JPS61263524A - Bag grasping hand - Google Patents

Abstract

PURPOSE:To provide a hand for grasping or placing bags etc. from/onto a conveyor by furnishing a pair of pawls stretching so that the horizontal portion extends from the bottom of the vertical portion fixed to one of the sliding members so as to sink level or inclined gradually toward the other sliding member. CONSTITUTION:Two sliding members 3, 3 are approached or separated by an air cylinder 4 and a parallel link mechanism 5 under guidance of two parallel guide members 2, 2 which are positioned horizontal. When said air cylinder device 4 is actuated, the members 3, 3 are separated to open a pair of grasping pawls 6, 6 situated at the bottom thereof, and the grasping hand H is placed right over the bag and sunk until the horizontal portions 64 of said pawls 6, 6 come below the undersurface of said bag. Then the air cylinder device 4 is retracted to allow the members 3, 3 to approach, and the pawls 6, 6 are put in closed condition, and then a pair of gripping pieces 67, 67 hold the bag at its sides, and the pawls 6, 6 embrace the bag. When a bag is to be placed off, said hand H is sunk and the pawls 6, 6 are opened.

Description

[Detailed Description of the Invention] Technical Field> The present invention relates to a hand for a palletizing robot, a manual manipulator, and other cargo handling equipment, and is suitable for transferring cargo such as boxes and bags, and is particularly suitable for use with roller conveyors, Alternatively, the present invention relates to a baggage holding hand suitable for grasping bags transported by a belt conveyor in which several endless belts are arranged in parallel at intervals, or conversely, for placing bags on the same conveyor.

<Background of the Invention> Conventionally, when palletizing cargo transferred on a conveyor, if the cargo is a boxed item, a clamp-type hand of the palletizing robot is generally adopted.
When the cargo is an irregularly shaped object, for example, a bag, it is often difficult to use a clamp-type hand, and therefore a suction-type vacuum hand is generally employed.

Palletizing bags may also be difficult due to the use of vacuum hands. In other words, in the case of a bag whose contents are powder, granular or liquid and have a large content weight, if the vacuum hand is pressed against the top of the bag to suction and grasp it, the top of the bag will droop and large chicks will form on the top of the bag. , a gap is created between the vacuum hand and the bag, making it impossible to suction and grasp it, and there is also a risk that the bag may be torn.

Therefore, one possible solution is to scoop up the luggage from below. However, when trying to scoop up bags from below, the conveyor becomes an obstacle and cannot be grasped.

<Purpose of the Invention> The present invention has been devised in view of the above-mentioned points, and by providing a pair of opposing scooping claws such as those of a forklift, the contents of the bag are powder, granules or liquid, To provide a baggage holding hand capable of scooping up and carrying baggage from both sides even if the weight of the contents is large, and suitable for picking up baggage on a conveyor and placing the baggage on the conveyor.

<Structure of the Invention> The baggage holding hand of the first invention of the present application includes: a support frame attached to a cargo handling device; one or more guide members provided horizontally on the support frame; and the guide member. two slide members installed to be supported and guided by the support frame;
an opening/closing device for separating the slide members; and a pair of holding claws, the upper ends of the vertical parts of which are fixed to each of the slide members, and the horizontal parts of which extend downward from the lower ends of the vertical parts horizontally or with a gentle slope in the direction of the other slide member. Each of the slide members is elongated in a direction horizontal and orthogonal to the guiding direction of the guide member, and each of the gripping claws extends from the distal end of the horizontal portion toward the proximal end, and further extends at least midway through the vertical portion. It is characterized by a branched shape containing a plurality of mutually parallel slits extending up to

The baggage holding hand of the first invention of the present application also includes: a support frame attached to a cargo handling device, one or a plurality of parallel guide members provided horizontally on the support frame, and a plurality of guide members supported by the guide member. Four slide members lined up in the guiding direction of a guide member provided to be guided.

A first opening/closing device is attached to the support frame and allows the two outer slide members to approach and separate from each other so as not to interfere with the two inner slide members; a pair of holding claws which are fixed and whose horizontal part is horizontal or gently inclined from the lower end of the vertical part in the direction of the other sliding member, and which extends so as not to interfere with the holding claws; It consists of a second opening/closing device that separates the two slide members from each other, and a pair of clamping claws whose upper ends are fixed to the two inner slide members and hang down to clamp the cargo. , which are elongated in a direction horizontal and perpendicular to the guiding direction of the guide member, and each of the holding claws is parallel to each other and extends from the distal end of the horizontal part toward the proximal end and further extends to at least the middle of the vertical part. It has a branched shape with a plurality of slits, and each of the clamping claws is characterized in that at least a portion from the middle of the vertical portion to the bottom end is lined up in a direction horizontal and orthogonal to the guiding direction of the guide member. It is something to do.

Embodiment of the First Invention> An embodiment of the luggage holding hand of the first invention of the present application will be described with reference to FIGS. 1 to 5.

As shown in FIGS. 1 to 4, this baggage holding hand H consists of two guide members 2 that are horizontal and parallel to the support frame 1.
2 is provided, and slide members 3, 3 on the two sides are guided by the guide member 2.2, and the two slide members 3, 3 are connected to an air cylinder device 4 and a parallel link mechanism that swings this using a drive source. 5, the two slide members 3
．． A pair of rake-shaped holding claws 6.6 provided at 3 are adapted to open and close in the horizontal direction.

For example, as shown in FIG. 5, the baggage holding hand H is attached to a palletizing robot H, so that the baggage W on the roller conveyor C can be scooped up and grasped from both sides.

As shown in FIGS. 1 to 3, the support frame 1 has four holes on the top surface of the "Japanese"-shaped board 11, which is formed by punching rectangular openings on the left and right sides of a rectangular original plate and leaving a central connecting part. Legs 13, 13.・
φ is erected, a small rectangular fin 14 is stretched on the upper end thereof, and four helicoids 15, 15. -. has a truss structure in which the four corners of the flange 14 and the four corners of the board 11 are connected and reinforced. Further, the guide members 2, 2, the substrate 1
1, which are two shafts parallel to each other at both ends of the housing 15.15. ... is supported at both ends and in the middle. The opposing slide members 3, 3 have two cylindrical pieces 3 for each guide member 2.2.
1.31. -- by fitting the cylindrical pieces 31 and 3 on the same side.
1 are connected and fixed to each other by a connecting member 32, and are substantially elongated in a direction horizontal and orthogonal to the guiding direction of the guide members 2, 2, and can be moved toward and away from each other. In the parallel link mechanism 5, the central part of the central link 51 is pivotally connected to the central part of the board 11 with a pin 16, and end links 52 and 52 of the same length are pivotally connected to both ends of the central link 5L. Link 52.52
are arranged parallel to each other in opposite directions on both sides of the central link 51, and the other end of each end link 52 is pivoted to approximately the middle of the upper surface of the connecting member 32 of the slide member 3 on the same side. The air cylinder device 4 has a cylinder base pivoted to a bracket 17 provided on the upper surface of the base plate 11, and a piston rod outer end 41 pivoted to an end of the center link 51 of the parallel link mechanism 5. There is. By retracting the air cylinder device 4 as shown in FIG. 3, the pair of slide members 3.3 are brought closer to each other, and by extending the air cylinder device 4 as shown in FIG. 4, they are separated from each other. It is now possible to do so. The above-mentioned holding claws 6, 6 are provided to hang down from the slide members 3, 3, respectively, and are guide members. , a plurality of single claws θ1a to 81e lined up in a direction horizontal and perpendicular to the guiding direction of .

The vertical section consisting of 82a to 62e is L-shaped and rake-shaped.
The tips of the claws are opposite each other. 8 of the vertical part of the claw itself
3 and a horizontal portion 6 extending downward from the lower end of the horizontal portion at a gentle slope.
4, and furthermore, it has a horizontal rod 8B in the middle of the vertical portion 63, which is biased by a spring 65 in the direction of the other holding claw 6, and the tip of the horizontal rod 66. It has a clamping piece B7 at the top thereof, and also has a roller 88 near the tip of the horizontal part 64 that guides the load in the direction in which the load gets on and off.

Next, the operation of the baggage holding hand H of the above embodiment will be explained.

Assume now that the roller conveyor C has transported the material to the palletizing position and has stopped.

First, when the air cylinder device 4 is extended as shown in FIG. 4, the pair of slide members 3, 3 are separated from each other, and the pair of holding claws 6, 6 are moved along the chain line 6'' in FIG.
, 6' is located in the open 1 state. In this state, the palletizing robot R) positions the baggage holding hand H directly above the baggage on the conveyor and then lowers it to cover the baggage. In this case, the holding claws 6, 6 are lowered until the upper surface of the horizontal portion 64 is below the bottom surface of the bag, and since the pair of holding claws 6, 6 are rake-shaped,
It can fit between the rollers of roller conveyor C.

Note that the rollers 68 provided on the horizontal portion 84 of the claw plate are used to guide the baggage onto the bag when it is not possible to provide a sufficiently large space for the horizontal portion 84 to fit under the bag.
Next, when the air cylinder device 4 is operated to retire as shown in FIG. In this state, the pair of clamping pieces 67 and 87 hold the bag from both sides so that it does not move, and the holding claws 6 and 6 hold the bag from both sides.Then,
When the palletizing robot R raises the baggage holding hand H to perform one feed, the horizontal portion 84, which is a pair of claw plates, can scoop up the bags placed on the roller conveyor C. Next, palletizing robot R
carries out the conveyance, at this time, the pair of clamping pieces 87, 87,
Since the bags on the horizontal parts et and et are held down from both sides so that they do not move, they do not slip even during high-speed conveyance. After conveying the bags to the designated position, place them on the loading surface or on top of the bags that have already been horizontally stacked. Lower the baggage holding hand H until the baggage lightly sticks to it, and then set the pair of holding claws 6.6 to the r-open position 1, and the rollers 68 provided on the horizontal portion B4 of each claw plate Since the bag is guided in the direction of getting on and off the bag by the claw plate, the horizontal portion B4, which is the claw plate, is separated from the bottom surface of the bag without shifting the bag from the transfer position, and the bag is no longer gripped. It can be opened and placed. Therefore, accurate multi-level stacking is possible without causing cargo collapse.

Embodiment of the second invention> An embodiment of the baggage holding hand of the second invention of the present application will be described with reference to FIGS. 6 and 7.

This baggage holding hand H is provided with two horizontal and parallel guide members 2, 2 on the support frame 1, and four slide members 3a are attached to the guide members 2, 2.

3b, 3c, and 3d are guided, and the two outer slide members 3a, 3d are approached and separated by a first opening/closing device consisting of an air cylinder device 4 and a parallel link mechanism 5 that swings using this as a drive source. Thus, the two outer slide members 3a.

A pair of L-shaped rake-shaped holding claws 6, 6 provided at 3d are adapted to open and close in the horizontal direction, and two inner slide members 3b.

3c, are approached and separated by a second opening/closing device consisting of two air cylinder devices 7, 7,
As a result, the pair of clamping claws 8, 8 provided on the two inner slide members 3b, 3c are configured to clamp the cargo prior to the cargo holding claws 6, 6 holding the cargo.

The horizontal portion 84 of the holding claw 6 is formed into a bifurcated shape, and the holding claw 8 enters into the bifurcated slit 88 of the horizontal portion 64 without interfering with it.

The lower end 81 of the gripping claw 8 is bent outward to prevent the bag from being torn.

The other configurations are completely the same as those of the embodiment of the baggage holding hand of the first invention, so the same reference numerals are given and the explanation will be omitted. Note that the horizontal portion 84 is not provided with the rollers described above.

Next, the operation of the baggage holding hand of the above embodiment will be explained.

First, a pair of holding claws 6.6 and a pair of clamping claws 8,8
However, in Figure 6, each chain! ! [6'.

6', 8', and 8' are in the open state. In this state, the palletizing robot) R positions the baggage holding hand H directly above the baggage, and then the holding claw 6,
6 horizontal part 64. When the bag is lowered until the top surface is below the bottom surface of the bag and placed over the bag, the pair of holding claws 6, 6 and the pair of clamping claws 8, 8 are rake-shaped with substantially the same pitch, so they are not shown. Then, when the two air cylinder devices 7, 7 are synchronously retired and the two inner slide members 3.3 are brought closer to each other, The pair of clamping claws 8, 8 enter the "closed state" shown by the solid line in FIG. 6, and the pair of clamping claws 8, 8 clamp the bag from both sides to prevent it from moving. When the cylinder device 4 is retracted and the pair of slide members 3.3 are brought close to each other, the pair of holding claws 6, 6 are in the "closed" state shown by the solid line in FIG. 6, and a state in which one bag is held from both sides. become. Then, when the palletizing robot R raises the cargo holding hand H, the pair of holding claws 6
．． The horizontal portion 84 of No. 6 can scoop up bags placed on the above-mentioned conveyor (not shown). Then, the palletizing robot jR carries out the conveyance. At this time, the pair of clamping claws 8, 8 hold the bag on both sides of the horizontal part 84, which is the claw plate, so that it does not move, so that the bag is held in a predetermined position so that it will not slip even during high-speed conveyance. After the baggage is transferred, the baggage holding hand H is lowered until the baggage is slightly floating or lightly attached to the storage surface or the baggage that has already been unloaded. After that, the air cylinder device 4 is extended to open the pair of holding claws 6, 6.
state. However, the bag still has a pair of clamping claws 8,
Because it is gripped by 8, 3, a pair of holding claws 6, 6
The bag leaves the bottom surface of the bag without shifting it from the transfer position, and the bag, which is still being held by the pair of gripping claws 8, falls completely onto the above-mentioned mounting surface or onto the bag that has already been loaded. I will be riding on. After that, the two air cylinder devices 7, 7 are expanded synchronously to release the pair of clamping claws 8, 8.
opens. Therefore, accurate multi-tiered stacking is possible with less chance of bacterial contamination.

Modified embodiments of the first and second inventions) □ ■ The guide member 2゜2 provided horizontally on the support frame 1 may be one piece, or may be a rail instead of a shaft.

■ The opening/closing device for bringing the two slide members 3, 3 closer to each other and separating them is not limited to the number of cylinder devices in the embodiment, and may be of any type, such as a pinion-rack type, a pole screw and ball nut type, or a magnetic pusher set. Anything is fine.

■ A pair of holding claws 6, 6, the horizontal part 64 is the vertical part -
It may be a gentle downward slope from 63, not extending, and may be horizontal, or at least a vertical part, from the middle of d83 to a horizontal part 6
4 part is the guiding force l811 of the guide member 2.2
f Sake selling force 60-pointed military officer ji tsumugi 1 zu hawk milk - h< T Vertical or rake shape is fine.

Further, the holding claws 6, 6 are not limited to those formed by arranging a plurality of single L-shaped claws to form a rake shape, but may be formed from a single plate, that is, the above embodiments. Therefore, a plurality of corresponding slits parallel to each other are provided on one side of a flat plate, and the flat plate with the slits is inserted into the slit. An L-shaped branched shape formed by bending in a direction perpendicular to the slit may also be used. The holding claw 6 may have a branched shape including a plurality of mutually parallel slits extending from the distal end of the horizontal part toward the proximal end and further extending to at least the middle of the vertical part. The pitch and width of each claw are relative to the pitch of the rollers of the roller conveyor and the gap between the rollers.

(2) The horizontal portions 64 of the holding claws 6, 6 of the second invention are not bifurcated, and may be designed to cross each other with the holding claws 8, 8.

(2) The pair of gripping claws 8.8 of the second invention may be such that at least a portion from the middle of the vertical portion 63 to the lower end is aligned horizontally and orthogonally to the guiding direction of the guide member 2.2.

<Effects of the Invention> As explained above, the baggage holding hand of the first invention of the present application has a pair of rake-shaped holding claws on a pair of slide members supported by a support frame and guided by a horizontal guide member. are provided facing each other, and the opening/closing device opens and closes the claws each time a pair of slide members approaches or separates, so the conveyor is transported using a roller conveyor or a belt conveyor with several endless belts arranged in parallel at intervals. If you do this, even if the bag is powder, granule, or liquid, and its contents are heavy, you can grasp it from both sides and scoop it up. It has the effect of being suitable for placing.

In addition, the holding claw has a horizontal rod in the middle of the vertical portion that is biased toward the other holding claw by a spring, and a cargo gripping piece is provided at the tip of the horizontal rod. In this case, a pair of clamping pieces hold the bag from both sides to prevent it from moving, so it is possible to load the bag accurately without dropping even during high-speed conveyance, and it is difficult for the bag to collapse even when stacked in multiple stages. This has the additional effect of increasing the speed of loading.

Further, in the baggage holding hand of the second invention of the present application, a pair of rake-shaped holding claws are provided facing each other on two outer slide members supported by a support frame and guided by a horizontal guide member, The first opening/closing device opens and closes the claws by moving the pair of sliding members closer to each other and separating them by Φ, and
On the two inner slide members guided by the guide member,
A pair of vertical clamping claws are provided facing each other, and the pair of clamping claws are opened and closed by approaching and separating two inner slide members using a second opening/closing device. By transporting endless belts on a belt conveyor arranged in parallel at intervals, even bags with large contents such as powder or liquid can be grasped from both sides and scooped up by the conveyor. Grab bags from above.

On the other hand, it is suitable for placing bags on a conveyor, and in particular, the pair of clamping claws presses the bags from both sides to prevent them from moving, allowing for accurate loading without dropping even during high-speed conveyance. Even when stacked in multiple stages, the cargo does not easily collapse and has the effect of increasing loading speed.

[Brief explanation of the drawing]

1 to 5 relate to an embodiment of the baggage holding hand of the first invention of the present application, FIG. 1 is a front view, FIG. 2 is a side view,
Figures 3 and 4 are plan views in different states, respectively.
The figure is a front view of a palletizing robot in which a baggage holding hand is attached to palletize bags. FIGS. 6 and 7 are a front view and a side view of an embodiment of the baggage holding hand according to the second invention of the present application. H... Hand for carrying cargo, 2.2... Guide member, 3.3. ...Slide member, 4.Air cylinder device, 5.Fist/parallel link mechanism, 6.6.Holding claw, B3.Long.Vertical part, 64.φ.Horizontal part, 85..Fist spring. 88/11 meeting horizontal rod, 8? --- Clipping piece, 7.7... Life air cylinder device, 8.8... Gripping claw, Patent applicant Dainichi Kiko Co., Ltd. Figure 2 Figure 5

Claims (3)

[Claims] (1) A support frame attached to the cargo handling equipment, one or more parallel guide members installed horizontally on the support frame, and two guide members installed to be supported and guided by the guide members. a slide member attached to the support frame, and the two slide members are brought close together.
an opening/closing device for separating the slide members; and a pair of holding claws, the upper ends of the vertical parts of which are fixed to each of the slide members, and the horizontal parts of which extend downward from the lower ends of the vertical parts horizontally or with a gentle slope in the direction of the other slide member. Each of the slide members is elongated in a direction horizontal and perpendicular to the guiding direction of the guide member, and each of the holding claws is oriented from the distal end of the horizontal portion toward the proximal end, and further extends at least midway through the vertical portion. A baggage holding hand characterized by a branched shape with a plurality of mutually parallel slits extending up to (2) Each of the holding claws has a horizontal rod in the middle of the vertical portion, which is biased by a spring in the direction of the other holding claw;
The baggage holding hand according to claim 1, further comprising a baggage holding piece at the tip of the horizontal rod. (3) A support frame attached to the cargo handling equipment, one or a plurality of parallel guide members provided horizontally on the support frame, and a guide member provided to be supported and guided by the guide member. four slide members lined up in the guiding direction; a first opening/closing device that is attached to the support frame and causes the two outer slide members to approach and separate from each other so as not to interfere with the two inner slide members; a pair of grippers, the upper ends of the vertical parts being fixed to the two sliding members, the horizontal parts being horizontal or gently inclined from the lower ends of the vertical parts in the direction of the other sliding member, and extending so as not to interfere with the gripping claws; a second opening/closing device that is attached to the support frame and that brings the two inner slide members closer together and separates them; and a pair that hangs down with its upper ends fixed to the two inner slide members that clamp the cargo. each of the above-mentioned slide members is elongated in a direction horizontal and orthogonal to the guiding direction of the guide member, and each of the above-mentioned holding claws is directed from the distal end of the horizontal portion toward the proximal end, and has a further small number of holding claws. Both of them have a branched shape with a plurality of mutually parallel slits extending halfway up the vertical part, and each of the gripping claws has at least a portion from the middle of the vertical part to the lower end that is horizontal in the guiding direction of the guide member. A baggage holding hand characterized by being lined up in orthogonal directions.