp-type robot hand, as shown in FIG. 4 (c), when the opening / closing claw 5 is released, the downward gravitational acceleration of a part of the lower side of the article a or the entire article a. The kinetic frictional force between the clamp plates 3, 3 and the side of the article a caused by the above causes the pallet 7 to slide down from between the clamp plates, and the article a is accurately positioned on the pallet 7 designated by the robot arm 1. In the case of a sheet-like article that is not placed on a pallet and that is not bound by a string hook or the like, it is loaded on the pallet 7 in an irregular state.

(Object of the Invention) The present invention is intended for use in a parallel opening / closing type clamp-type robot hand for aligning and loading articles on a loading table such as a pallet. A mechanism for reducing the generation of kinetic frictional force as much as possible by relatively reducing the shift speed generated with respect to the clamp plate due to the downward load of the article when the opening and closing claw is opened by stopping at a predetermined interval. It is an object of the present invention to provide a robot hand provided with the robot hand.

(Structure of the Invention) The present invention provides a support plate 2 provided at the distal end of an operating arm 1 of a robot body, and a pair of clamp plates 3, 3 standing upright on the support plate and capable of opening and closing in parallel. Sliding plates 4 and 4 suspended by a spring on the clamp plate and slidable along at least the relative inner side of the clamp plate; and a clamp plate tip supported by the outside of one or both clamp plates 3 and rotated repeatedly. And an opening / closing claw 5 that protrudes in a direction perpendicular to the clamp plate.

(Effect of the Invention) The robot hand of the present invention is capable of holding the article a even when the opening / closing claw 5 is opened when the distal ends of the clamp plates 3, 3 are stopped at a predetermined interval with respect to the loading table 7 such as a pallet. The lower portion of the article a is placed on the loading table 7 while the sliding plates 4, 4 provided on the clamp plates 3, 3 continue to clamp both sides of the article a without sliding down onto the loading table 7 from between the clamp plates 3, 3. The clamp plate 3,3 is opened and separated from the article a after approaching or touching the upper surface, so that the conventional operation of sliding down the article can be eliminated, and the robot on the upper surface of the loading table 7 can be eliminated. The article a can be loaded at an accurate position according to the XY direction designation control position of the hand.

(Example) The present invention will be described in detail according to an example. FIG. 1 is an explanatory view of a robot hand according to an embodiment of the present invention. FIG. 1 (a) is a front view of the robot hand, and a support plate 2 is attached to a distal end portion of a robot hand operation arm 1 in a horizontal longitudinal direction. And a pair of fast-retreating clamp plates 3, 3 standing vertically downward with respect to the support plate 2 below the support member 2, and at least inside each of the clamp plates 3, 3,
Slide plates (4, 4) slidable along the clamp plate are provided.
The sliding plate 4 includes springs 8 attached to the clamp plates 3,3.
Is supported as a supporting member.
The load of the sliding plate 4 is applied against the urging force. Each of the sliding plates 4 has a projection 11 on the outside, and upper and lower stopping points of the sliding plate 4 are provided on the sides of the clamp plate 3 in the form of projections 9 and 10 and the projections. This is set by engagement with the portion 11. In setting the upper stopping point of the sliding plate 4, the upper stopping point of the sliding plate 4 is set so that the lower end of the sliding plate 4 slightly protrudes from the lower end of the clamp plate 3. Is desirable.

Opening / closing claw 5 on one or both of the clamp plates 3, 3
In the closed state, the opening / closing claw 5 protrudes from a portion corresponding to the relative interval between the distal ends of the clamp plates 3, 3 and can be closed.

FIG. 1 (b) is a plan view showing the structure of the clamp plate 3 and the slide plate 4, in which the inner surface and the left and right side surfaces 3a are fitted to the outer periphery of the clamp plate 3 and the slide plate 4 is fitted to both ends of the side surface. FIG. 1 (c) shows another embodiment of a clamp plate and a sliding plate, in which bearing rollers 12 are provided on both left and right side surfaces 3a of the clamp plate 3. Inner surface and roller
The sliding plate 4 is wound around the right and left side surfaces 3a of the clamp plate 3 so as to cover the sliding plate 12 in a fitted state.

FIG. 1 (d) is a side view of the robot hand provided with the bearing roller 12 according to one embodiment of the present invention, in which the lot 13a of the micro air cylinder 13 is placed on the opposite side via the fulcrum 5a of the opening / closing claw 5. And the opening and closing claw 5 is opened and closed by the operation of the air cylinder 13. In FIG. 1 (d), the robot hand is
By positioning the XY direction so that the gap of the conveyor roller 6 is located immediately below the opening / closing claw 5 of the hand, and lowering the article a on the conveyor roller 6 by lowering in the Z direction. It takes a clamping posture.

FIG. 2 illustrates the opening and closing mechanism of the clamp plates 3, 3 of the robot hand according to one embodiment of the present invention. As shown in the front view of FIG. A rack gear plate 14 slidable in the longitudinal direction of the support plate 2 in the support plate 2 is provided so as to face each other vertically, and a rack gear 14a provided inside each gear plate 14 is provided with a central rotating gear 15a. By rotating the rotary shaft 15a of the gear 15 in either the forward or reverse direction, the gear plates 14 and 14 are simultaneously slid along the guides in the support plate 2 so that the clamp plate 3 , 3 are opened and closed.

FIG. 2 (b) is a side view of FIG. 1 (a), and a support plate 2 is provided at one end of a shaft 15a for rotating the gear 15.
A rotary air cylinder 16 provided at the rear is connected.

The operation sequence of loading the articles a on the loading table using the robot hand of the present invention will be described with reference to FIG. 3. FIG. 3 (A), the operation arm 1 of the robot body (not shown) is appropriately controlled according to command control. By operating in the XYZ directions, the relative gap equivalent portion of the clamp plates 3, 3 of the robot hand with the opening / closing claw 5 opened is positioned right above the article a conveyed on the conveyor roller 6. Then, the hand is lowered in the Z direction (the direction of the arrow), and FIG.
The lower end of 3 is brought into contact with the conveyor roller, and the article a inserted between the clamp plates 3, 3 is clamped by the parallel closing operation of the clamp plates 3, 3 (operation in the direction of the arrow). The opening / closing claw 5 is closed in the direction of the arrow, and the claw 5 is closed.
Is positioned horizontally below the article a. Next, as shown in FIG. 3 (c), the robot body arm 1 is raised in the Z direction,
The article a is lifted from the conveyor roller 6 and the arm 1 is operated in the XY directions, as shown in FIG.
After positioning the article a at a predetermined loading position in the X-Y direction on the loading table 7 having a flat surface such as a pallet, the sliding plate 4 clamps the article a by its own weight by opening the opening / closing claw 5. While descending against the spring 8,
The lower end of the slide plate 4 and the lower part of the article a are grounded on the upper surface of the loading table. Then, as shown in FIG.
By opening 3,3 in the direction of the arrow in parallel, the article a
Are loaded on the loading table 7, and the sliding plates 4, 4 return to the original upper stopping point by the restoring force of the spring 8.

(Effects of the Invention) According to the present invention, in a parallel opening / closing type clamp-type robot hand having an opening / closing claw supporting a lower side of a clamped article, a lower side of a clamp plate of the hand in a state where the article is clamped. Even if the tip is stopped at a distance that does not hinder the opening operation by the repeated rotation of the opening and closing claw with respect to the loading surface of the loading table and the opening and closing claw is opened, the sliding operation that moves down by the own weight of the article The lower part of the article can be brought close to or contact with the loading surface of the loading table while maintaining the state where the article is clamped by the plate, and then the clamp is released, so that there is no irregularity or misalignment of the article in the loading operation. This has a remarkable effect on improving the loading accuracy.

[Brief description of the drawings]

FIG. 1 is an explanatory view of one embodiment of the present invention, FIG. 2 is an explanatory view of a clamp opening / closing mechanism in one embodiment of the present invention, FIG. 3 is a front view illustrating a loading operation sequence according to the present invention, FIG. FIG. 1 is a front view for explaining a conventional loading operation sequence. DESCRIPTION OF SYMBOLS 1 ... Operating arm 2 ... Support plate 3 ... Clamp plate 4 ... Sliding plate 5 ... Opening / closing claw, 6 ... Roller 7 ... Loading table, 8 ... Spring 9, 10 ... Stopper, 11 Engagement projection 12 Bearing roller 13 Air cylinder, 14 Rack gear plate 15 Rotating gear 16 Rotary air cylinder

Claims (1)

(57) [Claims] A support plate provided at an end of an operation arm of a robot body;
A pair of clamp plates 3 and 3 which can be opened and closed in parallel, and sliding plates 4 and 4 which are suspended by a spring from the clamp plates and are slidable along at least a relatively inner side of the clamp plates;
A robot hand provided with an open / close claw 5 that is supported outside one or both of the clamp plates 3 and that protrudes in a direction perpendicular to the clamp plate at the tip end of the clamp plate by repeated rotation.