JPH05253880A - Claw for robot hand device - Google Patents

Abstract

PURPOSE:To prevent a pipe-like body from slipping off or being damaged while gripped by constituting a claw for robot hand device for gripping and transferring a pipe-like body such as a winding roll by allowing elastic sheets which have particular dynamic and static friction coefficients with respect to the pipe-like body to stick to a claw base. CONSTITUTION:A claw 2 which is installed on a robot hand device and grips a pipe-like body using a pair of opposing claws 2 has a claw base 31 constituting a valley part 31a which has an approximate V-shape. Elastic sheets 32 are allowed to stick to both inclined faces of the valley part 31a. In this case, the elastic sheet 32 has a dynamic friction coefficient (ASTM D1894-73) of 1.05 to 2.0 and a static friction coefficient (ASTM D1894-73) of 1.1 to 2.0 as well as a thickness of 8 to 5000mum. In addition, as the elastic sheet 32, silicone rubber, bridge silicone rubber, or flocculent low density polyethelene containing lubrication powders such as melamine or melaminecyanurate is used.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a claw of a robot hand device for gripping and transporting a tubular body such as a paper tube, a stretch film, a wrap film, or a winding roll.

[0002]

2. Description of the Related Art In recent years, a shortage of workers has become a serious problem in the manufacturing industry regardless of the type of industry. On the other hand, shortening working hours is also demanded for improving working conditions. Nevertheless, it is still desired to improve productivity as in the past or higher, and therefore, how to improve the manufacturing efficiency is a major issue. This is also a big problem in the film manufacturing industry where it is common knowledge that the manufacturing apparatus is operated for 24 hours.

Therefore, in the film manufacturing industry,
The unmanned (automated) manufacturing process is being actively promoted,
A molding machine or the like equipped with an extrusion amount control device, an automatic uneven thickness adjusting device, a frost level monitoring device, a film width adjusting device, etc. has been proposed (Japanese Patent Laid-Open Nos. 4-7121 and 4-7122).
No. 4, No. 14432, No. 4-25435, No. 4-
No. 27526, Processing Equipment Related Equipment Guide '91 (CTI
(Published by the Processing Technology Research Group), pages 329 to 333, etc.), relatively unmanned is being achieved until the film winding step.

However, the worker still removes the film winding roll from the film winder and attaches a new paper tube to the film winder, and this work requires the most amount of work in the field. This is a lot of work and is one of the tasks that workers dislike. Therefore, a robot hand device (Japanese Patent Publication No. 4-2395, Japanese Patent Publication No. 4-796, etc.) can be used for gripping and transporting the winding roll, the paper tube, and the like, thereby making the work unmanned. Conceivable.

[0005]

The robot hand device is used to attach the paper tube to the film winder, remove the film winder roll from the film winder, and roll the film winder to the storage location. When carrying the above, it is necessary to meet the following requirements. The tubular body should not slip off from the claw of the robot hand device during transport of the tubular body. The tubular body is not deformed or damaged by the gripping force of the claws, and the gripping force does not make it difficult to pull out the film by attaching the front surface and the back surface of the wound film. The tubular body easily separates from the nail when the nail is expanded to release the tubular body and place it in place.

An object of the present invention is to provide a claw for a robot hand device that satisfies these required performances.

[0007]

In order to achieve the above object, the pawl of the robot hand device of the present invention has a coefficient of dynamic friction with a tubular body (ASTM D1894-73) 1.05.
2.0, coefficient of static friction with tubular body (ASTM D1894
-73) An elastic sheet having a thickness of 1.1 to 2.0 and a thickness of 8 to 5000 µm is fixed to a rigid nail base.

[0008]

The tubular body is gripped by moving the claw of the robot hand device inward and bringing the claw into contact with the peripheral surface of the tubular body. To open the tubular body, move the claw of the robot hand device outward. It is performed by moving and separating the claw from the peripheral surface of the tubular body. Appropriate frictional force is applied to the tubular body, the tubular body is reliably gripped, and the tubular body is easily opened. Further, the elastic sheet is appropriately elastically deformed, so that the tubular body is prevented from being deformed or damaged, and the film is not attached.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view of a claw of the robot hand device, FIG. 2 is a perspective view showing a state where the robot hand device holds a tubular body, and FIG. 3 is a perspective view of an industrial robot equipped with the robot hand device.

First, the robot hand device for mounting the nail of the present invention will be described.

As shown in FIG. 2, the robot hand device 1 is equipped with four claws 2a, 2b, 2c and 2d, and these four claws 2a, 2b, 2c and 2d are respectively suspended. It is fixed to the lower part of the plates 3a, 3b, 3c, 3d by bolts. The upper ends of the hanging plates 3a and 3b are on the lower surface of the connecting plate 4a, and the upper ends of the hanging plates 3c and 3d are on the lower surface of the connecting plate 4b.
The distance between the hanging plates 3a and 3b is the same as the distance between the hanging plates 3c and 3d, and the distance between the hanging plates 3a and 3c is the same as the distance between the hanging plates 3b and 3d. It is arranged and fixed so that Therefore, the connecting plate 4a and the connecting plate 4b are arranged in parallel.

Blocks 5 are provided on both ends of the upper surface of the connecting plate 4a.
Legs 6a and 6b are fixed via a and 5b, and legs 6c and 6d are fixed to both ends of the upper surface of the connecting plate 4b via block bodies 5c and 5d.

Two rails 8 are provided on both sides of the lower surface of the base 7.
a and 8b are arranged in parallel and fixed, and this rail 8
The legs 6a and 6c are attached to a and the legs 6b and 6 are attached to the rail 8b.
All d are slidably attached. Further, a stopper-mounting plate 9 is suspended at four corners of the lower surface of the pedestal 7, and a stopper 10 made of an elastic member is fixed to the inner side surface of the stopper-mounting plate 9.

An air-cylinder-1 is provided on the lower surface of one side of the pedestal 7.
1 is attached, and the tip of the rod 12 of the air-cylinder 11 is fixed to a washer 13 standing upright at the center of the upper surface of the connecting plate 4a. In addition, this air-cylinder-11
Is operated by compressed air ( ^{2 to} 10 kg / cm ² G) supplied from the air hoses 14a and 14b.

A connecting rod support shaft 15 is provided at the center of the lower surface of the pedestal 7.
The upper end of the connecting rod support shaft 15 is fixed, and the central portion of the connecting rod 16 is rotatably supported on the lower end of the connecting rod support shaft 15 about the connecting rod support shaft 15. Pin guide grooves 16a and 16b are formed at both ends of the connecting rod 16 at symmetrical positions.
On the other hand, a pin 17a is erected at a predetermined position on the upper surface of the connecting plate 4a, and a pin 17b is erected at a position on the upper surface of the connecting plate 4b which is point symmetrical with respect to the standing position of the pin 17a with respect to the connecting rod support shaft 15. There is. The pins 17a and 17b are connected to the connecting rod 1
The pin guide grooves 16a and 16b of No. 6 are fitted and guided.

Next, an industrial robot equipped with the robot hand device 1 will be described.

As shown in FIG. 3, the industrial robot 18 rotatably supports the rear end of the hand rotating shaft 20 on the front end of the robot arm 19, and the front end of the hand rotating shaft 20. The central portion of the upper surface of the pedestal 7 is fixed and holds the robot hand device 1.

At the rear end of the robot arm 19, the tip of the rod 22 of the air cylinder 21 and the upper end of the balancer 23 are connected, and the robot arm 19 is operated by the operation of the air cylinder 21 and the balancer 23. It is designed to move up and down.

A lower rotary shaft 26 is provided in an outer cylinder 25 installed on the base 24, and an upper rotary shaft 27 is provided above the lower rotary shaft 26 to rotate the lower rotary shaft 26. As a result, the robot arm 19 is rotated to the right and is rotated to the left by the rotation of the upper rotary shaft 27.

Further, the robot arm 19 is moved forward and backward by the forward and backward rotation of the support rod 30 connected to the fulcrum 28 at the lower end and the fulcrum 29 at the upper end.

As described above, the robot hand device 1 can be moved to a predetermined position by combining the vertical movement, the horizontal rotation, and the forward / backward movement of the robot arm 19.

The operation of gripping and transporting the tubular body a by the robot hand device 1 will be described.

Compressed air from the air hose 14a
When it is supplied to the cylinder 11, the rod 12 extends and the tip of the rod 12 pushes the washer 13 forward, so that the legs 6a, 6
b slides along the rails 8a and 8b, and the connecting plate 4a moves inward. At this time, since the pin 17a moves in the pin guide groove 16a of the connecting rod 16 by the movement of the connecting plate 4a, the connecting rod 16 is rotated about the connecting rod supporting shaft 15, so that the pin 17b also rotates in the pin guide groove 16b. Since it moves inside, the connecting plate 4b also moves inward at the same time as the connecting plate 4a.

As a result, the claws 2a and 2b fixed to the connecting plate 4a and the claws 2c and 2d fixed to the connecting plate 4b.
Also moves inward and grips the tubular body a from the side, as shown in FIG.

On the other hand, when compressed air is supplied to the air-cylinder 11 from the air hose 14b, the rod 12 contracts, and the tip of the rod 12 pulls the washer 13 rearward so that the leg 6
a and 6b slide along the rails 8a and 8b, and the connecting plate 4
a moves outward. At this time, since the pin 17a moves in the pin guide groove 16a of the connecting rod 16 by the movement of the connecting plate 4a, the connecting rod 16 is rotated about the connecting rod supporting shaft 15 in the opposite direction to the above, so that the pin 17b is rotated. Also moves in the pin guide groove 16b in the opposite direction, and the connecting plate 4b moves outward simultaneously with the connecting plate 4a.

As a result, the claws 2a and 2b fixed to the connecting plate 4a and the claws 2c and 2d fixed to the connecting plate 4b.
Also moves outward, and the tubular body a is opened. At this time, the block bodies 5a, 5b, 5c, 5d are the stoppers 1.
By touching 0, 10, 10, 10, the claws 2a,
2b, 2c and 2d stop at predetermined positions.

In the robot hand device 1 as described above, the stretch film is also wound around the paper tube by computer-controlling the pressure of the compressed air supplied from the air-hoses 14a and 14b in accordance with the outer diameter of the tubular body a. Even with the winding roll, the gripping force by the claw 2 can be made constant, and the paper tube, the winding roll, and the like can be gripped without damage.

In the film manufacturing process, the robot hand device 1 grips the paper tube from the paper tube supply device and attaches it to the support rod of the winding machine. After the film winding is completed, the film winding roll is wound up. When the robot hand device 1 is detached from the support rod of the machine and is used for placing it on a pallet or the like, the robot hand device 1 is rotated by a predetermined program to move the robot arm 19 back and forth, up and down,
It is necessary to rotate to the left and right.

The present invention employs such a robot hand device 1
The present invention relates to the nail 2 to be attached to
As shown in FIG. 1, an elastic sheet 32 is fixed to a nail base 31.

The claw base 31 has a V-shaped valley portion 31.
a is formed, and the elastic sheet 32 is fixed to both inclined surfaces of the valley portion 31a.

As the material of the nail base 31, a highly rigid plastic such as polypropylene, ABS, high density polyethylene, polyamide, etc., and a small specific gravity such as aluminum,
A metal with high rigidity is used. Flexural rigidity 1
It is preferably 2,000 to 60,000 kg / cm ² .

The friction coefficient of the elastic sheet 32 is set to a predetermined value in order to secure the grip of the tubular body a and to facilitate the opening. The coefficient of static friction between the tubular body a and the claw 2 is (A
STM D1894-73) 1.1 to 2.0, preferably a coefficient of static friction between the resin film wound around the paper tube and the nail is 1.
5 to 2.0, the dynamic friction coefficient between the tubular body a and the claw 2 is (AST
MD 1894-73) 1.05 to 2.0, preferably a dynamic coefficient of friction between the resin film wound around the paper tube and the claw is 1.3.
~ 1.8.

Elastic sheet 3 satisfying the above conditions
2 includes polymethylsiloxane rubber (silicone rubber), crosslinked silicone rubber, linear low-density polyethylene containing a lubricant powder such as melamine, melamine cyanurate, molybdenum oxide, etc., and has a tensile modulus (I
SOR 1184-1970) has a 100% modulus of 20 to 40 kg / cm ² , and a 300% modulus of 70 to 70 kg.
It is preferably 100 kg / cm ² and has a wall thickness of 8 to 5,000 μm.

Urethane elastomer, isoprene rubber,
When a material such as chloroprene rubber or butyl rubber having a coefficient of static friction or a coefficient of dynamic friction that deviates from the above is used, it is difficult for the tubular body a to separate from the claw 2, and it is difficult to position the paper tube or the film winding roll at a predetermined position. ABS scratches the film.

On the contrary, when the coefficient of static friction with the resin film is small, such as polytetrafluoroethylene, the tubular body a is more likely to slide than the claw 2.

Next, the case where the robot hand device equipped with the nail of the present invention is actually used in the film manufacturing process will be described.

(Specific Example) A multi-layer blown film automatic molding machine equipped with a film thickness control device and a film width adjusting device ("MKT-15" manufactured by Mitsubishi Yuka Engineering Co., Ltd.).
00 ") with the paper tube feeder and the claw of the present invention attached thereto.
An industrial robot having the robot hand device shown in Fig. 3 and a pallet moving device for storage were attached, and stretch films were automatically manufactured.

The stretch film is polybutene-1.
(Density 0.915 g / cm ³ , MFR at 190 ° C
1.8 g / 10 minutes; "M020 manufactured by Shell Chemical Co., Ltd.
0 ") 70% by weight, propylene-ethylene-butene-1
Random copolymer resin (ethylene content 2.0% by weight,
Butene-1 content 13.0% by weight, density 0.896 g /
cm ³ , MFR at 230 ° C 5.0 g / 10 minutes) 1
5% by weight, ethylene-vinyl acetate copolymer resin (vinyl acetate content 15% by weight, MFR 2.0 at 190 ° C.)
g / 10 minutes) A resin composition consisting of
5 mm, L / D25 extruder was used to knead at 185 ° C., while ethylene-vinyl acetate copolymer resin (vinyl acetate content 15% by weight, MFR 2.0 at 190 ° C.)
g / 10 minutes) 98.5% by weight, monoglycerin oleate ("Rikemar OL100" manufactured by Riken Vitamin Co., Ltd.) 1.5
Resin composition consisting of wt.%, Caliber 50mm, L / D2
The mixture was kneaded using an extruder of No. 5 at 160 ° C., and both were supplied to a single annular three-layer die, and both surfaces of a layer containing polybutene-1 as a main component and having a thickness of 5 μm were mixed with ethylene-vinyl acetate. Inflation molding was performed at a die temperature of 185 ° C. and a blow ratio of 5.0 so that layers each having a film thickness of 4 μm containing a polymer resin as a main component were laminated to obtain a stretch film having a width of 1600 mm and a total film thickness of 13 μm. It is a thing.

This stretch film is cut into 5 equal parts in the width direction, and 1000 m is wound around a paper tube having a diameter of 88 mm and inserted into each of two holding rods of a winder, and the diameter is 1 mm.
Ten rolls of stretch film having a diameter of 60 mm were obtained.

Then, the industrial robot 18 having the robot hand device 1 is moved back and forth, rotated, moved up and down, moved back and forth, rotated, and moved downward, so that these ten winding rolls are sequentially held by the winding machine. The rod was placed on a holding pallet.

In the work for removing the winding roll from the holding rod of the winder, 5 kg / cm ^{2 is applied} from the air-hose 14a.
When the compressed air of G was supplied, the claw 2 was moved inward to grip the winding roll, and when the winding roll was conveyed to reach a predetermined position on the holding pallet, the supply of compressed air was stopped. Next, from air-hose 14b, 2.5 kg / cm
By supplying ² G of compressed air, the claw 2 was moved outward to separate the winding roll from each other, and the pawl 2 was placed at a predetermined position on the holding pallet. In this way, ten winding rolls were sequentially placed on the holding pallet from the holding rod of the winder.

After the transportation of the ten winding rolls to the holding pallet is completed, the robot hand device 1 is caused to operate in the same manner as described above, so that the paper pipe feeding device grips the paper pipes one by one and winds them. This was attached to the two holding rods of the machine. In this way, five paper tubes were attached to each of the two holding rods, for a total of ten paper tubes. When gripping the paper tube, compressed air of 6 kg / cm ² G is supplied from the air hose 14a, and when separating the paper tube, the air-hose 14b.
2.5 kg / cm ² G of compressed air was supplied.

The winding machine automatically turns over the two holding rods after winding 1000 m of the stretch film around the paper tube, and winds the stretch film around the paper tube inserted in the new holding rod. ing.

In the above-described blown film automatic manufacturing process, ABS is used as the material of the nail base 31 of the nail 2 of the robot hand device 1 and the thickness thereof is 5 m.
The elastic sheet 32 of m was fixed. As a material for the elastic sheet 32, polymethylsiloxane rubber (SW950N- manufactured by Kureha Rubber Industry Co., Ltd.) having physical properties shown in Table 1 is used.
1), chloroprene rubber (product number CB245N-1, polytetrafluoroethylene, butyl rubber (product number VB460N-
1), fluororubber (product number FB970N-1, NBR rubber (product number NB270N-1) are used, and in each case, transport stability (do not drop the tubular body during transport), positioning property (paper tube winder) Be securely attached to the holding rod of the device, and that the winding roll can be reliably placed at a predetermined position on the holding pallet), the degree of film damage (the extent to which the film is damaged by gripping), and the film drawability (the film can be easily pulled out). ) Was evaluated and the results are shown in Table 1.

[0045]

[Table 1]

[0046]

According to the robot hand device equipped with the claw of the present invention, the tubular body can be reliably set and placed at a predetermined position without slipping off the tubular body during transportation. Further, the tubular body is not damaged by being gripped by the robot hand device, and the film cannot be pulled out due to the adhesion.

Therefore, by using the claw of the present invention, it is possible to automate the work of transporting a tubular body such as a paper tube or a winding roll, and to further promote the automation in the film manufacturing process.

[Brief description of drawings]

FIG. 1 is a perspective view of a claw of a robot hand device according to the present invention.

FIG. 2 is a perspective view showing a state where the robot hand device holds a tubular body.

FIG. 3 is a perspective view of an industrial robot equipped with a robot hand device.

[Explanation of symbols]

 1 Robot Hand Device 2 Claw 31 Claw Base 32 Elastic Sheet a Tubular Body

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Noriyuki Kobayashi 2-5-2 Marunouchi, Chiyoda-ku, Tokyo Sanryo Petrochemical Co., Ltd. No. 4 within Mitsubishi Petrochemical Engineering Co., Ltd. (72) Inventor Toshihiko Ichioka 1-5-4 Bakurocho, Nihonbashi, Chuo-ku, Tokyo Within Mitsubishi Petrochemical Engineering Co., Ltd.

Claims (1)

[Claims] 1. A roll of paper tube or plastic film
In a claw of a robot hand device that grips and transports a tubular body such as a rubber, a coefficient of dynamic friction with the tubular body (ASTM D1894-
73) 1.05-2.0, coefficient of static friction with tubular body (AS
TM D1894-73) 1.1-2.0, wall thickness 8-5
A nail of a robot hand device, characterized in that an elastic sheet having a thickness of 000 μm is fixed to a nail base having rigidity.