JPH09155779A - Robot hand simultaneously moving number of hands through links - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply grasp an article different in diameter by one robot hand without core slippage and falling. SOLUTION: (A) A cylinder 3 is rotatably connected to a cylinder mounting table with a pin 6. (B) An arm 4 is rotatably connected to a joint 5 at the tip end part of the cylinder 3 with a pin 16. (C) The arm 4 is integrated with a shaft 9 with a key 8. The shaft 9 is prevented from falling out by a shaft locking closure 7. (D) The shaft 9 is fitted in a guide rail mounting plate 1 in such a way as to be freely rotated. (E) Each link 13 is rotatably connected with the shaft 9 which pins 15. (F) Each guide 11 is rotatably connected to each link 13 with pins 12. (G) Each guide 11 is fixed to each link 13 with each pin 12 so as to be integrated. (H) Each guide 11 can be freely moved over each guide rail 10. (I) Each guide rail 10 is fixed onto a guide rail mounting plate 1. (J) The distance between a shaft core J and the core H or M of each link 13 can be altered or be made identical.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand.

[0002]

2. Description of the Related Art A conventional robot hand has a difficulty in easily grasping large and small circular products without misalignment. There was a problem of misalignment and falling when grasping items with different diameters with one robot hand, and it was difficult to grasp inside and outside with the same hand. The product shown in FIG. 7 could not be easily grasped without misalignment.

[0003]

[Problems to be Solved by the Invention] The main problem of the present invention is as shown in FIG. As shown in FIG. 3, the object is to easily grasp a large or small circular object without misalignment. The purpose is to easily grab items with different diameters with one robot hand without misalignment or drop, and to grab items with the same hand outside and inside. The object shown in FIG. 7 is to easily grasp without misalignment.

[0004]

[Means for Solving the Problem] Now, the means for solving the problem will be described with reference to the drawings. (A) A two-cylinder mount and a three-cylinder are rotatably connected by 6 pins. And 4 arms 16
Connect rotatably with a pin. (C) 4 arms and 9 axes are integrated with 8 keys.
Also, the 7-axis slip-out lid prevents the 9-axis from slipping off. (D) The 9-axis is fitted into the 1-guide rail mounting plate so that it can rotate freely. (E) 13 links are connected to 9 axes so that they can rotate with 15 pins. (F) Connect 13 links and 11 guides so that they can rotate with 12 pins. (G) The 11 guide and 14 hand are fixed and integrated. (H) The 11 guide can move freely on the 10 guide rail. (I) The 10 guide rails are fixed to the 1 guide rail mounting plate. (Nu) 10 guide rails, 11 guides, 12 pins, 1
Four sets of 13 hands and 15 pins are attached in this figure. Or install multiple sets. (L) Change or make the distance between the shaft core J and the 13th link core H, KM, and M the same.

[0005]

Since the present invention has the above-described structure, when 3 cylinders operate as shown in FIG. 2 and 4 arms rotate in the F or G direction as shown in the figure, 13 links move 11 guides on 10 guide rails. Three 14 hands move at the same time. By moving three 14 hands at the same distance by 13 links at the same time, it is possible to grab as shown in FIG. 6 without misalignment. Further, as shown in FIG. 7, the moving distance of 14 hands can be freely set by changing the H, K, and M distances from the axis J, and the product can be gripped as shown in FIG. Within the stroke of 3 cylinders,
Even if the diameter and size change, it can be grasped with one robot hand. 14 hands can be done with the same hand both inside and outside.

[0006]

[Effects of the Invention] Large and small circular objects can be easily grasped without misalignment. You can easily grab items with different diameters with one robot hand without misalignment or dropping. The product shown in FIG. 7 can be easily grasped without misalignment. Within the stroke of 3 cylinders, one robot hand can grasp even if the diameter and size change. Also, large items are economically cheap and easy to grasp with high precision.

[Explanation of symbols]

 1 is a guide rail mounting plate 2 is a cylinder mounting base 3 is a cylinder 4 is an arm 5 is a joint 6 is a pin 7 is a shaft butter cover 8 is a key 9 is a shaft 10 is a guide rail 11 is a guide 12 is a pin 13 is a link 14 Is a hand 15 is a pin 16 is a pin H is a 9-axis core K is a 13-link core M is a 13-link core

[Brief description of the drawings]

FIG. 1 is a view of the present invention viewed from the direction of arrow A.

FIG. 2 is a front sectional view of the present invention.

FIG. 3 is a view on arrow B of the present invention.

FIG. 4 is a view as seen from the arrow B after the operation of the three cylinders of the present invention.

FIG. 5 is a view of the present invention viewed from the arrow C.

FIG. 6 is a front sectional view of the present invention after the operation of the three cylinders.

FIG. 7 is a diagram showing an example shape of an item to be grabbed by the present invention.

FIG. 8 is a view from the arrow A after the operation of the three cylinders of the present invention.

Claims (1)

[Claims] A robot hand that inserts an article at the same time with multiple hands that move on a guide through multiple links from a rotating plate attached to one drive shaft.