JPH039996Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a hand device for grasping cargo in an automatic cargo handling device that automatically and sequentially loads cargo onto a pallet.

BACKGROUND TECHNOLOGY In recent years, various pallet loading devices have been developed as automatic baggage handling devices. One example is one in which the required parcels for one stage are arranged on a sorting table, and the parcels arranged on this sorting table are transferred to the next one. Transfer it to the moving table of
A loading device called a palletizer is generally known, which moves this moving platform onto a pallet on a lifting platform and places the cargo on the moving platform onto the pallet.

In particular, as a transfer cargo holding device for such a loading device, the one described in the specification of Utility Model Application No. 57-57221 (Utility Model Application No. 160789/1989) is known, and this transfer cargo holding device is Both the first and second clamping bodies are made of an integral plate-like body, the support part is supported by one rotating shaft at the upper end of the back surface of the second clamping body, and the second clamping body is rotated by one actuator. It has a structure that can be rotated to the lower part by external force.

Problems to be Solved by the Invention However, the palletizer used as a loading device has a large load on the moving platform and supporting parts, and requires a large amount of work to move the moving platform laterally and operate the pallet lifting platform. The drawback is that it requires space and the device itself becomes larger. In addition, in such a transfer cargo holding device, when grasping the cargo, the support body hits the object under the cargo, and when the support body is released, it may push up the cargo being held or cause scratches on the cargo. There are some inconveniences such as attaching it.

Therefore, the purpose of this invention is to eliminate the drawbacks of the conventional robot by providing a support frame that is installed at the head of a telescopic arm that moves up and down along a pivotable upright column of the robot body. A hand device for grasping baggage is provided, consisting of a fixed hand portion extending downward from one side and a movable hand portion movably provided on the other side in opposition to the other side, to prevent the baggage gripped by the hand device from falling. A baggage grasping hand device for an automatic baggage handling device that has a simple structure and can quickly load cargo, in which a holding pawl is provided at the lower end of the movable hand so that it can freely protrude into a narrow gap so as not to interfere with the baggage. It is about providing.

Means for Solving the Problems According to this invention, the baggage grasping hand device of the automatic baggage handling device is a telescopic hand device that moves up and down along a pivotable upright column of the robot body of the automatic baggage handling device. In the baggage grasping hand device installed at the head at the end of the arm, the hand support frame attached to the head of the robot body and the hand support frame are arranged in a row to form one reference grasping surface and are individually divided into multiple pieces. a fixed hand section, a movable plate body movably provided opposite to these fixed hand sections, an actuating device provided on each of the movable plate bodies, and a movable plate body that moves up and down along the outer surface of each movable plate body. The holding pawl is provided to be slidable in a direction and is erected inwardly while moving downward, and means for operating the holding pawl to erect the holding pawl.

These and other objects, advantages and features of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.

Embodiment As shown in FIGS. 1 and 2 of the drawings, an automatic baggage handling device in which this invention is implemented includes a column 2 that is rotatably supported upright on a platform 3, and a column that can move up and down along the column 2. A robot body 1 consisting of an arm 5 which can extend and contract laterally from a movable part 4 and has a head part 6 at its tip, and this robot body 1.
It is mainly composed of a hand device 10 for grasping cargo, which is provided on a head portion 6 at the tip of an arm 5.
The robot main body 1 has a well-known cylindrical coordinate structure, and in addition to rotation by a support 2, vertical movement of a movable part 4 along the support 2, and lateral movement by an extendable arm 5, the robot body 1 has a cylindrical coordinate type well-known structure. Hand device 10
It is possible to perform various movements such as rotation. Of course, the robot body is not limited to such a cylindrical coordinate type, but may be of any suitable type, such as a rectangular coordinate type, a rectangular coordinate type, or an articulated type.

As clearly shown in FIGS. 3 to 11, the hand device 10 for grasping cargo in the automatic cargo handling device of this invention includes a hand support frame 11 attached to the head portion 6 of the robot body 1, and a support frame 11 for the hand attached to the head portion 6 of the robot body 1. A fixed hand part 12 divided into a plurality of parts extends downward from one side, and a fixed hand part 12 is provided on the other side of the support frame 11 facing the fixed hand part 12 and extends downward and is movable with respect to the fixed hand part 12. a plurality of movable hand parts 14, and a holding pawl 15 provided at the lower end of the movable hand part 14 so as to be able to protrude inward to prevent the cargo held between the fixed and movable hand parts 12 and 14 from falling. It is mainly composed of.

The support frame 11 of the hand device 10 is made of suitable shaped steel or angle material into a desired frame shape, and is rotatably attached to the head portion 6 at the tip of the arm 5 of the robot body 1 by means of a mounting member 13. . Support frame 11 framed in this way
A fixed hand portion 12 is provided on one side of the lower surface of the device and extends vertically downward and is divided into a plurality of pieces, three in the illustrated embodiment. The fixed hand part 12 has a fixed plate 21 made of a suitable metal plate or hard plastic plate, and a member for increasing frictional resistance, such as a thin rubber plate, is provided on the entire inner surface or a lower part of the fixed plate 21. It can be used to securely grip the baggage. A plurality of movable hand parts 14 are provided on the other side of the lower surface of the support frame 11, facing each of the fixed hand parts 12, extending vertically downward and movable in opposition to the fixed hand parts 12. Each of these movable hand sections 14 includes a movable plate main body 24 that is provided movably relative to the fixed hand section 12 along a rail member 20 provided on the support frame 11, and a movable plate main body 24 that is movable relative to the fixed hand section 12 along a rail member 20 provided on the support frame 11.
An actuating device such as a pneumatic piston cylinder 25 attached to the frame member 11 so as to move along the axis 0, and a movable plate main body 2 so as not to drop the cargo gripped by the fixed hand section 12 and the movable hand section 14.
4, and another actuating device such as a pneumatic piston cylinder 27 provided on the outside of the movable plate body 24 to cause the retaining pawls 15 to protrude inwardly. We are prepared.
The movable plate main body 24 has a plurality of rollers 2 so as to be movable along the rail member 20 of the support frame 11.
A guide member 28 made of a suitable shape steel such as channel steel provided with a guide member 28, a main body member 31 made of a suitable metal plate extending downward from the guide member 28, and a main body member 31 attached to the main body member 31. rubber plate 32
, a holder member 33 and a mounting bracket 34 that hold the holding pawl 15 so as to be able to protrude inwardly, a pneumatic piston cylinder device 27 and links 34, 3 that actuate the holder member 33 and the mounting bracket 34 in the vertical direction.
7 and a lever 38. The pneumatic piston cylinder device 27 is pivotally supported by the main body member 31 at one end of the cylinder, a fork end 35 is provided at the other end of the piston rod, and a link 36 is connected to the intermediate portion of the lever 38. The lever 38 is pivotally connected to the main body member 31 at one end, and another link 37 is pivotally connected to the other end.
The other end of 7 is further pivotally connected to one end of a pawl fitting 34. Further, the other end of the link 36 is pivotally connected to one end of the pawl holder member 33. The mounting bracket 34 has a rectangular plate shape, and a retaining pawl 15 is pivotally attached to one end by a pin 41, and if necessary, excess meat can be suitably removed to reduce weight and save materials. ing. Further, the holder member 33 has a fork shape as shown in the figure, and a groove 42 is provided in the handle portion, and the mounting bracket 34 is fitted so as to be able to slide along this groove 42.
At the other end of the fork-shaped portion of the holder member 33, a guide member 43, such as a pin, is provided to raise the retaining pawl 15 as will be described later. Further, a groove 44 is provided on the inner surface of the fork-shaped portion of the holder member 33, so as to suitably guide both ends of the pin 41, which pivotally connects the retaining pawl 15 to the mounting bracket 34, when sliding. It's summery. Furthermore,
A guide member 45 is provided on the main body member 31 to allow the holder member 33 to slide relative to the main body member 31. Therefore, the holder member 33 can slide relative to the main body member 31 of the movable hand section 14, and the mounting bracket 34 can slide relative to this holder member 33. The holder member 33 and the mounting bracket 34 are adapted to slide relative to each other with different strokes. In other words, the amount of sliding of the mounting bracket 34 is greater than the amount of sliding of the holder member 33, and the ratio of these sliding amounts is proportional to the pivot point of the mounting bracket 34 and the holder member 34 with respect to the pivot point of the main body member 31 of the lever 38. Determined by lever ratio. Therefore, when the pneumatic piston cylinder device 27 is now activated and the mounting bracket 34 and the holder member 33 are slid from the solid line position to the chain line position in FIGS. 5 and 6,
Stroke of mounting bracket 34 and holder member 33
The relationship between S ₁ and S ₂ is the lever ratio at lever 38
It corresponds to l ₁ and l ₂ . Based on such sliding movement of the mounting bracket 34 and the holder member 33 with different strokes, the holding pawl 15 pivotally supported at the tip of the mounting bracket 34 is gradually erected inward by the guide member 43 of the holder member 33. can be easily understood.

Effects of the invention When loading cargo using the automatic cargo handling device of this invention constructed in this way, the cargo transported by an appropriate conveyor is placed at a predetermined position at the head 6 at the tip of the arm 5 of the robot body 1. It is held between fixed and movable hand parts 12 and 14 of a baggage gripping hand device 10 provided in the bag. The size of the baggage to be grasped at this time is determined by the movable hand section 1.
It is possible to have a size ranging from 4 divided individual sizes to a size corresponding to the size of the entire movable hand part.

First, in the robot body 1, a hand device 10 for grasping a load provided at a head portion 6 at the tip of an arm 5 rotates the support 2 on the base 3, and moves the arm 5 vertically and horizontally along the support 2. It is positioned at a predetermined location where it can hold the luggage by expanding and contracting. Next, the arm 5 is lowered along the column 2 so that the load is located between the fixed and movable hand parts 12, 14, and then the pneumatic piston cylinder device 2, which is the actuating device for moving the movable hand part, is moved.
5 to move the movable hand part 14 to the supporting frame 1.
1 along the rail member 15 toward the fixed hand part 12, and firmly grips the cargo between the fixed hand part 12 and the movable hand part 14. Once the baggage is gripped between the fixed and movable hand parts 12 and 14 in this way, the pneumatic piston cylinder device 27 of the movable hand part 14 is used to prevent the gripped baggage from falling.
, the holder member 33 and the mounting bracket 34 are slid downward by the link 36, the lever 38, and the link 37 via the fork end 35 at the end of the piston rod. These holder members 33
By sliding the mounting bracket 34, the holder member 33 is first moved via the link 34 by a distance corresponding to the stroke _S1 of the piston rod of the pneumatic piston cylinder device 27;
8 and this holder member 3 via the link 37.
The lever is moved by a stroke S ₂ corresponding to the lever ratio l ₂ /l ₁ to the stroke S ₂ of 3. Therefore, for the stroke S ₁ of the holder member 33, the mounting bracket 3
4 is moved stroke S ₂ .

When the holder member 33 and the mounting bracket 34 are slid downward with different strokes S ₁ , S ₂ corresponding to such a lever ratio l ₂ /l ₁ , the lower end of the mounting bracket 34 is pivoted. The retaining pawl 15 is gradually raised inwardly by the guide member 43 at the lower end of the holder member 33 in order to slide relatively along the pin 43 while engaging the guide member 43;
Finally, as shown by the chain line, it faces inward at a right angle and comes into contact with the bottom of the load, completely preventing the load gripped between the fixed and movable hand parts 12 and 14 from falling. can.

Next, the arm 5 of the robot main body 1 is moved upward along the support 2, rotates together with the support 2, and, if necessary, extends and contracts the arm 5 to move the cargo gripped by the hand device 10 to a predetermined location. Can be carried to an upper position. Now, when the arm 5 is lowered along the column 2 and operated to retract the piston rod of the pneumatic piston cylinder device 27 of the movable hand portion 14 of the hand device 10, the holder member 33 and the mounting bracket 34 are moved into the holding pawl 15. At the same time, another pneumatic piston cylinder device 25 is actuated to move the movable hand portion 14 outward to release the cargo and place it in a predetermined location. By repeating such operations in sequence, a predetermined number of cargo can be loaded onto a desired position on a suitable base plate, such as a pallet.

Effects of the invention As described above, according to the baggage grasping hand device of the automatic baggage handling device of this invention, since the fixed and movable hand parts are divided, the gripping hand device of the present invention is more effective than an integrated type that is not divided. The cardboard box that is the cargo to be handled may not be held under the same conditions, and the surfaces to be gripped may not be parallel due to the deformation of the box itself or the influence of the contents, or the box may be gripped in hard and soft places, etc. Even in the case of boxes with different reaction forces, or when gripping one or more items at the same time, each hand can make different movements according to the dimensions and properties of the box, so the entire box can be gripped. Appropriate and uniform gripping force can be applied throughout, and it is possible to prevent the load from being crushed, shifted, dropped, or damaged. In addition, since the loads are aligned against the reference gripping surface on the fixed hand side, by placing the items with the reference gripping surface inside, it is possible to avoid interference with adjacent loads and to prevent a large number of loads from collapsing. The holding pawls do not protrude outward or downward even when the cargo is not gripped, so there is no chance of catching the worker or objects, and the head can be moved safely. , it can turn, and since the operating parts are housed compactly, no excessive force is applied, there are fewer breakages and failures, and the operating speed is fast.

Further, by making a suitable control device recognize the operation pattern of the robot main body and hand device in advance, it is possible to automatically and repeatedly load cargo for one pallet. In addition, the rotation of the support of the robot body, the vertical movement and horizontal expansion and contraction of the arm, the rotation of the hand device relative to the head, and the load gripping and releasing operation of the hand device can be controlled simultaneously, allowing the robot to operate through the shortest path and quickly. A large amount of cargo can be loaded in a short period of time, the holding pawl and the holder member are operated simultaneously via a link mechanism, so the operating parts can be kept small, and the holding pawl can prevent the cargo held by the holding pawl from falling. It can be completely prevented.

[Brief explanation of drawings]

Figure 1 is a schematic front view showing one embodiment of the automatic baggage handling device of this invention, Figure 2 is a schematic side view, and Figure 3 is a schematic side view.
The figure is a side view of the hand device of the automatic baggage handling device of this invention, FIG. 4 is a front view, FIG. 5 is a sectional view of the movable hand part of the hand device, FIG. 6 is a front view, and FIG. A cross-sectional view of the holder member of the movable hand section.
Fig. 8 is a front view, Fig. 9 is a side view of the mounting bracket of the movable hand, Fig. 10 is a front view, Fig. 11 is a side view of the holding claw of the movable hand, and Fig. 12 is a front view. be. In the figure, 1: robot body, 2: support, 3: stand,
4: Movable part, 5: Arm, 6: Head part, 10:
Hand device, 12: Fixed hand section, 14: Movable hand section, 15: Holding jaw, 21: Fixed plate, 24:
Movable plate main body, 25, 27: pneumatic piston cylinder device, 31: main body member, 32: rubber plate, 33: holder member, 34: mounting bracket, 36, 37: link, 38: lever.

Claims (1)

[Scope of utility model registration request] A support for the hand attached to the head of the robot body in a baggage grasping hand device installed at the head of the tip of a telescoping arm that moves up and down along a rotatable upright column of the robot body of an automatic baggage handling device. a frame, a fixed hand section that is arranged in a row and divided into a plurality of pieces to form one reference gripping surface, and a movable plate main body that is movably provided opposite to these fixed hand sections;
An actuating device provided on each of the movable plate bodies, and a vertical sliding guide on a holder member that is vertically slidable along the outer surface of each movable plate body to hold the gripped cargo so as not to drop it. a retaining pawl that is pivotally supported at the lower end of the mounting bracket and erected inwardly while moving downward; and a guide that engages and guides the retaining pawl to erect inwardly when the mounting bracket is slid downward. and a pneumatic piston-cylinder device connected to the upper end of a mounting bracket provided on the upper part of the movable plate body and having a piston rod end pivotingly supporting the retaining pawl. A hand device for grasping luggage in automatic luggage handling equipment.