JPH06206187A - Nippingly holding of transferred article and device therefor - Google Patents

Abstract

PURPOSE:To nippingly hold a transferred article by an arm, when the arm for nipping the transferred article once stops in the vicinity of the transferred article and after the transferred article is confirmed. CONSTITUTION:Each arm 1A, 1B is equipped with each sensor 9A, 9B for detecting a transferred article 2, and each arm 1A, 1B approaches to the transferred article 2 individually. When the approach of both the arms 1A and 1B up to a prescribed distance to the transferred article 2 is confirmed by the sensors 9A and 9B, both the arms 1A and 1B contacts the transferred article and nipping hold the transferred article simultaneously or alternately.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for pinching a transported object which can be implemented in a robot hand or a material handling device, and more particularly to an arm provided with a transported object detection sensor.

[0002]

2. Description of the Related Art A conventionally known object-holding device is provided with a pair of arms facing each other and moving toward and away from each other. Even if the conveyed object detection sensor was attached, it was only for confirming that the conveyed object was pinched.

[0003]

As described above, in the prior art, the object detection sensor is not attached to the arm, or the object detection is detected even if the object detection sensor is attached. The sensor only confirmed that the transported object was pinched.

In such a conventional technique, as shown in FIG. 3, when the transferred object 2 is not located at the center between the arms 1A and 1B,
When both arms 1A and 1B operate simultaneously, first one arm 1A may come into contact with the transported object 2 and the transported object 2 may be dragged or fallen over.

The present invention has been made in view of the drawbacks of the prior art. Therefore, each arm is individually driven and controlled, and both arms are temporarily stopped in a state where they are close to a transported object by a predetermined distance. Each arm is configured so as to sandwich the transported object after confirmation, and even if the transported object is not in the center between both arms before the sandwiching, each arm is positioned so that the transported object is located in the center between both arms. Is a pre-operation.

[0006]

A first main invention is a method for holding a transported object by moving a pair of arms toward and away from each other, wherein each arm is provided with a transported object detection sensor. After it is confirmed by the transported object detection sensor that each arm individually approaches the transported object and both arms have approached the transported object by a predetermined distance, both arms are simultaneously or alternately switched to the transported object. It is characterized in that the transported object is brought into contact and the transported object is sandwiched.

A second main invention is to control a pair of opposed arms, an arm driving means for respectively driving the respective arms in a direction to approach and separate from each other, and an operation timing of the arm driving means. In the object-to-be-conveyed device provided with control means, each of the arms is provided with an object-to-be-detected sensor for detecting that the object is approached to the object to be conveyed by a predetermined distance. The detection sensor detects that one arm has approached the object to be conveyed by a predetermined distance, thereby temporarily stopping the arm, and detects that the other arm has approached the object to be conveyed by a predetermined distance. And the arm driving means is controlled so that both arms approach each other simultaneously or alternately.

[0008]

According to the first main aspect of the invention, each arm individually approaches the object to be conveyed, and it is detected by the object detecting sensor that both arms approach the object to be conveyed by a predetermined distance (for example, 5 mm). After the confirmation, both arms are brought into contact with the transported object simultaneously or alternately to sandwich the transported object.

In the second main aspect of the invention, the conveyed object detection sensor detects that one arm has approached the conveyed object to a predetermined distance, so that the arm is temporarily stopped, and the other arm receives the object. When it is detected that the object to be conveyed is approached to a predetermined distance, both arms are simultaneously or alternately approached and the object to be conveyed is clamped.

[0010]

1 to 4 show a first embodiment of the present invention. FIG. 1 is a plan view, FIG. 2 is a front view, and FIG. 3 is a plan view of a mode different from FIG. FIG. 4 is a circuit diagram of the hydraulic system.

In FIG. 2, reference numeral 3 denotes a cylindrical column vertically provided on the floor 4, and is constructed so as to be rotatable about a vertical line as a rotation axis. Although not shown, the upper end of the column 3 is also rotatably held. A holder 5 is mounted on the column 3 so as to be vertically movable. The holding body 5 is configured to move up and down by a guide rail and a chain extending in the vertical direction, but may be configured to move up and down by a ball screw.

A supporting body 6 is mounted on the holding body 5 so as to be rotatable about a horizontal axis, and a guide rail (not shown) fixed to the supporting body 6 has arms 1A, 1B is slidably mounted. The column 3, the holder 5 and the support 6 are connected to individual motors so that they can rotate or move up and down by a predetermined amount.

The support 6 has two hydraulic cylinders 7
A and 7B are arranged in parallel and each hydraulic cylinder 7A,
7B piston rods 8A and 8B are the arm 1 respectively.
It is connected to A and 1B. Although one arm 1A is composed of two forks and the other arm 1B is composed of one fork, both arms 1A and 1B have two forks.
It may consist of a book fork.

In each of the arms 1A and 1B, a recess which is a holding portion for the transported object 2 is formed in a trapezoidal shape, and a transmissive photo interrupter 9 as a transported object detection sensor is provided.
A and 9B are mounted inside each of the arms 1A and 1B so that a detection light beam (illustrated by a chain line) intersects the curved portion.

Next, the hydraulic circuit will be briefly described. A motor 11 and a hydraulic pump 12 connected to the motor 11 are housed in the hydraulic package 10. 13A and 13B are electromagnetic directional control valves, one electromagnetic directional control valve 13A controls drive of one hydraulic cylinder 7A, that is, one arm 1A, and the other electromagnetic directional control valve 13B controls the other hydraulic cylinder 7B, that is, the other hydraulic cylinder 7B. The electromagnetic directional control valve 13A on one side is configured to control the drive of the arm 1B.
The electromagnetic directional control valve 13B on the other side operates in association with the detection signal of the photo interrupter 9A mounted on the arm 1, and the other electromagnetic directional control valve 13B operates on the basis of the detection signal of the photo interrupter 9B mounted on the other arm 1B.

14A is one pilot check valve,
14B is the other pilot check valve. Also, 1
5A is one pressure reducing valve, and 15B is the other pressure reducing valve.
Further, 16A is one throttle valve and 16B is the other throttle valve.

Reference numeral 17 is a stop valve, and 18 is a pressure gauge. Further, 19A is one fuse valve for preventing oil from leaking at high pressure even if the pipe is damaged,
19B is the other fuse valve. 20 is a relief.

Then, when the object 2 is conveyed by, for example, a conveyor, the hydraulic cylinders 7A, 7B.
Respectively operate to move in the direction in which the transported object 2 is clamped (see FIG. 1).

Then, for example, when one arm 1A first approaches the transported object 2 and the detection light beam of the one photointerrupter 9A is blocked by the transported object 2, the one arm 1A is transported. 2 is temporarily stopped in a non-contact state (see FIG. 3).

Next, when the detection light beam of the other photo interrupter 9B is blocked by the transported object 2, the other arm 1B also temporarily stops in a non-contact state with the transported object 2 and the transported object 2 and each arm 1A. The positional relationship of 1B is confirmed. At this time, the distance between the transported object 2 and the arms 1A and 1B is 5 mm.

After the positional relationship between the object to be transferred 2 and each of the arms 1A and 1B is confirmed, one arm 1A operates to contact the object to be transferred 2, and then the other arm 1B operates to operate the object to be transferred. 2 and contact the object 2 with both arms 1A and 1B.
Is pinched. In this case, both arms 1A and 1B may be operated simultaneously. It should be noted that the arms 1A and 1B are moved at high speed until they approach the transported object 2,
After confirming, the transported object 2 may be clamped by moving at low speed.

Further, one arm 1A first transfers the object 2 to be conveyed.
When the detected light beam of one photo interrupter 9A is blocked by the transported object 2 when approaching, the one arm 1A temporarily stops in a non-contact state with the transported object 2, but then the other photo interrupter 9B. Even if the detection light of 1 is blocked by the transported object 2, the other arm 1B may continue to operate and contact the transported object 2 without being temporarily stopped. In this case, the detection light beam of the other photo interrupter 9B may be blocked by the transported object 2 and at the same time the one arm 1A may be operated.

The hydraulic pump 12 continues to operate even after both arms 1A and 1B come into contact with the object to be conveyed 2 to generate an appropriate clamping pressure. Specifically, the internal pressure of the hydraulic cylinders 7A and 7B is detected by the pressure sensor, and the hydraulic pump 12 continues to operate until the internal pressure reaches a predetermined value.

In this way, the object to be transported 2 is transferred to both arms 1.
When sandwiched by A and 1B, and the support 6 is rotated 180 degrees, the transported object 2 is turned upside down, and when the holder 5 is moved upward along the support column 3, the transported object 2 is moved. When the support 2 is lifted and the column is rotated, the transported object 2 pivots in the horizontal direction.

As described above, in each of the arms 1A and 1B, at least the arm that first approaches the object to be transferred 2 is temporarily stopped and waits for the other arm to approach, so that one arm contacts the object to be transferred 2. The transported object 2 will not be overturned or damaged.

It should be noted that at least one of the photo interrupters (9A and / or 9B) is held while the transported object 2 is being held.
When the interruption of is released, it is configured that the transported object 2 is separated and the entire apparatus is stopped.

If the photo interrupters 9A and 9B do not detect the transported object 2 even after a predetermined time has passed after the operation of both arms 1A and 1B, it is determined that the transported object 2 does not exist and the operation is stopped. It is also configured to do.

Next, a second embodiment will be described with reference to FIG. The second embodiment is different from the first embodiment in the structure of the conveyed object detection sensor. Therefore, the structure of the conveyed object detection sensor will be described, and the same parts as those in the first embodiment will be described. Are denoted by the same reference numerals in the figure and description thereof will be omitted.

In this second embodiment, each arm 1A, 1
Reflective photosensors 21A and 21B are attached to the central portion of B.
1B, the arms 1A and 1B are attached to the object to be conveyed 2 by a predetermined size (5
It is adjusted so as to output a detection signal when approaching for more than (mm).

The reflection type photo sensor 21A,
It is also possible to use a mechanical microswitch instead of 21B. Thus, the reflection type photo sensor 2
If 1A, 21B or a micro switch is used, it is possible to adopt a linear arm. Since each arm is driven by hydraulic pressure in this embodiment, the clamping pressure can be freely set, and a soft or hard one can be freely clamped.

[0031]

According to the present invention, it is confirmed by the transported object detection sensor that each arm individually approaches the transported object and both arms approach the transported object within a predetermined distance (for example, 5 mm). After that, both arms are brought into contact with the transferred object at the same time or alternately and the transferred object is sandwiched, so that the transferred object is overturned even when the transferred object is not in the center between the arms. There is no risk of damage or damage. In addition, since it is adjustable, it is possible to easily hold an asymmetrical transported object. Further, when the arm is operated by hydraulic pressure, various objects to be conveyed can be held.

[Brief description of drawings]

FIG. 1 is a plan view of a first embodiment of the present invention.

FIG. 2 is a front view of the first embodiment of the present invention.

FIG. 3 is a plan view of a mode different from that of FIG. 1 of the first embodiment of the present invention.

FIG. 4 is a hydraulic circuit diagram of the first embodiment of the present invention.

FIG. 2 is a plan view of a second embodiment of the present invention.

[Explanation of symbols]

 1A arm 1B arm 2 object to be conveyed 3 pillar 4 floor 5 holder 6 support 7A hydraulic cylinder 7B hydraulic cylinder 8A piston rod 8B piston rod 9A photo interrupter 9B photo interrupter 10 hydraulic package 11 motor 12 hydraulic pump 13A 13 electromagnetic direction control valve Electromagnetic directional control valve 14A Pilot check valve 14B Pilot check valve 15A Pressure reducing valve 15B Pressure reducing valve 16A Throttle valve 16B Throttle valve 17 Stop valve 18 Pressure gauge 19A Fuse valve 19B Fuse valve 20 Relief 21A Reflective photo sensor 21B Reflective photo sensor

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[Procedure amendment]

[Submission date] November 25, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Correction content]

[Brief description of drawings]

FIG. 1 is a plan view of a first embodiment of the present invention.

FIG. 2 is a front view of the first embodiment of the present invention.

FIG. 3 is a plan view of a mode different from that of FIG. 1 of the first embodiment of the present invention.

FIG. 4 is a hydraulic circuit diagram of the first embodiment of the present invention.

FIG. 5 is a plan view of the second embodiment of the present invention.

[Explanation of Codes] 1A Arm 1B Arm 2 Transported Object 3 Strut 4 Floor 5 Holder 6 Support 7A Hydraulic Cylinder 7B Hydraulic Cylinder 8A Piston Rod 8B Piston Rod 9A Photointerrupter 9B Photointerrupter 10 Hydraulic Package 11 Motor 12 Hydraulic Pump 13A Electromagnetic directional control valve 13B Electromagnetic directional control valve 14A Pilot check valve 14B Pilot check valve 15A Pressure reducing valve 15B Pressure reducing valve 16A Throttle valve 16B Throttle valve 17 Stop valve 18 Pressure gauge 19A Fuse valve 19B Fuse valve 20 Relief 21A Reflective photo sensor 21B Reflective photo sensor

Claims (9)

[Claims] 1. A method of sandwiching a transported object by moving a pair of arms toward and away from each other, wherein each arm is provided with a transported object detection sensor, and each arm individually approaches the transported object. After confirming by the transported object detection sensor that both arms have approached the transported object by a predetermined distance, both arms are brought into contact with the transported object simultaneously or alternately to sandwich the transported object. A method for holding an object to be conveyed, which is characterized by: 2. When one arm first approaches the object to be conveyed by a predetermined distance, the one arm temporarily stops at a predetermined position, and when the other arm approaches the object by a predetermined distance, The method for clamping a transported object according to claim 1, wherein the one arm starts the approaching operation again. 3. The method for clamping a transported object according to claim 2, wherein the other arm temporarily stops at a predetermined position, and then both arms simultaneously or alternately start the approaching operation. 4. A pair of opposing arms, arm driving means for respectively driving each arm in the direction of approaching and separating from each other, and control means for controlling the operation timing of the arm driving means. In the carried object holding device, each arm is provided with a carried object detection sensor for detecting that the object is approached to a carried object by a predetermined distance. When it is detected that the arm has approached the object to be conveyed by a predetermined distance, the arm is temporarily stopped, and when it is detected that the other arm has approached the object to be conveyed by a predetermined distance, the arms are moved simultaneously or alternately. A conveyed object pinching device, which is configured to control the arm driving means so as to bring both arms close to each other. 5. The conveyed object pinching device according to claim 4, wherein each arm is slidably supported by a single support, and arm support means for driving each arm is mounted on the support. 6. A support body is vertically movably mounted on a column extending vertically and rotatable about a vertical axis, and a support body is mounted on the support body so as to be rotatable about a horizontal axis. The carried object holding device according to claim 5. 7. An arm according to any one of claims 4 to 6, wherein the sandwiched portion of the transported object is formed in a curved shape, and the photo interrupter is attached to the arm so that a detection light beam thereof intersects the curved portion. The object-to-be-conveyed holding device according to the item (1). 8. The carried object holding device according to claim 4, wherein a reflection type photo sensor or a micro switch is mounted on the carrying object holding part of the arm. 9. The conveyed object pinching device according to claim 4, wherein the arm is driven by hydraulic pressure.