JPH0740083U - Gripper - Google Patents

Abstract

(57) [Summary] (Correction) [Structure] The movable finger portion is pivotally supported at one end of the head portion 2c provided at the rod tip portion of the actuator 2a, and is pivotally supported at the end portion of the upper lever 3a and the upper lever 3a. Upper Lever 8
an upper finger composed of a, a lower lever 3b pivotally supported at the other end of the head portion provided at the rod tip of the actuator, and a lower finger composed of a lower lever 8b pivotally supported at the end of the lower lever 3b; The gripper includes an upper claw 7a and a lower claw 7b formed at the tips of the lever 8a and the lower lever 8b, and sensors 6 and 6 which are provided outside the upper claw 7a or the lower claw 7b and which sense the passage of a work 10. Make up. [Effect] Since the work is gripped by the upper and lower claws and the V groove of the V plate, the work of various shapes can be simply structured.
Can be held stably. The size of the work is detected by the sensor
Since the amount of movement of the robot wrist is recognized, a complicated sensor is not required.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a gripper attached to a wrist of a robot, and more particularly to a gripper that stably holds a work having various sectional shapes.

[0002]

[Prior art]

 Conventionally, a hand base, a plurality of movable fingers having at least two joint axes attached to the hand base, an actuator for operating the movable fingers, an inner surface of each movable finger, and a palm of the hand base. There is a part in which a gripper is configured with at least three systems of pressure-sensitive sensors (for example, JP-A-63-251186).

[0003]

[Problems to be solved by the device]

 However, while the conventional gripper can confirm the gripping state of the work piece and can stably grip the work piece, it has a complicated structure and a large number of sensors and is expensive. If it is only necessary to grip the work while ensuring a certain degree of stability, a cheap one is required. Therefore, an object of the present invention is to provide an inexpensive gripper with a simple structure and a minimum number of functions.

[0004]

[Means for Solving the Problems]

 In order to solve the above problem, an actuator 2a fixed to the holder 1, a plurality of movable finger portions having joint shafts opened and closed by the actuator 2a, a palm portion having a V groove, and a sensor for sensing the work 10 are provided. In the gripper, the movable finger portion is composed of an upper lever 3a pivotally supported at one end of a head portion provided at a rod tip portion of the actuator 2a and an upper lever 8a pivotally supported at an end portion of the upper lever 3a. An upper finger, a lower lever 3b pivotally supported at the other end of the head portion provided at the rod tip of the actuator 2a, and a lower lever 8b pivotally supported at the end of the lower lever 3b; A sensor for detecting the passage of the upper claw 7a and the lower claw 7b formed at the tips of the lever 8a and the lower lever 8b, and the work 10 provided facing the outside of the upper claw 7a or the lower claw 7b. 6,6 and make up the gripper in.

[0005]

[Action]

 When the sensors 6, 6 sense the passage of the work 10, the size of the work 10 is recognized from the amount of movement of the wrist, and the actuator 2a closes the upper claw 7a and the lower claw 7b. The work 10 is gripped by the palm having the V groove.

[0006]

【Example】

 An embodiment of the present invention will be described below with reference to FIG. The upper half of FIG. 1A is a view seen from the upper surface, and the lower half is a partial arrow view. FIG. 2B is a side view. The end surface of the holder 1 is fixed to the tip of the wrist (not shown) of the robot. The holder 1 has a substantially U-shaped side cross-section, and a U-shaped notch is further provided in the opening. An actuator 2a such as an air cylinder is fixed to the end of the holder 1 on the robot wrist side. A rod 2b is provided at the tip of the actuator 2a so as to be extendable and contractible. The tip of the rod 2b is formed in a T-shape having stepped portions at both ends, and the upper lever 3a and the lower lever 3b are pivotally supported at both ends of the T-shape through pins 4a and 4a. The other end of the upper lever 3a is provided with a pin 4b, one end of an upper lever 8a having a dogleg shape facing outward, and the other end of the lower lever 3b is provided with a pin 4b. One end is pivotally supported. The middle of the upper lever 8a and the lower lever 8b is pivotally supported by pins 4c and 4c fixed to the holder 1. An upper claw 7a and a lower claw 7b are provided at the other ends of the upper lever 8a and the lower lever 8b. The upper levers 3a and 8a and the lower levers 3b and 8b are housed in the U-shape of the holder 1 having a U-shape so that they do not interfere with each other when opened and closed. An upper V plate 5a provided with a V groove is provided at the upper end of the U-shaped opening and the center of the holder 1, a lower V plate 5b provided with a V groove is provided at the lower end, and an upper lever 8a and a lower lever 8b are provided. It is fixed so that it is sandwiched from above and below with a gap. A pair of sensors, consisting of light emitting and receiving elements, that detect the passage of the work on the remaining portion of the U-shaped opening of the holder 1 and the U-shaped notch at either the upper end or the lower end. 6, 6 are provided facing each other. The work passing signal 15 of the sensors 6, 6 is sent to the controller 13. Based on the signal, the controller 13 opens the solenoid valve 14 to supply air to the actuator 2a and extend the rod 2b. When the controller 13 issues an opening command to the solenoid valve 14, it is desirable to set a delay in the gripper closing command 16 in consideration of the speed of the workpiece 10. The operation will be described below with reference to FIGS. As shown in FIG. 2A, the robot wrist (not shown) is moved in the direction of the work 10 with the claws 7a and 7b opened in parallel. When the work 10 passes through the passage detector, the robot controller (not shown) recognizes the size of the work from the movement distance of the wrist. When the sensors 6 and 6 send the work passage detection signal 15 to the controller 13, at the same time, the work 10 recognizes that the work 10 has entered the capture area 12 and executes a calculation routine that associates the movement amount command of the robot wrist with the movement amount of the actuator 2a. Transfer. As shown in FIG. 2B, upon entering the capture area 12, the controller 13 receives the workpiece passage detection signal 15 and issues a gripper close command 16 to the solenoid valve 14 to supply air to the cylinder of the actuator 2a. , The rod 2b of the actuator 2a is extended forward. At this time, the wrist of the robot is also moved so as not to exert a force on the work. As the claws 7a and 7b are further closed, the capture area 12 becomes smaller, and as shown in FIG. 3 (c), the work 10 is finally moved from the left and right to the inner surfaces of the upper and lower claws 7a and 7b and the upper and lower Vs. It is held between the V grooves of the plates 5a and 5b. At this time, since the pressure of the air supplied to the actuator 2a rises, it is assumed that the gripper securely grips the work 10, so that the movement of the robot wrist is stopped and the next operation is started.

[0007]

[Effect of device]

 As described above, according to the present invention, the work 10 is supported at four points in the cross-sectional direction by the inner surfaces of the upper and lower claws 7a and 7b and the V grooves of the V plates 5a and 5b, and the longitudinal direction is the upper and lower sides. Since four points are supported by the V grooves of the V plates 5a and 5b and the inner surfaces of the upper and lower claws 7a and 7b, works of various shapes can be stably gripped with a simple configuration. Since the size of the work is recognized as the amount of movement of the robot wrist by the sensors 6 and 6, no complicated sensor is required.

[Brief description of drawings]

FIG. 1A is a plan view showing an embodiment of the present invention. (B) The side view which shows the Example of this invention.

2A, 2B, and 2C are diagrams for explaining the operation.

[Explanation of symbols]

 1 Holder 2a Actuator 2b Rod 2c Head part 3a Upper lever 3b Lower lever 4a, 4b, 4c Pin 5 V plate 5a Upper V plate 5b Lower V plate 6 Sensor 7a Upper claw 7b Lower claw 8a Upper lever 8b Lower lever 13 Controller 14 Electromagnetic valve

Claims (2)

[Scope of utility model registration request] 1. An actuator (2a) fixed to a holder (1), a plurality of movable finger portions having joint shafts opened and closed by the actuator (2a), a V plate (5) corresponding to a palm portion, and a work ( 10) A gripper including a sensor for detecting the upper lever (3a) and the end of the upper lever (3a) in which the movable finger portion is pivotally supported at one end of a head portion provided at a rod tip portion of the actuator (2a). Of the upper lever (8a) pivotally supported on the lower part, and the lower lever (3b) and the lower lever (3b) pivotally supported on the other end of the head part provided at the rod tip of the actuator (2a). A lower finger composed of a lower lever (8b) pivotally supported at the end, an upper claw (7a) and a lower claw (7b) formed at the tips of the upper lever (8a) and the lower lever (8b), and Upper nail (7a Or workpiece is provided so as to face the outside of the lower claw (7b) (1
And a sensor (6, 6) for detecting passage of the gripper (0). 2. The gripper according to claim 1, wherein the upper finger and the lower finger are arranged in different steps, and the V plates are arranged above and below the upper and lower fingers.