JPS61274888A - Hand device for industrial 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 [Industrial Application Field] The present invention provides a hand device that is attached to the free end of a robot arm that can freely change direction, and that has a plurality of gripping claw groups.
This invention relates to a hand device for an industrial robot that moves a plurality of workpieces held in one workpiece stocker (also referred to as an indexing device) placed within the operating range of the robot to the other workpiece stocker by changing the arrangement direction. In particular, this invention relates to a hand device that has the function of moving a plurality of workpieces held in one workpiece stocker in a predetermined direction to another workpiece stocker in a different arrangement direction and holding them in the other workpiece stocker. It is.

[Conventional technology]

Figures 5 to 7 show conventional hand devices for industrial robots. Figure 5 is a plan view showing the arrangement of the industrial robot and peripheral devices installed around it, and Figure 6 is A perspective view of the industrial robot and FIG. 7 are explanatory diagrams of the operation when moving a workpiece. First, in FIGS. and multiple sets of workpiece holders (2a) at predetermined intervals in the local direction.
The first rotatable to a predetermined angle with (2b) and (2c) arranged.
In the work stocker, each of the above work holders (2a) (2
As shown in FIG. 7, workpieces (12a), (12b), and (12C) to be moved are freely held in each of b) and (2c), respectively.

(3) is a workpiece holder placed adjacent to the first workpiece stocker (1) and spaced vertically at a predetermined interval from the rotating disk (8A) on the front that can be rotated by 90 degrees. (4a) (4b) (4c) is a workpiece arrangement direction changing device protruding from each of the above-mentioned workpiece holders (4a), (4b), and (4c).
In c), as shown in FIG. 7, a vertical or horizontal arrangement is converted to a horizontal or vertical arrangement by rotating the rotary disk (8A) by 90'.

(5) is arranged adjacent to the workpiece array direction changing device (3), and has a plurality of sets of workpiece holders (6a), (6b), and (6c) protruding from the outer peripheral surface at predetermined intervals in the horizontal direction. This second work stocker is rotatable to a predetermined angle.
work stocker (5), the first work stocker (
1) and the workpiece arrangement direction changing device (3) are composed of an arm (9a) that can freely change direction and has a hand device (9) attached to its tip.
), that is, within a predetermined angular range (8) centered on the industrial robot (7) as shown in FIG.

As shown in FIGS. 5 and 6, (9) is a hand device attached to the tip of the arm (9a) of the industrial robot (7) that can move up and down and move back and forth.
9) includes a plurality of sets of gripping claw devices (10A) (1
0B) (I OC) and multiple sets of gripping claw devices (10a) (10b) (1
0c) is provided.

Since the conventional hand device for an industrial robot is configured as described above, the work holders (2a) (2b) protruding in the vertical direction of the first work stocker (1)
Workpieces (12a) (12b) held in (2c)
) (12C) are horizontally protruding workpiece holders (6a) (6b) (6) of the second work stocker (5).
c), as shown in FIG.
(IOB) (IOC) in the vertical direction of the first work stocker (1) (12a) (12b) (1)
2c) at the same time, move the hand device (9) back in the direction of the arrow (4), and then
9) in the direction of arrow (8) → (C), and move each workpiece (12a) (12b) (12c) of the gripping claw device (IOA) (IOB) (toC) that is gripped in the direction of workpiece arrangement. The converter (3) also holds the workpiece in the vertical direction (
4a), (4b), and (4c) at the same time, release the grip on the workpiece, and retreat the hand device (9).

Next, the rotating disk (8A) of the converting device (3) is rotated 90 degrees to convert the arrangement of the workpieces (12a), (12b), and (12c) in the horizontal direction, and then the hand device (9) is transferred to the converting device ( 3), and horizontal gripping claw devices (10a) (10b) (10c) of this hand device (9).
The horizontal workpieces (12a) (12b) (12c) held by the workpiece holders (4a') (4b) (4'c) of the conversion device (3) whose arrangement has been converted horizontally by
) at the same time.

Next, after moving the hand device (9) backward in the direction of the arrow ■, move the hand device (9) in the direction of the arrow (G), and then move it forward in the direction of the arrow (F) and grasp it. The workpieces (12a), (12b), and (12c) of the gripping claw devices (10a, 10b, and 10c) are moved to the horizontal workpiece holders (6a, 6, and 6) of the second workpiece stocker (5).
b) At the same time, insert it into (6c) and release the grip on the workpiece,
The hand device (9) is moved backward to complete one stroke.

[Problem that the invention seeks to solve]

In the conventional hand device of the industrial robot described above, a plurality of workpieces arranged and held in one workpiece stocker in a predetermined direction are moved to and held by the other workpiece stocker in a different arrangement direction. Not only is the peripheral equipment for the industrial robot expensive because it requires a conversion device to change the arrangement direction of the workpieces between both workpiece stockers, but also a workpiece arrangement direction conversion device is required on the production line using industrial robots. The presence of this method increases the number of steps and reduces productivity.

[Means for solving problems]

The hand device for an industrial robot according to the present invention changes the arrangement direction of a plurality of workpieces held in one workpiece stocker by changing the arrangement direction of a gripping claw device added to the hand device itself, and The workpiece arrangement direction changing device that was conventionally provided between the workpiece stockers is omitted by moving the workpieces to the stockers.

[Effect]

In this invention, a function for changing the arrangement direction of a plurality of gripped workpieces is added to the hand device itself, thereby reducing the number of peripheral devices of an industrial robot.

[Embodiments of the invention]

Figures 1 to 4 show an example of the present invention. Figure 1 is a plan view showing an industrial robot and the arrangement of peripheral devices installed around it, and Figure 2 is an industrial robot. Figure 8 is a side view of the hand device, Figure 8 (6) is a front view of the hand device, Figure 8 (Q is a partially sectional plan view of the hand device, and Figure 4 is a perspective view of the hand device. 2 is an explanatory diagram of the operation during movement of the workpiece, and since the same reference numerals as in the above-mentioned conventional system (FIGS. 6 to 7) refer to the same constituent members, the explanation thereof will be omitted.

(to) is the industrial robot (7) as shown in Figure 2.
) is attached to the tip of an arm (7a) that can move up and down and freely move back and forth. ) is incorporated into the mounting base (g), which is integrated with the mounting angle (to).

That is, in Figure A (6) (C) showing the hand device (to) of the present invention, at Q time, the drive gear (2), which will be described later and which is attached to the back of the mounting base (G), is rotated in forward and reverse directions. The rotary actuators (17a), (17c), and (17b) and (17d) are fixed to the upper and lower ends of the mounting base, and a pair of mutually parallel guide shafts (18a, 18C) and ( 18b) Support pieces supporting both ends of (18d), (19a) (19b) are the guide shafts (18a) (18c) and (18b) (1
8d) A pair of sliders each having a movable gripping claw device (x4a) and (t4c) mounted on the front surface thereof, each of which is slidably supported by the mounting base (14b), is attached to the mounting seat (2) at approximately the center of the mounting base (to). The guide shaft (18
a) A fixed gripping claw device which is always arranged in parallel with the movable gripping claw device D4a) (14c) moving along (18c) and (18b) (18d),
It goes without saying that each of these gripping claw devices (14a), (14b), and (14c) is provided with a pair of gripping claws for gripping and releasing the workpieces (12a, 12b, and 12c) from both sides.

(2oa) (2ob) are both sliders (19a) (
A pair of racks that are integral with the drive gear (20a) (19b) and constantly mesh with the drive gear (2) which is rotated in forward and reverse directions by the rotary actuator (to).
0b) is the guide shaft (18a) (
18c) and (xsb) (xgd) for simultaneous movement in opposite directions. Note that when using the rotary actuator α above, the guide shaft (
18a) to (18d), sliders (19a) (19b)
), rack (2oa) (20b), drive gear (a)
constitutes the workpiece arrangement direction conversion function (2) of the gripping claw devices (14a) (14b) (14c).

Since the hand device of the industrial robot of this invention is configured as described above, the work holders (2a) (2b) (2c) of the first work stocker (1) shown in FIG.
Vertical workpiece (12a) ([b)
(12C) to the second work stocker (5), the rotary actuator α is rotated in a predetermined direction to drive the rack (20a) (20
b) and sliders (19a) (19b) to move the movable gripping claw devices (14a) (14c) to the positions shown by solid lines in FIG.
(14b) After arranging (14C) in the vertical direction, the gripping claw devices (14a), (14b), and (14c) are used to vertically arrange the workpieces (14C) in the first work stocker (1).
12a), (12b), and (12c), and temporarily retreat the hand device (to) in the direction of arrow (J).

Next, the rotary actuator (g) is rotated in a predetermined direction to rotate the drive gear (2) and the racks (20a) and (20b).
, and sliders (19a) and (19b) to move the movable gripping claw devices (14a) and (14c) to the positions shown by broken lines in FIG.
(t4b) After arranging (14c) in the horizontal direction, move the gripping claw devices (14a) (14b) (14C) in the direction of arrow ■ → (0) to grip each workpiece (12a) ( 12b) (12c) in the horizontal direction work holders (6a) (6b) (
6c) at the same time, release the grip on the workpiece, and retreat the hand device (2) to complete one stroke.

In addition, in the above-mentioned embodiment, the work holders (2a) (2b) (2c) of the first work stocker (1)
are provided protrudingly at a predetermined interval in the vertical direction, and the work holders (6a) (6b) (6c) of the second work stocker (5)
Although the above description has been made regarding the case in which the protrusions are provided at predetermined intervals in the horizontal direction, it goes without saying that the same effect can be obtained even in the reverse case.

〔Effect of the invention〕

As described above, according to the present invention, the arrangement direction of a plurality of workpieces held in one workpiece stocker is changed by the workpiece arrangement direction conversion function of the gripping claw device added to the hand device itself, and the workpieces are transferred to the other workpiece stocker. Since the workpieces are moved to the stocker, there is no need for a separate device for changing the direction of workpiece arrangement between the two workpiece stockers, which is an excellent feature that can reduce costs on the production line and improve productivity. It is effective.

[Brief explanation of drawings]

Figures 1 to 4 all show one embodiment of the present invention; Figure 1 is a plan view showing the arrangement of an industrial robot and peripheral devices; Figure 2 is a perspective view of the industrial robot; Figure 8 is a perspective view of the industrial robot; Figure 8 is a side view of the hand device, Figure 8 (6) is a front view of the hand device,
FIG. 8 (Q is a plan view showing a part of the hand device in cross section, FIG. 4 is an explanatory diagram of the operation when moving the workpiece. FIGS. 5-
Figure 7 shows a conventional hand device for an industrial robot, Figure 5 is a plan view showing the arrangement of the industrial robot and peripheral equipment, Figure 6 is a perspective view of the industrial robot, and Figure 7 is a workpiece. It is an explanatory diagram of operation during movement. In the figure, (1) is the first work stocker, (2a)
(2b) (2c) and (6a) (6b) (6c) are work holders, (7) is an industrial robot, (12a) (1
2b) (12c) is the workpiece, (to) is the hand device, (1
4a) (14b) (14c) are gripping claw devices, (to) are rotary actuators, (18a) to (18d) are guide shafts, (19a) (19b) are sliders, (20a)
(20b) is a rack, 2) is a drive gear, and (20b) is a workpiece arrangement direction conversion function. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (3)

[Claims] (1) Workpiece arrangement direction conversion that changes the arrangement direction of the plurality of workpieces held in one workpiece stocker in a device that has a hand device that moves the plurality of workpieces held in one workpiece stocker to the other workpiece stocker. A hand device for an industrial robot, characterized in that a function is added to the hand device itself. (2) A pair of workpiece arrangement direction changing devices each having a drive gear rotated by a rotary actuator and a rack that meshes with the drive gear to move in opposite directions along a guide shaft, each equipped with a gripping claw device. A hand device for an industrial robot according to claim 1, characterized in that the hand device comprises a slider. (3) Work holders are protruded from the outer circumference of one work stocker at predetermined intervals in the vertical direction, and work holders are protruded from the outer circumference of the other work stocker at predetermined intervals in the horizontal direction. Claim 1 characterized in that
The hand device for the industrial robot described in Section 1.