JPH077116Y2 - Robot hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of use) The present invention relates to a robot hand for handling a work such as a bag-like work that is not rigid.

(Prior Art) As a method of gripping a work at the time of handling using a robot, there are generally methods such as sandwiching, hooking, and adsorbing. Among them, the method of pinching is a bag filled with a polymer film such as polyethylene or vinyl as a material because of the relationship between the force required for gripping and the strength of the work. Is not suitable. Further, the hooking method is limited to a work having a hooking hole and the like and having a substantial rigidity.
The adsorption method is susceptible to the surface properties. With either method, basically, only one work can be gripped with one hand.

Conventionally, as a method for gripping a work such as a bag as described above, a method of gripping one by one by a method of hooking or adsorbing has been used. It cannot be demonstrated, etc.
Practical application of robot handling of this kind of work was difficult. For example, Japanese Utility Model Laid-Open No. 62-29288 discloses a robot hand for simultaneously gripping a plurality of conveyed objects and moving them from one place to another place. The robot hand is made of an elastic material such as rubber inside the movable hand. Since a bag-shaped buffer gripping body is provided, even if the size of the carried objects is different, the pressing force for gripping the carried objects is the same at any place Although a robot hand capable of firmly grasping objects at the same time is disclosed, it is limited to handling a work formed of a material having a considerable rigidity. Also, JP-A-59-167480 and JP-A-58-14
No. 7902 (Japanese Utility Model Laid-Open No. Sho 60-56491) discloses a structure in which an article is held by a hook that rotates around a vertical axis, and Japanese Patent Laid-Open No. 62-63207 discloses a link device. Although it is disclosed that a spring for urging the blade in the direction opposite to the rotation direction is provided, the tip has a thin rod-shaped hook that forms a spherical enlarged portion, and each vertical axis is provided on the support flange. The rotating device is made to rotate synchronously via a link device and a torque limiter, each of which has one end connected to the rotating device, and one hook of the vertical shaft is connected to it when a predetermined load is applied. The configuration of the robot hand in which the torque limiter is activated to stop the rotation of only one of the vertical axes is not disclosed.

(Problems to be Solved by the Invention) In contrast to these conventional techniques, an object of the present invention is to provide a robot hand that solves the following problems. That is, when a force is applied, a bag is formed of a polymer film such as polyethylene whose original shape is easily changed, and the bag is filled with a filling material. It must be a robot hand for handling which can singly or simultaneously hold a plurality of such works and reliably unload them.

(Means for Solving the Problem) Therefore, the present invention is provided with a support flange attached to the tip of a robot arm and is provided with three or more chuck claws.
In a robot hand for gripping a work piece or a plurality of work pieces having a soft surface whose original shape can be easily changed and unloading the work piece inside a box-shaped container, the chuck claws are rotatable up and down about an axis. A link device having a directional shaft and a thin rod-shaped hooking hook whose tip forms a spherical enlarged portion at its lower end, and each of the vertical shafts having one end connected to a rotating device provided on the support flange, and When the hooking hook of the vertical shaft receives a predetermined load, the torque limiter connected to the hooking hook of the vertical shaft is operated to rotate synchronously via the torque limiter. The above-mentioned problems of the prior art have been solved by providing a robot hand characterized in that only one rotation is stopped.

(Example) Next, the Example of this invention is described with reference to drawings.
The robot hand (18) of the embodiment of the present invention is configured such that a plurality of works (not shown) are stacked and supplied, and are stacked inside a box-shaped container (not shown) to stabilize the posture of the works. At this time, the chuck claw (1) has a shape that can be inserted between the work and the inner wall of the container. Further, in order to be able to grip a work whose original shape changes easily, the work is supported by being held by the hook (12) of the chuck claw (1) while avoiding the gripping form by the pressing force.

The chuck claw (1) has a structure in which a thin rod-shaped hooking hook (12) is rotated around the vertical axis (11) to catch and grip the entire work from four directions, and four chuck claws (1) The mechanism is such that the rotation of 3 (or 3) rotations can be synchronized, and 4 chuck claws (1) at the time of synchronized rotation
A torque limiter (4) containing a spring (8) for coping with an obstacle such as uneven distribution of a load is provided, and independent operations are also possible.

As shown in FIGS. 1 and 2, for example, 10 candy bags (not shown) are packed in a support flange (17) fixed to a hand support shaft (16) supported at the tip of a robot arm (not shown). As described above, the two robot hands (18) (18) are provided so as to grip the five candy bags (not shown) stacked on both sides. Each robot hand (18) has four rotary chuck claws (1), and the chuck claws (1) are rotated to grip a work such as a candy bag (not shown). The chuck claw (1) is formed by an L-shaped rotatable vertical shaft (11) and a thin rod-shaped hook (12) at the lower end of the chuck claw (1). It has a spherical ampulla (19) to facilitate the detachment. The vertical shaft (11) is rotated by moving a lever (20) fixed to its upper end by a rod (5) of a torque limiter (4). As shown in FIGS. 3 and 5, the torque limiter (4) has a cylinder part (6) in the center, and a rod (5) having a stopper (7) fixed at one end inside the cylinder part (6). Also, a spring (8) for urging between the stopper (7) and the inner wall of the cylinder part (6) is built therein. The end portion (4 ') of the torque limiter (4) is connected to a pin (22) fixed to a link plate (3) fixed to the shaft (21) of the rotary actuator (2) as shown in FIG. The torque limiter (4) is pulled by the rotation of the shaft (21). When a predetermined load is applied to a specific chuck claw (1), the spring (8) is pushed, the urging force of the spring (8) and the load are balanced, and the tip of the hook (12) stops, and the other hook. (12) keeps rotating independently so as not to interfere with the movement. The stopper (7) positions the start point and the end point.

Further, in the embodiment, a spring type work holding plate (23) is provided for stabilizing the gripped work, and the holding plate (23) is guided by the two guide shafts (22) to move up and down, The proximity sensor (13) of the sensor bracket (14) provided on the upper part of the support flange (17) detects the number of workpieces by this height difference, and the proximity sensor (13) of the sensor plate (23) It is designed to detect the position.

(Effects of the Invention) According to the present invention, the chuck claws of the robot hand can be inserted even in a narrow place such as the work and the inner wall of the container, so that even stacked and unstable works can enter the container. It can be gripped from the open state. Further, even when the original shape of the work is easily deformed like a bag-filled work, it can be gripped smoothly and reliably by the action of the spring. At this time, the tip of the hooking hook forms a spherical enlarged portion, and the chuck claws rotate in synchronization, so that the workpiece can be reliably removed. In addition, it is possible to reliably convey a large number of workpieces of this type.

[Brief description of drawings]

FIG. 1 is a top view of a robot hand according to an embodiment of the present invention, and FIG.
FIG. 3 is a side view of the robot hand shown in FIG. 1, and FIG. 3 is FIG.
An enlarged cross-sectional view of the link arm indicated by III, FIG. 4 is FIG.
FIG. 5 is an enlarged partial sectional view of a main part showing the link plate in the direction of arrow V, and FIG. 5 is an enlarged partial sectional view of a mounting portion of the vertical axis shown in FIG. 2V. 1 ... Chuck claw, 2 ... Rotary actuator (rotating device), 3 ... Link plate (link device),
Torque limiter (4), 8 ... spring, 11 ... vertical axis, 12 ... hook, 17 ... support flange, 18 ...
Robot hand, 9 ... spherical enormous part, 20 ... lever (link device).

Claims (2)

[Scope of utility model registration request] 1. A work having a soft surface, which is provided on a support flange attached to the tip of a robot arm, can be stacked by one or a plurality of chuck claws, and whose original shape can be easily changed. In a robot hand for gripping and unloading inside a box-shaped container, the chuck claw has a vertical axis rotatable around an axis and a thin rod-shaped hooking hook whose tip forms a spherical bulge at its lower end. Each of the vertical shafts is made to rotate synchronously via a link device and a torque limiter whose one end is connected to a rotating device provided on the support flange, and one of the vertical shafts is hooked. When the hook receives a predetermined load, the torque limiter connected to the hook is activated to stop the rotation of only one of the vertical shafts. Robot hand, characterized in that was. 2. The robot hand according to claim 1, wherein there are four chuck claws, and each chuck claw is L-shaped as a whole.