JPH07112389A - Structure of robot hand - Google Patents

Abstract

PURPOSE:To provide a robot hand which is designed to effect an efficient work at a manufacturing process for a core for casting. CONSTITUTION:A pair of parallel grasping parts 8 and 9 are arranged in a manner to make access to and part from each other. Surfaces on the side where gasping parts are positioned facing each other form an inner grasp surface to grasp a chaplet or a coating gun. A protrusion part 12 to position the chaplet and a recessed part 13 to position the coating gun are formed in the inner grasp surface. Surfaces on the side where the grasping parts are positioned opposite to each other form an external grasp surface to grasp a core. A protrusion part 14 to suspend the core through the chaplet through engagement of it with the lower end part of the chaplet inserted in the core is formed on the external grasp surface. This constitution performs the insertion of the chaplet, output of the core, and grasping of the coating gun through a single hand.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the structure of a robot hand used in the manufacture of foundry cores.

[0002]

2. Description of the Related Art Conventionally, in the process of manufacturing a core for casting, operations such as insertion of a core of a kettle, unloading of the core, and application of a chemical to the core have been carried out manually.

[0003]

However, when the core manufacturing work is manually performed as described above, not only the workability is poor, but also the working environment is not good. Robot work may be introduced to improve these, but since the above-mentioned three types of work have different properties, a robot hand is required for each work, and replacement thereof is complicated. Is.

The present invention solves the above problems, and an object of the present invention is to provide a robot hand which can work efficiently without using several kinds of hands.

[0005]

In order to solve the above problems, the structure of a robot hand of the present invention is a structure of a robot hand which is used by being attached to the tip of a robot arm in the manufacture of a casting core. Has a pair of parallel gripping portions for holding the skelton, the coating gun or the core so that the gripping portions can approach and separate from each other, and the surfaces of the gripping portions facing each other are inner gripping surfaces for gripping the skeleton or the coating gun. There are a convex part that positions the kelen by abutting the upper end of the kelen, and a concave part that positions the applicator gun by inserting the head of the applicator at an appropriate position on the inner gripping surface. In addition, the surface of the gripping portions opposite to each other forms an outer gripping surface for gripping the core, and a suitable position of this outer gripping surface is engaged with the lower end of the kelen inserted in the core to form the case. Wherein the convex portions Tsuri支 the core through the emission is provided.

[0006]

With the above structure, when the kelen is inserted into the core, the holding part is opened and lowered from above the kelen.
The position where the upper end of the kelen comes into contact with the convex portion provided on the inner gripping surface is set as an appropriate position for gripping the kelen, and the kelen is gripped by the inner gripping surface. Then, the robot arm moves the hand to an appropriate position of the core and inserts the keren into the core.

When the core is to be carried out, the grip is closed and lowered between the kerens inserted in the core. When the tip of the core is located near the bottom of the core, the grip is gradually removed. And the convex portion provided on the outer grip surface is positioned below the keren. Then, by raising the gripping portion and engaging the convex portion with the lower end portion of the keren, the core is supported by the convex portion through the kelen and is carried out.

When applying the drug, the gripping portion is opened and lowered from above the coating gun, and the position when the head of the coating gun is fitted into the recess provided in the gripping surface of the coating gun is determined. The applicator gun is gripped by this inner gripping surface as an appropriate position for gripping. Then, the robot arm moves the hand to an appropriate position of the core, and the drug is applied to the core by the application gun.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot hand according to an embodiment of the present invention will be described below with reference to FIGS. 2 is a front view of FIG.
As shown in the plan view of (a) and the side view of FIG. 2 (b),
The robot hand 1 attached to the tip of the robot arm is composed of a gripping mechanism 2 for gripping a kettle, a coating gun, or a core, and an actuator 3.

The gripping mechanism 2 includes a pair of bases 6, 7 on two rods 4, 5 protruding from the actuator 3 in the axial direction thereof.
Is attached in a downward direction perpendicular to the rods 4 and 5, and a pair of grips 8 and 9 are provided below the bases 6 and 7 so as to be perpendicular to the rods 4 and 5 like the bases 6 and 7. It is configured by being attached with a bolt 10 in a downward direction. One rod 4 is fixed to the actuator 3, and the other rod 5 is provided so that the inside and outside of the actuator 3 can be displaced in the axial direction of the actuator. The base 7 closer to the actuator 3 is fixed on the fixed rod 4 and supported by the rod 5, and the base 6 farther from the actuator 3 is fixed on the displaceable rod 5 and supported by the rod 4. Has been done. As a result, the gripping portion 8 and the other gripping portion 9 can approach and separate in parallel with each other according to the displacement of the rod 5, and the gripping portions 8 and 9 can have inner gripping surfaces 8a and 9a facing each other or gripping portions. The object to be grasped can be grasped by either of the outer grasping surfaces 8b and 9b on the sides opposite to each other.

At the lower ends of the inner gripping surfaces 8a and 9a,
A flat surface portion 11 for holding the kelen or the coating gun is formed, and a convex portion 12 for positioning the kelen by contacting the upper end portion of the kelen is provided at an appropriate position above the flat surface portion 11. A concave portion 13 for positioning the coating gun by inserting the head of the coating gun is provided at an appropriate position on the upper side of the convex portion 12.

Further, at the lower end portions of the outer gripping surfaces 8b and 9b, there are provided convex portions 14 which engage with the lower end portions of the kerens inserted in the cores to thereby support the cores through the kelens. There is. Furthermore, a flat surface portion 15 is formed on the upper side of the convex portion 14 to support the kelen by sliding contact with the kelen.

The operation of the above structure will be described below.
FIG. 3 is a completed view of the core 16 in which the robot hand of the present invention is used in a part of the manufacturing process, and the core 16 has a kelen 17 inserted therein as an internal partition. The keren 17 is shown in FIG. 4 and FIG.
As shown in the front view (b) and the side view (c), the bent portion A or the bent portion B is formed in a flat plate shape and is easily fixed to the core at both edges. Has been.

When inserting the keren 17 into the core 16,
The robot arm 18 moves the robot hand 1 to a position above the prepared keren 17, and the rod 5
Is moved in a direction away from the actuator 3 to move the gripping portion 8 to open the gripping portions 8 and 9. Then, the hand 1 is lowered toward the keren 17,
The gripping positions 8 and 9 are closed by displacing the rod 5 with the position where the upper end of the kelen 17 comes into contact with the convex parts 12 and 12 of the inner gripping surfaces 8a and 9a as the gripping position of the kelen 17, The plane portion 11, 11 holds the kelen 17. Then, as shown in FIG. 6, the hand 1 is moved above the core 16 by the arm 18 and then lowered,
The kelen 17 is inserted at a predetermined keren insertion position. When the insertion is completed, the grips 8 and 9 are opened in the same manner as above, and the hand 1 is moved while leaving the keren 17. By repeating this process, the keren 17 is sequentially inserted into the core 16.

When the inserted keren 17 becomes stable, the arm 1 moves the hand 1 upward between the kelens 17 and 17, and the grips 8 and 9 are closed so that the kelenes 17 and 17 are closed.
Lower in the middle. The tips of the grips 8 and 9 are the core 1
When the vicinity of the bottom of 6 is reached, the grips 8 and 9 are opened in the same manner as described above, and as shown in FIG.
The convex portions 14, 14 of 9 are positioned below the keles 17, 17, and the flat portions 15, 15 are brought into sliding contact with the keles 17, 17. After that, the hand 1 is raised by the arm 18 and the lower ends 17a, 17a of the keles 17, 17 are engaged with the protrusions 14, 14 to support the kelens 17, 17, and the keles 17, 17 are engaged. The core 16 is carried out. At this time, the plane parts 15 and 15 of the hand 1 are attached to the keren 1
Since the sliding contact is made with the sliding members 7 and 17, the keles 17 and 17 are supported by the flat portions 15 and 15, and the core 16 is carried out more stably.

When applying the medicine to the core 16, the arm 1 is used to move the hand 1 to the application gun 1 as shown in FIG.
Then, the grips 8 and 9 are opened and lowered in the same manner as above. Then, when the head 20 of the coating gun 19 is fitted into the recesses 13 and 13 of the grips 8 and 9, the grips 8 and 9 are gradually closed in the same manner as described above, and the projections 12 and 12 and the flat surface are flattened. Part 11 and 11 and coating gun 1
Hold 9 Next, the arm 1 is used to move the hand 1 to a position on the core 16 where coating is to be performed,
The medicine 22 is applied from the tip portion 21 of the application gun 19. At this time, as shown in FIG.
By providing the protrusion 19a that abuts the lower end of the coating gun 19, the coating gun 19 can be supported more stably.

[0017]

As described above, according to the present invention, one robot hand is provided with the three functions of insertion of a skeleton, unloading of a core, and gripping of an application gun. Therefore, the hand is replaced during these series of operations. It eliminates the need for it, improves workability, and makes it possible to easily design both hardware and software for equipment and devices.

[Brief description of drawings]

FIG. 1 is a front view of a robot hand according to an embodiment of the present invention.

FIG. 2 is a plan view and a side view of the robot hand of FIG.

FIG. 3 is a completed view of a core in which the robot hand of the present invention is used as part of the manufacturing process.

FIG. 4 is a plan view, a front view, and a side view of a skeleton of an embodiment inserted in the core of FIG.

5 is a plan view, a front view, and a side view of a keren of another embodiment inserted in the core of FIG.

FIG. 6 is an explanatory diagram showing a state in which keren is inserted into a core using the robot hand of FIG.

FIG. 7 is an explanatory diagram showing a state where a core is carried out using the robot hand of FIG.

8 is an explanatory diagram showing a state in which a robot gun of FIG. 1 supports an application gun to apply a medicine.

[Explanation of symbols]

 1 Robot hand 8,9 Gripping part 8a, 9a Inner gripping surface 8b, 9b Outer gripping surface 12 Convex part 13 Concave part 14 Convex part 16 Core 17 Keren 18 Robot arm 19 Application gun

Claims (1)

[Claims] 1. A structure of a robot hand, which is used by being attached to a tip of a robot arm in the manufacture of a casting core, wherein a pair of parallel gripping parts for gripping a keren, an application gun or a core are approached. The gripping portion is provided so as to be separable, and the surfaces of the gripping portions facing each other form an inner gripping surface for gripping the keren or the coating gun, and the upper end portion of the kelen is brought into contact with an appropriate position of the inner gripping surface. By this, a convex part for positioning the keren and a concave part for positioning the coating gun by inserting the head of the coating gun are provided, and the surface on the side opposite the gripping parts grips the core. It is characterized in that a convex portion which forms a surface and which engages with the lower end of the keren inserted into the core to support the core through the kelen is provided at an appropriate position on the outer grip surface. Robot hand Structure.