JPH02218581A - Robot hand - Google Patents

Abstract

PURPOSE:To surely subject a work to chucking by providing a deflection mechanism so that a chuck claw may become displaceable according to the position of the engaging part internal face at the guiding time to the engaging part internal face of a work by a guide member for guiding the chuck claw to the engaging part internal face of the work. CONSTITUTION:When the position of a chuck claw 19a is slipped to the engaging part internal face of a work, a guide member 25 corrects the position of the chuck claw 19a in the direction of the engaging part internal face. In this case, the displacement of the chuck claw 19a by the guide of the guide member 25 is allowed by a deflection mechanism 36.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a robot hand, and particularly relates to a robot hand configured to be able to shoot a workpiece even if there is a relative misalignment between the chuck jaw and the engaging portion of the workpiece. .

Conventional technology For example, in the process of automatically feeding workpieces made of castings or the like to machine tools, when a box-shaped pallet with an opening at the top is transported near the conveyor that supplies the workpieces to the machine tool, the robot The arm is operated, and the robot hand attached to the end of the arm chucks the workpieces on the pallet and transfers them to the conveyor.

A large number of workpieces are stacked in multiple stages inside the pallet via floor plates, and the robot images the workpieces from the top of the pallet with an m-image camera and collects workpiece position data (X, Y
The robot hand is operated based on the data from the image processing device that outputs the data) and the workpiece is taken out from the pallet.

Problems to be Solved by the Invention For example, when the workpiece is shaped like an arm with an opening at the bottom and has a through hole at the top and cannot be gripped from the outer periphery, the robot hand has a chuck at the lower end and the chuck of the chuck After the pawl is inserted into the through hole, a device is used that opens outward to engage the through hole. However, since the chuck is installed at the end of the robot hand, and the robot hand is attached to the end of the arm of an industrial robot, the cumulative error of each operating part causes the robot hand to shift relative to the workpiece. Sometimes. moreover,
Since the imaging camera of the image processing device covers the entire pallet, the through holes in the workpiece are small. be observed. Therefore,
Data from a uniform processor may not be accurate. In this case, the chuck of the robot hand is displaced from the through-hole of the workpiece, making it impossible to insert the chuck claw into the through-hole. Therefore, with conventional robot hands, there is no way to correct the misalignment between the chuck and the workpiece, and as a result, industrial robots have to retake the workpiece until the chuck aligns with the through hole of the workpiece, reducing work efficiency. There are issues such as a decline in

As a measure to solve this problem, instead of placing the workpieces on the pallet irregularly, for example, by installing a partition plate on the bottom plate, the partition plate determines the placement position of the workpiece, and the workpiece is placed on the bottom plate. It is possible to arrange them at the top. However, in this case, not only does it take a lot of effort and effort to line up the workpieces at predetermined intervals, but it also takes time to place the workpieces on the pallet. Must be prepared.

Therefore, an object of the present invention is to provide a robot hand that solves the above problems.

Means for Solving the Problems The present invention provides the above-mentioned robot hand with a guide member that guides the gripping claw to the inner surface of the engagement portion of the workpiece,
A deflection mechanism is provided so that the chuck claw can be displaced according to the position of the inner surface of the engaging portion when the guide member guides the work toward the inner surface of the engaging portion.

When the position of the chuck claw is misaligned with respect to the inner surface of the engagement part of the workpiece, the guide member corrects the position of the chuck claw in the direction of the inner surface of the engagement part, and at this time, the deflection mechanism is activated to prevent the chuck from being guided by the deflection guide member. Displacement of the claw is allowed.

Embodiment FIGS. 1 and 2 show an industrial robot in which an embodiment of the robot hand according to the present invention is used.

In both figures, an industrial robot 1 is installed between a conveyor 4 to which a box-shaped pallet 3 on which a workpiece 2 is placed is supplied and a conveyor 5 to supply the workpiece 2 to a machine tool (f in the figure). , the works 2 from the pallet 3 are taken out one by one and transferred to the conveyor 5. The industrial robot 1 is a cylindrical coordinate type robot, which has a base 7 fixed to a floor 6, a rotating table 8 provided on the base 7 so as to be rotatable in the direction of the arrow, and stands up on the rotating table 8. It has an arm body 10 that is guided by a pair of guide members 9a and 9b and lowers in the direction of arrow B, and an arm 11 that is extendably and retractably provided on the arm body 10.

A ball screw mechanism (not shown) is provided in the arm body 10 to be screwed into a male screw 12 on the rotation table 8, and an actuator 14 supported by a column 13 drives the male screw 12 to rotate. It goes up and down by doing this. Further, the arm body 10 is provided with an actuator 15 that slides the arm 11 in the direction of arrow C.

A robot hand 17 is provided at the tip of the arm 11 and extends upward and downward via a single-shaped bracket 16. Note that the robot hand 17 is attached to the bottom 3a of the pallet 3.
so that workpiece 2 placed on the top can also be chucked.
It has a shape that extends downward.

A chuck 19 having chuck claws 19a that engages with the work 2 is provided at the lower end of the robot hand 17, and above the pallet 3, the work 2 placed on the pallet 3 is placed on the pallet 3. An imaging camera 20 connected to an image processing device 20Δ is installed.

21 is a control device which is supplied with data of the workpiece position imaged by the m-image camera 20 from the image processing bag @20A;
Based on this data, each operating section of the riding robot 1 is operated to transfer the work 2 on the pallet 3 to the conveyor 5.

Here, the shape of the workpiece 2 will be explained. Figure 3 (A
), (B), the workpiece 2 is formed in the shape of a bowl with an opening at the bottom, the side surface 2a is inclined, and the upper part 2b has a large diameter first through hole (engaging part) 2c. and a second through hole 2d having a small diameter are bored. Therefore, a space 2e is formed inside the workpiece 2, and a space 2e is formed inside the workpiece 2.
be done.

That is, as shown in FIGS. 4(A) and 4(B), the works 2 are placed on the bottom plate 22 and stacked in multiple stages (three stages in this embodiment). At this time, the workpiece 2 is placed so that the upper part 2b having the through holes 2c and 2d faces upward.

Therefore, when the robot hand 17 chucks the workpiece 2, since the side surface 2a around the workpiece 2 is inclined, the robot hand 17 does not grip the outer circumference of the workpiece 2, but chucks the workpiece 2 by drilling into the upper part 2b. The inner chuck claw 19a is engaged with the first through hole 2C. In addition, the height positions H+, H2, 83 of each of the stacked 9-works 2 in FIG. . Here, the configuration of the robot hand 17 for chucking the workpiece 2 formed as described above will be explained with reference to FIG. 5.

In FIG. 5, the upper part of the robot hand 17 includes an L-shaped bracket 16 attached to the tip of the arm 11, an actuator 18 provided on the bracket 16, and an actuator 18 for rotationally driving the one-pot hand 17 around an axis. A speed reducer 118A that reduces the rotational driving force of the actuator 18 is provided. On the other hand, at the bottom of the robot hand 17, there is a chuck 19 and a detection mechanism 26 shown in FIG. A workpiece detection member 32'39 is provided.

First, the configuration of the tip portion of the robot hand 17 will be described with reference to FIG. In FIG. 6, the chuck 19 moves up and down when the piston (not shown) of the actuator 23 provided in the cover 33 moves up and down due to the supply of compressed air.
The configuration is such that the two chuck claws 19a are simultaneously displaced in the closing and opening directions. In addition, the piston displacement is measured using the chuck claw 19.
Since the mechanism for transmitting the signal to a is well known, its explanation will be omitted here.

As shown in FIG. 7, the chuck claws 19a are provided on the lower end surface 19b of the chuck 19 at intervals of 120 degrees, and when the piston of the actuator 23 moves downward, it is displaced in the direction of arrow X+ (opening direction), and the piston is When it moves, it will be displaced in the arrow ×2 direction (closed direction).

In addition, the chuck claw 19a is opened! l] is detected when the detected member (metal 1!1t) 23b provided on the piston rod 23a integrated with the piston moves down to a position close to the proximity sensor (for example, a high frequency oscillation type proximity sensor) 24. Ru. Then, the piston of the actuator 23 is stopped due to the supply of compressed air being cut off by the detection signal from the proximity sensor 24, and the chuck claw 19a is held at the position where it engages with the workpiece 2.

Guide members 25 guide the insertion operation of the chuck claws 19a, and are arranged on the lower end surface 19b of the chuck 19 alternately with the chuck claws 19a.

Further, the guide member 25 protrudes downward from the chuck claw 19a, and its outer circumferential surface 25a has a lower end having a smaller diameter than the through hole 2C of the workpiece 2, and is sloped so as to be easily inserted into the through hole 2C. A contact portion 25b that contacts the upper portion 2b of the workpiece 2 is provided at the base of the outer surface 25a.

This guide member 25 forms a main part of the present invention, and as described later, the center of the robot hand 17 is located at the through hole 2 of the workpiece 2.
Even if it is off the center of C, the tapered outer surface 25a slides against the inner wall of the through hole 2C while the chuck claw 19
It has a function of correcting the deviation between the two by guiding the inner surface of the through hole 2C. Further, the three guide members 25 are provided Gf at 120 degree intervals on the lower end 19b of the chuck 19, but since the portion having the outer surface 25a is split into a bifurcated shape, the lower end of the chuck 19 is substantially 6 outer parts 25
a is formed. Therefore, even if the robot hand 17 is displaced in any direction on the plane with respect to the through hole 2C of the workpiece 2, it is corrected to face the center of the through hole 2C by the action of the outer surface 25a.

Furthermore, the workpiece 2 is attached to the inner wall 25c of the negative guide member 25.
is placed in the opposite direction, or the chuck jaw 19
A detection mechanism 26 is provided to detect when a comes close to another member. This detection mechanism 26 includes a bracket 27 attached to an inner wall 25c of the guide member 25, a rod 28a inserted into a through hole 27a of the bracket 27, a contact portion 28b provided at the lower end of the rod 28a, and a It consists of a detected portion 28c provided at the upper end of 28a, and a proximity sensor 30 (high frequency oscillation type proximity sensor) supported by a support member 29 extending from the bracket 27. O Rad 2
8a, the contact portion 28b, and the detected portion 28c, the detection member 28 is normally at a position moved downward in the arrow Y+ force direction by the pressing force of the spring 31 and its own weight. When the detected member 28c approaches, the proximity sensor 30 detects that the detecting member 28 is moving downward, that is, that there is no obstacle.

The detected member 28C also functions as a stopper to prevent the detection member 28 from falling.

Therefore, when the robot hand 17 comes close to another member such as an obstacle while descending, the detection member 28 comes into contact with the contact portion 28b and moves relatively upward in the direction of the arrow Y2. As a result, the detected portion 28c moves away from the proximity sensor 30, so the proximity sensor 30 is switched to the OFF state.

Reference numeral 32 denotes a workpiece detection member, which is fixed to the chuck 19 by a bracket 34. The workpiece detection sensor 32 detects the position of the upper part 2b of the workpiece 2 and outputs a detection signal when the chuck claw 19a passes through the through hole 2C of the workpiece 2. When the contact portion 32a comes into contact with 2b, the rod 32
b enters into the cylinder 32C. A piston 32e energized by a coil spring 32d is provided at the upper end of the rod 32b, and a magnet (not shown) is attached to the piston 32e. 1! It is set up. The piston 32e is the chuck claw 1
When 9a passes through the through hole 2C, it approaches the magnetic sensor 32f. As a result, the magnetic sensor 32f detects the presence of the workpiece 2 and also detects that the chuck claw 19a has descended to a position where it can be chucked.

Further, the workpiece detection member 32 is connected to the cover 3 as shown in FIG.
Two pieces are arranged around the outer circumference of 3. Therefore, the workpiece 2 can be reliably detected by the detection signals from both workpiece detection members 32.

The explanation will be given again by returning to FIG. In FIG. 5, a safety mechanism 35, a bending mechanism 36, and a telescoping mechanism 37 are provided in order from above at the lower part of the reduction gear 18△ mentioned above, and the lower part of the telescoping mechanism 37 is shown in FIG. Decick 19 etc. are attached.

The safety mechanism 35 includes a cross-shaped connecting member 38 fixed to the bottom of the reducer 18Δ, a plate 39a that stands up from a base 39 and is connected to the connecting member 38 with bolts or the like as shown in FIG. 9, and the base 39. It generally consists of a limit switch 4o attached to. When the arm 11 rotates in the horizontal direction and the robot hand 17 accidentally collides with an obstacle (not shown) such as another device, the connecting member 38
9, limit switch 40 provided to be deformable;
Normally, the movable contact piece 40a (having a roller at the end) is brought into contact with the connecting member 38. Therefore, if excessive force is applied to the robot hand 17, the O-pot hand 17
The connecting member 38 deforms before it breaks itself. The limit switch 40 detects this and generates an alarm or the like.

Further, the deflection machine 1136 is a part forming the recess of the present invention,
It is shown enlarged in FIGS. 10 and 11.

In FIG. 10, the bending mechanism 36 is connected to the chuck 19 as described above.
When the position of the through hole 2C of the workpiece 2 is misaligned, the chuck claw 19a can be displaced according to the position of the inner surface of the through hole 2C when the guide member 25 guides the workpiece 2 to the inner surface of the through hole 2C. It deforms elastically. The bending mechanism 36 includes annular upper plates 41 and 1 fixed to the lower surface of the base 39, a fixed member 42 fixed to the inner periphery of the upper plate 41, and a movable member 43 facing the lower surface of the fixed member 42. and a bolt 45 having one end fixed to the fixed member 42 by a nut 44, the other end passing through a central hole 43a of the movable member 43, and having a head 45a having a larger diameter than the central hole 43a that abuts the lower surface of the movable member 43. It becomes more. Furthermore, in the bending mechanism 36, a pair of twisted wire bending shafts (hereinafter referred to as bending shafts) are provided between the fixed member 42 and the movable member 43, which support the aforementioned chuck 19 and the like and transmit the rotational drive of the actuator 18. 46 and 47 are arranged concentrically around the bolt 45, and 8 is located between the upper plate 41 and the lower plate 48 on which the movable member 43 is placed and fixed.
Coil springs 49 are interposed. Also, lower plate 4
8 is fixed to an annular base 51 provided on the top of a cylindrical cover 50, as shown in FIG.

The bolt 45 of the bending mechanism 36 is loosely fitted into the central hole 43a of the movable member 43, and the head 45a of the bolt 45 abuts a washer 52 provided at the bottom of the movable member 43.

Normally, the movable member 43 is supported by the head 45a of the bolt 45 in a horizontal position as shown in FIG. 10, and the lower portion thereof is suspended from the movable member 43.

Then, when the lower part of the robot hand 17 tilts toward the through hole 2C side of the workpiece 2 due to the action of the guide member 25 provided at the lower end of the robot hand 17, the movable member 43 tilts with respect to the bolt 45. The upper ends of the flexible shafts 46 and 47 are fixed to the bottom recess 42a of the fixed member 42, and the lower ends are fixed to the upper recess 43b of the movable member 43. The inner bending shaft 46 is formed by winding a rectangular wire having a square cross section in a counterclockwise spiral, and the outer bending shaft 47 is formed by winding a rectangular wire in a clockwise spiral. This is because the robot hand 17 is rotated both clockwise and counterclockwise by the driving force of the actuator 18.

Normally, the weight of each member below the movable member 43 acts on the bolt 45 and the deflection shafts 46.47, so a minute FJ1 space is formed between the flat wires of the deflection shafts 46.47. Further, the bending shafts 46 and 47 arranged concentrically are separated from each other, and a space 53 is formed between them. Therefore, when the lower part of the robot hand 17 is tilted by the action of the guide member 25, the deflection shafts 46, 47 are elastically deflected, and the chuck 1 guided by the guide member 25 is
9 displacements are allowed.

Further, a coil spring 49 interposed between the upper plate 41 and the lower plate 48 has both ends protruding from the upper plate 41 and the pin 48 protruding from the lower plate 48, respectively.
It is fitted in a. Therefore, as mentioned above, the deflection shaft 46.
When 47 is bent, the bending axis 46.8 placed outside the 47
The coil springs 49 also bend in the same way. Incidentally, the deflection shafts 46 and 47 can return to their bent position by themselves, but are forced to return to the first position by the restoring force of the coil spring 49.
Since the robot hand 17 can return to the state shown in FIG. 0, the robot hand 17 quickly returns to the state shown in FIG. 5 without causing any vibration.

Next, the expansion and contraction mechanism 37 will be explained. When the chuck 19 or the like comes into contact with some obstacle when jacking the workpiece 2 or when the robot hand 17 descends, the telescoping mechanism 37 closes the chuck 19 and the robot hand 17.
It operates in such a way that it does not damage itself. That is, the telescopic mechanism 37
In FIG. 5, an annular support member 54 fixed to the lower end of the cover 50, a cylindrical decoy member 55 inserted into the cylindrical guide hole 4a of the support member 54, and a slide member 55 are shown. It consists of a coil spring 56 wound between a flange 55a fixed to the lower end and a support member 54. A nut 57 as a stopper that contacts the support member 54 is screwed onto the upper end of the sliding body 55, and a flange 55a at the lower end of the sliding body 55 is fixed to a base 58 at the upper end of the cover 33 with bolts.

Also, low J1! A sliding member 59,60 is provided. Therefore, when the chuck 19 comes into contact with some obstacle during the process of lowering the robot hand 17, the vibrating body 55 is driven within the guide hole 4a and moves upward. At this time, the coil spring 56 absorbs the impact and returns the sliding body 55 that has moved upward after the obstacle is removed.

Further, a proximity sensor (high frequency oscillation type proximity sensor) 61 is provided at the lower end of the cover 50, and a metal detection plate 62 is provided at the collar 55a of the vibrating body 55. This detection plate 62 is normally spaced apart from the proximity sensor 61, but as described above, when the sliding body 55 moves upward, it approaches the proximity sensor 61.

At this time, the proximity sensor 61 detects that the chuck 19 has come into contact with an obstacle, and outputs a detection signal thereof.

Upon receiving the signal from the proximity sensor 61, the control device 21 immediately stops the lowering operation of the robot body 10. This prevents the chuck 19 or the guide member 25 from being damaged even if the chuck 19 or the guide member 25 comes into contact with some obstacle when the robot hand 17 is lowered.
Damage to the bot hand 17 itself is also prevented.

Next, the operation when changling the workpiece 2 by the robot hand 17 configured as described above will be explained.

First, as shown in FIG.
Data (x.

Y coordinate data) is transferred to the TSM device 21. The control device 21 transfers operation command signals to each actuator of the industrial abot 1 based on data from the image processing device 21A. As a result, the robot hand 17 moves above the workpiece 2.

Next, the arm body 10 descends and the robot hand 17 descends into the pallet 3. robot hand 17
When the center of the chuck 19 provided at the lower end of the detection member 18 is aligned with the center of the through hole 2C of the workpiece 2, as shown in FIG. Guide member 25. Each of these members is inserted into the through hole 2c in the order of the chuck claw 19a.

At the same time, the contact portion 32a of the workpiece detection member 32
When the workpiece detection member 32 comes into contact with the upper part 2b of the workpiece detection member 32 and descends to a position where the chuck claw 19a engages with the inner surface of the through hole 2C, the workpiece detection member 32
The detection signal is output from the magnetic sensor 32f. As a result, the lowering of the 1-bot hand 17 is stopped, the actuator 23 is driven, and the three chuck claws 19a are respectively displaced in the opening direction and engaged with the inner surface of the R through hole 2c.

As described above, when the chang- ing of the workpiece 2 is completed, the robot hand 17 moves upward together with the arm main body 10, and further, the rotation table 8 moves the workpiece 2 onto the conveyor 5.
(see Figure 2), and place the workpiece 2 on the conveyor 5 a.
place

Here, a case will be described in which the center of the chuck 19 is deviated from the center of the through hole 2C of the work 2 when the work 2 is chucked.

As shown in FIG. 13, based on the data from the image processing device 21A, when the robot hand 17 moves above the workpiece 2, the center it of the chuck 19 deviates from the center L2 of the through hole 2C by a dimension ahead. There is.

In that case, the guide member 25 in the deviated h direction is inserted into the through hole 2C, and as the robot hand 17 descends, the outer surface 25a comes into sliding contact with the inner wall of the through hole 2C. Incidentally, since the workpiece 2 is made of a cast metal or the like, it has a considerable number of possibilities.

Therefore, as the robot hand 17 descends, the inclined outer surface 25a of the guide member 25 is inserted into the through hole 2C, and as shown in FIG. From this state, it descends while tilting towards the through hole 2G as shown by the solid line. Such movement is caused by the deflection of the deflection mechanism 36 @46 described above.
．． 47 and the coil spring 49 are allowed to bend. That is, each member located below the lower base 43 is inclined with respect to the bolt 45, and the chuck claw 19a is guided into the through hole 2C.

Then, the contact portion 32a of the workpiece detection member 32 is connected to the workpiece 2.
When the chuck claw 19a comes into contact with the upper part 2b and a detection signal is output from the magnetic sensor 32f, the actuator 23 is driven and the chuck claw 19a engages with the inner surface of the through hole 2C. When the chucking operation is completed in this way, the robot hand 1
7, the workpiece 2 is placed on the bottom plate 22 along with the upward movement of the arm body 10.
It is then lifted up and transferred to the conveyor 5.

When the robot hand 17 moves upward, the deflection shaft 4 is bent.
At the same time as 6.47 performs the return operation, the restoring force of the eight coil springs 49 causes the II grinding mechanism 36 to quickly return fIi to the state before chaffing.

Note that since the return operation of the deflection mechanism 36 is performed strongly by the elastic force of the coil spring 49, the robot hand 17 does not vibrate during the return operation, and the robot hand 17 is moved vertically as shown in FIG. Stable return to normal condition.

Furthermore, since the works 2 are placed irregularly on the pallet 3, the peripheral edges 2f of the works 2 may overlap and the works 2 themselves may be tilted. Also in this case, the outer surface 25a of the guide member 25 slides on the inner wall of the through hole 2C of the workpiece 2, and the chuck claws 19a are placed inside the through hole 2C, so that the workpiece 2 can be chuffed.

Therefore, even if the position of the robot hand 17 is shifted relative to the workpiece 2, the robot hand 17 can reliably chuck the workpiece 2, and even if the workpiece 2 is placed in an unstable state, there will be no problem. The workpiece 2 can be efficiently transferred because the chucking operation can be done without having to redo the chucking operation many times.

Also, by rotating the turning table 8, [1 bot hand 17
Even if the lower part of the robot hand 17 accidentally comes into electrical contact with another device from the side when rotating the robot, the bending mechanism 36 will function like a damper because the bending shafts 46 and 47 and the coil spring 49 will elastically bend. This prevents the robot hand 17 and the industrial robot 1 itself from being damaged.

In the above actual cancer example, the pair of deflection shafts 46 and 47 were used for the deflection mechanism 36, but the present invention is not limited to this. Of course, other flexible joints or universal joints may be used as long as they are compatible.

Effects of the Invention As described above, the robot hand according to the present invention has the advantage that even if the center of the chuck provided at the tip of the wAO boft hand that chucks a workpiece is misaligned with the center of the workpiece engaging part, the robot hand provided at the tip of the chuck The chuck claw is guided by the guide member to the inner surface of the engaging part of the workpiece, and the chuck is allowed to be displaced in the direction of the engaging part by the movement of the deflection mechanism, thereby reliably chucking the workpiece. Can be done. In addition, even if the workpiece is stacked on top of another workpiece or placed in an unstable state, the workpiece can be chucked, and the workpiece can be chucked in one operation without having to redo it many times. It has features such as being able to transfer the workpiece efficiently and improving the reliability of the rough chucking operation.

[Brief explanation of the drawing]

FIG. 1 and FIG. 2 are a front view, a plan view, and a top view of an industrial robot to which an embodiment of the one-pot hand is applied, according to the present invention.
Figures 3 (8) and (B) are a plan view and a tIi cross-sectional view of the workpiece, Figures 4 (A) and (B) are a plan view and a vertical cross-sectional view of the pallet on which the workpiece is placed, and Figure 5 is a vertical cross-sectional view. A vertical cross-sectional view of the robot hand, FIG. 6 is an enlarged view of the lower part of the robot hand.
IIFi side view, Figure 7 is the bottom view of the robot hand, Figure 8
The figure is a cross-sectional view taken along line ■-■ in Figure 5, Figure 9 is a cross-sectional view taken along line IX-IX in Figure 5, Figure 10 is an enlarged view of the bending mechanism, and Figure 11 is a cross-sectional view taken along line IX-IX in Figure 5. Horizontal i along line XI-XI in the figure
12 is a vertical cross-sectional view for explaining the operation when chucking a workpiece, and FIGS. 13 and 14 are views of the chuck when the position of the chuck is past the through hole of the workpiece. FIG. 3 is a longitudinal cross-sectional view for explaining a king operation. DESCRIPTION OF SYMBOLS 1... Industrial robot, 2... Work, 3... Pallet, 4.5... Conveyor, 8... Rotating table, 10... Arm body, 11... Arm, 17...・
・Robot hand, 19...Chuck, 19a...
Chuck jaw, 2020-1l camera, 21 ・ill
fill device, 22--bottom plate, 24--proximity sensor, 25--guide member, 26--detection l! Bridge, 2B
Detection member, 30 Proximity sensor, 32 Workpiece detection member, 32a Contact portion, 32f Magnetic sensor, 32e Piston, 35 Safety mechanism,
36... Deflection mechanism, 37... Telescopic mechanism, 38...
Connection member, 40... Limit switch, 42... Fixed member, 43... Movable member, 46.47... Strand wire deflection shaft, 49... Coil spring, 54... Support member, 55... ...Sliding body, 59°60...Sliding member, 61...Proximity sensor, 62...Detected plate.

Claims (1)

[Scope of Claims] A robot hand having chuck claws that are engaged with an inner surface of an engaging portion of a workpiece and grip the workpiece at a distance from each other, comprising: a guide member that guides the chuck claws to the inner surface of the engaging portion of the workpiece; A robot hand comprising: a bending mechanism that allows the chuck claw to be displaced according to the position of the inner surface of the engaging portion when the guide member guides the work toward the inner surface of the engaging portion.