JPH04266331A - Hand device of robot - Google Patents

Abstract

PURPOSE:To obtain the hand device of a robot for stably attracting and carrying a variety of materials of various sizes to be carried, without carrying out complicated control. CONSTITUTION:A moving attraction body 14 having a first attraction tool 12, a second attraction tool 15, and a positioning lug 16, is provided on the arm 2a of a robot 2, and by moving the second attraction tool 15 relatively to the first attraction tool 12, the attraction tool 15 is located in the predetermined position of a material to be carried 1. Even materials of various sizes are to be carried, the material to be carried is surely attracted, and is stably carried thereby.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device for a robot.

0002

2. Description of the Related Art The work of sequentially stacking objects transported by a transport conveyor onto pallets is widely carried out using robots, as shown in Japanese Patent Application Laid-Open No. 61-33426. ing. 7 and 8 show a conventional device having the same effect as that in the above-mentioned publication. In the figure, 1 has a box shape such as a cardboard box, and the top surface 1
a is a flat object to be transported, 2 is a robot, 2a is an arm of the robot 2, and 3 is an object to be transported 1 within the working range of the robot 2.
A transport conveyor 4 is a pallet placed at a stacking station, and the objects 1 to be transported are stacked on the pallet 4 in accordance with a preset stacking order. Reference numeral 5 denotes a hand device fixed to the lower end of the arm 2a of the robot 2, and a frame 5a and a plurality of vacuum suction pads, that is, suction tools 6, for suctioning the upper surface 1a of the conveyed object 1 are attached to the lower surface of the frame 5a. It has a similar configuration.

[0003] The conventional robot hand device is constructed as described above. First, when the conveyor 3 transports the object 1 into the working range of the robot 2, the robot 2 is operated by a control device (not shown). ), the arm 2a approaches the conveyed object 1. When the suction tool 6 attached to the hand device 5 comes into contact with the upper surface 1a of the object 1 on the transport conveyor 3, a touch sensor (not shown) is activated and the arm 2a is stopped. Next, when the control device operates and the suction tool 6 is energized, the conveyed object 1 is suctioned. Subsequently, a command to transport the transported object 1 is issued from the control device, and the arm 2a of the robot 2 ascends, rotates, and descends to move the transported object 1.
is placed on the pallet 4 at a preset position. Then, the suction tool 6 of the hand device 5 is deenergized and the conveyed object 1
The loading onto pallet 4 is completed. Note that the figure shows a case where two objects 1 to be transported are transported simultaneously.

0004

[Problems to be Solved by the Invention] Such a conventional robot hand device is designed to hold the upper surface 1a of the conveyed object 1 by the suction tool 6.
Since the objects 1 to be transported are transported by suction, the objects 1 to be transported can be efficiently stacked on the pallet 4 without gaps, as shown in FIG. However, on the other hand, when attempting to transport various types of objects 1 of different sizes, the following problems arise. That is, as shown in FIG. 9, suction tools 6a, 6b
If the transported object 1A is small compared to the installation interval of
For example, there is a problem in that one suction tool 6b protrudes from the upper surface of the transported object 1A, and the atmosphere enters the inside of the suction tool 6b as shown by arrow A, making it impossible for the suction tool 6b to suction the transported object 1A. In addition, as shown in FIG. 10, a suction tool 6a,
If the transported object 1B is large with respect to the attachment interval of the transported objects 1B, the burden of suctioning and holding the transported object 1B will be placed on the suction tool 6b, which is close to the center of gravity G of the transported object 1B. For this reason, while the robot 2 is operating, a load exceeding the suction capacity is applied to the suction tool 6b, and there is a fear that the transported object 1B may fall off. In addition, in order to solve these problems, the frame 5a
There has been a configuration in which a large number of suction tools are attached to the conveyor, and only the suction tools that reliably contact the conveyed object 1 are energized to adsorb it. An example of this is shown in FIG. In this example, suction tools 6f, 6
g is deenergized and only the suction tools 6d and 6e are energized to suction the conveyed object 1. However, in this configuration, the transported object 1
There is a problem in that it is necessary to select and operate the suction tool to be energized each time, and as the number of types of objects 1 to be transported increases, complicated control is required.

The present invention was made to solve this problem, and provides a robot hand device that can reliably pick up and transport various objects of different sizes without complicated control. is intended to provide.

[0006]

[Means for Solving the Problems] A robot hand device according to the present invention includes a first suction device provided on the arm of the robot for suctioning the upper surface of an object to be conveyed, and a second suction tool for suctioning the upper surface of the object to be conveyed. and a positioning piece that is arranged at a certain distance from the second suction tool and on the opposite side of the first suction tool and abuts against the side surface of the object to be transported. A movable suction body is provided, the suction device moving relative to the first suction device.

[0007]

[Operation] The robot hand device configured as described above positions the second suction device at a predetermined position of the object to be transported by moving the movable suction body.

[0008]

[Example] Example 1. An embodiment of this invention will be described with reference to FIGS. 1 to 5. In the figure, the same or corresponding parts as those of the conventional apparatus shown in FIGS. 7 and 8 are denoted by the same reference numerals, and the explanation thereof will be omitted. In the figure, 10 is a hand device fixed to the lower end of the arm 2a of the robot 2, 11 is a frame of the hand device 10, and 12 is a hand device fixed to the lower surface of the frame 11, which attracts the upper surface 1a of the transported object 1. 1 is a suction device, 13 is a drive machine consisting of an air cylinder that is attached to the frame 11 and moves the operating rod 13a forward and backward, and 13b is a brake that mechanically fixes the forward and backward movement of the operating rod 13a using air pressure. The solenoid valve 19 shown in FIG. 4 is controlled and operated. 14 is connected to the frame 11 via a guide rail 14b horizontally fixed to the frame 11.
This movable suction body 14 is arranged at a distance l( 1), and a positioning piece 16 disposed on the opposite side of the first suction tool 12. The positioning piece 16 is bent downward from the main body 14a into a hook shape, and the lower end 16a is located below the second suction tool 15. Further, the main body 14a of the movable suction body 14 is connected to the tip of the actuating rod 13a of the driving machine 13, and
3 is driven, the movable suction body 14 moves along the guide rail 1
4b, the actuating rod 13a of the driving machine 13 is moved forward and backward. Moreover, the first suction tool 12 is
As shown in FIG. 1, the second suction tool 15 is installed away from the center of the frame 11 by a distance l. Also,
As shown in FIG. 1, a pair of each of the first suction tool 12, the driving device 13, the movable suction body 14, and the guide rail 14b are attached symmetrically to the frame 11. 17 shown in the pneumatic system diagram of FIG. 4 is an air compressor, 18 is a vacuum pump,
20 is a solenoid valve that operates the driver 13; 21 is a suction tool 1;
2 and 15, and 22 is a vacuum switch.

Next, the operation of the first embodiment will be explained based on the flowchart shown in FIG. When the conveyor 3 conveys the conveyed object 1 into the operating range of the robot 2 and stops, the control device of the robot 2 operates, and step 3
1 arm primary lowering command is issued. In step 31, the robot 2 operates, and the hand device 10 attached to the lower end of the arm 2a faces the object 1 to be transported. As shown in FIG. 1, when the distance sensor 17 attached to the frame 11 detects a preset distance H to the transported object 1, the detection signal issues an arm stop command in step 32, and the arm stops. 2a stops. In this state, that is, when the distance H from the distance sensor 17 to the transported object 1 is detected and the arm 2a is stopped, the first suction tool 12 is attached to the upper surface of the transported object 1, as shown in FIG. 1a, and the actuating rod 13a of the drive unit 13 moves forward, and the movable suction member 14 has the positioning piece 16 outside the conveyed object 1, that is, at the open position, and the lower end 1 of the positioning piece 16
6a is located below the upper surface 1a of the object 1 to be transported.

Next, the control device issues a command to close the movable suction body in step 33, the solenoid valve 20 is controlled, the drive machine 13 operates, and the actuating rod 13a retreats.
4 is guided by the guide rail 14b and moves from the open position to the closed direction, and the positioning piece 16 moves against the side wall 1 of the transported object 10.
b. This state is shown in FIG. At this time, the positioning piece 16 presses the side wall 1b of the transported object 1 with a pressing force P
is set to be as small as, for example, about 1 kg. Subsequently, when the controller issues a command to adsorb the transported object in step 34 and the electromagnetic valve 21 opens, the first suction tool 12 and the second suction tool 15 are directly connected to the vacuum pump 18 and are in a state where they can be adsorbed. becomes. Next, the control device controls arm 2 in step 35.
Next, a descending command is issued, the robot 2 operates, and the arm 2a descends vertically. Then, the first suction tool 12 and the second
When the suction tool 15 comes into contact with the upper surface 1a of the transported object 1, the degree of vacuum within the suction tool increases, and when the degree of vacuum reaches a predetermined value, the vacuum switch 22 is activated. Then, in response to the operation signal of the vacuum switch 22, an arm stop command is issued in step 36. Note that when the arm 2a is lowered in step 35, the positioning piece 16 is in contact with the side wall 1b of the object 1 to be transported. However, since the pressing force P (shown in FIG. 2) of the positioning piece 16 is made small, the vertical contact resistance generated on the positioning piece 16 is small. Therefore, the arm 2a descends smoothly.

The arm stop command in step 36 causes the arm 2a of the robot 2 to stop descending. This state is shown in FIG. That is, the first suction tool 12 and the second suction tool 15 both suction the upper surface 1a of the object 1 that is located inside the side wall 1b by a distance l. Next, the control device issues a command to fix the movable adsorbent in step 37, and as shown in FIG.
When the electromagnetic valve 19 shown in FIG.
The forward and backward movements of a are prevented. As a result, the movable suction body 14 connected to the actuating rod 13a is fixed to the frame 11. After this, the control device issues an object transfer command in step 38, and the arm 2 of the robot 2
a rises → turns → descends to place the transported object 1 on the pallet 4, and then the solenoid valve 21 operates to move the first suction tool 1
2 and the second suction tool 15 are deenergized, and the stacking of the transported objects 1 is completed.

Therefore, the robot hand device according to this embodiment moves the movable suction body 1 according to the size of the transported object 1.
4 is moved to a predetermined position on the upper surface 1a of the object 1 and positioned. Therefore, the suction tool does not protrude from the upper surface 1a of the transported object 1 or is not placed biased toward the upper surface 1a of the transported object 1, so that complicated control of various transported objects 1 of different sizes is possible. It can be reliably adsorbed and transported without having to do so. Furthermore, while the conveyed object 1 is being conveyed by the robot 2,
Since the positioning piece 16 of the movable suction body 14 is fixed to the frame 11, even if excessive acceleration is applied to the conveyed object 1 in the direction of arrow B or arrow C shown in FIG. Prevent movement. Therefore, the transported object 1 does not fall off the suction tools 12 and 15, and can be transported stably.

Example 2. In Example 1, the first suction tool 1
2 is fixed to the frame 11, but in this embodiment,
As shown in FIG. 6, a movable suction body 14c is provided opposite to the movable suction body 14, and the suction tool 15a fixed to the movable suction body 14c is the first suction tool in Example 1, and the same It may also be configured to operate as follows. In addition, in this embodiment, one conveyed object 1 of different size can be reliably attracted.

[0014]

As explained above, the robot hand device according to the present invention includes a first suction device provided on the arm of the robot that suctions the top surface of the object to be transported, and a second suction device that suctions the top surface of the object to be transported. The second suction device has a suction device and a positioning piece that is arranged at a certain distance from the second suction device and on the opposite side of the first suction device and comes into contact with the side surface of the object to be transported. The tool is equipped with a movable suction body that moves relative to the first suction tool, and the movement of the movable suction body allows the second suction tool to be moved even if the object is of a different size. Since the object to be transported can be positioned at a predetermined position, the object to be transported can be reliably attracted and transported stably.

[Brief explanation of the drawing]

FIG. 1 is a front view showing Embodiment 1 of the present invention.

FIG. 2 is a front view for explaining the operation of the first embodiment of the present invention.

FIG. 3 is a front view for explaining the operation of the first embodiment of the present invention.

FIG. 4 is a pneumatic system diagram for explaining control according to the first embodiment of the present invention.

FIG. 5 is a flowchart diagram for explaining the operation of the first embodiment of the present invention.

FIG. 6 is a front view showing a second embodiment of the invention.

FIG. 7 is a conceptual diagram of a conventional transfer device using a robot.

8 shows a conventional robot hand device, and is a view taken in the direction of arrow VII in FIG. 6. FIG.

FIG. 9 is a front view for explaining the operation of a conventional robot hand device.

FIG. 10 is a front view for explaining the operation of a conventional robot hand device.

FIG. 11 is a front view for explaining the operation of a conventional robot hand device.

[Explanation of symbols]

1 Object to be transported 2a Arm 5, 10 Hand device 12 First suction tool 14 Mobile adsorbent 15 Second suction tool 16 Positioning piece

Claims (1)

[Claims] 1. A first suction tool provided on the arm of the robot that suctions the top surface of the object to be transported, a second suction tool that suctions the top surface of the object to be transported, and a certain distance from the second suction tool. a positioning piece that is placed on the opposite side of the first suction tool and abuts against a side surface of the object to be transported; A robot hand device characterized by comprising a movable suction body that moves relative to a robot.