JP2001219392A - Gripping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gripping device simple in structure and easy to control. SOLUTION: A gripping device is constituted by installing a pair of support frame 2 arranged opposed to each other by forming a space between intermediate parts on a had end part of an arm 1 free to open and close through a base end part, installing one end part in a head end part of one of the support frames and winding the other end part of a belt 13 wound around sequentially on a pulley 10 installed on the arm between the base end parts of the both support frames and a pulley 11 installed on the head end part of the other support frame around a pulley 15 of a motor 14 free to reciprocally rotate.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to an industrial robot,
The present invention relates to a gripping device applied to a manipulator or the like, and particularly to a gripping device using a belt that follows the shape of a gripping target.

[0002]

2. Description of the Related Art A belt-type work hand device described in Japanese Patent Application Laid-Open No. 61-241032 has been known as this type of gripping device. This belt-type work hand device is arranged opposite to a tip of an arm, and is provided with a pair of endless belts that approach each other to grip a bolt, a nut, and other work, and a belt that is provided in cooperation with both endless belts to grip a work. It has a drive device that can rotate forward and reverse to move sides in opposite directions, and a control device that is linked to each endless belt and adjusts belt tension, and grips workpieces that differ in size without tool change. And can immediately apply rotational force.

[0003]

However, in the conventional gripping device using a belt, a tool changer is provided at the tip of the arm, and there is no need to exchange and use a plurality of types of gripping devices. Although a single device can cope with the work described above, a pair of endless belts are required to grip the work, so that the structure is complicated and control is complicated.

Accordingly, an object of the present invention is to provide a gripping device having a simple structure and easy control.

[0005]

According to a first aspect of the present invention, there is provided a first gripping device comprising a pair of support frames, which are opposed to each other while forming a space between intermediate portions, at a tip end of an arm. Attached openably and closably via the base end, one end is attached to the tip of one support frame, and attached to the pulley attached to the arm and the tip of the other support frame between the base ends of both support frames. The other end of the belt sequentially wound around the pulley is wound around a pulley of a motor capable of rotating forward and reverse. Further, in the second gripping device, a pair of support frames, which are opposed to each other while forming a space between the intermediate portions, are mounted on the distal end of the arm via a proximal end so as to be openable and closable. One end is attached to the distal end, and is sequentially wound around a pulley attached to the proximal end of one support frame, a pulley attached to the proximal end of the other support frame, and a pulley attached to the distal end of the other support frame. The other end of the belt is wound around a pulley of a motor that can rotate forward and reverse.

As the support frame, one having an arc shape, a U shape, a U shape, or the like is used. Opening and closing of the pair of support frames is performed by turning the distal ends of the pair of support frames toward and away from each other, or by moving the pair of support frames linearly toward and away from each other while facing each other. It is preferable that the belt has flexibility such that it can be deformed in accordance with the shape of the object to be grasped, and that a surface in contact with the object to be grasped is subjected to a concavo-convex treatment or the like to increase frictional force. A material made of metal, synthetic resin, or the like that does not cause corrosion or the like due to an object to be gripped is used. It is preferable that the motor can apply a predetermined tension to the belt.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a partially cutaway plan view showing a first embodiment of a gripping device according to the present invention. In the figure, reference numeral 1 denotes an arm of an industrial robot, a manipulator, or the like, and a pair of arc-shaped arms which are opposed to each other at a distal end of the arm 1 by forming a space for gripping the gripping target object W between intermediate portions. The support frame 2 is fixed at its base end (the lower end in FIG. 1) to two parallel pivots 3 rotatably provided on the arm 1. A gear 4 that meshes with each other is attached to both pivots 3, and a driven gear 5 is attached to one (left side in FIG. 1) pivot 3. The driven gear 5 is meshed with a drive gear 7 mounted on an output shaft 6 a of a frame opening / closing motor 6 mounted on the arm 1 and capable of rotating forward and reverse.

[0010] A first pulley 8 is attached to the tip (upper end in FIG. 1) of one (left side in FIG. 1) support frame 2 via a pulley shaft 8 a parallel to the pivot 3. A second pulley 10 is attached to a bracket 9 projecting from the arm 1 between the base ends of the two support frames 2 via a pulley shaft 10a parallel to the pivot 3.
A third pulley 11 and a fourth pulley 12 are attached to the other end (the left side in FIG. 1) of the support frame 2 via pulley shafts 11a and 12a parallel to the pivot 3, respectively. . One end of a belt 13 for gripping the gripping target object W is wound around the first pulley 8, and the belt 13 is attached to the second pulley 10, the third pulley 11, and the fourth pulley 12. The other end is wound around a pulley 15 attached to an output shaft 14a of a belt winding motor 14 that is rotatable forward and backward mounted on the arm 1 and can apply a predetermined tension to the belt 13. Has been turned.

In order to grip the object W to be gripped by the gripping device having the above-described structure, first, the frame opening / closing motor 6 is driven so that the pair of support frames 2 are moved away from each other about the pivot 3. While rotating, the belt winding motor 14 is driven, and the belt 13 is fed out while applying a tension that does not slack, and the two support frames 2 are opened. Next, both support frames 2 are moved together with the arm 1 from the side or above the object W to be gripped, so that the object W to be gripped is located between the intermediate portions of the two support frames 2.
Next, the motor 6 for opening and closing the frame is driven to rotate the pair of support frames 2 about the pivot 3 so that the tips are close to each other to close both support frames 2 (the state shown in FIG. 1). Thereafter, the belt winding motor 14 is driven to wind up the belt 13 and apply a predetermined tension thereto.

FIG. 2 is a partially cutaway plan view showing a second embodiment of the gripping device according to the present invention. In the figure, reference numeral 16 denotes an arm of an industrial robot, a manipulator, or the like. A base plate 17 extending perpendicular to the axis of the arm 16 is attached to the tip of the arm 16. A pair of bearing brackets 18 are erected on the base plate 17 so as to face each other. On both bearing brackets 18, screw rods 19 having screw portions 19 a and 19 b in opposite directions formed at an intermediate portion excluding both end portions. Are rotatably supported via both ends. A pulley 20 such as a timing pulley is attached to an end of a threaded rod 19 protruding from one (left side in FIG. 2) bearing bracket 18. The pulley 20 is mounted on the base plate 17. An endless belt 22 such as a timing belt is wound around a pulley (both not shown) attached to an output shaft of a frame opening / closing motor 21 that can rotate in the reverse direction.

The screw rod 19 has a gripping object W between the intermediate portions.
A pair of U-shaped support frames 23 facing each other and forming a space for gripping are screwed through a screw hole 23 at the base end (the lower end in FIG. 2). The two support frames 23 have wheels 24 mounted on their respective base ends so that the two support frames 23 can linearly approach and move away from each other while maintaining a facing position with the rotation of the screw rod 19.
It is rotatably provided on a guide rail 25 laid on the base plate 17.

A first pulley 26 and a second pulley 27 are provided at one end (upper end in FIG. 2) and a base end of one (left side in FIG. 2) of the support frame 23, respectively. Pulley shafts 26a, 27 perpendicular to the moving direction
a third pulley 28, a fourth pulley 29, and a fifth pulley 30 are attached to the base end and the distal end of the other support frame 23 through the pulley shafts 26a and 26a.
It is mounted via pulley shafts 28a, 29a, 30a parallel to 7a. One end of a belt 31 for gripping the gripping target object W is wound around the first pulley 26, and the belt 31 is connected to the second pulley 27 and the third pulley 27.
It is wound around the pulley 28, the fourth pulley 29, and the fifth pulley 30 in this order, and the other end is connected to the other support frame 23.
Forward and reverse rotatable mounted on the base end of the
Is wound around a pulley 33 attached to an output shaft 32a of a belt winding motor 32 capable of applying a predetermined tension to the belt.

In order to grasp the object W to be grasped by the grasping device having the above structure, first, the frame opening / closing motor 21 is driven to move the pair of support frames 23 along the guide rails 25 so as to be separated from each other. At the same time, the belt winding motor 32 is driven, and the belt 31 is fed out while applying a tension such that it does not slack.
Open. Next, the support frames 23 are moved together with the arm 16 from the side or above the object W to be gripped, so that the object W to be gripped is located between the intermediate portions of the support frames 23. Next, the frame opening / closing motor 21 is driven,
The two support frames 23 are moved so as to approach each other along the guide rail 25 to close the two support frames 23 (FIG. 2).
Then, the belt winding motor 32 is driven to wind up the belt 31 and to apply a predetermined tension thereto.

In the above-described first embodiment, a case has been described in which the pair of support frames 2 are rotatable about the respective pivots 3 so that they can be opened and closed. However, the present invention is not limited to this. However, as in the second embodiment, 1
The pair of support frames 2 may be linearly approachable and releasable so as to be openable and closable, and in the second embodiment, as in the first embodiment, a pair of support frames 23 are connected to each other. It may be opened and closed by rotating around the pivot axis of the base end.

[0015]

As described above, according to the first and second grasping devices of the present invention, the object to be grasped is grasped by one belt, so that the structure can be simplified as compared with the conventional one. And control can be facilitated. In particular,
According to the second gripping device, the portion of the belt facing the gripping object approaches and separates while maintaining a parallel state, so that when gripping or releasing the gripping object, No force for moving the object is generated.

[Brief description of the drawings]

FIG. 1 is a partially cutaway plan view showing a first embodiment of a gripping device according to the present invention.

FIG. 2 is a partially cutaway plan view showing a gripping device according to a second embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 arm 2 support frame 3 pivot 4 gear 5 driven gear 6 frame opening / closing motor 7 drive gear 8 first pulley 10 second pulley 11 third pulley 13 belt 14 belt winding motor 15 pulley 16 arm 19 screw rod 21 frame opening / closing Motor 23 support frame 24 wheels 25 guide rail 26 first pulley 27 second pulley 28 third pulley 29 fourth pulley 31 belt 32 belt winding motor 33 pulley

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Yasuo Nakano 118 Futatsuka, Noda City, Chiba Prefecture Kawasaki Heavy Industries Noda Plant F-term (reference) 3C007 DS01 ES03 ET03 ET08 EU01 EU02 EV14 HS27 3F061 AA01 BA03 BB03 BC01 BC03 BD04 BE24

Claims (2)

[Claims] 1. A pair of support frames, which are opposed to each other with a space formed between the intermediate portions, are attached to the distal end of the arm via a proximal end so as to be openable and closable, and one end is attached to the distal end of one of the support frames. A part of the motor is rotatable forward and reverse, with the other end of the belt sequentially wound around the pulley attached to the arm and the pulley attached to the tip of the other support frame between the base ends of both support frames. A gripping device characterized by being wound around a pulley. 2. A pair of support frames, which are opposed to each other with a space formed between the intermediate portions, are attached to the distal end of the arm via a proximal end so as to be openable and closable, and one end is attached to the distal end of one of the support frames. Parts are attached, a pulley attached to the base end of one support frame, a pulley attached to the base end of the other support frame, and a belt sequentially wound around the pulley attached to the tip of the other support frame. A gripping device characterized in that the other end is wound around a pulley of a motor capable of rotating forward and backward.