JP2004025326A - Grasping device and transfer machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a grasping device of combined type capable of grasping plural kinds of grasping matters 23, which can be miniaturized while preventing the application of a bias load. <P>SOLUTION: A base 32 having a transfer machine mount part 36 on a central axis 31 has first to third grasping units 37-39 around the central axis 31. In the first grasping unit 37, a box 24 is pinched by a pair of pinching bodies 40 opened and closed around the central axis 31. In the second grasping unit 38, the lower surface of a bag 25 is supported by a pair of support bodies 52 opened and closed around the central axis 31. In the third grasping unit 39, a pail can 26 is suspended and supported by a plurality of hooks 58 opened and closed around the central axis 31. Since the transfer machine mount part 36 of the base 32 is matched to the grasping center of each grasping unit 37-39 in the central axis 31, the device can be miniaturized while preventing the application of a bias load to the grasping device 13 or a transfer machine. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a gripping device for gripping a gripped object and a transfer machine.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, for example, a transfer device such as a loading device or an unloading device is provided with a gripping device, and a gripping object is gripped by the gripping device to perform a loading operation or an unloading operation.
[0003]
The gripping device has a base attached to a transfer machine main body such as a robot, for example, and a gripping unit corresponding to a type of a gripped object is mounted on a lower surface of the base. Examples of the type of the gripping object include a box, a bag, and a pail. Correspondingly, there are a box gripping unit, a bag gripping unit, and a pail can gripping unit.
[0004]
Generally, one gripping device is provided with one gripping unit. For example, in order to cope with a case where two types of gripping objects are handled on the same line, one gripping device is provided with two gripping units. There are dual-purpose gripping devices. In this dual-purpose gripping device, the center of the upper surface of the base is attached to the transfer machine main body, and two different types of gripping units are arranged in parallel on both sides of the lower surface of the base. Is used.
[0005]
In addition, there is an exchange-type gripping device in which a dedicated gripping unit can be exchanged by an exchange device according to the type of an object to be gripped.
[0006]
[Problems to be solved by the invention]
However, in the dual-purpose holding device, the center of attachment of the base attached to the transfer machine main body and the center of gripping the object to be gripped by the gripping unit are largely displaced. There is a problem that an uneven load is applied to the machine. In addition, since two gripping units are arranged in parallel on one base, there is a problem that the width of the gripping device becomes large. As described above, even if only two types are used, there is a problem of increasing the size of the gripping device. Therefore, it is difficult to arrange three or more types of gripping units in parallel.
[0007]
In addition, the exchange-type gripping device requires a replacement device, and requires a replacement operation every time a gripping object flowing in the line changes, resulting in poor work efficiency.
[0008]
SUMMARY OF THE INVENTION The present invention has been made in view of such a point, and an uneven load is applied to a gripping device itself and a transfer machine to which the gripping device is attached, while being a dual-purpose type capable of gripping a plurality of types of gripped objects. It is an object of the present invention to provide a gripping device and a transfer machine which can prevent the occurrence of a problem and can reduce the size, and can easily cope with gripping two or more types of gripped objects while maintaining the size reduction.
[0009]
[Means for Solving the Problems]
A gripping device according to claim 1, wherein a base having a transfer machine mounting portion on a central axis, and a plurality of types of gripping objects provided on the base with the central axis as a center, respectively, and corresponding to the types of the gripping objects. And a plurality of gripping units for gripping around a central axis.
[0010]
In this configuration, a plurality of gripping units are respectively provided around the central axis on a base having a transfer machine mounting portion on the central axis, and a plurality of types of gripping objects are provided by the plurality of gripping units. It is a dual-purpose gripper that can grip multiple types of gripping objects because it is a gripping form that supports multiple types of gripping objects. It is possible to prevent the improper load from being applied to the transfer device attached via the gripping device itself or the transfer device mounting part in the same axis, and it is possible to reduce the size, and to maintain two or more types of the transfer device. It is possible to easily cope with gripping of more types of gripped objects.
[0011]
According to a second aspect of the present invention, there is provided the gripping device according to the first aspect, wherein the gripping unit has a pair of holding bodies provided to be openable and closable about a center axis, and the gripping object is held by the pair of holding bodies. It has a first gripping unit to be clamped, and a second gripping unit having a pair of supports provided to be openable and closable about a central axis, and supporting a lower surface of a gripped object with the pair of supports. Things.
[0012]
In this configuration, the gripping unit includes a first gripping unit that grips a gripped object with a pair of holding bodies and a second gripping unit that supports the lower surface of the gripped object with a pair of supports. Can handle boxes and bags.
[0013]
According to a third aspect of the present invention, there is provided the gripping device according to the first aspect, wherein the gripping unit has a pair of holding members provided to be openable and closable about a central axis, and the holding object is held by the pair of holding members. It comprises a first gripping unit to be clamped, and a third gripping unit having a plurality of hooks provided to be openable and closable about a central axis, and suspending and supporting a gripped object with these hooks. .
[0014]
In this configuration, as the gripping unit, a first gripping unit that grips a gripped object with a pair of holding bodies and a third gripping unit that suspends and supports the gripped object with a plurality of hooks are provided. Can handle boxes and pail cans.
[0015]
According to a fourth aspect of the present invention, there is provided the gripping device according to the first aspect, wherein the gripping unit has a pair of supports provided to be openable and closable about a central axis, and the pair of supports supports the gripping object. A second gripping unit that supports a lower surface and a third gripping unit that has a plurality of hooks provided to be openable and closable about a central axis, and that suspends and supports a gripped object with these hooks. It is.
[0016]
In this configuration, the gripping unit includes the second gripping unit that supports the lower surface of the gripped object with the pair of supports and the third gripping unit that suspends and holds the gripped object with the plurality of hooks. Bags and pail cans can be handled as objects.
[0017]
According to a fifth aspect of the present invention, there is provided the gripping device according to the first aspect, wherein the gripping unit has a pair of holding bodies provided to be openable and closable about a central axis, and the gripping object is held by the pair of holding bodies. A first gripping unit to be clamped, a second gripping unit having a pair of supports provided to be openable and closable about a central axis, and supporting a lower surface of a gripped object with the pair of supports; A plurality of hooks provided to be openable and closable about the center, and a third gripping unit for suspending and supporting a gripped object with these hooks.
[0018]
In this configuration, as the gripping units, a first gripping unit that grips a gripped object with a pair of grippers, a second gripping unit that supports a lower surface of the gripped object with a pair of supports, and grips with a plurality of hooks Since the third holding unit for suspending and supporting an object is provided, a box, a bag, a pail, and the like can be handled as the object to be held.
[0019]
According to a sixth aspect of the present invention, there is provided the gripping device according to any one of the second, third and fifth aspects, wherein at least one of the holding bodies of the first gripping unit is provided with a vacuum pad for sucking and holding the gripped object. Things.
[0020]
In this configuration, the grasped object is sucked and held by the vacuum pad provided on at least one of the holding bodies of the first grasping unit, and the grasping of the grasped object by the first grasping unit is ensured.
[0021]
The holding device according to claim 7 is the holding device according to claim 2 or 5, wherein each support of the second holding unit can be opened and closed independently, and a holding object is held by a pair of holding members of the first holding unit. Is held, the lower surface of the object to be gripped is supported by at least one support of the second gripping unit.
[0022]
In this configuration, each of the supports of the second holding unit can be opened and closed independently, and at least one of the second holding units is used when holding the holding object with the pair of holding bodies of the first holding unit. Since the lower surface of the object to be gripped is supported by the support, the object to be gripped can be prevented from dropping even when, for example, a type of object that cannot be suctioned and held, and the object to be gripped by the first gripping unit can be reliably held.
[0023]
A gripping device according to an eighth aspect of the present invention is the gripping device according to the second or fifth aspect, further comprising a pair of moving parts that open and close about the central axis, and each of these moving parts has a holding body of the first gripping unit. And each support of the second gripping unit is attached.
[0024]
In this configuration, each of the holding members of the first gripping unit and each of the supports of the second gripping unit are attached to the pair of moving portions that open and close about the central axis. 2 is also used for opening and closing movement of the gripping unit, and the configuration is simplified.
[0025]
In the gripping device according to the ninth aspect, in the gripping device according to the second or fifth aspect, the support of the second gripping unit advances below the first gripping unit during gripping to support the gripped object. At the time of holding, the first holding unit retracts above the area where the object is held.
[0026]
In this configuration, at the time of gripping by the second gripping unit, the support is advanced below the first gripping unit, so that the first gripping unit can support the gripped object without hindrance, In addition, when the second gripping unit is not gripped, the support is retracted above the area where the gripped object is gripped by the other gripping unit, so that the first gripping unit does not hinder the processing of the gripped object. To
[0027]
According to a tenth aspect of the present invention, in the gripping device according to any one of the third to fifth aspects, the hook of the third gripping unit is lowered below the other gripping units during gripping to suspend and support the gripped object. When the object is not grasped, the grasped object is retracted above a region where the grasped object is grasped by another grasping unit.
[0028]
In this configuration, when the third gripping unit grips the hook, the hook is lowered below the other gripping unit, so that the gripping object can be suspended and supported by the hook without interfering with the other gripping unit. Also, when the third gripping unit is not gripped, the hook is retracted above the area where the gripped object is gripped by the other gripping unit, so that the hook interferes with the processing of the gripped object by the other gripping unit. Not to be.
[0029]
According to an eleventh aspect of the present invention, in the gripping device according to any one of the first to tenth aspects, the plurality of gripping units grip the gripped object from a direction intersecting the center axis.
[0030]
In this configuration, the plurality of gripping units grip the gripped object from a direction intersecting the center axis, so that it is possible to easily cope with a plurality of types of gripped objects while maintaining a small size.
[0031]
A transfer machine according to a twelfth aspect includes a transfer machine main body, and the gripping device according to any one of the first to eleventh aspects, which is attached to the transfer machine main body via a transfer machine mounting portion. Things.
[0032]
In this configuration, since the gripping device according to any one of the first to eleventh aspects is provided, the load of the eccentric load is not applied to the transfer machine main body, and a plurality of types of gripped objects can be processed.
[0033]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0034]
FIG. 5 shows a side view of a transfer machine to which the gripping device is applied. The transfer machine 11 is a cargo handling robot used for a loading device, an unloading device, and the like, and has a transfer machine main body 12 and a gripping device 13 attached to the transfer machine main body 12.
[0035]
The transfer machine main body 12 has a main body portion 15, and the main body portion 15 is disposed so as to be pivotable with respect to a pedestal portion 16 installed on the floor surface. An arm mechanism 19 having a first arm 17 and a second arm 18 is disposed on the main body 15, and a tip of the arm mechanism 19 has a pivot shaft that rotates in a horizontal direction with a vertical axial direction. A gripping device mounting portion 21 having a gripping device 20 is provided, and the gripping device 13 is mounted on the lower end of the pivot shaft 20 of the gripping device mounting portion 21. The arm mechanism 19 is configured such that the gripping device 13 always keeps a constant horizontal posture via the gripping device mounting portion 21 regardless of the movement of the arm mechanism 19.
[0036]
The gripping object 23 to be gripped and transferred by the gripping device 13 includes a box 24 shown in FIG. 6, a bag 25 shown in FIG. 7, and a pail can 26 shown in FIG. It is configured.
[0037]
Next, FIGS. 1 to 4 show a gripping device. 1 is a front view of the gripping device, FIG. 2 is a plan view of the gripping device, FIG. 3 is a side view of the gripping device, and FIG. 4 is a plan view of a part of a third gripping unit of the gripping device.
[0038]
The gripping device 13 has, at the center thereof, a center axis 31 which is coaxial with the turning axis 20 when attached to the turning axis 20 of the transfer machine main body 12, and each mechanism is formed based on the center axis 31. ing.
[0039]
The gripping device 13 has a base 32. The base 32 has base frames 33 on both sides and a connecting frame 34 connecting both ends in the longitudinal direction of the base frames 33. A base plate 35 is attached.
[0040]
On the base plate 35 at the center of the upper surface of the base 32, a transfer machine mounting portion 36 is mounted with the center axis 31 as a reference. The transfer machine mounting portion 36 is coaxially mounted on the turning shaft 20 of the transfer machine main body 12.
[0041]
First to third gripping units 37 and 38 are provided on the lower surface of the base 32 as gripping units for gripping a plurality of types of gripping objects 23 in a gripping form corresponding to the type of each gripping object 23 and centering on the central axis 31. , 39 are provided.
[0042]
The first gripping unit 37 grips the box 24 mainly of the gripping object 23, and has a pair of holding bodies 40 that can be opened and closed around the center axis 31. The gripping object 23 is held between the holding surfaces 40a facing each other.
[0043]
Guide rails 41 are attached along the lower surface of each base frame 33, and a pair of moving parts 42 that open and close about the central axis 31 are slidably attached to the guide rails 41 by slide members 43. A timing pulley 44 is rotatably supported on each connecting frame 34, and a timing belt 45 is wound around these timing pulleys 44. A connecting member 46 connected to the ting belt 45 is mounted on each moving section 42. Therefore, the pair of moving parts 42 move in conjunction with the rotation of the timing belt 45 and open and close so that the distance between the pair of moving parts 42 increases or decreases about the central axis 31. An air cylinder 47 as an opening / closing drive unit is attached to each base frame 33, and a rod 48 that moves forward and backward by the operation of the air cylinder 47 is connected to one moving unit 42. Therefore, when the rod 48 is extended by the operation of the air cylinder 47, the distance between the pair of moving parts 42 is increased, and when the rod 48 is contracted, the distance between the pair of moving parts 42 is reduced.
[0044]
The pair of holding members 40 are attached to lower portions of the pair of moving parts 42. Therefore, by the operation of the air cylinder 47, the pair of moving parts 42 are driven to open and close integrally with the pair of moving parts 42 so as to increase or decrease the distance between the pair of holding bodies 40 about the central axis 31. The body 40 moves between an open position where the body 40 is separated from the gripping object 23 and a closed position where the pair of holding bodies 40 engage and grip the gripping object 23.
[0045]
A plurality of vacuum pads 49 that adsorb and hold the gripping object 23 held between the pair of holding bodies 40 are provided on one holding body 40. These vacuum pads 49 face notch portions 40b formed in one of the holding members 40, and are attached to a pad attachment plate 50 arranged outside one of the holding members 40, and the pad attachment plate 50 is attached to one of the holding members 40. It is supported by an air cylinder 51 as a vacuum pad advance / retreat means attached to the outer surface of the unit 40. The vacuum pad 49 is moved between the suction position where the vacuum pad 49 protrudes from the holding surface 40 a of the holding body 40 and the retreat position where the vacuum pad 49 is retracted outside the holding surface 40 a of the holding body 40 by the operation of the air cylinder 51. Moving.
[0046]
The second gripping unit 38 grips the bag 25 mainly of the gripping object 23, and has a pair of supports 52 that can be opened and closed about the central axis 31. Supports the lower surface of the gripping object 23.
[0047]
Each support 52 has a plurality of substantially L-shaped fingers 53, and the plurality of fingers 53 are attached to the attachment member 54 at equal intervals. A rotary cylinder 55 as a support driving means is attached to the outer surface of each moving section 42, and each rotating arm 57 is attached to a drive shaft 56 projecting from both sides of the rotary cylinder 55, and an attaching member 54 is attached to these rotating arms 57. Is attached. Each of the rotary cylinders 55 is independently drivable, and the operation of each of the rotary cylinders 55 causes each of the support members 52 to move downward from the outside of each of the holding members 40 to support the lower surface of the gripping object 23. It moves between the position and the open position where each holding body 40 is turned outward. In the open position, each support 52 retracts above the area where the gripping object 23 is gripped by the holding body 40 of the first gripping unit 37.
[0048]
The third gripping unit 39 is for gripping mainly the pail can 26 of the gripping object 23, and has a plurality of hooks 58 provided to be openable and closable about the central axis 31. 26 is suspended and supported.
[0049]
Air cylinders 59 serving as hook up / down driving means are attached to both sides of the base 32, and a vertical moving member 61 is attached between the tips of rods 60 which move downward from the air cylinders 59. A chuck cylinder 62 such as an air cylinder serving as a hook opening / closing driving means is attached to the center of the lower surface of the vertically moving member 61. The chuck cylinder 62 is opened and closed on both sides around the central axis 31 by the operation of the chuck cylinder 62 on both sides. Hook attachment members 63 and 64 are attached, and a hook 58 is attached to these hook attachment members 63 and 64. A hook unit 65 is constituted by the hook 58, the vertically moving member 61, the chuck cylinder 62, the hook mounting members 63 and 64, and the like.
[0050]
The number of hooks 58 is, for example, three. One hook 58 is attached to one hook attachment member 63 and two hooks 58 are attached to the other hook attachment member 64. The hook 58 is moved downward by the operation of the air cylinder 59 so that the hook 58 is lowered below the other gripping units 37 and 38 so that the pail can 26 can be suspended and supported. Due to the movement of the holding member 23, the holding member 23 is moved to an upper position where the holding member 23 is retracted above a region where the holding member 23 is held. The hook 58 is driven to open and close by the operation of the chuck cylinder 62 such that the interval between the hooks 58 attached to the pair of hook attachment members 63 is enlarged or reduced about the central axis 31. The hook 58 is moved between a separation position where the hook 58 is separated from the pail can 26 and a gripping position where the hooks 58 are engaged with the pail can 26 and supported by hanging. The opening / closing direction of the hook 58 is a direction intersecting the opening direction of the holding body 40 and the support body 52 of the first and second gripping units 37 and 38.
[0051]
Next, the transfer operation by the transfer machine 11 will be described.
[0052]
First, the transfer operation of the box 24 will be described with reference to FIG.
[0053]
As shown in FIG. 6A, by setting a pattern program for boxes in the control device of the transfer machine 11, the pair of holding bodies 40 of the first gripping unit 37 are moved to the open position, and the vacuum pad 49 is opened. Project from the holding surface 40 a of the holding body 40. The support 52 of the second gripping unit 38 is located at the open position, and the hook 58 of the third gripping unit 39 is located at the raised position.
[0054]
The holding device 13 is moved to a supply position where the box 24 is supplied by a conveyor or the like (not shown) by the transfer machine main body 12, and the pair of holding bodies 40 of the first holding unit 37 are positioned on both sides of the box 24.
[0055]
As shown in FIG. 6B, the pair of holding bodies 40 of the first holding unit 37 are closed around the center axis 31, and the box object 24 is centered on the center axis 31 with the pair of holding bodies 40. Hold with the holding force. At the same time, the vacuum pad 49 contacts the side surface of the box 24, and the vacuum pad 49 sucks and holds the box 24. The box 24 is securely held by the pair of holding bodies 40 and the vacuum pad 49. At this time, the hook 58 does not come into contact with the box 24 because the third gripping unit 39 at the raised position is retracted above the region where the first gripping unit 37 grips the box 24.
[0056]
As shown in FIG. 6C, the holding device 13 holding the box 24 by the transfer machine main body 12 is moved to a transfer place, and is transferred to a predetermined transfer position. For example, when the box 24 that has been transported this time is transferred to the side of the box 24 that has already been transferred, the box 24 that has been transferred this time is held in a gripped state on the side of the box 24 that has been transferred. After the movement, the pair of holding bodies 40 are slightly opened to release the holding of the box 24 and the suction of the box 24 by the vacuum pad 49, and the gripping device 13 is moved upward to move the box 24. The intermediate holding body 40 is pulled out upward, and the transfer of the box 24 this time is completed. At this time, the second gripping unit 38 in the open position causes the respective supporters 52 to retreat above the region where the box 24 is gripped by the holding body 40 of the first gripping unit 37, so that the supporters 52 during transfer are moved. A gap L <b> 1 is secured between the transported box 24 and the transported box 24, so that the support 52 does not contact the transported box 24.
[0057]
Next, the transfer operation of the bag 25 will be described with reference to FIG.
[0058]
As shown in FIG. 7A, by setting a pattern program for bags in the control device of the transfer machine 11, the pair of holding bodies 40 of the first gripping unit 37 are in the open position, and the vacuum pad 49 is in the open position. The support 52 of the second gripping unit 38 is at the open position, and the hook 58 of the third gripping unit 39 is at the raised position, at the retracted position outside the holding surface 40a of the holding body 40.
[0059]
The gripper 13 is moved to a supply position where the bag 25 is supplied by a conveyor or the like (not shown) by the transfer machine main body 12, and a pair of holding bodies 40 and a second gripping unit of the first grip unit 37 are provided on both sides of the bag 25. 38. A pair of supports 52 are positioned.
[0060]
As shown in FIG. 7B, the pair of holding bodies 40 of the first holding unit 37 are closed around the center axis 31, and the bag 25 is inserted between the pair of holding bodies 40 so that the center axis 31 is centered. And the bag 25 is centered. The pair of supports 52 of the second grip unit 38 are moved to the closed position, and the pair of supports 52 support the lower surface of the bag 25. By centering the bag 25 with the pair of holding members 40 and supporting the lower surface of the bag 25 with the pair of supports 52 in this way, the pair of supports 52 securely grip the bag 25 around the central axis 31. it can. At this time, the hook 58 does not come into contact with the bag 25 because the third holding unit 39 in the raised position is retracted above the region where the second holding unit 38 holds the bag 25.
[0061]
As shown in FIG. 7C, the holding device 13 holding the bag 25 by the transfer machine main body 12 is moved to a transfer place, and is transferred to a predetermined transfer position. For example, when the bag 25 that has been transported this time is transferred to the side of the bag 25 that has already been transferred, the bag 25 that has been transferred this time is held in a gripped state and the transfer position of the side of the bag 25 that has been transferred is above the transfer position. Then, the pair of holding members 40 are closed, and the pair of support members 52 are opened to release the support of the lower surface of the bag 25, so that the bag 25 is dropped directly downward by the pair of holding members 40. While being regulated, it slides down from between the pair of holding bodies 40 and falls accurately to the transfer position, and the transfer of the bag 25 this time is completed.
[0062]
Next, the transfer operation of the pail can 26 will be described with reference to FIG.
[0063]
As shown in FIG. 8A, by setting a pattern program for a pail can in the control device of the transfer machine 11, the pair of holding bodies 40 of the first gripping unit 37 are moved to the open position and the vacuum pad 49 is opened. Is at a retracted position outside the holding surface 40 a of the holding body 40, the support 52 of the second holding unit 38 is in the open position, the hook unit 65 of the third holding unit 39 is in the raised position, and the hook of the hook unit 65 is Numerals 58 are respectively located at the open positions.
[0064]
The transfer device main body 12 moves the gripping device 13 to a supply position where the pail can 26 is supplied by a conveyor or the like (not shown), and a hook unit is placed above the pail can 26 so that the center axis 31 coincides with the center of the pail can 26. After positioning 65, the gripping device 13 is lowered to the height position where the hook 58 engages the pail 26. The plurality of hooks 58 are closed around the center axis 31, and the plurality of hooks 58 are hooked and engaged with the pail can 26 to be gripped. By closing the plurality of hooks 58 about the center axis 31 in this manner, the pail can 26 can be reliably held about the center axis 31.
[0065]
As shown in FIG. 8B, the holding device 13 holding the pail can 26 is moved to the transfer place by the transfer machine main body 12. When approaching the transfer position, the hook unit 65 is lowered together with the pail can 26 with respect to the base 32 of the holding device 13, and the pail can 26 is positioned below the holding body 40 of the first holding unit 37.
[0066]
As shown in FIG. 8C, the holding device 13 holding the pail can 26 by the transfer machine main body 12 is moved to a transfer place, and is transferred to a predetermined transfer position. For example, when transferring the pail 26 that has been transported this time to the side of the pail 26 that has already been transferred, the pail 26 that has been transferred is held with the current pail 26 held. After the movement, the plurality of hooks 58 are opened to release the gripping of the pail can 26, and the hook 58 is moved to the raised position, thereby completing the transfer of the pail can 26 this time. At this time, since the pail can 26 is lowered below the holding body 40 of the first gripping unit 37 by the hook 58, the gap L2 between the holding body 40 and the transferred pail can 26 at the time of transfer. Is secured, and the holding body 40 does not come into contact with the transferred pail 26.
[0067]
Next, the transfer operation of the box 24 when the vacuum pad 49 cannot be used or not used will be described with reference to FIG. Here, the description will be made in a state where the vacuum pad 49 is not attached. Solenoid valves for controlling the supply and exhaust of air to and from each rotary cylinder 55 of the second gripping unit 38 are individually used, and each of the supports 52 can be independently driven and controlled.
[0068]
As shown in FIG. 9A, by setting a pattern program for boxes that cannot be sucked and held in the control device of the transfer machine 11, the pair of holding bodies 40 of the first gripping unit 37 are set to the open position. The vacuum pad 49 protrudes from the holding surface 40 a of the holding body 40. The support 52 of the second gripping unit 38 is located at the open position, and the hook 58 of the third gripping unit 39 is located at the raised position.
[0069]
The holding device 13 is moved to a supply position where the box 24 is supplied by a conveyor or the like (not shown) by the transfer machine main body 12, and the pair of holding bodies 40 of the first holding unit 37 are positioned on both sides of the box 24.
[0070]
As shown in FIG. 9B, the pair of holding bodies 40 of the first gripping unit 37 are closed around the center axis 31, and the box object 24 is centered on the center axis 31 with the pair of holding bodies 40. Hold with the holding force. Only the one support 52 of the second gripping unit 38 is moved to the closed position, and the lower surface of the box 24 is supported by the one support 52. The box 24 is securely held by the pair of holding members 40 and one support member 52.
[0071]
As shown in FIG. 9C, the holding device 13 holding the box 24 by the transfer machine main body 12 is moved to a transfer place and transferred to a predetermined transfer position. For example, when the box 24 that has been transported this time is transferred to the side of the box 24 that has already been transferred, the box 24 that has been transferred this time is located above the transfer position on the side of the box 24 that has already been transferred. Then, one of the supports 52 is opened while lowering, and the support of the lower surface of the box 24 is released. When the box 24 reaches the transfer position, the lowering is stopped, the pair of holding members 40 are slightly opened to release the holding of the box 24, and the gripping device 13 is raised while leaving the box 24 at the transfer position.
[0072]
Next, the transfer operation of the box 24 in other cases where the vacuum pad 49 cannot be used will be described with reference to FIG. Here, the description will be made in a state where the vacuum pad 49 is not attached. Solenoid valves for controlling the supply and exhaust of air to and from each rotary cylinder 55 of the second gripping unit 38 are individually used, and the driving of each support 52 can be controlled independently.
[0073]
As shown in FIG. 10A, the box 24 is a case in which the outer lid 24b covers the inner box 24a, and the inner box 24a may fall just by gripping the outer lid 24b.
[0074]
As shown in FIG. 10B, by setting a pattern program for a box that cannot be suctioned and held in the control device of the transfer machine 11, the pair of holding bodies 40 of the first gripping unit 37 are moved to the open position. The vacuum pad 49 protrudes from the holding surface 40 a of the holding body 40. The support 52 of the second gripping unit 38 is located at the open position, and the hook 58 of the third gripping unit 39 is located at the raised position.
[0075]
The holding device 13 is moved to a supply position where the box 24 is supplied by a conveyor or the like (not shown) by the transfer machine main body 12, and the pair of holding bodies 40 of the first holding unit 37 are positioned on both sides of the box 24.
[0076]
As shown in FIG. 10C, the pair of holding bodies 40 of the first gripping unit 37 are closed around the center axis 31, and the box object 24 is centered on the center axis 31 by the pair of holding bodies 40. Hold with the holding force. The pair of supports 52 of the second gripping unit 38 are moved to the closed position, and the lower surface of the box 24 is supported by the pair of supports 52. The box 24 is securely held by the pair of holding bodies 40 and the pair of supports 52.
[0077]
As shown in FIGS. 10D, 10E, and 10F, the holding device 13 holding the box object 24 by the transfer machine main body 12 is moved to the transfer position, and transferred to a predetermined transfer position.
[0078]
For example, when the box 24 carried this time is transferred to the side of the box 24 already transferred, as shown in FIG. The box 24 is moved obliquely from the side opposite to the box 24 toward the transfer position, and only the support 52 on the side corresponding to the box 24 after the transfer is opened.
[0079]
As shown in FIG. 10E, when the box 24 has reached the upper position of the transfer position, the movement is switched from the oblique movement to the downward movement, and the remaining support members 52 are opened.
[0080]
As shown in FIG. 10F, when the box 24 reaches the transfer position, the lowering is stopped, the pair of holding members 40 are slightly opened to release the holding of the box 24, and the box 24 is moved to the transfer position. And the gripping device 13 is raised.
[0081]
By opening the remaining support 52, even if the middle box 24a of the box 24 is shifted downward with respect to the outer cover 24b, there is a possibility that the middle box 24a is completely removed from the outer cover 24b due to a small drop. Even if the inner box 24a and the outer lid 24b are displaced even if they are not detached, since they are at the transfer position, the inner box 24a and the outer lid 24b are closed.
[0082]
Then, as shown in FIGS. 9 and 10, each support 52 of the second holding unit 38 can be opened and closed independently, and the gripping object 23 is held between the pair of holding bodies 40 of the first holding unit 37. At this time, since the lower surface of the gripping object 23 is supported by at least one of the supports 52 of the second gripping unit 38, even if the gripping object 23 is of a type that cannot be suction-held, the falling of the gripping object 23 is prevented, and the first The gripping of the gripping object 23 by the gripping unit 37 can be ensured.
[0083]
As described above, the plurality of gripping units 37 to 39 are provided on the base 32 having the transfer machine mounting portion 36 on the central axis 31 with the central axis 31 as the center, and a plurality of types are provided by the plurality of gripping units 37 to 39. Can be gripped around the central axis 31 in a gripping form corresponding to the type of each gripping object 23, so that it is possible to grip a plurality of types of gripping objects 23, and to transfer the same. When the machine mounting portion 36 and the gripping centers of the gripping units 37 to 39 coincide with each other on the central axis 31, an uneven load is applied to the gripping device 13 itself or the transfer machine 11 mounted via the transfer machine mounting portion 36. Can be prevented, the size can be reduced, and it is possible to easily cope with gripping two or more types of gripped objects while maintaining the size reduction.
[0084]
In addition, since each holding body 40 of the first gripping unit 37 and each support 52 of the second gripping unit 38 are attached to a pair of moving parts 42 that open and close about the central axis 31, the moving part 42 is It can also be used for opening and closing movement of the first and second gripping units 37 and 38, and the configuration can be simplified.
[0085]
In addition, at the time of gripping by the second gripping unit 38, the support body 52 is advanced below the first gripping unit 37, so that the first gripping unit 37 can support the gripped object 23 without hindrance. When the second gripping unit 38 is not gripped, the support body 52 is retracted above the area where the gripped object 23 is gripped by the other gripping units 37 and 39, so that the gripped object 23 by the first gripping unit 37 is moved. Processing can be prevented from being hindered.
[0086]
Further, at the time of gripping by the third gripping unit 39, the hook 58 is lowered below the other gripping units 37, 38, so that the gripping object 23 is held by the hook 58 without hindering the other gripping units 37, 38. When the third gripping unit 39 is not gripped, the hook 58 is retracted above a region where the gripping object 23 is gripped by the other gripping units 37 and 38 so that the hook 58 can be held by another gripping unit. The processing of the gripping object 23 by the units 37 and 38 can be prevented.
[0087]
In addition, since the plurality of gripping units 37 to 39 grip the gripping object 23 from a direction intersecting the center axis 31 as a center, it is possible to easily cope with gripping a plurality of types of gripping objects 23 while maintaining a small size.
[0088]
According to the transfer machine 11, since the gripping device 13 is attached to the transfer machine main body 12, the load of the eccentric load is not applied to the transfer machine main body 12, and a plurality of types of gripping objects 23 can be processed.
[0089]
In the above-described embodiment, the gripping device 13 is configured as a three-purpose type including first to third gripping units 37 to 39. However, the first and second gripping units 37 and 38, And the third and third gripping units 37 and 39 and the second and third gripping units 38 and 39 are provided as a set, respectively, and can be configured as a dual-purpose type. Alternatively, by providing integrally a gripping unit corresponding to a gripping object of a type other than the gripping object 23 shown in the above-described embodiment, it is possible to configure more than four types.
[0090]
Although the transfer device 11 is a robot as the transfer device main body 12, the transfer device 11 is not limited to the robot, but can be applied to a device such as a palletizer having an X axis, a Y axis, and a Z axis for moving the gripping device 13. .
[0091]
【The invention's effect】
According to the gripping device of the first aspect, a plurality of gripping units are respectively provided around the central axis on the base having the transfer machine mounting portion on the central axis, and a plurality of types of gripping objects are provided by the plurality of gripping units. Since it can be held around the center axis in a gripping form corresponding to the type of each gripping object, it is a dual-purpose gripping device that can grip multiple types of gripping objects, but with a transfer machine mounting part and each gripping unit It is possible to prevent a load of an eccentric load from being applied to the gripper itself or the transfer machine mounted via the transfer machine mounting portion by aligning the grip center with the center axis line, and it is possible to reduce the size while maintaining the size. It is possible to easily cope with more types of gripping objects than the types.
[0092]
According to the gripping device of the second aspect, in addition to the effect of the gripping device of the first aspect, as the gripping unit, the first gripping unit that grips the gripped object with the pair of grippers, and the pair of supports are used. Since the second grip unit that supports the lower surface of the grip object is provided, a box, a bag, or the like can be handled as the grip object.
[0093]
According to the gripping device of the third aspect, in addition to the effect of the gripping device of the first aspect, as the gripping unit, the first gripping unit that grips the gripped object with the pair of grippers, and the plurality of hooks grip the gripping object. Since the third holding unit for suspending and supporting the object is provided, a box, a pail, and the like can be handled as the object to be gripped.
[0094]
According to the gripping device of the fourth aspect, in addition to the effect of the gripping device of the first aspect, as the gripping unit, the second gripping unit supporting the lower surface of the gripped object with the pair of supports, and the plurality of hooks And the third holding unit for suspending and supporting the object to be gripped can handle bags and pail cans as the object to be gripped.
[0095]
According to the gripping device of the fifth aspect, in addition to the effect of the gripping device of the first aspect, as the gripping unit, the first gripping unit that grips the gripped object with the pair of grippers, and the gripping unit with the pair of supports. Since it has the second gripping unit that supports the lower surface of the object and the third gripping unit that suspends and supports the object to be gripped by the plurality of hooks, it is possible to handle a box, a bag, a pail, and the like as the object to be gripped. .
[0096]
According to the gripping device of the sixth aspect, in addition to the effect of the gripping device of any of the second, third and fifth aspects, the gripped object is held by the vacuum pad provided on at least one of the holding bodies of the first gripping unit. Suction can be held, and the gripping of the gripping object by the first gripping unit can be reliably performed.
[0097]
According to the gripping device of the seventh aspect, in addition to the effect of the gripping device of the second or fifth aspect, each support of the second holding unit can be opened and closed independently, and a pair of the first gripping units is provided. When the gripping object is gripped by the gripping body, the lower surface of the gripping object is supported by at least one support of the second gripping unit. This prevents the first gripping unit from gripping the gripped object.
[0098]
According to the gripping device according to the eighth aspect, in addition to the effects of the gripping device according to the second or fifth aspect, each of the holding members of the first gripping unit and the pair of moving portions that open and close around the central axis line are provided. Since each support of the second gripping unit is attached, the moving unit can be used for opening and closing movement of the first and second gripping units, and the configuration can be simplified.
[0099]
According to the gripping device according to the ninth aspect, in addition to the effect of the gripping device according to the second or fifth aspect, when the second gripping unit grips, the support body is advanced downward from the first gripping unit. The first gripping unit can support the gripped object without hindrance, and when the second gripping unit is not gripped, retract the support above the area where the gripped object is gripped by another gripping unit. Accordingly, it is possible to prevent the first gripping unit from processing the gripped object.
[0100]
According to the gripping device of the tenth aspect, in addition to the effect of the gripping device of any one of the third to fifth aspects, at the time of gripping by the third gripping unit, the hook is lowered below the other gripping units. The gripping object can be suspended and supported by the hook without hindering other gripping units, and when the third gripping unit is not gripped, the hook is retracted above the area where the gripping object is gripped by the other gripping unit. By doing so, it is possible to prevent the hook from interfering with the processing of the object to be gripped by another gripping unit.
[0101]
According to the gripping device of the eleventh aspect, in addition to the effect of the gripping device of any one of the first to tenth aspects, the plurality of gripping units grip the gripped object from a direction intersecting the center axis as a center, so that a small size is achieved. It is possible to easily cope with the gripping of a plurality of types of gripped objects while maintaining the structure.
[0102]
According to the transfer device of the twelfth aspect, since the gripping device according to any one of the first to eleventh aspects is attached to the main body of the transfer device, an uneven load is not applied to the main body of the transfer device, and a plurality of types of grippers are provided. Can handle things.
[Brief description of the drawings]
FIG. 1 is a front view of a gripping device according to an embodiment of the present invention.
FIG. 2 is a plan view of the same gripping device.
FIG. 3 is a side view of the same gripping device.
FIG. 4 is a plan view of a part of a third grip unit of the grip device.
FIG. 5 is a side view of a transfer machine using the same gripping device.
FIG. 6 is an explanatory diagram illustrating a holding operation of the box by the holding device in the order of (a) to (c).
FIG. 7 is an explanatory diagram for explaining a bag holding operation by the holding device in the order of (a) to (c).
FIG. 8 is an explanatory view for explaining a pail can gripping operation by the gripping device in the order of (a) to (c).
FIG. 9 is an explanatory diagram for explaining a box gripping operation in a case where the vacuum pad of the gripping device cannot be used, in the order of (a) to (c).
10A and 10B show a case where the vacuum pad of the gripping device cannot be used, wherein FIG. 10A is a side view of a box in which the vacuum pad cannot be used, and FIGS. FIG.
[Explanation of symbols]
11 Transfer machine
12 Transfer machine body
13 Gripping device
23 Grasping object
31 center axis
32 base
36 Transfer equipment mounting part
37 First gripping unit
38 Second gripping unit
39 Third gripping unit
40 clamping body
42 Moving part
49 Vacuum pad
52 Support
58 hooks

Claims (12)

A base having a transfer machine mounting portion on the center axis,
The base is provided around a central axis, and a plurality of types of gripping objects are provided in a gripping form corresponding to the type of each gripping object, and a plurality of gripping units for gripping around the central axis. And a gripping device. The grip unit is
A first gripping unit having a pair of holding bodies provided to be openable and closable about a center axis, and holding the holding object with the pair of holding bodies;
2. The apparatus according to claim 1, further comprising a pair of supports provided to be openable and closable about a center axis, and a second holding unit for supporting a lower surface of a holding object with the pair of supports. Gripping device. The grip unit is
A first gripping unit having a pair of holding bodies provided to be openable and closable about a center axis, and holding the holding object with the pair of holding bodies;
The gripping device according to claim 1, further comprising a plurality of hooks provided to be openable and closable about a center axis, and a third gripping unit for suspending and supporting a gripped object with these hooks. . The grip unit is
A second gripping unit having a pair of supports provided to be openable and closable about the center axis, and supporting a lower surface of a gripping object with the pair of supports;
The gripping device according to claim 1, further comprising a plurality of hooks provided to be openable and closable about a center axis, and a third gripping unit for suspending and supporting a gripped object with these hooks. . The grip unit is
A first gripping unit having a pair of holding bodies provided to be openable and closable about a center axis, and holding the holding object with the pair of holding bodies;
A second gripping unit having a pair of supports provided to be openable and closable about the center axis, and supporting a lower surface of a gripping object with the pair of supports;
The gripping device according to claim 1, further comprising a plurality of hooks provided to be openable and closable about a center axis, and a third gripping unit for suspending and supporting a gripped object with these hooks. . 6. The gripping device according to claim 2, wherein a vacuum pad for sucking and holding the gripped object is provided on at least one holding body of the first gripping unit. Each support of the second clamping unit can be opened and closed independently,
6. The lower surface of the gripping object is supported by at least one support of the second gripping unit when gripping the gripping object by the pair of holding bodies of the first gripping unit. Gripping device. It has a pair of moving parts that open and close about the central axis, and each of these moving parts is attached with each holding body of the first holding unit and each support of the second holding unit. The gripping device according to claim 2. The support of the second gripping unit advances below the first gripping unit during gripping to support the gripped object, and retracts above the area where the first gripping unit grips the gripped object when not gripping. The gripping device according to claim 2 or 5, wherein: The hook of the third gripping unit lowers the gripping object below the other gripping unit when gripping and suspends and supports the gripping object, and retreats above the area where the gripping object is gripped by the other gripping unit when not gripping. The gripping device according to any one of claims 3 to 5, wherein The gripping device according to any one of claims 1 to 10, wherein the plurality of gripping units grip the gripped object from a direction intersecting the center axis. The transfer machine itself,
A transfer machine comprising: the holding device according to any one of claims 1 to 11 attached to the transfer machine main body via a transfer machine attachment portion.

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