JPS59182080A - Hand device for industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to a hand device for an industrial robot.

Conventional industrial robot gripping devices have a drawback in that it is difficult to grasp and transport thick and heavy workpieces.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to overcome the drawbacks of conventional devices and to
An object of the present invention is to provide a hand device for an industrial robot that can grasp and transport heavy workpieces.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The hand device for an industrial robot according to the present invention will be described in more detail below with reference to preferred embodiments shown in the accompanying drawings.

1 to 5 show an embodiment of a hand device for an industrial robot according to the present invention.

1 to 5 showing this embodiment, reference numeral 1 indicates the main body of an industrial robot, and the main body 1 supports an elevating body 2 that makes vertical reciprocating motion. A first arm 3 that reciprocates in a horizontal plane is supported at the upper end of the elevating body 2, and a second arm 4 that similarly rotates in a horizontal plane is supported at the tip of the first arm 3. ing. Furthermore, a handle is provided on the lower surface of the tip of the second arm 4, which is supported by a vertical rotation shaft 5 and rotates back and forth about five turns of the rotation shaft.

The detailed configuration of this hand 6 will be further explained.

A bracket 7 is attached to the lower end of the rotation shaft 6.
It is fixed near one end so as to be orthogonal to the This bracket 7 is a rectangular plate part, which is a base part 7a, and bearing plates 7b are provided on both sides of the other end.

7c is erected and fixed on the rotating shaft 5 side. A hole 7d is formed in the base 7a at an approximately central portion between the two bearing plates 7b and 7c, and the output shaft 8a of the motor 8 attached to the lower surface of the base 7a is inserted through the hole 7d, and the upper surface of the base 7a is inserted through the hole 7d. A gear 9 is fixed to the end of the output shaft 8a.

A driven shaft 10 having a rectangular cross section and a rack 10a that meshes with the gear 9 extends in a direction perpendicular to a virtual line connecting the center of the rotation shaft 5 and the center of the output shaft 8a, and is provided between the shafts 5 and 8c. It is located. On the other hand, opposite to this, another driven shaft 11 having a rectangular cross section is arranged parallel to the driven shaft 10 with its rack lla meshing with the gear 9. Both ends of these two driven shafts 10 and 11 are connected to respective bearing plates 7b and 7.
It is supported by being inserted through the square holes 7e, 7f, 7g, and 7h formed in the base portion 7a, and extends laterally of the base portion 7a.

As shown in FIG. 2, two driven shafts 10.
11, as seen in FIG. 2, the driven lit! The right end of 10 is fixed to the metal left grip piece 12, and the left end thereof is inserted into a square hole 13a formed in the metal right grip piece 13. The left end of the other driven shaft 11 is fixed to the right gripping piece 13, and the right end thereof is inserted into a square hole 12a formed in the left gripping piece 12.

These gripping pieces 12, 13 arranged opposite to each other extend in the direction opposite to the rotating shaft 5 along the virtual line connecting the centers of the shafts 5 and 8a, Opposite sides of the pieces have respective clamping parts 12b.

1-3b is formed.

A gripping surface 12c that is an opposing surface of each of the gripping portions 12b and 13b.
, 13c are each formed into a flat surface having grooves 12d, 13d-i extending along the longitudinal direction of the gripping piece in the center thereof. Each of these one-piece holding surfaces 12c.

The grooves 12d and 13d in the grooves 13c are provided with a friction material 14. made of an elastic material with a high coefficient of friction such as polyurethane rubber.
15 is fitted. Each of these friction materials 14, 15 is sized so that it slightly protrudes from the gripping surfaces 12c, 13c. The hardness of this friction material 14.15 and the gripping surface 1
The protruding dimensions of 2c and 13c are appropriately determined so that when a specified gripping force is applied, the end surfaces of the friction members 14 and 15 are flush with the gripping surfaces 2c and 13c.

Note that 16 indicates a power supply cable, and 17 indicates a cylindrical workpiece.

In the hand device of the industrial robot according to the embodiment, which is configured in a diagonal manner, power is supplied to the motor 8 and the output shaft 8a is
When the gear 9 is rotationally driven in the clockwise direction indicated by the arrow in the figure, the driven shafts 10 and 11 are moved in opposite directions. In the case of the rotational direction of the gear 9, the moving direction of each driven Qlill O, 11 is the direction shown by the arrow in FIG. Therefore,
The gripping pieces 12, 13 fixed to opposite ends of each driven shaft 10.11 move away from each other, so that
Locomotive part 12b.

1: Release the workpiece 17 held by the gripping surfaces 12c and 13c of 3b. Conversely, when the gear 9 is driven counterclockwise, the gripping pieces 12 and 13 approach each other and grip the workpiece 17 with their gripping surfaces 12 c and 13 c.
grasp.

In such a hand device, the workpiece 17 to be lifted
The weight of is the larger value of wl or w2 shown by the following formula.

Base = μ・P W2-μm・P.

In the above formula, μ is the gripping surface 12c, 13c and the workpiece 1.
7, P is the gripping force, μm is the friction material 14.
The coefficient of friction, p, between the friction material 15 and the workpiece 17 is
．． 15 to the gripping surfaces 12c and 13c.

In such a formula, μm is generally several times μ, so the friction material 14.1 is adjusted so that P is approximately equal to P.
By appropriately selecting materials and shapes in step 5,
It becomes possible to transport a workpiece 17 that is several times heavier.

As a result, the entire hand 6 can be made smaller, and the capacity of the motor 8 can also be made smaller. In other words, the position of the workpiece 17 is on the metal gripping surface 12c, j-3.
c allows for work with high positional accuracy.

In addition, in the above embodiment, the friction material 14.15 is attached to the grip part 12.
Although one piece is arranged in each of c and 13c in a linear manner, the same effect can be obtained even if a large number of pieces are arranged in a dotted manner.

FIG. 6 shows another embodiment of the present invention, in which voids are formed in the gripping parts 12b and 13b of the d gripping pieces 12 and 13, and the gripping surfaces 12c and 13c have the grooves 12d described above. ,
In place of 13d, an opening communicating with the void is formed. In this space, a spring 18 is housed, and a friction material 14, 15 having a convex cross section is housed. This friction material 14
．． 15 is pressed by a spring 18 in the cavity, and its protrusion protrudes from the openings of the grips 12c and 13c. According to such a hand device, it becomes easier to adjust Pl, and the object of the present invention can be completely achieved.

As explained above, according to the present invention, a part of the gripping surface of the gripping piece protrudes from the gripping surface when the workpiece is gripped, and when the workpiece is gripped, the gripping surface and the flat surface, i.e. By arranging an elastic body with a high coefficient of friction that retracts until they are flush, it is possible to grip and transport a heavy workpiece with high positional accuracy.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an industrial robot equipped with a hand device according to an embodiment of the present invention, FIG. 2 is a plan view showing only the hand of the industrial robot shown in FIG. 1, and FIG. 3 is a cross-sectional view of the hand taken along the line IJI-III in FIG. 2, FIG. 4 is a partial cross-sectional view of the gripping piece of the hand taken along the line IV-IV in FIG. 5 is a partial sectional view of the gripping piece of the hand taken along line V-V in FIG. 2, and FIG. 6 is a partial sectional view of the gripping piece in another embodiment of the present invention. 1... Industrial robot main body, 3... First arm,
4... Second arm, 5... Rotation axis, 12.13.
...Gripping piece, 12b, 13b...Gripping part, 12c, 1
3c...Gripping surface, 14.15...Friction material, 17...
·work. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Nobu Katsura - 4 Happy 1 Figure 2 ■=

Claims (1)

[Claims] (1) A hand device that is attached to the tip of an arm extending from an industrial robot body, which includes a grasping piece that can be accessed remotely and that pinches and grasps a workpiece, and at least a part of the grasping surface of the grasping piece that clamps the workpiece. A hand device for an industrial robot, characterized in that an elastic body with a high coefficient of friction is provided to protrude from the gripping surface. (2. In the hand device for an industrial robot according to claim 1, the elastic body is arranged in a cavity formed inside the gripping piece, and is pressed by a spring installed in the protrusion, A hand device for an industrial robot, characterized in that the hand device partially protrudes from an opening formed in the gripping surface.