JPS61244480A - Work hand device - 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 work hand device applied to automatic machines, industrial robots, etc.

<Summary of the Invention> The present invention has a plurality of ring-shaped workpiece gripping members aligned and pivoted on a frame, and a workpiece is positioned in the inner hole of each gripping member and rotated at the same time. The handle is gripped at several points on the inner circumference of the gripping member.

<Conventional Technical Field> Conventionally, as this type of work hand device, a gripping claw method in which a workpiece is gripped by a plurality of gripping claws, a bellows type gripping method in which a workpiece is gripped by a plurality of expanding and contracting bellows, etc.
Although various configurations have been implemented, the target of any of the above configurations is limited to small workpieces and lightweight workpieces. For this reason, there has recently been a strong demand in the industry for a work hand device that can stably grip a heavy long work, but such a device does not currently exist.

<Objective of the Invention> An object of the present invention is to provide a novel work hand device that can stably grip everything from small lightweight workpieces to heavy long workpieces with a simple configuration, and that satisfies the above requirements. .

<Structure and Effects of the Invention> In order to achieve the above object, the present invention provides a frame with a plurality of ring-shaped workpiece gripping members aligned and disposed with bearings, and each gripping member is provided with a bearing that rotates in unison. It is made up of connected drive mechanisms for displacement.

According to the above configuration, in the present invention, by positioning the elongated workpiece in the inner hole of the aligned workpiece gripping members and rotationally displacing the gripping members, each gripping member has an opposing circumferential surface perpendicular to the support shaft. They grip the front and rear surfaces of the workpiece with force.
With this configuration, it is possible to stably grip long workpieces of various shapes such as square bars, round bars, strips, etc. that can be inserted into the inner hole of the gripping member, and the configuration is simple and the object of the invention is achieved.

<Description of Embodiments> The drawings show an example in which a work hand device according to the present invention is attached to the tip of a robot arm. The work hand device has a frame 2 fixed to the tip of the robot arm l.
A plurality of ring-shaped workpiece gripping members 3.3a are aligned on the axis of the arm 1 and are provided with bearings on the frame 2, and a plurality of ring-shaped workpiece gripping members 3.3a are arranged in conjunction with the gripping members 3, 3a and are rotated all at once. It consists of a drive mechanism 4 for dynamic displacement.

The frame 2 has supporting walls 22, 22 protruding from opposite ends of the mounting board 21, and each supporting wall 22 has a workpiece gripping member 3 perpendicular to the imaginary axis center line 10 of the arm 1.
, 3a are formed to face each other with a distance larger than the outer diameter of the shaft holes 23, and the work gripping member 3.3a is supported in the opposed shaft holes 23.

The workpiece gripping members 3, 3a are a series of ring-shaped elastic metal wires, and the surfaces are coated with an anti-slip coating made of rubber, synthetic resin, etc. as necessary. Support shafts 31 and 31 are integrally provided on both outer sides corresponding to the line, and are rotatably supported in the shaft hole 23 of the frame 2.

The drive device 4 includes an external gear 41 having an equal number of teeth on each of the support shafts 31.
, 4.13 are fixed and meshed with each other, while a forward/reverse rotation motor 42 and a speed reducer 43 are arranged at appropriate positions on the frame 2,
A drive gear 45 is fixed to the deceleration output shaft 44 and meshed with the external gear 41, and when the motor 42 is operated, the gripping members 3 and 3a rotate in opposite directions to each other, so-called opposite sides. That's what I do.

Note that in place of the gears 41, 412, and 45, other transmission mechanisms such as timing belts and pulleys may be used.

In addition, in the drawing, two gripping members 3, 3a are attached to the frame 2.
However, in the case of a long workpiece, it is of course necessary to arrange a large number of gripping members in an array. Furthermore, the shape of the gripping members 3, 3a is not limited to a circular shape, and may be selected within the technical scope of the present invention, such as a rectangular ring shape in the case of a rectangular rod shape or a flat workpiece.

Therefore, both the workpiece gripping members 3 and 3a are normally positioned orthogonal to the virtual axis center line 10 of the robot arm 1.
The workpiece gripping part of the inner hole is opposite. When gripping a workpiece, after repositioning the long workpiece 5 in the inner hole of the gripping members 3, 3a, when operating the drive device 4, each gripping member 3, 3
a rotates toward opposite sides, and the opposing portions perpendicular to the support shaft 31 elastically grip the workpiece 5 from both sides, using the driving force of the motor 42, the elastic reaction force of the gripping member 3, and the anti-slip coating. Achieve stable gripping.

As described above, in the present invention, a plurality of ring-shaped workpiece gripping members 3, 3a are aligned and provided with bearings on the frame 1, and each gripping member 3, 3a is rotationally displaced at the same time by the drive mechanism 4, and gripping is performed. Since the workpiece located in the inner hole of the member is gripped from a plurality of positions on both sides, it is suitable for hand processing of long workpieces such as rod-shaped, strip-shaped, etc. Furthermore, since the workpiece is gripped by the inclination of the ring-shaped gripping members 3, 3a, it is possible to stably grip a workpiece or a thin shaft workpiece whose diameter is equivalent to the inner diameter of the gripping portion, thereby achieving the object of the invention of simplifying the structure.

[Brief explanation of drawings]

1 is a front view showing an example of the work hand device according to the present invention, FIG. 2 is a sectional view taken along the line nn in FIG. 1, and FIG. 3 is a sectional view taken along the line III-I [1] in FIG. FIG. 4 is a diagram showing a gripping state of a strip-like workpiece. 2... Frame 3.3a... Work gripping member 31... Support shaft 4... Driving device Applicant: Cubo Denki Co., Ltd. Agent Patent attorney Master Suzuki Yoshimitsu! 'tt23.3tL9
．． 9-Kuo wazai 44y screw f, 31 spindle lt, :'S! 'Shikame l

Claims (2)

[Claims] (1) A work hand device comprising a plurality of ring-shaped work gripping members movably supported on a frame, and a drive mechanism that is connected to each gripping member and rotationally displaces the gripping members. (2) The work hand device according to claim 1, wherein the adjacent gripping members are meshed with each other with a gear fixed to a support shaft.