JPS637510Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a robot finger reversing device.

In conventional robot fingers, the fingers 1a and 1b for clamping and unclamping the workpiece W are connected to the grip cylinder 2, as shown in FIGS. 5 and 6.
The cylinder 2 is attached to the attachment surface 3a of the finger attachment portion 3.
On the other hand, one end of air hoses 4 and 5 for compressed air that operates the cylinder 2 is attached to the cylinder 2,
The other end is connected to a compressed air source (not shown).
Therefore, when the cylinder 2 is rotated 180 degrees in order to reverse the fingers 1a and 1b (to rotate the fingers 1a and 1b 180 degrees around the axis of the grip cylinder 2), the hoses 4 and 5 will be twisted. If this twisting is repeated, the air hoses 4 and 5 will undergo fatigue failure at an early stage.

Furthermore, in the composite actuator disclosed in Japanese Utility Model Publication No. 48-21750, for example, the torque transmission shaft of the torque generating cylinder and the reciprocating shaft of the cylinder that opens and closes the fingers (clamping or unclamping) are arranged concentrically. The structure is such that rotational force is not applied to the above-mentioned cylinder that opens and closes the fingers.

However, even in the actuator disclosed in this publication, the opening and closing operations are performed by rotating the finger about the joint portion of the torque generating cylinder with the shaft as a fulcrum. For this reason, the work may not be properly clamped by the fingers.

The purpose of the present invention is to solve these problems, and to achieve this purpose, the present invention is configured as follows.

In FIGS. 1 to 4 corresponding to the embodiment, the present invention is capable of clamping or clamping a pair of fingers 28, 30 by moving the cylinder shaft 14a in the axial direction based on controlling the supply and discharge of fluid pressure to and from the grip cylinder 14. It is designed to provide opening/closing action for unclamping. Further, a rotating shaft 33a of a rotary actuator 33 for imparting a reversing motion to these fingers 28, 30 is coupled coaxially with the cylinder shaft 14a.

A bearing 18 is fixed to the mounting frame 12 on which the grip cylinder 14 is mounted, which also supports a cylinder shaft 14a rotatably and axially movably. On the other hand, the pair of finger mounting plates 21 and 22, each equipped with each finger 28 and 30,
30 are coupled so that they move toward or away from each other while remaining parallel to each other in the opening and closing directions.

A stopper 19 formed on the outer periphery of the bearing 18
The finger mounting plates 21 and 22 are restricted from moving in the axial direction. Further, these finger attachment plates 21 and 22 and the cylinder shaft 14a of the grip cylinder 14 are connected to each other by a parallel link 31. As a result, the finger mounting plates 21 and 22 move toward or away from each other as the cylinder shaft 14a moves in the axial direction.

According to the robot finger reversing device configured as described above, by rotating the rotating shaft 33a of the rotary actuator 33, the cylinder shaft 14a can be rotated around the axis without rotating the grip cylinder 14. Rotate the above parallel link 31 and finger mounting plates 21, 22.
Through this, the pair of fingers 28, 30 can be reversed.

Furthermore, when the cylinder shaft 14a is moved in the axial direction by controlling the supply and discharge of fluid pressure to and from the grip cylinder 14, the finger mounting plates 21 and 22 are used as stoppers for the bearing 18 supporting the cylinder shaft 14a. Since the axial position is regulated by 19, these finger mounting plates 2
1 and 22 move toward or away from each other while maintaining parallel states. As a result, the fingers 28 and 30 provided on the finger attachment plates 21 and 22, respectively, perform an opening/closing operation for clamping or unclamping.

This invention will be explained below based on drawings showing embodiments. 1 to 4, a rectangular mounting frame 12 is attached to an arm 11 of a robot, and a grip cylinder 14 is attached to the mounting frame 12 via a middle bracket 13. A cylinder shaft 14a of the grip cylinder 14 extends from the cylinder in the front-rear direction (left-right direction in FIGS. 1 and 2). Cylinder shaft 14a ₁ extending forward
is coaxially connected to the rod 16 via a coupling 15. The rod 16 is composed of a sliding part 16a with a circular cross section and a link mounting part 16b in the form of a strip. It is slidably supported. A stopper 19 having a larger diameter than the bearing 18 is located approximately in the center of the bearing 18.
is provided.

The finger mounting portion shown in detail in FIGS. 3 and 4 includes rectangular finger mounting plates 21 and 22 facing each other at the top and bottom, and four sliding rods 23 arranged in a square shape on the mounting plate 21. , and four support pipes 24 that slidably accommodate the sliding rod 23. The support pipe 24 is vertically installed on the finger mounting plate 22. The four support pipes 24 sandwich the front and rear surfaces (left and right surfaces in FIG. 3) of the stopper 19,
It is slidably in contact with the stopper 19 in the vertical direction. Therefore, the finger mounting plate 22 is attached to the rod 16 due to the contact between the support pipe 24 and the stopper 19.
Therefore, the finger mounting plate 21 is also restrained from moving the rod 16 in the axial direction. Two strip-shaped connecting members 25, 26 extending forward are attached to the finger support plates 21, 22, respectively. The two connecting members 25, 25 are parallel and connected at their front ends to a rectangular connecting plate 27, and an upper finger 28 projects forward from the front edge of the connecting plate 27.
On the other hand, the two connecting members 26, 26 are also parallel and located directly below the connecting members 25, 25, and are connected at the front end to a connecting plate 29 having the same shape as the connecting plate 27.
A lower finger 30 is provided to protrude forward from the front edge. The link attachment portion 16b of the rod 16 is connected to the connecting members 25, 26 of the finger attachment portion 20 by two pairs of parallel links 31, 31. As a result, when the rod 16 moves in its axial direction, the upper finger 28 and the lower finger 30 are connected to the finger mounting plates 21, 22, the connecting member 25,
26 and coupling plates 27 and 29, they approach or separate from each other.

A rear bracket 40 is attached to the rear end of the arm 11, and a coupling ring 32 is attached to this. Behind the coupling ring 32, a rotary actuator 33 operated by compressed air is attached to the rear bracket 31 via a bracket 34. Rotary actuator rotation shaft 33
a and the cylinder shaft 14a ₂ extending rearward of the grip cylinder 14 are coaxial, and the coupling 32 connects the rotation axis of the rotary actuator 33 to the cylinder shaft 14a ₂ that moves in the axial direction with the operation of the grip cylinder 14. It has a function of transmitting the rotation of 33a.

35 and 36 are air hoses for the grip cylinder 14, and 37 and 38 are air hoses for the rotary actuator 33.

In the above configuration, the grip cylinder 14 is fixed to the mounting frame 12 via the middle bracket 13, and the air hoses 35 and 36 are connected to the grip cylinder 1.
4, the cylinder shaft 14a
Even if the air hoses 35 and 36 move in the axial direction, the air hoses 35 and 36 do not expand or contract. Furthermore, even if the cylinder shaft 14a is rotated 180 degrees by the rotary actuator 33 to reverse the upper and lower fingers 28, 30, the air hose 3
5 and 36 are not twisted.

As described above, the present invention allows the cylinder shaft of the grip cylinder, which provides a pair of fingers with an opening/closing action for clamping or unclamping a workpiece, and the rotating shaft of the rotary actuator, which also provides a reversing action with the fingers, to be mutually connected. Because they are connected coaxially, when the fingers are reversed, the grip cylinder itself does not rotate, but only its cylinder shaft rotates, and a torsional force is applied to the rubber hose, etc. that supplies and discharges fluid pressure to the grip cylinder. Of course, it is possible to prevent the addition of

In particular, the present invention connects a pair of finger mounting plates each having individual fingers so that they can move toward or away from each other while maintaining a parallel state, and also supports the cylinder shaft of a grip cylinder so as to be rotatable and movable in the axial direction. A stopper formed on the bearing prevents the finger mounting plate from moving in the axial direction, and each finger mounting plate and the cylinder axis of the grip cylinder are connected by a parallel link, so that each finger mounting plate is attached to the cylinder. Although they are free to rotate around the axis of the shaft and the fingers can be easily reversed, these finger mounting plates are axially positioned and remain parallel to each other for approaching or retracting movements. The fingers provided on each of these finger mounting plates have the advantage of being able to accurately clamp the workpiece.

[Brief explanation of the drawing]

Figure 1 is a partially cutaway front view showing an embodiment of this invention, Figure 2 is a cross-sectional view taken along the line - - in Figure 1, and Figure 3 is an enlarged view of the main parts of Figure 1. FIG. 4 is a sectional view taken along the - line in FIG. 3. FIG. 5 is a plan view showing a part of a conventional robot finger, and FIG. 6 is a front view of FIG. 5. 12...Mounting frame, 14...Grip cylinder,
14a...Cylinder shaft, 18...Bearing, 19...
Stopper, 21, 22...Finger mounting plate, 2
8, 30...Finger, 31...Parallel link,
33... Rotary actuator, 33a... Rotating shaft.

Claims (1)

[Claims for Utility Model Registration] Opening/closing operations are given to a pair of fingers by axial movement of the cylinder shaft associated with controlling the supply and discharge of fluid pressure to and from the grip cylinder, and rotation of the rotation shaft of the rotary actuator. A finger reversing device for a robot is configured to similarly give a reversing motion to the finger, and the rotating shaft is connected coaxially with the cylinder shaft, and the grip cylinder is mounted thereon. A bearing fixed to a mounting frame and rotatably and axially movably supporting the cylinder shaft of this grip cylinder, and the above-mentioned fingers are individually provided, and these fingers are moved close to each other while maintaining a parallel state in the direction of opening and closing. a pair of finger mounting plates coupled to move apart; a stopper formed on the outer periphery of the bearing so as to restrict these finger mounting plates from moving in the axial direction; and both finger mounting plates and the grip cylinder. A robot finger reversing device comprising a parallel link coupled to a cylinder shaft such that both finger mounting plates move toward or away from each other by movement of the cylinder shaft in the axial direction.