JPS6071181A - Method of operating gripper for transferred article - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] <Industrial field of application><Priorart> In the assembly and other work of articles, industrial rotor-lifting is performed. The present invention relates to a method of operating a transferred article gripping device that performs a correction operation for correcting a positional deviation of a transferred article with respect to a destination article.

<Example> Embodiments of the present invention will be described below with reference to the drawings.

In FIGS. 1 and 2, 1 is a gripping head body attached to the tip of the wrist of an industrial robot 7, 2 is a pair of gripping arms provided on the gripping head body 1 so as to be openable and closable, It has a gripping claw 3 at its tip. Reference numeral 4 denotes a gripping claw opening/closing cylinder that opens and closes the gripping arm 2.

Reference numeral 5 denotes a lifter for loading the gripping claw 3 with a thin and lightweight transfer article W.

A projecting portion 6 is provided on the grip head main body 1 to protrude horizontally, and a support member 7 is fixedly provided at the tip of the projecting portion 6 in the vertical axis direction. The vertical center line of this support body 7 is located on a line passing through the center of the transported article W gripped by the gripping claws 3, and a concentric guide shaft 8 is fixed to the support body 7, and a concentric guide shaft 8 is fixed to the support body 7. A weight body 9 inserted into the grip claw 3 with a gap is inserted and supported so as to be movable up and down. Further, a stopper 10 for regulating the lower end of the weight body 9 is integrally provided at the lower end of the guide shaft 8. The weight of the weight body 9 is set so as to apply a pressing force from the upper surface to the extent that the transfer article W held by the gripping claws 3 does not fall off, and the weight body 9 is set to apply a pressing force from the upper surface to the extent that the transfer article W held by the gripping claws 3 does not fall off. It is preferable that the contact area is made as small as possible by having four parts in the center.

Further, reference numeral 11 denotes a counterpart article of the transferred article W, which is inserted and supported in the support hole H of the pallet P.

In the structure as described above, in order to grip the transferred article W, the gripping head 1 is positioned to a position where the mounting lifter 5 and the support body 7 match, and in this state, the mounting lifter 5 is held between the open gripping claws 3. 5 is raised and inserted, the lower surface of the weight body 9 comes into contact with the upper surface of the transported article W, and the weight body 9 is lifted from the stopper 10 by a required stroke. In this state, when the gripping claws 3 are closed and the mounting lifter 5 is lowered, a pressing force is applied by the weight of the weight body 9 to the extent that the transported article W gripped by the gripping claws 3 does not fall off.

Thereafter, by moving the gripping head main body 1, the transferred article W is transferred and positioned on the other article 11 as shown in FIG. 3 (al), and when the gripping claws 3 are released as shown in FIG. 3 (bl), the transferred article W is W is pressed onto the object 11 by the pressing force due to the weight of the weight body 9, and when the gripping claw 3 is released, it does not move or displace with respect to the gripping claw 3 due to the adhesive force of oil or the like (
The initial positioning state is maintained.

Although the displacement of the transported article W can be prevented by the action of the weight body 9, the present invention more reliably prevents the displacement of the transported article W by performing the following operation. In other words, gripping claw 3
After opening, the gripping head main body 1 is lowered by a predetermined amount again to the position shown in FIG.
1, the position is corrected to an accurate position without any positional deviation.

In addition, since this gripping claw 5 corrects the position of the transferred article W based on the outer periphery of the destination article 11, even if the destination article 11 wobbles within the support hole 11 of the pareso l-P, it will not be affected by this. , it is possible to accurately correct the position of the transported article W with respect to the destination article 11.

Thereafter, by raising the gripping head main body 1, the gripping claws 3 are lifted upward as shown by dl in FIG.

<Effects of the Invention> As described in detail above, the present invention provides a method of shifting the gripping claws to a position where they can come into contact with the target article after opening the gripping claws of the gripping device and placing the transferred article on the target article. In order to operate the transferred article by performing a shift operation to move the object, and a correction operation to correct the positional deviation of the transferred object with respect to the object by bringing the gripping claws into contact with the object. It has the advantage of being able to be placed accurately with respect to the article without being misaligned.

[Brief explanation of drawings]

FIG. 1 is a cross-sectional side view of a main part of a gripping device for implementing the method of the present invention, FIG. 2 is a partially cross-sectional plan view of FIG. 1, and FIG. 3 is an explanatory diagram of the operating method of the present invention. 2... Gripping arm, 3... Gripping claw, 7... Support shaft, 8... Guide shaft, 9... Weight body, 10... Stopper, W... Transport article, 11... ...The other party's goods. Patent applicant Toyota Machinery Co., Ltd. Figure 1 Figure 2 (CL') (b') Figure 3

Claims (1)

[Claims] A method of operating a gripping claw of a gripping device to place a transferred part on a destination article, the method includes: opening the gripping claw of the gripping device to place the transferred article on the destination article; , performing a shifting operation of shifting the gripping claws to a position where they can come into contact with the other object, and a correction operation of bringing the gripping claws into contact with the other object to correct a positional deviation of the transported article with respect to the other object. A method of operating a transferred article gripping device.