JP3226334U - Compound rocking gripper device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a horizontal swing gripper device in which swing and rotation are added to an electric gripper having a claw for gripping a work, which can reduce the size and weight of a vertical articulated robot. SOLUTION: A stepping motor 13 with an encoder is used as a drive source of a horizontal rocking part 11 and a gripper part 12, and a cylindrical reinforcing shaft is fastened to an output shaft of the stepping motor 13 with an encoder of the vertical rocking part. Is fitted to the inner diameter of the inner ring of the ball bearing, the outer diameter of the outer ring of the ball bearing is fitted to the substantially cylindrical hole formed in the substantially L-shaped bracket 18, and the convex portion of the vertical end surface of the L-shaped bracket 18 is attached to the tool mounting surface of the robot. In the rocking gripper device 1 in which the reinforcing shaft of the horizontal rocking part 11 is coupled in the vicinity of the center of gravity with respect to the axis of symmetry of the horizontal rocking part 11 and the electric gripper 12, the recess of the L-shaped flange 20 of the rocking part The controller 14 for rotation control is provided in the above, and the controller 16 is provided on the opposite surface of the horizontal rocking portion 11 and the rotary coupling portion of the electric gripper portion. [Selection diagram] Fig. 7

Description

The present invention relates to an apparatus in which swing rotation is added to an electric gripper having a claw for gripping a work.

Conventionally, YZ tables and SCARA robots have been used for transporting and assembling parts in a vertical direction, and a vertical articulated robot as in Patent Document 2 is used when assembling diagonally or laterally with a gripper attached to the robot tip. I've been However, the vertical articulated joints usually have 6 axes and are larger and heavier than necessary, so there were many problems in carrying and assembling on a table. Therefore, a pneumatic swing actuator and an electric reduction gear hollow rotary have been used as a method of adding a swing axis to the YZ table and the SCARA robot of Reference 1.

A rotary actuator as described in Reference 3 is used for this pneumatic swing actuator.

On the other hand, the electric rotary reducer hollow rotary is positioned in the rotary portion through the speed reducer by the stepping motor with an encoder as in Reference 3 as in Reference 4, but is composed of a reducer and a linear guide, etc. It was difficult to integrate the controller.

JP-A-64-16387 Horizontal articulated robot JP-A-63-28582 Articulated robot Patent Document 1: Japanese Patent Laid-Open No. 2016-212673 Rotary Actuator Patent Document 1: Japanese Patent Laid-Open No. 2009-232540 Electric rotary actuator JP-A-2014-105990, optical encoder, motor with optical encoder, and method of manufacturing the same

Since the vertical articulated robot as in Patent Document 2 has a horizontal axis rotation axis, it can swing, but it is difficult to downsize the robot itself.
On the other hand, there is a method of adding a swing axis to the horizontal articulated robot (scalar robot) of Reference 1, and a rotary actuator as in Reference 3 is used for the pneumatic swing actuator, but multiple positioning is not possible. There are only two points, the starting end and the end, and arbitrary positioning is not possible.
In the method using the electric rotary actuator as disclosed in Patent Document 4, it is difficult to reduce the weight and size because the controller is arranged outside the robot because of the reduction gear and the linear guide.

The present invention has been made to solve such a problem. By integrating a controller for each of the horizontal swing part and the hand part with internal wiring, it is lightweight and compact, and for swing and grip control. It is an object of the present invention to provide an oscillating electric gripper device capable of easily installing a cable of the above.

In order to achieve this object, the oscillating electric gripper device according to the present invention uses a stepping motor with an encoder as a driving source of the horizontal oscillating part and the gripper part, and the output shaft of the stepping motor with an encoder of the vertical oscillating part is a cylinder. A shaped reinforcing shaft is fastened, the reinforcing shaft is fitted to the inner ring inner diameter part of the ball bearing, the outer ring outer shape part of the ball bearing is fitted to a substantially cylindrical hole opened in the L-shaped bracket, and the vertical end surface of the L-shaped bracket is projected. A swinging gripper device in which a horizontal swinging portion whose part is a tool mounting surface of a robot and a reinforcing shaft of the horizontal swinging portion of the previous term is coupled to the electric gripper shaft target axis near the center of gravity. It is also possible to provide a controller for rotation control in the concave portion and to provide a controller on the opposite surface of the horizontal rocking portion and the rotary coupling portion of the electric gripper portion.

In the horizontal electric gripper device according to the present invention, the horizontal rocking portion is screwed to the main shaft through several tapped holes formed on the circumferential side surface of the reinforcing shaft having a T-shaped cross section, and the outer ring of the reinforcing main shaft is screwed. Is fitted with the inner ring of the ball bearing, the outer ring of the ball bearing is fitted with the hollow cylindrical hole in the L-shaped bracket, and a cylindrical ring is arranged between the outer ring side surface of the ball bearing and the motor flan tip surface. The inner ring and the head L portion of the reinforcing main shaft are threadedly connected to the reinforcing shaft of the horizontal swinging portion through the cylindrical ring and the center position of the inner surface of the L-shaped flange, and the head portion of the electric gripper is attached to the other inner surface of the L-shaped flange. It may have a fixed structure.

The present invention has a structure in which, in the horizontal electric gripper device, the convex portion of the vertical end surface of the L-shaped bracket is provided at the tool surface position of the robot, and the electric gripper is provided with another flange whose axial center position and Z-axis coordinate are the same. May be.

According to the present invention, in the horizontal electric gripper device, the horizontal oscillating unit controller has a controller having a function of detecting the magnitude of an external force by opening a relative angle change between a vector angle obtained by microstep excitation of a stepping motor and an encoder angular position. You may have.

In the horizontal electric gripper device according to the present invention, the motor current line, the encoder signal line, and the encoder power supply of the stepping motor with an encoder are internally wired to the controller through an intermediate BOX disposed between the motor side part and the controller bottom part. You may have.

According to the present invention, in the horizontal electric gripper device, a communication line for externally controlling the rotational position of the swing part and gripper gripping control is connected from the gripper part controller connector to the horizontal swing part connector, and from the horizontal swing part connector. It may have a control device such as an external programmable controller that can be controlled by a single cable flow.

In the present invention, the horizontal swinging part and the reinforcing shaft of the horizontal swinging part in the previous term are connected to the electric gripper shaft target shaft in the vicinity of the center of gravity, and the load torque when the swinging part motor is stopped is the gripper claw and the claw. Since the weight of the work to be gripped becomes and acceleration/deceleration during swinging is low, a relatively large work can be carried.

Since this horizontal swing gripper device swings the gripper part directly by the reinforcing shaft without using a speed reducer in the swing part, the size and weight of the robot device can be reduced.

This horizontal swing gripper device has a built-in controller for the swing part and gripper part, and it can be controlled by an external programmable controller and one cable. Simplification of control on the external device side including cable loosening and start-up work. Labor saving of wiring work can be achieved.

The vertical end of the L-shaped bracket is provided with a convex portion on the tool mounting surface of the robot, and the electric gripper is provided with another flange whose axis center position coincides with the Z-axis coordinate. Since the gripper gripping center axis of the gripper device is the same, the Z coordinate position correction on the robot side is omitted, the complexity of the robot program is omitted, and the shortening from the robot flange surface to the tip of the claw is achieved, which suppresses position deviation due to moment. it can.

Therefore, according to the present invention, although the electric gripper is equipped with a function of swinging and rotating, it is lightweight and compact, and the swinging electric motor that can easily install and control the control cable is used. A gripper device can be provided, and the FA device as a whole can be downsized.

FIG. 3 is a perspective view of a YZ axis robot equipped with the horizontal swing gripper device according to the first embodiment. FIG. 3 is an enlarged view of FIG. 2. It is a perspective view of a horizontal rocking gripper device. It is a perspective view of the opposite surface of FIG. It is the perspective view seen from the bottom of a horizontal rocking gripper device. It is a perspective view of the opposite surface of FIG. It is a perspective view of the horizontal rocking gripper device which attached the cable and the nail. FIG. 8 is a perspective view of a horizontal swing gripper device in which the claws of the gripper portion in FIG. 7 are rotated 90 degrees. It is a front view of a horizontal rocking gripper device. It is sectional drawing of the substantially L-shaped bracket of FIG. It is a perspective view of the internal cable from the controller of a horizontal rocking gripper device to the inside of an intermediate box. FIG. 6 is a perspective view of a horizontal swing gripper device in which a robot Z-axis tip arm is attached via another flange having the same Z-axis coordinates. It is a front view of the horizontal rocking gripper apparatus explaining the procedure which attaches another flange of FIG.

(First embodiment)
An embodiment of the electric gripper device according to the present invention will be described in detail below with reference to FIGS.
FIG. 1 shows a YZ axis robot equipped with a horizontal swing gripper device. The YZ axis robot is an FA (Factory Automation) factory, specifically, an automobile part assembly process, an electronic machine assembly process, and an optical device automation. It is a YZ axis robot that is generally used in processes, food topping processes, medical devices, and the like, and is also called a gate-type table.

The horizontal swing gripper device 1 is mounted on the Z-axis moving table 9 via a flange 7 on the portal table. FIG. 2 is an enlarged view thereof.
Stepping motors 13 and 13b with encoders are used as driving sources for the horizontal oscillating portion 11 and the gripper portion 12, and a cylindrical reinforcing shaft 43 is fastened to the output shaft of the stepping motor 13 with encoders of the vertical oscillating portion. Is fitted to the inner ring inner diameter portion of the ball bearing 40, the outer ring outer diameter portion of the ball bearing 40 is fitted to a substantially cylindrical hole formed in the substantially L-shaped bracket 18, and the convex portion of the vertical end surface of the L-shaped bracket 18 is made into a tool of the robot. In the rocking gripper device 1 in which the horizontal rocking portion 11 serving as the mounting surface and the reinforcing shaft 43 of the previous horizontal rocking portion 11 are coupled in the vicinity of the center of gravity with respect to the axis of the electric gripper 12 axis, the rocking portion substantially L-shaped flange A controller 14 for rotation control is provided in the concave portion of 20, and a controller 16 is provided on the opposite surface of the horizontal rocking portion 11 and the electric coupling of the electric gripper portion.

However, a small output swing motor can be used to rotate the electric gripper 12 in the vicinity of the center of gravity. Therefore, a gearbox having a large inertia ratio can be swinged without using a reducer without mechanical stress being applied to the motor shaft. When you rotate it

(Second embodiment)
FIG. 10 is a cross-sectional view of the substantially L-shaped bracket of FIG. 8, in which the horizontal swinging part 11 has a main shaft with screws through several tapped holes formed on the circumferential side surface of the reinforcing shaft 43 having a T-shaped cross section. The outer ring of the reinforcing main shaft 43 is fastened, and the outer ring of the ball bearing 40 is fitted with the inner ring of the ball bearing 40. The outer ring of the ball bearing 40 is fitted with the cylindrical hole formed in the L-shaped bracket 18, and the outer ring side surface of the ball bearing 40 and the tip of the motor flange. A cylindrical ring 41 is arranged between the surfaces, and the inner ring of the ball bearing 40 and the head L part of the reinforcing main shaft 43 are reinforced by the reinforcing shaft 43 of the horizontal swinging part and the center position of the inner surface of the L-shaped bracket 18 via the cylindrical ring 41. Is connected with a screw 44, and the head portion of the electric gripper 12 is fixed to the other inner surface of the L-shaped flange 20.

Therefore, according to this embodiment, the outer ring and the inner ring of the bearing can be regulated in the thrust direction, and even if a force in the thrust direction from the outside is applied, the motor shaft can be oscillated and rotated without mechanical stress.

(Third Embodiment)
12 and 13 show the robot from the final axis when mounted on a SCARA robot.
The horizontal articulated robot Z-axis 32 is screwed to the horizontal articulated robot Z-axis flange 34 via another flange 35 to the convex portion of the vertical end surface of the L-shaped bracket 18. A separate flange 35 is used to match the grip center position of the electric gripper with the horizontal articulated robot Z-axis flange 34 and the Z-axis virtual line 33.

Therefore, since the coordinate system of the robot, especially the workpiece flange coordinate, matches the X-Y axis of the tool coordinate, the coordinate conversion of the robot program only shifts the Z axis, and mistakes in program creation and maintenance and inspection by the teaching pendant can be reduced. . Further, the distance from the horizontal articulated robot Z-axis flange 34 to the claws 28, 28 of the gripper portion is the shortest, and the misalignment is prevented due to downsizing and tip blurring.

(Fourth Embodiment)
The horizontal oscillating unit controller 14 has a function of detecting the magnitude of an external force by opening a relative angle change between a microstep excitation angle (a composite angle of A and B phases in a two-phase stepping motor) and an encoder angle position of a stepping motor. Is.

Therefore, it is possible to horizontally swing and rotate the gripper portion 12 having a large inertia ratio with respect to the stepping motor 13 with an encoder of the swinging portion without step-out.

(Fifth Embodiment)
As shown in FIG. 11, the motor current line, the encoder signal line, and the encoder power source of the stepping motors 13 and 13b with encoders are internally wired to the in-controller flat cable 31 and the in-controller connector 30 through the intermediate BOX 15 arranged in the middle from the motor side. It was done.

Therefore, it is possible to reduce the weight and size only by providing the wiring between the gripper main body and the controller in the intermediate BOX without a housing for incorporating the gripper main body and the controller.

(Sixth Embodiment)
As shown in FIGS. 7 and 8, a communication line for externally controlling the rotational position of the rocking part and gripping control of the gripper is connected from the controller connector in the gripper part connector cover 26 to the connector in the horizontal rocking part connector cover 27. Thus, the horizontal swing and the gripper can be controlled by the flow of one cable from the horizontal swing unit connector to the control device such as an external programmable controller.

Therefore, the horizontal swing and the gripper can be controlled by one cable, and there is a great effect of reducing unnecessary space and bending breakage of the cable due to the routing of the cable. Furthermore, it contributes to the efficiency of wiring work.

1... Horizontal swing gripper device, 2... Horizontal swing gripper device when YZ is mounted, 3... Y-axis electric actuator, 4... Z-axis electric actuator, 5... Z-axis Frame, 6... Y-axis frame, 7... Z-axis L-shaped flange, 8... Y-axis moving table, 9... Z-axis moving table, 11... Oscillating part, 12... Gripper part, 13, 13b... Stepping motor with encoder, 14... Controller, 15... Intermediate BOX, 16... Controller, 17... Intermediate BOX, 18 L-shaped bracket, 19... Separate flange, 20... L-shaped flange, 21... Gripper claw mounting portion, 22... Gripper claw (one side), 23... Gripper claw (other side), 24... Controller cable, 25... Cable between controller and PLC, 26... Connector cover, 27... Connector cover, 28... Gripper claw (one side), 29... Gripper claw (other side), 30... Connector in controller, 31... Flat cable in controller, 32... Horizontal articulated robot Z-axis, 33... Virtual line of Z-axis, 34... Horizontal articulated robot Z-axis flange, 35... Separate Flange, 36, 37... Fastening bolt, 38... Positioning pin, 39... Fastening bolt, 40... Bearing, 41... Cylindrical ring, 42... Screw, 43... Reinforcing shaft , 44... screws

Claims (6)

A stepping motor with an encoder is used as the drive source for the horizontal swing part and the gripper part, and a cylindrical reinforcing shaft is fastened to the output shaft of the stepping motor with an encoder for the vertical swing part.The reinforcing shaft is attached to the inner diameter of the inner ring of the ball bearing. The outer diameter portion of the outer ring of the ball bearing is fitted into the cylindrical hole formed in the L-shaped bracket, and the horizontal swinging portion with the protrusion of the vertical end surface of the L-shaped bracket as the robot tool mounting surface and the electric gripper shaft In an oscillating gripper device in which a reinforcing shaft of a horizontal oscillating portion is connected near the center of gravity with respect to a target axis, a controller for rotation control is provided in a concave portion of an L-shaped bracket of the oscillating portion, and a horizontal oscillating portion and an electric gripper are provided. Horizontal swing gripper device with a controller on the opposite side of the rotary joint. The compound rocking gripper device according to claim 1,
The horizontal oscillating part main shaft is screw-fastened to the main shaft of the reinforcing shaft having a T-shaped cross section through several holes on the circumferential side of the shaft, and the outer ring of the reinforcing main shaft is fitted to the inner ring of the ball bearing. The outer ring of the bearing is fitted into an open cylindrical hole in the L-shaped bracket, and a cylindrical ring is arranged between the outer ring side surface of the ball bearing and the motor flange tip surface, and the inner ring of the ball bearing and the head portion L of the reinforcing spindle are provided. A horizontal swing gripper device having a structure in which a reinforcing shaft of a horizontal swing portion and a center position of an inner surface of an L-shaped flange are screw-connected via a cylindrical ring, and a head portion of an electric gripper is fixed to the other inner surface of the L-shaped flange. The compound rocking gripper device according to claim 1,
A horizontal swing gripper device having a structure in which a convex portion on the vertical end surface of the L-shaped bracket is provided on the tool mounting surface of the robot, and the electric gripper is provided with another flange whose axis center position coincides with the Z-axis coordinate. The compound rocking gripper device according to claim 1,
In the horizontal swing part controller, a horizontal swing gripper device has a controller that has a function to detect the magnitude of external force by opening the relative angle change between the vector angle and the encoder angle position where the stepping motor is micro-step excited. 2. The composite oscillating gripper device according to claim 1, wherein the motor current line, the encoder signal line, and the encoder power supply of the stepping motor with an encoder are internally wired to the controller through an intermediate BOX arranged between the motor side part and the controller bottom part. Horizontal swing gripper device. 2. The composite swing gripper device according to claim 1, wherein a communication line for externally controlling the rotational position of the swing part and gripper control of the gripper is connected to the horizontal swing part connector from the gripper part controller connector, and the horizontal swing part. Horizontal swing gripper device that can be controlled from a connector to an external programmable controller or other control device with a single cable flow.

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