JPH08141963A - Robot hand mechanism - Google Patents

Abstract

PURPOSE: To provide a robot hand mechanism capable of reliably performing correction of deviation between the center axes of a hole and a pin, and for preventing the pin from being broken. CONSTITUTION: In a robot hand mechanism wherein a holding part 15 to be brought in surface-contact with the end of a pin 2 and fingers 9 to be rotatably supported and for pinching a pin 2 from sides are placed on a hand part main body 1, and for controlling the holding state of the pin 2 by opening and closing operation of fingers 9 the holding part 15 is taken as a member free to the hand part main body 1, and a positioning plate 16 for regulating the position of the center axis of the holding part 15 and the forward projecting position is fixed to the hand part main body 1. The holding part 15 is arranged between the positioning plate 16 and the hand part main boy 1, and a spring 17 for energizing the holding part 15 from back is arranged between the hand part main body l and the holding part 15 so as to hold the engagement with the positioning plate 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand mechanism such as an automatic MDF device (main wiring board device).

[0002]

2. Description of the Related Art Automatic MD using a robot hand mechanism
The F device is usually connected to the board using the robot in order to connect / remove the telephone line between the telephone exchange and the subscriber line, and to insert / remove the connection pin in / from the board using the robot. It is used to insert and remove pins.

FIG. 4 is a plan view showing the overall structure of a general robot hand mechanism. In the figure, reference numeral 1 is a hand portion main body having a pin 2 attached to a tip thereof, 3 is an inner box having the hand portion main body 1 attached to the front, and 4 is a projection opening 4a in which the hand portion main body 1 is inserted in the front. It is an outer box that surrounds the box 3.
Reference numeral 5 is a bearing provided on the outside of the front of the inner box 3, 6 is a guide pin provided on the inside of the front of the outer box 4, and 7 is a rear for urging the inner box forward so that the bearing 5 and the guide pin 6 come into contact with each other. It is a spring.

FIG. 5 is a side view of a main part of a conventional example of this type of robot hand mechanism, FIG. 6 is a front view of FIG. 5, and FIG.
FIG. 8 is an exploded perspective view of an essential part of FIG. 8, and FIG. 8 is a perspective view of an essential part of FIG. In the figure, 2 is a pin, and this pin 2 is composed of a head portion having a diameter D1 mm and a contact portion, as shown in FIG. Reference numeral 1 is a hand portion main body, and 8 is a bracket. The bracket 8 is fixed to the front surface of the hand portion main body 1. A holding portion 1a is in surface contact with the end portion of the pin 5, and is formed at the tip of the bracket 8 so as to project. Reference numeral 9 denotes a finger that holds the pin 2 from the side portion. For example, four fingers 9 are provided, and the bracket 8 is rotatably supported by the support pins 10 respectively.

Reference numeral 11 is a solenoid, and this solenoid 11 has a groove 12a provided at the tip of an operating shaft 12 thereof. 13 is a substrate, and this substrate 13 has a plurality of holes 1
3a are provided with a pin insertion interval P1 mm, and the contact portion of the pin 2 enters the hole 13a. 14 is a pattern. The protrusion 9a provided at one end of the finger 9 engages with the groove 12a of the actuating shaft 12 of the solenoid 11.

Next, the operation of the robot hand having the above configuration will be described. First, when the solenoid 11 is biased and the operating shaft 12 is attracted in the direction of arrow A, the projections 9a of the four fingers 9 are engaged with the groove 12a of the operating shaft 12, so By moving 12 to arrow A,
The finger 9 rotates about the support pin 10 as shown by the solid line. In this way, when the four fingers 9 are closed as shown by the solid lines, the pin 2 can be reliably gripped by the four fingers.
Then, in order to insert the pin 2 into the hole 13a of the substrate 13, the pin 2 is moved toward the substrate. Since the pin 2 is inserted into the hole 13a of the substrate 13, the pin 2 moves toward the substrate. When the pin 2 is inserted partway into the hole 13a, the center axes of the hole 13a and the pin 2 may be displaced. Therefore, by opening the four fingers 9, the pin 2 is free to move, slips and shifts in the contact portion with the holding portion 1a, and the pin 5 is moved in the direction in which the load due to the inserting operation is not applied. To move. And the substrate 13
The pin 2 can be inserted into the hole 13a without breaking.

[0007]

Here, the rear spring 7 shown in FIG. 4 contracts when the pin 2 is loaded when the pin is inserted, and the repulsive force is increased. The pin is pushed from the rear with a large force because it is pushed forward by the increased rear spring. Here, according to the prior art with the above-mentioned configuration, since the center axis of the pin is corrected by the sliding of the pin, if the pressing force described above increases the friction between the abutting portion of the rear portion of the pin and the holding portion. ,
The pin cannot move freely and the amount of slippage is small. Therefore, there has been a problem that the deviation of the center axis of the hole and the pin is not corrected and the insertion proceeds, causing breakage of the pin.

In view of the above problems, the present invention obtains a structure in which the central axis of the pin can freely move during insertion, and corrects the deviation of the central axis of the hole from the central axis of the pin, thereby preventing breakage of the pin. An object is to provide a robot hand mechanism.

[0009]

In order to achieve the above object, the present invention makes it possible to swing the holding portion as soon as a load is applied to the pin, and to move the central axis together with the holding portion. . That is, according to the present invention, a holding portion that comes into surface contact with the rear end of a pin and a finger that is rotatably supported and holds the pin from the side portion are mounted on the hand portion main body, and the holding state of the pin is achieved by opening and closing the finger. In the robot hand mechanism for controlling the position of the holding part, the holding part is a free member with respect to the hand part main body, and a positioning plate for restricting the position of the central axis of the holding part and the forward protruding position is fixed to the hand part main body, and the positioning is performed. The holding portion is arranged between the plate and the hand portion main body, and an elastic member for urging the holding portion from the rear so as to hold the engagement with the positioning plate is arranged between the hand portion main body and the holding portion. It is characterized by

[0010]

With the above structure, the present invention allows the pin to be freed by opening the pinching finger during the insertion of the pin,
Since the load is applied to the pin from the side and the frictional force at the time of insertion increases, the elastic member that biases the holding portion from the rear contracts due to the two effects of receiving the pressing force to the rear, and positioning of the holding portion. Disengage the plate. As a result, the holding section is made swingable, and the central axis moves together with the holding section, and the central axis of the pin held by the holding section is corrected without load.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of an essential part showing an embodiment of the present invention, and FIG. 2 is an enlarged side view of the essential part of the same embodiment. In the figure, 2 is a pin, and the structure of this pin 2 is the same as that shown in FIG. Reference numeral 1 is a hand portion main body, and 8 is a bracket. The bracket 8 is fixed to the front surface of the hand portion main body 1. Reference numeral 15 is a holding portion, and the holding portion 15 is a member that is free with respect to the hand portion main body 1. Reference numeral 16 is a positioning plate fixed to the bracket 8 fixed to the hand portion main body 1, and the positioning plate 16 and each tapered portion of the holding portion 15 are engaged with each other so that the position of the central axis of the holding portion 15 and the forward protruding position are It is regulated and positioned. The holding portion 15 is arranged between the positioning plate 16 and the hand portion main body 1. Reference numeral 17 is a spring as an elastic member, and the spring 17 is arranged between the hand portion main body 1 and the holding portion 15 and biases the holding portion 15 from the rear so as to hold the engagement with the positioning plate 16. . The spring 17 is weak and weaker than the frictional force that increases due to the lateral force applied to the pin during insertion.

Reference numeral 9 is a finger that holds the pin 2 from the side,
For example, four fingers 9 are provided, and each of them is rotatably supported by a bracket 8 by a support pin 10. Reference numeral 11 is a solenoid, and this solenoid 11 has a groove 12a at the rear end portion of its operating shaft 12. 1
Reference numeral 3 denotes a substrate, and this substrate 13 has a plurality of holes 13a provided at pin insertion intervals P1 mm, and the contact portions of the pins 2 are inserted into the holes 13a. 14 is a pattern. In addition,
The protrusion 9 a provided on one end of the finger 9 engages with the groove 12 a of the actuating shaft 12 of the solenoid 11.

Next, the operation of this embodiment having the above configuration will be described. FIG. 3 is an enlarged side view of an essential part showing the operation of this embodiment. First, when the solenoid 11 is biased and the operating shaft 12 is attracted in the direction of arrow A, the four fingers 9 have their projections 9a engaged with the grooves 12a of the operating shaft 12, so that the operating shaft 12 By moving the arrow 9 to the arrow A, the finger 9 rotates about the support pin 10 as shown by the solid line. Thus 4
When the two fingers 9 are closed as shown by the solid line, the pin 2 can be reliably grasped by the four fingers 9. Then, since the pin 2 is inserted into the hole 13a of the substrate 13, the pin 2 moves toward the substrate. While inserting the pin 2 into the hole 13a, the hole 13a and the pin 2
The finger 9 is opened in order to reduce the load applied to the pin 2 due to the displacement of the central axis.

The opening of the finger 9 allows the pin to be free, and the load on the pin from the side increases the frictional force at the time of insertion, so that a pressing force is applied to the rear side. 17 shrinks and the positioning plate 16 and the holding portion 1
5 is disengaged. As a result, the holding portion 15 becomes swingable and can swing in parallel with the substrate in all directions as shown in FIG. Therefore, the central axis of the holding unit 15 moves parallel to the direction in which the load due to the inserting operation is not applied, and the central axis of the pin 2 held by the holding unit 15 is corrected without load.

Then, the pin 2 can be inserted into the hole 13a of the substrate 13 without breaking the pin 2. Although the above embodiment is applied to the robot hand mechanism of the automatic MDF device, the swingable function of the holding portion is also applicable to a general robot hand mechanism.

[0016]

As described in detail above, according to the present invention, a holding portion that comes into surface contact with the rear end of a pin and a finger that is rotatably supported and clamps the pin from the side portion are provided on the hand portion main body. In a robot hand mechanism that is mounted and controls the pin holding state by opening and closing the finger, the holding part is a free member with respect to the hand part main body, and the positioning is performed to regulate the position of the central axis of the holding part and the forward protruding position. An elastic member that fixes a plate to the hand portion main body, arranges the holding portion between the positioning plate and the hand portion main body, and biases the holding portion from the rear so as to hold the engagement with the positioning plate. Since the pin is disposed between the hand part main body and the holding part, the holding part can be swung as soon as a load is applied to the pin, and the central axis can be moved together with the holding part.

Thus, the center axis of the pin can be freely moved at the time of insertion, the deviation between the center axis of the hole and the pin can be surely corrected, and a robot hand mechanism for preventing the pin from breaking is provided. There is.

[Brief description of drawings]

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

FIG. 2 is an enlarged side view of an essential part showing an embodiment of the present invention.

FIG. 3 is an enlarged side view of an essential part showing the operation of the embodiment of the present invention.

FIG. 4 is a plan view showing an overall configuration of a general robot hand mechanism.

FIG. 5 is a side view of a main part showing a conventional example.

FIG. 6 is a front view of a main part showing a conventional example.

FIG. 7 is an exploded perspective view of essential parts showing a conventional example.

FIG. 8 is a perspective view of a main part showing a conventional example.

[Explanation of symbols]

 2 pin 1 hand part main body 8 bracket 9 finger 10 support pin 11 solenoid 12 working shaft 13 board 13a hole 14 pattern 15 holding part 16 positioning plate 17 spring

Claims (1)

[Claims] 1. A holding portion that comes into surface contact with an end portion of a pin, and a finger that is rotatably supported and holds the pin from the side portions are mounted on a main body of the hand portion. In the robot hand mechanism to be controlled, the holding part is a free member with respect to the hand part main body, and a positioning plate for restricting the position of the central axis of the holding part and the forward protruding position is fixed to the hand part main body. The holding part is arranged between the hand part body and the hand part body, and an elastic member for urging the holding part from the rear so as to hold the engagement with the positioning plate is arranged between the hand part body and the holding part. Robot hand mechanism characterized by.