JP2518113Y2 - Robot hand compliance mechanism - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a compliance mechanism of a robot hand such as an automatic MDF (main wiring board) device.

[0002]

2. Description of the Related Art FIG. 6 is a plan view showing a conventional example of this type of compliance mechanism, and FIG. 7 is a side sectional view of the same. In the figure, 1 is an inner box, which has a hand part 2 in the front. Three
Is an outer box having a projecting port 4 of the hand portion 2 at the front, and the outer box 3 surrounds the inner box 1. 5 is the outer box 3
This is a screw feed mechanism provided at the rear part of the outer box 3 and operates to move the outer box 3 forward and backward.

Reference numeral 6 is a guide pin provided on the front inner surface of the outer box, and reference numeral 7 is a rocking bearing provided on the inner box 1 so as to correspond to the guide pin 6. Reference numeral 8 denotes a rear spring which biases the inner box 1 from the rear toward the guide pin 6 side. 9 is the inner box 1
Is a plurality of holding springs for holding the inside of the outer box 3 from the left, right, up and down directions.

The operation of the conventional example having the above structure will be described below. FIG. 8 is a plan view showing the operation of the conventional example, in which 10 is a pin provided at the tip of the hand portion 2, and 11 is a pin.
Is a hole into which the pin 10 is inserted. FIG. 9 is also a plan view showing the operation of the conventional example, which shows the pin 10 when inserted.
Indicates that there is an error in the position of the hole 11. FIG. 10 is also a plan view showing the operation of the conventional example, which includes a pin 10 and a hole 1.
The state in which the error at the position of 1 is corrected is shown.

First, in the normal state shown in FIG. 8, the inner box 1 to which the hand portion 2 is attached is urged toward the guide pin 6 side by the rear spring 8, and the swing bearing 7 thereof is fixed in contact with the guide pin 6. ing.

When inserting the pin, if there is an error in the positions of the pin 10 and the hole 11 as shown in FIG. 9, the rocking bearing 7 is separated from the guide pin 6 as shown in FIG. 10 due to the load during operation. The inner box 1 is held in a swingable state, and the inner box 1 moves in a direction in which the pin 10 is not loaded.

In this state, the outer box 3 is advanced by the screw feed mechanism 5, and the insertion force is controlled by the force of the rear spring 8 to control the pin 10
To the end. During this time, the inner box 1 moves in a direction in which the pin 10 is not loaded.

As described above, when the pin 10 is inserted / removed, the insertion / removal is performed without relying only on the positioning accuracy of the robot hand and while reducing the load applied to the pin 10.

[0009]

However, according to the prior art having the above-described structure, when the rear spring has a strong force, it becomes difficult for the rocking bearing to separate from the guide pin, which makes it difficult to rock the inner box. Therefore, there is a problem that a force is applied to the pin when the pin is positioned and removed, and the pin is broken.

When the force of the rear spring is weak, the inner box is likely to be in a swingable state, but the force for inserting the pin is small and is smaller than the pressure at the time of insertion as shown in the table of FIG. There was a problem that the pin could not be inserted all the way.

In view of the above problems, it is an object of the present invention to improve the workability of a robot hand by obtaining a structure having both lightness of compliance and strength for inserting a pin.

[0012]

In order to achieve the above object, the present invention is designed to reduce the biasing force of the rear spring during pin positioning / withdrawal and increase the biasing force of the rear spring during pin insertion. .

That is, according to the present invention, an inner box having a hand portion at the front is surrounded by an outer box having a projecting port of the hand portion at the front, and a screw feed for operating forward and backward movement of the outer box is provided at the rear portion of the outer box. A rear spring for providing a mechanism, providing a guide pin on the front inner surface of the outer box, providing a swinging bearing corresponding to the guide pin on the inner box, and urging the inner box from the rear toward the guide pin side. In the compliance mechanism of the robot hand provided with, the rear spring has a double structure of an outer spring and an inner spring having different free lengths from each other.

[0014]

With the above construction, the present invention corrects the position by the hand part even if the load applied to the pin is small due to the error between the center of the hole and the center of the pin when the pin is positioned and removed.
The load applied to the pin can be reduced, and the pin can be pushed to the end with a strong force against the resistance generated when the pin is inserted.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments will be described below with reference to the drawings. 1 is a plan view showing an embodiment of the present invention, FIG. 2 is a side view of the same, and FIG.
[FIG. 3] is a plan view of an essential part of the embodiment. In the figure, 1 is an inner box, which has a hand part 2 in the front. Reference numeral 3 denotes an outer box having a projecting opening 4 of the hand portion 2 at the front, and the outer box 3 surrounds the inner box 1. Reference numeral 5 denotes a screw feed mechanism provided on the rear portion of the outer box 3 for operating forward and backward movements of the outer box 3.

Reference numeral 6 is a guide pin provided on the front inner surface of the outer box, and reference numeral 7 is a rocking bearing provided on the inner box 1 so as to correspond to the guide pin 6. 9 is the inner box 1 inside the outer box 3,
It is a plurality of holding springs that hold from the left, right, and bottom directions.
Reference numeral 20 denotes a rear spring that biases the inner box 1 from the rear toward the guide pin 6 side. As shown in FIG. 3, the rear spring 20 has a double structure of an outer spring 20a and an inner spring 20b having different free lengths. Has become.

The operation of the conventional example having the above configuration will be described below. First, in FIG. 1, the inner box 1 to which the hand portion 2 is normally attached is guided by the inner spring 20b to the guide pin 6
The rocking bearing 7 is urged toward the side and fixed in contact with the guide pin 6.

If there is an error in the positions of the pin 10 and the hole 11 when inserting the pin, the oscillating bearing 7 will be affected by the load during operation.
Is separated from the guide pin 6, the inner box 1 is held in a swingable state, and the inner box 1 moves in a direction in which the pin 10 is not loaded. When the outer box 3 is moved forward by the screw feed mechanism 5 and the inner box 1 is inserted while moving in a direction in which the load is not applied to the pins, the outer spring 2 that has not worked until then
0a comes into contact with the inner spring 20b, the forces of the outer spring 20a and the inner spring 20b are combined, and the combined force causes the pin 1 to move.
Insert 0 to the end.

FIG. 4 is a graph showing the relationship between the inner box movement amount and the spring pressure by the double spring of this embodiment, and FIG. 5 is a graph showing the relationship between the inner box movement amount and the spring pressure by the conventional single structure rear spring. It was As shown in FIGS. 4 and 5, this example shows that the initial pressure is lower than that of the conventional example, and that the pressure at the time of completion of pin insertion is equivalent. As described above, when the pin is inserted / removed, the insertion / removal is performed without depending only on the positioning accuracy of the robot hand and while reducing the load on the pin.

[0020]

As described in detail above, according to the present invention, the inner box having the hand portion in the front is surrounded by the outer box having the projecting port of the hand portion in the front, and the outer box is provided at the rear portion of the outer box. A screw feed mechanism for operating forward / backward movement is provided, a guide pin is provided on a front inner surface of the outer box, a swinging bearing corresponding to the guide pin is provided on the inner box, and the inner box is provided with a guide pin from the rear side. In the compliance mechanism of the robot hand, which is provided with a rear spring that urges to the side, the rear spring has a double structure of an outer spring and an inner spring having different free lengths. It is possible to reduce the force and increase the biasing force of the rear spring when inserting the pin.

As a result, it becomes possible to combine the lightness of the compliance with the strength for inserting the pin, which has the effect of improving the workability of the robot hand.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of the present invention.

FIG. 2 is a side sectional view showing the embodiment.

FIG. 3 is a plan view of an essential part of the embodiment.

FIG. 4 is a graph showing the relationship between the inner box movement amount and the spring pressure due to the double spring of the same embodiment.

FIG. 5 is a graph showing a relationship between an inner box movement amount and a spring pressure by a rear spring having a single structure of a conventional example.

FIG. 6 is a plan view showing a conventional example.

FIG. 7 is a side sectional view showing a conventional example.

FIG. 8 is a plan view showing an operation of a conventional example.

FIG. 9 is a plan view showing the operation of the conventional example.

FIG. 10 is a plan view showing an operation of a conventional example.

FIG. 11 is a graph showing pressure when a pin is inserted in a conventional example.

[Explanation of symbols]

 1 Inner Box 2 Hand Part 3 Outer Box 4 Projection Port 5 Screw Feed Mechanism 6 Guide Pin 7 Swing Bearing 20 Rear Spring 20a Outer Spring 20b Inner Spring

Claims (1)

(57) [Scope of utility model registration request] 1. An inner box having a hand portion in front is surrounded by an outer box having a projecting opening of the hand portion, and a screw feed mechanism for operating forward and backward movement of the outer box is provided at a rear portion of the outer box. A robot provided with a guide pin on the front inner surface of the outer box, a swing bearing corresponding to the guide pin on the inner box, and a rear spring for urging the inner box from the rear toward the guide pin side. In the compliance mechanism of the hand, the rear spring is composed of an outer spring and an inner spring having different free lengths.
A robot hand compliance mechanism characterized by a heavy structure.