JPH02190283A - Robot hand - Google Patents

Abstract

PURPOSE:To prevent diffusion of dust by a method wherein fingers are secured to a moving mechanism through a belt, and a suction means to bring the interior covered with the belt into a negative pressure state is provided. CONSTITUTION:A moving mechanism 11 is arranged in a belt 13 maintained in a negative pressure state by a suction means 15. Fingers 14a and 14b are moved together with the belt 13 by means of the moving mechanism 11, and a part is grasped by means of the fingers 14a and 14b. Dust generated by operation of the moving mechanism 11 is sucked by the suction means 15, and is prevented from diffusion to the outside. In this case, since the belt 13 is in a state to make non-contact with frames 9 and 10, dust is prevented from generation due to slide.

Description

[Detailed Description of the Invention] [Summary] Regarding the structure of the robot hand, a movable structure is provided between the upper frame and the lower frame for the purpose of preventing dust generated from the robot hand from scattering into the clean room. the mechanism, an endless groove provided on the opposing surfaces of the upper frame and the lower frame to surround the moving mechanism, and an endless band-shaped groove that fits into the groove without contact and rotatably covers the moving mechanism. The device includes a belt, a finger that is fixed to a moving mechanism via the belt and moves together with the belt by the moving mechanism, and a suction means that applies negative pressure to the inside covered with the belt.

[Industrial application field]

The present invention relates to the structure of a robot hand.

Factory Automation (FA)
With the advancement of technology, robots are being actively introduced for various tasks.

As more and more work is being done in clean rooms, the spread of dust generated by the robots themselves has become a problem.
Measures are required.

[Conventional technology]

As shown in the perspective view of FIG. 4, the robot hand 4 has two opposing fingers 1a and 1b, and moves the ring 1-3a provided in the case 2 by a moving mechanism (not shown) in the case. It moves forward and backward in opposite directions to grip parts.

The robot hand 4 shown in the figure uses, for example, a motor, a ball screw, or a belt as a moving mechanism, and converts the rotational motion of the motor into linear motion.
The strokes of a and 1b are, for example, 0 to 50fflI11
It's a big one.

On the other hand, the robot hand 5 shown in the perspective view of FIG. 5 has the same basic structure as that in FIG. It is.

When the robot hands 4 and 5 having such a configuration are driven in a clean room, there is a problem of the diffusion of dust generated due to the sliding of parts of the robot hands.

In order to prevent this diffusion, in the robot hand 5 with a small stroke shown in FIG. 5, cylindrical bellows 7 are attached to each of the fingers 1a and 1b to cover the slit 3b.

However, since the stroke of the slit 3a is long, the robot hand 4 shown in FIG. Negative pressure is created inside to suck out generated dust.

In order to increase the efficiency of this suction, as much as possible) 3a
Although the width of the hand is narrowed, in order to further improve the effect, clean room parts specially designed to suppress the generation of dust are used as structural parts, or the hand itself is covered with an airtight cover 8 as shown in the figure. Ta.

[Problem to be solved by the invention]

As explained above, dust was prevented from dispersing into the clean room, but there is a limit to narrowing the width of Surin T-3A, clean room parts are extremely expensive, and the airtight cover has a limited lifespan. The problem was that it was short and lacked credibility.

[Means to solve the problem]

In order to achieve the above object, the present invention has an upper frame 9 and a lower frame 1 as shown in a perspective view explaining the principle in FIG.
a moving mechanism 11 provided between the upper frame 9 and the lower frame 10, endless grooves 12a and 12b provided so as to surround the moving mechanism 11, and grooves 12a and 12
an endless belt-shaped belt 13 that rotatably covers the moving mechanism 11 by fitting both side edges 13a and 13b without contact into b;
fingers 14a, 14b that move together with the belt 13 depending on the
and a suction means 1 that creates a negative pressure inside the belt 13.
5.

[Effect]

Movement of the fingers according to the movement mechanism is carried out via a belt.

The moving mechanism is located within the belt which is under negative pressure by a suction means, and the dust generated by the moving mechanism is sucked without being diffused to the outside.

Furthermore, the belt does not come into contact with the upper and lower frames, and no dust is generated due to sliding movement.

〔Example] 1 to 3 show one embodiment of the present invention.

Identical parts are designated by the same reference numerals throughout the figures.

In the present invention, as shown in the perspective view explaining the principle in FIG. An endless groove 12 provided to surround the moving mechanism 11
a, 12b, and both side edges 13a, 1 in the grooves 12a, 12b.
3b without contact and rotatably covers the moving mechanism 11. An endless belt (for example, a steel bell) 13 that is fixed to the moving mechanism 11 via the belt 13, and
fingers 14a and 1 that move together with the belt 13 due to
4b (not shown) and a suction means 15 that makes the inside covered with a belt 13 a negative pressure. , a ball screw 19 rotated by a motor 17, a movable unit 20 incorporating a force-detecting parallel spring whose one end is screwed onto the ball screw 19 and detects the force in the opening/closing direction of the finger, and the other end of the movable unit 20. The linear guide 21 is slidably engaged with the ball screw 19 and arranged in parallel with the ball screw 19.

Therefore, the rotational motion of the motor 17 is converted into linear motion by the ball screw 19 and the movable unit 20, and the finger 14a attached to the movable unit 20 with the belt 13 in between,
14b moves in the direction of arrow A-B.

At this time, the belt 13 is connected to the movable unit 20 and the finger 14a11.
It rotates with the movement of 4b.

Two of the mechanisms shown in FIG. 1 are arranged side by side on a substrate 23 (same as the lower frame) to form a robot hand 16, as shown in the plan view of FIG. 2(a).

In the embodiment, the moving mechanism 11 includes a motor 17 and an encoder 18 in the lower stage, a ball screw 19, a movable unit 20, and a linear guide 21 (as shown in the side view of FIG. 2(b)).
The rotation of the motor 17 is transmitted to the ball screw 19 via the reduction gear 22.

Further, as shown in FIGS. 1 and 2 (a), both ends of the belt 13 are slidably supported by arc-shaped sliding guides 24 made of polyamide resin or ceramic, for example. The pin 25 protruding from the inner surface of the belt 13 engages with the guide groove 26 provided in the sliding guide 24.
This prevents the belt 13 from shifting in the vertical direction due to its rotation.

The tips of the fingers 14a and 14b are bent into an L-shape and protrude from the slit 23a of the board 23 to grip the component.

The plan view of FIG. 3(a) and the same diagram (a) shown in FIG. 3(b).
) is a cross-sectional view of the robot hand 33 of another embodiment.
This embodiment is characterized in that a timing belt is used in contrast to the ball screw drive system of the first embodiment.

That is, the moving mechanism 30 includes the motor 17 and the encoder 18.
(shown in FIG. 3(b)), a timing belt 27 stretched by timing pulleys 28a and 28b and rotated by a motor 17, and a timing belt 27 in the longitudinal direction as shown in FIG. Linear guide 29 provided
and a movable unit 31 having one end fixed to the timing belt 27 and the other end slidably engaged with the linear guide 29.
It is composed of.

The bell 1-13 rotatably covers the moving mechanism 30,
The fingers 14a and 14b are fixed to a finger-to-finger closing direction detection parallel spring unit 32 attached to a movable unit 31 with the timing belt 27 in between, and the fingers 14a and 14b are fixed to the finger-to-finger closure direction detection parallel spring unit 32 with the belt 13 in between. ing.

Therefore, when the timing belt 27 rotates due to the rotation of the motor 17, the fingers 14a and 14b are moved along the arrows A-B through the parallel spring unit 32 and the belt 13, respectively.
It moves in a straight line like this.

Both of the robot hands 16 and 33 described above are equipped with a suction means 15 (the figure shows a suction pipe) using a vacuum pump (not shown), and the inside of the heald 13 is configured to always have negative pressure. There is.

As described above, the fingers 14a and 14b are moved by the moving mechanism 11 or 30 via the belt 13 that covers the moving mechanism 11 or 30.

The moving mechanism 11 or 30 is located within the belt 13 which is under negative pressure by the suction means 15, and the dust generated by the moving mechanism is quickly removed by the vacuum pump without being diffused to the outside. is attracted to.

Further, the belt 13 does not come into contact with the upper and lower frames 9 and 23 (34.35 in FIG. 3), and no dust is generated due to sliding movement.

〔Effect of the invention〕

As explained above, when working in a clean room using the robot hand of the present invention, there is no diffusion of dust, and there is no need for expensive components for lean rooms, which is economical and industrial. It has a great effect on

[Brief explanation of the drawing]

FIG. 1 is a perspective view explaining the principle of the robot hand of the present invention, FIG. 2(a) is a plan view of the robot hand of the present invention, and FIG.
Figure (b) is a side view of the robot hand of the present invention, and Figure 3 (
a) is a plan view showing another embodiment, and FIG. 3(b) is a plan view showing another embodiment.
FIG. 4 is a perspective view of a conventional robot hand with a large stroke, and FIG. 5 is a perspective view of a conventional robot hand with a small stroke. In the figure, 1 a, 1 b, 14 a, 14 b are fingers, 2 is a case, 3 a, 3 b, 23 a are slits, 4, 5, 16, 33 are robot hands, 6 is a suction pipe, 7 is a bellows, 8 is a sealing cover, 9.34 is an upper frame, 10.
35 is the lower frame, 11.30 is the moving mechanism, 12a,
12b is a groove, 13 is a belt, 15 is a suction means,
17 is a motor, 18 is an encoder,
19 is a ball screw, 20.31 is a movable unit, 21.
29 is a linear guide, 22 is a reduction gear, 23 is a board, 24 is a sliding guide, 25 is a pin, 26 is a guide groove, 27 is a timing belt, 28a,
28b is a timing pulley, and 32 is a phase opening/closing direction detection parallel spring unit. Ideko I Futaki 8F! ! 4P1゛ε, A Mizu'' animals performed []
(0,) Child/invention n0 乍...tl\nd n catty 1 ri storage land B month δ yearly sightseeing %/notation 3 notes

Claims (1)

[Claims] A moving mechanism (11) provided between an upper frame (9) and a lower frame (10), and a moving mechanism provided on opposing surfaces of the upper frame (9) and lower frame (10). (11) and an endless groove (12a, 12b) provided so as to surround the groove (12a, 12b), and both side edges (13a, 13b)
) is inserted into the moving mechanism (11) without contact so as to be rotatable.
an endless belt-like belt (13) that covers the moving mechanism (11) via the belt (13);
A robot hand characterized in that it is provided with fingers (14a, 14b) that move together with the robot hand, and a suction means (15) that applies negative pressure to the inside covered with the belt (13).