JP3592851B2 - robot - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a robot, and is particularly useful when applied to a packaging machine.
[0002]
[Prior art]
As shown in FIG. 5, the robot for the packaging machine handles the articles 1, 1 ', 1 "flowing on the supply conveyor 20 and packs them in the cases 2, 2', 2" in a predetermined stacking form. It is used as a handling robot when performing. In the drawing, 533 indicates an example of three-row supply, 544 indicates an example of four-row supply, and 555 indicates an example of five-row supply.
[0003]
Conventional and representative examples of such a handling robot are shown in FIGS. The robot shown in FIGS. 6A and 6B has driving servomotors 301 and 302 disposed on the same side, has a first arm 303 and a second arm 304 formed of parallel links, and mounts various handling devices. A two-axis robot 300 having a surface 308 and a parallel link 309 for maintaining the mounting surface 308 in a constant posture in all operations. Here, 310 indicates a main body. The robot 300 moves a two-dimensional plane by controlling the position of a first arm 303 and a second arm 304 by respective driving servomotors 301 and 302.
[0004]
In the robot shown in FIG. 7, drive motors 401 and 402 are arranged corresponding to both side surfaces, and similarly to the robot 300 shown in FIG. 6, the first arm 403, the second arm 404, and the hand mounting surface 408 are provided. The robot 400 has the same operation range and operation method as the robot 300. Here, reference numeral 410 denotes a main body, 406 denotes an arm, and 407 denotes a connecting bar of a parallel link for holding the posture of the mounting surface 408 of the hand.
[0005]
With reference to FIG. 8, a description will be given of an aspect in which the robot 300 among the robots 300 and 400 having such a configuration is used to process an article flowing on the supply conveyor.
[0006]
FIG. 8A shows an example in which the single articles 1 flowing on the supply conveyor 20 are transferred to the transport conveyor 25. In this case, the robot 200 is disposed at a right angle to the supply conveyor 20, and the mounting surface 308 of the handling unit is disposed so as to move in parallel with the transport conveyor 25. As a result, the single articles 1 on the supply conveyor 20 are transferred onto the transport conveyor 25 one by one.
[0007]
FIG. 8B shows an example in which a plurality of / rows of articles 1 flow on the supply conveyer 20 and are simultaneously transferred to the transport conveyer 25 in one row. In this case, when the robot 300 is disposed as shown in FIG. 8A, not only does the operation stroke of the robot 300 become insufficient, but also the hand portion becomes longer and operation becomes unstable. As shown in the figure, it is necessary to arrange the robot 300 in parallel with the supply conveyor 20 and provide the overhanging hand 500 on the mounting surface 308.
[0008]
FIG. 9 shows a configuration example of the overhang as described above. FIG. 9A shows an example in which an overhand 501 is provided on a mounting surface 308, and a support column 502 and a vacuum cup 503 are provided on the overhand 501. FIG. 9B shows a configuration example in which a hand 512 is further provided on the overhand 511, and a column 514 and a vacuum cup 513 are provided on the hand 512.
[Problems to be solved by the invention]
[0009]
In the overhang structure as described above, there is a problem that the weight is excessively applied to the tip from the mounting surface 308. That is, when the article 1 is handled in an overhang state, a trouble such as poor positioning accuracy or insufficient processing capability is likely to occur.
[0010]
An object of the present invention is to improve the configuration of the overhang system in view of the above-mentioned conventional technology, and to provide a robot having high processing capability and high positioning accuracy.
[0011]
[Means for Solving the Problems]
The configuration of the present invention that achieves the above object has the following features.
[0013]
1) A robot having a first arm and a second arm parallel to each other for handling an article in a packaging machine.
The second arm is arranged in parallel with the traveling direction of the supply conveyor so that the second arm operates in parallel with the traveling direction of the supply conveyor that supplies the articles,
An intermediate arm for overhanging the second arm from the first arm so that the first arm and the second arm are configured to be parallel to each other and the second arm coincides with the central axis of the moving direction of the conveyor or the article. And the mounting surface of the hand is on the same axis as the second arm .
[0014]
2) In a robot having a first arm and a second arm which are parallel to each other for handling an article in a packaging machine,
The first arm and the second arm are arranged at right angles to the traveling direction of the supply conveyor so as to operate at right angles to the traveling direction of the supply conveyor for supplying the articles,
The first arm and the second arm is configured parallel to each other, so as to match the second arm to the central axis direction of movement of the goods, which has an intermediate arm for causing the overhang of the second arm from the first arm The hand mounting surface is on the same axis as the second arm .
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. This embodiment is a robot for a packaging machine. Therefore, the same parts as those in the related art are denoted by the same reference numerals, and redundant description will be omitted. Further, the present invention is particularly useful as a robot for a packaging machine, but is not necessarily limited thereto.
[0016]
FIG. 1 is a perspective view showing a robot according to the first embodiment. As shown in the figure, the robot 100 according to the present embodiment has an intermediate arm 105 provided between a first arm 103 and a second arm 104. More specifically, the first arm 103 and the second arm 104 are configured to be parallel to each other, and the intermediate arm 105 is an axis disposed at a right angle to the first arm 103 and the second arm 104, and one end thereof. Are connected to the distal end of the first arm 103, and the other end is connected to the second arm 104. The mounting surface 108 of the hand is on the same axis as the second arm 104.
[0017]
By providing the intermediate arm 105 in this way, the overhands 501 and 511 provided on the mounting surface 308 shown in FIG. 9 become unnecessary. Furthermore, since the mounting surface 108 is on the same axis as the second arm 104, no inconvenient working force is generated. Thus, a smooth movement of each of the arms 103 and 104 can be obtained, and the same article handling as in FIG. 9 can be performed.
[0018]
FIG. 2 shows a configuration example of a robot 200 according to the second embodiment and an operation range of a mounting surface 208 of a hand unit. (A) is a plan view, (b) is a front view, and (c) is a side view, and the hatched portion in (c) is an operation range.
[0019]
As shown in FIG. 2, the robot 200 according to the present embodiment has a first arm 203, a second arm 204, and an intermediate arm 205 having the same configuration as the first embodiment. Here, reference numeral 210 denotes a main body, and reference numerals 206 and 207 denote connecting bars for the arm and the parallel link for holding the posture of the hand mounting surface.
[0020]
Also in this embodiment, since the intermediate arm 205 plays the same role as the overhang and the mounting surface 208 of the hand and the second arm 204 are disposed on the same axis, the overhang of the handling device itself is eliminated, and the weight of the member is reduced. And the moment of inertia of the handling device can be reduced. As a result, the positioning accuracy is improved, the processing capacity can be increased, and the production efficiency is improved.
[0021]
3A and 3B show an application example in which the robot 100 is applied to the corrugated cardboard caser 5, where FIG. 3A is a plan view and FIG. 3B is a front view. As shown in the figure, in the case of this example, the robot 100 used for stacking / filling is arranged at a right angle to the supply conveyor 20 and packs the items on the supply conveyor 20 into the case 2 at right angles. By adopting such a robot arrangement, the degree of freedom of layout is higher than that of the conventional case of FIG. Here, 10 is a control panel, 30 is a hot melt applicator, 50 is a main body, and 15 is an operation panel.
[0022]
4A and 4B show another application example in which the robot 100 is arranged in parallel with the supply conveyor 20, wherein FIG. 4A is a plan view and FIG. 4B is a front view. As shown in the figure, in the case of this example, the second arm 104 is located at the center of the supply conveyor 20 by the intermediate arm 105, so that the handling device can be effectively arranged on the supply conveyor 20. Therefore, the configuration is more stable as compared with the conventional FIGS. 8B and 9.
[0023]
According to this application example, since the handling operation is performed using the axis of the second arm 104, a stable operation can be performed, and the article 1 is transferred by the hand 120 attached to the mounting surface 108 arranged on the supply conveyor 20. 25 in case 2 above.
[0024]
【The invention's effect】
As described in detail with the above embodiment, according to the present invention, since the robot configuration itself is overhanging, the mounting surface of the hand can be arranged on the same axis as the second arm. For this reason, the overall balance of the apparatus is good, and the positioning accuracy of the handling can be improved, and the processing capacity can be improved. In addition, since the degree of freedom in the layout of the robot on the packaging machine is increased, the range of application to various models is wide. Thus, the production capacity can be improved, the space can be saved, and the cost can be reduced.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a robot according to a first embodiment of the present invention.
FIGS. 2A and 2B are diagrams showing a robot according to a second embodiment of the present invention, wherein FIG. 2A is a plan view, FIG. 2B is a front view, and FIG. Show.
3A and 3B are diagrams showing an application example of the robot according to the first embodiment of the present invention, wherein FIG. 3A is a plan view and FIG. 3B is a front view.
FIGS. 4A and 4B are diagrams showing another application example of the robot according to the first embodiment of the present invention, wherein FIG. 4A is a plan view and FIG.
FIG. 5 is an explanatory diagram of a packaging line to which the present invention is applied.
FIG. 6 is a perspective view showing a robot according to the related art.
FIG. 7 is a perspective view showing another robot according to the related art.
FIG. 8 is a layout diagram when a robot according to the related art is applied to a packaging machine.
FIG. 9 is a perspective view showing an overhanging hand by the robot according to the related art together with the robot.
[Explanation of symbols]
1 article 2 case 5 cardboard caser (packaging machine)
Reference Signs List 20 supply conveyor 25 transfer conveyor 100, 200 robot 103, 203 first arm 104, 204 second arm 105, 205 intermediate arm 108, 208 mounting surface

Claims (2)

A robot having a first arm and a second arm which are parallel to each other for handling an article in a packaging machine,
The second arm is arranged in parallel with the traveling direction of the supply conveyor so that the second arm operates in parallel with the traveling direction of the supply conveyor that supplies the articles,
An intermediate arm for overhanging the second arm from the first arm so that the first arm and the second arm are configured to be parallel to each other and the second arm coincides with the central axis of the moving direction of the conveyor or the article. A robot having a hand mounting surface on the same axis as the second arm . A robot having a first arm and a second arm which are parallel to each other for handling an article in a packaging machine,
The first arm and the second arm are arranged at right angles to the traveling direction of the supply conveyor so as to operate at right angles to the traveling direction of the supply conveyor for supplying the articles,
The first arm and the second arm is configured parallel to each other, so as to match the second arm to the central axis direction of movement of the goods, which has an intermediate arm for causing the overhang of the second arm from the first arm And a mounting surface of the hand is on the same axis as the second arm .

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