JP2000190272A - General purpose material hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a general purpose material hand high in general purpose properties, which can hold a comparatively heaving work. SOLUTION: This is a general purpose material hand capable of holding a work while being mounted to a robot, and it is provided with a first fixed arm 1, a first gripping unit 10 mounted on the first fixed arm 1, a second and a third arm 2 and 3 capable of being slid with respect to the first arm 1, a second gripping unit 20 mounted on the second arm 2, and with a third gripping unit 30 mounted on the third arm 3. The third gripping unit 30 is so mounted to the third arm 3 as to be advanced to/retreated from the surface of the work.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a general-purpose material hand mounted on a robot for gripping a workpiece.

[0002]

2. Description of the Related Art It is known that a robot equipped with a hand for gripping a work is used when transferring the work. Japanese Patent Laid-Open No. 6-143173 discloses a hand that can grip a work of any shape. As shown in FIG. 4, this hand can adjust a distance between each other and can rotate a pair of gripper portions 51A and 51B.
, And each gripper section is provided with a pair of fingers 52A and 52B whose distance between them can be adjusted. The fingers 52A and 52B have a workpiece gripper 53 for gripping the workpiece.
A, 53B. When gripping a workpiece using the hand 50, depending on the shape and dimensions of the workpiece,
The distance between the pair of gripper portions 51A and 51B is adjusted, the distance between the pair of fingers 52A and 52B provided in each gripper portion 51A and 51B is adjusted, and further, each gripper portion 51A and 51B is adjusted. Is rotated, the hand 50 is positioned at the work position, and the work holding portions 53A and 53B are pressed against the work to hold the work.

[0003]

However, since the conventional hand 50 grips a work at two places, it is necessary to grip a relatively large work such as a side member panel of an automobile shown in FIG. It is difficult. An object of the present invention is to provide a highly versatile hand (material hand) that can grip a relatively large work.

[0004]

The present invention to achieve the above object is as follows. (1) A general-purpose material hand attached to a robot and capable of gripping a workpiece, the first arm being fixed, a first gripping unit attached to the first arm, and the first arm The second to slide against
A general-purpose material hand, comprising: a third arm; a second gripping unit attached to the second arm; and a third gripping unit attached to the third arm. (2) The general-purpose material hand according to (1), wherein the third gripping unit is attached to the third arm so as to advance and retreat with respect to a surface of the work.

[0005] In the present invention, grasping includes grasping, pinching, fixing, and suction. In the general-purpose material hand of (1), the workpiece can be gripped at three places by the first gripping unit, the second gripping unit, and the third gripping unit, so that even a relatively large workpiece is stable. Can be gripped. Also, since the second grip unit is attached to the second arm that slides with respect to the first arm, and the third grip unit is attached to the third arm that slides with respect to the first arm, ,
The second gripping unit and the third gripping unit can change the gripping position with respect to the workpiece, and can grip workpieces of various sizes. In the general-purpose material hand of the above (2), since the third gripping unit is capable of moving forward and backward with respect to the surface of the work, the first gripping unit, the second gripping unit, and the third gripping unit provide:
Work pieces of various sizes and shapes can be easily gripped at three places.

[0006]

1 and 2 show a general-purpose material hand according to an embodiment of the present invention. First, a general-purpose material hand according to an embodiment of the present invention will be described. The general-purpose material hand according to the embodiment of the present invention is attached to a robot arm, and is used, for example, when transporting a side member panel (panel) of an automobile.

As shown in FIGS. 1 and 2, a general-purpose material hand according to an embodiment of the present invention includes a fixed first arm 1.
A first gripping unit 10 attached to the first arm 1, a second sliding unit with respect to the first arm 1,
It includes third arms 2 and 3, a second gripping unit 20 attached to the second arm 2, and a third gripping unit 30 attached to the third arm 3. The general-purpose material hand further includes a hand body 4.
The arm 5 of the robot is attached to the hand body 4.

The first arm 1 is fixedly supported on the hand body 4. The first arm 1 is rod-shaped.

The first holding unit 10 can hold a work, and is attached to the tip of the first arm 1. The first holding unit 10 includes a holding unit 11 and a driving device for driving the holding unit 11 to hold the work therebetween. The gripping interval of the gripper 11 is adjusted by a driving device such as a cylinder.

The second arm 2 is slidably supported by the hand body 4. The second arm 2 is a driving device,
For example, it is slid by an air cylinder or a servomotor. The sliding direction is a direction intersecting with the first arm 1, for example, a direction orthogonal to the first arm 1. The slide amount can be adjusted to an arbitrary amount by a driving device. In addition, by disposing a detecting device such as a limit switch, and setting the driving device to stop when the detecting device detects that the second arm 2 slides by a predetermined amount, the sliding of the second arm 2 can be performed. Can be stopped at a predetermined position (work holding position).

The second gripping unit 20 is capable of gripping a work, and is attached to the tip of the second arm 2. The second holding unit 20 includes a holding unit 21 and a driving device for driving the holding unit 21 to hold the work therebetween. The gripping interval of the gripper 21 is adjusted by a driving device such as a cylinder.

The third arm 3 is slidably supported by the hand body 4. The third arm 3 extends from the hand body 4 in a direction different from the direction in which the second arm 2 extends. The third arm 3 and the second arm 2 are parallel. The third arm 3 is slid by a driving device, for example, an air cylinder or a servomotor. The sliding direction is a direction intersecting with the first arm 1, for example, a direction orthogonal to the first arm 1,
In the embodiment of the present invention, the direction is the same as that of the second arm 2. As the second arm 2 and the third arm 3 slide away from the hand body 4, respectively, the distance from the tip of the second arm 2 to the tip of the third arm 3 increases. The sliding amount of the third arm 3 can be adjusted to an arbitrary amount. In addition, by disposing a detecting device such as a limit switch and setting the driving device to stop when the detecting device detects that the third arm 3 slides by a predetermined amount, the sliding of the third arm 3 is performed. Can be stopped at a predetermined position (work holding position).

The third holding unit 30 is capable of holding a work, and is attached to the tip of the third arm 3. The third holding unit 30 according to the embodiment of the present invention includes a suction unit 31 that suctions and holds a work. The suction section 31 is a trumpet-shaped rubber member having an air passage,
The work is sucked and gripped. Further, the suction unit may be a magnet, a suction cup, or the like.

Further, the third holding unit 30 is provided with a driving device 3 for moving the suction section 31 forward and backward with respect to the surface of the work.
2. For example, an air cylinder may be provided. The drive device 32 includes a proximity switch that detects that the suction unit 31 has approached the surface of the work. The drive device 32 is controlled to stop the drive device in response to a signal from the proximity switch. Approaching stops at a predetermined position.

Next, the operation of the general-purpose material hand according to the embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the general-purpose material hand of the embodiment of the present invention is
Attached to. When a workpiece w, for example, a side member panel (panel) w of an automobile as shown in FIG. 3 is gripped, the general-purpose material hand is such that the first arm 1 extends in the height direction of the panel w, and Arms 2, 3
Is extended in the front-rear direction of the panel w.
Approached. Then, the center pillar A between the front window and the rear window is gripped by the first grip unit 10, the front pillar B is gripped by the second grip unit 20, and the third grip unit 30 is gripped.
As a result, the rear surface C is gripped (adsorbed by suction), and as a result, the panel w is gripped at three places and can be transported. Second holding unit 20 and third holding unit 30
Are attached to the second arm 3 and the third arm 3, respectively, which slide with respect to the first arm 1. The sliding amounts of the second arm 3 and the third arm 3 are adjusted, and Be placed. Therefore, in the case of panel w,
First grip unit 10 arranged on center pillar A
Is the reference position, and the position of the second gripping unit 20 and the position of the third gripping unit 30 are adjusted for each panel w. Therefore, even if the length of the panel w in the front-rear direction differs depending on the vehicle type, it is possible to hold the panels w of all vehicle types with one material hand. In addition, since the general-purpose material hand grips the work at three places, even a relatively large work such as the panel w can be stably gripped.
Further, since the third grip unit 30 grips the panel w by suction, any part of the panel w can be gripped as long as the suction unit 31 is in contact with the panel w. Also, unlike the first gripping unit 10 and the second gripping unit 20, the third gripping unit 30 can advance and retreat with respect to the rear surface C of the panel w. Even if it has a shape, it is securely held at three places.

[0016]

According to the general-purpose material hand of the first aspect, the workpiece can be gripped at three places by the first gripping unit, the second gripping unit, and the third gripping unit. Can be grasped. The second gripping unit is attached to a second arm that slides with respect to the first arm,
Is attached to the third arm that slides with respect to the first arm, the second gripping unit and the third gripping unit can change the gripping position with respect to the work, and have different sizes. The workpiece can be gripped. According to the general-purpose material hand of the second aspect, since the third holding unit is capable of moving forward and backward with respect to the surface of the work, it is possible to easily hold a work having a different shape.

[Brief description of the drawings]

FIG. 1 is a diagram showing a state in which a work is gripped by a general-purpose material hand according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a state in which a work is gripped by a general-purpose material hand according to the embodiment of the present invention.

FIG. 3 is a view showing a side member panel of the automobile.

FIG. 4 is a view showing a conventional hand.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 1st arm 2 2nd arm 3 3rd arm 10 1st gripping unit 20 2nd gripping unit 30 3rd gripping unit

Claims (2)

[Claims] 1. A general-purpose material hand attached to a robot and capable of gripping a workpiece, comprising: a fixed first arm; a first gripping unit attached to the first arm; Second and third arms that slide with respect to the second arm, a second grip unit attached to the second arm, and a third grip unit attached to the third arm. A general-purpose material hand. 2. The general-purpose material hand according to claim 1, wherein the third holding unit is attached to the third arm so as to be able to advance and retreat with respect to a surface of the work.