JPH1177578A - Palletized hand mechanism and its position correcting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To load a grasping bucket horizontally avoiding a riding-on condition, when the grasping bucket is loaded obliquely or made in the riding-on condition, in case of inclining the bucket at the lower step. SOLUTION: An upper plate 11 is installed to the tip of a robot R, and the four corners of the upper plate 11 and a lower plate 14 are combined by four lines of slide mechanisms S1 to S4. Each of the slide mechanisms S1 to S4 is composed by connecting an air cylinder 12 and a universal joint 13 in series. A grasping device 15 provided at the lower surface of the lower plate 14 grasps a bucket B equipped with an spigot I. When the grasping bucket B is loaded on the bucket already loaded, and when the bucket at the lower step is inclined, it is loaded after the grasping bucket B is made in the inclined condition by regulating the extending amount of the slide mechanisms S1 to S4. When the bucket is in the riding-on condition, a palletized hand mechanism 10 is moved in the horizontal surface to avoid the riding-on condition, and then, it is loaded horizontally on the bucket already loaded.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a palletizing hand mechanism and a position correcting method therefor. Even if a lower bucket (work) is inclined, another bucket (work) can be stacked on the lower bucket in an oblique state. Or the deviation of the position or height of the lower bucket (work) can be easily detected, and based on the detected data, the position of the palletizing hand mechanism can be corrected to achieve good stacking. It was done.

[0002]

2. Description of the Related Art Palletizing robots are known as "palletizing" for placing and arranging works such as buckets, bags and boxes on a pallet, and for placing and arranging another work on a work arranged on a pallet. This is a type of robot that performs an operation and, conversely, a “depalletizing” operation that lifts and removes a placed / arranged work from a pallet.

[0003] Here, the bottom part has an inlay I
An outline of a four-axis vertical multi-joint type palletizing robot that handles a fixed bucket B on which is formed is described with reference to FIG. This palletizing robot R has a first axis J
1, a second axis J2, a third axis J3, and a fourth axis J4. A palletizing hand mechanism H is attached to the fourth axis J4.

[0004] The bucket B is grasped by the palletizing hand mechanism H, and the bucket B being grasped is placed and arranged on the pallet P or the bucket B already placed on the pallet P. Note that a spigot I is formed at the bottom of the bucket B. By placing another bucket B on the already placed bucket B, an upper surface of the lower bucket B is formed. The bottom of the upper bucket B is fitted and arranged.

In the palletizing robot R provided with the palletizing hand mechanism H shown in FIG. 11, a bucket B, which is generally made of plastic or the like, is stacked on a flat pallet P or the like. For this reason, when palletizing is performed by the palletizing robot R, an error between the calculated value and the position or height hardly occurs, and the palletizing robot R functions as a palletizing hand mechanism as long as the bucket (work) B can be simply loaded. For this reason, the current palletizing mechanism is a mechanism that simply uses the handle of the bucket B, a depression, or the like, and simply grasps it.

[0006]

However, since the conventional palletizing robot R is a four-axis vertical articulated robot, it is impossible to change the posture of the hand, so the bucket (work) B that is gripped is placed on a horizontal plane. Can only be placed perpendicular to.

(1) Therefore, when another bucket B is stacked on the bucket B by the palletizing robot R of the four-axis vertical articulated type, the lower bucket B is inclined as shown in FIG. In this case, the upper bucket B could not be properly stacked on the lower bucket B. In particular, in the bucket B having the spigot I, the spigot I sometimes did not enter.

Further, in the conventional palletizing hand mechanism H, deformation of the bucket B caused when a member having a large mass is put in the bucket B, and unevenness on the upper surface of the pallet P when a wooden pallet is used. However, it was not possible to cope with the displacement of the position or the height caused by the inclination of the bucket B caused by the above. For this reason, the following problems (2) and (3) may occur.

(2) When the bucket B is stacked on the lower bucket (work) B, even if the spigot I is not inserted, that is, the stack cannot be normally stacked and the bucket B is inclined. Even so, the upper bucket B is left. In such a case, the upper bucket (work) B
Are stacked while tilted.

(3) When the palletized bucket B is tilted at the upper stage due to the weight of the bucket (work) B and the unevenness of the surface of the pallet P, the positional shift due to the inclination is not recognized, and Put another (upper) bucket B at a position shifted from the bucket (work) B of
There was a risk that the bucket B would collapse.

When a situation such as the above (2) or (3) causing a shift or the like is conceivable, conventionally, an expensive device such as an image processing device or a distance sensor is used to separately measure and measure. I was responding. However, in this case, cost and measurement time are increased,
Not suitable for palletizing robots seeking high speed.

The present invention has been made in view of the above-mentioned prior art, and even if a lower bucket (work) is inclined, another bucket (work) can be stacked on the lower bucket (work) in an oblique state or the lower bucket (work) can be stacked. It is an object of the present invention to provide a palletizing hand mechanism capable of easily detecting a shift in the position and height of a work), correcting the position of the palletizing hand mechanism based on the detected data, and stacking well. And

[0013]

Means for Solving the Problems To solve the above problems, the present invention comprises an upper plate attached to the tip of a robot,
A lower plate, which is disposed below the upper plate and has a gripping mechanism for gripping a workpiece on the lower surface, is formed by connecting a fluid pressure cylinder and a universal joint in series, and the upper end of the upper plate is formed of the upper plate. A plurality of slide mechanisms attached to the lower surface and the lower end attached to the upper surface of the lower plate.

[0014] Further, the present invention comprises an upper plate attached to the tip of a robot, a lower plate disposed below the upper plate and provided with a gripping mechanism on the lower surface for gripping a work, A member and a universal joint are connected in series, and a spring that generates a spring force for separating the upper plate and the lower plate is arranged. The upper end is attached to the lower surface of the upper plate, and the lower end is the lower end. And a plurality of slide mechanisms attached to the upper surface of the plate.

[0015] The present invention also provides an apparatus comprising: an upper plate attached to the tip of a robot; a lower plate disposed below the upper plate and provided on its lower surface with a gripping mechanism for gripping a work; A pressure cylinder and a universal joint are connected in series, and the upper end is attached to the lower surface of the upper plate and the lower end is attached to the upper surface of the lower plate, and the displacement can be detected as a displacement. In a palletizing mechanism composed of a plurality of slide mechanisms, when a workpiece that is being gripped is placed on a workpiece that has already been placed, based on the displacement amount, Detects the part where the ride has occurred and the part where the ride has not occurred, and from the part where the ride has occurred to the part where the ride has not occurred,
The palletizing hand mechanism is moved in a horizontal plane.

Also, the present invention provides an upper plate attached to a tip of a robot, a lower plate disposed below the upper plate, and a lower surface provided with a gripping mechanism for gripping a workpiece; A member and a universal joint are connected in series, and a spring that generates a spring force for separating the upper plate and the lower plate is arranged. The upper end is attached to the lower surface of the upper plate, and the lower end is the lower end. In a palletizing hand mechanism composed of a plurality of slide mechanisms mounted on the upper surface of a plate, when a workpiece that is being gripped is placed on a workpiece that has already been placed, the displacement amount is determined based on the displacement amount. Then, the part where the climbing has occurred and the part where the climbing has not occurred among the gripped workpieces are detected,
The palletizing hand mechanism is moved in a horizontal plane from a portion where a ride has occurred to a portion where a ride has not occurred.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings.

First, a palletizing hand mechanism 10 according to a first embodiment of the present invention will be described with reference to FIGS.

Although the structure will be described later, the palletizing hand mechanism 10 according to the first embodiment is devised so that it can be used in the following two usage modes.

Even if the lower stage bucket B is tilted, another bucket B can be stacked on it obliquely. Therefore, when using a 4-axis vertical articulated palletizing robot that can only place the gripped bucket B perpendicular to the horizontal plane, even if the lower bucket B is tilted, another bucket Buckets B can be stacked diagonally. However, this is applied when the inclination of the bucket B is small (an inclination that does not cause load collapse).

The displacement of the position and height of the lower bucket B is detected, and based on the detected data, the position of the palletizing hand mechanism is corrected (the position in the horizontal plane) to a position where good stacking is possible. Stack at a good location and height.

Next, the configuration of the palletizing hand mechanism 10 according to the first embodiment will be described with reference to FIG. 1 which is a front view, FIG. 2 which is a side view, and FIG. 3 which is a plan view. As shown in these figures, the palletizing hand mechanism 10
It is attached to the tip of the robot R. That is, the upper plate 11 of the palletizing hand mechanism 10 is attached to the tip of the robot R, and slide mechanisms S1, S2, S3, and S4 are attached to the four lower corners of the upper plate 11.

Each slide mechanism S1, S2, S3, S4
Is the air cylinder 12 and the universal joint 13
Are connected in series. The lower ends of the slide mechanisms S1, S2, S3, S4 are attached to the four corners of the upper surface of the lower plate 14. The air cylinder 12
Instead, another hydraulic cylinder (such as a hydraulic cylinder) can be used. Further, each slide mechanism S1, S
2, S3, and S4 can be individually expanded and contracted without being constrained to each other, and the amount of expansion and contraction can be individually detected. , The amount of displacement (elongation displacement).

On the lower surface of the lower plate 14, a gripping mechanism 15 is installed. The gripping mechanism 15 grips the bucket B having the spigot I at the bottom. As the gripping mechanism 15 for gripping the work such as the bucket B, not only the chucking type shown in the figure but also a suction type or a sandwiching type may be used.

In the palletizing hand mechanism 10 having the above structure, each of the slide mechanisms S1, S2, S3, S4 can be individually expanded and contracted. Therefore, in a case where the lower bucket B already placed and arranged is inclined, the bucket B gripped by the gripping mechanism 15 is placed on the tilted bucket B by using each slide. Mechanism S
The amount of expansion and contraction of 1, S2, S3, and S4 is changed. And
When the posture is changed in the roll and pitch directions so that the inclination of the bucket B that is being gripped matches the inclination of the bucket B that is already mounted, the mounting operation is performed by the robot R.

In this way, even if the robot R cannot tilt itself, another bucket B can be placed and arranged on the tilted bucket B in an oblique state. That is, the operation in the above-described usage mode can be performed. Therefore, even if a four-axis vertical articulated robot that cannot change the posture of the hand is used, the bucket B can be arranged obliquely.

Next, the operation in the above-described use mode, that is, the displacement of the position and height of the lower bucket B is detected, and the palletizing hand mechanism is moved to a position where good stacking can be performed based on the detected data. The operation of performing position correction (position correction in a horizontal plane) and stacking at a favorable position and height will be described.

When the bucket B gripped by the gripping mechanism 15 is placed on the bucket B already placed, the air is individually supplied to each air cylinder 12 sequentially and the air is directed downward to the lower plate 14. Apply force. Such inspection operation,
Performed individually for each air cylinder 12. At this time, the lower plate 14 surely moves downward in a portion where the vehicle does not ride. On the other hand, even if a downward force is applied to a portion where the vehicle is running, the lower plate 14 does not lower at that portion. After such an operation, by detecting and comparing the amount of displacement of each of the slide mechanisms S1 to S4, it is possible to detect a portion where a ride has occurred. Since the air is individually supplied to each of the air cylinders 12 so that the four cylinders are not operated at the same time, a large force is not applied to the bucket B.

Eventually, at the position of the slide mechanism where the displacement amount (displacement amount in the extension direction) is detected, it is possible to detect that no riding has occurred, and the displacement amount (displacement amount in the extension direction) is detected. It is possible to detect the occurrence of the climbing at the position of the slide mechanism that has not been performed (the logic of this part is opposite to that of the second embodiment described later). In this way, when the portion where the running is detected based on the displacement amount is detected, the palletizing hand mechanism 20 is corrected in the horizontal plane to the position where the good stacking can be performed by performing the following position control. I do.

That is, from the part where the ride has occurred,
The position of the robot R is controlled so as to move the palletizing hand mechanism 10 in a horizontal plane toward a portion where no riding has occurred. Specifically, as shown in FIG. 4, [1] when the displacement amount (extension displacement amount) is not detected by the slide mechanism S1 (when the climbing at the slide mechanism S1 is detected) Move in the 1-2 and 1-3 directions. [2] When the displacement amount is not detected by the slide mechanism S2 (when climbing is detected at the slide mechanism S2), the slide mechanism S2 is moved in the 2-1 direction or the 2-4 direction. [3] When the displacement amount is not detected by the slide mechanism S3 (when the climbing at the slide mechanism S3 is detected), the slider is moved in the 3-1 direction or the 3-4 direction. [4] When the displacement amount is not detected by the slide mechanism S4 (when climbing at the slide mechanism S4 is detected), the slide mechanism S4 is moved in the 4-3 direction or the 4-2 direction. [5] If there is a reverse movement direction (for example, 1-1 and 2-1), the movement in this direction is canceled out, and the movement in this direction is not performed.

By performing the above-described control, the displacement of the position and height of the lower bucket B is detected, and the position of the palletizing hand mechanism 10 (position correction in a horizontal plane) is corrected to a position where good stacking is possible. Thus, another (upper) bucket B can be stacked at a favorable position and height.

Next, a palletizing hand mechanism 20 according to a second embodiment of the present invention will be described with reference to FIGS.

The palletizing hand mechanism 20 according to the second embodiment is devised so that it can be used in the following manner. That is, the displacement of the position and height of the lower bucket B is detected, and based on the detected data, the position of the palletizing hand mechanism is corrected (position correction in a horizontal plane) to a position where good stacking is possible. It is devised to stack at different positions and heights.

Next, FIG. 5 which is a front view (in a state where the slide mechanism is extended), FIG. 6 which is a front view (in a state where the slide mechanism is contracted), FIG. 7 which is a side view, and FIG. The configuration of the palletizing hand mechanism 20 according to the second embodiment will be described with reference to FIG. As shown in these figures, the palletizing hand mechanism 20 is attached to the tip of the robot R. That is, the upper plate 21 of the palletizing hand mechanism 20 is attached to the tip of the robot R.
Slide mechanisms S11, S12, S1
3, S14 is attached.

Each of the slide mechanisms S11, S12, S13,
In step S14, the slide member 22 and the universal joint 23 are connected in series and a spring (compression coil spring) is connected.
24, the slide member 22 and the universal joint 2
3 is arranged so as to surround it. The lower ends of the slide mechanisms S11, S12, S13, S14 are attached to the four corners of the upper surface of the lower plate 25.

Each of the slide mechanisms S11, S12, S1
3, the slide member 22 in S14 can slide up and down by a slide allowable distance. Also, the spring 24
Generates a spring force in a direction to separate the upper plate 21 and the lower plate 25.

Each of the slide mechanisms S11, S12, S
13, S14 can be individually expanded and contracted without being restricted by each other. Each slide mechanism S11, S12, S
The amount of expansion and contraction of S13 and S14 can be individually detected, and when the slide member 22 contracts, the amount of contraction slide from the maximum length is determined based on the maximum length of the slide member 22, and the amount of displacement. (Shrinkage displacement).

On the lower surface of the lower plate 25, a gripping mechanism 26 is provided. The gripping mechanism 26 grips the bucket B having the spigot I at the bottom. As the gripping mechanism 26 for gripping the work such as the bucket B, not only the chucking type as shown in the figure but also a suction type or a sandwiching type may be used.

In the palletizing hand mechanism 20 having such a configuration, when the bucket B is in the air, each of the slide mechanisms S11, S12, S13, and S14 has the maximum length, and each of the slide mechanisms S11, S12, and S13. , S
The displacement of 14 is zero.

On the other hand, when the spigot I of the gripped bucket B rides on the lower (already mounted / arranged) bucket B, the gripped bucket B (work) tilts and its position and height are adjusted. Shift occurs. In the palletizing hand mechanism 20 according to the present embodiment, it is possible to detect that the gripping bucket B is tilted due to the riding on the basis of the displacement amounts of the slide mechanisms S11, S12, S13, and S14. it can. This will be described with reference to FIG.

FIG. 9 shows an upper plate 21, a lower plate 25, and slide mechanisms S11, S12, S1 of the palletizing mechanism 20.
FIG. 3 is a conceptual diagram showing the situation of S14.

(A) When no upward force is applied to the lower plate 25 from the lower plate 25 without riding, the state shown in FIG.
The displacement amounts of S1, S12, S13, and S14 are zero. Since all the displacement amounts are zero as described above, it can be detected that no riding has occurred. Note that when no riding occurs, the spring 24
Because the lower plate 25 is pressed downward by the spring force of
In the portion where there is no riding, the slide mechanism extends to the maximum length, and the displacement amount becomes zero.

(B) As shown in FIG. 9 (b), when a ride occurs in the lower portion of the slide mechanisms S11 and S13, a force acts upward from the lower side of the slide mechanisms S11 and S13. Then, the slide mechanisms S11 and S13 contract, and the displacement amounts of the slide mechanisms S11 and S13 are detected. As described above, by detecting the displacement amount of the slide mechanisms S11 and S13, the slide mechanisms S11 and S13 are detected.
It is possible to detect that the vehicle has got on in a portion below the vehicle. In the slide mechanisms S12 and S14, the plate 2
Due to the spring force of the spring 24 that generates the spring force for separating the slide mechanisms 1 and 25, the slide mechanisms S12 and S14 extend to the maximum length, and the displacement amount becomes zero.

(C) As shown in FIG. 9 (c), when a ride occurs in a portion below the slide mechanisms S13 and S14, a force acts upward from the lower side of the slide mechanisms S13 and S14. Then, the slide mechanisms S13 and S14 are contracted, and the displacement amounts of the slide mechanisms S13 and S14 are detected. As described above, by detecting the displacement amount of the slide mechanisms S13, S14, the slide mechanisms S13, S14 are detected.
It is possible to detect that the vehicle has got on in a portion below the vehicle. In the slide mechanisms S11 and S12, the plate 2
Due to the spring force of the spring 24 that generates a spring force for separating the slide mechanisms 1 and 25, the slide mechanisms S11 and S12 extend to the maximum length, and the displacement amount becomes zero.

(D) As shown in FIG. 9 (d), when a ride occurs in a portion below the slide mechanisms S11, S13, S14, the slide mechanisms S11, S13, S14 are executed.
A force from the lower side to the upper side acts, and the slide mechanism S
11, S13 and S14 are contracted and the slide mechanisms S11 and S
13, the displacement amount of S14 is detected. Thus, by detecting the amount of displacement of the slide mechanisms S11, S13, and S14, it is possible to detect that a ride has occurred in a portion below the slide mechanisms S11, S13, and S14. In the slide mechanism S12, the slide mechanism S12 extends to the maximum length by the spring force of the spring 24 that generates the spring force for separating the plates 21 and 25, and the displacement becomes zero.

Eventually, it is possible to detect that a ride has occurred at the position of the slide mechanism where the amount of displacement (the amount of displacement in the contraction direction) is detected (the logic of this part is the first. The embodiment is reversed). In this way, when a portion where a run-up has occurred is detected based on the displacement amount, the following palletizing control is performed, so that the palletizing hand mechanism 20 is moved to a position where good stacking is possible.
Is corrected in the horizontal plane.

That is, from the part where the ride has occurred,
The position of the robot R is controlled so that the palletizing hand mechanism 20 is moved in a horizontal plane toward a portion where no riding occurs. Specifically, [1] when a displacement amount (a contraction displacement amount) is detected by the slide mechanism S11 (when a ride on the slide mechanism S11 is detected), the 1-2 direction or 1- Move in three directions. [2] When the amount of displacement is detected by the slide mechanism S12 (when a ride at the slide mechanism S12 is detected), the slider is moved in the 2-1 direction or the 2-4 direction. [3] When the amount of displacement is detected by the slide mechanism S13 (when a ride at the slide mechanism S13 is detected), it is moved in the 3-1 direction or the 3-4 direction. [4] When the amount of displacement is detected by the slide mechanism S14 (when a ride at the slide mechanism S14 is detected), the slider is moved in the 4-3 direction or the 4-2 direction. [5] If there is a reverse movement direction (for example, 1-1 and 2-1), the movement in this direction is canceled out, and the movement in this direction is not performed.

By performing the above-described control, a deviation in the position and height of the lower bucket B is detected, and based on the detected data, the position of the palletizing hand mechanism 20 is corrected to a position where good stacking is possible (in a horizontal plane). Position correction)
Another (upper) bucket B can be stacked at a good position and height.

In the example described above, the slide mechanism S1
When the displacement amount is detected in 1 to S14, the movement control in the direction shown in FIG. 10 is performed.
When the displacement amount is not detected in S14 to S14, FIG.
The movement control may be performed in a direction opposite to the direction shown in FIG.

If the position or height of the lower bucket B is shifted, conventionally, expensive equipment such as an image processing device or a distance sensor is used to separately measure and respond. Therefore, it was costly and took a long time to measure, but in this embodiment, without using such expensive equipment, simply and in a short time, the position and height deviations were detected, and furthermore, Another (upper) bucket B can be stacked at a good position and height.

When the spring force of the spring 24 is too weak, the lower plate 24 does not lower even though the vehicle does not ride up. Conversely, when the spring force of the spring 24 is too strong, the lower bucket (work) B has a large force. Because of the potential for force,
The spring force of the spring 24 needs to be set appropriately.

[0052]

According to the present invention, as described above in detail with the embodiments, a plurality of slide mechanisms support the lower plate so as to be able to expand and contract with respect to the upper plate, or elastically support the lower plate. In this way, the gripped work is stacked on the work in the lower stage. Also, when the lower plate is inclined with respect to the upper plate, based on the displacement amount of the slide mechanism,
The inclination is detected, and the slide mechanism is moved in a direction in which no ride occurs.

Therefore, in the present invention, even if the lower bucket (work) is inclined, another bucket (work) can be stacked on the lower bucket (work) in an oblique state, or the lower bucket (work) can be stacked. Easily detect deviations in position and height,
Based on this detection data, the position of the palletizing hand mechanism can be corrected, and good stacking can be performed.

Further, unlike the prior art, the image processing apparatus and the distance sensor are not required, so that the cost can be reduced. Furthermore, in the prior art using an image processing device or the like, measurement must be performed every time regardless of whether or not a deviation has occurred. However, in the present invention, measurement is not performed every time. The measurement is performed only when the measurement is performed.

[Brief description of the drawings]

FIG. 1 is a front view showing a palletizing hand mechanism according to a first embodiment of the present invention.

FIG. 2 is a side view showing the palletizing hand mechanism according to the first embodiment of the present invention.

FIG. 3 is a plan view showing a palletizing hand mechanism according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a control method for performing position correction control of the palletizing hand mechanism according to the first embodiment of the present invention.

FIG. 5 is a front view showing a palletizing hand mechanism according to a second embodiment of the present invention.

FIG. 6 is a front view showing a palletizing hand mechanism according to a second embodiment of the present invention.

FIG. 7 is a side view showing a palletizing hand mechanism according to a second embodiment of the present invention.

FIG. 8 is a plan view showing a palletizing hand mechanism according to a second embodiment of the present invention.

FIG. 9 is an explanatory diagram showing a state of a main part of a palletizing hand mechanism according to a second embodiment.

FIG. 10 is an explanatory diagram showing a control method for performing position correction control of the palletizing hand mechanism according to the second embodiment of the present invention.

FIG. 11 is a configuration diagram showing a conventional palletizing hand mechanism and a palletizing robot.

FIG. 12 is an explanatory view showing a stacked state according to the related art.

[Explanation of symbols]

 Reference Signs List 10 palletizing hand mechanism 11 upper plate 12 air cylinder 13 universal joint 14 lower plate 15 gripping mechanism 20 palletizing hand mechanism 21 upper plate 22 slide member 23 universal joint 24 spring 25 lower plate 26 gripping mechanism R robot S1 to S4, S11 to S14 slide Mechanism B Bucket I Inlay

Claims (4)

[Claims] 1. An upper plate attached to a tip of a robot, a lower plate disposed below the upper plate and provided with a gripping mechanism for gripping a work on a lower surface, a hydraulic cylinder and a universal joint And a plurality of slide mechanisms having upper ends attached to the lower surface of the upper plate and lower ends attached to the upper surface of the lower plate. mechanism. 2. An upper plate attached to a tip of a robot, a lower plate disposed below the upper plate and provided with a gripping mechanism for gripping a work on a lower surface, a slide member and a universal joint. Are connected in series and a spring that generates a spring force that separates the upper plate and the lower plate is arranged. The upper end is attached to the lower surface of the upper plate, and the lower end is attached to the upper surface of the lower plate. A palletizing hand mechanism comprising a plurality of slide mechanisms. 3. An upper plate attached to a tip of a robot, a lower plate disposed below the upper plate, and a lower surface provided with a gripping mechanism for gripping a workpiece, a fluid pressure cylinder and a universal joint. Are connected in series, the upper end is attached to the lower surface of the upper plate and the lower end is attached to the upper surface of the lower plate, and a plurality of slide mechanisms capable of detecting a displacement amount as a displacement amount. In the palletizing mechanism configured by the above, when the gripped work is placed on the already placed work, the climbing out of the gripped work occurs based on the displacement amount. The palletizing hand mechanism from the part where the ride has occurred to the part where the ride has not occurred. Position correction method for palletizing hand mechanism, characterized in that in moving. 4. An upper plate attached to a tip of a robot,
A lower plate, which is disposed below the upper plate and has a gripping mechanism for gripping a work on the lower surface, connects a slide member and a universal joint in series, and separates the upper plate and the lower plate. A palletizing hand mechanism comprising a plurality of slide mechanisms formed by arranging springs for generating a spring force and having an upper end attached to the lower surface of the upper plate and a lower end attached to the upper surface of the lower plate. At the time of placing the gripped work on the already placed work, based on the displacement amount, the portion of the gripped work where the climb has occurred and the climb has occurred. A palletizing hand mechanism is moved in a horizontal plane from a portion where a ride has occurred to a portion where a ride has not occurred. Position correction method for the retire hand mechanism.