JP2541829B2 - A method for supplying work to a matrix hand of a robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is applied to a hand base of a robot arm in which hands are arranged in a matrix, one at a time from a work supply device.
The present invention relates to a work supply method of gripping one or two works and sequentially chucking them on a hand.

(Prior Art) Conventionally, as a robot used for gripping and transferring a plurality of works, a plurality of works provided on a robot arm are gripped by a robot operation from one or two work supply devices. One or two workpieces are gripped by each hand at a time, and after all the hands have gripped the workpiece, the robot moves.

In order to perform the above-mentioned operation, two degrees of freedom for positioning one of the plurality of hands in a plane facing the work supply device, one degree of freedom for moving the hand toward the work supply device, and a posture of the hand A total of four degrees of freedom, one degree of freedom of control, is required, and among them, planar control requires programmable control capable of arbitrarily setting a setting position by a servomotor or the like.

(Problems to be solved by the invention) However, when a long stroke high speed is required for transfer, there is no combination of conventional servo motor and ball screw or rack and pinion that has sufficient performance to satisfy the requirements. The drawback is that the ball screw is quite expensive.

Also, performance and cost can be satisfied by using an air cylinder, but when gripping multiple workpieces as described above, it is difficult to stop at an arbitrary position with the axis using the air cylinder. There is a problem in that it is difficult to supply a work to a plurality of hands arranged in a matrix from one or two work supply devices.

(Means for Solving Problems) An object of the present invention is to solve the above problems, and to make a hand base in which hands are arranged in a matrix form rotatable about the center of the matrix and to be capable of linear sliding. Then, the work supplied from the work supply device is chucked in half of the matrix hand by linearly sliding the hand base, and then the hand base is moved.
It is characterized in that it is rotated by 180 degrees and then linearly slid as in the above, and chucked to the other half of the matrix hand.

FIG. 1 shows an embodiment of an apparatus for carrying out the method of the present invention. The first moving base 2 is slidably guided by the fixed base 1 (Y axis). A second moving base 3 is slidably guided on the first moving base 2 at a right angle to the sliding direction of the first moving base 2 (X axis). An arm 4 is slidably guided on the second moving base 3 at right angles to the sliding directions of the two bases (Z axis). The second moving base 3 is attached to the tip of the arm 4.
By the axis (W) parallel to the sliding direction of 16 hands (5
A hand base 5 provided with a, 5b, ... 5p) is rotatably supported. 6 is the escape 2 in the direction parallel to the Y-axis
It is a work supply device in which pieces are arranged.

For driving each axis, only the Y-axis is an air cylinder (not shown)
In driving, the other axes are driven by a servomotor, a ball screw, a rack and pinion, etc. (not shown).

The hand base 5 is composed of a plurality of hands (5a, 5b, ... 5
It is designed to rotate at the center of p).

Next, the method of the present invention will be described with reference to FIGS. The escape is opposed to the right two sets of hands arranged in a matrix, and the work is gripped using the X axis (FIG. 2). Next, the Z-axis raises the hand base 5 by one pitch, and the lower two hands similarly hold the work (FIG. 3). Similarly, the work in this row is gripped by the hand (FIGS. 4 and 5).

Next, the hand base 5 is rotated 180 degrees by the W axis (Fig. 6). Then, since the row of hands not gripping the work faces the escape again, all the hands are gripped in the same manner (FIGS. 7 to 10). This time
After the work is gripped by all hands while the Y-axis which is the ON-OFF axis is stopped, the robot moving unit is moved by the Y-axis to transfer the work.

Since the Y-axis is an air cylinder system, high speed can be easily obtained, the stroke can be lengthened, and the cost is low.

(Effects) According to the present invention, the hand base in which the hands are arranged in a matrix form can be rotated about the matrix center and can be slid linearly, and the work supplied from the work supply device is slid linearly on the hand base. By moving, it chucks to half of the matrix hand,
Next, the hand base is rotated 180 degrees, and then linear sliders are used to chuck the other half of the matrix-like hand as described above, so the work is supplied by a robot that is inexpensive and capable of high speed and long strokes. The method can be realized.

In particular, the use of the method according to the present invention is highly effective as a work supply robot for insert molding that supplies insert work such as metal to a plurality of molds.

In addition, although the above-mentioned embodiment uses 16 hands,
This may be a combination of matrices with other numbers. In the case of four hands, it is obvious that there will be one escape.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of an apparatus for carrying out the method of the present invention,
2 to 10 are views sequentially showing the method of the present invention. 1 ... Fixed base 2 ... 1st moving base 3 ... 2nd moving base 4 ... Arm 5a, 5b, ... 5p ... Hand 5 ... Hand base 6 ... Work supply device

Claims (1)

(57) [Claims] 1. A hand base, in which hands are arranged in a matrix, can be rotated about a matrix center and can be linearly slid, and a work supplied from a work supply device is linearly slid on the hand base. By this, chucking to half of the matrix hand, then rotating the hand base 180 degrees, and then linearly sliding like the above, chucking to the matrix hand of the other half, work supply to the matrix hand of the robot Method.