JPH0794117B2 - Hand device of article transfer robot - Google Patents

Description

TECHNICAL FIELD The present invention relates to a hand device of an article transfer robot suitable as a hand of a palletizing robot that stacks articles on, for example, pallets.

[Prior Art] FIG. 2 shows an example of a hand device used for a palletizing robot as a hand device for a conventional article transport robot of this type. In the figure, reference numeral 1 is a hand device attached to a distal end shaft 2 of a robot arm, and a drive unit 3
And an L-shaped pawl 4 whose one end is pivotally attached to one side of the drive unit 3 and is driven in the direction of arrow A, and a pawl 5 which is arranged opposite to this and has one end fixed to the drive unit 3 side. Has been done.

This hand device 1 grips an article 6 such as a box between both claws 4 and 5, and transfers it onto a pallet, and then swings the L-shaped claw 4 clockwise to form an interval between both claws 4 and 5. Is opened and the articles 6 are released and dropped onto the pallets for stacking.

FIG. 3 shows another example of the conventional hand device. In FIG. 3, the hand device 7 has the F-shaped member 8 in which the back surface portion 8a is attached to the tip end shaft 2 of the robot arm, and both pieces 8 that hang down below the F-shaped member 8.
A rack 9 installed between b and 8c, and a rail 10 installed between both pieces 8b and 8c positioned below the rack 9
A block 11 which is guided and supported by the rail 10 to move in the horizontal direction, a claw 12 extending from the block 11 beyond the lower end of the right side piece 8c, a casing fixed to the block 11 and an output shaft. Claw drive motor 14 capable of forward and reverse rotation, which is formed by meshing a gear 13 mounted on the rack 9 with the rack 9.
And a pusher 15 which is located on the right side of the piece 8c of the F-shaped member 8 and is installed on the back surface portion 8a and presses the article 6 transferred on the claw 12 to the claw 12 side.

The hand device 7 is configured to transfer the article 6 transferred onto the nail 12 to the nail 6.
The object 6 is held by being held by the 12 and the pusher 15 and transferred onto the pallet, and then the motor 14 is driven to retract the claw 12 to the left side of the piece 8c, thereby releasing the article 6 and dropping it onto the pallet to stack it. I am trying to attach it. The above piece 8c
Functions as a stopper that restricts the movement of the article 6 together with the claw 12 during the retreat operation of the claw 12.

[Problems to be Solved by the Invention] However, in the former method of gripping and conveying the article 6 between the L-shaped claw 4 and the fixed claw 5 which are rotationally driven,
When releasing the article 6, not only is it necessary to make a large gap C ₁ between the pallet or article located below and the article 6 to be stacked on it, so that the L-shaped pawl 4 can swing, At the time of swinging of the character-shaped claw 4, one side of the object 6 is placed on the lower end bent portion 4a of the L-shaped claw 4 supporting the bottom of the article and moved, so that the article 6 can always be lowered to a predetermined position. There is a problem that it is difficult, and further, there is a drawback that a gap C ₂ corresponding to the thickness of the fixed-side nail 5 is generated between the articles patterned on the same horizontal plane, and the driving of the nail 12 In the latter method in which the part is in the same horizontal position as the conveyed article 6, the above-mentioned problem can be solved, but the total length of the hand device 7 needs to be twice or more the moving stroke of the claw 12 and becomes long. As a result, when setting the robot origin, There is a drawback that the device 7 interferes with surrounding objects or the robot body itself. Further, in this system, the motor 14 of the drive unit moves integrally with the claw 12, so that the wiring process becomes complicated. Furthermore, since the pusher 15 is configured so as to project above the flange surface of the tip axis 2 of the robot arm, the pusher 15 may hit the arm of the robot itself during the transfer of articles, and the tip axis of the robot arm may be hit. There was also a problem that movement of 2 was restricted.

In view of the above points, the present invention provides a hand device for an article transport robot that can reduce the total length of the hand device, facilitate wiring, and accurately palletize an article in a small space. With the goal.

[Means for Solving Problems] A hand device for an article transporting robot according to the present invention includes a horizontal portion fixed to the tip axis side of an arm of the robot, and a part of the horizontal portion which is hung from one end side of the horizontal portion. A T-shaped member having a hanging piece portion provided with a penetrating portion, a short piece member facing the hanging piece portion of the T-shaped member and hung to the other end side of the horizontal portion, the short piece member and the above A rail installed between the hanging piece portion of the T-shaped member and parallel to the horizontal portion of the T-shaped member, a guide member reciprocally driven on the rail in the rail longitudinal direction, and one end of the guide member. An upper piece that is fixed to the other end of the vertical piece and the other end of the upper piece is inserted through the insertion portion and is held by the insertion portion; Is provided on the upper surface of the upper part, and the conveying component is placed on the upper surface of the upper part. A U-shaped claw having a lower piece, an engaging member provided on the upper piece of the U-shaped claw, and a driving body provided on the hanging piece of the T-shaped member. At least in a space between a drive mechanism portion that engages a coupling member to reciprocate the U-shaped pawl along the rail longitudinal direction, and a horizontal portion of the T-shaped member and an upper piece of the U-shaped pawl. And a pusher that is provided in part and presses the conveyed article against the lower piece of the U-shaped nail.

[Operation] In the present invention, the driving body of the drive mechanism portion for driving the U-shaped pawl is provided on the hanging piece of the T-shaped member, and the engaging member that engages with this is provided on the upper piece of the U-shaped pawl. Therefore, the overall length of the hand device is approximately the same as the movement stroke of the U-shaped pawl, which can be reduced in size, and the driving body is installed on the hanging piece of the T-shaped member on the fixed side, which facilitates wiring. can do.

Further, the hand device supports the U-shaped pawl at a plurality of points, so that the balance is good, and the guide of the U-shaped pawl uses the rail, so that the operation is stable.

[Embodiment] Hereinafter, the present invention will be described with reference to one embodiment of FIGS. 1 (a) and 1 (b) in which corresponding portions of the related art are denoted by the same reference numerals.

In the figure, 16 indicates a hand device according to this embodiment.

Reference numeral 17 is a T-shaped member having a T-shaped cross section, and a flange portion 17 forming a horizontal portion fixed to the tip axis 2 side of the robot arm 17
a, the flange portion 17a is hung from one end side, and two forked leg portions 17d and 17e are cut out at the lower portion, and the one leg portion 17a
A hole 17f, which is a penetration part, is formed in the upper part on the d side.
A roller 18 is attached to the f portion, and a hole 17g that is also a through-hole is also formed in the upper portion on the other leg 17e side, and a hanging piece portion 17c in which the roller 23 is attached to the hole 17g portion have. 17b is
The flange portion 1 faces the hanging piece portion 17c of the T-shaped member 17.
A short piece portion (in this embodiment, one end of the flange portion 17a is bent downward) which is a short piece member hung on the other end side of 7a, and 25 is between the short piece portion 17b and the hanging piece portion 17c. Is a block as a guide member that is reciprocally driven in the rail longitudinal direction on a rail 26 installed in parallel with the flange 17a.

Reference numerals 19 and 24 are U-shaped pawls which are connected and integrated by a cross beam member 27. The U-shaped pawls 24 are fixed to the block 25 on the upper end surface which is one end thereof, and the other end portions thereof are provided on the hanging piece portion 17c. An upper piece 24 which is supported by a roller 23 inserted in the hole 17g and mounted in the hole 17g so as to reciprocate in the horizontal direction.
a, a vertical piece 24b vertically provided at the other end of the upper piece 24a and a lower piece 24c provided at the lower end of the vertical piece 24b so as to face the upper piece 24a and form a support surface when the article 6 moves. have.

The U-shaped claw 19 has a rack 20 as an engaging member that is a part of a drive mechanism portion formed on the upper surface of the upper piece 19a, and a casing is fixed to the hanging piece portion 17c of the T-shaped member 17 on the rack 20. Similarly, the gear 22 of the output shaft terminal of the forward / reverse rotatable motor 21 that forms a part of the drive mechanism meshes with the upper piece 19a of the U-shaped claw 19 that is inserted through the hole 17f through the roller 18 in the horizontal direction. It is designed to be supported reciprocally. Further, the U-shaped claw 19 is provided at the end of the upper piece 19a on the side of the drive mechanism, and is provided at the lower end of the vertical piece 19b so as to face the upper piece 19a. Lower piece 19 forming a surface
have c.

The vertical pieces 19b and 24b are connected by the cross beam member 27, and the lower pieces 19c and 24c of the U-shaped claws 19 and 24, which are integrated, extend beyond the lower end of the hanging piece portion 17c of the T-shaped member 17, and Upper piece 19a,
The article 6 to be conveyed is placed on the upper surface (supporting surface) of the article 24a so as to face the article 24a.
Is placed.

28 is disposed between the U-shaped pawls 19 and 24, and at least a part is provided in the space between the flange portion 17a of the T-shaped member 17 and the upper pieces 19a and 24a of the U-shaped pawls 19 and 24. The article 6 is fixed to the flange portion 17a of the T-shaped member 17, and the article 6 is shaped like a U-shaped nail 1.
The pushers are fixed by pressing the lower pieces 19c, 24c of the 9, 24, that is, the lower surface, that is, the supporting surface side.

In addition, the hanging piece portion 17c of the T-shaped member 17 has U-shaped claws 19, 24.
During the retreat operation (leftward in FIG. 1A), the article 6 functions as a stopper that restricts the movement of the article 6 together with the lower pieces 19c and 24c.

In the hand device 16 according to the present embodiment configured as described above, the articles 6 transferred onto the lower pieces 19c and 24c are attached to the lower pieces 19c and 24c.
The operation of holding by c and 24c and the pusher 28 and transferring it on the pallet will be described.

One upper piece 24a of the U-shaped claws 19 and 24 integrated by the horizontal beam member 27 is horizontally supported on the rail 26 by a block 25 fixed to an upper end surface which is one end of the upper piece 24a. There is. At this time, the other end is supported by the hole 17g via the roller 23. That is, one upper piece 24a of the integrated U-shaped claws 19 and 24 is supported and transferred at the above-mentioned two locations.

In addition, the other upper piece 19a of the U-shaped claws 19 and 24 that are integrated
Is partially supported by the hole 17f through the roller 18 and the rack 20 provided on the upper surface thereof engages with the gear 22 that is rotated by the drive of the motor 21 whose casing is fixed to the hanging piece 17c. U-shaped claw 1 that is integrated by
It drives 9 and 24 horizontally.

Then, after transferring onto the pallet, the motor 21 is driven,
While being guided by the rail 26, the lower pieces 19c and 24c are attached to the T-shaped member 17
The article 6 is released by retreating to the left of the hanging piece 17c (Fig. 1 (a)) and dropped onto a pallet for stacking. During the retreat operation of the lower pieces 19c and 24c, the movement of the article 6 is restricted by the hanging piece portion 17c, and the position of dropping the article 6 is determined.

Thus, according to this embodiment, the integrated U-shaped claw 1
9 and 24 can be supported at a good balance in at least two places.

Further, the mechanism for moving the U-shaped pawls 19 and 24 in the hand device 16 is also a flange portion 17a, a hanging piece portion 17c, a short piece portion 17b,
The block 25 and the rail 26 have an extremely simple frame structure, and the weight can be reduced.

In addition, the block 25 has rails 26
Since it is performed while being guided up, it is a stable operation.

Further, the total length of the hand device 16 can be reduced, and
16 has the effect of facilitating swinging, resulting in easier layout of the robot, and the motor 21 that is the driving body of the driving mechanism is installed on the hanging piece 17c of the T-shaped member 17 that is the fixed side. Therefore, there is also an advantage that wiring becomes easy.

Furthermore, since the pusher 28 is included in the thickness dimension of the hand device 16, there is no interference with the surroundings, and the tip shaft 23 is
There is also an effect that the hand device 16 does not interfere with the robot body even when rotated by 360 degrees.

In the above embodiment, the single piece 6 is transferred on the lower pieces 19c, 24c and is transferred. However, the present invention is not limited to this. For example, the lower pieces 19c, 24c may be lengthened. It is also possible to transfer two articles 6 at the same time by setting or setting the hand devices 16 side by side in two rows. Further, the side-by-side articles are separately driven by the independent drive system in the above-mentioned equipment. It can also be dropped.

Further, in the above embodiment, the article to be transferred is described as a box, but it goes without saying that this may be applied to a bag or a paper bundle.

In addition, although the apparatus of the present invention is applied to the paredizer in the above embodiment, it is obvious that the present invention can be applied not only to the deparizer but also to other hand apparatuses of various article conveying robots.

[Effects of the Invention] As described above, the hand apparatus for the article transport robot according to the present invention has a horizontal portion fixed to the tip axis side of the arm of the robot and one of the horizontal portions that hangs down from the horizontal portion. A T-shaped member having a hanging piece portion provided with a penetrating portion, a short piece member facing the hanging piece portion of the T-shaped member and hanging to the other end of the horizontal portion, and the short piece member. Above T
A rail installed between the hanging piece of the character-shaped member and the horizontal portion of the T-shaped member in parallel, a guide member reciprocally driven on the rail in the rail longitudinal direction, and one end of the guide member serving as the guide member. An upper piece that is fixed and the other end of which penetrates the penetration portion and is held by the penetration portion, a vertical piece that is suspended from the other end of the upper piece, and a lower end of the vertical piece. U-shaped claw having a lower piece on the upper surface of which a conveying component is placed, the engaging member provided on the upper piece of the U-shaped claw, and the T-shape. A drive member provided on a hanging piece of the member, and a drive mechanism unit that engages the engaging member with the drive member to reciprocate the U-shaped pawl along the rail longitudinal direction; At least a part is provided in the space between the horizontal portion of the T-shaped member and the upper piece of the U-shaped claw, and The conveyance article is intended and a pusher for pushing the lower piece of the U-shaped claw.

As a result, the overall length of the hand device can be shortened, the strength and weight can be improved, and the construction cost can be reduced. Further, since the pusher is provided at least partially in the space between the horizontal portion of the T-shaped member and the upper piece of the U-shaped claw, there is an effect of preventing a problem of hitting an adjacent object during the movement operation of the hand device. Further, there is an effect that the arrangement can be facilitated because the driving body is installed on the fixed side. In addition, the hand device can support the U-shaped claws in a well-balanced manner at two points, that is, the support for the penetrating portion and the support for the rail via the guide member. Furthermore, since the operation of carrying the article is performed while the guide member is guided and supported on the rail, it is possible to perform a stable operation.

[Brief description of drawings]

1 (a) and 1 (b) each show an embodiment of a hand device according to the present invention. FIG. 1 (a) is a front view and FIG. 1 (b) is a side view. FIG. 2 is a front view showing an example of a conventional hand device. FIG. 3 is a front view showing another example of the conventional hand device. 2 …… Robot arm tip axis 6 …… Article 16 …… Hand device 17 …… T-shaped member 17a …… Horizontal part (flange part) 17b …… Short piece part 17c …… Hanging part part (stopper) 17f, 17g ...... Hole 19, 24 ...... U-shaped claw 19a, 24a ...... Top piece 19b, 24b ...... Vertical piece 19c, 24c ...... Bottom piece 20 ...... Rack (drive mechanism part) 21 ...... Motor (drive mechanism part) 22 …… Gear (driving mechanism) 25 …… Block 28 …… Pusher In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A T-shaped member having a horizontal portion fixed to the distal end axis side of a robot arm and a hanging piece portion hanging from one end side of the horizontal portion and having a penetrating portion provided in a part thereof. A short piece member facing the hanging piece portion of the T-shaped member and hung to the other end side of the horizontal portion, and the horizontal direction of the T-shaped member between the short piece member and the hanging piece portion of the T-shaped member. And a guide member that is reciprocally driven on the rail in the rail longitudinal direction, one end of which is fixed to the guide member, and the other end of which is inserted through the insertion portion. An upper piece held by the penetrating portion, a vertical piece vertically provided at the other end of the upper piece, and a lower end portion of the vertical piece that is provided to face the upper piece and has a conveying component on its upper surface. And a U-shaped claw having a lower piece on which the U-shaped claw is placed and an engagement piece provided on the upper piece of the U-shaped claw. And a driving body provided on the hanging piece of the T-shaped member. The driving member is engaged with the engaging member to reciprocally drive the U-shaped pawl along the rail longitudinal direction. A mechanical portion, at least a part of which is provided in a space between the horizontal portion of the T-shaped member and the upper piece of the U-shaped nail, and the pusher which presses the conveyed article against the lower piece of the U-shaped nail; A hand device for an article transport robot, comprising: