JPH01222882A - Robot hand - Google Patents

Abstract

PURPOSE:To make it possible to hold properly two kinds of works which are different in size with one robot hand by incorporating an auxiliary cylinder within a cylinder controlling fingers to be opened/closed, and thereby constituting a structure to control the movement of rods depending on the work different in size. CONSTITUTION:An auxiliary cylinder 35 is incorporated within No.1 cylinder 30 for controlling a pair of fingers 2 and 3 to be opened/closed. Judgement is formed whether or not air is to be supplied depending on the size of a material 4 in a plane form in order to change the suspension positions of rods 7 and 8 to the air port 38 of the auxiliary cylinder 35 so that the maximum opening between the fingers 2 and 3 are set in such a way as to be changed in two steps depending on the size of the material 4 in a plane form. When, for example, the material 4 in a plane form is small, air is supplied to the air port 38 of the auxiliary cylinder 35 so as to let a sub-piston 36 be moved to the left with pressure for letting the rod 7 be moved to the left via a stopper 22. The movement allows the rod 8 to be moved to the right via a rack 24, a pinion gear 26 and a rack 25, thereby letting the opening W0 of a pair of the fingers 2 and 3 be somewhat wider than the length of the side of the material in a plane form.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a four-bot hand that is suitable for application to various machine tools, and in particular a robot that can variably set the amount of opening and closing and can grip workpieces of different sizes. It's about hands.

[Conventional technology]

Conventionally, robot hands used in processing machines for grinding and polishing plate-shaped objects such as glass substrates for photomask blanks and ceramics are constructed as shown in Figures 3 (b) to (c). Are known. That is, the robot hand 1 is attached to the tip of a robot arm 10, and grips a plate-shaped object 4 as a workpiece on a surface plate 5 of a processing machine with two fingers 2 and 3 that can be opened and closed. Phase 2, 3
are arranged opposite to each other on both sides of the hand body 6, and rods 7.8 provided at the base thereof are moved in opposite directions in the axial direction by a cylinder 11 (described later) attached to the hand body 6. The plate-like object 4 can be gripped by a pair of gripping claws 9A and 9B, which are moved closer to each other and separated from each other.

FIG. 4 is a sectional view of the cylinder 11 showing the opening/closing mechanism of the robot hand 1. As shown in FIG. The finger 2 has an insertion hole 12 into which one end of the rod T is slidably pushed through via a bearing (not shown), and is attached to one end of the rod 8 (pol) 13.
Fixed by On the other hand, the finger 3 is fixed to the other end of the rod 7 with a bolt 14, and has an insertion hole 15 into which the other end of the rod 8 is slidably pushed through via a bearing (not shown). There is.

Inside the hand body 6, two chambers 16.17 are formed, through which the rods 7.8 are slidably passed, and each chamber 16.17 is provided with an air port 18.19. Near the center of each rod 7.8 are rod packings 20.21 and 1. 'C) Flanges 22, 23 are integrally provided and racks 24, 25 are formed, and a rotatable pinion gear 26 is commonly meshed with these racks 24, 25.

In such a configuration, when air is supplied to the air port 19, the rod gasket 21 is pressed to the left by the air, so the rod 8 moves to the left as shown by the arrow, and the pinion gear 26 is moved by the rack 25. Rotate clockwise. Therefore, when the rotation of the pinion gear 26 is transmitted through the rack 24, the rod 7 moves to the right in conjunction with the rod 8 by the same stroke as shown by arrow B. As a result of this, finger 2.3 opens. The maximum opening amount at this time is determined by the stopper 22 of the rod T coming into contact between the inner ends of the bushing 27.

When air is supplied to the air port 18 in the open state, the air acts on the right side of the rod gasket 20.The Shirorad 7 is moved to the left, and the rack 24 rotates the pinion gear 26 counterclockwise. This rotation is transmitted to the rack 25, thereby moving the Shirorad 8 to the right, thereby closing the fingers 2.3. This amount of closing is regulated by the stopper 23 coming into contact with the inner end surface of the bushing 28.

That is, each rod 7.8 functions as a piston and controls the opening and closing of the finger 2.3, and the rod T and the chamber 16 and the rod 8° and the chamber 1T are connected to the first and second cylinders 3, respectively.
It constitutes 0.31.

[Problem to be solved by the invention]

By the way, since the cylinder 11 of the conventional robot hand 1 has the above-described configuration, the stroke when opening and closing is always constant. Therefore, there is no problem when gripping only one type of workpiece, but when gripping workpieces of different sizes, it is necessary to replace the robot hand with a robot hand that has an opening/closing stroke that matches the size. It is also troublesome to exchange cards as the number of hands increases. Also,
For versatility, if a robot hand with a large stroke is manufactured, the number of hands can be reduced, but on the other hand, when gripping a small workpiece, opening and closing operations take time, resulting in poor work efficiency. When other parts of the mechanism are arranged in close proximity to the four-bot hand, they must be arranged in accordance with the maximum opening/closing stroke, resulting in problems such as poor space efficiency.

Therefore, the present invention solves the above-mentioned problems, and provides a robot hand that has a simple configuration, can variably set the opening/closing amount of the fingers, and can commonly use one hand for two types of workpieces of different sizes. The purpose is to provide

[Rounding method to solve the problem]

In order to achieve the above object, the present invention provides a robot hand that controls the opening and closing of fingers that grip a workpiece using a cylinder, in which the cylinder is provided with a sub-cylinder that controls the amount of opening and closing of the fingers, and the opening and closing stroke is variably set in two stages. It was made so that it could be done.

[Effect]

In the present invention, the sub-piston of the sub-cylinder is moved from side to side, thereby forming a stopper that restricts the amount of movement of the rod with respect to workpieces of different sizes, thereby changing the amount of opening of the fingers.

〔Example〕

Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.

Fig. 1 shows the cross-sectional opening of an embodiment of the robot hand according to the present invention, and Fig. 2 shows the open state when grasping a small workpiece, and Fig. 2 shows the open state when grasping a large workpiece. FIG. In the drawings, the same components as in FIGS. 3 and 4 are designated by the same reference numerals, and their explanations will be omitted. In these figures, a sub-cylinder 35 that regulates the amount of movement of the rod T in two stages with respect to workpieces of different sizes is incorporated in the first cylinder 30 that regulates the opening amount.

The sub-cylinder 35 has a sub-piston 36 which is slidably fitted into the rod 7 and positioned between the stopper 22 and the bush 27, and the outer peripheral surface of the sub-piston 36 is slidably fitted into the sub-piston 36. A large diameter chamber 3T that communicates with the chamber 30 of the first cylinder 30 and an air port 3 that communicates with this chamber 37.
It consists of 8. The other configurations are the same as those in FIGS. 3 and 4.

Next, the opening/closing operation of the robot hand 1 having the above configuration will be explained.

First, a small workpiece, for example 5 inches (1278127
When gripping the plate-shaped object 4 (°), air is supplied to the air port 38 of the sub-cylinder 35. Then, sub piston 3
6 is pushed leftward by the air, and comes into contact with a step surface 38 of different diameter provided at the boundary between the chambers 16 and 37, and stops. At this time, the rod 7 is rotated so that the stopper 22 is connected to the sub-piston 36.
This movement is transmitted to the rod 8 via the rack 24, pinion gear 26, and rack 25, thereby moving the rod 8 to the right. At this time, both phases 2 and 3 are open.

is slightly larger than the length t (127fl) of one side of the plate-like object 4 (eg, Wow136s+m). FIG. 1 shows this situation.

Next, with the first sub-cylinder 35 in operation, air is supplied to the chamber 16 through the air port 18 and the right side of the rod packing 22 is pressed, the rod 7 moves to the left and the rack 24- It is transmitted to the rod 8 via the pinion gear 24 and the rack 25, and moves the rod 8 to the right. Therefore, fingers 2 and 3 are closed, and the maximum closing amount W at this time
t is supported by the stopper 23 coming into contact with the inner end surface of the bush 28 (Example 116m). However, when gripping a 5-inch plate-like object 4, the closing amount is equal to L because it stops at that position.

When gripping a 6-inch (152X 152n+') plate-like object 4', first open the air port 1 as shown in FIG.
Air is supplied to g to move the rod 8 to the left, and accordingly the rod 7 is moved to the right to open the fingers 2.3. At this time, air is not supplied to the air port 38 of the sub cylinder 35 and the sub piston 36 is made free, so the stopper 22 of the rod T moves the sub histone 36 to the right and presses it against the bush 27. Therefore, the fingers 2.3 are opened to the maximum extent, and the opening amount W2 at this time is, for example, 160 fl for a 6-inch plate-like object 4'. Next, when air is supplied to the share port 18 in the state shown in FIG. 2, the fingers 2.3 close in the same manner as above, and the maximum closing amount at that time is given by the stopper 23 hitting the bush 28, so that the state shown in FIG. The same W as in .

It is. However, when gripping a 6-inch plate-like object 4', the grip stops at that position, so the distance between the fingers 2 and 30, that is, the closing amount W3 is 152 fl.

In the table, the movement stroke of each rod 7.8 is the sub-cylinder 3.
When air is being supplied to the sub-cylinders 35, K is 10 fl, but when no air is being supplied to the sub-cylinders 35, K is 22111. Further, the movement stroke of the sub-piston 36 is 12 mm.

Thus, in the robot node 1 having such a configuration, a sub-cylinder 35 is built into the first cylinder 30 that controls the opening and closing of the fingers 2.3, and air is supplied to this cylinder according to the size of the plate-like object. Since the stopping position of the rod 7.8 is changed depending on whether or not K, the maximum open view of the fingers 2 and 3 can be variably set in two stages.

Therefore, the optimum opening/closing stroke according to the size of the workpiece is
Therefore, the versatility of the robot hand 1 can be improved. Especially when gripping a small workpiece, there is no need to set an unnecessarily large opening amount, improving work efficiency.

Note that in the above embodiment, the first cylinder 30 that regulates the opening amount is
Although the sub-cylinder 35 is installed on the side and the amount of opening of the fingers 2.3 is variably set in two stages, the invention is not limited to this, and if it is installed on the side of the second cylinder 31 that regulates the amount of closing, The amount of closing can be varied in two stages.

〔Effect of the invention〕

As explained above, according to the robot hand according to the present invention, the sub cylinder is incorporated into the cylinder that controls opening and closing of the fingers, and the movement amount of the rod is regulated according to the workpieces of different sizes. It is possible to give an optimal opening/closing stroke depending on the size of the robot hand, and therefore one robot hand can be commonly used for workpieces of different sizes, improving the versatility of the robot hand. The gripping operation can be performed in a short time, improving work efficiency, and two mechanisms such as jigs can be placed close to each other around the workpiece, and the structure is simple.
The effect is very large, such as being able to minimize the increase in the weight of the entire hand.

[Brief explanation of the drawing]

FIG. 1 shows an implementation of the robot hand according to the present invention. FIG. 2 is a cross-sectional view showing an example of an open state when gripping a small workpiece; FIG. 2 is a diagram showing a well-opened state when gripping a large workpiece; FIG. 3(a). (b) l (c) is a plan view, l side view and front view showing a conventional example of a robot hand, and FIG. 4 is a cross-sectional view of the robot hand. 1... War/Robot hand, 2, 3... Fingers, 4...
...Plate-shaped object, 7.8...Rod, 16゜1T...
・Room, 111.19...e Airport, 20.21・
...Rod Patsukin, 22.23...Stopper,
27.2BII11-・Bush, 30・Fist・-1st cylinder, 31・・Second cylinder, 35・・Sub cylinder, 36・・Sub piston, 37・・Chamber,
38...Airport.

Claims (1)

[Claims] A robot hand that controls the opening and closing of fingers that grip a workpiece using a cylinder, characterized in that the cylinder is provided with a sub-cylinder that regulates the amount of opening and closing of the fingers, so that the opening and closing stroke can be variably set in two stages. robot hand.