JP2810348B2 - Robot hand device for a multi-bar distribution robot - 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 apparatus of a robot for distributing rods for distributing rods to a stacking station for stacking steel materials.

[0002]

2. Description of the Related Art Normally, a plurality of steel materials are conveyed in a stacked state, such as when a steel material such as a mold steel is shipped from a rolling line. At a later date, the handling of the stacked steel materials must be handled. In order to keep it easy, generally, a bar of wood or the like is distributed on the steel material of each stage with a predetermined interval in the longitudinal direction of the steel material and oriented perpendicular to the steel material, and a gap is maintained between the upper and lower steel materials. A plurality of steel materials are stacked.

[0003] Conventionally, when distributing bars in steel, steel bars are stacked in advance in a bar storage box having an open lower end, and stored in a box storage box using a roller chain or a rotary type bar feeder. The technique of feeding one by one from the lowermost end and distributing it directly on a plurality of steel materials in each stage has been put to practical use. But,
Since the load of the stored bars is applied to the bars that are fed from the lowermost end of the box, there is a problem that the bars cannot be fed smoothly.

On the other hand, Japanese Patent Application Laid-Open No. 7-41173 discloses that
A self-propelled truck traveling along the stacking station, a movable table arranged on the self-propelled truck so as to be movable in the traveling direction, and a plurality of stacked bars mounted thereon, and one movable table on the movable table And a transfer robot having an operating arm for moving the clamp claw between a clamping position for clamping the clamp on the movable table and a predetermined dispensing position for the clamp on the steel material. A multi-rod distributing device which is attached to a movable table and has a lifting mechanism for raising and lowering a plurality of rods on the movable table is described.

[0005] In this multi-rod distribution device, the self-propelled trolley travels to a predetermined position, and then the movable table is moved and moved up and down by an elevating mechanism, so that the position of the next rod to be gripped is set to a required height. After being positioned at the position, the clamped claw clamps one of the positioned rods, and then guides the clamp claw to a predetermined rod distribution position on the steel material to distribute the rods. is there.

[0006]

However, the step width of the plurality of steel materials is longer than the length of the ten thousand bars, and it is necessary to distribute the two ten thousand bars to a predetermined ten thousand bar distribution position in a lengthwise direction. In some cases, with the ten thousand rod dispensing device of the above publication, since only ten thousand rods can be distributed to a predetermined ten thousand rod distribution position, the work efficiency of distributing ten thousand rods is very low, When distributing the next ten thousand rod, the second ten thousand rod cannot be reliably positioned and distributed at a predetermined ten thousand rod distribution position by, for example, cushioning the ten thousand rod or the dispensed ten thousand rod. There's a problem.

[0007] Since the shape of a rod made of wood is coarse, the positional accuracy of the rod on the movable table is also coarse. Even if the movable table is moved and raised and lowered to position the next rod to be gripped next. However, there is a problem that the clamp claws cannot grip the bar. Also, in order to make it easier to hold each of the stacked rods with the clamp claws, a phosphorus tree is interposed between a plurality of rods above and below the movable table. Is not considered at all.

SUMMARY OF THE INVENTION It is an object of the present invention to improve the work efficiency of distributing rods in a robot hand apparatus of a rod distributing rod, and to move two rods to a predetermined rod distribution position in the longitudinal direction. Zurashi to be reliably dispensed, possible to reliably grip the two ten thousand bars regardless ten thousand bar shape accuracy, it takes setting phosphorus trees pushing means for removing phosphorus trees, and the like.

[0009]

According to a first aspect of the present invention, there is provided a robot hand apparatus for a multi-rod distribution robot for distributing a plurality of rods to a stacking station for stacking steel materials. An elongated main body frame having a length of at least ten thousand rods, and a state in which both ends of one end of the main body frame are vertically suspended from both end portions of the main body frame so that both ends of one ten thousand rod can be clamped and released. A pair of first gripping members and a pair of first gripping members, which are respectively suspended from both end portions of the main body frame, are opposed to each other, and are capable of holding both ends of a single stick adjacent to the stick and switching to a holding release state. One possible
A pair of second gripping members , one end of the main body frame
The first gripping member is immovably mounted on the other end of the body frame.
Length of the body frame so as to approach the first gripping member
By moving it in the direction
The second gripping member on the other end of the body frame is
Close the book so that it approaches the second gripping member that is immovably provided on the end side.
Hold the bar by moving it along the length of the body frame
So that it cannot move in the length direction of the body frame.
A clamping position for clamping the first gripping member or the second gripping member with a bar.
Switchable to the retracted position that has been swung to the
A pivoting mechanism for pivoting, and the gripping member is gripped and retracted
Swing drive means for driving the
You.

First, a pair of first gripping members and a pair of second gripping members are provided.
In a state where the gripping member is switched to the gripping release state, the robot hand device is driven and positioned at a position where two adjacent rods to be gripped can be gripped. Next, after the two sticks are clamped by the pair of first holding members and the pair of second holding members of the robot hand device, the robot hand device moves to a predetermined stick distribution position of the stick station. Is driven and positioned. At the predetermined bar dispensing position, first, one pair of gripping members is switched to the pinching release state, and the first bar is distributed, and then the robot hand device applies the distributed bar to the distributed bar. After being driven to move to a position shifted in the length direction, the other pair of gripping members is switched to the release state, and the second rod is distributed.

Then , when the robot hand device is positioned at a position where two rods to be gripped can be held, the first gripping member on one end and the second gripping member on the other end are moved. The two rods are gripped with their length shifted, so even if the length of the rods is not constant and variously varied, the rods are surely gripped and distributed as a set of two rods. can do.

Then , at a predetermined bar dispensing position of the stacking station, the first or second gripping member, which cannot be moved in the longitudinal direction of the main frame, is moved from the gripping position to the gripping release side by the swing driving means. Is switched, the first rod is distributed, and when the robot hand device is moved in parallel with the distributed rod in the longitudinal direction, the first rod is distributed to the distributed rod. Alternatively, it is possible to prevent the second gripping member from perishing .

According to a second aspect of the present invention, there is provided a robot hand device for a ten thousand rod distributing robot according to the first aspect of the present invention, wherein the ten thousand rods to be gripped by the one pair of the first gripping members or the one pair of the second gripping members. It is provided with a rod position detecting means for detecting the positions of the upper surface and the side surface. That is, by detecting the position of the bar to be gripped by the pair of first gripping members or the pair of second gripping members by the bar position detecting means, the bar whose position is detected and the bar adjacent thereto are detected. By reliably positioning the robot hand device at a position where the rod can be clamped by the first and second gripping members, regardless of the shape accuracy of the rod, two rods can be reliably gripped. it can.

According to a third aspect of the present invention, there is provided a robot hand device for a ten thousand rod distributing robot according to the second aspect of the present invention, wherein the phosphorus tree on the upper surface of the two ten thousand rods held by the first and second holding members is removed. Linkage pressing means is provided which can be switched between a pressing position where the rod is pressed and a pressing release position. That is, when a phosphorus tree is placed on a plurality of rods, first, two pairs of rods are gripped by a pair of first and second gripping members, and then the phosphorus tree is reduced to the rods by pressing release means. Pressing, the robot hand device can be moved in that state, and the phosphorus tree can be removed.

According to a fourth aspect of the present invention, there is provided a robot hand apparatus for a multi-distribution robot according to the third aspect of the present invention, wherein a piece of a floor plate used together with a multi-rod is suctioned to a portion near an end of the main body frame. There is provided a floor plate distributing means including a member, an air spring cylinder for urging the suction member downward, and a negative pressure supply system for introducing a negative pressure to the suction member. That is, when the suction member is pressed against the floor plate while the negative pressure is being introduced to the suction member, the floor plate piece is adsorbed, and when the introduction of the negative pressure to the suction member is released at the predetermined stack distribution position of the stacking station, the floor plate is released. The adsorption of the piece to the adsorption member is released, and the floor plate piece used in combination with the ten thousand bar can be distributed together with the ten thousand bar.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. The ten thousand bar distribution device of the present embodiment is an example in which the present invention is applied to a ten thousand bar distribution device that distributes ten thousand bars to a stacking station for stacking steel materials.

As shown in FIG. 1, a loading pile facility 1 provided at the end of a steel material production line 2 includes a stacking station 3 for stacking steel materials W, and a steel material conveyed to the stacking station 3. There are provided a multi-distribution device 4 for distributing ten thousand bars A on W, a pallet station 5 capable of disposing a plurality of ten thousand bars pallets 21 each accommodating a plurality of ten thousand bars A, and the like. At the end portion of the steel material production line 2, the steel material W conveyed by the plurality of conveying rollers 6 is transferred to the stacking station 3 by conveying means (not shown) such as a crane. At the end of the steel material production line 2, a stopper 7 for stopping the steel material is provided.

As shown in FIGS. 1 and 3, a plurality of pedestals 11 for mounting and supporting a steel material W are arranged on the pile table 10 of the step stacking station 3 at regular intervals. Is provided with a steel stopper 12 for positioning the steel W. A plurality of steel materials W transferred from the steel material manufacturing line 2
And are laid in order from the side of the ten thousand bar distribution device 4 side by side. For example, six steel materials W are placed and supported on the pedestal 11 for each step.

As shown in FIGS. 1 to 3, a pair of rails 8 are laid along the stacking station 3 in front of the stacking station 3. The self-propelled carriage 20 of the device 4 is provided so as to be able to travel. A pallet station 5 provided on the side opposite to the step stacking station 3 with respect to the traveling path of the self-propelled trolley 20 has a plurality of pallet placing sections 13 capable of placing a ten thousand pallets 21.
Are arranged side by side in the traveling direction of the self-propelled trolley 20, and a pair of rails 14, on which the transfer trolley 42 arranged on the self-propelled trolley 20, can run, are provided in each pallet arrangement section 13 in the front-rear direction. Is laid. In the left front part of the loading pile equipment 1, a control panel 15 for a ten-bar distribution device is provided.

The multi-rod distribution device 4 will be described. FIG.
As shown in FIG. 3, the multi-distribution device 4 includes a self-propelled vehicle 20 movably provided along the stacking station 3.
A plurality of ten thousand pallets 21 arranged in the pallet station 5, each of which contains a plurality of ten thousand A, and a ten thousand pallet 21 of the pallet station 5 provided in the self-propelled carriage 20. A pallet transfer device 22 for transferring the device 21 onto the self-propelled trolley 20; a position detecting mechanism 23 for detecting the position of the self-propelled trolley 20 in the traveling direction; The positioning detection mechanism 24 for detecting that the position of the transfer truck 42 matches the position of the transfer truck 42, and the bar A of the bar pallet 21 provided on the self-propelled truck 20 on the self-propelled truck 20 are transferred to the stacking station 3. It is composed of a transfer robot 25 for distributing (10,000 bar distribution robot) and the like.

First, the multi-pole pallet 21 will be described. As shown in FIGS. 4 and 5, the multi-pole pallet 21 is configured as an L-shaped pallet when viewed from the side. It is stacked in multiple stages in the left-right direction, and a pair of phosphorus trees B is interposed between each stage of the bar A in the front-rear direction. As shown in FIG. 5, in each pallet placing section 13 of the pallet station 5,
1 is placed on a pair of support members 16 provided on both ends of a pair of rails 14, that is, in a state where the transfer carriage 42 can be inserted below it.

The self-propelled carriage 20 will be described. As shown in FIGS. 2 and 3, in addition to the pallet transfer device 22 and the transfer robot 25, the temporary placing table 8
9 is attached, a wooden box collecting box device 30, a bottom plate piece storage box 31 adjacent to the wooden box collecting box device 30, a robot control panel 32 for driving and controlling the transfer robot 25, and other than the transfer robot 25. And a local control panel 33 for driving and controlling the above devices and actuators.

On the other hand, a pair of driven wheels 34 rolling on a pair of rails 8 and an electric motor 3
5, a pair of driving wheels 36, a rotary encoder 72 of the position detecting mechanism 23, and the like are mounted. As shown in FIGS. 2 and 5, the drive shaft 37 of the pair of drive wheels 36 includes:
A sprocket 38 connected to a sprocket of the electric motor 35 via a chain is fixed. Self-propelled trolley 2
0, the other end of the cable carrier 39 having one end fixed to the traveling road surface side is fixed.
, Electric wires, air hoses, and the like for connecting the control panel 15 for the ten-bar distribution device, the robot control panel 32, and the local control panel 33 are provided.

The pallet transfer device 22 will be described.
As shown in FIGS. 4 and 5, the pallet transfer device 22 includes a lifter table 40 on which the all-purpose pallet 21 is placed, a lifting mechanism 41 for lifting and lowering the lifter table 40, and a lifter table 40 and the lifting mechanism 41. A transfer cart 42 to be supported;
A movable body 43 disposed below the transfer carriage 42; and a first drive mechanism 44 for driving the movable body 43 to move in the front-rear direction.
And a second drive mechanism 45 for moving the transfer carriage 42 in the front-rear direction with respect to the movable body 43.

The lifting mechanism 41 provided inside the transfer carriage 42 has a pair of left and right air cylinders 48,
Two pairs of link members 47 having a central portion rotatably connected are provided on the left and right, and a piston rod 49 of an air cylinder 48 is connected to an end of one of the link members 47 of the pair of link members 47. Structure, a pair of air cylinders 48
, The lifter table 40 can be moved up and down between a position indicated by a broken line accommodated inside the transfer vehicle 42 and a position indicated by a chain line projecting upward from the transfer vehicle 42. I have.

On the slightly left side of the center of the self-propelled carriage 20,
A pair of guide frames 50 having a U-shaped cross section are fixed in the front-rear direction via a support member 51, and a pair of rails on which the wheels 46 of the transfer vehicle 42 roll are mounted on the guide frames 50. 52 are provided respectively. On the other hand, four guide rollers 53 are rotatably mounted on the movable body 43, and these guide rollers 53 are rotatably guided by a pair of guide frames 50. It is arranged movably in the front-rear direction on the side.

A first method for driving the movable body 43 to move in the front-rear direction
The driving mechanism 44 includes the mounting member 5 fixed to the movable body 43.
5, both ends of which are connected to the chain 5, four sprockets 58, 59 for guiding the chain 56 back and forth of the self-propelled carriage 20, and a drive disposed between the pair of sprockets 59. It is composed of a sprocket 57 and an electric motor 54 for driving the driving sprocket 57.

A second drive mechanism 45 for moving the transfer carriage 42 in the front-rear direction with respect to the movable body 43 is a motor cylinder 62 fixed to the upper surface of the movable body 43 via mounting members 60 and 61. The output rod 63 is constituted by a motor cylinder 62 having a front end fixed to the lower surface of the front end of the transfer vehicle 42 via a mounting bracket 64. Note that the motor cylinder 62 is an electrically driven cylinder.
Between the self-propelled carriage 20 and the movable body 43 and between the movable body 43 and the transfer carriage 42, electric wiring for connecting the local control panel 33 and the motor cylinder 62, an air hose of the air cylinder 48, and the like are introduced. The installed cable bears 65 and 66 are respectively mounted.

As shown in FIGS. 2 and 3, a position detecting mechanism 23 for detecting the position of the self-propelled vehicle 20 in the traveling direction is laid on the floor so as to extend along the traveling path of the self-propelled vehicle 20. Toothed belt 70, a pinion 71 and a pinion 7 attached to the self-propelled trolley 20 and engaged with the toothed belt 70.
And a rotary encoder 72 for detecting the amount of rotation of one. A detection signal of the rotary encoder 72 is supplied to the local control panel 33. Alignment detection mechanism 2 that detects that the positions of the ten thousand bar pallet 21 of the pallet station 5 and the transfer cart 42 of the pallet transfer device 22 match.
Reference numeral 4 denotes a detected part 73 made of a permanent magnet piece attached to the rear end of each pallet arrangement part 13 and a detector 74 attached to the front end of the self-propelled carriage 20 and capable of detecting the detected part 73. Have.

Next, a description will be given of the lumber collecting box device 30. As shown in FIG. 4, a lumber collecting box 80 for collecting the lumber B of the all-pole pallet 21 is provided on a mounting table 82, and is opened and closed. The plate 81 is pivotally supported by a shaft member 83 on the right wall side of the phosphorus collection box 80. A lever member 84 is fixed to the opening / closing plate 81 at an opening angle of 90 degrees.

Inside the mounting table 82, an air cylinder 85 having a base end connected to the self-propelled vehicle 20 side and an air supply unit 86 for supplying air to the air cylinder 85 are provided. The piston rod 87 of the air cylinder 85 is connected to the distal end of the lever member 84, and is configured to open and close the opening / closing plate 81 over a position indicated by a solid line and a chain line by driving the air cylinder 85. I have. At a substantially central portion of the inner surface of the opening / closing plate 81, a plate-shaped phosphorus receiving member 88 is provided.
When the phosphorus tree B is dropped from the robot hand device 95, the phosphorus tree B is once received by the phosphorus tree receiver 88,
Thereafter, when the open / close plate 81 is closed, the phosphorus tree collection box 80 is closed.
It is to be collected inside.

The transfer robot 25 will be described. As shown in FIGS. 2 and 3, the articulated transfer robot 25
Is a robot main body 90 fixed on the self-propelled carriage 20.
, A rotary table 91 rotatably connected to the upper end of the robot main body 90, a first arm 92 rotatably connected to the rotary table 91, and a swingably connected to the first arm 92. A second arm 93, a robot hand device 95 mounted on the hand of the second arm 93, and the like.

Next, the robot hand device 95 will be described. As shown in FIGS. 6 to 9, the robot hand device 95
Is an elongated main body frame 10 having a length equal to or greater than the length of the rod A and having a central portion attached to the tip of the second arm 93.
0, and a pair of first gripping members 101, 10 which are respectively provided downward from both end portions of the main body frame 100 and face each other.
2 and a pair of second gripping members 103 and 10 which are shifted to the left side of the pair of first gripping members 101 and 102, and are respectively provided vertically downward from both end portions of the main body frame 100 to face each other.
4 and a first immovable in the length direction of the main body frame 100.
A pivoting mechanism 105 that pivotally supports the gripping member 101 so as to be switchable between a clamping position for clamping the bar A and a retracted position in which the gripping member 101 is swung toward the clamping release side; Drive mechanism 106, which drives the first and second gripping members 103 and 104, and a multiple rod position detecting mechanism 107 which detects the position of the multiple rod A to be gripped by the pair of second gripping members 103 and 104; A pair of link pressing mechanisms 108 capable of switching between a pressing position for pressing the tree B on the upper surface of the two rods A gripped by the gripping members 101 to 104 to the rod A and a pressing release position; , And a floor plate distribution mechanism 109 for distributing a floor plate C used in combination with the ten thousand bar A.

As shown in FIGS. 6, 7, and 9, the pair of first gripping members 101 and 102 are mounted on the main body frame 100 via the pivotal support mechanism 105 and attached to the first gripping member 101 on the rear side. On the other hand, the first gripping member 102 on the front side is movably mounted in the length direction of the main body frame 100 via a guide mechanism 130 provided on the lower surface side of the main body frame 100, and is attached to the upper surface side of the main body frame 100. The air cylinder 133 is driven to move in the guide direction. That is, by moving the first gripping member 102 in the length direction of the main body frame 100, the bar A can be held.

On the other hand, a pair of second gripping members 103 and 104
In the above, the second gripping member 103 on the rear side is mounted movably in the length direction of the main body frame 100 via a guide mechanism 140 provided on the lower surface side of the main body frame 100,
The air cylinder 143 attached to the upper surface of the main body frame 100 is driven to move in the guide direction, and the second
The holding member 104 is fixed to the lower surface of the main body frame 100. That is, by moving the second gripping member 103 on the rear side in the length direction of the main body frame 100, the bar A can be held.

The pivot mechanism 105 will be described. FIG. 9-
As shown in FIG. 11, a plate member 115 in a vertical posture is fixed to the rear end of the main body frame 100.
At the top, middle and bottom of the
118 is fixed. The connecting member 1 fixed to the upper end of the first holding member 101 is attached to the lower bracket 118.
An upper front end of the connecting member 120 is connected with a pin, one end of a substantially triangular connection fitting 121 is connected to a bracket 117 at the center with a pin 122, and one end is connected to an upper rear end of the connecting member 120. The other end of the pair of plate members 123 connected to the center of the connection
25.

The swing drive mechanism 106 for driving the first holding member 101 between the holding position and the retracted position has an air cylinder 126 swingably connected to a bracket 116. Piston rod 127
Is connected to the end of the connection fitting 121 with a pin. That is, the air cylinder 126 is driven from the state of the gripping position of the first gripping member 101 in FIG.
27, the connecting fitting 121
Swings, and the connecting member 120 is
The rear end of the upper end is pulled up, and as shown in FIG. 11, the first gripping member 101 is in the retracted position. When the first gripping member in FIG. 10 is in the gripping position, the first gripping member 1
Even if an external force acts in the direction in which the first holding member 101 swings to the retracted position, the first gripping member 101 does not swing because the pins 122, 124, and 125 are linearly located in the vertical direction. .

As shown in FIG. 7, a guide mechanism 130 for guiding the first holding member 102 in the longitudinal direction of the main body frame 100 includes a guide rail 131 fixed to the lower surface of the main body frame 100 and a first holding member 102. And a guide block 132 slidably engaged with the guide rail 131. The air cylinder 133 for driving the first gripping member 102 is
0 is fixed to the front upper surface of the
Is fixed to the guide block 132 and the main body frame 10
It is connected to a connection plate 135 extending upward through the right side of the zero.

As shown in FIGS. 6 and 9, the second gripping member 1
The guide mechanism 140 that guides the main body 03 in the length direction of the main body frame 100 includes a guide rail 141 fixed to the lower surface of the main body frame 100 and a guide rail 141 fixed to the upper end of the second gripping member 103 so as to be slidable on the guide rail 141. And a guide block 142 that fits. Second gripping member 1
An air cylinder 143 for driving the valve body 03 is fixed to the rear upper surface of the main body frame 100, and its piston rod is connected to a connecting plate 144 fixed to the guide block 142 and extending upward through the left side of the main body frame 100. ing.

Next, the bar position detecting mechanism 107 will be described. As shown in FIG. 6 and FIG.
Is an optical sensor 140 that detects the position of the upper surface of the bar A to be gripped by the pair of second gripping members 103 and 104.
And a pair of front and rear optical sensors 141 for detecting the position of the side surface of the rod A, and the optical sensor 140 is located at the lower center portion of the main body frame 100.
A pair of front and rear optical sensors 141 is attached to the distal end of a mounting member 142 extending downward from the main frame 1.
They are respectively attached to the distal ends of substantially L-shaped mounting members 143 extending from 00 to the lower left.

The phosphorus tree pressing mechanism 108 will be described.
As shown in FIG. 6 and FIG.
Are the rear gripping members 101 and 103 and the front gripping member 1
02 and 104, each of the linkage press mechanisms 108 is attached to the front end of a piston rod 147 of the air cylinder 146 and the air cylinder 146 fixed to the main body frame 100, respectively. Jaw-shaped pressing plate member 1 whose lower surface is non-slip
45 or the like.

The floor plate distribution mechanism 109 will be described.
As shown in FIGS. 6 and 9, the floor plate distribution mechanism 109 is provided at a rear end portion of the main body frame 100, and a suction member 150 that suctions a floor plate C used in combination with the bar A, and the suction member 150. Air spring cylinder 1 for urging member 150 downward
51, a negative pressure generator for introducing a negative pressure to the suction member 150, a negative pressure supply system including a filter, and the like. The suction member 150 is fixed to the distal end of the piston rod 152 of the air spring cylinder 151. ing.

Next, the operation of the ten thousand bar distribution device 4 will be described. However, since the length of the bar A is shorter than the step width of the steel material W, each of the predetermined bar distribution positions set at a plurality of positions on the steel material W is a set of two bars A. Be distributed.
When the six steel materials W are juxtaposed on the pedestal 11 of the piling table 10, the work of distributing ten thousand rods by the ten thousand rod distributing device 4 is started. First, the self-propelled trolley 20 travels while detecting the position of the self-propelled trolley 20 in the traveling direction with the position detection mechanism 23, and stops at a predetermined stop position where the bar A can be distributed. Next, the robot hand device 95 of the transfer robot 25
Of the plurality of sticks A stored in the stick pallet 21 on the zero, the two sticks A to be distributed next are driven to move to a position where they can be gripped.

In this case, the positions of the upper surface and side surfaces of the bar A to be gripped by the pair of second gripping members 103 and 104 are detected by the bar position detecting mechanism 107, and the bar A to be gripped is detected. The robot hand device 95 is positioned at a position where it can be gripped by the pair of second gripping members 103 and 104. After that, when the front first holding member 102 and the rear second holding member 103 are moved in the length direction of the main body frame 100, the two rods A are gripped in a state shifted slightly in the length direction. You.

The robot hand device 95 holding the two rods A is driven to move to a predetermined rod distribution position on the six steel materials W laid on the piling table 10, and firstly, a swing drive mechanism. By 106, the first gripping member 101 pivotally supported by the pivoting mechanism 105 is switched from the gripping position to the retracted position, and the first bar A is distributed on the steel material W. Next, the robot hand device 95 is driven by a predetermined stroke in the length direction (forward or backward) of the dispensed bar A, and thereafter, the pair of second gripping members 103 and 104 are switched to the pinched state. Then, as shown in FIG. 2, the second ten thousand rods A are distributed on the steel material W, and the two ten thousand rods A are distributed over the step width of the steel material W. After distributing two rods A to each of the predetermined rod distribution positions set at a plurality of positions in each stage, six steel materials W are laid on the distributed rods A, and again the rods. The distribution device 4 executes the work of distributing the many bars.

Here, there are an odd number of rows A on the row pallet 21, and the last row A on the row is an odd row that does not form a pair. If it becomes
The ten thousand stick A is two with the ten thousand stick A temporarily placed on the temporary placing stand 89.
One set is held by the robot hand device 95 and distributed on the steel material W. When ten thousand bars A are not temporarily placed on the temporary placing table 89, the odd ten thousand bars A are temporarily placed on the temporary placing table 89.
Will be placed temporarily.

When all the one-row sticks A stacked on the ten-row pallet 21 are used, two phosphorus trees B placed on the plurality of sticks A in the next stage are removed. It is necessary to remove the first and second gripping members 1 in this case.
After gripping two ten thousand rods A at 01 to 104, the first and second gripping members 101 to 101
After pressing two phosphorus trees B on the upper surface of the two rods A gripped by 104 with the pressing plate member 145, respectively, the robot hand device 95 is moved to the upper side of the phosphorus tree collection box device 30 and pressed. When the plate member 145 is switched to the pressing release position, the phosphorus tree B falls downward and is collected in the phosphorus collection box 80.

Next, when all the sticks A on the stick pallet 21 placed on the self-propelled carriage 20 are used, the stick A
Is temporarily suspended, the empty multi-pole pallet 21 on the self-propelled carriage 20 and the plurality of multi-pole A
The operation of exchanging the many-pole pallet 21 accommodating therein is executed. In this case, the self-propelled trolley 20 is moved to the pallet placement section 13 of the pallet station 5 where the many-pole pallet 21 is not placed (the pallet placement section where the many-pole pallet 21 placed on the self-propelled carriage 20 is placed). First, the empty pallet 21 on the self-propelled carriage 20 is transferred to the pallet mounting portion 13 by the pallet transfer device 22.

Thereafter, the self-propelled carriage 20 travels to a predetermined pallet mounting portion 13 on which a plurality of pallets 21 containing a plurality of trolleys A are arranged, and a predetermined pallet arrangement is performed by a positioning detecting mechanism 24. Unit 13 and pallet transfer device 22
The self-propelled vehicle 20 stops when the position of the transfer vehicle 42 is matched, that is, when the pair of rails 52 on the self-propelled vehicle 20 and the pair of rails 14 of the pallet placement unit 13 match. ,
After that, the pallet transfer device 22 places the ten thousand pallets 21 of the pallet placing portion 13 on the self-propelled carriage 20,
The operation of distributing ten thousand A by the ten thousand distribution device 4 is restarted.

According to the ten thousand bar distribution device 4, the self-propelled truck 2
Empty pallet 21 and pallet station 5 on 0
When the pallet station 5 for arranging the plurality of pallets 21 accommodates the plurality of pallets 21 that accommodate the plurality of pallets A, The empty pallet 21 on the self-propelled trolley 20 is transferred to the pallet station 5 by the pallet transfer device 22, and a predetermined one of the plurality of pallets 21 arranged in the pallet station 5. A pallet transfer device 22
Thus, the vehicle can be transferred onto the self-propelled carriage 20. As a result, it is possible to efficiently execute the exchange work between the empty multi-pole pallet 21 and the multi-pole pallet 21 accommodating the plurality of multi-poles A, and it is possible to minimize the time for interrupting the multi-pole distribution work.

Since the position detection mechanism 23 for detecting the position of the self-propelled carriage 20 in the traveling direction is provided, the transfer robot 25 provided on the self-propelled carriage 20 allows the stacking station 3
Can be reliably positioned and distributed at the predetermined distribution position. Further, the position detecting mechanism 23
Is a toothed belt 70 provided to extend along the traveling path, and a toothed belt 7
It has a simple structure including a pinion 71 that meshes with zero and a rotary encoder 72 that detects the rotation amount of the pinion 71, which is very advantageous in terms of manufacturing cost.

The pallet transfer device 22 is used for the ten-pole pallet 2
Lifter table 40 on which the table 1 is placed, and lifter table 4
0, and a transfer carriage 42 supporting the lifter table 40 and the lift mechanism 41. The transfer carriage 42 is moved to the pallet station 5 to Insert the lower part and lift mechanism 4
The lifter table 40 is raised by 1 and the ten thousand pallets 21
Is placed on the lifter table 40, and the transfer cart 4 is
2 can be easily moved onto the self-propelled trolley 20 by moving the multi-pallet 21 of the pallet station 5 onto the self-propelled trolley 20, and the work of exchanging the pallet 21 with the multi-hand pallet 21 can be more efficiently performed. Can be executed Further, a ten thousand bar pallet 21 of the pallet station 5 and a pallet transfer device 22
Of the pallet station 5 to the position where the pallet station 5 can be transferred to the self-propelled vehicle 20 because the positioning detection mechanism 24 for detecting that the position of the self-propelled vehicle 42 matches the position of the self-propelled vehicle 20 can be positioned simply and reliably.

In the robot hand device 95, the pair of first gripping members 101 and 102 and the pair of second gripping members 1
03, 104, two rods A can be gripped and distributed to a predetermined rod distribution position in the stacking station 3;
The work efficiency of distributing is greatly improved. In addition, since the first gripping member 102 on the front side and the second gripping member 103 on the rear side of the main body frame 100 are moved in the length direction of the main body frame 100, two rods A are sandwiched. Since the two rods A are gripped with a slight deviation in the length direction, even if the length of the rod A is not constant and variously varied, the rod A is surely gripped as a set of two rods. Can be distributed.

Further, a pivot mechanism 105 for the rear first gripping member 101 and a swing drive mechanism 106 for driving the first gripping member 101 are provided.
Is switched to the retracted position, the pair of gripping members 101, 10
When the rod A held by 2 is distributed and the robot hand device 95 is translated in the longitudinal direction,
First gripping member 101 of the rear to the distributed ten thousand bars A monitoring
It can be prevented from You.

Further, since the bar position detecting mechanism 107 is provided, the bar A whose position is detected and the bar A adjacent thereto are detected.
The robot hand device 95 can be reliably positioned at a position where it can be held, and it is possible to reliably hold two sticks regardless of the shape accuracy of the stick A. Also,
Since a pair of linking trees pressing mechanism 108 that can switch between a pressing position for pressing the pair of link trees B on the upper surface of the two held sets of rods A against the sticks A and a pressing release position is provided, a plurality of The pair of phosphorus trees B on the rod A can be easily removed.

In the vicinity of the rear end of the body frame 100,
Since the floor plate distributing mechanism 109 is provided, when the suction member 150 is pressed against the floor plate C while introducing a negative pressure to the suction member 150, the floor plate C is adsorbed, and at the predetermined ten thousand bar distribution position of the stacking station 3 When the introduction of the negative pressure to the suction member 150 is released, the suction of the floor plate pieces C to the suction member 150 is released, and the floor plate pieces C can be distributed together with the bar A.

Next, a description will be given of a modification in which the above embodiment is partially modified. 1] In the pallet transfer device 22, the transfer trolley 42 is connected to the self-propelled trolley 20 and the pallet mount 2
Various driving mechanisms can be employed for the mechanism that moves and drives over one. For example, a drive motor for driving the wheels 46 is provided on the transfer carriage 42 instead of the first and second drive mechanisms 44 and 45 by eliminating the movable body 43, and the drive motor is drive-controlled to perform the transfer. You may comprise so that the mounting trolley 42 may be moved.

2) When a plurality of ten thousand sticks A are stacked on the ten thousand stick pallet 21 with an even number of ten thousand sticks A in each stage, the last one ten thousand stick in each stage of the ten thousand stick pallet 21 is loaded. Since A does not become odd, the provisional placing table 89 does not need to be provided. 3] In the robot hand device 95, the first gripping member 10 on the rear side
Instead of 1, one of the first gripping member 102 and one of the pair of second gripping members 103 and 104 can be configured to be pivotally supported on the main body frame 100 by the pivoting mechanism 105. However, at the predetermined bar distribution position, a pair of bar A, which is gripped by the robot hand device 95, is gripped by a pair of grip members including the grip member pivotally supported by the pivot mechanism 105. Will be distributed from the bar A.

[0059]

According to the robot hand device of the ten thousand rod distributing robot of the first aspect, an elongated main body frame having a length of at least the ten thousand rods, and each of the elongated main body frames are suspended from both end portions of the main body frame. A pair of first rods that can pinch both ends of one rod facing each other and can switch to a pinch release state.
A pair of second members that can be gripped at both ends of the main body frame and that can hold both ends of a single bar that is opposed to the bar and that is adjacent to the bar and that can be switched to a pinched release state; Since a pair of first gripping members and a pair of second gripping members are provided, a pair of first gripping members and a pair of second gripping members can grip two ten thousand rods as a gripping target and distribute them to a predetermined ten thousand rod distribution position of the stacking station. The work efficiency of distributing ten thousand bars can be improved.

[0060] Then, a first end side of the body frame
A gripping member is immovably provided on the other end of the main body frame.
(1) By moving the main frame in the longitudinal direction so as to approach the gripping member, a configuration is adopted in which the bar is clamped, and the second gripping member at the other end of the main body frame is attached to one end of the main body frame.
By moving the main frame in the length direction of the main frame so as to approach the immovably provided second gripping member, the rod is clamped, so that the two rods are moved in the length direction by the robot hand device. It is gripped in a deviated state. As a result, even if the length of the ten thousand rods is not
A set of bars can be gripped and distributed.

[0061] Moreover, the body frame of the immovable in the longitudinal direction the first gripping member or the second gripping member so as to be switched to the retracted position is swung into the clamped position and the holding release side for holding the sunfish pivot Since the pivoting mechanism for supporting and the swinging drive means for driving the gripping member between the gripping position and the retracted position are provided, the first driving means cannot be moved in the longitudinal direction of the main body frame by the swinging drive means. When the gripping member or the second gripping member is swung from the gripping position to the gripping release side, when the robot hand device is moved in parallel in the longitudinal direction of the bar, the first gripping member or the second without second grip members is it sweet potato, two ten thousand bars can be surely distributed Rashi not the the length direction.

[0062] According to ten thousand bars robot hand apparatus dispensing robot according to claim 2, the same effect as claim 1, is gripped by the second gripping member of the first gripping member or a pair of said pair Since the bar position detecting means for detecting the positions of the upper surface and the side surface of the bar to be gripped is provided, the robot hand device is reliably positioned at a position where the bar whose position has been detected and the bar adjacent thereto can be clamped. Can be positioned. As a result, it is possible to reliably hold two sticks regardless of the shape accuracy of the stick.

According to the third aspect of the present invention, the same effect as in the second aspect is obtained, but the upper surface of the two tenths of rods gripped by the first and second gripping members is obtained. Since there is provided a link pressing means which can be switched between a pressing position where the link is pressed against the bars and a pressing release position, the link on the plurality of bars can be easily removed.

According to the fourth aspect of the present invention, the same effect as in the third aspect is obtained, but the robot hand device is used in the vicinity of the end of the main body frame in combination with the all-in-one rod. An adsorbing member that adsorbs the adhering plate piece, an air spring cylinder that urges the adsorbing member downward, and a distributing plate piece distributing means including a negative pressure supply system that introduces a negative pressure to the adsorbing member are provided. When the suction member is pressed against the floor plate while the negative pressure is being introduced, the floor plate is sucked, and at the predetermined stacking position of the stacking station, when the introduction of the negative pressure to the suction member is released, the floor plate is moved to the suction member. Is released,
The floor plate used together with the bar can be distributed together with the bar.

[Brief description of the drawings]

FIG. 1 is a plan view of a loading pile facility including a multi-distribution apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of a ten-piece distribution device.

FIG. 3 is a right side view of the ten thousand bar distribution device.

FIG. 4 is a view taken in the direction of arrows IV-IV in FIG. 2;

FIG. 5 is a sectional view taken along line VV of FIG. 2;

FIG. 6 is a right side view of the robot hand device.

FIG. 7 is a sectional view taken along line VII-VII of FIG. 6;

FIG. 8 is a sectional view taken along line VIII-VIII of FIG. 6;

FIG. 9 is a front view of the robot hand device.

FIG. 10 shows a pivot mechanism ( a state in which a first gripping member is at a holding position).
FIG.

FIG. 11 shows a pivot mechanism (in a state where a first gripping member is in a retracted position).
FIG.

[Explanation of symbols]

 A ten thousand rods B phosphorus tree C floor plate pieces W steel material three-tiered stacking station 25 transfer robot (robot for distributing ten thousand rods) 95 robot hand device 100 body frame 101, 102 first gripping member 103, 104 second gripping member 105 pivot Mechanism 106 Oscillating drive mechanism 107,000 bar position detecting mechanism 108 Linkage pushing mechanism 150 Suction member 151 Air spring cylinder

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B25J 15/08 B25J 15/00

Claims (4)

(57) [Claims] 1. A robot hand device of a robot for distributing rods for distributing rods to a stacking station for stacking steel materials, comprising: an elongated main body frame having a length of at least ten thousand rods; A pair of first gripping members which are respectively suspended from opposite end portions of the main body frame, can oppose opposite ends of a single rod, and can switch to a non-nipping state, and both end portions of the main body frame; A pair of second gripping members which are vertically disposed from each other and can hold both ends of a single stick adjacent to the stick and switchable to a holding release state;
Comprising a main body frame of the first gripping member at one end of the previous SL body frame
Approaching the first gripping member immovably provided on the other end of the
A second gripping member is provided so as to pinch the rod by moving it in the length direction of the main body frame, and the second gripping member on the other end side of the main body frame is immovably provided on one end side of the main body frame.
Ten thousand bars by moving the length direction of the body frame so as to approach the gripping member configured to sandwich, ten thousand the first gripping member or the second gripping member immovable in the longitudinal direction of the previous SL body frame A pivoting mechanism for pivotally supporting a switchable position between a clamping position for clamping the rod and a retracted position pivoted to the clamping release side, and a rocking drive means for driving the gripping member between the gripping position and the retracted position a robot hand device ten thousand bars dispensing robot, characterized in that a and. 2. The pair of first gripping members or the pair of second gripping members.
2. The robot hand device of claim 1, further comprising a position detection means for detecting a position of an upper surface and a side surface of a rod to be gripped by the gripping member. 3. 3. The two grippers held by the first and second gripping members.
3. A rod distributing device according to claim 2 , wherein a link pressing device is provided which can be switched between a pressing position for pressing the upper surface of the plurality of poles against the poles and a pressing release position. Robot hand device for robots. 4. An adsorbing member for adsorbing a floor plate piece used in combination with a rod, an air spring cylinder for urging the adsorbing member downward, and a negative member near the end of the main body frame. 4. The robot hand apparatus of claim 3 , further comprising a bottom plate distributing means having a negative pressure supply system for introducing pressure.