JP2007021691A - Hand for carrying ring and carrying device using the hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hand for carrying a ring, highly accurately centering the ring as well as holding the ring, and also to provide a carrying device using the hand. <P>SOLUTION: This hand is provided with: a cylindrical fixed claw to be inserted into the inside or the outside of a ring-shaped object to be carried; two cylindrical movable claws to be inserted into the inside or the outside of the ring-shaped object to be carried; and an air cylinder for simultaneously driving the two cylindrical movable claws. The three cylindrical claws 3 are arranged in a triangle shape, and the two cylindrical movable claws are constituted to move at a right angle to a line for connecting the centers and in parallel to a line passing the center of the cylindrical fixed claw. The three cylindrical claws hold the ring at the time of holding the ring and are in contact with the ring at three points. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a transport hand for transporting a ring-shaped transported object (hereinafter simply referred to as a ring) and a transport device using the transport hand.

In the case of conveying the ring, in order to determine the position of the ring with high accuracy after the conveyance, it is necessary to position the ring at any point in the conveyance. When the ring is positioned by the positioning device before transport, the transport device accurately reproduces the movement to determine the position of the ring after transport with high accuracy. Further, when positioning the ring after transport, the positioning device positions the ring roughly after transporting the ring.
For example, the conventional ring transporting hand shown in FIG. 13 is used.
In FIG. 13, the ring A is gripped by two gripping claws, a fixed claw 38 and a movable claw 39. The contact portion of each claw with the ring has the same radius of curvature as the inner diameter of the ring. The movable claw 39 is attached to the movable block 33 and moves in the left-right direction in the drawing by the expansion and contraction of the air cylinder 37 via the joint 36.
Further, as the conveyance hand with a centering mechanism, the one shown in FIGS. 14 and 15 is used (see, for example, Patent Document 1).
This is because the pair of clamp claws 10 and 10 that open and close in the X-axis direction and the pair of clamp claws 11 and 11 that open and close in the Y-axis direction are individually opened and closed by the two-drive air chuck 12, and in the X-axis direction. A ball bearing 10b is used for the clamp pawl 10 that opens and closes. In FIG. 14, 10a is a bolt, 12 is a two-drive air chuck, 13 is a support rod, 14 is a body, and 15a and 15b are air cylinders.
Japanese Utility Model 5-16181 (Figs. 1 and 2)

Conventional ring transport hands require gripping claws that match the size of the ring, and because the ring is gripped by two claws, the centering ability of the ring is not sufficient, and the position of the ring is highly accurate after transporting Therefore, it was necessary to position the ring either before or after the conveyance. Furthermore, when the size of the ring is changed, it is necessary to change the shape (curvature radius) of the contact portion of the claw with the ring.
In addition, the transporting hand with a centering mechanism according to Patent Document 1 (FIGS. 14 and 15) has a problem that the structure is complicated and large because it is a quadrilateral shape.
The present invention has been made to solve such a problem, and provides a ring transporting hand capable of performing ring centering with high accuracy simultaneously with the gripping of the ring, and a transport device using the ring transporting hand. It is the purpose.

In order to solve the above problems, the present invention is configured as follows.
According to the first aspect of the present invention, there is one cylindrical fixed claw inserted inside or outside the ring-shaped object to be conveyed, and two pieces inserted inside or outside the ring-shaped object to be conveyed. In the ring transporting hand provided with a cylindrical movable claw and an air cylinder that simultaneously drives two cylindrical movable claws, these three cylindrical claws are arranged in a triangular shape, and two The cylindrical movable claw is characterized by moving at a right angle to a line connecting the centers thereof and parallel to a line passing through the center of the cylindrical fixed claw. These three cylindrical claws grip the inner diameter or outer diameter of the ring when gripping the ring, and come into contact with the ring at three points.
The invention described in claim 2 is characterized in that the two cylindrical movable claws are rotating claws such as bearings.
The invention according to claim 3 is characterized in that the transport device includes the ring transport hand according to claim 1 or 2 at the tip of the movable portion.
The invention according to claim 4 is characterized in that the movable part is constituted by a wrist member of a manipulator, and the conveying device is constituted by a manipulator.

According to the first aspect of the present invention, the ring and the gripping claws come into contact with each other at three points, whereby the ring can be gripped with a compact configuration and the ring can be centered at the same time.
According to the second aspect of the present invention, by using the claw portion as a rotating body such as a bearing, the friction between the ring and the claw can be reduced, and more accurate centering can be performed.
In addition, according to the third and fourth aspects of the invention, the ring can be gripped with a compact configuration, the ring can be centered at the same time, and the friction between the ring and the claw can be reduced. In addition, since a ring transporting hand that enables centering with higher accuracy can be attached to the wrist member of a manipulator, which is a movable part, for example, a transporting device can be configured. High conveyance becomes possible.

  Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view of a ring carrying hand of the present invention and a carrying apparatus using the same. FIG. 2 is a plan view of the manipulator in FIG. 1 viewed from above.
In FIG. 1, a ring carrying hand 30 according to the present invention is attached to a wrist member 27 of a manipulator body 20 which is a carrying device using the ring carrying hand 30. The manipulator 20 includes a manipulator body 21 and a ring transport hand 30.
In FIGS. 1 and 2, 22 is a base, 23 is a base, 24 is a swivel base, 25 is a lower arm, 26 is an upper arm, 31 is a hand base, 32 is a linear rail, 33 is a movable block, 34 is a fixed claw, 35 is A movable claw, 36 is a joint, and 37 is an air cylinder.
The difference between the present invention and the conventional ring transporting hand is that there are three gripping claws, one cylindrical fixed claw 34 and two cylindrical movable claws 35 in total. The two movable claws 35 are arranged to move parallel to a line passing through the center of the fixed claw 34 at a right angle to a line connecting the centers thereof, and transporting the ring in conjunction with the manipulator 21.
FIG. 2 shows a layout of the transfer apparatus in which the ring A roughly positioned on the ring supply station 1 is gripped by the manipulator 20 and is positioned and transferred to the ring insertion station 2 where the position is shifted by 90 ° with high accuracy. ing.
The manipulator main body 21 has been conventionally known, and a swivel base 24 is attached on a base 23 supported by a gantry 22, and a lower end portion of a lower arm 25 is connected to the swivel base 24. The rear end portion of the upper arm 26 is connected to the upper arm 26, and the wrist member 27 is provided at the distal end portion of the upper arm 26.
Here, the swivel base 24 has a degree of freedom around the S axis, and is swung by a motor (not shown).
The lower arm 25 has a degree of freedom around the L axis and is swung by a motor (not shown).
Further, the upper arm 26 has a degree of freedom around the U axis and is swung in the vertical direction around the U axis by a motor (not shown).
Further, the wrist member 27 has a degree of freedom around the B axis and the T axis, and is swung around the B axis by each of two motors incorporated in the upper arm 26, and the T axis is It is rotated around the center.
The manipulator 20 is operated according to pre-registered data, and the position, angle, and posture of the wrist member 27 are controlled.
3 and 4 show details of the ring carrying hand 30. FIG. 3 is a side view and FIG. 4 is a bottom view.
As shown in FIGS. 3 and 4, a fixed claw 34, a linear rail 32, and an air cylinder 37 are attached to the hand base 31 connected to the wrist member 27, and a movable claw 35 is attached to the movable block 33 of the linear rail. Two are attached. The movable block 33 and the movable claw 35 are connected to an air cylinder 37 through a joint 36, and the movement of the air cylinder 37 causes the movable claw 35 to move in the left-right direction in the figure.
The ring transporting hand and the transporting apparatus using the same shown in the embodiment have the above-described structure. FIGS. 5 to 10 show the movement of the manipulator 20 when gripping the ring and the centering of the ring simultaneously with the gripping of the ring. It shows how to perform. Hereinafter, the movement when the manipulator 20 grips the ring will be described.
FIG. 5 is a view in which the ring transporting hand 30 is waiting above the ring A roughly positioned by the rough guide 3 on the ring supply station 1. Here, the movable claw 35 approaches the fixed claw 34 side by the operation of the air cylinder 37.
FIG. 6 is a diagram in which the fixed claw 34 and the movable claw 35 of the ring transport hand 30 have entered the inside of the ring A as the manipulator 20 moves downward.
FIG. 7 is a diagram in which the distance between the fixed claw 34 and the movable claw 35 is increased by the operation of the air shilling 37 and the ring A is gripped.
FIG. 8 is a diagram in which the gripped ring A is conveyed upward as the manipulator 20 moves upward.
Next, the above operation will be described from the viewpoint of centering the ring A.
The position of the ring A is roughly regulated by the rough guide 3.
The positional relationship between the ring A and the ring conveyance hand 30 is as shown in FIG. 9, for example.
The positional relationship of the ring transporting hand 30 is controlled by the manipulator body 21, but the ring A is only positioned roughly, so the center of the ring and the hand do not coincide.
Here, when the distance between the fixed claw 34 and the movable claw 35 is increased by the operation of the air shilling 37, the ring A moves to a stable position (a position where the fixed claw 34 and the two movable claws 35 are all in contact with the ring A). To do. Thereby, centering of the ring A is completed.
In addition, since the nail | claw was made into the cylindrical shape, it can respond to the ring of various sizes.
The centering function is highest when the positional relationship between the fixed claw 34 and the two movable claws 35 is an equilateral triangle. If the position of the equilateral triangle cannot be secured because the ring is large or the distance between the movable claws 35 is not large due to the rough guide, the centering of the centering is caused by friction between the ring A and the claws. Function drops. In such a case, by configuring the movable claw with a rotating body such as a bearing, friction can be reduced and the centering function can be maintained high.
Furthermore, the fixing claw 34 can be formed in a semicircular shape (FIG. 11).
Thus, the ring gripping hand has a cylindrical gripping claw, and the ring inner diameter and the gripping claw come into contact at three points, so that the ring can be centered simultaneously with the gripping of the ring. Further, by using the claw portion as a rotating body such as a bearing to reduce the friction between the ring and the claw, more accurate centering can be achieved.

  In addition, as shown in FIG. 12, it can apply also to the use of gripping the outer side of the ring A or conveying a cylindrical article by reversing the gripping direction. In FIG. 12, the same reference numerals as those in FIG. 9 denote the same or corresponding members.

It is a side view of the ring conveyance hand of this invention in Example 1, and a conveying apparatus using the same. It is the top view which looked at the manipulator in FIG. 1 from upper direction. It is a side view which shows the detail of the ring conveyance hand in FIG. It is a bottom view which shows the detail of the ring conveyance hand in FIG. It is a side view which shows the operation state of the ring conveyance hand at the time of conveyance. It is a side view which shows the operation state of the ring conveyance hand at the time of conveyance. It is a side view which shows the operation state of the ring conveyance hand at the time of conveyance. It is a side view which shows the operation state of the ring conveyance hand at the time of conveyance. It is a bottom view which shows the operation state of the ring conveyance hand at the time of conveyance. It is a bottom view which shows the operation state of the ring conveyance hand at the time of conveyance. It is a bottom view which shows the operation state of the ring conveyance hand at the time of conveyance. FIG. 6 is a bottom view showing details of a ring transport hand in Embodiment 2. It is a bottom view which shows the ring conveyance hand in a prior art. It is a side view which shows the hand for ring conveyance in a prior art. It is a bottom view which shows the ring conveyance hand in a prior art.

Explanation of symbols

A ring B positioned ring 1 ring supply station 2 ring insertion station 3 linograph guide 20 manipulator 21 manipulator body 22 base 23 base 24 swivel base 25 lower arm 26 upper arm 27 wrist member 30 ring transport hand 31 hand base 32 linear rail 33 movable block 34 fixed claw 35 movable claw 36 joint 37 air cylinder 38 conventional fixed claw 39 conventional movable claw

Claims (4)

One cylindrical fixed claw inserted inside or outside the ring-shaped object, two cylindrical movable claws inserted inside or outside the ring-shaped object, and 2 In a ring conveying hand provided with an air cylinder that simultaneously drives a plurality of cylindrical movable claws,
These three cylindrical claws are arranged in a triangular shape,
The two cylindrical movable claws are perpendicular to a line connecting the centers thereof and move parallel to a line passing through the center of the cylindrical fixed claws.   2. The ring carrying hand according to claim 1, wherein the two cylindrical movable claws are rotating claws such as bearings.   3. A transport apparatus comprising the ring transport hand according to claim 1 or 2 at a tip of a movable section.   The transport apparatus according to claim 3, wherein the movable part is configured by a wrist member of a manipulator.

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