JPH06262572A - Boxing vacuum type robot hand - Google Patents

Abstract

PURPOSE:To secure a boxing vacuum type robot hand that is small in lateral size and lighter in weight by way of lifting four held works to be spaced equally after attracting them with four vacuum pads, and housing them in a box in narrowing each interval with linkage. CONSTITUTION:When a robot hand is lowered and each vacuum pad 29 of four longitudinal pipes 26 goes down from the upward of four held works W and they are stuck fast to these works, vacuum suction is carried out by a manihold 22, thereby attracting these works W with respective vacuum pads 29. Next, when the robot hand goes up, a piston head 23 descends each inflection 25a of both trough bending second ring bars 25, 25, and thereby each sliding support pipe 28 of these longitudinal pipes is slidden in a direction going away from each fixed support pipe of these longitudinal pipes, bending both first ring bars 24, 24 and the second ring bars 25, 25 longitudinally. Therefore each interval of these four longitudinal pipes 26 is narrowed, whereby these four works W attracted by the vacuum pads 29 are narrowed in space as lapped with one another and then they are housed in a corrugated cardboard box B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention sucks and lifts four objects to be grasped, which are supplied at a predetermined position at regular intervals.
The present invention relates to a box-type vacuum robot hand capable of holding four objects to be grasped in a cardboard box with a narrow interval.

[0002]

2. Description of the Related Art FIG. 3 shows a conventional vacuum type robot hand for packaging. A pneumatic cylinder device 3 is provided on a rear surface portion of a manifold 2 fixed to a lower surface of a robot arm mounting base 1, and a linear guide 5 is supported on a channel-shaped horizontal frame 4 provided at a lower end of the manifold 2, and a linear guide 5 is provided. 4 linear slides 6, 6,
6,6 are fitted, the vertical slides 7,7,7,7 are fixed to the linear slides 6,6,6,6, and the vacuum pads 8,8,8,8 are provided at the bottom of the vertical pipes. There is. Then, the cross pivot points of the link mechanism 9 that deforms and expands and contracts the rhombus are pivotally supported by the respective linear slides 6, 6, 6, 6.
The lower bending point 9a is pivotally attached to the piston head 3a of the pneumatic cylinder device 3, and the upper bending point 9b is slidably fitted in a vertically elongated slit 10a of a slit plate 10 provided by the linear guide 5. ing. The upper ends of the vertical pipes 7, 7, 7, 7 and the secondary ports of the manifold 2 are respectively flexible hoses 11, 11, 11, 1.
When the piston rod 3b extends, the space between the vertical pipes 7, 7, 7, 7 is narrowed.

[0003]

In the conventional vacuum robot hand for box packaging, both ends of the horizontal frame 4 are largely projected laterally when the distance between the vertical tubes 7, 7, 7, 7 is narrowed. Therefore, the horizontal frame 4 cannot be inserted into the corrugated cardboard box. Therefore, in the case of storing in the deep corrugated cardboard box, it is necessary to increase the length of the vertical tube 7.
By using the horizontal frame 4, the linear guide 5, and the linear slide 6, the number of parts and the number of assembly steps are increased and the weight is increased. In particular, the linear guide 5 and the four linear slides 6, 6, 6 are used. The production cost was high due to the use of 6 and 6. Since the weight was large, the inertia was large, and it was not suitable for high speed movement.

The present invention has been devised in view of the above-mentioned points, and can be accommodated in a cardboard box by narrowing the intervals of four objects to be grasped, and in particular, the vertical dimension and the lateral dimension are small without requiring a large frame. The whole robot hand can be inserted into the cardboard box while being suppressed, and the number of parts can be reduced without using expensive parts, and the operation of narrowing or widening the interval using inexpensive parts can be stably obtained, making it lightweight. Therefore, it is an object of the present invention to provide a vacuum type robot hand for packing, which has a small inertia and is suitable for high speed movement.

[0005]

According to the present invention, as means for solving the above-mentioned problems, a primary port 22a and secondary ports 22b, 22b, on a robot arm mounting base 21 are provided.
A manifold 22 having 22b and 22b is provided, and a piston rod 23a extends and contracts downward on a side surface of the manifold 22 so that a piston head 23b is attached to the manifold 2.
The pneumatic cylinder device 23 is provided so as to be located below the lower end pivotally supporting portion 22c of the second member 2a, and the bending point 24a is pivotally attached to the lower end pivotally supporting portion 22c of the manifold 22 to bend in a mountain fold. Bars 24, 24 are provided,
The link length is the same as that of the first link bar 24 and the bending point 25
a is pivotally attached to the piston head 23b of the pneumatic cylinder device 23 and is bent in a valley fold to form a pair of second link bars 25,
25 are provided at three places 24b, 24b of the link length from the bending point 24a of each first link bar 24, 24 and the upper ends 25b, 25b of each second link bar 25, 25. Fixed support pipes 27, 27, 27, 27 fitted and fixed to the upper portions of the four vertical pipes 26, 26, 26, 26 are pivotally supported, and lower ends 24c, 24c of the respective first link bars 24, 24.
And from the bending point 25a of each of the second link bars 25, 25 to the four vertical pipes 26, 26, 26, 26 slidably at a total of four places, that is, one third of the link length 25c, 25c. The fitted slide branch pipes 28, 28, 28, 28 are pivotally supported, and two thirds of the link length from the bending point 24a of each first link bar 24, 24 and the bending of each second link bar 25, 25. Left and right intersections X and Y from the point 24a to two-thirds of the link length are pivotally attached to each other, and the vertical pipes 26, 26, 26,
A vacuum pad 29, 29, 29, 29 is provided at the lower end of 26.
Is provided, the upper ends of the vertical pipes 26, 26, 26, 26 and the secondary ports 22b, 22b, 22b of the manifold 22.
22b and flexible hoses 30, 30, 3 respectively
The present invention provides a vacuum robot hand for box packing, characterized in that the space between the vertical pipes 26, 26, 26, 26 is narrowed when the piston rod 23a is extended by connecting 0, 30.

[0006]

When the pneumatic cylinder device 23 is in the contracted state, the vertical pipes 26, 26, 26, 26 are spaced from each other. In this state, the robot hand is lowered and the four vertical tubes 26, 2
6,26,26 vacuum pads 29,29,29,
Negative pressure is sucked from the manifold 22 when 29 of the four gripping objects W, W, W, W, which are supplied with a space below downward, come in contact with the gripping object W, and the vacuum pad 29 sucks the gripping object W. To do. Next, when the robot hand is raised, the pneumatic cylinder device 23 is extended and the piston head 23b is lowered from the bending point 25a of the valley-folded second link bar 25, 25, and the slide branch pipes 28, 2 of the respective vertical pipes.
8, 28, 28 are fixed branch pipes 27, 27, 27 of each vertical pipe,
By sliding in the direction away from 27, the first link bars 24, 24 and the second link bars 25, 25 are bent vertically. Therefore, the interval between the vertical tubes 26, 26, 26, 26 is narrowed so that the four grasped objects W, W, W, W adsorbed by the vacuum pads 29, 29, 29, 29 overlap each other in a sashimi state. It is housed in a corrugated cardboard box B with a narrow interval.
Then, when the negative pressure suction is stopped, the grasped object W separates from the vacuum pad 29.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vacuum type robot hand for box packing according to the present invention will be described with reference to FIG. The vacuum type robot hand for packing of this embodiment has a robot arm mounting base 2 on a robot arm A of an industrial robot.
1 is attached to the robot arm mounting base 21 and a primary port 22a and four secondary ports 22 are provided.
Manifold 22 having b, 22b, 22b, 22b
Is provided. A negative pressure suction device (not shown) is connected to the primary port 22a to suck negative pressure. On the side surface of the manifold 22, the piston rod 2
The pneumatic cylinder device 23 is provided so that 3a expands and contracts downward and the piston head 23b is located below the lower end pivotally supporting portion 22c of the manifold 22 by a required amount. Two pairs of the first link bars 24, 24, ... Which are bent in a mountain fold with the bending points 24a being pivotally attached to each other with a pin between the lower end pivotally supporting portions 22c of the manifold 22, one pair from the front side are the other pair. Four vertical tubes 26, 26, 26, 2 from the rear side
6, the link length is the same as that of the first link bar 24, and the bending point 24a is pivotally attached to the piston head 23b of the pneumatic cylinder device 23 by a pin and bent in a valley fold. 25, 25, ..., one pair from the front side and the other from the rear side are four vertical pipes 26, 26, 26, 26
It is provided so as to sandwich. Each first link bar 24,
24 at one third of the link length from the bending point 24a of 24
b, 24b and the upper end 25 of each second link bar 25, 25
b, 25b, four vertical pipes 26, 26, 26, in four places in total.
Fixed branch pipes 27, 27, 2 fitted and fixed to the upper part of 26
7, 27 are pivotally supported by pins, and each first link bar 24, 2
4 lower end 24c, 24c and each second link bar 25, 25
From the bending point 25a to one third of the link length 25c,
Four vertical pipes 26, 26, 26, 26 at a total of 25c
Slide branch pipes 28, 28, 2 slidably fitted to the
8, 28 are pivotally supported by pins, and each first link bar 24, 2
The left and right intersecting points X and Y of the two thirds of the link length from the bending point 24a of No. 4 and the two thirds of the link length from the bending point 24a of each of the second link bars 25, 25 to each other. An elbow 31 pivotally attached by a pin, vacuum pads 29, 29, 29, 29 are provided at the lower ends of the vertical tubes 26, 26, 26, 26, and elbows 31 provided at the upper ends of the vertical tubes 26, 26, 26, 26. , 31, 31, 31 are connected to the four secondary ports 22b, 22b, 22b, 22b of the manifold 22 by flexible hoses 30, 30, 30, 30 respectively, and when the piston rod 23a extends, the vertical pipes 26, 2 are connected.
The distance between 6, 26 and 26 is narrowed.

The operation of the embodiment configured as described above will be described. As shown in FIG. 2A, the pneumatic cylinder device 23
Is in a contracted state, the distance between the bending point 24a of the pair of first link bars 24, 24 bending in the mountain fold and the bending point 25a of the pair of second link bars 25, 25 bending in the valley fold is close to each other. Therefore, for this reason, the four vertical pipes 2 supported by the first link bars 24, 24 and the second link bars 25, 25
The intervals of 6, 26, 26, 26 are open. In this state, the robot hand is lowered and the vacuum pad 2
Four objects to be grasped W, W, W, W, 9, 29, 29, 29, which are conveyed and placed on the lower corrugated table T at intervals.
Of the workpiece W to be brought into close contact with the required leftward portion of the workpiece W, and negative pressure suction is performed at that time. Negative pressure suction is performed by controlling a solenoid valve provided midway with a vacuum generator (not shown) connected to the primary port 22a of the manifold 22 as a negative pressure generation source, so that the primary port 22a to the secondary ports 22b, 22b, 22b. , 22b and the flexible hose 30 and the vertical pipe 26 through the vacuum pad 29.
Then, the vacuum pad 29 adsorbs the object W to be grasped. Then, as shown in FIG. 2B, the robot hand is raised. Then, as shown in FIG. 2 (c), the pneumatic cylinder device 23 is extended and the piston head 23b descends from the bending point 25a of the second link bar 25, 25 in the valley fold, and the first link bar 24, 24 and the second link bar 2
When 5 and 25 are further bent, the slide branch pipe 2 of each vertical pipe
8, 28, 28, 28 are fixed branch pipes 27, 27 of each vertical pipe,
27, slide in the direction away from 27, each vertical pipe 2
The intervals of 6, 26, 26, 26 are narrowed, and the intervals are narrowed so that the four objects W to be grasped adsorbed by the vacuum pads 29, 29, 29, 29 overlap each other in a sashimi state. Subsequently, as shown in FIG. 2D, four objects W to be grasped,
When W, W, W are stored in the corrugated cardboard box B and the negative pressure suction is released, the object to be grasped W can be positioned in the corrugated cardboard box B.

[0009]

As described above, according to the vacuuming robot hand for packing a box of the present invention, it is possible to store four objects to be grasped in a corrugated cardboard box with a narrow interval, and in particular, a large frame is not required. The vertical and horizontal dimensions can be kept small and the entire robot hand can be inserted into a cardboard box.
In addition, it is possible to stably obtain the operation of narrowing or widening the interval by using inexpensive parts without using expensive parts and using inexpensive parts. Since it is lightweight, it has a small inertia and is suitable for high speed movement.

[Brief description of drawings]

FIG. 1 (a) is a front view showing a state in which a vacuuming robot hand for box packaging according to an embodiment of the present invention is attempting to adsorb an object to be grasped with a space between each vertical tube, and FIG. ) Is a side view, (c) is a front view showing a state in which the robot hand of (a) is narrowing the interval between the vertical tubes, and (d) is a side view of (c).

FIG. 2 is an operation process diagram of a boxing operation for an object to be grasped by the boxing vacuum type robot hand according to the embodiment of the present invention.

FIG. 3 is a front view of a conventional vacuum robot hand for box packing.

[Explanation of symbols]

X ... Left intersection, Y ... Right intersection, 21 ... Robot arm mounting base, 22 ... Manifold, 22a ... Primary port, 22b ... Secondary port, 22c. ..Lower end pivot support, 23 ... Pneumatic cylinder device, 23a ... Piston rod, 23b ... Piston head, 24 ... First link bar, 24a ... Bending point, 24b ... Bending One-third of the link length from the point, 24c ... the lower end of the first link bar, 25 ... the second link bar, 25a ... the bending point, 25b ... the upper end of the second link bar, 25c ・ ・ ・ One third of the link length from the bending point, 26 ・ ・ ・ longitudinal pipe, 29 ・ ・ ・ vacuum pad, 27 ・ ・ ・ fixed branch pipe, 28 ・ ・ ・ slide branch pipe, 30 ・ ・ ・ flexible hose,

Claims (1)

[Claims] 1. A robot arm mounting base is provided with a manifold having a primary port and a secondary port, and a piston rod extends and contracts downward on a side surface of the manifold so that the piston head is located below a lower end pivotal support portion of the manifold. Is provided with a pneumatic cylinder device, a bending point is pivotally attached to the lower end pivot portion of the manifold, and a pair of first link bars that bend in a mountain fold are provided. Is provided on the piston head of the pneumatic cylinder device and is provided with a pair of second link bars that are bent in a valley fold. One third of the link length from the bending point of each first link bar and each second link bar. Fixed branch pipes fitted and fixed to the upper parts of the four vertical pipes are pivotally supported at a total of four places on the upper end of the link bar, and link from the lower end of each first link bar and the bending point of each second link bar. A slide tributary slidably fitted to four vertical pipes is pivotally supported at a total of four places, one third of the length, and from the bending point of each first link bar, one third of the link length. The left and right intersections of the second point and the second three-thirds of the link length from the bending point of each second link bar are pivotally attached to each other, and a vacuum pad is provided at the lower end of each vertical tube. The upper end of the box and the secondary port of the manifold are connected to each other by a flexible hose, and when the piston rod extends, the space between the vertical tubes narrows.