JP2015213979A - Hand device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a small-sized, light-weight, and inexpensive hand device capable of simultaneously gripping a plurality of components and performing set-up change in a short time.SOLUTION: A hand device 100 comprises: a tool table 5 which is attached to a bottom end of a main shaft 22 while an axial center is aligned with a rotational axis R, and includes a plurality of opening/closing mechanism 5L,5R at positions of an equal distance from the rotational axis R; a holder 44 which is attached to an outer periphery of the main shaft 22, and rotatable around the main shaft 22; an opening/closing cylinder 41 which is attached to the holder 44 and stretches and contracts a drive shaft 40 in an axial direction; and a locking part 45 which is attached to a bottom end of the drive shaft 40, and being locked to cam followers 53L,53R that open/close the opening/closing mechanism 5L,5R by moving in an axial direction.

Description

  The present invention relates to a hand device attached to the hand of a robot that conveys and assembles parts.

  In recent years, production sites have been automated to reduce production costs and stabilize quality, and many robots with high versatility and capable of complex operations have been introduced. When parts are conveyed and assembled by a robot, a method of gripping an article by a chuck mechanism is often used. In this case, the chuck mechanism converts the one-axis operation by the actuator into an opening / closing operation of two or more fingers by the opening / closing mechanism. Generally, a finger is attached with a claw having a shape that matches the part to be gripped. When changing the part to be gripped by switching the production type, it is necessary to replace the nail to be used. Therefore, various hands have been proposed so that a plurality of parts can be gripped by one hand.

  For example, a set of slide parts that perform opening and closing operations, a support part fixed to the slide part, a rotating part that rotates around an axis attached to the support part, and a rotating part that is perpendicular to the rotating shaft and attached in different directions By having a plurality of support claws and a motor for exchanging the support claws, the plurality of support claws can be switched by the rotation of the motor so that multiple types of parts with different shapes can be gripped with one hand A technique as shown in Patent Document 1 has been proposed.

  Also, a hand tip having a plurality of air chucks, a plurality of solenoid valves for individually opening and closing them, and an air reservoir for supplying air to them, and supplying compressed air to the hand tip when attaching the hand tip It has an attachment / detachment mechanism that has a mechanism for making it possible to grip a plurality of parts at the same time, and by attaching different claws to a plurality of air chucks, it is possible to grip a plurality of types, and further by exchanging the tip of the hand Many kinds of nails can be exchanged (see, for example, Patent Document 2).

JP 2012-236258 A (paragraph 0035, FIG. 2B) JP2013-094892 (paragraphs 0009-0011, FIG. 2)

  In a production system using a robot, it is required to cope with variable-variable production in which the production volume and variety frequently change. In order to respond flexibly to variable-variable production, it is necessary to be able to shorten the setup time when switching production models and to support more models. Moreover, it is necessary to shorten the cycle time of the production system in order to improve productivity. When transporting multiple parts in the same process by a robot, if the hand device can grip multiple parts at the same time, the number of times the robot hand can reciprocate from the part acquisition position to the part transport destination can be shortened. Time can be shortened.

The technique described in Patent Document 1 has a plurality of claws that can be switched by a servo motor at the tip of the chuck. By rotating this motor, the claws can be switched, a plurality of types of components can be gripped, and the target components can be switched in a short time during which the claws are rotated. Further, by switching only the claws, a plurality of types of claws can be opened and closed with the same drive source, and the number of actuators can be reduced.
However, since the plurality of claws operate with the same opening / closing mechanism, all the claws are opened / closed in synchronization, so that only one part can be grasped at a time, and a plurality of parts cannot be grasped at the same time. Further, in order to make the claw replaceable, a mechanism for transmitting the rotation of the motor is required on the replacement claw side, and thus there is a problem that it is difficult to construct a hand system that is small, light, and inexpensive.

  Further, in Patent Document 2, since a plurality of chucks are provided, a plurality of types of parts can be gripped by one hand by attaching different claws to each chuck, and since the chucks are independent, a plurality of parts can be simultaneously attached. It can be gripped. Moreover, since the tip of the hand can be exchanged, it is possible to deal with many models by using a lot of the tip of the hand. However, since an actuator for opening and closing the same number of claws and an electromagnetic valve for controlling the operation are necessary, it is difficult to reduce the size and weight of the device and provide an inexpensive hand device. . In addition, when the tip of the hand is replaced, it is also necessary to replace the actuator portion. Therefore, a separate mechanism for cutting and reconnecting the air supply path is necessary, which increases the cost.

  The present invention has been made to solve the above-described problems, and provides a small, lightweight, and inexpensive hand device capable of simultaneously grasping a plurality of components and capable of changing the setup in a short time. For the purpose.

The hand device according to the present invention is:
A hand device that is connected to a non-rotating part and the non-rotating part and is attached to a robot hand having a rotating part that rotates about a rotation axis,
A hand fixing unit for connecting the entire hand device to the rotating unit;
A main shaft extending in the axial direction of the rotary shaft from the hand fixing portion;
A tool table that is attached to the lower end of the main shaft so that the rotation shaft and the shaft center are aligned, and has a plurality of opening and closing mechanisms at positions equidistant from the rotation shaft;
A holder attached to the outer periphery of the main shaft and rotatable around the main shaft, an open / close cylinder attached to the holder and extending / contracting the drive shaft in the axial direction, and the open / close mechanism by moving in the axial direction And a locking portion attached to the lower end of the drive shaft, which can be locked to a cam follower that opens and closes.

  According to the hand device of the present invention, it is possible to open and close a plurality of opening and closing mechanisms and switch the opening and closing mechanism to be operated using a single opening and closing cylinder. Can be provided.

It is a partial cross section front schematic diagram of the hand apparatus which concerns on Embodiment 1 of this invention, and the robot hand 1 which attaches a hand apparatus. It is the figure which shows the opening / closing mechanism of FIG. 1 which looked at the A direction, and the opening / closing mechanism of a closed state. It is a partial cross section front schematic diagram which shows the part rotated synchronizing with the rotation part of a robot hand, when the hand apparatus which concerns on Embodiment 1 of this invention hold | grips a component. It is a partial cross section front schematic diagram which shows the part rotated synchronizing with the rotation part of a robot hand, when switching the several opening-and-closing mechanism which concerns on Embodiment 1 of this invention. It is a bottom view of the hand device showing the positional relationship between the locking portion and each cam follower when operating the two opening / closing mechanisms according to Embodiment 1 of the present invention. It is a partial cross section side surface schematic diagram of the hand apparatus which concerns on Embodiment 2 of this invention. It is a partial cross section side surface schematic diagram of the hand apparatus which concerns on Embodiment 2 of this invention. It is a bottom view of the hand apparatus shown in FIG. It is a partial cross section side surface schematic diagram of the hand apparatus which concerns on Embodiment 3 of this invention. It is a partial cross section side surface schematic diagram of the hand apparatus which concerns on Embodiment 3 of this invention. It is a bottom view of the hand apparatus shown in FIG. It is a partial cross section front schematic diagram of the hand apparatus which concerns on Embodiment 4 of this invention, and the robot hand which attaches a hand apparatus. It is a bottom view of the hand apparatus shown in FIG. It is a principal part front view explaining the exchange method of the tool table in the hand apparatus which concerns on Embodiment 5 of this invention. The schematic diagram which shows the relationship between the positioning plate of the state which has attached the tool table to the hand apparatus which concerns on Embodiment 5 of this invention, and a plate hole, and the relationship between the positioning plate and plate hole when removing a tool table from a hand apparatus It is a schematic diagram shown.

Embodiment 1 FIG.
Hereinafter, Embodiment 1 of the present invention will be described with reference to the drawings.
In this specification, “inner side”, “outer side”, “circumferential direction”, “axial direction”, “radial direction”, unless otherwise specified, the center axis side of the hand device is referred to as “inner side”, The opposite direction is “outside”, the rotation direction of the hand device is “circumferential direction”, the rotation axis direction of the hand device is “axial direction”, and the direction from a certain place toward the central axis or the opposite direction is “radial direction”. When “up” and “down” are used, the robot hand side is “up” and the opposite side is “down”. The “height” refers to the distance on the coordinate in the axial direction from the bottom surface of the tool table.

FIG. 1 is a partial cross-sectional schematic front view of a hand device 100 according to Embodiment 1 of the present invention and a robot hand 1 to which the hand device 100 is attached.
The robot hand 1 includes a non-rotating part 11 that does not rotate and a rotating part 12 that rotates about the rotation axis R. The non-rotating part 11 is provided in an actuator part 4 (described later) of the hand device 100. A robot-side actuator fixing hole 13 is provided for inserting the anti-rotation pin 43 and fixing the actuator unit 4 to the non-rotating unit 11.

  The hand fixing unit 21 of the hand device 100 is fixed to the rotating unit 12 of the robot hand 1. When the rotating unit 12 of the robot hand 1 rotates, the entire hand device 100 normally rotates in conjunction with the rotating unit 12. A bearing 3 is attached to the outer peripheral surface of the columnar main shaft 22 fixed to the hand fixing portion 21, and an actuator portion 4 to be described later is attached to the outside via the bearing 3.

  The tool table 5 is fixed to a disk-shaped tool table mounting portion 23 fixed to the lower end surface of the main shaft 22, and rotates in accordance with the operation of the rotating portion 12. The tool table 5 includes opening / closing mechanisms 5L and 5R installed at equidistant positions from the rotation axis R of the rotating unit 12, and a table main body 50 to which they are attached.

  The actuator unit 4 drives the opening / closing mechanisms 5L and 5R that open and close the claws fixed to the fingers, which will be described later, of the hand device 100. The actuator unit 4 can be rotated in synchronization with the rotational motion of the rotating unit 12, or can be fixed to the non-rotating unit 11 so as not to rotate. The actuator unit 4 includes an open / close cylinder 41, a drive shaft 40 connected to a piston (not shown) in the open / close cylinder 41, and a locking unit 45 connected to the lower end 40e of the drive shaft 40 and interlocking with the vertical movement of the drive shaft 40. A switching cylinder 42 that moves the anti-rotation pin 43 that restricts the rotation of the actuator unit 4 up and down, and an open / close cylinder 41, a switching cylinder 42, and a holder 44 that holds the anti-rotation pin 43 around the bearing 3. The As shown in FIG. 1, the locking portion 45 has a U-shaped locking groove 45 </ b> M whose cross section opens inward.

FIG. 2A is an arrow view of the opening / closing mechanism 5L of FIG. 1 viewed in the direction A of FIG.
The opening / closing mechanism 5L includes two L-shaped links 51L1 and 51L2 having long holes N1 and N2 at both ends and a round hole N3 at a portion that is bent at a right angle. The links 51L1 and 51L2 are rotatably held around the link fulcrums 52L1 and 52L2 through the circular holes N3 respectively on the link fulcrums 52L1 and 52L2 fixed to the table body 50.

  The cam follower 53L rotates the link 51L1 and the link 51L2 around the link fulcrums 52L1 and 52L2 by moving in the vertical direction of the drawing in FIG. Rails 54 </ b> L and 54 </ b> R are horizontally attached to the lower side of the table body 50. The rail 54L includes two fingers 55L1 and 55L2 slidable left and right along the rail 54L.

  The bolts 56L1 and 56L2 are fixed to the fingers 55L1 and 55L2 after passing through the long holes N2 of the links 51L1 and 51L2, respectively. The outer peripheral surfaces of the bolts 56L1 and 56L2 can slide on the inner peripheral surfaces of the respective long holes N2.

  The cam follower 53L is slidably passed through the long hole N1 in the long hole N1 on the upper side of the link 51L1 and the link 51L2, and is pulled upward by a tension spring 7L fixed to the hook 52L3. As shown in FIG. 2A, the cam follower 53L is normally pulled upward by the tension spring 7L, so that the pair of fingers 55L1 and 55L2 are in a closed state.

  FIG. 2B is a diagram showing a state in which the opening / closing mechanism 5L is closed from the state of FIG. By operating the cam follower 53L downward (described later), the fingers 55L1 and 55L2 can be opened to the left and right through the rotation of the links 51L1 and 51L2. The parts can be gripped by the claws 58L1 and 58L2 that match the shape of the target part attached to the tip of the fingers 55L1 and 55L2 to be opened and closed. The basic configuration of the opening / closing mechanism 5R is the same as that of the above-described opening / closing mechanism 5L.

  FIG. 3 is a partial cross-sectional front view schematically illustrating a portion that rotates in synchronization with the rotating unit 12 of the robot hand 1 when the hand device 100 grips a component. In this state, all the members drawn below the rotating unit 12 rotate around the rotation axis R in synchronization with the rotation of the rotating unit 12.

  The table main body 50 has a plurality of table side actuator fixing holes 59L and 59R for inserting the rotation prevention pins 43 of the actuator unit 4 on the outer peripheral portion of the upper surface, and the rotation prevention pins 43 are arranged on either table side. When the rotating part 12 is rotated with the actuator fixing holes 59L and 59R inserted, the hatched parts (hand fixing part 21, main shaft 22, tool table mounting part 23, actuator part 4, tool table 5) in FIG. Then rotate.

  FIG. 4 is a partially sectional schematic front view showing a portion that rotates in synchronization with the rotating portion 12 of the robot hand 1 when switching the opening / closing mechanism to be opened / closed from one of the opening / closing mechanisms 5L, 5R to the other. It is. When the rotation prevention pin 43 of the actuator part 4 is inserted into the robot side actuator fixing hole 13 of the non-rotating part 11 of the robot hand 1 and then the rotating part 12 of the robot hand 1 is rotated, the hatched portion (hand fixing part of FIG. 21, the main shaft 22, the tool table mounting portion 23, and the tool table 5) rotate in conjunction with each other, but the actuator portion 4 is fixed to the non-rotating portion 11 and thus does not rotate. Therefore, when the hand device 100 is rotated 180 degrees with the rotation prevention pin 43 inserted into the robot-side actuator fixing hole 13, the positions of the opening / closing mechanism 5L and the opening / closing mechanism 5R in FIG. 1 are switched.

  Thus, before the positions of the opening / closing mechanism 5L and the opening / closing mechanism 5R are switched, the height of the locking groove 45M needs to be matched with the height of the opposite cam follower 53L by the opening / closing cylinder 41. As a result, the rotating cam follower 53L enters the locking groove 45M. Then, the rotation prevention pin 43 is inserted into the table side actuator fixing hole 59R side to fix the actuator portion 4 to the tool table 5, and the open / close cylinder 41 is driven to lower the drive shaft 40 until it becomes the same as the height in FIG. Then, the claws 58L1 and 58L2 are opened as shown in FIG.

FIGS. 5A and 5B are bottom views of the hand device 100 showing the positional relationship between the locking portion 45 and the cam followers 53L and 53R when operating the opening / closing mechanisms 5L and 5R.
When gripping a part by the opening / closing mechanism 5R of the hand device 100 in FIG. 1, the rotation unit 12 is moved with the rotation prevention pin 43 inserted into the table side actuator fixing hole 59L by the switching cylinder 42 as shown in FIG. The operation direction of the fingers 55R1 and 55R2 is changed according to the component to be gripped by rotating. Next, by the operation of the opening / closing cylinder 41, first, the cam follower 53R is pushed downward to open the claws 58R1, 58R2, and then the cam follower 53R is pulled up to close the claws 58R1, 58R2 to grip the component.

  At this time, as shown in FIG. 5A, the cam follower 53R that operates the opening / closing mechanism 5R coincides with the locking portion 45 when viewed from the lower surface, and the cam follower 53R needs to be inserted into the locking groove 45M. There is.

  Next, when the component is gripped by the opening / closing mechanism 5L on the opposite side, the rotation prevention pin 43 is inserted into the robot-side actuator fixing hole 13 as shown in FIG. 4, and the rotating unit 12 is rotated 180 degrees to open / close the mechanism 5L. And the state shown in FIG. 5B is obtained by switching the position of the opening / closing mechanism 5R. Here, the anti-rotation pin 43 is inserted into the table-side actuator fixing hole 59R, and the claws 58L1, 58L2 can be opened and closed as in the case of the opening / closing mechanism 5R described above. At this time, since the cam follower 53R on the opposite side is pulled upward by the tension spring 7R, the claws 58R1 and 58R2 can maintain the closed state and continue to grip the parts.

As described above, the hand device 100 according to the first embodiment of the present invention includes the plurality of opening / closing mechanisms 5L and 5R, and rotates the rotation unit 12 of the robot hand 1 and the rotation prevention pin 43 provided in the actuator unit 4. Can be switched to the non-rotating portion 11 side of the robot hand 1 or the table main body 50 side of the tool table 5, after the opening / closing state of one opening / closing mechanism 5 </ b> L is first changed using the actuator portion 4. The opening / closing mechanism 5R can be opened / closed after the opening / closing mechanism 5R side is rotated to the actuator unit 4 side and the opening / closing object is switched to the opening / closing mechanism 5R. In this way, the plurality of opening / closing mechanisms 5L and 5R can be opened / closed independently by the single opening / closing cylinder 41.
In addition, a plurality of components can be continuously gripped, and the gripping state can be continued simultaneously by the force of the tension springs 7L and 7R.

Also, the nail setup can be changed in a short time. In addition, since it is possible to open and close a plurality of opening and closing mechanisms and to switch the opening and closing mechanism to be operated with a small number of driving sources, it is possible to construct a small, light and inexpensive hand device, which is not remarkable in the past. An effect can be obtained.
Further, since the shape of the claw for gripping the component can be changed for each opening / closing mechanism, a plurality of types of components can be continuously gripped and the respective gripping states can be maintained.

  In this embodiment, the rotating unit 12 is driven by a motor attached to the robot. However, if the rotating unit 12 performs a rotating operation at an arbitrary angle, a rotating operation of a servo motor, a stepping motor, or an air drive is performed. It goes without saying that the same effect can be obtained even with an actuator.

  In the present embodiment, whether the actuator unit 4 is fixed to the non-rotating unit 11 side or the tool table 5 side is implemented by inserting the anti-rotation pin 43. Needless to say, the same effect can be obtained by using a different method such as a clutch as long as it is a method for switching the non-linkage.

  Further, in the present embodiment, the bearing 3 is attached between the main shaft 22 and the actuator unit 4, but any method that can secure a degree of freedom in the rotation direction of the rotating unit 12 with respect to the main shaft 22 of the actuator unit 4 is possible. Needless to say, the same effect can be obtained by using different parts such as an oil-free bush.

  Furthermore, although the present embodiment has been described with the configuration having the two opening / closing mechanisms 5R and 5L, as many opening / closing mechanisms as possible can be attached to the table body 50, and in that case In the same manner, all the opening / closing mechanisms can be opened and closed in the same manner only by increasing the number of table side actuator fixing holes 59 and the number of robot side actuator fixing holes 13.

Embodiment 2. FIG.
Hereinafter, the hand device according to the second embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment.
FIG. 6 is a partial cross-sectional schematic side view of the hand device 200 in which a function capable of simultaneously opening the two opening / closing mechanisms 5L and 5R is added to the hand device 100 of the first embodiment. In FIG. 6, the opening / closing mechanism 5L is closed. Although not visible in FIG. 6, the opening / closing mechanism 5R on the opposite side is also closed. In addition, the hook 52L3 and the tension spring 7L shown in white in the drawing are not visible because they are actually behind the hand opening plate 245a.
FIG. 7 is a partial cross-sectional side view schematically showing a state in which the two opening / closing mechanisms 5L and 5R are simultaneously opened.
FIG. 8 is a bottom view of the hand device 200 shown in FIG.

  The tool table 205 in FIG. 6 is in a state of being rotated 90 degrees around the rotation axis R so that the opening / closing mechanism 5L side in FIG. 1 faces the front, and the tool table 205 has a locking groove 45M in the locking portion 45. A locking rod 57 is provided. The locking bar 57 protrudes outward from the side surface of the table body 50, and the locking bar 57 itself does not move.

  In the present embodiment, the bearing 3 of the first embodiment is replaced with a linear ball bush 203. Under the linear ball bushing 203, an actuator compression spring 207 having a spring constant sufficiently larger than the tension springs 7L and 7R is added, and the main shaft 222 is compressed by the actuator compression spring 207 and the opening and closing mechanisms 5L and 5R are opened and closed. The opening / closing cylinder 41 is made longer by the stroke required.

  Further, the hand opening plates 245a and 245b are disposed at the same interval in the circumferential direction as the cam followers 53L and 53R of the opening / closing mechanisms 5L and 5R (in this example, since there are two cam followers, they are shifted 180 degrees in the circumferential direction on the opposite side). It is fixed and attached to. In the normal state, as shown in FIG. 6, the positions of the lower ends 245aL and 245bL in the axial direction of the respective hand opening plates 245a and 245b are the same as the upper ends 53LU and 53RU of the cam followers 53L and 53R.

  Similarly to the first embodiment, the locking portion 45 is connected to the holder 244 via the opening / closing cylinder 41, so that the locking portion 45 and the hand opening plate 245a viewed from the extension line of the rotation axis R of the rotating portion 12 are used. The relative positional relationship with H.245b does not change even when the hand device 200 rotates.

  Further, in the cylindrical coordinate system with the rotation axis R as the center, the relative positional relationship between the tip end portion of the locking rod 57 and the upper end portions 53LU and 53RU of the cam followers 53L and 53R, the center portion of the locking groove 45M, and the hand opening It is necessary to be able to be the same as the relative positional relationship between the lower end portions 245aL and 245bL of the plates 245a and 245b.

  The actuator unit 204 is normally pressed against the hand fixing unit 21 by an actuator unit compression spring 207. In order to individually open and close the opening / closing mechanism 5L from the state of FIG. 6, the rotation prevention pin 43 is inserted into the robot side actuator fixing hole 13 and the actuator unit 204 does not rotate as in the first and fourth embodiments. In this fixed state, the rotating unit 12 is rotated to rotate the tool table 205.

  Next, with the cam follower 53L inserted into the locking groove 45M, the rotation prevention pin 43 is inserted into the table side actuator fixing hole 59R to fix the actuator portion 204 to the table body 50. When the drive shaft 40 is pushed down, the opening / closing mechanism 5L opens. Similarly, when the drive shaft 40 is pushed down with the cam follower 53R inserted into the locking groove 45M, the opening / closing mechanism 5R is opened. When the drive shaft 40 is driven upward from this state, the opening / closing mechanisms are individually closed. This is the same as in the first embodiment.

  Next, a case where the two opening / closing mechanisms 5L and 5R are simultaneously opened will be described. There is a need to open and close the open / close mechanisms 5L and 5R individually and grip the parts, and then simultaneously open the open and close mechanisms 5L and 5R to release the gripped parts at the same time. In this case, as in FIG. 4, the rotation prevention pin 43 is inserted into the robot side actuator fixing hole 13 and the rotation unit 12 is rotated in a state where the actuator unit 204 is fixed so as not to rotate. The tool table 205 is rotated.

  Next, as shown in FIG. 6, with the locking rod 57 inserted in the locking groove 45M, the rotation prevention pin 43 is inserted into the table side actuator fixing hole 59M side, and the actuator portion 204 is moved to the table body 50 side. Fix it. In this state, as shown in FIG. 7, the open / close cylinder 41 is driven in the direction in which the drive shaft 40 is pulled upward (shrinks). Actually, since all parts from the main shaft 222 to the locking rod 57 are fixed, the entire actuator unit 204 moves downward together with the linear ball bush 203 by reaction.

  The entire actuator portion 204 is lowered, and the lower end portions 245aL and 245bL of the hand opening plates 245a and 245b push down the upper portions of the cam followers 53L and 53R, so that the opening and closing mechanisms 5L and 5L can be opened simultaneously.

  According to the hand device 200 according to the second embodiment of the present invention, since the plurality of opening / closing mechanisms 5L and 5R can be simultaneously opened in addition to the operation of the first embodiment, the cycle time in the manufacturing process of the object can be shortened. This has a remarkable effect that productivity can be improved.

  In the present embodiment, the configuration in which all the opening / closing mechanisms are opened at the same time has been described. However, in the plan view shown in FIG. 8, the tip of the locking rod and the upper ends of the cam followers of all the opening / closing mechanisms to be opened / closed. It is only necessary that the relative positional relationship and the relative position of the center part of the locking groove and the lower end part of all the hand opening plates used for opening and closing can be matched. Opening and closing simultaneously by increasing the number of hand opening plates and the number of opening and closing mechanisms The number of mechanisms can be set arbitrarily.

  If a plurality of combinations of opening / closing mechanisms having the above-mentioned positional relationship are prepared on the same hand device, it is possible to select a group of opening / closing mechanisms to be opened as necessary.

Embodiment 3 FIG.
Hereinafter, the hand device according to the third embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first and second embodiments.
FIG. 9 is a partial cross-sectional side view of the hand device 300 in a state where two opening / closing mechanisms are opened simultaneously.
The hook 52L4 and the tension spring 307L shown in white in the drawing are not visible because they are actually behind the hand closing plate 345a.
FIG. 10 is a partial cross-sectional side view of the hand device 300 in a state where the two opening / closing mechanisms are simultaneously closed.
FIG. 11 is a bottom view of the hand device 300 shown in FIG.

  Compared with the hand device 200 of the second embodiment, the open / close modes of the open / close mechanisms 305L and 305R of the hand device 300 are all reversed. That is, in the normal state, the opening / closing mechanism 305L and the opening / closing mechanism 305R are both open, and the opening / closing mechanisms 305L and 305R can be individually opened and closed as in the first embodiment. At the same time, the two opening / closing mechanisms 305L and 305R can be closed.

  As shown in FIGS. 9 and 10, in the present embodiment, the actuator compression spring 307 is attached to the upper surface of the linear ball bush 203, and the hand closing plates 345 a and 345 b are attached to the holder 344. Furthermore, hooks 52L4 and 52R4 for hooking the other ends of the tension springs 307L and 307R having one ends fixed to the cam followers 53L and 53R are attached near the lower end of the table body 50 below the cam followers 53L and 53R in the axial direction. . Since the cam followers 53L and 53R are pulled downward by the tension springs 307L and 307R, the opening / closing mechanisms 305L and 305R are open unless an external force is applied.

  The actuator unit 304 is normally pressed against the upper surface of the tool table mounting unit 23 by an actuator unit compression spring 307. When simultaneously closing the opening / closing mechanisms 305L and 305R, the rotating portion 12 is rotated with the rotation prevention pin 43 inserted into the robot side actuator fixing hole 13 as in FIG. The locking rod 57 is inserted. In this state, when the open / close cylinder 41 is operated so that the drive shaft 40 extends as shown in FIG. 10, all parts from the main shaft 322 to the locking rod 57 are fixed. The holder 344 and the hand closing plates 345a and 345b move upward together with the linear ball bushing 203 by reaction. At this time, the hand closing plate 345a and the back side hand closing plate 345b push the cam follower 53L and the back side cam follower 53R upward from below, so that the open / close mechanisms 305L and 305L can be closed simultaneously.

  According to the hand device 300 according to the third embodiment of the present invention, not only can all the opening / closing mechanisms be individually opened / closed, but, contrary to the second embodiment, a plurality of components can be simultaneously conveyed. Parts can be gripped and released simultaneously. As a result, the cycle time required for manufacturing the product can be shortened, and a remarkable effect that productivity is improved can be obtained. As in the second embodiment, the number of opening / closing mechanisms that are simultaneously operated can be set by changing the number of hand closing plates. Here, the opening / closing mechanism is closed and gripped, and opened and opened. However, it is needless to say that some parts can be gripped by opening the claw and opened by closing. The required positional relationship between the locking rod 57 and the cam followers 53L and 53R and the positional relationship between the locking groove 45M and the two hand closing plates 345a and 345b are the same as in the second embodiment.

Embodiment 4 FIG.
Hereinafter, the hand device according to the fourth embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment.
FIG. 12 is a partial cross-sectional front schematic view of a hand device 400 according to Embodiment 4 of the present invention and a robot hand 1 to which the hand device 400 is attached. A portion 400 </ b> C in FIG. 12 shows a cross section of the opening / closing regulating ring 445 and a configuration inside the opening / closing regulating ring 445.
FIG. 13 is a bottom view of the hand device 400 shown in FIG.

  In addition to the function of the hand device 100 of the first embodiment, the hand device 400 has a function of maintaining the state (open state or closed state) of the respective opening / closing mechanisms 5L and 5R. The configuration of the hand device 400 is such that the opening / closing regulating ring 445 is attached to the disc-shaped holder 444 of the actuator unit 404 with respect to the hand device 100 of the first embodiment.

  The opening / closing regulating ring 445 is a ring-shaped component having the rotation axis R as the central axis as shown in FIGS. 12 and 13, and has a flange portion 445 </ b> F protruding radially inward at the lower end portion. Further, as shown in the figure, the opening / closing regulating ring 445 is cut out in the axial direction only in the operation range of the locking portion 45 of the actuator portion 404. This portion is a notch 445K.

  The axial height of the lower surface 445FL of the flange portion 445F of the opening / closing regulating ring 445 is equal to the height of the upper end portions 53LU, 53RU of the cam followers 53L, 53R in a state where the opening / closing mechanisms 5L, 5R are opened. In FIG. 12, the lower end portion 53LL of the cam follower 53L with the opening / closing mechanism 5L closed is on the upper surface 445FU of the flange portion 445F of the opening / closing regulating ring 445. Thereby, the open / close mechanism 5L is kept closed. Conversely, the cam follower 53R of the opening / closing mechanism 5R is locked under the lower surface 445FL of the flange portion 445F, and the opening / closing mechanism 5R is maintained in an open state.

Next, a method for maintaining the open / close mechanism 5R opened as shown in FIG. 12 in a closed state will be described with reference to FIGS.
In FIG. 13, since the cam follower 53R of the opening / closing mechanism 5R is held by the lower surface 445FL of the flange portion 445F, the cam follower 53R cannot be raised even when pulled up by the tension spring 7L, and the opening / closing mechanism 5R is kept open. Yes. Here, in order to close the opening / closing mechanism 5R, first, the height of the locking groove 45M of the locking portion 45 is matched with the current height of the cam follower 53R. Next, by rotating the rotating portion 12, the cam follower 53R is inserted into the locking groove 45M. Next, the actuator portion 404 is driven, and the locking portion 45 is pulled up until the lower surface of the locking groove 45M becomes the same height as the upper surface 445FU of the flange portion 445F. Here, when the rotating portion 12 is rotated again, the cam follower 53R rides on the upper surface 445FU of the flange portion 445F, and the opening / closing mechanism 5R is maintained in a closed state. The same applies to the opening / closing mechanism 5L, and the opposite procedure is used to keep the closed opening / closing mechanisms 5L, 5R open.

  According to the hand device 400 according to the fourth embodiment of the present invention, a claw that grips a component by closing the opening / closing mechanism and a claw that can grip a component by opening the opening / closing mechanism are mixed in the same hand device 400. However, it becomes possible to hold a plurality of parts at the same time, and it is possible to obtain a remarkable effect that is unprecedented in that productivity of a product to be manufactured is improved.

  It should be noted that the circumferential clearance between the opening / closing regulating ring 445 and the locking portion 45 at the notch 445K needs to be smaller than the diameter of the cam followers 53L and 53R. This is because if the gap is larger, the cam followers 53L and 53R that are desired to be held on the lower surface 445FL of the flange portion 445F may come out upward from the gap. This gap is desirably as small as possible.

  Further, when exchanging the tool table 5 in the present embodiment, it is necessary to position all the cam followers on the lower surface 445FL side of the flange portion 445F of the opening / closing regulating ring 445 like the cam followers 53L and 53R in FIG. is there.

  Further, with respect to the hand device 400 of the present embodiment, the bearing 3 is replaced with the linear ball bushing 203 in the same manner as in the third embodiment, the actuator portion compression spring 207 is added to the upper surface of the linear ball bushing 203, and the main shaft 22 , And a locking bar 57 (see FIG. 7) that protrudes radially outward from the side surface of the table main body 50 and can be locked in the locking groove 45M is provided inside the opening / closing regulating ring 445, thereby opening / closing regulating ring 445 itself. Can be moved upward in the axial direction by the actuator unit 404. As a result, the open / close mechanisms 5L and 5R (the cam followers 53L and 53R are both on the lower surface of the flange portion 445F) can be simultaneously closed.

Embodiment 5 FIG.
Hereinafter, the hand device according to the fifth embodiment of the present invention will be described with reference to the drawings, focusing on the differences from the first embodiment.
FIG. 14 is a main part front view for explaining a method for replacing the tool table 505 in the hand device according to the fifth embodiment.
FIG. 15A is a schematic diagram showing the relationship between the positioning plate 83 and the plate hole 523P in a state where the tool table 505 is attached to the hand device 500. FIG.
FIG. 15B is a schematic diagram showing the relationship between the positioning plate 83 and the plate hole 523P when the tool table 505 is removed from the hand device 500. FIG.
In order to simplify the description of the replacement method, the opening / closing mechanisms 5L and 5R and the actuator unit 4 that are not related to the replacement work are omitted.

  In the first embodiment, the tool table 5 is directly attached under the tool table attaching portion 23, but there is no mechanism for making the tool table 5 replaceable. In the present embodiment, the main shaft 522, the tool table attaching portion 523, and the table main body 550 are processed so that the tool table 505 to which the opening / closing mechanism is attached can be replaced.

  First, the table main body 550 is hollowed out so as to open downward, and is provided with an in-table recess 550a. At the center of the ceiling of the in-table recess 550a, a ball spline 82 through which the shaft 81 passes so that the axis of rotation R and the shaft center overlap, and the upper end surface of the ball spline 82 is flush with the upper surface of the table body 550. It is attached through. An elongated positioning plate 83 having a positioning pin 83P protruding downward is horizontally attached to the upper end surface of the shaft 81, and a spring receiver 85 is attached to the lower end surface of the shaft 81 through a compression spring 84. Therefore, the shaft 81 does not come out of the ball spline 82 in any direction.

  The tool table mounting portion 523 has a mounting recess 523U that opens upward at the center of the upper surface, and further has a plate hole 523P through which the positioning plate 83 can be passed vertically. The bottom surface of the mounting recess 523U has a positioning pin hole 523Q that meshes with the positioning pin 83P at a position where the positioning pin 83P passes directly above when the positioning plate 83 that passes through the plate hole 523P is rotated.

  A table setting table 9 is prepared for exchanging the tool table 505, and the table body 550 is set on the table setting table 9. The table mounting base 9 has a table fixing pin 91 on the upper surface, and the table main body 550 is fixed so as not to rotate with respect to the operation direction of the rotating unit 12 by aligning the table fixing pin 91 with the hole of the spring receiver 85. . As described above, the table main body 550 is not necessary when the cross section perpendicular to the axial direction is a square, but is effective when the cross section is circular.

  As shown in FIGS. 14A and 15A, when the tool table 505 is attached to the hand device 500, the positioning pin 83P is inserted into the positioning pin hole 523Q. The table body 550 is pressed against and fixed to the tool table mounting portion 523 by the pressing force of the compression spring 84 sandwiched between the table bodies 550.

  In this state, when exchanging the tool table 505, the positioning pin 83P is removed from the positioning pin hole 523Q by pressing the table body 550 against the table mounting base 9 by the length of the positioning pin 83P (FIG. 14B). ), With the table main body 550 fixed, the rotating unit 12 is rotated to align the plate hole 523P and the positioning plate 83 in the longitudinal direction. Then, the tool table mounting portion 523 is raised by the operation of the robot hand 1 to remove the tool table 505 (FIGS. 14C and 15B).

  On the other hand, when attaching the tool table 505, the orientation of the positioning plate 83 and the plate hole 523P is aligned as shown in FIG. 15B by the rotation of the robot hand 1, and the positioning plate 83 is inserted into the plate hole 523P and rotated. After the positioning pin 83P and the positioning pin hole 523Q are aligned by the rotation operation of the portion 12 (FIG. 14A), the tool table 505 is raised by raising the entire hand device by the movement of the robot hand 1 in the axial direction. Can be attached to the tool table attaching portion 523.

  According to the hand device 500 in the present embodiment, it is not necessary to disconnect the actuator such as the cylinder when exchanging the opening / closing mechanism, so that a mechanism for disconnecting and reconnecting the actuator drive source (air, electricity, etc.) is unnecessary. In addition, it is possible to obtain a remarkable effect which is not possible in the past, that the entire hand device can be configured to be small, light and inexpensive.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

100, 200, 300, 400, 500 Hand device, 1 Robot hand,
3 Bearing, 4, 204, 304, 404 Actuator part,
5,205,505 Tool table, 5L, 5R, 305L, 305R Open / close mechanism,
7L, 7R, 307L Spring, 9 Table mounting base, 11 Non-rotating part, 12 Rotating part,
13 Robot side actuator fixing hole, 21 Hand fixing part,
22, 222, 322, 522 main shaft,
23,523 Tool table mounting part, 40 Drive shaft, 40e Lower end,
41 open / close cylinder, 42 switching cylinder, 43 rotation prevention pin,
44, 344, 444 holder, 45 locking portion, 45M locking groove,
50,550 Table body, 550a Recess in table,
51L1, 51L2 link, 52L1, 52L1 link fulcrum,
52L3, 52L4 hook, 53L, 53R cam follower, 53LL lower end,
53LU upper end, 54L, 53R rail,
55L1, 55L2, 55R1, 55R2 fingers, 56L1, 56L2 bolts,
57 locking rod, 58L1, 58L2, 58R1, 58R2 claw,
59, 59L, 59R, 59M Table side actuator fixing hole, 81 shaft,
82 Ball spline, 83 plate, 83P pin, 84 compression spring,
85 Spring support, 91 Table fixing pin, N1, N2 oblong hole, N3 round hole, R Rotating shaft, 203 Linear ball bushing, 207, 307 Actuator part compression spring,
245a, 245b hand opening plate, 245aL lower end,
345a, 345b hand closing plate, 445 opening / closing regulating ring,
445F flange portion, 445FL lower surface, 445FU upper surface, 445K notch, 523P plate hole, 523Q pin hole, 523U mounting recess.

Claims (12)

A hand device attached to a robot hand having a non-rotating portion and a rotating portion connected to the non-rotating portion and rotating about a rotation axis;
A hand fixing unit for connecting the entire hand device to the rotating unit;
A main shaft extending in the axial direction of the rotary shaft from the hand fixing portion;
A tool table that is attached to the lower end of the main shaft so that the rotation shaft and the shaft center are aligned, and has a plurality of opening and closing mechanisms at positions equidistant from the rotation shaft;
A holder attached to the outer periphery of the main shaft and rotatable around the main shaft, an open / close cylinder attached to the holder and extending / contracting the drive shaft in the axial direction, and the open / close mechanism by moving in the axial direction A hand device provided with a locking portion attached to a lower end of the drive shaft, which can be locked to a cam follower that opens and closes. The hand device according to claim 1, further comprising an actuator unit that is attached to the holder and includes a rotation preventing pin that fixes the holder to the non-rotating unit of the robot hand or the tool table. In a state where the cam follower of the opening / closing mechanism is not locked to the locking portion, a tension spring that maintains the opening / closing mechanism in an open state or a closed state is provided between the cam follower and the table body of the tool table. The hand device according to claim 1 or 2, which is connected. The tool table includes a locking bar that protrudes perpendicularly to the rotation shaft and can lock the locking portion,
The holder is movable in the axial direction;
4. The holder according to claim 1, further comprising a hand opening / closing plate that simultaneously presses the plurality of cam followers in the axial direction in a state where the locking portion is locked to the locking rod. The hand device according to item. The hand device according to claim 4, wherein a plurality of the opening / closing mechanisms are simultaneously opened by pressing the cam follower. The hand device according to claim 4, wherein a plurality of the opening / closing mechanisms are simultaneously closed by pressing the cam follower. The hand device according to any one of claims 1 to 3, wherein the holder includes an opening / closing regulating ring that abuts on an upper end or a lower end of the cam follower and regulates a change in an opening / closing state of the opening / closing mechanism. The hand device according to claim 7, wherein the opening / closing regulating ring has a notch portion in which the locking portion is movable in the axial direction. The hand device according to any one of claims 1 to 3, wherein the holder is attached to the main shaft via a bearing. The hand device according to any one of claims 4 to 6, wherein the holder is attached to the main shaft via a linear ball bushing. The hand device according to any one of claims 1 to 10, wherein the tool table is replaceable. A tool table mounting portion is provided between the main shaft and the tool table,
The tool table mounting portion includes a mounting recess that opens upward.
A plate hole in the shape of a long hole penetrating downward in the center of the mounting recess,
The tool table includes a recess in the table that opens downward,
In the center of the ceiling of the recess in the table, provided with a shaft penetrating in the axial direction,
A plate fixed to the top of the shaft and having the same shape as a cross-sectional shape perpendicular to the axial direction of the plate hole;
A positioning pin protruding from the lower surface of the plate;
A positioning pin hole provided in the tool table and fitted with the positioning pin;
A compression spring inserted into the shaft from the concave side of the table;
The hand device according to claim 11, further comprising a spring support attached to a lower end of the shaft.

Images