JPS6149076B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a gripping device used in a robot arm, and particularly to a gripping device suitable for gripping a blank stack in a can manufacturing process.

(Prior art) In the can manufacturing process, especially in the can manufacturing process for three-piece cans, a blank whose inner and outer surfaces have been painted and printed is cut and separated vertically and horizontally into 24, 36, etc. pieces to the size of one can. The stacked blanks are fed to the feeder of the can making machine.

The feeding of blank piles to the feeder has traditionally been done manually, but since the blank piles are heavy and difficult to handle due to the fact that they are coated with paint to make them slippery, this conveyance is difficult. It is hoped that it will be automated.

(Object of the Invention) The object of the present invention is to provide a gripping device suitable for gripping the blank pile when the blank pile is conveyed by a robot.

(Structure of the Invention) FIG. 1 shows an example of the overall arrangement of a blank pile conveying section during a can manufacturing process as an application example of the gripping device of the present invention.

A is the feeder of the can making machine, B is the stacker placed after the second slitter, and C is the blank for sorting out defective blanks and stocking surplus blanks.
The feed conveyor, D, is a robot.

Robot D used in this application example
has five degrees of freedom as shown in FIG. 2, but it goes without saying that other forms may be used as necessary. The gripping device of the present invention is attached to the end of the arm, and the gripping device is shown in FIG.

A base 2 is fixed to the robot arm end 1, and four sliding rods 3 are installed on the base 2. A sliding base 4 is slidably fitted into the sliding rod 3.
5 is a rack fixed to the base 2, 6 is a sliding base 4
It is a pinion fixed to the

On the lower surface of the sliding base 4 are a pair of sliding stands 7 whose spacing can be adjusted using turnbuckle type left and right screws.
7' is provided. Each slide table 7, 7' has a gripper 10, 1 having jaws 18, 18' at its lower end.
0' are pivotably mounted 12, 12'. The gripping hands 10, 10' are swing-driven by air cylinders 8, 8', which are fluid pressure devices for driving the gripping hands, attached to the sliding bases 7, 7'. Reference numerals 11 and 11' denote presser fingers, and as shown in the figure, the lower ends of the presser fingers 11 and 11' are located on the inner side of the opposing gripping hands,
The intermediate portions are pivotally pivoted to the gripping hands 10, 10' so that the upper ends are located on the outside of the gripping hands 19,
19', and is configured such that by driving a presser finger driving fluid pressure device connected to the upper end, the lower end swings outward above the object to be grasped and presses the upper surface of the object to be grasped. There is. The air cylinders 9, 9', which are fluid pressure devices for driving the presser fingers, have their upper ends pivotally mounted 13 to a sliding table, and the piston rod tips 14, 14' pivotally mounted to the upper end of the presser foot. There is.

This gripping device operates as follows.

A gripping hand 10' and a presser finger 11' are moved by air cylinders 8' and 9' from above the blank stack 15, which is supported with a gap such that the gripping hand 10 can enter, as shown on the right side of FIG. In the open state, the sliding board 4 is lowered by the rack and pinions 5 and 6, and then the gripping hand 10 and the presser finger 11 are closed by the air cylinders 8 and 9 as shown on the left in FIG. Therefore, hold the blank as if a person were holding the blank from both sides. At this time, the lower end of the presser finger swings outward above the object to press the upper surface of the object to be grasped, so that when pressing, the upper surface of the object to be grasped is pulled outward, that is, toward the grasping hand. A force component acts to prevent the grasped object from escaping. Therefore, even if the object to be gripped is flexible or slippery, it can be firmly gripped by the chin of the gripping hand and the lower end of the presser finger. Next, the rack and pinions 5 and 6 lift the blank deck directly above.

In the figure, numerals 16 and 17 are urethane coats to prevent damage to the blank.

Note that if the arm 1 can move up and down vertically depending on the degree of freedom of the robot, the sliding device may be omitted and the sliding substrate 4 may be directly fixed to the arm 1.

In addition, when changing the blank size, by turning the turnbuckle with the screw 18, the interval between the slide tables 7, 7' can be changed while keeping the center line constant, but one gripping hand 10 is used as the reference. In this case, the size may be changed by making only the other sliding table 7' slidable.

(Effects of the Invention) The gripping device of the present invention has the above-described configuration, and the lower end of the presser finger swings outward above the object to press the upper surface of the object to be gripped. A force that pulls the top surface toward the grasping hand acts, and even if the object to be grasped is a flexible and slippery blank, it can be grasped just like a human hand.
It can be firmly grasped and transferred between the chin of the grasping hand and the lower end of the presser finger.

The gripping hand and presser finger are driven separately, so
In the case of an object to be grasped that is somewhat distorted, it is possible to first straighten it with the grasping hand and then operate the presser fingers to grasp it.

Even if the size of the blank needs to be changed, it is only necessary to slide the slide table and adjust the distance between the gripping hands, so it is easy to change the type of can.

If necessary, the sliding base allows it to be moved vertically up and down, so even robots with a low degree of freedom can be used.

It has many effects such as

[Brief explanation of the drawing]

FIG. 1 is an overall layout view of a blank transport section which is an application example of the gripping device of the present invention, FIG. 2 is a side view of the same robot, and FIG. 3 is a side view of the gripping device of the invention. 1...Robot arm end, 2...Base, 3...Sliding rod, 4...Sliding base, 5, 6...Rack and pinion, 7...Sliding base, 8, 9...Air cylinder, 1
0... Gripping hand, 11... Presser finger, 15... Blank pile, 16, 17... Urethane coat.

Claims (1)

[Claims] 1 A base attached to the end of the robot arm, a pair of sliding bases attached to the bottom surface of the base so that the distance between them can be adjusted, and a gripping jaw that is slidably attached to the sliding base and at the lower end. a gripping hand having a gripping hand, a fluid pressure device for driving the gripping hand for slidingly driving the gripping hand; A presser finger whose middle part is slidably pivoted to the gripper and whose lower end swings outward above the object to press the upper surface of the object to be grasped, and a presser finger that swings and drives the presser fingers. A gripping device comprising a fluid pressure device for driving a presser foot.