JPH0574790U - Robot hand - Google Patents

Abstract

(57) [Summary] [Object] The present invention relates to a robot hand, and when holding various types of parts, it is not necessary to prepare a plurality of parts of different shapes and thicknesses, and a set of tabs can be used to It is an object of the present invention to provide a robot hand that can hold a part and can hold the held part at the same position. In a robot hand, a pair of claws 29 and 31 are installed in parallel to each other on a support member 27 that is movably attached to an operating mechanism of a robot body, and parts are held by the claws 29 and 31. A positioning surface 33 formed along the moving direction of the claws 29 and 31 at the inner tip portions of the claws 29 and 31, respectively, and inclined toward the inside of the claws 29 and 31 with respect to the positioning surface 33. Slide surface 3
The holding portions 37 having the number 5 are provided so as to face each other.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot hand, and more particularly, to a robot hand that eliminates the trouble of preparing a plurality of parts having different shapes and thicknesses when holding various kinds of parts.

[0002]

[Prior Art]

 In recent years, in manufacturing factories, robot hands have been frequently used in the transfer route for processing and assembling parts (workpieces) due to the demand for labor saving, but many types of parts are handled on the same production line. In that case, conventionally, a robot hand is prepared for each part, corresponding to the different shape and thickness of each part.

That is, FIG. 7 is a perspective view of a conventional robot hand. The robot hand 1 has a support member 3 made of a block and two claws 5 and 7 facing each other. It is movably attached to the operating mechanism of the main body.

Further, as shown in FIG. 8, a gripping portion 9 having a constant thickness m and having a U-shaped cross section is provided at the inner tip portions of the claws 5 and 7 so as to face each other. The claws 5 and 7 are simultaneously moved in the left-right direction (directions of arrows A and B in FIG. 7) in parallel by the operating mechanism, and the entire robot hand 1 is further moved in the vertical direction and rotated in the directions of arrows C and D. Then, for example, the lever 11 of the heater unit as shown in FIG. 9 is held by both holding portions 9 of the claws 5, 7.

However, the lever 11 includes a resin material and an iron material, and the thickness n is different between them. For this reason, conventionally, it is the current situation that a plurality of robot hands equipped with claws having a holding portion 9 corresponding to the thickness n of the lever 11 are prepared and exchanged each time.

[0006]

[Problems to be solved by the device]

 However, it is costly to prepare a plurality of robot hands for each of parts having different shapes and thicknesses, and there are many problems in terms of storage space and maintenance management of them, and Despite the introduction of the robot hand due to the demand for labor saving, it was very troublesome to replace the robot hand for each part.

Further, in Japanese Utility Model Laid-Open No. 56-147095, a pair of claws can hold a plurality of types of parts so that the inner claws of the claws 13 and 15 as shown in FIG. A robot hand 19 having a notch 17 is disclosed.

However, when the robot hand 19 holds two parts 21 and 23 having different thicknesses, the positions of the parts 21 and 23 are displaced as shown in FIG. At the time of attachment, a control process of adjusting the stroke of the entire robot hand 19 in the vertical direction by the difference p ₁ or p ₂ that was deviated was required.

The present invention has been devised in view of such an actual situation, and when holding various kinds of parts, it is not necessary to prepare a plurality of parts having different shapes and thicknesses, and a set of tabs is provided. It is an object of the present invention to provide a robot hand capable of gripping various kinds of parts with each other, and also gripping the gripped parts at the same position.

[0010]

[Means for Solving the Problems]

 In order to achieve such an object, the present invention provides a robot hand in which a pair of claws are installed in parallel to each other on a supporting member that is movably attached to an operating mechanism of a robot body so that the claws hold the parts. In each of the above-mentioned claws, a holding part having a positioning surface formed along the moving direction of the claw and a sliding surface inclined inward of the claw with respect to the positioning surface is opposed to each other. It was provided by.

[0011]

According to the present invention, the claws are moved in parallel at the same time so that both corners of the component are brought into contact with the sliding surfaces of the gripping parts, and then the claws are moved simultaneously from this state to narrow the gap between them. In this case, the component is guided on the slide surface and sequentially moves in the direction of the positioning surface of each holding part, and then the component is pressed against the positioning surface, and the component is firmly held by the positioning surface and the slide surface. It will be.

Further, even if a component having a different thickness from that of the above-mentioned component is used, the components are similarly guided to the slide surface by moving the claws in a horizontal direction to narrow the gap between the components, and the gripping part is held. The parts are pressed against the positioning surfaces, and the parts are held on the same line as the parts.

[0013]

【Example】

 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view of a robot hand according to a first embodiment of the present invention. The robot hand 25 is movable to an operating mechanism of a robot body (not shown) as in the conventional robot hand 1 shown in FIG. The support member 27 is composed of a block body attached to the support member 27, and a pair of claws 29 and 31 are installed on the support member 27 so as to be movable in parallel. Then, when the parts are held, the claws 29 and 31 are simultaneously moved in parallel in the directions of arrows A and B by the operating mechanism, and further the entire robot hand 25 is moved in the vertical direction and rotated in the directions of arrows C and D. It can be moved.

The robot hand 25 according to the present embodiment has, instead of the holding section 9 having a U-shaped cross section shown in FIG. 8, at the inner tip portions of the claws 29 and 31 as shown in FIG. A cross section having a flat positioning surface 33 formed along the moving direction of each of the claws 29 and 31 and a slide surface 35 that is inclined inward of the claws 29 and 31 with respect to the positioning surface 33. It is characterized in that the triangular holding portions 37 are provided so as to face each other.

Since the robot hand 25 according to the present embodiment is configured as described above, it is necessary to hold the parts by the robot hand 25 and assemble the parts to the product on the transfer route before the entire robot hand 25 is assembled. After moving the claws 29 and 31 to both sides of the stocked parts by moving the claws 29 and 31 in the vertical direction or in the directions of the arrows C and D, respectively, as shown in FIG. , B direction at the same time, so that both lower corner portions 39a of the component 39 are brought into contact with the slide surface 35 of the holding portion 37.

From this state, the lower corners 39a of the component 39 slide on the slide surface 35 as the tabs 29 and 31 are simultaneously moved in parallel in the directions of arrows A and B to narrow the gap between them. The component 39 is moved upward, that is, in the direction of the positioning surface 33, and the upper surface 39b of the component 39 is pressed against the positioning surfaces 33 of the two holding portions 37, so that the component 39 is positioned by the two holding portions 37. It is firmly held between 33 and the sliding surface 35.

Further, as shown in FIG. 4, in order to hold the component 41 having a smaller thickness than the component 39 with the claws 29 and 31, similarly, after setting the claws 29 and 31 on both sides of the component 41, , The tabs 29 and 31 may be simultaneously moved in parallel in the directions of arrows A and B, respectively, and the lower corner portion 41a of the component 41 may be brought into contact with the slide surface 35 of the holding portion 37.

In this state, if the tabs 29 and 31 are further moved in parallel in the directions of arrows A and B to narrow the gap between them, the corner 41a of the component 41 slides on the slide surface 35. Moves upward, and the upper surface portions 41b thereof likewise press-contact with the positioning surfaces 33 of the two holding portions 37, respectively, and the component 41 is held on the same line L as the component 39.

Although not shown, even when other parts having different thicknesses and shapes from those of the parts 39 and 41 are held by the tabs 29 and 31, all the parts are held on the line L. Become.

Therefore, according to the present embodiment, various kinds of parts having different thicknesses and sizes such as the parts 39 and 41 can be held by the set of the claws 29 and 31, so that the same production line is used. Even if the number of types of parts handled in (1) increases, it is possible to deal with the different shapes and thicknesses of the parts as in the past and eliminate the troublesomeness of using robot hands by the number of different shapes and thicknesses.

However, according to this embodiment, by moving the claws 29 and 31 in the directions of arrows A and B, respectively, to narrow the gap between the two, all the components are always brought into contact with the positioning surface 33. Since it is held on the same line L, unlike the conventional example shown in FIG. 10, when assembling parts, a control process for adjusting the stroke of the entire robot hand by the amount deviated for each part is unnecessary, and workability is improved. Will be improved.

In the first embodiment described above, the gripping portion 37 is provided at the inner tip of the claws 29 and 31. However, as shown in FIG. 5, the gripping portion 37 is formed at the inner tip of the claws 29 and 31. The holding portion 43 having the same cross-sectional shape as 37 may be provided by cutting out, and even with such a structure, the intended purpose can be achieved as in the first embodiment.

Further, as shown in FIG. 6, a flat positioning surface formed along the moving direction of the claws 29, 31 at the inner tip ends of the claws 29, 31 with the upper and lower sides of the holding part 37 being replaced. 45 and a sandwiching portion 49 having a triangular cross section having a sliding surface 47 inclined upward inward of the claws 29 and 31 with respect to the positioning surface 45 may be provided so as to face each other. According to the embodiment, as the distance between the claws 29 and 31 is narrowed, the component is pressed against the positioning surface 45 along the sliding surface 47, so that the intended purpose can be achieved as in the first embodiment. As a matter of course, compared to the first embodiment, the weight of the component acts together with the movement of the claws 29 and 31, so that the holding of the component can be completed quickly.

[0024]

[Effect of the device]

 As described above, according to the present invention, since various kinds of parts having different thicknesses and sizes can be held by one set of claws, even if many kinds of parts are handled in the same production line, There is no longer the hassle of preparing multiple robot hands corresponding to different shapes and thicknesses of parts as in the past.

However, according to the present invention, by moving the claws in parallel to narrow the gap between them, all the components are always brought into contact with the positioning surface and held between them on the same line. When mounting, the control process that adjusts the stroke of the entire robot hand by the amount of deviation for each component is not required, and workability is improved.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot hand according to a first embodiment of the present invention.

FIG. 2 is a longitudinal sectional view of a main part of a claw.

FIG. 3 is a cross-sectional view of a claw showing a state where a component is held.

FIG. 4 is a cross-sectional view of a claw showing a state in which a component having a thickness different from that of the component of FIG. 3 is held.

FIG. 5 is a perspective view of a robot hand according to a second embodiment of the present invention.

FIG. 6 is a vertical cross-sectional view of a main part of a claw according to a third embodiment of the present invention.

FIG. 7 is a perspective view of a conventional robot hand.

FIG. 8 is a vertical cross-sectional view of a main part of a conventional claw of a robot hand.

FIG. 9 is a perspective view of a lever of the heater unit.

FIG. 10 is a plan view of a main part of another conventional robot hand.

[Explanation of symbols]

 25 Robot Hand 27 Supporting Member 29,31 Claw 33,45 Positioning Surface 35,47 Sliding Surface 37,43,49 Holding Part 39,41 Parts

Claims (1)

[Scope of utility model registration request] 1. A pair of claws (29, 31) is attached to a support member (27) movably attached to an operating mechanism of a robot body.
Are installed facing each other so that they can move in parallel, and the claws (29, 3
In the robot hand that holds the parts (39, 41) in 1), the positioning is formed at the inner tip of each of the claws (29, 31) along the moving direction of the claws (29, 31). Surface (33, 45) and the positioning surface (33, 45)
45) A holding part (37, 4) having a slide surface (35, 47) inclined inward of the claws (29, 31) with respect to 45).
3, 49) facing each other.