JPH0737591U - Robot hand - Google Patents

Abstract

(57) [Summary] [Purpose] To prevent mistakes in holding articles. [Structure] Even when the center of the hand body frame 2 between the arm pieces 13 (in the left-right direction) is deviated from the center of the carry case 24 in a state where the flange 25 of the carry case 24 is being sandwiched, the arm piece 13 are brought close to each other, and the flange 2 is first moved by one hand piece 16.
Even after 5 is completely held, if the arm pieces 13 are further brought close to each other so that the flange 25 is completely held by the hand piece 16 which has not yet completely held the flange 25, the flange 25 is first moved. Hand piece 1 held completely
6 and the arm piece 13 deform the elastic body 19 and relatively move to absorb the movement of the arm piece 13.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 This invention relates to a robot hand for sandwiching and transferring articles.

[0002]

[Prior art]

 Conventionally, the following are known as this type of robot hand. That is, there is known one having a hand body frame, a pair of left and right arm pieces provided on the hand body frame so as to be close to and away from each other, and a hand piece fixed to these arm pieces. As is well known, the robot hand is attached to a rectangular coordinate type robot arm or an articulated robot arm to form a robot for holding and transferring articles.

[0003]

[Disadvantages of the prior art]

 The conventional robot hand has the following drawbacks. That is, since the hand piece was fixed to the arm piece, when the center of the arm pieces of the hand body frame deviates from the center of the article in a state where the hand piece frame is being sandwiched, for example, the arm piece is When the articles are heavier than the forces of approaching each other, when the hand pieces (arm pieces) approach each other, one hand piece may come into contact with the article and the other hand may not come into contact with the article. As a result, there is a drawback that a pinching error of the article occurs.

[0004]

[Means for eliminating the above drawbacks]

 This invention adopts the following means in order to solve the above-mentioned drawbacks. This invention is directed to a hand body frame, a pair of left and right arm pieces provided on the hand body frame so as to be close to and away from each other, and a hand provided on each of the arm pieces to move freely in any horizontal direction. It has a piece and an elastic body that connects the hand piece and the arm piece.

[0005]

[Function of the device]

 This device has the following actions. Even when the center of the hand body frame between the arm pieces is deviated from the center of the article when trying to sandwich the article, the arm pieces should be brought close to each other and one of the hand pieces should hit the article first. Even if they come into contact with each other, if the arm pieces are brought closer to each other in order to bring the hand piece that has not yet come into contact with the article into contact with the article, the hand piece and the arm piece that came into contact with the article first will be elastic. Since the body is deformed and relatively moved to absorb the movement of the arm piece, the article can be securely held by both hand pieces.

[0006]

【Example】

 The present invention will be described below based on an embodiment shown in the drawings. In this specification, the front means the lower side of FIG. 1, the rear means the upper side of FIG. 1, the left means the left side of FIG. 1, and the right means the right side of FIG.

A pair of left and right rods 3 with their axes oriented in the left-right direction are fitted to the box-shaped hand body frame 2 so as to be slidable left and right by spline connection. The portion of the rod 3 protruding from the hand body frame 2 is covered with a bellows-like cover (not shown) to prevent dust.

The rods 3 can be moved toward and away from each other by an actuator 5 as described below. That is, the actuating device 5 has a screw shaft 7 which is rotated by a motor 6 which can be rotated in the normal and reverse directions. It has a screw portion 9, and these right screw portion 8 and left screw portion 9 are screwed into a right screw hole 10 and a left screw hole 11 formed in each rod 3. With such a configuration, the rods 3 can be moved toward and away from each other by rotating the screw shaft 7 in the forward and reverse directions. The actuating device 5 is not limited to that of the embodiment, and any known actuating device can be used.

Arm pieces 13 are attached to the ends of the rod 3 protruding from the hand body frame 2 so as to face each other, and a support piece 14 having a U-shaped vertical cross section is attached to the tip end of these arm pieces 13. Is attached with the vertical wall facing outward, and the hand piece 16 is movably fitted to these support pieces 14 in an arbitrary horizontal direction, and through holes 17 vertically penetrating the front and rear portions of these hand pieces 16 are provided. An elastic body 19 made of rubber or the like, which is formed and has a required number of openings 18 penetrating upward and downward, is fitted into the through holes 17, and a pin 21 is fitted into a central hole 20 which penetrates the elastic body 19 vertically. The pins 21 are fitted and fixed to the upper and lower walls of the support piece 14. With such a configuration, when a force for moving the hand piece 16 in an arbitrary horizontal direction is applied, the hand piece 16 can deform the elastic body 19 according to the force and move horizontally with respect to the support piece 14. Then, when the force is no longer applied to the hand piece 16, the hand piece 16 automatically returns to the original state.

The hand piece 16 is provided with a fitting groove 22 into which the left and right flanges 26 of a carry case 24 accommodating a large number of semiconductor wafers are fitted. A positioning notch 26 is formed in the flange 25, and a projection 23 that fits in the notch 26 is formed in the fitting groove 22 of the hand piece 16.

[0011]

[Operation of the embodiment]

 Next, the operation of the embodiment will be described. Even when the center (in the left-right direction) of the hand body frame 2 between the arm pieces 13 is deviated from the center of the carry case 24 in a state where the flange 25 of the carry case 24 is being sandwiched, the arm pieces 13 are not moved to each other. In order to hold the flange 25 completely by the hand piece 16 that has not completely held the flange 25 even after the flange piece 25 has been completely held by the one hand piece 16 in the vicinity of the arm piece 13, When they are brought close to each other, the hand piece 16 and the arm piece 13 that have completely held the flange 25 first deform the elastic body 19 and relatively move to absorb the movement of the arm piece 13. The limit switch / pressure sensor (that the flange 25 (carry case 24) is securely held and held by both hand pieces 16, that is, the flange 25 hits the inner wall of the fitting groove 22. By detecting with a detector such as (not shown) and stopping the operation of the arm piece 13 based on the detection signal, the hand piece 16 can securely hold and hold the flange 25 (carry case 24). I can. Then, when the carry case 24 is lifted, the amounts of deformation of the left and right elastic bodies 19 are balanced, and the left-right center of the carry case 24 and the left-right center between the arm pieces 13 are aligned. Even when the front and rear positions of the projection 23 of the hand piece 16 and the notch 26 of the carry case 24 are slightly deviated, the hand piece 16 moves back and forth with respect to the arm piece 13 by deforming the elastic body 19. When the hand piece 16 is moved, the flange 25 (carry case 24) can be reliably held and held. Then, when the carry case 24 is lifted, the elastic body 19 returns to the original state, and the position of the carry case 24 in the front-rear direction with respect to the arm piece 13 (hand body frame 2) becomes the set position. Further, even when there is both the left-right direction deviation and the front-rear direction deviation, the two actions occur at the same time, and the flange 25 (carry case 24) can be reliably held and held by the hand piece 16. It can be done.

FIG. 4 shows an example in which the robot hand of the embodiment is attached to an articulated robot arm 29 provided on an automated guided vehicle 28. The elastic body 19 may be formed into a porous rectangular parallelepiped shape and inserted between the vertical wall of the support piece 14 and the hand piece 16 to be fixed to both.

[0013]

[Effect of device]

 The present invention has the following effects due to the above-described configuration. Even when the center of the hand body frame between the arm pieces is deviated from the center of the article when trying to sandwich the article, the arm pieces should be brought close to each other and one of the hand pieces should hit the article first. Even if they come into contact with each other, if the arm pieces are brought closer to each other in order to bring the hand piece that has not yet come into contact with the article into contact with the article, the hand piece and the arm piece that came into contact with the article first will be elastic. Since the body is deformed and relatively moved to absorb the movement of the arm piece, the article can be securely held by both hand pieces.

[Brief description of drawings]

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

FIG. 2 is an enlarged view of part A of FIG. 1 crushed.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is an elevational view showing a state in which the robot hand of the embodiment is attached to an articulated robot arm provided on an automatic guided vehicle.

[Explanation of symbols]

 2 Hand body frame 13 Arm piece 16 Hand piece 19 Elastic body

Claims (1)

[Scope of utility model registration request] 1. A hand main body frame, a pair of left and right arm pieces provided on the hand main body frame so as to be close to and away from each other, and a hand piece provided on each of the arm pieces so as to be movable in an arbitrary horizontal direction. And a robot hand having an elastic body connecting the hand piece and the arm piece.