WORKPIECE TAKING-OUT METHOD USING ROBOT INCLUDING HOLDING NAILS

• US 20130259632A1
• Filed: 02/26/2013
• Published: 10/03/2013
• Est. Priority Date: 03/28/2012
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: WATANABE, Hideyuki
• Granted Patent: US 8,915,527 B2
• Time in Patent Office: Days
• US Class Current: 414/800
• CPC Class Codes: B25J 15/08 having finger members B25J15/02, B25J15/04 take precedence
• CPC Class Codes: B65G 49/00 Conveying systems characterised by their application for specified purposes not otherwise provided for
• CPC Class Codes: Y10S 901/31 Gripping jaw
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

Before chuck 20 is opened, coil spring 22 is compressed, and coil spring 22 applies downward force to holding nails 24. Accordingly, when the chuck 20 is opened, resultant force that opens the chuck 20 and the restoring force of the coil spring 22 causes the holding nails 24 to automatically move in oblique downward directions. As a result, the holding nails 24 move to positions that are laterally close to the holding target workpiece 26a. At this time, when other workpieces 26b and 26c neighbor the holding target workpiece 26a, the holding nails 24 can move the neighboring workpieces 26b and 26c from the workpiece 26a so as to flick away the neighboring workpieces 26b and 26c.

Claims

1. A taking-out method of a holding target workpiece, the method using a robot in which a robot hand is mounted, the robot hand including a structure in which a chuck including holding nails is movable relative to a hand main body, and the chuck is supported by the hand main body via an elastic body in a direction in which the chuck is movable relative to the hand main body,

wherein tip portions of the holding nails are moved toward the holding target workpiece to press the holding nails against the holding target workpiece until the elastic body is compressed by a predetermined amount,

in a state where the holding nails apply pre-pressure to the holding target workpiece, the chuck is opened, and resultant force of force that opens the chuck and restoring force of the compressed elastic body thereby causing the holding nails to enter positions laterally close to the holding target workpiece, and the chuck is closed to cause the holding nails to hold the holding target workpiece.

2. The taking-out method according to claim 1, wherein the robot includes detecting means for detecting a position of the chuck relative to the hand main body,

wherein it a distance between the hand main body and the chuck detected while the holding nails are moving is equal to or smaller than a predetermined allowable value, it is determined that the robot hand interfered with an obstacle to stop movement of the robot hand.