JPH0671583A - Hand for robot - Google Patents

Abstract

PURPOSE:To prevent a holding hook from interfering with a rolled article by inserting the holding hook into a gap formed between a binding band and the upper surface of the rolled article and holding the rolled article. CONSTITUTION:A gap is formed between a binding band B for binding a rolled article W at two places by a pressing means 5 and the upper surface of the rolled article W, and after a position sensor 6 confirms that a holding hook 4 can be inserted into the gap, the holding hook 4 is inserted into the gap, and holds the rolled article W. Accordingly, the holding hook 4 only opens and closes over the rolled article W, and does not interfere with the contiguous rolled article W. Further, since the holding hook 4 is inserted into the gap after the position sensor 6 confirms that the holding hook 4 can be inserted into the gap, the surface of the rolled article W is prevented from the application of an unreasonabe force, and is prevented from being broken.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for handling a rolled material such as a mat wound in a tubular shape.

[0002]

2. Description of the Related Art Conventionally, when a large amount of carpets and mats have been conveyed, a roll-shaped body is formed by winding it in a tubular shape and binding it with a binding band, and gripping the roll-shaped body with a handling robot having gripping claws that can be opened and closed. In addition to arranging them on a pallet or the like, they are stacked in multiple stages and the pallets carrying the scrolls are conveyed.

[0003]

However, when opening and closing the gripping claws holding the scrolls for loading on a pallet, the gripping claws interfere with the scrolls already loaded and scratch the surface, It is difficult to load without a gap, and it is necessary to manually re-align after loading, which is troublesome. An object of the present invention is to provide a robot hand capable of stacking adjacent scroll-shaped bodies on a pallet or the like without a gap.

[0004]

According to the present invention, there is provided a robot hand which is provided with gripping claws which can be opened and closed, and which holds a scroll-shaped body bound by a binding band at at least two places with a gap therebetween. A pressing means for pressing the upper surface to form a gap between the binding band and a position sensor for detecting the gap formed between the binding band and the upper surface of the scroll-shaped body are provided.

[0005]

In the base of the hand, a gripping claw that opens and closes in both directions is provided, and pressing means such as a pressing roller and a pressing claw for pressing the upper surface of the roll-shaped body are provided.
After forming a gap between the binding band that binds at the location and the upper surface of the scroll, and after confirming that the position sensor can insert the grip claw into the gap, insert the grip claw into the gap to remove the scroll. Hold it. Therefore, the grip claws only open and close above the scroll-shaped body and do not interfere with the adjacent scroll-shaped body. Further, since it is confirmed by the position sensor that the grasping claw can be inserted into the gap, the grasping claw is inserted into the gap, so that no unreasonable force acts on the surface of the roll-shaped body and no damage is caused.

[0006]

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a front view showing a first embodiment of the present invention, in which a wrist 11 provided at the tip of a robot arm 1 and a base 2 of a hand 2 are provided.
1 is fixed. The base 21 is provided with rods 31 extending and contracting by the cylinder 3 from the center to both sides.
Two gripping claws 4 extending downward are provided at the tip of the.
A key-shaped hook portion 41 extending in the opening / closing direction of the grip claw 4 is provided at the lower end of the grip claw 4, and a smooth, slightly downwardly bent guide portion 42 is provided at the tip of the hook part 41. The grip claw 4 is provided between the hook portion 41 and the guide portion 42.
A pressing roller 5 that can rotate in the opening / closing direction is provided. A position sensor 6 for detecting the position of the scroll W placed below the grip claw 4 is provided between the two grip claws 4, and when the upper surface of the scroll W is pressed by the pressing roller 5, The size of the gap G formed between the binding band B and the upper surface of the scroll W is detected. Here, a case will be described in which a scroll-shaped body W, which is bundled at two locations with a binding band B, is gripped. First, as shown in FIG.
The two gripping claws 4 are moved closer to the center so as to be inserted between the two binding bands B, and the robot arm 1 is moved to press the gripping claws 4 onto the scroll W. Then, the upper surface of the scroll W is deformed by the pressing roller 5 provided on the grip claw 4, and a gap G is formed between the binding band B and the upper surface of the scroll W. The position sensor 6 grips the gap G in the gap G. The pressing roller 5 is pressed against the upper surface of the scroll W until it is confirmed that the claw 4 can be inserted. After confirming that the grip claw 4 can be inserted into the gap G by the position sensor 6, the rod 31 is extended by the cylinder 3 and the guide portion 42 is inserted into the gap G between the binding band B and the upper surface of the scroll W. . Further press the presser roller 5 to
As shown in (3), the bottom of the binding band B is dipped, and the binding band B is applied to and supported by the hook portion 41. Then, the robot arm 1 is lifted and moved to transport the scroll W, and the scroll W is loaded on a pallet P or the like as shown in FIG. Since the grip claw lifts the binding band at the position of the upper surface of the scroll, the scroll adjacent to the grip claw does not interfere. Also, since the size of the gap between the binding band and the upper surface of the scroll is checked and the hook part of the gripping claw is inserted into the gap, the surface of the scroll such as a soft mat may be scratched. Can be gripped without

FIG. 3 is a front view showing a second embodiment of the present invention, and FIG. 5 is a side view thereof. Pressing claws 22 projecting in the opening / closing direction of the gripping claws 4 are provided at the lower portions on both sides of the base part 21 of the hand 2. There is. A notch groove 23 is provided in the center of the presser pawl 22 to accommodate the hook portion 41 of the gripping pawl 4 which is fixed to the tip of the rod 31 and projects in the same direction as the presser pawl 22. When gripping the scroll-shaped body W in which two portions are bound by the binding band B, as shown in FIG.
Then, the robot arm 1 is moved to press the pressing claw 22 onto the scroll W. Then, the upper surface of the scroll W is deformed by the pressing claw 22, and a gap G is formed between the binding band B and the upper surface of the scroll W. After confirming that the grip claw 4 can be inserted into the gap G by the position sensor 6, the rod 31 is moved by the cylinder 3.
The gripping claw 4 from the notch groove 23 of the pressing claw 22 into the gap G between the binding band B and the upper surface of the scroll W, and as shown in FIG. Underneath and support the binding band B. Then, the robot arm 1 is lifted and moved to convey the scroll W.

[0008]

As described above, according to the present invention, the base of the hand is provided with the gripping claws that open and close in both directions, and
A holding means for pressing the upper surface of the roll-shaped body is provided, and the holding claw is inserted into the gap in a state where a gap is formed between the binding band that binds the roll-shaped body at two locations by the holding means and the upper surface of the roll-shaped body. Since the scroll-shaped objects are gripped by the gripping claws, the gripping claws do not interfere with the already-loaded scroll-shaped objects and the adjacent scroll-shaped objects can be closely attached and stacked on the pallet without scratching the surface. Is effective.

[Brief description of drawings]

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

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

FIG. 3 is a front view showing a second embodiment of the present invention.

FIG. 4 is a front view of the second embodiment of the present invention during operation.

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

FIG. 6 is a perspective view showing a state in which a scroll-shaped body is stacked on a pallet.

[Explanation of symbols]

 1 Robot Arm 2 Hand 21 Base 22 Presser Claw 23 Notch Groove 3 Cylinder 31 Rod 4 Grip Claw 41 Hook 42 Guide Part 5 Presser Roller 6 Position Sensor

Claims (3)

[Claims] 1. A robot hand for holding a scroll-shaped body, which is provided with a gripping claw that can be opened and closed, and which is bound by a binding band at at least two places at intervals, by pressing the upper surface of the scroll-shaped body. A robot provided with a holding means for forming a gap between the binding band and a position sensor for detecting the size of the gap formed between the binding band and the upper surface of the scroll. For hand. 2. A key-shaped hook portion provided at a lower end of the grip claw and extending in an opening / closing direction of the grip claw, and a smooth and slightly downwardly bent guide portion provided at a tip end portion of the hook part. 2. The robot hand according to claim 1, further comprising: a holding means that is provided between the hook portion and the guide portion and includes a holding roller that can rotate in the opening / closing direction of the grip claw. 3. A holding means formed of a holding pawl provided below the base portion in the opening / closing direction of the gripping pawl and having a notched groove in the central portion, and a hook portion housed in the notched groove. The robot hand according to claim 1, further comprising a grip claw.