JPS6130392A - Hand device for industrial robot - Google Patents
Hand device for industrial robotInfo
- Publication number
- JPS6130392A JPS6130392A JP14821384A JP14821384A JPS6130392A JP S6130392 A JPS6130392 A JP S6130392A JP 14821384 A JP14821384 A JP 14821384A JP 14821384 A JP14821384 A JP 14821384A JP S6130392 A JPS6130392 A JP S6130392A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- gripping
- frame
- industrial robot
- gripping piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は産業用ロボットのハンド装置、特に小形に構
成されたものであって比較的に重量の大きいワークを把
持可能に構成されたハンド装置に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a hand device for an industrial robot, and particularly to a hand device that is configured to be small and capable of gripping a relatively heavy workpiece. It is something.
従来の産業用ロボットのノ・ンド装置として例えば特開
昭５２−２０４８２号公報に示されたものがあるが、ワ
ークの全重量がノ・ンドの把持駆動力によって支持され
るものであって９重量の大きいワークを支持するために
ワーク重量に対応したハンドの強力な把持駆動力が必要
となり、ハンド装置が大形化し高価なものになる不具合
があった。。For example, as a conventional industrial robot gripping device, there is one disclosed in Japanese Patent Application Laid-Open No. 52-20482, but the entire weight of the workpiece is supported by the gripping driving force of the gripping device. In order to support a heavy workpiece, a strong gripping driving force of the hand corresponding to the weight of the workpiece is required, resulting in a disadvantage that the hand device becomes large and expensive. .
この発明は上記の欠点を解消するもので、ワークの重量
がハンドの把持力に寄与する機構を設けてハンドの把持
駆動力を減少し、小形であって比重的重量の大きいワー
クを把持することができる産業用ロボットのハンド装置
を提供しようとするものである。This invention solves the above-mentioned drawbacks by providing a mechanism in which the weight of the workpiece contributes to the gripping force of the hand, thereby reducing the gripping driving force of the hand and gripping a small workpiece with a large specific gravity. The aim is to provide a hand device for an industrial robot that can perform the following tasks.
以下、第１．第２図によってこの発明の一実施例を説明
する。Below, Part 1. An embodiment of the present invention will be explained with reference to FIG.
図中、（１）は産業用ロボットの腕体、（２）は腕体（
１）の先端に設けられた回動軸、（３）は回動軸（２）
に固定されたフレーム、（４）はフレーム（３）に設け
られた電磁又は油圧機構からなるハンド装置の駆動装置
。In the figure, (1) is the arm of an industrial robot, and (2) is the arm (
1) is the rotating shaft provided at the tip, (3) is the rotating shaft (2)
A frame (4) is a drive device for the hand device consisting of an electromagnetic or hydraulic mechanism provided on the frame (3).
（５）は駆動装置（４）の駆動体で、上部は駆動装置（
４）に係合されて下部には凹所からなる保合部（５ａ）
が形成されている。（６）はフレーム（３）から突設さ
れて駆動体（５）の下端に対向した阻止片、（７）はフ
レーム（３）に設けられて駆動体（５）の上下に沿う軸
線を中心に対称位置にそれぞれ配置されたハンド装置の
把持片で、中間部がフレーム（３）に立設されたピン（
７ａ）によって枢持され、また一端には駆動体（５）の
保合部（５ａ）に係合されたローラ（７ｂ）が枢着され
、他端はピン（７ａ）の位置よシも上方に配置されて把
持部（７ｃ）が形成されている。（８）は把持片（７）
と一体に構成され把持片（７）を枢持したピン（７ａ）
と、このピン（７ａ）よシも上方に配置された把持部（
７ｃ）とからなる付勢機構、（９）は円筒状をなすワー
クである。(5) is the driving body of the driving device (4), and the upper part is the driving device (
4) and a retaining part (5a) consisting of a recess at the bottom.
is formed. (6) is a blocking piece that protrudes from the frame (3) and faces the lower end of the drive body (5), and (7) is a blocking piece that is provided on the frame (3) and centered on the axis that runs along the top and bottom of the drive body (5). The gripping pieces of the hand device are placed at symmetrical positions on the two sides, and the middle part is a pin (
7a), and one end of the roller (7b) engaged with the retaining part (5a) of the drive body (5) is pivotally mounted, and the other end is also located above the position of the pin (7a). A grip portion (7c) is formed. (8) is the gripping piece (7)
A pin (7a) integrally configured with the gripping piece (7) and pivotally supporting the gripping piece (7).
And this pin (7a) also has a grip part (
7c), and (9) is a cylindrical workpiece.
すなわち、駆動体（５）は上下動作可能に構成され。That is, the driving body (5) is configured to be able to move up and down.
常時は駆動装置（４）が消勢されていて駆動体（５）は
阻止片（６）に接して下降位置に配置される。′また阻
止片（６）が下降位置にあるときには把持片（７）のロ
ーラ（７ｂ）が押し下げられて把持部（７ｃ）はフレー
ム（３ン幅方向の中心寄シの後退位置に配置されて第１
図に示す状態となる。そして２次に述べるように動作し
てワーク（９）が把持される。すなわち、適宜な作業台
（図示しない）に載置されたワーク（９）に対して、腕
体（１）の下降によって第１図の状態のハンド装置がワ
ーク（９）内に挿入状態に配置される。ついで駆動装置
（４）が付勢されると駆動体（５）が動作して上昇し２
把持片（７）のローラ（７ｂ）が押し上げられ把持部（
７ｃ）はフレーム（３）の幅方向中心から外側へ変位し
てワーク（９）内面に押圧され第２図に示す状態となる
。そして腕体（１）が上昇すると、ワーク（９）内面と
把持部（７ｃ）の摩擦によってワーク（９）が支持され
るが、このときに把持片（７）にワーク（９）の重量が
作用するのでワーク（９）と把持部（７ｃ）の摩擦によ
って把持片（７）にピンＣ７８）ｋ中心としたモーメン
トが作用して把持部（７ｃ）がワーク（９）内面方向へ
付勢される。すなわち、付勢機構（８）によってワーク
（９）の重量、ワーク（９）と把持部（７ｃ）の摩擦力
によりワーク（９）把持の助成作用を得ることができる
。したがって駆動装置（４）の把持駆動力が小さくても
付勢機構（８）、ワーク（９）重量による把持力が寄与
して所要の把持能力を得ることができ、小形であって比
較的に重量の大きいワーク（９）の把持が可能であり安
価に製作できる産業用ロボットのノ１ンド装置を得るも
のである。Normally, the drive device (4) is deenergized and the drive body (5) is placed in the lowered position in contact with the blocking piece (6). 'Also, when the blocking piece (6) is in the lowered position, the roller (7b) of the gripping piece (7) is pushed down and the gripping part (7c) is placed in a retracted position near the center in the width direction of the frame (3). 1st
The state shown in the figure will be reached. Then, the workpiece (9) is gripped by operating as described below. That is, with respect to a workpiece (9) placed on a suitable workbench (not shown), the hand device in the state shown in FIG. 1 is inserted into the workpiece (9) by lowering the arm body (1). be done. Then, when the drive device (4) is energized, the drive body (5) operates and rises.
The roller (7b) of the gripping piece (7) is pushed up and the gripping part (
7c) is displaced outward from the center in the width direction of the frame (3) and is pressed against the inner surface of the workpiece (9), resulting in the state shown in FIG. When the arm body (1) rises, the workpiece (9) is supported by friction between the inner surface of the workpiece (9) and the gripping part (7c), but at this time, the weight of the workpiece (9) is transferred to the gripping piece (7). Because of the friction between the workpiece (9) and the gripping part (7c), a moment about the pin C78)k acts on the gripping piece (7), and the gripping part (7c) is urged toward the inner surface of the workpiece (9). Ru. That is, the biasing mechanism (8) can assist in gripping the workpiece (9) using the weight of the workpiece (9) and the frictional force between the workpiece (9) and the gripping portion (7c). Therefore, even if the gripping driving force of the drive device (4) is small, the required gripping ability can be obtained due to the contribution of the gripping force due to the biasing mechanism (8) and the weight of the workpiece (9). To obtain an industrial robot nodding device that can grip a heavy workpiece (9) and can be manufactured at low cost.
なお、第１．第２図の実施例を応用してワークの外周面
を把持するノ・ンド装置を容易に製作することができる
。また第１．第２図の把持部（７Ｃ）に多数の小突歯を
設けること、また把持部（７Ｃ）を摩擦係数の大きいゴ
ム等でおおうことによって把持作用を一層向上させるこ
とができる。In addition, 1. By applying the embodiment shown in FIG. 2, it is possible to easily manufacture a punching device that grips the outer peripheral surface of a workpiece. Also number 1. The gripping action can be further improved by providing the gripping portion (7C) in FIG. 2 with a large number of small teeth and by covering the gripping portion (7C) with rubber or the like having a large coefficient of friction.
第３．第４図はこの発明の他の実施例を示すもので１図
中、第１．第２図と同符号は相当部分を示し、 （５
ａ）は駆動体（５）の下面によって形成された押圧面、
（８）はフレーム（３１に固定されて下端がフレーム（
３）の幅方向中心から離れる方向へ傾斜して配置された
レールからなる付勢機構、（７）は一側が付勢機構（８
）に係合され付勢機構（８）の長手に沿って移動可能に
保持された把持片で、上部にはローラ（７ｂ）が枢着さ
れ、他側、すなわちフレーム（３）幅方向中心から離れ
た外側には把持部（７ｂ）が形成されている。０Ｉは一
端がフレーム（３）に他端は把持片（７）に連結された
引張りコイルばねからなる付勢体で ゛ある。Third. FIG. 4 shows another embodiment of the present invention. The same symbols as in Fig. 2 indicate corresponding parts, (5
a) is a pressing surface formed by the lower surface of the driver (5);
(8) is fixed to the frame (31 and the lower end is the frame (
(3) is a biasing mechanism consisting of a rail arranged to be inclined away from the center in the width direction; (7) is a biasing mechanism (8) on one side;
) is engaged with the biasing mechanism (8) and is held movably along the length of the biasing mechanism (8). A grip portion (7b) is formed on the outer side. 0I is a biasing body consisting of a tension coil spring connected to the frame (3) at one end and the gripping piece (7) at the other end.
すなわち、常時は駆動装置（４）が消勢されていて。That is, the drive device (4) is normally deenergized.
駆動体（５）は上昇位置く保持されるとともに２把持片
（７）は付勢体α呻によって引き上げられて上昇位置に
配置され第３図に示す状態となる。そして１次に述べる
ように動作してワーク（９）が把持される。The driver (5) is held in the raised position, and the two gripping pieces (7) are pulled up by the biasing member α and placed in the raised position, resulting in the state shown in FIG. Then, the workpiece (9) is gripped by operating as described in the first section.
すなわち、腕体（１１の下降によって第３図に示す状態
のハンド装置がワーク（９）内に挿入状態に配置される
。ついで駆動装置（４）が付勢されると駆動体（５）が
動作して下降しローラ（７ｂ）を押圧し把持片（７）は
付勢体−に抗して押し下げられて付勢機構（８）に案内
されフレーム（３）の幅方向中心から外側へ変位して把
持部（７ｃ）がワーク（９）内面に押圧され第４図に示
す状態となる。そして腕体（１）が上昇するとワーク（
９）内面と把持部（７Ｃ）の摩擦によってワーク（９）
が支持されるが、このときに把持片（７）にワーク（９
）の重量が作用する。そしてワーク（９）重量の作用に
よつて把持片（７）とワーク（９）の摩擦力により把持
片（７）が下方に付勢されるとともに付勢機構（８）を
介して把持部（７ｃ）がワーク（９）内面方向へ付勢さ
れて把持作用が助成される。したがって詳細な説明を省
略するが、付勢機構（８）、ワーク（９）重量による把
持力が寄与するのでこの実施例においても第１．第２図
の実施例と同様な作用が得られることは明白である。That is, by lowering the arm body (11), the hand device in the state shown in FIG. The gripping piece (7) moves downward and presses the roller (7b), and the gripping piece (7) is pushed down against the biasing body, guided by the biasing mechanism (8), and displaced outward from the center in the width direction of the frame (3). The grip part (7c) is pressed against the inner surface of the workpiece (9), resulting in the state shown in Fig. 4.Then, when the arm (1) rises, the workpiece (9) is pressed against the inner surface of the workpiece (9).
9) Workpiece (9) due to friction between inner surface and gripping part (7C)
is supported, but at this time, the workpiece (9) is attached to the gripping piece (7).
) acts on the weight. Then, due to the action of the weight of the workpiece (9), the gripping piece (7) is urged downward by the frictional force between the gripping piece (7) and the workpiece (9), and the gripping part ( 7c) is urged toward the inner surface of the workpiece (9) to assist the gripping action. Therefore, although a detailed explanation will be omitted, since the gripping force due to the weight of the biasing mechanism (8) and the workpiece (9) contributes to the first. It is clear that the same effect as the embodiment of FIG. 2 can be obtained.
以上説明したとおシこの発明は、付勢されて動作する駆
動体に押圧されてワーク方向へ変位する把持片と９把持
片のワーク押圧による摩擦力を介してワークの自重によ
シ把持片をワーク方向へ付勢する付勢機構とを設けて、
ワーク自重、ワークと把持片の摩擦力による把持の助成
作用を得るものである。これによって駆動装置の把持駆
動力が小さくても所要の把持能力を得ることができ、小
形であって比較的に重量の大きいワークを把持可能でち
ゃ安価に製作できる産業用ロボットのハンド装置を実現
するものである。As explained above, the present invention allows the gripping piece to be moved by the weight of the workpiece through the frictional force caused by the workpiece pressing between the gripping piece and the nine gripping pieces that are displaced in the direction of the workpiece by being pressed by the biased driving body. A biasing mechanism is provided to bias the workpiece in the direction of the workpiece.
Gripping is assisted by the workpiece's own weight and the frictional force between the workpiece and the gripping piece. As a result, the required gripping ability can be obtained even if the gripping drive force of the drive device is small, and an industrial robot hand device that is small and can grip relatively heavy workpieces and can be manufactured at low cost has been realized. It is something to do.
第１図はこの発明による産業用ロボットのハンド装置の
一実施例を示す産業用ロボットの腕体先端部正面図、第
２図は第１図のハンド装置の動作を説明した図、第３図
はこの発明による産業用ロボットのハンド装置の他の実
施例を示す第１図相当図、第４図は第３図のハンド装置
の動作を説′明した図である。
（３）・・・フレーム （ｊ５＋・・・駆動体 （７）
・・・把持片（８）・・・付勢機構 （９）・・・ワー
クなお９図中同一部分または相当部分は同一符号によシ
示す。FIG. 1 is a front view of the tip of an arm of an industrial robot showing an embodiment of the hand device for an industrial robot according to the present invention, FIG. 2 is a diagram illustrating the operation of the hand device shown in FIG. 1, and FIG. 1 is a diagram corresponding to FIG. 1 showing another embodiment of the hand device for an industrial robot according to the present invention, and FIG. 4 is a diagram illustrating the operation of the hand device of FIG. 3. (3)...Frame (j5+...Driver (7)
...Gripping piece (8)...Biasing mechanism (9)...Work Note that in Figure 9, the same or equivalent parts are indicated by the same reference numerals.
Claims (1)
が上記フレームに保持されて互いに対称関係にそれぞれ
配置され上記駆動体の動作によりワーク方向へ変位し他
側が上記ワークに押圧される把持片と、上記フレームに
設けられて上記把持片を保持し上記把持片の上記ワーク
押圧による摩擦力を介して上記ワークの自重により上記
把持片を上記ワーク方向へ付勢する付勢機構とを備えた
産業用ロボットのハンド装置。A driving body provided on a frame and operating under bias, and a gripping piece whose one side is held by the frame and is arranged symmetrically with respect to each other, and which is displaced toward the workpiece by the operation of the driving body, and whose other side is pressed against the workpiece. and a biasing mechanism provided on the frame to hold the gripping piece and bias the gripping piece toward the workpiece by the weight of the workpiece through frictional force caused by the gripping piece pressing the workpiece. Industrial robot hand device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14821384A JPS6130392A (en) | 1984-07-17 | 1984-07-17 | Hand device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14821384A JPS6130392A (en) | 1984-07-17 | 1984-07-17 | Hand device for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6130392A true JPS6130392A (en) | 1986-02-12 |
Family
ID=15447797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14821384A Pending JPS6130392A (en) | 1984-07-17 | 1984-07-17 | Hand device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6130392A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4780756A (en) * | 1985-07-16 | 1988-10-25 | Fuji Photo Film Co., Ltd. | Apparatus for producing a hard copy of a color picture from either a field or a frame of luminance and line-sequential color difference video signals |
| JP2021154464A (en) * | 2020-03-30 | 2021-10-07 | 株式会社ダイフク | Robot hand |
-
1984
- 1984-07-17 JP JP14821384A patent/JPS6130392A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4780756A (en) * | 1985-07-16 | 1988-10-25 | Fuji Photo Film Co., Ltd. | Apparatus for producing a hard copy of a color picture from either a field or a frame of luminance and line-sequential color difference video signals |
| JP2021154464A (en) * | 2020-03-30 | 2021-10-07 | 株式会社ダイフク | Robot hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPS6130392A (en) | Hand device for industrial robot | |
| EP1387356B1 (en) | Disk clamping device | |
| JPH0629343A (en) | Wire bonding device | |
| JPH0739065B2 (en) | Electric drill fixing device of automatic gas fusing device equipped with electric drill | |
| JPS5917152U (en) | Cutting machine | |
| JPH0586422U (en) | Vice device | |
| JPS5949436U (en) | Workpiece conveyance device for press | |
| JPH018243Y2 (en) | ||
| JPH047856Y2 (en) | ||
| JPS6127632U (en) | Workpiece clamping device | |
| JPH0530953Y2 (en) | ||
| JPS6141714Y2 (en) | ||
| JPS6011038Y2 (en) | Lift truck push pull device | |
| JPH0451475Y2 (en) | ||
| JPH0336327U (en) | ||
| JPS6389281A (en) | Hand device for industrial robot | |
| JPS6080892U (en) | Industrial robot hand device | |
| JPS60153817A (en) | Elevation apparatus of bed | |
| JPS63172538U (en) | ||
| JPS62110835U (en) | ||
| JPS60113807U (en) | Press-fit chuck device | |
| JPS6115149U (en) | Printing machine daisy wheel holding device | |
| JPS61262197A (en) | Pen lifting mechanism of pen-written printer | |
| JPS63168657U (en) | ||
| JPS5942806U (en) | Bit tip position adjustment device |