JP3603443B2 - Robot hand - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a robot hand for holding a plurality of components and transporting the components to an assembly unit.
[0002]
[Prior art]
Conventionally, as shown in FIG. 12, a turret type multi-hand 30 having a plurality of hands 31 has been known as a robot hand for gripping a plurality of parts and transferring the parts to an assembly unit. The hands 31 are switched by rotating the hand main body 32.
[0003]
[Problems to be solved by the invention]
However, in the conventional turret type multi-hand 30, in order to hold the first component with one hand 31 and then grip the second component with another hand 31, the turret-type multi-hand 30 is positioned so that the second component can be gripped. It is necessary to switch the hand 31 by rotating the hand main body 32, and thus a separate step of changing the posture of the hand main body 32 for gripping the components is required. In addition, since the plurality of hands 31 are arranged side by side in the rotation direction, there is a problem that the size of the entire hand is increased.
[0004]
SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has as its object to provide a robot hand which is small in size and can be easily assembled at high speed, and further facilitates assembly of a plurality of parts. An object of the present invention is to provide a robot hand capable of performing such operations.
[0005]
[Means for Solving the Problems]
In order to solve the above-described problem, the present invention holds the first component A by detachably adsorbing and holding the same with the adsorber 4 and detachably grips the second component B with the claw 3 that opens and closes and transports the second component B to the assembly unit 20. a robot hand, Kyuchakuko 4 is provided at a position capable of holding suction separate parts by the gripping attitude and the position of parts in a pair of claws 3 which opens and closes, and by combining a plurality of parts and the pair of claws 3 adsorption It is characterized in that it can be held by the claw 3 and the adsorbent 4 with this configuration, while keeping the hand body 2 in the same posture. Since the step of changing the posture of the robot hand is not required, and the components can be combined and held by the claws 3 and the attraction members 4, the assembling speed of each component is increased, and the assembling speed can be increased.
Further, a stepped portion 5 for correcting the position of the first component A sucked by the attraction element 4 to the axis B1 of the second component B is provided on the opposing inner surfaces of the pair of claws 3. By using the stepped portion 5 provided in the component 3, it is possible to eliminate the displacement of the component sucked and held by the suction element 4. Further, the hand body 2 is placed in a state where the suction element 4 is arranged at a position facing the stepped portion 5 , the first component A is sucked by the suction element 4, the pair of claws 3 are closed and the second component B is gripped. Since the sheet is conveyed to the assembling section 20, the suction by the attraction element 4 is stopped, the pair of claws 3 are opened, and the first and second parts A and B are assembled to the assembling section 20. The first component A can be detachably sucked and held by the suction element 4 provided at a position where the first part A is gripped in the same attitude as the attitude of gripping the first part A.
[0006]
Here, it is preferable that the claw 3 and the attraction element 4 are arranged at positions substantially coincident with the assembling axis C of each part when each part is held. In this case, the claw 3 and the attraction element 4 Can be arranged compactly.
The pawl 3 is preferably grips the second part B of the first part A, which is adsorbed by Kyuchakuko 4 after position correction to the axis B ₁ of the second component B, in this case, adsorbed to Kyuchakuko 4 Eliminating the displacement of the held components facilitates the assembly of a plurality of components.
[0008]
The adsorbent 4 is preferably connected to the hand main body 2 via an elastic connecting member 12. In this case, the adsorbent 4 has a cushioning function, so that the components can be more stably held by the adsorbent 4. Can be held by suction.
[0009]
It is preferable that a plurality of the adsorbents 4 are arranged so that the plurality of first components A can be simultaneously adsorbed and held by each adsorber 4, and in this case, the number of components that can be adsorbed and held by the adsorber 4 can be increased. .
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an example of an embodiment of the present invention will be described.
As shown in FIG. 1, the robot hand 1 according to the present embodiment includes a pair of openable and closable claws 3 provided at a distal end portion of a hand main body 2, a mechanism for opening and closing the claws 3 (not shown), and a pair of claws 3. It has one adsorber 4 located at the center, a vacuum suction device (not shown) communicating with the adsorber 4, and the like.
[0011]
The pair of claws 3 are formed in an L-shape that is symmetrical when viewed from the side, and are rotatable around the base end in a direction in which the distal ends approach and separate from each other. The part B is to be gripped. Also has step portion 5 provided on the opposing inner surfaces of both claws 3, the stepped portion 5, to match the first part A, which is adsorbed to Kyuchakuko 4 with the axis B ₁ of the second component B Has a function of correcting the position of the first component A.
[0012]
On the other hand, the adsorber 4 is arranged at the center position of the left and right claws 3 and is formed in a pipe shape having a base end connected to a vacuum suction machine and a front end serving as a suction surface. The tip of the attraction element 4 is located at a position inside the tip of the claw 3, that is, at a position facing each step 5 of the claws 3, and has the same posture as the posture of the claw 3 gripping the second component B. The first component A can be detachably sucked and held by the sucker 4 provided at the position where the sucking and holding is performed.
[0013]
The claw 3 and the attraction element 4 attract the first part A by the attraction element 4 and when the second part B is gripped by the claw 3, the assembling axis C of the first and second parts A and B (FIG. 3 (e)). Then, the first part A is sucked by the suction element 4 and the parts A and B can be combined and held in a state where the second part B is gripped by the claws 3. In this holding state, the parts A and B are held together. It can be transported to the assembly section 20.
[0014]
Next, an example of steps up to assembling a plurality of parts using the robot hand 1 is shown in FIG. First, as shown in FIG. 3A, the pawl 3 is opened, the hand main body 2 (FIG. 1) is lowered, and the first component A having a T-shaped cross section is sucked and held by the sucker 4. Next, the hand main body 2 is raised, the claws 3 are closed in a state where the first component A is sucked, and the position of the first component A is corrected (the state of FIG. 3B). Next, as shown in FIG. 3C, the claw 3 is opened in a state where the first component A is sucked, and preparation for gripping the second component B (a coil spring in the present embodiment) smaller in diameter than the first component A is performed. Next, after lowering the hand main body 2 to close the claws 3 and grip the second component B (the state of FIG. 3D), the hand main body 2 is raised and moved to the assembling section 20. Then, after assembling the two parts into the assembling section 20 with the hand body 2, the suction by the adsorber 4 is stopped as shown in FIG. 3E, the claws 3 are opened, and the claw 3 is retracted from the assembling section 20 to proceed to the next step. .
[0015]
The adsorber 4 is provided at a position where the first component A can be sucked and held in the same position as the position where the second component B is gripped by the claw 3 that opens and closes. The two parts A and B can be held by the claw 3 and the attraction element 4, so that the step of adjusting the posture of the hand body 2 becomes unnecessary, and the posture of the hand body 2 can be changed even if the parts A and B have different shapes. Since it is possible to hold the two parts A and B having different shapes in combination with the claw 3 and the adsorber 4, the assembling speed of the parts A and B is increased. It is easier to speed up the assembly as compared with the turret type multi-hand. Moreover, the handling of a plurality of parts by the double chuck including the claw 3 and the attraction element 4 can reduce the size of the entire hand. Further, by disposing the claw 3 and the attraction element 4 at positions where the assembly axes C of the parts A and B are substantially coincident with each other while holding the parts A and B, the claw 3 and the attraction element 4 can be made compact. The robot hand 1 can be disposed, and the size of the robot hand 1 can be further reduced.
[0016]
Further, when performing the position correction of the first component A held by the suction element 4, a step 5 is provided on the inner surfaces of the pair of claws 3 facing each other with the suction element 4 interposed therebetween, and Since the second component B is gripped and the position of the first component A is corrected by the stepped portion 5, even when the diameters of the first component A and the second component B are different, the tips of the pair of claws 3 can be adjusted. by driving in the direction for closing in a symmetrical state around a Kyuchakuko 4, it is performed symmetrically about the axis B ₁ always has the position correction of the first part a by the stepped portion 5 of the nail 3 second component B It will be. For example, in either case where the first component A is held shifted to the left as shown in FIG. 3 (a) or where the first component A is held shifted to the right as shown in FIG. Since both the claws 3 are closed in a symmetrical state with the adsorber 4 as a center, the step 5 of one of the claws 3 pushes and centers the first part A, and both claws 3 are closed at the same time. positional correction of the first part a to coincide with the center axis M of a ₁ and Kyuchakuko 4 can be reliably performed. Further, at this time, since the suction element 4 holds the first component A by vacuum suction, the first component A slips on the distal end surface of the suction element 4, and the position of the first component A is corrected by the claw 3. Forcibly, the position of the first component A can be corrected smoothly without imposing an excessive load on the adsorber 4, and there is an advantage that assembly can be facilitated. .
[0017]
In the present embodiment, the coil spring is illustrated as the second component B, but the present invention is not limited to this, and may be, for example, a tubular member shown in FIG. Further, as shown in FIG. 6, the diameter of the second part B may be made larger than the diameter of the first part A, and the positions of the right and left claws 3 may be arranged asymmetrically with respect to the adsorber 4. in this case, not only the same effect as the embodiment of FIGS. 1-4 described above can be obtained, if the axis a ₁ of the first component a and the axis B ₁ of the second component B do not match Also has the advantage that both parts can be combined and held.
[0018]
7 and 8 show still another embodiment in which different diameter components are held.
In FIG. 7, a pair of left and right arm-shaped spring portions 10 for elastically gripping the first component A sucked by the attraction element 4 is protruded from a part of the claw 3. Other configurations are the same as those of the embodiment of FIGS. In this embodiment, the large-diameter portion of the first component A sucked by the suction element 4 can be elastically gripped by the tip of the spring portion 10 protruding from the claw 3. By elastically gripping the first part A while elastically deforming, even if the parts have different diameters, the parts can be stably gripped, the effect of preventing the rotation of the parts having different diameters is obtained, and the assembling work is further facilitated.
[0019]
On the other hand, FIG. 8 shows a configuration in which an elastic body 11 such as urethane rubber is disposed on both sides of the first component A that is adsorbed by the adsorber 4 inside the claw 3, and the second component B is gripped by the tip of the claw 3. When the first part A is elastically gripped from both sides by the elastic body 11, the holding state of the different-diameter parts is stabilized, and as in the case of FIG. Work becomes easy.
[0020]
As still another embodiment of the present invention, as shown in FIGS. 9 and 10, the adsorber 4 may be connected to the hand main body 2 via an elastic connecting member 12 made of a coil spring or the like. In FIG. 9, the claws are not shown for easy understanding of the drawing. In this embodiment, the upper end of the attraction element 4 is supported by the lower end of an elevating member 13 having an L-shape in a side view, and the upper end of the elevating member 13 is arranged at a side position of the hand body 2 and elastically connected by a coil spring or the like. The upper end of the elevating member 13 is connected to and supported by the upper part of the side surface of the hand main body 2 via the member 12, whereby the adsorber 4 has a cushion function, and is stable when the first component A is adsorbed and held. It is possible to further enhance the conversion.
[0021]
As still another embodiment of the present invention, as shown in FIG. 11, two adsorbers 4 may be arranged so that two first components A can be simultaneously adsorbed and held by each adsorber 4. 5 in the figure is a step portion. In this embodiment, by providing two adsorbers 4 for the pair of claws 3 that open and close, the number of the first components A that can be adsorbed and held by the adsorbers 4 increases. The first component A can be simultaneously sucked and held by each of the attraction elements 4, and a single plate-shaped second component B having two pin holes can be gripped by the claws 3, and the first component A and the second component B And the number of the adsorbers 4 is not limited to two, and it is possible to provide three or more, so that the number of components that can be adsorbed and held by the adsorbers 4 can be increased. There is an advantage that the number of components that can be suction-held can be easily increased.
[0022]
In the above embodiment, the method of holding the first component A by the suction element 4 by vacuum suction has been exemplified. However, instead of this method, a method of magnetically holding the first component A may be used. Is made of a magnetic material that can be magnetically attracted, the adsorber 4 is constituted by a magnet so that the first component A made of the magnetic material can be magnetically detachably held by the adsorber 4. Become.
[0023]
【The invention's effect】
As described above, according to the first aspect of the present invention, the first component is detachably sucked and held by the suction element, and the second component is detachably gripped by the claw that opens and closes and transported to the assembly unit. A robot hand, and a suction device is provided at a position where another component can be suction-held in the same posture as the posture of gripping a component with a pair of claws that open and close, and a plurality of components are combined to form a pair of claws and a suction device. By holding the parts with the claw and holding the parts with the suction element in the same posture, there is no need to change the posture of the robot hand when holding each part. By being able to hold a plurality of components in combination with the adsorber, the assembling speed of each component is increased, and assembling can be facilitated at a higher speed as compared with the conventional turret type multi-hand. Further, the robot chuck can be downsized by handling a plurality of parts by the double chuck including the claws and the suction elements. In addition, the opposing inner surfaces of the pair of claws are provided with a step portion for correcting the position of the first component so that the axes of the first component and the second component sucked by the attraction element coincide with each other. Is disposed at a position facing the stepped portion, the first part is sucked by the suction element, the pair of claws are closed, and the second part is gripped, and the hand body is transported to the assembling part, and the suction by the suction element is performed. Stopping, opening the pair of claws, and assembling the first and second parts to the assembling part, using the step part provided on the claws to eliminate the displacement of the parts sucked and held by the suction element. Thus, assembly of a plurality of parts can be performed more smoothly. Further, since the adsorber is disposed at a position facing the stepped portion, the first component can be detachably adsorbed and held by the adsorber provided at the position where the second component is gripped in the same position as the second component is held by the claw. It is.
[0024]
According to the second aspect of the present invention, the claw and the adsorber according to the first aspect are arranged at positions substantially coincident with the assembly axes of the respective parts when the respective parts are held. In addition to the effects, the claws and the adsorber can be arranged compactly, and the miniaturization of the robot hand is further facilitated.
According to a third aspect of the present invention, the claw according to the second aspect grips the second component after correcting the position of the first component sucked by the attraction element on the axis of the second component. In addition to the effects described in the item 2, by eliminating the displacement of the components held by the attraction element, it is possible to easily assemble a plurality of components and to speed up the assembly.
[0028]
According to a fourth aspect of the present invention, in addition to the effect of the first aspect, the attraction element has a cushioning function because the suction element of the first aspect is connected to the hand body via the elastic connecting member. Thereby, the stabilization at the time of holding the component by the suction element can be further enhanced.
According to a fifth aspect of the present invention, a plurality of the adsorbers of the first aspect are arranged, and a plurality of first parts can be simultaneously adsorbed and held by each of the adsorbers. It is possible to increase the number of components that can be sucked and held by the hook, and it is easy to increase the number of components that can be held by the claw and the sucker.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an example of an embodiment of the present invention.
FIGS. 2 (a) and 2 (b) are a side view and a bottom view showing the same claw and adsorbent, respectively.
FIGS. 3 (a) to 3 (e) are process diagrams for explaining a component gripping operation of the above.
FIGS. 4A and 4B are side views illustrating the operation of correcting the position of the above component.
FIG. 5 is a perspective view of another embodiment of the present invention.
FIG. 6 is a perspective view of still another embodiment of the present invention.
FIG. 7 is a side view of still another embodiment of the present invention.
FIG. 8 is a side view of still another embodiment of the present invention.
FIG. 9 is a side view of still another embodiment of the present invention.
FIG. 10 is a perspective view of FIG. 9;
FIG. 11 is a perspective view of still another embodiment of the present invention.
FIG. 12 is a perspective view of a conventional example.
[Explanation of symbols]
3 Claw 4 Adsorber 5 Stepped part 10 Spring part 11 Elastic body 12 Elastic connecting member 20 Assembly part A First part B Second part C Assembly shaft

Claims (5)

A robot hand that detachably adsorbs and holds a first component with a suction element, detachably grips a second component with a claw that opens and closes, and transports the second component to an assembly unit, where the pair of claws that open and close grip the component. and adsorbates is provided at a position capable of holding adsorb different components in the same position, and by combining a plurality of parts and can be held in a pair of pawls and adsorbates, the opposing inner surfaces of the pair of claws, Kyuchakuko in provided with a stepped portion for positional correction of the first part such that the axis of the first component and the second component sucked matches, and arranged to face the Kyuchakuko the step portion, the first component While the pair of claws are closed and the second part is gripped, the hand body is transported to the assembling portion, the suction by the suction element is stopped, the pair of claws are opened, and the first and second claws are opened. and characterized by comprising as assembling the parts the assembly portion Robot hand that. The robot hand according to claim 1, wherein the claw and the attraction element are arranged at positions substantially coincident with a mounting axis of each component when each component is held. The robot hand according to claim 2, wherein the claw grips the second component after correcting the position of the first component sucked by the suction element to the axis of the second component. The robot hand according to claim 1, wherein the attraction element is connected to the hand body via an elastic connection member. 2. The robot hand according to claim 1, wherein a plurality of suction elements are arranged, and the plurality of first parts can be simultaneously suction-held by each suction element.

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