JP3020276U - Robot-based product control device - Google Patents

Abstract

(57) [Abstract] [Purpose] The purpose of this invention is to notify the robot of the width of the product in advance and to reduce the installation of the drive source when product regulation is performed and to simplify the overall configuration. It is intended to provide a product regulation device using a robot, which can be expected to improve work efficiency. [Structure] A pair of actuators attached to a robot hand, which has been previously notified of the width dimension of a product, is brought into contact with and separated from the pushers attached to each of the pair of moving carriages to change the width dimension. In response to the movement and setting of the movable carriage to a predetermined position, the product having the width dimension to be conveyed by the conveying body is set in a predetermined direction in the vicinity of the pair of pressing elements.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 According to this invention, a pair of movable carriages are set in proper positions in response to the change of the width dimension through a hand attached to a robot whose width dimension of a product is previously notified, and a pusher attached to each of the movable carriages. The present invention relates to a robot-based product setting device capable of setting a product having the width dimension, which is transferred / fixed to a predetermined position by a transfer device in a close proximity to each other, in a predetermined direction.

[0002]

[Prior art]

When a product such as a chain conveyor or a belt conveyor is used to convey and hold the product in a predetermined position and then regulate the product in a desired direction, for example, in the conventional case, as shown in FIG. A power transmission element 3 such as a chain or a belt is tensioned and suspended between the driving wheel 1 rotated by the prime mover M and the driven wheel 2 fixed to one end of the trapezoidal screw s (see JIS B 0216-1980). Cylinders c ₁ and c ₂ are attached to a pair of movable carriages 4 and 5 which are screwed and guided by the trapezoidal screw s, and piston rods 6 which can move forward and backward to the respective cylinders c ₁ and c ₂ . The pressers 8 and 9 are attached to the tips of the pressers 7, respectively, and the pressers 8 and 9 are brought close to and abutted toward the product G that has been conveyed / placed at a predetermined position by the conveyer 10 so that the direction of the product G is the desired direction. Selected as a regular To set the direction.

After setting the product G in the regular direction described above, the product G is transferred to a pallet or a carrier (not shown) or the like in which a stationary robot (not shown) waits for the product G in advance. It is possible.

[0004]

[Problems to be solved by the device]

 In the regulation means for the product G described above, it is necessary to install the prime mover M to move the moving carriages 4 and 5, and while the moving carriages 4 and 5 are moving, the robot stands still at a fixed position. As a result, it is difficult to avoid the inability to fully utilize the functions of the robot itself, and thus there is the drawback that it does not wipe away the feeling of improvement in work efficiency in product regulation.

[0005]

【Purpose】

 The present invention was proposed by paying attention to the above-mentioned drawbacks, and the purpose thereof is to notify the robot of the width dimension of the product to reduce the installation of the drive source in the product regulation when the product is regulated. The objective is to provide a robot-based product control device that can be expected to improve work efficiency as well as simplify the configuration.

[0006]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the product regulation device using a robot according to the present invention has a pair of actuators mounted on the hand of the robot, which has been previously informed of the width dimension of the product, and has a pair of actuators attached to each of the pair of relative pressing members. Move and set the moving carriages with the pushers attached to each other so that they can be brought into contact with and separated from each other, and move to a position that responds to the change in the width dimension by contacting the pushers with the actuator along the guide rod laid at a fixed position. On the other hand, when the pair of pressers are close to each other, the product conveyed by the conveyer traveling under the hand is regulated in a predetermined direction.

In this invention, a pair of actuators mounted on the hand of the robot whose width dimension of the product has been notified in advance are used as pushers attached to each of the pair of moving carriages that are guided along the guide rod. By bringing them into contact with each other, in response to a change in the width dimension, each of the movable carriages is moved toward or away from each other to be set at a predetermined position, while the pair of pressing elements are in proximity to each other, and the transport body traveling under the hand is moved. Press and pinch both sides of the product that has been transported and placed at the specified position by pressing to set it in the specified direction.

After the product is regulated by the presser, the pair of pressers are separated from the product, and thereafter, the product is further conveyed by the carrier, or the product is clamped in the proximity of the actuators, and the predetermined position is set in advance. After transferring it to the standby pallet, open the actuator and perform the operation such as wholesale of the product on the pallet. At this time, the movable carriage itself is set at a fixed position unless the width of the product is changed.

When stacking the products on the pallet in the above section “0008”, the products under the stacking are prevented from collapsing by selecting and holding the products in a desired direction by intermittent forward and reverse rotations of the hand. It can be prevented.

Unless there is a change in the width dimension of the product, the product is set in proximity to the pair of pressing elements, and then the operation described in “0008” is repeated.

When the width dimension of the product is changed, the robot is notified in advance of the width dimension after the change so that the movable carriage itself is brought into contact with the pressing element at a predetermined position in response to the width dimension after the change. After the movement is set, the product is regulated by the close proximity of the pressers, and then the operation described in “0008” is repeated.

As described above, when the width dimension of the product is different, the width dimension is notified to the robot in advance, and after the moving carriage is moved to the predetermined position and set, the product is regulated by the mutual proximity of the pressing elements. Then, by repeating the operation described in “0008”, all the products having different width dimensions are regulated and conveyed or laminated to the proper place.

[0013]

【Example】

One embodiment according to the present invention will be described with reference to FIGS. 1 to 6. Left and right inside a hand H fixed to a lower end of an arm 21 of a robot A (FIG. , 2) rollers r ₁ and r ₂ are rotatably supported near the ends, and rollers r ₁ and r ₂ of an endless belt b tensioned and suspended between the rollers r ₁ and r _2. A pair of arm pieces 24, 25 (see FIGS. 5 and 6) are fixed / protruded on the drive fittings 22, 23 mounted in the vicinity and at symmetrical positions, respectively. The actuators d ₁ and d ₂ are fixed and hung down, and pushers p ₁ and p ₂ to be described later are brought close to or separated from each other by the actuators d ₁ and d ₂ , or the hand H itself rotates in a predetermined direction. It is possible to stack the product W regulated in

A pair of moving carriages T ₁ and T ₂ are slidably fitted to a guide rod 26 having a circular cross section or a spline formed in the longitudinal direction, and fixed to the upper ends of these moving carriages T ₁ and T _2. cylinder _Z 1, the piston rod _f 1 to advance and retreat in each of _{Z 2} s, _f attached to the _second tip under each opposing push indenter _p 1, _{p 2,} the operation in each of these pressing elements _p 1, _{p 2} s The children d ₁ and d ₂ are brought into contact with and separated from each other, and at the time of the abutment, the movable carriages T ₁ and T ₂ are brought to the width dimension k along the guide rod 26 via the pushers p ₁ and p _2. It is moved and set to a position to respond to it, a stop piece 28 is attached to the end near the pushers p ₁ and p ₂ , and it is conveyed and fixed by a conveyor 27 such as a chain conveyor or a belt conveyor below the hand H. Both sides of the finished product W (see Figs. The left and right) is pressed Te, do the regulating.

Each of the movable carriages T ₁ and T ₂ is stationary and held at a predetermined position of the guide rod 26 unless the width k of the product W is changed, and the pushers p ₁ and p ₂ hold the product W between them. After the adjustment, the opening after the adjustment is performed, and after the opening (see FIG. 1), it is further conveyed by the conveyance body 27, or both sides of the product W are clamped by the actuators d ₁ and d ₂ , and then the arm 21 is desired. It is made to face a pallet (not shown) which is preliminarily waited by the hand H by moving in the direction, and is then dropped on the pallet at a distance between the actuators d ₁ and d ₂ .

When stacking the product W on the pallet, after the product W is held by the actuators d ₁ and d ₂ , the arm 21 is intermittently rotated repeatedly in a predetermined direction (normally 90 ° direction). By successively stacking the product W on the pallet, unexpected collapse of the load can be prevented.

Next, the outline of the mechanism for approaching and separating the actuators d ₁ and d _{2 from} each other will be described with reference to FIGS. 4, 5 and 6. As shown in FIGS. The belt 35 is tensioned and hung between the rotor 32 of the reversible servo motor Q and the large-diameter rotor 34 which is rotatably supported on the hanging piece 33 side which is fixed and suspended below the top plate 31. On the other hand, the roller r ₂ is arranged side by side on the same axis as the rotor 34, and the belt b is tensioned / hanged between the roller r ₁ on the other side (left side in FIG. 4).

As described in “0013”, the slide bushes 36 and 37 are fixed to the driving fittings 22 and 23 which are fixed to the belts b in the vicinity of the rollers r ₁ and r ₂ and symmetrically at the upper and lower positions. Both ends of support rods 38 and 39, through which the middles of the slide bushes 36 and 37 are slidably contactable, are fixed to the hanging pieces 33 and 33, while they are fixed to one side of the slide bushes 36 and 37, respectively. The actuators d ₁ and d ₂ are attached to the tips of the pair of arm pieces 24 and 25, respectively.

When the width dimension k of the product W is changed, the robot A is notified of the change, and the moving carriages T ₁ , T _{2 are} contacted by the contact of the actuators d ₁ , d _{2 with} the pushers p ₁ , p ₂ . Is moved and set along the guide rod 26 to a position corresponding to the changed width dimension k.

[0020]

【effect】

 According to this invention, the pair of actuators mounted on the hand of the robot, which has been previously notified of the width dimension of the product, are brought into contact with and separated from the pair of pushers attached to the carriage, respectively. Are set to a predetermined position by moving them closer to or further from each other along the guide rod, and by the proximity of the pair of pressing elements, the product conveyed / fixed to the predetermined position by the carrier can be regulated in the predetermined direction. The product can be further transported by a carrier, or the product can be clamped in the vicinity of the actuator, and then dropped or placed on a pallet where the product can be put on standby by moving the arm.

The product sandwiched by the actuator due to the intermittent rotation of the arm in a predetermined direction can be sequentially laminated with the product placed on the pallet in a predetermined direction (usually a right angle direction), By forming this laminated state, unexpected collapse of the load can be prevented.

Conventionally, when the products are regulated, a moving carriage provided with a pusher is driven by a separately provided prime mover, so that a robot for product stacking while the moving carriage is moving by the prime mover. Is stationary at a certain position, and the robot was activated to stack the products, for example, only after the products had been regulated, so it was not possible to fully utilize the functions of the robot, and the setting of the prime mover was forced separately. On the other hand, in this invention, the robot can be operated to move and set the moving carriage to the position corresponding to the width dimension of the product, and it is not necessary to set the above-mentioned prime mover. In addition to the reduction in setting, the overall configuration can be simplified compared to the past, and it also helps improve the work efficiency in product regulation.

[Brief description of drawings]

FIG. 1 is a front view of an essential part of an embodiment according to the present invention when a pusher is opened.

FIG. 2 is a front view of an essential part when the pusher is closed.

FIG. 3 is an enlarged plan view of an essential part taken along the line III-III of FIG.

FIG. 4 is an explanatory view of a drive main part in a hand part for moving an operator.

FIG. 5 is a front view of the main part of the hand part when the actuator is opened.

FIG. 6 is a view taken along line VI-VI in FIG. 5;

FIG. 7 is a schematic view of a device of a conventional product regulation mode.

[Explanation of symbols]

A Robot H Hand T ₁ Mobile trolley T ₂ Same as above W Product d ₁ Actuator d ₂ Same as above k Width dimension p ₁ Pusher p ₂ Same as above 26 Guide rod 27 Conveyor

Claims (1)

[Scope of utility model registration request] 1. A pair of actuators mounted on a hand of a robot whose width dimension of a product has been notified in advance faces a pair of pressing elements facing each other so as to be able to come into contact with and separate from each other, and these pressing elements are respectively attached. The pair of movable carriages are moved and set to a position that responds to the change in the width dimension by contacting the pusher of the actuator along the guide rod laid at a fixed position, while the pair of pushers are close to each other. , A product regulating device using a robot, which regulates the product conveyed by a conveyer traveling under the hand in a predetermined direction.