JP5369746B2 - Conveyor system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an increase in cost and keep conveyance efficiency of an assembly and a carry tray high as a whole. <P>SOLUTION: The carry tray 5 on which an object to be loaded is mounted is grasped by a robot hand for grasping the assembly comprising one or more components, and carried. The carry tray 5 is equipped with a grasped part 7 protruding upward from an upper surface 5a of the carry tray. The grasped part 7 is formed in such dimensions and shape that the robot hand can grasp. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

The present invention relates to a transport apparatus system including a transport robot that grips and transports an assembly composed of one or a plurality of parts, and a transport tray on which a load target (for example, parts) is loaded.

  For example, when assembling an assembly from a plurality of parts, the transfer robot grips an unfinished or completed assembly placed in a predetermined assembly process area with a robot hand and transfers the assembly to another assembly area. Device.

  In order to transport a plurality of parts (particularly small articles) at a time, it is preferable to transport a transport tray loaded with a plurality of parts by a transport robot. Thereby, the efficiency of the transfer work by the transfer robot can be increased.

In this case, it is desirable to transport both the assembly (particularly medium-sized and large-sized assemblies) that are not to be stacked on the transport tray and the transport tray by one transport robot.
In order to achieve this, a robot hand for gripping an assembly and a robot hand for gripping a tray are attached to an arm of a transfer robot so as to be interchangeable (for example, Patent Document 1 below). .

  In addition, there exists the following patent document 2 as another prior art document of this application.

Patent No. 3673117 JP-A-7-132477

However, the following problems (1) and (2) are encountered when using the robot hand for gripping the assembly and the robot hand for gripping the tray.
(1) Since it is necessary to prepare an extra robot hand for gripping the tray, the cost increases accordingly.
(2) Further, it takes time to exchange the assembly holding robot hand and the tray holding robot hand with each other. Therefore, the overall transport efficiency of the assembly and the transport tray is reduced.

The present invention was created to solve the above problems (1) and (2). That is, the present invention is to provide a transport system that can maintain the transport efficiency of the assembly and the transport tray as a whole without increasing the cost.

To achieve the above object, a conveying tray product mounting object is loaded,
The transport tray is gripped and transported by a robot hand that grips an assembly of one or more parts.
The transport tray is provided with a gripped portion that protrudes upward from the upper surface of the transport tray, and the gripped portion is formed in a size and shape that can be gripped by the robot hand. A transport tray is provided.

  Moreover, in order to achieve the said objective, according to this invention, a conveying apparatus system provided with the said conveyance tray and the conveyance robot which has the said robot hand is provided.

In the above-described present invention, the transport tray is provided with a gripped portion protruding upward from the upper surface of the transport tray, and the gripped portion is formed in a size and shape that can be gripped by the robot hand, The same robot hand as the transfer robot can grip not only the assembly but also the transfer tray. Accordingly, it is not necessary to prepare a separate robot hand for gripping the transport tray, so that an increase in cost can be suppressed.
Further, since it is not necessary to replace the robot hand for gripping the assembly with the robot hand for gripping the tray with respect to the transport robot, the transport efficiency of the assembly and the transport tray can be improved.
Therefore, according to the above-described configuration of the present invention, the conveyance efficiency of the assembly and the conveyance tray can be maintained high as a whole without increasing the cost.

According to a preferred embodiment of the present invention, the robot hand has first and second gripping members for gripping the horizontal one side portion and the horizontal other side portion of the assembly, respectively.
The robot hand grips the transport tray by sandwiching the gripped portion with the first and second gripping members.

  As described above, when the first and second gripping members of the robot hand grip the horizontal one side portion and the horizontal other side portion of the assembly, respectively, the gripped portion is the first and second grips. It is sandwiched between gripping members. With this configuration, the robot hand can grip not only the assembly but also the transfer tray.

According to another embodiment of the present invention, the robot hand has first and second gripping members for gripping the horizontal one side portion and the horizontal other side portion of the assembly, respectively.
The gripped portion includes an upper protruding portion that extends upward by a predetermined length from the upper surface of the transport tray, and first and second horizontal portions extending from the upper protruding portion to one side in the horizontal direction and the other side in the horizontal direction, respectively. And a first gap and a second gap are formed in the vertical direction between the upper surface of the transport tray and the first and second horizontal protrusions, respectively.
The first and second gripping members support the first and second horizontal protrusions from below while being inserted into the first and second gaps, respectively, thereby gripping the transport tray. .

  As described above, when the first and second gripping members of the robot hand grip the horizontal one side portion and the horizontal other side portion of the assembly, respectively, the gripped portion of the transport tray is a predetermined portion. An upper protrusion that extends upward by a length, and first and second horizontal protrusions that extend from the upper protrusion to the one side in the horizontal direction and the other in the horizontal direction, respectively, are provided. The first and second horizontal protrusions are respectively supported from below. With this configuration, the robot hand can grip not only the assembly but also the transfer tray.

According to another embodiment of the present invention, the gripped portion includes an upper protruding portion that extends upward by a predetermined length from the upper surface of the transport tray, and a horizontal one side and a horizontal other from the upper protruding portion, respectively. First and second horizontal protrusions extending to the side, and between the upper surface of the transport tray and the first and second horizontal protrusions, the first and second in the vertical direction, respectively. A gap is formed,
The robot hand has first and second gripping members for gripping the horizontal one side portion and the horizontal other side portion of the assembly, respectively.
The first gripping member has a first upper holding portion and a first lower support portion, and the first lower support portion is positioned below the first upper holding member. , Projecting horizontally from the lower position of the first upper clamping member toward the second gripping member,
The second gripping member has a second upper holding portion and a second lower support portion, and the second lower support portion is positioned below the second upper holding member. , Projecting horizontally from the lower position of the second upper clamping member toward the first gripping member,
With the first and second lower support portions inserted into the first and second gaps, respectively, the first and second upper holding portions are separated from the first and second horizontal protrusions. This part is sandwiched horizontally.

  In this way, the first and second lower support portions are located directly below the first and second horizontal protrusions, respectively, and the first and second upper holding portions are the first and second Since the part which consists of a 2nd horizontal protrusion part is pinched | interposed in a horizontal direction, it can prevent more reliably that a 1st and 2nd horizontal protrusion part remove | deviates from a 1st and 2nd holding member.

Preferably, each of the first and second gripping members has a clamping surface for clamping the gripped portion or the assembly of the transport tray,
The clamping surface is composed of a pair of bent surfaces, and one of the pair of bent surfaces is bent from the other, thereby crossing the directions in which the pair of bent surfaces face.

  Thus, the clamping surface of each clamping member is composed of a pair of bent surfaces, and one of the pair of bent surfaces is bent from the other, so that the direction in which the pair of bent surfaces face each other intersects. Therefore, the object to be grasped can be surrounded by a total of four bent surfaces. Therefore, it is possible to more reliably prevent the assembly or the gripped portion of the transport tray from being detached from the first and second gripping members.

  According to the above-described present invention, the conveyance efficiency of the assembly and the conveyance tray can be maintained high as a whole without increasing the cost.

It is a perspective view which shows the robot hand of the conveyance robot by embodiment of this invention. A conveyance tray is shown, (A) is a top view, (B) is a BB line arrow directional view of (A). 3A and 3B show the drive mechanism, in which FIG. 3A is a front view, and FIG. 3B is a view (plan view) taken along line BB in FIG. It is operation | movement explanatory drawing in the case of hold | gripping an assembly by the clamping method, (A) is a front view, (B) is a BB arrow directional view (plan view) of (A). It is operation | movement explanatory drawing in the case of hold | gripping the to-be-held part of a conveyance tray by the clamping method, (A) is a front view, (B) is a BB arrow line view (plan view) of (A). . It is operation | movement explanatory drawing in the case of hold | gripping an assembly by a downward support method, (A) is a front view, (B) is a BB arrow directional view (plan view) of (A), (C ) Shows the state operated from (A). It is operation | movement explanatory drawing in the case of hold | gripping the to-be-held part of a conveyance tray by a downward support method, (A) is a front view, (B) is a BB arrow line view (plan view) of (A). Yes, (C) shows the state of operation from (A). It is operation | movement explanatory drawing in the case of hold | gripping an assembly by a clamping and downward support method, (A) is a front view, (B) is a BB arrow directional view (plan view) of (A). It is operation | movement explanatory drawing in the case of hold | gripping the to-be-held part of a conveyance tray by a clamping and downward support method, (A) is a front view, (B) is a BB arrow directional view (plan view) of (A) ).

  The best mode for carrying out the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

The transport system according to the embodiment of the present invention includes a transport robot that grips and transports the assembly 1, and a transport tray 5 on which a stacking object is loaded. The assembly 1 is an assembled product or a finished product composed of one or a plurality of parts. The loading object may be a component (for example, a component of the assembly 1).
Figure 1 shows the robot hand 3 of the transfer robot according to an embodiment of the present invention, Figure 2 shows a conveyance tray 5. In FIG. 2, (A) is a plan view, and (B) is a BB line arrow view of (A).

  The transport tray 5 is provided with a gripped portion 7 that protrudes upward from the upper surface 5 a of the transport tray 5, and the gripped portion 7 is formed in a size and shape that can be gripped by the robot hand 3. Thereby, the robot hand 3 can grip not only the assembly 1 but also the transfer tray 5.

  Next, the robot hand 3 and the gripped portion 7 of the transport tray 5 will be described in detail.

The robot hand 3 has a first gripping member 9 a that grips one horizontal part of the assembly 1 and a second gripping member 9 b that grips the other horizontal part of the assembly 1.
The 1st holding member 9a has the 1st upper side clamping part 11a and the 1st lower side support part 13a. The first lower support portion 13a is located below the first upper holding portion 11a and protrudes in the horizontal direction from the lower position of the first upper holding portion 11a to the second gripping member 9b side. . The first upper holding portion 11a and the first lower support portion 13a are coupled to each other vertically.
The second gripping member 9b has a second upper holding portion 11b and a second lower support portion 13b. The second lower support portion 13b is positioned below the second upper holding portion 11b and protrudes in the horizontal direction from the lower position of the second upper holding portion 11b toward the first gripping member 9a. . The 2nd upper side clamping part 11b and the 2nd lower side support part 13b are mutually couple | bonded up and down.
As will be described later, the first upper holding portion 11a and the second upper holding portion 11b hold the gripped portion 7 or the assembly 1 of the transport tray 5 from both sides in the horizontal direction. The first lower support portion 13a and the second lower support portion 13b support the gripped portion 7 or the assembly 1 of the transport tray 5 from below, as will be described later.

The gripped portion 7 of the transport tray 5 includes an upper protrusion 15 that extends upward from the upper surface 5a of the transport tray 5 by a predetermined length, and a first horizontal protrusion that extends from the upper portion of the upper protrusion 15 to one side in the horizontal direction. And a second horizontal protrusion 17b extending from the upper part of the upper protrusion 15 to the other side in the horizontal direction. With this configuration, a first gap 19a is formed in the vertical direction between the upper surface 5a of the transport tray 5 and the first horizontal protrusion 17a, and the upper surface 5a of the transport tray 5 and the second horizontal protrusion 17b. A second gap 19b is formed in the vertical direction.
With the configuration of the gripped portion 7 of the transport tray 5, the first and second lower support portions 13a and 13b are inserted in the first and second gaps 19a and 19b, respectively, The second upper holding portions 11a and 11b sandwich a portion composed of the first and second horizontal projecting portions 17a and 17b.
In FIG. 2, reference numeral 12 denotes a recess on the upper surface 5a of the transport tray on which parts (for example, parts of the assembly 1 such as bearings and screws) are loaded.

  Next, a drive mechanism for operating the first and second gripping members 9a and 9b will be described. The drive mechanism includes a frame 21 and a drive device (not shown). 3A and 3B show the drive mechanism, where FIG. 3A is a front view, and FIG. 3B is a BB line view (plan view) of FIG.

The frame 21 is driven to open and close. The frame 21 is provided with first and second gripping members 9a and 9b. That is, the first and second gripping members 9 a and 9 b operate so as to sandwich the gripped portion 7 of the transport tray 5 or the assembly 1 by the closing operation of the frame 21. The frame 21 is attached to the tip 23 of the arm of the transfer robot.
The frame 21 includes a pair of open / close frame portions 21a and 21b that are driven to open and close. A first holding member 9a is provided on one side 21a of the pair of opening / closing frame portions 21a and 21b, and a second holding member 9b is provided on the other side 21b of the pair of opening / closing frame portions 21a and 21b.
The pair of open / close frame portions 21a and 21b can reciprocate along a guide rail (not shown) provided on a transfer robot (for example, the distal end portion 23 of the arm), for example, in order to open and close. ing. The open / close frame portions 21a and 21b are supported by a support portion (not shown) provided in the transport robot so as to be reciprocally movable.

The driving device drives the frame 21 to open and close. The driving device may be, for example, a pneumatic or hydraulic cylinder device. In this case, in the cylinder device, the cylinder is fixed to one of the pair of open / close frame portions 21a and 21b, and the tip of the piston that reciprocates inside the cylinder is fixed to the other of the pair of open / close frame portions 21a and 21b. It's okay. For example, the driving device may be provided at the arm tip 23 of the transfer robot.
When the drive device is an electric servomotor, for example, a pinion that is rotationally driven by the servomotor and a pair of racks that mesh with the pinion with the pinion in between are provided. One of the racks is fixed to one of the pair of open / close frame portions 21a and 21b, and the other of the pair of racks is fixed to the other of the pair of open / close frame portions 21a and 21b. A pair of open / close frames 21 are opened and closed.

In FIG. 3, a rotating machine (for example, an electric motor) being assembled is shown as the assembly 1. Reference numeral 2 denotes a rotating shaft of the rotating machine. However, according to the present invention, the assembly 1 may be composed of components of a rotating machine other than the electric motor, or may be composed of components of a machine other than the rotating machine.
In FIG. 3, the assembly 1 is supported by the upper surface of a support 6 having a recess 6 a in which one end of the rotating shaft 2 is accommodated. As a result, first and second spaces 8 a and 8 b are formed at the height of the support 6 just below the one horizontal side and the other horizontal side of the assembly 1, respectively. As will be described later, first and second lower support members 13a and 13b are inserted into the spaces 8a and 8b.

  A method of gripping the assembly 1 and the transport tray 5 with the configuration of FIGS. 1 to 3 described above will be described. This method includes a clamping method, a downward support method, and a clamping / downward support method. Hereinafter, each method will be described.

(Clamping method)
A case where the assembly 1 is gripped and a case where the gripped portion 7 of the transport tray 5 is gripped will be described with reference to FIGS. 4 and 5. 4 and 5, (A) is a front view, and (B) is a BB line arrow view (plan view) of (A).
(1) In the case of gripping the assembly 1 The first and second gripping members 9a and 9b are spaced apart from each other in the horizontal direction (that is, the left-right direction in FIG. 4A) than in the state of FIG. From the state, the closing operation of the frame 21 causes the first and second gripping members 9a and 9b to move horizontally toward each other. As a result, as shown in FIG. 4A, the first lower support portion 13a is located in the first space 8a below (below) the assembly 1, and the second lower support portion 13b. Is also located in the second space 8b below (below) the assembly 1, and as shown in FIG. 4B, the first and second upper holding portions 11a, 11b are respectively assembled. 1 is pressed against the one side in the horizontal direction and the other side in the horizontal direction so that the assembly 1 is clamped from both sides in the horizontal direction. Thereafter, even if the assembly 1 is displaced downward from the first and second upper holding portions 11a and 11b while the transfer robot is transferring the assembly 1 in the holding state, the assembly 1 Since the first and second lower support portions 13a and 13b are located directly below, the assembly 1 can be supported from below by the first and second lower support portions 13a and 13b.
(2) When gripping the gripped portion 7 of the transport tray 5 The first and second gripping members 9a and 9b are arranged in the horizontal direction (that is, in the left-right direction in FIG. 5A) relative to the state shown in FIG. From the separated state, the first and second gripping members 9a and 9b move in the horizontal direction toward each other by the closing operation of the frame 21. As a result, as shown in FIG. 5A, the first lower support portion 13a is positioned in the first gap 19a below (directly below) the first horizontal protrusion 17a, and the second lower portion The side support portion 13b is located in the second gap 19b below (directly below) the second horizontal protrusion portion 17b, and the first and second upper side clamping portions 11a and 11b are respectively By being pressed against the second horizontal protrusions 17a and 17b, the first and second horizontal protrusions 17a and 17b are clamped from both sides in the horizontal direction. Thereafter, while the transport robot is transporting the transport tray 5 in the sandwiched state, the first and second horizontal projecting portions 17a and 17b are moved downward from the first and second upper sandwiching portions 11a and 11b. Even if the first and second horizontal protrusions 17a and 17b are displaced, the first and second lower support portions 13a and 13b are positioned directly below the first and second horizontal protrusion portions 17a and 17b, respectively. The first and second horizontal protrusions 17a and 17b can be supported from below by the portions 13a and 13b.

(Downward support method)
A case where the assembly 1 is gripped and a case where the gripped portion 7 of the transport tray 5 is gripped will be described with reference to FIGS. 6 and 7. 6 and 7, (A) is a front view, and (B) is a BB line arrow view (plan view) of (A).
(1) When the assembly 1 is gripped The first and second gripping members 9a and 9b are separated from each other in the horizontal direction (that is, the left-right direction in FIG. 6A) than in the state of FIG. From the separated state, the first and second gripping members 9a and 9b are moved in the horizontal direction toward each other by the closing operation of the frame 21. As a result, as shown in FIGS. 6A and 6B, the first lower support portion 13a is located in the first space 8a below (below) the assembly 1, and the second lower portion The side support portion 13b is also located in the second space 8b below (below) the assembly 1. Next, as the arm tip 23 is raised by the operation of the transfer robot, the first and second lower support portions 13a and 13b are raised and lowered to the assembly 1 as shown in FIG. The assembly 1 is gripped by contacting from above and supporting the assembly 1 from below.
(2) When gripping the gripped portion 7 of the transport tray 5 The first and second gripping members 9a and 9b are in the horizontal direction (that is, the left-right direction in FIG. 7A) than in the state of FIG. ), When the frame 21 is closed, the first and second gripping members 9a and 9b are moved in the horizontal direction toward each other. Thus, as shown in FIGS. 7A and 7B, the first lower support portion 13a is located in the first gap 19a below (directly below) the first horizontal protrusion 17a, and The second lower support portion 13b is located at the second gap 19b below (directly below) the second horizontal protrusion 17b. Next, as the arm tip 23 is raised by the operation of the transfer robot, as shown in FIG. 7C, the first and second lower support portions 13a and 13b are raised, The gripped portion 7 of the transport tray 5 is gripped by contacting the second horizontal projecting portions 17a and 17b and supporting the first and second horizontal projecting portions 17a and 17b from below.

(Clamping and downward support method)
The case where the assembly 1 is gripped and the case where the gripped portion 7 of the transport tray 5 is gripped will be described with reference to FIGS. 6C, 7 C, 8, and 9. 8 and 9, (A) is a front view, and (B) is a BB line arrow view (plan view) of (A).
(1) When Holding the Assembly 1 From the state shown in FIG. 6C, the frame 21 is closed to move the first and second holding members 9a and 9b horizontally toward each other. As a result, as shown in FIGS. 8A and 8B, the first and second upper holding portions 11a and 11b are pressed against the one horizontal side and the other horizontal side of the assembly 1 respectively. As a result, the assembly 1 is clamped from both sides in the horizontal direction. Therefore, in FIG. 8, the first and second upper holding portions 11a and 11b hold the assembly 1, and the first and second lower support members support the assembly 1 from below. Yes.
(2) When gripping the gripped portion 7 of the transport tray 5 From the state shown in FIG. 7C, when the frame 21 is closed, the first and second gripping members 9a and 9b are horizontally directed toward each other. Move to. Accordingly, as shown in FIGS. 9A and 9B, the first and second upper holding portions 11a and 11b are pressed against the first and second horizontal projecting portions 17a and 17b, respectively. In this state, the first and second horizontal protrusions 17a and 17b are sandwiched from both sides in the horizontal direction. Therefore, in FIG. 9, the first and second upper holding portions 11 a and 11 b hold the gripped portion 7 of the transport tray 5, and the first and second lower support members are the transport tray 5. The gripped portion 7 is supported from below.

  Next, the shape of the first and second gripping members 9a and 9b will be described.

The first and second gripping members 9a and 9b (in the examples of FIGS. 1 and 3 to 9, the first and second upper holding portions 11a and 11b) are respectively gripped portions 7 of the transport tray 5. Or it has the clamping surface 25 which clamps the assembly 1. FIG. Each clamping surface 25 is composed of a pair of bent surfaces 27 and 29, and one of the pair of bent surfaces 27 and 29 is bent from the other. The directions in which the surfaces 27 and 29 face each other intersect. That is, the pair of bent surfaces 27 and 29 has a cross-sectional shape in a virtual horizontal plane, which is a substantially “<” shape (or a substantially “<”) shape reversed left and right as shown in FIG. ). 4B, 5B, 6B, 7B, 8B and 9B, a total of four bent surfaces 27, 29 can surround the object to be gripped (the assembly 1 or the gripped portion 7). Therefore, in FIG. 4B, FIG. 5B, FIG. 6B, FIG. 7B, FIG. 8B, and FIG. In addition to preventing the gripping members 9a and 9b from coming off from the first and second gripping members 9a and 9b in the horizontal direction (the left-right direction in these drawings) facing each other, the gripping target is It is also possible to prevent the two gripping members 9a and 9b from coming off from the first and second gripping members 9a and 9b in the horizontal direction perpendicular to the direction in which the two gripping members 9a and 9b oppose (the vertical direction in these drawings).
5B, FIG. 7B, and FIG. 9B, the surface of the first and second horizontal protrusions 17a and 17b that faces the clamping surface 25 is the shape of each clamping surface 25. (That is, the same shape as the sandwiching surface 25). In other words, the cross-sectional shape of the first and second horizontal protrusions 17a and 17b facing the sandwiching surface 25 is substantially “ku” -shaped (or substantially “ku” -shaped). Inverted shape). Thereby, the position shift of the to-be-gripped part 7 can be prevented with high accuracy.

  Next, another configuration of the above-described transfer robot will be described.

When the robot hand 3 performs the above-described clamping method or the clamping / downward support method, the first or second gripping member 9a, 9b detects a force sensor (not shown) that clamps the gripping target. ). For example, the force sensor may be a piezoelectric sensor or a strain gauge sensor incorporated in the first or second gripping member 9a, 9b. When the driving device is an electric servo motor, the force sensor may detect the torque of the servo motor.
By providing such a force sensor, when the frame 21 is closed, the control device (not shown) controls the driving device to stop the movement of the frame 21 based on the force detected by the force sensor. It's okay. Thereby, it can be set as the state which the clamping force of an appropriate value is acting on the said holding | grip object.

  The robot hand 3 described above may be attached to the arm tip 23 of a transfer robot such as an articulated robot and moved three-dimensionally by the transfer robot. For example, the robot hand 3 may be moved in the vertical direction, the first horizontal direction, and the second horizontal direction different from the first horizontal direction by the transfer robot. Further, the robot hand 3 may be turned around a predetermined axis by the transfer robot. An articulated robot is described in Patent Document 2, for example.

  The following effects (A) to (C) are obtained according to the above-described transport apparatus system according to the embodiment of the present invention.

(A) The transport tray 5 is provided with a gripped portion 7 that protrudes upward from the upper surface 5a of the transport tray 5, and the gripped portion 7 is formed in a size and shape that the robot hand 3 can grip. The same robot hand 3 as the transfer robot can hold not only the assembly 1 but also the transfer tray 5. Accordingly, it is not necessary to separately prepare the robot hand 3 for gripping the transport tray 5, so that an increase in cost can be suppressed.
In addition, since it is not necessary to replace the robot hand 3 for gripping the assembly with the robot hand 3 for gripping the transport robot, the transport efficiency of the assembly 1 and the transport tray 5 can be increased.
Therefore, according to the above configuration of the present invention, both the assembly 1 and the transport tray 5 are one robot hand without increasing the cost and maintaining the transport efficiency of the assembly 1 and the transport tray 5 as a whole. 3 can be gripped and conveyed.

(B) The first and second lower support portions 13a and 13b are located directly below the first and second horizontal protrusions 17a and 17b (or the assembly 1), respectively, and the first and second The two upper holding portions 11a and 11b sandwich the portion (or the assembly 1) composed of the first and second horizontal protrusions 17a and 17b, so that the first and second horizontal protrusions 17a and 17b (or The assembly 1) can be reliably prevented from coming off from the first and second gripping members 9a, 9b.

(C) The holding surface 25 of each gripping member 9a, 9b is composed of a pair of bent surfaces 27, 29, and one of the pair of bent surfaces 27, 29 is bent from the other. Since the direction in which the pair of bending surfaces 27 and 29 face is crossed, the gripping object (a part of the gripped portion 7 or a part of the assembly 1) can be surrounded by a total of four bending surfaces 27 and 29. . Therefore, it can prevent more reliably that the said holding | grip object remove | deviates from the 1st and 2nd holding members 9a and 9b.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, you may change as follows. In the following, points other than those described below may be the same as described above.

For example, in the first and second holding members 9a and 9b described above, the first and second lower support portions 13a and 13b may be omitted. In this case, the first and second gripping members 9a and 9b are inserted into the first and second gaps 19a and 19b (or the first and second spaces 8a and 8b), respectively. The upper protrusion 15 may be sandwiched in the horizontal direction below the first and second horizontal protrusions 17a and 17b.
Alternatively, the first and second lower support portions are omitted from the first and second holding members 9a and 9b described above, and the first and second horizontal portions are further omitted from the held portion 7 described above. The protrusions 17a and 17b may be omitted. In this case, the first and second gripping members 9a and 9b may sandwich the upper protrusion 15 in the horizontal direction.

1 assembly (casing of rotating machine), 2 rotating shaft of rotating machine,
3 robot hand, 5 transport tray, 5a top surface,
6 support tool, 6a depression, 7 gripped part, 8a first space,
8b second space, 9a first gripping member, 9b second gripping member,
11a 1st upper side clamping part, 11b 2nd upper side clamping part,
12 Component loading indentation 13a on the upper surface of the transport tray 13a First lower support portion,
13b 2nd lower side support part, 15 upper protrusion part,
17a first horizontal protrusion, 17b second horizontal protrusion 19a first gap, 19b second gap, 21 frame,
21a, 21b Open / close frame part,
23, the tip of the arm of the transfer robot, 25 the clamping surface,
27, 29 Bending surface

Claims (4)

A transfer device system comprising a transfer tray on which a load object is loaded and a transfer robot having a robot hand,
The transport tray is gripped and transported by the robot hand that grips an assembly of one or more parts.
The transport tray is provided with a gripped portion that protrudes upward from the top surface of the transport tray, and the gripped portion is formed in a size and shape that can be gripped by the robot hand,
The robot hand has first and second gripping members for gripping the horizontal one side portion and the horizontal other side portion of the assembly, respectively.
Conveying system wherein the robot hand, the first and second gripping members by sandwiching the gripped portion, for gripping the carrier tray, it is said. A transfer device system comprising a transfer tray on which a load object is loaded and a transfer robot having a robot hand,
The transport tray is gripped and transported by the robot hand that grips an assembly of one or more parts.
The transport tray is provided with a gripped portion that protrudes upward from the top surface of the transport tray, and the gripped portion is formed in a size and shape that can be gripped by the robot hand,
The robot hand has first and second gripping members for gripping the horizontal one side portion and the horizontal other side portion of the assembly, respectively.
The gripped portion includes an upper protruding portion that extends upward by a predetermined length from the upper surface of the transport tray, and first and second horizontal portions extending from the upper protruding portion to one side in the horizontal direction and the other side in the horizontal direction, respectively. And a first gap and a second gap are formed in the vertical direction between the upper surface of the transport tray and the first and second horizontal protrusions, respectively.
The first and second gripping members support the first and second horizontal protrusions from below while being inserted into the first and second gaps, respectively, thereby gripping the transport tray. A conveying apparatus system characterized by that. A transfer device system comprising a transfer tray on which a load object is loaded and a transfer robot having a robot hand,
The transport tray is gripped and transported by the robot hand that grips an assembly of one or more parts.
The transport tray is provided with a gripped portion that protrudes upward from the top surface of the transport tray, and the gripped portion is formed in a size and shape that can be gripped by the robot hand,
The gripped portion includes an upper protruding portion that extends upward by a predetermined length from the upper surface of the transport tray, and first and second horizontal portions extending from the upper protruding portion to one side in the horizontal direction and the other side in the horizontal direction, respectively. And a first gap and a second gap are formed in the vertical direction between the upper surface of the transport tray and the first and second horizontal protrusions, respectively.
The robot hand has first and second gripping members for gripping the horizontal one side portion and the horizontal other side portion of the assembly, respectively.
The first gripping member has a first upper holding portion and a first lower support portion, and the first lower support portion is positioned below the first upper holding member. , Projecting horizontally from the lower position of the first upper clamping member toward the second gripping member,
The second gripping member has a second upper holding portion and a second lower support portion, and the second lower support portion is positioned below the second upper holding member. , Projecting horizontally from the lower position of the second upper clamping member toward the first gripping member,
With the first and second lower support portions inserted into the first and second gaps, respectively, the first and second upper holding portions are separated from the first and second horizontal protrusions. A conveying apparatus system characterized by sandwiching a portion to be formed horizontally. The first and second gripping members each have a clamping surface that clamps the gripped portion or assembly of the transport tray,
The sandwiching surface is composed of a pair of bent surfaces, and one of the pair of bent surfaces is bent from the other, whereby the directions in which the pair of bent surfaces face each other intersect. The transfer apparatus system according to any one of claims 1 to 3 .

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