JPH0580689U - Robot hand - Google Patents
Robot handInfo
- Publication number
- JPH0580689U JPH0580689U JP2273792U JP2273792U JPH0580689U JP H0580689 U JPH0580689 U JP H0580689U JP 2273792 U JP2273792 U JP 2273792U JP 2273792 U JP2273792 U JP 2273792U JP H0580689 U JPH0580689 U JP H0580689U
- Authority
- JP
- Japan
- Prior art keywords
- robot hand
- work
- article
- holding
- shape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
(57)【要約】
【目的】 例えばコンベヤ等から物品（ワーク）をパレ
ット上に移載するためのロボットハンド部の物品保持用
真空パッドの配設位置をワーク寸法／形状等の変化に対
応し得る手段を提供する。
【構成】 このため、ロボットハンド１の真空パッド２
保持部に、各真空パッド２をロボットハンド部１の中心
対称的位置に移動可能に取付け具３で固着し得るようそ
れぞれ長穴４を設けた。
(57) [Abstract] [Purpose] For example, the placement position of the vacuum pad for holding an article in the robot hand for transferring an article (work) from a conveyor or the like onto a pallet is adapted to changes in the work size / shape. Provide the means to obtain. [Structure] Therefore, the vacuum pad 2 of the robot hand 1
The holding portion is provided with elongated holes 4 so that the respective vacuum pads 2 can be movably fixed to the centrally symmetrical position of the robot hand portion 1 by the fixture 3.
Description
【０００１】[0001]
この考案はロボットハンド、特に主としてコンベヤ等からの物品をパレット上 へ移載するためのロボットハンドに関するものである。 The present invention relates to a robot hand, and more particularly to a robot hand for transferring articles from a conveyor or the like onto a pallet.
【０００２】[0002]
一定寸法形状の複数の物品（ワーク）を例えばコンベヤ等から１個宛順次にパ レット上へ移載を行うためにロボットを使用する荷役の自動化が各産業分野に普 及している。これらのパレタイジング作業を確実に行うために、従来はその対象 とするワークを真空吸着保持するための、例えば複数の真空パッド等をそのワー ク寸法／形状に対して最適な位置に配設していた。また、多段パレタイジングを 行うための発明提案等が例えば特開昭６２−９９０９３号公報等に開示されてい る。 Automation of cargo handling, which uses a robot to transfer a plurality of articles (workpieces) of a certain size and shape onto a pallet one by one from a conveyor or the like, is prevalent in each industrial field. In order to reliably perform these palletizing operations, conventionally, for example, a plurality of vacuum pads or the like for vacuum-holding a target work are arranged at an optimum position for the work size / shape. It was Further, invention proposals and the like for performing multi-stage palletizing are disclosed in, for example, JP-A-62-99093.
【０００３】[0003]
しかしながら、以上のような従来例のロボットハンドは、対象とする特定のワ ークの寸法及び形状により専用のハンドが用意されており、ワーク保持用の例え ば真空パッド等の配設位置は、そのワーク専用に固定されていた。すなわち、ワ ークに対する吸着位置は一定であり、それに対応する所定の吸着面積を有してい た。 However, in the conventional robot hand as described above, a dedicated hand is prepared according to the size and shape of the target specific work. It was fixed only for that work. That is, the adsorption position with respect to the work was constant and had a predetermined adsorption area corresponding to it.
【０００４】 このため、寸法／形状の異なる多種のワークを移載する場合には、その吸着面 積に不足を生じて保持が不安定になったり不可能となる可能性があり、このよう な場合には、コンベヤの運転を一時的に休止して、その専用のロボットハンドを 付け替える必要があった。Therefore, when a variety of workpieces having different sizes / shapes are transferred, there is a possibility that the suction surface area becomes insufficient and the holding becomes unstable or impossible. In that case, it was necessary to temporarily suspend the operation of the conveyor and replace the dedicated robot hand.
【０００５】 この考案は、以上のような局面にかんがみてなされたもので、移載すべきワー クの寸法／形状が所定限度の範囲内で変化した場合でも、ロボットハンド自体を 交換する必要なく、そのワーク保持手段を新ワークに適合するよう変更し得る汎 用のロボットハンド手段の提供を目的としている。The present invention has been made in view of the above situation, and even if the size / shape of the work to be transferred changes within a predetermined limit, it is not necessary to replace the robot hand itself. The purpose is to provide a general-purpose robot hand means that can change the work holding means to suit a new work.
【０００６】[0006]
このため、この考案においては、所定形状の物品を移載するためのロボットハ ンドのこの物品保持用吸着手段保持部に、この各吸着手段をそれぞれこの保持部 の中心対称的位置に移動可能に固着するための固着手段を備えるよう構成するこ とにより、前記目的を達成しようとするものである。 For this reason, in the present invention, the suction means for holding the article of the robot hand for transferring the article of a predetermined shape can be moved to each of the suction means in the centrally symmetrical position of the holding section. It is intended to achieve the above-mentioned object by providing a fixing means for fixing.
【０００７】[0007]
以上のようなロボットハンド構成により、移載対象物品の寸法／形状が所定限 度範囲内で変化した場合でも、ロボットハンド本体を付け替える必要なく、その 物品に対応し得る。 With the robot hand configuration as described above, even if the size / shape of the transfer target article changes within a predetermined limit range, the article can be handled without changing the robot hand body.
【０００８】[0008]
以下に、この考案を実施例に基づいて説明する。図１に、この考案に係るロボ ットハンド構造の一実施例の上面図及び側面図を示す。１は矩形板状のロボット ハンド部で、ワーク保持用吸着手段として４個の真空パッド２がナット等の取付 け具３により配設固着されている。この考案の特徴は、この真空パッド２の取付 位置が従来例のように固定的でなく、ハンド部１の平面内の中心対称的位置に所 定限度範囲内で移動変位し得るような長穴４を形成したことにある。 The present invention will be described below based on embodiments. FIG. 1 shows a top view and a side view of an embodiment of a robot hand structure according to the present invention. Reference numeral 1 denotes a rectangular plate-shaped robot hand, which has four vacuum pads 2 as work-holding suction means arranged and fixed by a mounting tool 3 such as a nut. The feature of the present invention is that the mounting position of the vacuum pad 2 is not fixed as in the conventional example, but is a long hole that can be displaced to a centrally symmetrical position in the plane of the hand part 1 within a predetermined limit range. 4 is formed.
【０００９】 図２（ａ），（ｂ）に、移載すべきワークの寸法が変化した場合の本実施例の 各対応上面図／側面図例を示す。図１の標準寸法時に比して、ワークＷ1 ／Ｗ2 の寸法がそれぞれ（ａ）／（ｂ）図のように変化した場合、各真空パッド２の取 付位置をワーク寸法に合わせて最適位置に長穴４範囲でハンド部１中心に対して 左右対称的に移動させるようにしたものである。FIGS. 2A and 2B show examples of respective top views / side views of the present embodiment when the dimensions of the work to be transferred are changed. Compared to the standard dimensions in Fig. 1, when the dimensions of the workpiece W 1 / W 2 change as shown in (a) / (b) respectively, the mounting position of each vacuum pad 2 is optimized according to the workpiece dimension. The position is such that it is moved symmetrically with respect to the center of the hand portion 1 within the range of the long hole 4.
【００１０】 （他の実施例） 図３に、他の実施例の図１上面図対応図を示す。図示のようにこの実施例は、 長穴４の方向をハンド部１中心に対して対角線対称的に配設したものであり、こ れらは、真空パッド２の配設個数、ハンド部１の形状及び取扱うべきワークの予 想変化範囲等により適切に決定すればよい。また長穴４の代りに連続する複数の 丸穴等であっても差支えない。Other Embodiments FIG. 3 shows a top view corresponding to FIG. 1 of another embodiment. As shown in the figure, in this embodiment, the direction of the elongated holes 4 is arranged symmetrically with respect to the center of the hand unit 1, and these are the number of the vacuum pads 2 arranged and the number of the hand units 1. It may be appropriately determined according to the shape and the range of change in the forecast of the work to be handled. Also, a plurality of continuous round holes or the like may be used instead of the elongated hole 4.
【００１１】[0011]
以上説明したように、この考案によれば、ロボットハンドで移載すべき対象物 品の保持用吸着手段を物品の寸法／形状が所定限度範囲内で変化しても、ロボッ トハンド部自体を変更する必要なしに新物品を確実に保持し得るよう対処するこ とができる。 As described above, according to the present invention, the robot hand itself is changed even if the size / shape of the object holding / adsorbing means for holding the object to be transferred by the robot hand is changed within a predetermined limit range. Measures can be taken to ensure that new items can be retained without having to do so.
【図１】 一実施例の上面図及び側面図FIG. 1 is a top view and a side view of an embodiment.
【図２】 ワーク寸法変化時の対応２図例[Fig. 2] Example of two diagrams for handling changes in workpiece dimensions
【図３】 他の実施例の上面図FIG. 3 is a top view of another embodiment.
１ ロボットハンド部 ２ 真空（吸着）パッド ３ 取付け具（固着手段） ４ 長穴（固着手段 Ｗ1 ，Ｗ2 ワーク（移載物品）1 Robot hand part 2 Vacuum (suction) pad 3 Fixture (fixing means) 4 Long hole (fixing means W 1 , W 2 work (transferred article)
Claims (1)
トハンドのこの物品保持用吸着手段保持部に、この各吸
着手段をそれぞれこの保持部の中心対称的位置に移動可
能に固着するための固着手段を備えたことを特徴とする
ロボットハンド。1. A robot hand for transferring an article having a predetermined shape, wherein each of the attracting means is movably fixed to a centrally symmetric position of the holding section on the article holding suction means holding section. A robot hand characterized by having a fixing means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2273792U JPH0580689U (en) | 1992-04-10 | 1992-04-10 | Robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2273792U JPH0580689U (en) | 1992-04-10 | 1992-04-10 | Robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0580689U true JPH0580689U (en) | 1993-11-02 |
Family
ID=12091041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2273792U Pending JPH0580689U (en) | 1992-04-10 | 1992-04-10 | Robot hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0580689U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007105878A (en) * | 2007-01-26 | 2007-04-26 | Yamazaki Mazak Corp | Suction transporting device for works |
| JP2011187566A (en) * | 2010-03-05 | 2011-09-22 | Sharp Corp | Transfer system, transfer method, and thin-film forming device |
| JP2013248695A (en) * | 2012-05-31 | 2013-12-12 | Amada Co Ltd | Hand device |
-
1992
- 1992-04-10 JP JP2273792U patent/JPH0580689U/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007105878A (en) * | 2007-01-26 | 2007-04-26 | Yamazaki Mazak Corp | Suction transporting device for works |
| JP4490449B2 (en) * | 2007-01-26 | 2010-06-23 | ヤマザキマザック株式会社 | Workpiece suction transfer device |
| JP2011187566A (en) * | 2010-03-05 | 2011-09-22 | Sharp Corp | Transfer system, transfer method, and thin-film forming device |
| JP2013248695A (en) * | 2012-05-31 | 2013-12-12 | Amada Co Ltd | Hand device |
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