JPS622957B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for using a machine such as a robot or a crane to take out objects stored in deep trench pits or containers arranged on the ground or in a plane.

The holes in the pits and containers used to store various products, articles, small containers, etc. are often slightly shifted from their set positions due to manufacturing errors, placement errors, etc., and the positions of the pits and holes cannot be accurately determined. There are many things. In addition, movement errors of robots and other retrieval devices are added, and in order to retrieve stored items from these pits and holes with robots and other devices, high-precision hole position detection devices, control devices, etc. are required, resulting in high manufacturing costs. There was a problem with that. Examples of this type of retrieval device include the wrist joint mechanism for industrial robots known from Japanese Patent Publication No. 13877-1987 and the wrist joint mechanism of industrial robots known from Japanese Patent Publication No. 13877-1983.
There is a gripper device known from Publication No. 13093. In the former wrist joint mechanism, the base of the handling part is suspended from the base via a couple mechanism, and the base is moved by a couple movement with a degree of freedom to insert an object into a hole. be. When using this mechanism to take objects out of a hole, it is necessary to control the activation of multiple paired mechanisms, and at the same time, a position sensor must be installed for the control. There are drawbacks to having more than one. The latter gripper device has gripper claws attached to the lower end of an elongated casing, and uses the gripper claws to lock an object and remove the object from a hole.
In this case as well, the casing had to be accurately controlled directly above the object to be taken out of the hole, and it was not possible to quickly and accurately take out the object from the hole through rough control.

The present invention aims to provide a take-out device that reliably and quickly takes out objects from pits and holes without using high-precision position detection or control equipment.

The gist of the present invention is that a plurality of suspension arms are swingably suspended from a movable part of a transfer machine such as a robot arm that is movable in the horizontal and vertical directions, and that the lower half of the suspension arms is attached to the lower end of the suspension arm so as to extend downwardly. A cylindrical casing having a diagonal wall portion that is reduced in diameter and slides on the mouth edge of the extraction hole is swingably connected, and a parallelogram link is formed by the movable portion, the suspension arm, and the cylindrical casing. This allows the cylindrical casing to be moved laterally while always maintaining it in a horizontal position, and inside the casing are multiple remotely controlled chucking arms for grasping objects, a downwardly biased pressing plate that can be raised and lowered, and the same pressing plate. A posture sensing device is attached to the plate and detects the contact posture of an object to the press plate, and a limit switch is fixed to the casing and detects the lifting and lowering of the press plate.
Moreover, the taking-out device is characterized in that the chucking arm is actuated by simultaneous generation of a signal indicating a normal contact posture from the posture sensing device and a rising signal from the limit switch. Embodiments of the present invention will be described below with reference to the drawings.

Fig. 1 is an overall view of this embodiment, Fig. 2 is a vertical sectional view showing the main parts, Fig. 3 is an explanatory view showing the planar state of the tracking arm and the limit switch of the posture sensing device, and Fig. 4 is a hole It is an explanatory view showing a process of taking out an object from a container.

In the figure, 1 and 1' are robot arms, 2 is a board attached to the tip of the robot arm, 3 and 3' are hanging arms swingably hanging from the board, and 4 is an operation for opening and closing the chucking arm 13. An arm, 5 is a casing of the gripping device, 6 is a slanted wall portion whose diameter decreases downward in the lower half of the casing, 7 is a drive device for raising and lowering the operation arm 4 to open and close the chucking arm 13; 8 and 8' are ball joints that swingably connect the suspension arms 3 and 3'; 9 is a connecting rod that is connected to the lower part of the operating arm 4; and 10 is a press that is attached to the lower part of the connecting rod so that it can move up and down. The rod, 11 is a disc-shaped pressing plate attached to the lower end of the same pressing rod, 12
13 is a chucking arm; 14 is a fixed pivot of the chucking arm fixed to the casing 5; 15 is a connecting rod 9 of the chucking arm 13; 16 is a limit switch arranged on the upper edge of the press plate 11 every 90 degrees in all directions for detecting the contact posture of an object to the press plate; 17 is a pressure-sensitive rod biased downward; 18 is a lifting rod that is biased toward the head of the stored object 22; 19 is a spring of the lifting rod; 20 is a limit switch that detects the up/down state of the lifting rod; 21 is an elongated hole; 22 is the same hole. It is a long and narrow object that can be accommodated in

Four chucking arms 13 are arranged on the outer four sides of the press plate 11, and each of them is rotatable around a fixed pivot 14, and the claws are opened and closed by raising and lowering the connecting rod 9 and the opening/closing operating arm 4. It is designed so that it can hold 22. Further, one pressure-sensitive rod 17 and one limit switch 16 are arranged at the periphery of the pressing plate 11 between each arm of the chucking arm 13 (see FIG. 3). The gripping device of this embodiment includes four chucking arms 1 which are housed in a casing 5 and rotated around a fixed pivot shaft 14.
It consists of a connecting rod 9 that drives the same chucking arm as shown in FIG. 14 to grip and release an object 22. hole 2
When taking out the object 22 stored in the hole 21, the chucking arm 13 is opened in advance and the object 22 is gradually lowered from above the hole 21 toward the hole 21. Even if the center of the casing 5 and the center of the hole 21 do not match and there is a misalignment, the inclined wall part 6 of the lower half of the casing 5
The casing 5 is inserted into the hole 21 by swinging toward the center of the hole by swinging the suspension arms 3 having the same length while contacting the periphery of the opening and being guided by the periphery of the opening. Yes (see Figure 4 A). In this case, limit switch 2
0 and 16 are all in the OFF state. After the entire casing 5 is inserted into the hole 21 in this way,
When the casing 5 is lowered further, the press plate 11 hits the head of the object 22 stored in the hole 21 and is pushed up, and all the limit switches 16 and 20 are closed.
It becomes ON (see Figure 4 B). In this state, actuate the drive device 7, push down the operating arm 4,
If the four chucking arms 13 are rotated in the closing direction, the chucking arms 13 can move the object 2.
If the robot arms 1 and 1' are then raised, the object 22 will be gripped by the chucking arm 13 and will rise up into the hole 2.
In this case, the limit switch 20 is OFF and the limit switch 16 is ON, so that it is possible to confirm that the object 22 is being held (see FIG. 4C). If the head of the object 22 is tilted with respect to the pressing plate 11 as shown by the imaginary line in FIG.
OFF, it is detected that the contact posture of the object 22 is not normal, and in this case, the checking arm 1
3, move the entire casing 5 without operating it and try again. This prevents the chucking arm 13 from gripping the object 22 incompletely, thereby preventing accidents such as falling after hanging.

As described above, according to the present invention, the casing housing the gripping device is swingably connected to the lower end of the suspension arm that is swingably suspended from the movable part that is movable horizontally and vertically, and the lower half of the casing is By reducing the diameter and tilting the casing 5 downward, even if the casing 5 is misaligned with the opening of the hole 21 and is lowered, the casing is automatically swung toward the center of the hole 21 and placed inside the hole 21. The casing can be inserted reliably and quickly, the structure is simplified, and objects can be quickly and reliably removed from a misaligned hole. Furthermore, the present invention is equipped with a posture sensing device and a limit switch that confirms the rise of the press plate, thereby ensuring reliable grip of the object and preventing accidents such as falling during movement, making it safer.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of the take-out device of the present invention, FIG. 2 is a vertical cross-sectional view showing the main parts, FIG. 3 is a plan view showing the planar arrangement of the chucking arm and the limit switch, The figure is an explanatory view showing the extraction process using the same embodiment. 1, 1': Robot arm, 3, 3': Suspension arm, 4: Operation arm, 5: Casing, 6: Slanted wall part, 13: Chucking arm, 16, 20: Limit switch, 21: Hole, 22: thing.

Claims (1)

[Claims] 1. A plurality of suspension arms are swingably suspended from a movable part of a transfer machine such as a robot arm that can move in the horizontal and vertical directions, and the lower half of the suspension arm is attached to the lower end of the suspension arm so that its diameter decreases downward. A cylindrical casing having an inclined wall portion that slides on the mouth edge of the extraction hole is swingably connected, and a parallelogram link is formed by the movable portion, the suspension arm, and the cylindrical casing to form a cylindrical casing. can be moved laterally while always being held in a horizontal position, and furthermore, inside the same casing are multiple chucking arms for grasping objects that are remotely controlled, and a press plate that is biased downward and can be raised and lowered, and is attached to the press plate. A posture sensing device that senses the contact posture of an object on the pressing plate and a limit switch fixed to the casing that detects the lifting and lowering of the pressing plate are provided, and furthermore, a signal indicating a normal contact posture from the posture sensing device and a rising signal from the limit switch are provided. A retrieval device characterized in that a chucking arm is actuated by the simultaneous occurrence of a chucking arm.