JPS60180796A - Robot hand for bag - Google Patents
Robot hand for bagInfo
- Publication number
- JPS60180796A JPS60180796A JP3766484A JP3766484A JPS60180796A JP S60180796 A JPS60180796 A JP S60180796A JP 3766484 A JP3766484 A JP 3766484A JP 3766484 A JP3766484 A JP 3766484A JP S60180796 A JPS60180796 A JP S60180796A
- Authority
- JP
- Japan
- Prior art keywords
- bag
- suction cup
- robot
- attached
- suction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
この発明は、ロボットを利用して袋＠、例えばセメント
等を積載する為のロボットハンドに関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot hand for loading bags, such as cement, using a robot.
従来は、例えばセメントの荷下し作業中、再度之を積載
して所定場所へ運ぶときは、概して手作業による場合が
多い。然るときは、作業が極めて非能率的となり、運搬
費がかさむことになる。そこでこの発明は、このような
欠陥を解消せんとして提案せられたものであり、ロボッ
トのアームに取付けられたハンド本体の下面に吸盤を取
付け、更に、この吸盤の下方部に停止して袋物な支承で
きる爪を前記本体に供回自在に取付けたことを特徴とす
る袋物用ロボットハンドを提供せんとするものである。Conventionally, for example, during the unloading of cement, reloading and transporting it to a predetermined location has generally been done manually. In such cases, work becomes extremely inefficient and transportation costs increase. Therefore, this invention was proposed in order to eliminate such defects, and a suction cup is attached to the lower surface of the hand body attached to the arm of the robot, and the suction cup is stopped at the lower part of the hand body to hold bags and other objects. It is an object of the present invention to provide a robot hand for bags, characterized in that a supportable claw is attached to the main body so as to be rotatable.
以下、この発明の一実施例を別紙添附図面に従って詳述
する。（１）はロボットであり、（２）がそのアームで
ある。（３）はこのアーム（２）に取付けられた・・ン
ド本体である。このハンド本体（３）はアダプター（４
）を介して取付けられている。この実施例では該本体（
３）の下面の両側部に吸盤（５）（５）が取付けられて
いる。この吸盤ｆ５）ｆ５）は夫々その上面にシリンダ
（６）（６）のピストン（７）（力の先端に固着されて
おり、ばつ、このシリンダｆ６）（６）＆よ前記・・ン
ド本体（３）に編状に取付けられる。又、側面略コ字状
の爪ｆ８）１８）、ｆ８）１８）の上端部をハンド本体
（３）に枢着（ん（んし、その下片が前記吸盤（５）（
５）の左右側面よりその下方部まで倒回し、更に、吸盤
（５）に対して一定の間隔を保持できるようになってい
る。更に、この爪＋８）（８）はその上方突部をシリン
ダー（９１ｒ９１のピストン（１０１（＋αに取付ケた
連結片（＋ ｔ）（Ｉυに枢着ｆＬ３（１１され、更に
、この７リンダーｆ９）ｒ９１は前記ハンド本体（３）
に水平状に取付けられている。尚、吸盤ｒＦｉｌＦｉ）
の内側面にはヒダａ’ａｔ＋’ａ・・・この実施例は叙
述せる如き構成に係るから、袋物を積載せんとする場所
に積載せんとするとき、先づ、ロボット（１）１ｆ！：
移動し、このロボット（１）の働きにより袋物ＯＱの上
面に前記ハンド本体（３）が下降してくる。然るときは
、吸盤ｆ５）ｆ５）が該袋物１１３）の上面にまで下降
し、シリンダ（６）（６）の作用によって該吸盤（５＋
（５）が袋物（１３１の上面に当接するに到る。このと
き、吸着配管０４）からの作用によって吸盤（５）ｒ５
１は該袋物（１３）の上面によく吸着する。然る後、シ
リンダーｆ６１（６）の働きで該ピストン（７）ｆ７）
が上昇を始め、当該袋物崗は少々持上げられる。このと
き、シリンダー（９）（９１が作用し、当該ピストン（
ＩＩ（ｔ（ｅが連結片旧）口１）を押圧する。然るとき
は、爪ｆ８）（８）はその枢着部＋Ａ）（Ａ）’＆介し
て回動し、その下片が丁度、袋物ｆ１３の下面に左右か
ら挿入される。その後、ロボット（１）の操作により全
体は持上がり、アーム（２）が所定方向に回動して袋物
Ｃｔｌの積載位置まで運んで行く。Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings. (1) is a robot, and (2) is its arm. (3) is the arm body attached to this arm (2). This hand body (3) is attached to an adapter (4).
). In this example, the main body (
3) Suction cups (5) (5) are attached to both sides of the lower surface. This suction cup f5) f5) is fixed to the tip of the piston (7) (force) of the cylinder (6) (6) on its upper surface, respectively. 3) is attached in a knitted manner. In addition, the upper end of the claw f8) 18), which has a substantially U-shaped side surface, is pivotally attached to the hand body (3), and its lower piece is attached to the suction cup (5) (
The suction cup (5) can be tilted down from the left and right sides of the suction cup (5) to its lower part, and furthermore, can maintain a constant distance from the suction cup (5). Furthermore, this pawl +8) (8) has its upper protrusion attached to the piston (101 (+t) (+t) (Iυ) of the cylinder (91r91), which is pivoted to ) r91 is the hand body (3)
installed horizontally. In addition, the suction cup rFilFi)
There are folds a'at+'a on the inner surface of the robot (1) 1f!, since this embodiment has the configuration described above, when loading bags at the intended loading location, the robot (1) 1f! :
The robot (1) moves and the hand main body (3) is lowered onto the upper surface of the bag OQ. At that time, the suction cups f5) f5) descend to the top surface of the bag 113), and the suction cups (5+
(5) comes into contact with the top surface of the bag (131).At this time, the suction cup (5) r5 comes into contact with the top surface of the bag (131).
1 is well adsorbed to the top surface of the bag (13). After that, the piston (7) (f7) is moved by the action of the cylinder f61 (6).
begins to rise, and the baggage is lifted a little. At this time, the cylinder (9) (91) acts, and the piston (
Press II (t (e is the old connecting piece) port 1). In this case, the claw f8)(8) rotates via its pivot portion +A)(A)'&, and its lower piece is just inserted into the lower surface of the bag f13 from the left and right. Thereafter, the entire bag is lifted by the operation of the robot (1), and the arm (2) rotates in a predetermined direction to carry the bag Ctl to the loading position.
このとき、袋物（１狙ま上面は吸盤ｆ５）ｒＦｉｌによ
り確実に吸着され、１つ、その下面も、爪（８）ｆ８）
により両側面より支承されているので、該袋物（１３）
は適確に把持され、」９つ、袋物（１，１の充填物が少
々移動しても、該袋自体が不慮安堵するようなことはな
い。而ｌ。At this time, the bag (1 aimed at the upper surface is the suction cup f5) rFil securely attracts it, and the lower surface of the bag is also attracted by the claw (8) f8)
The bag (13) is supported from both sides by
is held properly, and even if the contents of the bag (1, 1) move slightly, the bag itself will not become unintentionally relieved.
て、前述せる通り積載位置の上面まで運＆チれだ前記袋
物は先づ、ロボット（１）の作用により下降する。As described above, the bag is transported and dropped to the upper surface of the loading position.First, the bag is lowered by the action of the robot (1).
このとぎ、袋物０■の下面を支持していた爪（８）ｆ８
）をシリンダー＋９１＋９１の働きにより、枢着点（Ａ
）（んを介して外方に回動せしめれば、蚊取（８＋ｆｌ
’ｌ）は袋物０：１の支持を完全に逸脱し更に、吸盤ｆ
ｉｌ（５１の吸着配管０４１を介して吸着力を脱すれば
、前記袋物（１３）は所定の積載位ｆ＃ Ｋ 積載せら
れて行くのである。At this point, the claw (8) f8 that supported the bottom of the bag 0■
) to the pivot point (A) by the action of cylinder +91+91
) (If you rotate it outward through the
'l) completely deviates from the 0:1 support of the bag, and furthermore, the suction cup f
When the suction force is released through the suction pipe 041 of il (51), the bags (13) are stacked at a predetermined loading position f#K.
勿論、之等の動作の１前序は通常の技術によって指示さ
れるものであるから、特に説明しない。Of course, the first steps of these operations are dictated by conventional techniques, and will not be specifically explained.
この発明は前記一実施例に於て詳述せる如く、セメント
等の袋物の積載に際し、このセメント等の袋物を破損す
ることなく目、つ、確実に把持して所定場所に確実且つ
、迅速に運び之を積載できるのであり、更に、吸盤の数
は２個１埴上を可とし、従って、各吸盤の下方部まで回
動する爪も各吸盤毎に２個宛を有することは肖然である
。即ち、この発明は、吸盤と爪とを組合せたところに特
徴を有するのである。As described in detail in the above-mentioned embodiment, this invention, when loading bags of cement or the like, securely and securely grips the bags of cement or the like without damaging them, and securely and quickly places them in a predetermined place. In addition, the number of suction cups can be two each, so it is obvious that each suction cup has two claws that rotate to the lower part of each suction cup. be. That is, this invention is characterized by the combination of a suction cup and a claw.
図は同側面図である。
符号説明
ｉｌｌ・・・・・・ロボット （２）・・・・・・アー
ム（３）・・・・・・ハンド本体 （４）・・・・・・
アダプター１５）・・・・・・吸ａ １６）（９）・・
・シリンダ（７）ｆｌｏ）・・・ピストン 旧）・・・
・・・連結片０２・・・・・・ヒダ ０３）・・・・・
・袋物（１４・・・・・・吸着配管
特許出願人 ワイエル工業株式会社
第１図The figure is a side view of the same. Code explanation ill...Robot (2)...Arm (3)...Hand body (4)...
Adapter 15)... Suction a 16) (9)...
・Cylinder (7) flo)...Piston old)...
... Connecting piece 02 ... Fold 03) ...
・Bag goods (14... Adsorption piping patent applicant Weier Industries Co., Ltd. Figure 1)
Claims (1)
盤を取付け、更に、この吸盤の下方部に停＋ｈｔ−て袋
物を支承できる爪を前記本体に供回自在に取付けたこと
を特徴とする袋物用ロボットハンド。A bag for bags, characterized in that a suction cup is attached to the lower surface of the hand body attached to the arm of the robot, and furthermore, a claw that can stop at the lower part of the suction cup and support the bag is attached to the body so as to be rotatable. robot hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3766484A JPS60180796A (en) | 1984-02-29 | 1984-02-29 | Robot hand for bag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3766484A JPS60180796A (en) | 1984-02-29 | 1984-02-29 | Robot hand for bag |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60180796A true JPS60180796A (en) | 1985-09-14 |
Family
ID=12503897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3766484A Pending JPS60180796A (en) | 1984-02-29 | 1984-02-29 | Robot hand for bag |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60180796A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013184251A (en) * | 2012-03-07 | 2013-09-19 | Seibu Electric & Mach Co Ltd | Sucking tool, and picking device |
| JP2014237195A (en) * | 2013-06-08 | 2014-12-18 | 西部電機株式会社 | Picking device |
| KR102221767B1 (en) * | 2020-05-26 | 2021-03-02 | (주)빅타이거 | Auto lading equipment and auto boxing lading system using the same |
-
1984
- 1984-02-29 JP JP3766484A patent/JPS60180796A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013184251A (en) * | 2012-03-07 | 2013-09-19 | Seibu Electric & Mach Co Ltd | Sucking tool, and picking device |
| JP2014237195A (en) * | 2013-06-08 | 2014-12-18 | 西部電機株式会社 | Picking device |
| KR102221767B1 (en) * | 2020-05-26 | 2021-03-02 | (주)빅타이거 | Auto lading equipment and auto boxing lading system using the same |
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