JPH0611984U - Robot hand - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a robot hand in which an air hose is not easily damaged, is small and easy to handle, and is easy to mount and remove a work. [Structure] Two or more hose mounting ports 2 for mounting an air hose 1, a fixed body 3 on which a carrier mounting portion 12 is formed,
A rotating body 5 having an air passage 4 formed therein and rotatably provided in a fixed body 3, an actuator 6 for rotating the rotating body 5, and a chuck attachment body rotatably attached to the rotating body 5 together with the actuator 6. 7 and two or more chucks 11 including a piston 8 which is moved by the air from the air passage 4 in the chuck attachment body 7 and a movable portion 10 which is operated by the movement of the piston 8. One corner 13 of the chuck mounting body 7 was formed at 90 °, and the two chucks 11 were mounted on both sides 14 and 15 sandwiching the corner 13.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The robot hand of the present invention is arranged near a machine tool such as an NC lathe, and is used to mount an object such as a work on the machine tool, remove it from the machine tool, or place the removed object in a different place. It is used for transportation.

[0002]

[Prior art]

 In order to automatically machine an object such as a machine part with a machine tool, conventionally, a robot hand is used to automatically attach the object before machining to the machine tool, or the machined object is machined. It was automatically removed from and transported to the stocker. Conventionally used robot hands include those shown in FIGS. 4 and 5. What is shown in FIG. 4 is a rectangular shape in which a carrier (not shown) can move in the direction of arrow x (front-back direction), and an actuator (rotational drive) (not shown) can rotate the rotation axis A in the direction of arrow y. On the symmetry planes C and D of the rotating jig B, a piston F that is moved by the air supplied from the air hose E and a movable portion G that opens and closes in the direction of arrow zz by the movement of the piston F are formed. The chuck H is attached. FIG. 5 shows a rectangular rotary jig B that can be moved back and forth in the axial direction of the rotation axis A by a transport body (not shown) and can be rotated in the arrow y direction by a rotary drive body (not shown). A chuck H (the same as the chuck in FIG. 4) including a piston F and a clamp portion G that clamps and releases an object by the movement of the piston F on the adjacent surfaces I and J. It is installed.

[0003]

[Problems to be solved by the device]

 However, the robot hand shown in FIGS. 4 and 5 has the following problems. ． In both of the robot hands shown in FIGS. 4 and 5, the air hose E is connected to the rotary jig B, so that when the rotary jig B rotates, the air hose E becomes entangled or twisted. Air hose E is easily damaged. ． Since the chuck H (piston F and clamping portion G) is attached to the outside of the rotating jig B, the robot hand becomes large. ． In the robot hand of FIG. 4, in order to move the chuck H on the left side to the position of the chuck H on the right side, the rotation axis A must be rotated by 180 degrees, the rotation stroke becomes large, and a wide space is required for rotation. . Further, the position of the chuck H can be changed only in the rotation direction of the rotation axis A. ． In the robot hand of FIG. 5, in order to move the chuck H on the left side to the position of the chuck H on the upper side, since it is sufficient to rotate the rotation axis A by 90 degrees, it is possible to rotate in a narrower space than the robot hand of FIG. Also in this case, the position of the chuck H can be changed only in the rotation direction of the rotation axis A.

An object of the present invention is to provide a robot hand which is small in size and easy to handle because the air hose is not easily damaged. Another object of the present invention is to provide a robot hand in which the positions of the two chucks are rotated (swirled) by 180 degrees so that the two chucks are exchanged with each other and the next operation (loading and unloading of the work) is simplified. To do.

[0005]

[Means for Solving the Problems]

 The robot hand according to claim 1 of the present invention communicates with two or more hose attachment ports 2 for attaching the air hose 1, the fixed body 3 having the carrier attachment portion 12 formed therein, and each hose attachment port 2. A rotary body 5 having an air passage 4 formed therein and rotatably provided in the fixed body 3, an actuator 6 attached to the fixed body 3 for rotating the rotary body 5, and a rotary body 5 which is rotatable together with the actuator 6. The chuck mounting body 7 mounted, the piston 8 provided inside the chuck mounting body 7 and moved by the air supplied from the air passage 4, and the piston 8 provided outside the chuck mounting body 7 It is provided with two or more chucks 11 composed of a movable part 10 which is operated by movement. In the robot hand according to claim 2 of the present invention, one corner 13 of the chuck mounting body 7 is formed at 90 °, and the two chucks 11 are mounted on both sides 14 and 15 sandwiching the corner 13. .

[0006]

[Action]

 In the robot hand according to claim 1 of the present invention, when the chuck 11 is rotated, the fixed body 3 to which the air hose 1 is attached does not rotate, and the rotor 5 provided therein and the chuck attached thereto are attached. Since the body 7 rotates, the air hose 1 does not twist when the chuck 11 rotates. Further, as shown in FIG. 1, since the pistons 8 of the two chucks 11 are provided inside the one chuck mounting body 7, the robot hand becomes small. In the robot hand according to claim 2 of the present invention, since the chuck 11 is attached to both sides 14 and 15 which sandwich the corner 13 formed at 90 ° of the chuck attachment body 7, the rotary body 5 is rotated by the rotary drive body 6 to 180 degrees. By rotating the chucks 11, both chucks 11 rotate to the positions where they are exchanged.

[0007]

【Example】

 In FIG. 1 showing an embodiment of the robot hand of the present invention, 3 is a fixed body, 5 is a rotating body provided rotatably inside the fixed body 3, and 6 is attached to the rear end of the fixed body 3 to rotate. An actuator (rotational driving body) for rotating the body 5, 7 is a chuck mount attached to the tip of the rotary body 5 so as to rotate together with the rotary body 5, and 11 is a chuck attached to the chuck mount 7. is there.

The fixed body 3 is formed of a metal in the shape of an elongated cylinder, and four hose attachment ports 2 for connecting the air hose 1 are formed on the peripheral wall thereof, and a carrier for moving the robot hand (FIG. 3). A carrier mounting portion 12 is provided for mounting. As shown in FIG. 1, the rotating body 5 is rotatably mounted in the fixed body 3 via a front bearing 20a and a rear bearing 20b. In this case, a spacer 21 is inserted between the rear bearing 20b and the rotating body 5 to prevent rattling and displacement of the rotating body 5. As shown in FIGS. 1 and 2, the rotating body 5 has a disk-shaped mounting portion 16 formed at the tip of the shaft portion 5a, and four discs are provided from the outer peripheral surface of the shaft portion 5a to the tip surface 16a of the mounting portion 16. The air passage 4 is penetrated. Moreover, while the O-rings 22 fitted to the outer periphery of the shaft portion 5a partition the mouth portions 23 (FIG. 2) of the four air passages 4, the rotating body 5 is fixed to the fixed body 3 as shown in FIG. When inserted into the inside, an air passage 24 surrounded by the adjacent O-ring 22 and the inner wall surface of the fixed body 3 is formed between the adjacent O-rings 22. As a result, even if the mouth portion 23 of the air passage 4 is located at any position in the air passage 24 by the rotation of the rotating body 5, the air supplied from the hose 1 shown in FIG. Flows from the air passage 24 into the mouth portion 23, passes through the air passage 4 in the rotating body 5, and flows into the air flow passage 26 of the chuck mounting body 7.

As shown in FIG. 1, the rotary drive body 6 is fixed to the rear end portion of the fixed body 3 with a screw or the like, and the half-moon-shaped rotary shaft 18 of the rotary drive body 6 is inserted into the rotary body 5 to As shown in FIG. 1 (b), a push plate 19 (a) is placed on it, and it is fixed with bolts 19 so that when the rotary shaft 18 rotates, the rotating body 5 rotates. As shown in FIG. 1, the chuck mounting body 7 is fixed to the tip end surface of the disc-shaped mounting portion 16 of the rotating body 5 with a screw so as to rotate together with the rotating body 5. The chuck mounting body 7 is formed in a triangular shape with one corner 13 being 90 °, and a piston accommodating portion 30 into which the piston 8 of the chuck 11 is assembled is formed on both sides 14 and 15 that sandwich the corner 13. Four air flow passages 26 communicating with the air passages 4 of the rotating body 5 are formed. The four air flow passages 26 are set as one set, one of which is in the front chamber 31 in front of the piston 8 accommodated in the piston accommodating portion 30, and the other of which is in the rear of the piston 8. When the air is sent from the air passage 26 to the rear chamber 32 in communication with the rear chamber 32, the piston 8 advances, and conversely, when the air is sent from the air passage 26 to the front chamber 31, the piston 8 moves backward, and this advance, By retreating, the claw (movable part) 10 of the chuck 11 mounted on the outside of the chuck mounting body 7 so as to interlock with the piston 8 is opened and closed in the direction of arrow z-z.

In the robot hand of the present invention, the object 9 processed by the machine tool 27 shown in FIG. 3 is sandwiched by the left-side chuck 11, and is conveyed by the conveyance body 40 to just above the stocker 28 and rotated. When the chuck mounting body 7 is rotated 180 degrees by the driving body 6, the chuck 11 which has been leftward until then becomes downward, so that the hose attachment port 2-air passage 4-air flow passage 26 is passed through the piston accommodating portion 30. When air is supplied to the front chamber 31 or the rear chamber 32 and the piston 8 is moved, the chuck 11 opens and closes, and the object 9 falls and is stored in the stocker 28. Incidentally, at this time, the air in the chamber on the side opposite to the chamber to which the air is supplied is discharged to the outside through the air flow passage 26-the air passage 4-the hose attachment port 2.

[0011]

[Effect of device]

 The robot hand of the present invention has the following effects. The fixed body 3 to which the air hose 1 is attached can be moved up and down, left and right, and forward and backward by the carrier 12 but does not rotate, so that the air hose 1 is less damaged. Since one chuck mounting body 7 is provided with two or more chucks 11 and the piston 8 for operating the chucks 11, the number of parts is reduced and the main body can be downsized.

[Brief description of drawings]

FIG. 1 is a structural explanatory view showing an embodiment of a robot hand of the present invention.

FIG. 2 is a perspective view showing a structure of a rotating body 5 of the robot hand shown in FIG.

FIG. 3 is an explanatory view showing another embodiment of the robot hand of the present invention.

FIG. 4 is a structural explanatory view showing an example of a conventional robot hand.

FIG. 5 is a structural explanatory view showing another example of a conventional robot hand.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Air hose 2 Hose mounting port 3 Fixed body 4 Air passage 5 Rotating body 6 Rotation drive body (actuator) 7 Chuck mounting body 8 Piston 9 Target object 10 Moving part 11 Chuck 12 Conveyor body 13 Corners 14 and 15 sides

Claims (2)

[Scope of utility model registration request] 1. A fixed body 3 having two or more hose mounting openings 2 for mounting an air hose 1 and a carrier mounting portion 12.
A rotary body 5 in which an air passage 4 communicating with each hose mounting port 2 is formed and rotatably provided in the fixed body 3,
An actuator 6 attached to the fixed body 3 to rotate the rotary body 5, a chuck attachment body 7 rotatably attached to the rotary body 5 together with the actuator 6, and the air passage 4 provided in the chuck attachment body 7. A robot provided with a piston 8 that is moved by air supplied from the robot and two or more chucks 11 that are provided outside the chuck attachment body 7 and a movable portion 10 that is operated by the movement of the piston 8. hand. 2. One corner 13 of the chuck mounting body 7 is formed at 90 °, and the two chucks 11 are formed at the corner 13.
The robot hand according to claim 1, wherein the robot hand is attached to both sides 14 and 15 that sandwich the pin.