JPH07164368A - Structure of robot hand and control device for the robot hand - Google Patents

Abstract

PURPOSE:To absorb the load stably regardless of the work weight, by converting the moving position of a rod, and the holding force of a float plate, in a hand having a compliance mechanism to absorb a load applied to the work by utilizing a friction force. CONSTITUTION:An actuator 18 to drive a rod 19, installed to the first plate 17 is connected to the second plate 16, and the plate 16 is provided parallel to the plate 17 in order to change the distances of the first and the second plates 17 and 16 following the movement of the rod 19. And a float plate 15 clampers 10 are installed is provided between both plates 17 and 16, and a specific friction force is to be generated when it moves sliding with both plates 17 and 16. As a result, the actuator 18 is operated according to the contents of a working, and the rod 9 is moved to a necessary moving position, and by converting the holding force of the float plate 15 by both plates 17 and 16, a desired friction force can be generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand equipped with a clamper for gripping a work and attached to the end of a robot arm, and more particularly to a compliance mechanism for performing a predetermined work while absorbing a load applied to the work. The present invention relates to a structure of a robot hand and a control device therefor.

[0002]

2. Description of the Related Art A press brake robot is a robot for a press brake, in which the work is gripped by a hand, the work is inserted into the press brake, the work is abutted against a backstop, and then the work is performed by the press brake. It is controlled to perform handling that follows the jumping up of the work due to bending.

Here, conventionally, as a hand of a press brake, a displacement of a clamper (a vacuum pad provided on the hand) with respect to a work occurs due to an abutting force when the work is abutted against a back stop. A hand having a so-called compliance function is used, which prevents the above-mentioned problem and allows the abutting surface of the work to quickly and accurately follow the backstop surface. Examples of this type of hand include, for example, Japanese Utility Model Laid-Open No. 3-126237 and Japanese Patent Laid-Open No. 4-322993.
No. 5, JP-A-5-131389, JP-A-2-53829
There is one disclosed in the issue. Of these, the actual Kaihei 3-
126237, JP-A-4-322939, JP-A-5
The one disclosed in No. 131389 is one in which a spring force is utilized to absorb a load applied to a work. One in which the expansion / contraction direction of the spring is parallel to the work surface and the other in the work surface There are two types of springs, the springs extending and contracting vertically.

In the case where the expansion and contraction direction of the spring is parallel to the work surface, the spring is constrained by the guide bush and the shaft, and the spring must be used for each of the degrees of freedom of front-back, left-right and rotation. However, there is a drawback that the structure becomes complicated.

Even when the work is not restrained, when the work is placed on the hand, the compliance mechanism sinks in accordance with the weight of the work, and the height of the work becomes unstable.

On the other hand, in the case where the expansion and contraction direction of the spring is perpendicular to the work surface, the height of the work is lowered when the spring moves in a direction parallel to the work surface.

Also, in the case of a hand using a spring, when trying to adjust to an appropriate pressing force, the spring is pushed in,
It is necessary to apply a preload for pulling and the adjustment is troublesome, and when a spring is used in the rotating direction, the spring on the side that hits the backstop contracts greatly and the abutting force is biased. .

On the other hand, the one disclosed in Japanese Utility Model Laid-Open No. 2-53829 is designed to absorb the load applied to the work by utilizing the frictional force, which is generated by utilizing the spring force. Although it does not cause inconveniences such as the height of being unstable, the plunger that presses the flange that connects to the suction pad against the slide bush of the housing is fixed, so the friction force cannot be adjusted, making it a heavy work piece and a lightweight work piece. There is the trouble that the hands must be exchanged according to the work.

Further, since the influence of the work weight exerted on the plunger and the slide bush is different between the case where the hand is positioned below the work and the case where the hand is positioned above the work and the reverse bending is performed, This causes an inconvenience that the abutting force of the backstop becomes unstable.

The present invention has been made in view of these circumstances, and it is possible to easily adjust the frictional force in a hand having a compliance mechanism that absorbs the load applied to the work by utilizing the frictional force. An object of the present invention is to provide a robot hand capable of absorbing a load constantly and stably according to the weight of a work piece, regardless of the posture of the hand, and capable of performing a backstop hitting work and the like quickly and accurately. It is what

[0011]

Therefore, in the main invention of the present invention, there is provided a robot hand which has a clamper for holding a work and is attached to the tip of an arm of the robot.
In a robot hand that performs a predetermined work while absorbing a load applied to a work, a first plate on which an actuator for driving a rod is mounted, and the first plate that is connected to the rod and moves with the rod. A second plate arranged parallel to the first plate and a plate to which the clamper is mounted so that the distance between the first plate and the second plate slides with respect to the first plate and the second plate. Has a float plate disposed between the first plate and the second plate so that a predetermined frictional force is generated when the rod moves according to the work content. By changing the position, the force for sandwiching the float plate by the first and second plates is changed to change the frictional force and the absorption amount of the load is changed. It is way.

[0012]

With this structure, the actuator 18 for driving the rod 19 is mounted on the first plate 17, as shown in FIG. The rod 18 is connected to the second plate 16 so that the distance between the first plate 17 and the second plate 16 changes as the rod 19 moves.
The second plate 16 is arranged in parallel to the first plate 17. The clamper 10 is attached to the float plate 15, and the first and second plates 17 and 1 are attached.
The float plate 15 is connected to the first plate 17 and the second plate 17 so that a predetermined frictional force is generated when the slide plate 6 slides and moves.
Is disposed between the plate 16 and the plate 16. Here, when the actuator 18 is actuated according to the work content and the rod 19 is moved to the required moving position, the force sandwiching the float plate 15 by the first and second plates 17 and 16 is moved to the rod 19 moving position. Accordingly, a desired frictional force is generated, and the abutting force on the backstop can be adjusted to a desired value.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a robot hand structure and a device for controlling the hand according to the present invention will be described below with reference to the drawings.

In this embodiment, as a robot,
A press brake robot that performs work such as inserting a work into the press brake is assumed. However, the present invention is not limited to the press brake robot, and can be arbitrarily applied to any robot as long as it performs a predetermined work while absorbing the load applied to the work. Figure 1
FIGS. 3A and 3B are a top view (the same FIG. (A)) and a side view (the same FIG. b)).

As shown in FIG. 1, a robot 2 is arranged in front of the press brake 1.
In order to carry around the work WK by the hand 7 of the robot 2 during the processing of the carry-in device 3 for carrying in the work WK, the carry-out device 4 for carrying out the finished work WK, and the work WK. The replacement device 5 is provided.

The operation of this system will be briefly described. First, as the robot 2, the work WK in the carry-in device 3 is gripped by the hand 7, and the press brake 1 is used.
Then, the bending process by the press brake 1 is performed on each part of the work WK. At this time, when it is necessary to change the work WK by the hand 7, the work WK is temporarily placed on the change table of the change device 5.
Then, when all the steps of processing the work WK are completed, the robot 2 carries out the work WK to the carry-out device 4.
That is.

The robot 2 is a 6-axis vertical articulated robot capable of complicated handling, and a wrist 7 (sixth axis) at the tip of an arm is equipped with a hand 7 according to the present invention.

The structure of the hand 7, which will be described later, is largely the longitudinal member 8 whose one end is connected to the wrist shaft 6.
And a hand body 9 connected to the other end of the longitudinal member 8. The hand body 9 has four suction pads 10 which are clampers for holding the work WK.
Is provided.

The four suction pads 10 suck and grip four points of the work WK which is a plate material, and the work WK is inserted between the punch 11 and the die 12 of the press brake 1 as shown by an arrow F. .

The side 14 of the work WK facing the press brake 1 is abutted against the backstop 13,
The workpiece WK is positioned by the side 14 following the backstops 13 and 13.

Then, the punch 11 is lowered as shown by an arrow G to bend the work WK. Here, the work WK of the plate material jumps up as shown by an arrow I as it is bent, but the robot 2 performs an arc-shaped handling (jumping follow-up operation) following this.

2 and 3 show the structure of the hand body 9 shown in FIG. 1. FIG. 2 (a) is an enlarged top view showing FIG. 1 (a), and FIG. , A of FIG.
3C is a sectional view, FIG. 3C is a sectional view taken along line BB in FIG.
2A is a sectional view taken along line CC in FIG. 2B, and FIG.
The DD sectional view of (b) is each shown.

As shown in FIGS. 2 and 3, and particularly FIG. 2 (b), the hand main body 9 is roughly a work W.
The upper plate 16 arranged on the upper part in the positional relationship where K is located above, the lower plate 17 arranged on the lower part so as to be parallel to the upper plate 16, and the upper plate 16 and the lower plate. Float plate 1 which is arranged between 17 and to which the suction pad 10 is mounted
It is composed of 5 and.

A hydraulic cylinder 18 is attached to the lower portion of the lower plate 17 via a mounting member 24, and a rod 19 of the hydraulic cylinder 18 is loosely inserted into a hole 17a formed in the lower plate 17, The tip portion 1 of the rod 19 is loosely inserted into the hole 15a formed in the float plate 15.
9a is fastened by bolts 19b on the upper surface of the upper plate 16 to connect the lower plate 17 and the upper plate 16.

Therefore, when the hydraulic cylinder 18 operates and the rod 19 is extended and retracted, the distance between the upper plate 16 and the lower plate 17 is changed accordingly.

Here, a stopper mechanism for restricting the maximum value of the above distance is provided as shown in FIG. 2 (c).

That is, one end of each of the four shafts 28 is fastened to four corners of the upper surface of the upper plate 16 and is inserted into the upper plate 16 via a bush. The shaft 28 has a hole 1 formed in the float plate 15.
5b is loosely inserted, and the lower plate 1 is further inserted through the bush.
It is inserted in 7. At the other end of the shaft 28, a stopper 28a that can contact the lower surface of the lower plate 17 is provided.

Therefore, the movement of the rod 19 is restricted by the stopper 28a, and the maximum opening width between the upper plate 16 and the lower plate 17 can be adjusted according to the mounting position of the stopper 28a.

At the four corners of the upper surface of the float plate 15, suction pads (vacuum pads) 10 are attached to the mounting member 2.
It is fastened with a bolt 20a through 0. In this embodiment, the clamper 10 that adsorbs the work WK by negative pressure air is assumed, but the clamper is not limited to this, and any clamper such as a clamper that grips the work with an electromagnet may be used. be able to.

A friction plate 21 having a predetermined friction coefficient is fixed to the upper surface of the float plate 15 so that the sliding surface that slides on the upper plate 16 is fixed.
Friction plates 22a and 22b having a predetermined coefficient of friction are fixed to the lower surface of the friction plate 22a and 22b (see FIGS. 3A and 3B).

Therefore, when a load in the thrust direction (left and right direction in FIG. 2B) is applied to the work WK sucked and gripped by the suction pad 10 of the float plate 15, the float plate 15 is changed to the upper plate. 16,
The lower plate 17 is moved between the lower plates 17 against the resistance due to the frictional force of the friction plate 21 and the like, and absorbs the load. In this case, the frictional resistance of the float plate 15 is changed according to the moving position of the rod 19. That is, as the rod 19 contracts, the force with which the float plate 15 is sandwiched between the upper plate 16 and the lower plate 17 increases, the frictional resistance of the float plate 15 increases, and the abutting force against the backstop 13 increases. On the other hand, as the rod 19 extends, the force for sandwiching the float plate 15 by the upper plate 16 and the lower plate 17 becomes smaller, the frictional resistance of the float plate 15 is reduced, and the abutting force against the backstop 13 becomes smaller.

Here, if a load is applied to the work WK in the thrust direction, an excessive load will be applied to the rod 19, causing problems such as durability.

Therefore, the shaft 28 not only functions as the stopper, but also functions to prevent an excessive load from being applied to the rod 19 by receiving the force in the thrust direction.

By the way, as the float plate 15 moves, the float plate 15 is relatively displaced from the reference positions of the upper plate 16 and the lower plate 17. Therefore, this hand is provided with a reset mechanism that corrects such relative positional deviation and returns the float plate 15 to the reference position.

That is, two hydraulic cylinders 23 for positioning are mounted on the lower surface of the lower plate 17 with the hydraulic cylinder 18 interposed therebetween via the mounting member 25 which also functions as a guide for the cylinder rod. Hydraulic cylinder 23
A positioning pin 26a is provided at the tip of the rod 26 of the above, and the tip of the positioning pin 26a is
The taper is formed so that the diameter becomes smaller toward the tip. The positioning pin 26a can be moved above the upper surface of the lower plate 17 through a hole formed in the lower plate 17.

On the other hand, a bush 27 having a hole 27a into which the positioning pin 26a is inserted and removed is fitted to the float plate 15, and the hole 27a extends from the insertion port of the pin 26a to the back. The hole is tapered so that the hole diameter becomes gradually smaller, and the minimum diameter thereof is formed to be substantially equal to the maximum diameter of the positioning pin 26a, and the pin 26a is inserted in close contact with the hole 27a. I'm supposed to get it.

Therefore, the hydraulic cylinder 2 for positioning
3 is operated and the rod 26 is extended, the tapered surface of the positioning pin 26a is guided and inserted along with the tapered surface of the hole 27a, and finally the pin 26a is inserted in close contact with the hole 27a to be inserted into the float. First and second plates 15
The relative displacement of the plates 16 and 17 is corrected and the float plate 15 can be reset to the reference position.

The positioning cylinder 23 may be arranged on the upper plate 16 side.

Although it is assumed that the actuator of the hand having the structure shown in FIGS. 2 and 3 is a hydraulic cylinder, a solenoid may be used instead of the hydraulic cylinder as shown in FIG. Good.

That is, FIG. 6 is a view corresponding to FIG. 2B, and the solenoid 3 corresponding to the hydraulic cylinder 18 is shown.
5 and a solenoid 32 corresponding to the positioning hydraulic cylinder 23. That is, in the solenoid 35,
When the coil 36 is energized, the plunger 37, which is a movable iron core, is biased, whereby the upper plate 16 connected to the plunger 37 is moved. Similarly, solenoid 3
In No. 2, when the coil 33 is energized, the plunger 34 is biased, the positioning pin 26a is inserted into the hole 27a, and the float plate 15 is positioned.

As the actuator, any actuator other than these hydraulic cylinders and solenoids can be used. For example, it is conceivable to use a fluid cylinder, an air cylinder or the like that uses a working fluid other than oil.

Although the friction plate 21 and the like have been described as being fixed to the float plate 15, the point is that the friction plate is interposed between the float plate 15 and the upper and lower plates 16 and 17 to form a float. As long as the plate 15 generates a predetermined frictional resistance when it moves, it is possible to fix the friction plate to the lower surface of the upper plate 16 and to the upper surface of the lower plate 17.

Further, the sliding surface of the plate itself may be formed so as to generate a predetermined frictional resistance, and the friction plate may not be provided as a separate component.

Now, FIGS. 4 and 5 correspond to FIGS.
In addition to the hand having the above structure, the structure of the hand provided with an air blow mechanism is shown.

That is, when a heavy work is gripped and abutted against the back stop 13, the frictional resistance should be as small as possible in order to absorb a large load. However, even if the rod 19 is stretched by the hydraulic cylinder 18 and the force sandwiching the float plate 15 by the upper plate 16 and the lower plate 17 is made zero, the frictional resistance may be large to absorb a large load. .

Therefore, an air blow mechanism is one in which air is blown between the upper plate 16 and the float plate 15 and between the lower plate 17 and the float plate 15 to reduce the frictional force.

FIGS. 4A to 4C show FIGS. 2A to 2.
It corresponds to (c), and (a) and (b) of FIG. 5 correspond to (a) and (b) of FIG.

The structure of the hand having the air blow mechanism will be described below with reference to FIGS. 4 and 5. It should be noted that description of portions that overlap with the configurations of FIGS. 2 and 3 described above will be omitted.

The four air nozzles 30 are arranged on the upper surface of the upper plate 16 (see FIG. 4A), and the air discharged from the air nozzles 30 is the upper plate 1.
6 through the air passage 16a formed in the upper plate 1
It communicates with the air outlet 16b formed on the lower surface of 6 (see FIG. 4 (b)). On the other hand, the four air nozzles 31
It is arranged on the side end surface of the float plate 15 (see FIG.
(See (a) and (b)), the air discharged from the air nozzle 31 communicates with an air outlet 15d formed on the lower surface of the float plate 15 through an air passage 15c formed in the float plate 15. (Fig. 4 (b),
See FIG. 5B).

Therefore, the friction plate 2 of the upper plate 16 and the float plate 15 is discharged by the air discharged from the air nozzle 30 and discharged from the air outlet 16b.
The frictional resistance with 1 becomes small. In addition, the friction plate 22 of the float plate 15 is discharged by the air discharged from the air nozzle 31 and discharged from the air outlet 15d.
The frictional resistance between a and 22b and the lower plate 17 becomes small. Therefore, a large load of a heavy work can be effectively absorbed, and work such as abutting can be performed smoothly and accurately.

The air blowing mechanism may be one that blows air only between the upper plate 16 and the float plate 15 or between the lower plate 17 and the float plate 15. Next, FIG.
Control when the hand body 9 shown in FIG. 3 is attached to the robot 2 will be described with reference to the flowcharts of FIGS. 7 and 8.

Control of half lock system (FIG. 7) As shown in FIG. 7, first, the work WK as a material is
The hand 7 is taken out from the carry-in device 3 by being held by the suction pad 10 (step 101), and the hand 7 is moved in the direction of arrow F (see FIG. 1A).
The work WK is placed on the die 12 (step 10).
2). Here, the punch 11 is lowered in the direction of the arrow G (see FIG. 1B), and the punch 11 moves above the work WK to the upper side 2.
It is located at a position of ~ 3 mm (step 103).

Here, the positioning pin 2 of the reset mechanism
The hydraulic cylinder 23 so that 6a can escape from the hole 27a.
The rod 26 is retracted (step 104).

Then, the rod 19 is extended by the hydraulic cylinder 18 so that the moving position of the rod 19 is changed from the lock position to the half lock position, and the force for sandwiching the float plate 15 by the upper and lower plates 16 and 17 is obtained. Is reduced (step 105).

Therefore, as described above, the robot 2 further advances the hand 7 to abut the work WK against the back stop 13 of the press brake 1 and make the abutting side 14 of the work WK follow the back stop 13. (Step 106). Punch 1 of press brake 1
1 is further lowered and the work WK is bent. This causes the work WK to stand up (step 107), but the hand 7 is moved in an arc shape following the bouncing of the work WK (step 108; FIG. 1B).
(See arrow I).

After bending the work WK, the punch 11 has an arrow H.
(Step 109; refer to FIG. 1B), the hand 7 is lifted to raise the work WK by 5 to 6 mm.
Let it escape upward (step 110).

Next, the positioning pin 2 of the reset mechanism
The rod 26 of the hydraulic cylinder 23 is extended so that 6a is inserted into the hole 27a, and the float plate 15 is reset to the reference position (step 111).

Then, the rod 19 is retracted by the hydraulic cylinder 18 so that the moving position of the rod 19 is changed from the half lock position to the lock position, and the force for sandwiching the float plate 15 by the upper and lower plates 16 and 17 is obtained. Is incremented (step 112).

Next, the air cutting operation of the suction pad 10 is required, the work WK is held by the holding device 5 (step 113), and it is determined whether or not the work WK is bent at a different portion in the next process. Is determined (step 114).

When it is determined that the bending is performed in the next process, the processes of steps 102 to 114 are repeatedly executed. However, when it is determined that all the bending processes are completed, the robot 2 carries out the unloading process. The work WK is controlled to be carried out to the apparatus 4 (step 115).

As described above, according to the control of the half-lock system, the float plate 15 is weaker than usual from the time of shifting to the abutting motion to the backstop 13 until the end of the bounce-up following motion. Since it is half-locked, the abutting force on the backstop 13 is effectively absorbed, and the abutting edge 14 of the work WK along the backstop surface 14 is effectively absorbed.
Can be quickly and accurately adjusted,
Even while the bounce-up follow-up operation is performed, the gripping position of the suction pad 10 with respect to the work WK is not displaced, and the follow-up can be smoothly performed.

In the embodiment shown in FIG. 7, the float plate 15 is reset each time bending is performed. However, in the case where bending is continuously performed, the float plate 15 is not reset and the next step is performed. It is also possible to implement such a transition.

Control of unlock method (FIG. 8) As shown in FIG. 8, step 101 to step 1 in FIG.
Processing similar to that of step 15 is executed (steps 201 to 215). Step 20 is different from the control in FIG.
5 and step 212, ie step 205
Then, the rod 19 is extended by the hydraulic cylinder 18 so that the moving position of the rod 19 is changed from the locked position to the unlocked position, and the upper and lower plates 16, 17 are moved.
As a result, the force sandwiching the float plate 15 is reduced to zero (step 205). Then, in step 212, the rod 19 is retracted by the hydraulic cylinder 18 so that the moving position of the rod 19 is changed from the unlock position to the lock position, and the float plate 15 is sandwiched by the upper and lower plates 16 and 17. The force is increased (step 212).

As described above, according to this unlock-type control, the float plate 15 moves up and down until the back-stop 13 is hit and the bounce-up following operation is completed. Backstop 1 because there is only resistance due to frictional force between
The abutting force to the workpiece 3 can be effectively absorbed, the abutting edge 14 of the work WK can be quickly and accurately aligned along the backstop surface, and the work WK can be hit against the work WK while the bounce follow-up operation is performed. The gripping position of the suction pad 10 can be smoothly followed without deviation.

This unlocking method is effective for the work WK having a relatively large weight. Next, FIG. 4 and FIG.
Control when the hand body 9 having the air blow mechanism shown in FIG. 6 is attached to the robot 2 will be described with reference to FIG.

Control in which air blow control is added to the unlock method (FIG. 9) As shown in FIG. 9, step 201 to step 2 in FIG.
Processing similar to that of step 15 is executed (steps 301 to 315). Step 30 is different from the control in FIG.
5 and step 312, ie step 305.
Then, the rod 19 is extended by the hydraulic cylinder 18 so that the moving position of the rod 19 is changed from the locked position to the unlocked position, and the upper and lower plates 16, 17 are moved.
As a result, the force sandwiching the float plate 15 is reduced to zero. At the same time, air is discharged from the air nozzles 30 and 31, and air is blown between the upper plate 16 and the friction plate 21 of the float plate 15, and at the same time, the friction plates 22a and 22b of the float plate 15 and the lower plate 17 are separated from each other. Air is blown in between to reduce the frictional resistance between these plates (step 305). And
In step 312, the rod 19 is retracted by the hydraulic cylinder 18 so that the moving position of the rod 19 is changed from the unlocked position to the locked position, and the force for pinching the float plate 15 by the upper and lower plates 16 and 17 is applied. Will be increased. At the same time, the air discharge from the nozzles 30 and 31 is stopped (step 312).

As described above, according to the unlock-type control to which the air blow control is added, the backstop 1
The float plate 15 has only resistance due to only the frictional force between the upper and lower plates 16 and 17 from the time of shifting to the abutting motion to 3 until the end of the bounce-up following motion. Is further reduced by.
Therefore, the abutting force on the backstop 13 is effectively absorbed, and the abutting edge 14 of the work WK is along the backstop surface.
Can be quickly and accurately adjusted,
Even while the bounce-up follow-up operation is performed, the gripping position of the suction pad 10 with respect to the work WK is not displaced, and the follow-up can be smoothly performed.

This control can further reduce the frictional resistance due to the weight of the work, and is particularly effective for a large-weight work WK having a large frictional resistance even by the unlock method.

[0069]

As described above, according to the present invention,
With a hand that has a compliance mechanism that absorbs the load applied to the work by using the frictional force, the frictional force can be easily adjusted, so that the hand is always stable depending on the weight of the work regardless of the posture of the hand. Then you will be able to absorb the load. As a result, backstop impact work or the like can be performed quickly and accurately.

[Brief description of drawings]

FIG. 1 (a) is a top view showing the overall configuration of a press brake system including a press brake robot equipped with a robot hand according to the present invention, and FIG. 1 (b) is a side view.

2 (a) to 2 (c) are views showing the structure of the robot hand shown in FIG. 1, in which FIG. 2 (a) is a top view and FIG. 2 (b) is A in FIG. 2 (a). -A sectional drawing and the same figure (c) are BB sectional drawings of the same figure (a).

3 (a) is a sectional view taken along line CC of FIG. 2 (b),
3B is a cross-sectional view taken along the line D-D of FIG.

4 (a) to 4 (c) are diagrams showing another configuration example of the robot hand shown in FIG. 1, in which FIG. 4 (a) is a top view and FIG. 4 (b) is the same diagram (a). 4A is a cross-sectional view taken along the line AA, and FIG. 6C is a cross-sectional view taken along the line BB in FIG.

5 (a) is a sectional view taken along line CC of FIG. 4 (b),
5B is a cross-sectional view taken along the line D-D of FIG. 4B.

6 is a diagram showing still another configuration example of the robot hand shown in FIG. 1, and is an AA corresponding to FIG. 2 (b).
FIG.

FIG. 7 is a flowchart showing a procedure of processing for controlling a robot equipped with the robot hand shown in FIGS. 2 and 3.

8 is a flowchart showing a procedure of processing for controlling a robot equipped with the robot hand shown in FIGS. 2 and 3;

9 is a flowchart showing a procedure of processing for controlling a robot equipped with the robot hand shown in FIGS. 4 and 5;

[Explanation of symbols]

 2 Robot 7 Hand 9 Hand body 10 Adsorption pad 15 Float plate 16 Upper plate 17 Lower plate 18 Hydraulic cylinder 19 Rod

Claims (13)

[Claims] 1. A clamper for gripping a work,
A robot hand attached to the tip of an arm of the robot, wherein the robot hand performs a predetermined work while absorbing a load applied to a work; a first plate on which an actuator for driving a rod is attached; And is connected to the first rod according to the movement of the rod.
A second plate arranged in parallel to the first plate so that the distance from the first plate changes, and a plate to which the clamper is attached.
And a float plate disposed between the first plate and the second plate so that a predetermined frictional force is generated when slidingly moving with the second plate. By changing the moving position of the rod according to the content, the force for sandwiching the float plate by the first and second plates is changed, the frictional force is changed, and the load absorption amount is changed. The structure of the robot's hand. 2. A friction plate whose sliding surface that slides on the first plate has a predetermined friction coefficient is fixed to a surface of the float plate on the side of the first plate, and a friction plate is provided. 2. The structure of the robot hand according to claim 1, wherein a friction plate having a predetermined sliding coefficient for sliding is fixed to a surface of the float plate on the side of the second plate. 3. A friction plate having a predetermined friction coefficient on a sliding surface that slides on the float plate is fixed to a surface of the first plate on the float plate side,
2. The structure of a robot hand according to claim 1, wherein a friction plate having a predetermined friction coefficient on a sliding surface that slides on the float plate is fixed to a surface of the second plate on the float plate side. 4. A positioning actuator for driving a rod having a positioning pin at its tip is mounted on either the first plate or the second plate, and the positioning is performed on the float plate. Forming a tapered hole in which the diameter of the pin is gradually reduced from the insertion opening of the pin toward the inner side, the positioning actuator is operated, and the positioning pin is The robot hand according to claim 1, wherein the float plate is guided and inserted into a tapered hole to correct a relative positional deviation of the float plate with respect to the first and second plates, and the float plate is positioned at a reference position. Structure. 5. The first plate or the second plate
While fixing one end of the shaft to one plate of the plate, while inserting the shaft into the other plate of the first plate or the second plate, disposing a stopper at the other end of the shaft, The robot hand structure according to claim 1, wherein the stopper regulates an opening amount between the first plate and the second plate. 6. The method according to claim 1, wherein air is blown between the first plate and the float plate or between the second plate and the float plate to reduce frictional force. The structure of the robot hand. 7. An air nozzle is attached to the second plate, and an air passage communicating with the air nozzle and an air outlet formed on the surface of the float plate is formed in the second plate. Guiding the air that has passed through the air passage to the air outlet, spraying the air between the second plate and the float plate, attaching an air nozzle to the float plate, and connecting the air nozzle to the air nozzle. An air passage communicating with an air outlet formed on the surface on the first plate side is formed in the float plate, and the air passing through the air passage is guided to the air outlet, and the first air passage is formed. The robot hand structure according to claim 6, wherein air is blown between the plate and the float plate. 8. The structure of the robot hand according to claim 1, wherein the actuator is a hydraulic cylinder. 9. The robot hand structure according to claim 1, wherein the actuator is an air cylinder. 10. The structure of a robot hand according to claim 1, wherein the actuator is a solenoid. 11. The press brake for a robot, wherein the robot inserts a work into a press brake, abuts the work against a back stop, and then handles the work following up of the work due to bending of the work by the press brake. It is a robot, and at the time of shifting to the abutting operation, the movement position of the rod is moved from the lock position to the half lock position to reduce the force for sandwiching the float plate by the first and second plates and The actuator is configured to move the moving position of the rod from the half-lock position to the lock position at the time when the bounce-up follow-up operation is completed, and increase the force for sandwiching the float plate by the first and second plates. 2. A control means for controlling Device for controlling the hand of the described robot. 12. The press brake, wherein the robot inserts a work into a press brake, abuts the work against a backstop, and then handles the work following up of the work due to bending of the work by the press brake. It is a robot, and at the time of shifting to the abutting operation, the moving position of the rod is moved from the lock position to the unlock position, and the force for sandwiching the float plate by the first and second plates is reduced to zero. In addition, at the time when the bounce-up following operation is completed, the moving position of the rod is moved from the unlock position to the lock position so that the force for sandwiching the float plate by the first and second plates is increased, A control means for controlling the actuator, further comprising: Device for controlling the hand of the described robot. 13. The press brake, wherein the robot inserts a work into a press brake, abuts the work against a backstop, and then handles the work following up of the work due to bending of the work by the press brake. It is a robot, and at the time of shifting to the abutting operation, the moving position of the rod is moved from the locked position to the unlocked position, and the force for sandwiching the float plate by the first and second plates is reduced to zero. At the same time, air is blown between the first plate and the float plate or between the second plate and the float plate, and the moving position of the rod is changed at the time when the bounce-up following operation is completed. Move from the unlock position to the lock position to move the first and second play The control means for controlling the actuator and controlling the blowing of the air so as to stop the blowing of the air at the same time as increasing the force for sandwiching the float plate by the float. Device that controls the robot's hand.