JPH0616690Y2 - Robot hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a robot hand for various robot devices, particularly for gripping and carrying articles.

(Prior Art) It is well known, without exemplifying, to use a dedicated robot device for gripping and carrying an article on various production lines. As shown schematically in FIG. 1 as an example of the robot device, the main body 13 of the robot 1 is rotatable forward and backward by a rotating portion 12 and is also vertically extendable and retractable.
In addition, an arm 14 that can be extended and retracted forward, backward, leftward, and rightward is provided in a protruding shape, and the hand 2 is attached to the front end of the arm 14 via a minute rotation part 15 or the like.
Are connected and held, and the robot body 1 is rotated, lifted, and armed.
Through the telescopic movement of 14 or the like, for example, the article moving on the conveyor of the production line is grasped by the hand 2 and the movement of moving the article to another line or a storage place is automatically performed. It is the one.

As the hand 2, the required arms, bars, rods, and other members are assembled so as to be openable and closable, the corresponding sides of the article are gripped by the closing, and fork members are added to support the bottom surface of the article. It is also known that a gripping mechanism having such functions as above is frequently used.

(Problems to be solved by the invention) In the above-mentioned robot hand that has been conventionally used, the open / closed assembled hand is lowered onto a conveyor or the like where articles are present, and operations such as gripping and releasing the articles are performed. When any of the gripping mechanism members in the hand comes into contact with or collides with an article, a conveyor, or other foreign matter, it does not have an accurate and effective sensing means. There is a problem in that accidents such as deformation, bending, and damage of members on the side and the other side occur. In addition, the movement for gripping and releasing in this kind of hand is often limited to simple linear ascent and descent, advancing and retreating, and combination, the processing speed is slow, and there is room for improvement in terms of efficiency.

The present invention has been made in order to solve the above-mentioned problems of the prior art. The purpose of the present invention is to prevent the occurrence of abnormalities due to foreign matter contact and collision in each member of the hand gripping mechanism, and the structure of the upper and lower hands. The sensing means provided on the object accurately and intensively captures it, thereby immediately stopping the robot operation to prevent accidents of damage to each part of the hand, smoothing and speeding up the gripping and releasing operations, and improving the processing efficiency. To provide a robotic hand.

(Means for Solving the Problem) In order to achieve the above object, the robot hand according to the present invention is hung and supported by a support plate equipped with a stop sensing member on a fixed plate on the robot body side so as to be lifted and lowered. A suspending member, an advancing / retreating pressing member opposite to the suspending member for gripping an article, an elevating / lowering supporting member, and a plurality of vertically arranged rotatable units arranged outside the supporting member. A rod member and a fork member pivotally supported by the rod member and extending toward the pressing member. A sensing member preceding the member is juxtaposed on the lower surface of the fork member so as to be openable and closable. .

(Operation) According to the robot hand of the present invention having the above configuration,
When a rod member including an advancing / retreating pressing member, an elevating / lowering supporting member, and a fork member, which is an article gripping mechanism, is moved down along with a suspending member, one of the members comes into contact with an article conveyor or other foreign matter. When a collision occurs, the suspension member moves up and down through the support in response to the slight shock or movement.

This movement is transmitted to the robot body side by the stop sensing member, and its operation is immediately stopped, thereby preventing damage troubles between the respective hand members and the contacted or collided opponent. In addition, a sensing member that is arranged on the lower surface of the fork member so as to be openable and closable can be placed ahead of the fork member to check the position of the conveyor, articles and the like in the space below the fork member, and to check the presence or absence of foreign matter to prevent contact and collision. Further, since the fork member is pivotally moved in and out of the lower surface of the article to support and release the lower surface of the article, a series of gripping and releasing operations of the article can be further speeded up and the processing capacity can be improved.

(Embodiment) An embodiment will be described with reference to the drawings. In FIGS. 1 to 7, the arm 14 of the robot body 1 in FIG.
In addition, a suspension member 6, which is a main body of the hand 2, is attached to a fixed plate 3 connected through a minute rotation unit 15, and a support member 5 having a stop sensing member 4 is used to make the suspension member vertically movable and suspended. Attach bullet support. That is, as illustrated in FIG. 2, a supporting member 5 such as a headed bolt is planted at symmetrical positions such as four corner positions in a suspension member 6 having an arbitrary shape, and the supporting member 5 is fixed to the fixing plate 3.
The spring 16 is elastically inserted between the lower surface of the fixed plate 3 and the upper surface of the suspension member 6 via the supporting member 5 so that the spring 16 can elastically intervene. Then, a stop sensing member 4 such as a limit switch is provided on the fixed plate 3 corresponding to each support 5.

As illustrated in FIG. 3, an advancing / retreating pressing member 7 for gripping an article and an elevating / lowering supporting member 8 facing the same are provided on the suspension member 6 in a pair. That is, the advancing / retreating pressing member 7 is a plate body having a required shape, and the guide shaft 1 fixed to the suspension member 6 side.
A driving member 18 such as a fluid pressure cylinder mounted on the suspension member 6 side and an advancing / retreating rod 19 and the like, which are mounted over the suspension members 7 and 17, can be moved back and forth toward the elevating and lowering support member 8, and both members 7 and 8 are provided. In between will grip the article. Lift support member 8
Is also a plate body and is fixed to the suspension member 6 and a plurality of rod members 9 are provided on the outer side of the elevating and lowering supporting member 8 like the three in the illustrated example (the number is free). Along with the member 8, it is vertically movable and is rotatably arranged around a rotation shaft 20 as a fulcrum. That is, the rotating shaft 20 is the suspension member 6
For example, a forward / reverse direction is provided via a drive member 22, such as a fluid pressure cylinder, which is rotatably pivotally mounted via brackets 21, 21, etc., and is also mounted on the suspension member 6 side, an advancing / retreating rod 23, a swing arm 24, etc. The rod member 9 is rotatable, and the base portion 9a of each rod member 9 is fixedly mounted on the rotation shaft 20 so that the rod member 9 is rotated.
It is held so that it can rotate in the forward and reverse directions with 20 as the fulcrum axis. At each lower end of the rod member 9, a fork member 10 and a sensing member 11 are arranged side by side, as shown in FIGS. 4 (A) and 4 (B), and as shown in FIG. Set up. That is, fork member
10 is a fork member orthogonal to the lower end of the rod member 9
The tail portion 10a of 10 is crossed so as to project to the rear side of the lower end of the rod member 9, and the crossing position is pivotally supported by a pivot 25.
On the upper surface of the tail portion 10a, the other end of an L-shaped stopper 27, one end of which is fixed by a stopper 26 to the rear side of the lower end of the rod member 9, is locked, and the rod member 9 opposite to the installation side of the stopper 27 is engaged.
The one end of a spring 29 wound around the spring shaft 28 is elastically supported so as to face each other between the front lower end of the fork member 10 and the corresponding upper surface of the fork member 10, so that the fork member 10 supports the pivot shaft 25 as a fulcrum. As a result, it is prevented from freely rotating and is maintained in a state of being fixed in an orthogonal shape. However, this fork member
The holding structure in the orthogonal posture of 10 is not limited to the illustrated example. Further, the lower surface of this fork member is also shown in FIGS.
As shown in the figure as a whole and as an example, strip-shaped sensing members 11 whose lengths are substantially equal to those of the fork members and whose widths are also substantially equal are arranged in parallel. A rear end of the sensing member 11 is elastically attached to the fork member 10 via a pivot 30, a mounting ear piece 31, and a spring 32 so that the sensing member 11 can be opened and closed.
It is biased in the opening direction by the pivot 30 as a fulcrum by 32, and at the time of closing, an operating tail portion 11a which is erected upward is formed at the rear end of the sensing member 11, and the tail portion 11a is placed on the rod member 9 side. The drive member 33 such as the installed fluid pressure cylinder, and the forward / backward rod 34 are pushed down, and the spring 32 is attached to the lower surface side of the fork member 10.
In this embodiment, a proximity switch 35 is provided at the rear end position of the lower end of the rod member 9 provided with the L-shaped stopper 27. In this embodiment, the sensing member 11 is installed only on the lower surface of one of the fork members 10 at the center position among the plurality of fork members 10. The members 10 are arranged in parallel, and the number of the members is not limited to the illustrated example.

According to the hand of the above-described embodiment, gripping and carrying of articles are performed as follows. In FIG. 5, an article A (in the illustrated example, a sheet of printed small bundles a is stacked in a large bundle and bound with a string b) is conveyed by the roller conveyor 36, When the roller conveyor 36 is stopped at a predetermined position in the robot installation position, the push-up platform is moved by the advancing / retreating rod 38 of the driving member 37 such as a fluid pressure cylinder.
39 rises and pushes up and supports the article A to a required position by means of push-up plates 40 arranged on the base 39 in line with the roller intervals. In this state, a series of hands 2 including the advancing / retreating pressing member 7, the elevating / lowering supporting member 8, the rod member 9, the fork member 10 and the sensing member 11 including the suspension member 6 descend. Upon this downward movement, the advancing / retreating pressing member 7 is stopped at the solid line position shown in FIG. 6, and the elevating / lowering supporting member 8 and rod member 9 (fork member 10, sensing member 11).
Is in a raised position, and the rod member 9, the fork member 10 and the sensing member 11 are rotated in the raised position from the vertical position shown by the dotted line in the drawing to the outside by the rotating shaft 20 as shown by the solid line. It descends in the stopped posture. Therefore, as shown in FIG. 6 as well, the advancing / retreating pressing member 7 advances toward the elevating / lowering supporting member 8 as indicated by the arrow, and grips both side surfaces of the article A between the supporting member 8 and the pressing member 7 under pressure. Then
At the same time, the reverse rotation of the rotary shaft 20 causes the rod member 9,
The fork member 10 and the sensing member 11 rotate as shown by the arrow in the figure, and the rod member 9 stands upright as shown from the solid line position to the dotted line position, and the fork member 10 and the sensing member 11 are located below the article A. And it enters between the push-up plates 40. Therefore, if the hand 2 is raised in this state, the fork member 10 supports the lower surface of the article A, the side surfaces are gripped by the members 7 and 8, and the lower surface of the article A is supported by the fork member 10, and the article A is moved to the target position. Can be transported to. In the above-described series of movements, the sensing member 11 is closed on the lower surface of the fork member 10, and this closing is performed by the advancing / retreating rod 34 of the drive member 33 by the proximity switch 35, as described above. Sensing member
It is obtained by pushing down the operation tail 11a of 11 and rotating the member 11 with the pivot 30 as the fulcrum.

When the robot hand 2 reaches the predetermined loading / unloading position,
As shown in FIG. 7, the advancing / retreating rod 34 of the drive member 33 is retracted, the operating tail 11a of the sensing member 11 is released, and the hand 32 in which the member 11 is opened by the spring 32 holds the article A. Continue to descend. When the sensing member 11 which is in the open state and precedes the fork member 10 comes into contact with the upper surface of the article A already loaded on the floor or the like as shown in the drawing, the proximity switch 35 senses it and the fork member 10 and Sensing member
Between the lower surface of the article A gripped by 11 and the upper surface of the article A already loaded below and in contact with the sensing member 11,
In order to create an operating space in which the hand 2 can be freely rotated and retracted, the hand 2 is moved from the lowered position indicated by X in the figure (solid line position) to
It is re-raised to the elevated position (dotted line position) indicated by Y in the figure. Then, in this re-raised position, the sensing member in the open state
11 is closed on the lower surface side of the fork member 10, and the rotary shaft 20
Through the rotation, the rod member 9, the fork member 10, and the sensing member 11 are rotated and retracted to the side positions shown by the solid line in FIG. 6 to support the lower surface of the article A. To release. Next, the advancing / retreating pressing member 7 holding the article A with the elevating / lowering support member 8 is retracted, and by releasing this, the article A is discharged downward along the elevating / lowering support member 8 and the existing loaded articles A It is mounted on the upper surface in a laminated manner. In the above-described series of gripping and carrying operations of the article, in the hand of the present invention, the hanging member 6 which is the main constituent of the hand is hung up and down freely on the fixed plate 3 side, and the advancing / retreating pressing member 7 Since the gripping mechanism by the support member 8, the rod member 9 and the fork member 10 (including the sensing member 11) is held, and the sensing member 4 such as the limit switch is arranged corresponding to the support 5 of the suspension member 6, When each member comes into contact with or collides with the article A, the conveyor 36, or other foreign matter when the hand descends, the suspending member is accompanied by a small amount of shock and moves up and down promptly to catch the abnormality. The operation on the robot body 1 side is immediately stopped through the sensing member 4 to reliably prevent bending and other deformation and damage troubles in each member. By arranging the sensing member 11 in parallel also on the fork member 10 side located at the lowermost end of the gripping mechanism, the above-mentioned abnormality detection can be made more reliable. Further, in the gripping mechanism of the present invention, the members 7 and 8 for supporting both side surfaces of the article A are vertically ascending and descending and moving forward and backward, but the fork member 10 for supporting the lower surface of the article A is connected via the rod member 9. Since it is made to move in and out by turning, the lower surface can be supported and released in a single operation, which shortens the processing speed and enables efficient work. The fork member 10 is different from the rod member 9 in
By the pivotal support by the pivot and the attached structure, the impact on the fork member 10 upon contact with or collision with a foreign object is mitigated, and the parallel arrangement of the sensing member 11 allows the article A and the conveyor 36 in the lower space to be arranged. The position determination and confirmation of other foreign matter can be effectively performed.

(Effects of the Invention) According to the robot hand of the present invention, when gripping, releasing, and transporting the article A, a slight vibration or impact that each member of the hand comes into contact with or collides with another object is applied to the hanging member and the member. The built-in transport gripping mechanism and the sensing members arranged above and below it capture it quickly and reliably, and immediately stop the robot operation, eliminating damage accidents to each member and improving hand safety and durability. Let Moreover, in the gripping mechanism,
By providing a fork member that pivots laterally with respect to the pressing member and the support member that moves up and down so as to freely move in and out of the lower surface of the article A, the grip release operation is made smoother and faster than before, and the processing capacity is improved. Further, by pivotally supporting and attaching the fork member to the rod member, the impact applied to the fork member can be alleviated, and the durability of the fork member is improved. .

[Brief description of drawings]

FIG. 1 is a schematic front view of a known example of a robot hand, FIG. 2 is a perspective view of an essential part of a suspension member suspension structure in a rod embodiment of the present invention, and FIG. 3 is a perspective view of an essential part of the hand gripping mechanism. Figure 4
(A) and (B) are side views of the pivot member pivotal support portion and the sensing member support principal portion, FIG. 5 is a front view showing an article gripping and conveying operation by the hand, and FIG. 6 is an article by the gripping mechanism. FIG. 7 is a side view showing a gripping operation, and FIG. 7 is a side view showing an article loading / unloading operation by the gripping mechanism. 1 ... Robot body, 2 ... Hand, 3 ... Fixed plate, 4
…… Sensing member, 5 …… Supporting device, 6 …… Hanging member, 7 ……
Advancing / retreating pressing member, 8 ... lifting support member, 9 ... rod member, 10 ... fork member, 11 ... sensing member, A ... article.

Claims (1)

[Scope of utility model registration request] 1. A hand attached to a robot body (1) for gripping and carrying an article, the hand (2) being provided on a stationary plate (3) on the robot body (1) side, a stop sensing member. A suspension member (6) suspended and supported by a support tool (5) equipped with (4) so that it can be lifted and lowered, and an advancing / retreating pressing member (7) provided opposite the suspension member (6) for gripping an article. ) And lifting support member (8), said support member
(8) A plurality of rod members (9) arranged outside the (8) and arranged in a row so as to be able to move up and down, and a fork member that is pivotally supported by the rod members and extends toward the pressing member (7). (10) and, the lower surface of the fork member (10),
A robot hand characterized in that a sensing member (11) preceding the member (10) is arranged side by side so as to be openable and closable.