JP2000176873A - Hand device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To handle a plural number of kinds of works by one unit of a hand device furnished with a locating pin with a gripping function. SOLUTION: A frame 1 to be installed on a robot arm A is furnished with a locating pin 2 with a gripping function to be engaged with a locating hole L of a work W1 and a holding arm 3 free to oscillate, it is made into a hand device H of a robot furnished with an adsorptive means 4 to the work W1 free to oscillate on a head end of the holding means 3, and it is made possible to correspond to a plural number of kinds of the works by one unit by devising it free to set a position of the adsorptive means 4 against the locating pin 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand device used for handling a workpiece by mounting it on a robot arm in, for example, a multi-axis controlled robot.

[0002]

2. Description of the Related Art A hand device for a robot of this type is provided with two locating pins having a gripping function. The locating pins are inserted into two locating holes provided in the work, and the locating pin grips the work. In some cases, the workpiece is handled in this state. This hand device is mainly suitable for handling a long work, but when the work has a planar spread, it may be difficult to balance when gripping the work. Therefore, conventionally, a robot hand device as shown in FIG. 4 has also been used.

A hand device 100 shown in FIG. 4 has a substantially T-shaped frame 101 to be mounted on a robot arm A, and locating pins 102 with a gripping function that protrude in the same direction at both ends of the frame 101. At the remaining end of the frame 101, a gauge 103 which comes into contact with the work W and a clamp 105 which grips and releases the work W between the gauge 103 and the actuator 104 as a driving source are provided. The illustrated workpiece W is
In a body side panel of an automobile, locate holes L, L are formed at lower end portions of a center pillar portion P and a rear fender portion F.

[0004] The hand device 100 is provided with each of the locate holes L
The locating pin 102 is inserted through the
2, the edge of the locate hole L is gripped, and the upper end portion (the portion indicated by the symbol Q) of the center pillar portion P is
03 and the clamp 105, and the workpiece W is handled in this state.

[0005]

However, it is difficult for one robot hand device 100 to handle a plurality of types of workpieces. That is, as for the locate pin, since the distance between the axes of the two locate holes in the work may be kept constant, it is relatively easy to form the locate holes in a plurality of types of works, and the locate pin can be used. However, if the shape of the work is different, it may not be possible to hold the work with the gauge and the clamp. For this reason, in the past, a plurality of hand devices were prepared according to the type of work, and the hand devices were selectively used by using a hand changer. In this case, equipment costs and costs were increased, and various types of hand devices were added. In a situation where workpieces are transported sequentially,
There is a problem that the cycle time is lengthened by the replacement time of the hand device, and it has been a problem to solve such a problem.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems. In a hand device having a locating pin with a gripping function, a single robot can handle a plurality of types of workpieces. The purpose of the present invention is to provide a hand device.

[0007]

According to a first aspect of the present invention, there is provided a robot hand device comprising: a frame mounted on a robot arm of a robot; a locating pin having a gripping function for engaging a locating hole of a work; A structure in which a movable holding arm is provided, and a suction means for a workpiece is swingably provided at a tip of the holding arm, and a fixing means is provided for releasing the restraint of the swing of the holding arm. According to a third aspect of the present invention, the fixing means is configured to release the restraint of the coupling mechanism between the frame and the holding arm. As a fourth aspect, a positioning member having a horizontal surface near the robot to which the suction means can suction. The holding arm may include a plurality of links that are swingably connected to each other, and a fixing unit that releases a connection mechanism between the links. With obtaining, a structure in which a holding arm, as claimed in claim 6, and a structure suction means is an electromagnet, and a means for solving the problems with the configuration described above. In the above configuration, a connection mechanism between the frame and the holding arm, a connection mechanism between the links,
In addition, a single shaft or 2
Universal joints for the shaft can be used.

[0008]

In the robot hand device according to the first aspect of the present invention, when the frame mounted on the robot arm is raised at a predetermined height, the holding arm is provided swingably with respect to the frame and the holding arm is provided. Since the suction means is swingably provided at the end of the arm, the holding arm and the suction means are vertically suspended, and this state is set as an initial setting. Thereafter, the hand device causes the suction means to contact the workpiece by the operation of the robot arm, then causes the locate pin of the frame to be inserted into the locate hole of the work by the operation of the robot arm, and further locates the hole by the function of gripping the locate pin. Grip the edge of At this time, since the holding arm and the suction means are swingable with respect to the frame and the holding arm, they follow the movement of the frame for inserting the locating pin. And the hand device,
By adsorbing the suction means to the work, the entire work is held by the locating pin and the suction means. That is, in the hand device, the position of the suction means with respect to the locating pin can be freely set, so that it is possible to handle a plurality of types of works.

In the robot hand device according to the second aspect of the present invention, since the holding means for releasing the restraint of the swing of the holding arm is provided, the locating pin is inserted into the locating hole and the suction means is sucked to the work. By operating the fixing means later, the holding arm is fixed to the frame, and the holding state of the entire work is further stabilized. If the holding arm is restrained with respect to the frame and the suction means is sucked to the work, the movement between the holding arm and the suction means is also prevented.

[0010] In the robot hand device according to the third aspect of the present invention, since the fixing means for releasing the connection mechanism between the frame and the holding arm is used, the fixing means is arranged in the connecting mechanism which is a joint part of the operation. Thus, the structure is simplified.

In the hand device for a robot according to the fourth aspect of the present invention, since the positioning member having a horizontal surface is disposed near the robot, the holding arm and the suction means are hung down when performing the initial setting. By causing the means to be attracted to the horizontal surface of the positioning member, the holding arm and the attracting means are pulled between the robot arm and the robot arm to make it more vertical.

In the robot hand device according to the fifth aspect of the present invention, since the holding arm includes a plurality of links that are swingably connected to each other and fixing means for releasing the connection mechanism between the links, The bending degree of the entire holding arm is set variously for a work having a more complicated shape or which is easily deformed, and fixing is performed in the bent state.

[0013] In the robot hand device according to claim 6 of the present invention, the means for attracting to the work is an electromagnet.
The structure of the suction means is simplified, quick control of suction and release is possible, and an action of pulling the holding arm and the suction means can be obtained even when the positioning member is not in contact with the horizontal plane.

[0014]

According to the robot hand device according to the first aspect of the present invention, in a hand device provided with a locating pin having a gripping function, a frame mounted on the robot arm, a swingable holding arm, and a swinging arm are provided. Adopting flexible suction means, it has a simple structure and the position of the suction means with respect to the locating pin can be set freely, so for example, even if the work has a planar spread, The entire work can be reliably held by the pin and the suction means, and a plurality of types of work can be handled by only one hand device. This eliminates the need to prepare a number of hand devices, which can significantly reduce equipment costs and costs, and also eliminates the need for replacement of hand devices. In such a situation, the cycle time can be reduced.

According to the robot hand device of the second aspect of the present invention, the same effect as that of the first aspect can be obtained, and the fixing means for releasing the restraint of the swing of the holding arm is employed. After the suction means is sucked to the work, the holding arm is fixed to the frame, so that the whole work can be held in a more stable state, and the work can be prevented from swinging during conveyance. it can. Further, if the holding arm and the suction means are placed in the vertical state and restrained by the fixing means, the holding arm can be stabilized when the suction means is brought into contact with the work by the operation of the robot arm, and the suction means for the work is provided. Can be very easily positioned.

According to the robot hand device of the third aspect of the present invention, the same effect as that of the second aspect can be obtained, and the fixing means for releasing the connection mechanism between the frame and the holding arm is employed. Therefore, the structure can be simplified, and thereby the movable range of the holding arm can be increased.

According to the robot hand device of the fourth aspect of the present invention, the same effects as those of the first to third aspects can be obtained, and in addition, since the positioning member having a horizontal surface is employed, the initial setting is achieved. When performing the above, by holding the suction means on the horizontal surface of the positioning member, it is possible to forcibly pull the holding arm and the suction means to a complete vertical state, and to improve the accuracy of the initial position, Initial settings can be made quickly.

According to the robot hand device of the fifth aspect of the present invention, the same effects as those of the first to fourth aspects can be obtained, and a holding arm having a plurality of links and fixing means is employed. Therefore, for a work having a more complicated shape or a work that is easily deformed, the bending degree of the entire holding arm can be set in various ways, and the holding arm can be fixed in the bent state. .

According to the robot hand device of the sixth aspect of the present invention, the same effects as those of the first to fifth aspects can be obtained, and the structure of the attraction means can be obtained by employing an electromagnet as the attraction means. Simplification and quick control of suction and release can be realized, and initial setting can be performed by pulling the holding arm and the suction means even when the positioning member is not in contact with the horizontal plane.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a robot hand device according to the present invention will be described below with reference to the drawings.

The hand device H shown in FIG. 1 (a) has a frame 1 mounted on a robot arm A of a robot R shown in FIG. 2 and has a gripping function for engaging a locate hole L of a work W1. Are provided, and a swingable holding arm 3 is provided. At the tip of the holding arm 3, a suction means 4 for holding the workpiece W1 is swingably provided.

The robot R is a multi-axis control type general-purpose robot installed on the floor, the operation of which is controlled by a computer, and the robot arm A to which the hand device H is attached.
Can be freely moved in and around three axes. The work W1 of this embodiment is a body side panel of an automobile, and has locate holes L, L formed at lower end portions of a center pillar portion P and a rear fender portion F.

The frame 1 is a long member, and is attached to the robot arm A via a bracket 5 provided at an intermediate portion. , 2 are provided so as to protrude in the same direction.

As shown in FIG. 1B, each of the locate pins 2 has a hook-shaped engaging claw 7 built therein. The engaging claw 7 is driven by the driving device 6 so as to protrude and retract at the side of the locate pin 2. That is, the locate pin 2 is
As shown in (c), the work W1 is inserted into the locate hole L of the work W1 and then the engagement claws 7 are protruded to thereby allow the work W1 to move.
1 is gripped.

The holding arm 3 has first and second two links 8 and 9. The holding arm 3 is provided at a middle portion of the frame 1 with a uniaxial first universal joint (connection mechanism) 1.
1, one end of the first link 8 is swingably connected, and the other end of the first link 8 is connected to the first universal joint 11.
1-axis second universal joint (connection mechanism) 1 orthogonal to the swing axis of
2, one end of the second link 9 is swingably connected. A third universal joint 13 in which, for example, a ball and a ball receiver are rotatably engaged with the other end of the second link 9.
, The suction means 4 is swingably connected.

The first and second universal joints 11 and 12 are provided with fixing means 10 for releasing their respective movement constraints. The fixing means 10 is, for example, a brake unit that operates electromagnetically to restrict the swing shaft, and restricts the universal joints 11 and 12 so that the links 8 and 9 are fixed, and To bring the entire holding arm 3 into a fixed state. Further, the suction means 4 is an electromagnet,
Excitation and demagnetization are performed by control means (not shown).

Further, in the vicinity of the robot R, a positioning member 15 having a horizontal surface 14 to which the suction means 4 can adsorb is arranged as shown in FIG. The positioning member 15 of this embodiment is provided between the robot R and the set position of the workpiece W1. The suction means is not limited to the electromagnet, but may be a suction cup (vacuum cup) or the like that suctions with negative pressure air.

In the robot hand device H having the above-described configuration, when the fixing means 10 is deactivated and raised to a predetermined height by the robot arm A, the first link 8 of the frame 1, the holding arm 3, Since the space between the second link 9 and the suction means 4 is swingable, they are suspended vertically.

Then, as shown in FIG. 2A, the attracting means 4 is excited to be attracted to the horizontal surface 14 of the positioning member 15, and the holding arm 3 is pulled between the robot arm A and the positioning member 15. Thus, the holding arm 3 and the suction means 4 are forcibly and quickly brought into the vertical state, and this state is set as the initial setting.

Next, the hand device H operates the fixing means 10 to restrain the first and second universal joints 11 and 12 to maintain the holding arm 3 in a linear state and demagnetize the suction means 4. Then, as shown in FIG. 2B, the suction means 4 is brought into contact with an appropriate position on the work W1 by the operation of the robot arm A. At this time, since the suction means 4 is swingable with respect to the holding arm 3, the suction surface always faces downward even when the robot arm A is moved. Further, by holding the holding means 3 in a linear state as described above, the suction means 4 is brought into contact with the work W1, so that when the robot arm A is moved, the holding arm 3 is stabilized and the suction to the work W1 is performed. The positioning of the means 4 is easily performed.

Thereafter, the hand device H is connected to each fixing means 1
0 is released, and the process proceeds to the positioning of the locate pin 2 with respect to the work W1. At this time, since the first and second links 8 and 9 of the holding arm 3 return to swing freely, respectively, they follow the movement of the frame 1 in which the locating pin 2 is inserted, and both links 8 and 9 are bent. Becomes In addition, since both links 8 and 9 are bent freely, when positioning the locate pin 2, the suction means 4 previously brought into contact with the work W1 may be excited to be sucked to the work W1.

Next, the hand device H causes the locating pins 2 to pass through the respective locating holes L of the work W1, and furthermore, grips the edges of the locating holes L with the engaging claws 7 of the locating pins 2. At this time, if the attracting means 4 is demagnetized, it is excited to attract the workpiece W1. And
By operating each fixing means 10 again to restrict the movement of the first and second universal joints 11 and 12, the entire holding arm 3 is fixed to the frame 1.

As described above, the hand device H is configured as shown in FIG.
As shown in (c), the entire work W1 is securely held by each of the locate pins 2 and the suction means 4, and the robot arm A
By the operation described above, the work W1 is stably handled.

FIG. 3 is a diagram showing a state in which a different work W2 is held by the hand device H. The illustrated work W is a door panel of an automobile, and is provided with locate holes L, L on a lower front portion and an upper rear portion. Both of the locate holes L, L have the same inter-axis distance as the locate hole L in the preceding work W1. The hand device H causes the suction means 4 to be sucked toward the upper front part in the above-described operation order, and the entire work W2 is held by the suction means 4 and each of the locate pins 2.

As described above, the hand device H of the robot described in the above embodiment has the holding arm 3 swingable on the frame 1, so that the position of the suction means 4 with respect to the two locating pins 2 can be freely set. It is. That is, in consideration of the position of the locate hole L and the balance at the time of gripping, the suction means 4 can be freely suctioned to an arbitrary position of the work W1, and the plurality of types of works W1 and W2 can spread in a plane. Even if they have these works W1,
It can correspond to W2. Therefore, it is not necessary to use a plurality of hand devices properly, and the handling work efficiency is improved.

In the case where the same type of work is to be continuously handled, the hand device H is provided with each fixing means 1.
In a state where the holding arm 3 is fixed by zero, engagement and disengagement of the locating pin 2 and excitation and demagnetization of the suction means 4 may be performed.

The above-mentioned hand device H includes a fixing means 10 for releasing the movement of the first and second universal joints 11 and 12.
Therefore, the fixing means 10 is arranged at the joint part of the operation, the structure is simplified, and the movable range of each of the links 8 and 9 of the holding arm 3 and the suction means 4 is largely secured. Further, in the hand device H, since the holding arm 3 includes the first and second links 8 and 9 and the fixing means 10, the hand device H can be applied to a more complicated shape or a work that is easily deformed.
By changing the degree of bending of the entire holding arm 3 in various ways, it is possible to fix the holding arm 3 in the bent state, and it is possible to stably handle more types of workpieces. Further, in the hand device H, since an electromagnet is used as the suction means 4, the structure of the suction means 4 is simple, and the control of suction and release is performed quickly.
5, the holding arm 3 and the suction means 4 can be pulled even if the horizontal surface 14 is not in contact within the effective range of the magnetic force.

The detailed structure of the robot hand device according to the present invention is not limited to the above embodiment. For example, the robot hand device may be configured to include a plurality of sets of the holding arm 3 and the suction means 4. . Also, when using,
Since the work can be handled by appropriately selecting the operation timing of the suction unit 4 and the fixing unit 10, the work set in the upright state can be held. Further, in the above-described embodiment, the case where the uniaxial universal joints 11 and 12 are used for the coupling mechanism between the frame 1 and the holding arm 3 and the coupling mechanism between the links 8 and 9 has been exemplified. It is of course possible to use it.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating an embodiment of a robot hand device according to the present invention (a), a side view illustrating a locate pin (b), and a side view (c) of a locate pin with an engaging claw protruding. It is.

FIG. 2A is a side view illustrating an initial setting of the hand device, FIG. 2B is a side view illustrating a state in which a suction unit is brought into contact with a work, and FIG. c).

FIG. 3 is a perspective view illustrating a state where another work is held by the hand device shown in FIG. 1;

FIG. 4 is a perspective view illustrating a conventional hand device.

[Explanation of symbols]

 Reference Signs List A Robot arm H Hand device L Locate hole R Robot W1 W2 Work 1 Frame 2 Locate pin 3 Holding arm 4 Suction means 8 First link 9 Second link 10 Fixing means 11 First universal joint (connection mechanism) 12 Second universal joint ( Coupling mechanism) 14 horizontal surface 15 positioning member

Claims (6)

[Claims] A frame mounted on a robot arm of a robot includes a locating pin having a gripping function for engaging a locating hole of a work, and a swingable holding arm. A robot hand device comprising means for swinging. 2. The hand device for a robot according to claim 1, further comprising fixing means for releasing the restraint of the swing of the holding arm. 3. The hand device for a robot according to claim 2, wherein the fixing means is means for releasing a connection mechanism between the frame and the holding arm. 4. The hand device for a robot according to claim 1, wherein a positioning member having a horizontal surface to which the suction unit can suction is arranged near the robot. 5. The holding arm includes a plurality of links that are swingably connected to each other, and fixing means for releasing a connection mechanism between the links.
A robot hand device according to any one of the above. 6. The robot hand device according to claim 1, wherein the attraction means is an electromagnet.