JPH0460779B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a hand device for an industrial robot, and in particular, a simple floating mechanism using a single spring can be used for both gripping functions of a double hand. It concerns a device that works effectively.

[Conventional technology]

Figures 6 and 7 are for example Utility Model Opening Show 55-66789.
6 is a perspective view, and FIG. 7 is a side view of FIG. 6. FIG. In the figure, 20 indicates a double hand, which is attached in the axial direction of the central shaft 22 for gripping the workpiece, which is indicated by a dashed line.
It is composed of two grippers 23 and 24. Each of these grippers 23 and 24 has a pair of claws 25,
26 are provided, and these link mechanisms 27, 28
It is configured so that it can be opened and closed within a plane perpendicular to the central axis 22 via the central axis 22. The claws 25 and 26 are opened and closed by actuators (not shown) provided in the bases of the grippers 23 and 24, respectively. 29 is four floating elements formed of elastic bodies such as springs provided between the grippers 23 and 24; 30 is a joint of the double hand 21;
1 is a wrist mechanism, and 32 is an arm.

In the double hand device having the conventional floating mechanism configured as described above, the workpiece 33 shown by the two-dot chain line in the figure is held between the pair of claws 6 on the gripper 24 side.
For example, when chucking a lathe while gripping the chuck and transporting it in the direction of the arrow, the workpiece 13 presses against the chuck, and the reaction force of this pressing is generated by the claw 26.
acts on the floating element via the above-described reaction force, thereby buffering the reaction force. gripper 24 and claw 2
After the gripping and conveying process by the gripper 6 has been completed, the wrist mechanism 31 is rotated 180 degrees and, for example, the gripper 2
3 and the claw 25, the gripper 23 is fixed to the joint 30, so the reaction force when pressing the workpiece 33 to the chuck does not act on the floating element 29.
It will be used only in processes that do not require mitigation against such reaction forces.

[Problem that the invention seeks to solve]

In the conventional double-hand device having a floating mechanism as described above, it is a complicated mechanism in which multiple floating elements are arranged, and when the above-mentioned reaction force acting on the workpiece is buffered by the floating mechanism, A component force in a direction perpendicular to this reaction force is generated, causing problems such as difficulty in setting the workpiece accurately.

The present invention has been made to solve these problems, and an object of the present invention is to provide a device that can accurately set a workpiece using a simple floating mechanism.

[Means for solving problems]

In the hand device for an industrial robot according to the present invention, a first hand and a second hand are fitted into a sliding base fixed to a rotation shaft that rotates the hand device, and the first hand and the second hand A compression spring is interposed between the second hand and the second hand.

[Effect]

Normally, both the first hand and the second hand are in contact with the stopper provided at the end of the sliding base due to the pressing force of the compression spring, and either the first hand or the second hand is in contact with the workpiece. When gripping and transporting the workpiece, the elasticity of the compression spring absorbs and buffers the reaction force on the hand caused by the collision between the work surface and the surface of the workpiece table, etc., at the end of the transport operation. .

〔Example〕

1, 2, and 3 are diagrams showing the configuration of a hand device showing an embodiment of the present invention. FIG. 1 is a front view showing the overall configuration, and FIG. The AA sectional view and FIG. 3 are left side views of the main parts of FIG. 1. In the figure, 1 is the first hand,
2 is a second hand, 3 is a first gripping claw attached to the first hand 1, and 4 is a second grasping claw attached to the second hand 2. 5 is a first slider, and 6 is a second slider, which are used for the first hand 1 and the second hand, respectively.
The hand 2 is fixed with screws or the like.

7 is a compression spring interposed between the end faces of the first hand 1 and the second hand 2; 9 and 10;
Since the first hand 1 and the second hand 2 do not deviate from the sliding pedestal 8 due to the pressing force of the compression spring 7, the stopper 11 fixed to the end face of the sliding pedestal 8 moves the sliding pedestal 8. A rotary base for turning is fixed with a screw or the like, 12 is a rotary shaft for rotating this rotary base, 13 is a rotary drive unit which is a source of rotational power for the hand device, and 14 is a robot hand. Note that 15 is a workpiece, and 16 is a workpiece table.

In the hand device for an industrial robot according to the present invention configured as described above, first, as shown in FIG.
From the state on the way to 6, then the 4th
As the hand device descends from the above-mentioned state as shown in the figure, the workpiece 15 comes into contact with the workpiece table 16, and as this downward stroke progresses slightly, an upward reaction force is generated between the workpiece 15 and the workpiece table 16. occurs. This reaction force is transmitted to the compression spring 7 via the workpiece 15, the second hand 2, and the second slider 6, and by shortening the spring length of this compression spring, the reaction force is absorbed and buffered. .

FIG. 5 shows that the operation by the second hand 2 in FIG.
It shows the state of absorption and buffering against reaction force when being transported.

〔Effect of the invention〕

As explained above, this invention has a first hand and a second hand arranged side by side so as to slide on a common sliding table, and a compression spring interposed between these two hands. Since the compression spring is configured to absorb and buffer the reaction force generated when a workpiece is set on a worktable or the like, it is possible to obtain a hand device with a simple configuration and at low cost.

[Brief explanation of the drawing]

FIG. 1 is a front view showing the overall configuration of a hand device according to an embodiment of the present invention, and FIG.
A sectional view, Figure 3 is a left side view of the main part of Figure 1, Figure 4
5 are explanatory views of the operation of the hand device having the configuration shown in FIG. 1, and FIGS. 6 and 7 are a perspective view and a side view of the conventional hand device. In the figure, 1 is a first hand, 2 is a second hand, 7 is a compression spring, 8 is a sliding base, and 11 is a rotating base. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A first hand and a second hand are slidably arranged side by side on a sliding base fixed to a rotating base that rotates the hand device, and a compression spring is interposed between these two hands. A hand device for an industrial robot, which is configured to always press the two hands outward.