JPS61109689A - Gripping mechanism 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 [Field of Industrial Application] The present invention relates to a workpiece gripping hand used in an industrial robot or the like, and particularly to a hand for gripping a cylindrical workpiece.

[Conventional technology]

Industrial robots are commonly used as labor-saving devices that are used in conjunction with machine tools to carry in workpieces, remove finished products, and carry them out. Among these industrial robots, industrial robots that are configured to grip the inner surface of the workpiece to prevent scratches on the outer surface of the workpiece when gripping the workpiece are capable of gripping the inner surface of the workpiece within the limited space of the inner surface of the workpiece. Grasping and releasing operations must be performed with the hand.

For this reason, it is difficult to grip workpieces of different sizes with one hand, and robots having hands suitable for each workpiece are used individually.

[Problem that the invention seeks to solve]

However, since such conventional industrial robots perform gripping and releasing operations with their hands in a limited space, robots with dedicated hands are used for workpieces of different dimensions. When changing the model, the robot also had to be changed, resulting in poor work efficiency.

In addition, it is difficult to configure a single robot to handle multiple types of gripping operations, and multiple robots must be used in a process line that handles multiple types, making the process line large. [Means for solving the problem] The present invention has a large-diameter grip and a small-diameter hand 15 for gripping a cylindrical workpiece from the inner side on the arm 1. This arm 1f can be attached and detached using fluid pressure in the first cylinder 1&, and model changes can be easily handled by replacing the arm part. Rather than opening and closing the large-diameter hand 12 and the small-diameter hand 15 individually using the fluid pressure in the third cylinder 1.1b,
Different models can be gripped simultaneously or individually with one hand,
This is to reduce the size of a process line that handles multiple models.

[Function] According to the present invention, the pressure of the fluid sent from the fluid supply port 3b to the cylinder 1b built into the arm 17 through the fluid supply path 19 in the arm 1f causes the shaft 7) to move 200° to the taper shaft 16. is lowered and the small diameter hand north is closed, and the fluid supply is stopped and the reaction force of the spring 2b causes the shaft 7)
20c, the tapered shaft 16 rises and the small diameter hand 15 opens. (20, 20a) due to the pressure of the fluid sent from the fluid supply port 3 to the cylinder 1.

Arm support part 9. Arm 1f descends. Push-up pin 14
, the cam follower n, which moves axially on the surface of the arm 17 by the stopper stud 8 and is engaged with the upper and lower blocks 10 held in place so as to be in constant contact with the stopper stud 8, remains in that position, and the lever P moves downward, -<-XS and cam 7 or lower n are relatively separated, and the large diameter hand grip is closed. When the fluid supply is stopped, the reaction force of the spring 20 causes the shutter 7)20, 2Qa,
Arm support part 9. The arm 17 rises, the lever and the cam follower U approach each other relatively, and the large-diameter nose opens.

The shaft 20b is lowered by the pressure of the fluid sent from the fluid supply port 3a to the cylinder 1a, and the retraction head 1, which was fixed by the ball 4a, is removed and the arm 17 is attached and detached.

〔Example〕

1 to 6 are configuration diagrams showing embodiments of the present invention. FIG. 1 is a fragmented cross-sectional view of a gripping mechanism of a robot according to an embodiment of the present invention, and FIG. 2 is an A-A@ in FIG.
It is a sectional view of I, and FIG. 3 is a perspective view with the arm removed.

In Figures 1 to 143, the gripping mechanism attached to the robot body part 9 is driven by the rotational driving force transmitted from the robot body part 9 by bevel gears 6, 6a built in the rotation mechanism 5, and is indicated by an arrow X. Rotationally driven in both directions, arm 1
The rod is rotated in both directions indicated by arrow Y.

A small diameter node 15 is provided at the tip of the arm 17,
A mechanical shaft 16 is provided so as to come into contact with the inner surface of the small diameter hand 15. The shaft 16 is connected to the shaft 20c. The shaft 20Q is a shaft connected to a piston of a cylinder 1b built in the arm F, and a spring 2b is engaged with the shaft 20Q.

Fluid supply path 1 passing through the arm 17 from the cylinder 1b
9 is provided, and this fluid supply path is configured to be connected to the supply path from the fluid supply port 3b when the arm 1f and the arm support portion 9 are connected. Another large-diameter hand grip of the arm 17 is connected to the arm 1f by a lever positive, and then engaged with the upper and lower blocks 10 by a cam follower n. The upper and lower blocks 10 move in the axial direction on the surface of the arm 17, and are always pushed up toward the arm support portion 9 by the push-up pin 14 and the spring 2C. The arm 17 is a cylinder built into the arm support part 9, and the shirt of the body 1a)
201) and is connected to the arm support portion 9 by being hooked to the retractable head portion 201). The stopper stud 8 is fixedly connected to the rotating mechanism section 5. The arm support part 9 is connected to the shaft 7)
20a. The cylinder 7) 20a is connected via the ball 4 to the cylinder 1) 20. Shaft added.

The reason why the ball number is interposed between 20a is to prevent the seal of cylinder 1 from being affected by the rotation of the shaft when 20a rotates, and the shaft 20a ic semicircle is inserted between the shaft 20a. A groove is machined in the form of a shape, and several balls 4 are installed between them to prevent the rotation from being transmitted to the shaft force.

Here, the operation of each part will be explained using FIGS. 4 to 6. Figure 4 is a partially fragmented sectional view showing the opening/closing operation of the large-diameter hand.
B) is the workpiece gripping state.

In FIG. 4, when the shirt 20 of the cylinder 1 is pressed down by the pressure of the fluid supplied from the fluid supply port 3, the shaft 20a is connected to the shaft.

Arm support part 9. The arm lug is also pushed down. At this time, the stopper stud 8 is fixedly connected to the rotation mechanism section 5 and its position does not change. The upper and lower blocks 10 are push-up bins 14
．． It is pushed up by the spring 2c and comes into contact with the stopper stud 8. Therefore, the distance between the cam follower U engaged with the upper and lower blocks 10 and the lever is relatively wide, and the rounded large diameter hand is in the closed state.
Work 21 is released.

When the fluid supply is stopped, the reaction force of the spring 20 causes the shafts 20, 20a, and arm support portion 9. Arm 1
The lever is returned to its original position, and the push-up pin 14 and spring 2C are pushed down by the upper and lower blocks 10 held by the stopper studs 8. At this time, the distance between the cam follower n and the lever, which are engaged with the upper and lower blocks 1°K, becomes relatively narrow, so that the large diameter hand 12 is in an open state and grips the workpiece 21.

FIG. 5 is a partially fragmented cross-sectional view showing the opening and closing operation of the small-diameter hand, where 0) shows the workpiece released state, and (B) shows the workpiece gripping state.

In FIG. 5, when the cylinder 1b (shirt 20c) is pushed down by the pressure of the fluid supplied from the fluid supply path, the tapered shaft 16 connected to the shaft 20C is also pushed down. Taper shaft 16 is shirt) 20c
The front end face facing this is thicker than the rear end face connected to the rear end face. Small diameter hand 15 is arm 1
A through hole connected to 7 and into which the shaft 20c can be inserted and removed is provided. A slit is provided in a portion that protrudes from the arm 17 so that it can be pushed outward.

As the taper shaft 16 descends, the portion that is in contact with the small diameter hand 15 has approximately the same diameter as the shaft 20c, so the small diameter hand 15 is kept in a closed state and the workpiece 21a is released.

When the fluid supply is stopped, the reaction force of the spring 2b causes the Taber shaft 16 to rise and return to its original position. At this time, since the taper shaft 16 that contacts the small diameter hand 15 is a thick part, the small diameter hand 1
5- is pushed out and is in an open state, the work 21a
grasp.

In this way, the hands in Figures 4 and 5 are in a closed state when fluid is being supplied, and are in an open state when fluid supply is stopped, so even if fluid is not supplied due to some abnormality when gripping a workpiece, the hand can still be gripped. Workpieces will not fall.

FIG. 6 is a partially fragmented cross-sectional view showing the operation of attaching and detaching the arm, in which (a) shows the arm in a fitted state, and (b) shows the arm in a detached state.

In FIG. 6, the shaft 20b of the cylinder 1a is pushed down by the pressure of the fluid supplied from the fluid supply port 3a,
When the fluid supply is stopped, the shaft 201) is raised by the reaction force of the spring 2a. The shaft 20m) has a recessed portion at its tip into which the retraction head 18 can be inserted, and a ball 4a is incorporated into the side surface of the recessed portion. The arm support part 9 is connected to the shaft 7)
Sha 7) 20'b until the ascent position of 20t+
A first hole having the same diameter is provided, and a second hole having a somewhat larger diameter is provided at the lower end of the first hole. Furthermore, a third hole into which the arm 1f can be fitted is provided at the lower end.

To remove the arm 17, use fluid pressure to remove the shirt) 20
By pushing down 1), the tip of the shaft 7) 201) reaches the second hole with a large diameter, and the ball 4a moves radially, and the protrusion that was holding the retractable heradle disappears and comes off. When installing, the reverse operation is performed. After the arm 17 is installed, it is shrunk by the reaction force of the spring 2a.

Since the foot 20b rises and the lower end of the shaft 7) 201) returns to the hole 1 having the same diameter, the ball 4a moves inward and the retraction head 18 is hooked by its protrusion.

Since the arm is detachable in this way, it can be easily replaced with a nine hand that matches the diameter of the work to be gripped.

〔Effect of the invention〕

In the present invention, the arm is provided with at least one hand that grips a cylindrical workpiece from the inner side, and this arm is attached and detached using fluid pressure in a first cylinder, thereby adapting to different types of workpieces with a simple configuration. This provides the advantage that the gripping mechanism can be easily replaced with a new one.

Furthermore, by providing one or more hands on the arm, different types of machines can be gripped simultaneously or individually, the number of robots in a process line that handles multiple types can be reduced, and the process line can be made smaller.

In the present invention, the attachment/detachment mechanism of an arm having a large-diameter hand and a small-diameter hand has been described, but it is also applicable to an arm having one hand or a plurality of gripping mechanisms.

[BRIEF DESCRIPTION OF THE DRAWINGS] Figure gx is a fragmented cross-sectional view of the gripping mechanism of a robot that is an embodiment of the present invention, Figure 2 is a cross-sectional view taken along line A-Am in Figure 1, and Figure 3 is a state with the arm removed. Fig. 4 is a partially fragmented sectional view showing the opening/closing operation of the large-diameter hand, Fig. 5 is a partially fragmented sectional view showing the opening/closing movement of the small-diameter hand, and Fig. 6 is a portion showing the attachment/detachment movement of the arm. A fractured cross-sectional view is shown. 9...Arm support part, I...Large diameter hand, 15.
...Small figure 1 knowledge figure 3 figure 4 figure 5Z Akira figure 6-52'

Claims (1)

[Claims] 1) In a gripping mechanism for gripping a cylindrical workpiece from the inner side, an arm having at least one hand can be attached to and removed from an arm support, and the arm is connected to the arm support. A gripping mechanism for a robot, characterized in that the hand opens and closes depending on the movement of the shaft in the axial direction. 2) A gripping mechanism for a robot according to claim 1, wherein the hand opens and closes by operating a dedicated shaft.