JPH081820Y2 - Robot hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a robot hand, and more specifically, it is a novel robot capable of holding a work piece as well as holding and affixing a thin plate material. Regarding the hand.

<Problems to be Solved by Conventional Techniques and Inventions> When it is necessary to perform assembly work and label sticking work from the past, generally, both work are separate processes, and after the assembly work process is completed The label sticking work process is performed. In addition, if there is no space to install each work process line separately, or if it is necessary to reduce the required number of industrial robots,
In a single work process line, prepare a robot hand suitable for assembly and a robot hand suitable for labeling, and perform automatic replacement of the robot hand with a tool changer according to the type of work, or assembling A method is employed in which a robot hand suitable for work and a robot hand suitable for labeling are attached to an industrial robot in advance, and one of the robot hands is controlled according to the type of work.

However, when the two operations are performed in different steps, it is necessary to dispose a dedicated line for each, so that not only the cost is increased but also a remarkably large space is required.

Further, when the robot hand is automatically replaced by the tool changer, the above inconvenience can be solved, but the work time for tool change is wasted and the workability is deteriorated. Since a cable for supplying an electric signal, a hose for vacuum suction and the like are additionally provided in this, there is a disadvantage that the processing of these cables, hose and the like becomes complicated.

Further, when the two types of robot hands are attached to the industrial robot in advance, the industrial robot always supports the two types of robot hands, so that it is necessary to increase the transportable weight required for the industrial robot. Yes, not only does the industrial robot increase in size and cost, but the other robot hand may interfere with the work while performing work using one robot hand.
There is an inconvenience that it is not possible to carry out very detailed work.

<Purpose of Invention> This invention has been made in view of the above problems, and achieves space saving in the assembly work and the sticking work of thin plate materials, no need for tool change, and a single robot hand. The purpose is to provide a new robot hand that can.

<Means for Solving the Problems> A robot hand of the present invention for achieving the above object has a pair of finger members for gripping a work, and at least one finger member is provided at a predetermined position. , A thin plate material adsorbing mechanism in which the adsorbing surface is substantially flush with the outer surface of the finger member in order to slidably adsorb the thin plate material, and a thin plate material at a position directly facing the edge of the thin plate material adsorbed by the thin plate material adsorbing mechanism. There is provided a thin plate material pressing mechanism for sandwiching the plate material with an object to be attached.

However, the thin plate material adsorbing mechanism includes a first adsorbing mechanism and a second adsorbing mechanism that are controlled independently of each other, and when the first adsorbing mechanism is closest to the thin plate material pressing mechanism, It is preferable that the second suction mechanism is a suction mechanism arranged in the orthogonal direction and the suction mechanism arranged in the transport direction at the central portion in the direction orthogonal to the transportation direction, and the second suction mechanism is the remaining suction mechanism.

<Operation> With the robot hand of the first invention, the work can be gripped and released by controlling the relative positions of the pair of finger members, and the work of the work can be controlled by controlling the operation of the industrial robot. It can be assembled. Further, instead of controlling the relative positions of the pair of finger members, by controlling the thin plate material suction mechanism and the thin plate material pressing mechanism, the thin plate material can be attached to the surface of the product or the like. Therefore, the assembling work and the thin plate material attaching work can be easily performed on the same line, and the overall space can be reduced. Further, since no tool change is required, waste of working time can be eliminated, workability can be improved, and processing of cables, hoses, etc. can be simplified. Furthermore, since it is only necessary to support one unified robot hand,
There is no need to increase the transportable weight of the industrial robot, and there is no need to consider the interference between the unused robot hand and the work at all, simplifying the control of the industrial robot and simplifying detailed work. Can be achieved.

<Examples> Hereinafter, detailed description will be given with reference to the accompanying drawings illustrating examples.

FIG. 1 is a perspective view showing an embodiment of a robot hand of the present invention, and FIG. 2 is a central longitudinal sectional view of the same as above, showing a pair of finger members on a hand body (2) supported by a robot arm (1). (3) is provided so that the relative position can be changed. A vacuum chamber (4) communicating with a vacuum suction source (not shown) is formed on the outer surface side of one of the finger members (3) excluding the most tip portion, and the vacuum chamber (4) and the atmosphere are formed. The suction plate member (6) is provided with a large number of small holes (5) communicating with each other. Further, a sensor (7) for detecting the presence or absence of a thin plate material is provided at a predetermined position of the suction plate member (6). Further, a step portion (8) is formed on the tip side of the vacuum chamber (4) of the one finger member (3), and the step portion (8) is rotatable so as to press the thin plate material against the adherend surface. A sponge roller (9) is provided. Incidentally, (10) is a pair of guides for regulating the thin plate material, with a large gap on the receiving side, (11) is a cable, and (12) is a hose. Further, the hand body (2) has a built-in drive source (not shown) for moving the finger member (3) to change the relative position. Further, the tip of the suction plate member (6) is curved toward the step side so as to smoothly receive the thin plate material.

FIG. 9 is a schematic view showing the arrangement when the assembling work and the labeling work are performed on the same line, and a semi-finished product on which parts are assembled or a semi-finished product on which labeling is carried out or a conveyor line for conveying products ( Industrial robot (14) with a predetermined positional relationship to 13)
And a label printer (15) is located.

When the assembly work is performed using the robot hand having the above-described configuration, the work (W) is gripped by moving the finger members (3) so as to reduce the distance between the pair of finger members (3). By moving the industrial robot (14) in this state, the work (W) is transported to the planned assembly position, and after assembly, the work (W)
To release.

In addition, when performing the label attaching work, as shown in FIG. 3, the print head (15) of the label printer (15) is attached to the label (17) attached on the mount (16) in large numbers.
Predetermined characters, symbols, etc. are printed by a), and the label (17) is obtained by reversing the backing sheet (16) at a steep angle by the peeling edge (15b) and winding it up by a winding section (not shown).
Is removed from the mount (16). Then, when the peeling is not completely completed, the suction plate member (6) of the robot hand is made to face the label (17), and the vacuum suction source is operated to suck and hold the label (17). However, as shown in FIG. 4, when the label printer (15) is provided with a label receiving base (15c) and the label (17) peeled from the mount (16) is temporarily supported, The label (17) supported on the cradle (15c) and the suction plate member (6) may be made to face each other.

After adsorbing and holding the label (17) as described above,
By operating the industrial robot (14), the tip of the label (17) is moved to the attachment target position, and the tip of the label (17) is attached to the work (W) by the sponge roller (9). The surface is pressed (see FIG. 5 (A)). Then, the label (1
By moving the robot hand in parallel with the surface to be adhered (see FIG. 5 (B)) while continuing the pressing of 7), the label (17) is adhered in a state in which invasion of bubbles and the like is eliminated. Then, when the label (17) is attached as shown in FIG. 5 (C), the industrial robot (14) is operated to separate the robot hand from the work (W).

In the above case, if the label (17) is not sucked by the suction plate member (6), or if the label (17) drops spontaneously during the process, the label ( Since it can be detected that there is no 17), it is possible to prevent the inconvenience of forgetting to attach the label (17) to the work (W).

As is apparent from the above description, since the label suction mechanism and the label pressing mechanism are integrally provided on the finger member (3) of the robot hand suitable for the assembly work, the assembly work and the label work can be performed without changing the tool. Labeling work can be performed, and it is not necessary to increase the transportable weight of the industrial robot. Further, since it is not necessary to consider extra interference with the work (W) and the like, it is possible to eliminate complication of control of the industrial robot and to perform fine work.

Further, as the label printer (15), it is also possible to adopt a structure in which the top and bottom are inverted with respect to the structure of FIG. 3, and in this case, as shown in FIG. 6, the suction plate member (6) It is sufficient to support the label (17) sent out by, and operate the vacuum suction source with the label (17) being completely supported by the robot hand. Further, as shown in FIG. 7, it is also possible to use a label printer (15) configured to send out the label (17) at an angle.

<Embodiment 2> FIG. 8 is a view showing the essential parts of another embodiment of the robot hand of the present invention. The difference from the above embodiment is that the vacuum chamber (4) is replaced by the first vacuum chamber (4a) and The only difference is that the second vacuum chamber (4b) is formed and each of the vacuum chambers (4a) and (4b) communicates with another vacuum suction source.

The first vacuum chamber (4a) has a row of small holes (5) arranged in the length direction of the label (17) and a row of small holes (5) arranged in the width direction of the label (17) on the most label receiving side. 5) and the second vacuum chamber (4b) communicates with the remaining small holes (5).

Therefore, in the case of this embodiment, when the label (17) sent from the label printer (15) slides on the suction plate member (6), a vacuum suction source communicating with the first vacuum chamber (4a). By leaving only
The excessive suction force is prevented from acting (specifically, the small hole (5) in the width direction reliably receives the label (17), and the small hole (5) in the length direction prevents the label (17)). )), And the label (17) without wrinkles.
Can be received on the suction plate member (6). After that, by operating the vacuum suction source that communicates with both vacuum chambers (4a) and (4b) respectively, the label (17) is surely sucked and held, and the industrial robot (14) is operated to operate the work ( W) Label on the surface to be attached (17)
Can be pasted. However, the division of the small hole (5) communicating with each vacuum chamber can be appropriately set in consideration of the material of the label (17), the size of the label (17), and the like.

The present invention is not limited to the above-described embodiment, and for example, the other finger member (3) can be provided with a label suction mechanism and a label pressing mechanism. By adsorbing and holding the above label, two types of labels can be attached. Further, a roller made of soft rubber can be used in place of the sponge roller (9), and various design changes can be made within a range not changing the gist of the invention.

<Effect of the Invention> The first invention is peculiar in that the assembly work and the high-quality thin plate attachment work can be performed without increasing the size of the robot hand as a whole and without changing the tool. Has the practical effect of.

The second invention is to transport the thin plate when receiving the thin plate,
Adhesive force suitable for each attachment can be generated, and wrinkles can be reliably prevented, and high quality thin plate attachment can be achieved.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the robot hand of the present invention, FIG. 2 is a central longitudinal sectional view of the same as above, and FIGS. 3, 4, 6 and 7 are labels when receiving labels. FIG. 5 is a schematic view showing the relationship between the printer and the robot hand, FIG. 5 is a schematic view for explaining the label attaching operation, and FIG. 8 is a view showing the main part of another embodiment of the robot hand of the present invention, FIG. FIG. 3 is a schematic view showing an arrangement when assembling work and labeling work are performed on the same line. (3) …… Finger member, (4) …… Vacuum chamber, (4a)
...... First vacuum chamber, (4b) …… Second vacuum chamber, (5) …… Small hole, (6) …… Suction plate member, (9) …… Sponge roller, (W) …… Workpiece

Claims (2)

[Scope of utility model registration request] 1. A pair of finger members (3) for holding a work (W) is provided, and at least one of the finger members (3) is attached to a predetermined position so that a thin plate member can be attached so as to be slidable. Thin plate material suction mechanisms (4), (5) and (6) whose surfaces are substantially flush with the outer surfaces of the finger members, and the edges of the thin plate materials sucked by the thin plate material suction mechanisms (4), (5) and (6) A robot hand, comprising: a thin plate material pressing mechanism (9) for sandwiching the thin plate material between the object and the object to be attached at a position directly facing the portion. 2. A thin plate material adsorbing mechanism (4), (5), (6) includes a first adsorbing mechanism (4a) and a second adsorbing mechanism (4b) which are controlled independently of each other. (4a) is a suction mechanism aligned in a direction orthogonal to the transport direction of the thin plate material at a position closest to the thin plate material pressing mechanism (9) and a suction mechanism aligned in the transport direction in a central portion of the direction orthogonal to the transport direction. The robot hand according to claim 1, wherein the second suction mechanism (4b) is a residual suction mechanism.