JPS62173191A - Self-adjusting system of robot 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] (Industrial application field) The present invention provides a self-adjusting method for robot hunting.

(Prior art) Robot hunts generally have fixed grip marks and strokes, and for this reason, when trying to grip both large and small diameter objects with one robot hand, it is necessary to change the grip width. It is necessary to adapt to a larger diameter one or replace the entire robot hand.

However, if a robot hand designed for large-diameter objects is used to grasp small-diameter pipes, it requires unnecessary movement and space compared to the object to be grasped, so for example, during testing. For tube racks, etc., the main disadvantage is that the pitch WA between the test tubes must be increased to accommodate the wasted operating space of the robot, and conversely, for large diameter tubes, etc., it is difficult to connect the robot hand and the tubes. Since it is not possible to maintain a large interval between the pipes, the main problem is that depending on the operation, the pipes, etc. may be damaged.

On the other hand, a system in which the entire robot hunt part is replaced has been put into practical use in large robots, but this type of robot is not suitable for small robots with a payload of about 0.5 Kq due to weight constraints. The problem is that a replacement mechanism cannot be installed.

(Purpose) The present invention was made in view of this problem, and its purpose is to propose a new self-adjustment method that allows the robot to freely adjust the grip width depending on the object to be gripped. It's about doing.

(Means for achieving the object) That is, in order to achieve the object, the present invention moves hand claws supported by two parallel curved rods so as to come into contact with the base of the first jig. a first step of displacing the bent rod in a direction away from the degree determining portion on the hunt member; and specifying the hand claw by moving the hand claw to align with a second jig for gripping width adjustment. Step 2 of adjusting the gripping width to a desired width, and moving the hand claw to contact the regulating part of the first jig, and moving the bent rod, which has been rotated according to the adjustment during gripping, on the hand member. The self-adjustment method of the robot hunt includes a third step of engaging the corresponding degree determining part.

(English Embodiment) The details of the present invention will be explained below based on the illustrated embodiment.

The drawing shows an example of the drawing applied to the method of the present invention, and reference numeral 1 in the drawing indicates a hand claw 6 held in cooperation with a doting groove 4.4 provided on the upper surface of the robot hand 3.3. These arms, which are partially bent at the center, determine the opening angle of the hand claw 6.6.These arms are a pair of arms that determine the opening angle of the hand claw 6.6, and hold the hand claw 6.6 at its lower end. The mounting part is attached to the robot arm 3.3 by inserting it into the hole 5.5 from below and inserting the stopper 2.2 into the upper end of the robot arm 3.3. Groove 4
The lock plate 7 attached to these robot hands 3.3 is roughly slid, and the hole 8 drilled there is inserted into the hole 8.
The installation of the arm... is configured to prevent it from coming out upwards by shifting it from its position.

On the other hand, Figure 2 shows one of the jigs for adjusting the gripping width of the robot hand.
1 and an upright part 12, and the upright part 12 has a downward engaging recess 13 for restraining the rising piece 9 of the lock plate 7 and sliding it to either side, and a hand. Protrusions that come into contact with the claws 6.6 to prevent them from rising are respectively formed.

On the other hand, Fig. 3 shows another jig for adjusting the grip width of the robot hunt, and Fig. 3 (a) shows how to adjust the hand claw 6.6 from one grip width to the next along the outer surface. In order to widen the grip width, it is configured as a block-shaped jig 2o in which a guide surface 22 is formed between each grip width defining surface 21a-c, and the hand claw 6. 6
In order to narrow the grip width from one grip width to the next grip width, a guide surface 27 and a grip width defining surface 2 are provided on the inner surface.
It is configured as a jig 25 with a recess of 6a-c%.

Next, a self-adjusting operation of the robot hand 3 performed using each of the jigs 1o and 20.25 will be explained.

If it becomes necessary to change the hand and claw 6.6 set in the robot hand 3.3 with the current grip width to a new grip width, first move the robot hand 3.3 to the one-shaped jig 10. Move back and insert the rising piece 9 of the lock plate 7 into the downward engaging recess 13. Then, when the robot hand 3 is pulled back backwards, the lock plate 7 held in the engagement recess] 3 slides forward of the robot hand 3, and the hole 8 formed on the plate 7 is inserted into the lock plate 7. Place Mc5 on arm 1. Then, when the robot hunt 3 is lowered in this position, the hand claw 6 comes into contact with the base 11, and the arm pushed up thereby rises so that its upper end enters the hole 8 of the lock plate 7, When the stopper pin 2 at the tip is removed from the groove 4 on the upper surface of the robot hand 3, it becomes rotatable (FIG. 2(a)).

Therefore, in this state, when the hand claw 6.6 is lowered along the jig 20 shown in FIG. 3(a) in order to widen the grip width, it is supported by the two arms 1. The two hand claws 6.6 move outward in parallel while being guided by the guide surface 22, and are pushed out to the next specified grip width.

After the new gripping width is adjusted in this way, the robot hand 3 is finally moved back to the jig 10 in an L-shape, and the hand claw 6 is raised along the upright portion 12.

As a result, the hand claw 6 comes into contact with the protrusion 14 of the upright part 12, and as a result, the arm] ... is lowered relative to the robot hand 3, so that the retaining pin 2 at the tip of the arm]... is lowered relative to the robot hand 3. It fits into the new groove 4 on the upper surface of the robot hunt 3. Then, in this state, next robot hand 3
When the lock plate 7 moves forward, the lock plate 7 hits the front wall of the downward engaging recess 13 and slides toward the rear of the robot hand 3, thereby shifting the retaining bottle 2 and the hole 8 by an amount M to prevent the bottle 2 from being pulled out. (Figure 2(b)).

Note that the grip width can be narrowed during the above-described self-adjustment operation by fixing the hand claw 6 with a jig 25 shown in FIG. 3(b).

(Effects) As described above, according to the present invention, the two bent rods holding the hand claws are removed from the degree setting part of the hand member, and then the hand claws are grabbed and specified along the width adjustment jig. The grip width is adjusted, and finally, the bent rod rotated according to the grip adjustment is engaged with the corresponding degree determining part on the hand member, so there is no need to attach any replacement mechanism to the robot itself. The grip width can be adjusted freely, and it can be configured as a small robot suitable for radiation irradiation rooms, high temperature rooms, etc., and the operating space can be minimized. It is possible to give the applicability of the

Moreover, since the hand member and the hand claw are connected by two parallel curved rods, the pair of hand claws can always be positioned parallel to each other, regardless of the grip width adjustment, and the gripping function can be maintained at its best. can be maintained.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an example of a robot used in the method of the present invention, Fig. 2 (aXb) is an explanatory diagram showing the grip width adjustment operation, and Fig. 3 (a) and (b) are illustrations of the grip width adjustment operation. It is an explanatory diagram showing a jig together with adjustment operation. 1...Arm 2...Removal stopper 3.
・Robot hand 4...Degree groove 6...Hand claw 7...Lock plate] 0...L-shaped jig 13...Downward recess 14...Protrusion
2o, 25...Jig for adjusting grip width

Claims (1)

[Claims] A first method for moving hand claws supported by two parallel curved rods to abut against the base of the first jig, and displacing the curved rods in a direction away from the sizing portion on the hand member. a second step of adjusting the hand claw to a specified grip width by moving the hand claw along a second jig for grip width adjustment; and a second step of adjusting the hand claw to a specified grip width; a third member that moves to abut the regulating portion of the hand member and engages the bent rod rotated in accordance with the grip width adjustment with a corresponding degree determining portion on the hand member;
A self-adjustment method for the robot hand that consists of the following steps.