JP2601110Y2 - Robot arm hand device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device for a robot arm for setting work parts to be assembled after performing angular positioning in a circumferential direction.

[0002]

2. Description of the Related Art As an assembly of this kind, for example,
There is a so-called sirocco fan, which is a multi-blade ventilator in which a back plate with a center boss is attached to the blade tube. Heretofore, setting the blade cylinder in a press for assembling the back plate to the blade cylinder has been performed manually by an operator. That is, the blade cylinder is provided with a number of blades formed inward along the peripheral wall, and a center boss is mounted on a press lower die locking jig having slits on its outer periphery which engage with the number of blades. After placing the back plate, the operator places the blade cylinder on the lower lock jig while engaging the blade with the slit.

[0003]

[Problem to be Solved by the Invention] However, the work of inserting the blades provided in the circumferential direction while aligning them with the slits of the lower lock jig of the press is troublesome and easily tires the operator, and the production efficiency is reduced. There is a problem of lowering. For this reason, the use of a robot that has been frequently used recently can be considered. However, by using a multi-axis robot, even if the work can be rotated for the circumferential direction, that is, the angular alignment as described above, the blade cylinder has a large number of blades and cuts formed in a thin cylinder. Since it has a fragile structure that is extremely easily deformed, it is very difficult for a robot to position it on the lower lock jig of the press that has a number of slits corresponding to the above blades. The blades may be damaged, or the blades may be deformed without accurate positioning due to forcible pressing. Therefore, the present invention has been made in view of the above problems,
It is another object of the present invention to provide a robot arm hand device that can place a fragile work on an assembly jig without damaging the work.

[0004]

In order to achieve the above object, the present invention relates to a hand device mounted on a wrist provided at the tip of a robot arm of an articulated robot, wherein A substrate having a rail-shaped slide extending in the direction is provided, a robot hand guided up and down by the slide is provided, and a gripping device for removing a workpiece is provided in the robot hand, and the robot hand is provided on the substrate. and counterbalance means for supporting a supporting portion for restricting the normal lower limit position, the majority of the weight of the said gripping device grips the robot hand and the workpiece, confirm that the robot hand is in the lower limit position and a sensor for, the robot arm
The robot hand is moved from the lower limit position by the sensor while descending.
When it is detected that the robot arm has come off, the robot arm is stopped.
And the robot hand is detected to be at the lower limit position
And the robot arm can be lowered again
There was a shall.

[0005]

[Function] First, the robot arm of the articulated robot is moved from the initial position to the work pickup position, the work is grasped by the grasping device, and the work is brought to a position directly above the jig. Next, the workpiece is moved in the jig direction by lowering the arm. Here, when the work is not at the proper position with respect to the jig, the lower end of the work abuts on the upper surface of the jig and stays there to stop the lowering, but the arm continues to lower the substrate along the slide. As a result, the robot hand supporting the gripping device is displaced upward with respect to the substrate, so that the sensor detects that the robot hand has deviated from the lower limit position at a point displaced by a predetermined amount.

The lowering of the robot arm is stopped by the detection signal of the sensor, and the substrate is stopped. Then, the work is swung clockwise and counterclockwise about the axis by the articulated robot. Then, when the work coincides with the normal position with respect to the jig by the above-mentioned rotation, the work and the jig are in a proper engagement relationship, and the work is moved by the robot hand by its own weight until the robot hand abuts on the supporting portion along the slide. It descends with the hand.

When the sensor detects that the robot hand has reached the lower limit position, the rotation of the work is stopped and the robot arm is lowered again. This time, since the workpiece is properly engaged with the jig, the work descends together with the robot arm, and stops when the robot descends to a predetermined set position. Thereafter, the gripping device is released to release the work, the robot arm is returned to the initial position, and the setting of the work is completed.
This makes it possible for the robot to easily set the work requiring angular alignment, and that the counterbalance means supports most of the weight of the robot hand and the gripping device that grips the work. Since the contact frictional force between the work and the jig is small and is slightly shaken, the work is prevented from being damaged.

[0008]

FIG. 1 is a perspective view showing an embodiment of the present invention applied to a sirocco fan assembly in which a blade cylinder is mounted on a lower mold locking jig. The robot arm hand device 1 is mounted on a wrist 3 provided at the tip of a robot arm 2 of an articulated robot. The substrate 4 is directly attached to the wrist 3. The substrate 4 is provided with a slide 5 having an I-shaped cross section extending vertically. Further, a robot hand 6 is provided slidably up and down guided by the slide 5. A support plate 7 is provided at the lower end of the substrate 4 to regulate the lower limit position of the robot hand 6.

On the front surface of the robot hand 6, there is provided a gripping device 10 for vertically gripping a cylindrical blade cylinder (work) 9 having a number of blades 8 formed inward along the peripheral wall. Is provided. First, a holding plate 12 having a holding piece 11 protruding forward from above and below is provided and held on the front face of the robot hand 6, and a palm 13 capable of supporting a half circumference of the wing cylinder 9 is fixed to the holding piece 11. It is provided. In addition, the palm part 13 of various sizes is prepared, and is replaced according to the specification of the blade cylinder 9.
At the left and right ends of the palm portion 13, joint pieces 15 are rotatably provided via pins 14, respectively. And is provided.

On each of the right and left sides, the upper and lower joint pieces 15 are connected by an operation rod 17 as an operation point, and a rod end trunnion type is provided between the left and right operation rods 17 and the holding plate 12. Pneumatic cylinder 18
Are interposed respectively. These pneumatic cylinders 1
The trunnion 8 is supported by a bracket 20 provided on the holding plate 12, and the tip of a piston rod 21 of the pneumatic cylinder 18 is connected to the working rod 17 via a clevis 22. Further, between the robot hand 6 and the substrate 4, counterbalance means 23 is interposed on the left and right. For example, a tension coil spring 26 is interposed between pins 24 provided on the lower left and right sides of the robot hand 6 and pins 25 provided on the upper left and right sides of the substrate 4.

The tension coil spring 26 is adjusted so as to support most of the total weight of the robot hand 6, the gripping device 10, and the blade cylinder 9. Further, a sensor 27 is provided below the substrate 4 so that when the robot hand 6 moves away from the support plate 7 at the lower limit position and rises relatively to the substrate 4, it detects that the robot hand 6 has been displaced. Has become.

The present embodiment is configured as described above. First, the blade cylinder (work) 9 to be handled will be described in detail with reference to FIG. At both ends of the blade cylinder 9, a ring-shaped holding frame 28 having an L-shaped cross section is provided, and a large number of blades 8 are provided on the peripheral wall portion.
Are formed so as to protrude inward in the radial direction. Then, a back plate 31 on which a boss 30 having a shaft hole 29 for a drive shaft is fixed at an intermediate portion in the longitudinal direction of the blades 8 is assembled. Embodiment The robot arm hand device 1 is used in this assembling work.

FIGS. 3A and 3B are explanatory views showing the back plate, wherein FIG. 3A is a plan view and FIG. 3B is a view showing an arrow P in FIG. As shown in FIG. 3A, the back plate 31 is provided with a boss 30 for passing a drive shaft at the center thereof, and a plurality of bosses around the periphery so that the above-mentioned many blades 8 are engaged. Slit 32 is provided. Furthermore, between these adjacent slits 32,
As shown in FIG. 3B, a lock portion 34 is provided in which both sides are bent in a V-shape from the bending ridge line 33. The interval between the slits 32 is temporarily increased to d1. However, when the V-shaped lock portion 34 is crushed flat by a press or the like, the interval between the slits 32 is reduced to d0. Becomes
The blade cylinder 9 and the back plate 31 are connected.

In FIG. 1, in order to crush the V-shaped lock portion 34, a lower die lock jig 3 of a press is used.
5 is provided on a lower table (not shown). The lower lock jig 35 is inserted into the inside of the blade cylinder 9 and presses the lock portion 34, so that a slit 36 is provided on the outer peripheral portion in accordance with the inclination and pitch of the blade 8. Further, since the back plate 31 must be locked to the blade at an intermediate portion of the blade cylinder 9, the flange 37 for abutting the holding frame 28 for lowering the blade cylinder 9 in order to position the blade cylinder 9 in the vertical direction is lower. It is provided below the lock jig 35. The press is provided with an upper lock jig having a substantially similar shape to be paired with the lower lock jig 35, but a description thereof will be omitted because it is natural.

In the operation of the present embodiment, first, when the piston rod 21 of the pneumatic cylinder 18 is contracted, the finger 16 is opened together with the joint piece 15. In this state, the robot arm 2 of the articulated robot at the initial position is moved to the work pick-up position, where the blade cylinder 9 is moved.
When the piston rod 21 is contracted after holding the vicinity of the holding frame 28 in the palm portion 13, the blade cylinder 9
And the palm 13.

Then, the robot arm 2 and the wrist 3 are appropriately operated to move the blade cylinder 9 right above the axis of the lower die jig 35. Then, the robot arm 2 is lowered so that the blade cylinder 9 is lowered in the direction of arrow A from this position along the axis. Here, the angle of the blade cylinder 9 gripped by the finger 16 and the palm portion 13 varies, and in many cases, the blade 8 does not align with the slit 36 of the lower mold jig 35. As a result, the lower end of the blade 8 comes into contact with the upper surface of the lower lock jig 35 and stops there.
And the gripping device 10 remains in that position.

However, due to the slide 5, the substrate 4 continues to descend together with the robot arm 2. When the sensor 27 detects that the robot hand 6 has risen by a predetermined amount relative to the substrate 4, the articulated robot is controlled based on the detection signal, the robot arm 2 stops, and the The descent is stopped. Next, the articulated robot swings around the axis of the blade cylinder 9 by turning it clockwise and counterclockwise as viewed from above as indicated by arrows B and C.

When the blade 8 coincides with the position of the slit 36 of the lower die jig 35 by the above-mentioned rotation, the blade 8 enters the slit 36, and the blade cylinder 9 moves together with the robot hand 6 descending by its own weight. Lower end is support plate 7
Descend until it touches. Then, since the sensor 27 detects that the robot hand 6 has reached the lower limit position, the above-mentioned swinging is stopped, the robot arm 2 is lowered again, and the substrate 4 is lowered to the specified position. The holding frame 28 contacts the flange 37 and is set on the lower mold jig. Thereafter, the finger 16 is opened by the piston rod 21 of the pneumatic cylinder, the blade cylinder 9 is released, the robot arm 2 is returned to the initial position, and the setting operation for the lower lock jig of the blade cylinder is completed.

Thereafter, after the back plate 31 on which the boss 30 is mounted is placed on the lower mold lock jig 35 from above, and the upper mold jig is lowered, the locking portion of the back plate 31 is locked. Since the V-shaped bent portion 34 is flattened, the interval between the slits 32 is reduced from d1 to d0 and bites into the blade 8, and the back plate 31 on which the boss 30 is mounted is fixed in the blade tube 9 and assembled. Complete. The assembly connected to the back plate is transported to the next step by another robot.

As described above, according to the present embodiment, since no manual operation is required for the setting operation of the blade cylinder, the assembling operation can be automated, and the unmanned operation can be performed day and night. The degree will increase, and economic effects can be expected. Further, when the blade cylinder 9 is rotationally swung to align the blade 8 with the slit 36 of the lower die lock jig 35, the operation of the counter cylinder 23 causes the blade cylinder 9 to move.
The lower lock jig 35
Since the frictional force between the upper surface and the upper surface is small and the fragile blade 23 is not damaged, the reliability is improved.

The present invention is not limited to the above-described embodiment, but can be implemented in other modes by making appropriate changes. For example, although the palm portion 13 is configured as a single body that can support a half circumference of the blade cylinder 9, an appropriately divided one such as a left-right split type according to the work may be fixed.

In this embodiment, the back plate 31 is set after the blade cylinder 9 is set on the lower mold lock jig 35 in the embodiment, but the lower mold lock jig is reversed. The back plate, which is positioned on the positioning pin or the like, is placed first with the bent ridge line 33 of the bent lock portion 34 up, and then the blade cylinder is set. In this case, the lower end edge of the blade of the blade cylinder is guided by the slits 32 and 36 of the back plate and the lower locking jig along the inclined surface of the locking portion 34, and the circumferential angle is more smoothly aligned.

Further, in this embodiment, the present apparatus is used for the operation until the lower cylinder lock jig is set with the blade cylinder. However, the gripping state is maintained during the connection with the back plate after the setting. After the upper lock jig is raised after assembly, the articulated robot pulls out the blade cylinder 9 from the lower lock jig 35 and carries it to the next process position, where the gripping by the finger 16 is released. You can also.

[0024]

[Effects of the Invention] As described above, according to the present invention, when the work is lowered and the circumferential angle is adjusted, the slide and the sensor are provided, and the work is held by the holding device at the level at which the work is in contact with the jig. The work thus set is rotationally shaken by the articulated robot so as to be aligned with the jig, so that alignment is easy and workability is improved. At this time, since the weight load on the work, the gripping device, and the robot hand is reduced by the counterbalance means, the work is not damaged and the reliability is improved. As a result, manual work in the assembling work is reduced, automation becomes possible, and unmanned work can be performed continuously day and night, so that the degree of freedom in production planning increases and economic effects can be expected.

[Brief description of the drawings]

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

FIG. 2 is a perspective view showing a blade cylinder as a work.

FIG. 3 is an explanatory diagram of a back plate assembled to a blade cylinder.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot arm hand device 2 Robot arm 3 Wrist part 4 Substrate 5 Slide 6 Robot hand 7 Support plate (support part) 8 Blade 9 Blade cylinder (work) 10 Gripping device 13 Palm part 14 Pin 15 Joint piece 16 Finger 18 Pneumatic cylinder DESCRIPTION OF SYMBOLS 21 Piston rod 23 Counter balance means 26 Tension coil spring 27 Sensor 28 Holding frame 30 Boss 31 Back plate 32 Slit 34 Lock part 35 Lower type locking jig 36 Slit 37 Flange

Claims (1)

(57) [Scope of request for utility model registration] 1. A hand device to be mounted on a wrist provided at the tip of a robot arm of an articulated robot, wherein a substrate having a rail-shaped slide extending vertically is provided on the wrist, and a guide is provided on the slide. Provided a robot hand that moves up and down, a holding device for removing the work is provided on the robot hand, and a support portion for regulating the robot hand to a normal lower limit position on the substrate; and the robot hand and Counterbalance means for supporting most of the weight of the gripping device gripping the workpiece, and a sensor for confirming that the robot hand is at the lower limit position, and the robot is controlled by the sensor while the robot arm is descending. Han
Robot is detected to have deviated from the lower limit
Stop the arm and make sure that the robot hand is
Is detected, the robot arm can be lowered again.
Configured have hand device for the robot arm, characterized in Rukoto as.