JPH07136966A - Hand device for industrial robot - Google Patents

Abstract

PURPOSE:To eliminate interference between the hand of an industrial robot and the robot so as to enlarge an action range. CONSTITUTION:The box body position regulating stopper 10 of a hand 4 at the tip of a robot arm 2 is provided with a suction pad 21 connected to an air hose 22. Immediately after a fork 7 takes up a box body 13, the box body 13 is suction-fixed by the suction pad 21. Suction-fixing is released immediately before loading the box body 13 into a specified position. The hand 4 thereby has no member protruding above so as to have no interference with the arm 2 and the like, which results in enlarging an action range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device for an industrial robot having a fork for picking up a transferred object such as a box.

[0002]

2. Description of the Related Art FIGS. 4 to 6 are views showing a conventional hand device for an industrial robot, FIG. 4 is a plan view for explaining loading of transferred objects, FIG. 5 is a vertical sectional view of the hand, and FIG. FIG. 3 is an explanatory diagram of an interference state between a part of a hand and a robot.

In the figure, (1) is the robot body, (2) is the robot arm, (3) is the rotation axis of the tip of the arm (2), and (4).
Is the hand attached to the rotating shaft (3), (5) is the bracket of the hand (4), (6) is the cylinder fixed to the bracket (5),
Reference numeral (7) is a fork that is formed in an L-shape and moves laterally by a cylinder (6), and is equipped with a bearing (8). (9)
Is a guide rail provided on the lower surface of the bracket (5) and engaged with the bearing (8), and (10) is a stopper provided on the lower surface of the bracket (5) and extending downward.

A pressing cylinder (11) is fixed to the bracket (5) and projects upward, and a pad (12) is attached to the lower end of the pressing cylinder. (13) is a box carried by the supply conveyor (14), (15) is a pallet for loading the box (13), and (16) is a box
A delivery conveyor for transporting pallets (5) loaded with (13).

The conventional industrial robot hand device is constructed as described above, and its operation will be described. The pallets (15) loaded in the operation area of the robot body (1) are taken out one by one by the fork (7) of the hand (4) (the operation will be described later), and by the presser cylinder (11) and the pad (12)
(15) is pressed and transferred to the loading section on the payout conveyor (16).

On the other hand, the box body (13) is carried by the supply conveyor (14) and supplied into the operation area of the robot body (1).
The robot body (1) rotates the arm (2), operates the cylinder (6), and moves the fork (7) forward. At this time, the fork (7) uses the stopper (10) as a reference position and the bearing (8)
Is moved by being guided by the guide rail (9). The forward movement of the fork (7) scoops up the box body (13) on the supply conveyor (14).

After that, the pressing cylinder (11) is operated and the box body (13) is pressed by the pallet (12). With this, the box (1
3) is positioned by the stopper (10) and fixed by the pad (12), and is loaded on the loading pallet (15) on the dispensing pallet (16) according to the determined loading pattern. When the boxes (13) are fully loaded on the pallet (15), the pallet (15) is transported to the outside by the delivery conveyor (16). This operation is repeated and the stowage work is continued.

[0008]

In the conventional hand device for the industrial robot as described above, since the holding cylinder (11) projects above the bracket (5), this is the arm (1) of the robot body (1). May interfere with 2). That is, when the box body (13) is stacked on the pallet (15), the arm (2) needs to be pivoted largely depending on the stacking posture. At this time, as shown in FIG. 6, the presser cylinder (11)
And the arm (2) of the robot body (1) interfere with each other, the movement of the rotating shaft (3) is restricted, and the loading becomes impossible, or the arm (2)
However, there is a problem that it takes a long time for the stowage.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a hand device for an industrial robot capable of immediately responding to any loading posture.

[0010]

A hand device for an industrial robot according to a first aspect of the present invention is provided with a fixing mechanism for fixing a transferred object on a fork, and regulates the position of the transferred object. It is arranged near the stopper.

The hand device for an industrial robot according to the second aspect of the present invention is provided with a fixing mechanism that is provided on a stopper that regulates the position of the transferred object and adsorbs the transferred object on the fork laterally. is there.

The industrial robot hand device according to the third aspect of the present invention comprises a drive device provided on a stopper for restricting the position of the transferred object and driving a lever, and a transfer device on a fork mounted on the tip of the lever. This is provided with a fixing mechanism composed of a pusher that pushes the load from above.

In a fourth aspect of the invention, in the first to third aspects of the invention, the fixing mechanism is actuated immediately before scooping up the transferred objects, and the operation of the fixing mechanism is released immediately before loading the transferred objects at a predetermined position. It is provided with a control device.

[0014]

In the first aspect of the present invention, the transfer object fixing mechanism is provided in the vicinity of the stopper, and in the second aspect of the invention, the fixing mechanism for adsorbing the transfer object laterally to the fork stopper is provided. Further, in the third invention, since the fork stopper is provided with the fixing mechanism including the lever driven by the drive device and the pusher that pushes the transferred object from above,
The fixing mechanism can be mounted without protruding above the hand.

Further, according to the fourth aspect of the invention, the fixing mechanism is operated immediately before scooping up the transferred objects and is released from operation immediately before being loaded in the predetermined position, so that the box body is securely held during transfer. It

[0016]

【Example】

Example 1. 1 and 2 are views showing an embodiment of the first, second and fourth inventions of the present invention. FIG. 1 is a longitudinal sectional view of a hand, and FIG. 2 is an operation flow chart of the hand. Similar parts are denoted by the same reference numerals, and FIG. 4 is also used for this embodiment (the same applies to the following embodiments).

In FIG. 1, (21) is a suction pad provided on the stopper (10), (22) is an air hose connected to the suction pad (21), and the suction pad (21) and the air hose (22) A fixing mechanism is configured. Note that, unlike FIG. 5, the pressing cylinder (11) protruding upward from the bracket (5) is not provided.

Next, the operation of this embodiment will be described with reference to FIG. As is well known, the robot body (1) is controlled by a control device (not shown) composed of a computer, and FIG. 2 shows only the transfer operation of the box (13) by the hand (4).

First, in step S1, the supply conveyor (14)
The box body (transferred object) (13) supplied in (3) is detected. After positioning the box (13) with the stopper (10) in step S2, fork
(7) Scoop up. In step S3, the air in the suction pad (21) is sucked through the air hose (22) to fix the box body (13). In step S4, turn the arm (2) to hand
(4) is moved to a predetermined position on the payout conveyor (16).

Here, normally, the process proceeds to step S5 by the route (a), and immediately before the boxes (13) are loaded on the pallet (15), the air is supplied through the air hose (22) to suck the suction pad.
Release the suction by (21). Then, in step S6, the fork (7) is retracted and pulled out, and the box (13) is palletized.
(15) Pack on top.

Depending on the type of the box body (13), the pallet (1
If it is expected that the loading posture will collapse during loading on (5), proceed from step S4 through route (b) to step S7 and adjust the suction force of the suction pad (21) as appropriate.
After pulling out the fork (7) in step S8, suction of the suction pad (21) is released in step S9.

Example 2. FIG. 3 is a longitudinal sectional view of a main part of a hand showing an embodiment of a third invention of the present invention. 2 is also used in the second embodiment.

In the figure, (25) is an actuator provided on the stopper (10) and connected to the above-mentioned control device by an electric wire (26), (27) is a lever driven by the actuator (25), and (28) is a lever. A pusher attached to the tip of (27) and made of a non-slip material such as rubber to push the box (13) from above. The actuator (25), lever (27) and pusher
The fixing mechanism is constituted by (28).

The operation of this embodiment is the same as that of the first embodiment as shown in FIG. However, steps S3, S5, S
7, S9 are actuator (25), lever (27) and pusher
It should be read as the operation of the fixing mechanism according to (28). In order to press the box (13), pallet (15), etc. having different heights, as shown in FIG.
A plurality of (27) and pushers (28) may be provided vertically.

[0025]

As described above, in the first invention of the present invention, the transfer object fixing mechanism is provided in the vicinity of the stopper, and in the second invention, the transfer object is adsorbed laterally by the stopper of the fork. In the third aspect of the invention, since the fork stopper is provided with the lever driven by the drive device and the pressing mechanism for pressing the transferred object from above, the fixing mechanism is provided above the hand. It can be mounted without projecting, there is an effect that interference between the hand and the tip of the robot can be eliminated, the operation range can be expanded, and wasteful operation can be omitted.

Further, according to the fourth aspect of the invention, the fixing mechanism is actuated immediately before scooping up the transferred objects, and is deactivated immediately before loading at a predetermined position, so that the box body is securely held during transfer. In addition, there is an effect that it is possible to prevent load collapse, scattering, etc. during transfer and loading.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of a hand showing a first embodiment of the present invention.

FIG. 2 is an operation flowchart of the hand of FIG.

FIG. 3 is a longitudinal sectional view of a main part of a hand showing a second embodiment of the present invention.

FIG. 4 is a plan view for explaining stacking of transferred objects, showing a hand device of the present invention and a conventional industrial robot.

FIG. 5 is a vertical sectional view of a hand showing a conventional industrial robot hand device.

6 is an explanatory diagram of a state of interference between a part of the hand and the robot according to FIG.

[Explanation of symbols]

 1 Robot Main Body 2 Arm 4 Hand 7 Fork 10 Stopper 13 Transferred Object (Box) 15 Pallet 21 Fixing Mechanism (Suction Pad) 22 Fixing Mechanism (Air Hose) 25 Fixing Mechanism (Actuator) 27 Fixing Mechanism (Lever) 28 Fixing Mechanism ( Presser)

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[Procedure amendment]

[Submission date] March 17, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction content]

A pressing cylinder (11) is fixed to the bracket (5) and projects upward, and a pad (12) is attached to the lower end of the pressing cylinder. (13) is a box carried by the supply conveyor (14), (15) is a pallet for loading the box (13), and (16) is a box
A delivery conveyor for transporting pallets (15) loaded with (13).

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction content]

[0007] Then, by operating the presser cylinder (11), Pa
The box (13) is pressed by the cover (12). With this, the box (13)
Is positioned by the stopper (10) and fixed by the pad (12), and is loaded on the loading pallet (15) on the delivery conveyor (16) according to the determined loading pattern. When the boxes (13) are fully loaded on the pallet (15),
The pallet (15) is transported to the outside by the payout conveyor (16). This operation is repeated and the stowage work is continued.

Claims (4)

[Claims] 1. An industrial robot hand having a fork for picking up a transferred object at the tip of an arm and a stopper for regulating the position of the transferred object on the fork, and fixing the transferred object on the fork. A hand device for an industrial robot, characterized in that it is provided with a fixing mechanism which is arranged near the stopper. 2. A hand of an industrial robot having a fork for picking up a transferred object at the tip of an arm, and a stopper for restricting the position of the transferred object on the fork. A hand device for an industrial robot, comprising a fixing mechanism for adsorbing a transferred object from a lateral direction. 3. In a hand of an industrial robot having a fork for picking up a transferred object at the tip of an arm and a stopper for restricting the position of the transferred object on the fork, a lever provided on the stopper is driven. A hand device for an industrial robot, comprising: a drive device; and a fixing mechanism that is attached to a tip of the lever and includes a pressing member that presses a transferred object on the fork from above. 4. A control device for activating the fixing mechanism immediately after picking up the transferred objects and releasing the operation of the fixing mechanism immediately before loading the transferred objects at a predetermined position. A hand device for an industrial robot according to any one of claims 1 to 3.