JPH06246671A - Robot hand clamping space adjusting device - Google Patents

Abstract

PURPOSE:To provide a robot hand inexpensive with high general usability provided with a robot hand clamping space adjusting device, in which a clamping space of the robot hand can be freely adjusted to be matched with size of a workpiece, by utilizing a robot hand on the market for performing on/off type clamping action of quick horizontal opening/closing by an air cylinder or the like. CONSTITUTION:When a robot hand clamping space adjusting device main unit 1 is mounted on a robot hand main unit 2, since opening/closing condition positions of fingers 4 are arbitrarily restricted by stoppers 3 of the robot hand clamping space adjusting device main unit 1 for performing on/off type opening/ closing action by an air cylinder 6, as a result, a clamping space 10 can be arbitrarily adjusted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device which, when mounted on a robot hand, can freely adjust the opening / closing stroke (grip interval) of fingers of the robot hand.

[0002]

2. Description of the Related Art Robot hands include an electric drive type and an ON / OFF type opening / closing action using an air cylinder or the like, focusing on the operation of fingers. Since the robot hand that performs ON / OFF type opening / closing operations has a simple structure and can achieve gripping with high gripping force and high motion speed relatively easily, it is currently important to configure industrial robots. Although it is an element, due to its structure, the fingers can be positioned only at two points, the start point and the end point of the opening / closing stroke, so they are not very suitable for gripping small objects, and the gripping object (hereinafter referred to as the work) If the arrangement interval is small, there is a drawback that the fingers are more likely to come into contact with the adjacent works when the robot hands are gripped and released in the work space. In order to solve this problem, for example, one that adjusts the gripping interval of fingers with a stopper that adjusts the screw or 19
April 24, 1987 Research meeting No.87-3, Pre-printed paper, Technical Assembly by the Japan Society for Precision Engineering, Kenichi Higashi, Shoichiro Hara "Assembly to FMS-Concept of Cell Assembly System and Example of Assembly Cell-" In addition to the one that uses a special finger to adjust the gripping interval and gripping force of the fingers as described above, in addition to "FINZAM" of Nippon Seiki Co., Ltd.
Some of them, such as the BN-6BFH series, have variable finger gripping intervals by using multiple cylinders.

Servo motors are mainly used to perform opening / closing operations by electric drive, and the fingers can be positioned at arbitrary positions between the start and end points of the opening / closing stroke. Therefore, it is also suitable for gripping small items.

[0004]

The conventional robot hand having the above-mentioned structure has the following problems. First, in the case of adjusting the gripping interval with a stopper by adjusting a screw, it is very complicated to adjust the gripping interval for each work having a different size, and quick adjustment is impossible.

On April 24, 1987, the assembly committee of the Japan Society for Precision Engineering, Research Committee No87-3, Lecture, the special finger is used to adjust the gripping interval and gripping force as shown in the preprint. Since the robot hand main body and the stopper that varies the gripping interval of the fingers are integrated, a commercially available robot hand cannot be used, which is expensive and lacks versatility.

In addition, “FINZAM BN-6B” from Nippon Seiki Co., Ltd.
ON / OFF of the robot hand that can change the finger gripping interval by using multiple cylinders like the FH series
Since the gripping interval is adjusted by using an air cylinder or the like that can only perform the opening / closing operation of a type, the degree of freedom for a plurality of works of different sizes performed by one robot hand is lacking. on the other hand,
Although the electrically driven robot hand can adjust the gripping interval by the servo mechanism, its operating speed becomes slower than that of an air cylinder or the like.

From the above viewpoint, the stopper for changing the finger gripping interval is operated by the servo mechanism, and the finger gripping operation itself is ON / O using an air cylinder or the like.
By combining with the FF type, it is possible to realize a robot hand that has the advantages of both the ON / OFF type opening / closing operation using an air cylinder etc. for the finger gripping operation and the electric drive type. Seems to be.

[0008]

The present invention has been made in order to solve the above-mentioned technical problems, and is a robot used for a robot hand which positions a pair of fingers only in an open state and a closed state. The hand gripping interval adjusting device includes a stopper that arbitrarily regulates the open state position and the closed state position of the pair of fingers, and a drive unit that controls the regulation position of the stopper, and is attachable to and detachable from the robot hand. The robot hand gripping gap adjusting device is characterized in that

[0009]

Since the robot hand of the present invention has the above-described structure, it can be turned ON / OFF by the air cylinder or the like by arbitrarily controlling the open position and the closed position of the finger by using the stopper driven by the actuator.
It is possible to provide a highly versatile device capable of freely adjusting a gripping interval of a robot hand that performs a manual opening / closing operation according to the size of a work.

Further, since the actuator is used by being attached to a commercially available robot hand which performs an ON / OFF type opening / closing operation by an air cylinder or the like, the commercially available robot hand is used to determine the gripping interval of the robot hand to the size of the work. It is possible to provide an inexpensive and highly versatile device that can be freely adjusted according to

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention is shown in FIGS. In this embodiment, a robot hand driven by parallel open / close air is used. First, FIG. 1 is a perspective view of a first embodiment of the present invention. The robot hand gripping gap adjusting device main body 1 of the present invention drawn by a solid line is attached to a commercially available robot hand main body 2 for use.

According to FIG. 2, the robot hand body 2
The two fingers 4 move the air cylinder 6 in the rack 8
Then, the pinion 7 is used to perform a horizontal opening / closing operation. On the other hand, the two stoppers 3 of the robot hand gripping gap adjusting device body 1 also perform horizontal opening / closing operations by the ball screw 5 as a moving mechanism and the servo motor 9 as an actuator. The ball screw 5 is symmetrically threaded.

When the robot hand gripping gap adjusting device body 1 is mounted on the robot hand body 2 as shown in FIG. 2, the stopper 3 of the robot hand gripping gap adjusting device body 1 for performing ON / OFF type opening / closing operation by the air cylinder 6 is provided. Since the open state position of the finger 4 is arbitrarily regulated, the gripping interval 10 is adjusted as a result. Specifically, if the distance between the stoppers 3 is narrowed as shown in FIG. 3 from the state of FIG. 2, the gripping interval 10 is small, and if the distance between the stoppers 3 is widened as shown in FIG. 4 from the state of FIG. Grows.

A second embodiment of the present invention is shown in FIG. In this embodiment, the robot hand gripping gap adjusting device body 1 is used to regulate the fingers 4 when the robot hand body 2 is open, whereas the robot hand gripping gap adjusting device body 1 is used. It is used to arbitrarily control the closed position of the finger 4 of the main body 2.

In this embodiment, if an excessive gripping force is applied,
For example, it is considered to be effective when targeting a work that causes a defect such as deformation. This is because, when operating a work whose dimensions are known in advance, it is possible to obtain the relationship between the size of the work, the gripping interval, and the gripping force applied to the work.

Further, as shown in FIG. 6, the stopper 3 is driven when the weight of the entire robot hand main body 2 when the main body 1 of the robot hand gripping gap adjusting device of the present invention is attached becomes a problem. A third embodiment is conceivable in which the actuator is not built in the robot hand gripping gap adjusting device main body 1 but is placed outside and only the output thereof is transmitted by the flexible wire 11. Although the servo motor 9 is used as the actuator in the above-mentioned three embodiments, the control part can be simplified by using the pulse motor instead.

Further, instead of using the actuator and the ball screw 5 for the driving portion of the stopper 3 as shown in the fourth embodiment of FIG. 7, using the shape memory alloy (SMA) 12 simplifies the driving portion. Can be achieved.

In the mechanism shown in FIG. 7, the shape memory alloy 12 is connected to the robot hand gripping gap adjusting device main body 1 via the pulley 13.
It is folded inside, one end is connected to the stopper 3 at the connecting portion 14 of the stopper 3 and the shape memory alloy 12, and the other end is connected to the robot hand gripping gap adjusting device main body 1 at the fixing portion 15 of the shape memory alloy 12. Has been done. The connecting portion 14 between the stopper 3 and the shape memory alloy 12 is a conductor. A spring 16 constantly applies a pulling force to the stopper 3 in the direction of the robot hand gripping gap adjusting device body 1.

When a voltage is supplied to the shape memory alloy 12 from the voltage controller 18 through the lead wire 17, the shape memory alloy 12
The temperature rises and the entire length shrinks by up to about 3%. With this, the stopper 3 can be moved in the closing direction. Further, when the voltage is lowered, the shape memory alloy 12 extends, and the stopper 3 is the spring 16 so that the robot hand gripping gap adjusting device main body 1 is always provided.
Since a pulling force is applied in the direction, the stopper 3 opens.

The fourth embodiment shown in FIG. 7 can also be used to regulate the fingers of the robot hand gripping gap adjusting device body 1 when the robot hand body 2 is closed, as in the second embodiment of the present invention. it can.

[0021]

EFFECTS OF THE INVENTION With the above-described structure, the robot is mounted on a commercially available robot hand that performs an ON / OFF type rapid horizontal opening / closing gripping operation using an air cylinder or the like, and the gripping interval is set to the size of the workpiece. It is possible to obtain a robot hand provided with the robot hand gripping gap adjusting device of the present invention, which is a low-priced and highly versatile device that can be arbitrarily adjusted according to the above.

[Brief description of drawings]

FIG. 1 is a perspective view of an entire robot hand including a robot hand gripping gap adjusting device according to a first embodiment of the present invention.

FIG. 2 shows the entire robot hand equipped with the robot hand gripping gap adjusting device according to the first embodiment of the present invention as indicated by arrow X in FIG.
The top view seen from the direction.

FIG. 3 is a plan view of the entire robot hand, viewed from the arrow X direction in FIG. 1, in which the gripping interval of the robot hand gripping interval adjusting device according to the first embodiment of the present invention is set to a minimum.

FIG. 4 is a plan view of the entire robot hand, viewed from the direction of arrow X in FIG. 1, in which the gripping interval of the robot hand gripping interval adjusting device according to the first embodiment of the present invention is set to the maximum.

FIG. 5 is a perspective view of the entire robot hand including the robot hand gripping gap adjusting device according to the second embodiment of the present invention.

FIG. 6 is a perspective view of an entire robot hand including a robot hand gripping gap adjusting device according to a third embodiment of the present invention.

FIG. 7 is a front view of the entire robot hand including a robot hand gripping gap adjusting device according to a fourth embodiment of the present invention.

[Explanation of symbols]

 1 ... Robot hand gripping interval adjusting device main body 2 ... Robot hand main body 3 ... Stopper 4 ... Finger 5 ... Ball screw 6 ... Air cylinder 7 ... Pinion 8 ... Rack 9 ... Servo motor 10 ... Gripping interval 11 ... Flexible wire 12 ... Shape memory Alloy 13 ... Pulley 14 ... Connection part of stopper 3 and shape memory alloy 12 15 ... Fixed part of shape memory alloy 12 ... Spring 17 ... Conductor wire 18 ... Voltage control part

Claims (2)

[Claims] 1. A robot hand gripping gap adjusting device used for a robot hand which positions a pair of fingers only in an open state and a closed state, and a stopper for arbitrarily regulating the open state position of the pair of fingers, and the regulation of the stopper. A robot hand gripping gap adjusting device comprising: a drive unit for controlling a position, and being attachable to and detachable from the robot hand. 2. A robot hand gripping gap adjusting device used for a robot hand that positions a pair of fingers only in an open state and a closed state, and a stopper for arbitrarily regulating a closed state position of the pair of fingers, and a regulation of the stopper. A robot hand gripping gap adjusting device comprising: a drive unit for controlling a position, and being attachable to and detachable from the robot hand.