JPH02145281A - Hand attachment for industrial robot - Google Patents

Abstract

PURPOSE:To make a hand light and small sized remarkably by providing a pair of the holding claws for outer diameter holding by engaging with the outer peripheral part of a work on the outside parts of a pair of holding claws for inner diameter. CONSTITUTION:After a work 5 for inner diameter being transferred to a welding machine by being held with its pressure fitting to the holding claw 11 for inner diameter, a work 8 for outer diameter is held by engaging with the holding claw 12 for outer diameter which is extended to the lower part than the holding claw 11 for inner diameter, transferred to the welding machine and arranged by being superposed on the work 5 for inner diameter. A work 9 is then held on the holding claw 11 for inner diameter by press-fitting a cushioning material 11a to the inner peripheral face of the work 5 for inner diameter with the holding claw 11 for inner diameter being opened after being inserted in the state of being closed inside the work 9 which became integral by welding, in other words inside the work 5 for inner path. In case of the insertion of the holding claw 11 for inner diameter, the holding claw 12 for outer diameter is abutted to the upper face of the work 9, i.e. the upper face of the work 8 for outer diameter and moved upward against springs 13, 13.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an improvement in the structure of a hand device in an industrial robot.

(Conventional technology) For transporting workpieces to be welded or welded workpieces,
Recently, industrial robots have been widely used, but when gripping and transporting annular workpieces, for various reasons, it is difficult to grip the workpiece by engaging its gripping claws only on the inner or outer diameter part of the workpiece. It may be necessary to transport it. Conventionally, such cases have been dealt with by arranging hand devices for the inner diameter portion and the outer diameter portion in parallel at the tip of the arm of the industrial robot.

Figures 3 and 4 show the hand device of a conventional industrial robot of this type. In the figures, (1) is the tip shaft attached to the tip of the arm (not shown), (2) is the base, (
3) is an inner diameter hand suspended on the left side of the base (2) in the third figure, and this hand (3) is equipped with a pair of inner diameter gripping claws (4) that extend vertically downward and can be opened and closed horizontally; A Mi buffer material (4a) is attached to the side surface of the tip of each of the inner diameter gripping claws (4). The inner diameter gripping claw (4) is inserted into the annular inner diameter workpiece (5) shown in FIG. The inner diameter workpiece (5) is gripped by pressing the No. 11 material (4a) against the surface.

On the other hand, (6) is an outer diameter hand that is hung on the right side of the base (2) as shown in the third figure, and this hand (6) has a pair of outer diameter gripping claws (7) that extend downward and can be opened and closed horizontally. ),
The tip facing surface of this outer diameter gripping claw (7) has a product (7a).
) are attached to each. And this outer diameter gripping claw (
7) is placed on both sides of the approximately annular outer diameter workpiece (8) shown in FIG. 7a), the outer diameter workpiece (8) is gripped.

Therefore, after the inner diameter workpiece (5) is gripped by the inner diameter gripper hand (3) via the inner diameter gripping claw (4) and transported to a welding machine (not shown), the outer diameter workpiece (8) is transferred to the outer diameter workpiece (8). It is gripped by the diameter hand (6) via the outer diameter gripping claw (7), transported to a welding machine, and placed on top of the inner diameter workpiece (5). The welded workpiece (9) (see FIG. 2) is then held by the outer diameter hand (6) via the outer diameter gripping claw (7) and transported to a predetermined location (not shown).

In addition, as a prior art document of this kind, Utility Model Publication No. 58-375
There are publications such as Publication No. 90.

(Problem to be solved by the invention) The hand device of the conventional industrial robot is configured as described above, and the hands (3) and (6) weigh as much as a dog, so the industrial robot has a large payload capacity. required. Since the hands (3) and (6) have large external shapes, there is a risk that they may come into contact with surrounding equipment.

The present invention has been made in view of the above-mentioned points, and an object of the present invention is to provide a hand device for an industrial robot that can reduce the size of the hand.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention engages a pair of inner diameter gripping claws that extend downward from the hand of a robot arm and can be opened and closed horizontally to the inner circumference of a hole in a workpiece. In the device for gripping the workpiece, a pair of outer diameter gripping claws that engage and grip the outer circumference of the workpiece are provided on the outer side of the pair of inner diameter gripping claws, and the pair of outer diameter gripping claws engage with and grip the outer circumference of the workpiece. The gripping claws are characterized in that they protrude below the pair of inner diameter gripping claws, and are movable up and down above the engaging portions of the pair of inner diameter gripping claws.

(Function) According to the present invention, the outer diameter gripping claw that engages and grips the outer circumference of the workpiece is provided on the outer side of the inner diameter gripping claw, so that
There is no need to install multiple hands in parallel.

(Example) Hereinafter, the present invention will be described in detail based on an example shown in FIGS. 1 and 2. (1) is a tip shaft attached to the tip of an arm (not shown); The attachment attached to the lower tip of the tip shaft (1) is the base, and the attachment (10) is the hand attached to the base (2), and this hand (10) extends vertically downward and opens and closes in the horizontal direction. A pair of inner diameter gripping claws (11) are provided, and Mi street materials (11a) are attached to opposite sides of the tips of the inner diameter gripping claws (11). 11) is inserted into the inner diameter workpiece (5) in a closed state, and then opened, and the buffer material (lla) is brought into pressure contact with the inner peripheral surface of the inner diameter workpiece (5). Furthermore, this inner diameter gripping claw (11) is inserted into a workpiece (9) which is welded and integrated in a closed state, and then opened to hold the workpiece (9). In other words, a buffer material (lla
) is in pressure contact with the workpiece (9), so that the workpiece (9) is gripped.

(12) is a pair of outer diameter gripping claws supported so as to be movable up and down via springs (13), (13) wrapped around the outer side of the wound of this inner diameter grasping claw (11). Cushioning materials (t2a) are attached to the opposing surfaces of the lower tips, respectively, and are opened and closed as the inner diameter gripping claws (11) are opened and closed. The outer diameter gripping claws (12) are placed on both sides of the outer diameter workpiece (8) in an open state, and then closed, and the two & impact materials (
12a), the outer diameter workpiece (8) is gripped. In addition, the above spring (1:1
1. (13) has the function of urging the tip of the outer diameter gripping claw (I2) to protrude lower than the tip of the inner diameter grasping claw (11) to facilitate engagement and grip, and the inner diameter gripping claw (11) When it engages with the workpiece (9), the outer diameter gripping claw (12) comes into contact with the upper surface of the workpiece (9), in other words, the upper surface of the welded outer diameter workpiece (8) and moves upward. As a result, energy reserves are being compressed. However, the outer diameter gripping claw (12)
When gripping the outer diameter workpiece (8), protrudes lower than the inner diameter gripping claw (11), and moves upward when the inner diameter gripping claw (11) grips the workpiece (9). so as not to interfere with the gripping operation.

Therefore, after the inner diameter workpiece (5) is pressure-clamped by the inner diameter gripping claw (11) and conveyed to a welding machine (not shown), the outer diameter workpiece (8) extends downward from the inner diameter gripping claw (11). It is engaged and gripped by the protruding outer diameter gripping claw (12), transported to a welding machine, and placed on top of the inner diameter workpiece (5). Then, the inner diameter gripping claw (11) is inserted in the closed state into the workpiece (9) that has been integrated by welding, in other words, the inner diameter workpiece (5), and then opened to release the 1ifffi material (lla). By coming into pressure contact with the inner peripheral surface of the inner diameter workpiece (5), the workpiece (9) is gripped by the inner diameter gripping claw (11). When inserting the inner diameter gripping claw (11), the outer diameter gripping claw (12) comes into contact with the upper surface of the workpiece (9), in other words, the upper surface of the outer diameter workpiece (8), and the spring (13)
It moves upward against (13).

After that, the workpiece (9) gripped by the inner diameter gripping claw (11) is transported to a predetermined location (not shown).

As described above, in the present invention, the outer diameter gripping claw (12)
When gripping the outer diameter workpiece (8), the inner diameter gripping claw (1)
1) for engaging and gripping, protruding downward from the inner diameter gripping claw (
When gripping the welded workpiece (9), the hands (3), (8) move upward so as not to interfere with the gripping work, so that the hands (3), (8)
) are not required to be installed in parallel, making it possible to make the hand smaller, more multifunctional, and lighter.

In the above embodiment, the outer diameter gripping claw (12) is configured to be movable up and down, but it goes without saying that the present invention can also be applied to the inner diameter gripping claw (11).

(Effects of the Invention) As described above, according to the present invention, it is possible to provide a hand device for an industrial robot whose hand can be made extremely lightweight and compact.

[Brief explanation of the drawing]

1 and 2 are explanatory diagrams showing a hand device for an industrial robot according to the present invention, FIG. 3 is an explanatory diagram showing a hand device for a conventional industrial robot, and FIGS. 4(a) and (b)
) is a diagram showing a workpiece. In the figure, (5) is the inner diameter workpiece, (8) is the outer diameter workpiece,
(10) is the hand, (11) is the inner diameter gripping claw, (12)
is a gripping claw for the outside diameter. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Masuo Oiwa 1st Figure 21!1

Claims (1)

[Claims] In a hand device for an industrial robot that grips a workpiece by engaging a pair of horizontally openable and closable inner diameter gripping claws extending downward from a hand of a robot arm to the inner periphery of a hole in the workpiece, A pair of outer diameter gripping claws that engage and grip the outer circumference of the workpiece are provided on the outer side of the workpiece gripping claws, and the pair of outer diameter gripping claws protrudes downwardly more than the pair of inner diameter gripping claws. A hand device for an industrial robot, characterized in that the hand device is capable of moving up and down above the engaging portion of the pair of inner diameter gripping claws.