JPH1110570A - Adsorption hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an adsorption hand to prevent fall of a work even when moving at a high speed. SOLUTION: A movable side member 16 having a projected part 17A is installed on an adsorption pad 4 as a bracing mechanism 15 of the adsorption pad 4, and a fixed side member 18 having a regulation part 19B to regulate movement of the projected part 17A is installed on a hand base part 1. At the time of adsorbing a work 6, an expansible support 2 is shortened, the projected part 17A is separated upward from the regulation part 19B, and deflection of the adsorption pad 4 is allowed. Consequently it is possible to carry out adsorption in correspondence with an upper surface irregular shape of the work 6, and a hand function is not interrupted. After adsorbing and raising the work 6, the support 2 extends and the projected part 17A makes contact with the regulation part 19B from above, and it stops deflection of the adsorption pad 4. Consequently, the work 6 does not fall even when it moves at high speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction hand using a negative pressure suction type suction pad, and more particularly to a steadying mechanism thereof.
For example, it is useful for various industrial robots such as a palletizing robot or various industrial manipulators.

[0002]

2. Description of the Related Art Robots and manipulators sometimes perform "palletizing" in which works such as bags, buckets, boxes, and the like are arranged on a pallet, and conversely, "depalletizing" in which arranged works are lifted off a pallet. Robots and manipulators for such purposes are called palletizing robots.

[0003] Normally, when depalletizing with a robot, a human or another robot carries a work such as a stacked box. At this time, the box or the like is often tightly packed without any gaps. An ordinary hand of the type gripped by the mechanism cannot be used due to approach or other relationships. Therefore, a so-called suction hand of a type in which the upper surface of the work is sucked and lifted by negative pressure suction is used.

[0004] In the case of palletizing, since the robot itself performs the stacking, it is possible to devise the stacking order of the works or to provide a gap between the works. This hand can also be applied to a certain extent.

Although there are various types of suction hands, typical conventional examples are shown in FIG. 7 (front view), FIG. 8 (side view), FIG. 9 (rear view), and FIG. 10 (plan view). I will explain.
The conventional suction hand shown in these figures has a hand base 1
And a stretchable column 2, a ball joint 3, a negative pressure suction pad 4, and a spring 5 for applying an extension force to the column 2. In the drawing, reference numeral 6 indicates a work.

When the suction hand is mounted on a palletizing robot, it is often used in a horizontal state as shown in FIG. Therefore, hereinafter, the direction of arrow 7 in FIG. 7 is the up-down direction, the direction of arrow 8 is the left-right direction, and the direction perpendicular to the paper surface (FIG.
And the direction of arrow 10 in FIG. 10).

The hand base 1 comprises a joint 1A with an arm (not shown) of the palletizing robot, and a support plate 1B fixed below the joint 1A to support hand components. An extendable column 2 is provided on the lower surface of the support plate 1B.
Is erected. A ball joint 3 is attached to the lower end of the support 2, and the suction pad 4 is attached to the ball joint 3 with its suction surface facing down.
Supported. Further, a spring 5 having a shape surrounding the support 2 and the ball joint 3 is provided between the support plate 1 </ b> B and the suction pad 4 in order to apply a stretching force to the support 2.

The suction pad 4 is connected to a negative pressure source (not shown) by a hose 11, a joint 12, and a hose 13, and is set to a negative pressure when sucking the work 6,
Is released, the negative pressure is released. The joint 12 is attached to the support plate 1B by an instrument 14.

Here, the reason why the suction pad 4 is supported using the extendable column 2, the ball joint 3, and the spring 5 will be described. When the work 6 is a bag, the upper surface thereof is completely flat. This is because the content is usually uneven and unevenness is formed, so that a certain degree of freedom is required for supporting the suction pad 4.

In the illustrated example, the suction pad 4 can swing in a horizontal direction 8 in FIG. 7 (reciprocating turning) 9 and can move in a vertical direction 7 in FIG.

That is, the ball joint 3 itself can be freely swung in any direction, but in this conventional example, as shown in FIG. 8, two columns 2 are provided in parallel on the support plate 1B for each suction pad 4. By standing up and attaching one suction pad 4 to two ball joints 3 in common, the rotation of each ball joint 3 is perpendicular to the plane including the two pillars 2 and these pillars 2 It is restricted only to the operation in the plane parallel to. Accordingly, the suction pad 4 can move 9 only in the left-right direction 8 in FIG.

The suction surface of the suction pad 4 is horizontal when no load is applied because two columns 2 having the same structure are used for each suction pad 4.

Next, since the column 2 can expand and contract in the vertical direction 7 between its forward end and its backward end, the suction pad 4
Can also be moved between the lower end and the upper end only in the vertical direction 7.

Further, the spring 5 includes the support plate 1B and the suction pad 4
It expands and contracts according to the interval of. Therefore, when the suction hand is pressed against the work 6, the spring 5 contracts together with the support column 2,
The suction pad 4 is moved to a position suitable for the shape of the work 6 between the upper and lower ends and pressed against the work 6. In other cases, for example, when the work 6 is lifted or in a no-load state, the spring 5 is extended, the support 2 is extended to the lower end, and the suction pad 4 is located at the lowermost end.

In order to perform depalletizing using such a suction hand, the hand base 1 is attached to the arm of the robot, and the suction pad 4 is pressed against the work 6 and then a negative pressure is applied. Press against work 6 while applying pressure. As a result, the suction pad 4 is attracted to the work 6 by negative pressure, so that if the suction hand is lifted, the work 6 is lifted and can be moved by the robot.

However, when the suction hand is rapidly moved in the left-right direction 8 in FIG. 7 after the work 6 is lifted, the speed is reduced so that the work 6 does not fall as compared with the movement in other directions. There is a problem that must be done.

That is, for example, when the speed component in the left-right direction 8 changes at the start of the movement of the suction hand or the like, inertial force acts on the suction pad 4 and the work 6, and the suction pad 4 tends to shake. Therefore, when the speed changes rapidly, the suction pad 4 swings largely as shown in FIG. 11 and a part of the suction pad 4 is separated from the work 6, and the work 6 drops without maintaining the negative pressure in the suction pad 4. . Alternatively, the moving speed of the suction hand must be reduced to such an extent that the work does not drop.

On the other hand, when the suction hand is moved in another direction, for example, in a direction perpendicular to the paper surface in FIG. 7, that is, in the front-rear direction 10 shown in FIGS. Since the pad 4 does not swing, even if the speed changes rapidly, the suction pad 4 does not separate from the work 6 and the work 6 does not drop.

Therefore, as described above, when the suction hand is moved in the left-right direction 8 in FIG. 7, the speed of the suction hand must be reduced so that the work 6 does not drop as compared with the other directions. There is.

[0020]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a suction hand which can prevent a workpiece from falling without reducing the moving speed.

[0021]

According to a first aspect of the present invention, there is provided a suction hand according to the first aspect of the present invention, comprising: a hand base; Telescopic struts, a ball joint attached to each end of the one row of struts, a negative pressure suction type suction pad commonly attached to the plurality of ball joints, and an extending direction of the struts. And a stretching force applying member for applying the force of (a), the deflection of the movement of the suction pad in a plane perpendicular to the plane including the column of the columns and parallel to the column, and expansion and contraction of the columns. In the suction hand allowed to move in the direction, a movable side portion having a protrusion attached to the suction pad and having a protrusion protruding outward from both sides of the suction pad with respect to the deflection direction as a vibration-preventing mechanism for the suction pad. And a fixed-side member attached to the base of the hand, the fixed-side member having a restricting portion for restricting the movement of the protruding portion of the movable-side member, wherein the restricting portion of the fixed-side member has a predetermined extension state of the support column. The protruding portion is formed at a position where the protruding portion comes into contact with the restricting portion from the hand base side and the protruding portion is separated from the restricting portion in a state where the support column is shorter than the predetermined extended state. Is what you do.

According to a second aspect of the present invention, there is provided a suction hand, comprising: a hand base; an extendable support standing upright on one surface of the hand base; a ball joint attached to a tip of the support; In a suction hand comprising a suction pad of a negative pressure suction type attached to a ball joint and an extension applying member for applying a force in an extension direction to the support, the suction pad swings in a predetermined extension state of the support. And a steadying mechanism that allows the suction pad to swing when the support is shorter than the predetermined extended state.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A suction hand according to an embodiment of the present invention will be described below with reference to FIGS. 1 is a front view of a suction hand according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a rear view, and FIG. 4 is a plan view. FIG. 5 is a rear view of a suction hand according to another embodiment of the present invention, and FIG. 6 is a side view thereof.

The suction hand shown in FIGS. 1 to 4 has a hand base 1, an extendable strut 2, a ball joint 3,
It comprises a suction pad 4 of a negative pressure suction type, a spring 5 as an extension force applying member, and a steadying mechanism 15.

However, the hand base 1, the support 2, the ball joint 3, the suction pad 4, and the spring 5 in these figures are
7 to 10 are the same as the corresponding portions of the conventional suction hand shown in FIGS.

Also, since the suction hand is often used in a horizontal state as shown in FIG.
The direction of arrow 7 in FIG. 1 will be described as the up-down direction, the direction of arrow 8 will be the left-right direction, and the direction perpendicular to the paper surface (direction of arrow 10 in FIGS. 2 and 4) will be described as the front-back direction.

The hand base 1 comprises a joint 1A with a robot or a manipulator arm, and a support plate 1B fixed below the joint. On the lower surface of the support plate 1B, extendable columns 2 of the same structure are erected in parallel with each other in three rows, two per row. A ball joint 3 is attached to the lower end of each column 2. One suction pad 4 is assigned to each row of such columns 2, and a total of three suction pads 4 are supported by six columns 2 and six ball joints 3 on the support plate 1 </ b> B.
Attached to and supported.

That is, the individual suction pads 4 are commonly connected to the two ball joints 3 of the two columns 2 in a row with the suction surfaces thereof facing downward. The suction surface is horizontal when there is no load.

Further, each column 2 is provided with a stretching force by using a spring 5. In this example, a spring 5 having a shape surrounding the support 2 and the ball joint 3 is disposed between the hand base 1 and the suction pad 4 for each set of the support 2 and the ball joint 3 at the tip thereof. In this example, the upper end of each spring 5 is fixed to the support plate 1B, and the lower end is fixed to the suction pad 4. However, when the support 2 and the ball joint 3 are surrounded by the spring 5, there is no need to fix the spring 5 because there is no fear of the spring 5 coming off.

Hose 11 is connected to each suction pad 4, and three hoses 11 are connected to one hose 13 by a joint 12, and this hose 13 is connected to a negative pressure source not shown. The joint 12 is fixed to the support plate 1B by an instrument 14. Each suction pad 4 is set to a negative pressure when sucking the work 6, and is released when releasing the work.

With the above configuration, basically, the run-out 9 of each suction pad 4 is at right angles to the horizontal direction 8 in FIG. Only possible in parallel planes.

Further, the movement of each suction pad 4 is possible between the lower end and the upper end only in the vertical direction 7 in FIG.

As a result, when the suction hand is pressed against the work 6, the spring 5 is contracted together with the support column 2, and the suction pad 4 is moved to a position between the upper and lower ends corresponding to the shape of the work 6. And is pressed against the work 6. In other cases, for example, work 6
In a state in which is lifted or in a no-load state, the spring 5 is extended, the column 2 is fully extended to the lower end, and the suction pad 4 is located at the lowermost end.

In the above-described suction hand, in order to prevent the work 6 from dropping without reducing the moving speed, the swing 9 of the suction pad 4 must be stopped within a range that does not hinder the hand function when sucking the work 6. It is enough if you can.

For this reason, for each suction pad 4, the runout 9 of the suction pad 4 is stopped when the support column 2 is in a predetermined extended state,
When the support column 2 is shorter than the predetermined extended state, a steadying mechanism 15 that allows the swing 9 of the suction pad is provided between the suction pad 4 and the support plate 1B of the hand base 1.

Specifically, each steady rest mechanism 15
The movable side member 16 attached to the suction pad 4 and the fixed side member 18 attached to the support plate 1B of the hand base 1
Consists of

The movable side member 16 includes upper and lower ends 17A, 1
7B is formed by using two substantially Z-shaped members (hereinafter referred to as substantially Z-shaped members) 17 protruding in the opposite direction. Each of the substantially Z-shaped members 17 has its lower end 17B fixed to the suction pad 4 such that the upper end 17A protrudes outward from both sides of the suction pad 4 in the left-right direction 8 which is the swing direction. .

Accordingly, the upper end 17A of each of the substantially Z-shaped members 17 becomes a protruding portion of the movable side member 16, and this upper end is hereinafter referred to as a protruding portion 17A.

The substantially Z-shaped members 17 are formed and attached so that the lower surfaces of the two projections 17A are flat and have the same height.

On the other hand, the fixed side member 18 has upper and lower end portions 19.
A and 19B are formed by using two vertically long members (hereinafter, referred to as both end protruding members) 19 having a shape protruding in the same direction. Regarding the shape of each end projecting member 19, when the upper end 19 A is fixed to the support plate 1 A of the hand base 1, the projecting portion 17 A of the movable member 16 in a predetermined extended state of the support column 2.
Abuts on the lower end 19B of the both-end projecting member 19 from the hand base side (from above), and when the support column 2 is shorter than the predetermined extended state, the projecting portion 17A becomes the lower end 19A.
The position of the lower end portion 19B is set and formed so as to be away from B toward the hand base side (upward).

Each of the projecting members 19 has a lower end 19.
B is formed so that the upper surface is flat and the two lower ends 19B are at the same height.

The two projecting members 19 at both ends are directed inward from both sides of the suction pad 4 in the deflection direction 8.
In addition, each lower end portion 19B is connected to each protruding portion 17 of the movable member 17.
The upper end 19A is fixed to the support plate 1B just below A. Thereby, each lower end portion 19B regulates the movement of the protruding portion 17A of the movable member 16.

Therefore, the lower end 19 of each of the projecting members 19
Since B is a restricting portion of the fixed member 18, the lower end portion is hereinafter referred to as a restricting portion 19B.

In the present embodiment, the two end protruding members 19 located at the left and right ends of the suction hand have a vertically long U-shape, but the two end protruding members 19 located therebetween are vertically elongated. It has an E-shape. Each of the U-shaped two-sided projecting members 19 is equivalent to arranging two U-shaped two-sided projecting members back to back. Of course, the both end protruding members 19 located at the left and right ends of the suction hand are also formed in
E-shaped end protruding members may be used.Furthermore, both ends protruding members whose both ends protrude in opposite directions may be used. In short, U-shaped protruding members located at the left and right ends of the suction hand may be used. Any shape may be used as long as it can perform the same anti-sway function as the two-sided projecting members 19 and the D-shaped two-sided projecting members 19 located therebetween.

In order to perform depalletizing or palletizing using the suction hand provided with the above-described steadying mechanism 15, the hand base 1 is mounted on an arm of a robot or the like, and the suction pad 4 is pressed against the work 6 and then the negative pressure is applied. Alternatively, the suction pad 4 is pressed against the work 6 while keeping the suction pad 4 at a negative pressure.

At this time, since the suction hand is pressed against the work, the spring 5 and the support column 2 are contracted, and each suction pad 4
Is located above the lower end. Therefore, in each of the steadying mechanisms 15, there is a gap between the protrusion 17A fixed to the suction pad 4 and the regulating portion 19B fixed to the hand base 1, so that the runout 9 of each suction pad 4 is allowed, and The posture of the suction pad 4 can correspond to the uneven shape. As a result, the suction pad 4 sticks to the work 6 with a negative pressure, and if the suction hand is lifted, the work 6 is lifted and can be moved by the robot.

When the work 6 is lifted, the spring 5 and the column 2 are extended, and each suction pad 4 is located at the lower end. Therefore, in each of the steadying mechanisms 15, the protrusion 1 on the suction pad side is used.
7A comes into contact with the regulating portion 19B on the hand base side, and the run-out 9 of the suction pad 4 is prevented. Thus, even if the suction hand is rapidly moved in the left-right direction 8 in FIG.
The work 6 does not drop because the negative pressure in the suction pad 4 is maintained while a part of the work 6 does not separate from the work 6.

Therefore, the suction hand is moved in the other direction, for example, in a direction perpendicular to the plane of the paper in FIG. 1, that is, in the front-rear direction 10 shown in FIGS. Can be. After moving to the desired location, the workpiece 6 can be released by releasing the negative pressure.

In the above-mentioned suction hand, the extendable support column 2 having the same structure and having the ball joint 3 attached to the lower end is provided as one unit.
Two columns per row are erected in parallel to each other, and one suction pad 4 is assigned to each row of such columns 2 so that a total of 3
Although the four suction pads 4 are supported by the six columns 2 and the six ball joints 3, the present invention is not limited to this. For example, the following may be performed. (1) The number of suction pads 4 may be one, two, or four or more. (2) When there are a plurality of suction pads 4, the swing directions of the individual suction pads 4 may be different from each other. (3) One suction pad 4 may be supported by three or more columns 2 with ball joints 3 per row. (4) The struts 2 with the ball joints 3 do not have to have the same structure, for example, the length is different within one row. That is, when there are a plurality of suction pads 4, it is not necessary that all the suction surfaces be parallel to the support plate 1B in a no-load state. If the suction surfaces are parallel to each other, the support plate 1B becomes horizontal by tilting the support plate 1B. No problem. (5) One suction pad 4 may be supported by one support column 2 with the ball joint 3.

In the above-described suction hand, the spring 5 is used as a member for applying an extension force to the column 2.
A cylinder such as air or hydraulic pressure, or a highly elastic rubber can be used. When the cylinder is used as the extension force applying member, the column 2 can be used as a cylinder rod as it is, and the cylinder can apply a downward force.

Next, an example in which one suction pad is used as a suction hand according to another embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. In these figures,
Components having the same functions as those of the members of the suction hand shown in FIGS. 1 to 4 are denoted by the same reference numerals, and redundant description will be omitted.

5 and 6, one extendable column 2 having a ball joint 3 attached to the lower end thereof is provided upright on the lower surface of a support plate 1B below the hand base 1. One suction pad 4 is attached to and supported by the support 2 with the suction surface facing downward. The column 2 is provided with a stretching force using a spring 5. The suction pad 4 is connected to a negative pressure source (not shown) by a hose 11, a joint 12, and a hose 13.

In this state, the suction pad 4 is swung in the original arbitrary turning direction of the ball joint 3.

Therefore, the swing of the suction pad 4 is stopped in any direction when the support column 2 is in the predetermined extension state, and the swing of the suction pad 4 in any direction is reduced when the support column 2 is shorter than the predetermined extension state. Is provided between the suction pad 4 and the support plate 1 </ b> B of the hand base 1.

More specifically, the steady rest mechanism 20 includes the movable member 16 attached to the suction pad 4 and the fixed member 18 attached to the support plate 1B of the hand base 1. The movable side member 16 has an upper end (projection) 17A and a lower end 17B.
Are formed using four substantially Z-shaped members 17 protruding in opposite directions. The lower ends of the four substantially Z-shaped members 17 are arranged such that the projecting portions 17A project outward from the sides of the suction pad 4 one by one in each of the forward and reverse directions (two total directions) in two orthogonal directions on a plane. The portion 17B is fixed to the suction pad 4. The fixed side member 18 is configured by using four end protruding members 19 whose upper end portion 19A and lower end portion (restriction portion) 19B protrude in the same direction. The four end protruding members 19 are directed inward from the side of the suction pad 4 in each of the four directions, and the regulating portion 19B is moved to the movable side member 1.
The upper end 19A is fixed to the support plate 1B so as to be located directly below the protrusion 17A of the seventh. Thereby, the regulating portions 19B of the four end projecting members 19 regulate the movements of the projecting portions 17A of the four substantially Z-shaped members 17 in directions corresponding to the respective portions. Thus, the anti-sway mechanism 20 stops the swing of the suction pad 4 in any direction when the support column 2 is in the predetermined extended state, and in the arbitrary direction of the suction pad 4 when the support column 2 is shorter than the predetermined extended state. Allow run-out.

[0056]

According to the suction hand of the present invention, the following effects are obtained by providing the steadying mechanism for the suction pad. (1) The operating speed of a robot or manipulator when holding a workpiece with a suction hand can be increased. (2) The work does not fall. (3) The workpiece can be prevented from shaking during handling, and the appearance is beautiful.

[Brief description of the drawings]

FIG. 1 is a front view of a suction hand according to an embodiment of the present invention.

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a rear view of FIG. 1;

FIG. 4 is a plan view of FIG. 1;

FIG. 5 is a rear view of a suction hand according to another embodiment of the present invention.

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a front view of a conventional example of a suction hand.

FIG. 8 is a side view of FIG. 7;

FIG. 9 is a rear view of FIG. 7;

FIG. 10 is a plan view of FIG. 7;

FIG. 11 is an explanatory view of a conventional example of work falling.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Hand base 1A Joint part of hand base with arm of robot or manipulator 1B Support plate of hand base 2 Stretchable column 3 Ball joint 4 Suction pad 5 Spring (extension force applying member) 6 Work 7 Vertical direction 8 Right and left direction 9 Deflection of suction hand 10 Front-back direction 11 Hose 12 Joint 13 Hose 14 Joint mounting device 15 Steady-stop mechanism 16 Movable member 17 Substantially Z-shaped member 17A constituting movable side member 17A Projection of movable side member (substantially Z-shaped Upper end of member) 18 Fixed-side member 19 Both-end protruding member constituting fixed-side member 19B Restriction portion of fixed-side member (lower end of both-end protruding member) 20 Anti-sway mechanism

Claims (2)

[Claims] 1. A hand base, a plurality of extendable columns erected in a row on one surface of the hand base in parallel with each other, and a ball joint attached to each end of the columns. A suction pad of a negative pressure suction type commonly attached to the plurality of ball joints, and an extension applying member for applying a force in an extension direction to the support, wherein the movement of the suction pad includes In a suction hand which is allowed to oscillate in a plane perpendicular to a plane including one row of columns and parallel to the columns and to move in the direction of expansion and contraction of the columns, the suction pad has A movable-side member attached to the suction pad and having a protrusion protruding outward from both sides of the suction pad with respect to the run-out direction; and a movable-side member attached to the hand base to regulate the movement of the protrusion of the movable-side member. A fixed-side member having a control portion, wherein the restricting portion of the fixed-side member is configured such that the protruding portion abuts on the restricting portion from the hand base side in a predetermined extended state of the support, and the support supports the predetermined portion. The suction hand is formed at a position where the protruding portion is separated from the restricting portion when the protruding portion is shorter than the extended state. 2. A hand base, a telescopic support standing upright on one surface of the hand base, a ball joint attached to a tip of the support, and a negative pressure suction type attached to the ball joint. In a suction hand including a suction pad and an extension applying member for applying a force in an extension direction to the support, the swing of the suction pad is stopped in a predetermined extension state of the support, and the support is in the predetermined extension state. A suction hand comprising a steadying mechanism for allowing the suction pad to oscillate in a shorter state.