JPH0236089A - Hand with variable grab position - Google Patents

Abstract

PURPOSE:To miniaturize the whole body of a hand by providing a 1st gripper opening and closing only in the grab direction of a pair of grippers and a 2nd gripper opening and closing in the grab direction and also moved by the driving of the actuator for revolving in about a vertical direction for the above grab direction along the plane. CONSTITUTION:In the case of performing a part assembly work by a robot the vertical revolving varying the grab position of a part 30 is performed with the combination operation of the opening and closing operation of a 1st gripper 10, the opening and closing operation for the 2nd gripper 18 interlocking there with and the moving operation in about vertical direction for the grab direction of the 2nd gripper 18, when the assembly is performed by varying the grab position of the part 30 in a part feeding device. Consequently, a revolving device is made unnecessary, no installation space is needed and a hand becomes minia turized.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a hand of an assembly robot that performs assembly of parts, and relates to a hand that can change the posture of holding parts.

[Conventional technology]

A conventional example of this type of assembly robot hand will be explained with reference to FIGS. 5 and 6. FIG. 5 is a front view of a conventional hand, and FIG. 6 is a process explanatory diagram showing only a portion of the circle B indicated by a chain line in FIG. In FIG. 5, 20 is an actuator for opening and closing such as an air cylinder, 22 is a gripper opening/closing mechanism using a link mechanism (not shown), 25 is a pair of gripper fixing fittings, and 6 is attached to each of the gripper fixing fittings 25. a pair of grippers; 30 is a part (hereinafter simply referred to as part 30) that is gripped and transferred by the hand; a robot hand having a configuration of 0 or more;
(hereinafter simply referred to as the hand) is fixed to the robot shaft 4 by a fixture 2.

By driving the opening/closing actuator 20, the pair of grippers 6.6 move in a plane in the gripping direction 8 that includes the center line 12 of the main body (corresponding to a vertical plane along the paper in FIG. 5).
The gripper opening/closing mechanism 22 opens and closes a pair of grippers 6, 6 attached to the gripper fixing fittings 25 along a vertical plane (hereinafter also referred to as a vertical plane), holding the component 30 with a force of 1. This is an assembly robot in which the hand moves to a desired position and releases the part 30. When assembling the part 30, the hand moves the part 30 with the gripper 6.6 open. Move to component gripping position 1 of the supply device (not shown), and then gripper 6
．． 6 to position, grasp and hold the part 30,
For the desired assembly, the part 30 is moved to the desired position, and after the part 10 has been assembled, the gripper 6.6 is opened to release this part 30. The assembly is automatically performed.

The parts 30 to be assembled may be assembled in the same orientation as the orientation in the component supply device, or may be assembled in a different orientation. In the former case, the positioning accuracy is good (generally, the assembly is performed in this posture).On the other hand, in the latter case, the positioning accuracy is good. In Figure 5,
During a horizontal turn (r+
This is handled by rotating the bot shaft 4.

[Problem to be solved by the invention]

Incidentally, when assembling the parts 30, there are cases where the parts 30 are assembled by turning vertically by 90 degrees in a plane perpendicular to the parts supply attitude. In such a case, the conventional example described in FIG. 5 cannot be used as it is, so the component 30 is re-grasped as described in the process diagram of FIG. 6.

In FIG. 6, fa+ indicates a state in which the hand has moved to the part gripping position of the part supply device of the part 30 with the gripper 6.6 opened. mountain) is gripper 6.6 here.
The figure shows a state in which the parts 30 are positioned, gripped, and held with the parts 30 closed. In (C), the part 30 is transferred to the turning device 32 in the state of (bl), the part 30 is placed thereon, the part 30 is held by the turning device W32, the receiver is handed over, and the gripper 6.6 is opened to hold the part 30. 30 is released. (d) shows a state in which the rotating device 32 has vertically rotated 90 degrees in the counterclockwise direction of the arrow 34 while holding the part 30. (e) shows a state in which the gripper 6. Close part 3 of 6.
0 is positioned, gripped and held, the rotating device 32 releases the hold on the part 30, and the receiver transfers the part 30. In this state, the hand is about to transfer the part 30 to the desired assembly position. ing.

In addition, when changing these gripping postures, a center line perpendicular to the plane of the paper passing through a center point (not shown) of the component 30 is used as the center line of the vertical rotation.

According to the above-mentioned conventional example, since the part 30 is transferred and rotated vertically, there is a loss in working time and productivity is reduced.
In order to change the grasping posture, a turning device 32 or the like is required, which requires a space to install it, and is time-consuming because it increases equipment costs and operating costs.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, an object of the present invention is to provide a hand with a variable grasping posture that can vertically turn a part by itself while transferring the part without a turning device, eliminating loss of working time. It is said that

[Means to solve the problem]

In order to solve the above-mentioned problems, the present invention opens and closes a pair of Ginosonomas by an equal distance of positive and negative along a plane in the gripping direction including the center line of the hand main body by driving an opening/closing actuator to transport cargo. In the robot's hand, which grasps and holds the part to be transferred, and releases this part after transfer,
A first gripper of the pair of grippers that opens and closes only in the gripping direction, and a first gripper that opens and closes in the gripping direction and is moved along the plane in a direction substantially perpendicular to the gripping direction by driving a turning actuator. and a second gripper.

[Function] According to the hand of the present invention, the first gripper, which is the same as the conventional example that opens and closes only in the gripping direction, of a pair of grippers, and the first gripper, which opens and closes in the gripping direction, and the first gripper, which opens and closes only in the gripping direction, The second gripper is moved in a direction substantially perpendicular to the gripping direction along a plane in the gripping direction including the gripping direction by the drive of the turning actuator, so that the gripper can be gripped and held without the turning vtf of the conventional example. The hand itself can vertically rotate the part while the part is being transferred, eliminating work time loss and changing the gripping posture.

〔Example〕

FIG. 1 is a front view 1 showing an embodiment of the present invention, and FIG.
FIG. 2 is a side view of the drawing viewed from the direction of the arrow, with the fixture 2 and the robot shaft 4 omitted.

In these figures, the same elements as explained in FIG. 5 are given the same reference numerals.

1 and 2, the difference from the conventional example shown in FIG. 5 is that instead of the pair of grippers 66 in the conventional example, a first gripper 1
0, the air cylinder opens and closes in the gripping direction 8, and extends along a plane in the gripping direction 8 that includes the center line 12 of the hand body, in a direction 14 substantially perpendicular to the gripping direction 8 as indicated by an arrow I4. The second gripper 18 is moved by the drive of a turning actuator 16 such as the above.

In the figure, reference numeral 2 denotes a fixture that fixes the hand to the robot axis 4. 20 is an actuator for opening/closing an air cylinder or the like; 22 is a gripper opening/closing mechanism using a link mechanism (not shown); 24a, 24b are gripper fixing fittings; 10 is a first gripper attached to one of the gripper fixing fittings 24a; The process up to this point is the same as the conventional example shown in FIG. 5 above. The other gripper fixture 24b has a fixture 2.
The gripper guide 28 and the above-mentioned swing actuator 16 are fixed via the handle 6. Gripper guide 28
The rotation actuator 16 has its operation end 16a connected to the second gripper 18, and moves the second gripper 18 in the direction of the arrow I4. Move in direction 14.

In the above explanation, the swing actuator 16 and the opening/closing actuator 20 are explained as air cylinders, etc., but they are not limited to this, and actuators such as hydraulic cylinders or electric cylinders may also be used. The direction 8 is a horizontal line, and the center line 12 of the main body and the direction 14 are shown as perpendicular lines. However, since the robot axis 4 can rotate in any direction, the direction of the hand fixed to the robot axis 4 is the same as the robot axis 4. Although the present invention is not limited to the horizontal and vertical lines in the figure, the explanation will be given along the direction in the figure for convenience of explanation.

FIGS. 3 and 4 are process explanatory views of the hand according to the embodiment of the present invention, viewed from the front. When compared with the process explanatory diagram of the conventional example shown in FIG. 6, FIG.
This corresponds to figure (8). In FIG. 3, the hand moves to the component gripping position of the component supply device 30 with the first gripper lO and the second gripper 18 opened, and here the first gripper lO and the second Close the gripper 18 of the part 3
0 is positioned, grabbed and held.

FIG. 4 shows a state in which the part 30 is vertically rotated by 90 degrees in the counterclockwise direction of the arrow 340 during transfer. This means that when the opening/closing actuator 20 is operated in the direction in which the gripper 1B closes and the turning actuator 16 is operated to move the second gripper 18 in the upward direction of the arrow 14, the part 30 is transferred. The part 30 is rotated 90@vertically in the counterclockwise direction of the arrow 34, and the part 30 is held between the stepped part 10a of the first gripper 10 and the stepped part 18a of the second gripper 18 in the longitudinal direction (in the figure). Then, the two grippers 10 and 18 are closed an equal distance, and the part 30 is subjected to a positioning force in the thickness direction, allowing accurate vertical turning. Thereby, the vertically rotated and accurately positioned parts 30 can be transferred and assembled.

〔Effect of the invention〕

According to the present invention, when parts assembly is performed by a robot, when assembling is performed by changing the gripping position of the parts in the parts supply device, the first gripper rotates vertically to change the gripping position of the parts. This is necessary in the conventional example in order to perform the opening/closing operation of the second gripper in conjunction with the opening/closing operation of the second gripper, and the movement operation of the second gripper in a direction substantially perpendicular to the gripping direction. The existing swing change 1 is no longer necessary, no installation space is required, and there is no increase in equipment costs or operating costs.

Since it performs vertical IL rotation while gripping and transferring parts, it is possible to provide a hand with variable gripping posture with good positioning accuracy that eliminates work time loss, and improves work productivity during assembly. can. Furthermore, since the operation of the swing actuator can be easily stopped by cutting the operation control device, the assembly of parts that do not require vertical swing can be easily changed, and the range of types of parts to be transferred can be easily changed. Expanded and flexible assembly allows for work.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of the present invention, FIG. 2 is a side view of FIG. 1 viewed from the direction of arrow A, with the fixing fittings and robot axis omitted, and FIGS. Figure 4 is a process explanatory view of the hand according to the embodiment of the present invention viewed from the front, Figure 3 is a diagram showing a state in which a component is positioned, gripped and held at the component gripping position of the component supply device, and Figure 4 is A diagram showing a state in which the part is vertically rotated by 90° counterclockwise while transferring the part, FIG. 5 is a front view of the conventional hand, and FIG. 6 shows only the part of the circle B indicated by the dashed-dotted line in FIG. 5. (Al is a diagram showing the state where the hand opens the gripper and moves to the component gripping position of the component supply device, and the mountain) is a diagram showing the state where the component is positioned, gripped and held, ( C1 is a diagram showing the state in which the parts have been received and delivered to the swivel device, +dl is a diagram showing the state in which the swivel device has rotated the part 90'' vertically counterclockwise, and (6) is the diagram showing the state in which the component has been vertically swiveled 90'' counterclockwise from the swivel device. It is a diagram showing a state in which the parts are transferred to a desired position after the parts are delivered to the receiver. 4: Robot shaft, 6: Gripper (conventional example), 10: First
gripper, 16: rotation actuator, 18: second
gripper, 20: opening/closing actuator, 24a,
24b, 25 Nigelipper fixing fitting, 30: Parts to be transferred (parts) 0.32: Swivel device. I\Bojinha Jt branch Yamaguchi At -
. - Figure 3 Figure 4 Figure 1 Figure Figure

Claims (1)

[Claims] 1) Driven by an opening/closing actuator, a pair of grippers opens and closes equal distances, positive and negative, along a plane in the grasping direction that includes the center line of the hand body, grips and holds the part to be transferred, and releases the part after transfer. a first gripper that opens and closes only in the grasping direction of the pair of grippers; and a turning actuator that opens and closes in the grasping direction and rotates along the plane in a direction substantially perpendicular to the grasping direction. and a second gripper that is moved by the drive of the hand.