JPH01246088A - Work rotating hand equipped with grasping force adjusting mechanism - Google Patents

Abstract

PURPOSE:To make it possible to balance a work rotating force and a grasping force with each other easily by providing a transmission torque adjusting mechanism for adjusting the grasping force of a pair of grasping pawls at a first drive means for driving the grasping pawls in parallel to the direction of a tangent. CONSTITUTION:A work is grasped by getting a pair of grasping pawls provided with a belt to be close to each other, when sides 34a, 34b of the belt facing each other are driven in the opposite directions to each other's by a second drive means 5 to give rotation to the grasped work. At this time, the grasping force to balance with the work rotating force by a torque adjusting mechanism disposed at a first drive means 4 for driving the grasping pawls in parallel to the direction of a tangent. As a result, the works of different rigidities, weights, etc., can be rotated smoothly.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to robot hand V & placement, and is particularly applicable to positioning in the outer circumferential direction for various types of workpieces with different weights, hardness, etc. The present invention relates to a workpiece rotating hand with a gripping force adjustment mechanism that enables necessary work to be performed reliably.

<Prior Art> When robots move and fit workpieces at production sites, it is often necessary to align the workpieces in the outer circumferential direction. In the case of a cylindrical workpiece, if the robot hand grips it from the axial direction, positioning work in the outer circumferential direction can be easily performed because a normal robot has a wrist rotation function, but if the work environment is not sufficient. A pair of opposing fingertips can be rotated to apply rotational force when gripping from the axial direction is not possible due to a small area or when it is necessary to flip the top and bottom of the gripped workpiece. A hand that rotates the workpiece around its axis by attaching a belt to the workpiece and gripping the workpiece with the belt may be considered.

<Problems to be solved by the invention> However, in a hand like the above-mentioned hand that has a workpiece rotation function, the gripping force is determined by the drive source, transmission mechanism, etc., and it is common that the gripping force can be changed arbitrarily. In order to smoothly rotate the gripped workpiece, the robot hand with the workpiece rotation function is difficult to handle due to the rotational force and the tension of the blade. The balance between the force and the rotational force that rotates the workpiece is important; if the gripping force is too strong compared to the rotational force, rotational movement will be impossible; conversely, it is necessary to balance the upward and gripping forces. However, in reality it is often extremely difficult.

In addition, recent production sites are increasingly handling a wide variety of workpieces in small quantities, and even robot hands with a workpiece rotation function are equipped with a gripping force adjustment function to handle different weights, hardness, etc. There is a growing need for something that can easily and stably rotate a workpiece.

<Means for solving the problems> The present invention provides a work rotating machine 11I! 1 regarding the hand with
A pair of gripping claws provided with a belt, a first driving means for driving the gripping claws in parallel to the contact layer, and a pair of gripping claws provided with a belt; and second driving means for driving the sides opposite to each other, and in the first driving means, in order to adjust the gripping force by the pair of gripping claws, the first driving means grips the workpiece from -5 and The opposing sides of the belt are driven in opposite directions to give rotational motion to the gripped workpiece, and the driving means for driving the pair of gripping claws in parallel to the approaching and separating directions is provided with a torque adjustment mechanism. Since the gripping force can be adjusted by adjusting the gripping force, it is easy to balance the gripping force and the rotational force that rotates the workpiece, and the workpiece can be rotated reliably and smoothly.
Workpieces with different hardness etc. can be handled easily and quickly. Furthermore, since the pair of gripping claws are structured to approach and separate in parallel to each other, the workpiece can be gripped at any position in the rotational direction of the belt.

<Embodiment of the Invention> FIG. 1 shows an embodiment of a work rotating hand device with a gripping force adjustment mechanism according to the present invention.

In the hand device, a transmission gear 9 is fixed to an output shaft 7 of an electric motor 3 fixed to a base 2.
It is fixed to the tip of the torque lead arm l fixed to the base 2. The above-mentioned electromagnetic clutch with a torque limit function is one in which the transmitted torque can be arbitrarily changed by applying an excitation current, and the transmitted torque does not change even during continuous slip operation.

The rotational force of the electric motor 3 transmitted to the human power shaft 6 of the electromagnetic clutch with a torque limit function via the transmission gear 9 and 10 is applied to the electromagnetic clutch by a current control circuit (not shown) by operating the electromagnetic clutch. The excitation current is converted into a rotational force according to the generated excitation current, and is transmitted to the output shaft 12 to rotate the worm gear 14 connected to the output shaft 12. The worm gear 14 rotates the worm wheels 15a and 15b that are meshed with it simultaneously and in opposite directions, so that the worm wheels 15a and 15b
It is also rotatable with respect to a set of plate-shaped transmissions 115b that are interlocked with each other. The shafts 30a, 30b are connected to the plate-shaped transmission members 27a, 28a and 27b, 28b, and further to the hand base 32a.

32b and is rotatably installed, and the support members 26a, 2
One end of 6b is a shaft 2 rotatably attached to the base 2.
5a, 25b, and the other end is fixed to the hand base 32a, 3.
It is fixed to shafts 33a, 33b rotatably attached to shaft 2b, and shafts 30a, 19 a + 25 a
, 33a, and shafts 30b, 19b, 25b, 33
Since the quadrangle connecting the axis of b has a parallelogram shape, the plate-shaped transmission member 27 interlocks with the transmission gears 15a and 15b.
a, 28a and 27b, 28b are moved by axes 30a, 3
Transmission pulleys 31a, 35a fixed to each of 5a
29a, and the shaft 30b
, 36b, respectively.

By continuing to close the hand until it comes into contact with the workpiece and is further pressed against the backup plates 37a and 37b with smooth surfaces, a predetermined gripping force is applied to the workpiece and the workpiece is brought into a gripping state.

In this case, even if the reversible electric motor 3 is stopped and the electromagnetic clutch 4 with torque limit function is turned off,
Since the closed state is maintained via the worm gear 14 and the worm wheels 15a and 15b, the belt sides 34a and 34b do not move in the opening direction due to the reaction force of gripping the workpiece, and the workpiece may be dropped. There isn't. Also,
The electromagnetic clutch 4 with a torque limit function does not change the transmitted torque even if it is operated continuously, so even if the reversible electric motor 3 and the clutch 4 are kept in operation and the workpiece is continued to be gripped, the workpiece will still be held. It won't drop.

On the other hand, the input shaft 8 of the clutch 5 is connected via the transmission gears 9 and 11.
The rotation of the output shaft 7 of the reversible electric motor 3 transmitted to is transmitted to the output shaft 13 by actuating the clutch,
The pinion bevel gear 16 fixed to the shaft is rotated accordingly, so that it can freely rotate on the lever between the base 2 and the intermediate support member 23, and its center of rotation is perpendicular to the center of rotation of the pinion bevel gear 16. A large bevel gear 17, which is fixed to a shaft 20 installed in a shaft 20 and meshes with the small bevel gear, rotates.

According to the rotation of the large bevel gear 17 whose outer periphery is shaped like a gear, the shafts 19a and 1 engage with the gear on the side.
The transmission gears 18a and 18b fixed to the shaft 9b rotate in the same direction, thereby rotating the transmission pulleys 22a and 22b fixed to the shafts 19a and 19b and the transmission pulleys 21a and 21b fixed to the shafts 30a and 30b. The sides 34a and 34b, which are wound and tensioned between the belts ^ and 1, run in opposite directions to each other, and the center position of the gripped workpiece is moved to the hand bases 32a and 32.
The workpiece can be rotated without moving relative to b.

Moreover, in the above mechanism, instead of the electric motor 3, the electromagnetic clutch 4 with a torque limit function, and the clutch 5,
A structure in which a torque motor is connected to the shaft 12 and a motor is connected to the shaft 13 does not change the spirit of the present invention.

<Effects of the Invention> According to the present invention, it is possible to easily balance the force for rotating the workpiece and the force for gripping the workpiece.1. In addition, it is possible to smoothly rotate workpieces having different weights, hardness, etc. Furthermore, since the structure is such that separation is performed by moving the opposing surfaces of the hands toward and away from each other in parallel, the grasping operation can be performed at any position of the hands.

3: Reversible electric motor, 4: Electromagnetic clutch with torque limit function, 5: Clutch, 14: Worm gear, 15a, 15b: Worm wheel, 1
6: Small bevel gear, 17: Large bevel gear, 24a, 2
4b, 29 a, 29 b: Belt, 26
a, 26b: Support member, 37a, 37b: Backup plate

Claims (1)

[Claims] (1) A pair of gripping claws equipped with a belt, a first driving means for driving the gripping claws in parallel to the approaching and separating directions, and a second driving means for driving opposite sides of the belt in mutually opposite directions. A work rotation hand with a gripping force adjustment function, characterized in that the first drive means includes a transmission torque adjustment mechanism to adjust the gripping force of the pair of gripping claws.