JP3446097B2 - Article holding device - Google Patents
Article holding deviceInfo
- Publication number
- JP3446097B2 JP3446097B2 JP16413399A JP16413399A JP3446097B2 JP 3446097 B2 JP3446097 B2 JP 3446097B2 JP 16413399 A JP16413399 A JP 16413399A JP 16413399 A JP16413399 A JP 16413399A JP 3446097 B2 JP3446097 B2 JP 3446097B2
- Authority
- JP
- Japan
- Prior art keywords
- movable
- support member
- fixed
- article
- gripping means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、保持した複数の
物品の間隔を一方向で拡縮すると共に、拡縮する方向と
交差する方向に並ぶ物品を斜め上下に変位した状態にし
得る物品保持装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article holding device capable of expanding / contracting a space between a plurality of held articles in one direction, and of arranging articles lined up in a direction intersecting with the expanding / contracting direction in an obliquely vertically displaced state. Is.
【０００２】[0002]
【従来の技術】物品を保持する保持手段を複数有し、こ
れら保持手段の間隔を変更する手段を介して保持した各
物品の間隔を変え得る物品保持装置が知られている。こ
の物品保持装置は、例えば保持した物品を包装箱に収納
する際にその間隔を縮めるようにして使用され、該包装
箱に物品をコンパクトに収納することができる。このよ
うな物品保持装置としては、例えば特開平６−２７１０
６３号公報に記載の発明「フレキシブルグリップヘッド」
が存在する。該公報に開示されたグリップヘッドは、縦
横に複数列、行で配列された物品を保持して搬送するの
に用いられるものであって、該グリップヘッドは、物品
を吸着保持する複数のピックアップカップの間隔を変更
するために、縦横２列のパンタグラフからなるピッチ調
整装置を備えている。そして、ピッチ調整装置で複数の
ピックアップカップの間隔を、物品の大きさに応じて調
整するよう構成されている。2. Description of the Related Art There is known an article holding apparatus which has a plurality of holding means for holding articles and can change the distance between the held articles via a means for changing the distance between the holding means. This article holding device is used, for example, so as to shorten the interval when holding the held articles in the packaging box, and the articles can be compactly stored in the packaging box. An example of such an article holding device is, for example, JP-A-6-2710.
Invention “Flexible grip head” disclosed in Japanese Patent No. 63
Exists. The grip head disclosed in this publication is used to hold and convey articles arranged in a plurality of columns and rows in the vertical and horizontal directions, and the grip head includes a plurality of pickup cups for adsorbing and holding the articles. In order to change the interval of, a pitch adjusting device including a pantograph having two rows in the vertical and horizontal directions is provided. Then, the pitch adjusting device is configured to adjust the intervals between the plurality of pickup cups according to the size of the article.
【０００３】また、特開平６−２６２５７２号公報に開
示される発明「箱詰め用バキューム式ロボットハンド」で
は、下端部にバキュームパッドを備えた４本の縦管が、
二対の第１リンクバーおよび二対の第２リンクバーから
なるパンタグラフ状の平行リンク機構で接続され、該平
行リンク機構を空圧シリンダで作動することで、４本の
縦管(バキュームパッド)の間隔を変えるよう構成され
る。Further, in the invention "Vacuum type robot hand for packing" disclosed in JP-A-6-262572, four vertical tubes having a vacuum pad at the lower end are
Four vertical pipes (vacuum pads) are connected by a pantograph-shaped parallel link mechanism composed of two pairs of first link bars and two pairs of second link bars, and the parallel link mechanisms are operated by pneumatic cylinders. Configured to change the spacing of.
【０００４】[0004]
【発明が解決しようとする課題】前述した従来の物品保
持装置では、物品を保持する複数の保持手段の間隔を、
何れもパンタグラフ状の平行リンク機構により変えるよ
う構成している。このため機構自体が複雑になると共
に、装置自体を長大化させる難点がある。またこれらの
物品保持装置は、保持した各物品の位置を平面的に変え
るのみであって、上下方向に変えることはできない。従
って、物品保持装置で物品を次の処理工程へ受け渡す際
に、その処理動作に応じて同一平面上で保持した物品
を、これに対応した個別の量だけ上下方向に変位させて
高低差を与える必要がある場合には対応できなかった。In the above-mentioned conventional article holding device, the intervals between the plurality of holding means for holding the articles are set as follows.
Both are configured to be changed by a pantograph-shaped parallel link mechanism. For this reason, the mechanism itself becomes complicated, and there is a problem that the device itself is lengthened. Further, these article holding devices only change the position of each held article in a plane and cannot change the position in the vertical direction. Therefore, when transferring the article to the next processing step by the article holding device, the article held on the same plane according to the processing operation is vertically displaced by an individual amount corresponding to the processing operation so that there is a difference in height. I couldn't handle it if I had to give it.
【０００５】[0005]
【発明の目的】この発明は、前述した従来の技術に内在
している前記課題に鑑み、これを好適に解決するべく提
案されたものであって、物品相互の間隔を拡縮する機構
が簡易で、かつ拡縮方向と異なる方向に物品の位置を変
えることができる物品保持装置を提供することを目的と
する。SUMMARY OF THE INVENTION The present invention has been proposed in view of the above-mentioned problems inherent in the above-mentioned conventional techniques, and is proposed in order to solve the problems, and a mechanism for expanding and contracting the interval between articles is simple. An object of the present invention is to provide an article holding device that can change the position of an article in a direction different from the expansion / contraction direction.
【０００６】[0006]
【課題を解決するための手段】前述した課題を解決し、
所期の目的を好適に達成するため、本発明に係る物品保
持装置は、保持した複数の物品の間隔を一方向で拡縮す
るよう構成した物品保持装置であって、基台に対して定
位置に配設された固定支持部材と、前記基台に対して定
位置に配設されて拡縮する方向に延在する案内部材と、
前記固定支持部材に対して拡縮する方向の一方側で拡縮
する方向に連続して並び、前記案内部材に沿って移動可
能に配設された複数の可動支持部材と、前記固定支持部
材および各可動支持部材の夫々に平行リンク機構を介し
て配設されて拡縮する方向と交差する方向に並び、前記
物品を保持する複数の保持手段と、前記保持手段により
保持された物品が、その姿勢を保ったまま、一つの水平
面上に略一致するよう配置される状態と、前記固定およ
び可動の各支持部材において前記複数の保持手段が並ぶ
方向で斜め上下に並んで配置される状態とに変位するよ
う、前記平行リンク機構を作動して保持手段の位置を変
更する位置変更作動手段とを備え、前記固定支持部材、
該固定支持部材に配設された複数の保持手段および平行
リンク機構で固定把持手段が構成されると共に、前記各
可動支持部材、該可動支持部材に配設された複数の保持
手段および平行リンク機構で可動把持手段が夫々構成さ
れ、前記固定把持手段から最も離れた可動把持手段は、
拡縮作動手段で拡・縮両方向に作動され、前記固定把持
手段に隣り合う可動把持手段を、前記基台または基台に
対して定位置に配設される部材に第１索体で連結して、
固定把持手段に対して隣り合う可動把持手段の間隔が拡
大した際に該第１索体が張った状態となることで固定把
持手段と可動把持手段との間隔を設定すると共に、前記
隣り合う各可動把持手段を第２索体で連結して、両可動
把持手段の間隔が拡大した際に該第２索体が張った状態
となることで両可動把持手段の間隔を設定し、前記隣り
合う各可動把持手段の間、および固定把持手段とこれに
隣り合う可動把持手段との間に臨む間隔設定部材に、各
把持手段の間隔が縮小した際に可動把持手段が当接する
ことで、隣り合う各把持手段の間隔を設定するよう構成
したことを特徴とする。[Means for Solving the Problems]
In order to preferably achieve the intended purpose, the article holding device according to the present invention is an article holding device configured to expand and contract the interval between a plurality of held articles in one direction, and is a fixed position with respect to a base. A fixed support member arranged on the base, and a guide member arranged at a fixed position with respect to the base and extending in the direction of expansion and contraction,
A plurality of movable support members arranged continuously in the direction of expansion and contraction on one side with respect to the fixed support member and movably arranged along the guide member, the fixed support member and each movable member. Through the parallel link mechanism to each of the support members
The plurality of holding means for holding the articles and the articles held by the holding means are substantially aligned on one horizontal plane while maintaining their postures. The parallel link mechanism is operated and held so as to be displaced into a state in which the plurality of holding means are arranged in a diagonally upper and lower direction in the fixed and movable supporting members Change the position of the means
Further position change actuating means , the fixed support member,
A plurality of holding means and parallels arranged on the fixed support member
The link mechanism constitutes the fixed gripping means, and each of the movable support members, the plurality of holding means disposed on the movable support member, and the parallel link mechanism respectively constitute the movable gripping means. The movable gripping means apart from each other,
The movable gripping means, which is actuated in both expansion and contraction directions by the expansion / contraction operation means and is adjacent to the fixed gripping means, is connected to the base or a member arranged at a fixed position with respect to the base by the first cord. ,
When the distance between the adjacent movable gripping means with respect to the fixed gripping means is expanded, the first cord is in a stretched state to set the distance between the fixed gripping means and the movable gripping means, and the adjacent each The movable gripping means are connected by the second cord, and when the distance between the two movable gripping means is enlarged, the second cord is put in a tensioned state so that the distance between the two movable gripping means is set, and the two are adjacent to each other. The movable gripping means are brought into contact with each other when the distance between the respective gripping means is reduced when the distance between the respective movable gripping means is reduced and the distance setting member facing between the fixed gripping means and the adjacent movable gripping means is adjacent. It is characterized in that the gap between the gripping means is set.
【０００７】[0007]
【作用】基台に対して固定支持部材を介して拡縮する方
向で定位置に配設した固定把持手段に対し、これに隣り
合う可動把持手段および各可動把持手段の間隔を縮小し
た状態では、第１索体および第２索体が緩んでいる。こ
の状態で各把持手段が備える複数の保持手段で物品を保
持した後、固定把持手段から最も離れた可動把持手段を
拡縮作動手段により間隔を拡大する方向に移動させる
と、前記第２索体で相互に連結された各可動把持手段が
追従して移動する。そして、固定把持手段に隣り合う可
動把持手段と基台または基台に対して定位置に配設され
る部材とを連結する第１索体および前記第２索体が張っ
た状態になると、各可動把持手段の移動は規制されて、
各保持手段に保持された物品相互の間隔は、第１索体お
よび第２索体の長さに応じて可動把持手段の移動方向に
拡大する。With respect to the fixed gripping means arranged at a fixed position in the direction of expansion and contraction with respect to the base with respect to the fixed gripping means, when the distance between the movable gripping means adjacent to the fixed gripping means and each movable gripping means is reduced, The first and second cords are loose. In this state, after holding the article by a plurality of holding means provided in each gripping means, when the movable gripping means farthest from the fixed gripping means is moved in the direction in which the interval is enlarged by the expansion / contraction operating means, the second cord is moved. The movable gripping means connected to each other follow each other and move. Then, when the first cord and the second cord that connect the movable gripper adjacent to the fixed gripper to the base or the member arranged at a fixed position with respect to the base are in a stretched state, The movement of the movable gripping means is restricted,
The distance between the articles held by each holding means increases in the moving direction of the movable gripping means in accordance with the lengths of the first rope and the second rope.
【０００８】また、前記固定把持手段から最も離れた可
動把持手段を拡縮作動手段により間隔を縮小する方向に
移動させると、隣り合う各可動把持手段の間に臨む間隔
設定部材に可動把持手段が当接した状態で全ての可動把
持手段が移動する。そして、固定把持手段とこれに隣り
合う可動把持手段の間に配設した間隔設定部材に可動把
持手段が当接することで、各可動把持手段の移動が規制
されて、各保持手段に保持された物品相互の間隔は、各
間隔設定部材の長さまたは配設位置に応じて可動把持手
段の移動方向に縮小する。When the movable gripping means farthest from the fixed gripping means is moved by the expansion / contraction actuating means in the direction of reducing the spacing, the movable gripping means contacts the spacing setting member facing between the adjacent movable gripping means. All the movable gripping means move in the contact state. Then, the movable gripping means is brought into contact with the interval setting member arranged between the fixed gripping means and the movable gripping means adjacent to the fixed gripping means, whereby the movement of each movable gripping means is restricted and held by each holding means. The distance between the articles is reduced in the moving direction of the movable gripping means in accordance with the length or arrangement position of each distance setting member.
【０００９】次に、平行リンク機構を位置変更作動手段
で作動することで、複数の保持手段により保持された各
物品は、その姿勢を保ったまま、一つの水平面上に略一
致するよう配置される状態と、固定および可動の各支持
部材において複数の保持手段が並ぶ方向で斜め上下に並
んで配置される状態とに変位される。Next, by operating the parallel link mechanism by the position changing actuating means, the articles held by the plurality of holding means are arranged so as to be substantially coincident with each other on one horizontal plane while maintaining their postures. And a state in which a plurality of holding means are arranged diagonally above and below in the fixed and movable support members.
【００１０】[0010]
【発明の実施の形態】次に、本発明に係る物品保持装置
につき、好適な実施例を挙げて、添付図面を参照しなが
ら以下説明する。なお説明の便宜上、物品保持装置で保
持する物品を移送する導入および供給の各コンベアの移
動方向(物品供給方向)と平行な方向を、物品保持装置に
よる物品間隔を拡縮する方向、これと水平に直交する方
向を前後方向と指称する。またこの前後方向において、
物品保持装置の物品移送方向下流側(供給コンベア側)を
前側とし、同上流側(導入コンベア側)を後側とする。BEST MODE FOR CARRYING OUT THE INVENTION Next, an article holding device according to the present invention will be described below with reference to the accompanying drawings with reference to preferred embodiments. For convenience of explanation, a direction parallel to the moving direction (article supply direction) of each conveyer for introducing and supplying the article held by the article holding device, the direction in which the article interval of the article holding device is expanded or contracted, and the horizontal direction The orthogonal direction is referred to as the front-back direction. Also in this front-back direction,
The downstream side (supply conveyor side) of the article holding device in the article transfer direction is the front side, and the upstream side (introduction conveyor side) is the rear side.
【００１１】図１に示す実施例に係る物品保持装置１０
は、搬送方向が拡縮する方向と一致する物品１１の導入
コンベア１２と、該コンべア１２に対して前後方向に所
定間隔離間して隣接配置した物品移載部材１３との間
を、前後方向に移動するよう構成される(図８参照)。ま
た物品１１は、物品移載部材１３において所要配列で集
合された後、包装機(図示せず)に該物品１１を供給する
ための供給コンベア１４に対して積み重ね状態として移
送されるようになっている。そこで、物品保持装置１０
の説明に先立ち、その他の装置の概略構成につき説明す
る。An article holding device 10 according to the embodiment shown in FIG.
Is a front-back direction between an introduction conveyor 12 for introducing an article 11 whose conveyance direction coincides with a direction in which it expands and contracts, and an article transfer member 13 disposed adjacent to the conveyor 12 at a predetermined distance in the front-back direction. Configured to move to (see FIG. 8). Further, the articles 11 are arranged in the article transfer member 13 in a required arrangement and then transferred as a stack to a supply conveyor 14 for supplying the articles 11 to a packaging machine (not shown). ing. Therefore, the article holding device 10
Prior to the description of 1., the schematic configuration of other devices will be described.
【００１２】(導入コンベアおよび供給コンベアについ
て)前記導入コンベア１２は、図７に示す如く、その搬
送終端部に物品１１のストッパ(図示せず)が配設されて
おり、上流側から整列的に搬送される複数の物品１１を
停止させ、集合位置において所要配列(実施例では搬送
方向に５行でこれと交差する方向に３列)で集合させる
ものである。そして、この集合された１５個の物品１１
が、物品保持装置１０により前記物品移載部材１３に移
載されるようになっている。なお、実施例で取扱われる
物品１１は、その上部外周に外側方に突出するフランジ
部１１ａを有している。(Regarding Introduction Conveyor and Supply Conveyor) As shown in FIG. 7, the introduction conveyor 12 is provided with a stopper (not shown) for the articles 11 at the end of its conveyance, and is arranged in an array from the upstream side. A plurality of articles 11 to be conveyed are stopped and collected in a required arrangement (in the embodiment, 5 rows in the conveying direction and 3 columns in a direction intersecting the conveying direction) at a collecting position. Then, the 15 articles 11 collected
Are transferred to the article transfer member 13 by the article holding device 10. The article 11 handled in the example has a flange portion 11a protruding outward on the outer circumference of the upper portion thereof.
【００１３】また前記供給コンベア１４は、エンドレス
チェンに等間隔でラグ(何れも図示せず)を取着して走行
方向に隣り合う一対のラグ間に物品収容区画１４ａを夫
々画成することで、その移動方向に物品収容区画１４ａ
を等間隔で連続的に形成したものである。この供給コン
ベア１４を支持する機枠(図示せず)には、エンドレスチ
ェンの水平移動部に沿って物品載置板(図示せず)が水平
に配設され、該載置板から上方に各ラグが延出して走行
可能に構成されると共に、この物品載置板が物品収容区
画１４ａの底面を形成する。そして、物品移載部材１３
から物品載置板に載置された積み重ね状態の物品１１
(図８参照)を、ラグによって下流側の包装機(胴巻き包
装機)に供給するよう構成される。Further, in the supply conveyor 14, lugs (not shown) are attached to the endless chain at equal intervals to define the article storage compartments 14a between a pair of lugs adjacent to each other in the traveling direction. , The article storage section 14a in the moving direction thereof
Are continuously formed at equal intervals. On a machine frame (not shown) that supports the supply conveyor 14, an article placing plate (not shown) is horizontally arranged along the horizontally moving part of the endless chain, and the article placing plates (not shown) are arranged above the placing plate. The lug extends and is configured to run, and the article mounting plate forms the bottom surface of the article storage section 14a. Then, the article transfer member 13
Articles in a stacked state placed on the article placing plate from the
(See FIG. 8) is configured to be supplied to the downstream packaging machine (wrapping packaging machine) by a lug.
【００１４】(物品移載部材について)前記物品移載部材
１３には、供給コンベア１４への物品１１の移送経路と
なる複数(導入コンベア１２で集合される行の数と対応
する５つ)の物品収容空間１５が、供給コンベア１４の
移動方向(拡縮する方向)で並列に画成されている。すな
わち物品移載部材１３は、図２に示すように、拡縮する
方向に延在するベース部１６と、該ベース部１６上に拡
縮する方向で所定間隔離間して並列に立設された６枚の
ガイドプレート１７とから基本的に構成され、拡縮する
方向に隣り合う一対のガイドプレート１７,１７間に物
品収容空間１５が夫々画成される。なお、物品移載部材
１３に画成される５つの物品収容空間１５の拡縮する方
向の間隔は、前記供給コンベア１４に画成される物品収
容区画１４ａの間隔と略同一に設定される。また実施例
の物品収容空間１５は、前記導入コンベア１２で集合さ
れる列の数と対応する３つの物品１１を、上下方向に重
ならないように前後方向に離間させた長さよりも長くな
るよう設定される(図８参照)。(Regarding article transfer member) The article transfer member 13 is provided with a plurality of (five corresponding to the number of rows gathered by the introduction conveyor 12) serving as a transfer path of the articles 11 to the supply conveyor 14. The article storage spaces 15 are defined in parallel in the moving direction (direction of expansion / contraction) of the supply conveyor 14. That is, as shown in FIG. 2, the article transfer member 13 includes a base portion 16 extending in a direction of expansion and contraction, and six sheets arranged in parallel on the base portion 16 at a predetermined interval in a direction of expansion and contraction. The guide plate 17 of FIG. 1 is basically configured, and the article storage space 15 is defined between the pair of guide plates 17 and 17 that are adjacent to each other in the expansion / contraction direction. The intervals in the expanding and contracting direction of the five article storage spaces 15 defined by the article transfer member 13 are set to be substantially the same as the intervals of the article storage sections 14a defined by the supply conveyor 14. Further, the article storage space 15 of the embodiment is set to be longer than the length in which the three articles 11 corresponding to the number of rows gathered by the introduction conveyor 12 are separated in the front-rear direction so as not to overlap in the up-down direction. (See FIG. 8).
【００１５】前記各物品収容空間１５を画成する一対の
ガイドプレート１７,１７の対向面部には、拡縮する方
向に対向する上支持体１８,１８、中支持体１９,１９お
よび下支持体２０,２０が、上下方向に物品１１の高さ
よりも僅かに大きい間隔(物品１１の積み重ねが可能な
間隔)をもって３段で配設されている。なお、上支持体
１８,１８、中支持体１９,１９および下支持体２０,２
０の夫々の拡縮する方向の離間間隔は、前記物品１１が
フランジ部１１ａを介して載置可能な寸法に設定され
る。また各支持体１８,１９,２０は、断面が矩形状に成
形された棒材であって、各支持体１８,１９,２０の前後
方向の長さ寸法は、下段に配設されたものが上段に配設
されたものに対して物品１個程度だけ長尺になるよう設
定される。すなわち、各支持体１８,１９,２０の供給コ
ンベア１４に近接する前端を同一位置に整列した状態
で、上支持体１８の後端に対して中支持体１９の後端
は、１個の物品１１が載置可能な分だけ後方に位置する
と共に、中支持体１９の後端に対して下支持体２０の後
端は、１個の物品１１が載置可能な分だけ後方に位置す
るようになっている。これにより、中支持体１９,１９
および下支持体２０,２０には、直上の支持体に干渉す
ることなく上方から物品１１を夫々載置し得るよう構成
される(図８参照)。On the opposing surface portions of the pair of guide plates 17, 17 which define the article accommodating spaces 15, upper support members 18, 18, intermediate support members 19, 19 and lower support member 20 facing each other in the direction of expansion and contraction. , 20 are arranged in three stages in the vertical direction at intervals slightly larger than the height of the articles 11 (intervals at which the articles 11 can be stacked). In addition, the upper support 18,18, the middle support 19,19 and the lower support 20,2
The spacing of 0 in the expanding / contracting direction is set to a size at which the article 11 can be placed via the flange portion 11a. Each support 18, 19, 20 is a bar member having a rectangular cross section, and the length of each support 18, 19, 20 in the front-rear direction is arranged in the lower stage. It is set so that only one article is longer than the article arranged in the upper stage. That is, with the front ends of the supports 18, 19, 20 adjacent to the supply conveyor 14 aligned at the same position, the rear end of the middle support 19 is one article with respect to the rear end of the upper support 18. 11 is positioned rearward so that the article 11 can be placed, and the rear end of the lower support 20 is positioned rearward with respect to the rear end of the middle support 19 so that one article 11 can be placed. It has become. As a result, the intermediate supports 19,19
Further, the articles 11 can be placed on the lower supports 20 and 20 from above without interfering with the immediately above supports (see FIG. 8).
【００１６】また物品移載部材１３に近接して、各物品
収容空間１５に臨んでいる物品１１を供給コンベア１４
に向けて押送するための押送手段(図示せず)が前後方向
に移動自在に配設される。すなわち、上支持体１８,１
８、中支持体１９,１９および下支持体２０,２０に載置
されている各物品１１は、各物品収容空間１５を前進移
動する押送手段によって押送されつつ上下方向に重ねら
れて、前記供給コンベア１４の各物品収容区画１４ａに
移送されるよう構成される。In addition, the articles conveyer 14 supplies the articles 11 facing the article accommodating spaces 15 close to the article transfer member 13.
A pushing means (not shown) for pushing toward the front is provided so as to be movable in the front-rear direction. That is, the upper support 18,1
8, the articles 11 placed on the middle supports 19 and 19 and the lower supports 20 and 20 are stacked in the up-down direction while being pushed by the pushing means that moves forward in the article accommodating spaces 15, It is configured to be transferred to each article storage section 14a of the conveyor 14.
【００１７】(物品保持装置について)前記物品保持装置
１０は、前記導入コンベア１２の後方に配置したロボッ
ト(図示せず)のハンド２１に基台２２を介して取着さ
れ、導入コンベヤ１２と物品移載部材１３との間を移動
するよう構成される。基台２２は、図１および図２に示
すように、拡縮する方向を横長に成形した板材であっ
て、その拡縮する方向両端部に板状の支持板２３が垂設
されている。両支持板２３,２３間には、拡縮する方向
に沿って延在する２本の案内部材としての案内軸２４,
２４が、前後に離間して架設されて、基台２２に対して
は定位置に固定される。そして実施例の物品保持装置１
０では、基台２２における拡縮する方向略中央の定位置
に、後述する固定支持部材２５、該固定支持部材２５に
配設される複数の上下動保持手段４２および平行リンク
機構４１から構成される固定把持手段Ｍが配置されると
共に、該固定把持手段Ｍを挟む拡縮する方向の両側に、
可動支持部材２８,２９、該可動支持部材２８,２９に配
設される複数の上下動保持手段４２および平行リンク機
構４１から構成される可動把持手段Ｎ1,Ｎ2が夫々２基
づつ拡縮する方向に連続して並設されている。(Regarding the article holding device) The article holding device 10 is attached to a hand 21 of a robot (not shown) disposed behind the introduction conveyor 12 via a base 22, and the introduction conveyor 12 and the articles are held. It is configured to move to and from the transfer member 13. As shown in FIGS. 1 and 2, the base 22 is a plate member formed in a laterally elongated direction of expansion and contraction, and plate-shaped support plates 23 are vertically provided at both ends of the expansion and contraction direction. Between the two support plates 23, 23, a guide shaft 24 as two guide members extending along the direction of expansion and contraction,
24 are erected in the front-rear direction so as to be separated from each other, and are fixed at a fixed position with respect to the base 22. The article holding device 1 of the embodiment
In 0, the fixed support member 25, which will be described later, a plurality of vertical movement holding means 42 arranged on the fixed support member 25, and a parallel link mechanism 41 are arranged at a fixed position substantially in the center of the base 22 in the expansion / contraction direction. The fixed gripping means M is arranged, and on both sides of the fixed gripping means M in the direction of expansion and contraction,
Movable gripping means N 1 and N 2 each composed of movable support members 28 and 29, a plurality of vertical movement holding means 42 arranged on the movable support members 28 and 29, and a parallel link mechanism 41 expand and contract by two groups. It is installed in parallel in the direction.
【００１８】前記固定把持手段Ｍを構成する平板状の固
定支持部材２５は、基台２２における拡縮する方向略中
央の定位置に垂下固定され、前記２本の案内軸２４,２
４は固定支持部材２５を貫通して該支持部材２５を挟ん
で拡縮する方向の両側に延出している。この固定支持部
材２５の下端には、図４に示す如く、例えばゴム等の可
撓性材料で成形した吸着部材としての吸盤２６が、その
開放部を垂直下方に指向させた状態で配設されている。
なお、固定支持部材２５の内部に、吸盤２６の内側に一
端が連通する通路(図示せず)が形成されると共に、該通
路の他端は真空ポンプ等の吸引手段にバキュームホース
(何れも図示せず)を介して連通し、吸引手段の運転によ
り吸盤２６の内側を負圧状態にすることで、該吸盤２６
に前記物品１１を吸着保持するよう構成される。すなわ
ち実施例では、基台２２に対して定位置に配設された固
定支持部材２５と吸盤２６とで固定保持手段(保持手段)
２７が構成され、固定支持部材２５が保持手段を兼用す
るようにしてある。The flat plate-shaped fixed support member 25 constituting the fixed gripping means M is fixed by hanging down at a fixed position in the base 22 substantially in the center of the expanding and contracting direction, and the two guide shafts 24, 2 are provided.
Reference numeral 4 penetrates the fixed support member 25 and extends on both sides in the direction of expansion and contraction with the support member 25 sandwiched therebetween. As shown in FIG. 4, a suction cup 26 as a suction member formed of a flexible material such as rubber is disposed at the lower end of the fixed support member 25 with its open portion oriented vertically downward. ing.
A passage (not shown) is formed inside the fixed support member 25 so that one end communicates with the inside of the suction cup 26, and the other end of the passage is connected to a suction means such as a vacuum pump to a vacuum hose.
(Not shown in any of the drawings), and the inside of the suction cup 26 is brought into a negative pressure state by the operation of the suction means.
Is configured to adsorb and hold the article 11. That is, in the embodiment, the fixed supporting member 25 and the suction cup 26, which are arranged at a fixed position with respect to the base 22, fix and hold the device (holding device).
27 is formed, and the fixed support member 25 also serves as a holding means.
【００１９】前記基台２２における固定支持部材２５を
挟む拡縮する方向の両側に、夫々２つの可動支持部材２
８,２９が拡縮する方向に連続して並設されている。な
お、説明の便宜上、固定支持部材２５に隣り合う可動支
持部材２８を内側可動支持部材と指称し、固定支持部材
２５から最も離れている可動支持部材２９を外側可動支
持部材と指称して区別することとする。また各可動支持
部材２８,２９を備える各可動把持手段に関しても、対
応して内側可動把持手段Ｎ1、外側可動把持手段Ｎ2と区
別する。Two movable support members 2 are provided on both sides of the base 22 in the direction of expansion and contraction with the fixed support member 25 interposed therebetween.
8, 29 are continuously arranged in parallel in the direction of expansion and contraction. For convenience of description, the movable support member 28 adjacent to the fixed support member 25 is referred to as an inner movable support member, and the movable support member 29 that is farthest from the fixed support member 25 is referred to as an outer movable support member to be distinguished. I will. Further, each movable gripping means provided with each movable support member 28, 29 is also distinguished from the inner movable gripping means N 1 and the outer movable gripping means N 2 correspondingly .
【００２０】前記内側可動把持手段Ｎ1を構成する内側
可動支持部材２８は、図５に示すように八角形状に成形
された板材であって、前記２本の案内軸２４,２４に移
動可能に配設されて、該案内軸２４,２４に沿って拡縮
する方向に移動するよう構成される。また内側可動支持
部材２８の下端には、前述したと同様の吸盤２６が、そ
の開放部を垂直下方に指向させた状態で配設してある。
更に、内側可動支持部材２８に配設した吸盤２６も、前
述した固定支持部材２５の吸盤２６と同じ構造により、
その内側を負圧状態にすることで、該吸盤２６に前記物
品１１を吸着保持するよう構成される。すなわち実施例
では、基台２２に対して移動可能に配設された内側可動
支持部材２８と吸盤２６とで内側可動保持手段(保持手
段)３４が構成され、内側可動支持部材２８が保持手段
を兼用するようにしてある。The inner movable supporting member 28 constituting the inner movable gripping means N 1 is a plate material formed in an octagonal shape as shown in FIG. 5, and is movable to the two guide shafts 24, 24. It is arranged to move along the guide shafts 24, 24 in the direction of expansion and contraction. At the lower end of the inner movable support member 28, the suction cup 26 similar to that described above is arranged with its open portion oriented vertically downward.
Further, the suction cup 26 provided on the inner movable support member 28 has the same structure as the suction cup 26 of the fixed support member 25 described above.
By making the inside thereof into a negative pressure state, the suction cup 26 is configured to adsorb and hold the article 11. That is, in the embodiment, the inner movable support member 28 and the suction cup 26, which are movably arranged with respect to the base 22, constitute the inner movable holding means (holding means) 34, and the inner movable support member 28 serves as the holding means. It is designed to be used for both.
【００２１】前記固定支持部材２５の前後方向中央の上
部に連結体３０が配設固定され、該連結体３０に一端が
連結された第１索体としての第１チェン３１の他端が、
図６に示す如く、内側可動支持部材２８の前後方向中央
の上部に配設固定した連結体３２に連結されている。こ
の第１チェン３１は、固定支持部材２５に対して内側可
動支持部材２８を間隔が拡大する方向に移動した際に張
った状態となって、固定支持部材２５(固定把持手段Ｍ)
と内側可動支持部材２８(内側可動把持手段Ｎ1)との拡
大時の間隔を設定するべく機能する。すなわち実施例で
は、固定支持部材２５(固定保持手段２７)と内側可動支
持部材２８(内側可動保持手段３４)との拡大時の間隔
が、図２に示す如く、前記物品移載部材１３における隣
り合う物品収容空間１５,１５の間隔と略一致するよう
第１チェン３１の長さが設定される。なお内側可動支持
部材２８における２本の案内軸２４,２４の間に臨む位
置には、後述する第１空気圧シリンダ４０の挿通を許容
する開口部２８ａが開設されている(図６参照)。A connecting body 30 is arranged and fixed on the upper part of the center of the fixed supporting member 25 in the front-rear direction, and the other end of the first chain 31 as the first rope body, one end of which is connected to the connecting body 30,
As shown in FIG. 6, the inner movable support member 28 is connected to a connecting body 32 which is disposed and fixed at the upper center of the front-rear direction. The first chain 31 is in a tensioned state when the inner movable support member 28 is moved with respect to the fixed support member 25 in a direction in which the gap is increased, and the first support chain 31 (fixed gripping means M) is provided.
And the inner movable support member 28 (inner movable gripping means N 1 ) at the time of expansion. That is, in the embodiment, the interval between the fixed support member 25 (fixed holding means 27) and the inner movable support member 28 (inner movable holding means 34) at the time of expansion is set to be adjacent to each other in the article transfer member 13 as shown in FIG. The length of the first chain 31 is set so as to substantially match the interval between the article storage spaces 15, 15 that match each other. An opening 28a is formed in the inner movable support member 28 at a position facing between the two guide shafts 24, 24 to allow insertion of a first pneumatic cylinder 40 described later (see FIG. 6).
【００２２】前記固定支持部材２５と内側可動支持部材
２８との間に臨む前記２本の案内軸２４,２４の夫々に
は、図３に示すように第１間隔設定部材(間隔設定部材)
３３が位置決め調節可能に固定されている。そしてこの
第１間隔設定部材３３は、固定支持部材２５に対して内
側可動支持部材２８を間隔が縮小する方向に移動した際
に該内側可動支持部材２８が当接してその移動を規制
し、固定支持部材２５(固定把持手段Ｍ)と内側可動支持
部材２８(内側可動把持手段Ｎ1)との縮小時の間隔を設
定するべく機能する。すなわち実施例では、固定支持部
材２５(固定保持手段２７)と内側可動支持部材２８(内
側可動保持手段３４)との縮小時の間隔が、図７に示す
如く、前記導入コンベア１２の集合位置において接触状
態にて５行で整列される各物品１１,１１の間隔(拡縮す
る方向の物品寸法)と略一致するよう該第１間隔設定部
材３３の固定位置が設定される。Each of the two guide shafts 24, 24 facing between the fixed support member 25 and the inner movable support member 28 has a first spacing setting member (spacing setting member) as shown in FIG.
33 is fixed so that its position can be adjusted. When the inner movable support member 28 moves relative to the fixed support member 25 in the direction in which the distance decreases, the first movable distance setting member 33 comes into contact with the inner movable support member 28 and restricts the movement of the inner movable support member 28. It functions to set an interval between the support member 25 (fixed gripping means M) and the inner movable support member 28 (inner movable gripping means N 1 ) at the time of contraction. That is, in the embodiment, the space between the fixed support member 25 (fixed holding means 27) and the inner movable support member 28 (inner movable holding means 34) at the time of reduction is set at the gathering position of the introduction conveyors 12 as shown in FIG. The fixed position of the first spacing setting member 33 is set so as to be substantially equal to the spacing (the dimension of the article in the direction of expansion and contraction) between the articles 11 arranged in five rows in the contact state.
【００２３】前記外側可動把持手段Ｎ2を構成する前記
外側可動支持部材２９は、基本的には内側可動支持部材
２８と同一の構成を有するものであって、前記２本の案
内軸２４,２４に移動可能に配設されて、該案内軸２４,
２４に沿って拡縮する方向に移動するよう構成される。
また外側可動支持部材２９の下端には、前述したと同様
の吸盤２６が、その開放部を垂直下方に指向させた状態
で配設され、その内側を負圧状態にすることで、該吸盤
２６に前記物品１１を吸着保持するようになっている。
すなわち実施例では、基台２２に対して移動可能に配設
された外側可動支持部材２９と吸盤２６とで外側可動保
持手段(保持手段)３５が構成され、外側可動支持部材２
９が保持手段を兼用するようにしてある。The outer movable supporting member 29 constituting the outer movable gripping means N 2 has basically the same structure as the inner movable supporting member 28, and the two guide shafts 24, 24 are provided. Movably disposed on the guide shaft 24,
It is configured to move in the direction of expansion / contraction along 24.
Further, at the lower end of the outer movable support member 29, the suction cup 26 similar to the one described above is arranged with its open portion oriented vertically downward, and by making the inside thereof a negative pressure state, the suction cup 26 The article 11 is suction-held.
That is, in the embodiment, the outer movable support member 29 and the suction cup 26, which are arranged so as to be movable with respect to the base 22, constitute the outer movable holding means (holding means) 35.
9 also serves as a holding means.
【００２４】前記内側可動支持部材２８に配設された前
記連結体３２に一端が連結された第２索体としての第２
チェン３６の他端が、図６に示す如く、外側可動支持部
材２９の前後方向中央の上部に配設固定した連結体３７
に連結されている。この第２チェン３６は、内側可動支
持部材２８に対して外側可動支持部材２９を間隔が拡大
する方向に移動した際に張った状態となって、内側可動
支持部材２８(内側可動把持手段Ｎ1)と外側可動支持部
材２９(外側可動把持手段Ｎ2)との拡大時の間隔を設定
するべく機能する。そして、第２チェン３６の長さは、
内側可動支持部材２８(内側可動保持手段３４)と外側可
動支持部材２９(外側可動保持手段３５)との拡大時の間
隔を、固定支持部材２５(固定保持手段２７)と内側可動
支持部材２８(内側可動保持手段３４)との拡大時の間隔
と同一となるよう設定される(図２および図３参照)。A second cord body, one end of which is connected to the connecting body 32 arranged on the inner movable support member 28.
As shown in FIG. 6, the other end of the chain 36 is connected and fixed to the upper part of the center of the outer movable support member 29 in the front-rear direction.
Are linked to. The second chain 36 is in a tensioned state when the outer movable support member 29 is moved with respect to the inner movable support member 28 in a direction in which the gap is increased, and the second movable chain 36 is placed in the inner movable support member 28 (inner movable gripping means N 1 ) And the outer movable support member 29 (outer movable gripping means N 2 ) at the time of expansion. And the length of the second chain 36 is
The distance between the inner movable support member 28 (inner movable holding means 34) and the outer movable support member 29 (outer movable holding means 35) at the time of expansion is set so that the fixed support member 25 (fixed holding means 27) and the inner movable support member 28 ( It is set so as to be the same as the interval at the time of expansion with the inner movable holding means 34) (see FIGS. 2 and 3).
【００２５】前記内側可動支持部材２８と外側可動支持
部材２９との間に臨む前記２本の案内軸２４,２４の夫
々には、図３に示すように第２間隔設定部材(間隔設定
部材)３８が移動可能に配設されている。そしてこの第
２間隔設定部材３８は、内側可動支持部材２８に対して
外側可動支持部材２９を間隔が縮小する方向に移動した
際に両支持部材２８,２９に当接してその移動を規制
し、内側可動支持部材２８(内側可動把持手段Ｎ1)と外
側可動支持部材２９(外側可動把持手段Ｎ2)との縮小時
の間隔を設定するべく機能する。そして第２間隔設定部
材３８の軸方向の長さ寸法は、内側可動支持部材２８
(内側可動保持手段３４)と外側可動支持部材２９(外側
可動保持手段３５)との縮小時の間隔を、固定支持部材
２５(固定保持手段２７)と内側可動支持部材２８(内側
可動保持手段３４)との縮小時の間隔と同一になるよう
設定される(図６参照)。As shown in FIG. 3, each of the two guide shafts 24, 24 facing between the inner movable support member 28 and the outer movable support member 29 has a second spacing setting member (spacing setting member). 38 is movably arranged. When the outer movable support member 29 is moved relative to the inner movable support member 28 in a direction in which the distance is reduced, the second distance setting member 38 contacts both support members 28, 29 to restrict the movement thereof. It functions to set an interval between the inner movable support member 28 (inner movable gripping means N 1 ) and the outer movable support member 29 (outer movable gripping means N 2 ) at the time of reduction. The axial length of the second interval setting member 38 is determined by the inner movable support member 28.
The distance between the (inner movable holding means 34) and the outer movable supporting member 29 (outer movable holding means 35) at the time of contraction is set so that the fixed supporting member 25 (fixed holding means 27) and the inner movable supporting member 28 (inner movable holding means 34). ) Is set to be the same as the reduction interval (see FIG. 6).
【００２６】前記基台２２の下面には、図６に示す如
く、前記固定支持部材２５を挟んで拡縮する方向の両側
に、複数のブラケット３９を介して拡縮作動手段として
の第１空気圧シリンダ４０が、夫々相反する方向を向い
て配設されている。すなわち、各第１空気圧シリンダ４
０は、そのピストンロッド４０ａの伸縮方向(軸心)を前
記案内軸２４と平行にした状態で、該ロッド４０ａの先
端を対応する前記外側可動支持部材２９に連結してあ
る。なお前記内側可動支持部材２８に対して第１空気圧
シリンダ４０は、前記開口部２８ａに挿通されて該内側
可動支持部材２８の移動を許容するよう構成される。そ
して、各第１空気圧シリンダ４０をピストンロッド４０
ａが伸びる方向に付勢することで、外側可動支持部材２
９が固定支持部材２５から離間する方向(間隔の拡大方
向)に移動すると共に、該外側可動支持部材２９に第２
チェン３６で連結された内側可動支持部材２８も同一方
向に追従して移動するようになっている。また逆に各第
１空気圧シリンダ４０をピストンロッド４０ａが縮む方
向に付勢することで、外側可動支持部材２９が固定支持
部材２５に近接する方向(間隔の縮小方向)に移動すると
共に、該外側可動支持部材２９が第２間隔設定部材３８
を介して内側可動支持部材２８に当接することで両支持
部材２８,２９が一体的に移動するよう構成される。す
なわち、第１空気圧シリンダ４０を正逆付勢すること
で、前記固定把持手段Ｍから最も離れた外側可動把持手
段Ｎ2が拡・縮両方向に移動されるようになっている。As shown in FIG. 6, on the lower surface of the base 22, first pneumatic cylinders 40 as expansion / contraction operating means are provided on both sides in the expansion / contraction direction with the fixed support member 25 interposed therebetween, via a plurality of brackets 39. However, they are arranged so as to face opposite directions. That is, each first pneumatic cylinder 4
In the state 0, the extension / contraction direction (axial center) of the piston rod 40a is parallel to the guide shaft 24, and the tip of the rod 40a is connected to the corresponding outer movable support member 29. The first pneumatic cylinder 40 is configured to be inserted into the opening 28a with respect to the inner movable support member 28 to allow the inner movable support member 28 to move. Then, each first pneumatic cylinder 40 is connected to the piston rod 40.
The outer movable support member 2 is urged in a direction in which a extends.
9 moves in the direction away from the fixed support member 25 (direction in which the distance increases), and the second movable support member 29 is moved to the second movable support member 29.
The inner movable support member 28 connected by the chain 36 also moves following the same direction. Conversely, by biasing each first pneumatic cylinder 40 in the direction in which the piston rod 40a contracts, the outer movable support member 29 moves in the direction in which it approaches the fixed support member 25 (direction in which the spacing decreases), and The movable support member 29 is the second interval setting member 38.
Both support members 28, 29 are configured to move integrally by abutting against the inner movable support member 28 via. That is, by biasing the first pneumatic cylinder 40 forward and backward, the outer movable gripping means N 2 which is farthest from the fixed gripping means M is moved in both expansion and contraction directions.
【００２７】前記固定支持部材２５および内・外の両可
動支持部材２８,２９の夫々には、位置変更手段として
の平行リンク機構４１を介して２基の上下動保持手段
(保持手段)４２が配設されている。なお、平行リンク機
構４１の構成は同一であるので、固定支持部材２５に配
設されている平行リンク機構４１の構成についてのみ説
明し、他の平行リンク機構４１の同一部材には同じ符号
を付して示すこととする。Each of the fixed support member 25 and the inner and outer movable support members 28, 29 is provided with two vertical movement holding means via a parallel link mechanism 41 as a position changing means.
(Holding means) 42 is provided. Since the parallel link mechanism 41 has the same configuration, only the configuration of the parallel link mechanism 41 provided in the fixed support member 25 will be described, and the same members of the other parallel link mechanisms 41 are designated by the same reference numerals. Will be shown.
【００２８】前記固定支持部材２５には、図４に示す如
く、前記案内軸２４,２４を挟む上下位置に、前後方向
に延在する２本アーム４３,４３が回動可能に枢支され
ると共に、両アーム４３,４３の前端部および後端部に
おける固定支持部材側に、上下に延びる上下動支持部材
４４が夫々枢支されている。そして、この２本のアーム
４３,４３および２本の上下動支持部材４４,４４により
平行リンク機構４１が構成される。なお、各上下動支持
部材４４の下端には、前述したと同様な吸盤２６が、拡
縮する方向において固定支持部材２５の吸盤２６と同じ
位置となるようにしてその開放部を垂直下方に指向させ
た状態で配設される。また上下動支持部材４４の内部
に、吸盤２６の内側に一端が連通する通路(図示せず)が
形成されると共に、該通路の他端は真空ポンプ等の吸引
手段にバキュームホース(何れも図示せず)を介して連通
し、吸引手段の運転により吸盤２６の内側を負圧状態に
することで、該吸盤２６に前記物品１１を吸着保持する
よう構成してある。すなわち、平行リンク機構４１を構
成する上下動支持部材４４と吸盤２６とで上下動保持手
段(保持手段)４２が構成され、固定支持部材２５および
内・外の両可動支持部材２８,２９の夫々においては、
各保持手段２７,３４,３５,４２が前後方向に一列に並
んで配設されている。そして実施例の物品保持装置１０
では、前記導入コンベア１３の集合位置に３列５行で集
合された１５個の物品１１と対応して１５個の吸盤２６
が配設され、１５個の物品１１を一度に吸着保持し得る
ようになっている。As shown in FIG. 4, two arms 43, 43 extending in the front-rear direction are rotatably supported by the fixed support member 25 at upper and lower positions sandwiching the guide shafts 24, 24. At the same time, vertically movable support members 44 that extend vertically are pivotally supported on the fixed support member sides at the front and rear ends of both arms 43, 43, respectively. The two arms 43, 43 and the two vertical movement supporting members 44, 44 constitute the parallel link mechanism 41. At the lower end of each vertical movement support member 44, a suction cup 26 similar to the one described above is positioned at the same position as the suction cup 26 of the fixed support member 25 in the expansion / contraction direction, and its open portion is directed vertically downward. It is installed in a closed state. Further, a passage (not shown) is formed inside the vertical movement support member 44, the one end of which communicates with the inside of the suction cup 26, and the other end of the passage is connected to a suction means such as a vacuum pump or the like by a vacuum hose (not shown in the drawings). It is configured such that the article 11 is adsorbed and held by the suction cup 26 by communicating with the suction cup 26 by bringing the suction cup 26 into a negative pressure state by operating the suction means. That is, the vertical movement supporting member (holding means) 42 is constituted by the vertical movement supporting member 44 and the suction cup 26 which constitute the parallel link mechanism 41, and the fixed supporting member 25 and both the inner and outer movable supporting members 28 and 29 are respectively. In
The holding means 27, 34, 35, 42 are arranged in a line in the front-rear direction. The article holding device 10 of the embodiment
Then, 15 suction cups 26 corresponding to the 15 articles 11 gathered at the gathering position of the introduction conveyor 13 in 3 columns and 5 rows.
Are arranged so that 15 articles 11 can be adsorbed and held at one time.
【００２９】前記固定支持部材２５に配設された前側の
上下動支持部材４４に、前記案内軸２４と平行な上下動
軸４５が配設固定されて、該上下動軸４５は、この上下
動支持部材４４を挟んで拡縮する方向の両側に延出して
いる。そして、前記内・外の可動支持部材２８,２９に
配設された前側の上下動支持部材４４,４４は、該上下
動軸４５に対して移動可能に支持される。また図１に示
す如く、前記基台２２にブラケット４６を介して位置変
更作動手段としての第２空気圧シリンダ４７のボトム側
が枢支されると共に、該シリンダ４７の下方を指向する
ピストンロッド４７ａの先端が、前記上下動軸４５に対
して回転可能に連結してある。すなわち、第２空気圧シ
リンダ４７を正逆付勢してそのピストンロッド４７ａを
伸縮することで、固定支持部材２５および内・外の両可
動支持部材２８,２９を挟む前後に位置する各上下動保
持手段４２,４２は、互いに反対向きに、案内軸２４に
平行な列毎に一体的に上下する。なお実施例では、第２
空気圧シリンダ４７のピストンロッド４７ａを伸ばすこ
とで、全ての保持手段２７,３４,３５,４２の吸盤２６
が一つの水平面上に略一致するよう配置され(図４参
照)、ピストンロッド４７ａを縮めることで、固定支持
部材２５および内・外の両可動支持部材２８,２９に配
設された前側、中間および後側の３つの保持手段２７,
３４,３５,４２の吸盤２６が斜め上下に並んで配置され
る(図１参照)よう設定される。そして、固定支持部材２
５および内・外の両可動支持部材２８,２９に配設され
た前側と後側の２つの上下動保持手段４２,４２の吸盤
２６は、前記平行リンク機構４１により位置が変位する
ので、各吸盤２６に保持された物品１１の姿勢が変わる
ことはない。A vertical moving shaft 45, which is parallel to the guide shaft 24, is fixedly mounted on a front vertical moving support member 44 arranged on the fixed supporting member 25, and the vertical moving shaft 45 moves vertically. The support member 44 is sandwiched and extends on both sides in the direction of expansion and contraction. The front vertical movement support members 44, 44 disposed on the inner and outer movable support members 28, 29 are movably supported on the vertical movement shaft 45. Further, as shown in FIG. 1, the bottom side of a second pneumatic cylinder 47 as a position changing actuating means is pivotally supported on the base 22 via a bracket 46, and a tip of a piston rod 47a pointing downward of the cylinder 47. Is rotatably connected to the vertical shaft 45. That is, by urging the second pneumatic cylinder 47 forward and backward to expand and contract the piston rod 47a, the vertical support is provided before and after the fixed support member 25 and the inner and outer movable support members 28 and 29 are sandwiched. The means 42, 42 move up and down integrally in rows parallel to the guide shaft 24 in opposite directions. In the embodiment, the second
By extending the piston rod 47a of the pneumatic cylinder 47, the suction cups 26 of all the holding means 27, 34, 35, 42 are extended.
Are arranged so as to substantially coincide with each other on one horizontal plane (see FIG. 4), and by contracting the piston rod 47 a, the front side and the intermediate side arranged on the fixed support member 25 and both the inner and outer movable support members 28, 29. And three holding means 27 on the rear side,
The suction cups 26 of 34, 35, and 42 are set to be diagonally arranged vertically (see FIG. 1). Then, the fixed support member 2
5 and the suction cups 26 of the front and rear vertical movement holding means 42, 42 disposed on both the inner and outer movable support members 28, 29 are displaced by the parallel link mechanism 41. The posture of the article 11 held by the suction cup 26 does not change.
【００３０】また、前記平行リンク機構４１により前
側、中間および後側の３つの吸盤２６に与えられる高低
差は、各吸盤２６に吸着保持された略物品１個分の高さ
に相当するよう設定される。すなわち、物品保持装置１
０により導入コンベア１２から物品移載部材１３に移送
される物品群の配置は、その移送途中において、前記各
物品収容空間１５における上支持体１８,１８、中支持
体１９,１９および下支持体２０,２０の後端の位置に対
応するよう変更され、夫々の支持体１８,１８、１９,１
９、２０,２０に対応して物品１１を上方より階段状に
載置し得るよう構成されている。The height difference given to the three suction cups 26 on the front side, the middle side and the rear side by the parallel link mechanism 41 is set so as to correspond to the height of substantially one article sucked and held by each suction cup 26. To be done. That is, the article holding device 1
The arrangement of the article group transferred from the introduction conveyor 12 to the article transfer member 13 by 0 is such that the upper supports 18, 18, the middle supports 19, 19 and the lower support in each of the article accommodation spaces 15 are in the middle of the transfer. Changed to correspond to the position of the rear end of 20,20, each support 18,18,19,1
Corresponding to 9, 20, and 20, the article 11 can be placed in a stepwise manner from above.
【００３１】[0031]
【実施例の作用】次に、前述した実施例に係る物品保持
装置の作用につき説明する。前記導入コンベア１２によ
り、所定の間隔でもって３列で搬送される物品１１が、
搬送方向上流側から物品移載部材１３の後部側に搬送さ
れると、搬送終端部でその先頭の物品１１がストッパで
停止され、後続が順次接触することにより導入コンベア
１２上の集合位置に該物品１１(３列×５行＝１５個)が
整列する(図７参照)。前記物品保持装置１０では、図４
および図６に示す如く、１５個の吸盤２６が一つの水平
面上に略一致するよう配置される状態に保持されると共
に、拡縮する方向に並ぶ内側可動把持手段Ｎ1(内側可動
支持部材２８)および外側可動把持手段Ｎ2(外側可動支
持部材２９)の夫々が、前記固定把持手段Ｍ(固定支持部
材２５)に近接して間隔を縮小した状態に保持されてい
る。この状態で前記ロボットが作動され、物品保持装置
１０を前記導入コンベア１２の集合位置に到来させて各
吸盤２６の開口部を対応する物品１１の上面に当接する
と共に、該吸盤２６の内側を負圧状態にすることで物品
１１が吸着保持される。従って、吸着保持された物品１
１は、一つの水平面上に略一致するよう配置されてい
る。Next, the operation of the article holding device according to the above-mentioned embodiment will be described. By the introduction conveyor 12, the articles 11 conveyed in three rows at predetermined intervals,
When the article 11 is conveyed from the upstream side in the conveying direction to the rear side of the article transfer member 13, the leading article 11 is stopped by the stopper at the conveying end portion, and the subsequent articles come into contact with each other at the gathering position on the introduction conveyor 12. Articles 11 (3 columns × 5 rows = 15 pieces) are aligned (see FIG. 7). In the article holding device 10, FIG.
As shown in FIG. 6 and FIG. 6, the inner movable gripping means N 1 (inner movable support member 28) is held in a state where the 15 suction cups 26 are arranged so as to be substantially coincident with each other on one horizontal plane and arranged in the direction of expansion and contraction. The outer movable gripping means N 2 (outer movable support member 29) is held close to the fixed gripping means M (fixed support member 25) in a state where the distance between them is reduced. In this state, the robot is operated to bring the article holding device 10 to the gathering position of the introduction conveyor 12 so that the openings of the suction cups 26 come into contact with the upper surfaces of the corresponding articles 11 and the inside of the suction cups 26 is moved negatively. The article 11 is suction-held by setting the pressure state. Therefore, the suction-held article 1
1 is arranged so as to substantially coincide with one horizontal plane.
【００３２】次に、前記物品１１を吸着保持した物品保
持装置１０を、前記物品移載部材１３の上方に移動す
る。この移動初期あるいは移動途次において、前記２基
の第１空気圧シリンダ４０が、そのピストンロッド４０
ａを伸ばす方向に付勢される。すなわち、第１空気圧シ
リンダ４０のピストンロッド４０ａが連結された外側可
動支持部材２９が、前記案内軸２４,２４に沿って間隔
の拡大方向に移動すると共に、該外側可動支持部材２９
に第２チェン３６を介して連結されている内側可動支持
部材２８も第２チェン３６が張った以後は追従して間隔
の拡大方向に移動する。そして、前記固定支持部材２５
と内側可動支持部材２８とを連結する第１チェン３１が
張った状態となることで、内・外の可動支持部材２８,
２９の移動が規制され、拡縮する方向に並ぶ５つの支持
部材２５,２８,２９の相互間隔、すなわち５つの把持手
段Ｍ,Ｎ1,Ｎ2の相互間隔は、前記物品移載部材１３にお
ける隣り合う物品収容空間１５,１５の間隔と略一致す
る間隔となる(図２参照)。従って、拡縮する方向に並ぶ
前側の上下動保持手段４２、中間の保持手段２７,３４,
３５および後側の上下動保持手段４２の夫々の間隔が拡
大され、前記物品収容空間１５の間隔と略一致する。Next, the article holding device 10 holding the article 11 by suction is moved above the article transfer member 13. At the beginning of the movement or during the movement, the two first pneumatic cylinders 40 have their piston rods 40
It is urged in the direction to extend a. That is, the outer movable support member 29, to which the piston rod 40a of the first pneumatic cylinder 40 is connected, moves along the guide shafts 24, 24 in the direction of increasing the distance, and at the same time, the outer movable support member 29.
The inner movable support member 28 connected to the second chain 36 also follows the second chain 36 and moves in the direction of increasing the interval after the tension of the second chain 36. Then, the fixed support member 25
When the first chain 31 that connects the inner movable support member 28 and the inner movable support member 28 is in a tensioned state, the inner and outer movable support members 28,
The movement of 29 is restricted, and the mutual spacing of the five support members 25, 28, 29 arranged in the direction of expansion / contraction, that is, the mutual spacing of the five gripping means M, N 1 , N 2 is the same as that of the article transfer member 13. The space is approximately the same as the space between the article storage spaces 15, 15 that match each other (see FIG. 2). Therefore, the vertical movement holding means 42 on the front side and the intermediate holding means 27, 34,
The distance between the vertical movement holding means 35 on the rear side and the vertical movement holding means 42 on the rear side is enlarged, and substantially coincides with the distance in the article housing space 15.
【００３３】また前記第２空気圧シリンダ４７が、その
ピストンロッド４７ａを縮める方向に付勢される。これ
により、固定支持部材２５および内・外の可動支持部材
２８,２９に配設されている夫々の平行リンク機構４１
が作動して、図１に示す如く、各対応する前側、中間お
よび後側の３つの吸盤２６が斜め上下に並んで配置され
る状態に変位される。すなわち、３つの吸盤２６に吸着
保持されている３つの物品１１は斜め上下に並んで配置
され、各物品１１間の夫々には、前記物品収容空間１５
における上支持体１８、中支持体１９および下支持体２
０の各間隔に応じた高低差が生じる。なお、前側と後側
の２つの吸盤２６は平行リンク機構４１により位置が変
位されるので、各吸盤２６に保持されている物品１１の
姿勢は変わらない。Further, the second pneumatic cylinder 47 is urged in the direction of contracting the piston rod 47a. As a result, the respective parallel link mechanisms 41 provided on the fixed support member 25 and the movable support members 28 and 29 inside and outside.
1, the three front suction cups 26, the middle suction cups 26, and the corresponding rear suction cups 26 are displaced obliquely vertically. That is, the three articles 11 suction-held by the three suction cups 26 are diagonally arranged side by side, and the article accommodation space 15 is provided between each article 11.
Upper support 18, middle support 19 and lower support 2 in FIG.
A height difference occurs depending on each interval of 0. Since the positions of the two suction cups 26 on the front side and the rear side are displaced by the parallel link mechanism 41, the posture of the article 11 held by each suction cup 26 does not change.
【００３４】前述したように拡縮する方向の間隔が拡大
されると共に、前後方向で高低差が付与された物品群を
吸着保持している物品保持装置１０が、各物品１１を物
品収容空間１５に臨む位置まで下降した後に各吸盤２６
の吸着作用を解除することで、各物品収容空間１５には
３個の物品１１が前後方向に離間して移載される。すな
わち、前列の物品１１が、上支持体１８,１８にフラン
ジ部１１ａを介して載置され、中列の物品１１が中支持
体１９,１９の後端側にフランジ部１１ａを介して載置
され、後列の物品１１が下支持体２０,２０の後端側に
フランジ部１１ａを介して載置される。そして、各物品
収容空間１５に臨む３個の物品１１は、押送手段により
供給コンベア１４に向けて押送されつつ上下方向に重ね
られて、この積み重ね状態の５つの物品群が供給コンベ
ア１４の対応する物品収容区画１４ａに移送される。As described above, the article holding device 10 which holds the article group having the interval in the direction of expansion and contraction and the height difference in the front-rear direction adsorbed and holds each article 11 in the article storage space 15. After descending to the facing position, each sucker 26
By releasing the suction action of 3, the three articles 11 are transferred in the article storage spaces 15 while being separated in the front-rear direction. That is, the articles 11 in the front row are placed on the upper supports 18, 18 via the flange portions 11a, and the articles 11 in the middle row are placed on the rear end side of the middle supports 19, 19 via the flange portions 11a. Then, the article 11 in the rear row is placed on the rear end side of the lower supports 20, 20 via the flange portion 11a. Then, the three articles 11 facing each article storage space 15 are vertically pushed while being pushed toward the supply conveyor 14 by the pushing means, and the five article groups in the stacked state correspond to the feed conveyor 14. It is transferred to the article storage section 14a.
【００３５】前記物品移載部材１３に物品群を移載した
物品保持装置１０は、前記導入コンベア１２に向けて後
退する途次に、各吸盤２６の間隔を縮小すると共に高低
差を無くす初期状態に戻される。すなわち、前記２基の
第１空気圧シリンダ４０が、そのピストンロッド４０ａ
を縮める方向に付勢され、これによって前記外側可動支
持部材２９が案内軸２４,２４に沿って間隔の縮小方向
に移動する。この外側可動支持部材２９と内側可動支持
部材２８とが第２間隔設定部材３８を介して当接する
と、以後は両可動支持部材２８,２９が一体的に間隔の
縮小方向に移動する。そして、内側可動支持部材２８が
前記第１間隔設定部材３３に当接すると、その移動が規
制され、これによって５つの支持部材２５,２８,２９の
相互間隔、すなわち５つの把持手段Ｍ,Ｎ1,Ｎ2の相互間
隔は、拡縮する方向の物品寸法と略一致する間隔となる
(図６参照)。従って、拡縮する方向に並ぶ前側の上下動
保持手段４２、中間の保持手段２７,３４,３５および後
側の上下動保持手段４２の夫々の間隔が縮小され、拡縮
する方向の物品寸法と略一致する。また前記第２空気圧
シリンダ４７が、そのピストンロッド４７ａを伸ばす方
向に付勢され、固定支持部材２５および内・外の可動支
持部材２８,２９に配設されている夫々の平行リンク機
構４１が作動して、１５個の吸盤２６が一つの水平面上
に略一致するよう位置が変位される。The article holding device 10 having the article group transferred to the article transfer member 13 retracts toward the introduction conveyor 12, and then the initial state of reducing the interval between the suction cups 26 and eliminating the height difference. Returned to. That is, the two first pneumatic cylinders 40 have their piston rods 40a.
Is urged in the direction of contracting, so that the outer movable supporting member 29 moves along the guide shafts 24, 24 in the direction of decreasing the interval. When the outer movable support member 29 and the inner movable support member 28 come into contact with each other via the second distance setting member 38, thereafter, both movable support members 28, 29 integrally move in the direction of reducing the distance. Then, when the inner movable support member 28 comes into contact with the first gap setting member 33, the movement thereof is restricted, whereby the mutual gap between the five support members 25, 28, 29, that is, the five gripping means M, N 1. , N 2 are mutually spaced so as to substantially match the dimension of the article in the expansion / contraction direction.
(See Figure 6). Therefore, the intervals between the front vertical movement holding means 42, the intermediate holding means 27, 34, 35, and the rear vertical movement holding means 42 arranged in the expanding / contracting direction are reduced, and substantially match the article size in the expanding / contracting direction. To do. Further, the second pneumatic cylinder 47 is biased in the direction to extend the piston rod 47a thereof, and the respective parallel link mechanisms 41 provided on the fixed support member 25 and the inner and outer movable support members 28, 29 are operated. Then, the positions of the 15 suction cups 26 are displaced so as to substantially coincide with one horizontal plane.
【００３６】すなわち、実施例に係る物品保持装置１０
では、各保持手段２７,３４,３５,４２の拡縮する方向
の間隔調整を、チェン３１,３６および間隔設定部材３
３,３８を用いて行なうので、その構成は極めて簡単
で、装置自体をコンパクトにすることができる。また拡
大時および縮小時における各保持手段２７,３４,３５,
４２の間隔を変更する際は、チェン３１,３６および第
２間隔設定部材３８の長さや第１間隔設定部材３３の位
置を変更することで容易に行なうことができ、物品１１
の種類(大きさ)の変更にも簡単に対応し得る。更に、前
後方向に並ぶ保持手段２７,３４,３５,４２を高さ方向
に変位させ得るから、後工程で物品間に高低差を付与す
る必要がある場合にも適用し得る。なお、従来の技術の
ように間隔を変更する手段としてパンタグラフ状の平行
リンク機構を用いる場合は、複数の物品間の間隔は等間
隔となるが、実施例の構成ではチェン３１,３６および
第２間隔設定部材３８の長さや第１間隔設定部材３３の
位置を変更することで、複数の物品間の間隔を不等間隔
とすることが可能である。That is, the article holding device 10 according to the embodiment.
Then, the adjustment of the spacing of the holding means 27, 34, 35, 42 in the direction of expansion and contraction is performed by the chains 31, 36 and the spacing setting member 3.
Since it is performed by using 3, 38, the configuration is extremely simple and the apparatus itself can be made compact. In addition, each holding means 27, 34, 35 at the time of expansion and contraction,
The interval of 42 can be changed easily by changing the lengths of the chains 31, 36 and the second interval setting member 38 and the positions of the first interval setting member 33.
The type (size) of can be changed easily. Further, since the holding means 27, 34, 35, 42 arranged in the front-rear direction can be displaced in the height direction, the present invention can be applied to a case where it is necessary to provide a height difference between articles in a post process. When a pantograph-shaped parallel link mechanism is used as a means for changing the spacing as in the conventional technique, the spacing between a plurality of articles is equal, but in the configuration of the embodiment, the chains 31, 36 and the second are. By changing the length of the distance setting member 38 and the position of the first distance setting member 33, it is possible to make the distance between the plurality of articles unequal.
【００３７】[0037]
【変更例】本発明に係る物品保持装置は、実施例の構成
に限定されるものでなく、以下に説明する変更例を適宜
に採用可能である。
(1) 固定保持手段(固定支持部材)に対して拡縮する方向
の一方の側における可動保持手段(可動支持部材)の配設
数は３つ以上であってもよく、また固定保持手段(固定
支持部材)に対して拡縮する方向の一方の側にのみ可動
保持手段(可動支持部材)を配設してもよい。
(2) 固定保持手段(固定支持部材)とこれに隣り合う可動
保持手段(可動支持部材)との拡大時の間隔を設定する第
１チェンの一端は、固定保持手段(固定支持部材)に限ら
ず、基台あるいは該基台に対して定位置に配設された部
材であればこれに連結するようにしてもよい。また第１
チェンの他端については、前記可動保持手段(可動支持
部材)に代えて、該手段に配設された上下動保持手段(上
下動支持部材)や、平行リンク機構に連結してもよい。
更に、隣り合う各可動保持手段(可動支持部材)の拡大時
の間隔を設定する第２チェンの各端についても、前記第
１チェンの他端と同様に、上下動保持手段(上下動支持
部材)や平行リンク機構に連結してもよい。
(3) 各可動保持手段(可動支持部材)の縮小時の間隔を設
定する第２間隔設定部材については、案内軸に対して移
動可能に配設される必要はなく、対向する一方の可動保
持手段(可動支持部材)に固定され、他方の可動保持手段
(可動支持部材)に当接する構成を採用し得る。また固定
保持手段(固定支持部材)とこれに隣り合う可動保持手段
(可動支持部材)との縮小時の間隔を設定する第１間隔設
定部材については、案内軸に固定するのではなく、基台
あるいは該基台に対して定位置に配設された部材(固定
保持手段も含む)に固定してもよい。更に、第１間隔設
定部材を第２間隔設定部材と同一の構造とし、両保持手
段(支持部材)に当接することで間隔設定を行なうように
することもできる。加えて、第１および第２間隔設定部
材については、可動保持手段(可動支持部材)に代えて、
該手段に配設された上下動保持手段(上下動支持部材)や
平行リンク機構と当接するように、これらに固定しても
よい。
(4) 平行リンク機構で上下動される上下動保持手段の配
設数は、固定または可動保持手段(支持部材)を挟む両側
に複数(２つ以上)配設してもよく、また固定または可動
保持手段(支持部材)の前側あるいは後側の何れか一方に
のみ配設される構成を採用し得る。
(5) 上下動保持手段を上下方向に変位させる機構(位置
変更手段)としては、平行リンク機構に限らず、別の機
構に置き換えることもできる。例えば、固定保持手段
(固定支持部材)や可動保持手段(可動支持部材)に対して
上下動保持手段を上下にスライド可能に支持させ、固定
保持手段(固定支持部材)に配設した上下動保持手段に固
定した上下動軸に対し、可動保持手段(可動支持部材)に
配設した上下動保持手段を拡縮する方向に移動可能に支
持する。そして、ピストンロッドの伸縮方向(軸心)を上
下動保持手段のスライド方向と一致するよう基台に配設
した空気圧シリンダのピストンロッドを上下動軸に連結
し、該空気圧シリンダの正逆付勢により上下動軸に固定
または移動可能に支持された全ての上下動保持手段を一
体的に上下動させる構成が採用可能である。
(6) 固定保持手段や可動保持手段の吸盤等を省略し、該
保持手段を上下動保持手段を支持するための固定支持部
材や可動支持部材としてのみ機能させるようにしてもよ
い。
(7) 各保持手段の拡大時の間隔を設定する索体として
は、チェンに代えてワイヤやベルト等を採用可能であ
る。
(8) 拡縮作動手段や位置変更作動手段としては、空気圧
シリンダに代えてモータとボールネジあるいはラック−
ピニオン等を組合わせた手段を採用し得る。[Modification] The article holding device according to the present invention is not limited to the configuration of the embodiment, and modifications described below can be appropriately adopted. (1) The number of movable holding means (movable support members) arranged on one side in the direction of expansion and contraction with respect to the fixed holding means (fixed support member) may be three or more. The movable holding means (movable support member) may be provided only on one side in the expansion / contraction direction with respect to the support member). (2) One end of the first chain, which sets the interval between the fixed holding means (fixed support member) and the movable holding means (movable support member) adjacent to the fixed holding means during expansion, is not limited to the fixed holding means (fixed support member). Alternatively, the base or a member arranged at a fixed position with respect to the base may be connected to the base. Also the first
The other end of the chain may be connected to a vertical movement holding means (vertical movement support member) arranged in the movable holding means (movable support member) or a parallel link mechanism, instead of the movable holding means (movable support member).
Further, regarding each end of the second chain which sets an interval between the adjacent movable holding means (movable support members) at the time of expansion, similarly to the other end of the first chain, the vertical movement holding means (vertical movement support member). ) Or a parallel link mechanism. (3) The second spacing setting member that sets the spacing when each movable holding means (movable support member) is reduced does not need to be movably arranged with respect to the guide shaft, but one movable holding member facing the other. Means (movable support member), the other movable holding means
A configuration in which the (movable support member) abuts can be adopted. In addition, the fixed holding means (fixed support member) and the movable holding means adjacent thereto
The first gap setting member that sets the gap between the (movable support member) and the movable support member is not fixed to the guide shaft but to the base or a member (fixed) fixed to the base. (Including holding means). Further, the first spacing setting member may have the same structure as the second spacing setting member, and the spacing may be set by contacting both holding means (supporting members). In addition, for the first and second gap setting members, instead of the movable holding means (movable support member),
It may be fixed to the vertical movement holding means (vertical movement supporting member) and the parallel link mechanism arranged in the means so as to abut. (4) The number of vertically movable holding means to be moved up and down by the parallel link mechanism may be plural (two or more) on both sides of the fixed or movable holding means (supporting member), or fixed or It is possible to employ a configuration in which the movable holding means (support member) is provided only on either the front side or the rear side. (5) The mechanism for displacing the vertical movement holding means in the vertical direction (position changing means) is not limited to the parallel link mechanism, but may be replaced with another mechanism. For example, fixed holding means
The vertical movement holding means is slidably supported vertically with respect to the (fixed support member) or the movable holding means (movable support member), and the vertical movement is fixed to the vertical movement holding means provided in the fixed holding means (fixed support member). The up-and-down movement holding means provided on the movable holding means (movable support member) is supported on the moving shaft so as to be movable in the direction of expansion and contraction. Then, connect the piston rod of the pneumatic cylinder mounted on the base to the vertical shaft so that the expansion / contraction direction (axial center) of the piston rod coincides with the sliding direction of the vertical motion holding means, and apply forward and reverse biasing force to the pneumatic cylinder. Thus, it is possible to adopt a configuration in which all the vertical movement holding means fixedly or movably supported by the vertical movement shaft are integrally moved up and down. (6) The suction cups and the like of the fixed holding means and the movable holding means may be omitted, and the holding means may function only as a fixed support member or a movable support member for supporting the vertical movement holding means. (7) As the rope for setting the interval of each holding means at the time of expansion, a wire, a belt or the like can be adopted instead of the chain. (8) As expansion / contraction operation means and position change operation means, instead of the pneumatic cylinder, the motor and ball screw or rack-
A means combining a pinion and the like can be adopted.
【００３８】[0038]
【発明の効果】以上説明した如く、本発明の請求項１に
係る物品保持装置では、各保持手段の拡縮する方向の間
隔を、索体および間隔設定部材を用いて行なうので、そ
の構成は極めて簡単で、装置自体をコンパクトにするこ
とができる。また拡大時および縮小時における各保持手
段の間隔を変更する際は、索体および間隔設定部材の長
さ等を変更することで容易に行なうことができ、保持す
る物品の種類(大きさ)の変更に簡単に対応し得る。更
に、前記拡縮方向と交差する方向に並ぶ保持手段を高さ
方向に変位させ得るから、後工程で物品間に高低差を付
与する必要がある場合にも適用し得る。なお、従来の技
術のように間隔を変更する手段としてパンタグラフ状の
平行リンク機構を用いる場合は、複数の物品間の間隔は
等間隔となるが、本発明では索体および間隔設定部材の
長さを変更することで、複数の物品間の間隔を不等間隔
とすることが可能である。As described above, in the article holding apparatus according to the first aspect of the present invention, since the spacing in the expanding / contracting direction of each holding means is performed by using the rope and the spacing setting member, the structure thereof is extremely large. It is simple and the device itself can be made compact. Also, when changing the spacing of each holding means at the time of expansion and contraction, it can be easily done by changing the length of the rope and the spacing setting member, and the type (size) of the article to be held. Can easily accommodate changes. Further, since the holding means arranged in the direction intersecting with the expansion / contraction direction can be displaced in the height direction, the present invention can be applied to the case where it is necessary to provide a height difference between articles in a post process. When a pantograph-shaped parallel link mechanism is used as a means for changing the distance as in the prior art, the distance between a plurality of articles is equal, but in the present invention, the length of the rope and the distance setting member is long. By changing, it is possible to make the intervals between the plurality of articles unequal.
【００３９】また請求項１に係る物品保持装置では、平
行リンク機構により複数の保持手段間に高低差を付与す
るので、高低差を付与する前と後での物品の保持姿勢を
同一にすることができる。Further, in the article holding apparatus according to the first aspect , since the height difference is provided between the plurality of holding means by the parallel link mechanism, the article holding posture before and after the height difference is given should be the same. You can
【図１】本発明の好適な実施例に係る物品保持装置を、
前後の保持手段間に高低差を付与した状態で示す側面図
である。FIG. 1 shows an article holding device according to a preferred embodiment of the present invention,
It is a side view shown in the state where height difference was given between front and back holding means.
【図２】実施例に係る物品保持装置を、前後の保持手段
間に高低差を付与した状態で示す正面図である。FIG. 2 is a front view showing the article holding device according to the embodiment in a state in which a height difference is provided between front and rear holding means.
【図３】実施例に係る物品保持装置における固定および
可動保持手段を示す縦断正面図である。FIG. 3 is a vertical cross-sectional front view showing fixed and movable holding means in the article holding device according to the embodiment.
【図４】実施例に係る物品保持装置の固定保持手段およ
び上下動保持手段を、前後の保持手段間に高低差を付与
しない状態で示す縦断側面図である。FIG. 4 is a vertical cross-sectional side view showing the fixed holding means and the vertical movement holding means of the article holding device according to the embodiment in a state in which a height difference is not provided between the front and rear holding means.
【図５】実施例に係る物品保持装置の可動保持手段およ
び上下動保持手段を、前後の保持手段間に高低差を付与
した状態で示す縦断側面図である。FIG. 5 is a vertical cross-sectional side view showing the movable holding means and the vertical movement holding means of the article holding device according to the embodiment in a state in which a height difference is provided between the front and rear holding means.
【図６】実施例に係る物品保持装置の固定および可動保
持手段を示す縦断正面図である。FIG. 6 is a vertical sectional front view showing fixed and movable holding means of the article holding device according to the embodiment.
【図７】実施例に係る物品保持装置を導入コンベヤの上
方に臨ませた状態で示す概略平面図である。FIG. 7 is a schematic plan view showing the article holding device according to the embodiment facing above the introducing conveyor.
【図８】実施例に係る物品保持装置により導入コンベア
上にある物品を物品移載部材に移載する状態を示す説明
図である。FIG. 8 is an explanatory diagram showing a state in which the article holding device according to the embodiment transfers the article on the introduction conveyor to the article transfer member.
１１ 物品 ２２ 基台 ２４ 案内軸(案内部材) ２５ 固定支持部材 ２８ 内側可動支持部材(可動支持部材) ２９ 外側可動支持部材(可動支持部材) ３１ 第１チェン(第１索体) ３３ 第１間隔設定部材(間隔設定部材) ３６ 第２チェン(第２索体) ３８ 第２間隔設定部材(間隔設定部材) ４０ 第１空気圧シリンダ(拡縮作動手段) ４１ 平行リンク機構(位置変更手段) ４２ 上下動保持手段(保持手段) ４７ 第２空気圧シリンダ(位置変更作動手段) Ｍ 固定把持手段 Ｎ1 内側可動把持手段(可動把持手段) Ｎ2 外側可動把持手段(可動把持手段)11 article 22 base 24 guide shaft (guide member) 25 fixed support member 28 inner movable support member (movable support member) 29 outer movable support member (movable support member) 31 first chain (first cord) 33 first interval Setting member (spacing setting member) 36 Second chain (second cord) 38 Second spacing setting member (spacing setting member) 40 First pneumatic cylinder (expansion / contraction operation means) 41 Parallel link mechanism (position changing means) 42 Vertical movement Holding means (holding means) 47 Second pneumatic cylinder (position change actuating means) M Fixed gripping means N 1 Inner movable gripping means (movable gripping means) N 2 Outer movable gripping means (movable gripping means)
フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B25J 15/00 B25J 15/06 B65G 47/91 Front page continuation (58) Fields surveyed (Int.Cl. 7 , DB name) B25J 15/00 B25J 15/06 B65G 47/91
Claims (3)
で拡縮するよう構成した物品保持装置であって、 基台(22)に対して定位置に配設された固定支持部材(25)
と、 前記基台(22)に対して定位置に配設されて拡縮する方向
に延在する案内部材(24)と、 前記固定支持部材(25)に対して拡縮する方向の一方側で
拡縮する方向に連続して並び、前記案内部材(24)に沿っ
て移動可能に配設された複数の可動支持部材(28,29)
と、 前記固定支持部材(25)および各可動支持部材(28,29)の
夫々に平行リンク機構(41)を介して配設されて拡縮する
方向と交差する方向に並び、前記物品(11)を保持する複
数の保持手段(42)と、 前記保持手段(42)により保持された物品(11)が、その姿
勢を保ったまま、一つの水平面上に略一致するよう配置
される状態と、前記固定および可動の各支持部材(25,2
8,29)において前記複数の保持手段(42)が並ぶ方向で斜
め上下に並んで配置される状態とに変位するよう、前記
平行リンク機構(41)を作動して保持手段(42)の位置を変
更する位置変更作動手段(47)とを備え、 前記固定支持部材(25)、該固定支持部材(25)に配設され
た複数の保持手段(42)および平行リンク機構(41)で固定
把持手段(M)が構成されると共に、前記各可動支持部材
(28,29)、該可動支持部材(28,29)に配設された複数の保
持手段(42)および平行リンク機構(41)で可動把持手段(N
1,N2)が夫々構成され、 前記固定把持手段(M)から最も離れた可動把持手段(N2)
は、拡縮作動手段(40)で拡・縮両方向に作動され、 前記固定把持手段(M)に隣り合う可動把持手段(N1)を、
前記基台(22)または基台(22)に対して定位置に配設され
る部材に第１索体(31)で連結して、固定把持手段(M)に
対して隣り合う可動把持手段(N1)の間隔が拡大した際に
該第１索体(31)が張った状態となることで固定把持手段
(M)と可動把持手段(N1)との間隔を設定すると共に、 前記隣り合う各可動把持手段(N1,N2)を第２索体(36)で
連結して、両可動把持手段(N1,N2)の間隔が拡大した際
に該第２索体(36)が張った状態となることで両可動把持
手段(N1,N2)の間隔を設定し、 前記隣り合う各可動把持手段(N1,N2)の間、および固定
把持手段(M)とこれに隣り合う可動把持手段(N1)との間
に臨む間隔設定部材(33,38)に、各把持手段(M,N1,N2)の
間隔が縮小した際に可動把持手段(N1,N2)が当接するこ
とで、隣り合う各把持手段(M,N1,N2)の間隔を設定する
よう構成したことを特徴とする物品保持装置。1. An article holding device configured to expand / contract an interval of a plurality of held articles (11) in one direction, wherein a fixed support member (at a fixed position with respect to a base (22) is provided. twenty five)
A guide member (24) disposed in a fixed position with respect to the base (22) and extending in the direction of expansion and contraction; and expansion and contraction on one side in the direction of expansion and contraction with respect to the fixed support member (25). A plurality of movable supporting members (28, 29) arranged continuously in the direction in which the movable members are arranged so as to be movable along the guide member (24).
And the fixed support member (25) and each of the movable support members (28, 29) are arranged via a parallel link mechanism (41) and arranged in a direction intersecting with a direction of expansion and contraction, and the article (11) A plurality of holding means (42) for holding, and the article (11) held by the holding means (42), while maintaining its posture, a state of being arranged so as to substantially coincide with one horizontal plane, The fixed and movable support members (25, 2
8 and 29) so as to be displaced into a state of being arranged in diagonally up and down the plurality of holding means (42) are arranged direction in the
Operate the parallel link mechanism (41) to change the position of the holding means (42).
Further comprising a position changing actuating means (47) , the fixed support member (25), a plurality of holding means (42) arranged on the fixed support member (25) and a parallel link mechanism (41) for fixed gripping. Means (M) is configured, and each movable support member
(28,29), a plurality of holding means (42) arranged on the movable support member (28,29) and a parallel link mechanism (41) are used for the movable gripping means (N).
1 and N 2 ) respectively, and the movable gripping means (N 2 ) farthest from the fixed gripping means (M).
Is operated in both expansion and contraction directions by the expansion and contraction operating means (40), and the movable gripping means (N 1 ) adjacent to the fixed gripping means (M) is
Movable gripping means adjacent to the fixed gripping means (M) by connecting the base (22) or a member arranged at a fixed position with respect to the base (22) with the first cord (31). When the interval of (N 1 ) is expanded, the first cord (31) is in a tensioned state, so that the fixed gripping means.
(M) and the movable gripping means (N 1 ) are set, and the adjacent movable gripping means (N 1 , N 2 ) are connected to each other by the second cord (36) so that both movable gripping means can be connected. When the distance between (N 1 , N 2 ) is expanded, the second cord (36) is stretched to set the distance between both movable gripping means (N 1 , N 2 ), and the adjacent The gap setting members (33, 38) facing the movable gripping means (N 1 , N 2 ) and between the fixed gripping means (M) and the movable gripping means (N 1 ) adjacent to the fixed gripping means (M 1 ) When the distance between the means (M, N 1 , N 2 ) is reduced, the movable gripping means (N 1 , N 2 ) are brought into contact with each other so that the distance between the adjacent gripping means (M, N 1 , N 2 ) is reduced. An article holding device characterized by being configured to set.
材(28,29)が物品(11)を保持する機能を有し、保持手段
を兼ねる請求項１記載の物品保持装置。Wherein said fixed support member (25) and the movable support member (28, 29) has a function of holding an article (11), the article holding device according to claim 1 Symbol mounting also serves as a holding means.
(25)を挟んで拡縮する方向の両側に延出し、その各側の
夫々に前記可動支持部材(28,29)が複数配設される請求
項１または２記載の物品保持装置。3. The guide member (24) is the fixed support member.
3. The article holding device according to claim 1, wherein the article holding device extends on both sides in the direction of expansion and contraction with the (25) interposed, and a plurality of the movable support members (28, 29) are provided on each of the sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16413399A JP3446097B2 (en) | 1999-06-10 | 1999-06-10 | Article holding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16413399A JP3446097B2 (en) | 1999-06-10 | 1999-06-10 | Article holding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000354991A JP2000354991A (en) | 2000-12-26 |
| JP3446097B2 true JP3446097B2 (en) | 2003-09-16 |
Family
ID=15787380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16413399A Expired - Lifetime JP3446097B2 (en) | 1999-06-10 | 1999-06-10 | Article holding device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3446097B2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE502006000954D1 (en) * | 2006-03-28 | 2008-07-31 | Festo Ag & Co | Handling device with a carrier unit with several working modules |
| JP2013006259A (en) * | 2011-06-27 | 2013-01-10 | Iai:Kk | Industrial robot |
| KR102170183B1 (en) * | 2018-12-05 | 2020-10-26 | (주)에스엔제이솔루션 | Apparatus for control of pressure as shape-adaptive |
| KR102197960B1 (en) * | 2019-01-10 | 2021-01-04 | (주)에스엔제이솔루션 | Shape adaptive pressure-controlled end-effector |
| KR102169074B1 (en) * | 2020-03-19 | 2020-10-22 | 주식회사 에이스로보테크 | Robot for connecting rod transfer using electromagnet |
| CN111515988B (en) * | 2020-05-12 | 2021-10-26 | 湖南红太阳光电科技有限公司 | Manipulator capable of grabbing multiple graphite boats and grabbing method of manipulator |
| CN116177219B (en) * | 2023-05-04 | 2023-07-25 | 快克智能装备股份有限公司 | Flexible sucker mechanism and workpiece conveying method |
-
1999
- 1999-06-10 JP JP16413399A patent/JP3446097B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2000354991A (en) | 2000-12-26 |
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