JPH02224992A - Robot hand - Google Patents

Abstract

PURPOSE:To enable wide use and sure holding with respect to the thickness of parts by providing a vertically movable upper claw on the upper portion and a vertically movable and rotatable lower claw on the lower portion of each finger of a robot hand. CONSTITUTION:At the time of holding a part 4, the side faces of the part 4 are fixed by the surfaces of fingers 2, 2' while restraining the vertical direction of the part 4 with upper claws 12 and lower claws 10. Hence, the part 4 can be surely held. At the time of stacking the part 4, the lower claws 10 are moved downward and further rotated to be moved to the position of 10b. Thereby, the part 4 can be stacked without causing the lower claws 10 to hit on the top face of a part 5 below. In this case, even if the two sides of the part 4 with which the fingers 2, 2' are brought into contact have mutually different forms, the part 4 can be surely held since the upper claws 12 and lower claws 10 can be independently moved.

Description

[Detailed Description of the Invention] [Summary] This invention relates to a robot hand for an automatic assembly robot for mechanical parts, electronic parts, etc., which is capable of gripping parts universally and reliably for various thicknesses of parts, and can also place parts in a stacked manner. A robot hand that has two fingers pointing downward parallel to each other at the base of the robot hand and whose spacing can be changed, with the aim of preventing the lower ends of the fingers from interfering with the parts below when handling. In this configuration, an upper claw that is driven in the vertical direction and a lower claw that is driven to move vertically and rotationally are provided on mutually opposing surfaces of the name finger.

[Industrial application field]

The present invention relates to a robot hand for a robot for automatically assembling mechanical parts, electronic parts, etc.

Conventionally, in the assembly work of mechanical parts, electronic parts, etc. by robots, two-fingered robot hands are often used, and the fingers themselves do not have any mechanism, but for special purposes, they can be used to adjust to the shape of the part. They used fingers with soft elastic bands at their tips. Currently, however, electronic components, magnetic storage devices, and the like are becoming smaller and the shapes of the components are becoming more complex, requiring precise assembly work, and a robot hand that can handle this is required.

[Conventional technology]

FIG. 5 is a diagram showing an example of a conventional robot hand.

This has two fingers 2 and 2' facing downward on the robot hand base 1, which are parallel to each other, and whose spacing can be changed by a drive mechanism (not shown).
A soft elastic body 3 is provided on the mutually opposing surfaces of '.

[Problem to be solved by the invention]

In the conventional robot hand shown in Fig. 5 above, the sixth
As shown in Figure (a), when gripping the part 4, the part may be gripped at an angle, and the elastic body 3 may cause misalignment between the fingers 2, 2' and the part 4, making it unsuitable for precision assembly work. There was a problem. Furthermore, with fingers that have an elastic body 3 attached or a notch that matches the shape of the parts, it is difficult to fit the parts 4 onto the shaft 6 and stack them, as shown in FIG. 6(b). There was a problem in that the lower part 3a touched the upper surface of the stacked parts 5, making it impossible to perform the work. Furthermore, there is a problem in that the fingers provided with notches that match the parts are not versatile.

In view of the above-mentioned conventional problems, the present invention provides a robot that can grip parts universally and reliably depending on the thickness of the parts, and furthermore, the lower ends of the fingers do not interfere with the parts below when stacking parts. The purpose is to provide a hand.

[Means to solve the problem]

FIGS. 1 and 2 are diagrams for explaining the present invention in detail, with FIG. 1 being a configuration diagram and FIG. 2 being an action explanatory diagram.

In FIG. 1, 2 is a finger, and a lower pulley 7 and an upper pulley 8 connected to a drive morph 13 are rotatably provided on the finger, and a flat belt 9 is connected between the lower pulley 7 and the upper pulley 8.
The hook is passed, and a lower claw 10 is attached to the flat belt 9. Further, the finger 2 is provided with an upper claw 12 which is driven up and down by an air cylinder 11 and is opposed to the lower claw 10.

The robot hand of the present invention has two fingers configured as described above, and the surfaces having the claws 10 and 12 are provided so as to face each other. Note that the lower claw 10 moves in the vertical direction indicated by arrow A and in the rotational direction indicated by arrow B by rotating the morph 13.

[For production]

When gripping the part 4 as shown in FIG. 2(a), fix the side surface of the part 4 with the surface of the fingers 2.2' (in this case, the flat belt 9 does not come into contact with the part), and The direction is restricted by the upper claw 12 and the lower claw 1o.

Therefore, the component 4 can be gripped securely. In addition, when stacking the parts 4 as shown in FIG. 2(b), the lower claw 10 is moved downward and further rotated to the position 10b so that it does not hit the upper surface of the lower part 5. Stack parts 4. be able to. Furthermore, as shown in FIG. 2(C), even if the shape of the part 4 is different on the two sides that the fingers 2 and 2' touch, the upper claw 12 and the lower claw 10 can be moved independently with the finger, so the It is possible to grasp it.

〔Example〕

FIG. 3 is a diagram showing an embodiment of the present invention, in which (a) is a front view, (b) is an enlarged view taken in the direction of the Z arrow in diagram a, and (C) is a C--C in diagram b.
It is a sectional view taken along the C line.

In the figure, reference numeral 1 denotes a robot hand base having a mounting part 17, and the base has two fingers 2.2' pointing downward.
are provided so that their spacing can be changed by a drive mechanism (not shown). The fingers 2 and 2' have the same shape, and the famous finger has an air cylinder 11 attached to the finger frame 2a by an air cylinder holder 16, and an upper claw 12 attached to the rod tip of the air cylinder 11. Also finger frame 2
A lower pulley 7 and an upper pulley 8 driven by a stepping motor 13 are provided between the two lower side plates of A lower claw 10 is attached to the belt 15 so as to be located near the lower pulley 7 and to face the upper claw 12. Further, the steel belt 15 is screwed to one point on the upper pulley 8 by a screw 14. Therefore, the rotation angle of the upper pulley 8 is a maximum of 180 degrees, and the upper pulley's diameter air cylinder 11 moves the upper claw 12 downward by sending compressed air through the air tube 18, and by releasing the pressure, the air cylinder 11 is operated by the force of the spring. It is designed to return upward.

In this embodiment configured as described above, when gripping the component 4, as shown in FIG.
．． 2', the upper claw 12 of the cylinder 11 is driven from above the part 4, and the lower claw 10 is driven from below by a stepping motor to restrain the part 4 from above and below. Can be gripped securely. Moreover, when stacking the parts 4 as shown in FIG. 4(b),
By moving the lower claw 10 downward and further rotating it along the lower pulley 7 and moving it to the position 10b, the parts 4 can be stacked without the lower claw 10 hitting the upper surface of the lower part 5. Furthermore, as shown in FIG. 4(C), even if the shape of the part 4 is different in thickness on the side that contacts the fingers 2 and 2', the upper claw 12 is used as an air cylinder 11, and the lower claw 10 is used as a stepping motor. Since they can be moved independently, they can be held securely.

〔Effect of the invention〕

As explained above, according to the present invention, the fingers of the robot hand are provided with an upper claw that moves vertically at the top and a lower claw that moves vertically and rotationally at the bottom. It is versatile and can be held securely. Further, when stacking parts, by rotating and retracting the lower claw, the parts can be easily stacked without the claw interfering with the parts below.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram for explaining the present invention in detail, FIG. 2 is an action explanatory diagram for explaining the present invention in detail, FIG. 3 is a diagram showing an embodiment of the present invention, and FIG. FIG. 5 is a diagram for explaining the operation of the embodiment of the present invention, FIG. 5 is a diagram showing a conventional robot hand, and FIG. 6 is a diagram for explaining the problem to be solved by the invention. In the figure, 2.2' is a finger, 7 is a lower pulley, 8 is an upper pulley, 9 is a flat belt, 10 is a lower claw, 11 is an air cylinder, 12 is an upper claw, 13 is a drive motor (pulse motor), 15 indicates a steel belt. Configuration diagram for detailed explanation of the present invention Fig. 1 9... Flat belt 13... Drive motor -〇

Claims (1)

[Scope of Claims] 1. A robot hand in which two fingers (2, 2') are provided downwardly on a robot hand base (1) parallel to each other and the distance between them can be changed, An upper claw (12) that is driven in the vertical direction and a lower claw (10) that is driven to move vertically and rotationally are provided on the mutually opposing surfaces of each finger (2, 2'). Features a robot hand.