JPH0544489U - Robot hand device - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a hand device that can carry a work and a shingling board without changing the hand device and can load the work up to the corner of the pallet. [Structure] A support member 17 that is attachable to and detachable from a robot, a cylinder 20 that raises and lowers a chuck 13, and an operation link rod 2
A suction pad opening / closing cylinder 19 for operating 2 is installed, and the suction pad 5 is swung by a link mechanism that interlocks with the operation link rod 22 so as to move to the use position or the storage position.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a hand device of a robot used for loading luggage on a pallet or the like.

[0002]

[Prior Art]

 Conventionally, when a robot carries out a work of loading a load on a pallet (palletizing work), first, as shown in FIG. 8, a work hand 1 (normal chuck) is attached to the robot, and its left and right claws 2 are moved. Grasp the work 3 and hold it, and store it in the pallet. When the work 3 is completely packed in the bottom part of the pallet in this manner, the work hand 1 of the robot is then changed to the medium hand 4 (normal vacuum suction pad) as illustrated in FIG. .. Then, the insole plate 6 is adsorbed by the pad 5 of the hand 4 for boring and placed on the work 3 which is loaded and arranged in the pallet. In addition, the robot hand held the pouring hand 4 to the work hand 1, and the work 3 was loaded on the insole plate 6.

Conventionally, the above-mentioned robot palletizing work may be performed using a double hand 7 of a chuck and a suction pad as illustrated in FIG. The double hand 7 is installed so that the suction pads 5 are installed on the lower portions of both sides of the supporting frame 8 from which a part of the lower side of the rectangular frame is removed, and the chuck mechanism 9 is suspended from the center of the upper side of the supporting frame 8. .. The chuck mechanism section 9 is configured by installing a cylinder 11 on a column 10 suspended and fixed to the support frame section 8, and attaching a chuck 13 to the tip of the rod 12.

The double hand 7 configured as described above drives the cylinder 11 to lower the chuck 13 when the work 3 is loaded in the pallet 14, and sandwiches the work 3 between the claws 2. Carry it around to carry out the work. When loading the insole plate 6, the cylinder 11 is driven to raise the chuck 13 to a position above the pad 5. In this state, the insole plate 6 is adsorbed and carried by the pad 5 and placed on the work 3 arranged in the pallet 14.

[0005]

[Problems to be solved by the device]

 8 and 9 of the conventional robot hand device as described above, when the work is changed from the work of loading the work on the pallet to the work of loading the filling plate, or vice versa, However, there is a problem in that the work must be changed to a hand for work or a hand-holding hand, which complicates the work.

Further, in the conventional apparatus as illustrated in FIG. 10, when the work is loaded on the pallet by the double hand as shown in the figure, when the work is loaded near the side wall of the pallet, the suction pad causes the pallet to move. It hits the inner wall, and this hinders the loading of work on the edge of the pallet. Therefore, there is a problem that the space in the pallet cannot be effectively used and work efficiency is reduced.

In view of the above points, the present invention enables a robot to load a work and a shingling plate into a pallet with one hand, and enables the work to be loaded even at a position close to the inner wall of the pallet. The purpose of the invention is to newly provide a robot hand device that can improve work efficiency by using the robot.

[0008]

[Means for Solving the Problems]

 The hand device of the robot of the present invention has a suction pad opening / closing cylinder and a chuck lifting / lowering cylinder installed on a support member which is attachable / detachable to / from the robot, and a chuck is installed on the rod of the chuck lifting / lowering cylinder. An operation link rod is attached to the rod of the pad opening / closing cylinder, and a link mechanism that interlocks with this operation link rod shifts the suction pad between the downward use position and the upward swing storage position. It is characterized by being configured as described above.

[0009]

[Action]

 With the above configuration, the suction pad opening / closing cylinder is driven to bring the suction pad into the retracted position, and the chuck lifting / lowering cylinder is driven to lower the chuck for loading work. In addition, the chuck ascending / descending cylinder is driven to raise the chuck, and the suction pad opening / closing cylinder is driven to move the suction pad to the in-use position, enabling the transfer work of the centering board. It is a thing.

[0010]

【Example】

 Hereinafter, one embodiment of the robot hand device of the present invention will be described with reference to FIGS. 1 to 8, parts corresponding to those in the conventional example shown in FIGS. 9 to 11 are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 1 is a schematic front view of the apparatus of this embodiment, in which 2 is a claw, 5 is a pad, 11 is a cylinder, 12 is a rod, 13 is a chuck, and 15 is an apparatus main body. The device body 15 is attached to the 6-axis flange portion 16 of the robot. A pair of support members 17 are installed so as to be suspended from the mounting portion 15a of the apparatus body 15 with the flange portion 16. Further, a cylindrical outer cylindrical body 18 is installed in the mounting portion 15a so as to enclose the pair of support members 17.

A suction pad opening / closing cylinder 19 is installed between the upper parts of the pair of support members 17 in the drawing, and a chuck lifting cylinder 20 is installed between the lower parts thereof in the drawing. A chuck 13 is attached to the tip of the rod 12 of the chuck lifting / lowering cylinder 20.

An operation link rod 22 is attached to an end portion of the rod 21 of the suction pad opening / closing cylinder 19. The operation link rod 22 is formed by integrally forming a vertical rod portion 22b extending downward from the horizontal rod portion 22a extending laterally in a cross shape from the rod 21 at a right angle downward. It can be linked to the operating mechanism. As shown in FIG. 2, the vertical rod portion 22b is formed by integrally forming a circular member 22c having a circular cross section on one side in the length direction of a long plate material, and is provided inside the hollow inside of the guide member 23 having a C-shaped cross section. A round member 22c is inserted so that the vertical rod 22b can be guided to move vertically.

The suction pad operation mechanism is configured as shown in FIGS. 4 to 7. That is, the root end portion of the suction pad rod portion 5a is axially attached to the lower end portion of the vertical rod portion 22b. Further, one end of the link rod 24 is pivotally attached to the lower end of the proposed member 23, and the other end of the link rod 24 is pivotally attached to the intermediate portion of the rod portion 5a. Further, as shown in FIG. 5, stoppers 25 and 26 are provided on the vertical rod portion 22b and the internal member 23, respectively, and these are brought into contact with each other so that the use state position shown in FIG. 4 can be held.

Next, the operation of the apparatus of this example configured as described above will be described. First, in the apparatus of this example, when the work 3 is loaded in the palette, the suction pad 5 is first stored. For this purpose, the suction pad opening / closing cylinder 19 is operated to push down the operation link rod 22 in the suction pad use state position of FIG. Then, as shown in FIG. 6, the suction pad 5 turns in the direction of arrow A and reaches the storage state shown in FIGS. Next, the chuck ascending / descending cylinder 20 is driven to lower the chuck 13, and the work 3 is loaded. In this state, the robot grips the work 3 between the claws 2 of the chuck 13 and carries it into the pallet. At this time, since the suction pad 5 is in the retracted state, it does not hit the inner wall of the pallet and prevent the work 3 from being loaded. Therefore, the work 3 can be loaded up to the corner of the pallet.

Next, when carrying out the work of loading the center plate on the work 3 loaded in the pallet by the apparatus of this example, first, the chuck lifting cylinder 20 is driven to raise the chuck 13 and store it. To do. Next, the suction pad opening / closing cylinder 19 is operated to pull up the operation link rod 22. Then, as shown in FIG. 7, the suction pad 5 rotates in the direction opposite to the arrow A, and the stoppers 25 and 26 are hit to set the suction pad 5 in the use state. In this state, the suction pad 5 is located below the chuck 13. Therefore, the robot sucks the intermediate plate by the suction pad 5 and carries it into the pallet.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and it goes without saying that various other configurations can be adopted without departing from the gist of the present invention.

[0018]

[Effect of the device]

 As described above in detail, according to the robot hand device of the present invention, the suction pad opening / closing cylinder and the chuck lifting / lowering cylinder are provided on the support member which is attachable / detachable to / from the robot. A chuck is installed, an operation link rod is attached to the rod of the suction pad opening / closing cylinder, and a link mechanism that interlocks with this operation link rod allows the suction pad to be used in a downward use position and an upward swinging storage position position. Since it is configured to be moved to and installed, the suction pad opening / closing cylinder is driven to move the suction pad to the retracted position, and the chuck lifting cylinder is driven to lower the chuck to load workpieces. In addition, the chuck lifting cylinder is driven to raise the chuck, and the suction pad opening / closing cylinder Drive to shifts in use position the suction pad, and makes it possible to transport the work medium soon plate. Therefore, if the device of the present invention is mounted on the robot, there is an effect that it is possible to carry out the work of carrying the work and the work of carrying the boring board without changing the hand device. In addition, since the suction pad is stored at a higher position than the chuck when in use, even when loading the work grabbed by the chuck near the side wall of the pallet, the suction pad does not get in the way and the work is loaded to the corner of the pallet. The effect is that you can do this.

[Brief description of drawings]

FIG. 1 is a schematic front view showing an embodiment of a robot hand device according to the present invention.

FIG. 2 is a sectional view taken along the line EE of FIG.

FIG. 3 is a schematic cross-sectional view taken along the line of FIG.

FIG. 4 is a schematic side view for explaining the operation of the suction pad operation mechanism portion in the above embodiment.

FIG. 5 is a schematic front view corresponding to FIG. 4 of the above embodiment.

FIG. 6 is a schematic side view for explaining the operation of the suction pad operation mechanism portion in the above embodiment.

FIG. 7 is a schematic side view for explaining the operation of the suction pad operation mechanism portion in the above embodiment.

FIG. 8 is a schematic front view illustrating a conventional work hand of a robot.

FIG. 9 is a schematic front view illustrating an example of a conventional robot hand for sprinkling.

FIG. 10 is a schematic front view illustrating a double hand of a conventional robot.

[Explanation of symbols]

2 ... Claws, 3 ... Work, 14 ... Pallet, 15 ... Device body, 17 ... Support member, 18 ... Outer cylinder, 19 ... Suction pad opening / closing cylinder, 20 ... Chuck lifting cylinder, 22
... operation link rod, 23 ... guide, 24 ... link rod.

Claims (1)

[Scope of utility model registration request] 1. A support member attachable to and detachable from a robot,
A chuck lifting cylinder that moves the chuck up and down,
A robot characterized in that a suction pad opening / closing cylinder for operating the operation link rod is installed, and the suction pad is swung by a link mechanism interlocking with the operation link rod to shift to a use position or a storage position. Hand device.