JPH039995Y2 - - Google Patents
Info
- Publication number
- JPH039995Y2 JPH039995Y2 JP233287U JP233287U JPH039995Y2 JP H039995 Y2 JPH039995 Y2 JP H039995Y2 JP 233287 U JP233287 U JP 233287U JP 233287 U JP233287 U JP 233287U JP H039995 Y2 JPH039995 Y2 JP H039995Y2
- Authority
- JP
- Japan
- Prior art keywords
- hand
- workpiece
- pallet
- horizontal arm
- robot
- 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
Links
- 210000000078 claw Anatomy 0.000 claims description 5
- 208000019300 CLIPPERS Diseases 0.000 claims 1
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 claims 1
- 238000000034 method Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Description
【考案の詳細な説明】
この考案は産業用ロボツトに関し、特に円筒座
標型ロボツトの改良に関する。[Detailed Description of the Invention] This invention relates to industrial robots, and particularly to improvements in cylindrical coordinate robots.
円筒座標型ロボツトは、周知のように垂直支柱
に沿つて昇降動する水平アームを有し、該水平ア
ームが進退動および支柱まわりで旋回動して一端
に設けたハンドが物品を把持搬送する。 As is well known, a cylindrical coordinate robot has a horizontal arm that moves up and down along a vertical support, and the horizontal arm moves forward and backward and rotates around the support, and a hand provided at one end grasps and conveys an article.
そして、上記のように水平アームは進退動と旋
回動の2動作を行うのでアーム先端のハンドの移
動範囲は広く、その点で好都合なのであるが、反
面水平アームのハンドを設けていない方の他端側
の移動範囲も対称的に大となり都合が悪い。 As mentioned above, the horizontal arm performs two movements: forward/backward movement and rotational movement, so the hand at the tip of the arm has a wide range of movement, which is convenient. The movement range on the end side is also symmetrically large, which is inconvenient.
つまり、水平アームが進退して旋回する垂直支
柱まわりの相当大きな円形移動範囲の後ろ側部分
は、障害物を何も置くことができない完全なデツ
ドスペースとなり利用の術がなかつたのである。 In other words, the rear part of the fairly large circular movement range around the vertical column, where the horizontal arm moves forward and backward and turns, was a completely dead space where no obstacles could be placed, and there was no way to utilize it.
一方、例えば、物品を載せたパレツトを多数段
積重ねて多段積みとした物品をロボツトによつて
デパレツト作業せしめる場合、物品とパレツトと
は通常大きさ、形とも大きく異なつているので、
物品を把持、搬送するハンドによつてはパレツト
を取除く作業をなし得ず、作業者が人手によりパ
レツトを取除かなければならないという問題があ
る。 On the other hand, for example, when a robot is used to depalletize multiple stacks of pallets carrying articles, the articles and the pallets are usually very different in size and shape.
There is a problem in that the pallet cannot be removed by the hand that grips and conveys the article, and the operator must manually remove the pallet.
この考案は上記事実に鑑み、円筒座標型ロボツ
トにおいて、その水平アーム両端に夫々ハンドを
設けることを提案し、各々のハンドで例えば上述
の物品とパレツト等の異なつた被搬送物を取扱え
るようになし、もつて上記2課題を一挙に解決し
たものである。 In view of the above facts, this invention proposes that a cylindrical coordinate robot is provided with hands at both ends of its horizontal arm, so that each hand can handle different objects, such as the above-mentioned articles and pallets. None, this solves the above two problems all at once.
以下、図面に基づき、この考案に係る産業用ロ
ボツトを用いたワークの搬送システムについて実
施例を説明する。 Hereinafter, an embodiment of a workpiece conveyance system using an industrial robot according to the invention will be described based on the drawings.
すなわち、第1図に平面図を示した通り、この
ワーク搬送システムは、この考案に係る円筒座標
型ロボツト1と、該ロボツト1の動作領域下のワ
ーク積卸位置A,Bを経由して移動自在な2台の
物品搬送台車2,3とからなり、第1図中左側の
ワーク載置ステーシヨンSLからは、該ロボツト
1を用いてワークWをデパレツトし、デパレツト
したワークWをA位置の前記物品搬送台車2へ積
載し、右側のワーク載置ステーシヨンSRへは、
該ロボツト1を用いてB位置にある物品搬送台車
3上から取上げたワークWを載置してパレタイズ
するようになつている。 That is, as shown in the plan view in FIG. 1, this work transfer system moves via the cylindrical coordinate robot 1 according to the invention and the work loading and unloading positions A and B under the operating area of the robot 1. Consisting of two movable article transport vehicles 2 and 3, the robot 1 is used to depallet the workpiece W from the workpiece loading station SL on the left side in FIG. Load the goods onto the goods transport vehicle 2 and move them to the workpiece loading station SR on the right side.
The robot 1 is used to place and palletize a workpiece W picked up from an article carrier 3 at position B.
この例の物品搬送台車2,3は、本出願人の出
願に係り、特開昭56−63552号に詳しく開示され
ている。レール間に駆動用のラインシヤフト4を
配設し、該ラインシヤフト4に摩擦円板を押接
し、ラインシヤフトの回転力の分力により台車を
走行せしめ、図示しないカム装置により所定の位
置(例えばA,B位置)に停止しうるものである
が、該物品搬送台車にかえて、例えば両端のスプ
ロケツトに無端チエーンを懸回し、該無端チエー
ンの外周にワーク載置パレツトを多数連結したカ
ルーセル方式のものであつてもよいし、単に一方
向へ物品を移動するベルトコンベアであつてもよ
い。 The article carriers 2 and 3 of this example are disclosed in detail in Japanese Patent Laid-Open No. 56-63552, filed by the present applicant. A driving line shaft 4 is disposed between the rails, a friction disk is pressed against the line shaft 4, and the trolley is moved by a component of the rotational force of the line shaft, and is moved to a predetermined position (for example, by a cam device not shown). However, instead of the article transport vehicle, a carousel system in which an endless chain is suspended from sprockets at both ends and a large number of workpiece mounting pallets are connected around the outer periphery of the endless chain is used. It may be a conveyor belt that simply moves articles in one direction.
いずれにしても、このロボツト1によつてA位
置に持たらされた空の台車2上へとワークWを積
載し、B位置に持たらされたワークを積んでいる
台車3からはワークWを取上げるのであり、A位
置でワークWを積載された台車2は次のステツプ
でさらに前進して次の工程へと移動し、B位置で
ワークWを取上げられて空になつた台車3は次の
ステツプで前進してA位置へ移動するのであり、
上記行程を繰返せば、第1図中左側のワーク載置
ステーシヨンSL上のワークWは搬出されて減少
され、右側のワーク載置ステーシヨンSR上へは
ワークWが搬入されて増加されるが、円筒座標型
ロボツト1には、この考案に従つて次のようにし
て2つのハンド5,6が設けてあり、該2つのハ
ンド5,6を使いわけてパレツトPをも該ロボツ
ト1によつて搬送せしめ得、多段積したワークW
を総て人力を介入することなしに移載しうる。 In any case, the workpiece W is loaded onto the empty trolley 2 brought to the A position by the robot 1, and the workpiece W is loaded onto the empty trolley 2 which is brought to the B position. The cart 2 loaded with the work W at position A moves further forward in the next step and moves to the next process, and the cart 3, which is empty after picking up the work W at position B, moves to the next step. It moves forward in steps and moves to position A.
By repeating the above process, the workpieces W on the workpiece placement station SL on the left side in FIG. According to this idea, the cylindrical coordinate robot 1 is provided with two hands 5 and 6 as follows, and the two hands 5 and 6 are used to handle the pallet P by the robot 1. Works W that can be transported and stacked in multiple stages
can be transferred without human intervention.
すなわち、この例のワークWは第2図に示した
ような鐸状の鋳物成品であり、パレツトPは第3
図示の内部が中空になつた樹脂製品であるが、該
円筒座標型ロボツト1の水平アーム7両端には、
夫々上記鐸状のワークWを把持するハンド5とパ
レツトPを引掛けて保持するハンド6とが設けら
れているのである。ハンド5は1度に2個のワー
クWを把持しうるように2対のグリツパ爪8を有
しており、アーム7に対してはサーボモータ9に
よつて240度の角度範囲内で任意の角度旋回Y1
できるようになつている。他方のハンド6はパレ
ツトPの両側を把持しうるようグリツパ爪11の
間隔が大きく拡開するタイプのハンドであつて、
グリツパ爪11の先端はパレツトP中空部に引掛
かるように若干内方へ屈曲してある。また、アー
ム7に対してはモータ12によつて60度の角度Y
2(第1図実線および1点鎖線図示間)にわたつ
て姿勢切換可能になつている。 That is, the workpiece W in this example is a bell-shaped casting product as shown in FIG.
Although the illustrated resin product is hollow inside, both ends of the horizontal arm 7 of the cylindrical coordinate robot 1 are
A hand 5 for gripping the bell-shaped workpiece W and a hand 6 for hooking and holding the pallet P are provided, respectively. The hand 5 has two pairs of gripper claws 8 so that it can grip two workpieces W at a time, and the arm 7 can be gripped at any angle within a 240 degree angle by a servo motor 9. Angle turning Y1
I'm starting to be able to do it. The other hand 6 is of a type in which the interval between the gripper claws 11 is widened so that it can grip both sides of the pallet P.
The tips of the gripper claws 11 are slightly bent inward so as to be caught in the hollow part of the pallet P. Also, the arm 7 is set at an angle Y of 60 degrees by the motor 12.
2 (between the solid line and the dashed-dotted line in FIG. 1).
なお、水平アーム7は通常の円筒座標型ロボツ
トと同様に、垂直支柱13に沿つて平行に昇降自
在であり、昇降枠14に対しては進退自在であ
り、該垂直支柱13の基台に設けた円盤(図示せ
ず)が回転されることによつて鉛直軸まわりで旋
回自在になつている。15はパレツト載置用の架
台である。 The horizontal arm 7, like a normal cylindrical coordinate robot, can move up and down in parallel along the vertical support 13, can move forward and backward with respect to the elevating frame 14, and is mounted on the base of the vertical support 13. By rotating a disc (not shown), it is possible to freely turn around a vertical axis. Reference numeral 15 denotes a stand for placing pallets.
この例の円筒座標型ロボツト1は以上のように
なつているので、上述のようにしてハンド5によ
るワーク載置ステーシヨンSLからのワークWの
デパレツト作業が繰返され、最上段のパレツトP
上にワークWが無くなれば、次には水平アーム7
を大きく旋回して他方端のハンド6をワーク載置
ステーシヨンSL上にもたらし、該ハンド6によ
りパレツトPを把持せしめて該パレツトPを他方
のワーク載置ステーシヨンSR上へ移送し、所定
個数が既にパレタイズされているワークW上へ該
パレツトPを載せうるのであり、パレツトPを載
せて段数を増したワーク載置ステーシヨンSRへ
は、再びハンド5を用いて続けて前記B位置の物
品搬送台車3からワークWを移載しうるのであ
る。なお、上記ハンド6によるワーク載置ステー
シヨンSLからワーク載置ステーシヨンSRへのパ
レツトPの移送中において、前記モータ12を切
換えてハンド6およびパレツトPの向きを60度転
向する。以上のようにして最上段のパレツトPを
取除かれて次段のワークWが露出されたワーク載
置ステーシヨンSLからは再びハンド5を用いて
ワークWをデパレツトし、A位置の物品搬送台車
2への移載が行われる。 Since the cylindrical coordinate robot 1 of this example is configured as described above, the depalletizing work of the workpiece W from the workpiece placement station SL by the hand 5 is repeated as described above, and the uppermost pallet P is
Once there is no workpiece W on top, next is the horizontal arm 7.
The hand 6 at the other end is brought onto the workpiece placement station SL, and the hand 6 grasps the pallet P and transfers the pallet P onto the other workpiece placement station SR. The pallet P can be placed on top of the palletized workpiece W, and the hand 5 is used again to place the pallet P on the workpiece carrier 3 at the B position to the workpiece placement station SR where the pallet P is placed and the number of stages is increased. The workpiece W can be transferred from there. Note that while the pallet P is being transferred by the hand 6 from the workpiece placement station SL to the workpiece placement station SR, the motor 12 is switched to turn the direction of the hand 6 and the pallet P by 60 degrees. From the workpiece loading station SL, where the uppermost pallet P has been removed and the next workpiece W has been exposed as described above, the hand 5 is used again to depalletize the workpiece W, and the workpiece is transferred to the article transport cart 2 at position A. The transfer will be carried out.
いずれにしても、以上の説明で明らかなよう
に、この考案の産業用ロボツトでは水平アームの
両端に夫々、物品把持用の開間隔の小なハンドと
パレツト把持用の開間隔の2倍以上大なハンドと
を設けたので、パレツトを介在させて2個以上ず
つ多段積みした物品をデパレツト作業せしめる場
合に、大きさが大きく異なる、物品と該物品の積
載用のパレツトとを、水平アームを旋回するだけ
で、夫々に適合するハンドを適宜使い分けて扱い
得、効率が格段に向上する。しかも、従来はデツ
ドスペースを構成するにすぎなかつた水平アーム
の他端にハンドを設けたので、該他端を有効利用
できており、水平なアームの両端にハンドを設け
るので偏荷重が生じない。 In any case, as is clear from the above explanation, the industrial robot of this invention has hands with a small gap for grasping objects and hands with a gap that is more than twice as large as the gap for pallet grasping, at both ends of the horizontal arm. Since the horizontal arm is equipped with a horizontal arm, the horizontal arm can be used to separate the articles and the pallet for loading the articles, which are of greatly different sizes, when depalletizing articles stacked in multiple stages of two or more with pallets interposed. By simply doing this, you can use the hands that suit each person as appropriate, greatly improving efficiency. Moreover, since the hand is provided at the other end of the horizontal arm, which conventionally only constituted a dead space, the other end can be used effectively, and since the hands are provided at both ends of the horizontal arm, no unbalanced load occurs.
第1図はこの考案に係る産業用ロボツトを用い
たワークの移送システムの平面図、第2図は同側
面図、第3図はパレツトの斜視図である。
1……円筒座標型ロボツト、5,6……ハン
ド、7……水平アーム。
FIG. 1 is a plan view of a work transfer system using an industrial robot according to the invention, FIG. 2 is a side view of the same, and FIG. 3 is a perspective view of a pallet. 1...Cylindrical coordinate robot, 5, 6...Hand, 7...Horizontal arm.
Claims (1)
はパレツト上の物品を把持するグリツパ爪開間隔
の小なハンドを設け、他方には上記物品を複数載
置したパレツトを把持する、上記一方側のハンド
に対し、クリツパ爪開間隔が少なくとも2倍以上
に開く別のハンドを設けたことを特徴とする産業
用ロボツト。 At both ends of the horizontal arm of the cylindrical coordinate robot, one hand is provided with a small gap between the gripper claws for gripping an item on a pallet, and the other hand is provided on the one side for gripping a pallet on which a plurality of the above-mentioned items are placed. An industrial robot characterized in that it is provided with another hand in which the gap between the clipper claws is at least twice as wide as that of the other hand.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP233287U JPH039995Y2 (en) | 1987-01-09 | 1987-01-09 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP233287U JPH039995Y2 (en) | 1987-01-09 | 1987-01-09 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62127788U JPS62127788U (en) | 1987-08-13 |
JPH039995Y2 true JPH039995Y2 (en) | 1991-03-12 |
Family
ID=30781078
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP233287U Expired JPH039995Y2 (en) | 1987-01-09 | 1987-01-09 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH039995Y2 (en) |
-
1987
- 1987-01-09 JP JP233287U patent/JPH039995Y2/ja not_active Expired
Also Published As
Publication number | Publication date |
---|---|
JPS62127788U (en) | 1987-08-13 |
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