JP6568279B1 - Robot hand and robot - Google Patents

Abstract

A robot hand suitable for gripping a punching blade and fitting it into a groove formed in a wooden shape is provided. A first rail 11 extending in the X-axis direction and a second rail 11 supported by the first rail 11 so as to be movable in the X-axis direction and capable of stopping at an arbitrary position and extending in the Y-axis direction. Around the axis parallel to the Z-axis direction, supported by the second rail 12 and the third rail 13 so as to be movable in the Y-axis direction and capable of stopping at any position. The first chuck 15 and the first chuck 15 include a pair of gripping members 21 and 22 that can be rotated in a direction and can be stopped at an arbitrary angle, and can be operated in directions close to and away from each other in a direction orthogonal to the Z-axis direction. 2 chucks 16. The first rail 11 is supported by the robot manipulator so as to be rotatable around an axis parallel to the Z-axis direction and to be able to stop at an arbitrary angle. [Selection] Figure 1

Description

  The present invention relates to a robot hand for inserting a punching blade into a groove formed in a punching-type tree, and a robot including the robot hand.

  In order to punch a blank having a desired shape from a base material such as paper, plastic sheet, cardboard or synthetic paper, a punching die in which a punching blade and a ruled line blade are fitted into a wooden die is used. For example, Patent Document 1 describes a punching die in which folded bent ruled lines of a blank intersect. The punching die of Patent Document 1 is a punching die in which a punching blade for punching a base material into a desired shape and a ruled wire blade are implanted at right angles to a wooden shape such as plywood, and the ruled wire blade intersecting the ruled wire blade C-chamfered so that the height in the vicinity of the tip in the crossing direction gradually decreases in the tip direction.

  The punching die is created by manually fitting a punching blade and a ruled blade into a groove formed in the wooden die using a wooden hammer, a copper hammer or a special rubber hammer. Inserting the punching blade and the ruled line blade into the groove requires the work of an expert and takes time.

  By the way, robots are used to assemble products. A robot used for assembling includes a robot hand that matches an object to be gripped at the tip of a robot arm. As the robot hand, a multi-fingered hand having a simple pinching having a pair of holding surfaces facing each other or a joint imitating a human hand is often used.

  For example, Patent Document 2 describes a robot hand that can grip a deformed article having a flat surface on one side and a flat surface on the other surface, such as a product with a mount, a blister pack, and the like. The robot hand of Patent Literature 2 includes a gripping unit that detachably grips an article. The gripping portion has a clamping surface that can be opened and closed, and a suction portion corresponding to each clamping surface in parallel with each clamping surface. Each clamping surface extends from the front end side of the robot hand to the robot arm side, and the gripper can turn around a virtual axis parallel to the protruding direction of the robot hand at the front end of the robot arm.

  Patent Document 3 describes a multi-fingered robot hand that can stably hold various articles. The robot hand of Patent Document 3 includes a first palm unit in which three finger mechanisms are coupled through a root joint, a second palm unit in which one finger mechanism is coupled through a root joint, and a first palm unit. A palm joint that connects the palm and the second palm. The palm joint is configured to allow the connection angle of the second palm to the first palm to change. The palm joint, the bending joint, the bending joint of the root joint, and the root joint all have rotating shafts that are parallel to each other, and are bent by a rotating operation around the rotating shaft.

JP 2006-95653 A JP 2017-148924 A JP 2008-149448 A

  A conventional robot hand is a multi-fingered hand having a simple pinching having a pair of opposing holding surfaces or a joint imitating a human hand, holding a punch blade having various and complicated bending shapes, It was unsuitable for fitting into a groove formed in a wooden mold.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot hand and a robot suitable for holding a punching blade and fitting it into a groove formed in a wooden shape.

  The robot hand according to the first aspect of the present invention is a first rail that extends in the X-axis direction and that can move independently in the X-axis direction and stop at any position. Supported by the second rail and the third rail extending in the Y-axis direction orthogonal to the X-axis direction, and supported by the second rail so as to be movable in the Y-axis direction and stopable at an arbitrary position; It can be rotated around an axis parallel to the Z-axis direction orthogonal to both the axial direction and the Y-axis direction, and can be stopped at any angle, and is close to and away from each other in the direction orthogonal to the Z-axis direction. A first chuck including a pair of gripping members operable in a direction, and a third rail supported so as to be movable in the Y-axis direction and capable of being stopped at an arbitrary position, and rotated around an axis parallel to the Z-axis direction. A direction that can move and can be stopped at any angle and is perpendicular to the Z-axis direction. Comprising a second chuck including a pair of gripping members facing to be actuated in a direction toward and away from each other, the. The first rail is supported by the robot manipulator so as to be rotatable about an axis parallel to the Z-axis direction and to be able to stop at an arbitrary angle.

  Preferably, independently of the first chuck, supported on the second rail so as to be movable in the Y-axis direction and capable of being stopped at an arbitrary position, and rotatable about an axis parallel to the Z-axis direction. A third chuck is further provided that includes a pair of gripping members that can be stopped at an angle and that can operate in directions close to and away from each other in a direction orthogonal to the Z-axis direction.

  Preferably, independently of the second chuck, supported on the third rail so as to be movable in the Y-axis direction and capable of being stopped at an arbitrary position, rotatable around an axis parallel to the Z-axis direction, and arbitrary A fourth chuck is further provided that includes a pair of gripping members that can be stopped at an angle and that can operate in directions that approach and move away from each other in a direction that is orthogonal to the Z-axis direction.

  Preferably, independent from the second rail and the third rail, the fourth rail is supported by the first rail so as to be movable in the X-axis direction and capable of stopping at an arbitrary position, and extends in the Y-axis direction. It is supported by the fourth rail so that it can move in the Y-axis direction and can be stopped at any position, can be rotated around an axis parallel to the Z-axis direction, and can be stopped at any angle, in the Z-axis direction. And a fifth chuck including a pair of gripping members that oppose each other in an orthogonal direction and can operate in a direction approaching and separating from each other.

  Preferably, it is supported by the first rail, is rotatable about an axis parallel to the Z-axis direction and can be stopped at any angle, and is close to and away from each other in a direction perpendicular to the Z-axis direction. A sixth chuck including a pair of gripping members operable in the direction is further provided.

A robot according to a second aspect of the present invention includes a vertical articulated robot manipulator and a robot hand according to the first aspect of the present invention. A first rail of the robot hand is supported on the wrist of the robot manipulator so as to be rotatable about an axis parallel to the Z-axis direction .

  Since the robot hand of the present invention can hold the punching blade with two chucks having arbitrary sandwiching angles apart from each other, it is suitable for gripping the punching blade and fitting it into a groove formed in a wooden mold.

The perspective view of the robot hand which concerns on Embodiment 1 of this invention The figure which shows the example of the robot provided with the robot hand which concerns on Embodiment 1 Plan view showing examples of punching dies Perspective view showing an example of a punching blade The perspective view of the robot hand which concerns on Embodiment 2 of this invention The perspective view of the robot hand which concerns on the modification of Embodiment 2. FIG. A perspective view of a robot hand according to a third embodiment of the present invention. A perspective view of a robot hand according to Embodiment 4 of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

Embodiment 1 FIG.
FIG. 1 is a perspective view of a robot hand according to Embodiment 1 of the present invention. The robot hand 1 is supported by the first rail 11 which is fixed to the base 10 and extends in the X-axis direction and is parallel to each other, and can be independently moved in the X-axis direction. And a second rail 12 and a third rail 13 extending in the Y-axis direction orthogonal to the X-axis. A first chuck 15 that is supported so as to be movable in the Y-axis direction is disposed on the second rail 12. A second chuck 16 that is supported so as to be movable in the Y-axis direction is disposed on the third rail 13.

  The first chuck 15 and the second chuck 16 can independently rotate around an axis parallel to the Z-axis direction orthogonal to both the X-axis direction and the Y-axis direction. Each of the first chuck 15 and the second chuck 16 includes a pair of gripping members 21 and 22 that can be operated in directions close to and away from each other in a direction orthogonal to the Z-axis direction.

  Each of the second rail 12 and the third rail 13 is supported by the first rail 11 so as to be movable by a linear guide. The blocks 31 and 32 are fitted to the first rail 11, and the blocks 31 and 32 are supported so as to be smoothly slidable by rolling motion of the steel balls interposed between the blocks 31 and 32 and the first rail 11. Is done. Each of the second rail 12 and the third rail 13 is fixed to two blocks 31 and 32 that are fitted to the two first rails 11, respectively.

  The nuts 45 of the ball screws 39 and 40 are fixed to the second rail 12 and the third rail 13, respectively, and move in the X-axis direction by the rotation of the screw shafts 42 and 43 that are screwed into the nut 45. The nut fixed to the third rail 13 is hidden and cannot be seen in FIG. Both ends of the screw shafts 42 and 43 are rotatably supported by bearings so as not to move in the axial direction. One ends of the screw shafts 42 and 43 are connected to the shafts of the motors 47 and 48 by a coupling (not shown). The screw shafts 42 and 43 are rotated by the motors 47 and 48, and by stopping the rotation of the motors 47 and 48, the nut 45, that is, the second rail 12 and the third rail 13 can be stopped at an arbitrary position. it can. A linear scale (not shown) that detects the positions of the blocks 31 and 32 in the X-axis direction is arranged in parallel with the first rail 11. By detecting the positions of the blocks 31 and 32 with a linear scale and controlling the motors 47 and 48 so as to be the designated positions, the blocks 31 and 32 can be stopped at desired positions.

  The first chuck 15 and the second chuck 16 are supported by the second rail 12 and the third rail 13 so as to be movable by linear guides, respectively. Blocks 33 and 34 are fitted to the second rail 12 and the third rail 13, respectively, and rolling motion of a steel ball interposed between the blocks 33 and 34 and the second rail 12 and the third rail 13 is achieved. The blocks 33 and 34 are supported so as to be smoothly slidable.

  One endless belts 50 and 51 are fixed to the blocks 33 and 34, respectively. The belts 50 and 51 are respectively wound around the drive pulleys 55 and 56 and the driven pulleys 60 and 61, and the belts 50 and 51 are rotated by rotating the drive pulleys 55 and 56 by the motors 65 and 66. Move in the Y-axis direction. By stopping the rotation of the motors 65 and 66, the blocks 33 and 34 can be stopped at arbitrary positions. A linear scale (not shown) for detecting the positions of the blocks 33 and 34 in the Y-axis direction is arranged in parallel with the second rail 12 and the third rail 13, respectively. By detecting the positions of the blocks 33 and 34 using a linear scale and controlling the motors 65 and 66 so as to be designated positions, the blocks 33 and 34 can be stopped at desired positions.

  The first chuck 15 and the second chuck 16 are respectively supported by rotating tables 70 and 71 so as to be rotatable around an axis parallel to the Z axis, and the rotating tables 70 and 71 are fixed to the blocks 33 and 34. . The first chuck 15 and the second chuck 16 rotate by rotating motors 76 and 77, respectively. A rotary encoder is incorporated in the turntables 70 and 71, and the rotation angles of the first chuck 15 and the second chuck 16 can be detected. By detecting the rotation angle with the rotary encoder and controlling the motors 76 and 77 so that the specified rotation angle is obtained, the first chuck 15 and the second chuck 16 can be stopped at desired rotation angles, respectively. .

  The gripping members 21 and 22 of the first chuck 15 and the second chuck 16 are respectively arranged rotationally symmetrically about an axis parallel to the Z axis. The rotation angle range of each of the first chuck 15 and the second chuck 16 may be 180 °. The gripping members 21 and 22 can operate in directions toward and away from each other at arbitrary rotation angles of the first chuck 15 and the second chuck 16. The grip members 21 and 22 are closed or opened by the action of compressed air, for example. The rotation operations of the first chuck 15 and the second chuck 16 and the opening / closing operations of the gripping members 21 and 22 are independent, and the gripping members 21 and 22 can be rotated in both the closed state and the open state. it can. The height of the first chuck 15 and the second chuck 16 in the Z-axis direction from the first rail 11 is the same.

  In FIG. 1, wiring for driving the motors 47, 48, 65, 66, 76, and 77, wiring for the linear scale, and wiring for the rotary encoder are omitted. Also, air piping for operating the gripping members 21 and 22 is omitted. The wirings of the motors 47, 48, 65, 66, 76, 77, the linear scale, and the rotary encoder are connected to a control device (not shown), and the first chuck 15 and the second chuck 16 are arbitrarily set by commands from the control device. Controlled by position and angle. Air piping for operating the gripping members 21 and 22 is connected to a compressed air reservoir through an electromagnetic valve. The gripping members 21 and 22 are opened and closed by operating the solenoid valve in accordance with a command from the control device.

  Since the first chuck 15 and the second chuck 16 can be controlled to a relatively arbitrary position and an arbitrary angle in the operating range, any two positions of the punching blade bent at any angle can be obtained. Can be gripped. The first chuck 15 and the second chuck 16 can be translated with respect to the center of the first rail 11 while maintaining a relative position and angle to each other.

  FIG. 2 is a diagram illustrating an example of a robot including the robot hand according to the first embodiment. The robot 99 includes a vertical articulated robot manipulator 90 and the robot hand 1 shown in FIG.

  The vertical articulated robot manipulator 90 includes a base 91, a torso 92, a lower arm 93, an upper arm 94, a forearm portion 95, and a wrist 96, and includes an S axis, an L axis, a U axis, an R axis, a B axis, and a T axis. 6 degrees of freedom. The body 92 of the robot manipulator 90 can turn around the S axis with respect to the base 91. Usually, the S axis is arranged vertically. The lower arm 93 is rotatable about the L axis perpendicular to the S axis with respect to the trunk 92, and the lower arm 93 operates back and forth. The upper arm 94 can rotate around the U axis parallel to the L axis with respect to the lower arm 93. The L axis corresponds to raising and lowering the upper arm 94. The forearm portion 95 is rotatable around the R axis that is orthogonal to the L axis or in a twisted position relative to the upper arm 94. The R axis corresponds to the rotation of the arm.

  The wrist 96 is supported at the tip of the forearm portion 95 so as to be rotatable around the B axis orthogonal to the R axis. The wrist 96 can be rotated around a T-axis orthogonal to the B-axis with respect to a support portion for the forearm portion 95. The robot hand 1 is fixed to the wrist 96 so that an axis parallel to the Z axis passing through the center of the robot hand 1 coincides with the T axis of the wrist 96. The Z axis of the robot hand 1 can rotate around the B axis, and the robot hand 1 can rotate around the Z axis passing through the center. The position of the wrist 96 is adjusted by driving and controlling the motors attached to the S-axis, L-axis, U-axis, R-axis, B-axis, and T-axis of the robot manipulator 90 by a robot controller (not shown). And the direction and rotation angle of the T-axis can be controlled to arbitrary points in the movable range.

  FIG. 3 is a plan view showing an example of a punching die. The outer frame in FIG. 3 represents the outer shape of the wooden mold 110. A thick solid line in the frame indicates a punching blade, and a thin solid line indicates a ruled line blade. The thickness of the solid line is for convenience of illustration, and is not related to the thickness of the punching blade and the ruled line blade. A rectangular parallelepiped box is formed from a blank formed by punching with a punching die 100 shown in FIG. 3 from a base material such as paper, plastic sheet, cardboard, or synthetic paper and forming a folding line with a ruled line blade.

  The punching blade is a band-shaped blade having a side shape of a divided thick solid line portion. The ruled line blade is a strip-shaped blade having a side surface shape of a thin thin line that is divided. The punching die shown in FIG. 3 includes, for example, 14 punching blades and 12 ruled line blades. The wooden mold 110 is formed with a groove for a punching blade indicated by a thick solid line and a groove for a ruled line blade indicated by a thin solid line. The punching blade and the ruled line blade are implanted in a groove formed in the wooden mold 110.

  FIG. 4 is a perspective view showing an example of a punching blade. The example of FIG. 4 shows the punching blade 101 of FIG. The punching blade 101 is formed by bending and cutting a strip-shaped steel material having a certain width and having a cutting blade formed on one side. The punching blade 101 is formed with a notch that prevents movement in the direction of the groove.

  The punching blade 101 is placed on a flat table with the side where the cutting blade is formed facing upward and the band-like width direction of the punching blade 101 being vertical. In the robot 99 shown in FIG. 2, the Z-axis of the robot hand 1 is directed downward, the rotation angle of the T-axis of the wrist 96, and the positions and rotation angles of the first chuck 15 and the second chuck 16 are determined by the punching blade. Adjust to the shape of 101. If the robot hand 1 is lowered from above the punching blade 101 to the punching blade 101 in this posture and the first chuck 15 and the second chuck 16 are closed, the punching blade 101 can be gripped by the robot hand 1. If the robot hand 1 is moved onto the groove of the wooden mold 110 while holding the punching blade 101 and the robot hand 1 is lowered by adjusting the position and rotation angle of the wrist 96, the punching blade 101 is fitted into the groove. Can do.

  As shown in FIG. 3, since many punching blades are formed by bending, even if one surface of the folded punching blade is gripped, the punching blade is subjected to the resistance of fitting the surface intersecting the surface into the groove. Cannot fit into the groove. Even if it is a flat punching blade or a ruled line blade, the resistance to be fitted into the groove is not uniform, so if it is gripped only at one place, it cannot be fitted into the groove.

  According to the robot hand 1 of FIG. 1, the punching blade having two intersecting surfaces formed by bending can be gripped by each of the two intersecting surfaces, so that the punching blade can be fitted into the wooden groove. Even a flat punching blade or a ruled blade can be gripped at two distant locations and can be fitted into a wooden groove.

  Further, the first chuck 15 and the second chuck 16 can be translated with respect to the center of the first rail 11 while maintaining the relative position and angle of each other. The action point can be changed to fit in the groove. For example, the first chuck 15 is placed close to the center of the first rail 11 and a fitting force is applied, and then the second chuck 16 is placed close to the center and the fitting force is applied. You can.

  According to the robot hand 1 according to the first embodiment, since the punching blade can be gripped by two chucks that can be rotated at an arbitrary pinching angle apart from each other, the punching blade is gripped to form a groove formed in the wooden shape. Suitable for fitting.

  In the first embodiment, the second rail 12 and the third rail 13 are positioned by the ball screws 39 and 40, and the first chuck 15 and the second chuck 16 are positioned by belt driving. The second rail 12 and the third rail 13 may be positioned by belt drive, rack and pinion or rack and worm. Further, the first chuck 15 and the second chuck 16 may be positioned by a ball screw, a rack and pinion, a rack and a worm, or the like. Instead of the linear guide, the first rail 11, the second rail 12, and the third rail 13 may each be a linear bush or a ball spline.

Embodiment 2. FIG.
FIG. 5 is a perspective view of the robot hand according to Embodiment 2 of the present invention. In the second embodiment, a third chuck 17 is supported by the second rail 12 in addition to the first chuck 15 so as to be movable in the Y-axis direction. Similar to the first chuck 15, the third chuck 17 can be moved in the Y-axis direction by belt driving and can be stopped at any position. The third chuck 17 can be rotated around an axis parallel to the Z-axis direction. The third chuck 17 includes a pair of gripping members 23 that face each other in a direction perpendicular to the Z-axis direction and can be operated in directions approaching and separating from each other. Other configurations are the same as those in the first embodiment.

  A block 35 to which a turntable 72 that rotatably supports the third chuck 17 is fixed is fitted to the second rail 12, and a rolling motion of a steel ball interposed between the block 35 and the second rail 12. Thus, the block 35 is supported so as to be smoothly slidable. One endless belt 52 is fixed to the block 35. The belt 52 is wound around the drive pulley 57 and the driven pulley 62. When the drive pulley 57 is rotated by the motor 67, the belt 52 rotates and the block 35 moves in the Y-axis direction. By stopping the rotation of the motor 67, the block 35 can be stopped at an arbitrary position. A linear scale (not shown) that detects the position of the block 35 in the Y-axis direction is arranged in parallel with the second rail 12. The block 35 can be stopped at a desired position by detecting the position of the block 35 with a linear scale and controlling the motor 67 so that the position becomes a designated position.

  The third chuck 17 is supported by a turntable 72 so as to be rotatable about an axis parallel to the Z axis, and the turntable 72 is fixed to the block 35. The third chuck 17 rotates by rotating the motor 78. A rotary encoder is incorporated in the turntable 72, and the rotation angle of the third chuck 17 can be detected. The third chuck 17 can be stopped at a desired rotation angle by detecting the rotation angle with the rotary encoder and controlling the motor 78 so that the specified rotation angle is obtained.

  The gripping member 23 of the third chuck 17 is disposed rotationally symmetrically about an axis parallel to the Z axis. The rotation angle range of the third chuck 17 may be 180 °. The gripping member 23 can operate in a direction toward and away from each other at an arbitrary rotation angle of the third chuck 17. The grip member 23 is closed or opened by the action of compressed air, for example. The rotation operation of the third chuck 17 and the opening / closing operation of the gripping member 23 are independent, and can be rotated in either the closed state or the open state of the gripping member 23. The height of the third chuck 17 from the first rail 11 is the same as the height of the first chuck 15.

  According to the robot hand 1 of the second embodiment, since the punching blade can be gripped at three positions apart from each other, the punching blade can be fitted into the wooden groove more stably. For example, like the punching blade 102 or the punching blade 103 in FIG. 3, it is possible to grip two places on both sides having a U-shaped cross section and one place in the middle and fit the groove into the groove.

  FIG. 6 is a perspective view of a robot hand according to a modification of the second embodiment. In the modified example, in addition to the second chuck 16, a fourth chuck 18 is supported on the third rail 13 so as to be movable in the Y-axis direction. Similar to the second chuck 16, the fourth chuck 18 can be moved in the Y-axis direction by belt driving and can be stopped at an arbitrary position. The fourth chuck 18 can rotate around an axis parallel to the Z-axis direction. The fourth chuck 18 includes a pair of gripping members 24 that are opposed to each other in a direction orthogonal to the Z-axis direction and that can operate in directions close to and away from each other. Other configurations are the same as those of the second embodiment.

  A block 36 to which a turntable 73 for rotatably supporting the fourth chuck 18 is fitted to the third rail 13, and rolling of a steel ball interposed between the block 36 and the third rail 13 is fitted. By movement, the block 36 is supported so as to be smoothly slidable. One endless belt 53 is fixed to the block 36. The belt 53 is wound around the drive pulley 58 and the driven pulley 63. When the drive pulley 58 is rotated by the motor 68, the belt 53 rotates, and the block 36 moves in the Y-axis direction. By stopping the rotation of the motor 68, the block 36 can be stopped at an arbitrary position. A linear scale (not shown) that detects the position of the block 36 in the Y-axis direction is arranged in parallel with the third rail 13. The block 36 can be stopped at a desired position by detecting the position of the block 36 with a linear scale and controlling the motor 68 so as to be a designated position.

  The fourth chuck 18 is supported by a turntable 73 so as to be rotatable about an axis parallel to the Z axis, and the turntable 73 is fixed to the block 36. The fourth chuck 18 rotates by rotating the motor 79. A rotary encoder is incorporated in the turntable 73, and the rotation angle of the fourth chuck 18 can be detected. The fourth chuck 18 can be stopped at a desired rotation angle by detecting the rotation angle with the rotary encoder and controlling the motor 79 so that the specified rotation angle is obtained.

  The grip member 24 of the fourth chuck 18 is disposed rotationally symmetrically about an axis parallel to the Z axis. The rotation angle range of the fourth chuck 18 may be 180 °. The gripping member 24 can operate in directions toward and away from each other at any rotation angle of the fourth chuck 18. The grip member 24 is closed or opened by the action of compressed air, for example. The fourth chuck 18 can rotate in both the closed state and the open state of the gripping member 24. In the modification, the heights of the first to fourth chucks 15, 16, 17, 18 from the first rail 11 are uniform, and the gripping members of the first to fourth chucks 15, 16, 17, 18 are aligned. The tips of 21, 22, 23, and 24 are arranged so that they are always on the same plane.

  According to the robot hand 1 of the modified example, the punching blade can be gripped at four locations. Further, the punching blade can be fitted into the groove while changing the combination of chucks gripped at three positions. For example, a force for gripping and fitting with the first, second and third chucks 15, 16 and 17 is applied, and then gripping and fitting with the first, second and fourth chucks 15, 16 and 18. It can be fitted in such a way as to apply force.

  In FIGS. 5 and 6, as in FIG. 1, wiring to the control device and piping to the compressed air reservoir are omitted. Also in the second embodiment and the modification thereof, the positioning of the third chuck 17 and the fourth chuck 18 may be performed using a ball screw, a rack and pinion, a rack and a worm, or the like in addition to the belt drive.

Embodiment 3 FIG.
FIG. 7 is a perspective view of a robot hand according to Embodiment 3 of the present invention. The robot hand 1 according to the third embodiment includes a fourth rail 14 and a fifth chuck 19 in addition to the configuration of the first embodiment. The fifth chuck 19 is supported by the fourth rail 14 so as to be movable in the Y-axis direction. The fifth chuck 19 is rotatable around an axis parallel to the Z-axis direction. The fifth chuck 19 includes a pair of gripping members 25 that can be operated in directions close to and away from each other in a direction orthogonal to the Z-axis direction. Other configurations are the same as those in the first embodiment.

  The fourth rail 14 is movably supported by the first rail 11 with a linear guide. A block 37 is fitted to the first rail 11, and the block 37 is supported so as to be smoothly slidable by rolling motion of a steel ball interposed between the block 37 and the first rail 11. The fourth rail 14 is fixed to two blocks 37 that are fitted to the two first rails 11, respectively.

  The nut 46 of the ball screw 41 is fixed to the fourth rail 14, and moves in the X-axis direction by the rotation of the screw shaft 44 screwed into the nut 46. Both ends of the screw shaft 44 are rotatably supported by bearings so as not to move in the axial direction. One end of the screw shaft 44 is connected to the shaft of the motor 49 by a coupling (not shown). The screw shaft 44 is rotated by a motor 49, and by stopping the rotation of the motor 49, the nut 46, that is, the fourth rail 14 can be stopped at an arbitrary position. A linear scale (not shown) that detects the position of the block 37 in the X-axis direction is arranged in parallel with the first rail 11. The block 37 can be stopped at a desired position by detecting the position of the block 37 with a linear scale and controlling the motor 49 so that the position becomes a designated position.

  The fifth chuck 19 is supported by the fourth rail 14 so as to be movable by a linear guide. A block 38 is fitted to the fourth rail 14, and the block 38 is supported so as to be smoothly slidable by a rolling motion of a steel ball interposed between the block 38 and the fourth rail 14.

  One portion of the endless belt 54 is fixed to the block 38. The belt 54 is wound around the drive pulley 59 and the driven pulley 64, and the belt 54 is rotated by rotating the drive pulley 59 by the motor 69, and the block 38 moves in the Y-axis direction. By stopping the rotation of the motor 69, the block 38 can be stopped at an arbitrary position. A linear scale (not shown) that detects the position of the block 38 in the Y-axis direction is arranged in parallel with the fourth rail 14. The block 38 can be stopped at a desired position by detecting the position of the block 38 with a linear scale and controlling the motor 69 so that the position becomes a designated position.

  The fifth chuck 19 is supported by the turntable 74 so as to be rotatable about an axis parallel to the Z axis, and the turntable 74 is fixed to the block 38. The fifth chuck 19 rotates by rotating the motor 80. A rotary encoder is incorporated in the turntable 74, and the rotation angle of the fifth chuck 19 can be detected. The fifth chuck 19 can be stopped at a desired rotation angle by detecting the rotation angle with the rotary encoder and controlling the motor 80 so that the specified rotation angle is obtained.

  The gripping member 25 of the fifth chuck 19 is rotationally symmetrical around an axis parallel to the Z axis. The rotation angle range of the fifth chuck 19 may be 180 °. The gripping member 25 can operate in directions toward and away from each other at any rotation angle of the fifth chuck 19. The grip member 25 is closed or opened by the action of compressed air, for example. The rotation operation of the fifth chuck 19 and the opening / closing operation of the gripping member 25 are independent, and can be rotated in either the closed state or the open state of the gripping member 25.

  Also in FIG. 7, as in FIG. 1, wiring to the control device and piping to the compressed air reservoir are omitted. Also in the third embodiment, the fourth rail 14 may be positioned by belt drive, rack and pinion or rack and worm. Further, the fifth chuck 19 may be positioned by a ball screw, a rack and pinion, or a rack and worm. The fourth rail 14 may use a linear bush or a ball spline instead of the linear guide.

  According to the robot hand 1 of the third embodiment, similarly to the second embodiment, since the punching blade can be gripped at three positions apart from each other, the punching blade can be fitted into the wooden groove more stably. . In the robot hand 1 according to the third embodiment, the degree of freedom of arrangement of the three locations for gripping the punching blade with respect to the action point of the force for fitting the punching blade into the groove is high.

Embodiment 4 FIG.
FIG. 8 is a perspective view of a robot hand according to Embodiment 4 of the present invention. In the fourth embodiment, in addition to the configuration of the first embodiment, a sixth chuck 20 supported by the first rail 11 is provided. The sixth chuck 20 can be rotated around an axis parallel to the Z-axis direction with respect to the first rail 11 and can be stopped at an arbitrary angle. The sixth chuck 20 includes a pair of gripping members 26 that can be operated in directions close to and away from each other in a direction orthogonal to the Z-axis direction. Other configurations are the same as those in the first embodiment.

  The sixth chuck 20 is supported by a turntable 75 so as to be rotatable about an axis parallel to the Z axis, and the turntable is fixed to the base 10. The sixth chuck 20 is supported by the first rail 11 via the base 10. The sixth chuck 20 rotates by rotating the motor 81 incorporated in the turntable 75. A rotary encoder is incorporated in the turntable 75, and the rotation angle of the sixth chuck 20 can be detected. The sixth chuck 20 can be stopped at a desired rotation angle by detecting the rotation angle with the rotary encoder and controlling the motor 81 so that the specified rotation angle is obtained.

  The grip member 26 of the sixth chuck 20 is disposed rotationally symmetrically about an axis parallel to the Z axis. The rotation angle range of the sixth chuck 20 may be 180 °. The gripping member 26 can operate in directions toward and away from each other at any rotation angle of the sixth chuck 20. The grip member 26 is closed or opened by the action of compressed air, for example. The rotation operation of the sixth chuck 20 and the opening / closing operation of the gripping member 26 are independent, and can be rotated in either the closed state or the open state of the gripping member 26. The height of the sixth chuck 20 from the first rail 11 is the same as the height of the first chuck 15 and the second chuck 16. Also in FIG. 8, as in FIG. 1, wiring to the control device and piping to the compressed air reservoir are omitted.

  In the robot hand 1 according to the fourth embodiment, since the relative positions of the first chuck 15 and the second chuck 16 with respect to the sixth chuck 20 are arbitrary, the punching is performed in the same manner as in the second or third embodiment. Since the blade can be gripped at three positions apart from each other, the punching blade can be fitted into the wooden groove more stably. In the fourth embodiment, since the position of the sixth chuck 20 relative to the first rail 11 does not move, the point of action of the fitting force on the sixth chuck 20 cannot be changed. Compared to this, the structure is simple and the number of elements to be controlled is small. The structure including the sixth chuck 20 of the fourth embodiment can be combined with the second embodiment or the modification.

  A robot including the robot hand according to the embodiment is not limited to a vertical articulated robot. For example, a polar coordinate robot, a rectangular coordinate robot, a horizontal articulated robot, a parallel link robot, or the like can be used. Hold the robot hand at an arbitrary rotation angle around the Z axis, move it in the plane perpendicular to the Z axis and in the Z axis direction, and use any type of robot that can cover the range of the tree shape. Can do.

1 Robot hand
10 base
11 First rail
12 Second rail
13 Third rail
14 Fourth rail
15 First chuck
16 Second chuck
17 Third chuck
18 Fourth chuck
19 Fifth chuck
20 Sixth chuck
21, 22, 23, 24, 25, 26 Holding member 31, 32, 33, 34, 35, 36, 37, 38 blocks
39, 40, 41 Ball screw
42, 43, 44 Screw shaft
45, 46 nut
47, 48, 49 Motor
50, 51, 52, 53, 54 belt
55, 56, 57, 58, 59 Drive pulley
60, 61, 62, 63, 64 driven pulley
65, 66, 67, 68, 69 Motor
70, 71, 72, 73, 74, 75 turntable
76, 77, 78, 79, 80, 81 Motor
90 Robotic manipulator
91 base
92 torso
93 Lower arm
94 upper arm
95 forearm
96 wrist
99 robot
100 punching mold
101,102,103 Punching blade
110 Wooden

Claims (6)

A first rail extending in the X-axis direction;
Each of the second rail and the third rail is supported by the first rail so as to be independently movable in the X-axis direction and stopable at an arbitrary position, and extends in the Y-axis direction orthogonal to the X-axis direction. Rails
It is supported by the second rail so that it can move in the Y-axis direction and can stop at any position, and rotates around an axis parallel to the Z-axis direction perpendicular to both the X-axis direction and the Y-axis direction. A first chuck including a pair of gripping members that are movable and can be stopped at an arbitrary angle, and that are operable to approach and move away from each other in a direction perpendicular to the Z-axis direction;
The Z-axis is supported by the third rail so as to be movable in the Y-axis direction and capable of being stopped at an arbitrary position, is rotatable around an axis parallel to the Z-axis direction, and can be stopped at an arbitrary angle. A second chuck including a pair of gripping members that are operable to approach and move away from each other in a direction orthogonal to the direction;
With
The first rail is a robot hand supported by a robot manipulator so as to be rotatable about an axis parallel to the Z-axis direction and capable of stopping at an arbitrary angle.   Independent of the first chuck, supported by the second rail so as to be movable in the Y-axis direction and capable of being stopped at an arbitrary position, and rotatable around an axis parallel to the Z-axis direction. 2. The robot according to claim 1, further comprising a third chuck including a pair of gripping members that can be stopped at an angle of and that can be operated in directions of approaching and separating from each other in a direction orthogonal to the Z-axis direction. hand.   Independent of the second chuck, supported by the third rail so as to be movable in the Y-axis direction and capable of being stopped at any position, and rotatable around an axis parallel to the Z-axis direction. 3. The robot according to claim 2, further comprising a fourth chuck including a pair of gripping members that can be stopped at an angle of and that can be operated in directions of approaching and separating from each other in a direction perpendicular to the Z-axis direction. hand. Independently of the second rail and the third rail, a fourth rail is supported by the first rail so as to be movable in the X-axis direction and capable of being stopped at an arbitrary position, and extends in the Y-axis direction. Rails
The Z-axis is supported by the fourth rail so as to be movable in the Y-axis direction and capable of being stopped at an arbitrary position, is rotatable around an axis parallel to the Z-axis direction, and can be stopped at an arbitrary angle. A fifth chuck including a pair of gripping members that are operable to approach and move away from each other in a direction orthogonal to the direction;
The robot hand according to any one of claims 1 to 3, further comprising:   A direction supported by the first rail, rotatable around an axis parallel to the Z-axis direction and capable of stopping at an arbitrary angle, and facing and separating from each other in a direction perpendicular to the Z-axis direction. The robot hand according to any one of claims 1 to 3, further comprising a sixth chuck including a pair of gripping members that can be operated to each other. A vertical articulated robot manipulator;
The robot hand according to any one of claims 1 to 5,
With
A robot in which the first rail of the robot hand is supported on the wrist of the robot manipulator so as to be rotatable about an axis parallel to the Z-axis direction .

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