JPH06270090A - Robot hand - Google Patents

Abstract

PURPOSE:To improve controllability of the whole robot while carrying an object to be gripped even in a comparatively narrow space area. CONSTITUTION:A robot hand has a shaft part 6 which is installed in a robot body part 2 and whose gripping part 7 is arranged in the tip part, a moving means to move the shaft part 6 in the axial direction (S5 direction) of the shaft part 6 and a rotary means to rotate the shaft part 6 in the (thetaI) direction around the axis of the shaft part 6. The gripping part 7 moves so as to be capable of advancing/retreating freely in the axial direction of the shaft part 6 from the robot body part 2 by the moving means controlled together with the robot body part 2, and rotates around the axis of the shaft part 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand,
In particular, the present invention relates to a robot hand which is attached to a robot body and has a gripping portion for gripping an object to be gripped (work) that is attached to and detached from a machine tool.

[0002]

2. Description of the Related Art For example, in order to automate attachment / detachment of an object to be processed, which is processed by a machine tool, to a machine tool, one axis is a running axis and two to five axes are rotating axes. Conventionally, a robot having a 5-axis articulated structure having a degree of freedom has been used.

This conventional five-axis articulated robot is provided with a robot main body having an arm and the like and a robot hand having a gripping portion for gripping a work. This robot hand is the robot main body. It is attached to the tip of the arm.

Further, since the grip portion of the robot hand is generally composed of a relatively small member that can handle the load of the work, the robot hand is also relatively small, whereas the robot body is relatively small. The arm and the like of the section are composed of large members capable of handling not only the load of the work but also the load of the robot hand or the like.

[0005]

However, in the above-mentioned conventional robot, although the robot hand is relatively small, the robot hand is attached to the tip of the arm composed of a large member. When the approach path of the robot hand is narrow and it is necessary to carry in the work deep into the narrowed approach path, for example, the opening for loading and unloading the object to be machined into and from the machine tool is narrow, When a workpiece, which is the object to be processed, must be gripped by the grip of the robot hand and carried in deep into the frontage, the large arm interferes with the wall around the narrow opening. Therefore, there is a problem that the work cannot be carried in to a predetermined position deeper than the opening.

For this reason, there has been conventionally adopted a method of attaching an air cylinder or the like to the tip of the arm and controlling the air cylinder or the like separately from the robot to move the robot hand back and forth with respect to the arm. However, since this air cylinder and the like must be controlled separately from the robot, such a method complicates control of the entire robot including this air cylinder and the like, and is troublesome. was there.

The present invention has been made in view of the above points, and moves the shaft portion provided with the grip portion at the tip end portion in the axial direction and rotates the shaft portion in the axial direction so that the grip portion advances and retreats from the robot body. By freely moving and rotating and controlling it together with the robot body, it is possible to convey the object to be grasped even in a relatively narrow space area,
An object of the present invention is to provide a robot hand capable of improving the controllability of the entire robot.

[0008]

The present invention provides a robot hand, which is attached to a robot main body and has a gripping portion for gripping an object to be grasped, the robot hand being attached to the robot main body and the gripping portion. The gripping portion, the shaft portion having a distal end portion, a moving means for moving the shaft portion in the axial direction of the shaft portion, and a rotating means for rotating the shaft portion around the axis line of the shaft portion. The unit is movable in the axial direction of the shaft portion from the robot body by the moving means, and is rotated around the axis of the shaft portion by the rotating means.

[0009]

The shaft part, which is attached to the robot main body and has the gripping part for gripping the object to be gripped at the tip, is moved in the axial direction of the shaft by the moving means controlled together with the robot main body. And is rotated around the axis of the shaft by the rotating means. Then, the gripper moves back and forth in the axial direction of the shaft from the robot body by moving the shaft by the moving means, and rotates around the axis by rotating the shaft by the rotating means. .

Therefore, the object to be grasped can be transported even in a relatively narrow space region, and the controllability of the entire robot can be improved.

[0011]

EXAMPLES Examples of the present invention will be described below. Figure 1
FIG. 3 is a schematic perspective view of an example of a robot to which the robot hand according to the present invention is applied.

Reference numeral 1 in FIG. 1 is a robot having a 5-axis multi-joint structure including a robot body 2 and a robot hand 3.
The degree of freedom of the robot 1 is 1-axis translation indicated by the bidirectional arrow S1 in FIG.
It consists of four-axis rotation and five-axis translation, which will be described later, as indicated by the bidirectional arrow S5.

The robot body 2 includes a guide rail 2
1A, a holding part 21, an arm 22 held by the holding part 21, an arm 23 connected to the arm 22 and having a 4-axis motor 23A and a 5-axis motor 23B, and a tip part of the arm 23. And the attached 5 shaft part 4. The robot arms 22 and 23 are composed of a considerably large member as compared with a gripping part described later.

The robot hand 3 has a shaft portion 6 penetrating the five shaft portions 4, a grip portion 7 arranged at the tip of the shaft portion 6, and the shaft portion 6 in the shaft portion 6. It is provided with a moving means described later for moving in the axial direction and a rotating means described later for rotating the shaft portion 6 around the axis of the shaft portion.

As shown in FIGS. 2 and 3, the 5-axis section 4 is a 5-axis output section 4 which is connected to the tip of the arm 23.
The gear unit 5 is connected to the 1st and 5th shaft output units 41 and is composed of an upper gear unit 5A and a lower gear unit 5B.
And an actuator portion 45 that is connected to the gear portion 5
It is composed of 2 and 3 are a cross-sectional plan view of the 5-axis portion 4 and a vertical cross-sectional view taken along the line III-III of FIG. 2, respectively.

A shaft 42, which is rotated by the output of the 5-axis motor 23B of the arm 23, is provided at the center of the 5-axis output unit 41 by inserting the tip of the shaft into the gear unit 5. .

The upper gear portion 5A of the gear portion 5 has
A gear 50 attached to the outer peripheral surface of the distal end portion of the shaft 42, and a gear 51 meshing with the gear 50.
A shaft 52 having a gear 51 attached to the outer peripheral surface on one end side, a gear 53 attached to the outer peripheral surface on the other end side of the shaft 52, and an outer periphery of a tip end portion of a shaft 47 inserted from the actuator portion 45. And a gear 54 attached to the surface.

In the lower gear portion 5B of the gear portion 5,
A ball screw nut portion 57 having a gear 56 meshing with the gear 53 and a spline nut portion 59 having a gear 58 meshing with the gear 54 are provided. The ball screw nut portion 57 is screwed into a ball screw portion formed on the outer peripheral surface of the shaft portion 6 described later, and the spline nut portion 58 is formed on the outer peripheral surface of the shaft portion 6 described later. It is screwed together.

The actuator unit 45 is provided with a rotary actuator 46. The rotary actuator 46 has the shaft 47 described above and two air supply ports for introducing air from an air supply source (not shown). And 48a and 48b. And
By introducing a predetermined amount of air from these air supply ports 48a and 48b, the shaft 47 is configured to rotate around the axis of the shaft by a predetermined angle.

In this embodiment, the ball screw nut portion 57 provided with the gears 50 and 51, the shaft 52, the gear 53 and the gear 56 constitutes the moving means described above, and the actuator portion 45, Spline nut portion 5 including gear 54 and gear 58
Reference numeral 9 constitutes the rotating means described above.

The shaft portion 6 is composed of a ball screw spline shaft extending in the axial direction, and a ball screw portion 61 and a spline portion 62 are formed on the outer peripheral surface of the ball screw spline shaft 6 as shown in FIG. There is. As described above, the ball screw portion 61 and the spline portion 62 are respectively provided with the ball screw nut portion 57.
Also, it is screwed with the spline nut portion 59. Therefore, the shaft portion 6 can be moved forward and backward by a predetermined distance by rotating the ball screw nut portion 57 in the axial direction of the shaft portion 6 (the direction shown by the bidirectional arrow S5 in FIG. 3). And the spline nut 59
Around the axis of the shaft portion 6 by rotating the
It can be rotated by a predetermined angle in the direction indicated by the bidirectional arrow θI).

As shown in FIG. 4, which is a cross-sectional plan view of the grip portion, the grip portion 7 has a base 71 screwed to the tip end of the ball screw spline shaft 6 by a screw 71a, and the base 71. The rotary actuator 72 includes a shaft 72a that is screwed to and mounted on the screw 71 by the screws 71b and 71c, and that penetrates the central portion of the base 71 downward, and a shaft 72a of the rotary actuator 72. The air chuck portion 74 is held via a holding portion 73 screwed by a screw 73a. And these bases 71,
Since the rotary actuator 72, the holding portion 73, and the air chuck portion 74 are composed of relatively small members, the grip portion 7 is considerably smaller than the arm 23 of the robot body 2.

The rotary actuator 72 has two air supply ports 72b and 72c for introducing air from an air supply source (not shown). And
By introducing a predetermined amount of air from the air supply ports 72b and 72c, the shaft 72a is configured to rotate about the axis of the shaft (the direction indicated by the bidirectional arrow θII in FIG. 4) by a predetermined angle. Therefore, the air chuck portion 74 held by the shaft 72a via the holding portion 73 is a plan view taken along the line VV of FIG. 4 by introducing a predetermined amount of air from the air supply port 72b. 5 is rotated by a predetermined angle with the axis of the shaft 72a as a rotation axis in the direction indicated by the arrow A in FIG. It is configured to rotate by a predetermined angle with the axis as a rotation axis.

The air chuck portion 74 is a VI-V shown in FIG.
I As shown in FIG. 6 which is a side view as seen from the arrow, two air supply ports 7 for introducing air from an air supply source (not shown)
Parallel open / close type actuator 74 provided with 4b and 74c
a and two chucks 74e for gripping the work 75
And a chuck portion 74d including a and 74f.

The chucks 74e and 74f are configured to operate in a direction in which they approach each other by introducing air from the air supply port 74b, and mutually by introducing air from the air supply port 74c. It is designed to operate in a separating direction. That is, the two chucks 74e and 75f are shown in FIG.
The work 75 can be gripped by moving in the direction indicated by III while approaching each other, and the work 75 can be released by moving while moving away from each other.

Therefore, the degree of freedom of the gripping portion 7 is determined by the two rotation axes (θ) for changing the direction of the air chuck portion 74e.
I, θII) and a translational single axis (SIII) for opening and closing the two chucks 74e and 75f.

Next, the operation of the above embodiment will be described.
First, as shown in FIG. 6, a predetermined amount of air is supplied to the air supply port 74b of the parallel opening / closing actuator 74a of the grip portion 7, and the chuck 74e and the chuck 74f are moved so as to approach each other to grip the work 75. While being held by the portion 7, the robot 1 is controlled as shown in FIG. 1 so that the holding portion 7 is positioned so as to face the opening 81 of the machine tool 8.

Next, the 5-axis motor 23 of the robot body 2
B is driven to rotate the shaft 42 of the shaft portion 4, and screwed with the ball screw portion 61 of the shaft portion 6 through the gear 51, the shaft 52, and the gears 53 and 56 in this order as shown in FIGS. 2 and 3. By rotating the matching ball screw nut portion 57 to move the shaft portion 6 in a direction in which the shaft portion 6 enters the opening portion 81 of the machine tool 8, the gripping portion 7 holding the work 5 is moved through the opening portion 81. It is located at a predetermined position in the machine tool 8.

After that, the air supply port 48a or 48 of the rotary actuator 46 of the actuator unit 45
b, a predetermined amount of air is supplied to rotate the shaft 47 by a predetermined angle, and as shown in FIGS.
8 is rotated in this order to rotate the spline nut portion 58 screwed with the spline portion 62 of the shaft portion 6, and as shown in FIGS. 4 and 5, the air supply port 72b of the rotary actuator 72 of the grip portion 7 or A predetermined amount of air is supplied to 72c and the shaft 72a is rotated by a predetermined angle to position the air chuck portion 74 in a predetermined direction via the holding portion 73.

After that, a predetermined amount of air is supplied to the air supply port 74c of the parallel open / close actuator 74a of the air chuck portion 74, and the chucks 74e and 74f are moved in the directions away from each other, and the work 75 is aired. By releasing the chucks 74e and 74f of the chuck portion 74, the work 75 is set at a predetermined position in the processing machine 8.

Then, after the work 75 is installed at a predetermined position of the machine tool 8, the 5-axis motor 23B is driven to rotate the shaft 42 of the 5-axis portion 4 in the direction opposite to the direction at the time of entry, whereby the gears 51, The ball nut portion 57, which is screwed with the ball screw portion 61 of the shaft portion 6 through the shaft 52, the gears 53 and 56 in this order, is rotated in the opposite direction to the direction at the time of entering, and the shaft portion 6 is opened at the opening portion of the machine tool 8. The gripper 7 is retracted from the inside of the machine tool 8 through the opening 81 to a predetermined position outside the machine tool 8 by moving the gripper 7 in the retracting direction by 81.

Further, the workpiece 75 installed at a predetermined position in the machine tool 8 is gripped by the gripping part 7 and the opening 8
When carrying out from the machine tool 8 via the tool 1, the gripper 7 is machined from the opening 81 in the same manner as above while the chuck 74e and the chuck 75f of the air chuck 74 are sufficiently separated from each other. The air chuck portion 74 is positioned in a predetermined position in the machine 8 and is oriented in a predetermined direction.

After that, a predetermined amount of air is supplied to the air supply port 74b of the parallel open / close actuator 74a of the air chuck 74, and the chucks 74e and 74f are moved toward each other to move the work 75 to the air chuck. The chucks 74e and 74f of the portion 74 are gripped.

After the gripping portion 7 grips the work 75, the gripping portion 7 is retracted from the inside of the machine tool 8 to the predetermined position through the opening 81 in the same manner as described above.

After that, a predetermined amount of air is supplied to the air supply port 74c of the parallel open / close actuator 74a of the air chuck portion 74, and the chucks 74e and 74f are moved in a direction in which they are separated from each other.
5 is chucks 74e and 74f of the air chuck portion 74
It will be released more and set in place.

According to the above embodiment, the robot 1
Is provided with a gripping part 7 for gripping the object to be gripped and a robot hand 2 having a shaft part 6 which can be moved back and forth in the axial direction by a moving means. The eyes can have a translational movement indicated by the double-headed arrow S5 in FIG. 1, and therefore a small gripping portion 7 can be made larger than that of the robot main body 2 as compared with the conventional robot in which the fifth axis is a rotational movement. Since it can be moved back and forth with respect to the arm 23 and the like made of members, the machine tool 8
Even if the opening 81 is relatively narrow, the work 75 is conveyed to or from a predetermined position in the machine tool 8 without the peripheral wall of the opening 81 and the robot body 1 interfering with each other. be able to.

Further, since the moving means and the rotating means can be controlled together with the robot main body 2 by a controller (not shown) of the robot 1, control of the entire rohot 1 is facilitated, so that the controllability of the robot 1 is improved. Can be improved.

Further, by rotating the shaft portion 6 around the axis of the shaft portion by the rotating means, that is, in the direction shown by the bidirectional arrow θI in FIG. 1, the grip portion 7 is rotated around the axis line of the shaft portion 6. Since the gripping portion 7 does not need to be separately provided with a rotating means, the gripping portion 7 can be made more compact than the conventional one, and therefore, the grasped body can be positioned at a predetermined position even in a considerably narrow space region. Alternatively, it can be conveyed from a predetermined position.

Further, by rotating the shaft portion 6 by the rotating means, the grip portion 7 can be inserted into the machine tool 8 at an arbitrary angle, and the interpolation operation after the insertion can be performed. Therefore, the operability of the grip portion 7 can be improved.

[0040]

According to the present invention, the shaft portion provided with the gripping portion for gripping the object to be gripped at the tip portion is moved in the axial direction of the shaft portion by the moving means and is rotated by the rotating means. By this, the gripping part can be moved back and forth in the axial direction of the shaft part from the robot main body part and can be rotated around the axis line of the shaft part, so that the gripped part can be held even in a relatively narrow space region. The body can be transported.

Further, since the moving means and the rotating means of the shaft portion can be controlled together with the robot main body portion, the controllability of the entire robot can be improved.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of an example of a robot to which a robot hand according to the present invention is applied.

FIG. 2 is a cross-sectional plan view of a 5-axis portion.

FIG. 3 is a vertical cross-sectional view taken along the line III-III of FIG.

FIG. 4 is a cross-sectional plan view of a grip portion.

5 is a plan view taken along the line VV of FIG.

6 is a side view taken along the line VI-VI of FIG.

[Explanation of symbols]

1 Robot 2 Robot Main Body 3 Robot Hand 4 5 Shaft 5 Gear 5A Upper Gear 5B Lower Gear 6 Shaft (Ball Screw Spline Shaft) 7 Grip 8 Machine Tool 21,73 Holding 22,23 Arm 23A 4 Axis Motor 23B 5-axis motor 41 5-axis output section 42, 47, 52, 72a Shaft 45 Actuator section 46, 72 Rotary actuator 48a, 48b, 72b, 72c, 74b, 74c Air supply port 50, 51, 53, 54, 56, 58 Gear 57 Ball Screw Nut 59 Spline Nut 61 Ball Screw 62 Spline 71 Base 71b, 71c, 73a Screw 74 Air Chuck 74a Parallel Open / Close Actuator 74d Chuck 74e, 74f Chuck 75 Work 81 Open

Claims (1)

[Claims] 1. A robot hand, which is attached to a robot main body and has a gripping portion for gripping an object to be gripped, wherein a shaft is attached to the robot main body and the gripping portion is provided at a tip end. Section, moving means for moving the shaft portion in the axial direction of the shaft portion, rotating means for rotating the shaft portion around the axis line of the shaft portion,
A robot hand characterized in that the gripping part is moved by the moving means so as to be movable back and forth in the axial direction of the shaft part from the robot main body part, and is rotated around the axis line of the shaft part by the rotating means. .