JPH0327355B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a gripping device for a processed object, and more particularly to a gripping device for a processed object having a magnetic part for gripping cans, bottles, etc. by a robot.

BACKGROUND ART Conventionally, it is well known that electromagnets, vacuums, etc. are used as attracting members, and they are used to attract all kinds of objects, from small objects such as nails to large objects such as automobiles.

However, the disadvantages of such suction members are that with electromagnets, the head section is overloaded with electromagnetic coils, etc., and the movement becomes slow, and with vacuum cleaners, when a large amount of workpieces are to be suctioned, it becomes an extremely large-scale device. Moreover, the adsorption causes damage to the object to be treated, which has become a problem.

In view of this, the present invention arranges a permanent magnet and a wire such as a piano wire in a short cylindrical grip body having an upper surface and an open lower surface to facilitate gripping and discharging of the object to be processed. The object of this invention is to provide a gripping device for a workpiece having a magnetic part, which has a light head part and can move at a high speed, thereby overcoming the drawbacks of the prior art.

The present invention will be explained below with reference to an embodiment shown in the drawings.

A device for gripping a workpiece according to the present invention includes a short cylindrical main body 1 having an upper surface and an open lower surface, a disc-shaped plate 2 housed inside the main body 1, and an outer surface of the main body 1. an air cylinder 3 supported on the upper part, having a rod 3a passing through the main body 1 and connected to the plate 2, and expanding and contracting the rod 3a to allow the plate 2 to move up and down within the main body 1; A net body 4 formed by stretching a plurality of wire rods 4a such as piano wires in a grid pattern on the lower end of the plate body 2, and a net body 4 on the bottom surface of the plate body 2, each corresponding to one piece within the grid-like mesh of the net body 4. The permanent magnets 5 have a size that can be inserted into the permanent magnets 5, and are arranged in alignment to match the arrangement of the objects to be processed.

At the center of the upper surface of the main body 1, a bearing 8 is provided, which slidably fits a shaft 7 projecting downward from the tip 6 of the arm A of the robot R as shown in FIG. 4, for example. A compression spring 9 is fitted externally between the shaft 7 and the bearing 8, which suspends the shaft 7 and the bearing 8 so that they do not separate from each other, and normally springs the main body 1 downward to prevent excessive force. When applied, the compression spring 9 is bent and raised.

The air cylinder 3 is fixed to the upper surface of the main body 1, and the tip of the rod 3a penetrating into the main body 1 is connected to the upper surface of the plate 2.

Therefore, when the rod 3a expands and contracts due to the operation of the air cylinder 3, the plate 2 moves up and down within the main body 1. In this case, when the plate 2 is lowered and is at the lowest position, it is desirable that the lower surfaces of the permanent magnet 5 and the net 4 be on the same plane as shown in FIG. It may protrude and be lower than the mesh of the body 4. However, on the other hand, if the permanent magnet 5 does not descend to the net 4, the object to be treated will be attracted by sandwiching the net 4, so that the attraction force will be significantly reduced compared to the permanent magnet 5 directly.

The permanent magnet 5 disposed on the lower surface of the plate 2 is
It may be a combination of small permanent magnet pieces 5a and iron materials 5b arranged alternately, and each piece is provided in the grid of the net 4 so as to correspond to each other.

The grid size of the mesh body 4 is such that magnetic parts of objects to be treated, such as cans of canned goods and bottle caps of bottled goods, cannot enter into the main body 1.

A tilt sensor 10 is provided at the lower end of the hand portion 6, and its tip 10a always comes into contact with the upper surface when the main body 1 is horizontal, and when it does not, the main body 1 tilts. It is now possible to sense what is happening using electrical signals, etc.

Next, the operation of the above embodiment will be explained.

First, the arm A of the robot R descends, and the net 4 of the main body 1 under the arm 6 comes into contact with the upper surface of the object 11 to be processed, such as a can or bottle, placed on the workbench 12.

Next, when the air cylinder 3 is driven and the plate 2 is lowered, the upper surface of each workpiece 11 is touched through the net by the permanent magnets 5, 5...
When all of the objects 11 are attracted to each other and the arm A is raised, each object 11 to be processed is pulled up together with the main body 1 while being attracted to the permanent magnets 5, 5, . . . .

Then, as the arm A rotates, it is moved to the target location and lowered, and then the air cylinder 3 is driven to shorten and the plate 2 is pulled up.
The permanent magnets 5, 5, which were in the same plane as the mesh body 4
As the object 11 to be treated is larger than the grid of the net 4, the object 11 that is larger than the grid of the net 4 is left behind as the magnetic force decreases, as the net 4 becomes an obstacle and cannot be lifted up, as shown in FIG. It will be kept in.

If it is necessary to place a partition member or the like on the workpiece 11, raise the arm, swivel to the place where the partition member is located, and then press the air cylinder 3.
is driven to extend again to lower the plate body 2, and then, after suctioning and holding one partition plate and lowering it onto the object 11, the air cylinder 3 is driven to contract and the plate body 2 is lowered.
The partition plate can also be placed on the object 11 by pulling it up.

Note that the configuration of each part in the above embodiment is not limited to the structure shown in the drawings, and in particular, the drive device is not limited to an air cylinder, but may be of a hydraulic type, mechanical type, etc., as long as it meets the purpose of the present invention. Other design changes are optional.

As explained above, the device for gripping a workpiece having a magnetic part according to the present invention includes a short cylindrical main body having an upper surface and an open lower surface, a plate inside the main body, and a plate fixed to the main body. a drive means that allows the plate body to be raised and lowered within the main body; a net body formed by cross-stretching a plurality of wire rods such as piano wires at the lower end of the main body;
and a group of permanent magnets that are arranged on the lower surface of the plate and can be fitted into the mesh of the net, so that when the plate is lowered by the driving means, the object to be treated is moved by the permanent magnets. Since the object to be processed can be easily ejected due to the obstruction of the net when it is adsorbed and raised, the gripping head, which is the tip of the robot, can be made lighter compared to conventional devices, and the moving speed of the head can also be reduced. You can also do it sooner.

In addition, the mesh made of wire such as piano wire is constructed so that it is flush with the magnet when the plate is lowered, so the permanent magnet directly attracts the workpiece, reducing the loss of magnetic force during attraction. It has many excellent effects, such as being able to hold it securely.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing an embodiment of the workpiece gripping device according to the present invention, FIG. 2 is a partial detail view of FIG. 1, FIG. 3 is a back view of FIG. 1, and FIG. 4 is a book 1 is a side view showing an example of a robot to which the invention is applied. 1...Body, 2...Plate, 3...Air cylinder, 3a...Rod, 4...Mesh, 4a...Wire, 5...Permanent magnet, 5a...Permanent magnet piece, 5b
...Iron material, 11...Object to be treated.

Claims (1)

[Claims] 1. A short cylindrical main body having an upper surface and an open lower surface, a plate housed in the main body, a driving means that allows the plate fixed to the main body to move up and down within the main body, and the main body. It consists of a net formed by cross-stretching a plurality of wires at the lower end, and a group of permanent magnets that are arranged on the lower surface of the plate and can be fitted into the mesh of the net, and the plate is driven by the driving means. A gripping device for a processed object having a magnetic part, characterized in that the processing object is attracted when descending and released when rising.