ROBOT HAND AND CONTAINER HANDLING METHOD

Abstract

To provide a robot hand which can handle various types of containers with a simple structure and cope with change of the type easily, and to provide a container handling method.SOLUTION: A robot hand includes: a pair of holding parts which open or close in a horizontal direction to hold an opening part of an overturned container; rotary members which are respectively disposed at tips of the holding parts and hold the opening part of the container to support the container rotatably; and positioning members which restrict the opening part of the container in a state that the container is erected. A method of handling the container with the robot hand includes: a holding step in which the opening part of the overturned container is held in a manner that allows the opening part to rotate relative to a horizontal axis; an erecting step in which the opening part of the container is lifted up with the opening held by the holding parts to cause the container to be erected by the self-weight of the container; a restraining step in which the opening part of the erected container is restrained by the positioning members; and a storing step in which the container is stored in a storage jig.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot hand and a container handling method that can handle multiple types of containers such as bottles with a simple structure and can easily accommodate changes in type. [Background technology]

[0002] Bottles and other containers are used as packaging materials in a variety of industries, including daily necessities, food, and industrial products. When producing containers, such as bottled products, the process of filling and capping empty bottles is generally automated using specialized machines. However, the production process sometimes involves handling individual bottles, even when they are loosely placed with no fixed orientation or position. Particularly when producing a wide variety of products in small quantities, a method for efficiently handling different bottle types is required.

[0003] Bottle containers vary greatly in shape and size depending on the type, but the openings of all bottles have a common cylindrical shape, although there are differences in diameter, so that the capping member can be attached. By utilizing the characteristics of this workpiece, it is thought that it will be possible to handle multiple types of bottle containers.

[0004] Patent Document 1 discloses a robot hand for handling bottle-shaped workpieces that integrates a gripping mechanism that grips the head of the bottle with a suction mechanism that sucks the side of the bottle. This robot hand is used to grip the head of bottles that are lined up in a box, change their position to a side, and discharge them onto a conveyor.

[0005] Patent Document 2 discloses an article handling tool equipped with an article guide member for handling articles such as containers on a robot hand, and a method for forming the article guide member. The article guide member is a shape-memory member that can accommodate a variety of shapes, and is proposed to have a structure that adds a shape that picks up the side of the bottle body by suction and supports the side of the bottle opening.

[0006] Patent Document 3 discloses a robot hand with a simple mechanism that can change the posture of a workpiece. The hand uses a freely rotating mechanism at the tip of the claw to change the posture of the workpiece, and stops the rotation of the roller part when a force greater than a certain level is applied. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 09-142411 [Patent Document 2] Japanese Patent Application Publication No. 11-254373 [Patent Document 3] Japanese Patent Application Laid-Open No. 2012-171018 Summary of the Invention [Problem to be solved by the invention]

[0008] However, the above-mentioned conventional techniques have the following problems. The technology described in Patent Document 1 had problems such as the bottle only being able to be picked in a fixed upright position, and it being difficult to change the orientation of the bottle, i.e., to rotate it around the axis of symmetry.

[0009] Furthermore, with the technology described in Patent Document 2, when the type of bottle changes, it is necessary to change the position and shape of the suction pad, and there is also the problem of difficulty in aligning the bottle orientation, i.e., rotating it around the axis of symmetry.

[0010] Furthermore, the structure disclosed in Patent Document 3 has the problem that the posture of the workpiece within the tip of the hand is difficult to uniformly determine, which can lead to work defects during precision work.

[0011] Therefore, an object of the present invention is to provide a robot hand and a container handling method that can handle multiple types of bottle containers with a simple structure and can easily accommodate changes in type. [Means for solving the problem]

[0012] The robot hand of the present invention, which advantageously solves the above-mentioned problems, is characterized by comprising a pair of gripping parts that open and close horizontally to grip the opening of a container that is lying on its side, a rotating member that is positioned at the tip of each of the gripping parts and grips the opening of the container to rotatably support the container, and a positioning member that restrains the opening of the container when the container is upright.

[0013] The robot hand according to the present invention is (a) the positioning member is disposed so as to surround the opening of the container and to be in contact with the opening at three or more points; (b) The central axis of the opening of the container coincides with the rotation axis of the robot hand. These may be preferred embodiments.

[0014] The container handling method of the present invention, which advantageously solves the above-mentioned problems, is a method of handling a container using a robot hand, and includes a gripping step of gripping an opening of a container that is lying on its side so as to be rotatable about a horizontal axis, an upright step of lifting the container upward while gripping the opening of the container and standing the container upright by its own weight, and a positioning step of positioning the opening of the upright container. broth The method is characterized by including a restraining step of restraining the container with a member, and a containing step of containing the container in a containing jig.

[0015] The container handling method according to the present invention includes: (c) in the binding step, The aforementioned The positioning member surrounds the opening of the container and contacts and restrains it at three or more points; (d) further including a rotation step of aligning the central axis of the opening of the container restrained in an upright state with the rotation axis of the robot hand and rotating the container by a predetermined rotation angle; These may be preferred embodiments. [Effects of the Invention]

[0016] The robot hand and container handling method of the present invention can handle multiple types of containers such as bottles with a simple structure, and can easily accommodate changes in container type. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a perspective view showing the structure of a robot hand according to an embodiment of the present invention. FIG. [Figure 2] 3A to 3C are three-view diagrams of the robot hand according to the embodiment, in which (a) is a front view, (b) is a top view, and (c) is a left side view. [Figure 3] FIG. 2 is a front view schematically illustrating the movement of each part of the robot hand according to the embodiment. [Figure 4] FIG. 10 is a schematic perspective view illustrating a state in which a container is handled using the robot hand according to the embodiment. [Figure 5] 1A to 1F are schematic front views showing the steps of a container handling method performed using a robot hand according to the embodiment, and FIG. 1A to 1F are schematic right side views of the same. [Figure 6] 5(a) to 5(c) are schematic perspective views showing how the robot hand according to the embodiment stands a bottle placed horizontally upright. [Figure 7] FIG. 10 is a perspective view showing a state in which the grasped container is held upright and restrained by a positioning member. [Figure 8] FIG. 2 is a perspective view showing an example of a container handled in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] Embodiments of the present invention will be described in detail below with reference to the drawings. Note that the following embodiments exemplify components and methods for embodying the technical concept of the present invention, and are not intended to limit the configuration to that described below. In other words, the technical concept of the present invention can be modified in various ways within the technical scope of the claims. FIG. 1 is a perspective view showing the structure of a robot hand according to one embodiment of the present invention. FIG. 2 is a three-view diagram of the robot hand according to the embodiment, where (a) is a front view, (b) is a top view, and (c) is a right side view. FIG. 4 is a perspective view showing how a container is handled using the robot hand according to the embodiment. FIG. 8 is a perspective view showing an example of a container handled in the embodiment.

[0019] The workpiece (workpiece) of the robot hand according to this embodiment is, for example, a bottle-shaped container 9 having a substantially cylindrical opening 9b and a main body 9a joined to the opening 9b, as shown in Fig. 8. The diameter and length of the opening 9b, the cross-sectional shape and dimensions of the main body 9a, the major axis / minor axis ratio, size, and length of the container 9 vary depending on the type.

[0020] The robot hand 1 according to this embodiment includes a pair of chucks 3 that are air-driven and open / close. The robot hand 1 also includes roller mechanisms 5 at the tip of each chuck 3 for changing the posture of the workpiece 9. The robot hand 1 also includes positioning claws 4d for positioning the workpiece 9.

[0021] The roller mechanisms 5 are arranged facing each other and share a common rotation axis 5a. A bearing is mounted inside the axis of the roller mechanism 5, making it a freely rotating roller. The surface of the roller mechanism 5 that comes into contact with the opening 9b of the bottle 9 is made of a highly frictional material such as silicone or rubber.

[0022] The upper part of the robot hand 1 according to this embodiment is provided with a tool changer 2 for connecting with the articulated robot 12, and the tool changer 2 is fixed together with a chuck 3 to a fixing bracket 2a.

[0023] First-stage fingers 4a are attached to the movable part 4 that opens and closes the chuck 3. Multiple air-driven extension mechanisms 4b are attached to the middle parts of the first-stage fingers 4a. Second-stage fingers 4c are attached to the tips of the extension mechanisms 4b. The tips of the second-stage fingers 4c have bifurcated positioning claws 4d for positioning. As shown in Figure 3, the claws of the robot hand 1 are configured to move in the same direction in two stages, with a first movable part 7 formed by the chuck 3 and a second movable part 8 formed by the extension mechanisms 4b.

[0024] It is preferable to combine an imaging means (not shown) of the articulated robot 12 or an external imaging means with an image analyzer to grasp the arrangement and orientation of the workpiece 9 on the pick table 10 as shown in Fig. 4, and to establish an optimal work procedure for pick and place. Air for the air drive is supplied from an air controller.

[0025] Next, a method for handling containers 9 using the robot hand 1 according to the above embodiment will be described. As shown in FIG. 4, the robot hand 1 is attached as an end effector at the tip of an articulated robot 12. Bottles 9 are supplied horizontally in various orientations onto a pick table 10. The articulated robot 12 moves the robot hand 1 to the position of a desired bottle 9 and performs a picking operation. After picking, the bottle 9 is rotated 90° to stand upright with its opening 9b facing upward. The bottle 9 is then transported and the bottle body 9a is inserted into the recess 11a of a setting jig 11. The setting jig 11 is used to align and supply bottles 9 to an automated machine that fills the bottles 9 with product. After the insertion operation, empty setting jigs 11 are sequentially supplied in front of the articulated robot 12.

[0026] The detailed operation during picking is shown in Figure 5 and will be explained below. (a) Picking of workpieces (Fig. 5(a1) and (a2)) The articulated robot 12 moves the robot hand 1 to a position where the pair of roller mechanisms 5 of the robot hand 1 surrounds the bottle opening 9b, in accordance with the position and orientation of the bottle 9 on the pick table 10. At this time, the first movable part 7 and the second movable part 8 are both open outward.

[0027] (b) Gripping the bottle opening (Fig. 5(b1) and (b2), Fig. 6(a)) The first movable part 7 is moved inward so that the opening 9b of the bottle 9 comes into contact with the pair of roller mechanisms 5 of the robot hand 1, and the roller mechanisms 5 grip the bottle opening 9b (Figure 6(a)).

[0028] (c) Bottle orientation change (Fig. 5(c1) and (c2), Fig. 6(b) and (c)) The articulated robot 12 operates to lift the robot hand 1 upward. The body 9a of the bottle 9 rotates around the rotation axis 5a of the roller mechanism 5 and hangs down under its own weight, causing the bottle 9 to assume an upright position (FIGS. 6(b) to 6(c)). At this time, the opening 9b of the bottle 9 is sandwiched between the passive roller mechanism 5, and the position is changed without resistance.

[0029] (d) Bottle positioning (Fig. 5(d1) and (d2)) The second movable part 8 of the robot hand 1 is moved inward, and the tips of the positioning claws 4d, which are used to position the circular shape, come into contact with the bottle opening 9b at a total of four points (Figure 7). Contact at four points positions the opening 9b of the bottle 9 inside the robot hand 1, i.e., aligns the rotation axis 1a of the robot hand 1 with the central axis of the bottle opening, and prevents the bottle 9 from falling. It is also possible to grip multiple types of bottles with openings 9b of different diameters.

[0030] (e) Phase change (Figure 5(e1) and (e2)) Depending on the type of bottle 9, there may be printing or the like (not shown) on the main body 9a, and if there is a direction when inserting it into the setting jig 11, the direction of the bottle 9 is adjusted by operating the rotation axis 1a of the robot hand 1, which is aligned with the central axis of the bottle opening 9b, using the articulated robot 9.

[0031] (f) Placement in the jig (Fig. 5(f1) and (f2)) The articulated robot 12 is operated to insert the main body 9a of the bottle 9 into the recess 11a of the setting jig 11. After the bottle 9 has been inserted all the way into the setting jig 11, the first movable part 7 is moved outward to release the bottle 9, and the robot hand 1 is retracted upward, completing the operation. [Industrial Applicability]

[0032] Thus, the robot hand and container handling method of the present invention have a simple structure and can pick and change the orientation of bottle containers with high yield. Furthermore, a single hand can handle multiple types of bottle containers as long as they are within the chuck's movable range. By replacing the chuck with one with a different movable range, it is easy to expand the range of types that can be handled. This improves work efficiency and productivity, making it industrially useful. Furthermore, by changing the suction mechanism and chuck shape of the robot hand of the present invention, it can be used for handling workpieces other than bottles, including picking and changing their orientation. The robot hand of the present invention can be used not only with articulated robots, but also when attached to automated machines. [Explanation of symbols]

[0033] 1. Robot Hand 1a (Robot hand) rotation axis 2 Tool Changer 2a Fixing bracket 3. Chuck 4 Grip part 4a 1st finger 4b Telescoping mechanism 4c 2nd finger 4d positioning claws 5 Roller mechanism 5a Rotating shaft (of roller mechanism) 7 First moving part 8 Second moving part 9 Bottles (workpieces, containers) 9a (container, bottle) main body 9b (container, bottle) opening 10 Pick Table 11 Set jig 11a Depression 12 Articulated robots

Claims

1. A pair of gripping parts that open and close horizontally to grip an opening of a container that is laid on its side; a rotating member disposed opposite each of the distal ends of the gripping portions, rotatable about a common rotation axis, and configured to grip an opening of the container and rotatably support the container; a positioning member that restrains an opening of the container when the container is in an upright position; Equipped with The robotic hand, wherein the rotating member is configured to rotate with the container.

2. The robot hand according to claim 1 , wherein the positioning member is disposed so as to surround an opening of the container and to be in contact with the opening at three or more points.

3. The robot hand according to claim 1 or 2, wherein a central axis of the opening of the container coincides with a rotation axis of the robot hand.

4. A method for handling a container using a robot hand, comprising: a gripping step of gripping an opening of a container lying on its side so as to be rotatable about a horizontal axis by using rotating members fixed to be rotatable opposite each other with a common rotation axis; an uprighting step of lifting the container upward while grasping the opening of the container, and standing the container upright by its own weight; a restraining step of restraining an opening of the upright container with a positioning member; a housing step of housing the container in a housing jig; Including, A container handling method, wherein in the uprighting step, the rotating member rotates together with the container.

5. 5. The container handling method according to claim 4, wherein in the restraining step, the positioning member surrounds the opening of the container and contacts the opening at three or more points to restrain the container.

6. The container handling method of claim 4 or 5, further comprising a rotation step of aligning the central axis of the opening of the container restrained in an upright position with the rotation axis of the robot hand and rotating it at a predetermined rotation angle.

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