JPH03131488A - Article carrying device having robot hand and surface plate for article placement - Google Patents

Abstract

PURPOSE:To correct the deviations of the horizontal position and upper or lower position of an article from a hand base frame at the time of chucking the article by providing the base frame with a shift device for moving a chucking hand arm until coming in contact with a reference stopper fitted to the base frame. CONSTITUTION:Even when the position of an article W in a station 16, for example, the set position thereof is not aligned with the center of a base frame 4 in a lengthwise direction, and also in a vertical direction, a chucking hand arm 6 is made to contact a reference stopper 15, thereby keeping the position of the article W constant at all times relative to the base frame 4 in a lengthwise direction. Also, the position of the article W in a vertical direction is always kept constant with the hand arm 6 by placing once the article W on a surface plate 17. According to the aforesaid construction, the article W can be smoothly held with an article chuck 18.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an article conveying device having a robot hand and an article #LH surface plate.

(Objective of the Invention) An object of the present invention is to provide an article conveying device that can correct and move the article to a set position even if the article is misaligned in the horizontal and vertical positions with respect to the hand base frame. The purpose is to

(Example) The present invention will be described below based on an example shown in the drawings. In this specification, the front refers to the right side of Figure 1, the rear refers to the left side of the figure, the left refers to the back side of Figure 1, and the right refers to the front side.

A known mechanism 1, for example, a rectangular coordinate type moving mechanism, is provided with a pair of left and right brackets 2 on a moving frame 1 that can be moved up and down, back and forth, and left and right. is provided to be able to swing vertically, and this base frame 4 is operated by a motor 10 (see FIG. 2). A pair of guide rods 5 are provided on the base frame 4 so that their axes are oriented in the front-rear direction, and a pair of rear clamping hand arms 6 are provided on the guide rods 5 so as to be movable back and forth. These clamping hand arms 6 are
When the holding part 6a has a tapered holding surface when viewed from above and holds a cylindrical article W with its axis directed in the vertical direction, the center of the article W is aligned with the center of the holding part 6a in the left-right direction. Matching is done automatically. The gripping hand arm 6 is connected via a fluid pressure cylinder 7 which is a telescoping device. That is, the cylinder body 8 is pivotally connected to one of the clamping hand arms 6, and the rod 9 is pivotally connected to the other clamping hand arm 6. detecting that the clamping part 6a has come into contact with the article W in each of the clamping hand arms 6;
An article detector 11 such as a limit switch or a pressure-sensitive switch is provided. When any of these article detectors 11 detects contact with the article W, a stop signal is issued to the fluid pressure cylinder 7. With such a configuration, even if the center of the base frame 4 in the front-rear direction and the center of the cylindrical article W are shifted in the front-rear direction, the article W can be held in the following manner. That is, when the clamping part 6a of one clamping hand arm 6 comes into contact with the article W, the clamping hand arm 6 receives a force from the article W, and
It stops at that position, and after that, only the gripping hand arm 6 that is not in contact with the article W moves, its gripping part 6a comes into contact with the article W, and both gripping parts 6a hold the article W at a predetermined position. When clamped by pressure, both article detectors 11 are activated, and a stop signal is issued to the fluid pressure cylinder 7.
The hydraulic cylinder 7 stops operating.

A rod 14 of a fluid pressure cylinder 13 provided on the base frame 4 is pivotally attached to the front holding hand arm 6, and a reference stopper 15 is provided at the front of the guide rod 5. With such a configuration, the fluid pressure cylinder 13
by the actuation of.

By bringing the front clamping hand arm 6 into contact with the reference stop 7 par 15, the front clamping hand arm 6 can be moved and stopped at a fixed reference position relative to the base frame 4.

As shown in FIGS. 3(c) and 3(d), an article mounting surface plate 17 whose top surface height is a set height is provided below the movement range of the base frame 4. Also.

As shown in Figure 3 (E) to (S), this article mounting surface plate 1
An article chuck 18 is provided in front of the chuck 7, and the axis of a machine tool chuck or the like is oriented in the front-rear direction.

(Operation of the embodiment) Next, the operation of the embodiment will be explained with reference to FIGS. 3(A) to 3(S).

As shown in FIG. 3(a), a cylindrical article W is supplied to the station 16 with its axis facing up and down.
When it is placed, the moving frame 1 stops above it, and then,
With the holding hand arm 6 moved to the outermost position, the holding part 6a of the holding hand arm 6 is lowered to a position facing the article W. Next, by the operation of the fluid pressure cylinder 7, the clamping hand arms 6 move toward the center so as to approach each other, and when both clamping parts 6a clamp the article W and the single article detector 11 is activated, the fluid pressure is increased. cylinder 7 is stopped):
At this time, the fluid pressure cylinder 13 is kept in a free state.

Thereafter, as shown in FIG. 3(B), after the moving frame 1 is raised, the front clamping hand arm 6 is brought into contact with the reference stopper 15, and the front clamping hand arm 6 (in other words,
The article W) held by the holding hand arm 6 is moved to a fixed reference position with respect to the base frame 4.

Thereafter, as shown in FIG. 3(C), after the moving frame 1 moves horizontally forward above the article placement plate 17, the distance between the lower end of the clamping hand arm 6 and the upper surface of the article placement plate 17 is set to H. After descending as shown, the holding hand arm 6 is opened by the operation of the fluid pressure cylinder 7, and the nine articles W are temporarily placed on the article mounting surface plate 17. In addition, in this case, the fluid pressure cylinder 1
3 is not activated. By this operation, the distance between the bottom surface of the article W and the lower end of the holding hand arm 6 can be set to a constant distance #H. Note that the height H is the station 16.
The distance between the bottom surface of the article W and the lower end of the clamping hand arm 6 when the article W is clamped is made longer.

Thereafter, as shown in FIGS. 3(D) and 3(E), when the article W is again clamped by the clamping hand arm 6, the moving frame 1 rises, moves horizontally forward, and descends to the vicinity of the article chuck 18. .

Thereafter, as shown in FIG. 3(f), the base frame 4 is rotated 90 degrees counterclockwise, and the article W is turned sideways.

Thereafter, as shown in FIG. 3(G), the moving frame 1 is moved horizontally forward by a predetermined amount to fit the article W into the space of the article chuck 18, and then the article W is clamped by the article chuck 18.

After that, as shown in FIG. 3 (H), the holding hand arm 6
opens.

After that, as shown in FIG. 3, the gripping hand arm 6
The moving frame 1 is moved back to a position where it does not touch the article W, and the base frame 4
After rotating 90 degrees clockwise, the moving frame l moves above the station 16.

As is clear from the above explanation, if station 16
If the article W is simply clamped and fitted into the article chuck 18, the following disadvantages will occur; however, in this embodiment, such defects do not occur. For example, if the article is stopped at the set position and there is a deviation from the center of the nine-base frame 4 in the longitudinal direction, and there is also a deviation h in the height direction, the article When the W is placed horizontally in order to fit into the article chuck 18, the deviation in the front and rear direction is caused by the article chuck 18.
The deviation h in the height direction becomes a deviation in the longitudinal direction from the reference position of the article chuck 18 in the longitudinal direction, and the article W is smoothly moved to the article chuck 18.
However, in this embodiment, even in such a case, the position of the article W in the longitudinal direction relative to the base frame 4 can be adjusted by applying the gripping hand arm 6 to the reference stopper 15. By placing the article W in the article placement chamber fi17 once, the article W relative to the gripping hand arm 6 can be kept constant.
Since the position in the height direction can always be kept constant, the article W can be smoothly held by the article chuck 18.

(Effects of the Invention) The present invention achieves the following effects through the above-described configuration.

A pair of clamping hand arms facing each other are provided on a base frame that can be freely moved up and down and horizontally, and are movable in the same horizontal direction.
These gripping hand arms are connected via a telescoping device.
The base frame is provided with a moving device that shifts the gripping hand arm to a position where it hits a reference stopper provided on the base frame, and an article mounting surface plate is provided below the movement range of the base frame. Even if the horizontal position and vertical position of the article with respect to the hand base frame deviate when the article is being held, it is possible to correct this and move the article to the set position.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a side view, FIG. 2 is a sectional view taken along the line II--II in FIG.
FIGS. 3(A) to 3(S) are diagrams for explaining how to unload an article by correcting the displacement of the article. 4... Base frame, 6... Clamping hand arm, 7... Fluid pressure cylinder, 13... Fluid pressure cylinder, 15...
Reference stopper, 17...When placing an object on the surface plate Applicant: Representative of Murata Machinery Co., Ltd.
Person Patent attorney Tetsuo Onishi (E) (B) Figure 3 (C) Lm)

Claims (1)

[Scope of Claims] 1. A pair of clamping hand arms facing each other are provided on a base frame that can be freely moved up and down and horizontally, and are movable in the same horizontal direction, and these clamping hand arms are connected via a telescoping device. The robot hand is provided with a moving device on the base frame for shifting the gripping hand arm to a position where it hits a reference stopper provided on the base frame, and an article mounting surface plate is provided below the movement range of the base frame. An article conveyance device having an article placement surface plate. 2. An article conveyance device having a robot hand and an article mounting surface plate according to claim 1, wherein the telescopic device is a fluid pressure cylinder.