JPH0257326A - Robot hand - Google Patents

Abstract

PURPOSE:To facilitate a teaching, and to securely associate a belt with the supporting fulcrum axis of a robot without applying an unreasonable force by providing a slide mechanism for relatively moving a hand body and a holder in parallel with the holding direction of belt chucking mechanism, and a spring member for so energizing the body as to apply a tension to the belt. CONSTITUTION:A slide mechanism 4 lightly relatively moves a hand body 7 and a holder 8 only in a uniaxial direction parallel to the holding direction of a belt chucking mechanism 3. A tensile spring 16 applies a tension to a belt 1 bridged between a belt receiving end 5a and a pulley 2a. A belt associating operation includes engaging the end of the belt 1 with the pulley 2a to be of reference, moving a robot hand in the tensile direction of the belt 1, and moving the had to the pulley 2b while applying the tension to the belt 1 by the spring 16. Then, the body 7 is advanced to engage the belt 1 with the pulley 2b, the body 7 is again retracted, the hand is moved to the pulley 2c, and the belt 1 is passed over the pulley 2c.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application in the Ornamental Industry] The present invention relates to a robot hand for assembling a belt, and more particularly, to a robot hand suitable for assembling a timing belt that does not stretch.

[Conventional technology]

Conventionally, many proposals have been made regarding self-aligning mechanisms for giving flexibility to robot hands, such as those described in Japanese Patent Application Laid-Open No. 61-279490 and Japanese Patent Application Laid-open No. 62-79990. When assembling a belt that does not stretch using a multi-axis robot, use a robot hand to absorb the positional deviation of the teaching, and constantly maintain tension to prevent the belt from coming off the boot during assembly. There was nothing that had any functionality.

[Problem 1 to be solved by the invention] In the above-mentioned prior art, when assembling a belt, the belt gripped by a robot is hooked onto one pulley, and then
When moving the hand to hook onto another pulley,
If the fl & c deviation is as much as taught by the robot hand, the belt will not stretch, so the robot hand will not be able to move beyond the limit determined by the length of the belt. The force may cause deflection, shift of the robot origin, and damage to parts.

Furthermore, while the belt is hooked on one pulley and then hooked on another pulley, the belt may loosen and come off the pulley. Conventionally, when assembling a belt using a multi-axis robot, the teaching position shift of the robot hand has a large effect, making teaching extremely difficult and time consuming, and the belt may break during assembly. It has been difficult to put it into practical use because it easily comes off.

The purpose of the present invention is to prevent excessive external force from being applied to the robot fulcrum shaft during belt assembly due to misalignment during teaching, and to keep the belt under constant tension so that the belt does not come off the pulley during assembly. To provide a robot hand which can shorten teaching time and reliably assemble a belt without causing origin deviation etc. by maintaining the robot hand.

[Means for Solving the Problem] The above object is to provide a belt chuck @ that grips a part of the belt in the Ωbot hand that assembles the belt between the pulleys by sequentially attaching the belt to a plurality of pulleys. A slide + f & holder is installed between the hand body on which the mechanism is mounted and the holder that attaches the hand to the arm of the robot, which allows relative movement between the hand body and the holder only in one axis direction parallel to the gripping direction of the belt chuck mechanism. This is achieved by providing a spring member that constantly biases the hand body so as to apply tension to the belt chuck and pulley in one axial direction allowed by the slide mechanism.

[Effect]

When assembling a belt between five bobbies using this robot hand, a part of the belt is gripped by the belt chuck mechanism, and the pulley on which the belt was first hooked is used as a reference.
The robot hand moves in a circular motion while picking up the belt, and when the belt is hooked on the second pulley, the robot hand is moved further and the belt is hooked on the fifth pulley. During this time, tension can be constantly applied to the belt by the slide mechanism and spring member provided between the hand body and the holder, so that the belt does not loosen and come off the pulley.

Furthermore, even if the arm of the robot moves beyond the limit determined by the length of the belt during belt assembly, the slide mechanism causes relative movement between the hand body and the holder, so excessive force other than the spring force is generated. No force is applied to the robot fulcrum axis. Therefore, it is possible to prevent the occurrence of deviation of the robot origin, damage to parts, etc. due to deviation of the teaching position of the robot hand, and since the influence of the deviation of the teaching position is small, teaching can be performed easily.

〔Example〕

Hereinafter, one embodiment of the present invention will be explained with reference to FIGS. 1 to 5.

The first prisoner is an external view M of the robot hand of this embodiment, Figure 2 is a diagram of the belt chuck in a closed state, and Figure 5 is a diagram of the belt chuck in an open state. Fig. 5 is a diagram showing the state in which the belt has been assembled between the five pulleys.

The abot node shown in Figures 1 to 4 is a belt chuck machine! The hand main body 7 on which s3 is mounted and a holder 8 for attaching the hand to a robot arm (not shown) are connected by a slide a structure 4 and a tension spring 16 which is a spring member.

The belt chuck mechanism 5 includes a belt receiver 5 and a belt presser 6 as gripping elements. The belt receiver 5, which has a semi-circular shape at the tip 5α, is made to be able to slide lightly in the i11 direction by passing it through a ball guide 19 provided on the hand main body Z. A temporary stop 18 is fixed in the middle, and a compression spring 17 is interposed between this and the plate 9 of the receiver attached to the end surface of the hand main body 7, so that the permanent stop plate 18 is attached to the wall of the hand main body on the side of the ball guide 19. The belt receiver 5 is held in place by pressing against it. On the other hand, the receiver attached to the hand body 7 has a belt presser cylinder 11 attached to the upper part of the plate 9 with a fulcrum pin 20, and a knuckle 10 provided on the rond side of the belt presser cylinder 11 is attached to the belt presser 6 with a fulcrum pin 21. The belt presser 6 and the hand main body 7 are connected by a fulcrum pin 22, and by operating the belt presser cylinder 11, the belt presser 6 can be opened and closed about the fulcrum pin 22.

The belt presser 6 has a groove 6α at the tip, and this groove 6α
The belt 1 is held between the semicircular tip portion 5α of the belt holder 5 and the semicircular tip portion 5α of the belt holder 5.

The slide frame structure 4 includes a sliding plate (, () 15 fixed to the hand main body 7 side, a sliding plate (B) 14 added to the holster 8ijill, and an intervening structure between these sliding plates 13 and 14. The hand main body 7 and the holder 8 are configured with a ball guide 12 equipped with a ball guide 12 so that the hand main body 7 and the holder 8 can move relative to each other only in one axis direction (necessarily up and down direction) parallel to the gripping direction of the belt chuck mechanism 3.
I'm doing C. The tension spring 16 is attached between the spring support pin 15α on the side of the hand body 7 and the spring support pin 1540 on the holder 8llllll, and constantly pulls the hand body 7 upwards, thereby tightening the belt holder of the belt chuck mechanism 6. The belt 1 is hung between the tip part 5α and the pulley 2α.
It is designed to give tension to. Note that this tension spring 16 is given an initial deflection in advance, so that a predetermined tension is applied to the belt 1 by slight relative movement between the hand body 7 and the holder 8.

Next, the operation of assembling the belt 1 between the five pulleys 2α, 2b, 2c shown in FIG. 5 using this robot hand will be explained.

The belt assembly operation of the robot hand is performed according to position data taught in advance. At this time, all pulleys should be allowed to rotate freely (.

First, a large number of belts 1 are arranged in a FyT (not shown).
Move the abot node 1 to the belt presser cylinder 1.
Operate 1, 1! Only one of the belts 1 arranged in i row is grabbed and taken out using a belt receiver 5 and a belt presser 6. Hook the shoulder of the grabbed belt 1 onto the reference pulley 2α, move the robot hand in the tension direction of the belt 1, and apply tension to the belt 1 with the tension spring 16.
Move the robot hand to the pulley 2b side. To move this robot hand, the hand body 7 must be slightly retracted so that the outer surface of the belt 1 does not hit the pulley 2.
Next, the hand main body 7 is ground down and the belt holder is placed on the extension of the edge connecting the centers of the pulleys 2α and 2b, and the belt holder is placed at the tip 5α. position, and hook the belt 1 to the boot +) 2b. Then, replace the main body 7 of the S/D again, move the pulley 2C cry Vc robot hand 1, and touch the center of the belt 5 and the pulley 2.
Make sure to align the center of C. After that, by pushing the main body 7 of the node 7, the tip of the belt holder 5 hits the lake surface of sea +) 2c, as shown in Fig. 1j144, and the belt holder 5 releases the pressure splash 17. Tawama-V retires. At the same time, 14 provided at the tip of the belt presser 6
The stage of part 6α pushes out the ring of the belt 1 which was at the bottom position in the fishing boat 1' of FIG. 4, and hooks the belt 1 onto the fly 2C. After the belt 1 is assembled in this way, the 6J#u plate 25 to which the pulley 2b is attached is held down by separate power and fixed with the set screw 24.

According to this 'JkIM example, 2 to 4 (
It is possible to attach a belt to a 1m Boo January Tsukasa. belt) In the middle of attaching M, the belt 1 is
Since tension is constantly applied to the belt, the pulley will not come off and the belt will not come off, and the relative movement between the hand body 7 and the holder 8 is allowed by the slide I and 4.
Even if there is a positional shift during teaching, excessive force other than the spring force on the robot fulcrum shaft will not damage the cutting edge.

[Effect of envy]

According to the present invention, when assembling a belt between pulleys using a sub-axis robot, each member of the robot can teach the robot without applying excessive force to the robot's fulcrum axis.
There is definitely a young fruit that can be attached to a belt and aiming.

[Brief explanation of the drawing]

Figure 1 is a diagram showing the appearance of the robot hand in the central legend of the present invention, Figure 2 is a diagram showing the state of the belt chuck with l and fl dimensions,
Figure 5 is a diagram of the state in which the belt chuck is open, Figure 4 is a diagram of the state in which the belt is assembled with the belt chuck.
The assembly of the belt to the pulleys has been completed. 1...Belt 2α, 2b12C...Pulley 5...Belt chuck mm4...Slide mechanism 5...Belt receiver 6...Belt presser 7...
・Hand body 8... Holder 9... Holder is a plate
10... Knuckle 11... Belt holding cylinder 12... Ball guide 13... Sliding plate (A
) 14...Sliding plate CB) 15α, 15b...
・Spring support bin 16... tension spring (spring member)

Claims (1)

[Claims] 1. In a robot hand that assembles the belt between pulleys by sequentially hooking the belt onto multiple pulleys, the hand body is equipped with a belt chuck mechanism that grasps a portion of the belt, and the holder that attaches the hand to the arm of the robot. a slide mechanism that allows relative movement between the hand body and the holder only in one axis direction parallel to the gripping direction of the belt chuck mechanism, and a slide mechanism that spans between the belt chuck mechanism and the pulley in the one axis direction allowed by the slide mechanism. A robot hand characterized in that it is provided with a spring member that constantly biases the hand body so as to apply tension to the belt.