JPH0724583U - Positioning guide pin in robot hand mechanism - Google Patents

Abstract

(57) [Summary] [Purpose] Prevents stress from increasing when the joint between the positioning guide pin and the bearing separates, and facilitates the movement of the conical portion of the positioning guide pin when a prescribed force is applied.
An object of the present invention is to realize a robot hand mechanism unit that reliably absorbs stress applied to the hand unit. [Structure] An inner box 1 having a hand part 2 at the front is surrounded by an outer box 3 having a projecting port 4 of the hand part 2, and a bearing 5 is provided on a front inner side surface of the outer box 3, 1. A robot hand mechanism section having a conical portion 1 at the tip thereof and a positioning guide pin 10 corresponding to the bearing 5 and a rear spring 7 for urging the inner box 1 from the rear toward the positioning guide pin 10 side. The positioning guide pin has a sharp tip, and the side surface 10a has a rounded conical acorn shape.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a positioning guide pin in a robot hand mechanism portion of a robot hand that performs a pin-grabbing operation.

[0002]

[Prior art]

 Generally, a robot hand that performs an operation of gripping a pin is used, for example, in an automatic MDF (main wiring board) device or the like. The robot hand mechanism portion of such a robot hand has conventionally a positioning structure using a positioning guide pin.

FIG. 4 is a plan cross-sectional view of a robot hand mechanism section to which a conventional positioning guide pin is applied, FIG. 5 is a cross-sectional view of the same main portion, and FIG. 6 is a perspective view of the main portion of the same conventional example. In the figure, 1 is an inner box, which has a hand part 2 in the front. Reference numeral 3 denotes an outer box having a projecting port 4 of the hand part 2 at the front, and the outer box 3 surrounds the inner box 1. Reference numeral 5 denotes a bearing provided on the front inner surface of the outer box 3, and the bearing 5 has a conical recess 5a at its tip as shown in FIG.

Reference numeral 6 denotes a positioning guide pin provided on the inner box 1 so as to correspond to the bearing 5, and the positioning guide pin 6 has a conical portion 6a at its tip as shown in FIG. . Further, the processing of the positioning guide pin 6 is finished to have a smooth surface by general processing accuracy. Reference numeral 7 denotes a rear spring that biases the inner box 1 from the rear toward the positioning guide pin 6 side.

The operation of the conventional example having the above configuration will be described below. Normally, when no pressure is applied from the outside, the positioning guide pin 6 fixed to the inner case 1 by the rear spring is pressed against the bearing 5 fixed to the outer case 3. By using the positioning guide pin 6 to bring the inner box 1 to the specified position, the hand section 2 is moved to the specified initial position.

Next, when an external stress A is applied to the hand portion 2 in the direction of the arrow, the positioning guide pin 6 once leaves the bearing 5, and when the elastic force of the rear spring 7 becomes larger than the external stress A, The positioning guide pin 6 is guided along the bearing surface 5a such that the center of the positioning guide pin 6 comes to the center 5b of the bearing 5. Further, the rear spring 7 relieves the external stress A applied to the hand portion 2.

[0007]

[Problems to be solved by the device]

 However, according to the conventional technique with the above-described configuration, since the surface of the positioning guide pin has a smooth finish, when the positioning guide pin is joined to the bearing, the positioning guide pin and the bearing surface that are in surface contact with each other are in close contact with each other. , The stress sometimes increased when leaving.

Therefore, even if a force greater than the elastic force of the spring is applied in the direction in which the spring contracts during the operation of the hand portion, the joint between the positioning guide pin and the bearing comes into close contact and the positioning guide pin There was a problem that the conical part of the robot did not move and received stress at the hand part. In view of the above problems, the present invention has obtained a structure that prevents the joint portion of the positioning guide pin from adhering to each other, and prevents the stress from increasing when the joint portion of the positioning guide pin and the bearing separates from each other. An object of the present invention is to realize a robot hand mechanism section that facilitates the movement of the conical section of the positioning guide pin when a force is applied and reliably absorbs stress applied to the hand section.

[0009]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention makes the contact between the positioning guide pin and the bearing a circumferential line contact. That is, according to the present invention, an inner box having a hand portion in front is surrounded by an outer box having a projecting opening of the hand portion, a bearing is provided on a front inner side surface of the outer box, and the inner box has a conical tip. A positioning guide pin corresponding to the bearing having a shaped portion and a rear spring for urging the inner box from the rear toward the positioning guide pin is provided. It is sharp and has a rounded, conical acorn shape.

[0010]

[Action]

 According to the present invention configured as described above, since the side surface of the positioning guide pin is a rounded pyramid, the contact with the bearing is a line contact on the circumference, and the joint between the positioning guide pin and the bearing is formed. The stress when leaving is small. On the other hand, even if the guide pin is largely displaced from the center of the bearing due to the operation of the hand part, the positioning guide pin is smoothly and accurately guided to the center of the bearing by the sharp tip.

[0011]

【Example】

 Embodiments will be described below with reference to the drawings. FIG. 1 is a side sectional view showing an embodiment of the present invention, FIG. 2 is a sectional view of an essential part of the same, and FIG. 3 is a perspective view of an essential part of the embodiment. In the figure, 1 is an inner box, which has a hand part 2 in the front. Reference numeral 3 denotes an outer box having a projecting port 4 of the hand part 2 at the front, and the outer box 3 surrounds the inner box 1.

Reference numeral 5 denotes a bearing provided on the front inner surface of the outer casing 3, and the bearing 5 has a conical recess 5a at the tip as shown in FIG. Reference numeral 10 denotes a positioning guide pin provided on the inner box 1 so as to correspond to the bearing 5. The positioning guide pin 10 has a sharp tip as shown in FIG. 3 and a side face 10a has a rounded cone. It has an acorn shape.

Reference numeral 7 is a rear spring that biases the inner box 1 from the rear toward the positioning guide pin 10 side. The operation of the conventional example having the above configuration will be described below. Normally, when no pressure is applied from the outside, the positioning guide pin 10 fixed to the inner case 1 by the rear spring is pressed against the bearing 5 fixed to the outer case 3. By using the positioning guide pin 10 to bring the inner box 1 to the specified position, the hand section 2 is moved to the specified initial position. At this time, the positioning guide pin 10 is smoothly and accurately guided to the center of the bearing 5 by the sharp tip.

Next, when the external stress A is applied to the hand portion 2 in the arrow direction, the positioning guide pin 10 once separates from the bearing 5. At this time, the contact with the bearing 5 becomes a line contact on the circumference, and the stress when the joint between the positioning guide pin 10 and the bearing 5 separates is small. After that, when the elastic force of the rear spring 7 becomes larger than the external stress A, the positioning guide pin 10 moves along the bearing surface 5a so that the center of the positioning guide pin 10 comes to the center 5b of the bearing 5 by its sharp tip. Be led to.

The external stress A applied to the hand portion 2 is relieved by the rear spring 7 as in the conventional case. The present invention having such a configuration and action is applicable to not only a robot hand but any device that uses the elastic force of a spring and a positioning guide pin.

[0016]

[Effect of device]

 As described above in detail, according to the present invention, the inner box having the hand portion in the front is surrounded by the outer box having the projecting opening of the hand portion, and the bearing is provided on the front inner surface of the outer box. In the robot hand mechanism section, the inner box is provided with a positioning guide pin corresponding to the bearing and has a conical portion at the tip, and a rear spring for urging the inner box from the rear side toward the positioning guide pin is provided. Since the positioning guide pin has a sharp tip and the side surface has a rounded conical acorn shape, the positioning guide pin and the bearing can be in line contact with each other on the circumference.

This makes it possible to prevent the joint portion of the positioning guide pin from sticking to each other, prevent the stress from increasing when the joint portion of the positioning guide pin and the bearing separates from each other, and perform the positioning when the prescribed force is applied. This has the effect of facilitating the movement of the conical portion of the guide pin and realizing a robot hand mechanism that reliably absorbs the stress applied to the hand.

[Brief description of drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention.

FIG. 2 is a sectional view of an essential part showing an embodiment of the present invention.

FIG. 3 is a perspective view of an essential part showing an embodiment of the present invention.

FIG. 4 is a plan sectional view showing a conventional example.

FIG. 5 is a cross-sectional view of a main part showing a conventional example.

FIG. 6 is a main part perspective view showing a conventional example.

[Explanation of symbols]

 1 Inner box 2 Hand part 3 Outer box 5 Bearing 10 Positioning guide pin

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Creator Hirofumi Kimura 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation

Claims (1)

[Scope of utility model registration request] 1. An inner box having a front hand portion is surrounded by an outer box having a front projecting opening of the hand portion, a bearing is provided on a front inner side surface of the outer box, and the inner box has a conical tip. In the positioning guide pin of the robot hand mechanism section, which has a positioning guide pin corresponding to the bearing and has a rear spring for urging the inner box from the rear toward the positioning guide pin, the tip is sharp. The positioning guide pin in the robot hand mechanism is characterized in that the side surface has a rounded conical acorn shape.