JPS5811504Y2 - handling equipment - Google Patents

Description

[Detailed description of the invention] This invention relates to a handling device for industrial robots, etc.
In particular, the present invention relates to a handling device that can correct the deviation of the center position of a target object on the hand side.

When an object is to be grasped by a handling device such as an industrial robot or an autopilot, the object to be grasped is often deviated within a certain range of position or direction, especially if it is transported by a conveyor. This tendency is even more common in the case of handling devices that relay objects to the next process, and the distance from the handling device where the operating point is fixed, the relative position of the handling arm and the tip finger, etc. changes due to this deviation, so
It is well known that automation of work is often hindered because it is difficult to place the target object in an accurate position in the next process.

In particular, if the object has a tall and unstable shape, the handling device may force the object into contact with the object, causing the object to move toward the head.

From this point of view, it has been proposed and put into practical use that the handling device is equipped with the function of detecting and storing vectorial displacement, thereby allowing the handling device itself to make corrections. This has the disadvantage that the device becomes complicated and the cost of the device is high, making it unsuitable as a general-purpose device.

The present invention was developed by focusing on this fact and attempting to provide a handling device that can fundamentally eliminate the above-mentioned defects of the conventional device by using a simple mechanism and simple operation. While enabling linear reciprocating motion in the direction of extension and contraction and the direction perpendicular thereto, as well as a combination of both directions, the antenna pieces can be moved along isometric lines extending from the axis of action of the arm in the direction of extension of the arm. The tactile devices having the above-mentioned tactile devices were placed in opposition to each other near both sides of the hand, and after the arm and both sides were operated to ensure a grip regardless of the bias of the target object, the arms were shortened by the gripping mechanism. It is characterized by a configuration in which it is returned to the operating reference point and is ready to start the next operation.

Hereinafter, aspects of the present invention will be further explained with reference to the accompanying drawings. In FIG. 1, reference numeral 1 indicates an object to be gripped by the handling device, such as a cylinder, a prism, a stepped cylinder, a cone, etc., which have a point-symmetrical surface with respect to the vertical axis. It is an object with a shape.

Reference numeral 2 denotes an arm of the handling device, and approaches the object 1 from a movable base 4 that is slidably disposed along the flat side of a fixed base 3 in a direction Y orthogonal to the arm. Alternatively, the arms 5 and 6 that can extend and contract in the direction of separation
At the tip of the movable table 7, which is the tip of the arm 2, the gripping center of the arm 2 is located on the axis of action of the arm 2, and the gripping direction is set in the direction Y perpendicular to the direction of extension and contraction of the arm 2. Can move back and forth.

Each phase 5 and 6 is connected to a hydraulic cylinder 1 fixed to a moving table 7.
0.11 rod ends, and when the rods of each hydraulic cylinder 10.11 are moved forward, they approach each other and grasp the object 1, and when the rods are moved backward, they are separated from each other and moved away from the object 1. It has become.

Reference numeral 8 denotes an actuator, such as a hydraulic cylinder, which is fixed to the movable base 4 with its operating axis parallel to the arm 2.The rod end is engaged with the movable base 7, and the arm 2 is moved by moving the rod forward or backward. It is possible to move the opposing slope of the movable table 7, which forms the tip, toward or away from the object 1.

Reference numeral 9 denotes a hydraulic cylinder which is fixed to the fixed base 3 with its operating axis parallel to the moving direction Y of both phases 5 and 6, and whose rod end is connected to the side surface of the movable base 4 to move the rod forward or backward. can move the arm 2 and both phases 5 and 6 integrally in the direction Y perpendicular to the arm 2 by a retreating operation.

Each of the hydraulic cylinders 8 and 9 described above is a driving force source for extending and contracting the arm 2 and also translating it in the lateral direction,
It goes without saying that the hydraulic cylinders 10 and 11 are drive sources for individually driving the side dishes 5 and the fingers 6 on the other side, but the drive source according to the present invention is limited to such a hydraulic mechanism. Various actuators such as electric motors and pneumatic actuators can be used.

Reference numerals 12 and 13 designate tactile devices that are commonly associated with the hydraulic cylinders 8 and 9. For example, using a touch switcher, the tactile devices and the tactile pieces are arranged facing each other in parallel on the opposing slopes of the movable table 7. and spring offset type 3 device 4 port solenoid valves 14, 15 for controlling the hydraulic cylinders 8, 9.
．． 16 solenoids 14a14b, 15a,
15 b , 16 a , and 16 b are electrically connected.

Thus, both tactile devices 12 and 13 have their tactile pieces spread out at an equiangular angle θ in the direction in which the arm extends, with the axis of action of the arm 2 (indicated by a dashed line in FIG. 1) being the center line. It is necessary to arrange it along a square line, and in this example, the angle θ is set to 45°.

The operating circuit for the actuators 8, 9, that is, the hydraulic circuit for operating the hydraulic cylinders 8, 9, includes the respective electromagnetic valves 14, 15, as is clear from the main parts shown in FIG. By the switching operation of .16, only the hydraulic cylinder 8 moves the rod forward, and the hydraulic cylinder 9 is connected in series with the hydraulic cylinder 8 which is moving the rod forward, and the rod moves forward in the forward direction, or the rod moves backward in the reverse direction. In addition, the hydraulic cylinder 9 is moved in the same direction as the hydraulic cylinder 8 when the rod is retracting.
On the other hand, although the electric circuit is not shown, the output contacts of the haptics 12 and 13 and the hydraulic cylinder 9
a limit switch 17 for detecting that the piston of is in a predetermined neutral position, and each solenoid 14a, 14
b , 15 a , 15 b , 16 a and 16
A logic circuit related to b is formed, and the function of this circuit will be made clear by the explanation of the operation of the handling device, which will be described later.

Next, the operation of the handling device having the above structure will be explained. The rod of the hydraulic cylinder 8 is moved backward, the rod of the hydraulic cylinder 9 is left in a neutral predetermined position, the arm 2 is shortened, and the movable base 4 is moved. The object 1 is held at a predetermined position, and the state in which the throws 5 and 6 are separated from each other is used as an operation reference point, and the gripping operation of the object 1 is started from this operation reference point.

In this case, it is assumed that the object 1 has been transferred from the previous process by appropriate means and is kept in place with a slight deviation in both the X and Y directions.

In the handling device, first, both the tactile device 12.13 and the limit switch 17 are in an off state, and upon receiving a forward command signal, the solenoid 14a of the electromagnetic valve 14 is energized, and the rod of the hydraulic cylinder 8 is extended. As arm 2 moves forward in the X direction, fingers 5 and 6 approach object 1.

As the arm 2 moves forward, one of the haptics 12 or 13
When it comes into contact with the object 1 and turns on, the solenoid 15a or 15b of the electromagnetic valve 15 is energized, and the hydraulic cylinder 9 assumes a series configuration in the opposite direction or the forward direction with respect to the advancing hydraulic cylinder 8, so that the hand As a result of the resulting movement, it advances diagonally upward to the left or upward to the right in Figure 1.

By making both hydraulic cylinders 8 and 9 equal capacity, it becomes a composite direction of both directions X and Y, that is, a direction of 45°,
In other words, the tactile piece of the tactile device 12 or 13 moves straight and slides when it comes into contact with the object 1.

This diagonal forward movement causes the other tactile device 13 or 12 to
approaches object 1 and turns on when it comes into contact with object 1, so
Both haptics 12.13 are turned on, solenoid valves 14.15 are in a neutral state, and both hydraulic cylinders 8.9 are stopped at their current positions.

The hydraulic cylinder 10.11 is actuated by the next command signal issued after the stoppage is confirmed, and the object 1 can be stably gripped by advancing both rods with equal length strokes.

At this time, since the center of the object 1 coincides with the center line of the arm of the hand, fingers 5 and 6 are placed symmetrically from the center line of the arm.
By moving forward with equal length strokes, both throws 5,
6 come into contact with the object 1 at the same time without any relation to the object 1, and therefore do not move the object 1.

The handling device enters the return process in response to the next signal issued upon detection of completion of this object gripping operation.

The above-mentioned return process is performed by operating the solenoid valves 14 and 16.
b is energized, and 16b or 16a of the solenoid valve 16 is energized to return the hydraulic cylinders 8 and 9 to their operating reference positions.

This return position returns the solenoid valve 14 to the neutral state when the hydraulic cylinder 8 has completely retreated, and the hydraulic cylinder 9
This is possible by moving the piston to a predetermined position where it is neutral and returning the solenoid valve 16 to the neutral state with the limit switch 17 turned off.

Note that if the grip state of the object 1 is maintained during the above-mentioned return process and for an appropriate period of time thereafter, the object 1
is moved to a predetermined fixed position in a state in which it is aligned with the hand.

In this way, the series of steps for receiving the object 1 is completed, and in order to transfer from this state to the next step, as long as the transfer position for the next step is determined, this displacement must be stored in the handling device in advance. Needless to say, it is possible to transfer data without positional deviation using only one storage signal.

In addition, although the above example describes a specific form in which the tactile piece of the tactile device 12, 13 extends 45 degrees from the arm center line, if the projecting angle is an arbitrary acute angle θ, the unit of the hydraulic cylinders 8, 9 Stroke movement length S1 with respect to oil amount.
S2 may be set in advance so that 52=S1×tanθ.

The present invention has a diagonal configuration and function,
An extendable arm 2 and a tip of the arm 2 that is attached to the arm 2,
Double throws 5 and 6, which have their gripping centers on the axis of action of the arm 2 and are arranged opposite each other so as to be able to approach and separate; an actuator 8 that operates the arm 2 in an extending and retracting direction; and an actuator 8 that operates the arm 2 in an extending and retracting direction; an actuator 9 for operating in the direction, an operating line for operating both the actuators 8 and 9, and a tactile piece extending along an isometric line centered on the axis of action of the arm 2 and extending in the direction in which the arm 2 extends. , said double throw 5,
A handling device is constituted by tactile devices 12 and 13 provided at the tip of the arm 2 in opposition to each other in the vicinity of the tactile senses 12 and 13, and a control means for controlling the operation line. , and one actuator 8 from the operating reference point in the neutral position in the direction perpendicular to the direction of expansion and contraction.
The arm 2 is extended until one of the haptics 12 or 13 comes into advance contact with the target object 1, and then both actuators 8, 9 are simultaneously activated so that the other haptic 13 or 12 comes into contact with the target object 1. The arm 2 extends in one direction of the tactile sensor 12 or 13 that came into contact with the tactile device 12 or 13 in advance, and then both actuators 8, 9 in the opposite direction to return the arm 2 to the operation reference point, the operation line is formed so that the target object 1 whose center position is deviated can be accurately moved toward the head or without moving. The gripped object 1 can be hand-transferred to a two-dimensionally determined position by returning the gripped object 1 to the originally set base point, so that the object 1 can be accurately positioned. can be easily and reliably corrected on the hand side.

As a result, the object 1 can be moved correctly to the specified position in the next process, and automated tasks such as relay work using a handling device can be easily and accurately performed using a simple mechanism and a simple control circuit. play.

In particular, in the present invention, when the arm 2 moves until it grips the target object, the two electric devices 12 and 13 are activated only once by contacting the target object 1, and the operation is performed only after the gripping of both. Therefore, when it hits one of the oil seals, the direction of movement changes and it hits the other tactile device.In the conventional positioning method of changing the direction of movement, the arm 2 snakes, resulting in uncertain operation. In contrast to the conventional method, which takes a long time, there is an advantage that there is no chattering action, and the positioning is more reliable and can be performed smoothly and quickly.

[BRIEF DESCRIPTION OF THE DRAWINGS] Both figures show one example of the device of the present invention, and FIG. 1 is a flat-f diagram schematically showing the structure of the handling device, and FIG. 2 is a schematic diagram of the hydraulic circuit. . 1...Target object, 2...Arm, 5.
...One finger, 6...The other finger, 8...
...actuator, 9...a[tuator, 12...tactile device, 13...tactile device.

Claims (1)

[Scope of utility model registration request] an extendable arm 2; and a distal end of the arm 2;
Both phases 5 and 6, which have a gripping center on the operating axis of the arm 2 and are arranged opposite each other so as to be able to approach and separate, an actuator 8 that operates the arm 2 in an extending and retracting direction, and an actuator 8 that operates the arm 2 in an extending and retracting direction, and an actuator that operates the arm 2 in a direction perpendicular to the extending and contracting direction. each has an actuator 9 for actuating in the direction, an operating line for operating both actuators 8.9, and a tactile piece along an isometric line extending in the direction of extension of the arm 2 centered on the axis of action of the arm 2. , consisting of haptics 12 and 13 provided at the tips of the arms 2 in opposition to each other near the two phases 5°6, and control means for controlling the operation lines, the control means having shortened arms; The arm 2 is extended by activating only one actuator 8 from the operating base in a neutral position in a direction perpendicular to the direction of expansion and contraction until one of the haptic devices 12 or 13 comes into preliminary contact with the target object 1, and then A tactile device 1 in which both actuators 8.9 are actuated simultaneously and the arm 2 is brought into contact with the target object 1 in advance until the other tactile device 13 or 12 comes into contact with the target object 1.
The tactile sense 2 or 13 extends in one direction, and then, while the grip of the target object 1 by both phases 5 and 6 continues, both actuators 8 and 9 are actuated in the opposite direction to move the arm 2 to the operation reference point. A handling device characterized in that the handling device is formed so as to apply a sequential operation to the operation line to return the operation line to the operation line.