JPH1025029A - Robot hand for transfer robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand for transfer robot, which is able to mount the work onto a pallet from the front of the pallet from side to side or back and forth, leaving no unoccupied space, which does not need a space above the work, which is able to transfer the work without dropping it, and which can cope with a work having a wide dimension. SOLUTION: A robot hand consists of an upper/lower chucking mechanism 16 and a work extruding mechanism 20. The upper/lower chucking mechanism 16 is comprised of a vertical member 17, which is installed in the tip end 12a of a robot arm and which has a horizontal fork-like lower claw 17a at its lower end, and a moving member 18, which has a horizontal upper claw 18a corresponding to the lower claw 17a. The work extruding mechanism 20 is provided with an extruding member 20a, which moves horizontally on the lower claw 17a. The work, which is held between the upper claw 18a and the lower claw 17a, is transferred by the robot arm up to this side of the prescribed position. Then the upper claw 18a is released so as to extrude the work by using the extruding member 20a, so that the work is mounted at a prescribed position on the pallet, without leaving no unoccupied space.

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 a transfer robot that loads articles on a pallet or the like.

[0002]

2. Description of the Related Art Conventionally, a transfer robot equipped with a parallel chuck hand as shown in FIG. 6 has been used to load a rectangular parallelepiped article (hereinafter referred to as a work) such as a cardboard case from a conveyor on a pallet. Used from. The parallel chuck hand 1 has a horizontal member 3 attached to a distal end shaft 2 of a robot arm and having a vertical fixed claw 3a at one end thereof, and a vertical movable claw 4a which moves horizontally on the horizontal member 3 and is vertical. The movable member 4 is configured to hold the work 5 between the fixed claw 3a and the movable claw 4a to transfer the work.

In addition, another robot hand for a transfer robot (“Hand device of article transfer robot”, Japanese Patent Publication No. 7-94)
No. 117), as illustrated in FIG. 7, a T-shaped member 6 attached to the distal end shaft 2 of the robot arm, a U-shaped claw 7 attached to the member 6 so as to be movable horizontally, a pusher 8 The workpiece 5 is vertically transferred by being sandwiched between the U-shaped claws 7 and the pushers 8, and the U-shaped claws 7 are pulled out horizontally to move the work 5 to a predetermined position.

[0004]

When transferring a work to a box pallet (commonly called a "car") having a frame on three sides, the parallel chuck hand shown in FIG.
It is necessary to open a gap C1 between workpieces with a thickness of
The loading efficiency of the work may be reduced, and the load may collapse during the movement of the work.

Further, Japanese Patent Publication No. 7-94117 shown in FIG.
In the hand device of No. 1, it is necessary to position the hand device just above the position where the workpiece is transferred, and thus a sufficient space is required above the pallet. Furthermore, in this hand device,
It is necessary to open a gap C2 larger than the thickness of the lower piece of the U-shaped claw 7 at the time of transfer, and to drop this height by its own weight,
If the U-shaped claw 7 is pulled out quickly, there is a problem that a shock is applied to the work. Furthermore, it is difficult to cope with a change in the size of the work 5. For example, when the height is large, the work cannot be held, and when the depth is short, the work cannot be held by the pusher 8.

The present invention has been made to solve such a problem. That is, an object of the present invention is to allow a work to be stacked on a pallet from front to back, front and rear, left and right, without requiring a space above the work, transferring the work without dropping the work at all, and having a wide range of dimensions. An object of the present invention is to provide a robot hand for a transfer robot that can cope with the above work.

[0007]

According to the present invention, an upper and lower chuck mechanism and a work pushing mechanism are provided. The upper and lower chuck mechanism is attached to a tip of a robot arm and has a horizontal fork-like lower claw at a lower end. The member, comprising a moving member having a horizontal upper claw facing the lower claw and moving up and down on a vertical member, the work pushing mechanism has an extrusion member that moves horizontally on the lower claw, Holding the work between the upper and lower claws, transporting the work to a position short of a predetermined position by a robot arm, releasing the upper claw, extruding the work with an extruding member, and transferring the work to the predetermined position without a gap, A robot hand for a transfer robot is provided.

According to the configuration of the present invention, the work is held between the upper claws and the lower claws, transported by the robot arm to a position just before a predetermined position, the upper claws are opened, and the work is pushed out by the pushing member. Since the work is transferred to a predetermined position without a gap, the work can be stacked without a gap in the front-rear direction of the work. In addition, since the work is pushed out and loaded from a position short of the position where the work is to be loaded, no space or gap is required above and below the work, and the work can be transferred without dropping at all. Furthermore, since the work is held between the upper and lower claws opposed to each other, and the upper claw can be largely moved in the vertical direction, even if the work is tall or short, the work is stably held. Can be transferred.

Further, according to a preferred embodiment of the present invention, the vertical chuck mechanism and the work pushing mechanism are configured to be narrower than the narrowest dimension of the target work. With this configuration, the stacking can be performed in close contact with the left and right directions as viewed from the robot.

Further, the fork-shaped lower pawl is formed in such a size that it can be inserted into a gap between the rollers of a roller conveyor for transporting the work to the transfer position. With this configuration, the work can be directly held on the conveyor.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. In the drawings, common parts are denoted by the same reference numerals. FIG. 1 is an overall configuration diagram of a transfer robot provided with a robot hand 10 of the present invention. As shown in this figure, the transfer robot 11
The robot 12 can move the robot arm 12 three-dimensionally, has a downward shaft 12a at the tip of the arm 12, and the robot hand 10 is attached to the shaft 12a. Further, as shown in the figure, the transfer robot 11
Roller conveyor 13 that transports work 5 to the transfer position
And a box pallet 14 (car wheel) having frames on three sides, so that the work 5 is transferred from the roller conveyor 13 to the box pallet 14.

FIG. 2 is a configuration diagram of a robot hand according to the present invention. In this figure, (A) is a plan view showing the lower claw portion, (B) is an overall side view showing the vertical chuck mechanism,
(C) is a partial side view showing a work pushing mechanism. As shown in this figure, the robot hand 10 of the present invention includes a vertical chuck mechanism 16 and a work pushing mechanism 20.

As shown in FIG. 2B, the vertical chuck mechanism 16 includes a vertical member 17 attached to the tip shaft 12a of the arm 12 of the robot 11, and a moving member 18 that moves on the vertical member 17 up and down. The vertical member 17 has a horizontal fork-shaped lower claw 17a at the lower end thereof, and the moving member 18
Has a horizontal upper claw 18a facing the lower claw 17a. The moving member 18 is vertically guided by a linear guide, and freely moves up and down while holding the upper pawl 18a in parallel with the lower pawl 17a by a linear motion cylinder (not shown). .

Further, as shown in FIG. 2A, the fork-shaped lower pawl 17a is formed to have a size that can be inserted between the roller gaps of the roller conveyer 13 for conveying the work 5 to the transfer position. Further, as shown in FIG. 2 (C), the work pushing mechanism 20 has a pushing member 20a that moves horizontally on the lower pawl 17a. This work pushing mechanism 20
The endless belt 21b is stretched between a driving pulley 21a and a passive pulley 21b. An extruding member 20a is attached to the endless belt 21b. The pushing member 2 is rotated by the motor 21d to rotate the driving pulley 21a.
0a is moved horizontally.

The vertical chuck mechanism 16 and the work pushing mechanism 20 are configured to be narrower than the narrowest dimension of the target work 1. With this configuration, it is possible to load the robot in close contact with the left and right directions as viewed from the robot.

FIG. 3 shows a robot hand 10 according to the present invention.
It is another block diagram of. In this figure, the moving member 18
Is mounted on a rodless cylinder 19 mounted on a vertical member 17. In addition, the pushing member 20a
The slide guide 22 guides the lower claw 17a horizontally, and is driven horizontally via an arcuate link 24 by a double-acting cylinder 23 vertically arranged on the back surface of the vertical member 17. . With such a configuration, it is possible to eliminate the protrusion on the back side (the right side in the figure) of the robot hand 10. Other configurations are the same as those of the robot hand of FIG.

FIG. 4 is a diagram showing a use state of the robot hand 10 of the present invention. In this figure, (A) is a plan view showing a state where the work 5 on the roller conveyor 13 is held by the robot hand 10, and (B) is a side view showing a state where the work 5 is transferred onto the box pallet 14. is there. As shown in FIG. 4A, since the fork-shaped lower pawl 17 a is formed to have a size that can be inserted between the roller gaps of the roller conveyor 13, the work 5 can be directly held on the conveyor 13. At this time, it is preferable to change the insertion position of the lower claw 17a according to the size of the work.
Next, the work 5 is sandwiched between the upper claw 18a and the lower claw 17a, and as shown in FIG. 4B, the work 5 is transported by the robot arm 10 to a position short of a predetermined position where the work 5 is loaded. At this position, the upper claw 18a is opened, and the pushing member 20a is released.
The work 5 is pushed out, and the work 5 is transferred to a predetermined position without any gap.

That is, the procedure for loading a work using the robot hand 10 of the present invention is as follows. First, the work 5 conveyed on the roller conveyor 13 is positioned at a predetermined position by a pusher 13a or the like (see FIG. 1). Next, the lower claws 17a of the robot hand 10 are inserted into the gaps between the rollers to support the lower surface of the work 5. Next, the upper claws 18a of the robot hand 10 are moved downward, and the work 5 is chucked and held between the lower claws 17a. Next, the robot arm 12 (see FIG. 1) is moved to transfer the work 5 to a predetermined position of the car 14. Next, the upper claw 18a is moved upward to be released, and the work 5 is pushed out by the pushing mechanism 20 until the work is brought into close contact in the depth direction. The close stowage is performed by extruding with a constant force based on geometric information such as a work size, a stowed shape, and the like. The determination of the close contact may be detected by a pressure sensor or the like.

FIGS. 5A and 5B are side views showing a state where the work 5 is held by the robot hand 10 of the present invention. FIG. 5A shows a case where the work 5 is small, and FIG. 5B shows a case where the work 5 is large. I have. As shown in this figure, in the robot hand of the present invention, the work 5 is sandwiched between the upper claws 18a and the lower claws 17a facing each other, and the upper claws 18a can be largely moved in the vertical direction. Even a high work or a work having a short depth can be stably sandwiched and transferred.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various changes can be made without departing from the spirit of the present invention.

[0021]

As described above, the robot hand for a transfer robot according to the present invention can load a work on a pallet from the front to the front, back, left and right without any gap, and does not require a space above the work. Has excellent effects such as being able to be transferred without dropping at all, and capable of coping with a wide range of works.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a transfer robot provided with a robot hand according to the present invention.

FIG. 2 is a configuration diagram of a robot hand according to the present invention.

FIG. 3 is another configuration diagram of the robot hand according to the present invention.

FIG. 4 is a diagram illustrating a use state of the robot hand according to the present invention.

FIG. 5 is a diagram illustrating a state in which a workpiece is held by the robot hand according to the present invention.

FIG. 6 is a configuration diagram of a conventional robot hand.

FIG. 7 is a configuration diagram of another conventional robot hand.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Parallel chuck hand 2 Robot arm tip axis 3 Horizontal member 3a Vertical fixed claw 4 Moving member 4a Vertical movable claw 5 Work (a rectangular parallelepiped article) 6 T-shaped member 7 U-shaped claw 8 Pusher 10 Robot hand 11 Transfer robot 12 Arm (Robot arm) 12a Tip shaft 13 Roller conveyor 13a Pusher 14 Box pallet 16 Vertical chuck mechanism 17 Vertical member 17a Lower jaw 18 Moving member 18a Upper jaw 19 Rodless cylinder 20 Work pushing mechanism 20a Pushing member 21a Drive pulley 21b Passive pulley 21c Endless Belt 22 Slide guide 23 Double acting cylinder 24 Arc link

 ──────────────────────────────────────────────────の Continued from the front page (72) Inventor Shuichi Fukushi 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd.

Claims (3)

[Claims] 1. A vertical member having an upper and lower chuck mechanism and a work pushing mechanism, the upper and lower chuck mechanism being attached to a tip of a robot arm and having a horizontal fork-like lower claw at a lower end, and a horizontal member facing the lower claw. And a moving member that moves vertically on a vertical member and has a pushing member that moves horizontally on the lower claw. The robot arm is conveyed to a position just before a predetermined position by a robot arm, the upper claws are released, the work is pushed out by an extruding member, and the work is transferred to the predetermined position without any gap. hand. 2. The robot hand for a transfer robot according to claim 1, wherein the upper and lower chuck mechanisms and the work pushing mechanism are configured to be narrower than a narrowest dimension of a target work. 3. The claw according to claim 1, wherein the fork-shaped lower pawl is formed to have a size that can be inserted into a gap between rollers of a roller conveyor that conveys a work to a transfer position.
A robot hand for a transfer robot according to item 1.