JPH04796B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an operating method for operating an article gripping device to place an article to be transferred at an accurate position with respect to a destination article without misalignment.

<Prior Art> During assembly of articles and other operations, industrial robots grasp articles and transport them to predetermined positions.
If the article to be transferred has the required weight, it will be placed in a predetermined position by its own weight when the gripping claws are opened. However, for example, for a thin and lightweight transfer item such as a shim, when it is gripped by the gripping claw and placed in a predetermined position, When the gripping claws open, the transferred article moves along with the gripping claws due to the adhesion of oil or the like, making it impossible to accurately position the article at a predetermined position, and subsequent assembly work, etc., cannot be performed.

<Object of the Invention> The present invention has been made in order to solve the above-mentioned conventional problems, and its purpose is to use gripping claws to transport a thin and lightweight article without shifting its position relative to the other article. It is an object of the present invention to provide a method of operating a transferred article gripping device that allows accurate placement.

<Structure of the Invention> The present invention has been made to achieve the above object, and the transferred article and the destination article each have the same width between both sides, and the width between both sides of the destination article and both sides of the transferred article is the same. A method of operating a transfer article gripping device which operates a pair of gripping claws of the gripping device so that the transfer article can be placed on the destination article with their surfaces aligned with each other, the method comprising: controlling the transfer article to have the same width as the destination article; a gripping operation of gripping both sides of the transferred article with the gripping claws, and placing the transferred article on the destination article such that both side surfaces of the transferred article are aligned in direction with both side surfaces of the destination article having the same width. a placing operation, a shifting operation of shifting the gripping claw toward the other object to a position where the transferred article and the other object overlap, and closing the grasping claw to move the grasping claw between both sides of the transferred article and the other object. The present invention relates to a method of operating a conveyed article gripping device characterized by performing a correction operation of bringing both side surfaces of the article into contact with each other so that both side surfaces of the article coincide with each other.

<Examples> Examples of the present invention will be described below with reference to the drawings.
In FIGS. 1 and 2, 1 is a gripping head body attached to the tip of the wrist of an industrial robot;
A pair of gripping arms 2 are provided on the gripping head body 1 so as to be openable and closable, and have gripping claws 3 at their tips. Reference numeral 4 denotes a gripping claw opening/closing cylinder that opens and closes the gripping arm 2. Reference numeral 5 denotes a lifter for loading the gripping claw 3 with a thin and lightweight transfer article W.

A projecting portion 6 is provided on the gripping head main body 1 in a horizontal direction, and a support member 7 is provided at the tip of the projecting portion 6 in a vertical axis direction.
be fixed. The vertical center line of this support body 7 is located on a line passing through the center of the transferred article W held by the gripping claws 3, and a concentric guide shaft 8 is fixed to the support body 7, and a closed A weight body 9 inserted with a gap between the gripping claws 3 in the state is inserted and supported so as to be movable up and down. Further, a stopper 10 for regulating the lower end of the weight body 9 is integrally provided at the lower end of the guide shaft 8. The weight of the weight body 9 is set so as to apply a pressing force from the upper surface to the extent that the transfer article W held by the gripping claws 3 does not fall off, and the weight body 9 is set to apply a pressing force from the upper surface to the extent that the transfer article W held by the gripping claws 3 does not fall off. teeth,
It is preferable to have a shape with a concave portion in the center to minimize the contact area. In addition, 11 is the transported goods W
The surface on which the transferred article W of the destination article 11 is placed has the same shape and size as the transferred article W so that it completely overlaps with the loaded transferred article W, and the surface of the pallet P has the same shape and the same size as the transferred article W. It is inserted and supported in the support hole H.

In the structure as described above, in order to grip the transferred article W, the gripping head 1 is positioned to a position where the mounting lifter 5 and the support body 7 match, and in this state, the mounting lifter 5 is held between the open gripping claws 3. By inserting the weight body 9 upwardly, the weight body 9 is placed on the upper surface of the transported article W.
The lower surfaces of the two come into contact with each other, and the weight body 9 is lifted from the stopper 10 by the required stroke. In this state, when the gripping claws 3 are closed and the mounting lifter 5 is lowered, a pressing force is applied by the weight of the weight body 9 to the extent that the transported article W gripped by the gripping claws 3 does not fall off.

Thereafter, by moving the gripping head main body 1, the transferred article W is transferred and positioned on the destination article 11 as shown in FIG. 3a, and when the gripping claws 3 are released as shown in FIG. 3b, the transferred article W is It is pressed onto the other object 11 by the pressing force due to the weight of the weight body 9, and when the gripping claws 3 are released, the gripping claws 3 are not moved and displaced due to the adhesive force of oil, and the initial positioning state is maintained. are doing.

Although the displacement of the transported article W can be prevented by the action of the weight body 9, the present invention more reliably prevents the displaced article W from shifting its position by performing the following operation. That is, after the gripping claws 3 are released, the gripping head main body 1 is again lowered by a predetermined amount to a position where the gripping claws 3 contact both the transported article W and the object article 11 as shown in FIG. 3, and by sliding the transferred article W by the amount of deviation from the destination article 11 with reference to the outer circumference of the destination article 11, the transferred article W is moved to the destination article 11.
The sides are corrected to the correct position so that they match each other.

Note that this gripping claw 5 corrects the position of the transferred article W based on the outer circumference of the other article 11,
Even if the destination article 11 shakes within the support hole H of the pallet P, the position of the transferred article W can be accurately corrected with respect to the destination article 11 without being affected by this.

Thereafter, by raising the gripping head body 1, the gripping claws 3 are lifted upward as shown in FIG.
and lift it away from the top surface of the transported article W.

<Effects of the Invention> As described in detail above, the present invention provides a gripping operation in which both side surfaces of the transferred article have the same width as the other article and gripping claws, and a gripping operation in which both side surfaces of the transferred article have the same width as the other article. a placing operation of placing the transferred article on the destination article so that the direction coincides with both side surfaces thereof, and shifting the gripping claw toward the destination article to a position where the transfer article and the destination article overlap. A shifting operation and a correction operation in which the gripping claws are closed and the gripping claws are brought into contact with both sides of the transferred article and both sides of the target article to bring the both sides of the two articles into alignment are performed to transfer the article. In order to manipulate the article, there is an advantage that the transferred article can be placed accurately with the gripping claws without being displaced from the other article. Furthermore, in the present invention, since the gripping claws have two functions: the function of gripping the transferred article and the function of correcting the position of the transferred article, there is no need to provide a new structure for correcting the position of the transferred article. Therefore, it has a simple structure and can be provided at low cost.

[Brief explanation of drawings]

FIG. 1 is a cross-sectional side view of a main part of a gripping device for carrying out the method of the present invention, FIG. 2 is a partially cross-sectional plan view of FIG. 1, and FIG. 3 is an explanatory diagram of the operating method of the present invention. 2... Gripping arm, 3... Gripping claw, 7... Support shaft, 8... Guide shaft, 9... Weight body, 10... Stopper, W... Transfer article, 11... Destination article.

Claims (1)

[Claims] 1. A gripping device is provided so that the transferred article and the destination article each have the same width between both sides, and the transferred article can be placed on the destination article with both side surfaces of the destination article and both side surfaces of the transferred article aligned with each other. A method of operating a transferred article gripping device that operates a pair of gripping claws, the method comprising:
a gripping operation of gripping both side surfaces of the transferred article having the same width as the counterpart article with the gripping claws; a placing operation of placing the transferred article on the destination article; a shifting operation of shifting the gripping claw toward the destination article to a position where the transferred article and the destination article overlap; and a closing operation of the gripping claw to grip the destination article. A method of operating a transferred article gripping device, characterized in that a correction operation is performed by bringing claws into contact with both side surfaces of the transferred article and both side surfaces of the opponent article to bring both side surfaces of the two articles into alignment.