JPH0144315Y2 - - Google Patents

Description

[Detailed description of the invention] (a) Industrial application field The present invention relates to a grip device used in combination with a robot arm.

(b) Prior Art A variety of work attachments are combined with a robot arm, and one of the most commonly used is a grip device that performs only simple grasping operations. A typical grip device includes: a A pair of claws, each of which rotates around a fulcrum.

(Example: Utility Model Publication No. 48-16794) b A pair of claws open and close linearly.

(Example: Utility Model Publication No. 55-37348) There are two types of series. A variant of this type is one in which one claw body is immobile. Much work handling can be accomplished with these gripping devices. It is also possible to open and close the equipment by grasping the handles of the doors and drawers. By the way, some handles, like the handle of a microwave oven, have a latch release lever on the back side. To open a door with such a handle using a grip device such as the one described above, 1.
Place the grip device horizontally when looking from the front of the handle.

2. Bring the gripping device to the side of the handle and move it laterally so that one pawl is behind the latch release lever and the other pawl is in front of the handle.

3 Close both claws and squeeze the latch release lever into the handle to release the latch.

4 Pull the handle and open the door.

In particular, the position of the grip device must be skillfully changed between the unlatching lever and the handle.

(c) Problems to be solved by the invention If the door of a microwave oven is to be opened and closed by a robot to check its functionality, it would be good to have a grip device that can quickly grasp the door handle and the latch release lever. The present invention aims to meet such demands and provide a grip device with a simple structure.

(d) Means for solving the problem In the gripping device of the present invention, a pair of jaws performs the gripping operation. One jaw is mounted on the body of the device and the other jaw is mounted on a lever movably attached to the body. Grasping is performed by bringing the lever-side jaw closer to the main body-side jaw along a certain path (pinching line). By the way, the lever rotates at a position where the lever-side jowl is separated from the main-side joyo, and the lever-side joyo is caught and moved out of the line.

(E) Effect When the lever-side jyo is placed outside the clamping line, it becomes possible to place the object to be grasped on the extension of the clamping line and bring the main body-side jyo straight toward it. When the body-side jyo reaches the object to be grasped, rotate the lever to pinch the lever-side jyo and return it to the line, and the lever-side jyo will wrap around the back side of the grasp object. After that, the lever-side jaw is brought closer to the body-side jaw along the clamping line, and grasping is performed.

(f) Example In the figure, 1 indicates the main body of the microwave oven, 2 indicates the front door thereof, and 3 indicates the handle of the door. A latch release lever 4 is provided on the back side of the handle 3. 10 is an arm of an industrial robot, and a grip device 20 is attached to a shaft 12 on a bracket 11 protruding from its tip.
It is mounted so that it can rotate in a horizontal plane. A tension coil spring 13 is stretched between the bracket 11 and the bracket 22 protruding from the main body 21 of the grip device 20, so that the grip device 20 is urged to rotate counterclockwise about the shaft 12. ing. 14 is a stopper protruding from the robot arm 10, and a bracket 22
It serves to keep the grip device 20 in a fixed position relative to the arm 10.

The structure of the grip device 20 is as follows. Inside the main body 21, cylinder chambers 23 and 24 are provided in parallel. Pistons 25 and 26 are inserted into the cylinder chambers 23 and 24, and these pistons are urged away from the robot arm 10 by springs 27 and 28. Reference numeral 29 denotes a jaw mounted on the outer surface of the main body 21 so as to be located on an extension of the cylinder chamber 23. The jaw 29 forms a pair with a lever side jaw, which will be described later, and its "pinching line" is on an extension of the axis of the cylinder chamber 23. 3
0 is a movable fulcrum consisting of a shaft-like member, and a piston 25
It penetrates through and is fixed thereto with a set screw 31. A long hole 32 extending in the axial direction is formed in the upper and lower side walls of the cylinder chamber 23, and both ends of the movable fulcrum 30 project through the long hole 32 to the upper and lower surfaces of the main body 21. Reference numeral 33 denotes a lever whose intermediate portion is pivotally supported by the protruding end of the movable fulcrum 30. One lever 33 of the same shape is arranged at the top and bottom of the main body 21, as shown in FIG. The planar shape of the lever 33 is approximately U-shaped, and the lever 33 has a lever 2 at one end.
JIYO 34, which is paired with 9, is attached. The jaws 29, 34 are made of elastic material. The other end of the lever 33 is connected to the piston 26 via a pin 35. The pin 35 passes through a long hole 36 bored in the upper and lower side walls of the cylinder chamber 24 along the axis of the chamber, and engages with a through hole 37 of the piston 26 . The through hole 37 is elongated in a direction perpendicular to the axis of the piston 26. Air hoses 38 and 39 are connected to both ends of the cylinder chamber 24, and both sides of the piston 26 become pressure spaces.
These pressure spaces are separated from the elongated hole 36 by seals 40, 41 at both ends of the piston 26. 42 is a roller-shaped guide member provided on the lever 33, and is rotatably supported by the shaft 43. When the guide member 42 contacts the side surface 44 of the main body 21, the jaw 34 will be located on the clamping line.

The operation of the above device is as follows. piston 2
5 is normally pressed against the end of the cylinder chamber 23 near the jaw 29 by a spring 27. Piston 26 is also moved to the end of cylinder chamber 24 by spring 28. As a result, the lever 33 is rotated counterclockwise, and the jaw 34 is largely removed from the clamping line. This is the situation shown in FIG. In this state, it is possible to directly face the front of the handle 3 and approach the handle 3 in a straight line. When the jaw 34 reaches the handle 3, the movement of the robot arm 10 is stopped, and then compressed air is sent into the cylinder chamber 24 from the air hose 38. The piston 26 then moves against the pressure of the spring 28. As the piston 26 moves, the lever 33 rotates clockwise about the movable fulcrum 30, and the jaw 34 goes around the back side of the latch release lever 4. This is the situation shown in FIG. Lever 3
3 ends when the guide member 42 hits the side surface 44 of the main body, and when compressed air is further injected from the air hose 38, the piston 26 moves toward the piston 2.
5. Both levers 33 are moved in parallel. jiyo 34
moves straight on the pinching line and hits Jiyo 29.
Insert the handle 3 and latch release lever 4 between them. This is the state shown in FIGS. 3 and 5.
Now that the door 2 is unlatched, the robot arm 10 can be moved to open the door 2. 6th
As shown in the figure, the grip device 20 follows the door and changes direction.

(g) Effects of the invention The gripping device of this invention ultimately uses a pair of jaws to hold the object to be grasped, but since one of the jaws can be initially held and moved out of the line, conventionally It is possible to approach the object to be grasped from the direction of the clamping line, which was previously not possible due to the obstruction. Therefore, an object to be grasped, such as a handle with a latch release lever of a microwave oven, can be quickly grasped. In addition, a single actuator allows the lever that supports the jaw to move around to the back side of the object to be grasped and to pinch the object.
The structure is simplified and it is easy to manufacture.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, and Figs.
The figures are horizontal sectional views in different operating states, FIG. 4 is a vertical sectional view, and FIGS. 5 and 6 are plan views in different operating states. 20...Grip device, 21...Main body, 29...
... Jiyo (body side Jiyo), 30... Movable fulcrum,
27... Spring, 33... Lever, 34... Jyo (lever side Jyo), 42... Guide member, 26...
...Piston (actuator).

Claims (1)

[Claims for Utility Model Registration] A device comprising a pair of jaws that open and close along a clamping line, comprising: a main body that supports one of the jaws; and a body located behind the main body side jaw and an extension of the clamping line. a movable fulcrum that is movable a certain distance along the main body side; a spring that biases the movable fulcrum in a direction toward the body-side jaw; and a spring that biases the movable fulcrum in a direction toward the body-side jaw; a lever on the lever; a guide member of the lever that allows the lever-side jaw to enter the clamping line and come into contact with the side surface of the main body; and a guide member connected to the other end of the lever so as to be close to the body-side jaw when moving in one direction. Rotate the lever around the movable fulcrum located at the position where you want to move the lever side and take it out of the line. When moving to the other side, first rotate the lever until the guide member touches the side of the main body, and then move the lever around the movable fulcrum and the lever. an actuator that moves the grip along the clamping line against the pressure of the spring;