JPS61241032A - Belt type work hand apparatus - Google Patents

Abstract

PURPOSE:To enable an apparatus to hold a work in a different size to be immediately given a rotary input, by providing a pair of endless belts to be approachably and separably arranged in the point end of an arm and moving opposed belt sides to be transferred mutually in a reverse direction. CONSTITUTION:A work hand apparatus has a pair of supporting frames 2a, 2b, opened and closed by a frame opening and closing mechanism 2, in the point end of a robot arm 1. The both supporting frames 2a, 2b provide endless belts 3a, 3b wound and tensely provided between pulleys 32, 33. After the apparatus holds a work between opposed belt sides 30a, 30b, if a motor 42 is actuated, the apparatus, rotating the wheels 32 in the same direction, moves the opposed sides 30a, 30b of the endless belts 3a, 3b to be transferred mutually in a reverse direction. In this way, the work is given a rotary input.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a belt-type work hand device for tightening bolts, nuts, etc., which is applied to tools, automatic machines, and industrial robots.

<Summary of the Invention> The present invention has a pair of endless belts disposed at the tip of an arm, grips a workpiece between opposing belt sides, adjusts the tension of both belts, and moves them in opposite directions.
It grips bolts, naphts, and other workpieces and immediately applies rotational input.

<Prior Art> Conventionally, there are spanners, adjustable wrenches, socket type spanners, etc. as operating tools for bolts and naphts. A plurality of spanners, large and small, are required depending on the dimensions of the bolt and the nut, and tightening is usually performed by rotating the spanner handle within a certain range around the bolt or napht. Such a spanner must be replaced if the dimensions of the bolt or napft are different, and moreover, it is necessary to engage and disengage the spanner from the bolt or napft each time the spanner handle is rotated back and forth. Alternatively, the monkey wrench can be applied to large and small bolts and naphts by adjusting the base, but in terms of tightening operation, like the above-mentioned spas, it is necessary to engage and disengage the handle each time the handle is rotated back and forth. . In the case of a socket-type spanner, the socket is rotated continuously or intermittently by driving means such as electricity, air, or a feed pawl, but if the socket dimensions are different, there are problems such as the need to replace the socket, just like with a spanner.

<Purpose of the Invention> The present invention is a novel work hand that makes it possible to grip workpieces of different sizes and immediately apply rotational input, and that exhibits excellent tightening effects on tools, automatic machines, industrial robots, etc. The purpose is to provide equipment.

<Structure and Effects of the Invention> In order to achieve the above object, the present invention includes a pair of endless belts disposed at the tips of arms so as to be able to approach and separate from each other, and a drive device and belt tension control means are connected to both belts. , so that the opposing belt sides move in opposite directions.

According to the above configuration, in the present invention, the workpiece can be gripped with appropriate pressure between the opposing belt sides, and a continuous rotational input can be applied to the workpiece when the belt moves, and the practical effect of achieving the purpose of the invention is achieved. play.

<Description of Embodiments> The drawings show an example in which a work hand device according to the present invention is applied to an industrial robot. In the work hand device, the proximal ends of a pair of symmetrical support frames 2a and 2b are supported at the tip of a robot arm 1, and a frame opening/closing mechanism 2 is provided on the pivot portion. In the frame opening/closing mechanism 2, a drive gear 12 connected to a deceleration motor 11 that rotates in forward and reverse directions is mounted on an arm 1, and vertical gears 13 and 13 are fixed to both frames 2a and 2b around pivots. , both vertical gears 13.13 and one vertical gear 13 and drive gear 12 are meshed with each other, and both support frames 2a,
2b is the operating gear 12 of the motor 11 and the vertical gear 13°1.
Open and close via 3. Both support frames 2a.

In 2b, pulleys 32, 32 are provided above and below the opposing surfaces, and a tension pulley 33 is provided at an equiangular position in the middle, and an endless bell (3a, 3b) is provided between the respective pulleys 32, 32, 33.
Belt sides 30a and 30b facing each other are wound and stretched.
Each support frame 2a is configured to grip a workpiece therebetween.

A vertical wheel 41, 41 is mounted on the pulley shaft on the base end side of 2b, and a drive wheel 43 connected to a deceleration motor 42 that rotates in forward and reverse directions is mounted on the arm 1, and a transmission means such as a belt is installed between both wheels 41 and 43. When the motor 42 is operated, the opposing belt sides 30a and 30b reciprocate in opposite directions to apply rotational input to the supported workpiece.

The tension pulley 33 is rotatably supported at the tip of a swinging arm 51 having a spring 52 mounted thereon.
A tension control means 5 which operates according to the output of 3 is provided.

The tension control means 5 fixes a gear 55 to a pivot shaft 54 that fixes the base end of the swinging arm 51, while the robot arm 1
transmission gears 56. which are interlocked with the drive wheel shaft 14 of the drive wheel shaft 14;
56 is rotatably supported on a shaft, and the reduction output section 57 of the transmission gear 56 and the gear 55 are connected via a transmission means 58 such as a chino, and one transmission gear 56 is connected to a reduction motor 59 that rotates in forward and reverse directions. The two swinging arms 51 and 51 are connected to each other, and by the operation of the motor 59, the tension boom l73 at the tip of both swinging arms 51 and 51 is connected.
3.33 is displaced inward and outward to adjust the tension of the belts 3a and 3b.

The surfaces of the endless bells 3a and 3b are provided with protrusions, if necessary.
Apply anti-slip measures such as rough surfaces.

It should be noted that the drive devices for the frame opening/closing mechanism 2 and the endless belts 3a, 3b are not limited to the illustrated example, and it goes without saying that various mechanisms that realize the necessary operations can be selected and implemented.

However, the workpiece 5 is placed between the opposing belt sides 30a and 30b.
When the motor 35 is activated after gripping, the longitudinal wheels 32, 32 connected to the drive wheel rotate in the same direction, and the opposite sides 30a, 30 of the endless belts 3a, 3b
b move in opposite directions and apply rotational input to the gripped workpiece. The gripping force of the workpiece is determined by the endless belt 3a,
3b is detected by a gauge 53, and according to the output of the gauge 53, the control means 5 controls the tension roller 33.33.
is displaced, the belt tension is adjusted, and the tightening torque and gripping force can be controlled according to the workpiece. Therefore, the bolt
It is possible to continuously perform gripping, tightening, and loosening operations of a workpiece that requires ground rotation input, and the tightening operation is highly effective for tools, automatic machines, industrial robots, etc.

[Brief explanation of the drawing]

The drawing is a schematic diagram showing the principle of the belt-type work hand device of the present invention. 1... Arm 2... Support frame opening/closing mechanism 2
a, 2b... Support frames 3a, 3b... Endless belts 3Qa, 30b... Opposing belt sides 5... Belt tension control means

Claims (2)

[Claims] (1) A pair of endless belts that are arranged opposite to each other at the tip of the arm and grip bolts, naphts, and other workpieces in close proximity to each other, and a pair of endless belts that are connected to both endless belts so that the sides of the belts that grip the workpieces are moved in opposite directions. A belt-type work hand device comprising a drive device capable of forward and reverse rotation for shifting, and a control means connected to each endless belt to adjust belt tension. (2) The belt type work hand device according to claim 1, wherein the surface of the endless belt is provided with anti-slip means such as protrusions or rough surfaces.