JPS6218319B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a component gripping device for a robot or the like mainly used in an assembly process. In the assembly process, it is necessary to handle various types of parts, including solid and hollow, large and small, but conventional hands lack the ability to handle these various parts, making it difficult to handle complicated tasks such as changing hands depending on the type of product. It was necessary to do it.

The present invention eliminates the need to replace the entire hand.
The object of the present invention is to provide an article gripping device that is capable of gripping various types of articles simply by changing the claw attachment position.One embodiment of the device will be described below with reference to the accompanying drawings.

In the figure, 1 is a hand body, which communicates with a channel 2 through which pressure fluid flows, and which communicates with this channel 2.
Cylinders 3 and 4 are formed so that their central axes are substantially the same and are placed facing each other. The inner diameter of the cylinder 3 is larger than that of the cylinder 4, and pistons 5 and 6 are slidably disposed within each cylinder 3 and 4, respectively. 7 and 8 are claw holders formed in a substantially U-shape, and the first member 7 is arranged substantially parallel to each other.
a, 8a and second members 7b, 8b, and each first
It has a third member 7c, 8c that is substantially perpendicular to the member and the second member and connected to one end portion of the same side of both members.

Reference numerals 9 and 10 are guides whose both ends are held by the hand body 1 so as to be located parallel to each other, and which pass through the first members 7a and 8a and the second members 7b and 8b of the claw holders 7 and 8, The claw holders 7 and 8 are held slidably along guides 9 and 10. The claw holders 7 and 8 are arranged between the first and second members 7a and 7b of the claw holder 7.
The first member 8a is located, and each third member 7c, 8e
are arranged to face each other with guides 9 and 10 in between. Reference numerals 11 and 12 indicate claws that are detachably attached to the claw holders 7 and 8. As shown in FIG. It is possible to select between attaching it to the outside of the claw holder 8b and attaching it to the inside of the second member 7b of the claw holder 7 and the first member 8a of the claw holder 8, as shown in FIG. When the claws 11 and 12 are attached as shown in Fig. 4, it is possible to hold an article, and when attached as shown in Fig. 5, an article such as a cylinder can be opened from the inside and held. Work becomes possible.

Reference numeral 13 denotes a spring that locks each end to the claw holders 7, 8 and biases both the claw holders 7, 8 in a direction toward each other. 7d and 8d are the claw holding parts 7 and 8.
A protrusion integrally formed with the pistons 5 and 6.
However, the claw holders 7 and 8 are actuated by coming into contact with this protrusion.

The operation of the article holding device configured as described above will be explained below.

In FIGS. 2 and 3, pressure fluid is communicated with the hand main body 1, passes through the flow path 2, presses each piston 5, 6 in each cylinder 3, 4, and the protruding portions 7d of the claw holders 7, 8, The pistons 5, 6 abut against the pistons 8d and move the claw holders 5, 6 in parallel toward the side opposite to the hand body.

At this time, when the claws 11 and 12 are attached as shown in FIG. pinch. In addition, when the claws 11 and 12 are attached as shown in FIG.
1 and 12 move away from each other, and grip the article with the outer surfaces of the opposing claws.

As is clear from the description of the embodiments above, the object gripping device of the present invention can perform internal or external gripping with the same device by simply changing the attachment of the claws, and can handle hollow, solid, large and small objects. Capable of gripping various types of parts.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an article gripping device according to an embodiment of the present invention, FIG. 2 is a cross-sectional view of the same, FIG. 3 is a partially sectional perspective view of the device, and FIG. 4 is an internal view of the device. FIG. 5 is an explanatory diagram showing the clamped state of the device. 1...Hand body, 2...Pressure flow path, 3, 4...
...Cylinder, 5, 6... Piston, 7, 8... Claw holder, 7a, 8a... First member, 7b, 8b...
...Second member, 7c, 7d...Third member, 9, 10
...Guide, 11, 12...Claw.

Claims (1)

[Claims] 1. A pair of claws, a pair of claw holders that hold one of the claws, and a pair of claw holders that are slidable so as to open and close the pair of claws in a substantially parallel state. A hand body that supports the guide, and an actuator that operates the pair of claws, and the pair of claw holders are opposed to each other so as to form two substantially U-shaped bodies. and a third member connected to one end of the same side of the first and second members, and each of the claw holders has a substantially U-shaped plane substantially common to the third member. The first member of one claw holder is located between the first member and the second member of the other claw holder, and the respective third members are arranged to face each other, and the above-mentioned Are the pair of claws attached to the first member of one claw holder and the second member of the other claw holder, or to the second member of one claw holder and the first member of the other claw holder? An article gripping device configured to allow selection of items. 2. The article gripping device according to claim 1, wherein the actuator uses pneumatic pressure. 3 The hand body is provided with a cylinder corresponding to each of the claw holders, a piston that fits into this cylinder, and a passage for pressure fluid that operates this piston, and the cylinder and piston are used as actuators to move each claw holder. Claim 1, characterized in that the actuator is configured to operate in opposite directions, and a spring is stretched between each of the pawl holders to bias them in a direction that resists the actuating force of the actuator. The article gripping device described in Section 1.