JPS5947187A - Robot hand - 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 an industrial robot hand that grasps a workpiece and transfers it to a machine tool such as a lathe.

An industry in which a hand with a claw that can be opened and closed to grip a workpiece is attached to the tip of an arm, and the hand is used to attach the workpiece to a chuck of a lathe or the like.

In robots for use in industrial applications, if the positioning of the hand is inaccurate and the central axis of the workpiece gripped by the hand and the gripping center axis of the chuck are misaligned or tilted at a certain angle to each other, the workpiece gripped by the hand may not be gripped by the chuck. When tightening the robot, there is a risk that the workpiece may be improperly pried between the chuck of the lathe and the robot's hand.

The present invention provides a robot hand free from the above-mentioned dangers, and embodiments thereof will be described below based on the drawings.

In FIG. 1.2, (1) is an arm, and a hand (2) is attached to the tip of the arm (1), that is, the wrist portion, via a rotating device or the like.

(3) is a box-shaped hand frame, and a pair of claw members (6) and (7) are pivotally supported at the front end of the frame (3) by horizontal pins (4) and (5) so as to be able to swing freely. It is.

The claw members (6) and (7) are approximately dogleg-shaped swinging arm portions (6a).
(7a) and claw blocks (6b) (7b) replaceably fixed to the tips of the swinging arm portions (6a) (7a), and the claw blocks (6b) (7b> are By appropriately replacing the V-shaped recess with one having a different size, it is possible to hold workpieces (5) of different diameters.

Each of the pair of claw members (6) and (7) is connected to a hydraulic cylinder (11 cylinders (12)) supported by brackets (8) and (9) at the rear end of the frame (3).
) (1,4) The ends are connected (15) (16),
The upper claw member (6) is connected to the upper hydraulic cylinder (11), and the lower claw member (7) is connected to the lower hydraulic cylinder 0.
2) so that they are individually driven to swing.

(17) is a stopper bolt that restricts the end of the lower claw member (7) in the closing direction, and the amount of protrusion can be adjusted by turning the nut (18).

Next, the workpiece suppression device (19) provided on the frame (3) of the hand will be explained.
(19) connects one end to the bracket (2) on the frame (3).
1), and a bottle (24) at the end of the rond (23) of the hydraulic cylinder (support) 2).
) is connected to the rocking plate (25), and when the hydraulic cylinder (22) expands and contracts, the rocking plate (25) moves to the rocking fulcrum (26).
), and a suppression head (28) fixed to the lower end of a plate (27) fixed at right angles to one end is attached to the claw block (
7b) It is designed to press the rear end surface of the workpiece (5) placed on it.

The workpiece (5) is transferred to the chuck (29) of the lathe using the robot hand of the above embodiment as follows.

That is, first, the claw members (6) and (7) are opened and closed to clamp the workpiece between the claw blocks (6b) (rlb), but at that time, the hand (2) is held against the arm (1). The wrist part is rotated appropriately by the rotating device.

Then, after allowing the claw members (6) and (7) to open and close from side to side, move the arm (1) to position the gripper (2) at the position of the workpiece (b), and then
Close the claw member (7) on the side where (17) is provided slightly earlier.

As a result, the claw member (7) hits the stopper (17) and is first positioned, and the side surface of the workpiece (5) comes into contact with the claw block (7b) of the claw member (7) and is positioned, so that the stopper t17 ); If the positioning position of the claw member (7) and the claw block (7b) are selected to be of appropriate size, the workpiece (5) can be held at the exact center position of the hand (2). be done.

Then, install the claw block (6b) as described above.
(7b) The gripper (2) with the workpiece (5) held between them is rotated by the rotating device at the wrist portion, and the claw member (6) (
7) to open and close up and down, that is, so that the workpiece (5) is in a horizontal state, and then move the arm (1) to enter the front end surface of the workpiece (5) into the chuck (29). (Figure 2).

At this time, position the workpiece (B) so that its central axis approximately coincides with the gripping central axis of the chuck (29), and position the workpiece (5) at a position that is slightly lower than the gripping central axis of the chuck (29). Position it so that

Next, the hydraulic cylinder (12) is left as it is, and only the hydraulic cylinder (11) contracts and the upper claw member (6), that is, the stopper bolt (the one without the sword) moves upward. Open the workpiece (5) so that it rests on the lower claw member (7), and close the chuck (29) of the lathe in this state.

As mentioned above, the center axis of the workpiece (5) is located at a position slightly lower than the gripping center axis of the chuck (29), so when the chuck (29) of the lathe is closed, the workpiece (5) is placed in the chuck (29).
29), it is held in a cantilevered state while being slightly raised.

At this time, since the upper claw member (6) has moved upward as described above, it will not come into contact with the workpiece (5) and become an obstacle, and the soak (5) will also move toward the hand (2) side. There is no load caused by this.

Next, the hydraulic cylinder (22) is extended to move the suppression head (28) forward through the swing plate (25), and the front end surface of the workpiece (5) is moved to the front surface (29) of the chuck (29). 2
9a), open the chuck (29) slightly while it is pressed, and then open the chuck (29) again.
Close.

As a result of the above operation, the workpiece (b) that was initially gripped by the chuck (29) was lifted up and held in a cantilevered manner by the chuck (29), so a slight deviation or inclination of the axis remained. However, the remaining deviation or inclination has been eliminated, and the front end surface of the workpiece (B) has been gripped as it is in the chuck (29).
The chuck (291) is held in close contact with the chuck (291) with the central axis of the workpiece (5) and the gripping central axis of the chuck (29) aligned.

Then, if necessary, perform the above operation, that is, press head (
The operation of opening and closing the chuck (29) while pressing the workpiece (5) toward the chuck front surface (29a) in step 28) may be repeated several times, in which case the gripping state of the workpiece (b) by the chuck (29) may change. becomes even better.

In the above embodiment, a hydraulic cylinder (22) and a swing plate (25) are provided on the frame (3) of the hand (2), and the workpiece (5) is pressed by extending the hydraulic cylinder (22). However, by installing fixed suppression heads (31) (32) as shown in Figure 3.4 on the frame (3) of the node (2) and operating the arm (1), Chuck the entire hand (2) (29
) direction (arrow direction in the figure) and hold the workpiece (5).
It may be made to press.

In other words, the pressure head (31 frames (3) shown in Fig. 3)
) (33), a collar (34) is fixed to the shaft (31), and a collar (34) is fixed to the shaft (31).
(33) Spring interposed between the rear ends (35)
It is always urged forward by this.

The pressing head (32) in Fig. 4 consists of a shaft (32) slidably inserted through a bearing sleeve (37) into a bracket (36, J) attached to the frame (3).
The head portion (32al) at the tip of the shaft (32) and the sleeve (37) are always urged forward by two interposed springs (38).

In the case described above, there is an advantage that the weight of the entire hand (2) is light.

As another example, the claw block (7b) of the lower claw member (7) is made of hard rubber, or a hard rubber layer is fixed to the surface of the claw block (7b).
When positioning the hand (2) gripping the workpiece (5) in front of the chuck (29) as described above, the central axis of the workpiece (5) is moved from the gripping central axis of the chuck (29). It is no longer necessary to position it slightly lower,
If the center axis of the workpiece (5) is positioned to approximately match the gripping center axis of the chuck (29), if the center axis of the workpiece (5) is higher than the gripping center of the chuck (29), However, if you perform the operations described above, you can use the chuck (
29), when gripping the workpiece (5) resting on the lower claw member (7) J: in a cantilevered manner, even if the rear end side of the workpiece ■ is slightly pushed down and held, the rubber The claw block (7) is compressed to allow slight downward movement of the rear end of the workpiece (5), thereby preventing excessive load from being applied to the workpiece (5) and the hand (2).

In any case, as is clear from the above explanation, the robot hand of the present invention has independent drive sources for opening and closing the claws that can be opened and closed. was placed on the other jaw and loaded into the chuck, allowing the chuck to grip it.
Even if the position of the hand is slightly deviated, the workpiece can be delivered to the chuck without being tampered with.

[Brief explanation of drawings]

Fig. 1 is a longitudinal cross-sectional side view of the robot hand of the present invention;
This figure is also a plan view, and FIG. 3.4 is a plan view showing another embodiment of the workpiece pressing device. (1)...Arm (2)...No A and (
6) (7) ---Claw member

Claims (1)

[Claims] A robot hand comprising a claw that can be opened and closed at the tip of an arm, and a driving source for opening and closing the claws that can be opened and closed is independently provided.