JPS5988285A - Hand for 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 [Field of Application of the Invention] The present invention relates to a robot node. For example, it can be attached to the robot's wrist and used as a robot arm for non-linking and assembly of workpieces, etc. It is also suitable for use by attaching a simple small assembly robot L&C, and it is suitable for use as a general-purpose small robot. The present invention relates to a robot hand that can also be used as a width hand.

[Prior art]

An example of a conventional robot hand is shown in FIGS. 1 to 4, and the configuration of each will be briefly explained, as well as its drawbacks.

The example shown in FIG. 1 is a single swing lever type).

In this example, a pair of swing levers 52, 52' are engaged with the tip of the rod 31 of the air cylinder 30 via a pin 33, and as the rod 31 moves, the fixed pins 54, 54
The swing levers 3 and 2 swing synchronously with ' as a fulcrum. This opens and closes a pair of claws 35, 35' attached to the tips of the swing levers 52, 32-. Fixed bin 54.
54' is attached to the flange 36 identified by bolts or the like on the cylinder 30.

The disadvantage of this method is that the claw 35 allows you to grasp the workpiece reliably.
．． The posture of 35' is limited to the position shown by the chain line, and the claws 55 and 55' are oblique in other positions, making it impossible to grasp the workpiece reliably. For this reason, although it is possible to grasp the same workpiece, it is not suitable for handling different workpieces at the same time, and lacks versatility.

The example shown in FIG. 2 is a parallel link type hand. In this example, a pair of links A42 and A42' are engaged via a pin 43 at the tip of the rod 41 of the air cylinder 40. Further, links B44 and 44' are respectively linked A42.
42', forming a parallel link. A claw 45 is provided at the tip of the parallel link. As the rod 41 moves, the claws 45' move in parallel in synchronization to grasp the workpiece within its movement range.

The disadvantage of this method is that the claws 45, 45 open and close in parallel, and at the same time move in the vertical direction in the figure (the direction of movement of the rod 41) as shown by the chain line, so when grasping the workpiece,
The gripping surfaces 46 and 46' of the claws 45 and 45' may slip, potentially damaging the workpiece.

The example shown in FIG. 3 is a synchronous feeding method using an f-motor mini-cheer rope. In this example, the rotational torque of the f motor 50 is transmitted to the pulley 453 via the worm gear 51 and the worm wheel 52. A miniature rope 55 is stretched by looping the pulley 453 and the pulley B54, and the lobe 55 is attached to the gripper 56.57.
are engaged so that they are opposite to each other. Note that a potentiometer 58 is provided for feeding back the amount of opening and closing of the gripper 5657.

The disadvantages of this method are: ■ There is a risk of the rope becoming loose due to stretching, and ■ There is a risk of the rope breaking.

The example shown in FIG. 4 is an f motor + feed screw system. That is, the rotational torque of the motor 60 is transmitted to a pair of feed screws 61 via a gear, and a pair of units 62 are connected to each other.
- Translate in the opposite direction using the guide rod 63 as a guide. A pair of grippers 6 are attached to a pair of nut units 62.
4. -5 is for installation.

The disadvantage of this method is that (1) noise is generated from the gear and the feed screw 61; (This means that the amount of RI is large.

Although not shown, as a fifth example, there is a method in which a pair of grippers is operated using two air cylinders. In other words, the gripper on one side is operated by one cylinder, and the gripper on the other side is similarly operated by another cylinder.0 According to this method, the timing of manufacturing the two air cylinders can be synchronized. Since two air cylinders are used, it has drawbacks such as being relatively large.

[Purpose of the invention]

The object of the present invention is to overcome the drawbacks of the above-mentioned conventional examples, and to
The object of the present invention is to provide a robot node that is (11) highly versatile, (11) capable of achieving improved reliability in grasping a workpiece, and (011) also capable of being lightweight and compact.

[Summary of the invention]

In order to achieve the above object, the present invention uses one air cylinder, and has a pair of sliders that are slidable on the outer periphery of the air cylinder tube, and is removably attached to the sliders. A pair of grits constitutes a parallel movement type node,
A synchronized υU opening/closing mechanism is provided for this, and this mechanism allows the pair of glyphs /< to move in parallel. The synchronous opening/closing mechanism can be constructed by employing, for example, a combination of a rack gear and an idle gear. Another link mechanism.

A synchronous opening/closing mechanism of the gripper can also be constructed by adopting the principle of a lever or the like.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 5 to 8.

In FIG. 5, reference numeral 2 denotes an air cylinder, and a pair of sliders A8 and B10 that are slidable on the outer periphery of the air cylinder tube are disposed on the outer periphery of the air cylinder, and each slider, 4B
, B10 each have a gripper 19 detachably attached thereto. A synchronous opening/closing mechanism is provided so that the gripper 19 opens and closes synchronously.

In this example, this synchronous opening/closing mechanism is composed of rack gears A1'', B14 and an idle gear 16, as will be described later.

The specific structure of this embodiment is as follows. 6th
As shown in the figure, the cylinder 2 is fastened to the main body frame 1 with a plurality of bolts 3, and as shown in FIG.
The intermediate part 4 is fixed to the inner surface of the piston 6, and a pin 5 is further provided to stop the movement of the piston 6.

The piston 6 is slidable on the inner surface of the cylinder 2, and the piston rod 7 is fastened to the slider A8 with a nut 9.

A pair of sliders A8 and slider B1o are both slidable on the outer periphery of cylinder 2, and sliders AF1. B1
The convex portion 11 (see FIG. 6) of the main body frame 10 is configured to be movable in parallel using the guide groove 12 of the main body frame 10 as a guide. Further, a rack gear A13 is installed in parallel to the slider A8, and a rack gear Bj4 is installed in parallel to the slider B1o, so that a freely rotatable idle gear 16 is sandwiched between them (see FIGS. 6 and 8). In this way, when the slider A8 moves left and right, the slider B10 can move right and left in synchronization with the movement. As shown in Figure 5, idle gear 1
6 is rotatably attached to a 7 flange 17, and the flange 17 is attached to the main body frame 1 with a plurality of bolts 15.

A pair of grippers 1 to 19 are respectively moved by a plurality of sliders A8. It is attached to slider B10. Further, the piping component A21 is provided on the slider A8, and the piping component B22 is provided on the cylinder 2, and controls opening and closing of the pair of clippers 18 and 19. In other words, when opening 19 to the clipper 1, air is supplied from the piping part (21 side).Then, the small chamber A2s is filled with air, and the air pressure moves the slider A8 to the left.
At the same time, the rack gear (13 → idle gear 1
6→Slider B10 in the transmission path that makes noise with the easy gear B14
As a result, the pair of grippers 1ξ19 are opened. Conversely, when closing 19 to the clipper 1, when air is supplied from the piping part B22 side, the small chamber B24 is filled with air, and the air pressure moves the piston 6 and the slider 8 to the right. In synchronization with this, the slider B1o is moved in a transmission path that goes from rack gear A15 to idle gear flow to rack gear B14, and as a result, the grippers 19 are closed to the pair of grippers 1.

In this embodiment, as shown by the chain line in FIG.
Since the gripping surface 9 moves in parallel without tilting, it can be applied to various types of workpieces and is highly versatile.

In addition, synchronization of opening and closing is not guaranteed, the workpiece can be grasped reliably, the assembly defect rate is low, and reliability is high.

The synchronous opening/closing mechanism of this embodiment is a rack gear, 41! i, B
14, and an idle gear 16, which can reliably achieve synchronous opening and closing with a simple structure. Furthermore, the overall configuration is simple and lightweight and compact. There is also less risk of trouble occurring.

When adding an automatic hand exchange function, it would be complicated if there were two piping routes, so the above embodiment was modified to eliminate the piping part B22, provide a compression coil spring in the small chamber B24, and install the gripper 1819. When opening, use piping part A2
It is also possible to supply air from 1 and utilize the rear force of the spring when closing.

In actual use, components for detecting the opening and closing of the gripper, such as a photo switch, reed switch, potentiometer, etc., are installed.

〔Effect of the invention〕

According to the present invention, (1) one hand can handle many works, so it can be used for general purposes, the manufacturing cost of the hand can be reduced, and the frequency of automatic hand replacement is reduced, leading to tact amplifier.

(11) Since the workpiece can be grasped reliably, the assembly defect rate is reduced and reliability is improved. 610 has advantages such as being able to be used in inexpensive and simple small assembly robots due to its small size and light weight.

It goes without saying that the present invention is not limited to the illustrated embodiments.

[Brief explanation of drawings]

FIGS. 1 to 4 each show conventional examples. FIG. 5 is a front sectional view of the present invention, and FIG. 6 is a left side view of FIG. 5. No. ′
Figure 7 is a cross-sectional view taken along the line Ii-Vll of Figure 6. FIG. 8 is a sectional view taken along the line viu-vm in FIG. 2...Air cylinder, 8...Slider A, 10.
...Slider B, 13...Rack gear A114...
Rack gear B116...Idle gear, 11% 19.
...Gripper. Sheep l Diagram Sheep 2 Diagram Sheep 3 Diagram f7 5b Sheep 4- Diagram 7 Diagram-563

Claims (1)

[Claims] A synchronous opening/closing mechanism is installed in a parallel moving hand consisting of one air cylinder, a pair of vibrators that can pulsate around the outer circumference of the air cylinder tube, and a pair of grippers that are removably attached to fingertips. A robot hand characterized in that the pair of grippers can be opened and closed in synchronization.