JPH0259248A - Converting hand for position - Google Patents

Abstract

PURPOSE:To convert position during the work transfer by providing rotary disks whose one part is rotated on two shafts spreading in parallel each other on a position converting hand and providing a suction pad rotating around the shaft orthogonal with the rotary disk rotating shaft at the rotary disk intermediate position. CONSTITUTION:Fingers 2, 3 spreadable in X direction each other are fitted to a position converting hand 1 and rotary disks 4, 5 are fitted to the axis 7 parallel to the spreading direction X at the tip of the fingers 2, 3. The disk 5 is rotated by a pulse motor 14. At the intermediate part of the rotary disks 4, 5 vertically movable vacuum suction pad 8 is provided and made rotatable in the orthogonal direction with the axis 7. When a work is held by the disks 4, 5 from both sides and the pulse motor 14 is driven, the work is rotated around theta1 axis and sucked with the descent of the suction pad 8 and when the holding is released, the work is rotated around a theta2 axis. Consequently the work transferred by the hand 1 is enabled to change its position on the way of its transfer.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a posture changing hand that simultaneously changes the posture of a workpiece while lifting and conveying the workpiece in a hand Vl used for supplying and taking out a workpiece.

Many of the hands used in conventional robots, automatic machines, etc. have only a single function of simply grasping or suctioning a workpiece.

Therefore, if it is necessary to change the posture of the workpiece midway through, the workpiece must be removed from the hand and then changed at another stage, making it necessary to change the workpiece's grip again. There are problems such as a large number of unnecessary steps, a complicated mechanism and control that may cause trouble, and a complicated and large-sized device.

In view of the above, the main object of the present invention is to propose a posture changing hand configured to have a function of freely changing the posture of a work in any direction while lifting and transporting the work before the work arrives. do.

In order to achieve the above object, the posture changing hand of the present invention is a pinch hand with two parallel fingers, and has two rotating disks inside each finger that rotate facing each other. It is formed by mounting and further arranging a suction pad that rotates horizontally downward in the upper center of these rotating disks. A conceivable method for rotating the rotating disk and the suction pad is to drive each rotating shaft with a motor. Alternatively, for the same purpose, a pinion gear may be attached to each rotating shaft, and the rotating shafts may be driven by a rack gear provided in the conveyance path of the hand.

1 and 2 are a front view and a side view showing an embodiment of the present invention, which is an example of a configuration in which a rotating shaft is operated using a motor. 1 indicates the pinch hand, horizontally left and right (X-axis direction)
Fingers 2 and 3 are attached that spread out. Fingers 2 and 3 are opened and closed in parallel by one air ring. Rotating disks 4 and 5 are attached to the fingertips of fingers 2 and 3 of the pinch hand 1, and one rotating disk 4 can freely rotate 8! The other rotating disk 5 is directly connected by a pulse motor 14,
It is designed so that it can rotate around θ, Tsumugi (parallel to the X axis). Further, a vacuum suction pad 8 is located at the upper center of the intermediate position between the rotating disks 4 and 5, and a timing pulley 11.
12 and the pulse motor 1 via the timing belt 13
5 rotates around 02 Tsumugi (parallel to the vertical axis).

Reference numeral 15 indicates a pulse motor 15, which is connected to the pneumatic slide unit 10 attached to the side of the knob hand 1.
It is fixed to the distal end of the plate 18 via a plate 18, and is adapted to be driven up and down in the vertical axis direction (Z direction). The rotational force of the pulse motor 15 is transmitted to the suction pad 8 by the belt 13 placed around pulleys 12 and 13.

In this case, as shown in Fig. 3, a general hexahedral workpiece 2
The degree of freedom of the posture of No. 3 is θ4 in each orthogonal direction. It is determined by the pongee of θ2°θ. For example, if you want to rotate the workpiece in the direction of the axis θ, with only two degrees of freedom θ11θ2, ■ To rotate the workpiece 90” in the positive direction of the θ axis, 90° to θ2 → 90° to θ1 wheel → 190° to θ2 Tsumugi
This can also be achieved by rotating.

Also, ■03 To rotate 180 degrees in the positive direction of Tsumugi, 0
This can also be achieved by rotating 2 Tsumugi by 180°→θ and rotating the axis by 180°. Therefore, by combining the rotational movements of the two sleeves θ1 and θ2, θ.

Since it is also possible to change the posture around the axis, if there are degrees of freedom in at least two axes, it is possible to change the posture in all directions. Therefore, in the embodiment according to the present invention, θ1
．． It has rotational motion on two axes of θ2.

First, as shown in FIG. can be rotated around 01 Tsumugi.

Next, as shown in Figure B, the fingers 2.3 of the pinch hand are released, the slide 22) 10 is driven, and the suction pad 8 is lowered from above to hold the workpiece 23 by vacuum suction. By horizontally rotating the suction pad 18, the workpiece 23 can be rotated around the θ22 axis, making it possible to change the posture in all directions while holding the workpiece 223 with the gripping hand 1. .

In this example, each rotation axis is driven using a pulse motor, so the mechanism can easily perform arbitrary indexing of rotation from 0° to 90°, and can be used while transporting workpieces with complex shapes. It is most suitable for the handling of NC robots, etc., which transport by changing the angle slightly so that it can handle the work of the next process.

FIG. 155 and FIG. 6 are a front view and a side view showing an embodiment of a pond of the present invention in which a rotating shaft is driven using a rack and binion. In this embodiment, a pinion gear 16 is attached to the pongee 7 of the rotating disk 5 on the driving side, and the rotating disk 5 is configured to rotate around the pongee by θ by meshing with an external rack gear 20. There is. The suction pad 8 is driven by a pinion gear 17 attached to the rotating shaft 22.
The structure is similar to that of the embodiment shown in FIG. 1, except that it can be rotated about the θ22 axis by meshing with the external rack gear 21. Each rack gear 20.21
can be biased by a hydraulic actuator.

In this second embodiment, each rotary shaft is rotated by a rack and pinion, so the operation is a fixed cycle, but as shown in FIG. 7, the length, L2, arrangement, etc. of the rack gears are changed. As a result, several types of operation patterns can be selected, and moreover, the posture can be changed while the workpiece 23 is being transported by the hand 1 attached to a transporting means (not shown). Therefore, unnecessary movements are unnecessary, the structure is lightweight and compact, and it can handle high speeds.

Naturally, in embodiments according to the invention θ1 θ
2.2 The hand is configured with the rotational movement of Tsumugi,
For posture change in one direction, a hand with rotation in only one direction may be used, and it can be used as a hand for supplying and removing workpieces in various automatic machines.
It is believed that this invention has a very wide range of applications.

As described above, according to the present invention, rotating disks are provided on opposite sides of two fingers that expand in parallel to each other, and one rotating disk is driven to rotate around a ring that is parallel to the expanding direction. In addition, a suction pad that rotates around a sleeve that is perpendicular to the axis of rotation of the rotary disk was installed at the midpoint between the two fingers, and the suction pad was driven parallel to the rotation axis, so the gripping hand itself could adjust the posture of the workpiece. It has the effect of being able to have the function of freely converting in any direction. Therefore, it is possible to provide an attitude changing hand that has the advantage of being able to simultaneously and easily change the attitude of a workpiece while it is being carried, without replacing the workpiece with another stage as in the past.

[Brief explanation of the drawing]

1 and 2 are front and side views showing one embodiment of the present invention, FIGS. 3 and 4 A and B are explanatory diagrams of the operation of the present invention, and FIGS. 5 and 6 are illustrations of the present invention. FIG. 7 is a diagram illustrating the operation of another embodiment of the present invention. 1... Pinch hand, 2, 3 fingers, 4, 5... Rotating disc, 6.7... Rotating shaft, 8... Suction pad, 10...
...Slide unit), 14.15...Pulse motor, 16.17...Pinion gear, 20.21...Rack gear, 23...Work.

Claims (1)

[Claims] 1. Rotating disks are provided on opposite sides of two fingers that expand in parallel to each other, and one of the rotating disks is driven to rotate around an axis parallel to the expanding direction, A posture changing hand characterized in that a suction pad that rotates around a ring perpendicular to the rotational axis of a rotary disk is provided at an intermediate position between two fingers, and the suction pad is driven parallel to the rotational axis. 2. The posture changing hand according to claim 1, wherein the drive source for the rotating disk and the suction pad is a pulse motor. 3. The posture changing hand according to claim 1, wherein pinion gears are attached to the shafts of the rotating disk and the suction pad, respectively, and the rotating disk and the suction pad are rotationally driven by engagement with a rack gear provided in the hand conveyance path.