JPH1133968A - Holding hand for robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily reverse a part by lowering a robot arm from above to a part placed on a working base so that a chuck comes close to the part, and holding the part with the chuck, and rotating the chuck in the condition that a top surface of the part is directed to the holding hand. SOLUTION: A holding part 46 is supported freely to be oscillated in the vertical direction around a core of a tip of a robot arm and freely to be rotated around a core crossing the described core, and a holding hand 15 is formed freely to be connected for support and freely to be removed. A chuck 30 is supported freely to be rotated around a core P1 of a second frame 28, and a rack gear 31 is supported freely to be slid along a guide rail 28a of the second frame 28 so as to provide an operating cylinder in the second frame 2, and the rack gear 31 is engaged with a gear 30a. A chuck 33 is supported by the other end of the first frame 27 freely to be rotated around the same core P1 of the chuck 30. With this structure, working time of the holding hand can be shortened, and the working efficiency is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot arm used in an automatic assembly facility, which is used by being connected to and supported by the tip of the robot arm, and to a holding hand for holding components.

[0002]

2. Description of the Related Art An example of a holding hand for a robot arm used in an automatic assembly facility is disclosed in Japanese Patent Application Laid-Open No. 8-326627. In the above publication, a chuck (27 in FIG. 1 of the above publication) which can be approached and separated freely is provided,
A holding hand (26 in FIG. 1 of the above publication) is configured, and an articulated robot arm (2 in FIG. 1 of the above publication).
A holding hand is connected and supported at the tip of 3). Thereby, the parts are held by the chuck of the holding hand,
Handle parts by operating the robot arm.

[0003]

In a robot arm having a holding hand connected and supported as described above, for example, a robot arm (holding hand) is lowered from above with respect to a part placed on a work table, and the part is held by the holding hand. Is held, the part is held by the holding hand with the upper surface of the part facing the holding hand.

Accordingly, in the case of a process in which the component placed on the work table is inverted (a state in which the upper surface of the component is located on the lower side) and placed on another work table, the component is placed as described above. When the component is held by the holding hand with the top surface facing the holding hand, place the component vertically on another workbench to turn the component (the top surface of the component is positioned at the side surface). State), release the holding hand from the parts. Next, the robot arm (holding hand) is largely moved to the opposite side of the component, and the robot arm (holding hand) is approached from the lower side of the component to the component placed vertically, and the lower surface of the component (this The component is held by the holding hand in a state in which the lower surface is located on the side surface side) toward the holding hand. Therefore, by lowering the robot arm (holding hand) from above to another work table in this state, the components can be inverted and placed on another work table.

In the case where the component is turned over and placed on another work table as described above, it is necessary to perform an operation of once separating and holding the component with the holding hand so that the lower surface of the component faces the holding hand. Therefore, there is room for improvement in terms of shortening the working time. SUMMARY OF THE INVENTION It is an object of the present invention to provide a holding arm for a robot arm which can be easily turned over.

[0006]

According to a feature of the present invention, for example, a robot arm (holding hand) is lowered from above from a part placed on a work table, and a pair of chucks are brought close to each other, so that a pair of chucks is brought close. When the component is held by the chuck, the upper surface of the component faces the holding hand. By rotating the chuck in this state, the component can be inverted with respect to the holding hand, and there is no need to perform an operation of separating and holding the component once in the holding hand.

For example, when a component held by the holding hand is mounted on an inclined surface, the holding hand holding the component is set in a vertical position, and the chuck of the holding hand is slightly rotated to operate the holding hand. On the other hand, the part can be set in an inclined posture. Therefore, by bringing the robot arm (holding hand) closer to the inclined surface in this state, the parts can be easily attached to the inclined surface, and the posture of the robot arm is largely changed to match the inclined surface. It is not necessary to perform the operation of attaching the component to the inclined surface.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, in an articulated robot arm (not shown), a swingable operation can be performed up and down around an axis at a distal end, and around an axis perpendicular to the axis. The holding portion 46 is supported so as to be freely rotatable.
The holding hand 15 is configured to be able to be connected and supported and to be detachable.

[0009] As shown in FIGS.
In the gate-shaped first frame 27 provided with a connecting portion 27a to the robot arm 11, a second frame 28 is supported by a guide rail 27b provided at one end so as to be slidable in the left-right direction on the paper of FIG. The operation cylinder 29 that slides the second frame 28 is moved to the first frame 27.
It is provided in.

A chuck 30 is rotatably supported around an axis P1 of the second frame 28, and is slidably movable along a guide rail 28a of the second frame 28.
Are supported, and an operation cylinder 32 that slides the rack gear 31 is provided on the second frame 28, and the rack gear 31 is engaged with the gear 30 a of the chuck 30. At the other end of the first frame 27, a chuck 33 is supported so as to be freely rotatable around the same axis P1 as the chuck 30.

With the above configuration, the component W is held by the chucks 30 and 33 by moving the second frame 28 and the chuck 30 forward to the right in FIG. 1 by the operation cylinder 29. By sliding the rack gear 31 with the operation cylinder 32 in this state, the attitude of the component W held via the chuck 30 can be changed around the axis P1.

[0012]

According to the first aspect of the present invention, in the holding hand for the robot arm, the held part can be inverted or the holding hand can be moved without performing the operation of separating and holding the part once. The components can be easily inclined, and the workability of the holding hand can be improved. As a result, the working time of the holding hand can be reduced, and the working efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a front view of a holding hand.

FIG. 2 is a side view of the vicinity of a chuck of a holding hand.

FIG. 3 is a cross-sectional plan view near a chuck of the holding hand.

[Explanation of symbols]

 29 First operating means 30, 33 Chuck 32 Second operating means P1 Shaft core W Parts

Continuing on the front page (72) Inventor Jun Otsuka 64 Ishizukita-cho, Sakai City, Osaka Prefecture, inside Kubota Sakai Works, Ltd.

Claims (1)

[Claims] 1. A pair of chucks facing each other along one axis, and a pair of chucks are operated to approach and separate along the axis so that a part inserted between the pair of chucks is a pair of chucks. And a second operating means for rotating the chuck around the axis. A holding hand for a robot arm.