JPH0333391Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] This invention is a substantially arc-shaped inserted object that has elasticity in the direction of increasing or decreasing the radius, and has an outer diameter larger than the inner diameter of the cylindrical body in its natural state. The present invention relates to a robot hand for transferring and elastically supporting an object to be inserted into this cylindrical body.

[Prior Art] Various types of article gripping devices for gripping and conveying articles have been known as shown below.

(i) Attach the article using suction power such as vacuum suction.
2. Description of the Related Art There are known article gripping devices that use a so-called suction operation to grip an article and transport the gripped article from a predetermined position to another position or to attach it to another article. As a document disclosing such an article gripping device,
Utility Model Publication No. 54-6949, JP-A-55-150989, JP-A-61-35089, JP-A-62-18317
Publications, etc. exist. These publications disclose an article gripping device that directly sucks and holds an article.

(ii) An article gripping device is also known that employs a gripping method in which an article is gripped by a plurality of gripping members and finger members. For example, Japanese Utility Model Publication No. 56-6315 discloses a device in which three claw bodies are connected to a motor through a screw shaft and a bevel gear coupling means, and the motor opens and closes the claw bodies to grip an article. is disclosed. Japanese Patent Publication No. 58-50835 also discloses a device in which three finger members are driven by a motor via gears.

[Problems to be solved by the invention] As mentioned above, this invention specifically solves the following problems:
The present invention relates to an article gripping device suitable only for gripping optical lenses used in optical instruments, etc.
The lens surface of such an optical lens is required to have high precision surface finish and cleanliness in order to transmit and refract a light beam. As a result, when such an optical lens is incorporated into a lens barrel or optical device, it is absolutely not allowed to directly touch the optical functional surface and damage or stain it when gripping the optical lens. It is something.

For this reason, when assembling an optical lens into a lens barrel, it becomes impossible to grasp the outer peripheral portion of the optical lens from the outside with finger members and fit it into the lens barrel. That is, the inner peripheral surface of the lens barrel and the outer peripheral surface of the optical lens are set to have substantially the same dimensions. Therefore, there is no allowance for gripping the outer periphery of the optical lens from the outside with the finger members, and as a result, the optical lens is inserted into a predetermined position within the lens barrel while the optical lens is gripped. It becomes impossible.

Further, after the optical lens is fitted into the lens locking portion inside the lens barrel, a metal elastic ring or C-ring for fixing the optical lens must be inserted into the lens barrel. Here, the gripping device used to insert these C-rings into the lens barrel grips the C-rings from the outside in the radial direction with a plurality of finger members, and adjusts the interval between these finger members to adjust the distance between the C-rings. While holding the C-ring in this way, press it inward in the radial direction so that the outer diameter is slightly smaller than its natural state.
The ring is inserted into the lens barrel into which the optical lens is fitted. Here, in this gripping device, since a pressing force is applied to the ring by the finger members, it becomes difficult to remove the C-ring from the gripping device. As described above, if the C-ring cannot be removed smoothly from the gripping device, the lens cannot be reliably fixed by the C-ring, which is a problem.

Specifically, the conventional automatic insertion operation of the C-ring into the cylindrical body is as shown in FIG.
First, the funnel-shaped guide member a is inserted into the cylindrical body b using the first hand body. Then, the second hand body grips the C-ring c and places it on the slope of the guide member a described above. Next, the third
The pushing member d attached to the hand body is moved downward while being engaged with the C ring c from above. By this descent, the C-ring c is inserted into the cylindrical body b while gradually decreasing its radius along the slope of the guide member a with which it engages. When the C-ring c is pushed past the lower end of the guide member a, the C-ring c is expanded in diameter and fitted into the fitting groove e formed in the cylindrical body b.

However, in the conventional robot hand described above, a guide member and a pushing member are required depending on the size and shape of the inserted object.
The guide member and the pushing member must be replaced for each object to be inserted, which increases the overall structure and causes problems with poor workability.

In addition, multiple hand bodies are required, such as a hand body for inserting the guide member and a hand body for grasping the inserted object, which causes problems such as poor workability and hindering cost reduction. ing.

This invention was made in view of the above-mentioned problems, and the purpose of this invention is to provide a substantially arc-shaped inserted object having a simple structure and having elasticity in the direction of increasing or decreasing the radius, which is cylindrical in its natural state. To provide a robot hand capable of surely inserting and supporting an object to be inserted into a cylindrical body having an outer diameter larger than the inner diameter of the body with good workability.

[Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, the robot hand according to the present invention has a substantially arc-shaped inserted object having elasticity in the direction of increasing or decreasing the radius. In a robot hand for transferring and elastically supporting an inserted object, which has an outer diameter larger than the inner diameter of the cylindrical body in its natural state, into the cylindrical body, the hand body is provided so as to be movable vertically and laterally. , a plurality of gripping pieces attached to the hand body so as to be movable along the radial direction and gripping the outer peripheral edge of the inserted object to be transferred so as to reduce the radius of the object; attached to each gripping piece so as to be movable along the axial direction of the main body, and for engaging and pushing out the inserted object gripped by the gripping piece in the axial direction to remove the inserted object from the gripping piece. It is characterized by comprising an extrusion member.

[Operation] In the robot hand configured as described above, the gripping piece first comes into contact with the outer peripheral edge of the object to be inserted, and grips the object by reducing its radius. In this gripping state, the radius of the object to be inserted is set to be smaller than the radius of the inner peripheral surface of the cylindrical body, and the object is set to be able to be inserted into the cylindrical body. From this state, as the robot hand moves, the object to be inserted is transferred into the cylindrical body. At the time when the object is transferred into the cylindrical body in this way, the object to be inserted is maintained in a state of being gripped by the gripping piece, is pushed out along the axial direction by the pushing member, and is released from being gripped by the gripping piece. The diameter is expanded and comes into contact with the inner circumferential surface of the cylindrical body. In this way, the inserted object is inserted and supported within the cylindrical body.

[Embodiment] Below, the configuration of an embodiment of the robot hand according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, this robot hand 10
is attached to the lower end of a robot arm (not shown) so that it can be replaced depending on the type of processing process of the article. It is provided to be transferred into the lens barrel 14 as a body, and to be inserted and supported therein. That is, this robot hand 1
In the processing process using 0, the lens barrel 1
In order to encapsulate the optical lens 16 fitted into the optical lens 4 in a state where it cannot be taken out, an operation of fitting the C ring 12 into the outer peripheral edge of the optical lens 16 is performed.

This robot hand 10, as shown in the figure,
A hand body 18 is provided which is detachably attached to the lower end of the robot arm. This hand body 18
A bevel gear 20 is coaxially attached to the lower end of the bevel gear 20 so as to be rotatable with respect to the hand body 18.

On the other hand, three angle members 32, 34, and 36 are integrally attached to the outer circumferential surface of the upper part of the hand main body 18, facing radially outward. These angle members 32, 34, 36 are arranged at equal intervals along the circumferential direction, and have bent pieces 38, 40, 4 bent downward at their tips.
2 are integrally formed. Each bent piece 38, 4
0, 42 and the hand body 18, a pair of guide rods 44a, 44b, 46a, 46 extend along the radial direction and are vertically spaced apart.
b, 48a, and 48b are bridged over each other.

In addition, each angle member 32, 34, 36 includes
Corresponding guide rods 44a, 44b, 46a,
In the state located between 46b, 48a, 48b,
Threaded rods 50, 52, 5 extend along the radial direction.
4 are arranged. Each threaded rod 50, 52, 54
The outer ends of the corresponding bent pieces 38, 40, 42
Small bevel gears 56, 58, and 60 that mesh with the aforementioned bevel gear 20 are coaxially and integrally attached to the inner end thereof. Note that the small bevel gears 58 and 60 are hidden behind the hand main body 18 and are not shown in FIG.

Here, each angle member 32, 34, 36 has a corresponding guide rod 44a, 44b, 46.
Slide blocks 62, 64, and 66 are disposed by a, 46b, 48a, and 48b to be slidable along the radial direction of the hand body 18, respectively. Each slide block 62, 64, 66 is threadedly engaged with a corresponding threaded rod 50, 52, 54, respectively, and in this way, the threaded rod 54
These slide blocks 62, 64, 66 simultaneously slide along the radial direction in a synchronized state in response to the rotation of the threaded rods 50, 52 due to the rotation of the bevel gear 20 in response to the rotation of the bevel gear 20. become.

The slide block 62 configured in this way,
Grip pieces 68, 70, and 72 as grip pieces are fixed to the lower surfaces of 64 and 66, respectively, in a state of falling vertically. These gripping pieces 68, 70,
72 is arranged around the hand main body 18 so as to be coaxial therewith. The lower ends of these gripping pieces 68, 70, and 72 are set at the same height, and are configured to abut the C-ring 12 as the object to be inserted from the outer periphery and grip it while reducing the radius of the C-ring 12. being done.

Moreover, slide blocks 62, 64, 66 are provided on the outer surface of the bending piece 42 of the third angle member 36.
A drive motor 80 is attached for sliding the radially along the radial direction. This drive motor 80
has a drive shaft extending in the radial direction, and the drive shaft is connected to the threaded rod 54 so as to rotate therewith in alignment.

On the other hand, each gripping piece 68, 70, 72 has a C ring 1 gripped by the gripping piece 68, 70, 72.
Push-down members 82, 84, and 86 for pushing down 2 along the axial direction to release the gripped state are attached movably along the axial direction. As shown in FIG. 2, each push-down member 82, 84, 86 is configured to slide within a long groove 88 formed in the corresponding gripping piece 68, 70, 72 so as to extend along the axial direction. It is arranged. In this arrangement, the lower ends of the push-down members 82, 84, 86 protruding downward from the respective long grooves 88 are connected to the grip pieces 68, 7.
It is set so that it can come into contact with the upper surface of the C-ring 12 gripped by C-rings 0 and 72 from above.

Here, as shown in FIG. 2, each push-down member 82, 84, 86 is pushed into the long groove 88 by a plurality of stop members 90 to prevent it from falling off from the corresponding long groove 88. ing.

Further, each slide block 62, 64, 66 is provided with an air cylinder mechanism 92, 94, 96 for reciprocating the corresponding push-down member 82, 84, 86 along the axial direction. Each air cylinder mechanism 92, 94, 96 includes a cylinder body 98, 100, 102 attached to the side surface of the corresponding slide block 62, 64, 66;
Pistons 104, 106, and 108 are provided so as to be able to protrude from and retract from the cylinder bodies 98, 100, and 102 in the axial direction, respectively. A compressed air supply source (not shown) for supplying compressed air is connected to these cylinder bodies 98, 100, 102, respectively. In addition, each piston 10
4, 106, and 108 are connected to corresponding push-down members 82, 84, and 86, respectively, so as to move together.

As described above, each air cylinder mechanism 92, 9
4 and 96 are configured, each piston 104, 106, 108 is supplied with compressed air into each cylinder body 98, 100, 102 upon activation of a compressed air supply source (not shown). are pushed downward along the axial direction from the corresponding cylinder bodies 98, 100, 102, and the lower ends of the respective push-down members 82, 84, 86 connected to these pistons 104, 106, 108 are connected to the corresponding gripping pieces 68. , 70, 72.

In addition, each of the above-mentioned push-down members 82, 84, 86
As shown in FIG. 3, at the lower end of the
2b, 84a, 84b, 86a, and 86b, respectively. Specifically, the slopes 82b, 84b, 86b located inward in the radial direction
2 is set to function as a surface that pushes down.

Here, as shown in FIG. 3, an optical lens 16 is inserted in advance into the inner peripheral surface of the lens barrel 14.
The optical lens 16 is supported with its outer peripheral edge in contact with a step formed on the inner peripheral surface of the lens barrel 14 . That is, in this state, the optical lens 16 is movable to the insertion side end;
In other words, it is in a state where it can be extracted. Therefore, in this embodiment, in order to prevent the optical lens 16 from being pulled out, there is a
An annular fitting groove 110 is formed into which the C-ring 12 is inserted and supported in an enlarged diameter state.

The operation of gripping the C-ring 12 with its radius reduced, inserting it into the lens barrel 14, and fitting it into the fitting groove 110 using the robot hand 10 configured as described above will be explained below. do.

First, in the non-operating state, the robot arm brings the robot hand 10 into a standby state based on a command from a control device (not shown). In this standby state, each gripping piece 68,
70 and 72 are each brought into a radially outwardly biased condition. In addition, in this standby state, the compressed air supply source is not activated, and each air cylinder mechanism 92, 94, 96 pulls each piston 104, 106, 108 into the cylinder body 98, 100, 102, respectively. It is set to .

From this standby state, when the robot is instructed by a control device (not shown) to grasp a predetermined C-ring 12 and mount it in the lens barrel 14, the robot moves to a mounting stage (not shown) on which this C-ring 12 is placed. so that the robot hand 10 is located in the upper position,
The robot arm is driven to move. This robot arm then holds the C-ring 12 that it is trying to grasp.
The gripping pieces 68, 70, 72 are lowered so that their respective lower ends are positioned on the sides of the gripping pieces 68, 70, 72.

On the other hand, after this, the drive motor 80 is activated and drives the threaded rod 54 to rotate around its own axis. According to the rotation of this threaded rod 54, the slide block 66
will move inward along the radial direction of the hand body 18.

Here, the rotational driving force of the threaded rod 54 is generated by a bevel gear 60 coaxially fixed to the tip thereof and a bevel gear 20 rotatably attached to the hand body 18.
The rotation of the bevel gear 20 rotates the bevel gears 56 and 58 that mesh with the screw rods 50 and 52. As the slide blocks 62 and 64 rotate, the other slide blocks 62 and 64 also rotate.
Similarly, it will move along the radial direction.

The amount of drive of this drive motor 80, that is, the amount of movement of each slide block 62, 64, 66 is such that the lower end of the corresponding gripping piece 68, 70, 72 has a radius of the C-ring 12 to be gripped in its natural state. The radius is set to be smaller than the radius of the inner peripheral surface of the lens barrel 14. Each slide block 62, 6 moves by the amount of movement set in this way.
4, 66, that is, the gripping pieces 68, 70, 72 move inward along the radial direction, so that the C-ring 12 is gripped with its radius reduced by these gripping pieces 68, 70, 72. will be done.

Then, by moving the robot hand 10 vertically and laterally while gripping the C-ring 12 via each gripping piece 68, 70, 72, the gripped C-ring 12 is moved to the fourth A. As shown in the figure, it will be inserted into the lens barrel 14.

Thereafter, a compressed air supply source (not shown) is started, and compressed air is supplied to the cylinder bodies 98, 100, 102 of each air cylinder mechanism 92, 94, 96. With this supply of compressed air, each piston 104, 106, 108 protrudes from the corresponding cylinder body 98, 100, 102,
Push-down members 82, 84, 86 connected to each other
will be pushed downward. This pushing down operation of the pushing down members 82, 84, and 86 causes
As shown in FIG. 4B, each lower end has a gripping piece 6.
8, 70, and 72 gripped by the C-ring 12 from above, thereby pushing down the C-cylinder 12.

In this way, the C-ring 12 is pushed downwardly away from the gripping pieces 68, 70, 72, as shown in FIG. 4C, and expands to increase its radius due to its own elasticity. As a result, C ring 1
2 is released from the gripping state and expands in diameter within the lens barrel 14. In this way, the C-ring 12 is fitted into the fitting groove 110 formed on the inner peripheral surface of the lens barrel 14.

Here, if the lower ends of the gripping pieces 68, 70, 72 are fully inserted into the lens barrel 14, in other words, the optical lens 1
If the C-ring 12 is inserted directly above the C-ring 12, the C-ring 12 will be reliably fitted into the fitting groove 110 in response to the pushing-down operations of the pushing-down pieces 82, 84, and 86 described above. However, if the gripping pieces 68, 70, 72 are not inserted sufficiently, the diameter of the C-ring 12 will expand in the inner peripheral surface above the fitting groove 110. In this state, the C-ring 12 will not fit into the fitting groove 110.

In order to reliably prevent such situations from occurring,
In this embodiment, after being brought into the state shown in FIG. 4C, the air cylinder mechanism 9
2, 94, 96 are further push-down pieces 82, 84, 8
6 will be continued. Therefore, the C-ring 12 released from the gripping state by the gripping pieces 68, 70, 72 is moved by the pressing pieces 82, 8.
Slopes 82a and 84 formed on the lower surfaces of 4 and 86
a, 86a, it is further pushed down while being urged outward.

In this way, in this embodiment, the C-ring 12 is forcibly pushed into the fitting groove 110, as shown in FIG. It will fit inside. And after this, Robot Hand 10
is taken out upward from the lens barrel 14 and brought to the standby position as the robot arm moves upward. In this way, the series of operations of fitting the C-ring 12 into the lens barrel 14 by the robot hand 10 is completed.

As described in detail above, in the robot hand 10 of this embodiment, the C ring 12 is connected to the lens barrel 14.
When fitting into the inside, the gripping pieces 68, 70, 72
The C-ring 12 is transferred into the lens barrel 14 while being held by the C-ring 12. Therefore, this transfer/insertion operation will be performed reliably. While this inserted state is maintained, the push-down members 82 , 84 , 86 are pushed down via the air cylinder mechanisms 92 , 94 , 96 to fit the C-ring 12 into the fitting groove 110 . ing.

In this way, according to this embodiment, the C ring 12 can be reliably and easily attached to the lens barrel with a simple configuration without having to prepare a plurality of hand bodies.
It becomes possible to insert and support it within 4.

It goes without saying that this invention is not limited to the configuration of the one embodiment described above, and can be modified in various ways without departing from the gist of this invention.

For example, in the above-mentioned embodiment, the case where the object is applied to the C-ring 12 has been described, but the present invention is not limited to this, and the present invention is applicable to a substantially circular shape having elasticity in the direction of increasing or decreasing the radius. The present invention can be applied to any article as long as it is an arc-shaped article and has an outer diameter larger than the inner diameter of a cylindrical body in its natural state.

In addition, in the above-mentioned embodiment, three gripping pieces are provided as shown by numerals 68, 70, and 72, but the number is not limited to this, and the number can be two or more. Any number of books is fine.

Furthermore, in the above-described embodiment, the slopes formed at the lower ends of each push-down member 82, 84, 86 are symmetrical with respect to the center axis of the corresponding push-down member 82, 84, 86, and the slopes are a pair that intersect at an acute angle with each other. It was explained that it consists of a slope of . However, the present invention is not limited to such a configuration, and at least the portion that abuts the upper surface of the C-ring 12 from above has an inclination that biases the engaged C-ring 12 outward in the radial direction. It is good if it is formed like this.

That is, it may be configured as shown in FIGS. 5A to 5C as first to third modifications, respectively.
Specifically, as shown in FIG. 5A as a first modification, both slopes 82a, 82b, 84a, 84b,
86a, 86b are the corresponding push-down members 82,
They do not have to be formed symmetrically with respect to the central axes of 84 and 86.

Moreover, as shown in FIG. 5B as a second modification, the radially inward surface may be composed of a horizontal plane instead of a slope.

Furthermore, as shown in FIG. 5C as a third variation, the radially inner surface is simply
The C-ring 12 may be configured to have only a slope inclined so as to bias the engaged C-ring 12 so as to expand its diameter outward in the radial direction.

[Effects of the invention] As detailed above, the robot hand according to this invention is a substantially arc-shaped inserted object that has elasticity in the direction of increasing or decreasing the radius, and has an outer diameter larger than the inner diameter of the cylindrical body in its natural state. A robot hand for transferring and elastically supporting an object to be inserted into the cylindrical body includes a hand body that is movable vertically and laterally, and a hand body that is movable along the radial direction of the hand body. attached to
a plurality of gripping pieces for gripping the object to be transferred by contacting the outer circumferential edge of the object to reduce its radius; The gripping piece is characterized by comprising a push-out member that engages in the axial direction with the object to be inserted held by the gripping piece and pushes out the object to be inserted, thereby removing the object to be inserted from the gripping piece.

Therefore, according to this invention, it is possible to insert an inserted object with a simple configuration, which is approximately arc-shaped and has elasticity in the direction of increasing or decreasing the radius, and which has an outer diameter larger than the inner diameter of the cylindrical body in its natural state. Therefore, a robot hand that can be inserted and supported in a cylindrical body with good workability is provided.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing the configuration of an embodiment of the robot hand according to this invention, Fig. 2 is a side view showing the state in which the push-down member shown in Fig. 1 is attached to the gripping piece, and Fig. 3 is a perspective view showing the configuration of an embodiment of the robot hand according to this invention. 4A to 4D are sectional views sequentially showing the insertion operation of the C ring in the lens barrel, and FIGS. 5A to 5C are the same as described above, respectively. FIG. 6 is a side view showing first to third modifications of one embodiment, and a sectional view showing a conventional C-ring insertion operation. In the figure, 10... Robot hand, 12... C ring, 14... Lens barrel, 16... Optical lens, 18
...Hand body, 20...Bevel gear, 32, 34,
36... Angle member, 38, 40, 42... Bent piece, 44a, 44b, 46a, 46b, 48
a, 48b...Guide rod, 50, 52, 54
... Threaded rod, 56, 58, 60 ... Bevel gear, 6
2, 64, 66...slide block, 68, 7
0,72...Gripping piece, 80...Drive motor, 8
2, 84, 86... Pushing down member, 88... Long groove, 90... Stopping member for preventing falling off, 92, 9
4,96...Air cylinder mechanism, 98,10
0,102...Cylinder body, 104,106,
108...piston, 110...fitting groove.

Claims (1)

[Claims for Utility Model Registration] An approximately arc-shaped inserted object having elasticity in the direction of increasing or decreasing radius, and which has an outer diameter larger than the inner diameter of the cylindrical body in its natural state, is inserted into the cylindrical body. A robot hand for transferring and elastically supporting the hand includes a hand body that is movable vertically and laterally, and an inserted object that is attached to the hand body so as to be movable in the radial direction. a plurality of gripping pieces for gripping by abutting on the outer peripheral edge and reducing the radius of the gripping pieces, each of the gripping pieces being attached to the hand main body so as to be movable along the axial direction; 1. A robot hand comprising: a pushing member for axially engaging and pushing out an object to be inserted, and removing the object from a gripping piece.