WO2015068218A1 - Pull tab transporting device - Google Patents

Pull tab transporting device Download PDF

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Publication number
WO2015068218A1
WO2015068218A1 PCT/JP2013/079984 JP2013079984W WO2015068218A1 WO 2015068218 A1 WO2015068218 A1 WO 2015068218A1 JP 2013079984 W JP2013079984 W JP 2013079984W WO 2015068218 A1 WO2015068218 A1 WO 2015068218A1
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WO
WIPO (PCT)
Prior art keywords
gripping
handle
pair
pulling
claws
Prior art date
Application number
PCT/JP2013/079984
Other languages
French (fr)
Japanese (ja)
Inventor
幸輔 清田
義裕 宮本
Original Assignee
Ykk株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ykk株式会社 filed Critical Ykk株式会社
Priority to CN201380042159.3A priority Critical patent/CN104602563B/en
Priority to PCT/JP2013/079984 priority patent/WO2015068218A1/en
Priority to TW103136731A priority patent/TWI531333B/en
Publication of WO2015068218A1 publication Critical patent/WO2015068218A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44B—BUTTONS, PINS, BUCKLES, SLIDE FASTENERS, OR THE LIKE
    • A44B19/00—Slide fasteners
    • A44B19/42—Making by processes not fully provided for in one other class, e.g. B21D53/50, B21F45/18, B22D17/16, B29D5/00

Definitions

  • the present invention relates to a puller transport device that is used in a slider assembly machine for assembling a slide fastener slider and transports a puller set on a slider body.
  • Japanese Patent Application Laid-Open No. 2004-151867 discloses a pulling and conveying apparatus used in a slider assembling machine for assembling a slide fastener slider.
  • This pull-carrying apparatus includes a pull-feed feeder and a pull chute provided continuously with the supply port.
  • the puller supply feeder aligns the pullers and supplies them one by one to the puller chute.
  • the pulling chute conveys the pulling one by one toward the slider body.
  • This pulling and conveying apparatus includes a conveyor and an industrial robot. Specifically, first, the conveyor conveys the handle. Next, a gripping device attached to the arm of the industrial robot grips the handle on the conveyor. Next, the arm moves to a target position together with the gripping device. The gripping device then releases the grip of the puller. As a result, a plurality of types of pulling hands are transported to a target position by a single pulling and conveying device.
  • the pair of gripping claws may not be able to reliably grip the pulling handle. In that case, the gripping claws must be replaced with other gripping claws according to the shape of the handle. Therefore, since the developed pulling and conveying apparatus requires a plurality of types of gripping claws, the replacement operation of the gripping claws is troublesome, the cost is increased, and it is a great obstacle in practical use.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a pulling and conveying apparatus capable of conveying a plurality of types of pulls to a target place and capable of gripping pullers having different shapes. That is.
  • the present invention includes a transport conveyor 2 for transporting a plurality of handles, an industrial robot 5, and a gripping device 6.
  • the gripping device 6 grips the grips on the transport conveyor 2, and the gripping device 6 is used as an industrial robot.
  • a pulling and conveying device adapted to move at 5 The gripping device 6 includes a pair of gripping arms 20 that move in a gripping direction and a gripping release direction, and gripping claws 30 that are respectively attached to the pair of gripping arms 20, and moves the pair of gripping arms 20 in the gripping direction.
  • the gripping surfaces 33 of the pair of gripping claws 30 are in contact with both side surfaces of the link of the handle and grip the handle,
  • Each of the gripping claws 30 is attached to each gripping arm 20 so as to be swingable in accordance with the shape of both side surfaces of the link of the handle.
  • the pulling and conveying apparatus includes a first camera 9 for photographing the pulling hand 50 on the conveying conveyor 2. Based on the image of the first camera 9, the orientation of the handle 50 can be determined, and the gripping device 6 can be rotated in a horizontal direction parallel to the upper surface of the conveyor 2.
  • the pair of gripping arms 20 can grip both side surfaces of the link of the handle with the pair of gripping claws 30 by changing the direction of the horizontal plane direction according to the direction of the handle on the transport conveyor 2. .
  • the distance between the plurality of pulling hands 50 is detected based on the image of the first camera 9, and when the distance is less than a predetermined distance, the gripping device 6 is The puller 50 can be moved away from the predetermined distance.
  • the pair of gripping claws 30 includes one gripping claw 30 and the other gripping claw 30 that are arranged to face each other in a horizontal direction parallel to the upper surface of the transport conveyor 2.
  • the one gripping claw 30 and the other gripping claw 30 can be swung in different directions and not swung in the same direction.
  • the pair of gripping claws 30 can grip the handle in a stable state without swinging the gripped handle to the left and right.
  • the gripping device 6 includes a reversal drive unit 6c that vertically flips the pair of gripping arms 20, and the pair of gripping arms 20 is configured so that the gripping claws 30 are in a downward posture in a downward direction.
  • the gripping claw 30 can be attached so that it can be turned upside down over the upward upward posture.
  • the gripping claws 30 can be gripped by aligning the front and back of the puller with uneven front and back, so that the front and back can be transported to the target place.
  • the pulling and conveying device includes a second camera 6d for photographing the pulling hand held by the pair of holding claws 30. Based on the image of the pulling camera 6d, the front and back of the gripped gripper are judged, and the reverse drive unit 6c is driven to turn the pair of gripping arms 20 upside down so that the front and back of the gripping hand gripped are aligned. Can be.
  • the gripping claws 30 can automatically align the front and back of the puller with the front and back uneven.
  • the gripping surfaces 33 of the pair of gripping claws 30 have a lower inclined surface 33a and an upper inclined surface 33b that are adjacent to each other in the vertical direction and intersect at a predetermined angle.
  • the lower inclined surface 33a and the upper inclined surface 33b can grip the upper and lower portions of both side surfaces of the handle link.
  • the pair of gripping claws 30 can reliably hold the handle even if the gripping arm 20 is turned upside down while the handle is gripped.
  • the lower end surfaces of the pair of gripping claws 30 are flat surfaces, the lower end surface and the lower inclined surface 33a intersect at a predetermined angle, and the lower end portions of the gripping claws 30 facing each other are It can be a pointed shape.
  • the pair of gripping claws 30 can move to the gripping direction after coming into contact with the transporting conveyor 2 to lift and grip the handle on the transporting conveyor 2.
  • the pulling and conveying apparatus transfers the pulling handle by the transfer conveyor 2, it can transfer different types of pulling handles.
  • the pulling and conveying apparatus grips both side surfaces of the pulling link on the conveying conveyor 2 with the gripping claws 30, it can convey a plurality of types of pulling to a target place. Since the gripping claws 30 attached to the pair of gripping arms 20 swing according to the shape of both side surfaces of the pull handle link, the grip claws 30 having different shapes on both side surfaces of the link are gripped by the pair of gripping claws 30. Transport to the place where you want to go.
  • the pulling and conveying apparatus 1 is provided in a conveying conveyor 2 that conveys the pulling handle, a pulling supply unit 3 that supplies a pulling handle to an upstream portion in the conveying direction of the conveying conveyor 2, and an intermediate portion in the conveying direction of the conveying conveyor 2.
  • a gripper dispersion unit 4 that distributes the handle in the transport direction and the width direction of the transport conveyor 2, an industrial robot 5, and a gripping device 6 attached to the operation unit are provided.
  • the gripping device 6 moves the handle to a target position.
  • the transfer of the handle has three steps. First, the gripping device 6 grips the handle that is transported to the downstream portion 2 a in the transport direction of the transport conveyor 2. Next, the gripping device 6 moves to a target position as the arm of the industrial robot 5 moves. Next, the gripping device 6 releases the grip of the handle.
  • the target position is the puller supply unit 7 of the slider assembling machine for assembling the slider for the slide fastener. The gripping device 6 transfers the gripped handle to the handle supply unit 7.
  • the puller supply unit 7 supplies a puller to a slider body (not shown) set on the rotary disk 8 of the slider assembly machine.
  • the transport conveyor 2 includes a pair of vertical plates 2a standing from the upper surface of the base 100, and a driving roller 2b and a driven roller 2c that are rotatably supported between the vertical plates 2a and spaced apart in the transport direction.
  • the endless belt 2d is wound around the driving roller 2b and the driven roller 2c.
  • the belt 2d rotates in the direction of arrow a by driving the drive roller 2b to rotate with a motor (not shown).
  • the conveyor 2 rotates the belt 2d to convey the handle toward the downstream side of the conveyor 2 in the conveyance direction. Further, when the conveyor 2 stops, the conveyor 2 does not rotate the belt 2d and does not convey the handle.
  • the conveyor 2 of this embodiment is stopped when the gripping device 6 grips the pull handle and when the pull handle is transferred to the pull handle supply unit 7, and is driven again when the transfer of the pull handle is completed. That is, the conveyor 2 is driven intermittently.
  • the first camera 9 is installed above the downstream portion 2-1 in the transport direction of the transport conveyor 2.
  • the first camera 9 photographs the handle that has been conveyed to the downstream portion 2-1.
  • the belt 2d is made of a translucent material.
  • a lighting fixture 2e is installed below the downstream portion 2-1 in the transport direction of the transport conveyor 2.
  • the illuminator 2e illuminates the downstream portion 2-1 in the transport direction from below. Thereby, the 1st camera 9 can image
  • the handle supply unit 3 includes a bracket 3a standing from the upper surface of the base 100, a container 3b attached to the upper end of the bracket 3a, and a supply plate 3c arranged below the container 3b. A large number of handles are stored in the container 3b. A hole (not shown) is formed in the bottom surface of the container 3b. The puller is supplied to the upper surface of the supply plate 3c through the hole.
  • the supply plate 3c is disposed above the upstream portion 2-2 in the transport direction of the transport conveyor 2, and is connected to a vibration device (not shown). The puller drops from the upper surface of the supply plate 3c toward the upstream portion 2-2 in the transport direction of the transport conveyor 2 due to the vibration of the supply plate 3c.
  • the pulling 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 attached across the upper end surfaces of the pair of brackets 4a, and a plurality of attachments attached to the lower surface of the plate 4b.
  • the conveyance guide member 4c is provided. Each conveyance guide member 4c 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. In addition, the transport guide members 4 c are arranged at intervals in the width direction of the transport conveyor 2.
  • the handle that is transported by the transport conveyor 2 is transported while moving in the width direction along the transport guide member 4c, thereby being dispersed in the transport direction and the width direction.
  • the handle that has been transported to the downstream portion 2-1 in the transport direction of the transport conveyor 2 is dispersed in the transport direction and the width direction of the transport conveyor 2, and is easily gripped by a pair of gripping claws described later of the gripping device 6.
  • the industrial robot 5 is provided with a pillar portion 5a provided on the upper surface of the base 100, a first arm 5b rotatably attached to the pillar portion 5a, and rotatably attached to the first arm 5b.
  • the second arm 5c has a vertical axis 5d attached to the second arm 5c so as to be rotatable and vertically movable.
  • the rotation axes of the first arm 5 b and the second arm 5 c and the vertical axis 5 d extend in parallel to a direction perpendicular to the upper surface of the transport conveyor 2. Thereby, the 1st arm 5b and the 2nd arm 5c can rotate in the horizontal surface parallel to the upper surface of the conveyance conveyor 2 centering on each rotating shaft.
  • the vertical axis 5d can move in the horizontal direction as the first arm 5b and the second arm 5c rotate.
  • a gripping device 6 is attached to the lower end of the vertical axis 5d. As a result, the gripping device 6 can move to an arbitrary position in the horizontal direction, move up and down, and can rotate 360 ° about the vertical axis 5d.
  • the gripping device 6 includes a device main body 6a attached to the vertical axis 5d, a gripping portion 6b attached to the device main body 6a so as to be turned upside down, and a reversing drive portion 6c for turning the gripping portion 6b upside down. And a second camera 6d attached to the apparatus main body 6a. The second camera 6d captures the pulling hand gripped by the grip portion 6b.
  • the gripping portion 6b includes a main body 10 having one side surface 10a and another side surface 10b opposite to the one side surface 10a, a pair of gripping arms 20 attached to the one side surface 10a, and gripping claws attached to the tip of each gripping arm 20 30 and a rotating shaft 6e attached to the other side surface.
  • the rotating shaft 6e extends in the horizontal direction.
  • the pair of gripping arms 20 moves in a direction approaching by a driving means (not shown), that is, a gripping direction for gripping the pulling hand, and a separation direction, that is, a direction for releasing gripping of the pulling hand.
  • a driving means for example, a cylinder, a motor or the like is employed.
  • the reverse drive unit 6 c includes a motor 40, a drive gear 41 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.
  • the rotating shaft 6e can be rotated by driving the motor 40.
  • the holding part 6b can be reversed up and down by driving the motor 40 and rotating the rotating shaft 6e by 180 degrees.
  • the gripping claw 30 may be turned upside down over a downward downward posture and as indicated by a virtual line in FIG. 3, the gripping claw 30 may be turned upside down. it can.
  • the handle is supplied from the handle supply unit 3 to the upstream portion 2-2 in the transport direction of the transport conveyor 2.
  • the conveyor 2 is driven to convey the handle.
  • the transport conveyor 2 transports the handle to the handle distribution unit 4.
  • the handle distribution unit 4 distributes the handle in the transport direction and the width direction of the transport conveyor 2.
  • the transport conveyor 2 stops when the handle is transported to the downstream portion 2-1 in the transport direction of the transport conveyor 2.
  • the handle 50 includes a handle body 51 and a link 52.
  • the handle main body 51 is a portion to be picked with a finger when operating the slider.
  • the link 52 is a part connected to the slider body.
  • the gripping part 6 b grips the link 52 of the handle 50 by the pair of gripping claws 30.
  • Plural types of pullers have different shapes of the pull main body 51 according to diversification of designs. On the other hand, there are many types of the plurality of types of pullers in which the shapes of the links 52 are approximately the same. Therefore, it is preferable that the portion gripped by the handle is the link 51.
  • the plurality of pullers 50 are different in the direction of the link 52.
  • the first camera 9 photographs a plurality of pullers 50.
  • the captured image is subjected to image processing by the detection unit 101.
  • the detection unit 101 determines the direction of the link 52 of each puller 50 based on the image. This determination result is sent to the controller 102.
  • the first camera 9 may shoot all the pulls 50 of the downstream portion 2-1 in the transport direction of the transport conveyor 2 at a time, but may shoot every plurality of sections.
  • the controller 102 controls the operation of the industrial robot 5 according to the direction of the link 52 determined by the detection unit 101.
  • the gripping portion 6b of the gripping device 6 aligns the direction of the pair of gripping claws 30 with the direction of the link 52 of the puller 50 as shown in FIGS. 5 (a), 5 (b), and 5 (c).
  • the gripping device 6 grips the link 52 of the handle 50 by moving in the direction in which the pair of gripping claws 30 grips.
  • the controller 102 controls the operation of the industrial robot 5. At this time, the gripping device 6 moves up to the handle supply unit 7. Then, the gripping device 6 moves in a direction in which the pair of gripping claws 30 release gripping, and supplies the puller 50 to the puller supply unit 7. Thereby, the holding
  • the controller 102 drives the transfer conveyor 2 again to transfer the handle 50 to the downstream portion 2-1 in the transfer direction, and performs the transfer operation described above.
  • a pull handle having a top surface and a pull surface having a back surface are mixed in the downstream portion 2-1 of the transport conveyor 2 in the transport direction. . That is, there is a handle in a state where the front and back sides are not aligned.
  • the gripping device 6 of the present invention can photograph the pulling hand gripped by the gripping part 6b while the gripping part 6b can be turned upside down. Accordingly, the gripping device 6 can supply the handle to the handle supply unit 7 by displacing the handle from a state where the front and back sides are not aligned to a state where the front and back sides are aligned.
  • the gripping part 6 b grips the handle on the transport conveyor 2 with the gripping claw 30 in a downward downward posture.
  • the second camera 6d takes an image of the gripper 50 being gripped in a state where the pair of gripping claws 30 grip the handle.
  • the captured image is subjected to image processing by the detection unit 101. Based on the image, the detection unit 101 determines whether the front surface of the handle 50 is in the up state or the back surface of the handle 50 is in the up state. This determination result is sent to the controller 102.
  • the controller 102 controls the operation of the industrial robot 5 as it is when the surface of the puller is gripped and supplies the puller 50 to the puller supply unit 7 with the surface upward.
  • the gripping claw 30 is in a downward downward posture as shown by a solid line in FIG.
  • the controller 102 drives the motor 40 to rotate the grip portion 6b by 180 ° when the back surface of the handle 50 is gripped in the up state.
  • the gripping claw 30 is in an upward upward posture as indicated by a virtual line in FIG.
  • the handle 50 is in a state where the surface is gripped in an upward 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 up.
  • the gripping device 6 can transfer the puller 50 existing on the transport conveyor 2 in a state where the front and back surfaces are not aligned to the puller supply unit 7 with the front and back surfaces aligned.
  • the detection unit 101 detects the interval between adjacent pullers 50 on the conveyor 2 when image processing is performed on an image captured by the first camera 9. Based on the detection result, the detection unit 101 determines whether or not the handle 50 that is scheduled to be gripped and the adjacent handle 50 are separated by a predetermined distance or more when the pair of grip claws 30 grips one handle 50. Is determined. When the detection unit 101 determines that the distance between the plurality of pullers 50 is less than the predetermined distance, the detection unit 101 sends the determination result 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 with the gripping claw 30 in contact with the side surface of the handle 50.
  • the puller 50 moves along the conveyor 2 while being pushed by the gripping claws 30 so that the distance between the pullers becomes equal to or greater than a predetermined distance.
  • the gripping claws 30 move one of the overlapping pullers 50 (the upper puller 50) on the conveyor 2 to separate the two pullers 50, thereby a pair of gripping claws 30. So that it can be gripped with.
  • the first camera 9 captures the handle 50 again after moving the handle. Thereafter, the above detection and operation are repeated.
  • the gripping part 6 b has a pair of left and right gripping arms 20.
  • Each gripping arm 20 includes an attachment base 21 and an arm main body 22 that extends forward from the attachment base 21.
  • the pair of attachment bases 21 are attached to the main body 10 so as to be movable in the left-right direction, and are movable in a direction toward and away from each other.
  • a cylinder, a motor, or the like is employed as the moving means of each mounting base 21.
  • Each arm body 22 has a distal end portion 22 a protruding toward the other arm body 22.
  • Each distal end portion 22a has an opposing distal end surface 22b, and the distal end portion 22a has a prismatic 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 has a front surface 22a-3, a rear surface 22a-4, and a claw mounting groove 23 opened in the front end surface 22b, and penetrates the claw mounting groove 23 to form an upper surface 22a-1 and a lower surface 22a-2.
  • a vertical hole 24 is formed in the opening.
  • the pair of gripping claws 30 are disposed so as to face each other in the horizontal direction parallel to the upper surface of the conveyor 2.
  • Each gripping claw 30 includes a claw body 31 and a claw 32 that protrudes downward from the bottom of the claw body 31.
  • claw 32 has the holding surface 33 which hold
  • the gripping surface 33 is continuous with the left and right surfaces 31 a of the nail body 31.
  • the gripping surfaces 33 of the pair of claws 32 are opposed to each other.
  • the left and right other surfaces 31 b of the claw body 31 are arranged to face the distal end surface 22 b of the arm body 22.
  • the claw body 31 is provided with a plate-like attachment piece 34 that protrudes from the other left and right surfaces 31 b and is inserted into the claw attachment groove 23.
  • a hole 35 is formed in the mounting piece 34 so as to penetrate the upper and lower surfaces.
  • the gripping claw 30 is attached to the distal end portion 22a of the arm 22 as follows.
  • the attachment piece 34 is fitted into the claw attachment groove 23, and the vertical axis 36 is inserted across the vertical hole 24 of the distal end portion 22 a and the hole 35 of the attachment piece 34.
  • the gripping claw 30 is attached to the tip portion 22 a of the arm 22 so as to be swingable about the vertical axis 36.
  • the gripping portion 6b brings the gripping surfaces 33 of the pair of gripping claws 30 into contact with the left and right side surfaces 52a of the link 52 of the handle 50 by moving the pair of gripping arms 20 in the gripping direction.
  • the pair of gripping claws 30 oscillate according to the shape of the left and right side surfaces 52a of the link 52 and bring the gripping surfaces 33 into contact with the left and right side surfaces 52a of the link 52. be able to.
  • the gripping portion 6 b can The gripping surface 33 of the claw 30 can be brought into contact with the left and right side surfaces 52a of the link 52 so that the handle can be gripped correctly.
  • the gripping portion 6b has a pair of grips 6b. If the gripping claws 30 do not swing, only a part of each gripping surface 33 comes into contact with the left and right side surfaces 52a of the link 52, so that the handle cannot be gripped correctly.
  • FIG. 11 (b) when the gripping claws 30 swing, the gripping portion 6b swings by following the left and right side surfaces 52a of the link 52 and the gripping claws 30 swing. Since the entire surface 33 is in contact with the left and right side surfaces 52a of the link 52, the handle can be gripped correctly.
  • the front end surface 22b of each arm 22 has an inclined surface portion 22b-1 inclined in a direction away from the other left and right surfaces 31b of the claw body 31, and the other left and right sides of the claw body 31.
  • the plane portion 22b-2 is parallel to the surface 31b.
  • the inclined surface portion 22b-1 is formed closer to the rear than the center of the vertical axis 36, that is, the swing center of the gripping claw 30.
  • the flat portion 22b-2 is formed closer to the front than the center of the vertical axis 36, that is, the swing center of the gripping claw 30.
  • the flat portion 22b-2 is in contact with the other left and right surfaces 31b of the claw body 31 when the claw body 31 is not swinging.
  • the gripping claws 30 can swing backward as indicated by the arrow b, but cannot swing forward as indicated by the arrow c.
  • the left and right gripping claws 30 on the left side in FIG. 9 can swing in the clockwise direction, but cannot swing in the counterclockwise direction.
  • the right and left other gripping claws 30 can swing in the counterclockwise direction, but cannot swing in the clockwise direction.
  • the left and right gripping claws 30 do not swing in the same direction, but always swing in the opposite direction, so that the pulling hand swings left and right while the left and right gripping claws 30 are gripping the pulling hand.
  • the handle can be gripped in a stable state. For example, as shown in FIGS. 10A, 10 ⁇ / b> B, and 11 ⁇ / b> B, the handle 50 can swing left and right as indicated by an arrow d while being gripped by the left and right gripping claws 30. Absent.
  • the lower end surface 32a of the claw 32 of the grip claw 30 is a flat surface.
  • the grip claw 30 is in a state where the lower end surface 32a of the claw 32 contacts the upper surface of the transport conveyor 2 when the grip portion 6b moves downward. At this time, the gripping claw 30 can move in the gripping direction.
  • the gripping surface 33 of each gripping claw 30 has a lower inclined surface 33a and an upper inclined surface 33b that are adjacent in the vertical direction.
  • Each lower inclined surface 33a is inclined so as to be separated from the lower end of the claw 32 upward.
  • Each upper inclined surface 33b is inclined so as to approach each other upward from the upper end of the lower inclined surface 33a.
  • the lower inclined surface 33a and the upper inclined surface 33b intersect with each other at a predetermined angle, and the gripping surface 33 is formed in a substantially V shape.
  • the crossing angle is 90 ° to 100 °.
  • variety of the front-back direction of each inclined surface 33a, 33b is the same over the up-down direction.
  • the left and right end portions of the lower end surface 32a of the claw 32 and the lower end portion of the lower inclined surface 33a are continuous.
  • the lower end surface 32a of the claw 32 and the lower inclined surface 33a intersect at a predetermined angle.
  • the crossing angle is 40 ° to 55 °. That is, the opposed lower ends 32b of the pair of claws 32 are pointed.
  • the pair of gripping claws 30 are aligned so as to be arranged on both sides of the handle 50 on the transport conveyor 2.
  • the lowering surface 32a of each claw 32 (the lower end surface of the gripping claw 30) is brought into contact with the upper surface of the transport conveyor 2 by lowering the gripping device 6.
  • the pair of gripping claws 30 move in the gripping direction as indicated by arrows.
  • the pointed lower end portion 32b of the claw 32 enters between the upper surface of the conveyor 2 and the handle 50, and the handle 50 is moved by the lower inclined surface 33a of the pair of claws 32 as shown in FIG. To support. At this time, the handle 50 is lifted from the upper surface of the conveyor 2.
  • the pair of gripping claws 30 further moves in the gripping direction.
  • claw 32 hold
  • the pair of gripping claws 30 firmly grip the handle 50 by the gripping surfaces 33 of the respective claws 32 so as not to move downward and upward.
  • the pair of gripping claws 30 can maintain a state in which the gripping portion 6b is firmly gripped so that the handle 50 does not move downward and upward even when the gripping portion 6b rotates 180 ° and is turned upside down.
  • the vertical length of the upper inclined surface 33b is longer than the vertical length of the lower inclined surface 33a.
  • the upper inclined surface 33b protrudes in the holding direction from the lower inclined surface 33a. Thereby, the handle 50 can be stably held.

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Abstract

The purpose of the present invention is to achieve a pull tab transporting device that is capable of transporting multiple types of pull tabs to an intended location and grasping pull tabs having different shapes. A pull tab transporting device comprises a transport conveyor (2) that transports pull tabs (50), and a grasping device (6) that grasps pull tabs (50) on the transport conveyor (2) and is moved by an industrial robot (5). The grasping device (6) comprises a pair of grasping arms (20) and a grasping claw (30) attached to each of the grasping arms (20). The grasping claws (30) oscillate in accordance with the shape of both side faces of a pull tab link. Thus, the grasping claw (30) can transport while precisely grasping both side faces of the pull tab (50) link.

Description

引手搬送装置Pulling device
　本発明は、スライドファスナー用スライダーを組み立てるスライダー組立機に用いられ、スライダー胴体にセットする引手を搬送する引手搬送装置に関する。 The present invention relates to a puller transport device that is used in a slider assembly machine for assembling a slide fastener slider and transports a puller set on a slider body.
　スライドファスナー用スライダーを組み立てるスライダー組立機に用いられる引手搬送装置が特許文献１に開示されている。
　この引手搬送装置は、引手供給フィーダと、その供給口と連続して設けた引手用シュートを備える。引手供給フィーダは、引手を整列して１つごとに引手用シュートに供給している。その引手用シュートは、引手を１つごとにスライダー胴体に向けて搬送するようにしている。 Japanese Patent Application Laid-Open No. 2004-151867 discloses a pulling and conveying apparatus used in a slider assembling machine for assembling a slide fastener slider.
This pull-carrying apparatus includes a pull-feed feeder and a pull chute provided continuously with the supply port. The puller supply feeder aligns the pullers and supplies them one by one to the puller chute. The pulling chute conveys the pulling one by one toward the slider body.
特開２０００－２７０９１０号公報JP 2000-270910 A
　スライドファスナー用スライダーの引手は、スライドファスナーの用途やデザイン、使用者の好みなどに応じて大きさ、形状が異なる複数種類の引手が用いられる。前述した従来の引手搬送装置は、複数種類の引手を搬送する場合、各引手に対応した複数種類の引手搬送装置を準備しなければならない。
　このことを解消するために、本発明者等は、新たな引手搬送装置を開発した。この引手搬送装置は、搬送コンベアと産業用ロボットを備える。具体的には、まず、搬送コンベアが引手を搬送する。次いで、産業用ロボットのアームに取り付けた把持装置が、搬送コンベア上の引手を把持する。次いで、アームが把持装置と共に目的とする位置まで移動する。次いで、把持装置が引手の把持を解放する。これにより、１台の引手搬送装置で、複数種類の引手を目的とする位置まで移送するようにした。 Plural types of pullers having different sizes and shapes are used for the slide fastener sliders depending on the use and design of the slide fastener, the user's preference, and the like. When the above-described conventional pulling and conveying apparatus conveys a plurality of types of pulling hands, it is necessary to prepare a plurality of types of pulling and conveying apparatuses corresponding to each pulling hand.
In order to solve this problem, the present inventors have developed a new pulling and conveying apparatus. This pulling and conveying apparatus includes a conveyor and an industrial robot. Specifically, first, the conveyor conveys the handle. Next, a gripping device attached to the arm of the industrial robot grips the handle on the conveyor. Next, the arm moves to a target position together with the gripping device. The gripping device then releases the grip of the puller. As a result, a plurality of types of pulling hands are transported to a target position by a single pulling and conveying device.
　開発した引手搬送装置の把持装置は、引手の形状が異なる場合、一対の把持爪が確実に引手を把持できない場合がある。その場合、把持爪は、引手の形状に応じた他の把持爪と交換しなければならない。よって、開発した引手搬送装置は、複数種類の把持爪を必要とするので、把持爪の交換作業が面倒であると共に、コストが高くなり、実用化の面で大きな障害となっている。 When the gripping device of the developed pulling and conveying device is different in the shape of the pulling handle, the pair of gripping claws may not be able to reliably grip the pulling handle. In that case, the gripping claws must be replaced with other gripping claws according to the shape of the handle. Therefore, since the developed pulling and conveying apparatus requires a plurality of types of gripping claws, the replacement operation of the gripping claws is troublesome, the cost is increased, and it is a great obstacle in practical use.
　本発明は前述の課題を解決するためになされたものであり、その目的は、複数種類の引手を目的とする場所まで搬送できると共に、形状が異なる引手を把持できるようにした引手搬送装置とすることである。 The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a pulling and conveying apparatus capable of conveying a plurality of types of pulls to a target place and capable of gripping pullers having different shapes. That is.
　本発明は、複数の引手を搬送する搬送コンベア２と、産業用ロボット５と、把持装置６を備え、前記搬送コンベア２上の引手を把持装置６で把持し、その把持装置６を産業用ロボット５で移動するようにした引手搬送装置であって、
　前記把持装置６は、把持方向及び把持解放方向に移動する一対の把持アーム２０と、該一対の把持アーム２０にそれぞれ取り付けた把持爪３０を備え、前記一対の把持アーム２０を把持方向に移動することで一対の把持爪３０の把持面３３が引手のリンクの両側面に接して引手を把持し、
　前記各把持爪３０は各把持アーム２０に、引手のリンクの両側面の形状に応じて揺動可能に取り付けてあることを特徴とする引手搬送装置である。 The present invention includes a transport conveyor 2 for transporting a plurality of handles, an industrial robot 5, and a gripping device 6. The gripping device 6 grips the grips on the transport conveyor 2, and the gripping device 6 is used as an industrial robot. A pulling and conveying device adapted to move at 5,
The gripping device 6 includes a pair of gripping arms 20 that move in a gripping direction and a gripping release direction, and gripping claws 30 that are respectively attached to the pair of gripping arms 20, and moves the pair of gripping arms 20 in the gripping direction. Thus, the gripping surfaces 33 of the pair of gripping claws 30 are in contact with both side surfaces of the link of the handle and grip the handle,
Each of the gripping claws 30 is attached to each gripping arm 20 so as to be swingable in accordance with the shape of both side surfaces of the link of the handle.
　本発明の引手搬送装置においては、前記搬送コンベア２上の前記引手５０を撮影する第１カメラ９を備え、
　該第１カメラ９の画像に基づき、前記引手５０の向きを判断し、前記把持装置６を搬送コンベア２の上面と平行な水平方向に回転させることができる。 In the pulling and conveying apparatus of the present invention, the pulling and conveying apparatus includes a first camera 9 for photographing the pulling hand 50 on the conveying conveyor 2.
Based on the image of the first camera 9, the orientation of the handle 50 can be determined, and the gripping device 6 can be rotated in a horizontal direction parallel to the upper surface of the conveyor 2.
　このようにすれば、一対の把持アーム２０は、搬送コンベア２上の引手の向きに応じて、水平面方向の向きを変更することで、引手のリンクの両側面を一対の把持爪３０で把持できる。 In this way, the pair of gripping arms 20 can grip both side surfaces of the link of the handle with the pair of gripping claws 30 by changing the direction of the horizontal plane direction according to the direction of the handle on the transport conveyor 2. .
　本発明の引手搬送装置においては、該第１カメラ９の画像に基づき、複数の前記引手５０の間の距離を検出し、この距離が所定の距離未満であった時、前記把持装置６が前記引手５０を所定の距離以上に離れるように移動させることができる。 In the pulling and conveying apparatus of the present invention, the distance between the plurality of pulling hands 50 is detected based on the image of the first camera 9, and when the distance is less than a predetermined distance, the gripping device 6 is The puller 50 can be moved away from the predetermined distance.
　このようにすれば、一対の把持爪３０が引手を把持し易くすることができる。 This makes it easier for the pair of gripping claws 30 to grip the handle.
　本発明の引き手搬送装置においては、前記一対の把持爪３０は、前記搬送コンベア２の上面と平行な水平方向に対向して配置された一方の把持爪３０と他方の把持爪３０を備え、前記一方の把持爪３０と前記他方の把持爪３０は、異なる方向に揺動し、かつ同じ方向には揺動しないようにすることができる。 In the pulling and conveying apparatus according to the present invention, the pair of gripping claws 30 includes one gripping claw 30 and the other gripping claw 30 that are arranged to face each other in a horizontal direction parallel to the upper surface of the transport conveyor 2. The one gripping claw 30 and the other gripping claw 30 can be swung in different directions and not swung in the same direction.
　このようにすれば、一対の把持爪３０は、把持した引手を左右に振れ動かすことがなく、引手を安定した状態で把持できる。 In this way, the pair of gripping claws 30 can grip the handle in a stable state without swinging the gripped handle to the left and right.
　本発明の引手搬送装置においては、前記把持装置６は、前記一対の把持アーム２０を上下反転する反転駆動部６ｃを備え、前記一対の把持アーム２０を、把持爪３０が下向きの下向姿勢と、把持爪３０が上向きの上向姿勢とに渡って上下反転可能に取り付けることができる。 In the pulling and conveying apparatus according to the present invention, the gripping device 6 includes a reversal drive unit 6c that vertically flips the pair of gripping arms 20, and the pair of gripping arms 20 is configured so that the gripping claws 30 are in a downward posture in a downward direction. The gripping claw 30 can be attached so that it can be turned upside down over the upward upward posture.
　このようにすれば、把持爪３０は、表裏不揃いの引手の表裏を揃えて把持することができるから、目的の場所に表裏を揃えて搬送できる。 In this way, the gripping claws 30 can be gripped by aligning the front and back of the puller with uneven front and back, so that the front and back can be transported to the target place.
　本発明の引手搬送装置においては、前記一対の把持爪３０で把持した引手を撮影する第２カメラ６ｄを備え、
　該引手用カメラ６ｄの画像に基づき、把持した引手の表裏を判断し、前記反転駆動部６ｃを駆動して一対の把持アーム２０を上下反転することで、把持している引手の表裏を揃えるようにできる。 In the pulling and conveying apparatus according to the present invention, the pulling and conveying device includes a second camera 6d for photographing the pulling hand held by the pair of holding claws 30.
Based on the image of the pulling camera 6d, the front and back of the gripped gripper are judged, and the reverse drive unit 6c is driven to turn the pair of gripping arms 20 upside down so that the front and back of the gripping hand gripped are aligned. Can be.
　このようにすれば、把持爪３０は、表裏不揃いの引手の表裏を自動的に揃えることができる。 In this way, the gripping claws 30 can automatically align the front and back of the puller with the front and back uneven.
　本発明の引手搬送装置においては、前記一対の把持爪３０の把持面３３は、上下方向に隣り合うとともに、所定の角度で交差する下部傾斜面３３ａと上部傾斜面３３ｂを有し、
　その下部傾斜面３３ａと上部傾斜面３３ｂとで引手のリンクの両側面の上下部を把持するようにできる。 In the pulling and conveying apparatus of the present invention, the gripping surfaces 33 of the pair of gripping claws 30 have a lower inclined surface 33a and an upper inclined surface 33b that are adjacent to each other in the vertical direction and intersect at a predetermined angle.
The lower inclined surface 33a and the upper inclined surface 33b can grip the upper and lower portions of both side surfaces of the handle link.
　このようにすれば、一対の把持爪３０は、引手を把持している状態で把持アーム２０を上下反転しても引手を確実に把持し続けることができる。 In this way, the pair of gripping claws 30 can reliably hold the handle even if the gripping arm 20 is turned upside down while the handle is gripped.
　本発明の引手搬送装置においては、前記一対の把持爪３０の下端面は平坦面で、該下端面と前記下部傾斜面３３ａとは所定の角度で交差し、把持爪３０の対向した下端部が尖端形状とすることができる。 In the pulling and conveying apparatus of the present invention, the lower end surfaces of the pair of gripping claws 30 are flat surfaces, the lower end surface and the lower inclined surface 33a intersect at a predetermined angle, and the lower end portions of the gripping claws 30 facing each other are It can be a pointed shape.
　このようにすれば、一対の把持爪３０は、搬送コンベア２に接した後、把持する方向に移動することで、搬送コンベア２上の引手を浮き上げて把持することができる。 In this way, the pair of gripping claws 30 can move to the gripping direction after coming into contact with the transporting conveyor 2 to lift and grip the handle on the transporting conveyor 2.
　本発明の引手搬送装置は、搬送コンベア２で引手を搬送するから、種類の異なる引手を搬送することができる。また、引手搬送装置は、搬送コンベア２上の引手のリンクの両側面を把持爪３０で把持するから、複数種類の引手を目的とする場所まで搬送できる。
　一対の把持アーム２０に取り付けた把持爪３０は、引手のリンクの両側面の形状に応じて揺動するから、リンクの両側面の形状が異なる引手を一対の把持爪３０で把持して目的とする場所まで搬送する。 Since the pulling and conveying apparatus according to the present invention transfers the pulling handle by the transfer conveyor 2, it can transfer different types of pulling handles. In addition, since the pulling and conveying apparatus grips both side surfaces of the pulling link on the conveying conveyor 2 with the gripping claws 30, it can convey a plurality of types of pulling to a target place.
Since the gripping claws 30 attached to the pair of gripping arms 20 swing according to the shape of both side surfaces of the pull handle link, the grip claws 30 having different shapes on both side surfaces of the link are gripped by the pair of gripping claws 30. Transport to the place where you want to go.
本発明の引手搬送装置の全体正面図である。It is a whole front view of the pull conveyance device of the present invention. 本発明の引手搬送装置の全体平面図である。It is a whole top view of the pull conveyance device of the present invention. 把持装置の拡大正面図である。It is an enlarged front view of a holding device. 搬送コンベア上の引手を示す平面図である。It is a top view which shows the handle on a conveyance conveyor. 引手のリンクを把持する動作説明図である。It is operation | movement explanatory drawing which hold | grips the link of a handle. 把持装置の把持部の拡大側面図である。It is an enlarged side view of the holding part of a holding apparatus. 把持装置の把持部の拡大斜視図である。It is an expansion perspective view of the holding part of a holding device. 把持爪を外した状態の斜視図である。It is a perspective view in the state where a grip claw was removed. 把持爪取付部の拡大平面図である。It is an enlarged plan view of a grip claw attaching part. 引手のリンクを把持している状態の平面図である。It is a top view of the state holding the link of a handle. 引手のリンクを把持している状態の平面図である。It is a top view of the state holding the link of a handle. 搬送コンベア上の引手を把持する動作説明図である。It is operation | movement explanatory drawing which hold | grips the handle on a conveyance conveyor.
　本発明の引手搬送装置の全体構成を図１及び図２に基づいて説明する。
　引手搬送装置１は、引手を搬送する搬送コンベア２と、この搬送コンベア２の搬送方向上流側部分に引手を供給する引手供給部３と、搬送コンベア２の搬送方向中間部分に設けられ、複数の引手を搬送コンベア２の搬送方向及び幅方向に分散する引手分散部４と、産業用ロボット５と、その動作部に取り付けた把持装置６を備えている。 The overall configuration of the pulling and conveying apparatus according to the present invention will be described with reference to FIGS.
The pulling and conveying apparatus 1 is provided in a conveying conveyor 2 that conveys the pulling handle, a pulling supply unit 3 that supplies a pulling handle to an upstream portion in the conveying direction of the conveying conveyor 2, and an intermediate portion in the conveying direction of the conveying conveyor 2. A gripper dispersion unit 4 that distributes the handle in the transport direction and the width direction of the transport conveyor 2, an industrial robot 5, and a gripping device 6 attached to the operation unit are provided.
　そして、把持装置６は、引手を目的とする位置まで移送する。具体的には、引手の移送が、３つの工程を有する。まず、把持装置６は、搬送コンベア２の搬送方向下流側部分２ａに搬送された引手を把持する。次いで、把持装置６は、産業用ロボット５のアームが移動することで、目的とする位置まで移動する。次いで、把持装置６は、引手の把持を解放する。
　この実施の形態では、目的とする位置が、スライドファスナー用スライダーを組み立てるスライダー組立機の引手供給部７である。把持装置６は、把持した引手を引手供給部７まで移送する。引手供給部７は、スライダー組立機の回転盤８にセットされたスライダー胴体（図示せず）に引手を供給する。 Then, the gripping device 6 moves the handle to a target position. Specifically, the transfer of the handle has three steps. First, the gripping device 6 grips the handle that is transported to the downstream portion 2 a in the transport direction of the transport conveyor 2. Next, the gripping device 6 moves to a target position as the arm of the industrial robot 5 moves. Next, the gripping device 6 releases the grip of the handle.
In this embodiment, the target position is the puller supply unit 7 of the slider assembling machine for assembling the slider for the slide fastener. The gripping device 6 transfers the gripped handle to the handle supply unit 7. The puller supply unit 7 supplies a puller to a slider body (not shown) set on the rotary disk 8 of the slider assembly machine.
　搬送コンベア２は、基台１００の上面から起立する一対の縦板２ａと、縦板２ａ間に回転自在に支持されるとともに、搬送方向に離間して配置された駆動ローラ２ｂと従動ローラ２ｃと、駆動ローラ２ｂと従動ローラ２ｃに渡って巻装された無端状のベルト２ｄを有する。ベルト２ｄは、駆動ローラ２ｂを図示しないモータで回転駆動することで、矢印ａ方向に回動する。搬送コンベア２は、駆動した時、ベルト２ｄを回動させて、引手を搬送コンベア２の搬送方向下流側へ向けて搬送する。また、搬送コンベア２は、停止した時、ベルト２ｄを回動させず、引手を搬送しない。 The transport conveyor 2 includes a pair of vertical plates 2a standing from the upper surface of the base 100, and a driving roller 2b and a driven roller 2c that are rotatably supported between the vertical plates 2a and spaced apart in the transport direction. The endless belt 2d is wound around the driving roller 2b and the driven roller 2c. The belt 2d rotates in the direction of arrow a by driving the drive roller 2b to rotate with a motor (not shown). When the conveyor 2 is driven, the conveyor 2 rotates the belt 2d to convey the handle toward the downstream side of the conveyor 2 in the conveyance direction. Further, when the conveyor 2 stops, the conveyor 2 does not rotate the belt 2d and does not convey the handle.
　この実施の形態の搬送コンベア２は、把持装置６が引手を把持する時、及び引手を引手供給部７へ移送する時に停止し、その引手の移送が完了した時点で再び駆動される。つまり、搬送コンベア２は間欠的に駆動される。 The conveyor 2 of this embodiment is stopped when the gripping device 6 grips the pull handle and when the pull handle is transferred to the pull handle supply unit 7, and is driven again when the transfer of the pull handle is completed. That is, the conveyor 2 is driven intermittently.
　第１カメラ９が搬送コンベア２の搬送方向下流側部分２－１の上方に設置されている。第１カメラ９は、下流側部分２－１に搬送された引手を撮影する。
　この実施の形態では、ベルト２ｄが透光性素材により作製されている。そして、照明具２ｅが搬送コンベア２の搬送方向下流側部分２－１の下方に設置されている。照明具２ｅは、搬送方向下流側部分２－１を下方から照明する。これにより、第１カメラ９は、ベルト２ｄ上の引手の輪郭（シルエット）を鮮明に撮影することができる。 The first camera 9 is installed above the downstream portion 2-1 in the transport direction of the transport conveyor 2. The first camera 9 photographs the handle that has been conveyed to the downstream portion 2-1.
In this embodiment, the belt 2d is made of a translucent material. A lighting fixture 2e is installed below the downstream portion 2-1 in the transport direction of the transport conveyor 2. The illuminator 2e illuminates the downstream portion 2-1 in the transport direction from below. Thereby, the 1st camera 9 can image | photograph the outline (silhouette) of the handle on the belt 2d clearly.
　引手供給部３は、基台１００の上面から起立するブラケット３ａと、ブラケット３ａの上端部に取り付けた容器３ｂと、容器３ｂの下方に配置された供給プレート３ｃを備える。容器３ｂ内には多数の引手が収納されている。容器３ｂの底面には図示せぬ穴が形成されている。引手は、穴を通って供給プレート３ｃの上面に供給される。供給プレート３ｃは、搬送コンベア２の搬送方向上流側部分２－２の上方に配置されており、図示せぬ振動装置に接続されている。引手は、供給プレート３ｃが振動することで、供給プレート３ｃの上面から搬送コンベア２の搬送方向上流側部分２－２に向けて落下する。 The handle supply unit 3 includes a bracket 3a standing from the upper surface of the base 100, a container 3b attached to the upper end of the bracket 3a, and a supply plate 3c arranged below the container 3b. A large number of handles are stored in the container 3b. A hole (not shown) is formed in the bottom surface of the container 3b. The puller is supplied to the upper surface of the supply plate 3c through the hole. The supply plate 3c is disposed above the upstream portion 2-2 in the transport direction of the transport conveyor 2, and is connected to a vibration device (not shown). The puller drops from the upper surface of the supply plate 3c toward the upstream portion 2-2 in the transport direction of the transport conveyor 2 due to the vibration of the supply plate 3c.
　引手分散部４は、一対の縦板２ａの上端部に取り付けた一対のブラケット４ａと、この一対のブラケット４ａの上端面間に跨って取り付けたプレート４ｂと、このプレート４ｂの下面に取り付けた複数の搬送ガイド部材４ｃを備えている。各搬送ガイド部材４ｃは、搬送コンベア２の幅方向の一方側から他方側へ向けて延び、搬送方向に対して所定の角度で傾いた斜め姿勢に配置されている。また、各搬送ガイド部材４ｃは、搬送コンベア２の幅方向に間隔を置いて配置されている。搬送コンベア２で搬送される引手は、搬送ガイド部材４ｃに沿って幅方向に移動しながら搬送されることで、搬送方向及び幅方向に分散する。
　これにより、搬送コンベア２の搬送方向下流側部分２－１まで搬送された引手は、搬送コンベア２の搬送方向及び幅方向に分散して、把持装置６の後述する一対の把持爪で把持し易くなる。 The pulling 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 attached across the upper end surfaces of the pair of brackets 4a, and a plurality of attachments attached to the lower surface of the plate 4b. The conveyance guide member 4c is provided. Each conveyance guide member 4c 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. In addition, the transport guide members 4 c are arranged at intervals in the width direction of the transport conveyor 2. The handle that is transported by the transport conveyor 2 is transported while moving in the width direction along the transport guide member 4c, thereby being dispersed in the transport direction and the width direction.
As a result, the handle that has been transported to the downstream portion 2-1 in the transport direction of the transport conveyor 2 is dispersed in the transport direction and the width direction of the transport conveyor 2, and is easily gripped by a pair of gripping claws described later of the gripping device 6. Become.
　産業用ロボット５は、基台１００の上面に設けた柱部５ａと、柱部５ａに対して回転可能に取り付けられた第１アーム５ｂと、第１アーム５ｂに対して回転可能に取り付けられた第２アーム５ｃと、第２アーム５ｃに対して回転及び上下動自在に取り付けた縦軸５ｄを有する。第１アーム５ｂと第２アーム５ｃの回転軸と、縦軸５ｄは、搬送コンベア２の上面に対して垂直な方向と平行に延びている。これにより、第１アーム５ｂと第２アーム５ｃは、各回転軸を中心にして、搬送コンベア２の上面と平行な水平面内を回転することができる。また、縦軸５ｄは、第１アーム５ｂと第２アーム５ｃが回転することにより、水平方向に移動することができる。
　縦軸５ｄの下端部に把持装置６が取り付けてある。
　これにより、把持装置６は水平方向の任意の位置に移動できると共に、上下に移動でき、かつ縦軸５ｄを中心にして３６０°回転できる。 The industrial robot 5 is provided with a pillar portion 5a provided on the upper surface of the base 100, a first arm 5b rotatably attached to the pillar portion 5a, and rotatably attached to the first arm 5b. The second arm 5c has a vertical axis 5d attached to the second arm 5c so as to be rotatable and vertically movable. The rotation axes of the first arm 5 b and the second arm 5 c and the vertical axis 5 d extend in parallel to a direction perpendicular to the upper surface of the transport conveyor 2. Thereby, the 1st arm 5b and the 2nd arm 5c can rotate in the horizontal surface parallel to the upper surface of the conveyance conveyor 2 centering on each rotating shaft. The vertical axis 5d can move in the horizontal direction as the first arm 5b and the second arm 5c rotate.
A gripping device 6 is attached to the lower end of the vertical axis 5d.
As a result, the gripping device 6 can move to an arbitrary position in the horizontal direction, move up and down, and can rotate 360 ° about the vertical axis 5d.
　把持装置６は図３に示すように、縦軸５ｄに取り付けた装置本体６ａと、この装置本体６ａに上下反転可能に取り付けた把持部６ｂと、把持部６ｂを上下反転する反転駆動部６ｃと、装置本体６ａに取り付けられた第２カメラ６ｄを備える。第２カメラ６ｄは、把持部６ｂで把持した引手を撮影する。 As shown in FIG. 3, the gripping device 6 includes a device main body 6a attached to the vertical axis 5d, a gripping portion 6b attached to the device main body 6a so as to be turned upside down, and a reversing drive portion 6c for turning the gripping portion 6b upside down. And a second camera 6d attached to the apparatus main body 6a. The second camera 6d captures the pulling hand gripped by the grip portion 6b.
　把持部６ｂは、一側面１０ａと一側面１０ａとは反対側の他側面１０ｂを有する本体１０と、一側面１０ａに取り付けた一対の把持アーム２０と、各把持アーム２０の先端に取り付けた把持爪３０と、他側面に取り付けた回転軸６ｅとを備える。回転軸６ｅは水平方向に延びている。一対の把持アーム２０は、図示しない駆動手段によって接近する方向、つまり引手を把持する把持方向及び、離隔する方向、つまり引手の把持を解放する方向に移動する。駆動手段としては、例えば、シリンダやモータ等を採用する。 The gripping portion 6b includes a main body 10 having one side surface 10a and another side surface 10b opposite to the one side surface 10a, a pair of gripping arms 20 attached to the one side surface 10a, and gripping claws attached to the tip of each gripping arm 20 30 and a rotating shaft 6e attached to the other side surface. The rotating shaft 6e extends in the horizontal direction. The pair of gripping arms 20 moves in a direction approaching by a driving means (not shown), that is, a gripping direction for gripping the pulling hand, and a separation direction, that is, a direction for releasing gripping of the pulling hand. As the driving means, for example, a cylinder, a motor or the like is employed.
　反転駆動部６ｃは、モータ４０と、このモータ４０で回転される駆動歯車４１と、駆動歯車４１と噛合し、駆動歯車４１と共に回転する従動歯車４２を備える。従動歯車４２は、回転軸６ｅに取り付けられている。これにより、回転軸６ｅは、モータ４０を駆動することで回転することができる。
　このようであるから、モータ４０を駆動して回転軸６ｅを１８０°回転することで、把持部６ｂを上下に反転できる。
　例えば、図３に実線で示すように、把持爪３０が下向きの下向姿勢と、図３に仮想線で示すように、把持爪３０が上向きの上向姿勢とに渡って上下反転することができる。 The reverse drive unit 6 c includes a motor 40, a drive gear 41 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 rotating shaft 6e can be rotated by driving the motor 40.
Since it is like this, the holding part 6b can be reversed up and down by driving the motor 40 and rotating the rotating shaft 6e by 180 degrees.
For example, as shown by a solid line in FIG. 3, the gripping claw 30 may be turned upside down over a downward downward posture and as indicated by a virtual line in FIG. 3, the gripping claw 30 may be turned upside down. it can.
　次に、引手の搬送動作を説明する。
　まず、引手が、引手供給部３から搬送コンベア２の搬送方向上流側部分２－２に供給される。次いで、搬送コンベア２が駆動して引手を搬送する。次いで、搬送コンベア２は、引手を引手分散部４へ搬送する。引手分散部４は、引手を搬送コンベア２の搬送方向及び幅方向に分散させる。次いで、搬送コンベア２は、引手が搬送コンベア２の搬送方向下流側部分２－１まで搬送された時、停止する。 Next, the conveying operation of the handle will be described.
First, the handle is supplied from the handle supply unit 3 to the upstream portion 2-2 in the transport direction of the transport conveyor 2. Next, the conveyor 2 is driven to convey the handle. Next, the transport conveyor 2 transports the handle to the handle distribution unit 4. The handle distribution unit 4 distributes the handle in the transport direction and the width direction of the transport conveyor 2. Next, the transport conveyor 2 stops when the handle is transported to the downstream portion 2-1 in the transport direction of the transport conveyor 2.
　搬送コンベア２の搬送方向下流側部分２－１には、図４に示すように、複数の引手５０が存在する。
　引手５０は、引手本体５１とリンク５２を有する。引手本体５１は、スライダーを操作する時に指で摘む部分である。リンク５２は、スライダー胴体に連結される部分である。把持部６ｂは、一対の把持爪３０によって、引手５０のリンク５２を把持する。複数種類の引手は、デザインの多様化に応じて、引手本体５１の形状が異なっている。一方、複数種類の引手は、リンク５２の形状がおおよそ同一であるタイプが多い。よって、引手の把持される部分は、リンク５１であることが好ましい。 As shown in FIG. 4, there are a plurality of pullers 50 in the downstream part 2-1 of the transport conveyor 2 in the transport direction.
The handle 50 includes a handle body 51 and a link 52. The handle main body 51 is a portion to be picked with a finger when operating the slider. The link 52 is a part connected to the slider body. The gripping part 6 b grips the link 52 of the handle 50 by the pair of gripping claws 30. Plural types of pullers have different shapes of the pull main body 51 according to diversification of designs. On the other hand, there are many types of the plurality of types of pullers in which the shapes of the links 52 are approximately the same. Therefore, it is preferable that the portion gripped by the handle is the link 51.
　図４に示すように、複数の引手５０は、リンク５２の向きが異なる。第１カメラ９は、複数の引手５０を撮影する。撮影された画像は、検出部１０１で画像処理される。検出部１０１は、画像に基づいて、各引手５０のリンク５２の向きを判断する。この判断結果がコントローラ１０２に送られる。
　第１カメラ９は、搬送コンベア２の搬送方向下流側部分２－１の全ての引手５０を一度に撮影しても良いが、複数の区分ごとに撮影しても良い。 As shown in FIG. 4, the plurality of pullers 50 are different in the direction of the link 52. The first camera 9 photographs a plurality of pullers 50. The captured image is subjected to image processing by the detection unit 101. The detection unit 101 determines the direction of the link 52 of each puller 50 based on the image. This determination result is sent to the controller 102.
The first camera 9 may shoot all the pulls 50 of the downstream portion 2-1 in the transport direction of the transport conveyor 2 at a time, but may shoot every plurality of sections.
　コントローラ１０２は、検出部１０１で判断したリンク５２の向きに応じて産業用ロボット５を動作制御する。この時、把持装置６の把持部６ｂは、図５（ａ），（ｂ），（ｃ）に示すように、一対の把持爪３０の向きを引手５０のリンク５２の向きに合わせる。そして、把持装置６は、一対の把持爪３０が把持する方向に移動することで、引手５０のリンク５２を把持する。 The controller 102 controls the operation of the industrial robot 5 according to the direction of the link 52 determined by the detection unit 101. At this time, the gripping portion 6b of the gripping device 6 aligns the direction of the pair of gripping claws 30 with the direction of the link 52 of the puller 50 as shown in FIGS. 5 (a), 5 (b), and 5 (c). The gripping device 6 grips the link 52 of the handle 50 by moving in the direction in which the pair of gripping claws 30 grips.
　引手５０を把持した後、コントローラ１０２は、産業用ロボット５を動作制御する。この時、把持装置６は、引手供給部７の上まで移動する。そして、把持装置６は、一対の把持爪３０が把持を解放する方向に移動して、引手５０を引手供給部７に供給する。
　これにより、把持装置６は、引手５０を目的とする位置まで移送できる。 After gripping the handle 50, the controller 102 controls the operation of the industrial robot 5. At this time, the gripping device 6 moves up to the handle supply unit 7. Then, the gripping device 6 moves in a direction in which the pair of gripping claws 30 release gripping, and supplies the puller 50 to the puller supply unit 7.
Thereby, the holding | gripping apparatus 6 can transfer the handle 50 to the target position.
　コントローラ１０２は、引手５０の移送を完了した後、搬送コンベア２を再度駆動して、引手５０を搬送方向下流側部分２－１まで搬送し、前述の移送動作を行う。 After completing the transfer of the handle 50, the controller 102 drives the transfer conveyor 2 again to transfer the handle 50 to the downstream portion 2-1 in the transfer direction, and performs the transfer operation described above.
　また、複数の引手５０は、表面と裏面の外観が異なる場合、搬送コンベア２の搬送方向下流側部分２－１に、表面が上の状態の引手と、裏面が上の状態の引手が混在する。つまり、表裏不揃いの状態で引手が存在する。 Further, when the appearances of the front surface and the back surface of the plurality of pull handles 50 are different, a pull handle having a top surface and a pull surface having a back surface are mixed in the downstream portion 2-1 of the transport conveyor 2 in the transport direction. . That is, there is a handle in a state where the front and back sides are not aligned.
　本発明の把持装置６は、把持部６ｂが上下反転できると共に、第２カメラ６ｄが把持部６ｂで把持している引手を撮影できる。これにより、把持装置６は、引手を、表裏不揃いの状態から、表裏を揃えた状態に変位させて、引手供給部７に供給できるようにしている。 The gripping device 6 of the present invention can photograph the pulling hand gripped by the gripping part 6b while the gripping part 6b can be turned upside down. Accordingly, the gripping device 6 can supply the handle to the handle supply unit 7 by displacing the handle from a state where the front and back sides are not aligned to a state where the front and back sides are aligned.
　図３に示すように、把持部６ｂは、把持爪３０が下向きの下向姿勢として、搬送コンベア２上の引手を把持するようにする。
　第２カメラ６ｄは、一対の把持爪３０が引手を把持した状態で、把持している引手５０を撮影する。撮影された画像は、検出部１０１で画像処理される。検出部１０１は、画像に基づいて、引手５０の表面が上の状態であるのか、引手５０の裏面が上の状態であるかを判断する。この判断結果がコントローラ１０２に送られる。 As shown in FIG. 3, the gripping part 6 b grips the handle on the transport conveyor 2 with the gripping claw 30 in a downward downward posture.
The second camera 6d takes an image of the gripper 50 being gripped in a state where the pair of gripping claws 30 grip the handle. The captured image is subjected to image processing by the detection unit 101. Based on the image, the detection unit 101 determines whether the front surface of the handle 50 is in the up state or the back surface of the handle 50 is in the up state. This determination result is sent to the controller 102.
　コントローラ１０２は、引手の表面が上の状態で把持されている場合、そのまま産業用ロボット５を動作制御し、引手５０を表面が上の状態で引手供給部７に供給する。この時、把持爪３０は、図３に実線で示すように下向きの下向姿勢である。
　一方、コントローラ１０２は、引手５０の裏面が上の状態で把持されている場合、モータ４０を駆動して把持部６ｂを１８０°回転させる。これにより、把持爪３０は、図３に仮想線で示すように上向きの上向姿勢とする。
　これにより、引手５０は表面が上の状態で把持されている状態となる。
　この状態でコントローラ１０２は産業用ロボット５を動作制御し、引手５０を表面が上の状態で引手供給部７に供給する。 The controller 102 controls the operation of the industrial robot 5 as it is when the surface of the puller is gripped and supplies the puller 50 to the puller supply unit 7 with the surface upward. At this time, the gripping claw 30 is in a downward downward posture as shown by a solid line in FIG.
On the other hand, the controller 102 drives the motor 40 to rotate the grip portion 6b by 180 ° when the back surface of the handle 50 is gripped in the up state. As a result, the gripping claw 30 is in an upward upward posture as indicated by a virtual line in FIG.
As a result, the handle 50 is in a state where the surface is gripped in an upward state.
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 up.
　このようにすることで、把持装置６は、搬送コンベア２上に表裏不揃いの状態で存在する引手５０を、表裏を揃えて引手供給部７に移送することができる。 By doing in this way, the gripping device 6 can transfer the puller 50 existing on the transport conveyor 2 in a state where the front and back surfaces are not aligned to the puller supply unit 7 with the front and back surfaces aligned.
　検出部１０１は、第１カメラ９で撮影した画像を画像処理する際に、搬送コンベア２上の隣接した引手５０の間隔を検出する。そして、検出部１０１は、検出結果に基づき、一対の把持爪３０が１つの引手５０を把持する時に、その把持する予定の引手５０と隣接した引手５０とが所定の距離以上で離れているか否かを判別する。
　そして、検出部１０１は、複数の引手５０の間の距離が所定の距離未満であると判断した場合、その判断結果をコントローラ１０２に送る。これにより、コントローラ１０２は産業用ロボット５を動作制御する。この時、産業用ロボット５は、把持爪３０が引手５０の側面に接する状態として、把持装置６を水平方向に移動させる。これにより、引手５０は、把持爪３０に押されながら搬送コンベア２に沿って移動して、各引手の間の距離が所定の距離以上となるようにする。
　なぜなら、一対の把持爪３０は、複数の引手５０の間の距離が所定の距離未満である場合、１つの引手５０を把持しようとした時に他の引手と接触してしまい、引手を確実に把持し難いためである。
　例えば、図４に示すように、把持爪３０は、搬送コンベア２上で重なり合っている引手５０の一方（上の引手５０）を移動させて、２つの引手５０を離隔して一対の把持爪３０で把持できるようにする。
　第１カメラ９は、引手を移動させた後、再び引手５０を撮影する。以後、上述した検出及び動作を繰り返す。 The detection unit 101 detects the interval between adjacent pullers 50 on the conveyor 2 when image processing is performed on an image captured by the first camera 9. Based on the detection result, the detection unit 101 determines whether or not the handle 50 that is scheduled to be gripped and the adjacent handle 50 are separated by a predetermined distance or more when the pair of grip claws 30 grips one handle 50. Is determined.
When the detection unit 101 determines that the distance between the plurality of pullers 50 is less than the predetermined distance, the detection unit 101 sends the determination result 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 with the gripping claw 30 in contact with the side surface of the handle 50. Accordingly, the puller 50 moves along the conveyor 2 while being pushed by the gripping claws 30 so that the distance between the pullers becomes equal to or greater than a predetermined distance.
This is because, when the distance between the plurality of pulls 50 is less than a predetermined distance, the pair of grip claws 30 come into contact with other pulls when trying to hold one pull 50 and the grips are securely held. This is because it is difficult to do.
For example, as illustrated in FIG. 4, the gripping claws 30 move one of the overlapping pullers 50 (the upper puller 50) on the conveyor 2 to separate the two pullers 50, thereby a pair of gripping claws 30. So that it can be gripped with.
The first camera 9 captures the handle 50 again after moving the handle. Thereafter, the above detection and operation are repeated.
　次に、本発明の把持部６ｂの詳細を図６乃至図９を参照して説明する。一対の把持爪３０が対向する方向を左右方向として説明する。また、左右方向に対して水平方向に直交する方向を前後方向として説明する。また、左右方向に対して垂直方向に直交する方向を上下方向として説明する。
　把持部６ｂは、左右一対の把持アーム２０を有する。各把持アーム２０は、取付基部２１と、この取付基部２１から前方に向けて延びるアーム本体２２を備えている。
　一対の取付基部２１は、本体１０に対して左右方向に移動自在に取り付けられており、互いに接近する方向及び離隔する方向に移動可能である。
　各取付基部２１の移動手段としては、例えば、シリンダやモータ等が採用される。 Next, details of the gripping portion 6b of the present invention will be described with reference to FIGS. The direction in which the pair of gripping claws 30 face each other will be described as the left-right direction. In addition, a direction orthogonal to the horizontal direction with respect to the left-right direction will be described as the front-back direction. Also, a description will be given assuming that a direction perpendicular to the vertical direction with respect to the left-right direction is the vertical direction.
The gripping part 6 b has a pair of left and right gripping arms 20. Each gripping arm 20 includes an attachment base 21 and an arm main body 22 that extends forward from the attachment base 21.
The pair of attachment bases 21 are attached to the main body 10 so as to be movable in the left-right direction, and are movable in a direction toward and away from each other.
For example, a cylinder, a motor, or the like is employed as the moving means of each mounting base 21.
　各アーム本体２２は、先端部分２２ａが他方のアーム本体２２に向けて突出している。各先端部分２２ａは、対向する先端面２２ｂを有する、そして、先端部分２２ａは、上面２２ａ－１と、下面２２ａ－２と、前面２２ａ－３と、後面２２ａ－４を有する角柱形状である。
　先端部分２２ａには、前面２２ａ－３と後面２２ａ－４及び先端面２２ｂに開口した爪取付溝２３が形成されていると共に、爪取付溝２３を貫通して上面２２ａ－１と下面２２ａ－２に開口した縦孔２４が形成してある。 Each arm body 22 has a distal end portion 22 a protruding toward the other arm body 22. Each distal end portion 22a has an opposing distal end surface 22b, and the distal end portion 22a has a prismatic 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 has a front surface 22a-3, a rear surface 22a-4, and a claw mounting groove 23 opened in the front end surface 22b, and penetrates the claw mounting groove 23 to form an upper surface 22a-1 and a lower surface 22a-2. A vertical hole 24 is formed in the opening.
　一対の把持爪３０は、搬送コンベア２の上面と平行な水平方向に対向して配置されている。各把持爪３０は、爪本体３１と、この爪本体３１の下部から下方に向けて突出した爪３２を備える。爪３２は、引手を把持する把持面３３を有する。把持面３３は爪本体３１の左右一方の面３１ａと連続している。そして、一対の爪３２の把持面３３は相対向している。
　爪本体３１の左右他方の面３１ｂがアーム本体２２の先端面２２ｂと対向して配置されている。そして、爪本体３１は、左右他方の面３１ｂから突出し、爪取付溝２３に挿入される板状の取付片３４が設けられている。
　この取付片３４には、孔３５が上下面に貫通して形成してある。 The pair of gripping claws 30 are disposed so as to face each other in the horizontal direction parallel to the upper surface of the conveyor 2. Each gripping claw 30 includes a claw body 31 and a claw 32 that protrudes downward from the bottom of the claw body 31. The nail | claw 32 has the holding surface 33 which hold | grips a handle. The gripping surface 33 is continuous with the left and right surfaces 31 a of the nail body 31. The gripping surfaces 33 of the pair of claws 32 are opposed to each other.
The left and right other surfaces 31 b of the claw body 31 are arranged to face the distal end surface 22 b of the arm body 22. The claw body 31 is provided with a plate-like attachment piece 34 that protrudes from the other left and right surfaces 31 b and is inserted into the claw attachment groove 23.
A hole 35 is formed in the mounting piece 34 so as to penetrate the upper and lower surfaces.
　把持爪３０は、アーム２２の先端部分２２ａに対して、以下のようにして取り付けてある。
　取付片３４を爪取付溝２３内に嵌め込み、先端部分２２ａの縦孔２４と取付片３４の孔３５とに渡って縦軸３６を挿入する。これにより、把持爪３０は、アーム２２の先端部分２２ａに対して、縦軸３６を中心にして揺動可能に取り付けられている。 The gripping claw 30 is attached to the distal end portion 22a of the arm 22 as follows.
The attachment piece 34 is fitted into the claw attachment groove 23, and the vertical axis 36 is inserted across the vertical hole 24 of the distal end portion 22 a and the hole 35 of the attachment piece 34. Thereby, the gripping claw 30 is attached to the tip portion 22 a of the arm 22 so as to be swingable about the vertical axis 36.
　このようであるから、把持部６ｂは、一対の把持アーム２０が把持方向に移動することで、一対の把持爪３０の把持面３３を引手５０のリンク５２の左右両側面５２ａに接触させる。この時、一対の把持爪３０は、リンク５２の左右両側面５２ａの形状に応じて揺動しながら、各把持面３３をリンク５２の左右両側面５２ａにそれぞれ接触させるので、引手を正しく把持することができる。 Since this is the case, the gripping portion 6b brings the gripping surfaces 33 of the pair of gripping claws 30 into contact with the left and right side surfaces 52a of the link 52 of the handle 50 by moving the pair of gripping arms 20 in the gripping direction. At this time, the pair of gripping claws 30 oscillate according to the shape of the left and right side surfaces 52a of the link 52 and bring the gripping surfaces 33 into contact with the left and right side surfaces 52a of the link 52. be able to.
　例えば、図１０（ａ），（ｂ）に示すように、引手５０のリンク５２の左右両側面５２ａが平行面である場合、把持部６ｂは、把持爪３０が揺動しなくとも、各把持爪３０の把持面３３をリンク５２の左右両側面５２ａに接触させて、引手を正しく把持することができる。 For example, as shown in FIGS. 10A and 10B, when the left and right side surfaces 52 a of the link 52 of the handle 50 are parallel surfaces, the gripping portion 6 b can The gripping surface 33 of the claw 30 can be brought into contact with the left and right side surfaces 52a of the link 52 so that the handle can be gripped correctly.
　しかしながら、図１１（ａ）に示すように、引手５０のリンク５２の左右両側面５２ａが平行面ではなく，リンク５２の先端に向けて互いに接近する傾斜面である場合、把持部６ｂは、一対の把持爪３０が揺動しないと、各把持面３３の一部のみがリンク５２の左右側面５２ａに接触するので、引手を正しく把持できない。一方、図１１（ｂ）に示すように、把持部６ｂは、把持爪３０が揺動すれば、一対の把持爪３０がリンク５２の左右両側面５２ａに追従して揺動し、各把持面３３の全面がリンク５２の左右両側面５２ａに接触するので、引手を正しく把持できる。 However, as shown in FIG. 11A, when the left and right side surfaces 52a of the link 52 of the pull handle 50 are not parallel surfaces but inclined surfaces that approach each other toward the tip of the link 52, the gripping portion 6b has a pair of grips 6b. If the gripping claws 30 do not swing, only a part of each gripping surface 33 comes into contact with the left and right side surfaces 52a of the link 52, so that the handle cannot be gripped correctly. On the other hand, as shown in FIG. 11 (b), when the gripping claws 30 swing, the gripping portion 6b swings by following the left and right side surfaces 52a of the link 52 and the gripping claws 30 swing. Since the entire surface 33 is in contact with the left and right side surfaces 52a of the link 52, the handle can be gripped correctly.
　この実施の形態では、図９に示すように、各アーム２２の先端面２２ｂは、爪本体３１の左右他方の面３１ｂから離れる方向に傾斜する斜面部２２ｂ－１と、爪本体３１の左右他方の面３１ｂと平行な平面部２２ｂ－２を有する。斜面部２２ｂ－１は、縦軸３６の中心、つまり把持爪３０の揺動中心よりも後方寄りに形成されている。平面部２２ｂ－２は、縦軸３６の中心、つまり把持爪３０の揺動中心よりも前方寄りに形成されている。平面部２２ｂ－２は、爪本体３１が揺動していない時、爪本体３１の左右他方の面３１ｂと接触している。 In this embodiment, as shown in FIG. 9, the front end surface 22b of each arm 22 has an inclined surface portion 22b-1 inclined in a direction away from the other left and right surfaces 31b of the claw body 31, and the other left and right sides of the claw body 31. The plane portion 22b-2 is parallel to the surface 31b. The inclined surface portion 22b-1 is formed closer to the rear than the center of the vertical axis 36, that is, the swing center of the gripping claw 30. The flat portion 22b-2 is formed closer to the front than the center of the vertical axis 36, that is, the swing center of the gripping claw 30. The flat portion 22b-2 is in contact with the other left and right surfaces 31b of the claw body 31 when the claw body 31 is not swinging.
　これにより、把持爪３０は矢印ｂで示すように、後方に向けて揺動することができるが、矢印ｃで示すように前方に向けて揺動することができない。
　要するに、図９で左側の左右一方の把持爪３０は、時計回り方向に揺動できるが、反時計回り方向には揺動できない。
　図９で右側の左右他方の把持爪３０は、反時計回り方向に揺動できるが、時計回り方向には揺動できない。 As a result, the gripping claws 30 can swing backward as indicated by the arrow b, but cannot swing forward as indicated by the arrow c.
In short, the left and right gripping claws 30 on the left side in FIG. 9 can swing in the clockwise direction, but cannot swing in the counterclockwise direction.
In FIG. 9, the right and left other gripping claws 30 can swing in the counterclockwise direction, but cannot swing in the clockwise direction.
　このように、左右の把持爪３０は、同じ方向には揺動できずに、必ず反対方向に揺動するので、左右の把持爪３０で引手を把持している状態で引手が左右に振れ動くことがなく、引手を安定した状態で把持できる。
　例えば、図１０（ａ），（ｂ）及び図１１（ｂ）に示すように、引手５０は、左右の把持爪３０で把持された状態で、矢印ｄで示すように左右に振れ動くことがない。 In this way, the left and right gripping claws 30 do not swing in the same direction, but always swing in the opposite direction, so that the pulling hand swings left and right while the left and right gripping claws 30 are gripping the pulling hand. The handle can be gripped in a stable state.
For example, as shown in FIGS. 10A, 10 </ b> B, and 11 </ b> B, the handle 50 can swing left and right as indicated by an arrow d while being gripped by the left and right gripping claws 30. Absent.
　把持爪３０の爪３２の下端面３２ａは平坦面である。把持爪３０は、把持部６ｂが下方に移動した時、爪３２の下端面３２ａが搬送コンベア２の上面に接触する状態となる。この時、把持爪３０は、把持方向に移動することができる。
　各把持爪３０の把持面３３は、上下方向に隣り合う下部傾斜面３３ａと上部傾斜面３３ｂを有する。各下部傾斜面３３ａは、爪３２の下端から上方に向けて互いに離間するように傾斜している。各上部傾斜面３３ｂは、下部傾斜面３３ａの上端から上方に向けて互いに接近するように傾斜している。よって、この下部傾斜面３３ａと上部傾斜面３３ｂは、所定の角度で交差しており、把持面３３が略Ｖ字形となるように形成されている。交差角度は、９０°～１００°である。なお、各傾斜面３３ａ、３３ｂの前後方向の幅は上下方向に渡って同一である。
　爪３２の下端面３２ａの左右端部と下部傾斜面３３ａの下端部は連続している。そして、爪３２の下端面３２ａと下部傾斜面３３ａとは所定の角度で交差している。交差角度は、４０°～５５°である。つまり一対の爪３２の相対向した下端部３２ｂは尖端形状となっている。 The lower end surface 32a of the claw 32 of the grip claw 30 is a flat surface. The grip claw 30 is in a state where the lower end surface 32a of the claw 32 contacts the upper surface of the transport conveyor 2 when the grip portion 6b moves downward. At this time, the gripping claw 30 can move in the gripping direction.
The gripping surface 33 of each gripping claw 30 has a lower inclined surface 33a and an upper inclined surface 33b that are adjacent in the vertical direction. Each lower inclined surface 33a is inclined so as to be separated from the lower end of the claw 32 upward. Each upper inclined surface 33b is inclined so as to approach each other upward from the upper end of the lower inclined surface 33a. Therefore, the lower inclined surface 33a and the upper inclined surface 33b intersect with each other at a predetermined angle, and the gripping surface 33 is formed in a substantially V shape. The crossing angle is 90 ° to 100 °. In addition, the width | variety of the front-back direction of each inclined surface 33a, 33b is the same over the up-down direction.
The left and right end portions of the lower end surface 32a of the claw 32 and the lower end portion of the lower inclined surface 33a are continuous. The lower end surface 32a of the claw 32 and the lower inclined surface 33a intersect at a predetermined angle. The crossing angle is 40 ° to 55 °. That is, the opposed lower ends 32b of the pair of claws 32 are pointed.
　次に、把持装置６の把持部６ｂが、搬送コンベア２上の引手５０を把持する動作を説明する。
　図１２（ａ）に示すように、まず、一対の把持爪３０が、搬送コンベア２上の引手５０の両側に配置されるように位置合わせする。この時、把持装置６が下降することで、各爪３２の下端面３２ａ（把持爪３０の下端面）を搬送コンベア２の上面に接触させる。
　次いで、一対の把持爪３０が矢印で示すように把持方向に移動する。これにより、爪３２の尖端形状の下端部３２ｂが搬送コンベア２の上面と引手５０との間に入り込み、図１２（ｂ）に示すように、引手５０を一対の爪３２の下部傾斜面３３ａで支持する。この時、引手５０は搬送コンベア２の上面から浮き上がる。 Next, the operation in which the gripping part 6b of the gripping device 6 grips the pull handle 50 on the transport conveyor 2 will be described.
As shown in FIG. 12A, first, the pair of gripping claws 30 are aligned so as to be arranged on both sides of the handle 50 on the transport conveyor 2. At this time, the lowering surface 32a of each claw 32 (the lower end surface of the gripping claw 30) is brought into contact with the upper surface of the transport conveyor 2 by lowering the gripping device 6.
Next, the pair of gripping claws 30 move in the gripping direction as indicated by arrows. Thereby, the pointed lower end portion 32b of the claw 32 enters between the upper surface of the conveyor 2 and the handle 50, and the handle 50 is moved by the lower inclined surface 33a of the pair of claws 32 as shown in FIG. To support. At this time, the handle 50 is lifted from the upper surface of the conveyor 2.
　一対の把持爪３０が把持方向にさらに移動する。これにより、図１２（ｃ）に示すように、爪３２の下部傾斜面３２ａと上部傾斜面３２ｂとが引手５０を上下２点で把持する。
　つまり、引手５０は、リンク５２の両側面５２ａの下角部が爪３２の下部傾斜面３３ａに接し、リンク５２の両側面５２ａの上角部が爪３２の上部傾斜面３３ｂに接する。 The pair of gripping claws 30 further moves in the gripping direction. Thereby, as shown in FIG.12 (c), the lower inclined surface 32a and the upper inclined surface 32b of the nail | claw 32 hold | grip the handle 50 at two upper and lower points.
That is, in the puller 50, the lower corners of the side surfaces 52 a of the link 52 are in contact with the lower inclined surface 33 a of the claw 32, and the upper corners of the side surfaces 52 a of the link 52 are in contact with the upper inclined surface 33 b of the claw 32.
　このようであるから、一対の把持爪３０は、各爪３２の把持面３３で引手５０を下方及び上方に動くことがないように強固に把持する。そして、一対の把持爪３０は、把持部６ｂが１８０°回転して、上下反転した場合でも引手５０を下方及び上方に動くことがないように強固に把持した状態を維持できる。 Since this is the case, the pair of gripping claws 30 firmly grip the handle 50 by the gripping surfaces 33 of the respective claws 32 so as not to move downward and upward. The pair of gripping claws 30 can maintain a state in which the gripping portion 6b is firmly gripped so that the handle 50 does not move downward and upward even when the gripping portion 6b rotates 180 ° and is turned upside down.
　爪３２の把持面３３は、上部傾斜面３３ｂの上下方向長さが下部傾斜面３３ａの上下方向の長さより長い。そして、上部傾斜面３３ｂは下部傾斜面３３ａよりも把持方向に張り出している。
　これにより、引手５０を安定して把持することができる。 In the gripping surface 33 of the claw 32, the vertical length of the upper inclined surface 33b is longer than the vertical length of the lower inclined surface 33a. The upper inclined surface 33b protrudes in the holding direction from the lower inclined surface 33a.
Thereby, the handle 50 can be stably held.
　２…コンベア、５…産業用ロボット、６…把持装置、６ａ…装置本体、６ｂ…把持部、６ｃ…反転駆動部、６ｄ…第２カメラ、９…第１カメラ、２０…把持アーム、３０…把持爪、３２ａ…下端面、３３…把持面、３３ａ…下部傾斜面、３３ｂ…上部傾斜面、５０…引手、５１…持ち手、５２…リンク、５２ａ…両側面。 DESCRIPTION OF SYMBOLS 2 ... Conveyor, 5 ... Industrial robot, 6 ... Gripping apparatus, 6a ... Apparatus main body, 6b ... Gripping part, 6c ... Reverse drive part, 6d ... 2nd camera, 9 ... 1st camera, 20 ... Gripping arm, 30 ... Grip claw, 32a ... lower end surface, 33 ... gripping surface, 33a ... lower inclined surface, 33b ... upper inclined surface, 50 ... handle, 51 ... handle, 52 ... link, 52a ... both side surfaces.

Claims (8)

  1. 　複数の引手（５０）を搬送する搬送コンベア（２）と、産業用ロボット（５）と、把持装置（６）を備え、前記搬送コンベア（２）上の引手を把持装置（６）で把持し、その把持装置（６）を産業用ロボット（５）で移動するようにした引手搬送装置であって、
    　前記把持装置（６）は、把持方向及び把持解放方向に移動する一対の把持アーム（２０）と、該一対の把持アーム（２０）にそれぞれ取り付けた把持爪（３０）を備え、前記一対の把持アーム（２０）を把持方向に移動することで一対の把持爪（３０）の把持面（３３）が引手のリンクの両側面に接して引手を把持し、
    　前記各把持爪（３０）は各把持アーム（２０）に、引手のリンクの両側面の形状に応じて揺動可能に取り付けてあることを特徴とする引手搬送装置。     A conveyor (2) for transporting a plurality of pullers (50), an industrial robot (5), and a gripping device (6) are provided, and grippers on the transport conveyor (2) are gripped by the gripping device (6). , A gripping and conveying device in which the gripping device (6) is moved by an industrial robot (5),
    The gripping device (6) includes a pair of gripping arms (20) that move in a gripping direction and a gripping release direction, and gripping claws (30) that are respectively attached to the pair of gripping arms (20). By moving the arm (20) in the gripping direction, the gripping surfaces (33) of the pair of gripping claws (30) are in contact with both side surfaces of the link of the pulling handle to grip the pulling handle,
    Each of the gripping claws (30) is attached to each gripping arm (20) so as to be swingable according to the shape of both side surfaces of the link of the handle.
  2. 　前記搬送コンベア（２）上の前記引手（５０）を撮影する第１カメラ（９）を備え、
    　該第１カメラ（９）の画像に基づき、前記引手（５０）の向きを判断し、前記把持装置（６）を搬送コンベア（２）の上面と平行な水平方向に回転させることができるようにした請求項１記載の引手搬送装置。     A first camera (9) for photographing the handle (50) on the conveyor (2);
    Based on the image of the first camera (9), the orientation of the handle (50) is judged so that the gripping device (6) can be rotated in a horizontal direction parallel to the upper surface of the conveyor (2). The pulling and conveying apparatus according to claim 1.
  3. 　前記第１カメラ（９）の画像に基づき、複数の前記引手（５０）の間の距離を検出し、この距離が所定の距離未満であった時、前記把持装置（６）が前記引手（５０）を所定の距離以上に離れるように移動させるようにした請求項１記載の引手搬送装置。 Based on the image of the first camera (9), a distance between the plurality of pullers (50) is detected, and when the distance is less than a predetermined distance, the gripping device (6) is configured to detect the puller (50). The pulling and conveying apparatus according to claim 1, wherein the apparatus is moved so as to be more than a predetermined distance.
  4. 　前記一対の把持爪（３０）は、前記搬送コンベア（２）の上面と平行な水平方向に対向して配置された一方の把持爪（３０）と他方の把持爪（３０）を備え、前記一方の把持爪（３０）と前記他方の把持爪（３０）は、異なる方向に揺動し、かつ同じ方向には揺動しないようにした請求項１記載の引手搬送装置。 The pair of gripping claws (30) includes one gripping claw (30) and the other gripping claw (30) arranged to face each other in the horizontal direction parallel to the upper surface of the transport conveyor (2), The gripping and conveying device according to claim 1, wherein the gripping claw (30) and the other gripping claw (30) swing in different directions and do not swing in the same direction.
  5. 　前記把持装置（６）は、前記一対の把持アーム（２０）を上下反転する反転駆動部（６ｃ）を備え、前記一対の把持アーム（２０）を、把持爪（３０）が下向きの下向姿勢と、把持爪（３０）が上向きの上向姿勢とに渡って上下反転可能とした請求項１記載の引手搬送装置。 The gripping device (6) includes a reversal drive unit (6c) that vertically flips the pair of gripping arms (20), and the gripping claws (30) are downwardly facing downward with respect to the pair of gripping arms (20). The handle conveying device according to claim 1, wherein the gripping claw (30) can be turned upside down over an upward upward posture.
  6. 　前記一対の把持爪（３０）で把持した引手を撮影する第２カメラ（６ｄ）を備え、
    　該第２カメラ（６ｄ）の画像に基づき、把持した引手の表裏を判断し、前記反転駆動部（６ｃ）を駆動して一対の把持アーム（２０）を上下反転することで、把持している引手の表裏を揃えることができるようにした請求項５記載の引手搬送装置。     A second camera (6d) for photographing a handle gripped by the pair of gripping claws (30);
    Based on the image of the second camera (6d), the front and back of the gripper is grasped, and the pair of gripping arms (20) are turned upside down by driving the reversal drive unit (6c) to grip the handle. The pulling and conveying apparatus according to claim 5, wherein the pulling front and back can be aligned.
  7. 　前記一対の把持爪（３０）の把持面（３３）は、上下方向に隣り合うとともに、所定の角度で交差する下部傾斜面（３３ａ）と上部傾斜面（３３ｂ）を有し、
    　その下部傾斜面（３３ａ）と上部傾斜面（３３ｂ）とで引手のリンクを把持するようにした請求項１記載の引手搬送装置。     The grip surfaces (33) of the pair of grip claws (30) have a lower inclined surface (33a) and an upper inclined surface (33b) that are adjacent in the vertical direction and intersect at a predetermined angle,
    2. The handle conveying apparatus according to claim 1, wherein the lower inclined surface (33a) and the upper inclined surface (33b) hold the link of the handle.
  8. 　前記一対の把持爪（３０）の下端面（３２ａ）は平坦面で、該下端面と前記下部傾斜面（３３ａ）とは所定の角度で交差し、前記一対の把持爪（３０）の対向した下端部が尖端形状である請求項７記載の引手搬送装置。 The lower end surface (32a) of the pair of gripping claws (30) is a flat surface, the lower end surface and the lower inclined surface (33a) intersect at a predetermined angle, and the pair of gripping claws (30) face each other. The pulling and conveying apparatus according to claim 7, wherein the lower end portion has a pointed shape.
PCT/JP2013/079984 2013-11-06 2013-11-06 Pull tab transporting device WO2015068218A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201380042159.3A CN104602563B (en) 2013-11-06 2013-11-06 Pulling-on piece carrying device
PCT/JP2013/079984 WO2015068218A1 (en) 2013-11-06 2013-11-06 Pull tab transporting device
TW103136731A TWI531333B (en) 2013-11-06 2014-10-24 Pull tab conveying apparatus

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CN108620838B (en) * 2017-03-16 2021-06-29 Ykk株式会社 Component supply system and component supply method
TWI626907B (en) * 2017-03-20 2018-06-21 Ykk股份有限公司 Conveying device for slider and conveying method therefor
TWI626904B (en) * 2017-03-20 2018-06-21 Ykk股份有限公司 Conveying device of slider and conveying method thereof
JP7147475B2 (en) * 2018-10-31 2022-10-05 株式会社ダイフク Goods transfer equipment
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CN104602563A (en) 2015-05-06

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