JPS60172491A - 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] [Technical Field of the Invention] The present invention provides a hand device for an industrial robot with a small number of axes, in which a set of gripping parts can have gripping functions in multiple directions using an additional unit. The present invention relates to a hand device having such a configuration.

[Prior art]

In conventional industrial robot gripping devices, the gripping direction of the workpiece by a gripping device provided on a robot arm or the like is limited to only one direction, as shown in Japanese Utility Model Publication No. 57-39197, for example. .

This is not a big problem for industrial robots used in production lines that produce small numbers of large-scale spears, as the line model changes are relatively infrequent, but in the case of small-lot production of many models, In this case, it is necessary to implement a hand device addition plan when organizing the industrial robots used in line model changes. Also,
Even in the case of mass production of a small number of models as mentioned above, it is not a big problem, but it is possible to make full use of existing robot machines to the extent possible.
There is a desire for a line design that meets the diversity of gripping directions for workpieces at minimum cost.

However, since conventional hand devices function only in one direction for gripping the workpiece, each time a line is organized, a hand device that is compatible with the gripping direction corresponding to each process is required. There were drawbacks such as the need to design and manufacture a new frame for the robot arm.

[Summary of the invention]

This invention was made in order to eliminate the drawbacks of the above-mentioned conventional ones, and an additional unit is provided between the frame of the robot arm and the gripping device that is directly attached to the frame. The purpose of this invention is to change the relative angle between the robot arm and the gripping device by changing the mounting surface to the robot arm, and to provide a hand device that has gripping functions in multiple directions with one industrial robot. do.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 is a sectional view of an additional unit used in the present invention, which is additionally provided between a robot arm and a gripping device, as will be described later. In the figure, (1) is the main body of the additional unit, (la) is the hole for the fastening bolt that fixes the additional unit to the robot arm, (2) is the mounting plate of the gripping device, (
3) is a pivot pin that connects the additional unit body (1) and the mounting plate (
The mounting plate (2) is fitted into the through hole drilled in the mounting plate (2) so as to be rotatable. (2a) is the mounting plate (2)
(4) is a compression spring; (5) is a spring seat that fixes both ends of the compression spring (4); This causes the mounting plate (2) to press against a stopper portion (lllj, 1b) provided on the additional unit main body (1).

FIG. 2 is a side view showing the above-mentioned additional unit attached to the robot body. In the figure, (6) is the additional unit), (7) is the rotation axis, and (8) is the additional unit (6).
(9) is the gripping device fixed to the additional unit (6) with the fastening bolt, (6) is the gripping claw, and αυ is the workpiece. The gripping claw C1O grips one end of the workpiece U by operating the gripping device (9). Note that Q is a robot arm, and the robot body is not shown.

Figure 3 shows another mounting surface of the additional unit (6) attached to the rotation axis (7).
), the gripping device (9) is held obliquely, and the direction in which the workpiece I is gripped by the gripping claws is oblique. FIG. 3 is a perspective view showing a case where the mounting surface of the additional unit (6) is fixed to the mounting flange of the rotating shaft (7), and the gripping direction of the workpiece αD by the gripping claws (6) is perpendicular. .

In the above configuration, when the gripping claw α1 shown in Fig. 2 is attached so as to be held in the horizontal direction, the gripping direction for the workpiece aυ becomes horizontal, and the direction of displacement of the workpiece aυ is vertical as shown by the arrow in the figure. It has the following functions. Similarly, if the additional unit (6) is installed so that the gripping claws (G) are held obliquely as shown in Fig. 3, the gripping direction for the workpiece 011 will be oblique, and the displacement direction of the workpiece αυ will be It is perpendicular to the gripping direction of the gripping claw (G) shown by the arrow in the figure. moreover,
When the additional unit (6) is installed as shown in Figure 4,
The gripping direction of the gripping claws is vertical, and the direction of displacement of the workpiece Ilυ is horizontal.

Although the above embodiment has been explained using the additional unit having the configuration shown in FIG. 1, the same effect as described above can also be obtained by using a configuration using the parallel link 03 as shown in FIG. can.

〔Effect of the invention〕

As described above, according to the present invention, the addition unit is provided between the robot arm and the gripping device, and by changing the mounting surface of this addition unit according to the predetermined displacement direction of the workpiece, one set of gripping According to the present invention, it is possible to obtain a hand device for an industrial robot that can handle a plurality of gripping directions, that is, a plurality of workpiece displacement directions.

[Brief Description of the Drawings] Figure 1 is a cross-sectional view of an addition unit used in an embodiment of the present invention, and Figure 2 is a cross-sectional view of an addition unit used in an embodiment of the present invention. FIG. 3 is a side view showing the case where the displacement direction of the workpiece is vertical; FIG. 4 is a side view showing the case where the displacement direction of the workpiece is horizontal; FIG. 5 FIG. 3 is a sectional view showing another embodiment of the additional unit used in the present invention. In the figure, (1) is the additional unit body, (2) is the mounting plate, (3) is the pivot pin, (4) is the compression spring, (5) is the spring seat, (6) is the additional unit, (7) is the rotation axis, (8)
is a fastening bolt, (9) is a gripping device, (to) is a gripping claw, α
D is the workpiece, +13 is the robot arm, and floor 0 is the parallel link. It should be noted that the same reference numerals in the drawings indicate corresponding parts. Agent Patent Attorney Sanro Kimura Figure 1 Figure 2 Figure 2 12 Figure 3 Written amendment to the procedure (spontaneous) February 27, 1985 To the Commissioner of the Japan Patent Office 1 Indication of the case Japanese Patent Application No. 1983-24472 2 Invention Name of industrial robot hand device 3, person making correction Representative Hitoshi Katayama Dept. 46 Agent Co. Target of amendment 6, details of amendment (1) The "Claims" of the specification will be amended as shown in the attached sheet. (2) On page 3, line 7 of the specification, "the additional unit is provided between" is replaced with "the additional unit is replaceably provided between the
” he corrected. (3) "In addition," from page 5, line 19 to page 6, line 2 of the specification
In the above embodiment, the following can be obtained. ' shall be amended as follows. ``In addition, in the above embodiment, the additional unit having the configuration shown in FIG. By using additional units with different strengths, etc., it is possible to adapt to changes in the gripping conditions of the workpiece.Furthermore, a configuration using parallel links (13) as shown in Fig. 5 can also be used. can be used in the same way."
Above (2) Attached Claims (Amendment) ``In a hand device for an industrial robot that transports a workpiece to a processing device and processes the workpiece by the processing device, a robot arm and a gripping device are provided. A polyhedral additional unit is installed between the machine and the machine, and by changing the attachment surface of this additional unit to the robot arm, it is possible to respond to changes in the displacement direction of the workpiece. A hand device for industrial robots. ”

Claims (1)

[Claims] In a hand device for an industrial robot that transports a workpiece to a processing device and performs processing work on the workpiece by the processing device, a polyhedral additional unit is provided between the robot arm gripping device, and this A hand device for an industrial robot, characterized in that the hand device for an industrial robot is capable of responding to a change in the displacement direction of the workpiece by changing the mounting surface of the additional unit to the robot arm.