JPS61241092A - Robot hand with position compensator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a robot hand equipped with a position correction device, and in particular, when the position of a work to be gripped cannot be accurately determined, the robot hand can imitate the current position of the work, The present invention also relates to a robot hand equipped with a position correction device suitable for work that requires accurate gripping.6 [Background of the Invention] The key point of a robot that transfers a workpiece is the target workpiece. This is a positioning and grasping method. It is necessary to accurately determine and set the position, but since it is difficult to accurately position heavy objects, there are many cases where robotization is not possible.

Therefore, there has been a growing need for the development of a robot hand that does not require workpiece positioning, in other words, has the ability to follow and correct the position of a workpiece.

As a conventional device having a correction follow-up function, there is, for example, one described in Japanese Patent Laid-Open No. 58-217014.

The publication discloses a remote center compliance device that enables compliance control over a range of industrial manipulators, including a device that directly and accurately measures radial and axial deflections, and a coupling device. Means for overcoming imperfections encountered in operation are described.

However, this type of device is an assembly assisting mechanism that requires the correct gripping of the workpiece, and sufficient consideration has not been given to the mechanism for correct gripping, which is a condition for this type of device.

[Purpose of the invention]

The present invention has been made in view of the actual state of the prior art described above, and is a robot that grips a workpiece whose position has not been precisely determined. The object of the present invention is to provide a robot hand equipped with a position correction device that can correct the posture to a normal posture by gripping and lifting a workpiece.

[Summary of the invention]

The configuration of a robot hand equipped with a position correction device according to the present invention includes a robot hand section consisting of a finger that grips a workpiece and a means for opening and closing the finger, and a position correction swinging section that causes the robot hand section to follow the position of the workpiece. The position correction swinging section is composed of a first member fixed to the robot body side, a second member to which the robot hand section is attached, and a second member that is rotatable about the first member via a pivot. The link mechanism unit connects a first rotating component provided on the member and a second rotating member rotatably provided on the second member via a pivot shaft.

Additionally, the idea behind developing the present invention is as follows.

Conventionally, feedback control of vision, force, etc. has been required to imitate a workpiece that has not been accurately positioned.

In the present invention, the copying function is realized with a simple link mechanism, and on the other hand, the work is corrected to the normal position by utilizing the gravity of the work when the work is gripped and lifted.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 3.

FIG. 1 is a side view showing the configuration and operation of a robot hand equipped with a position correction device according to an embodiment of the present invention;
The figure is a plan view showing the operation, and FIG. 3 is an explanatory diagram showing the continuous operation.

As shown in FIG. 1, the robot hand of this embodiment includes a robot hand section 2 consisting of a finger 24a that grips a workpiece and an opening/closing means for the finger, and a position correction oscillator that moves the robot hand section 2 to follow the position of the workpiece. The mounting position correction swinging part 1 is composed of a moving part 1 and a first part fixed to the robot main body.
, a second member 4 to which the robot hand section 2 is attached, and a plurality of link mechanisms 5 provided between the first member 3 and the second member 4.

The link mechanism section 5 includes a first rotating component 7 rotatably attached to the first member 3 via a pivot 6, and a first rotating component 7 rotatably attached to the second member 4 via a pivot 8. the second attached to
The rotating component 9 and the pair of first links 12 connected to the first rotating component via a pair of pivot pins 10 provided on the first rotating component 7 are similar. and a pair of second links 13 connected to the second rotating component 9 via a pair of pins 11 provided on the second rotating component 9.

These first links 12. The second link 13 is connected to the third link 14 via a pair of pins 15 to form a parallel link.

Here, the first member 3 is attached with a bolt (
(Figure, not shown) etc.

The first rotating component 7 and the second rotating component 9 are positioned on the first member 3 and the second member 4, respectively, at equal intervals and at equal angles with respect to their common center line 16. A plurality of sets (four sets in this example) are attached so that the That is, the positions of the pivots 6 of the four sets of first rotating parts 7 and the positions of the pivots 8 of the four sets of second rotating parts 8 are on a concentric circle with respect to the center line 16, as shown in FIG. They are spaced 90' apart.

On the other hand, the robot hand section 2 includes a finger 24a equipped with a pad 23 at the tip of the hand 24 facing symmetrically with respect to the center line 16, an opening/closing means for the finger 24a, and a case 22 for holding and storing this opening/closing means. , and a pad 21 provided at the bottom of the case 22.

The opening/closing means for the finger 24a includes a driving machine 20 and a driving machine 20.
It consists of a link mechanism driven by.

That is, although the inside of the drive machine 20 is not shown, it consists of a piston rod and a cylinder, and the link mechanism is driven by the action of the piston.

The link mechanism connects the first link 26 to the hand 24 via a pin 25 provided on the upper part of the hand section 24, and connects the first link 26 to the hand 24.
A second link 28 is connected via 7, and this second link 28 is connected to the piston rod of the drive machine 20.

With the position of the bottle 29 provided on the hand 24 as a fixed point, the hand 24, the first link 26. The second link 28 can open the finger 24a to a position 24'a, as shown in phantom in FIG.

In addition, in FIG. 1, the part showing the robot hand part 2 is shown by breaking the inside of the case 22 on the left side of the figure with respect to the center line 16, and the part on the right side shows the state seen from the outside of the case 22. This is what is shown.

Next, FIG. 2, which explains the operation of the robot hand of this embodiment configured as described above, is a view of the device shown in FIG. This shows the state of deformation. That is, each pivot 6 of the first member 3 and each pivot 8 of the second member 4 are in a deformed posture such that each pivot 8 is at a position 8' shown by a dashed line with the pivot 6 on the fixed side. can be taken. Along with this, the first member 3
It is possible to perform a tracing operation such that the center line 16 comes to 16' while maintaining the parallel relationship between the second member 4 and the second member 4.

Further, as shown by the dashed line in FIG. 1, due to the deformation operation of the link mechanism section 5, the first link 12 and the second link 13 are in the positions shown at 12' and 13', respectively, and the second member 4 moves to the 4' position, so the hand 24 can freely move to the 24' position.

Therefore, with reference to FIG. 3, the actual handling operation in this embodiment will be explained. The reference numerals of each part in FIG. 3 correspond to the reference numerals of each part already explained in FIG.

As shown in FIG. 3(a), the fingers 24a of the hand 24 are
The workpiece 33 on the table 32 is opened to 4'a.
Bring it to the position shown in (b), which is approximately above the . (C
), when the hand 24 is closed, even if the workpiece 33 deviates from the normal position by Δ, the link mechanism section 5 of the position correction swinging section 1 performs a copying operation for the position of the workpiece 33, The robot hand section 2 can accurately grip the workpiece 33. After that, by lifting the robot hand to the position shown in (d) as indicated by the thick white arrow, the position correction swinging unit 1 returns to its original state using the gravity of the workpiece 33, so the workpiece 33 appears as if it were It is corrected to the same position as when grasped without deviation Δ.

In this way, the movement to the unloading point or the next working point can be carried out successively.

According to this embodiment, the following effects can be obtained.

(1) The robot hand can grip a workpiece by following the position of the target workpiece without requiring special workpiece positioning.

(2) The above (1) can be realized without a special feedback control device.

(3) It is possible to correct the gripped workpiece to the normal gripping state using the natural force of gravity without relying on driving by an additional device.

In the above-mentioned embodiment, the link mechanism section 5 of the position correction swinging section 1 employs the parallel link shown in FIG.
The present invention is not limited to this, and other shapes may be used as long as similar effects are expected.

This does not prevent the use of a link mechanism for the mechanism.

Similarly, it goes without saying that the robot hand section is not limited to the nine mechanisms shown in FIG.

〔Effect of the invention〕

As described above, according to one aspect of the present invention, in a robot that grips a workpiece that has not been accurately positioned, the robot can accurately grip the workpiece by following the position of the target workpiece without requiring special control. It is possible to provide a robot hand equipped with a position correction device that can correct the posture to a normal position by a lifting action.

[Brief explanation of drawings]

FIG. 1 is a side view showing the configuration and operation of a robot hand equipped with a position correction device according to an embodiment of the present invention, and FIG.
The figure is a plan view showing the operation, and FIG. 3 is an explanatory diagram showing the continuous operation. 1... Position correction swinging part, 2... Robot hand part,
3... First member, 4... Second member, 5... Link mechanism section, 6, 8... Pivot, 7... First rotating component, 9... th 2 rotating parts, 10, 11, 15...
Bin, 12... First link, 13... Second link, 14... Third link, 16... Center line, 20
...Driver, 21...Pad, 22...Case,
23...Pad, 24...Hand, 24a...Finger, 25, 27, 29...Bin, 26...First link, 28...Second link, 30... Robot tip member, 31... flange, 33... workpiece. ￥3 1 Figure 2

Claims (1)

[Claims] 1. A robot hand section consisting of a finger that grips a workpiece and a means for opening and closing the finger, and a position correction swinging section that causes the robot hand section to follow the position of the workpiece. The part includes a first member fixed to the robot body side;
a second member to which the robot hand section is mounted; a first rotating component rotatably provided on the first member via a pivot; and a first rotating component rotatably provided on the second member via a pivot. A robot hand equipped with a position correction device, characterized in that it is constituted by a link mechanism section that connects a second rotary member provided therein. 2. In the item described in claim 1, the link mechanism section includes a pair of first links connected to the first rotating component via a pair of pivots provided on the first rotating component. and,
a pair of second links connected to the second rotating component via a pair of pivots provided on the second rotating component;
and a third link connecting the second link via a pair of pivots to form a parallel link. A robot hand equipped with a position correction device. 3. In either of claims 1 or 2, the first rotating component and the second rotating component are located at a common center line of the first member and the second member, respectively. A robot hand equipped with a position correction device, which is provided in multiple sets so as to be positioned at equal intervals and at equal angles.