JPH0560788U - Robot hand structure - Google Patents

Abstract

(57) [Abstract] [Purpose] A work piece can be reliably gripped with a small gripping force, so that downsizing of a robot apparatus and prevention of pressure deformation and damage of the work piece are prevented. [Structure] A pair of left and right fingers 11 that can move in parallel,
12 move closer to each other and the claw portions 13 and 1 facing each other
A robot hand structure for gripping a work piece 26 between four work pieces, the work piece gripping surface 1 of the both claw portions 13 and 14 facing each other.
The elastic members 21 to 24 are provided on 5 and 16.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a hand structure of an industrial robot used, for example, for transporting a work.

[0002]

[Prior Art]

 As is well known, for example, in an automobile assembly line or a parts manufacturing line, industrial robots that grip a specific work, convey it to a predetermined position, and set it are often used along with automation.

Various types of hand structures for this industrial robot are provided, and as an example, there is a parallel open / close type hand structure as shown in FIG. This is because the fingers 1 and 2 extended in parallel are moved in parallel to each other by a rack and pinion or a parallel link mechanism, so that the work is gripped between the V-shaped work gripping surfaces 5 and 6 of the opposite claws 3 and 4. It is designed to be released or removed.

[0004]

[Problems to be solved by the device]

 However, in the conventional robot hand structure, both the claw portions 3 and 4 are generally formed of a hard material such as steel or nylon thread resin material. Therefore, for example, when gripping a cylindrical work, since the gripping contact area is gripped in a line contact state at the four points of the inclined surfaces 5a, 5b, 6a, 6b of the work gripping surfaces 5, 6, the grip contact area is It becomes extremely small. As a result, a relatively large gripping force is required when gripping a work piece such as a cylinder that is slippery and has a large weight. As a result, not only is the size of the entire device inevitably increased, but in the case of thin-walled cylindrical workpieces, a large gripping force may cause damage to the outer peripheral surface of the workpiece, causing pressure deformation, etc. Is invited.

[0005]

Means for Solving the Problems The present invention has been devised in view of the above-mentioned problems of the related art, and a pair of left and right fingers move toward each other to grip a workpiece between respective facing claw portions. In this robot hand structure, elastic members are provided on the work holding surfaces of the claw portions facing each other.

[0006]

[Action]

 For example, when gripping a cylindrical work, the elastic member fixed to the work gripping surface of each claw portion is compressed and deformed along the outer peripheral surface of the work by the gripping force. For this reason, the work can be partially gripped in a surface contact state, so that the work can be reliably gripped with a small gripping force as the frictional resistance increases.

[0007]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1 to 3 show an embodiment in which a robot hand structure according to the present invention is applied to a parallel opening / closing type as in the conventional case.

That is, this robot hand structure has a pair of left and right fingers 11 and 12 that move in parallel by a rack and pinion mechanism, and fitting grooves 11a and 12a formed on the inner surfaces of the tips of the fingers 11 and 12, respectively. It is provided with claw portions 13 and 14 to be fitted and fixed, and both claw portions 13 and 14 are formed of steel material, and work gripping surfaces 15 and 16 are formed on the inner surfaces facing each other.

The work gripping surfaces 15, 16 are formed in a V shape by the one inclined surface 15a, 16a on the base end side and the other inclined surface 15b, 16b on the tip end side whose opening angle is set to about 120 °. ing. Further, substantially rectangular holding grooves 17, 18, 19, 20 are formed at the centers of the inclined surfaces 15a to 16b, and a soft rubber material or the like is formed in each of the holding grooves 17 to 20. The elastic members 21, 22, 23, and 24 are stored and held.

The holding grooves 17 to 20 are formed to be elongated along the work clamp line X in the width direction of the work gripping surfaces 15 a to 16 b, the length thereof is set to L, and a predetermined depth dimension T is set. Is set to.

The elastic members 21 to 24 are formed to be elongated in a shape similar to the holding grooves 17 to 20 and have an outer diameter set to be slightly smaller than the inner diameters of the holding grooves 17 to 20 so that Δ is formed on the entire circumference therebetween. An L gap portion 25 is formed. Further, the height of the elastic members 21 to 24 is set to be slightly higher than the depth dimension T of the holding grooves 17 to 20 and protrudes from the work holding surfaces 15 and 16 by Δt.

Therefore, according to this embodiment, when the fingers 11 and 12 move closer to each other and try to grip the cylindrical work 26 between the claws 13 and 14 as shown in FIG. First, the outer surfaces 21a to 24a of the elastic members 21 to 24 are compressed and deformed along the outer peripheral surface 26a of the work 26 by the gripping force. At this time, the elastic members 21 to 24 are allowed to be compressed and deformed until the outer peripheral surfaces 21b to 24b hit the outside by the gap 25, that is, the inner peripheral surfaces 17a to 20a of the holding grooves 17 to 20. Therefore, the entire outer surfaces 21a to 24a of the elastic members 21 to 24 are brought into pressure contact with the work outer peripheral surface 26a in a surface contact state, and the frictional resistance increases. Therefore, the work 26 can be reliably gripped with a small gripping force. As a result, not only the robot device can be downsized, but also the pressure deformation of the work 26 and the damage to the outer peripheral surface 26a can be reliably prevented.

Moreover, since the entire work 26 is gripped by the elastic members 21 to 24, frictional resistance is promoted, and a more reliable gripping action on the work 26 is obtained.

The final positioning of the gripping of the work piece 26 by both the claw portions 13 and 14 is performed such that the outer peripheral surface 26a of the work piece 26 has the outer peripheral edges 17b to 20b of the holding grooves 17 to 20 when the elastic members 21 to 24 are maximally compressed and deformed. Since it is performed at the time of contact with, the gripping accuracy does not decrease.

The present invention is not limited to the configuration of the above embodiment, and the holding grooves 17 to 20 and the elastic members 21 to 24 may be arbitrarily changed in size and shape.

[0017]

[Effect of the device]

 As is clear from the above description, according to the robot hand structure according to the present invention, the elastic members are provided on the opposing work gripping surfaces of the two claws provided at the tips of the fingers, so that the work piece When gripping, each elastic member presses into contact with the outer peripheral surface of the work that has been compressed and deformed in surface contact. Therefore, the frictional resistance between each elastic member and the work increases, and a reliable gripping action can be obtained with a small gripping force. As a result, the size of the robot apparatus can be reduced, and pressure deformation and scratches on the work can be reliably prevented.

[Brief description of drawings]

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

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is a sectional view showing a gripping action of the present embodiment.

FIG. 4 is a perspective view of a main part of a conventional robot hand structure.

[Explanation of symbols]

11, 12 ... Fingers, 13, 14 ... Claws, 15, 1
6 ... Work grip surface, 21, 24 ... Elastic member, 26 ... Work.

Claims (1)

[Scope of utility model registration request] 1. A robot hand structure in which a pair of left and right fingers move close to each other to grip a work between opposed claw portions, and elastic members are provided on the opposed work gripping surfaces of both claw portions. A robot hand structure characterized by this.