JPH048110Y2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) This invention is an industrial robot hand, more specifically, a robot hand that transfers stacked cardboard boxes containing items to an empty pallet. This invention relates to an industrial robot hand suitable for.

(Prior Art) Conventionally, as this type of hand, there is known a hand that automatically transfers and stacks stacked cardboard boxes onto an empty pallet by suctioning them with a vacuum pad.

(Disadvantages of Prior Art) However, the above-mentioned hand had the following disadvantages. In other words, it goes without saying that if the cardboard boxes to be transferred are stacked accurately at the set position, it is possible to lift them up and lower them accurately onto the set position of the empty pallet. If the cardboard boxes to be loaded are not stacked accurately at the set position, the vacuum pad will not be able to lift the cardboard boxes at the correct position relative to the frame of the hand. The disadvantage was that it was not possible to unload cardboard boxes.

(Purpose of the invention) This invention was made to eliminate the above-mentioned drawbacks. Even if the cardboard boxes to be transferred are not stacked at the exact set position, it is possible to lift the cardboard boxes and place them on empty pallets. The object of the present invention is to provide an industrial robot hand that can be lowered accurately to a set position.

(Example) This invention will be described below based on an example shown in the drawings. In this specification, "left" refers to the left side in Figure 1, "right" refers to the right side in the same figure, and "front" refers to the second
The lower side of the figure is the upper side of the figure, and the rear is the upper side of the figure.

As is well known, the elevating arm 10 shown in FIG. 1 is provided on a back-and-forth moving frame (not shown) so as to be able to rise and fall freely, and this back-and-forth moving frame is mounted on a horizontal arm (not shown) that is provided so as to be able to move left and right. It is provided. At the lower end of the lifting arm 10 is a frame 12 which is horizontally rotated by a horizontal rotation device 11 or the like.
is provided. This frame 12 has upper and lower frame bodies 13, and these frame bodies 13 are connected by a required number of spacers 14 with a predetermined interval 15 between them. A total of three movable frames 16, left, middle, and right, are inserted, and these movable frames 16 can freely move horizontally to the lower frame 13 via a plurality of balls 17 provided in them. Supported. Note that an opening 18 is formed in the moving frame 16 to allow the spacer 14 to escape so that its horizontal movement is not hindered by the spacer 14.
There is a gap between the ball 17 and the upper frame 13, and the movable frame 16 can move slightly up and down between the frames 13, but there is a mechanism for regulating the amount of movement. Spacer 19 moves frame 1
It is fixed to the top surface of 6. Further, as clearly shown in FIG. 3, a total of four springs 20 are fixed to the movable frame 16 and the lower frame 13 in a manner extending radially from the center of the movable frame 16. 20 are offset from each other by 90 degrees, and the movable frame 16 normally stops at a position where the forces of these springs 20 are balanced. The moving frame 16
A vacuum pad 22 is provided at the front and rear of each lower surface so as to pass through the opening 21 of the lower frame 13 and protrude downward.

Left and right positioning devices 23 are provided on the left and right sides of the frame 12 to regulate the left and right position of the cardboard box 1, which is a rectangular parallelepiped-shaped object to be transported.
This left-right positioning device 23 has a pair of left and right positioning bars 24, and these positioning bars 24 are attached to the free ends of a pair of front and rear dogleg-shaped swinging arms 25. The end portion is fixed to a rotating shaft 26 whose axis is directed in the front-rear direction, and this rotating shaft 26 is rotatably fitted into a bearing 27 provided on the frame 12. A pinion 28 is fixed to the rotating shaft 26, and a rack 29 is engaged with the pinion 28. The rack 29 is slidably fitted into a support 30 attached to the frame 12. Rod 33 of hydraulic cylinder 32 via connecting piece 31
is attached, and this hydraulic cylinder 32 is attached to the frame 12. With this structure, the fluid pressure cylinder 32 is actuated, and the left and right positioning bars 24 clamp the cardboard boxes 1 as objects to be conveyed all at once, and the three cardboard boxes 1 are
The horizontal position of the frame 12 with respect to the frame 12 can be controlled.

At the front and rear of the frame 12, there are longitudinal positioning devices 3 for regulating the longitudinal position of the cardboard box 1.
4 is provided. The mechanism of this longitudinal positioning device 34 is the same as that of the lateral positioning device 23, so the explanation will be omitted and only the reference numerals will be explained. 35 is a positioning bar, 36 is a dogleg-shaped swinging arm, 37 is a rotating shaft whose axis is oriented in the left-right direction,
38 is a bearing, 39 is a pinion, 40 is a rack, 4
1 is a support body, 42 is a connecting piece, 43 is a fluid pressure cylinder, and 44 is a rod. With such a structure, the fluid pressure cylinder 43 is actuated to clamp the cardboard boxes 1 at once by the front and rear positioning bars 35, thereby regulating the positions of the three cardboard boxes 1 in the front and rear direction with respect to the frame 12. I can do things. Position the positioning bar 24 and the positioning bar 35 at a position where the cardboard box 1 is not clamped,
In other words, the planar shape of the robot hand when it is swung upwards is smaller than the planar shape of the three cardboard boxes 1 being conveyed by it, so it is possible to carry a large number of cardboard boxes lined up in the front and back direction. Among the stacked cardboard boxes 1, even the center part, that is, the one whose entire periphery is surrounded by the cardboard boxes 1 can be transported. Furthermore, the number of moving frames 16 is not limited to three.

A movable frame fixing device 46 is provided on the frame body 13 above the frame 12 to fix the movable frame 16 at a position where it has moved horizontally against the force of the spring 20. This movable frame fixing device 46 has a press plate 47 provided on the frame 13 so as to be movable up and down.
This pressing plate 47 is moved up and down by a fluid pressure cylinder 48 attached to the frame 13. Note that the lower surface of the pressing plate 47 and the moving frame 16
A rubber plate, sandpaper, etc. is pasted on the top surface of the board to increase the frictional force acting between the two.

(Operation of the embodiment) The operation of the apparatus of the embodiment will be explained below. Note that the following actions are performed automatically.

After lowering the cardboard boxes 1 to the set position, the frame 12 moves above the stacked cardboard boxes 1 to be transferred. Note that, at this time, the positioning bar 24 and the positioning bar 35 are in an upwardly swung position, and the pressing plate 47 is in a position where the moving frame 16
It is in a state where it is free. In this state, when the frame 12 descends toward the cardboard box 1 and the vacuum pad 22 hits the top surface of the cardboard box 1,
Frame 12 stops descending and vacuum pad 2
2 adsorbs the cardboard box 1. Thereafter, as the frame 12 rises, the three cardboard boxes 1 are lifted, and when they rise to a position where they do not hit the stacked cardboard boxes 1,
The cardboard box 1 is held and positioned by the left-right positioning device 23 and the front-back positioning device 34. As is clear from this explanation, even if the cardboard box 1 to be transferred is not in the correct position, the position of the cardboard box 1 with respect to the frame 12 is determined, so that the frame 12 can be stopped at the correct position. This means that the cardboard box 1 can be lowered to an accurate position. After that, the moving frame 16 is fixed by the pressing plate 47, and the left-right positioning device 23 and the front-back positioning device 34 are removed from the cardboard box 1. In this state, the frame 12 moves to the position where the cardboard box 1 is lowered and then lowers. After that, the suction force of the vacuum pad 22 is released and the cardboard box 1 is lowered to the set position. After unloading the cardboard box 1, the moving frame 16 is moved by the pressing plate 47.
Unfix. By repeating such operations, the cardboard box 1 can be transferred to another pallet or the like.

Note that the object to be transported is not limited to the cardboard box 1 of the embodiment.

(Effects of the invention) This invention has the following effects due to the above-described configuration.

After suspending the transported object using the vacuum pad provided on the moving frame, the position of the transported object relative to the frame can be determined, so even if the transported object is not at the set position, the The position can be regulated and it can be lowered to a set position. Further, since a spring is provided between the movable frame and the frame, when no force is applied to the movable frame, the spring can automatically return it to a predetermined position.

When the positioning bar is moved upward, the planar shape of the entire robot hand becomes smaller than the planar shape of the objects to be transported by it, so that among the stacked objects, Even objects that are surrounded at the center, that is, on the entire periphery, can be easily transported.

[Brief explanation of the drawing]

The drawings show an embodiment of this invention,
Figure 1 is a front view of the partially fractured part, Figure 2 is Figure 1-
A line sectional view, FIG. 3 is a line sectional view taken from FIG. 1. 2... Cardboard box, 10... Lifting arm, 12
...Frame, 16...Moving frame, 20...Spring,
22... Vacuum pad, 23... Lateral positioning device, 34... Front-back positioning device, 4
6...Moving frame fixing device.

Claims (1)

[Scope of utility model registration request] A frame provided on the robot arm, a moving frame provided on the frame so as to be freely movable in the horizontal direction, a vacuum pad provided on the moving frame, and a vacuum pad attached to the moving frame and the frame.
at least two springs that automatically return the moving frame to a position where the forces are balanced; a left-right positioning device that is provided on the frame and moves the conveyed object together with the moving frame and stops moving it to a set position with respect to the frame; It has a front-back positioning device, and a moving frame fixing device that fixes the movable frame moved to a set position by the left-right positioning device and the front-back positioning device, and the left-right positioning device has an upper left and right position of the frame. It has a pair of dogleg-shaped swinging arms, each of which is vertically swingable with its axis directed in the front-rear direction, and a positioning bar extending over the free ends of the pair of swinging arms. The longitudinal positioning device includes a pair of dogleg-shaped swinging arms that are provided at the front and back of the upper part of the frame, respectively, so as to be able to swing up and down with their axes oriented in the left and right directions, and and a positioning bar extending over the free end of the arm, so that when the positioning bar is moved upward, the planar shape of the entire robot hand becomes smaller than the planar shape of the transferred object. Industrial robot hand.