JPS60186386A - Robot hand for carrying plurality of 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 relates to a robot hand that grips and conveys a plurality of workpieces and separates them during conveyance.

[Prior art]

Conventionally, a robot as shown in FIG. 1 has been used. Figure 1 is a front view of a conventional robot. In the figure, 1 is a base frame, 2 is a vertical slide bearing,
Reference numeral 3 designates a vertically movable frame, 4 a first joint containing a built-in motor for driving the first arm 5, and numeral 6 a second joint containing a built-in motor for driving the second arm 7. A hand 8 is connected to the tip of the second arm 7 and grips a workpiece (component) 9.

The robot that grips the workpiece 9 with the hand 8
By driving the arm 5, second arm 7, and vertically movable frame 6,
Transport the workpiece to a predetermined position.

The conventional robot configured as described above has to repeat the transport operation for each workpiece to be transported. Furthermore, the more steps the robot has to operate, the longer the operation time will depend on the number of workpieces, which is a factor that impedes productivity.

[Summary of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot hand for transporting multiple workpieces, which eliminates the drawbacks of the conventional robots described above, reduces the number of times the robot transports workpieces, and shortens the total working time.

In the robot node for transporting multiple workpieces of the present invention, a vertically movable frame is attached to a base frame via a vertical slide bearing, and the vertically movable frame has a first joint, a first arm, a second joint, and a second arm. are sequentially attached, and a workpiece gripping hand is connected to the tip of the second arm, a hand holding frame is attached to the tip of the second arm, and a plurality of slide plates are installed in the frame. Two parallel guide bars that are slidably supported are fixed, a workpiece gripping hand is connected to the lower part of the slide plate, and the slide plate is driven by the thrust of a cylinder to move between the workpiece gripping hands. The feature is that the interval between the two can be changed arbitrarily. Details will be explained below with reference to embodiment figures.

[Embodiments of the invention]

FIG. 2 is a front view of a robot equipped with an embodiment of the robot hand for transporting multiple workpieces of the present invention, FIG. 6 is an enlarged front view of the robot hand shown in FIG. 2, and FIG. 4 is a bottom view of the robot hand shown in FIG. 6. FIG. 5 is an explanatory view of the relationship between the rack and pinion of the robot/end.

In FIGS. 2 to 5, symbols 1 to 9 indicate the same things as in the conventional robot shown in FIG. 1, and these have the same structure as in FIG. 1. Reference numeral 10 denotes a hand holding frame connected to the tip of the second arm 7, and two guide bars 11 are fixed in parallel to this frame. The guide bar 11 slidably supports two slide plates 12m and 12b.

Rack 1+ is provided on the upper surface of slide plates 12a and 12b, respectively.
a and 16b are fixed with screws, and the racks 13a and 16b of both slide plates are gear-coupled via a pinion 14.

One slide plate (12a in the figure) has a cylinder 15.
The rod portion is fixed with a screw, and the cylinder body is fixed to the hand holding frame 10. Slide plates 12a and 1
Workpiece gripping hands 8a and 8b are connected to the lower part of 2b, respectively.

The two workpiece gripping hands 8a and 8b each hold the workpiece 9.
The workpiece is transported to a predetermined location by gripping the robot and driving the first arm, second arm, and vertically movable frame of the robot. When a thrust is generated in the cylinder 15 during its transportation, the thrust causes the slide plate 12m and the rank 13a fixed thereto to move straight to the left in the figure. At this time, the pinion 14 engaged with the rank 13a rotates, causing the rack 13b and therefore the slide plate 12b to move straight to the right in the figure. In this way, the two slide plates 12a and 12b, and hence the hands 8a and 8b, are moved apart by a predetermined distance in opposite directions, and the handle is fixed at the stroke end of the cylinder.

In the above embodiment, one cylinder drives one of two slide plates connected by gears with a rack and pinion to change the distance between the hands, but without using a rack and pinion, 2 slide plates (12a and 12
A structure may be adopted in which a cylinder is connected to each of b) and the stroke amount of the slide plate is independently set.

[Effects of the Invention] According to the robot hand for transporting multiple workpieces of the present invention as described above, it is possible to grip multiple workpieces and separate them during transport, so that It is possible to arbitrarily set the positional interval of the workpieces, and it is also possible to reduce the number of times the robot carries the workpieces, thereby shortening the working time of the robot.

[Brief explanation of the drawing]

Figure 1 is a front view of a conventional robot, Figure 2 is a front view of a robot equipped with an embodiment of an uninvented robot hand for transporting multiple workpieces, and Figure 6 is an enlarged view of the robot hand in Figure 2. FIG. 4 is a front view, FIG. 4 is a bottom view of FIG. 6, and FIG. 5 is an explanatory diagram of the relationship between the rack and the binion. 1: Base frame, 2: Bearing, 3: Vertical movable frame, 4: First joint, 5: First arm, 6: Second joint, 7: Second arm, s, sa, sb: Hyde, 9 : Workpiece, 10: Hand holding frame, 11 Ni guide bar, 12a, 12h Ni slide plate, 15a: 13b Ni rack, 14: Binion, 1
Note that the same reference numerals in each figure indicate 1al- or corresponding parts. Agent Patent Attorney Sanro Kimura Figure 1 Figure 2

Claims (1)

[Claims] 1) A vertically movable frame is attached to the base frame via a vertical slide bearing, and a first joint, a first arm, a second joint, and a second arm are sequentially attached to the vertically movable frame, Said second
In a robot in which a workpiece gripping hand is connected to the tip of the arm, 1. A hand holding frame is attached to the tip of the second arm, two parallel guide bars that slidably support a plurality of slide plates are fixed within the frame, and each of the workpieces is gripped at the bottom of the slide plate. 1. A robot hand for transporting a plurality of workpieces, characterized in that the distance between the workpiece gripping hands can be arbitrarily adjusted by connecting workpiece hands and driving the slide plate by the thrust of a cylinder. 2) Fixing racks to the top surfaces of the two slide plates, respectively,
A patent characterized in that the two racks are connected by gears via pinions, a cylinder is connected to one of the slide plates, and the two slide plates are separated and moved in opposite directions by the thrust of the cylinder. A robot hand for transporting multiple workpieces according to claim 1. 6) Connecting a cylinder to each of the two slide plates,
The robot hand for transporting multiple workpieces according to claim 1, wherein the stroke amount of the slide plate is set independently.