JP3124464B2 - Picking 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 device for handling a baggage such as a cardboard case or a plastic container having a handle on a side surface by a robot or the like, and in particular, a hand for a device for picking a baggage having a handle loaded on a pallet. The present invention relates to a picking hand used for a part.

[0002]

2. Description of the Related Art Conventionally, a hand for handling luggage such as a cardboard case or a plastic container has a suction method using a vacuum suction pad, a method in which a fork is inserted into the lower surface of the luggage and scooped, and both sides of the luggage are sandwiched between two plates. There are a hand of a method of lifting by frictional force and a hand of a method by a combination of the above. Japanese Patent Application Laid-Open No. Sho 59-114223 discloses a hand having a rotating arm and a claw as a hand for holding a load having a concave portion on at least the opposite outer surfaces of both sides.

[0003]

In the handling of luggage such as a cardboard case and a plastic container, if there is a hole or a seam on the upper surface of the luggage and the air has a large wettability, it is difficult to grip by the vacuum suction method. In addition, when picking luggage from the conveyor, a fork can be inserted under the luggage, but if it is loaded on a pallet and there is no gap under the luggage, the fork can not be inserted and It is not possible to hold by the method. Further, when the weight of the load is large, the load may shift or drop due to the inertial force during handling, and it is difficult to hold the both sides of the load between two plates and hold only the frictional force.

In a method of inserting a nail fixed to an openable arm into a handle and hooking and holding a load as disclosed in Japanese Patent Application Laid-Open No. Sho 59-114223, variations in the size of the load and variations in the position of the handle are known. It is difficult to align the position of the handle with the nails due to factors such as the load on the pallet. Is impossible.

[0005]

The present invention has two opposing openable arms, each of which has a claw divided into a plurality of parts over a range longer than the horizontal length of the concave portion of the load. There are provided, each pawl is freely retractable upwardly independently on both sides of the claw, the erecting state claw end
Does not protrude more horizontally than it is, and
Has a roughly arcuate guide protruding horizontally from the claw
And, by using a picking hand characterized in that the plurality of claws are pressed against a stopper by a spring force and maintained in an upright state unless subjected to an external force, the plurality of claws are stacked on a pallet. When handling unpositioned luggage such as luggage,
Reliable gripping is possible.

[0006]

[Function] Even when the positional relationship between the handle of the baggage and the hand is not accurate, the claw that comes to the handle position is in an upright state, and the claw that hits the side of the baggage other than the handle position is in an overturned state, so that the handle is in the handle position. The handle is securely hooked with only the claws that have come.

[0007]

An embodiment of the present invention will be described with reference to the drawings.
In FIGS. 1 and 2, reference numeral 12 denotes a connection portion to a robot or the like (not shown), and reference numerals 1 and 2 denote arms, for example, which can be opened and closed by rotating 90 degrees upward and outward as indicated by arrows from the state of FIG. Reference numerals 3 and 4 denote arm opening / closing driving devices.
Is a claw that can be tilted upward. As shown in FIG. 3, the claw 5 is divided into a plurality of claws 5-1 to 5, and a bush 6 is provided between the adjacent claws, and each of the claws 5-1 to 5 is provided.
5 operate independently.

As shown in FIG. 4, when the tip hits another object, the claw 5 falls down as shown by an arrow. As shown in FIG. 7, when the claw 5 does not hit the side surface or the like of the baggage 7 to be handled, the claw 5 is pushed back by its own weight and the spring 11, and returns to the upright state of FIG. In addition,
The claw 5 is in contact with the stopper 10 in the upright state, and does not rotate further downward. Here, the spring 11 only needs to push the claw 5 back.
For example, rubber may be used.

In FIGS. 6, 7 and 8, reference numeral 7 denotes a load to be handled, and a side of the load is provided with a handle 8 notched in an oval or rectangular shape. 9 is a nail 5
When the nail 5 is in the upright state, the guide 9 does not protrude from the tip of the nail 5 and
Is set to a position that protrudes from the claw 5 when it is in an upwardly inclined state.

The operation of each part when handling the baggage 7 with the above hand will be described below. In FIG. 1, the hand approaches the baggage 7 with the arms 1 and 2 opened from above, and at the position where the baggage 7 is placed,
Close. At this time, the positional relationship between the position where the baggage 7 is placed and the hand is not constant due to a positional shift of the baggage 7 or the like.
For this reason, the positions of the handle 8 and the claw 5 do not exactly coincide with each other, and generally a slight shift occurs. In the hand of the present invention, the function is effectively exerted by closing the arms 1 and 2 aiming at the position where the claw 5 hits slightly below the handle 8 as shown in FIG. The claw 5 hitting the handle 8 slightly below the side surface of the baggage 7 collapses upward due to the force of closing the arms 1 and 2.

When the hand is lifted in this state, the claw 5 rises while sliding on the side of the baggage 7, and the claw 5 having reached the position of the handle 8 is pushed back by the spring 11 and pressed against the stopper 10 as shown in FIG. Return to the erect state. When the hand is further lifted in this state, the upright claw 5 is caught on the upper end of the handle, and the baggage 7 can be lifted. At this time, since the claw 5 extends over a range longer than the horizontal length of the handle 8, only the claw (5-2, 3, and 4 in FIG. 8) corresponding to the handle portion 8 in the horizontal direction is selectively provided. Since the erect state is established, the baggage 7 can be grasped accurately even when the horizontal positional relationship between the baggage and the hand is not accurate.

At this time, when the force for closing the arms 1 and 2 is transmitted to the side surface 7 of the load via the claw 5, the frictional force between the side surface 7 of the load and the claw 5 is large, and the rotation of the claw 5 is hindered. Even when the handle 5 comes to the handle portion 8, the nail 5 may not easily return to the upright state. An arc-shaped guide 9 which does not protrude in the horizontal direction from the tip of the nail 5 in the upright state and protrudes in the horizontal direction from the nail 5 in the upside-down state as described in claim 2 is provided. The force for closing the arms 1 and 2 is
, The frictional force between the claw 5 and the baggage side surface 7 is reduced, and when the claw 5 comes to the handle position 8, the returning operation to the upright state becomes smooth, More reliable gripping can be realized.

An embodiment according to claim 3 is shown in FIGS.
Each of the plurality of claws 5 which can be independently tilted upward is provided with a detector 13 for detecting the erect state and the falling state of the claws 5, and by grasping while monitoring the detection state. , It is possible to detect the gripping state of the luggage. 9 and 10
In this case, a proximity sensor is used as the detector, but this detector may be of any type as long as it can identify the erect or fall state of the nail 5.

Specifically, the following detection can be performed based on the state of the five claws shown in FIG. The center three are upright and both ends are two
If one is in the overturned state, it is grasping the luggage accurately. When the right three are upright and the two left are in the overturned state, the baggage is eccentrically held to the right. If the left three are upright and the right two are in the overturned state, the baggage is eccentrically gripped to the left. When all the claws are in the upright state, the baggage cannot be grasped. When all the claws are in the overturned state, the claws and the handle are not aligned. These determinations can be made, this signal can be taken into a control device (not shown), and the operation of the robot can be corrected, so that the baggage can be grasped more reliably.

The above embodiment is an example in which, when gripping a load, both sides of the load are not in contact with other loads, and there is a gap for inserting an arm. An example in which one side of the load is adjacent to another load or the like and there is no gap for inserting one arm 2 will be described below. As shown in FIG. 11, a projection 14 is provided at the tip of the claw 5 which can be tilted upward. In addition, as shown in FIG. 12, first, only the arm 1 on the side not adjacent to the other luggage is closed, the hand is slightly raised, and the handle 5-1 is hooked on the handle. In this state, the robot is moved in the direction of the arrow. Since the handle is caught by the projections 14 of the claws, the load is pulled out to the side where the arm 1 is hooked, and a gap is formed on the side adjacent to the other load so that the arm 2 can be inserted. In this state, at the same time as returning the hand to the initial height, the arm 2 which has been in the open state is closed, and the hand is lifted, whereby the baggage 7 can be grasped.

[0016]

As described above, when the size or shape of the package to be handled varies, or when there is a variation in the position of the handle of the package, the package is positioned like a package loaded on a pallet. Even when it is difficult to align the position of the handle and the claw, such as when handling a load that is not loaded, a special measurement is required to accurately align the position of the handle and the claw because the grip can be securely performed.・ A controller is not required, and functions can be realized with a simple and inexpensive structure.

[Brief description of the drawings]

FIG. 1 is an overall front view of a hand according to the present invention,

FIG. 2 is an overall side view of a hand according to the present invention;

FIG. 3 is an enlarged view of an arm and a claw,

FIG. 4 is an enlarged view of a nail portion;

FIG. 5 is an enlarged view of a nail portion;

FIG. 6 is a diagram showing a state in which a nail is hooked on a handle portion;

FIG. 7 is a diagram showing a state in which a nail is hooked on a handle portion;

FIG. 8 is a view showing a state in which a nail is hooked on a handle;

FIG. 9 is a view showing another embodiment of the present invention;

FIG. 10 is a view showing another embodiment of the present invention;

FIG. 11 illustrates an embodiment of the invention for gripping a load adjacent to another load;

FIG. 12 is a diagram showing an embodiment of a gripping operation of a load adjacent to another load.

[Explanation of symbols]

 1, 2, 3 and 4 arm opening / closing drive device 5-1 to 5 claw 6 bush 7 baggage to be handled 8 handle 9-1, 2 guide 10 stopper 11 holding spring 12 mounting part to robot body 13 detection of claw state Table 14 Protrusion at the tip of the nail

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-5-132147 (JP, A) JP-B-47-2295 (JP, B1) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 57/00-57/32 B65G 61/00 B66C 1/00-3/20 B25J 15/08

Claims (2)

(57) [Claims] 1. A hand for holding a luggage having a concave portion on at least opposing outer surfaces, comprising two opposing openable arms, each of which has a tip
Over a range longer than the horizontal length of the recess of the load,
A plurality of divided claws are provided, each of which can be independently tilted upward, and on both sides of the claw, an upright claw is provided.
Does not protrude horizontally than the tip of
A roughly arcuate guide that protrudes horizontally from the claw in the state
A picking hand , wherein the plurality of claws are pressed against a stopper by a spring force and maintained in an upright state unless subjected to an external force. 2. The apparatus is divided into a plurality of parts, each of which is independently
For each of the nails that can be tilted in the direction,
A detector for detecting the state of the
The picking hand according to claim 1.