JPS60263685A - Hand mechanism of industrial robot, etc. - 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 hand mechanism in an industrial robot and an automatic assembly machine.

[Prior art]

Figures 7(a) and (b) are longitudinal cross-sectional views and bottom views of essential parts showing an example of a conventional hand mechanism in an industrial robot and automatic assembly machine, and Figure 11 is a workpiece using the hand mechanism shown in Figure 7. An explanatory longitudinal cross-sectional view when gripping, Fig. 8 (
a), Fig. 9(a), Fig. 10(a) and Fig. 8(b)
, FIG. 9O')) and FIG. 10(b) are a longitudinal sectional view and a bottom view of the finger shown in FIG. 7. In each figure, (
1) is a robot side flange, (3) is a rotary actuator, and (4) is a hand body. Also, (5) is a rack, (6) is a pinion, (7) is a rack guide rod, (8) is a finger mounting plate, (9) is a flat finger, 00 is a bolt, and a is a hand body. . (2) is a finger for small circles, al is a finger for large fires, α→ is a finger for irregularly shaped internal use, and α→ is a workpiece to be gripped.

According to the conventional gripping mechanism configured as described above, the hand section first moves to the gripping position of the workpiece a→ by the operation of the robot and the automatic assembly machine itself (not shown). Next Kr: 1 - When the tally actuator (3) is moved in the direction of the arrow shown in FIG.

1 operating in direction C, for which the finger mounting plate (8)
, the flat finger (9) operates in the direction of arrow E to grip the workpiece (b).

According to the conventional knot mechanism configured as described above, the shape of the workpiece αQ that can be accommodated by the flat finger (9) is limited. Therefore, in order to accommodate several types of workpiece shapes, the method shown in FIG.

Each of the fingers shown in FIGS. 9 and 10 must be provided separately for replacement. However, since the flat finger (9) is fixed by bolt αQ, it is necessary to stop the robot and automatic assembly machine for setup change work, which results in extremely poor operating efficiency. It had become.

[Summary of the invention]

The present invention was made in order to solve the above-mentioned problems, and is intended to provide a hand mechanism for industrial robots and automatic assembly machines that eliminates setup changes and has high operating efficiency. In the hand mechanism of an assembly machine, there is provided a hand mechanism for industrial robots, etc., in which several types of fingers are always prepared and one finger opening/closing mechanism is used to open/close arbitrarily selected fingers.

[Embodiments of the invention]

FIG. 1, FIG. 6, and FIG. 5 are a longitudinal sectional view showing an embodiment of the present invention, an explanatory longitudinal sectional view at the time of automatic finger replacement, and a longitudinal sectional view at the completion of self-exchange of the fingers, respectively. 2, FIG. 4, and FIG. 6 are bottom views of FIG. 1, FIG. 6, and FIG. 5, respectively. Note that parts having the same functions as those in FIG. 7 are denoted by the same symbols, and explanations thereof will be omitted. (5a) is a rack rod, ←Q is a cylinder provided on the side of the
of) is the support plate, 0 smoke is the connecting rod, and 0 stop is the finger set gear. Also, (a) shows the motor, Qυ shows the drive gear, and (a) shows the guide rod.

A detailed explanation of the present invention configured as above is as follows. When changing the finger tip shape to, for example, a small round finger (C), first operate the cylinder M, move the cylinder Q6 downward in the direction of arrow C as shown in FIG. Lower the finger set gear (19) in the direction of arrow C through the frame, and then lower the rack rod (
5a) from the flat finger (9). Next, the drive gear e■ is rotated by the motor (A), the finger α for the throat circle is rotated in the direction of the arrow C shown in FIG.
).

Next, operate the cylinder lip to raise it in the direction of the arrow shown in Figure 5, raise the finger set tooth yILO through the support plate a'I) and the connecting rod in the direction of arrow 0, and then raise the rack in the direction of arrow 0. Set the rod (5a) on the small circle finger 09.

After setting the rack rod (5a) to the small circle finger 0 as described above, click
, Also in this example, the robot and automatic assembly machine itself (
The hand section is moved to the workpiece gripping position by the operation ")" (not shown).

Next, as shown in Figure 5, the rotary actuator (3
) is operated in the direction of the arrow, the pinion (6) rotates and the rack (5) is operated in the direction of the arrows B and C.

Therefore, the small round finger (9) operates in the direction of arrow E and grips the workpiece.

〔Effect of the invention〕

As is clear from the above explanation, according to the present invention, since one hand is configured with fingers suitable for several types of workpieces, setup changeover time can be reduced, and therefore industrial robots with high operating rates and automatic assembly This can bring about remarkable effects such as being able to obtain opportunities.

[Brief explanation of drawings]

1, 6, and 5 are longitudinal sectional views showing embodiments of the present invention, and FIGS. 2, 4, and 6 are bottom views of FIGS. 1, 6, and 5, respectively. , FIG. 7(a). Fig. 11 is a vertical sectional view showing an example of a conventional device;
)) is a bottom view of the main part of Fig. 7(a), Fig. 8(a), and Fig. 9.
Figures (, 9) and 10 (a) are longitudinal cross-sectional views showing examples of fingers;
b) is a bottom view of FIG. 8(a), FIG. 9(a), and FIG. 10(a), respectively. 9... Finger for flat surface, 12... Finger for small circle, 16... Finger for Tayu, 14... Finger for irregularly shaped squares. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Patent Attorney Sanro Kimura Figure 1 Figure 2 Figure 3 Figure 4 Figure 7 Cause (o) 1 (b) [l-9[l-J 18\ Figure 8 Figure 9 Figure 10 (o) (a) (a) (b) (b) (b) Figure 11

Claims (4)

[Claims] (1) In the hand mechanisms of robots and automatic assembly machines, several types of fingers are always provided, and a single finger opening/closing mechanism is used to open and close a selected finger. (2) A hand mechanism for an industrial robot or the like according to claim (1), characterized in that a plurality of fingers are always provided. (3) A hand mechanism for an industrial robot or the like according to claim (1), characterized in that the fingers can be automatically replaced. (4) A hand mechanism for an industrial robot or the like according to claim (1), characterized in that a single finger opening/closing mechanism opens and closes a selected finger.