JPS6218385Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a robotic device that automatically covers the top of a box body containing crayons, etc.

Conventionally, when automatically placing a lid on a box containing crayons, etc., it was extremely troublesome to accurately position the lid on the box, so this had to be done manually, which had the disadvantage of not being labor-saving. Ta.

In this invention, the suction member of the swinging arm pivoted to the lower end of the vertical axis of the robot tip arm suctions the top surface of the lid at a predetermined position, tilts the lid with one corner down, and moves horizontally to the inner surface of the corner of the lid. The lid is brought into contact with the outer surface of the box body at a predetermined position, and the lid is moved further so that the lid and the box body are automatically aligned while remaining slanted.Then, the lid is leveled at that position, lowered, and manually placed over the body. This eliminates the drawbacks of the conventional method by making it possible to automatically close the lid by a simple means without having to worry about it.

Figures 1 and 2 show a first embodiment of the present invention, in which the middle part of a swinging arm 2 that can swing vertically is pivotally connected to the lower end of a vertical shaft 1 of a robot tip arm, and the tip of the swinging arm 2 is A lid suction cup 3 is fixed, and a leg 2b of a predetermined length perpendicular to the suction cup 3 is protruded from the rear of the swing arm 2. A spring 4 is stretched between the front part of the swinging arm 2 and the vertical shaft 1 to tilt it upward and stop at the position where the protrusion 2a engages with the vertical shaft 1. 5 is a hose that connects the lid suction cup 3 and a vacuum pump (not shown).

Next, the effect will be explained. As shown in Figure 3, a lid 6 is placed on a table 8 in a predetermined position, and a box body 7 containing crayons, etc. is placed diagonally in front of the lid 6 on the table 8.
put First, the positions of the lid 6 and the box body 7 are stored in the robot. When the robot is operated, the lid suction cup 3 is positioned on the lid 6 as shown in FIG. 4, and the swing arm 2 is positioned on the lid 6 and stops. Next, when the vertical shaft 1 descends in the direction of arrow A in FIG. The movable arm 2 gradually rotates horizontally while pulling the spring 4, and when it becomes horizontal, the lid suction cup 3 comes into contact with the top of the lid 6, and the lid 6 is sucked by the suction force of the vacuum communicated through the hose 5. do. Next, move the vertical axis 1 a distance h in the direction of arrow B as shown in FIG.
When the swing arm 2 is raised by a certain amount, the swing arm 2 tilts upward, the protrusion 2a engages with the vertical shaft 1 and stops, and the lid 6 tilts upward with one corner 6a facing down. In this state, the third
As shown in the figure, when the lid 6 is horizontally moved toward the box body 7 in the direction of arrow C and further horizontally moved in the direction of arrow D, the inner surface of one corner 6a of the slanted lid 6 is moved toward the box body 7.
The lid 6 completely contacts the outer surface of one corner 7a of the box, and the lid 6 matches the box body 7. In this state, when the vertical shaft 1 is lowered again as shown in FIG. 5, the lid 6 becomes horizontal and completely covers the box body.

Next, when the suction force of the hose 5 is released and the vertical shaft 1 is raised, the lid suction cup 3 is separated from the lid 6, and the vertical shaft 1 returns to its original position.

7 and 8 show a second embodiment of the present invention, in which a table 8 has a protrusion 8 having a predetermined height along the right side of the lid 6.
a is provided in a protruding manner, and the lower end of the leg 12b of the swinging arm 12 comes into contact with the protrusion 8a, and as in the first embodiment, the lid suction cup 13 becomes horizontal and is suctioned to the top surface of the lid 6, and then moves horizontally on the vertical shaft 11. When the leg 12b comes off the protrusion 8a, the swing arm 12 is pulled by the spring 14 and tilts as shown in FIG. 8, and the protrusion 12a engages with the vertical shaft 11 and stops. The overall operation is similar to that of the first embodiment.

According to the present invention, the middle part of a swinging arm is pivoted to the vertical axis of the robot's tip arm so as to be vertically swingable, a suction cup is provided at one end of the swinging arm, and a spring is stretched between the swinging arm and the vertical axis. tilting the swinging arm upward, and protruding from the other end a leg that is perpendicular to the suction cup and comes into contact with the side surface of the lid suctioned by the suction cup;
By bringing the lower ends of the legs into contact with the table on which the lid is placed, the swing arm and suction cup can be rotated in the horizontal direction, so that the lid can be automatically and reliably placed on the main body. can.

[Brief explanation of the drawing]

Fig. 1 is a front view of the first embodiment of the present invention, Fig. 2 is a plan view of the same, Fig. 3 is a plan view of the positional relationship of the lid, main body, and finished product during operation, and Fig. 4 is a plan view during adsorption. , 5th
6 is a front view of the same during suction movement, FIG. 7 is a front view of the second embodiment of the present invention during suction, and FIG. 8 is a front view of the same suction movement. 1, 11... Vertical axis, 2, 12... Swinging arm, 2b, 12b... Leg, 3, 13... Suction cup,
4, 14...spring, 6...lid, 7...main body, 8...table.

Claims (1)

[Scope of utility model registration request] The middle part of the swinging arm is pivoted to the vertical axis of the robot tip arm so that it can swing vertically, and a suction cup is provided at one end of the swinging arm, and a spring is stretched between the swinging arm and the vertical axis. tilt upwards,
Further, a leg portion is provided at the other end of the suction cup and is perpendicular to the suction cup that comes into contact with the side surface of the lid that is suctioned by the suction cup, and the lower end of the leg is brought into contact with the table on which the lid is placed. and a lid-closing robot device whose suction cup can be rotated horizontally.