JP2022158392A - industrial robot hand and industrial robot - Google Patents

Abstract

To provide an industrial robot hand in which a fork can be easily attached/detached to/from a hand base part in the industrial robot hand equipped with the fork and the hand base part to which the fork is attached.SOLUTION: In a hand, a fork fixing mechanism 52 for fixing a fork base end part 19a to a hand base part 17 includes: a bolt member 53 which is inserted in a bolt insertion hole 19b penetrating the fork base end part 19a and is engaged with a screw hole 40a formed in the hand base part 17; a spring member 54 for energizing the bolt member 53 with respect to the fork base end part 19a; and a come-off preventive member 55 preventing coming off of the bolt member 53 from the bolt insertion hole 19b. The come-off preventive member 55 is attached to the bolt member 53 and, when the bolt member 53 leaves the screw hole 40a, comes into contact with the fork distal end 19a to prevent the bolt member 53 from coming off the bolt insertion hole 19b.SELECTED DRAWING: Figure 5

Description

The present invention relates to a hand of an industrial robot that transports objects to be transported. The present invention also relates to an industrial robot equipped with this hand.

2. Description of the Related Art Conventionally, industrial robots for transporting glass substrates for liquid crystal displays are known (see Patent Document 1, for example). An industrial robot described in Patent Document 1 includes a hand on which a glass substrate is mounted, an arm to which the hand is rotatably connected, and a main body that supports the arm. The hand includes a base portion rotatably connected to the tip side of the arm, and four forks on which the glass substrates are placed on the upper surface side. The proximal end of the fork is disposed inside the hollow base. A fork pitch changing mechanism for changing the pitch of the four forks is arranged inside the base.

In the industrial robot described in Patent Document 1, the fork pitch changing mechanism includes a motor, a screw member connected to the output shaft of the motor, a slide member fixed to the base end of the fork, and attached to the slide member. and a nut member for engaging the screw member. In this industrial robot, since the hand has a fork pitch changing mechanism for changing the pitch of the four forks, it is possible to transport glass substrates of various sizes.

JP 2019-10693 A

There is a need to transport a smaller glass substrate using the industrial robot described in Patent Document 1. When the size of the glass substrate is reduced, the size of the housing for the glass substrate, such as a cassette, may also be reduced. It may not be possible. In this case, for example, two forks out of the four forks may be removed and the two forks may be inserted into the accommodation portion of the glass substrate. On the other hand, when transporting a large glass substrate using the industrial robot described in Patent Document 1, if there are no four forks, the glass substrate placed on the forks will be flexed more, There is a possibility that trouble will occur in transporting the substrate.

Therefore, in order to transfer glass substrates of various sizes including smaller glass substrates using the industrial robot described in Patent Document 1, it is necessary to attach and detach the forks. In the industrial robot described in Patent Literature 1, when attaching and detaching the fork, it is preferable that the attachment and detachment work of the fork is easy.

Accordingly, an object of the present invention is to provide an industrial robot hand that is provided with a fork and a hand base to which the fork is attached, and that can easily attach and detach the fork to and from the hand base. That's what it is. Another object of the present invention is to provide an industrial robot equipped with this hand.

In order to solve the above-described problems, the industrial robot hand of the present invention is an industrial robot hand for transporting an object to be transported. A fork fixing mechanism for fixing the fork base end, which is the base end, to the hand base, and the fork base end is formed with a bolt insertion hole penetrating the fork base end, A screw hole is formed, and the fork fixing mechanism includes a bolt member that is inserted into the bolt insertion hole and engages with the screw hole, and a bolt member attached to one side of the fork base end in the direction of penetration of the bolt insertion hole. a spring member for applying force and a retaining member for preventing the bolt member from falling out of the bolt insertion hole, and a male thread that engages with the female thread of the screw hole is formed at the tip of the bolt member, The spring member urges the bolt member in a direction away from the screw hole, and the retainer member is attached to the bolt member, and when the male screw of the bolt member is disengaged from the female screw of the screw hole, the fork proximal end is pushed. It is characterized by preventing the bolt member from coming out of the bolt insertion hole by contacting the part.

In the industrial robot hand of the present invention, the fork fixing mechanism for fixing the fork base end to the hand base is inserted into the bolt insertion hole penetrating the fork base end and is formed in the hand base. a spring member for biasing the bolt member toward one side of the fork base end in the direction in which the bolt insertion hole penetrates; and a bolt member for preventing the bolt member from falling out of the bolt insertion hole and a retaining member. Further, in the present invention, the retaining member is attached to the bolt member, and when the male thread of the bolt member is disengaged from the female thread of the screw hole, the retaining member comes into contact with the base end of the fork to prevent the bolt member from coming out of the bolt insertion hole. and the bolt member does not come off from the bolt insertion hole of the fork removed from the hand base.

Therefore, the present invention allows the bolt member to be handled together with the fork removed from the hand base. Therefore, in the present invention, when removing the fork from the base of the hand, it is possible to eliminate the work of removing the bolt member from the bolt insertion hole and housing it in the housing portion of the bolt member, and removing the fork from the base of the hand. It is possible to dispense with the work of separately preparing a bolt member at the time of the mounting work. As a result, according to the present invention, it is possible to easily attach and detach the fork to and from the hand base.

In the present invention, the through-hole direction of the bolt insertion hole is the vertical direction. A second positioning portion for determining the position of the bolt member in the horizontal direction is formed, and the bolt insertion hole contacts the first positioning portion to determine the horizontal position of the bolt member with respect to the fork base end. It is preferable that an end side positioning portion is formed, and the hand base portion is formed with a hand base side positioning portion that contacts the second positioning portion and determines the horizontal position of the bolt member with respect to the hand base portion. With this configuration, when attaching the fork to the hand base, it is possible to easily position the fork base end in the horizontal direction with respect to the hand base via the bolt member. Therefore, it is possible to easily perform the operation of attaching the fork to the hand base.

In the present invention, the spring member is a compression coil spring into which the bolt member is inserted on the inner peripheral side, the retaining member is a retaining ring, and the bolt member is formed with a retaining ring engaging groove into which the retaining ring is fitted. preferably. With this configuration, it is possible to prevent the bolt member from coming off from the bolt insertion hole of the fork removed from the hand base with a relatively simple configuration. That is, even if it is possible to prevent the bolt member from coming off the bolt insertion hole of the fork removed from the hand base, it is possible to simplify the configuration of the fork fixing mechanism.

In the present invention, the hand includes, for example, a plurality of forks arranged parallel to each other, and the base of the hand changes the pitch of the plurality of forks in an orthogonal direction orthogonal to the longitudinal direction and the vertical direction of the forks. The fork pitch changing mechanism includes a feed screw shaft, a nut member engaged with the feed screw shaft, and a slide member to which the nut member is attached, and the fork base end is attached to the slide member by the fork fixing mechanism. Fixed.

In the present invention, when a direction orthogonal to the longitudinal direction and the vertical direction of the forks is defined as an orthogonal direction, the hand is arranged, for example, between two forks arranged parallel to each other and two forks in the orthogonal direction. and two linear second forks arranged parallel to the forks. When conveying a small object to be conveyed by an industrial robot, it is easier for the fork to be removed from the hand base than for the second fork arranged between the two forks in the orthogonal direction to be removed from the hand base. Since it becomes possible to transport the object to be transported to the container for the object to be transported which is downsized, it is preferable to remove the fork from the base of the hand when transporting a small object to be transported by an industrial robot. According to the present invention, even when the fork is removed from the hand base, it is possible to easily attach and detach the fork to and from the hand base.

INDUSTRIAL APPLICABILITY The hand of the present invention can be used in an industrial robot that includes an arm to which the hand is rotatably connected to the distal end side, and a main body to which the base end side of the arm is rotatably connected. With this industrial robot, it becomes possible to easily attach and detach the fork to and from the hand base.

As described above, according to the present invention, in the hand of an industrial robot having a fork and a hand base to which the fork is attached, the fork can be easily attached to and detached from the hand base.

1 is a plan view of an industrial robot according to an embodiment of the invention; FIG. FIG. 2 is a side view of the industrial robot shown in FIG. 1; FIG. 2 is a plan view for explaining the structure of a hand base of the hand shown in FIG. 1; 4 is an enlarged view of the E section of FIG. 3; FIG. FIG. 5 is a cross-sectional view for explaining the configuration of the FF cross section of FIG. 4; FIG. 6 is a cross-sectional view for explaining the configuration of the GG cross section of FIG. 5;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Overall configuration of industrial robot)
FIG. 1 is a plan view of an industrial robot 1 according to an embodiment of the invention. FIG. 2 is a side view of the industrial robot 1 shown in FIG. 1. FIG.

An industrial robot 1 (hereinafter referred to as "robot 1") of this embodiment is a horizontal articulated robot for transporting a predetermined transport object 2. As shown in FIG. The transport object 2 is, for example, a glass substrate for a liquid crystal display. The object to be conveyed 2 is formed in a rectangular flat plate shape. The robot 1 of this embodiment can transport objects 2 of various sizes.

The robot 1 includes two hands 3 on which an object 2 to be conveyed is mounted, two arms 4 to which the two hands 3 are respectively connected on the tip side, and a main body supporting the two arms 4. 5 and a base 6 that supports the main body 5 so as to be movable in the horizontal direction. The main body 5 includes an arm support 7 that supports the base end of the arm 4 and is vertically movable, a support frame 8 that supports the arm support 7 so as to be vertically movable, and a lower end portion of the main body 5 and a base. 6, and a revolving frame 10 to which the lower end of the support frame 8 is fixed and which is rotatable with respect to the base 9. As shown in FIG.

The arm 4 is composed of two arm portions, a first arm portion 12 and a second arm portion 13 . The base end side of the first arm portion 12 is rotatably connected to the arm support 7 . That is, the base end side of the arm 4 is rotatably connected to the body portion 5 . The base end side of the second arm portion 13 is rotatably connected to the distal end side of the first arm portion 12 . The hand 3 is rotatably connected to the distal end side of the second arm portion 13 . That is, the hand 3 is rotatably connected to the tip side of the arm 4 . The robot 1 includes two arm driving mechanisms for extending and retracting the two arms 4, respectively.

The proximal end of one of the two arms 4 is rotatably connected to the upper end of the arm support 7 . The base end of the other arm 4 is rotatably connected to the lower end of the arm support 7 , and the other arm 4 is arranged below the one arm 4 . In one arm 4 arranged on the upper side, the second arm portion 13 is arranged below the first arm portion 12 , and the hand 3 is arranged below the second arm portion 13 . In the other arm 4 arranged on the lower side, the second arm portion 13 is arranged above the first arm portion 12 and the hand 3 is arranged above the second arm portion 13 .

The support frame 8 holds the hand 3 and the arm 4 via the arm support 7 so as to be able to move up and down. The support frame 8 includes a columnar first support frame 14 that holds the arm support 7 up and down, and a columnar second support frame 15 that holds the first support frame 14 up and down. The robot 1 includes an elevating mechanism that elevates the arm support 7 with respect to the first support frame 14, an elevating mechanism that elevates the first support frame 14 with respect to the second support frame 15, and the first support frame 14 in a vertical direction. and a guide mechanism for guiding the arm support 7 in the vertical direction.

A lower end of the second support frame 15 is fixed to the revolving frame 10 . The revolving frame 10 is rotatable with respect to the base 9 as described above. The robot 1 includes a rotating mechanism that rotates the rotating frame 10 with respect to the base 9 . The base 9 is horizontally movable with respect to the base 6 as described above. The robot 1 has a horizontal movement mechanism for horizontally moving the base 9 with respect to the base 6 .

(Overall structure of the hand)
FIG. 3 is a plan view for explaining the structure of the hand base 17 of the hand 3 shown in FIG. 4 is an enlarged view of the E section of FIG. 3. FIG. FIG. 5 is a cross-sectional view for explaining the configuration of the FF cross section of FIG. FIG. 6 is a cross-sectional view for explaining the structure of the GG cross section of FIG. In the following description, the configuration of the hand 3 connected to the arm 4 arranged on the lower side will be described. The configuration of the hand 3 connected to the upper arm 4 is the same as the configuration of the hand 3 described below upside down.

The hand 3 includes a hand base portion 17 rotatably connected to the tip side of the second arm portion 13, and a plurality of forks 18 and 19 which are formed linearly and on which the object to be conveyed 2 is placed on the upper surface side. and The hand 3 of this embodiment has four forks 18 and 19 in total, two forks 18 and two forks 19 . Forks 18 and 19 are attached to hand base 17 . Specifically, fork proximal end portions 18a and 19a, which are the proximal end portions of the forks 18 and 19, are attached to the hand base portion 17. As shown in FIG.

The four forks 18 and 19 protrude from the hand base 17 in the same horizontal direction. Also, the four forks 18 and 19 are arranged parallel to each other. That is, the two forks 18 are arranged parallel to each other, the two forks 19 are arranged parallel to each other, and the two forks 18 and the two forks 19 are arranged parallel to each other. .

If the longitudinal direction of the forks 18 and 19 (the X direction in FIG. 3 etc.) is defined as the “front-rear direction” and the Y direction in FIG. are arranged inside in the left-right direction, and the two forks 19 are arranged outside in the left-right direction. The horizontal direction (Y direction) of this embodiment is an orthogonal direction orthogonal to the longitudinal direction and vertical direction of the forks 18 and 19 . Also, the fork 18 of this embodiment is a second fork arranged between the two forks 19 in the left-right direction.

The hand base 17 is formed in a flat, substantially rectangular parallelepiped shape with a thin vertical thickness as a whole. The hand base 17 includes a base frame 22 forming a lower end portion of the hand base 17 and a cover 23 (see FIG. 5) fixed to the base frame 22 . The hand base 17 also includes a fork pitch changing mechanism 26 that changes the pitch of the two forks 18 in the horizontal direction, and a fork pitch changing mechanism 27 that changes the pitch of the two forks 19 in the horizontal direction. (See Figure 3). The fork pitch changing mechanisms 26 , 27 are arranged in the internal space of the hand base 17 defined by the base frame 22 and the cover 23 .

In the fork pitch changing mechanism 26, one fork 18 and the other fork 18 of the two forks 18 are moved in opposite left and right directions by the same amount to change the pitch of the two forks 18 in the left and right direction. be. Similarly, in the fork pitch changing mechanism 27, one fork 19 and the other fork 19 of the two forks 19 are moved in opposite left and right directions by the same amount to change the pitch of the two forks 19 in the left and right direction. is changed. The fork pitch changing mechanisms 26 and 27 change the pitch of the forks 18 and 19 in the horizontal direction according to the size of the object 2 to be conveyed by the robot 1 .

The fork pitch changing mechanism 26 includes a motor 29 as a drive source, a feed screw shaft 30 connected to the output shaft of the motor 29, and a fork base end 18a of one of the two forks 18. a slide member 31 to which the fork base end portion 18a of the other fork 18 of the two forks 18 is attached; and two mating nut members 32 (see FIG. 5).

Like the fork pitch changing mechanism 26, the fork pitch changing mechanism 27 includes a motor 34 as a drive source, a feed screw shaft 35 connected to the output shaft of the motor 34, and one of the two forks 19. A slide member 36 to which the fork base end portion 19a of No. 19 is attached, a slide member 36 to which the fork base end portion 19a of the other fork 19 of the two forks 19 is attached, and to each of the two slide members 36 and two nut members 37 (see FIG. 5) that are attached and engage the feed screw shaft 35 .

The feed screw shafts 30, 35 are formed in an elongated rod shape. The feed screw shafts 30 and 35 are arranged so that the axial direction of the feed screw shafts 30 and 35 is aligned with the left-right direction, and the feed screw shafts 30 and 35 rotate with the left-right direction as the axial direction of rotation. Further, the feed screw shaft 30 and the feed screw shaft 35 are arranged with a predetermined space therebetween in the front-rear direction. The feed screw shafts 30, 35 include forward threaded portions 30a, 35a forming one end sides of the feed screw shafts 30, 35, and reverse threaded portions 30b, 35b forming the other end sides of the feed screw shafts 30, 35. ing. Forward threads are formed in the forward thread portions 30a and 35a, and reverse threads are formed in the reverse thread portions 30b and 35b.

The slide members 31 and 36 are formed in a flat, substantially rectangular parallelepiped shape with a thin thickness in the vertical direction. A fixed member 40 is fixed to the upper surface of the slide member 36 . That is, the hand base 17 has a fixing member 40 fixed to the upper surface of the slide member 36 . The fixed member 40 is fixed to the slide member 36 with bolts 41 . The fixing member 40 is formed in a flat rectangular parallelepiped shape with a thin thickness in the vertical direction. In addition, the fixing member 40 is formed in a rectangular parallelepiped shape elongated in the front-rear direction. Similarly, a rectangular parallelepiped fixing member (not shown) is fixed to the upper surface of the slide member 31 . The nut member 32 is attached to the slide member 31 by bolts, and the nut member 37 is attached to the slide member 36 by bolts.

A nut member 32 held by a slide member 31 to which the fork base end portion 18a of one of the two forks 18 is fixed engages with the forward thread portion 30a, and is engaged with the fork base portion of the other fork 18. A nut member 32 held by a slide member 31 to which the end portion 18a is fixed is engaged with the reverse screw portion 30b. A nut member 37 held by a slide member 36 to which the fork base end portion 19a of one of the two forks 19 is fixed is engaged with the forward thread portion 35a, A nut member 37 held by a slide member 36 to which the fork base end portion 19a is fixed is engaged with the reverse screw portion 35b.

The two slide members 31 and the two slide members 36 are guided laterally by two common guide rails 42 . The guide rail 42 is fixed to the base frame 22 so that the longitudinal direction of the guide rail 42 is aligned with the left-right direction. Two guide blocks 43 that engage with the two guide rails 42 are fixed to the slide member 31 . Two guide blocks 43 that engage with the two guide rails 42 are fixed to the slide member 36 .

The fork 18 has a fork main body 46 formed in a rectangular tubular shape elongated in the front-rear direction. The fork body 46 is made of resin containing carbon fiber. The upper surface of the fork body 46 is flat, and the object to be conveyed 2 is placed on the upper surface side of the fork body 46 . In this embodiment, the base end portion of the fork body 46 constitutes the fork base end portion 18a. The fork base end portion 18 a is arranged in a space inside the hand base portion 17 defined by the base frame 22 and the cover 23 . The fork base end portion 18 a is fixed to the slide member 31 . Specifically, the fork base end portion 18a is fixed to a fixing member that is fixed to the upper surface of the slide member 31, and is fixed to the slide member 31 via the fixing member. Also, the fork base end portion 18a is fixed to the upper surface of the fixing member with a bolt.

The fork 19 comprises a fork body 47 constructed similarly to the fork body 46 . The fork body 47 is formed in the shape of an elongated square cylinder in the front-rear direction, and the object to be conveyed 2 is placed on the upper surface side of the fork body 47 . The fork 19 also includes a rectangular parallelepiped proximal member 48 forming part of the fork proximal end 19a, and a flat base plate 49 forming part of the fork proximal end 19a. In this embodiment, the base end portion of the fork main body 47, the base end member 48, and the base plate 49 constitute the fork base end portion 19a.

The upper and lower surfaces of the base end portion of the fork body 47 are flat surfaces perpendicular to the vertical direction. The base end member 48 is formed in a rectangular parallelepiped shape elongated in the front-rear direction. Also, the base end member 48 is made of an aluminum alloy. The proximal end member 48 is arranged inside the proximal end portion of the fork main body 47 which is formed in the shape of a square tube. As shown in FIG. 5, the proximal end member 48 is fixed to the proximal end portion of the fork body 47 by bolts. The base plate 49 is formed in a rectangular flat plate shape whose long side direction is the front-rear direction. Also, the base plate 49 is made of an aluminum alloy. As shown in FIG. 5 , the base plate 49 is fixed to the lower surface of the base end portion of the fork body 47 with bolts and arranged below the base end portion of the fork body 47 . The thickness direction of the base plate 49 coincides with the vertical direction.

The fork base end portion 19 a is arranged in the internal space of the hand base portion 17 defined by the base frame 22 and the cover 23 . The fork base end portion 19 a is fixed to the slide member 36 . Specifically, the fork base end portion 19 a is fixed to a fixing member 40 that is fixed to the upper surface of the slide member 36 , and is fixed to the slide member 36 via the fixing member 40 . Also, the fork base end portion 19 a is fixed to the slide member 36 by a fork fixing mechanism 52 . Specifically, the fork base end portion 19 a is fixed to the upper surface of the fixing member 40 by the fork fixing mechanism 52 .

That is, the hand 3 includes a fork fixing mechanism 52 for fixing the fork proximal end portion 19 a to the hand base portion 17 , and the fork proximal end portion 19 a is attached to the hand base portion 17 by the fork fixing mechanism 52 . The configuration of the fork fixing mechanism 52 and the peripheral portion of the fork fixing mechanism 52 will be described below.

(Fork Fixing Mechanism and Peripheral Configuration of Fork Fixing Mechanism)
As described above, the fork base end portion 19a is fixed to the upper surface of the fixing member 40 by the fork fixing mechanism 52. As shown in FIG. In this embodiment, one fork base end 19 a is fixed to the fixing member 40 by two fork fixing mechanisms 52 . That is, the hand 3 has four fork fixing mechanisms 52 in total. Two fork fixing mechanisms 52 for fixing one fork base end portion 19a to the fixing member 40 are arranged in a spaced apart manner in the front-rear direction.

The fork fixing mechanism 52 includes a bolt member 53 that fixes the fork base end portion 19a to the fixing member 40. As shown in FIG. A bolt insertion hole 19b through which the bolt member 53 is inserted is formed in the fork base end portion 19a. The bolt insertion hole 19b penetrates the fork base end portion 19a. Specifically, the bolt insertion hole 19b penetrates the fork base end 19a in the vertical direction. That is, the vertical direction is the through direction of the bolt insertion holes 19b. The fixing member 40 is formed with a screw hole 40a with which the bolt member 53 is engaged. That is, the hand base 17 is formed with a threaded hole 40a with which the bolt member 53 is engaged. In this embodiment, the bolt member 53 is engaged with the screw hole 40a to fix the fork base end 19a to the fixing member 40. As shown in FIG.

Further, the fork fixing mechanism 52 includes a spring member 54 for biasing the bolt member 53 toward one side of the bolt insertion hole 19b with respect to the fork base end 19a in the penetration direction (that is, the vertical direction), and a bolt insertion hole. and a retaining member 55 for preventing the bolt member 53 from coming off from 19b. The spring member 54 is a compression coil spring in which the bolt member 53 is arranged on the inner peripheral side. Moreover, the retaining member 55 is a retaining ring. Therefore, hereinafter, the spring member 54 will be referred to as the "compression coil spring 54" and the retaining member 55 will be referred to as the "retaining ring 55". The retaining ring 55 of this embodiment is a C-shaped retaining ring.

The bolt member 53 is a headed bolt composed of a head portion 53a and a shaft portion 53b. A hexagonal recess is formed in the end face of the head 53a. That is, the bolt member 53 is a hexagon socket bolt. Further, the bolt member 53 of this embodiment is a stripper bolt. The bolt member 53 is arranged so that the axial direction of the bolt member 53 is aligned with the vertical direction. The head 53a is arranged on the upper side. A distal end portion of the bolt member 53 (that is, a lower end portion of the shaft portion 53b) is formed with a male thread that engages with the female thread of the screw hole 40a. That is, the tip portion of the bolt member 53 is a thread forming portion 53c in which a male thread is formed. Assuming that the portion of the shaft portion 53b other than the threaded portion 53c is a shaft portion main body 53d, the outer diameter of the threaded portion 53c is smaller than the outer diameter of the shaft portion main body 53d.

The bolt member 53 is formed with a retaining ring engaging groove 53e into which the retaining ring 55 is fitted (see FIG. 6). The retaining ring engaging groove 53e is formed in the shaft main body 53d. The retaining ring engagement groove 53e is an annular recess recessed radially inward of the shaft main body 53d from the outer peripheral surface of the shaft main body 53d. The retaining ring engagement groove 53e is formed below the vertical center of the shaft portion 53b.

The bolt insertion holes 19b are formed at both ends of the fork base end 19a in the front-rear direction. Further, the bolt insertion hole 19b is formed in the center of the fork base end portion 19a in the left-right direction. The bolt insertion hole 19b includes a through hole 47a formed in the upper surface of the fork body 47, a through hole 47b formed in the lower surface of the fork body 47, a through hole 48a formed in the base end member 48, and a base. and a through hole 49 a formed in the plate 49 .

The through hole 47a is a circular hole penetrating the upper surface of the fork body 47 in the vertical direction. The inner diameter of the through hole 47 a is larger than the outer diameter of the head 53 a of the bolt member 53 . The through hole 47b is a round hole that penetrates the lower surface of the fork body 47 in the vertical direction. The inner diameter of the through hole 47b is larger than the outer diameter of the head 53a. Also, the inner diameter of the through hole 47b is larger than the outer diameter of the retaining ring 55 .

The through hole 48a penetrates the base end member 48 in the vertical direction. As shown in FIG. 6, the through-hole 48a includes a large-diameter hole 48b forming the upper end of the through-hole 48a, a medium-diameter hole 48c forming an intermediate portion in the vertical direction of the through-hole 48a, and the lower end of the through-hole 48a. and a small-diameter hole 48d forming a part. The large diameter hole 48b, medium diameter hole 48c and small diameter hole 48d are round holes. The inner diameter of the large-diameter hole 48 b is larger than the outer diameter of the head 53 a of the bolt member 53 . The inner diameter of the medium-diameter hole 48c is smaller than the outer diameter of the head 53a. In addition, the inner diameter of the medium-diameter hole 48c is larger than the outer diameter of the shaft main body 53d and the outer diameter of the compression coil spring . The inner diameter of the small diameter hole 48d is approximately equal to the outer diameter of the shaft main body 53d.

The through hole 49a is a round hole that penetrates the base plate 49 in the vertical direction. The inner diameter of the through hole 49a is approximately equal to the outer diameter of the shaft main body 53d. The axis of the large-diameter hole 48b, the axis of the medium-diameter hole 48c, and the axis of the small-diameter hole 48d are aligned. Further, the axial center of the through hole 47a, the axial center of the through hole 47b, the axial center of the through hole 48a, and the axial center of the through hole 49a are aligned.

When the fork base end 19a is fixed to the fixing member 40, part of the shaft main body 53d is arranged in the small diameter hole 48d and the through hole 49a, as shown in FIG. 6(A). In this embodiment, the portion of the shaft main body 53d arranged in the small diameter hole 48d, the portion of the shaft main body 53d arranged in the through hole 49a, the small diameter hole 48d, and the through hole 49a in the horizontal direction. The bolt member 53 is positioned with respect to the fork base end portion 19a.

In this embodiment, the portion of the shaft main body 53d arranged in the small diameter hole 48d and the portion of the shaft main body 53d arranged in the through hole 49a are bolt members in the horizontal direction with respect to the fork base end 19a. It is a first positioning portion 53f for determining the position of 53 (see FIG. 6). Further, the inner peripheral surface of the small-diameter hole 48d and the inner peripheral surface of the through hole 49a of this embodiment contact the first positioning portion 53f to determine the position of the bolt member 53 in the horizontal direction with respect to the fork proximal portion 19a. It is a portion-side positioning portion 19c (see FIG. 6).

The fixing member 40 is formed with an arrangement hole 40b in which the lower end of the shaft main body 53d is arranged. That is, the hand base 17 is formed with an arrangement hole 40b. The arrangement hole 40b is a round hole. The inner diameter of the placement hole 40b is substantially equal to the outer diameter of the shaft main body 53d. The lower end of the arrangement hole 40b is connected to the upper end of the screw hole 40a, and the screw hole 40a is directly below the arrangement hole 40b. The axial center of the screw hole 40a and the axial center of the arrangement hole 40b are aligned. The screw holes 40a and the arrangement holes 40b are formed at both ends of the fixing member 40 in the front-rear direction. Moreover, the screw hole 40a and the arrangement hole 40b are formed in the center of the fixing member 40 in the left-right direction.

When the fork base end 19a is fixed to the fixing member 40, as shown in FIG. 6A, the lower end of the shaft main body 53d is arranged in the arrangement hole 40b. In this embodiment, the bolt member 53 is positioned with respect to the fixing member 40 in the horizontal direction by the portion of the shaft main body 53d that is arranged in the arrangement hole 40b and the arrangement hole 40b. That is, in this embodiment, the bolt member 53 is positioned with respect to the hand base 17 in the horizontal direction by the portion of the shaft body 53d disposed in the placement hole 40b and the placement hole 40b.

In this embodiment, the portion of the shaft main body 53d disposed in the placement hole 40b serves as a second positioning portion 53g for determining the position of the bolt member 53 in the horizontal direction with respect to the hand base 17 (see FIG. 6). reference). In addition, the inner peripheral surface of the arrangement hole 40b of this embodiment serves as a hand base side positioning portion 17a that contacts the second positioning portion 53g and determines the horizontal position of the bolt member 53 with respect to the hand base 17 (FIG. 6). reference).

A compression coil spring 54 is disposed in the large diameter hole 48b and the medium diameter hole 48c. The inner diameter of the compression coil spring 54 is larger than the outer diameter of the shaft main body 53d. The outer diameter of the compression coil spring 54 is smaller than the outer diameter of the head 53a. The lower end of the compression coil spring 54 is in contact with a stepped surface formed at the boundary between the medium-diameter hole 48c and the small-diameter hole 48d. This stepped surface is an annular plane perpendicular to the vertical direction. The upper end of the compression coil spring 54 is in contact with the lower surface of the head 53a. The compression coil spring 54 biases the bolt member 53 upward. That is, the compression coil spring 54 biases the bolt member 53 in a direction away from the screw hole 40a.

A retaining ring 55 is attached to the bolt member 53 . The retaining ring 55 is arranged in the through hole 47b. When the fork base end portion 19a is fixed to the fixing member 40, the retaining ring 55 is in contact with the upper surface of the base plate 49, as shown in FIG. 6(A). However, a gap may be formed between the retaining ring 55 and the upper surface of the base plate 49 in a state where the fork base end portion 19a is fixed to the fixing member 40 . In this case, the step surface formed at the boundary between the threaded portion 53c and the shaft main body 53d contacts the step surface formed at the boundary between the screw hole 40a and the placement hole 40b.

On the other hand, when the fork base end portion 19a is removed from the fixing member 40, the bolt member 53 is moved upward with respect to the fork base end portion 19a by the biasing force of the compression coil spring 54, as shown in FIG. 6B. , the snap ring 55 contacts the lower surface of the proximal member 48 . Further, when the fork base end portion 19a is removed from the fixing member 40, the retaining ring 55 contacts the lower surface of the base end member 48, thereby preventing the bolt member 53 from coming off from the bolt insertion hole 19b.

Thus, when the bolt member 53 is removed from the screw hole 40a, the retaining ring 55 contacts the lower surface of the base end member 48, thereby preventing the bolt member 53 from coming off from the bolt insertion hole 19b. That is, when the male thread of the bolt member 53 is disengaged from the female thread of the screw hole 40a, the retaining ring 55 contacts the fork base end portion 19a to prevent the bolt member 53 from coming off from the bolt insertion hole 19b. When the retaining ring 55 is in contact with the lower surface of the base end member 48, the upper end surface of the head 53a of the bolt member 53 is arranged below the upper surface of the fork body 47, and the head 53a It does not protrude upward from the main body 47 .

In this embodiment, when the four forks 18 and 19 can be inserted into the storage portion in which the object 2 is stored, the hand base portion 17 is attached with the two forks 19 attached. A robot 1 is used. On the other hand, when the object 2 to be conveyed by the robot 1 is too small to insert the four forks 18 and 19 into the container, the two forks 19 are removed from the fixed member 40. be

When removing the fork 19, the cover 23 is removed, the bolt member 53 engaged with the screw hole 40a is loosened from above, and the fork 19 is removed. At this time, the fork 19 is moved toward the tip side of the fork 19 and the fork 19 is removed. For example, a predetermined serial number is stamped on the fork base end 19a and the slide member 36 so that the fork 19 is fixed to the same slide member 36 when the removed fork 19 is fixed to the slide member 36 again. It is

(Main effects of this form)
As described above, in this embodiment, the fork fixing mechanism 52 includes the bolt member 53 that fixes the fork base end portion 19a to the hand base portion 17, and the compression coil spring that biases the bolt member 53 against the fork base end portion 19a. 54 and a retaining ring 55 attached to the bolt member 53 . Further, in this embodiment, when the bolt member 53 is removed from the screw hole 40a of the hand base 17, the retaining ring 55 contacts the fork base end 19a due to the biasing force of the compression coil spring 54 and is removed from the bolt insertion hole 19b. The bolt member 53 is prevented from coming off, and the bolt member 53 does not come off from the bolt insertion hole 19b of the fork 19 when the fork base end portion 19a is removed from the hand base portion 17.例文帳に追加

Therefore, in this embodiment, it is possible to handle the bolt member 53 together with the fork 19 removed from the hand base 17 . Therefore, in this embodiment, when removing the fork 19 from the hand base 17, it is possible to eliminate the need to remove the bolt member 53 from the bolt insertion hole 19b and store it in the housing portion of the bolt member 53. When the fork 19 is attached to the hand base 17, it is possible to eliminate the need for a separate bolt member 53 preparation work. As a result, in this embodiment, it is possible to easily attach and detach the fork 19 to and from the hand base 17 .

Further, when the robot 1 conveys a small object 2 to be conveyed, the two forks 18 arranged inside in the left-right direction are removed from the hand base 17, and the two forks 18 arranged outside in the left-right direction are removed from the hand base 17. When the fork 19 is removed from the hand base 17, the object 2 can be transported with respect to the container for the object 2 which is made smaller. 2 is preferably removed, the fork base end 19a of the fork 19 is attached to the hand base 17 by the fork fixing mechanism 52 in this embodiment. Therefore, in this embodiment, even when the fork 19 is removed from the hand base 17 , it is possible to easily attach and detach the fork 19 to and from the hand base 17 .

In this embodiment, the first positioning portion 53f of the bolt member 53 and the small diameter hole 48d and the through hole 49a of the fork base end 19a position the bolt member 53 relative to the fork base end 19a in the horizontal direction. The bolt member 53 is positioned with respect to the hand base portion 17 in the horizontal direction by the second positioning portion 53g of the member 53 and the placement hole 40b of the hand base portion 17 . Therefore, in this embodiment, when the fork 19 is attached to the hand base 17 , the fork base 19 a can be easily positioned in the horizontal direction with respect to the hand base 17 via the bolt member 53 . Therefore, in this embodiment, it is possible to more easily attach the fork 19 to the hand base 17 .

In this embodiment, a compression coil spring 54 and a retaining ring 55 are used to prevent the bolt member 53 from coming off the bolt insertion hole 19 b of the fork 19 removed from the hand base 17 . Therefore, in this embodiment, it is possible to prevent the bolt member 53 from coming off from the bolt insertion hole 19b of the fork 19 removed from the hand base 17 with a relatively simple configuration. That is, in this embodiment, even if it is possible to prevent the bolt member 53 from coming off the bolt insertion hole 19b of the fork 19 removed from the hand base 17, the configuration of the fork fixing mechanism 52 can be simplified. be possible.

(Other embodiments)
The embodiment described above is an example of the preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications can be made without departing from the gist of the present invention.

In the embodiment described above, the two forks 19 may be arranged inside in the left-right direction, and the two forks 18 may be arranged outside in the left-right direction. That is, the two forks 19 may be arranged between the two forks 18 in the left-right direction. Moreover, in the form mentioned above, at least one fork 19 of the two forks 19 may be fixed in the left-right direction. In this case, the fork base end portion 19a of the fork 19 fixed in the left-right direction is fixed to the base frame 22 by a fork fixing mechanism 52, for example. Moreover, in the form mentioned above, at least one fork 18 of the two forks 18 may be fixed in the left-right direction.

In the embodiment described above, the number of forks 18 included in the hand 3 may be one, or may be three or more. Moreover, in the above-described embodiment, the number of forks 19 included in the hand 3 may be one, or may be three or more. Furthermore, in the embodiment described above, the spring member 54 for biasing the bolt member 53 may be a spring member other than a compression coil spring. The retaining member 55 for preventing the bolt member 53 from coming off from the bolt insertion hole 19b may be a retaining ring other than the C-shaped retaining ring, or may be a member other than the retaining ring.

In the embodiment described above, the hand 3 may include a positioning portion for positioning the fork base end portion 19a with respect to the hand base portion 17 in the horizontal direction. In this case, for example, the inner diameter of the small diameter hole 48d, the inner diameter of the through hole 49a, and the inner diameter of the arrangement hole 40b are larger than the outer diameter of the shaft main body 53d. Moreover, in the form mentioned above, the bolt insertion hole 19b may penetrate the fork base end part 19a in the left-right direction. In this case, for example, the fixing member 40 is arranged on one side in the left-right direction of the fork base end portion 19a, and the fork base end portion 19a is arranged on one side in the left-right direction of the fork base end portion 19a. It is fixed to the fixing member 40 by the bolt member 53 .

In the embodiment described above, the robot 1 is a horizontal articulated robot, but the robot to which the present invention is applied may be an industrial robot other than the horizontal articulated robot. For example, the robot to which the present invention is applied may have a slide mechanism for linearly sliding the hand 3 instead of the arm 4 .

1 Robot (industrial robot)
2 object to be conveyed 3 hand 4 arm 5 main body 17 hand base 17a hand base side positioning part 18 fork (second fork)
19 Fork 19a Fork Base End 19b Bolt Insertion Hole 19c Fork Base End Positioning Part 27 Fork Pitch Changing Mechanism 35 Feed Screw Shaft 36 Slide Member 37 Nut Member 40a Screw Hole 52 Fork Fixing Mechanism 53 Bolt Member 53e Retaining Ring Engagement Groove 53f first positioning portion 53g second positioning portion 54 compression coil spring (spring member)
55 retaining ring (retaining member)
X Longitudinal direction of fork Y Orthogonal direction

Claims (6)

In the hand of an industrial robot that transports objects to be transported,
A fork formed in a straight line, a hand base to which the fork is attached, and a fork fixing mechanism for fixing the fork base end, which is the base end of the fork, to the hand base,
A bolt insertion hole penetrating the fork base end is formed in the fork base end,
A screw hole is formed in the hand base,
The fork fixing mechanism includes a bolt member inserted through the bolt insertion hole and engaged with the screw hole, and the bolt member attached to one side of the fork base end portion in the direction in which the bolt insertion hole penetrates. a spring member for biasing and a retaining member for preventing the bolt member from coming off from the bolt insertion hole,
A male thread that engages with the female thread of the screw hole is formed at the tip of the bolt member,
the spring member biases the bolt member in a direction away from the screw hole;
The retaining member is attached to the bolt member, and when the male thread of the bolt member is disengaged from the female thread of the screw hole, the retaining member comes into contact with the base end of the fork to remove the bolt member from the bolt insertion hole. A hand characterized by preventing slipping. the through direction of the bolt insertion hole is the vertical direction,
The bolt member includes a first positioning portion for determining the position of the bolt member in the horizontal direction with respect to the fork base end portion, and a first positioning portion for determining the position of the bolt member in the horizontal direction with respect to the hand base portion. a second positioning portion is formed;
The bolt insertion hole is formed with a fork base end side positioning portion that contacts the first positioning portion and determines the position of the bolt member in the horizontal direction with respect to the fork base end,
2. The hand according to claim 1, wherein the hand base is formed with a hand base side positioning portion that contacts the second positioning portion and determines the horizontal position of the bolt member with respect to the hand base. . The spring member is a compression coil spring into which the bolt member is inserted on the inner peripheral side,
The retaining member is a retaining ring,
3. The hand according to claim 1, wherein the bolt member is formed with a retaining ring engaging groove into which the retaining ring is fitted. comprising a plurality of said forks arranged parallel to each other;
The hand base includes a fork pitch changing mechanism that changes the pitch of the plurality of forks in an orthogonal direction perpendicular to the longitudinal direction and the vertical direction of the forks,
The fork pitch changing mechanism includes a feed screw shaft, a nut member engaged with the feed screw shaft, and a slide member to which the nut member is attached,
The hand according to any one of claims 1 to 3, wherein the fork base end is fixed to the slide member by the fork fixing mechanism. Assuming that the direction orthogonal to the longitudinal direction and the vertical direction of the fork is the orthogonal direction,
Two forks arranged parallel to each other, and two linear second forks arranged between the two forks in the orthogonal direction and parallel to the forks. 5. A hand according to any one of claims 1 to 4. A hand according to any one of claims 1 to 5, an arm rotatably connected to the distal end of the hand, and a main body to which the proximal end of the arm is rotatably connected. An industrial robot characterized by:

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