JPH04136687U - Robotic hand for long objects - Google Patents

Abstract

(57) [Summary] [Structure] An inverted U-shaped hand base 3 is fixed to the wrist 2 of the robot arm 1, and a plurality of airbags 4 are provided on both inner sides of the hand base 3. It is equipped with means for supplying and exhausting compressed air. [Effect] Since the workpiece is gripped by the airbag, even flexible and irregularly shaped workpieces can be gripped reliably and easily without damage.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to an industrial robot hand equipped with a gripping section for gripping long objects. .

0002

[Conventional technology]

Conventionally, a hand that grips a long workpiece according to its shape has been used to hold the top and bottom of the workpiece. An action surface that moves up and down to hold the workpiece, and an action surface that moves horizontally to sandwich the side of the workpiece. Two sets of grips are provided at appropriate intervals, and the two sets of grips are driven by an interlocking mechanism. Some methods have been disclosed (for example, Japanese Utility Model Application Publication No. 168292/1983).

0003

[Problem that the idea aims to solve]

However, when gripping a scroll such as a relatively soft mat or carpet, the shape Since the shape is not always vertically and horizontally symmetrical and often has a complex shape, the above configuration The opening of the upper, lower, left and right gripping parts must be changed each time according to the shape of the workpiece. It may be difficult to accommodate these shapes, or the grip may cause damage. There was a drawback that it was difficult to use. This invention allows a robot hand with a simple configuration to grip flexible, irregularly shaped workpieces. The purpose is to make it possible to

0004

[Means to solve the problem]

This invention is a robot for handling long objects equipped with a gripping part fixed to the wrist of the robot arm. In the short hand, the gripping portion is connected to an inverted U-shaped hand base and the hand base. Multiple airbags are provided on both sides of the inside, and compressed air is supplied to the airbags. It consists of a means for exhausting air.

[0005]

[Effect]

Both sides of the workpiece are pressed and gripped by the expansion of an airbag made of elastic material. As a result, the contact surface of the airbag deforms to follow the outer shape of the workpiece, causing the workpiece to become irregularly shaped. Even if it has a regular shape, it can be held securely.

[0006]

【Example】

An embodiment of the present invention shown in the drawings will be described. FIG. 1 is a perspective view showing an embodiment of the present invention, and FIG. 2 is a side view showing the hand of the robot arm 1. An inverted U-shaped hand base 3 extending in the longitudinal direction of a long work W is fixed to the neck 2. There are airbags made of elastic material such as rubber on both sides of the inside of the hand base 3. 4 are lined up in the longitudinal direction of the hand base 3 and fixed along the robot arm 1. through the two-way valve 7 and compressed air pipe 5 placed on the side of the hand base 3. Compressed air is supplied to the airbag 4 from the installed air intake port 31. A grip portion 6 is formed. Here, the operation of gripping the workpiece W by the gripping section 6 will be explained. First, remove the compressed air from the airbag 4 to deflate the airbag 4, and then The robot arm 1 is driven to place a workpiece inside the hand base 3 as shown in FIG. 2(a). The grip part 6 is moved so as to sandwich the cross W. Next, compressed air is sent into the airbag 4, and as shown in FIG. 2(b), it is inflated. It wraps around the workpiece W and grips it. In this state, drive the robot arm 1 and grasp it. The holding part 6 is moved and the workpiece W is transported. When releasing the workpiece W from the gripping part 6, use two wavers at the position where the workpiece W is to be placed. Connect Lube 7 to the exhaust side to extract the compressed air from the airbag 4, and remove the airbag 4. Just shorten it. In this way, the workpiece is gripped by the expansion of the airbag made of elastic material. , the contact surface of the airbag deforms to follow the outer shape of the workpiece, and the shape of the workpiece is irregular. Even when there is stomach. In addition, as shown in FIG. Both ends of a spring 41 consisting of The central part of the airbag 4 is pulled by the spring 41, forming a recess in the central part of the airbag 4. The gripping of the workpiece may be ensured.

[0007]

[Effect of the idea]

As described above, according to the present invention, the workpiece is wrapped around the airbag. Because it grips flexible and irregularly shaped workpieces, it can be held securely without damaging them. Moreover, it is possible to provide a robot hand that can be grasped with simple operation.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a side view showing an embodiment of the present invention.

FIG. 3 is a side view showing another embodiment of the present invention.

[Explanation of symbols]

1 Robot arm 2 Wrist portion 3 Hand base 31 Air intake port 4 Air bag 5 Compressed air pipe 6 Gripping portion 7 2-way valve

Claims (2)

[Scope of utility model registration request] [Claim 1] A robot hand for long objects comprising a gripping part fixed to a wrist of a robot arm, wherein the gripping part is provided on an inverted U-shaped hand base and on both inner sides of the hand base. A robot hand for handling long objects, comprising a plurality of airbags and means for supplying and exhausting compressed air to and from the airbags. 2. The robot hand for a long object according to claim 1, wherein both ends of a spring made of rubber or the like are respectively fixed to a substantially central portion of the airbag and to the base of the hand.