JPS6034285A - 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 a robot hand suitable for taking out seeded plates one by one and reliably gripping them.

In the field of manufacturing sheet metal structures, particularly for construction machinery and industrial machinery, welding work is being labor-saving by introducing welding robots.

However, the current situation is that temporary assembly, which is a pre-welding process, still relies on manual labor. In other words, all the members that make up the sheet metal structure have complex shapes and each weighs about 10%.
It is difficult to handle due to its heavy weight, which ranges from 0 to around 100 yen, and up until now, the materials have been manually slung with special hanging fittings for various parts and placed on assembly jigs using hoists, etc. Temporary welding is performed in a semi-fixed state using a restraining member.

For this reason, there are problems in that the work is often dangerous and requires heavy labor, and work efficiency and productivity are low.

The present invention has been made in view of the current situation, and an object of the present invention is to provide a robot hand that can easily take out and reliably grasp even a heavy plate material with a complicated shape. The configuration of the present invention that achieves this object is to add a hand body to the tip of the robot's wrist, attach a first hand equipped with an electromagnet that can move up and down to the hand body, and attach a telescopic rod to the F4. a first hand that is attached to the hand body via an automatic attachment/detachment mechanism, is connected to the telescopic rod and is driven, and mechanically grasps the material to be grasped which has been suction-floated by the first hand; It is characterized by having two hands.

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

FIGS. 1 and 2 are a front view and a sectional view taken along the line 1--2 of an embodiment of the robot hand of the present invention.

A hand body 1 is attached to the tip of the wrist of the robot via a flange, and a bearing arm 2 having three supporting parts 2a at equal intervals in the circumferential direction is attached to the hand body 1. The support shaft 3 is inserted into each support portion 2aK of the bearing arm 2 so as to be slidable in the vertical direction, and stoppers 4 and 5 for regulating the sliding range are attached vertically with the bearing arm 2 between them. Further, electromagnets 7 constituting the first hand 6 are respectively attached to the lower end of the support shaft 3, and are electrically connected via the hand gun portion R and the hand body 1.

On the other hand, with this first hand 6, the suction M1. The second hand 8 for mechanical gripping is later attached to the hand main body 1 via an automatic attachment/detachment mechanism 9. Three fixing claws 10 are arranged at equal intervals in the circumferential direction at the center, and the proximal ends of these fixing claws 10 are provided so as to be openable and closable via an opening/closing mechanism 11, and a fixing protrusion 12 is provided inside the distal end. is formed. Although not shown, the opening/closing mechanism 11 for the fixing claws 10 is, for example, a mechanism in which a pinion is attached to the base end of each fixing claw 10, and an annular rack that engages with these three pinions is reciprocated by a hydraulic cylinder or the like. is available.

Further, a driving section 13 of the second hand 8 is provided at the lower end of the hand main body 1.
A hydraulic cylinder and the like are built in, and a telescoping rod 14 serving as a drive shaft thereof is provided so as to protrude downward.

Such an automatic attachment/detachment mechanism 9'? : A second hand 8 which is attached through and is connected to and driven by the telescopic rod 14.
As shown in FIGS. 3(a) and 3(b), 3 movable horizontally reciprocating parts are arranged at equal intervals around the outer circumference of the second hand main body 15.
A reciprocating rod 16 is provided, and a substantially U-shaped hook 17 is attached to the tip thereof. Further, at the upper end of the second hand body 15, a fixing protrusion 1 of the automatic attachment/detachment mechanism 9 is provided.
2 is engaged, and an input shaft 19 is provided that protrudes from the upper end and is connected to the telescopic rod 14. As a reciprocating mechanism of the hook 17 by the input shaft 19 driven via the telescopic rod 14, the third
As shown in Figure (b), there is a tapered portion 20 at the lower end of the input shaft 19.
A tapered part 21 on the driven side that comes into contact with the slave part 20 is provided at the proximal end of the reciprocating rod 16, and a spring 22 is interposed to bias the reciprocating rod 16 toward the proximal end, so that both tapers are always maintained. The portions 20 and 21 are in contact with each other. Note that the size of the second hand 8 and the shape of the hook 17 are appropriately prepared according to the shape and size of the gripping portion of the gripped material 23, but the positions of the input shaft 19 and the engagement groove 18 are determined depending on the size and shape of the hook 17. n, so that they are in the same position, and so that they can be attached and detached using the automatic attaching and detaching mechanism 9.

Next, the operation and handling work of the robot hand configured as described above will be explained.

Assume that the material to be grasped 23 to be handled is, for example, one that has been reduced in weight and has holes drilled for the insertion of piping as shown in FIG. 2, and is stacked flat.

-jf, attach the hand main body 1 to the wrist R of the robot through the flange, and place it at the desired second hand 8 (in this embodiment, the one with a smaller diameter than the hole 24) corresponding to the shape of the material to be grasped 23. The wrist part R is moved and the fixing protrusion 12 of the fixing claw 10 is fitted into the engagement groove 18 of the second hand 8 by the opening/closing mechanism 11 of the automatic attachment/detachment mechanism 9 to attach it. After this preparation is complete, we move on to handling work.

That is, the entire robot hand is lowered to the center of the hole 24 in the flatly stacked materials 23 to be gripped, as previously taught. Then, the electromagnet 7 as the first handler is first seated on the gripped material 23, thereby pushing the support shaft 3 upward and causing the lower stopper 5 to come into contact with the bearing arm 2.

Therefore, this is detected by a limit switch or the like and the descent is stopped. After that, the electromagnet 7 is energized and the material to be gripped 23 is attracted 1. Lift it in the -F direction and stop with it slightly floating. In this state where the material to be gripped 23 is slightly floating, the position of the hook 17 of the second tz hand 8 is set to the material to be gripped 23.
It is located opposite. Therefore, the node body 1
The lower driving part 13 causes the telescopic rod 14 to protrude, the hook 17 to protrude horizontally, and the material to be grasped 23 is grasped so as to be sandwiched between the holes 24.

After gripping it in this way, it is transported to a predetermined position, for example, on an assembly jig, and the second hand 8 is removed in the reverse procedure to the above, and then held by the electromagnet 7, lowered and seated, and released by releasing the first hand 6. The robot hand is completely removed from the gripped material 23.

Subsequently, when conveying a material to be gripped 23 having a different shape, the second/Sand 8 is replaced with a corresponding one each time, and all handling operations are carried out in the same manner as described above.

In these handling operations, as shown in FIG.
Alternatively, as shown in FIG. 5, a second hand 8 having reciprocating rods 16 of different lengths may be used.

By performing the handling work in this manner, it is possible to grip the ridged object more reliably than when using only the electromagnet 7, thereby improving the safety of conveying the ridged object. In addition, a mechanically gripping hook 17 is used as the second hand 8, and this is the main! Since the robot grips the object 23 in a vertical manner, it is possible to easily and reliably change the posture of the object 23, such as leaning the object 23 vertically by, for example, manipulating the entire hand of the robot. Frozen, the second hand 8 is the material to be grasped 2
Since it can be automatically attached and detached and replaced in response to changes in the shape, size, and gripping part of 3, the work contents are not limited and it is versatile and highly versatile. Furthermore, the drive unit 13 of the second hand 8 is provided in the hand body 1, and it is only necessary to connect the telescopic rod 14 and the human power shaft 19, and when it is attached or detached, there is no need to change the connections of power cables, hoses, etc. It has a simple structure and is easy to operate. This is particularly effective when increasing the number of second hands 8.

In the above embodiment, the reciprocating mechanism of the hook 17 uses a tapered shaft 20, 21i, but the invention is not limited to this, and as shown in FIG. 26 may also be connected (as shown in the same figure)
As shown in FIG. 2, a pinion 27 may be added to the input shaft 19, a rack 28 may be attached to the reciprocating rod 16, and the input shaft 19 may be rotated. Furthermore, as shown in FIG. 2C, a rack 29 is added to the input shaft 19, and the reciprocating rod 16
It is also possible to make it swingable and have a pinion 30 attached to its base end.

Further, in the above embodiment, the operating direction of the hook 17 was explained as an internal claw type in which the hook 17 is gripped using the hole 24 of the gripped material 23 and then protruded from the inside to the outside. It is also possible to sandwich the gripped material 23 from the outside to the inside as shown in FIGS. 7(a) and 7(b).
) Various link mechanisms shown in (C) may be used.

Further, the drive unit 13 is not limited to a hydraulic cylinder, but can include a hydraulic cylinder such as a pneumatic cylinder, an electric cylinder, etc. to directly move the telescopic rod 14 up and down, and a drive unit that uses a rotating machine when using a rack and pinion. It can be done.

As described above in detail with the embodiments, according to the present invention, the robot hand is a composite hand of a first hand equipped with an electromagnet and a second hand that is mechanically gripped, and the second hand is automatically operated. Since it is removable and its driving portion is provided in the hand body, it can be held reliably and safely. In addition, various gripping operations can be performed simply by replacing the second hand, resulting in excellent versatility.

[Brief explanation of the drawing]

1 and 2 are a front view and I[-II sectional view of an embodiment of the robot hand of the present invention, and FIG. 3 (a
tΦ) is a front view of the second hand and a schematic diagram of the reciprocating mechanism, FIGS. 4(a) and 4(b) are views corresponding to FIG. 2 and an operation explanatory diagram of another embodiment of the second hand, and FIG. 5 is a diagram corresponding to FIG. 2 and FIG. 6 (
a), (b), and (c) and FIGS. 7(a), (C), and FIG. 7(a), (C), respectively, are schematic configuration diagrams of embodiments of the reciprocating mechanism. In the figure, ■ is the hand body, 6-piece first hand, 7-piece electromagnet, 8-piece second hand, 9 is automatic attachment/detachment mechanism, 10 is fixing claw, 11 is opening/closing mechanism, 13-piece drive unit, 17-piece hook , 23 materials to be gripped. Patent Applicant Mitsubishi Heavy Industries, Ltd. Patent Attorney Sub-Attorney Shibu Mitsuishi (and 1 other person) 11- Figure 1 Figure 2 Figure 3 (b) Figure 4 (Q) (b) 7\ rz )) r+119 >ry-8 Figure 5 Figure 6 (a) (b) (C) Figure 7 (Q) (b) 479-

Claims (1)

[Claims] A hand body is attached to the tip of the robot's wrist, a first hand equipped with an electromagnet that can move up and down is attached to this hand body, and a drive unit equipped with a telescoping rod is installed. A robot hand characterized in that a second hand is attached to the second hand and is driven in connection with the telescopic iron, and mechanically grasps a material to be grasped which is attracted and levitated by the first hand.