JP2566074Y2 - Robot hand for removing paint mask members - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for removing a mask member attached to a work in a painting process.

[0002]

2. Description of the Related Art As shown in FIG. 6, in a coating process of a body 1 of a motor vehicle, a masking member 3 (tampol) is fitted into the hole 2 so that paint or the like does not enter through a hole 2 formed in the body 1. doing.

[0003] The masking member 3 is removed after painting. A robot is used to automatically remove the masking member 3. As shown in FIG. 6, as a robot hand for this purpose, a hand 5 including a claw member 7 rotated in the front-rear direction by a cylinder and a cover 6 for accommodating the claw member 7 at a backward rotation position is used. It is a structure attached to.

As shown in FIG. 6, an operation B1 in which a hand 5 approaches a masking member 3 by a robot arm 4 and a claw member 7 is rotated forward by a cylinder to expose the claw member 7 from a cover 6, as shown in FIG. Robot arm with
To move the robot arm 4 in a direction away from the body 1 to move the masking member 3 into the hole 2 as shown in FIG.
B3, and the operation of rotating the claw member 7 backward and storing it in the cover 6, the masking member 3 pierced by the claw member 7 hits the cover 6 and falls off the claw member 7 Is what you do.

[0005]

In the conventional hand described above, since the robot arm 4 moves in a short distance of the operation B1, B2, and B3, it is difficult to increase the speed of this operation. Therefore, there is a difficulty in improving the ability to remove the masking member. In addition, the operation B1 → B2 → B
Teaching of control point 3 is troublesome.

An object of the present invention is to provide a robot hand for removing a coating mask member which solves the above-mentioned conventional problems.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the gist of the present invention is to provide a slider which is attached to a casing so as to be movable forward and backward, and a claw member which is pivotally attached to the slider so as to be able to rotate in the front-rear direction. A cam member which moves forward and backward by a cylinder fixed to the casing, and which rotatably supports the claw member in the front-rear direction, and which is rotatably supported by the casing, and engages with the slider to always move the slider in the retreating direction. A lever for urging and engaging the cam member to move the slider forward, and fixed to the casing;
A cover for accommodating the claw member at a rearward rotation position of the claw member.

[0008]

According to the above construction, the claw member is moved forward and backward by one action of one cylinder, and the front and rear rotational movement is performed. The robot arm performs masking only by the linear forward and backward movement for moving the hand toward and away from the masking member. The member can be removed.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 10 denotes a hand, and 11 denotes a casing. A slider 12 is attached to the casing 11 so as to be able to move forward and backward, and a claw member 13 is pivotally mounted on a top surface of the slider 12 by a support shaft 14 so as to be rotatable in the front-rear direction.

Reference numeral 17 denotes a cylinder fixed to the casing, and reference numeral 18 denotes an operating shaft which is moved forward and backward by the cylinder 17. An inclined cam groove 19 is provided at the end of the operation shaft 18.
The cam member 19 in which a is formed is fixed.

In the inclined cam groove 19 of the cam member 19,
A guide pin 13b at the tip of an arm 13a provided on the claw member 13 is slidably guided.

Reference numeral 16 designates the slider 12 as a cylinder 17
This is a lever member that moves forward and backward in cooperation with the forward and backward operation of. The lever member 16 is rotatably supported by the casing, and has a first lever 16a engaged with a concave groove member 15 provided on the lower surface of the slider 12, and a second lever 16b engaged with the cam member 19. And have The lever member 16 is urged to rotate rightward in FIG. 1 by a spring 21 so as to always move the slider 12 in the backward direction.

Further, the casing has a cover 20 for accommodating the claw member 13 at a rearward rotation position of the claw member 13.
Is fixed.

The operation of the present invention with the above configuration will be described. As shown in FIG. 4, an outline of the operation is that the hand 10 approaching the masking member 3 rotates the claw member 13 located at the rear rotation position A1 forward to the upright position A2. 13, the hand 10 is separated from the body 1, the masking member 3 is pulled out from the hole 2, and the claw member 13 is moved backward and rotated backward as shown in FIG. At this time, the masking member 3 pierced by the claw member 13 hits the cover 20 and falls off.

Details of the above operation will be described with reference to FIGS. In FIG. 1, the operating shaft 18 is moved to the forward end by the cylinder 17, the claw member 13 is rotated backward by the cam member 19 and housed in the cover 20, and the slider 12 is moved to the retracted end in the original position. is there. In this state, the robot arm 4 is linearly operated toward the masking member 3, and the hand 10 approaches the masking member 3.

When the hand 10 approaches the masking member 3, the operating shaft 18 is moved backward by the cylinder 17. Accordingly, the cam member 19 rotates the claw member 13 forward, and the claw member 13 stands upright as shown in FIG.

Thereafter, the lever member 16 in which the second lever 16b is engaged with the cam member 19 is rotated leftward as shown in FIG.
The slider 12 is moved forward by a. The upright claw member 1 is formed by the forward movement of the slider 12.
3 advances and pierces the masking member 3.

After the claw member 13 pierces the masking member 3, the robot arm 4 moves the body 1 as described above.
The masking member 3 is pulled out of the hole 2 by linearly operating in a direction away from the hole.

After removing the masking member 3, the operation shaft 18 is advanced, the claw member 13 is rotated backward, and the slider 12 is moved backward by the rightward rotation of the lever member 16 by the spring 21. The member 13 is housed in the cover 20. At this time, in order to assist the right rotation of the lever member 16 by the spring 21, the operating shaft 18
Performs the operation of pushing up the second lever 16b.

[0020]

As described above, according to the present invention, a slider attached to a casing so as to be able to move forward and backward, a claw member pivotally attached to the slider so as to be able to rotate in the front-rear direction, and a cylinder fixed to the casing are provided. A cam member that moves forward and backward, and rotates the claw member in the front-rear direction, and is rotatably supported by the casing, engages with the slider and constantly biases the slider in the backward direction, and The lever includes a lever for engaging and moving the slider forward, and a cover fixed to the casing and accommodating the claw member at a rearward rotation position of the claw member. The movement and the forward / backward movement are performed by one action of one cylinder, and the robot arm is only a linear movement that moves the hand toward and away from the masking member,
The speed of the masking member removing operation can be increased, and the time required for the masking member removing operation can be reduced. Further, since the control of the robot arm is simplified, the teaching of the robot is facilitated.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of an original position of a hand according to the present invention.

FIG. 2 is a sectional view of the claw member of the hand according to the present invention in an upright state;

FIG. 3 is a sectional view of the claw member of the hand of the present invention in an advanced state.

FIG. 4 is an explanatory view of a procedure for removing the masking member by the hand of the present invention.

FIG. 5 is an explanatory view of a state in which the masking member is dropped by the hand of the present invention.

FIG. 6 is an explanatory view of a procedure for removing a masking member of a conventional hand.

FIG. 7 is an explanatory view of a state where a masking member of a conventional hand is dropped.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Hand 11 Casing 12 Slider 13 Claw member 16 Lever member 17 Cylinder 18 Operating shaft 19 Cam member 20 Cover

Claims (1)

(57) [Scope of request for utility model registration] 1. A slider attached to a casing so as to be able to move forward and backward, a claw member pivotally attached to the slider so as to be able to rotate in the front-rear direction, and a cylinder fixed to the casing to move forward and backward to move the claw member back and forth. A cam member that rotates in the direction, and is rotatably supported by the casing, engages with the slider and constantly urges the slider in the backward direction, and engages with the cam member to move the slider forward. A robot hand for removing a coating mask member, comprising: a lever; and a cover fixed to the casing and accommodating the claw member at a rearward rotation position of the claw member.