JP3226634U - Enlarged claw for gripper - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an enlarged claw for a gripper capable of reducing the size and weight of a robot device equipped with the gripper. An enlarged claw for a gripper has two V-shaped arms (5, 6) with a V-shaped apex serving as a swinging rotary shaft (7), and tip portions (3, 4) of both arms and work gripping parts (8, 9) are separated. As a mechanism, an H-shaped guide 17 was provided in the arm opening/closing direction. When the gripper is opened and closed, both arms of the arm swinging rotary shaft swing and rotate, and by slightly moving up and down, the gripping stroke can be enlarged or reduced by the ratio of the short side to the long side of the arm. When opening and closing, no force is applied to the enlarged claws in the twisting direction. Further, there is no interference between both arms when assembling the enlarged claw, which simplifies the assembly work. [Selection diagram] Fig. 4

Description

The present invention relates to a gripper claw attached to the tip of an industrial robot.

In the industrial SCARA robot and the industrial articulated robot, a parallel open/close type gripper as in Patent Document 1 and a swivel type gripper as in Patent Document 2 are used for gripping and transporting and assembling parts.

In the parallel type gripper, the gripper body is larger than the work shape in the gripping direction as in Patent Document 3, and a large shape gripper is used for a large work.
On the other hand, when the size of the gripper body is limited or when the claws of the gripper interfere with an external jig, a swing gripper as in Patent Document 2 is used as an escape mechanism.

There is also an example in which a gripper is provided with an expansion claw as in Patent Document 4 to convey a large work.

JP-A-8-206987 JP-A-10-80888 JP-A-9-38881 Utility model registration No. 3217740

Conventionally, in an industrial SCARA robot and an industrial articulated robot, a parallel opening/closing type gripper as in Patent Document 1 and a swivel type gripper as in Patent Document 2 have been used in a transfer and assembly work for gripping parts.
When the work shape becomes large, a gripper as in Patent Document 3 is used, but the shape of the gripper main body becomes large, which causes a problem of upsizing of the robot device to which the gripper is attached.

Further, there is a rotating gripper as in Patent Document 2, but since the link mechanism is provided in the gripper, the mechanism becomes large and it is difficult to grip a large work.

Further, although the pawl with the enlarging mechanism as in the proposal document 4 has an arm, there is a problem that the swing shaft is not fixed because of the scissor mechanism and the work is easily gripped.
Further, in the proposal document 4, since the arm length is long, there is a risk that the arm bends if it interferes with a tray or a jig in the apparatus.

The present invention has been made in order to solve such a problem. When the V-shaped vertices of two V-shaped arms are used as swinging rotation axes, and the short sides of both arms are opened and closed, the long sides of both arms are opened. By using an enlarged claw that closes and opens, there is the effect that stable opening and closing is possible. Further, by using the separating mechanism between the tip end portions of both arms and the work gripping portion, there is an effect that the adaptability to the work change is increased.

Further, by providing the H-shaped guide in the arm opening/closing direction, it is possible to prevent accidental breakage of the gripper and the enlarged claw during operation.
It is an object of the present invention to provide an enlarged claw for a gripper having the above effects.

In order to achieve this object, the gripper magnifying claw according to the present invention is not a conventional scissor-type magnifying mechanism, but a V-shaped arm having a swing axis as an apex, and the ends of the short sides of both arms are opened and closed. An open/close reversing mechanism is used in which both long sides of the arms are closed and opened, and the enlargement ratio is determined by the ratio of the short side of the gripper side arm and the long side of the grip side.

The arm rocking rotary shaft bearing structure is a mechanism in which the other arm rotary bearing is provided on both sides of one arm rotary shaft, and the cylindrical shaft is inserted at the bearing center. A separation mechanism with a mating structure is provided.

Further, an L-shaped flange is provided in the arm direction of the gripper body, and an H-shaped guide hole is provided in the bottom surface of the L-shaped flange in the opening/closing direction of the long sides of both arms.

In the present invention, the swinging bearing structure of two V-shaped arms is provided with a mechanism in which one arm rotating shaft is provided with the other arm rotating bearing on both sides and a cylindrical shaft is inserted in the center of the bearing. When the short side is opened and closed with the gripper, the gripping tip opens and closes due to the swinging motion of the arm long side, but the force applied to the arm shaft is only in the axial rotation direction and the vertical direction, and there is no rotational force in the torsion direction, so it is stable. It is possible to grasp the object automatically.

Further, since the two arms are V-shaped, the two arms do not overlap each other in the assembling work of the claws, so that the bearings can be fitted together and the assembling work is simplified.
Furthermore, since the long side end of the arm and the tip of the claw are fitted together, the claw shape and material can be easily changed according to the work shape, and the ability to cope with changes in the work shape is enhanced.

Further, by providing a guide on the arm portion of the enlarging mechanism, there is an effect that the guide protects the arm even when it interferes with a tray, a jig or the like in the apparatus.

It is a perspective view of the expansion nail for grippers. It is the front view which separated the V-shaped arm of FIG. It is the bottom view which looked at FIG. 2 from the work direction. It is a perspective view including a gripper.

(First embodiment)
Hereinafter, an embodiment of an enlarged pawl for a gripper according to the present invention will be described in detail with reference to FIGS.
FIG. 1 is a perspective view of the embodiment, and a gripper-side base right 1 and a gripper-side base left 2 are claw attachment portions that perform an opening/closing interlocking operation of a gripper (not shown). By opening and closing the gripper-side base right 1 and the gripper-side base left 2, the movement between the long sides of the arm around the arm swinging rotation axis 7 becomes a closed/open reversal operation, and the arm right 5 and the arm left 6 are axially coupled. The arm swinging rotary shaft 7 moves slightly up and down. As shown in FIG. 2, the left and right arms 3 and 4 have a V-shaped structure, and a bearing right 72 and a bearing left 73 at the tops thereof are fitted to the arm swinging rotary shaft 7. As shown in FIG. 3, the detailed structure of the arm swinging rotary shaft 7 is such that the bearing right 72 side has one bearing, and the bearing left 71 side has two bearings. Make up the appearance.

When the gripper is opened/closed, both arms of the arm swinging rotary shaft 7 swing and rotate, and further slightly move up and down in FIG. 2, so that the grip stroke is obtained by the ratio of the length of the short side of the arm 3 to the length of the long side. Can be enlarged or reduced, and no force is applied to the enlarged claws in the twisting direction when opening or closing.
Further, there is no interference between both arms when assembling the enlarged claw, which simplifies the assembly work.

The right side of the arm 5 and the left side of the arm 6 have separate structures in which the work gripping right part 8 and the work gripping part left 9 are screwed to each other at the ends of the long sides. 8, the work gripping part left 9 and the screwed separation structure.

When the work is, for example, a printed circuit board or a ceramic substrate, the optimum gripping condition can be obtained by changing the shapes of the T-shaped work gripping right 8 and the work gripping left 9 depending on the shape of the substrate.
Further, there is an effect that the optimum gripping condition can be obtained only by changing the holder shapes of the right and left claws 13 and 14 according to the thickness of the substrate.

However, for example, when the opening/closing stroke of the gripper is about 5 mm to 15 mm, the holder semi-circular groove 10 of the claws 13 and 14 can stably grip a printed circuit board of 100 mm square and a thickness of about 2 mm with a diameter of 2 mm.
In this embodiment, the gripper main body of 42 mm is a gripper expansion claw for gripping a printed circuit board of about 100 mm in size, but the length of each part can be changed.

(Second embodiment)
FIG. 4 is a diagram in which an enlarged claw is attached to the gripper body 18, which is fixed to the housing of the gripper body 16. The bottom surface of the H-shaped guide flange 16 has a guide shape along the swing of the arm right 5 and the arm left 6 with a gap to the extent that both arms do not contact.

However, even if the extended claw attached to the tip of the robot accidentally approaches a tray, a jig, or the like in an external device (not shown), the flange 16 with the H-shaped guide comes into contact first, and the robot stops safely, The gripper and the gripper extension claw are not broken, and there is a great effect that the damage to the machine due to an operation error while moving the robot can be minimized.

1... Gripper side base right, 2... Gripper side base left, 3... Link shaft right, 4... Link shaft left, 5... Arm right, 6... Arm left, 7. ..Arm swing rotary shaft, 8... Work grip right, 9... Work grip left, 10... Holder semicircular groove, 11... Screw, 11... Screw, 13... ..Claw right, 14... Claw left, 15... Gripper slide block, 16... H-shaped guide flange, 18... Gripper body, 71... Bearing right, 72... Bearing left ..

Claims (2)

With the V-shaped apex of the two V-shaped arms as the swinging rotation axis, and when the ends of the short sides of both arms are opened and closed, the long sides of both arms close and open. In the mechanism in which the other arm rotary bearing is provided on both sides of the bearing of the dynamic rotary shaft, and the cylindrical shaft is inserted in the axial center of the dynamic rotary shaft, the tip of the long side of both arms and the work gripping part have a separating mechanism with a fitting structure. Enlarged claw for gripper. The enlarged claw for a gripper according to claim 1,
Enlarged claw for gripper with an L-shaped flange attached to the arm of the gripper body and an H-shaped guide hole on the bottom of the L-shaped flange in the opening/closing direction of both arms.

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