JPH10286790A - Work carrying hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To hold a work with proper holding force to be carried even with the work having deflection of a position of a center of gravity. SOLUTION: Both a main chuck 2 to hold a work at a close position to a center of gravity, and a subsidiary chuck 3 of which relative position relation to the main chuck 2 is changeable are installed on a rotary arm 4. Two-point holding by the main chuck 2 and the subsidiary chuck 3 is performed, and at this time, relative position relation between the main chuck 2 and the subsidiary chuck 3 is changeable, thereby different types of the works and deflection of the center of gravity can be coped with.

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 for chucking and transferring a work.

[0002]

2. Description of the Related Art A work transfer hand mounted on a robot and used to transfer a work from one position to another position generally holds the work by a chuck composed of a plurality of claws. Gripping by
If not performed near the position of the center of gravity of the work, the gripping becomes unstable, and the work may be released during the conveyance.

[0003] Further, when the shape of the workpiece itself varies, it is not always possible to reliably grip the position near the center of gravity.
A hand with sufficient rigidity and gripping force is used so as not to be affected by the deviation between the center point of gripping by the chuck and the center of gravity of the work.

[0004]

However, if a predetermined safety factor is further taken into account for the allowable amount of the deviation between the center point and the center of gravity, the hand needs an overspec hand relative to the weight of the work. Its volume and weight will increase. The present invention has been made in view of such a point, and a purpose thereof is a work transfer hand capable of holding and conveying a work with an appropriate holding force even for a work having a biased center of gravity. To provide.

[0005]

SUMMARY OF THE INVENTION According to the present invention, both a main chuck for gripping a position near the center of gravity of a work and a sub chuck having a variable relative positional relationship with respect to the main chuck are mounted on a rotary arm. It is characterized by doing. The main chuck and the sub chuck are used for holding at two points. In particular, since the relative positional relationship between the main chuck and the sub chuck is variable, it is possible to cope with various workpieces and deviations in the position of the center of gravity. .

If the direction in which the relative position of the sub chuck relative to the main chuck is variable is a direction in which the sub chuck is moved away from the work when the main chuck grips the work, the sub chuck may interfere with the work when the main chuck grips the work. Can be avoided. Furthermore, if the variable direction of the relative position of the sub chuck with respect to the main chuck is the direction in which the work held by the main chuck and the sub chuck is stretched, even if the work is a soft body, the posture at the time of conveyance is kept constant. Can be kept.

[0007] Under the control of an image processing device for detecting the direction and the position of the center of gravity of the work and a control device for controlling the operation based on the detection result, the work can be gripped regardless of the position and the direction of the work. When the robot is mounted on a multi-axis robot and used, the transfer hand can be used in an arbitrary space.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described. As shown in FIG. 1, this work transfer hand 1 is composed of a main chuck 2 and a sub chuck 3 attached to the main chuck 2. And two sub chucks with respect to the main chuck 2.
The main chuck 2 is movable in the
Is attached to the rotating arm 4 and is rotatable around the axis of the rotating arm 4.

The driving device 5 such as an air cylinder provided on the side surface of the main chuck 2 makes the distance of the sub chuck 3 from the main chuck 2 variable as shown in FIG. Further, the sub chuck 3 is driven by a driving device 6 disposed between the sub chuck 3 and the driving device 5 as shown in FIG.
As shown in (a), it is also movable in the vertical direction. The work transfer hand 1 configured as described above is, for example, shown in FIG.
As shown in FIG. 5, the main chuck 2 grips the vicinity of the center of gravity of the work 9, and the sub chuck 3 grips other parts of the work 9. Then, the work 9 is transported.

FIG. 4 shows an example of the work 9. The work 9 shown here is a cord 90 bound by a binding band 91. Such transfer of the work 9 is performed as follows. That is, as shown in FIG. 5, first, the work 9 is photographed by the camera 6 and the direction and the position of the center of gravity of the work 9 are detected by the image processing thereof. The direction is adjusted to the direction of the work 9 and then, as shown in FIG. 5B, the work 9 is gripped by the main chuck 2 in the vicinity of the center of gravity of the work 9 with the sub chuck 3 moved upward.

Thereafter, the sub-chuck 3 is moved down to
As shown in (c), the other part of the work 9 is gripped by the sub chuck 3. Here, the work 9 is gripped by the sub chuck 3 in the vicinity of the main chuck 2 and then moved in a direction to separate the sub chuck 3 from the main chuck 2 by driving by the driving device 5 as shown in FIG. Then, the part to be gripped by the sub chuck 3 is
To the end.

Here, the work 9 is initially held only by the main chuck 2 and the sub-chuck 3 is retracted upward. This is to avoid interfering with the object. Initially, the work 9 is gripped by the sub chuck 3 by the main chuck 2.
When the work 9 is made of a soft material such as the cord 90, the work 9 may be located at a position that cannot be gripped by the sub chuck 3 because the end of the work 9 is likely to be shifted. On the other hand, on the side near the center of gravity held by the main chuck 2, the deviation is small and the sub chuck 3 can reliably hold the work 9. The reason for shifting to the end side is that the work 9 is stretched to fix the shape of the work 9 in a predetermined state, thereby enabling stable conveyance and facilitating handling at the destination. .

FIG. 6 shows a case in which the work transfer hand 1 is mounted on a multi-axis robot 8. In this case, the work transfer hand 1 is placed in an arbitrary space accessible by the multi-axis robot. Can be used.

[0014]

As described above, according to the present invention, even for a work having a biased center of gravity, two points are gripped by the main chuck and the sub chuck, so that stable gripping and transfer can be performed even if the gripping force is weak. In particular, since the relative positional relationship between the main chuck and the sub chuck is made variable, it is possible to perform gripping and transporting in accordance with the deviation of various workpieces and the position of the center of gravity.

If the direction in which the relative position of the sub-chuck relative to the main chuck is changed is set to the direction in which the sub-chuck is moved away from the work when the main chuck grips the work, the sub-chuck may interfere with the work when the main chuck grips the work. Can be avoided and can cope with various works. further,
When the variable direction of the relative position of the sub chuck with respect to the main chuck is the direction in which the work held by the main chuck and the sub chuck is stretched, even if the work is a soft body, the posture at the time of conveyance is kept constant. Can be
For this reason, more stable conveyance can be performed, and processing of the work at the conveyance destination can be facilitated.

By controlling the image processing apparatus for detecting the direction and the position of the center of gravity of the work and the control apparatus for controlling the operation based on the detection result, the work can be reliably performed regardless of the position and the direction of the work. This makes it possible to perform gripping and transporting, and when the robot is mounted on a multi-axis robot and used, the transporting hand can be used in an arbitrary space.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of an embodiment of the present invention.

FIGS. 2 (a) and 2 (b) are perspective views showing the operation of a sub chuck according to the first embodiment.

FIG. 3 is a perspective view of a robot provided with the above-described transfer hand.

FIG. 4 is a perspective view of an example of a work to be transported by the transport hand according to the embodiment.

5 (a) to 5 (d) are explanatory diagrams of the operation of the above.

FIG. 6 is a perspective view of another robot provided with the above-described transfer hand.

[Explanation of symbols]

 1 Work transfer hand 2 Main chuck 3 Sub chuck 4 Rotating arm

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yoji Urano 1048 Odomo Kadoma, Kadoma City, Osaka Inside Matsushita Electric Works, Ltd.

Claims (5)

[Claims] 1. A work carrier characterized in that both a main chuck for gripping the vicinity of the center of gravity of a work and a sub-chuck having a variable relative positional relationship with respect to the main chuck are mounted on a rotating arm. hand. 2. The work transfer hand according to claim 1, wherein the variable direction of the relative position of the sub chuck with respect to the main chuck is a direction in which the sub chuck is moved away from the work when the main chuck grips the work. 3. The work transfer hand according to claim 1, wherein the variable direction of the relative position of the sub chuck with respect to the main chuck is a direction in which the work held by the main chuck and the sub chuck is extended. 4. The apparatus according to claim 1, wherein the apparatus is under the control of an image processing apparatus for detecting the direction and the position of the center of gravity of the work and a control apparatus for performing operation control based on the detection result. Work transfer hand. 5. The work transfer hand according to claim 1, wherein the work transfer hand is used by being mounted on a multi-axis robot.