JPH11309687A - Robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp many kinds of reinforcing assembly bodies in a different size. SOLUTION: In this robot hand, plural claw units 22 arrangingly provided a claw set consisting of an upper claw 221 and lower claw 222 arranged vertically in right/left two sets are lined up in right/left. Regardless of the arrangement of a vertical bar 31, at least one claw set out of two claw sets can grasp a horizontal bar 32. Therefore, even if the size or shape of a reinforcing assembly body 3 is diverse, it can be grasped by one robot hand 2.

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 gripping a rebar assembly assembled in a two-dimensional or three-dimensional lattice, and more particularly to a robot hand for gripping a plurality of types of rebar assemblies having different dimensions.

[0002]

2. Description of the Related Art Although wall panels of industrialized houses have regular dimensions according to modules, it is necessary to produce various sizes according to the parts to be used.
Also, in the wall panel manufacturing line of an industrialized house,
Since the building is manufactured as one lot, various wall panels having different dimensions are mixed and manufactured. When this wall panel is made of reinforced concrete, it is necessary to handle reinforcing rod assemblies of various dimensions according to the dimensions in the production line. Conventionally, handling of this rebar assembly has been performed manually,
2. Description of the Related Art In recent years, unmanned and labor-saving robots have been tried.

[0003]

However, when handling by a robot, since the dimensions of the rebar assembly are various, various types of hands corresponding to the dimensions of the rebar assembly are prepared, and a tool changer is provided. It is necessary to switch using In this case, there is a problem that the efficiency of handling is poor because it takes time to change hands. There is also a problem that a large space is required for arranging various kinds of hands around the robot. Therefore, an object of the present invention is to provide a robot hand that can grasp various types of rebar assemblies having different dimensions by one piece.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problem, the present invention provides a claw unit comprising two sets of upper and lower pawls which are arranged vertically. The claw unit is arranged laterally to constitute a robot hand. Further, the robot hand is provided with means for freely changing the interval between the claw units.
Further, each of the claw sets is provided with a sensor, and when the sensor detects a vertical streak, the claw set is moved in a direction away from the vertical streak, and a means for avoiding interference between the claw set and the vertical streak is provided. It is. Further, the interval between the two sets of claws of the claw unit is made smaller than the pitch of the arrangement of the reinforcing bars.

[0005]

FIG. 1 is a perspective view of a robot system for handling a reinforcing bar assembly provided with a robot hand according to an embodiment of the present invention. In FIG. 1, 1 is a robot, 2 is a robot hand attached to the tip of the robot 1, and 3 is a rebar assembly to be handled. The robot hand 2 has 4
The plurality of claw units 22 are fixed side by side.
The claw unit 22 includes an upper claw 221 and a lower claw 2 in a case 220.
22 are arranged side by side and two pairs are arranged side by side. Hereinafter, in this specification, the pair of the upper nail 221 and the lower nail 222 will be referred to as a nail set. That is, one claw unit 22 includes two claw sets. The reinforcing bar assembly 3 is formed by assembling a vertical reinforcing bar 31, that is, a reinforcing bar extending in the vertical direction, and a horizontal reinforcing bar 32, that is, a reinforcing bar that extends in the horizontal direction, in a lattice shape. Note that, in this specification, the term “vertical” refers to the vertical direction in FIG. That is, the vertical streaks 31 and the horizontal streaks 32 referred to in this specification are not names of parts specific to the reinforcing bar assembly 3 but are based on a nomenclature based on a posture during handling. The mechanism for holding the rebar assembly 3 by the robot hand 2 is as follows. First, the upper nail 221 and the lower nail 2
22 is inserted into the lattice formed by the vertical bars 31 and the horizontal bars 32 of the reinforcing bar assembly 3. Next, the upper nail 221 is moved upward and the lower nail 222 is moved downward, and the upper and lower horizontal streaks 32 are respectively moved.
And hold it.

FIG. 2 is a front view of the robot hand 2.
FIG. 3 is a cross-sectional view taken along line AA ′ of FIG.
(A) shows a state where the nail is opened, and (b) shows a state where the nail is closed. Hereinafter, details of the configuration of the robot hand 2 will be described with reference to FIGS. 2 and 3. As described above, the robot hand 2 has four claw units 22 on the frame 21,
They are arranged at predetermined intervals in the horizontal direction. These four claw units 22 have exactly the same structure. The claw unit 22 includes a case 220 in which upper and lower claws 221 and 222 are vertically paired and two pairs are arranged side by side. The pair of the left and right upper claws 221 and the lower claws 222, that is, the left and right intervals of the nail set, are set smaller than the left and right intervals of the vertical bars 31 of the reinforcing bar assembly 3, that is, the pitch of the vertical bars 31. 22
Reference numeral 3 denotes an air cylinder, which is an actuator for driving the upper pawl 221 and the lower pawl 222. Since one air cylinder 223 is provided for each of the upper claw 221 and the lower claw 222, one claw unit 22 is provided with four air cylinders 223 for convenience. The upper claw 221 is rotatably attached to the case 220 via a pin 221a. The air cylinder 223 is rotatably attached to the case 220 via a pin 223a. Upper nail 221
Of the air cylinder 223 is rotatably connected to the rod 223c of the air cylinder 223 via a pin 223b. Similarly, the lower claw 222 is rotatably attached to the case 220 and is rotatably connected to the rod 223c. Reference numeral 224 denotes a vertical streak sensor.
It is fixed to the case 220 so as to be located on a straight line connecting the first and lower claws 222. The vertical streak sensor 224 is attached to each nail set, one for each nail set, that is, two for each nail unit 22. 225 is a horizontal muscle sensor,
It is fixed to the case 22 so as to be located on a straight line connecting the left and right lower claws 222. The vertical line sensor 224 and the horizontal line sensor 225 are sensors for detecting the presence or absence of a reinforcing bar,
You can choose any type, such as electromagnetic, optical and contact type.

Next, the operation of the robot hand 2 will be described in detail with reference to FIG. FIG. 3A shows the upper nail 221.
And the state where the lower claw 222 is opened. At this time, the rod 223c of the air cylinder 223 is in an extended state, and the upper claw 221 is rotated counterclockwise around the pin 221a.
The lower claws 222 rotate clockwise around the pins 222a, respectively, and are retracted inside the case 220.
Next, the robot hand 2 is applied to the reinforcing bar assembly 3 with the upper claws 221 and the lower claws 222 closed. At this time, when the vertical streak sensor 224 detects the vertical streak 31,
Since this means that the lower claws 21 and the lower claws 222 interfere with the vertical streaks 31, the upper claws 221 and the lower claws 222 above and below the vertical streak sensor 224 are controlled so as not to operate. Claw unit 2
Since the interval between the two sets of claws provided in 2 is smaller than the pitch of the vertical streaks 31, the two sets of claws do not interfere with the vertical streaks 31 at the same time. That is, at least one set of claws can avoid interference with the vertical streaks 31. Next, the air cylinder 223 is operated to contract the rod 223c. Then, the upper claw 221 rotates clockwise around the pin 221a, and the lower claw 222 rotates counterclockwise around the pin 222a, and comes out of the case 220 to engage with the upper and lower horizontal streaks 32. At the same time, the horizontal streaks 32 are pressed up and down, and at the same time, the horizontal streaks 32 are attracted to the case 220 and sandwiched.
FIG. 3B illustrates this state. Finally, lower nail 2
The horizontal streak 32 held at 22 is detected by the horizontal streak sensor 225. When the horizontal streak sensor 225 detects the horizontal streak 32, the control side determines that the robot hand 2 has normally gripped the reinforcing bar assembly 3, and the robot 1 can proceed to the next operation.

In the above embodiment, the claw unit 22 is fixed to the frame 21.
1 is slidably mounted in the lateral direction and is configured to be driven by an actuator such as an air cylinder, for example, so that the interval between the claw units 22 can be changed freely. And the best claw unit 2
You can choose an interval of 2. In the embodiment, the robot hand 2
Has shown the configuration provided with four claw units 22, but the number of claw units is not limited to four. An optimal number, such as two, three, or five or more, may be selected according to the size and shape of the rebar assembly 3 to be grasped. Furthermore, the shapes and dimensions of the upper claws 221 and the lower claws 222 can be arbitrarily designed according to the characteristics of the reinforcing bar assembly 3 to be handled. For example, for the reinforcing bar assembly 3 in which the bending of the reinforcing bar assembly 3 is large and the distance between the horizontal bar 32 and the case 220 is large, the length from the pin 221a to the tip of the upper claw 221 may be increased. In the embodiment, the upper claws 221 and the lower claws 222 are drawn inside the case 220 when opened, but they need not necessarily be drawn inside. Needless to say, it is sufficient to take a posture that does not interfere with the vertical streaks 31.

[0009]

As described above, according to the present invention,
Since two sets of claws are attached to the claw unit, at least one of the two sets of claws is set regardless of the size of the reinforcing bar assembly, the arrangement of the vertical bars, or the positioning error of the reinforcing bar assembly.
A pair of claw sets can grip the horizontal streak. Therefore, there is an effect that even if the size or shape of the reinforcing bar assembly is various, it can be gripped by one robot hand.

[Brief description of the drawings]

FIG. 1 is a perspective view of a robot system for handling a rebar assembly provided with a robot hand according to an embodiment of the present invention.

FIG. 2 is a front view of the robot hand according to the embodiment of the present invention.

FIG. 3 is a side sectional view of the robot hand showing the embodiment of the present invention, cut along the line AA ′ in FIG. 2, and (a) is a diagram showing a state in which an upper nail and a lower nail are opened; (B) is a figure which shows the state which closed the upper nail and the lower nail.

[Explanation of symbols]

 1: Robot 2: Robot hand 21: Frame 22: Claw unit 220: Case 221: Upper claw 221a: Pin 222: Lower claw 222a: Pin 223: Air cylinder 223a: Pin 223b: Pin 223c: Rod 224: Vertical streak sensor 225 : Horizontal bar sensor 3: Rebar assembly 31: Vertical bar 32: Horizontal bar

Claims (4)

[Claims] 1. A robot hand for gripping a rebar assembly in which vertical and horizontal streaks are assembled in a grid, wherein an upper claw pressing the horizontal streaks upward, and another claw below the horizontal streaks pressed by the upper claw. Lower claws for pressing the horizontal streaks downward are arranged vertically to form a nail set, two sets of the nail sets are arranged left and right to form a nail unit, and a plurality of the nail units are arranged in the horizontal direction. A robot hand characterized by the following. 2. The robot hand according to claim 1, wherein at least one of the claw units includes a means for moving the claw unit in a lateral direction, and has a function of freely changing a distance between the claw units. . 3. A sensor is provided for each of the nail sets, and when the sensor detects the vertical streak, the nail set is moved in a direction away from the vertical streaks to avoid interference between the nail set and the vertical streaks. The robot hand according to claim 1 or 2, further comprising means. 4. The robot hand according to claim 1, wherein a left and right interval between the two sets of claw units of the claw unit is smaller than a pitch of the left and right arrangement of the vertical streaks.