JPH08243966A - Work transfer hand - Google Patents

Abstract

PURPOSE: To increase efficiency in transfer work by providing a first work gripping means to change a work in a sideways attitude and a second work gripping means to receive the work from the gripping means in a work transfer hand to transfer the work by changing an attitude of the work between two conveyors or the like. CONSTITUTION: A work transfer device is provided with a work transfer hand 10 installed on the lower end of a raising-lowering robot 5, and this is provided with a first gripping means 20 to grip and take out a cylindrical work from a tote box on a receiving side conveyor, and is provided with a second gripping means 33 to transfer the work in a sideways attitude to a tray on the receiving side conveyor. The first gripping means 20 grips a work W by an air picker 28 and a vacuum chuck 30, and the gripping means 20 is rotted by 90 degrees by actuation of a rotary actuator 15, and the work is changed to a sideways attitude, and a side surface of this work is gripped by a gripping claw of the second gripping means 33.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer hand attached to a transfer means such as a robot for transferring a work between two conveyors while changing the posture thereof, and more particularly to a transfer side conveyor. A large number of columnar workpieces, such as copying machine parts, that are stored upright in a container that is carried in by the machine are taken out of the container and transferred horizontally into a container such as a tray on the conveyor on the receiving side. The present invention relates to a work transfer hand suitable for the case.

[0002]

2. Description of the Related Art Conventionally, as a transfer means for transferring a work transferred by a transfer-side transfer device into a container to be transferred on the transfer-side transfer device in a different direction,
For example, one using an articulated robot as described in Japanese Patent Laid-Open No. 63-127920 is known.

In the transfer means described in the above-mentioned Japanese Patent Laid-Open No. 63-127920, the work carried in to the transfer position is grasped by the hand attached to the end of the arm of the articulated robot, and the wrist is held. By rotating the joint to change the direction of the hand holding the work, the work is transferred by changing the direction of the work into the container on the conveyor on the receiving side.

[0004]

However, in the transfer means disclosed in the above-mentioned Japanese Patent Laid-Open No. 63-127920, it is necessary to accurately position the work before transfer, and the work is transferred. The container on the conveyor to be placed is required to have a shape capable of avoiding interference with the arm or hand of the articulated robot.

Further, when a large number of columnar works such as copying machine parts which are uprightly accommodated in a container such as a box are horizontally placed on a flat container such as a tray, they are usually transferred. Since it is difficult to make the container shape of the articulated robot hand so as to avoid the interference between the container and the hand during transfer work, the work is once held and the gripping position of the work is changed to change the orientation of the work. Need to change. When changing the work, once the work is released from the hand on the temporary placement table and temporarily placed, then change the direction of the hand and grasp again, or use multiple robots It is necessary to perform a transfer work in which the work is turned over and transferred between the hands. As a result, not only is the equipment cost for transfer increased, a large work space is required for the transfer operation, but also the transfer operation takes time and the work efficiency is reduced.

[0006]

SUMMARY OF THE INVENTION Therefore, the present invention solves the above-mentioned problems and does not require a container for accommodating a columnar work to have a special shape for preventing interference with a hand attached to a transfer device. This makes it possible to use inexpensive containers, and when transferring the work stored in the container on the receiving side to the container on the receiving side by turning it, the work can be performed without any space such as a temporary table for the work. The purpose of the present invention is to provide a work transfer hand that enables the work to be performed only by a transfer means such as a robot, reduces the cost of the work space and transfer equipment, and can perform transfer work efficiently in a short time. And

[0007]

In order to achieve the above object, a work transfer hand of the present invention has a hand main body attached to a transfer means such as a robot and a horizontal rotating shaft, The rotary actuator fixed to the hand main body and the upper end of an upright columnar work fixed to the rotary shaft of the rotary actuator are gripped, and the work is laid sideways by the rotation of the rotary shaft. A first work gripping means to be changed, and a second work gripping means for gripping both side surfaces of the columnar work, which is supported by the hand main body and whose posture is changed laterally, from above and receives the work from the first work gripping means. And a work holding means.

Further, in the above-mentioned work transfer hand, the first work gripping means penetrates into the hole formed in the upper surface of the upright columnar work, and its outer diameter is expanded by air pressure. It is preferable that an air picker that frictionally holds the inner surface of the hole and a vacuum chuck that cooperates with the air picker to adsorb and hold the upper surface of the work are provided. Further, it is preferable that the hand body is provided with an image pickup device for positioning the first work holding means with respect to the work.

[0009]

In the above structure, a large number of work transfer hands of the present invention attached to transfer means such as a robot are placed upright in a container such as a box that is carried into the transfer position by the transfer side conveyor. It is used to laterally transfer the columnar work accommodated in the state to a container such as a tray taken out from the container and conveyed by a conveyor on the receiving side. Then, when transferring the work, the transfer means is operated to move the first work gripping means of the work transfer hand to a position above the container on the transfer side conveyor, The upper end of the columnar work is held by the first work holding means and is taken out from the container such as the box.
Next, the rotary shaft of the rotary actuator fixed to the hand body is driven to rotate the first work holding means together with the work by approximately 90 degrees, and the work is laterally changed in posture.

At the position where the work is in the sideways direction, the second work holding means supported by the hand body is operated to hold both side surfaces of the work from above. When the work is gripped by the second work gripping means, the first work gripping means releases the gripped state of the work and returns to the original position by driving the rotary actuator in the opposite direction of the rotation axis. . The transfer means moves the work transfer hand to the receiving side conveyor side, and positions the columnar work sideways in a container such as a tray on the receiving side conveyor so as to position the second work. The gripping means is released, and the transfer of the work is completed in the container on the receiving side conveyor.

The transfer means such as a robot repeats the above-mentioned series of operations to transfer the columnar work stored in a container such as a box on the transfer side conveyor to a tray or the like on the reception side conveyor. Transfer to each container. When the inside of the container on the transfer-side conveyor becomes empty, the transfer-side conveyor is driven, the empty container is unloaded from the transfer position, and the container containing the new workpiece is transferred to the transfer position. . Also,
For a container such as a tray on the receiving side conveyor, when a predetermined number of columnar containers are accommodated, the receiving side conveyor is driven,
It is carried out from the transfer position to the next process, and an empty container is carried in the transfer position instead.

When the first work gripping means includes an air picker and a vacuum chuck, the first work gripping means
When the upright columnar work is taken out from the container such as the container by the work gripping means of, the air picker is inserted into the hole formed on the upper surface of the work, and at the same time, the vacuum chuck is seated on the upper surface of the work. To do. Next, pressurized air is introduced into the air picker, and the internal air is sucked from the vacuum chuck. The outer diameter of the air picker into which the pressurized air is introduced expands and is pressed against the inner surface of the hole of the columnar work, and holds the work by frictional force. Further, the inside of the vacuum chuck is in a negative pressure state, and the upper surface of the work is adsorbed and held, and the work held by the air picker is supported so as not to shake during transfer.

When the hand body is provided with an image pickup device for positioning the first work holding means with respect to the work, when the first work holding means holds the work. Further, the position and orientation of the work in the container such as the container is detected as an image, and the first work gripping means is accurately positioned at the gripping position at the upper end of the columnar work based on the image information.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a work transfer device using a work transfer hand according to the present invention, and FIG. 2 is a side view thereof, in which a horizontal articulated robot 1 is used as a work transfer means. The column-shaped work W is taken out from the box 8 that is conveyed on the delivery-side conveyor 6, and the receiving-side conveyor 7
The tray 9 is transferred onto the tray 9 conveyed above. The arm 2 of the robot 1 is configured to be bendable in a horizontal plane by the joint portion 3, and the tip end portion of the arm 2 is lifted and lowered by a lift mechanism 4 as shown in FIG. Is provided. A work transfer hand 10 of the present invention is attached to the lower end of the lifting rod 5. The delivery-side conveyor 6 is composed of a roller conveyor, and carries the carrying box 8 on a mounting surface composed of a large number of carrying rollers 6A.

At the transfer position of the transfer-side conveyor 6, the box 8
There is a box registration sensor (not shown) for confirming the presence or absence of. As the box-carrying sensor, a limit switch that mechanically contacts the box and confirms the presence or absence thereof, or a non-contact sensor such as an optical sensor is used. The shipping box 8 is made of plastic for delivery between traders, and in the case of the present embodiment, the inside is 30
The partitions are partitioned by partitions 8A, and a columnar work W such as a component such as a copying machine is accommodated in each partition in an upright state.

The receiving-side conveyor 7 is constructed in the same manner as the receiving-side conveyor 6, the tray 9 is supplied to the transfer position of the work W, the work W is received by the tray 9, and the next step is carried out. To the parts assembly line. The tray 9 is made of a resin such as styrofoam with low foaming, and is configured to accommodate four workpieces W in a lateral direction. Although not shown, the receiving conveyor 7 is provided with a tray registration sensor at the transfer position of the work W, which has the same structure as the box registration sensor provided on the delivery conveyor 6.

Next, the structure of the work transfer hand 10 of the present invention attached to the tip of the arm 2 of the robot 1 will be described. As shown in FIG. 3, the work transfer hand 10 is a first work gripping means 20 for taking out the work W in an upright state from the through box 8 on the transfer side conveyor 6.
And a second gripping means 33 for receiving the work W from the first work gripping means 20 and transferring the work W to the tray 9 on the receiving side conveyor 7 in a horizontal posture. The configuration of the work transfer hand 10 will be described in detail. The work transfer hand 10 includes a hand body 11 attached to the lower end of the lifting rod 5 of the robot 1. The attachment structure of the hand body 11 to the lower end of the lifting rod 5 is as shown in FIGS.
1. The lower end of the lifting rod 5 is fitted in the lifting rod mounting hole 12A formed in the lifting rod mounting member 12 provided in 1 and tightened by the lifting rod fixing screw 14 from the side through the lifting rod fixing piece 13. It has a structure to be fixed.

A rotary actuator 15 driven by air pressure is fixed to a lower portion of the hand body 11. A rotary shaft 15 of the rotary actuator 15 is provided in the horizontal direction, and the rotary shaft 16 is substantially 9
It is designed to rotate in the forward and reverse directions within an angle range of 0 degree. A mounting bracket 18 to which an air cylinder 19 is mounted is fixed to the rotating shaft 16 via a rotary table 17. The air cylinder 19 is provided with an air cylinder shaft 19A that is moved forward and backward by air pressure. The air cylinder 19 is normally operated by the air cylinder shaft 19A.
A is positioned so as to face downward. Air cylinder shaft 1
9A, a connecting block 21 is attached. The connecting block 21 is formed with an air picker shaft support hole 24 opening downward as shown in FIG. , Connecting bracket 22
Are attached together. An air picker shaft 27 having an air picker 28 below is inserted into the air picker shaft support hole 24. Further, the bottom plate 2 into which the air picker shaft 27 is slidably inserted is inserted into the opening at the lower end of the air picker shaft support hole 24 of the connecting block 21.
5 is fixed.

A large diameter portion 27A is formed at the upper end of the air picker shaft 27 to prevent the air picker shaft 27 from slipping out of the air picker shaft support hole. A gap is provided between the upper end surface of the air picker shaft 27 and the upper surface of the air picker shaft support hole 24 so that the air picker shaft 27 can be displaced in the axial direction with respect to the connecting block 21, and ,
Inside the air picker shaft support hole 24, a spacer 29 for limiting the axial movement distance of the air picker shaft 27 is provided so as to penetrate the air picker shaft 27.

A compression spring 26, through which an air picker shaft 27 penetrates, is arranged below the bottom plate 25.
By the compression spring 26, the air picker shaft 27
Is always urged to a position displaced downward with respect to the connection block 21.

The air picker 28 is provided with a hollow bag-shaped member 28A made of a flexible material such as rubber, and the hollow bag-shaped member 28A is inserted into the hole formed in the work W. After that, when pressurized air is introduced into the air picker 28, the outer diameter of the air picker 28 expands, and the work W is gripped by the frictional force of the pressure contact with the inner surface of the hole. When the air cylinder shaft 19A is lowered by the driving of the air cylinder 19 and the hollow bag-shaped member 28A is inserted into the hole, the end surface 28B of the air picker 28 abuts the inlet surface of the hole of the work W, The picker shaft 27 is displaced with respect to the connecting block 21 against the elastic force of the compression spring 26, and the displacement is detected by a detecting means (not shown) provided in the connecting block 21 to detect the air picker. The seating of 28 on the work W is detected.

A vacuum chuck shaft 31 having a vacuum chuck 30 attached to the lower end is fixed to the end of the connecting bracket 22 opposite to the side connected to the connecting block 21. The vacuum chuck 30 is formed of a cup-shaped elastic material such as rubber, and the inside thereof communicates with a vacuum source (not shown). When the air picker 28 grips the work W, it cooperates with the air picker 28 to suck and hold the surface of the work W. The air picker 28, the vacuum chuck 30, which are connected to the air cylinder shaft 19 </ b> A via the connecting block 21, and the respective members connecting them together constitute a first work holding means 20.

At the end portion of the hand body 11 extending in the horizontal direction, an air chuck 33 is provided as a second gripping means.
Is provided. As shown in FIG. 7, the air chuck 33 is provided with a pair of gripping claws 34, 34 at its lower portion. The grip claws 34, 34 are opened and closed in the left-right direction by a grip claw drive unit 35 provided on the upper portion of the air chuck 33, and the claw parts 34 of the grip claws 34, 34 are driven.
The work W is sandwiched between the A and 34A to be gripped. An air cylinder is built in the gripping pawl drive portion 35, and the operation thereof is performed by an interlocking mechanism provided in the gripping pawl drive portion.
Which are transmitted to the gripping claws 34, 34 which are fixed to the gripping claw mounting pieces 34B, 34B by the mounting screws 34C.
Are configured to open and close. In addition, the gripping claws 34, 34 of the air chuck 33 have claw portions 34A, 34
A work detection sensor 36 is provided to detect the presence of the work W between A. The work detection sensor 36
For this, a reflective or transmissive optical sensor is used.

As shown in FIGS. 4 and 5, an image pickup device 40 for detecting the position of the work W as an image is attached to the hand body 11 above the first work holding means 20. The image signal detected by the imaging device 40 is sent to an image processing device (not shown) for signal processing, and the work transfer hand 1 is transferred to the robot controller.
A signal for properly positioning 0 at the gripping position of the work W is supplied. Further, ring lights 41 for illuminating the work W imaged by the imaging device 40 are arranged on both sides of the imaging device 40.

Next, the operation of the above-described work transfer hand 10 of the present invention will be described. FIG. 8 shows an outline of the configuration of the control system of the work transfer device in which the work transfer hand 10 of the present invention is used. The transfer side conveyor 6 for transferring the box 8 and the tray 9 are transferred. The receiving side conveyor 7 is controlled by a conveyor control panel.
On the conveyor control panel, there are a box registration sensor for detecting the presence / absence of the box 8 at the transfer position of the delivery side conveyor 6 and a tray registration sensor for detecting the presence / absence of the tray 9 at the transfer position of the receiving side conveyor 7. Detection signals are input, and the operations of the delivery side conveyor 6 and the reception side conveyor 7 are controlled by these signals.

Further, a robot controller for controlling the robot 1 is connected to the conveyor control panel, and signals are exchanged between them so that the robot 1 and the respective conveyors cooperate with each other. Has been done.
Further, a hand control panel for operating the work transfer hand 10 is connected to the robot controller, and exchanges signals with the robot controller. Further, the hand control panel receives a detection signal from a sensor such as a work detection sensor 36 provided in the work transfer hand 10 for detecting a gripping state of the work.

By the control system described above, the delivery side conveyor 6, the receiving side conveyor 7, the robot 1, and the work transfer hand 10 operate in cooperation with each other, and are housed in the box 8 on the delivery side conveyor 6. Then, the work W conveyed to the transfer position is controlled by the work transfer hand 10 attached to the robot 1 to transfer the work W to the tray 9 on the receiving side conveyor 7.

The operation of the work transfer hand 10 will be described below.
Describing based on the flowcharts of FIGS. 9 to 12, in step A-1, the transfer box on the transfer side conveyor 6 is moved to the transfer position by the box registration sensor provided at the transfer position of the transfer side conveyor 6. It is confirmed whether or not there is the box 8. The signal of the box registration sensor is sent to the conveyor control panel,
When the through box 8 is not present at the transfer position, the conveyor control panel drives the delivery-side conveyor 6 to carry in and position the through box 8 containing the work W at the transfer position. Also,
If it is detected by the box registration sensor that the box 8 has been carried into the transfer position, the process proceeds to step A-2.

In step A-2, the tray registration sensor provided at the transfer position of the receiving conveyor 7 is used to move the tray 9 to the transfer position on the receiving conveyor 7 in the same manner as in the case 8 described above. Is checked to see if it exists. The signal of the tray registration sensor is sent to the conveyor control board, and when the tray 9 is not in the transfer position, the conveyor control board drives the receiving side conveyor 7,
The empty tray 9 is loaded and positioned at the transfer position. When the tray registration sensor detects that the tray 9 has been carried into the transfer position, the process proceeds to the next step A-3. In step A-3, the robot 1 moves the arm 2 according to a command from the robot controller,
A work transfer hand 10 is provided above a predetermined section in the through box 8.
Position. The operation procedure of the robot 1 is taught in advance by the robot controller.

At step A-4, the work W is picked up by the image pickup device 40 provided in the work transfer hand 10.
Is picked up, the signal is subjected to image processing, and the position of the work W is detected. When the work W is not detected by the imaging device 40, the control is returned to step A-3, and the work transfer hand 10 is moved to the section adjacent to the container box 8. If the work W is detected in the section, the process proceeds to step A-5, and the work W is detected.
The workpiece transfer hand 10 is positioned at an accurate gripping position. Positioning of the workpiece transfer hand 10 is performed by the movement of the arm 2 in the horizontal plane, the driving of the lifting mechanism 4, and the lowering operation of the lifting rod 5.

Then, in step A-6, the work W is gripped by the first work gripping means 20. The lifting rod 5 of the robot 1 descends to grip the work W,
Hollow bag-shaped member 28A of the air picker 28 in the hole of the work W
Is inserted, and at the same time, the vacuum chuck 30 is brought into contact with the upper surface of the work W. When the end surface 28B of the air picker 28 comes into contact with the inlet surface of the hole due to the descending operation of the cylinder shaft 19A, the air picker shaft 27 becomes
The descent is stopped and the descent is displaced with respect to the connecting block 21 at the tip of the cylinder shaft 19A, and this displacement is detected by a detection means (not shown). By the signal from the detecting means, the lowering of the lifting rod 5 is stopped, and the air picker 28 is stopped.
The pressurized air is introduced into the vacuum chuck 30, and the air in the vacuum chuck 30 is sucked into the first workpiece gripping means 2
Air picker 28 and vacuum chuck 3 as 0
The work W is gripped by 0. Work W is first
When the workpiece is gripped by the workpiece gripping means 20, the hand control panel that controls the gripping operation sends a signal of completion of gripping the workpiece W by the first workpiece gripping means 20 to the robot controller. Then, Step A-7
When the robot controller receives the gripping completion signal, the lifting rod 5 of the robot 1 is operated at step A-8.
Rises, and the work W is extracted upward from the compartment of the container box 8. When the ascending / descending of the elevating rod 5 is completed, a signal notifying that the ascending is completed is sent from the robot controller to the hand control board, and when the hand control board receives the signal in step A-9, the hand control board makes a step. At A-10, the rotary shaft 16 of the rotary actuator 15
Is rotated to rotate the first work holding means 20 by 90 degrees, and the posture of the work W is changed sideways. Then, in step A-11, the side surfaces of the workpiece W that has become horizontal are moved to the second side.
The work is gripped by the grip claws 34 of the air chuck 33, which is used as the work gripping means. When the work W is gripped by the air chuck 33, the work detection sensor 36
Is detected, the air picker 28 and the vacuum chuck 30 of the first work holding means 20 are detected in step A-12.
Releases the work W, the cylinder shaft 19A contracts to the original position, and the work W is delivered to the air chuck 33 which is the second work holding means. Then, in step A-13, the first work holding means 20 is returned to the original position by the 90 degree return rotation of the rotary shaft 16 of the rotary actuator 15. When the first work gripping means 20 returns to the original position, the hand control panel sends a changeover completion signal to the robot controller.

In step A-14, when the robot controller receives the changeover completion signal from the hand control panel, in step A-15 the robot controller transfers the work W to a predetermined position on the tray 9 of the receiving side conveyor 7. The arm 2 is moved to lower the work transfer hand 10 toward the tray 9, and the hand control panel releases the air chuck 33, which is the second work gripping means, in step A-16 to move the work W. Are transferred onto the tray 9. When the work detection sensor 36 of the air chuck 33 detects that the work W is not gripped by the air chuck 33, the transfer completion signal is sent from the hand control panel to the robot controller. When the robot controller receives the transfer completion signal,
In step A-17, the robot controller checks the number of works W transferred to the tray 9, and when the tray 9 is full, a tray full signal is sent to the conveyor control panel. When the conveyor control panel receives the tray full signal from the robot controller in step A-18, in step A-19 the receiving side conveyor 7
The tray 9 on which the work W has been transferred and on which the work W has been transferred is carried out from the transfer position toward the next process, and step A-2 in FIG.
Therefore, each step is repeated.

If the tray full signal is not received, in step B-1, the transfer number is checked by the robot controller, and if it is determined that the work W is "in the box 8", In step B-2, the arm 2 of the robot 1 is moved to a position where the work W in the next section on the box 8 is located, and the steps A-4 and thereafter are repeatedly executed. If it is determined in step B-1 that the work W in the box 8 is "none", the delivery side conveyor 6 is driven in step C-1 and the empty box 8 is transferred. It is carried out from the position, and each step from step A-1 is repeated.

In the above-mentioned embodiment, the horizontal articulated robot is used as the transfer means to which the work transfer hand is attached. However, the transfer means is the work transfer hand. The transfer means of another type can be used in the same manner as long as it has a function of moving between the transfer position and the delivery position. Further, in the above-mentioned embodiment, the first work gripping means is shown to include the air picker and the vacuum chuck, but the first work gripping means can grip the upper surface of the upright columnar work. Also, as long as it has a function of holding the state in which the workpiece is oriented sideways, other structures can be used. Further, as the second work holding means,
Although the air chuck is used in the above-mentioned embodiment, the invention is not limited to this, and a hydraulic type or an electric type may be used as long as it has a configuration in which both side surfaces of a horizontally oriented columnar work can be grasped from above. Chuck may be used.

[0035]

As described above, the work transfer hand according to the present invention is capable of laterally transferring a columnar work, which is housed in a large number in a container such as a container, upright in a container such as a tray. At the time of mounting, the work is changed in direction between the first work holding means for holding the upper end of the upright work and the second work holding means for holding both side surfaces of the horizontally oriented work from above. Since it is configured to pass the work, even if there is a narrow space between the work container and the work, or between the works, the work is taken out of the transfer source container or the transfer destination container. Can be easily accommodated.
As a result, it is not necessary to form the transfer source or transfer destination container into a special shape for avoiding interference with the hand attached to the transfer device, so that the container for transferring the work can be inexpensively transferred. A container such as a box can be used.

Further, according to the work transfer hand of the present invention, since it is not necessary to temporarily place the work during the transfer and to change the work, a space such as a temporary placing table is provided, or the work is changed. Since it is not necessary to arrange a plurality of robots to perform the transfer, the cost required for transfer equipment can be reduced, and the work time for transfer can be shortened to improve work efficiency. .

In particular, in the work transfer hand of the present invention, when the first work holding means includes an air picker and a vacuum chuck, a large number of works are placed in a container such as a box. Even if they are stored with almost no gap, they can be easily taken out, and the cooperation of the air picker and the vacuum chuck allows the workpiece to be securely gripped without shaking, and the workpiece can be dropped due to a grip error. It is possible to prevent accidents such as breakage.

Further, when the hand body is provided with an image pickup device for positioning the first work gripping means with respect to the work, when the work is gripped by the first work gripping means. In addition, the position and orientation of the work in the container such as the container is detected as an image, and the first work gripping means can be accurately positioned and controlled at the grip position at the upper end of the work based on the image information.

[Brief description of drawings]

FIG. 1 is a plan view of a transfer device using a work transfer hand according to the present invention.

FIG. 2 is a side view of a transfer device using the work transfer hand of the present invention.

FIG. 3 is a front view showing one embodiment of the work transfer hand of the present invention.

FIG. 4 is a left side view showing an embodiment of the work transfer hand of the present invention.

FIG. 5 is a plan view showing an embodiment of the work transfer hand of the present invention.

FIG. 6 is an enlarged partial sectional view of a first work holding means in the work transfer hand of the present invention.

FIG. 7 is a side view of second gripping means in the work transfer hand of the present invention.

FIG. 8 is a control system configuration diagram of a work transfer device in which the work transfer hand of the present invention is used.

FIG. 9 is an operation flowchart of the work transfer hand according to the present invention.

FIG. 10 is an operation flow diagram of the work transfer hand of the present invention.

FIG. 11 is an operation flow diagram of the work transfer hand of the present invention.

FIG. 12 is an operation flowchart of the work transfer hand according to the present invention.

[Explanation of symbols]

1 robot (transfer means), 2 arms, 3
Joint part, 4 lifting mechanism, 5 lifting rod, 6
Delivery side conveyor, 7 Delivery side conveyor, 8
Through box, 9 trays, 10 work transfer hands,
11 hand body, 12 lifting rod mounting member,
15 rotary actuators, 16 rotary shafts,
17 rotary table, 18 mounting bracket, 19 air cylinder, 20 first work gripping means, 27 air picker shaft, 28 air picker, 30 vacuum chuck shaft, 33 air chuck (second gripping means), 34 gripping claw, 36
Work detection sensor, 40 imaging device, 41 ring light, W work.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location B65G 61/00 B65G 61/00

Claims (3)

[Claims] 1. A hand body attached to a transfer means such as a robot, a rotary actuator having a horizontal rotation shaft and fixed to the hand body, and a rotary actuator fixed to the rotation shaft of the rotary actuator, While gripping the upper end of the upright columnar work,
First work gripping means for laterally changing the posture of the work by the rotation of the rotary shaft, and both sides of the laterally postured work supported by the hand main body are gripped from above, A work transfer hand comprising: a second work holding means for receiving a work from the first work holding means. 2. The first work gripping means is an air picker that penetrates into a hole formed in the upper surface of the upright columnar work, expands its outer diameter by air pressure, and frictionally holds the inner surface of the hole. The work transfer hand according to claim 1, further comprising: a vacuum chuck that cooperates with the air picker to suck and hold an upper surface of the work. 3. The work transfer hand according to claim 1, wherein the hand main body is provided with an imaging device for positioning the first work gripping means with respect to the work. .