JPS5850835B2 - Gripping device for industrial robots - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a gripping device for an industrial robot.

The mainstream of conventional gripping devices for industrial robots is simple gripping motion using two finger members, and other gripping devices consist of specialized fingertip members for each task. .

For this reason, a dedicated fingertip member can only be used for one task, and a gripping device consisting of two fingers can only be used for a simple grasping operation.

SUMMARY OF THE INVENTION An object of the present invention is to provide a gripping device for an industrial robot that eliminates the drawbacks of the prior art described above and enables many practical tasks.

That is, in the present invention, the first finger member and the second finger member are arranged such that the plane of motion of the first finger member and the second finger member are orthogonal to the plane of motion of the third finger member.
A finger member, a second finger member, and a third finger member are provided, and each finger member is further connected to a drive source to grip and hold an object from three directions. .

Further, the present invention is characterized in that it is composed of the three finger members described above, and the three finger members are driven using one drive source and two clutches.

The present invention will be explained below based on embodiments shown in the drawings.

FIG. 1 is a diagram showing a schematic configuration of a designation mechanism of a gripping device of an industrial robot.

That is, 1 is an L-shaped first finger member, and 2 is an L-shaped second finger member.

3a and 3b are links, and the shafts 4a and 4b implanted in the first finger member 1 are loosely fitted into holes drilled at one end to connect the shafts 4a and 4b so as to be rotatable, and the holes are drilled at the other end. A shaft 5 is rotatably supported in the hole by a main body 6 which is an arm member of an industrial robot.
a.

5b are fixedly connected and formed to have equal dimensions to form a parallel link mechanism so that the first Q finger member 1 moves in parallel.

3c and 3d are links, respectively, and the shafts 4c and 4d implanted in the second finger member 2 are loosely fitted into holes drilled at one end and connected rotatably, and the shafts 4c and 4d are connected rotatably to holes drilled at one end. The shafts 5c and 5d rotatably supported by the main body 6, which is an arm member of the industrial robot, are fixedly connected to the holes formed in the shafts 5c and 5d, and are formed to have the same dimensions so that the second finger member 2 can move in parallel. A parallel link mechanism is formed.

Reference numeral 7 denotes a third finger member having an L-shape, and a direction perpendicular to the moving direction of the first finger member 1 and the second finger member 2, and a direction perpendicular to the moving direction of the first finger member 1 and the second finger member 2. It is rotatably formed by a shaft 8 which is rotatably supported by the main body 6 of the industrial robot at the center of the member 2 .

FIGS. 2 and 3 are views showing more specifically the gripping device of the industrial robot shown in FIG. 1.

9a is a gear fixed to the shaft 5b, 9b is a gear fixed to the shaft 5c, and the gears 9a and 9b mesh with each other.

Reference numeral 10 is a worm gear that meshes with the gear described above, and is fixed to a shaft 11 rotatably supported by the main body 6.

An actuator 12 is a driving source and is fastened to the upper end of the main body 6.

13 is a clutch whose input side is connected to the output shaft 14a of the actuator 12 via a coupling 14b, and whose output side is connected to the shaft 11.

15 is a shaft rotatably supported at the upper end of the main body 6;
Gear 1 fixed to output shaft 14a of actuator 12
A gear 17 that meshes with gear 6 is fixed.

18 is rotatably supported by the main body 6, and the third finger member 7
This is a gear fixed to one end of a shaft 8, which has a fixed fulcrum.

A shaft 19 is rotatably supported by the main body 6, and a worm gear 20 that meshes with the gear 18 is fixed thereto.

21 is a clutch whose input side is connected to the shaft 15 and output side is connected to the shaft 19.

With the above configuration, the output shaft 14a is rotated by the actuator 12.

One side of this rotation is transmitted to the input side of the clutch 13 via the coupling 14b.

When this clutch 13 is turned off, no rotation is transmitted thereafter, so the first finger member 1 and the second finger member 2 remain stationary.

Further, when the clutch 13 is turned on, the rotation is transmitted to the worm gear 10 and further transmitted to the gear 9a.

The first finger member 1 is moved in parallel in the direction of the arrow so as to press against one side of the object by the rotation of the link 3b directly connected to the gear 9a.

In parallel movement of the first finger member 1, the second finger member 2 also presses down the other side of the object via the link 3c with the rotation of the gear 9b meshing with the gear 9a. Move in parallel in the direction of the arrow.

Regarding the operation of the third finger member 7, the rotation of the output shaft 14a is transmitted to the shaft 15 via the gears 16 and 17, and then to the clutch 21.

If the clutch 21 is turned OFF here, the third finger member 7
stands still.

When the clutch 21 is turned on, rotation is transmitted to the shaft 19, the worm gear 20, and the gear 18, and the third finger member 7 operates.

First finger member 1, second finger member 2, and third finger member 7
Both are stationary when the clutches 13 and 21 are OFF, but due to the characteristics of the worm gear and the gear, the stationary state of these three finger members remains unchanged even if an external force is applied to the finger members.

Next, a case in which an object is gripped by the gripping device of the industrial robot will be specifically explained.

That is, FIG. 4 shows an object 22a formed of n prisms (n≧3).
FIG. 5 shows a state in which a columnar object 22b having n (n≧3) protruding radial legs is held by three finger members 1, 2.7. .7 shows a gripping state, FIG. 6 shows a state in which a columnar object 22c having a T-shaped cross section is gripped by three finger members 1 and 2.7, and FIG. 7 shows a grip-like object like a handle. 22d is shown gripped and held by three finger members 1, 2.7.

As explained above, according to the present invention, triangular, Y-shaped,
It is possible to reliably grip a columnar object having a T-shaped cross section or the like.

Further, according to the present invention, an object equipped with a handle can be reliably gripped without coming off.

In particular, since it is a gripping device in which the first finger member and the second finger member can be moved in the same direction, and the third finger member can be moved in a direction perpendicular to the same direction, the size of the object Capable of grasping many types of objects regardless of the situation.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an outline of the fingertip portion of a gripping device for an industrial robot according to the present invention, and FIG. 2 is a front sectional view showing an embodiment of the gripping device for an industrial robot according to the present invention. Figure 3 is a cross section taken along the line A-A in Figure 2, Figure 4 is a diagram showing a state in which a triangular prism object is gripped, and Figure 5 is a diagram showing a state in which a columnar object with a Y-shaped cross section is gripped. The illustrated figures, FIG. 6, are diagrams showing a state in which a columnar object having a T-shaped cross section is gripped, and FIG. 7 is a diagram showing a state in which an object equipped with a handle is gripped. Explanation of symbols: 1...first finger member, 2...
...Second finger member, 3a to 3d...Link, 4
a~4d. 5a-5d...shaft, 6...main body, 7.
...Third finger member, 8, 11, 17, 19
-... Axis, 9a, 9b. 16.17,18...gear, 10,20...
...worm gear, 12...actuator, 13,21...clutch.

Claims (1)

[Claims] 1. A first finger member and a second finger member that move by power from a drive source in a direction that forms a predetermined plane, and a first finger member and a second finger member that move by power from a drive source in a direction perpendicular to the plane. 1. A gripping device for an industrial robot, characterized in that a third finger member is attached to the tip of an arm member of the industrial robot to grip and hold an object from three directions. 2 The tips of the first finger member and the second finger member are formed into a straight line, and the tip of the third finger member is formed into a hook shape in the direction in which the first finger member and the second finger member exist. A gripping device for an industrial robot according to claim 1, characterized in that the gripping device is formed by bending. 3. The first finger member and the second finger member are rotatably connected to the arm member of the industrial robot by a parallel link mechanism, and
2. A grasping device for an industrial robot according to claim 1, wherein the finger member and the second finger member are moved in parallel to grasp an object. 4. The first finger member and the second finger member are connected to a drive source through a clutch, and the third finger member is connected to the first drive source through a clutch, and the third finger member is connected to the first drive source through a clutch. A gripping device for an industrial robot according to claim 1, wherein the gripping device for an industrial robot is configured to grip an object from three directions using power. 5 The first finger member and the second finger member are connected to a drive source by meshing a worm gear and a gear, and the third finger member is also connected to the drive source.
A gripping device for an industrial robot according to claim 1, characterized in that a worm gear and a gear are meshed and connected to a drive source so that they do not open even when force is applied to the finger members. .