JPS61125788A - Composite 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 (Field of Industrial Application) The present invention relates to a hand structure for an assembly robot that can quickly and rationally perform assembly work by attaching a plurality of grips to a turret-shaped rotary head.

(Conventional technology) Is it possible for assembly robots to receive and receive various types of workpieces with different shapes and processing contents? Is it possible to have multiple hands on a turret-shaped rotating head? There is a device attached,
Typical example 1 is illustrated in Figures 5 and 6,
In the example shown in FIG. 5, six hands (Hl, (equally spaced They are installed in a dispersed radial manner to rotate the rotation axis at a rotation angle that is an integral multiple of 60°, and also provide a compressed air supply port for hand opening/closing operation (Pl) and a compressed air supply port for holding hand grasping operation (pz).
By supplying pressurized air through the pipe, opening and closing operations related to workpiece processing are performed at the vertically downward position, and gripping operations in preparation for transferring and receiving workpieces are performed at other positions.On the other hand, as shown in FIG. The example shown in
Hand mounting part f141 in the shape of a truncated square pyramid with an inclination of 5°
' Attach them to each slope with 45mm
4 hand uils with carrying axes in the direction of °, tH+
After each of the hands CHI, (6) is fixed, it is rotated at a rotation angle that is an integral multiple of the rotation axis P900, and the gripping and opening operations of each hand CHI (6) are performed.

(Problem to be Solved by the Invention) There is a limit to the shape of the hand mounting flJ41' and αl on both sides as mentioned above, and it cannot be made too large, so it is not possible to attach a heavy weight type to each hand recess. Therefore, there is a problem that the gripping method is limited to gripping small parts.

If the object to be gripped, transported, and assembled by each of the above robots is a small, lightweight part such as an electronic component, and an assembled product is not transported, a robot for small parts may be sufficient. In many cases, the weight of the target workpiece is large.

Therefore, the robots on both sides cannot handle heavy workpieces, nor can they handle the transportation of assembled products, so there is a problem in that it is necessary to separately prepare large hands for heavy weights.

Furthermore, when assembling a part, it is not possible to perform attitude control to arbitrarily change the rotation angle with respect to the gripping shaft, or rotation control in the case of screwing, so there is an inconvenience that it is not possible to handle a variety of tasks.

The present invention has been made in order to overcome the drawbacks of the conventional ones, and it is possible to perform rotation control and posture control in one hand structure, and also to make it possible to perform rotation control and posture control in one hand structure. By making the main hand P compatible with heavy weight, and by using two control valves to enable gripping and releasing operations between the main hand and multiple sub-hands for gripping parts without interference between them, Is it possible to create a multipurpose hand that can be adapted to a variety of tasks, especially assembly work that involves assembling multiple parts? (Means for solving problem P) Therefore, the present invention provides a turret-shaped composite hand with a main hand (1) operated by fluid pressure, and a radial structure perpendicular to the axis at the rear of the main hand (1). The main hand (1) and the main hand (1) are rotated into a plurality of sub-hands (2A), (2B) and 2, the support member 13) whose bases are integrated and each capable of gripping operation using a single-acting cylinder. The main hand... and each of the sub hands (2A) and (2B) are integrally connected to the rotational drive device (4) via a coupling member (5) that is supported by the main hand (1). In addition to being rotatable and indexable,
The support member (3) is connected to a two-position swing mechanism so that the axis of the main hand il+ can swing to two positions, horizontal and vertical. A rotary fluid joint (7) for connecting the single-acting cylinders of the sub hands (2A) and (2B) and a fluid pressure line having a control valve is provided on the connecting member (51), and the main hand (1) A flow path switching mechanism that allows only the secondary hand (2 people) or (2B), which is made by positioning the shaft vertically downward when the shaft is horizontal, to switch between gripping and releasing.
8) 2 It is characterized in that it is provided on the support member (3).

(Function) The present invention allows the main hand il+ to point vertically downward to grip a heavy workpiece, without affecting each member due to the heavy weight, and furthermore, rotates around the gripping axis while gripping the workpiece. It is possible to control the posture of the gripped workpiece by holding the workpiece in place and by swinging it by 9 aP until it becomes horizontal. ) or (2B), it is possible to independently grasp and release small objects such as assembled parts.

In particular, when one of the sub-hands (2A) and (2B) is gripping and releasing a workpiece, the other sub-hand is used to securely grip another workpiece in preparation for the next work. is possible.

(Example) Hereinafter, one example of the present invention will be described in detail based on the drawings.

1 to 4 show the main part structure 2 of an assembly robot according to an embodiment of the present invention, in which fil is the main hand, and the circumference is divided into 23 equal parts around its axis at 120 degrees. Three chuck pieces (91 at the tips) are arranged radially at a phase angle of , and each chuck piece (91 is two links +lOI arranged in parallel and close to each other).

1101 is connected to the connection part of the circular base plate (11) serving as the base to form a four-bar link mechanism. 021'f: A moving block (13) disposed at the center of the circular board (11) via the movable block (13)
It is connected to

The main hand (1) configured in this manner moves the chuck pieces (91) mutually by moving the movable block Q3 forward and backward in the axial direction of the hand (moving leftward and rightward in FIG. 3). Open in the far direction (work opening)
, it is also possible to close the workpiece in the approaching direction (grasp the workpiece).

On the other hand, (2 people) to (2F) are all sub-hands that have a single-acting cylinder as an operating mechanism, and each of the four circumferential flat surfaces of the mounting member α4, which is a short square tube with a cylindrical hole in the center in the axial direction. The mounting member 041# is attached coaxially to the rear of the circular board ((1) of the main hand (1) via the lid member Q51 which is hermetically fitted into the cylindrical hole. By fixing them together, each of the 11J hands (2A) to (2F) is attached to the base of the main hand vm.
Together, they are arranged radially at right angles to the axis at the rear of the main hand (1).

A piston αe is housed in the cylindrical hole of the mounting member 4 in an airtight slidable manner, and a shaft integrally protruding from the front chamber of the piston αe is connected to the cover member αω. is slidably penetrated in an airtight manner and is coaxially connected to the moving block Q3. It forms a linear cylinder.

(5) is a connecting member, which is integrally provided with 7 langes and 2 coaxially at the front end of a shaft of an appropriate diameter, and this 7 link part is airtightly and coaxially fixed to the rear end surface of the mounting member α4; Further, the shaft portion is fitted into a cylindrical support member C3) so as to be rotatable about its own axis.

The support member 13) includes a main hand fi+ and a secondary hand '(
2A) to (2F) e A member serving as a supporting base, which supports the shaft of the connecting member (51) by a bearing so as to be freely rotatable, and is fixed to the swing mechanism αη.

As shown in FIG. 2, the swing mechanism αη is fixed to the tip end of the robot arm via a fixing member α&.

The output shaft (17A) of this swing mechanism Q71 is connected to the above-mentioned support member (3), and the swing movement of the output shaft (19A) of the rack cylinder garden is controlled by the gears (20A), (2
0B) By transmitting the information through the robot arm, the tip part of the robot arm (swinging in a plane perpendicular to the river is possible, and the main hand (11) connected to the support member (3), each sub-hand (2 people) ~ (2F) e It is assumed that the main hand (1 ) can be fixed in two positions, horizontal and vertical.

In FIG. 4 (41 is a rotary drive device, this device (
41 is a DC servo motor, a reducer that reduces the rotation of the motor at a predetermined ratio, and a reducer that measures the rotation of the DC servo motor and generates an electrical signal proportional to the rotation angle of the output shaft of the reducer. Is there a frame that is equipped with an encoder example and two coaxes and forms this unit? It is fixed to the rear end of the support member (3), disposed coaxially with the shaft of the connecting member +51, and coaxially connected to the shaft of the connecting member (5), which is the output shaft of the speed reducer.

The compound/carrying hand with the above configuration further includes a rotary fluid joint (71) for supplying pressure fluid to each/single hand fi+, (2A) to (2D), and an auxiliary hand (for two people) to
A flow path switching mechanism (8) is provided to select one of the fluids (2D) and perform a switching operation between gripping and releasing. Switching mechanism (
81 are respectively arranged on the support member (3).

The rotary fluid joint (71) is a shaft portion of the connecting member [5], and communicates with the ring grooves 4, @, and both wheel grooves 4 and ω provided in the circumferential direction on the peripheral surface that slides in contact with the support member (3). A long hole is cut in the axial direction from the front end surface of the connecting member +51.

The lotus joint member (5) is connected to each long hole (281).
) A long hole cut from the circumferential surface of the 7-link part in a direction perpendicular to the axis.

In order to keep the ring @G, 125) airtight, the boat is formed of an O ring @++13υ inserted around the shaft of the connecting member t(1), and is connected to the ring groove west, I25). (3z, ts3) are provided in the support member 13), and the holes (3z, ts3) are connected to the elongated hole) and the hole) +341. m is provided on the connecting member (5).

With this configuration, the open ends of the elongated holes are hermetically closed, and the piping of the fluid pressure line having a control valve is connected to the boat c+z, respectively. (to), each boat of the direct-acting cylinder of the main hand 11 is connected with a piping having a switching valve, and the single-acting cylinder of at least one of each of the sub-hands (2 persons) to (21F) is connected. What is the diagram of the boat and one pressure boat and the on/off valve? If they are connected through piping, the gripping operation of the main hand il+ and the gripping operation of each of the sub hands (2 persons) to (2p) can be performed independently.

Next, the flow path switching mechanism (8)
and a hole (to) which is bored straight to an appropriate depth parallel to the axis of the support member (3) from the end face close to and opposite to the seventh rung part of the connecting member (5); It consists of a sleeve-shaped member (m) slidably fitted into the hole (to) and a spring (for pressing this cylindrical member Gη into contact with the plane of the seven rungs of the mating connecting member 15). ing.

When the support member (3) is held horizontally between the holes,
It is provided by selecting a location that is parallel to, perpendicular to, and directly below the central axis of the member 13).

Although these holes are not shown, they communicate with each other as connection ports for connecting a vacuum pressure source.◇On the other hand, the connection member (5) which is integrally connected with the mounting member I and the member (141) ) is provided with L-shaped passages that open at the center of each sub-hand mounting surface of the mounting member 041 and at a portion facing the hole side in the plane of the 7-rung portion of the connecting member 151. , the passageway (391'f:
It is formed so that it can communicate with the flow path switching mechanism (81) through the channel switching mechanism (81).

Note that although the passages (to) are formed in relation to each sub-hand attachment surface of the attachment member 04,
In the case of a passage shaft corresponding to a sub-hand that does not need to communicate with 13), the opening on the sub-hand mounting surface side of the mounting member I should be closed.

In Fig. 4, the gull is a detection member fixed to the mounting member 04) so as to be able to approach the detection surface of the proximity switch port 1, and is attached to the sub-hands (2A) to (2).
D) is provided so that the indexed position can be accurately detected without contact.

The composite hand having the configuration described above has a rotary drive device (
Due to the indexing associated with the drive in step 4), only the secondary hand whose grip axis is vertically downward while the axis of the main hand Il+ is horizontal has a fluid pressure control valve via the flow path switching mechanism (8). The line communicates with a single-acting cylinder built into the sub hand to form a flow path, and only this sub hand exists in a position where it can grip the workpiece.

Therefore, it is possible to handle the workpiece only in this position. For example, if a single-acting cylinder type hand is used as the secondary hand in which the claws are constantly operated toward the gripping side using spring force 2, it is possible to handle the workpiece by supplying fluid pressure. After performing the opening operation 3, the workpiece is gripped by stopping the fluid pressure supply,
Next, even if another sub-hand is used to grasp the workpiece by indexing, it is possible to maintain the previous grasping operation as it is, and it is possible to hold multiple workpieces by using all of the sub-hands (2 people) to (2D). It is possible to grip the workpiece.

On the other hand, the main hand mill 11 can be handled in the horizontal direction with its axis horizontal, and also has a rotary drive device (
412 drive to change the posture by rotating around the gripping axis.

Furthermore, by activating the two-position swing mechanism 15)2 so that the axis of the main hand is vertical, it is possible to handle heavy workpieces with the main hand fl+, and the posture can also be controlled by rotating around the axis. It is also possible to handle assembly work such as fitting workpieces with irregular cross sections together or screwing workpieces together.

Of course, it is possible to have all of the sub-arms (2 persons) to (2D) hold small workpieces such as assembly parts while performing various operations using the main hand Il+.

(Effects of the Invention) According to the present invention having the above-mentioned configuration and functioning, the main hand Il+ can be constructed into a hand capable of handling heavy workpieces without increasing the size of the turret-shaped rotating head portion, and moreover, It is possible to grip a workpiece and control the rotational posture of the workpiece,
The grip shaft can be easily rotated between horizontal and vertical positions.

Immediately behind the main hand fi+, several secondary hands)-
(2A), (2B)... can grip the workpiece in sequence, and the main hand (1) can handle the workpiece while each sub hand (2A), (2B)... is gripping the workpiece. When automatic assembly is performed by a robot, the robot can operate effectively so that the time lost per robot is shortened as much as possible, resulting in improved productivity.

Also, the main hand 11)
)...The turret-type compound hand is capable of gripping and releasing operations without interference with each other, and in addition, whereas the conventional turret-type composite hand could only handle handling of one-to-one transfer, it is possible to fit, screw, etc. It is possible to provide a composite hand that can be assembled and used for multiple purposes.

[Brief explanation of drawings]

1, 2, and 3 are schematic front views of a robot hand according to an example of the present invention, ll-(1) in FIG.
1 is a sectional view and a left side view, FIG. 4 is a cross-sectional view of the main part, and FIGS. 5 and 6 are a schematic side view and a schematic front view of each pair of a conventional robot hand. II+...Main hand, (2AX2B>...Secondary hand. 13)...Support member, 14)...Rotation drive device. +51... Ren ltI evil material, ■... 2-position swing mechanism. (71...Rotating fluid coupling, (8I...Flow path switching mechanism.

Claims (1)

[Claims] 1. The main hand (1) is operated by fluid pressure, and the main hand (1) is arranged radially at right angles to the axis at the rear thereof, and the base of the main hand (1) is integrated with each other, and each can be gripped by a single-acting cylinder. A connecting member (5) rotatably supported by a supporting member (3) includes a plurality of sub hands (2A) and (2B).
) to the rotary drive device (4), and the main hand (1
) and each secondary hand (2A), (2B) as the main hand (1)
The support member (3) is connected to a two-position swinging mechanism (6) to swing the shaft of the main hand (1) into two positions, horizontal and vertical. a single-acting cylinder of the actuating part of the main hand (1) and at least one of the sub-hands (2A), (2B);
A rotary fluid coupling (7) for connecting to a fluid pressure line having a control valve is provided on the connecting member (5), and further, when the shaft of the main hand (1) is positioned horizontally, the shaft is vertically downward. Secondary hand (2A) or (2B)
), the composite hand is characterized in that the supporting member (3) is provided with a flow path switching mechanism (8) that enables a switching operation between gripping and releasing.