JPH0748385Y2 - Positioning guide pin in robot hand mechanism - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning guide pin in a robot hand mechanism section of a robot hand that performs a pin-grabbing operation.

[0002]

2. Description of the Related Art Generally, a robot hand that performs a pin-grabbing operation is used in, for example, an automatic MDF (main wiring board) device. 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 sectional view of a robot hand mechanism section to which a conventional positioning guide pin is applied, FIG. 5 is a sectional view of the essential portion of the same, and FIG. 6 is a perspective view of the essential portion of the conventional example. In the figure, 1 is an inner box, which has a hand part 2 in the front. 3 is an outer box having the projecting port 4 of the hand portion 2 at the front,
The inner box 1 is surrounded by the outer box 3. 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. 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 which biases the inner box 1 from the rear toward the positioning guide pin 6 side.

The operation of the conventional example having the above structure 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 portion 2 is moved to the specified initial position.

Next, the external stress A is applied to the hand portion 2 in the direction of the arrow.
When the force is applied, the positioning guide pin 6 is once separated from 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 moves along the bearing surface 5a. The center is guided so that the center of the bearing 5 comes to the center 5b of the bearing 5. Further, the external stress A applied to the hand portion 2 is relieved by the rear spring 7.

[0007]

However, according to the prior art having the above-mentioned structure, since the positioning guide pins have a smooth surface finish, when the positioning guide pins are joined to the bearing, they are in surface contact with each other. The positioning guide pin and the surface of the bearing were in close contact with each other, and the stress sometimes increased when they were separated.

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 is in close contact, and the conical shape of the positioning guide pin is formed. There is a problem in that the hand does not move and the hand receives stress. In view of the above problems, the present invention obtains 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, and reduces the force of the regulation. An object of the present invention is to realize a robot hand mechanism unit that facilitates the movement of the conical portion of the positioning guide pin when it is received and surely absorbs the stress applied to the hand unit.

[0009]

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. In the positioning guide pin in the robot hand mechanism section provided with a positioning guide pin corresponding to the bearing having a shaped portion, and provided with a rear spring for urging the inner box from the rear to the positioning guide pin side,
It is characterized by a sharp tip and a conical acorn shape with rounded sides.

[0010]

According to the present invention having the above construction, since the side surface of the positioning guide pin is a rounded conical shape, the contact with the bearing becomes a line contact on the circumference, and the positioning guide pin and the bearing are joined. The stress when the parts are separated is small. on the other hand,
Even if the hand portion operates and the guide pin is largely displaced from the center of the bearing, the sharp tip allows the positioning guide pin to be smoothly and accurately guided to the center of the bearing.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 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,
Reference numeral 1 denotes an inner box, which has a hand portion 2 at the front. Reference numeral 3 denotes an outer box having a projecting opening 4 of the hand portion 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 10 is a positioning guide pin provided on the inner box 1 so as to correspond to the bearing 5, and the positioning guide pin 10 has a sharp tip and a side surface 10a having a rounded conical shape as shown in FIG. It has an acorn shape.

Reference numeral 7 is a rear spring for urging 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 box 1 by the rear spring is used.
Are 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, the external stress A is applied to the hand portion 2 in the arrow direction.
When the force is applied, the positioning guide pin 10 once moves to the bearing 5
Get away from. 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 can be 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, and the center of the positioning guide pin 10 is sharpened by its sharp tip.
Be guided to come 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 can be applied not only to the robot hand but any device that uses the elastic force of the spring and the positioning guide pin.

[0016]

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

Thus, it is possible to prevent the joint portion of the positioning guide pin from coming into close contact with each other, prevent an increase in stress when the joint portion of the positioning guide pin and the bearing separates, and perform positioning when a 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 portion that reliably absorbs the stress applied to the hand portion.

[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) Hirofumi Kimura Creator Hirofumi Kimura 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Nihon Telegraph and Telephone Corporation (56) Reference JP 5-245788 (JP, A) Sho 63-169289 (JP, U)

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.