JPH0637908Y2 - Robot hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a robot hand capable of changing the position of a supporting claw according to a wide range of workpiece sizes.

[Prior Art] In a conventional robot hand, a pair of pawls for holding a work is provided, and the opening between the pawls is adjusted according to the size of the work. It should be noted that Japanese Utility Model Laid-Open No. 62-165887 shows a case in which two sets of such claws are arranged so as to sandwich the large diameter part and the small diameter part of the work. Since the width is constant, when a long work is gripped by a robot having a robot hand with a small claw width attached to a small work, the gripping width is narrow and the support is likely to be unstable. For this reason, the robot hand is replaced with a robot hand having a claw with a wide width corresponding to the work.

[Problems to be solved by the present invention] However, when replacing the robot hand, the robot hand attached to the tip of the arm is removed from the arm, and another robot hand having an appropriate claw is selected and attached. It is necessary to change the connection of the drive device that operates the claws, which requires time and effort for replacement, and there is a risk of damage or incorrect connection during replacement.

[Means for Solving the Problems] In view of such a point, the present invention has parallel guide rails installed on a substrate attached to the tip of a robot arm, and a pair of beams whose distances can be adjusted along the guide rails. In addition, each beam is provided with a pair of sliders that slide in the axial direction of the beam, and support claws are attached to the sliders. The claw can be adjusted to the width suitable for the work.

[Operation] Therefore, the gripping thickness of the support claw is adjusted by sliding the pair of beams close to and away from each other along the guide rails installed in parallel, and the slider provided on this beam is slidably adjusted. Thus, the distance between the support claws can be adjusted, and the positions of the support claws can be two-dimensionally changed over a wide range, and various works can be reliably supported in accordance with the dimensions without replacing the robot hand.

[Embodiment] An embodiment shown in the drawings will be described.

1 is a robot arm, 2 is a substrate of a robot hand attached to the end of the arm, 3a and 3b are guide rails provided on both sides of the substrate 2, and 4a and 4b are a pair of beams juxtaposed over the guide rails 3a and 3b. At both ends of the guide rail
It is fitted in the dovetail grooves 31a and 31b of 3a and 3b so as to slide in the axial direction of the guide rail. 41a and 41b are each beam 4a
・ A screw seat is provided at the center of 4b. One screw seat has a right-hand thread and the other screw seat has a left-hand thread. 42 is a threaded rod that is screwed into both the screw seats 41a and 41b and is a flexible shaft 43.
And is rotated by a motor (not shown) in the arm 1. 44a and 44b are bearings that are attached to the base plate 2 and support the screw rod 42, and 5a, 5b, 5c and 5d are fitted one by one in the dovetail grooves 45a and 45b of the beams 4a and 4b on both sides in the axial direction of the beam. Sliders supported to move, supporting claws 6a
6b, 6c and 6d are attached. 7a and 7b are connecting levers which are respectively inserted in the sliders 5a and 5c and the other sliders 5b and 5d of each beam in the axial direction of the beam, and 71a and 71b are screw seats provided at the center of the connecting levers 7a and 7b. One of the screw seats has a right-hand thread, and the other screw seat has a left-hand thread. 72 is a screw rod that is screwed into the screw seats 71a and 71b, and is a flexible shaft.
It is connected to 73 and rotated by a motor (not shown) in the arm 1. 74a and 74b are bearings of the screw rod 72 attached to the substrate 2.

When the threaded rod 42 is rotated via the flexible shaft 43, the screw seats 41a and 41b are right-handed and left-handed, so that the beams 4a and 4b move to the guide rails 3a and 3b depending on the direction of rotation of the threaded rod. Sliders 5a, 5c and 5b that move toward and away from each other and are fitted and supported by beams 4a and 4b.
・ 5d approaches and separates along the connecting levers 7a and 7b, and supports claws
Workpiece (not shown) by adjusting the spacing between 6a and 6c and 6b and 6d
Pinch or release.

If it is necessary to adjust the distance between the support claws 6a and 6b and 6c and 6d according to the size of the work, and to change the gripping position, rotate the screw rod 72 via the flexible shaft 73 to rotate the screw seats 71a and 71b. Connecting lever 7a
7b approaches and separates from each other along the dovetail grooves 45a and 45b of the beams 4a and 4b, and the sliders 5a and 5b and 5c and 5d are respectively beamed.
Move along 4a and 4b to adjust the spacing between the support claws 6a and 6b and 6c and 6d.

The support for fitting the guide rail and the beam is not limited to the dovetail groove, but a structure for fitting and supporting so that the guide rail and the beam can slide in the axial direction, for example, axial grooves are provided on both sides of the guide rail, and the guide end is provided at the beam end. A protrusion that fits in the groove may be provided on both sides of the rail, and the beam and the slider may be similarly configured.

Also, the screw rod 72 for moving the slider is
71a ・ 71b screwed with right and left screws to connect levers 7a ・ 7b
Are moved symmetrically, but by removing the connecting lever and providing separate screw rods for screwing on the sliders 5a and 5b and 5c and 5d, respectively, the supporting claws on the beam 4a side and the beam It is also possible to separately adjust the support claws on the 4b side and, for example, hold the different diameter portion of the work.

In this embodiment, the supporting claws are fixed to the slider, but it goes without saying that the shape of the supporting claws can be changed as appropriate, and at least one supporting claw is made of an elastic body or elastic. By mechanically attaching to the slider, the impact at the time of gripping can be reduced, or even a work having a shape in which both sides are not parallel can be reliably gripped within an elastic allowable range.

Note that the robot may not only sandwich the work with the support claws but also push the support claws against the surface of the work, and when the work is larger than the width of the support claws, only the center part of the work is pressed. Because of this, the work may tilt, but the support claws of the present invention can adjust the distance between the claws two-dimensionally, so the distance can be adjusted according to the size of the work to be pressed, and stable pressing can be performed. .

[Effects of the Invention] As described above, according to the present invention, a pair of beams that move in the axial direction of a guide rail are provided with a pair of sliders that move in the axial direction of the beam, and a support claw attached to each slider. Since it can be moved two-dimensionally in the axial direction of the guide rail and the beam, the position of the support claw can be adjusted in a wide range, and the gripping width as well as the gripping width can be adjusted to the work for reliable gripping. It is possible to improve the work efficiency by reducing the number of times of frequently changing the robot hand according to the shape of the work, and also when pressing the work with the support claws, the pressing position against the work can be adjusted within a narrow range. It is possible to obtain an effect that a stable pressing can be performed by adjusting over a wide range.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention, FIG. 2 is a bottom view thereof, and FIG. 3 is a perspective view seen from the upper right side of FIG. 1 is a robot arm, 2 is a substrate, 3a and 3b are guide rails, 4a and 4b are beams, 41a and 41b are screw seats, 42 is a screw rod,
43 is a flexible shaft, 5a, 5b, 5c and 5d are sliders, 6a, 6b, 6c and 6d are support claws, 7a and 7b are connecting levers, 71
a and 71b are screw seats, 72 is a screw rod, and 73 is a flexible shaft.

Claims (1)

[Scope of utility model registration request] 1. A substrate attached to the tip of a robot arm, guide rails installed in parallel on both sides of the substrate, a pair of beams approaching and separating from each other along the guide rail, and a beam moving. And a drive device for moving the pair of sliders that move along the axial direction of each beam and a pair of sliders that approach and separate from each other, and support claws are attached to the sliders, respectively. And a robot hand.