JP3418825B2 - Gripping device - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an industrial robot,
The present invention relates to a gripping device applied to a manipulator or the like, and particularly to a gripping device using a belt that follows the shape of a gripping target.

[0002]

2. Description of the Related Art Heretofore, as a gripping device of this type, a belt type work hand device disclosed in JP-A-61-241032 has been known. This belt-type work hand device is arranged opposite to the tip of an arm, and is a pair of endless belts that hold bolts, nuts, and other works close to each other, and a belt that holds the work by being linked to both endless belts. It is equipped with a drive device that can rotate the sides in opposite directions and can rotate forward and backward, and a control means that is linked to each endless belt and that adjusts the belt tension, and holds workpieces of different sizes without tool changes. It is possible to immediately give a rotational force.

[0003]

However, in the conventional gripping device using a belt, a tool changer is provided at the tip of the arm, and it is not necessary to replace and use a plurality of types of gripping devices, and various sizes and shapes are different. However, since a pair of endless belts are required to grip the work, the structure thereof becomes complicated and the control becomes complicated.

Therefore, an object of the present invention is to provide a gripping device which has a simple structure and is easy to control.

[0005]

In order to solve the above-mentioned problems, in the first gripping device of the present invention, a pair of support frames facing each other with a space formed between the intermediate parts are provided at the tip parts of the arms. It is mounted so that it can be opened and closed via the base end, one end is attached to the tip of one support frame, and it is attached to the pulley attached to the arm between the base ends of both support frames and the tip of the other support frame. Another feature of the present invention is that the other end of the belt wound around the pulley in sequence is wound around a pulley of a motor that can rotate in the normal and reverse directions. Further, in the second gripping device, a pair of support frames, which are arranged to face each other with a space formed between the intermediate portions, are attached to the distal end portion of the arm so as to be openable and closable via the proximal end portion. One end is attached to the tip, and it is wound around the pulley attached to the base end of one support frame, the pulley attached to the base end of the other support frame, and the pulley attached to the tip end of the other support frame in order. The other end of the belt is wound around a pulley of a motor capable of normal and reverse rotation.

As the support frame, one having an arc shape, a U-shape, a V-shape or the like is used. Opening and closing of the pair of support frames is performed by rotating the distal end portions toward and away from each other about their respective base end portions, or by moving the distal end portions toward and away from each other linearly while facing each other. It is preferable that the belt has flexibility such that it can be deformed according to the shape of the object to be grasped, and that the contact surface with the object to be grasped is subjected to unevenness treatment or the like for increasing frictional force. A metal or synthetic resin that does not corrode due to the object to be grasped is used. The motor is preferably capable of applying a predetermined tension to the belt.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a partially broken plan view showing a first embodiment of a gripping device according to the present invention. In the figure, reference numeral 1 denotes an arm of an industrial robot, a manipulator or the like, and a pair of arc-shaped arms which are arranged to face each other with a space for gripping a gripping target W formed between intermediate portions at a tip end portion of the arm 1. Of the supporting frame 2 is fixed to two parallel pivots 3 rotatably provided on the arm 1 at the base end (lower end in FIG. 1). Gears 4 meshing with each other are attached to both pivots 3, and a driven gear 5 is attached to one (left in FIG. 1) of pivots 3. The driven gear 5 is meshed with a drive gear 7 attached to an output shaft 6a of a frame opening / closing motor 6 mounted on the arm 1 and capable of rotating in the normal and reverse directions.

A first pulley 8 is attached to a tip portion (upper end portion in FIG. 1) of one (left side in FIG. 1) support frame 2 via a pulley shaft 8a parallel to the pivot shaft 3. A second pulley 10 is attached to a bracket 9 projecting from the arm 1 between the base ends of both support frames 2 via a pulley shaft 10a parallel to the pivot shaft 3, and
A third pulley 11 and a fourth pulley 12 are attached to the other end ( right side in FIG. 11) of the support frame 2 via pulley shafts 11a and 12a parallel to the pivot shaft 3, respectively. . Then, one end of a belt 13 for gripping the gripping target W is wound around the first pulley 8, and the belt 13 is attached to the second pulley 10, the third pulley 11 and the fourth pulley 12. Wrapped in order, the other end is mounted on the arm 1 and can rotate forward and backward, and
The belt 13 is wound around a pulley 15 attached to an output shaft 14a of a belt winding motor 14 that can apply a predetermined tension to the belt 13.

In order to grasp the object W to be grasped by the grasping device having the above-mentioned structure, first, the frame opening / closing motor 6 is driven so that the pair of support frames 2 are separated from each other about the pivot 3 as the center. While rotating, the belt winding motor 14 is driven, and the belt 13 is unwound while applying tension enough to prevent the belt 13 from slackening, and both support frames 2 are opened. Next, the support frames 2 are moved together with the arm 1 from the side or the upper side of the grip target W so that the grip target W is located between the intermediate portions of the support frames 2.
Next, the frame opening / closing motor 6 is driven, and the pair of support frames 2 are rotated about the pivot 3 so that the tips approach each other to close both support frames 2 (the state shown in FIG. 1). After that, the belt winding motor 14 is driven to wind the belt 13 and apply a predetermined tension thereto.

FIG. 2 is a partially broken plan view showing a second embodiment of the gripping device according to the present invention. Reference numeral 16 in the drawing denotes an arm of an industrial robot, a manipulator or the like, and a base plate 17 extending perpendicularly to the axis of the arm 16 is attached to the tip of this arm 16. A pair of bearing brackets 18 are erected on the base plate 17 so as to face each other. Both bearing brackets 18 have screw rods 19 in which screw portions 19a and 19b in opposite directions are formed in an intermediate portion except both end portions. Is rotatably supported via both ends. A pulley 20 such as a timing pulley is attached to the end of the screw rod 19 protruding from one bearing bracket 18 (left side in FIG. 2). An endless belt 22, such as a timing belt, is wound around a pulley (both not shown) attached to the output shaft of the frame opening / closing motor 21 that can rotate in the reverse direction.

The screw rod 19 has an object W to be grasped between the intermediate portions.
Forming a space for grasping the support frame 23 of a pair of oppositely disposed U-shape (in FIG. 2 lower part) proximal end and is screwed through the screw hole 23 a of The two support frames 23 are mounted on their respective base ends so that the two support frames 23 can be moved toward and away from each other in a linear manner while keeping the support frames 23 facing each other as the screw rod 19 rotates.
Is rotatably provided on the guide rail 25 laid on the base plate 17.

A first pulley 26 and a second pulley 27 are respectively provided at the tip (upper end in FIG. 2) and the base end of one (left in FIG. 2) support frame 23 of the support frame 23. Pulley shafts 26a and 27 perpendicular to the moving direction
The third pulley 28, the fourth pulley 29, and the fifth pulley 30 are attached to the base end portion and the tip end portion of the other supporting frame 23, which are attached via the pulley shafts 26a, 2a.
It is attached via pulley shafts 28a, 29a, 30a parallel to 7a. Then, one end of a belt 31 for gripping the gripping target W is wound around the first pulley 26, and the belt 31 includes the second pulley 27 and the third pulley.
The pulley 28, the fourth pulley 29, and the fifth pulley 30 are wound around in this order, and the other end portion is the other support frame 23.
Forward and reverse rotation mounted on the base end of the belt 31
It is wound around a pulley 33 attached to an output shaft 32a of a belt winding motor 32 that can apply a predetermined tension to the.

In order to grasp the object W to be grasped by the grasping device having the above structure, first, the frame opening / closing motor 21 is driven to move the pair of support frames 23 along the guide rails 25 so as to be separated from each other. At the same time, the belt winding motor 32 is driven, and the belt 31 is unwound while applying a tension not to slacken the belt 31.
To open. Next, both the support frames 23 are moved together with the arm 16 from the side or the upper side of the gripping target W so that the gripping target W is positioned between the intermediate portions of both the support frames 23. Next, the frame opening / closing motor 21 is driven,
Both support frames 23 are moved along the guide rails 25 so as to approach each other, and both support frames 23 are closed (see FIG.
Then, the belt winding motor 32 is driven to wind the belt 31, and a predetermined tension is applied to the belt 31.

In the above-described first embodiment, a case has been described in which the pair of support frames 2 can be opened and closed by rotating about the pivots 3, but the present invention is not limited to this. Instead, as in the second embodiment, 1
The pair of support frames 2 may be linearly movable toward and away from each other so as to be openable and closable, and in the second embodiment, a pair of support frames 23 are respectively provided as in the first embodiment. It may be opened and closed by rotating around the pivot of the base end.

[0015]

As described above, according to the first and second grasping devices of the present invention, one belt and the unwinding thereof are provided.
However, since the object to be gripped is gripped by one motor for winding, the structure can be simplified and the control can be facilitated as compared with the conventional one. In particular, according to the second gripping device, portions of the belt that face each other so as to come into contact with the gripping target are held in a parallel state and are moved toward and away from each other. Therefore, when gripping or releasing the gripping target. A force that moves the grasped object does not occur.

[Brief description of drawings]

FIG. 1 is a partially cutaway plan view showing a first embodiment of a gripping device according to the present invention.

FIG. 2 is a partially cutaway plan view showing a second embodiment of a gripping device according to the present invention.

[Explanation of symbols]

1 arm 2 support frame 3 Axis 4 gears 5 Driven gear 6 Frame opening / closing motor 7 drive gear 8 first pulley 10 Second pulley 11th pulley 13 belt 14 Belt winding motor 15 pulley 16 arms 19 screw rod 21 Frame opening / closing motor 23 Support frame 24 wheels 25 guide rails 26 first pulley 27 Second pulley 28 Third pulley 29 Fourth pulley 31 belt 32 Belt winding motor 33 pulley

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-59-76794 (JP, A) JP-A-3-86489 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 15/08

Claims (2)

(57) [Claims] 1. A pair of support frames, which are arranged to face each other with a space formed between the intermediate portions, are attached to the distal end portions of the arms so as to be openable and closable via the proximal end portions, and one end is attached to the distal end portions of one of the support frames. Part of the motor mounted between the base ends of both support frames and the pulley attached to the arm and the pulley attached to the tip end of the other support frame, the other end of the belt rotating in the forward and reverse directions. A gripping device characterized by being wound around a pulley. 2. A pair of support frames, which are opposed to each other with a space formed between the intermediate portions, are attached to the distal ends of the arms so as to be openable and closable via the proximal ends, and one end is attached to the distal ends of the one support frame. Of the belt attached to the base end of one support frame, the pulley attached to the base end of the other support frame, and the pulley attached to the tip end of the other support frame in that order. A gripping device, wherein the other end is wound around a pulley of a motor capable of rotating in the forward and reverse directions.