JPH06155354A - Robot hand - Google Patents

Abstract

PURPOSE:To surely hold an object even if the center of arms is displaced from that of the object by installing a hand piece which is free to move and energized in close directions to each other in the movable direction of a pair of arms located so that it can be approached and departed from a hand main body frame. CONSTITUTION:When a flange 25 of a carrier case 24 is held, if arm pieces 13 are made close to each other also after the flange 25 is held first completely by one hand piece 16 by making the arms 13 close to each other even if the center between the arms 13 of a hand main body frame 2 is displaced from the center of the case 24, the first completely held hand piece 16 and arms 13 compress a spring 20 to absorb the movement of the arms 13. Then, when the case is held completely by both hand pieces 16, it is detected by limit switches, pressure sensitive sensors, etc., to stop the operation of the arms 13. Thus the hand piece 16 can hold and maintain the carrier case securely.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for holding and transferring articles.

[0002]

2. Description of the Related Art Conventionally, the following robot hands of this type are known. That is, the hand body frame,
It is known that the hand body frame has a pair of arms provided so as to be close to and away from each other and a hand piece fixed to the arms. The robot hand is
As is well known, a robot mounted on a Cartesian robot arm or an articulated robot arm to sandwich and transfer articles is configured.

[0003]

Disadvantages of the Prior Art The conventional robot hand has the following drawbacks. That is, since the hand piece was fixed to the arm, when the center of the arms of the hand body frame is deviated from the center of the article in a state where the hand body frame is being sandwiched, for example, the force of the arms approaching each other. For example, when the hand pieces (arms) are closer to each other when the article is heavier than the other, even if one of the hand pieces comes into contact with the article, the other does not come into contact with the article. It had the drawback of making mistakes.

[0004]

[Means for Solving the Disadvantages] The present invention adopts the following means in order to eliminate the above disadvantages. This invention is a hand body frame, and the hand body frame is close to each other.
It has a pair of arms that can be separated from each other, and a hand piece that is provided to be movable in the movable direction of these arms and that is urged by a spring in a direction in which they approach each other.

[0005]

The present invention has the following functions. Even if the center of the hand body frame between the arms is deviated from the center of the article in a state where the hand body frame is about to be held, even if one of the hand pieces comes into contact with the article first even if the arms are brought close to each other. , If the arm pieces are brought closer to each other in order to bring the hand piece that has not yet come into contact with the article into contact with the article, the arm piece and the arm that came into contact with the article first compress the spring. Since the relative distance is shortened and the movement of the arm is absorbed, it is possible to reliably hold the article by both hand pieces.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on the embodiments shown in the drawings. In this specification, the front means the lower side of FIG. 1, the rear means the upper side of FIG. 1, the left means the left side of FIG. 1, and the right means the right side of FIG.

A pair of left and right rods 3 having their axes centered in the left-right direction are fitted on the box-shaped hand body frame 2 so as to be slidable left and right by spline connection.

The rod 3 has an operating device 5 as follows.
Are made to be close to and away from each other. That is,
The actuating device 5 has a screw shaft 7 that is rotated by a motor 6 that can rotate in the forward and reverse directions.
It has a right-handed screw portion 8 at one end and a left-handed screw portion 9 at the other end. It is screwed into the hole 11. With such a configuration, the rods 3 can be moved toward and away from each other by rotating the screw shaft 7 in the forward and reverse directions. The actuating device 5 is not limited to the one in the embodiment, and any known actuating device can be used.

Arms 13 are attached to the ends of the rod 3 projecting from the hand body frame 2 so as to face each other, and a support base 14 having an L-shaped vertical cross section is attached to the tips of these arms 13. The hand pieces 16 are placed on the horizontal portions of the support bases 14, and the long holes 17 extending in the left-right direction are formed in the center portions of the hand pieces 16 in the front-rear direction.
On the other hand, there is no play in the front-rear direction, and on the other hand, the sleeve 1 with the flange is allowed to move laterally and horizontally.
8 are fitted in, and these sleeves 18 are fixed by bolts 19 penetrating therethrough and screwed into the horizontal portion of the support base 14. The bolt 19 is adapted to fit in the sleeve 18 without play. The hand piece 16
Is urged toward the other hand piece 16 side by a pair of front and rear springs 20 having the same force. Since the front and rear springs 20 are located in front of and behind the sleeve 18, a predetermined force acts on the hand piece 16 to move the hand piece 16 laterally or horizontally even if the hand piece 16 is moved horizontally. When the force for raising the force no longer acts on the hand piece 16, the hand piece 16 automatically returns to the normal state parallel to the arm 13.

The hand piece 16 has left and right flanges 2 of a carry case 24 accommodating a large number of semiconductor wafers.
A fitting groove 21 into which 6 is fitted is formed. A positioning notch 26 is formed on the flange 25, and a projection 22 that fits into the notch 26 is formed in the fitting groove 21 of the hand piece 16.

[0011]

Operation of the Embodiment Next, the operation of the embodiment will be described. Even when the center (in the left-right direction) of the arms 13 of the hand body frame 2 is deviated from the center of the carry case 24 while the flange 25 of the carry case 24 is being held, the arms 13 are close to each other. Then, even after the flange 25 is completely held by the one hand piece 16 first, the arm piece 13 is further mutually supported so as to completely hold the flange 25 by the hand piece 16 which has not yet completely held the flange 25. If the hand piece 16 and the arm 13 that have completely held the flange 25 first compress the spring 20, the relative distance is shortened and the movement of the arm 13 is absorbed. Then, the fact that the flange 25 (carry case 24) is securely held and held by both hand pieces 16, that is, that the flange 25 hits the inner wall of the fitting groove 21 means that the limit switch / pressure sensor ( By detecting with a detector (not shown) or the like and stopping the operation of the arm 13 based on the detection signal, the flange 25 (carry case 24) can be reliably held and held by the hand piece 16.

FIG. 4 shows an example in which the robot hand of the embodiment is attached to an articulated robot arm 29 provided on an unmanned traveling vehicle 28.

[0013]

The present invention has the following effects due to the above-mentioned configuration. Even if the center of the hand body frame between the arms is deviated from the center of the article in a state where the hand body frame is about to be held, even if one of the hand pieces comes into contact with the article first even if the arms are brought close to each other. , If the arm pieces are brought closer to each other in order to bring the hand piece that has not yet come into contact with the article into contact with the article, the arm piece and the arm that came into contact with the article first compress the spring. Since the relative distance is shortened and the movement of the arm is absorbed, it is possible to reliably hold the article by both hand pieces.

[Brief description of drawings]

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

FIG. 2 is a cross-sectional view of an enlarged portion A of FIG.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is an elevational view showing a state in which an example robot hand is attached to an articulated robot arm provided in an unmanned vehicle.

[Explanation of symbols]

 2 Hand body frame 13 Arm 16 Hand piece 20 Spring

Claims (1)

[Claims] 1. A hand main body frame, a pair of arms provided on the hand main body frame so as to be able to move toward and away from each other, and a spring provided so as to be movable in the movable direction of the arms and close to each other. A robot hand having a hand piece biased by.