JPH1015871A - Finger for robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a finger for robot hand which can grasp and bend a finger forming body easily, even when the pressure of a fluid from a fluid feeding part is increased. SOLUTION: A finger forming body is formed of a tubular soft material whose base end is opened and play end is blocked, and at the middle parts in the longitudinal direction of the finger forming body, bellows 16a to permit the finger forming body to bend to the belly side are formed, and while reinforcing threads 19 to block the expansion of the bellows 16a are wound on the bellows 16a of the finger forming body, grooves for thread 40 to sink the reinforcing threads 19 are formed at the belly side of the finger forming body.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a finger forming body formed of a tubular soft material having a base end portion opened and a free end portion closed, and a middle portion in the longitudinal direction of the finger forming portion formed on a base end side. The present invention relates to a finger for a robot hand having a bellows that allows the finger forming body to bend toward the abdomen by the pressure of the fluid from the fluid supply unit through the opening.

[0002]

2. Description of the Related Art Conventionally, the above-mentioned finger for a robot hand has:
As a means for gripping and bending the finger forming body toward the abdomen, only a bellows is formed on the finger forming body.

[0003]

In a configuration in which the bellows are formed on the finger forming body as in the above-described conventional configuration, when the pressure of the fluid from the fluid supply unit becomes high, the finger forming body is accordingly formed. The bellows easily expanded, making it difficult to grasp and bend.

[0004] It is an object of the present invention to provide a finger for a robot hand that can easily hold and bend the finger formation even when the pressure of the fluid from the fluid supply unit increases.

[0005]

[Means for Solving the Problems]

(Structure) The characteristic structure of the present invention, in the finger for the robot hand described at the beginning, while winding a reinforcement thread for preventing the bellows of the finger forming body from expanding, the bellows side of the finger forming body, A thread groove for immersing the reinforcing thread is formed.

[Operation] According to the above configuration, since the reinforcing thread is wound around the bellows of the finger forming body, even if the pressure of the fluid from the fluid supply unit increases, the bellows can be prevented from expanding.

Further, since a thread groove is formed on the abdomen side of the finger forming body so that the reinforcing thread is immersed, the gripping surface does not become uneven due to the reinforcing thread. Needless to say, for example, a robot hand configured by supporting a plurality of fingers of this robot hand with a support member holds a spherical vegetable such as a lettuce and an extruded body that is supported by the support member so as to be able to move out and back. Even when the spherical vegetables are extruded and supplied to the packaging device in a gripped state, the reinforcing thread does not catch on the spherical vegetables. Further, since the winding position of the reinforcing yarn is determined by forming the yarn groove, the winding operation can be easily performed.

[Effect] Accordingly, even if the pressure of the fluid from the fluid supply unit is increased, the finger forming body can be easily gripped and bent. In addition, since the gripping object is not caught on the reinforcing thread wound around the bellows of the finger forming body, the gripping object can be prevented from being damaged, and the reinforcing thread is hard to be cut, thereby simplifying the winding operation of the reinforcing thread. As a result, the workability of the winding operation could be improved.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a belt conveyor 1 for feeding lettuce sequentially supplied by an operator in a horizontal direction.
A lettuce wrapping device 2 (hereinafter abbreviated as “packing device 2”) located on the lateral outer side of the belt conveyor 1, and lettuce fed to a predetermined take-out position A on the belt conveyor 1 by a plurality of finger units. 16 (corresponding to a finger for a robot hand) and a robot hand 4 for taking out and sending the lettuce to the lettuce receiving portion 8 of the packaging device 2; and a control device 5 for controlling the belt conveyor 1, the packaging device 2 and the robot hand 4. To the conveyor belt 39 of the belt conveyor 1.
Is supported by the conveyor support frame 41 to constitute a lettuce packaging facility.

The belt conveyor 1 has a conveyor belt 39.
A pair of sled-shaped belt guides 42 for guiding a portion on the return stroke side are provided (see FIG. 2). Also, a plurality of concentric annular projecting members 6 are formed at a plurality of locations on the conveyor conveying surface so that the outer projecting members 6 are taller than the inner projecting members 6 (see FIG. 3), and a smaller lettuce is provided. Are supported by the inner protruding member 6, and the large lettuce is stably supported by the outer protruding member 6.

The robot hand 4 has its support frame 12 removably attached and fixed to the main body 2A of the packaging device 2 from above. The robot hand 4 will be described in detail. As shown in FIGS.
The support box 13 supports the swing arm 14 so that the swing arm 14 can swing around the first swing axis X, and the first electric motor M1 that swings the swing arm 14 is driven by the support box 13. The swing arm 1 provided in the support box 13
4. A plurality of soft rubber finger portions 16 are suspended and supported by a finger support member 15 provided on the swing end portion side of 4,
As the swing arm 14 swings, the finger 1
6 is a posture holding mechanism for holding the posture of the finger portion 16 so as to reciprocate between the lettuce take-out position A and the lettuce receiving portion 8 while drawing an arc trajectory R in the downward posture.
7 is provided.

The posture holding mechanism 17 includes a swing arm 14.
And an auxiliary swing arm 18 that is swingably supported by the support box 13 around the second swing axis Y above the first swing axis X along the swing arm 14. To the moving end,
Each of the one end and the other end of the finger support member 15 is set in a state where the finger support member 15 is parallel to a virtual vertical line L connecting the first swing axis X and the second swing axis Y. Separately pivotally connected, the finger support member 15 is
4 comprises a parallel quadruple link mechanism configured to reciprocate between the lettuce take-out position A and the lettuce receiving portion 8 while keeping its posture parallel to the virtual vertical line L.

The finger portion 16 is a soft rubber tube having a closed distal end and an open proximal end (corresponding to a finger forming body).
, And the base end thereof is externally fitted to the finger support pipe 11. Then, as shown in FIG. 12 (a), a plurality of bellows 16a are arranged at regular intervals in the longitudinally intermediate portion on the back side.
And the bellows 16a of the finger portion 16
a around the reinforcing thread 19 for preventing the expansion of
(B), FIG. 14), the lettuce is gripped by supplying and discharging air from a compressor 29 (corresponding to a fluid supply unit) through an opening on the base end side. More specifically, a reinforcing thread immersion groove 40 is continuously formed in a portion of the finger portion 16 corresponding to the bellows 16a so as to form one X-shaped groove portion for each fold of the bellows 16a. The reinforcing thread 19 is wound from the immersion groove 40 to the valley between the folds of the bellows 16a. FIG.
FIG. 13 shows the finger portion 16 before gripping and bending as shown in FIG.
(B) shows the gripped and bent finger portion 16.

As shown in FIGS. 15 and 16, the back or side surface of the finger portion 16 and the top surface of the bellows 16 a have the same height and size in both the rear view and the side view. They are formed to have the same width.

The finger support member 15 is formed by connecting an umbrella-shaped finger holding portion 15B to a lower end portion of a vertical pipe member 15A. An air cylinder 30 driven by the compressor 29 is mounted on the vertical pipe member 15A. A lettuce push pad 44 (corresponding to an extruded body) is provided at one end (the end opposite to the piston) of the piston rod 43, and the lettuce gripped by the finger portion 16 is held in the packaging device 2 in a gripped state. Lettuce receiving section 8
It is configured to extrude.

As shown in FIG. 2, when one protruding member 6 is located at the take-out position A, the next adjacent protruding member 6
Is set in a downward position at a set position C on the start end side of the return stroke of the belt conveyor 1 so that the light is blocked by the front end of the protruded member 6 at the set position C. Position sensor 3 for detecting the projecting member 6
4 is provided on the belt conveyor 1 so as to detect that a predetermined projecting member 6 has reached the take-out position A.

Further, a presence / absence sensor 35 for detecting whether or not the projecting member 6 at the take-out position A has a lettuce by blocking the light beam is provided on the belt conveyor 1, and the presence / absence sensor 35 detects the presence of the lettuce. When the position sensor 34 detects that the projecting member 6 holding the lettuce has reached the take-out position A, the control device 5 controls the belt conveyor 1 based on the detection results of both sensors. At the same time, the robot hand 4 is controlled so as to be taken out by the finger portion 16 and operated. When the lettuce is taken out, the belt conveyor 1 restarts the conveyance.

As shown in FIG. 1 and FIG.
Is provided in the lettuce receiving portion 8 in which the opening 3 for lettuce insertion is formed, and the packaging sheet 9
Is placed on the packaging table 7, the lettuce is dropped into the opening 3, and packaging is performed under the packaging table 7.

More specifically, as shown in FIGS. 8A to 10A, a rubber narrowing member 1 having a slit is provided.
0 is supported in a cantilever manner by a support ring 21 at a position below the opening 3, and as the lettuce is dropped into the opening 3, the squeezing member 10 is pushed out to the lettuce, and the lettuce passes through the opening 3. Then, the squeezing member 10 is elastically restored, and the lettuce is configured to be squeezed in an auxiliary manner together with the packaging sheet 9. A movable table 20 supporting the lettuce inserted from the opening 3 is provided below the squeezing member 10. A pair of plate-like holding members 22 are provided for fully narrowing down the lettuce which has been narrowed down auxiliary (see FIG. 9), a disk cutter 23 for cutting the upper portion 9a of the packaging sheet 9 after packaging, and the upper side after cutting. An injection nozzle 27 for blowing off the portion 9a is provided. When the lettuce is dropped into the opening 3 and placed on the movable base 20, the packaging sheet 9 is squeezed at the outer edge of the opening 3 and the lettuce is wrapped in the packaging sheet 9.

The belt conveyor 1 and the robot hand 4
-The packaging device 2 operates as follows. As shown in FIG. 4, in a state where the belt conveyor 1 is stopped, the swing arm 14 of the robot hand 4 is moved to the take-out position A.
The finger part 16 to which the pressurized air is supplied is bent and grips the lettuce (FIG. 5).

A single packaging sheet 9 cut to a predetermined length after the end of the previous packaging is placed on the packaging table 7, and the swing arm 14 swings to the lettuce receiving section 8 side,
The finger portion 16 enters the opening 3 and the lettuce is placed on the movable base 20 (FIGS. 7 and 8 (a)). Thereby, the lettuce is slightly wrapped in the packaging sheet 9. Then, the air cylinder 30 is driven to extend and the lettuce pushing pad 44 is extended.
Pushes out the lettuce in the gripping state in the gripping state, and the swinging arm 14 starts swinging upward in the opposite direction (FIG. 8B). In this case, while the finger portion 16 weakens the gripping force by bleeding air from the finger portion 16,
Alternatively, the lettuce pushing pad 44 pushes out the lettuce after weakening the gripping force to a predetermined value.

As described above, since the reinforcing thread immersion groove 40 for immersing the reinforcing thread 19 is formed on the abdomen side of the finger portion 16, the gripping surface of the reinforcing thread 19 does not become uneven. As a result, as shown in FIG. 8B, even when the lettuce pushing pad 44 pushes the lettuce and the finger portion 16 rises while being in contact with the lettuce, the reinforcing thread 19 does not catch on the lettuce. 15 and FIG.
As shown in FIG. 6, the finger portion 16 is arranged such that the rear surface or side surface of the finger portion 16 and the top surface of the bellows 16a have the same height and the same width in both the rear view and the side view. Since the bellows 16a is formed, the finger portions 16 can be raised smoothly without causing the bellows 16a to be caught on the packaging sheet.

After the finger portion 16 retreats to the upper side of the opening (FIG. 8C), the movable base 20 descends (FIG. 9).
(I)). At this time, the packaging sheet 9 is further squeezed by the squeezing member 10.

The pair of holding members 22 advance toward the packaging sheet 9 (FIG. 9B), and pinch the upper portion 9a of the packaging sheet 9 to narrow it down (FIG. 10A). Thereby, the lettuce A is almost completely wrapped in the packaging sheet 9.

The pair of disk cutters 23 is used to hold the holding member 2
2, the upper portion 9 a of the packaging sheet 9 is cut off. After the adhesive tape 25 is attached to the lettuce from above by a tape attaching mechanism (not shown in FIG. 10).
(B), (c)), the pair of holding members 22 are opened (FIG. 11 (a)), and the movable table 20 is turned over (see FIG. 11 (b)), and the lettuce after packaging (FIG. 11 (b)). (C) is released to the slide 2B and collected.

[Alternative Embodiment] As shown in FIG. 18 (a), when the finger portion 16 is formed into a curved shape in conformity with the shape of the lettuce in a free state, the lettuce can be gripped as follows. Good.

That is, as shown in FIGS. 17 and 18 (b), by discharging air from the finger portions 16, each finger portion 16 is warped to the back side and positioned on both sides of the lettuce. Thereafter, as shown in FIG. 19A, air is supplied into the finger portion 16 to bend and bend, and the lettuce is gripped and taken out. As shown in FIG. 19 (b), the lettuce is sent to the lettuce receiving portion 8 side, and is operated as described above (FIG. 2).
0 (a), (b), (c)). Lettuce push pad 4
When 4 pushes out the lettuce, the finger portion 16 is set in the free state. According to this configuration, the finger portion 16 when the lettuce is pushed out by the lettuce pushing pad 44 is used.
Since the gripping force is not strong, the lettuce can be pushed out smoothly.

[Brief description of the drawings]

FIG. 1 is a perspective view showing lettuce packaging equipment.

FIG. 2 is a partially cutaway front view of a belt conveyor.

FIG. 3 is a side view of the robot hand.

FIG. 4 is a partially cutaway side view showing a robot hand and a belt conveyor immediately before gripping a lettuce;

FIG. 5 is a partially cutaway side view showing a robot hand and a belt conveyor holding a lettuce;

FIG. 6 is a side view showing the robot hand that has transported the lettuce to the lettuce packaging device side.

FIG. 7 is a side view showing the robot hand that has entered the vegetable receiving section of the lettuce packaging device.

8A is a side view showing the finger portion and the lettuce that have entered the vegetable receiving portion of the lettuce packaging device. FIG. 8B is a side view showing a state in which the extruding body has started to operate from the state of FIG. Side view showing a state in which the finger portion has retreated and raised from the state of (b) above.

FIG. 9A shows a state in which the elastic narrowing member has auxiliaryly narrowed the spherical vegetables together with the wrapping sheet. FIG. 9B is a perspective view showing a state in which the pair of holding members have begun to advance to the wrapping sheet side.

10A is a perspective view showing a state in which the lettuce is almost completely wrapped in the packaging sheet. FIG. 10B is a perspective view showing the first half of the state in which the adhesive tape is attached to the lettuce from above. Perspective view showing the latter half state of being pasted on lettuce from above

11A is a perspective view showing a state in which a pair of holding members are opened and opened. FIG. 11B is a perspective view showing a state in which the movable base is turned sideways. FIG. 11C is a perspective view showing a lettuce after packaging.

12A is a perspective view of a finger portion. FIG. 12B is a diagram showing a state in which a reinforcing thread is wound around the finger portion.

FIG. 13 (a) Longitudinal side view of a finger portion before gripping and bending (b) Longitudinal side view of a finger portion gripped and bent

FIG. 14 is a diagram showing a finger portion viewed from the abdomen side;

FIG. 15 is a view showing a finger portion viewed from the back side;

FIG. 16 is a diagram showing a finger portion viewed from a side portion side;

FIG. 17 is a longitudinal sectional side view of a finger portion of another embodiment.

18A is a partially cutaway side view showing a robot hand and the like according to another embodiment. FIG. 18B is a partially cutaway side view showing a finger portion and the like immediately before gripping according to another embodiment.

FIG. 19A is a partially cutaway side view showing a finger portion and the like in a gripped state according to another embodiment.

FIG. 20 (a) A side view showing a finger portion and a lettuce of another embodiment that has entered the vegetable receiving portion of the lettuce packaging device. (B) A side view showing a state where the extruded body has started to operate from the state of (a) above. Fig. (C) Side view showing a state in which the finger portion has retreated and raised from the state (b) above.

[Explanation of symbols]

 16a bellows 19 reinforcing thread 29 fluid supply section 40 thread groove

Claims (1)

[Claims] 1. A finger forming body is formed of a tubular soft material having a base end opened and a free end closed, and a fluid passing through a base end side opening is formed at a longitudinally intermediate portion of the finger forming body. A finger for a robot hand having a bellows that allows the finger forming body to bend toward the abdomen by the pressure of the fluid from the supply unit, wherein the bellows of the finger forming body are reinforced to prevent the bellows from expanding. A finger for a robot hand, wherein a thread is wound and a thread groove for immersing the reinforcing thread is formed on the abdomen side of the finger forming body.