JP2021037574A - Work grip device - Google Patents

Work grip device Download PDF


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JP2021037574A JP2019160121A JP2019160121A JP2021037574A JP 2021037574 A JP2021037574 A JP 2021037574A JP 2019160121 A JP2019160121 A JP 2019160121A JP 2019160121 A JP2019160121 A JP 2019160121A JP 2021037574 A JP2021037574 A JP 2021037574A
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康彦 可知
Yasuhiko Kachi
康彦 可知
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康彦 可知
Yasuhiko Kachi
康彦 可知
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    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members


To provide a work grip device for effectively using an industrial robot, in a workplace environment or an object in a site of casting, forging, heat treatment and the like.SOLUTION: A work grip device adds an auxiliary finger 5 to a gripper 4 provided on a hand portion 2 at a robot arm tip end. The auxiliary finger has a straight line shape in a stand-by state so as to easily come close to object work. In a stage gripping work, a drawing device 6 in a hand draws a tip end block through a drawing tool penetrating each block, and forms the whole in an arc-shape with stiffness. Then, finally, the grippers 3 and 4 are closed to support the work from a lower surface side and a side surface, so that even if the work is heavy, gripping can be performed stably.SELECTED DRAWING: Figure 1


The present invention relates to a work gripping device provided on a hand portion at the tip of an industrial robot arm.
is there.
産業用ロボットは主として自動車産業や半導体産業などの大規模量産工場で広く採用され、生産性や品質の向上、省力化などに大きく貢献している。また、多くの先進国で高齢化や人口減の影響で労働力の確保が困難となる傾向にあり、ロボットを活用できる分野を更に拡大することが有効な対策のひとつとして期待されている。産業用ロボットを効果的に活用するには、夫々の作業環境で対象となるワークを安定して保持し、作業の目的に応じて確実に扱えるワーク把持装置の開発が最も大切な必要条件である。上述のような大規模量産工場では、扱うワークの仕様や処理の内容を段階ごとに集約しやすく、用途に応じてワーク把持装置をカスタマイズできるので、産業用ロボットを導入しやすい条件が整っていると考えられる。 Industrial robots are widely used in large-scale mass production factories such as the automobile industry and semiconductor industry, and contribute significantly to improving productivity, quality, and labor saving. Moreover, in many developed countries, it tends to be difficult to secure a labor force due to the effects of aging and population decline, and further expansion of the fields in which robots can be used is expected as one of the effective measures. In order to effectively utilize industrial robots, the most important requirement is to develop a work gripping device that can stably hold the target work in each work environment and handle it reliably according to the purpose of the work. .. In a large-scale mass production factory as described above, it is easy to summarize the specifications of the workpieces to be handled and the contents of processing in each stage, and the workpiece gripping device can be customized according to the application, so the conditions for introducing an industrial robot are in place. it is conceivable that.
Work sites such as casting, forging, and heat treatment have a high physical load because they handle heavy semi-finished products and products, and there are high heat, noise, and dangerous work, and it is difficult to keep the work environment clean. It is easy to be called a 3K workplace. Therefore, although it has been difficult to secure a stable labor force, the reason why the introduction of industrial robots has not been active is that a work gripping device that can meet the following conditions has not been established.
(1) There are various varieties, shapes and sizes, and each of them is not quantitatively organized and is often mixed.
(2) Since the workpieces are not always arranged on the table and are often placed in the tray in a mixed manner, it is difficult to pick up the workpieces with a large-scale gripping device.
(3) Mainly semi-finished products and finished products of metals such as steel, each of which has a relatively large weight.
(4) It is used under conditions such as a work environment with a lot of oxide scale and dust, and a high temperature of the work.
(5) Sometimes there is rough handling and durability is required.
ハンド部に水平面内で開閉するグリッパーと呼ばれる治具を具備してワークを把持する装置がある。これは、対象ワークの形状・寸法の変化が少なく、治具で挟める部位が安定して確保出来る場合に有効な方法である。ただし、ワークの重量を治具とワーク表面間の摩擦力だけで支えるため、ワーク重量の数倍におよぶ締め付け力が必要である。したがって、こうした方式は比較的重量が軽いワークのハンドリングに適している。 (特許文献1参照) There is a device for gripping a work by equipping the hand portion with a jig called a gripper that opens and closes in a horizontal plane. This is an effective method when there is little change in the shape and dimensions of the target work and a portion to be sandwiched by the jig can be stably secured. However, since the weight of the work is supported only by the frictional force between the jig and the surface of the work, a tightening force several times the weight of the work is required. Therefore, such a method is suitable for handling a relatively light workpiece. (See Patent Document 1)
ワークの形状に把持に適した特定の要素がある場合には、より簡便な方法が選択出来る。例えば、常にあるサイズの凹部が存在すればグリッパーの先端に専用の固定爪を具備する方法や、ある面積の平坦部があれば真空パッドで吸引する方法、さらには中央部に所定のサイズの開口部が存在する場合にはその穴部に治具を挿入し拡大把持する方法などがある。いずれも、比較的重量が軽いワークに適した方法である。(特許文献2参照) If the shape of the work has a specific element suitable for gripping, a simpler method can be selected. For example, if there is always a recess of a certain size, a special fixing claw is provided at the tip of the gripper, if there is a flat part of a certain area, it is sucked with a vacuum pad, and an opening of a predetermined size is opened in the center. If there is a portion, there is a method of inserting a jig into the hole to expand and grip the portion. Both methods are suitable for workpieces with a relatively light weight. (See Patent Document 2)
ワークの材質が鉄鋼など磁性体の場合には、ハンド部に電磁石を装備してその吸着力でワークを把持する方法がある。磁力の吸着によればワークを形状や置かれた状態にあまり影響されずに把持できるので汎用性が高く効率的である。また、磁力次第で数トン以上の大重量にも対応できる。ただし、ワークの吸着した周辺に残留磁気が残るのが問題で、以降の工程でハンドリングやアーク溶接がスムーズに行えないとか、磁性粉の吸着やセンサの誤作動を引き起こすなど作業や品質管理面で様々なトラブルが発生する。従って、この方法はその後にワークが磁気変態温度まで昇温されるとか脱磁システムを経由するなどで残留磁気が低減できる場合に適用される。(特許文献3参照) When the material of the work is a magnetic material such as steel, there is a method of equipping the hand portion with an electromagnet and gripping the work by its suction force. According to the adsorption of magnetic force, the work can be gripped without being affected by the shape and the placed state, so that it is highly versatile and efficient. In addition, depending on the magnetic force, it can handle a large weight of several tons or more. However, the problem is that residual magnetism remains around the work that has been attracted, which makes it difficult to handle and arc weld smoothly in the subsequent processes, and causes adsorption of magnetic powder and malfunction of the sensor in terms of work and quality control. Various troubles occur. Therefore, this method is applied when the residual magnetism can be reduced by subsequently raising the temperature of the work to the magnetic transformation temperature or passing through a demagnetization system. (See Patent Document 3)
形状・寸法が様々なワークを安定して把持するための装置として、人間の手のように3〜5本の指形状の多関節機構を持つ把持装置も開発されている。物の外形に優しくなじむような屈折機構とそれらを操るアクチエーターにより構成され、形状に対する自由度が高いだけでなく、苺などの軟質材でも扱える特徴を持つ。ただし、現状では扱える重量は500mlのペットボトル程度が限界であるし、多数のアクチエーターとそれらを制御するセンサなどが装備されているので、高温雰囲気や酸化スケール・塵埃が多い環境、時として衝撃を受けるラフなハンドリングには対応しにくい装置である。 (非特許文献1参照) As a device for stably gripping workpieces having various shapes and dimensions, a gripping device having an articulated mechanism of 3 to 5 fingers like a human hand has also been developed. It is composed of a refraction mechanism that gently fits the outer shape of an object and an activator that manipulates them. Not only does it have a high degree of freedom in shape, but it also has the characteristic of being able to handle soft materials such as strawberries. However, at present, the weight that can be handled is limited to about 500 ml PET bottles, and since it is equipped with a large number of activators and sensors that control them, it is equipped with a high temperature atmosphere, an environment with a lot of oxidation scale and dust, and sometimes a shock. It is a device that is difficult to handle with rough handling. (See Non-Patent Document 1)
特開2004−05032112 ロボットハンドの把持制御方法及び把持装置JP-A-2004-05032112 Gripping control method and gripping device for robot hand
特開平06−226673 ロボットハンドJapanese Patent Application Laid-Open No. 06-226673 Robot Hand
特開平4−229605 吸着用電磁石の制御方法および装置並びに制御用電磁石JP-A-4-229605 Control method and device of adsorption electromagnet and control electromagnet
(イ)解決しようとする課題は、鋳造、鍛造、熱処理などの現場において、比較的重量のあるワ ークのハンドリング作業に対して、産業用ロボットを十分に活用出来ないことである。
(B) The problem to be solved is that industrial robots cannot be fully utilized for handling relatively heavy works at sites such as casting, forging, and heat treatment.
(B) The main reason for this was that a work gripping device suitable for the work environment and objects at the site had not been developed.
本発明は産業用ロボットアーム先端のハンド部に具備されるワーク把持装置で、酸化スケールや塵埃の多い環境において、それぞれの重量が比較的重い半成品あるいは完成品を対象とし、それらが整頓されて置台の置かれている場合はもとより各種混在して乱雑に置かれている場合でも、ワークを安定的に扱えるよう把持できる機能を持つもので、電磁石の吸着力を用いる方式にはよらないものである。 The present invention is a work gripping device provided in the hand portion at the tip of an industrial robot arm, which targets semi-finished products or finished products, each of which is relatively heavy in weight in an environment with a large amount of oxide scale and dust, and is arranged in a stand. It has a function to grip the work so that it can be handled stably even if it is placed in a mixed manner as well as when it is placed, and it does not depend on the method that uses the attractive force of the electromagnet. ..
ハンド部に一般的に具備されている水平方向に開閉するグリッパーに補助フィンガーを付加し、それがワークの下面に沿うように全体が円弧状に湾曲し剛体化して、先端がワークの下面側に入りこむことで重量を下面側からも支えられるワーク把持装置である。 An auxiliary finger is added to the gripper that opens and closes in the horizontal direction, which is generally provided in the hand part, and the whole is curved in an arc shape to become rigid so that it follows the lower surface of the work, and the tip is on the lower surface side of the work. It is a work gripping device that can support the weight from the lower surface side by entering.
補助フィンガーは、1個以上の中間ブロックと先端ブロックで構成されており、ブロックは必要な機能が得られれば材質や製作方法は問わない。各ブロックは側面から見るとワークに接する側の辺が短くワークと接しない反対側の辺が長い台形様の形状で、グリッパーから先端ブロックまで長辺側の上下端にあるヒンジで連結されている。グリッパーから中間ブロックを経由して先端ブロックまで貫通する中空部があり、一本の牽引具がそれらを貫通してハンド内の牽引装置から先端ブロックのピンまで連結されている。 The auxiliary finger is composed of one or more intermediate blocks and a tip block, and the block can be made of any material or manufacturing method as long as the necessary functions can be obtained. When viewed from the side, each block has a trapezoidal shape with a short side in contact with the work and a long side not in contact with the work, and is connected from the gripper to the tip block by hinges at the upper and lower ends on the long side. .. There is a hollow portion that penetrates from the gripper to the tip block via the intermediate block, and one traction tool penetrates them and is connected from the traction device in the hand to the pin of the tip block.
牽引具はチェーン、ワイヤーまたはロープを意味し、必要な張力に耐えられる仕様であれば材質や寸法は問わない。牽引装置は上述の牽引具に張力を与えるもので、ワークを把持する際にその重量に抗して補助フィンガーの湾曲形状を維持するのに必要な張力と牽引量の制御ができる装置であれば、ウオームホイール、ロータリーエンコーダー、サーボモーター、パワーシリンダーなど、どのような組み合わせでも良い。 The traction tool means a chain, wire or rope, and the material and dimensions do not matter as long as the specifications can withstand the required tension. The traction device applies tension to the above-mentioned traction tool, and any device that can control the tension and traction amount required to maintain the curved shape of the auxiliary finger against the weight when gripping the work. , Warm wheels, rotary encoders, servo motors, power cylinders, etc., in any combination.
ワークを把持する場合には、牽引装置で牽引具に張力を与えることにより先端ブロックを引き寄せる。それにより開放されていた各ブロックの短辺側が順次密着させられ、補助フィンガーは側面から見るとワークに接する側が凹となった円弧状となり、全体が剛体化する。補助フィンガーが必要な剛性を確保したのちにグリッパーを最終的に閉とする。 When gripping the work, the tip block is pulled by applying tension to the traction tool with a traction device. As a result, the short side of each block that has been opened is brought into close contact with each other in sequence, and the auxiliary finger becomes an arc shape with a concave side in contact with the work when viewed from the side surface, and the whole becomes rigid. The gripper is finally closed after the auxiliary fingers have secured the required rigidity.
補助フィンガーの牽引具は把持時以外すなわち待機状態では強い張力は加えられず弛緩しており、すべてのブロックの短辺側は開放されて全体は自重で垂れ下がるが、連結用ヒンジに具備されたスプリング機構と角度ストッパーにより、すべてのブロックは長辺側を直線状に整列しその状態を保持する機能を有している。 The traction tool of the auxiliary finger is relaxed without applying strong tension except when gripping, that is, in the standby state, the short side side of all blocks is opened and the whole hangs down by its own weight, but the spring provided on the connecting hinge Due to the mechanism and the angle stopper, all blocks have the function of aligning the long side in a straight line and holding the state.
補助フィンガーはハンド部に装備されているグリッパーの内少なくとも対向する2本のグリッパーに具備される。複数のグリッパーが、ワークの投影形状に応じるように長辺用、短辺用と機能分担されている場合には、短辺用の対向するグリッパーに補助フィンガーを具備するのが効果的である。 Auxiliary fingers are provided on at least two opposing grippers among the grippers provided on the hand portion. When a plurality of grippers are divided into functions for long sides and short sides so as to correspond to the projected shape of the work, it is effective to provide auxiliary fingers on the opposing grippers for the short sides.
補助フィンガーを設計の前提とした寸法よりも小さなワークに対応させる場合には、中間ブロックの短辺側の開放部に楔形のシムをはめ込むことで、把持する際の全体の湾曲量を低減させて対応することが出来る。 When making the auxiliary finger compatible with a workpiece smaller than the size assumed in the design, a wedge-shaped shim is fitted in the opening on the short side of the intermediate block to reduce the overall amount of curvature when gripping. It can be dealt with.
ビジュアルセンサの情報に基づき把持対象のワークの選定と把持要領の決定をしたのち、ロボットアームによりハンド部の向きと高さを調整しながらグリッパーの機構で開度を調整し、待機状態の補助フィンガーをワークの両側に近接させる。補助フィンガーを待機状態から円弧状に変化させる過程で必要となる高さ方向の調整はロボットアームにより制御する。補助フィンガーが円弧状を形成し剛性を確保したのち全てのグリッパーを閉とすることでワークの把持が完了する。 After selecting the workpiece to be gripped and determining the gripping procedure based on the information from the visual sensor, the robot arm adjusts the orientation and height of the hand, and the gripper mechanism adjusts the opening, and the auxiliary finger in the standby state. Close to both sides of the work. The adjustment in the height direction required in the process of changing the auxiliary finger from the standby state to the arc shape is controlled by the robot arm. The gripping of the work is completed by closing all the grippers after the auxiliary fingers form an arc shape and secure the rigidity.
本発明のワーク把持装置は、ロボットアーム先端のハンド部に設けられたグリッパーに補助フィンガーが連結しており、それは円弧状を形成して剛性を維持しているので、先端部をワークの下部から下面側に挿入させることができ、しかる後に最終的にグリッパーを閉にすることが出来る。これにより重量をグリッパーによる側面の摩擦力だけで支えるのではなく下面側からもワークに沿う形で支えられるので、重量のある多様なワークに対してもスリップや揺動など不安定な動きが防止でき、安定した状態で把持することが出来る。 In the work gripping device of the present invention, an auxiliary finger is connected to a gripper provided on the hand portion at the tip of the robot arm, which forms an arc shape to maintain rigidity. It can be inserted on the lower surface side, and then the gripper can be finally closed. As a result, the weight is not only supported by the frictional force of the side surface by the gripper, but also from the lower surface side along the work, so unstable movement such as slipping and rocking is prevented even for various heavy works. It can be gripped in a stable state.
補助フィンガーは一体ではなく、多数のブロックがヒンジで連結された構造となっている。それにより待機状態すなわち把持しない時のフィンガー前後の必要スペースを一体の場合よりも大幅に小さく抑えられるのでワーク間の間隙が狭い場合でもワークをピックアップしやすい。 The auxiliary fingers are not integrated, but have a structure in which a large number of blocks are connected by hinges. As a result, the required space before and after the finger in the standby state, that is, when not gripping, can be suppressed to be significantly smaller than in the case of integration, so that the work can be easily picked up even when the gap between the works is narrow.
補助フィンガーの湾曲形状の形成機構はシンプルで、フィンガー部には複雑なリンク機構、空気圧や油圧のシリンダー、さらには多数のセンサなども必要ない。したがって、全体をスリムな形状で実現できるので、ワークが雑多に置かれていてワーク間の隙間が狭い場合でも補助フィンガーを近接させることが容易であり、ロボットを導入するにあたっても専用の置台にワークを整列させる必要がなく、手間も省けるし置き場スペースを圧迫することもない。 The mechanism for forming the curved shape of the auxiliary finger is simple, and the finger part does not require a complicated link mechanism, pneumatic or hydraulic cylinders, or even a large number of sensors. Therefore, since the whole can be realized in a slim shape, it is easy to bring the auxiliary fingers close to each other even when the workpieces are miscellaneously placed and the gap between the workpieces is narrow, and the workpiece is placed on a dedicated stand when introducing the robot. There is no need to align the robots, which saves time and effort and does not squeeze the storage space.
補助フィンガーを円弧状に湾曲させるアクチエーターは主に牽引装置のみで、ワークから遠隔のハンド内に設置することが出来る。したがって、ワークに近接するフィンガー部には精緻な機構や多数のセンサがないので衝撃にも壊れにくくワークの輻射熱などの外乱にも耐えやすい。また、酸化スケールや塵埃の多い汚れた環境にも影響を受けにくく、シンプルな機構なので汚れた場合の清掃も簡単にできるし、故障時のメンテナンスも容易である。 The activator that curves the auxiliary finger in an arc shape is mainly a traction device, and can be installed in the hand remote from the work. Therefore, since the finger portion close to the work does not have a delicate mechanism or a large number of sensors, it is not easily broken by an impact and can easily withstand disturbances such as radiant heat of the work. In addition, it is not easily affected by the oxide scale and a dirty environment with a lot of dust, and the simple mechanism makes it easy to clean when it gets dirty and easy to maintain in the event of a failure.
ワーク把持装置は、2本の対向する補助フィンガーが形成する円弧の直径以上の寸法を有するワークを安定把持するのに有効である。それよりもサイズの小さなワークをハンドリングする場合には、ブロック間に楔型のシムを適用することで形成する半径を小さくして対応することが出来る。 The work gripping device is effective for stably gripping a work having a diameter equal to or larger than the diameter of the arc formed by the two opposing auxiliary fingers. When handling a workpiece smaller than that, it is possible to reduce the radius formed by applying a wedge-shaped shim between the blocks.
ワーク把持装置を対象とするワークの寸法、重量や配置の状況などに応じて変更する場合には別のハンドと交換する。その際に必要なアクチエーターの接続替えは電気系統だけで完了し、油圧や空気圧の配管接続替えなどは不要なため迅速かつ簡便である。 If the work gripping device is changed according to the size, weight, arrangement, etc. of the target work, replace it with another hand. The change of actuator connection required at that time is completed only by the electric system, and it is quick and convenient because there is no need to change the connection of hydraulic or pneumatic pipes.
電磁石による吸着方式ではないので、扱ったワークに残留磁気が残らない。 Since it is not an adsorption method using an electromagnet, no residual magnetism remains on the workpiece being handled.
図1は補助フィンガーを用いたワーク把持装置の動作説明図である。FIG. 1 is an operation explanatory view of a work gripping device using an auxiliary finger. 図2は円弧状のフックが支点を中心に回転するタイプのフィンガーの動作説明図である。FIG. 2 is an operation explanatory view of a finger of a type in which an arc-shaped hook rotates around a fulcrum. 図3は多分割されて連結した円弧状のフックが支点を中心に回転するタイプのフィンガーの動作説明図である。FIG. 3 is an operation explanatory view of a type of finger in which an arcuate hook that is divided into multiple parts and connected is rotated around a fulcrum. 図4は補助フィンガー(同心円タイプ)の把持状態を示した側面図である。FIG. 4 is a side view showing a gripping state of the auxiliary fingers (concentric circle type). 図5は補助フィンガー(同心円タイプ)の待機状態を示した側面図である。FIG. 5 is a side view showing the standby state of the auxiliary fingers (concentric circle type). 図6は補助フィンガー(異心円タイプ)の把持状態を示した側面図である。FIG. 6 is a side view showing a gripping state of the auxiliary finger (concentric circle type). 図7は補助フィンガー(異心円タイプ)の待機状態を示した側面図である。FIG. 7 is a side view showing a standby state of the auxiliary finger (concentric circle type). 図8は楔型シムをブロック間に適用して把持した状態を示した側面図である。FIG. 8 is a side view showing a state in which a wedge-shaped shim is applied between blocks and gripped.
Embodiments of the invention will be described with reference to the drawings based on the examples.
FIG. 1 is an operation explanatory view of a work gripping device using the auxiliary finger of the present invention.
In (1), various workpieces placed in the yard are recognized by a visual sensor, selection of the target workpiece 1 to be gripped, and analysis for accurately grasping the workpiece (overall shape of the workpiece, position of the center of gravity, horizontal direction). Tilt, tilt in the vertical plane, gripping procedure, etc.).
(2) shows a stage in which the robot arm adjusts the height and controls the angle of the hand 2 at the tip so that it can be easily grasped and approaches the target work 1. The illustrated hand 2 has two grippers 3 for long sides and two grippers 4 for short sides that open and close in the horizontal direction, and the gripper for short sides is provided with an auxiliary finger 5. At this stage, both grippers are approaching the work but have not yet pinched it.
(3) shows the operating state of the auxiliary finger 5 by paying attention only to the gripper for the short side.
In (3) -1 and (3) -2, the traction tool 15 (roller chain in this case) penetrating the inside of the auxiliary finger 5 is towed by the hoisting mechanism 6 while lowering the height of the hand 2 with the robot arm to assist. The steps until the entire finger is formed in an arc shape are shown.
(3) -3 is a stage in which the work is subsequently restrained by the opening / closing mechanism of the short side gripper 4.
(3) -4 indicates a stage in which the opening / closing mechanism of the long side gripper 3 is operated to complete the gripping of the work 1.
図2は円弧状の補助フィンガーを具現した事例の動作説明図である。固定ブロックとヒンジで連結された円弧状のフックをワーク把持時にはワーク方向に90度回転することで先端部をワークの下面に入りこませるタイプの補助フィンガーで、ワークの重量を下面からも支持できる利点はある。しかし、待機状態では鉛直線よりもフックの後方が大きく張り出してしまうので、ワーク間の距離が狭い場合には補助フィンンガーを挿入しづらいのが問題である。挿入しやすいように張り出しを少なくしようとすれば、フィンガーの円弧半径を小さくせざるを得ないため、ワークを安定的に把持する効果が十分に得られない。なお、以下の図も同様であるが、ここでは片側の補助フィンガーだけを示しており、対称形に配置される対向した補助フィンガーは割愛している。 FIG. 2 is an operation explanatory view of an example in which an arc-shaped auxiliary finger is embodied. An auxiliary finger of the type that allows the tip to enter the lower surface of the work by rotating the arc-shaped hook connected to the fixed block by a hinge by 90 degrees in the work direction when gripping the work, and can support the weight of the work from the lower surface as well. There are advantages. However, in the standby state, the rear part of the hook protrudes more than the vertical line, so that it is difficult to insert the auxiliary finger when the distance between the workpieces is narrow. If it is attempted to reduce the overhang so that it can be easily inserted, the radius of the arc of the finger must be reduced, so that the effect of stably gripping the work cannot be sufficiently obtained. The same applies to the following figures, but here only the auxiliary fingers on one side are shown, and the opposing auxiliary fingers arranged symmetrically are omitted.
図3は、図2のように支点を中心に回転する円弧状のフックを、一体ではなく多分割(図では 2分割)にしたタイプの補助フィンガーの動作説明図である。ワーク把持時の形状は図2と同様であるが、待機状態においては、フックを多分割したことにより後方への張り出しを分割しない場合に比較して大幅に少なくすることが出来る。したがって、ワーク間のスペースが小さい場合でも補助フィンガーを挿入しやすく、容易にワークを把持することが出来る。但し、こうした利点を活かすためには、待機状態では多分割のフックを直線状に保持し、ワーク把持時には多数のフックを剛性のある一体の円弧状フックを形成するという機能を、シンプルなアクチエーターおよび機構で実現することが必要である。 FIG. 3 is an operation explanatory view of an auxiliary finger of a type in which an arc-shaped hook that rotates around a fulcrum as shown in FIG. 2 is divided into multiple parts (divided into two in the figure) instead of being integrated. The shape when the work is gripped is the same as that in FIG. 2, but in the standby state, the number of hooks can be significantly reduced as compared with the case where the rearward overhang is not divided. Therefore, even when the space between the workpieces is small, the auxiliary finger can be easily inserted and the workpiece can be easily gripped. However, in order to take advantage of these advantages, a simple actuator has the function of holding the multi-divided hooks in a straight line in the standby state and forming a rigid integrated arc-shaped hook with many hooks when gripping the work. And it needs to be realized by the mechanism.
図4以降は、円弧状フックが多分割されたタイプを具体化した補助フィンガーの側面図である。図4は、円弧状のフックが3個の中間ブロック11と1個の先端ブロック12に分割された事例で、すべてのブロックが短辺側を内側として剛性を持った一体の円弧状フックを形成し、ワークを把持している状態を示したものである。フィンガーの先端ブロックには、ワークの下部に入り込みやすいように鋭角のガイドが設けてある。ここに示す例は、フィンガーを側面から見たときにブロック群のワークに接する内面側と反対の外面側の包絡線が同心円の場合で、最初のブロックから先端ブロックまで、側面から見た厚みはほぼ一定である。 FIG. 4 and subsequent views are side views of the auxiliary fingers embodying the type in which the arcuate hook is divided into many parts. FIG. 4 shows an example in which the arc-shaped hook is divided into three intermediate blocks 11 and one tip block 12, and all the blocks form an integral arc-shaped hook having rigidity with the short side inside. However, it shows the state of gripping the work. The finger tip block is provided with an acute-angled guide so that it can easily enter the lower part of the work. In the example shown here, the envelopes on the outer surface side opposite to the inner surface side in contact with the work of the block group when the finger is viewed from the side are concentric circles, and the thickness seen from the side surface from the first block to the tip block is It is almost constant.
補助フィンガーはグリッパー10に連続しており、複数(この事例では3個)の中間ブロック11と先端ブロック12がヒンジ13で連結して構成されている。ワークの把持状態では各ブロックを貫通し先端ブロックのピン14に連結されている検引具15(図ではローラーチェン)に張力が加えられ、待機時には開放されていた各ブロックの短辺側が密着し、全体が剛性を持った一体の円弧状フックを形成する。そのための必要条件は、ブロックに短辺側と長辺側があること長辺側がヒンジで連結されていることそして牽引具で引き寄せられて密着する面を有することであり、これらが満足されれば必ずしも台形様形状である必要はなく、エ字型などでも構わない。 The auxiliary fingers are continuous with the gripper 10, and a plurality of (three in this case) intermediate blocks 11 and tip blocks 12 are connected by hinges 13. In the gripped state of the work, tension is applied to the attracting tool 15 (roller chain in the figure) that penetrates each block and is connected to the pin 14 of the tip block, and the short side side of each block that was open during standby is in close contact. , Form an integral arc-shaped hook with rigidity as a whole. The necessary conditions for this are that the block has a short side and a long side, that the long side is connected by a hinge, and that the block has a surface that is attracted and brought into close contact with a traction tool. It does not have to be trapezoidal, and may be E-shaped.
図5は補助フィンガーの待機状態の側面図である。待機状態では検引具15は弛緩し中間 ブロック11と先端ブロック12は自重で鉛直方向に垂れ下がるが、ヒンジ13に装備されたスプリングと角度ストッパーにより各ブロックの長辺側が直線状に整列するように制御されている。断面A−Aは中間ブロック11の断面図、断面B−Bは先端ブロック12の断面図を示す。先端ブロックには、牽引具を連結するためのピン14が設けられている。 FIG. 5 is a side view of the standby state of the auxiliary finger. In the standby state, the attracting tool 15 relaxes and the intermediate block 11 and the tip block 12 hang down in the vertical direction due to their own weight, but the long side side of each block is aligned linearly by the spring and the angle stopper equipped on the hinge 13. It is controlled. Sections AA show a cross section of the intermediate block 11, and cross sections BB show a cross section of the tip block 12. The tip block is provided with a pin 14 for connecting the towing tool.
実施例の断面図は全体が矩形となっているが、機能を満たすための必要条件はワークに接する側が把持に適した必要な面積が確保されていること反対側はヒンジが装備できることブロックには牽引具の貫通する空間が確保されていること全体としてワークの把持に必要な強度が確保できていることであり、これらの条件が満たされれば断面全体としては逆△形型T字型などでも構わない。なお、図でブロックの両側面を減肉しているのは、補助フィンガーの全体重量を軽減する工夫の例である。 The cross-sectional view of the embodiment is rectangular as a whole, but the necessary condition for satisfying the function is that the side in contact with the work has a necessary area suitable for gripping, and the opposite side can be equipped with a hinge. The space through which the traction tool penetrates is secured, and the strength required for gripping the work is secured as a whole. If these conditions are met, the cross section as a whole may be inverted Δ-shaped or T-shaped. I do not care. In the figure, the wall thickness on both sides of the block is reduced as an example of a device for reducing the total weight of the auxiliary fingers.
図6は補助フィンガーがワークを把持している側面図であるが、図4と異なりブロック群のワークに接する内面側と反対側の円弧の包絡線が異心円のタイプの例である。ワークの重量を補助フィンガーで支持するためのモーメントを確保するのだが、不足した場合にはまず固定ブロック下面と最上段の中間ブロック上面間の密着が確保できない現象になって現れる。補助フィンガーのブロック形状を異心円タイプとすれば、最上部ヒンジから牽引具までのアーム長を同心円タイプの場合よりも長くとれるので、ワーク重量を支えるために必要な牽引具に加える張力を低く出来る利点がある。 FIG. 6 is a side view in which the auxiliary finger grips the work, but unlike FIG. 4, the envelope of the arc on the inner surface side and the opposite side in contact with the work of the block group is an example of a concentric circle type. The moment for supporting the weight of the work with the auxiliary fingers is secured, but if it is insufficient, the phenomenon that the lower surface of the fixed block and the upper surface of the uppermost intermediate block cannot be secured first appears. If the block shape of the auxiliary finger is a concentric circle type, the arm length from the top hinge to the traction tool can be longer than in the case of the concentric circle type, so the tension applied to the traction tool required to support the work weight can be reduced. There are advantages.
図7は図6の補助フィンガーの待機状態の側面図である。異心円タイプなので、中間ブロックの上端から先端ブロックにかけて徐々に厚みが低減している。断面A−A、断面B−B,断面C−Cはそうした状況を示している。その他の解説は図5と類似なので割愛する。 FIG. 7 is a side view of the standby state of the auxiliary finger of FIG. Since it is a concentric circle type, the thickness gradually decreases from the upper end of the intermediate block to the tip block. Sections AA, BB, and CC show such a situation. Other explanations are similar to those in Fig. 5, so they are omitted here.
図8は楔型シムを固定ブロックと最上段の中間ブロックの間に設置してワークを把持している状態の側面図である。この図は、ワークの短辺が200mm以上を想定して設計した補助フィンガーの事例であるが、例えば図のように約13度の楔型シムを適用することで、安定して把持出来るワークの範囲を140mm以上まで広げることが出来る。さらに同様の楔型シムを次のブロック間にも適用すれば、安定して把持出来るワークの範囲は90mm以上まで広げることが出来る。 FIG. 8 is a side view showing a state in which a wedge-shaped shim is installed between the fixed block and the uppermost intermediate block to grip the work. This figure is an example of an auxiliary finger designed assuming that the short side of the work is 200 mm or more. For example, by applying a wedge-shaped shim of about 13 degrees as shown in the figure, the work can be gripped stably. The range can be expanded to 140 mm or more. Furthermore, if the same wedge-shaped shim is applied between the next blocks, the range of the work that can be stably gripped can be expanded to 90 mm or more.
1 ワーク
2 ハンド部
3 長辺用グリッパー
4 短辺用グリッパー
5 補助フィンガー
6 牽引装置
10 グリッパー
11 中間ブロック
12 先端ブロック
13 ヒンジ
14 ピン
15 牽引具
20 楔型シム
1 Work 2 Hand part 3 Gripper for long side 4 Gripper for short side 5 Auxiliary finger 6 Towing device 10 Gripper
11 Intermediate block
12 Tip block 13 Hinge 14 pin 15 Towing tool 20 Wedge type shim

Claims (2)

  1. 産業用ロボットのアーム先端のハンド部に具備されるグリッパー機構に補助フィンガーを付加した装置で、これを複数の中空ブロックで構成し、各ブロックを側面から見るといずれもワークに接する側の辺が短く反対側の辺が長い台形様の形状で、それらが長辺側の上下部端だけでヒンジにより連結された構造とすることにより、ワークを把持する場合には、ハンド内にある牽引装置で、そこからグリッパーおよびブロックの内部を貫通して先端のブロックまで到達している牽引具に張力を与えて短辺側を引き寄せ全体を必要な剛性を有する円弧状に形成することにより、ワーク下面側に入りこませ下側からも支持出来る機能を特徴とするワーク把持装置。 It is a device with auxiliary fingers added to the gripper mechanism provided in the hand part at the tip of the arm of an industrial robot. It is composed of multiple hollow blocks, and when each block is viewed from the side, the side in contact with the work is It has a trapezoidal shape with a short opposite side and a long side, and they are connected by a hinge only at the upper and lower ends on the long side. By applying tension to the traction tool that penetrates the inside of the gripper and block and reaches the block at the tip, the short side is pulled and the entire shape is formed into an arc shape with the required rigidity, thereby forming the lower surface side of the work. A work gripping device that features a function that allows it to enter and be supported from below.
  2. 補助フィンガーを構成する複数のブロックはワークを把持する方向すなわち牽引張力により短辺側の空隙が密着して円弧状に形成される方向に回転するときには、連結しているヒンジにより自由に角度を変えるが、牽引している張力が弛緩しフィンガーが待機状態に移行する場合には、スプリング機構によりブロック群を直線状に戻すとともに、ヒンジに具備した角度ストッパーにより各ブロックの長辺側を直線に整列した状態で維持できる機能を有することを特徴とする請求項1で示すワーク把持装置。 When the plurality of blocks constituting the auxiliary finger rotate in the direction of gripping the work, that is, in the direction in which the gaps on the short sides are in close contact with each other and formed in an arc shape due to the traction tension, the angles are freely changed by the connecting hinges. However, when the pulling tension relaxes and the finger shifts to the standby state, the block group is returned to a straight line by the spring mechanism, and the long side side of each block is aligned in a straight line by the angle stopper provided on the hinge. The work gripping device according to claim 1, wherein the work gripping device has a function of being able to maintain the state of the work.
JP2019160121A 2019-09-03 2019-09-03 Work grip device Pending JP2021037574A (en)

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