TWI531333B - Pull tab conveying apparatus - Google Patents

Description

Pulling sheet conveying device and clamping device for pull tab

The present invention relates to a tab transport apparatus for use in a slider assembly machine for assembling a slider for a slide fastener, and for gripping and transporting a tab provided on a slider body And the clamping device of the pull tab.

Patent Document 1 discloses a tab transport apparatus used in a slider assembly machine for assembling a slider for a slide fastener.

The pull-tab conveying device includes a pull-tab feeding feeder and a chute for a pull-tab provided continuously with the supply port. The pull-tab feeding feeder feeds the tabs one by one to the tab chutes. The pull tab transports the pull tabs one by one toward the slider body by the chute.

Prior art literature

Patent literature

Patent Document 1: Japanese Patent Laid-Open Publication No. 2000-270910

As the pull tab of the slider for a slide fastener, a plurality of pull tabs having different sizes and shapes can be used depending on the use or design of the slide fastener, the user's preference, and the like. In the conventional wafer transfer apparatus described above, when a plurality of pull tabs are transported, a plurality of pull tab transporting apparatuses corresponding to the respective pull tabs are prepared.

In order to solve the above problem, the inventors of the present invention have developed a new pull-tab conveying device. The pull sheet conveying device includes a conveyor conveyor and an industrial robot. Specifically, first, the conveyance conveyor conveys the pull tab. Next, the gripping device attached to the arm of the industrial robot grips the tab on the transport conveyor. Then, the robot arm moves together with the gripping device to the target position. Next, the clamping device releases the clamping of the pull tab. Thereby, a plurality of pull tabs are transferred to the target position by one pull sheet conveying device.

In the gripping device of the developed sheet conveying device, when the shape of the tab is different, the pair of gripping claws may not surely hold the tab. At this time, the grip claws must be replaced with other gripping claws corresponding to the shape of the pull tab. Therefore, since the developed pull-tab conveying device requires a plurality of types of gripping claws, the replacement work of the gripping claws is troublesome, and the cost is increased, which is a major obstacle in practical use.

The present invention has been made to solve the above problems, and an object of the invention is to provide a handle conveying apparatus capable of conveying a plurality of types of tabs to a target place and capable of holding tabs having different shapes.

The handle transport apparatus of the present invention includes a transport conveyor 2 that transports a plurality of pull tabs, an industrial robot 5, and a gripping device 6, and the transport is held by the clamp device 6. The pull-tab on the conveyor 2 moves the gripping device 6 by the industrial robot 5, which is characterized in that the gripping device 6 includes a movement in the gripping direction and the grip releasing direction. a pair of gripping arms 20 and gripping claws 30 respectively attached to the pair of gripping arms 20, and moving the pair of gripping arms 20 in the clamping direction to sandwich the pair of gripping claws 30 The holding surface 33 contacts the two side faces of the link of the pull tab to hold the pull tab, and each of the clamping claws 30 is swingably mounted to each of the clamping arms 20 according to the shape of both side faces of the link of the pull tab. .

The handle conveyance device of the present invention includes a first camera 9 that images the pull-tab 50 on the transport conveyor 2, and the pull-tab transport device can determine the image based on the image of the first camera 9. The orientation of the tab 50 is rotated, and the gripping device 6 is rotated in a horizontal direction parallel to the upper surface of the transport conveyor 2.

In this manner, the pair of gripping arms 20 can change the orientation in the horizontal direction by the orientation of the tabs on the conveying conveyor 2, and the both side faces of the links of the tabs are held by the pair of gripping claws 30.

In the handle transport apparatus of the present invention, the distance between the plurality of pull tabs 50 is detected based on the image of the first camera 9, and when the distance is smaller than a predetermined distance, the gripping device 6 can The pull tabs 50 are moved by a predetermined distance or more.

Thus, the pair of gripping claws 30 can easily hold the tab.

In the pull-tab conveying device of the present invention, the pair of clamping jaws 30 are included in a clamping jaw 30 and another clamping jaw 30 are disposed opposite to each other in the horizontal direction parallel to the upper surface of the conveying conveyor 2, and the one clamping jaw 30 and the other clamping jaw 30 can Shake in different directions and do not shake in the same direction.

Thus, the pair of gripping claws 30 can hold the tab in a stable state without causing the gripped tab to be shaken left and right.

In the handle conveying apparatus of the present invention, the holding device 6 includes an inversion driving portion 6c that vertically reverses the pair of gripping arms 20, and the pair of gripping arms 20 can be placed on the gripping claws 30. The downwardly facing downward posture and the upward posture of the grip claws 30 upward are vertically reversed.

In this way, since the grip claws 30 can hold the front and back of the tabs having inconsistent front and back sides, the grips can be conveyed to the target place in a uniform manner.

The handle conveyance device of the present invention includes a second camera 6d that captures a pull-tab held by the pair of grip claws 30, and the pull-tab transport device determines the image based on the image of the pull-tab camera 6d. The front and back of the clamped pull-tab are driven upside down by driving the reverse drive unit 6c, so that the front and back of the clamped pull-tab can be aligned.

Thus, the gripping claws 30 can automatically match the front and back of the tabs having inconsistent front and back faces.

In the handle conveyance device of the present invention, the sandwiching surface 33 of the pair of gripping claws 30 has a lower inclined surface 33a and an upper inclined surface 33b which are adjacent to each other in the vertical direction and intersect at a predetermined angle, and the lower surface can be utilized. The inclined surface 33a and the upper inclined surface 33b hold the pull tab The upper and lower parts of the two sides of the link.

In this way, even if the clamp arm 20 is reversed upside down in a state in which the pair of grip claws 30 hold the pull tab, the pull tab can be surely held.

In the handle conveyance device of the present invention, the lower end surface of the pair of grip claws 30 is a flat surface, and the lower end surface intersects the lower inclined surface 33a at a predetermined angle, and the opposite lower end portion of the grip claw 30 is held. Can be set to the tip shape.

In this way, the pair of gripping claws 30 are moved in the direction of the grip after contacting the transport conveyor 2, whereby the tabs on the transport conveyor 2 can be lifted and held.

In the clamping device 6 of the pull tab 50 of the present invention, the clamping portion 6b of the clamping device 6 for holding the pull tab 50 includes a pair of left and right clamping arms 22, and the respective arm bodies 22 are separated from each other in a direction The front end portion 22a of each arm body 22 protrudes toward the other arm body 22, and the claw body 31 including the gripping claws 30 is attached to the front end portion 22a of each arm body 22 to be disposed in a pair of grips. Claw 30.

In the clamping device 6 of the pull tab 50 of the present invention, each of the clamping jaws 30 of the pair of clamping jaws 30 has a clamping surface 33 for clamping the pull tab 50, and the clamping surface 33 has The first inclined surface 33a and the second inclined surface 33b intersect at a predetermined angle.

In the holding device 6 of the pull tab 50 of the present invention, at the front end portion 22a of the arm body 22, opposite front end portions 22a, 22b and holes opening in the opposite front end portions 22a, 22b are provided. 24, and forming a claw mounting groove 23 that opens between the opposite front end portions 22a, 22b, and the claw body 31 is provided with a mounting piece 34 including a through hole 35, the mounting piece 34 being placed To the claw mounting groove 23, the shaft 36 is inserted into the hole 24 opening to the front end portions 22a, 22b and the hole 35 penetrating the claw body 31, The pair of clamping jaws 30 are mounted to be rockable by the shaft 36.

In the clamping device 6 of the pull tab 50 of the present invention, the second inclined surface 33b of the clamping surface 33 projects further toward the clamping direction of the pull tab 50 than the first inclined surface 33a, and from the claw body The first inclined surface 33a is longer than the length of the second inclined surface 33b in the longitudinal direction of the grip claw 30.

In the handle transport apparatus of the present invention, since the pull-tab is transported by the transport conveyor 2, it is possible to transport the pull tabs of different types. Further, in the pull-tab conveying device, the both side faces of the link of the pull-tab on the conveyance conveyor 2 are sandwiched by the grip claws 30, so that the plurality of pull-tabs can be transported to the target place.

The gripping claws 30 attached to the pair of gripping arms 20 are rocked according to the shape of both side faces of the link of the pull tab, and therefore, the pair of gripping claws 30 are used to grip the different shapes of the two side faces of the link. The film is transferred to the target location.

1‧‧‧ Pulling device

2‧‧‧Conveyor

2-1‧‧‧Down side of the transport direction

2-2‧‧‧Transport direction upstream side

2a‧‧‧ vertical board

2b‧‧‧ drive roller

2c‧‧‧ driven roller

2d‧‧‧带

2e‧‧‧Lighting fixtures

3‧‧‧ Pulling film supply department

3a‧‧‧ bracket

3b‧‧‧ Container

3c‧‧‧ supply board

4‧‧‧ 拉片分散部

4a‧‧‧ bracket

4b‧‧‧ board

4c‧‧‧Transporting guide member

5‧‧‧Industrial robot

5a‧‧‧ pillar

5b‧‧‧1st robotic arm

5c‧‧‧2nd robotic arm

5d‧‧‧ vertical axis

6‧‧‧Clamping device

6a‧‧‧ device body

6b‧‧‧ gripping department

6c‧‧‧Reverse drive department

6d‧‧‧2nd camera

6e‧‧‧Rotary axis

7‧‧‧ Pull film supply department

8‧‧‧ rotating disk

9‧‧‧1st camera

10‧‧‧ Ontology

10a‧‧‧ side

10b‧‧‧Other side

20‧‧‧Clamping arm

21‧‧‧Installation base

22‧‧‧arm body

22a‧‧‧ front end

22a-1‧‧‧ upper surface

22a-2‧‧‧ lower surface

22a-3‧‧‧ front surface

22a-4‧‧‧Back surface

22b‧‧‧ front face

22b-1‧‧‧Bevel

22b-2‧‧‧Flat Department

23‧‧‧ claw mounting slot

24‧‧‧Vertical holes

30‧‧‧Clamping claws

31‧‧‧ claw body

31a‧‧‧One side

31b‧‧‧The other side

32‧‧‧ claws

32a‧‧‧ lower end

32b‧‧‧Bottom

33‧‧‧ clamping surface

33a‧‧‧ Lower inclined surface

33b‧‧‧Upper slope

34‧‧‧Installation

35‧‧‧ hole

36‧‧‧ vertical axis

40‧‧‧Motor

41‧‧‧ drive gear

42‧‧‧ driven gear

50‧‧‧ pull-up

51‧‧‧Hands

52‧‧‧ links

52a‧‧‧ both sides

100‧‧‧Abutment

101‧‧‧Detection Department

102‧‧‧ Controller

a, b, c, d‧‧‧ arrows

Fig. 1 is an overall front view of the handle conveying apparatus of the present invention.

Fig. 2 is an overall plan view of the handle conveying device of the present invention.

Figure 3 is an enlarged front elevational view of the gripping device.

4 is a plan view showing a pull tab on a conveyance conveyor.

(a), (b), and (c) of FIG. 5 are explanatory views of the operation of the link holding the tab.

Figure 6 is an enlarged side elevational view of the clamping portion of the gripping device.

Fig. 7 is an enlarged perspective view of a clamping portion of the holding device.

Fig. 8 is a perspective view showing a state in which the grip claws are removed.

Fig. 9 is an enlarged plan view showing a gripping claw mounting portion.

(a) and (b) of FIG. 10 are plan views of a state in which a link of a pull tab is held.

(a) and (b) of FIG. 11 are plan views of a state in which a link of a pull tab is held.

(a), (b), and (c) of FIG. 12 are explanatory views of the operation of the pull-tab on the conveyance conveyor.

The overall configuration of the handle conveyance device of the present invention will be described with reference to Figs. 1 and 2 .

The carrier transport apparatus 1 includes a transport conveyor 2 that transports the pull-tab, a pull-tab supply unit 3 that supplies a pull-tab to the upstream side of the transport conveyor 2 in the transport direction, and an intermediate portion that is provided in the transport direction of the transport conveyor 2, and The handle dispersing unit 4 in which the plurality of pull tabs are dispersed in the transport direction and the width direction of the transport conveyor 2, the industrial robot 5, and the gripping device 6 attached to the operating portion thereof.

Moreover, the gripping device 6 transfers the tab to the target position. Specifically, the transfer of the pull tab has three steps. First, the gripping device 6 grips the tab that is conveyed to the transport direction downstream side portion 2-1 of the transport conveyor 2 . Next, the robot arm of the industrial robot 5 moves, and the gripping device 6 is moved to the target position. Next, the gripping device 6 releases the grip of the tab.

In this embodiment, the target position is the pull of the assembled sliding fastener. The pull tab supply portion 7 of the slider assembly of the head. The gripping device 6 transfers the gripped tab to the tab supply portion 7. The pull-tab supply unit 7 supplies the pull-tab to a slider body (not shown) provided on the rotary disk 8 of the slider assembly machine.

The conveyance conveyor 2 includes a pair of vertical plates 2a rising from the upper surface of the base 100, and a roller 2b that is rotatably supported between the vertical plates 2a and disposed apart from each other in the conveyance direction. The driven roller 2c and an annular belt 2d which is wound around the driving roller 2b and the driven roller 2c. The belt 2d is rotated in the direction of the arrow a by rotationally driving the driving roller 2b by a motor (not shown). When the conveyance conveyor 2 is driven, the belt 2d is rotated, and the handle is conveyed to the downstream side in the conveyance direction of the conveyance conveyor 2. Further, when the conveyance conveyor 2 is stopped, the belt 2d is not rotated and the pull tab is not conveyed.

The conveyance conveyor 2 of this embodiment is stopped when the clamp device 6 grips the pull-tab, and when the pull-tab is transferred to the pull-tab supply unit 7, and is driven again at the time when the transfer of the pull-tab is completed. That is, the conveyance conveyor 2 is intermittently driven.

The first camera 9 is disposed above the transport direction downstream side portion 2-1 of the transport conveyor 2 . The first camera 9 images the slider that is transported to the downstream side portion 2-1.

In this embodiment, the belt 2d is made of a light-transmitting material. Further, the illuminating device 2e is provided below the downstream side portion 2-1 of the conveying conveyor 2 in the conveying direction. The illuminating device 2e illuminates the downstream side portion 2-1 in the transport direction from below. Thereby, the first camera 9 can clearly capture the silhouette of the pull tab on the belt 2d.

The pull-tab supply portion 3 includes: a bracket that rises from the upper surface of the base 100 (bracket) 3a, a container 3b attached to the upper end portion of the bracket 3a, and a supply plate 3c disposed below the container 3b. The container 3b houses a plurality of pull tabs. A hole (not shown) is formed in the bottom surface of the container 3b. The tab is fed through the hole to the upper surface of the supply plate 3c. The supply plate 3c is disposed above the upstream side portion 2-2 of the conveyance conveyor 2 in the conveyance direction, and is connected to a vibration device (not shown). By the vibration of the supply plate 3c, the handle is dropped from the upper surface of the supply plate 3c toward the upstream side portion 2-2 of the conveyance conveyor 2 in the conveyance direction.

The tab dispersion portion 4 includes a pair of brackets 4a attached to the upper end portions of the pair of vertical plates 2a, a plate 4b that is mounted between the upper end faces of the pair of brackets 4a, and a lower plate 4b attached thereto. A plurality of conveying guide members 4c on the surface. Each of the conveyance guide members 4 c extends from one side in the width direction of the conveyance conveyor 2 toward the other side, and is disposed in an oblique posture inclined at a predetermined angle with respect to the conveyance direction. Further, each of the conveyance guide members 4c is disposed at an interval in the width direction of the conveyance conveyor 2. The pull-tab conveyed by the conveyance conveyor 2 is conveyed while moving in the width direction along the conveyance guide member 4c, and is dispersed in the conveyance direction and the width direction.

In this way, the pull-tab that is transported to the transport direction downstream side portion 2-1 of the transport conveyor 2 is dispersed in the transport direction and the width direction of the transport conveyor 2, and the pair of clips described later by the clamp device 6 are easily formed. Hold the claws.

The industrial robot 5 includes a column portion 5a provided on the upper surface of the base 100, a first robot arm 5b rotatably attached to the column portion 5a, and a second machine rotatably attached to the first robot arm 5b. The arm 5c and the vertical axis 5d that is rotatable with respect to the second robot arm 5c and freely movable up and down. First robot arm 5b and second machine The rotation axis of the arm 5c and the vertical axis 5d extend in parallel with a direction perpendicular to the upper surface of the conveyance conveyor 2. Thereby, the first robot arm 5b and the second robot arm 5c can rotate in a horizontal plane parallel to the upper surface of the transport conveyor 2 around the respective rotation axes. Further, by rotating the first robot arm 5b and the second robot arm 5c, the vertical axis 5d can be moved in the horizontal direction.

The clamp device 6 is attached to the lower end portion of the vertical shaft 5d.

Thereby, the clamp device 6 can be moved to an arbitrary position in the horizontal direction, can move up and down, and can be rotated 360° around the vertical axis 5d.

As shown in Fig. 3, the holding device 6 includes a device body 6a attached to the vertical axis 5d, a clamping portion 6b that is vertically reversibly attached to the device body 6a, and a reverse driving that reverses the clamping portion 6b upside down. The portion 6c and the second camera 6d attached to the apparatus body 6a. The second camera 6d captures the pull-tab held by the nip 6b.

The clamping portion 6b includes a body 10 having a side surface 10a and another side surface 10b opposite to the one side surface 10a, a pair of clamping arms 20 attached to one side surface 10a, and a front end of each of the clamping arms 20 The clamping claw 30 and the rotating shaft 6e attached to the other side. The rotating shaft 6e extends in the horizontal direction. The drive mechanism (not shown) moves the pair of clamp arms 20 in the direction in which they are approached, that is, the direction in which the clamp tabs are held, and the direction in which the pull-tabs are loosened. As the drive mechanism, for example, a cylinder or a motor or the like is used.

The reverse drive unit 6c includes a motor 40, a drive gear 41 that is rotated by the motor 40, and a driven gear 42 that meshes with the drive gear 41 and rotates together with the drive gear 41. The driven gear 42 is attached to the rotating shaft 6e. Thereby, the motor can be driven 40 rotates the rotating shaft 6e.

Therefore, by rotating the rotating shaft 6e by 180° by driving the motor 40, the nip portion 6b can be reversed upside down.

For example, it is possible to reverse the upside down posture between the downward posture of the grip claws 30 shown by the solid line in FIG. 3 and the upward posture of the grip claws 30 shown in the imaginary line in FIG.

Next, the conveyance operation of the pull tab will be described.

First, the pull-tab is supplied from the handle supply unit 3 to the transport direction upstream side portion 2-2 of the transport conveyor 2. Next, the conveyance conveyor 2 drives and conveys a handle. Next, the conveyance conveyor 2 conveys the handle to the handle dispersing part 4. The pull-sheet dispersing unit 4 disperses the pull-tab in the conveyance direction and the width direction of the conveyance conveyor 2. Then, when the handle is conveyed to the conveyance direction downstream side portion 2-1 of the conveyance conveyor 2, the conveyance conveyor 2 is stopped.

As shown in FIG. 4, a plurality of pull tabs 50 are present in the transport direction downstream side portion 2-1 of the transport conveyor 2.

The pull tab 50 has a pull tab body 51 and a link 52. The pull-tab body 51 is a portion that is grasped by a finger when the slider is operated. The link 52 is a portion that is coupled to the slider body. The nip portion 6b holds the link 52 of the pull tab 50 by the pair of gripping claws 30. The shape of the pull tab body 51 of the plurality of pull tabs varies depending on the design. On the other hand, in many cases, the links 52 of the plurality of pull tabs have substantially the same shape. Therefore, the portion sandwiched by the pair of gripping claws 30 is preferably the link 52 of the pull tab 50.

As shown in FIG. 4, the orientation of the links 52 of the plurality of tabs 50 is different. 1st The camera 9 takes a plurality of pull tabs 50. The captured image is subjected to image processing by the detecting unit 101. The detecting unit 101 determines the orientation of the link 52 of each of the pull tabs 50 based on the image. The result of the determination is sent to the controller 102.

The first camera 9 can photograph all the pull tabs 50 of the transport direction downstream side portion 2-1 of the transport conveyor 2 at a time, but it is also possible to photograph each of the plurality of zones.

The controller 102 controls the operation of the industrial robot 5 based on the orientation of the link 52 determined by the detecting unit 101. At this time, as shown in FIGS. 5( a ), ( b ), and ( c ), the nip portion 6 b of the clamp device 6 causes the orientation of the pair of grip claws 30 to coincide with the direction of the link 52 of the pull tab 50 . Further, the gripping device 6 grips the link 52 of the tab 50 by moving the pair of gripping claws 30 in the clamping direction.

After the pull tab 50 is held, the controller 102 controls the operation of the industrial robot 5. At this time, the gripping device 6 is moved above the tab supply portion 7. Further, the gripping device 6 moves the pair of gripping claws 30 in the direction of loosening and gripping, and supplies the tab 50 to the tab supply portion 7.

Thereby, the gripping device 6 can transfer the tab 50 to the target position.

After the transfer of the pull-tab 50 is completed, the controller 102 drives the transport conveyor 2 again, and transports the pull-tab 50 to the transport-direction downstream side portion 2-1, and performs the transfer operation described above.

In the case of the plurality of tabs 50, when the appearance of the front surface and the back surface are different, the downstream side portion 2-1 of the transport conveyor 2 is mixed with the tab having the surface facing upward and the back side facing upward. The pull of the state. That is, the pull tab exists in a state in which the front and back are inconsistent.

The nip portion 6b of the clamp device 6 of the present invention can be vertically inverted, and the second camera 6d can capture the pull tab held by the nip portion 6b. Thereby, the gripping device 6 can supply the pull tab to the handle supply unit 7 from the state in which the front and back are not aligned to the state in which the front and back are aligned.

As shown in FIG. 3, the clamping part 6b clamps the handle on the conveyance conveyor 2 with the downward direction of the clamping nail 30 downward.

In the second camera 6d, the pull-tab 50 is imaged in a state in which the pair of gripping claws 30 are held by the pair of gripping claws 30. The captured image is subjected to image processing by the detecting unit 101. The detecting unit 101 determines whether the surface of the pull-tab 50 is facing upward or the back surface of the pull-tab 50 is upward, based on the image. The result of the determination is sent to the controller 102.

When the pull-tab is held with the surface facing upward, the controller 102 directly controls the operation of the industrial robot 5, and supplies the pull-tab 50 to the pull-tab supply unit 7 with the surface facing upward. At this time, as shown by the solid line in FIG. 3, the grip claws 30 are in a downward downward posture.

On the other hand, when the pull tab 50 is gripped with the back side facing upward, the controller 102 drives the motor 40 to rotate the grip portion 6b by 180°. Thereby, as shown by the imaginary line in FIG. 3, the grip claw 30 becomes an upward upward posture.

Thereby, the handle 50 is in a state of being sandwiched with the surface facing upward.

In this state, the controller 102 controls the operation of the industrial robot 5, and supplies the handle 50 to the handle supply unit 7 with the surface facing upward.

As a result, the gripping device 6 can transfer the front and back of the tab 50 that is present on the transport conveyor 2 in a state in which the front and back are not aligned, and then transfer the grip to the handle supply unit 7.

As the detecting unit 101, when the image captured by the first camera 9 is subjected to image processing, the interval between the adjacent pull tabs 50 on the transport conveyor 2 is detected. Further, based on the detection result, the detecting unit 101 determines whether or not the predetermined pull-tab 50 and the adjacent pull-tab 50 are apart by a predetermined distance or more when the pair of gripping claws 30 are sandwiched between the one of the pull tabs 50.

Further, when the detecting unit 101 determines that the distance between the plurality of pull tabs 50 is smaller than a predetermined distance, the determination result is sent to the controller 102. Thereby, the controller 102 controls the operation of the industrial robot 5. At this time, the industrial robot 5 moves the gripping device 6 in the horizontal direction in a state where the grip claws 30 are in contact with the side surface of the tab 50. Thereby, the handle 50 moves along the conveyance conveyor 2 by the holding of the holding nail|claw 30, and the distance between each pull-tab is a predetermined distance or more.

The reason is that when the distance between the plurality of pull tabs 50 is less than a predetermined distance, when the pair of gripping claws 30 are to hold one of the pull tabs 50, the other pull tabs are contacted, so that it is difficult to reliably hold the pull tabs. .

For example, as shown in FIG. 4, the grip claws 30 move one of the two pull tabs 50 (the upper pull tab 50) of the two pull tabs 50 that are overlapped on the transport conveyor 2, and separate the two pull tabs 50. Thus, the pair of gripping claws 30 can be used for gripping.

After the slider is moved, the first camera 9 photographs the pull tab 50 again. Thereafter, the above detection and operation are repeated.

Next, details of the nip portion 6b of the present invention will be described with reference to Figs. 6 to 9 . The direction in which the pair of grip claws 30 are opposed will be described as the left-right direction. Moreover, the direction orthogonal to the horizontal direction with respect to the left-right direction is performed as the front-back direction Description. Further, a direction orthogonal to the vertical direction with respect to the left-right direction will be described as the vertical direction.

The clamping portion 6b has a pair of right and left clamping arms 20. Each of the clamp arms 20 includes a mounting base 21 and an arm body 22 extending forward from the mounting base 21.

The pair of mounting bases 21 are movably mounted in the left-right direction with respect to the body 10, and are movable in a direction in which they approach each other and in a direction in which they are separated.

As the moving mechanism of each of the mounting bases 21, for example, a cylinder, a motor, or the like can be employed.

The front end portion 22a of each arm body 22 protrudes toward the other arm body 22. Each of the front end portions 22a has an opposite front end face 22b, and the front end portion 22a has a prism shape having an upper surface 22a-1, a lower surface 22a-2, a front surface 22a-3, and a rear surface 22a-4.

The front end portion 22a is formed with claw mounting grooves 23 formed on the front surface 22a-3, the rear surface 22a-4, and the front end surface 22b, and is formed through the claw mounting groove 23 to be opened on the upper surface 22a-1 and the lower surface. A longitudinal hole 24 in 22a-2.

The pair of gripping claws 30 are disposed in the horizontal direction parallel to the upper surface of the conveying conveyor 2 in the opposing direction. Each of the gripping claws 30 includes a claw body 31 and a claw 32 that protrudes downward from a lower portion of the claw body 31. The pawl 32 has a gripping surface 33 that grips the tab. The clamping surface 33 is continuous with the left and right faces 31a of the claw body 31. Further, the clamping faces 33 of the pair of claws 32 are opposed to each other.

The left and right other surfaces 31b of the claw body 31 are disposed to face the front end surface 22b of the arm body 22. Moreover, the claw body 31 is provided to protrude from the other side 31b on the left and right sides, and The plate-like mounting piece 34 is inserted into the claw mounting groove 23.

A hole 35 is formed in the mounting piece 34 so as to penetrate the upper and lower surfaces.

The grip claws 30 are attached to the front end portion 22a of the arm body 22 in the following manner.

The mounting piece 34 is fitted into the claw mounting groove 23, and is inserted into the longitudinal axis 36 across the longitudinal hole 24 of the front end portion 22a and the hole 35 of the mounting piece 34. Thereby, the grip claw 30 is swingably attached to the distal end portion 22a of the arm body 22 around the vertical axis 36.

Therefore, the pair of gripping arms 20 of the gripping portion 6b are moved in the gripping direction, whereby the gripping faces 33 of the pair of gripping claws 30 are brought into contact with the left and right side faces 52a of the link 52 of the tab 50. At this time, the pair of gripping claws 30 are rocked according to the shape of the left and right side faces 52a of the link 52, and the respective gripping faces 33 are respectively brought into contact with the left and right side faces 52a of the link 52, so that the pull tabs can be appropriately gripped .

For example, as shown in FIGS. 10(a) and (b), when the left and right side faces 52a of the link 52 of the pull-tab 50 are parallel faces, even if the grip claws 30 are not shaken, the grip portion 6b can be used for each. The clamping faces 33 of the gripping claws 30 contact the left and right side faces 52a of the link 52, so that the tabs can be properly held.

However, as shown in FIG. 11(a), when the left and right side faces 52a of the link 52 of the pull tab 50 are not parallel faces but inclined faces that approach each other toward the front end of the link 52, a pair of gripping claws When the needle 30 is not shaken, only a part of each of the clamping faces 33 contacts the left and right side faces 52a of the link 52, so that the tab cannot be properly held. On the other hand, as shown in FIG. 11(b), when the gripping claws 30 are shaken, the pair of gripping claws 30 are swung with the left and right side faces 52a of the link 52, so that the clips are held. The entire surface of the holding surface 33 contacts the left and right side faces 52a of the link 52, thereby enabling Local clamping tabs.

In this embodiment, as shown in FIG. 9, the front end surface 22b of each arm main body 22 includes a slope portion 22b-1 that is inclined away from the left and right other surfaces 31b of the claw body 31, and left and right sides of the claw body 31. The other surface 31b is parallel to the flat portion 22b-2. The inclined surface portion 22b-1 is formed at a position rearward of the center of the vertical axis 36, that is, the center of the swing of the grip claws 30. The flat portion 22b-2 is formed at a position forward of the center of the vertical axis 36, that is, the center of the swing of the grip claws 30. When the claw body 31 is not rocked, the flat portion 22b-2 is in contact with the left and right other faces 31b of the claw body 31.

Thereby, the grip claw 30 can be swung rearward as indicated by the arrow b, but cannot be swung forward as indicated by the arrow c.

In short, the left and right gripping claws 30 on the left side in Fig. 9 can be swung clockwise, but cannot be swung in the counterclockwise direction.

The left and right other gripping claws 30 on the right side in Fig. 9 can be swung in the counterclockwise direction, but cannot be shaken in the clockwise direction.

In this way, the left and right gripping claws 30 cannot be swung in the same direction, but must be swung in the opposite direction. Therefore, in a state in which the tabs are held by the left and right gripping claws 30, the tabs are not shaken left and right, and The pull tab is held in a stable state.

For example, as shown in FIGS. 10( a ) and ( b ) and FIG. 11( b ), the pull tab 50 does not shake left and right as indicated by an arrow d in a state of being sandwiched by the left and right grip claws 30 . .

The lower end surface 32a of the claw 32 of the grip claw 30 is a flat surface. With respect to the grip claw 30, when the grip portion 6b moves downward, the lower end surface 32a of the claw 32 comes into contact The state of the upper surface of the conveyor 2 is conveyed. At this time, the grip claws 30 can move in the gripping direction.

The clamping surface 33 of each of the gripping claws 30 includes a lower inclined surface 33a and an upper inclined surface 33b which are adjacent in the vertical direction. Each of the lower inclined faces 33a is inclined so as to be apart from each other from the lower end of the claw 32. Each of the upper inclined surfaces 33b is inclined so as to approach upward from the upper end of the lower inclined surface 33a. Therefore, the lower inclined surface 33a and the upper inclined surface 33b intersect at a predetermined angle, and the sandwiching surface 33 is formed in a substantially V shape. The angle of intersection is 90°~100°. Moreover, the width of each inclined surface 33a and the inclined surface 33b in the front-back direction is the same in the up-down direction.

The left and right end portions of the lower end surface 32a of the claw 32 are continuous with the lower end portion of the lower inclined surface 33a. Further, the lower end surface 32a of the claw 32 and the lower inclined surface 33a intersect at a predetermined angle. The angle of intersection is 40°~55°. That is, the opposing lower end portions 32b of the pair of claws 32 have a tip end shape.

Next, an operation of clamping the tab 50 on the transport conveyor 2 with respect to the nip portion 6b of the clamp device 6 will be described.

As shown in FIG. 12( a ), first, the pair of gripping claws 30 are aligned so as to be disposed on both sides of the tab 50 on the conveying conveyor 2 . At this time, by lowering the clamp device 6, the lower end surface 32a (the lower end surface of the clamp claw 30) of each of the claws 32 is brought into contact with the upper surface of the conveyance conveyor 2.

Next, the pair of holding claws 30 are moved in the clamping direction as indicated by the arrows. Thereby, the tip end portion 32b of the tip end shape of the claw 32 enters between the upper surface of the conveying conveyor 2 and the pull tab 50, and as shown in FIG. 12(b), the lower inclined surface of the pair of claws 32 is used. 33a supports the pull tab 50. At this time, the pull tab 50 is lifted from the upper surface of the conveyance conveyor 2.

The pair of gripping claws 30 are further moved in the gripping direction. As a result, as shown in FIG. 12(c), the lower inclined surface 33a of the claw 32 and the upper inclined surface 33b are held at two points above and below, and the pull tab 50 is held.

That is, in the pull tab 50, the lower corner portions of the both side faces 52a of the link 52 contact the lower inclined surface 33a of the claw 32, and the upper corner portions of the both side faces 52a of the link 52 contact the upper inclined surface 33b of the claw 32.

Therefore, the pair of gripping claws 30 are firmly held by the gripping surface 33 of each of the claws 32 so that the tab 50 does not move downward and upward. Further, the pair of gripping claws 30 can maintain the state in which the tab 50 is firmly held so as not to move downward and upward even if the grip portion 6b is rotated by 180°.

The length of the upper inclined surface 33b of the clamping surface 33 of the claw 32 in the vertical direction is longer than the length of the lower inclined surface 33a in the vertical direction. Further, the upper inclined surface 33b protrudes in the clamping direction from the lower inclined surface 33a.

Thereby, the pull tab 50 can be stably held.

1‧‧‧ Pulling device

2‧‧‧Conveyor

2-1‧‧‧Down side of the transport direction

2-2‧‧‧Transport direction upstream side

2a‧‧‧ vertical board

2b‧‧‧ drive roller

2c‧‧‧ driven roller

2d‧‧‧带

2e‧‧‧Lighting fixtures

3‧‧‧ Pulling film supply department

3a‧‧‧ bracket

3b‧‧‧ Container

3c‧‧‧ supply board

4‧‧‧ 拉片分散部

4a‧‧‧ bracket

4b‧‧‧ board

4c‧‧‧Transporting guide member

5‧‧‧Industrial robot

5a‧‧‧ pillar

5b‧‧‧1st robotic arm

5c‧‧‧2nd robotic arm

5d‧‧‧ vertical axis

6‧‧‧Clamping device

6d‧‧‧2nd camera

9‧‧‧1st camera

100‧‧‧Abutment

101‧‧‧Detection Department

102‧‧‧ Controller

A‧‧‧ arrow

Claims (12)

A tablet transporting device includes a transport conveyor (2) that transports a plurality of pull tabs (50), an industrial robot (5), and a gripping device (6), and the transporting and transporting is carried out by a gripping device (6) a pull-tab on the machine (2), the gripping device (6) is moved by an industrial robot (5), wherein the gripping device (6) includes moving in a clamping direction and a clamping release direction a pair of clamping arms (20) and clamping jaws (30) distributedly mounted to the pair of clamping arms (20), each of the clamping jaws (30) comprising a claw body (31), and a slave a claw (32) protruding downward from a lower portion of the claw body (31), the claw (32) having a clamping surface (33) for clamping the pull tab (50), by clamping the pair The arm (20) moves in the clamping direction such that the clamping faces (33) of the pair of clamping jaws (30) contact the two sides of the link of the pull tab to hold the pull tabs, the clamping jaws (30) The respective grip arms (20) are swingably attached according to the shape of both side faces of the link of the pull tab. The pull-tab conveying device according to claim 1, wherein the first camera (9) for photographing the pull-tab (50) on the transport conveyor (2) is included, the pull-tab transporting device The orientation of the pull tab (50) can be determined based on the image of the first camera (9), and the gripping device (6) is placed in a horizontal direction parallel to the upper surface of the transport conveyor (2). Rotate. The pull-tab transporting device of claim 1, wherein the distance between the plurality of pull-tabs (50) is detected based on an image of the first camera (9) When the distance is less than a predetermined distance, the clamping device (6) moves the pull tab (50) at a distance or more from a predetermined distance. The pull-tab conveying device according to claim 1, wherein the pair of gripping claws (30) are disposed to face each other in a horizontal direction parallel to an upper surface of the conveying conveyor (2) a clamping jaw (30) and another clamping jaw (30), the clamping jaw (30) and the other clamping jaw (30) are rocked in different directions and in the same direction Do not shake on. The pull-tab conveying device according to claim 1, wherein the holding device (6) includes an inversion driving portion (6c) that vertically reverses the pair of clamping arms (20), The pair of grip arms (20) are vertically inverted between a downward posture in which the grip claws (30) face downward and an upward posture in which the grip claws (30) face upward. The handle handling device of claim 5, comprising: a second camera (6d) for capturing a pull-tab held by the pair of gripping claws (30), the tab transporting device according to The image of the second camera (6d) determines the front and back of the held pull tab, drives the reverse drive unit (6c), and reverses the pair of grip arms (20). It can make the front and back of the clamped tabs consistent. The handle conveying device according to claim 1, wherein the clamping faces (33) of the pair of clamping claws (30) have a lower inclination which is adjacent in the up-and-down direction and intersects at a predetermined angle. The surface (33a) and the upper inclined surface (33b) sandwich the link of the pull tab by the lower inclined surface (33a) and the upper inclined surface (33b). The pull-tab conveying device according to claim 7, wherein: the lower end surface (32a) of the pair of clamping claws (30) is a flat surface, and the lower end surface and the lower inclined surface (33a) At a predetermined angle, the opposite lower end portions of the pair of gripping claws (30) have a tip end shape. A clamping device (6) for a pull tab (50), wherein: the clamping portion (6b) of the clamping device (6) for holding the pull tab (50) comprises a pair of left and right clamping arms (22), each arm The body (22) is movable in a direction close to each other and a direction of separation, and a front end portion (22a) of each arm body (22) protrudes toward the other arm body (22), and in each arm body (22) The front end portion (22a) is mounted with clamping claws (30), each of the clamping claws (30) including a claw body (31), and a claw (32) protruding downward from a lower portion of the claw body (31), The claw (32) has a clamping surface (33) for clamping the pull tab (50), and the clamping surface (33) contacts the two sides of the link of the pull tab to clamp the pull tab (50), Each of the clamping claws (30) is swingably attached to each of the clamping arms (20) according to the shape of both side faces of the link of the pull tab. The clamping device (6) of the pull tab (50) according to claim 9, wherein: the clamping surface (33) of each of the clamping jaws (30) has a predetermined angle The first inclined surface (33a) and the second inclined surface (33b). A clamping device (6) for a pull tab (50) according to claim 9 or 10, wherein: at the front end portion (22a) of the arm body (22), an opposite front end is provided unit a hole (22a, 22b) and a hole (24) opening at the opposite front end portion (22a, 22b), and forming a claw mounting groove opened between the opposite front end portions (22a, 22b) (23), the claw body (31) is provided with a mounting piece (34) including a through hole (35) into which the mounting piece (34) is placed, the shaft (36) Inserting a hole (24) opening in the front end portion (22a, 22b) and a hole (35) penetrating the claw body (31), the pair of clamping claws (30) being mounted through the shaft (36) as Can shake. The holding device (6) of the pull tab (50) according to claim 10, wherein the second inclined surface (33b) of the clamping surface (33) is more than the first inclined surface (33a) Extending from the clamping direction of the pull tab (50), and from the length of the claw body (31) toward the vertical direction of the clamping claw (30), the first inclined surface (33a) is inclined more than the second The face (33b) has a longer length.