JPH04201080A - Handling device - Google Patents

Abstract

PURPOSE:To hold a work without its dislocation even in the case of the positional and sectional shapes of the work at a standby position being differed by providing a constitution so as to hold the work in the space with a reference side finger with a driven side finger being approached to the work after stopping the reference side finger with its abutment on the work. CONSTITUTION:A reference side finger 7 and driven side finger 9 are opened and closed independently respectively, and stopped by approaching until the reference side finger 7 being brought into contact with a work W. First thereafter the driven side finger 9 holds the work W in the space with the reference side finger 7 with its approach to the work W. Consequently, even the work W whose sectional shape and the position on a standby position P1 differ can surely be held without provoking any dislocation.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a no-undling device that grips and conveys a workpiece using a two-finger gripping type hand.

2. Description of the Related Art For example, a handling device as shown in FIG. 4 is used to sequentially introduce press-formed workpieces from a predetermined standby position to a processing position.

In this handling device, a pair of fingers 34, which are the center of a hand 33, are attached to a carrier 31, which reciprocates between a standby position P1 and a processing position, via a bracket 32.
34 is rotatably supported, and the workpiece Wo is gripped by opening and closing these fingers 34, 34 according to the expansion and contraction operations of the air cylinder 35.

Problems to be Solved by the Invention In conventional handling devices, when multiple types of workpieces with different cross-sectional shapes are handled in a mixed production mode, for example, the workpiece Wo has a different cross-sectional shape, and the position at the standby position Pl. When trying to grip a workpiece Wn that is offset by a predetermined amount, both fingers 3
4.34 performs the gripping operation with centripetal action, there is a deviation between the position when the workpiece Wn is actually gripped by the fingers 34.34 and the position of the workpiece Wn at the standby position P1. It will happen.

As a result, the work W held by the fingers 34 and 34
Even if the workpiece Wn is placed in the machining position, the workpiece Wn cannot be positioned at the proper machining position, which causes trouble.

In addition, if you want to deal with differences in the cross-sectional shape of the workpiece or the position of the workpiece in the standby position as mentioned above, you can prepare nodes for each type of workpiece in advance and switch them selectively each time. This makes the entire equipment large and complex, and at the same time severely limits the number of types of workpieces that can be transported.

The present invention was made in view of the above problems.
The purpose of this is to be able to handle differences in the cross-sectional shape of workpieces and differences in the position of workpieces in the standby position, even though it is a flat hand, and to ensure that the workpieces are loaded without causing misalignment. The object of the present invention is to provide a device that can be transported to a certain position.

Means for Solving the Problems The present invention provides a handling device that grips a workpiece in a standby position with a two-finger grip type hand and transports it to a predetermined workpiece loading position, in which the hand is rotatably supported by a support body. and a reference side finger that is rotatably driven by a reference side actuator to approach the workpiece until contact with the workpiece is detected by the tactile sensor, and a reference side finger that is rotatably supported by a support or a reference side finger. , is characterized by comprising a driven-side finger that is rotationally driven by a driven-side actuator to approach a workpiece that has previously contacted the reference-side finger and grips the workpiece between the reference-side finger and the reference-side finger. .

According to this structure, the reference side finger and the driven side finger open and close independently, and only after the reference side finger approaches the workpiece and stops, the driven side finger approaches the workpiece and the reference side finger opens and closes. The workpiece will be gripped between the two. Therefore, even a workpiece having a -1 cross-sectional shape or a different position on the standby position can be reliably gripped without causing positional deviation.

Embodiment FIGS. 1 to 3 are explanatory diagrams showing an embodiment of the present invention, and especially FIG. 3 shows the overall structure.

In FIG. 3, 1 is a column, 2 is a carrier frame 4 that reciprocates between a standby position P1 and a work input position along a guide rail 3 on the column 1 in a direction perpendicular to the plane of the drawing.
Reference numeral 5 indicates a transport head that is movable up and down relative to the carrier frame 2, and 5 is a two-finger grip type hand provided at the tip of the transport head 4.

The hand 5 includes a reference side finger 7 rotatably provided on a bracket 6 as a support fixed to the tip of the transfer head 4, and a driven member rotatably connected to the reference side finger 7 via a pin 8. It is structured around the side fingers 9.

As shown in FIG. 1, the workpiece gripping surfaces of both fingers 7.9 are provided with concavo-convex portions 10 having a sawtooth cross section in order to securely grip the workpiece W.

The reference side finger 7 and the driven side finger 9 can open and close independently of each other, and as shown in FIGS. 1 and 3, the reference side finger 7 is decelerated by a servo motor 11 which is a reference side actuator. The driven finger 9 is driven to rotate around the pin 8 in accordance with the expansion and contraction movement of the air cylinder 13, which is a driven actuator.

A reflection type photoelectric switch 15 is attached to the reference side finger 7 as a tactile sensor, and the optical axis 14 is directed toward the tip of the reference side finger 7. 7 is brought close to the workpiece W while rotating, the photoelectric switch 15 detects the flange portion F of the workpiece W, and the photoelectric switch 15 detects that the reference side finger 7 has substantially contacted the workpiece W. Under this condition, the reference side finger 7 is stopped.

In the handling device configured in this way, the workpiece W is placed at the standby position P1 as shown in FIGS. 1 and 2.
Assuming that the hand 5 is in the retracted position P2 in FIG. 1 until it moves to the workpiece gripping operation, the driven finger 9 is
It is waiting with the door slightly open.

In this state, when the servo motor 11 is driven to rotate the reference side finger 7 in the direction of arrow a to grip the workpiece W, the reference side finger 7 gradually approaches the workpiece W, and eventually the uneven portion 10 of the reference side finger 7 comes into contact with the tip of the flange portion F of the workpiece W as shown by the solid line in FIG.

Then, when the tip of the reference side finger 7 contacts the workpiece W as described above, the optical axis 14 of the photoelectric switch 15
Since the direction of the photoelectric switch 15 is adjusted in advance so as to point toward the flange portion F of the workpiece W, the photoelectric switch 15 detects the flange portion F at the same time as the reference side finger 7 contacts the workpiece W. Upon receiving the detection signal from the photoelectric switch 15, the movement of the reference side finger 7 immediately stops.

At this time, the driven finger 9 is located at the retracted position P3 in FIG.

When the reference side finger 7 stops moving, the air cylinder 13 extends for the first time, and this causes the driven side finger 9 to extend.
rotates in the direction of the arrow and gradually approaches the workpiece W, and eventually the reference side finger 7 is rotated with the reference side finger 7 as a reference.
and the driven side fingers 9 pressurize and restrain the work W, and grip the work W between them.

At this time, the operating pressure of the air cylinder 13 is set low so that the gripping force of both fingers 7.9 does not deform the workpiece W.

When the workpiece W is gripped by both fingers 7.9, the workpiece W is lifted by a predetermined amount by the hand 4 to be transported along with the hand 5, and is then transported to the workpiece loading position by the movement of the carrier frame 2.

Here, even when gripping a workpiece W1 having a different cross-sectional shape and a different workpiece position at the workpiece standby position as shown in FIG. 3, the workpiece W1 has a flange portion F that can be detected by the photoelectric switch 15. As far as this goes, the hand 5 moves in exactly the same way as when gripping the workpiece W.

Furthermore, the same function can be obtained even if the driven finger 9 is rotatably supported by the bracket 6.

Effects of the Invention As described above, according to the present invention, the reference side finger and the driven side finger of the hunt are constructed so that they can be opened and closed independently, and the reference side finger is first brought into contact with the workpiece and stopped. Since the driven side finger approaches the workpiece and grips the workpiece between it and the reference side finger, the workpiece can be gripped without causing the workpiece to shift even if the position or cross-sectional shape of the workpiece at the standby position is different. This increases the versatility of the hand. As a result, even when a plurality of types of workpieces are transported at random, there is no need to prepare a plurality of hands and there is no restriction on the number of types of workpieces that can be transported, unlike in the past.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an embodiment of the present invention, and is an enlarged view of the main part of FIG. 3, FIG. 2 is a right side view of FIG. 1, and FIG. FIG. 4 is an explanatory diagram of a main part of an example of a conventional handling device. 5... Hand, 6-... Bracket as a support body,
7... Reference side finger, 8... Bin, 9... Driven side finger, 11... Servo motor as reference side actuator, 13... Air cylinder as driven side actuator, 15... Photoelectric switch as a tactile sensor, Pl...standby position, w, wl...work.

Claims (1)

[Claims] (1) In a handling device that grips a workpiece in a standby position with a two-finger grip type hand and transports it to a predetermined workpiece input position, the hand is rotatably supported by a support and has a tactile sensor, A reference side finger that is rotationally driven by a reference side actuator and approaches the workpiece until contact with the workpiece is detected by a tactile sensor, and a reference side finger that is rotatably supported by a support or a reference side finger and is rotationally driven by a driven side actuator. A handling device comprising: a driven finger that approaches a workpiece that is in contact with the reference finger first and grips the workpiece between the reference finger and the reference finger.