JPH06170772A - Handle for industrial robot - Google Patents
Handle for industrial robotInfo
- Publication number
- JPH06170772A JPH06170772A JP34099992A JP34099992A JPH06170772A JP H06170772 A JPH06170772 A JP H06170772A JP 34099992 A JP34099992 A JP 34099992A JP 34099992 A JP34099992 A JP 34099992A JP H06170772 A JPH06170772 A JP H06170772A
- Authority
- JP
- Japan
- Prior art keywords
- industrial robot
- base body
- hook
- handle
- article
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、箱状物品及び側面に
把持孔を有する物品を把持する産業ロボット用把手に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a box-shaped article and a handle for an industrial robot which holds an article having a side surface with a holding hole.
【０００２】[0002]
【従来の技術】図７及び図８は、例えば実開平２−８２
４９３号公報に示された従来の産業ロボット用把手を示
す図で、図７は産業ロボット用把手を一部縦断して示す
側面図、図８は図７の産業ロボット用把手の吸着パッ
ド、鉤部等が回動した状態を示す図である。図におい
て、(1)は産業ロボット（図示しない）の作動腕先端
部、(2)は作動腕先端部(1)に固定された産業ロボット用
把手の基体、(3)は基体(2)の先端寄りに枢持さた回動
体、(4)は回動体(3)の一側に設けられて物品（図示しな
い）の平面を吸着把持する吸着パッド、(5)は回動体(3)
の他側に設けられて物品（図示しない）の把持孔を掛合
把持する鉤、(6)は回動体(3)の鉤(5)と同側に鉤(5)と対
向して設けられて鉤(5)が係合した物品の下方を支持す
る当て板である。2. Description of the Related Art FIGS.
FIG. 4 is a view showing a conventional industrial robot handle shown in Japanese Patent No. 493, FIG. 7 is a side view showing a part of the industrial robot handle in a vertical section, and FIG. 8 is a suction pad and a hook of the industrial robot handle of FIG. It is a figure which shows the state which the parts etc. rotated. In the figure, (1) is a tip of an operating arm of an industrial robot (not shown), (2) is a base body of an industrial robot handle fixed to the tip of the operating arm (1), and (3) is a base body (2). A rotary body pivotally supported near the tip, (4) is a suction pad which is provided on one side of the rotary body (3) and sucks and holds a flat surface of an article (not shown), and (5) is a rotary body (3)
The hook (6) provided on the other side for engaging and gripping the grip hole of the article (not shown) is provided on the same side as the hook (5) of the rotating body (3) so as to face the hook (5). It is a backing plate that supports the lower part of the article with which the hook (5) is engaged.
【０００３】従来の産業ロボット用把手は上記のように
構成され、回動体(3)が作動腕先端部(1)に対して図７に
示す状態に保持されて箱状物品（図示しない）の上面を
吸着パッド(4)により吸着把持する。また、回動体(3)を
作動腕先端部(1)に対して回動し、図８に示す状態に保
持して箱状物品の側面を吸着パッド(4)により吸着把持
し、また側面に把持孔を有する物品（図示しない）の把
持孔に鉤(5)が掛合して当て板(6)とにより把持孔付の物
品を掛合把持するようになっている。The conventional handle for an industrial robot is constructed as described above, and the rotating body (3) is held in the state shown in FIG. 7 with respect to the distal end portion (1) of the operating arm so that a box-shaped article (not shown) can be stored. The upper surface is suction-held by the suction pad (4). Further, the rotating body (3) is rotated with respect to the distal end portion (1) of the operating arm, and is held in the state shown in FIG. 8 to adsorb and hold the side surface of the box-like article by the adsorbing pad (4). The hook (5) is engaged with the grasping hole of an article (not shown) having the grasping hole, and the article with the grasping hole is engaged and grasped by the contact plate (6).
【０００４】[0004]
【発明が解決しようとする課題】上記のような従来の産
業ロボット用把手では、把持する物品に合わせて回動体
(3)を回動して把持作用が達成される。この回動体(3)の
回動動作には回動スペースが必要であって、産業ロボッ
ト用把手の近くの機器（図示しない）等に当たることを
避けるため産業ロボットを退避動作させることになる。
したがって、ロボット作業の能率が低下するという問題
点があった。In the conventional handle for the industrial robot as described above, the rotating body is adapted to the article to be grasped.
The gripping action is achieved by rotating (3). A rotating space is required for the rotating operation of the rotating body (3), and the industrial robot is retracted in order to avoid hitting a device (not shown) near the handle for the industrial robot.
Therefore, there is a problem that the efficiency of robot work is reduced.
【０００５】また、鉤(5)による掛合把持は、物品のず
れ、物品の落下を生じ易く産業ロボットのロボット作業
動作を遅くする必要があって、ロボット作業の能率が低
下するという問題点があった。Further, the engagement grip by the hook (5) is apt to cause misalignment of articles and drop of articles, and it is necessary to delay the robot work operation of the industrial robot, which causes a problem that the efficiency of robot work is reduced. It was
【０００６】さらに、鉤(5)による掛合把持により積み
重ね状態の物品を把持する場合に、積み重ねによる物品
高さの誤差の集積等によって物品の把持孔位置のずれが
大きくなる。このため、掛合把持動作時に鉤(5)の上向
先端が物品の把持孔の上縁部に当たり易くなる。したが
って、産業ロボットの掛合把持動作時の鉤(5)上向先端
の物品把持孔縁部を回避する余裕動作を大きくすること
になり、ロボット作業の能率が低下するという問題点が
あった。Furthermore, when gripping articles in a stacked state by hooking and grasping by the hooks (5), the deviation of the gripping hole positions of the articles becomes large due to accumulation of error in the height of the articles due to stacking. Therefore, the upper end of the hook (5) easily hits the upper edge of the grip hole of the article during the engaging grip operation. Therefore, there is a problem in that the margin operation for avoiding the edge portion of the article gripping hole at the tip of the hook (5) at the time of the engaging gripping operation of the industrial robot is increased, and the efficiency of the robot work is reduced.
【０００７】この発明は、かかる問題点を解消するため
になされたものであり、把手の構成によるロボット作業
動作の制約が少ない産業ロボット用把手を得ることを目
的とする。The present invention has been made to solve the above problems, and an object of the present invention is to obtain a handle for an industrial robot which is less restricted by the robot working operation due to the configuration of the handle.
【０００８】[0008]
【課題を解決するための手段】この発明の請求項１記載
の発明に係る産業ロボット用把手においては、産業ロボ
ットの作動腕先端部に設けられた基体と、この基体に回
動機構を介して装着され水平姿勢及び鉛直姿勢に保持さ
れる吸着把持体と、基体に上向き姿勢に装着された鉤と
が設けられる。In a handle for an industrial robot according to a first aspect of the present invention, there is provided a base body provided at a distal end portion of an operating arm of the industrial robot and a rotation mechanism for the base body. A suction gripping body that is mounted and held in a horizontal posture and a vertical posture, and a hook that is mounted on the base body in an upward posture are provided.
【０００９】また、この発明の請求項２記載の発明に係
る産業ロボット用把手においては、産業ロボットの作動
腕先端部に設けられた基体と、この基体に回動機構を介
して装着され水平姿勢及び鉛直姿勢に保持される吸着把
持体と、基体に上向き姿勢に装着された鉤と、基体に変
位可能に装着されて鉤の上方に配置され、鉤の非把持状
態時に鉤から離れ鉤の把持状態時に鉤と対向する位置に
変位する押さえ機構とが設けられる。Further, in the handle for an industrial robot according to the second aspect of the present invention, a base body provided at the tip of the operating arm of the industrial robot and a horizontal posture attached to the base body through a rotating mechanism. And a suction gripping body that is held in a vertical posture, a hook that is mounted on the base body in an upward posture, and a displaceably mounted base body that is placed above the hook and that separates from the hook when the hook is not gripped and grips the hook. A pressing mechanism is provided which is displaced to a position facing the hook in the state.
【００１０】また、この発明の請求項３記載の発明に係
る産業ロボット用把手においては、産業ロボットの作動
腕先端部に設けられた基体と、この基体に設けられて水
平方向に延びる支持体と、基体に変位可能に装着されて
支持体のに配置され、支持体の非支持状態時に支持体か
ら離れ支持体の支持状態時に支持体と対向する位置に変
位する押さえ機構とが設けられる。Further, in the handle for an industrial robot according to the third aspect of the present invention, a base body provided at the tip of the operating arm of the industrial robot, and a support body provided on the base body and extending in the horizontal direction. And a pressing mechanism that is displaceably mounted on the base body and is disposed in the support body, and that is separated from the support body when the support body is in the unsupported state and is displaced to a position facing the support body when the support body is in the supported state.
【００１１】[0011]
【作用】上記のように構成されたこの発明の請求項１記
載の発明の産業ロボット用把手は、吸着把持体を主要部
とする回動部が回動機構を介して基体に装着されるの
で、把持する物品に合わせて吸着把持体を回動動作する
ときの回動所要スペースが狭くなる。In the industrial robot handle according to the first aspect of the present invention having the above-described structure, the rotating portion having the suction gripping body as a main part is mounted on the base body through the rotating mechanism. The space required for rotation when the suction gripping body is rotated according to the article to be gripped becomes narrow.
【００１２】また、上記のように構成されたこの発明の
請求項２記載の発明の産業ロボット用把手は、吸着把持
体を主要部とする回動部が回動機構を介して基体に装着
されるので、把持する物品に合わせて回動動作するとき
の回動スペースが狭くなる。そして、この作用と共に鉤
により掛合把持された物品の上方に押さえ機構が対向し
て物品の脱離が阻止される。Further, in the industrial robot handle according to the second aspect of the present invention configured as described above, the rotating part having the suction gripping body as a main part is mounted on the base body through the rotating mechanism. Therefore, the turning space for turning according to the article to be gripped becomes narrow. Along with this action, the pressing mechanism faces above the article that is engaged and gripped by the hook, and the detachment of the article is prevented.
【００１３】また、上記のように構成されたこの発明の
請求項３記載の発明の産業ロボット用把手は上向先端の
無い支持体が水平方向に変位して物品の掛合孔に掛合す
るので、掛合把持動作時の物品把持孔縁部を回避する余
裕動作が減少する。Further, in the industrial robot handle according to the third aspect of the present invention configured as described above, the support body having no upward tip is displaced in the horizontal direction to engage with the engaging hole of the article. The margin operation for avoiding the edge portion of the article grasping hole during the engaging and grasping operation is reduced.
【００１４】[0014]
実施例１．図１〜図５は、この発明の一実施例を示す図
で、図１は産業ロボット用把手の正面図、図２は図１の
右側面を一部省略して示す図、図３は図１の鉤及び当て
板箇所を要部として示す図２相当図、図４は図１の吸着
把持体の作動状況を示す図１相当図、図５は図１の鉤及
び押さえ機構の作動状況を示す図２の要部拡大図であ
る。図において、(1)は産業ロボット（図示しない）の
作動腕先端部、(2)は作動腕先端部(1)に固定された産業
ロボット用把手の基体、(3)は基体(2)の先端寄りに枢持
さた回動体、(4)は回動体(3)の一側に設けられて物品
（図示しない）の平面を吸着把持する吸着パッドである
吸着把持体、(7)は基体(2)に設けられて作動部が回動体
(3)の一側に枢着されたエアーシリンダーからなる回動
機構である。Example 1. 1 to 5 are views showing an embodiment of the present invention, FIG. 1 is a front view of a handle for an industrial robot, FIG. 2 is a view showing a right side surface of FIG. 1 with a part thereof omitted, and FIG. 2 corresponding to FIG. 2 showing the hooks and abutting plate portions of FIG. 1 as main parts, FIG. 4 corresponding to FIG. 1 showing the operating state of the suction gripping body of FIG. 1, and FIG. 5 showing the operating state of the hook and the pressing mechanism of FIG. It is a principal part enlarged view of FIG. 2 which shows. In the figure, (1) is a tip of an operating arm of an industrial robot (not shown), (2) is a base body of an industrial robot handle fixed to the tip of the operating arm (1), and (3) is a base body (2). A rotating body pivotally supported near the tip, (4) is a suction gripping body which is a suction pad which is provided on one side of the rotating body (3) and sucks and holds a flat surface of an article (not shown), and (7) is a base body (2) The operating part is a rotating body.
(3) This is a rotating mechanism consisting of an air cylinder pivotally attached to one side.
【００１５】(5)は中間部が基体(2)に枢持された腕体
(8)の長手中間にに装着された鉤、(6)は腕体(8)の下端
に鉤(5)と対向して設けられた当て板、(9)は基体(2)に
設けられて作動部が腕体(8)の上端に枢着されたエアー
シリンダーからなる傾斜機構、(10)は基体(2)に設けら
れて腕体(8)の下端寄りに対向して配置され腕体(8)の図
３における反時計方向の回動を所定位置で阻止する下部
阻止体、(11)は基体(2)に設けられて腕体(8)の上端寄り
に対向して配置され腕体(8)の図３における時計方向の
回動を所定位置で阻止する上部阻止体である。(5) is an arm body having an intermediate portion pivotally supported by the base body (2)
A hook attached to the middle of the length of (8), (6) a backing plate provided at the lower end of the arm (8) facing the hook (5), and (9) provided on the base body (2). The tilting mechanism consisting of an air cylinder whose operating part is pivotally attached to the upper end of the arm body (8), and (10) is provided on the base body (2) and is arranged facing the lower end of the arm body (8) to face the arm. A lower blocking body for blocking the counterclockwise rotation of the body (8) in FIG. 3 at a predetermined position, and (11) is provided on the base body (2) and is arranged to face the upper end of the arm body (8). It is an upper blocking body that blocks the clockwise rotation of the arm body (8) in FIG. 3 at a predetermined position.
【００１６】(12)は一端が基体(2)に枢着されて鉤状を
なす押さえ具で、鉤(5)の上側の鉤(5)の幅方向の両端部
対応位置にそれぞれ配置されている。(13)は基体(2)に
設けられて作動部が押さえ具(12)に枢着されたエアーシ
リンダーと押さえ具(12)とにより構成された押さえ機
構、(14)は箱状をなし側面が吸着把持体(4)により吸着
把持される吸着物品、(15)は箱状をなし上面が吸着把持
体(4)により吸着把持される吸着物品、(16)は側面に把
持孔(17)が設けられて把持孔(17)を介して鉤(5)に掛合
把持される掛合物品である。Reference numeral (12) denotes a hook-shaped retainer whose one end is pivotally attached to the base body (2) and is arranged at positions corresponding to both ends in the width direction of the upper hook (5) of the hook (5). There is. (13) is a holding mechanism which is provided on the base body (2) and has an operating portion pivotally attached to the holding member (12) and an holding member (12), and (14) is a box-like side surface. Is an adsorbing article that is adsorbed and gripped by the adsorbing gripper (4), (15) is an adsorbing article that has a box shape and the upper surface is adsorbing and gripping by the adsorbing gripper (4), and (16) is a grip hole (17) on the side surface. Is a hooked article which is provided with and is hooked and gripped by the hook (5) through the gripping hole (17).
【００１７】上記のように構成された産業ロボット用把
手は、回動機構(7)により回動体(3)が作動腕先端部(1)
に対して図４に示すように回動されて吸着把持体(4)が
９０°回動される。そして、吸着把持体(4)が鉛直姿勢
に保持されて吸着物品(14)が吸着把持され、また、吸着
把持体(4)が水平姿勢に保持されて吸着物品(15)が吸着
把持される。In the industrial robot handle having the above-described structure, the rotating mechanism (7) causes the rotating body (3) to move the distal end portion (1) of the operating arm.
On the other hand, as shown in FIG. 4, the suction gripping body (4) is rotated by 90 °. Then, the suction gripping body (4) is held in the vertical posture to suck and grip the suction suction article (14), and the suction gripping body (4) is held in the horizontal posture to suction and grip the suction suction article (15). .
【００１８】この産業ロボット用把手においては吸着把
持体(4)を主要部として回動変位するため、回動動作の
所要回動スペースが狭くなる。したがって産業ロボット
用把手の近くの機器（図示しない）等に当たることを避
けるための産業ロボットの退避動作が小さくなり、ロボ
ット作業の能率低下を少なくすることができる。In this handle for an industrial robot, since the suction gripping body (4) is pivotally displaced as a main part, the pivoting space required for the pivoting operation is narrowed. Therefore, the retracting operation of the industrial robot for avoiding hitting a device (not shown) or the like near the handle for the industrial robot becomes small, and the reduction of the efficiency of the robot work can be suppressed.
【００１９】また、把持孔(17)付の掛合物品(16)を把持
する場合は、鉤(5)の掛合前は押さえ機構(13)の押さえ
具(12)が鉤(5)から離れた位置に保持されて、この状態
で産業ロボットは鉤(5)を掛合孔(17)に掛合する動作を
行う。そして、鉤(5)が掛合孔(17)に掛合した後に、押
さえ具(12)が押さえ機構(13)の動作により鉤(5)に対向
した位置に変位する。また、傾斜機構(9)が動作して当
て板(6)を前進させて掛合物品(16)が水平姿勢に、すな
わち、図５に示すように把持される。このように、掛合
物品(16)が鉤(5)及び押さえ機構(13)により掛合把持さ
れるため、掛合物品(16)の離脱を防ぐことができ、産業
ロボットの動作を遅くする必要がなくロボット作業能率
の低下を減少することができる。When gripping a hooking article (16) having a gripping hole (17), the holding tool (12) of the holding mechanism (13) is separated from the hook (5) before the hook (5) is hooked. The industrial robot is held in the position, and in this state, the industrial robot performs the operation of engaging the hook (5) with the engaging hole (17). Then, after the hook (5) is engaged with the engaging hole (17), the pressing tool (12) is displaced to a position facing the hook (5) by the operation of the pressing mechanism (13). Further, the tilting mechanism (9) operates to move the contact plate (6) forward so that the engaged article (16) is held in a horizontal posture, that is, as shown in FIG. Thus, since the hooked article (16) is hooked and grasped by the hook (5) and the pressing mechanism (13), it is possible to prevent the hooked article (16) from coming off, and it is not necessary to delay the operation of the industrial robot. It is possible to reduce a decrease in robot work efficiency.
【００２０】実施例２．図６は、この発明の他の実施例
を示す図で、産業ロボット用把手の支持体及び押さえ機
構の作動状況を示す前述の図５相当図である。図におい
て、(1)は産業ロボット（図示しない）の作動腕先端
部、(2)は作動腕先端部(1)に固定された産業ロボット用
把手の基体、(18)は基体(2)の下端寄り設けられて水平
方向に延在する支持体、(6)は基体(2)の下端に鉤(5)と
対向して設けられた当て板、(12)は一端が基体(2)に枢
着されて鉤状をなす押さえ具で、支持体(18)の上側の支
持体(18)幅方向の両端部対応位置にそれぞれ配置されて
いる。(13)は基体(2)に設けられて作動部が押さえ具(1
2)に枢着されたエアーシリンダーと押さえ具(12)とによ
り構成された押さえ機構、(16)は把持孔(17)が設けられ
て把持孔(17)を介して支持体(18)に掛合把持される掛合
物品である。Example 2. FIG. 6 is a view showing another embodiment of the present invention and is a view corresponding to FIG. 5 described above and showing the operating states of the support body and the pressing mechanism of the industrial robot handle. In the figure, (1) is a tip of an operating arm of an industrial robot (not shown), (2) is a base body of an industrial robot handle fixed to the tip of the operating arm (1), and (18) is a base body (2). A support provided near the lower end and extending in the horizontal direction, (6) is a backing plate provided at the lower end of the base body (2) facing the hook (5), and (12) has one end on the base body (2). The retainers are pivotally attached and have a hook shape, and are arranged at positions corresponding to both ends of the upper side of the support body (18) in the width direction of the support body (18). (13) is provided on the base body (2) and the operating part is
A holding mechanism composed of an air cylinder pivotally attached to 2) and a holding tool (12), and (16) is provided with a gripping hole (17), and is attached to a support (18) through the gripping hole (17). It is a hooked article that is gripped and held.
【００２１】上記のように構成された産業ロボット用把
手は、把持孔(17)付の掛合物品(16)を把持する場合に、
支持体(18)の掛合前は押さえ機構(13)の押さえ具(12)が
支持体(18)から離れた位置に保持されて、この状態で産
業ロボットは支持体(18)を掛合孔(17)に掛合する動作を
行う。そして、支持体(18)が掛合孔(17)に掛合した後
に、押さえ具(12)が押さえ機構(13)の動作により支持体
(18)に対向した位置に変位する。このように、掛合物品
(16)が支持体(18)及び押さえ機構(13)により掛合把持さ
れるため、掛合物品(16)の離脱を防ぐことができ、産業
ロボットの動作を遅くする必要がなくロボット作業能率
の低下を少なくすることができる。The handle for an industrial robot having the above-mentioned structure, when gripping the engagement article (16) with the grip hole (17),
Before the support body (18) is engaged, the retainer (12) of the retaining mechanism (13) is held at a position apart from the support body (18), and in this state, the industrial robot inserts the support body (18) into the engagement hole ( Perform the operation related to 17). Then, after the support body (18) is engaged with the engagement hole (17), the retainer (12) is operated by the operation of the retainer mechanism (13).
It is displaced to the position facing (18). In this way, the hanging article
Since (16) is engaged and gripped by the support (18) and the pressing mechanism (13), it is possible to prevent the detachment of the engaged article (16), and it is not necessary to delay the operation of the industrial robot and the robot work efficiency is reduced. Can be reduced.
【００２２】また、掛合把持により積み重ね状態の物品
を把持する場合には、積み重ねによる物品高さの誤差の
集積等によって物品の把持孔位置のずれが大きくなる。
しかし、掛合物品(16)の把持孔(17)に水平方向に延在す
る支持体(18)が水平方向に変位して掛合する。したがっ
て、上向先端が形成されていない支持体(18)であるため
産業ロボットの掛合把持動作時に、把持孔(17)縁部を回
避する余裕動作を小さくすることができ、ロボット作業
能率の低下を減少することができる。Further, when gripping the stacked articles by the hooking grip, the deviation of the grip hole position of the articles becomes large due to the accumulation of the error of the height of the articles due to the stacking.
However, the support body (18) extending in the horizontal direction is displaced in the horizontal direction and engages with the holding hole (17) of the engagement article (16). Therefore, since the support body (18) is not formed with the upward tip, the margin operation for avoiding the edge of the grip hole (17) can be reduced during the engaging grip operation of the industrial robot, which lowers the robot work efficiency. Can be reduced.
【００２３】[0023]
【発明の効果】この発明の請求項１記載の発明は以上説
明したように、産業ロボットの作動腕先端部に設けられ
た基体と、この基体に回動機構を介して装着され水平姿
勢及び鉛直姿勢に保持される吸着把持体と、基体に上向
き姿勢に装着された鉤とを設けたものである。As described above, according to the first aspect of the present invention, the base body provided on the distal end of the operating arm of the industrial robot and the horizontal posture and the vertical posture mounted on the base body through the rotating mechanism are used. The suction gripping body held in the posture and the hook attached to the base body in the upward posture are provided.
【００２４】これによって、吸着把持体を主要部とする
回動部が回動機構を介して基体に装着されるので、把持
する物品に合わせて回動動作するときの回動所要スペー
スが狭くなる。したがって、産業ロボット用把手の近く
の機器等に当たることを避けるための産業ロボットの退
避動作が小さくなり、ロボット作業の能率低下を少なく
する効果がある。As a result, since the rotating part having the suction gripping body as a main part is mounted on the base body through the rotating mechanism, the space required for the rotation when rotating according to the object to be gripped becomes narrow. . Therefore, the retracting operation of the industrial robot for avoiding hitting a device near the handle for the industrial robot is reduced, and the efficiency of the robot work is less likely to decrease.
【００２５】また、この発明の請求項２記載の発明は以
上説明したように、産業ロボットの作動腕先端部に設け
られた基体と、この基体に回動機構を介して装着され水
平姿勢及び鉛直姿勢に保持される吸着把持体と、基体に
上向き姿勢に装着された鉤と、基体に変位可能に装着さ
れて鉤の上方に配置され、鉤の非把持状態時に鉤から離
れ鉤の把持状態時に鉤と対向する位置に変位する押さえ
機構とを設けたものである。Further, as described above, the invention according to claim 2 of the present invention is such that the base body provided at the distal end of the operating arm of the industrial robot and the horizontal posture and the vertical posture mounted on the base body through the rotating mechanism. The suction gripping body that is held in a posture, the hook that is mounted on the base body in an upward posture, and the displaceable mountable body that is placed above the hook and that is separated from the hook when the hook is not gripped and when the hook is gripped. A holding mechanism that is displaced to a position facing the hook is provided.
【００２６】これによって、吸着把持体を主要部とする
回動部が回動機構を介して基体に装着されるので、把持
する物品に合わせて回動動作するときの回動スペースが
狭くなる。そして、この作用と共に鉤により掛合把持さ
れた物品の上方に押さえ機構が対向して物品の脱離が阻
止される。したがって、産業ロボット用把手の近くの機
器等に当たることを避けるための産業ロボットの退避動
作が小さくなり、ロボット作業の能率低下を少なくする
ことができる。また、押さえ機構により掛合物品の離脱
が防止されるので、産業ロボットの動作を遅くする必要
がなくロボット作業能率の低下を少なくすることができ
る。As a result, since the rotating part having the suction gripping body as a main part is mounted on the base body through the rotating mechanism, the rotating space for rotating the product in accordance with the object to be gripped becomes narrow. Along with this action, the pressing mechanism faces above the article that is engaged and gripped by the hook, and the detachment of the article is prevented. Therefore, the retracting operation of the industrial robot for avoiding hitting a device or the like near the handle for the industrial robot becomes small, and the reduction in the efficiency of the robot work can be suppressed. In addition, since the holding mechanism prevents the engaged article from coming off, it is not necessary to slow down the operation of the industrial robot, and it is possible to reduce the decrease in robot work efficiency.
【００２７】また、この発明の請求項３記載の発明は以
上説明したように、産業ロボットの作動腕先端部に設け
られた基体と、この基体に設けられて水平方向に延びる
支持体と、基体に変位可能に装着されて支持体の上方に
配置され、支持体の非支持状態時に支持体から離れ支持
体の支持状態時に支持体と対向する位置に変位する押さ
え機構とを設けたものである。As described above, the invention according to claim 3 of the present invention is such that the base body provided on the tip of the operating arm of the industrial robot, the support body provided on the base body and extending in the horizontal direction, and the base body. And a pressing mechanism that is displaceably mounted on the support, is disposed above the support, and is displaced from the support when the support is not supported and is displaced to a position facing the support when the support is supported. .
【００２８】これによって、上向先端の無い支持体が水
平方向に変位して物品の掛合孔に掛合するので、掛合把
持動作時の物品把持孔縁部を回避する余裕動作を減少す
ることができ、ロボット作業能率の低下を少なくする効
果がある。As a result, the support body having no upward tip is displaced in the horizontal direction and engages with the engaging hole of the article, so that the margin operation for avoiding the edge portion of the article grasping hole during the engaging and grasping operation can be reduced. , It is effective in reducing the decrease in robot work efficiency.
【図１】この発明の実施例１を示す産業ロボット用把手
の正面図。FIG. 1 is a front view of a handle for an industrial robot showing a first embodiment of the present invention.
【図２】図１の右側面を一部省略して示す図。FIG. 2 is a diagram showing a right side surface of FIG. 1 with a part thereof omitted.
【図３】図１の鉤及び当て板箇所を要部として示す図２
相当図。FIG. 3 is a view showing the hook and the contact plate portion of FIG. 1 as essential parts.
Corresponding figure.
【図４】図１の吸着把持体の作動状況を示す図１相当
図。FIG. 4 is a view corresponding to FIG. 1 showing an operating state of the suction gripping body of FIG. 1.
【図５】図１の鉤及び押さえ機構の作動状況を示す図２
の要部拡大図。5 is a view showing an operating state of the hook and the pressing mechanism of FIG.
FIG.
【図６】この発明の実施例２を示す図で、産業ロボット
用把手の支持体及び押さえ機構の作動状況を示す前述の
図５相当図。FIG. 6 is a view showing the second embodiment of the present invention and is a view corresponding to FIG. 5 described above and showing the operating states of the support and the holding mechanism of the handle for the industrial robot.
【図７】従来の産業ロボット用把手を一部縦断して示す
側面図。FIG. 7 is a side view showing a conventional handle for an industrial robot by partially cutting it vertically.
【図８】図７の産業ロボット用把手の吸着パッド、鉤部
等が回動した状態を示す図。FIG. 8 is a view showing a state in which suction pads, hooks and the like of the industrial robot handle of FIG. 7 are rotated.
１ 作動腕先端部 ２ 基体 ４ 吸着把持体 ５ 鉤 ７ 回動機構 １３ 押さえ機構 １８ 支持体 DESCRIPTION OF SYMBOLS 1 Working arm tip part 2 Base body 4 Adsorption gripping body 5 Hook 7 Rotating mechanism 13 Holding mechanism 18 Supporting body
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成５年８月２３日[Submission date] August 23, 1993
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００６[Correction target item name] 0006
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００６】さらに、鉤(5)による掛合把持により積み
重ね状態の物品を把持する場合に、積み重ねによる物品
高さの誤差の集積等によって物品の把持孔位置のずれが
大きくなる。このため、掛合把持動作時に鉤(5)の上向
先端が物品の把持孔の上縁部に当たり易くなる。したが
って、産業ロボットの掛合把持動作時の鉤(5)上向先端
の物品把持孔縁部との干渉を回避するため、物品把持孔
縁部を検知し把持位置を修正したり、あらかじめ余裕を
みた動作を必要とし、ロボット作業の能率が低下すると
いう問題点があった。Furthermore, when gripping articles in a stacked state by hooking and grasping by the hooks (5), the deviation of the gripping hole positions of the articles becomes large due to accumulation of error in the height of the articles due to stacking. Therefore, the upper end of the hook (5) easily hits the upper edge of the grip hole of the article during the engaging grip operation. Therefore, in order to avoid interference with the edge of the article gripping hole at the tip of the hook (5) when engaging and gripping the industrial robot,
Detect the edge and correct the gripping position ,
However, there is a problem that the robot's work efficiency is reduced because it requires the movements.
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００１０[Correction target item name] 0010
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【００１０】また、この発明の請求項３記載の発明に係
る産業ロボット用把手においては、産業ロボットの作動
腕先端部に設けられた基体と、この基体に設けられて水
平方向に延びる支持体と、基体に変位可能に装着されて
支持体の上方に配置され、支持体の非支持状態時に支持
体から離れ支持体の支持状態時に支持体と対向する位置
に変位する押さえ機構とが設けられる。Further, in the handle for an industrial robot according to the third aspect of the present invention, a base body provided at the tip of the operating arm of the industrial robot, and a support body provided on the base body and extending in the horizontal direction. And a pressing mechanism that is displaceably mounted on the base body and is disposed above the support body and that is separated from the support body when the support body is in the unsupported state and that is displaced to a position facing the support body when the support body is in the supported state.
Claims (3)
た基体と、この基体に回動機構を介して装着され水平姿
勢及び鉛直姿勢に保持される吸着把持体と、上記基体に
上向き姿勢に装着された鉤とを備えた産業ロボット用把
手。1. A base body provided at a distal end of an operating arm of an industrial robot, a suction gripping body attached to the base body through a rotating mechanism and held in a horizontal posture and a vertical posture, and an upward posture of the base body. A handle for an industrial robot with a hook attached.
た基体と、この基体に回動機構を介して装着され水平姿
勢及び鉛直姿勢に保持される吸着把持体と、上記基体に
上向き姿勢に装着された鉤と、上記基体に変位可能に装
着されて上記鉤の上方に配置され、上記鉤の非把持状態
時に上記鉤から離れ上記鉤の把持状態時に上記鉤と対向
する位置に変位する押さえ機構とを備えた産業ロボット
用把手。2. A base body provided at a distal end portion of an operating arm of an industrial robot, a suction gripping body attached to the base body through a rotating mechanism and held in a horizontal posture and a vertical posture, and an upward posture with respect to the base body. A mounted hook and a holder that is displaceably mounted on the base body and is disposed above the hook, and that moves away from the hook when the hook is not gripped and is displaced to a position facing the hook when the hook is gripped. A handle for an industrial robot equipped with a mechanism.
た基体と、この基体に設けられて水平方向に延びる支持
体と、上記基体に変位可能に装着されて上記支持体の上
方に配置され、上記支持体の非支持状態時に上記支持体
から離れ上記支持体の支持状態時に上記支持体と対向す
る位置に変位する押さえ機構とを備えた産業ロボット用
把手。3. A base body provided at a tip of an operating arm of an industrial robot, a support body provided on the base body and extending in a horizontal direction, and displaceably mounted on the base body and arranged above the support body. A handle for an industrial robot, comprising: a holding mechanism that moves away from the support when the support is not supported and is displaced to a position facing the support when the support is supported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34099992A JPH06170772A (en) | 1992-11-30 | 1992-11-30 | Handle for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34099992A JPH06170772A (en) | 1992-11-30 | 1992-11-30 | Handle for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06170772A true JPH06170772A (en) | 1994-06-21 |
Family
ID=18342271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34099992A Pending JPH06170772A (en) | 1992-11-30 | 1992-11-30 | Handle for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06170772A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1698441A1 (en) * | 2005-03-03 | 2006-09-06 | Fanuc Ltd | Robot hand comprising a hook element cooperating with a holding element |
| WO2023058426A1 (en) * | 2021-10-08 | 2023-04-13 | ＴｅｃｈＭａｇｉｃ株式会社 | Cooking-container-holding unit and cooking container automatic transport device incorporating same |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01145930A (en) * | 1987-11-30 | 1989-06-07 | Koyama Kogyosho:Kk | Article loading device |
-
1992
- 1992-11-30 JP JP34099992A patent/JPH06170772A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01145930A (en) * | 1987-11-30 | 1989-06-07 | Koyama Kogyosho:Kk | Article loading device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1698441A1 (en) * | 2005-03-03 | 2006-09-06 | Fanuc Ltd | Robot hand comprising a hook element cooperating with a holding element |
| US7734376B2 (en) | 2005-03-03 | 2010-06-08 | Fanuc Ltd | Hand and handling robot |
| WO2023058426A1 (en) * | 2021-10-08 | 2023-04-13 | ＴｅｃｈＭａｇｉｃ株式会社 | Cooking-container-holding unit and cooking container automatic transport device incorporating same |
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