JPS62236692A - Hand for industrial robot - Google Patents
Hand for industrial robotInfo
- Publication number
- JPS62236692A JPS62236692A JP7646786A JP7646786A JPS62236692A JP S62236692 A JPS62236692 A JP S62236692A JP 7646786 A JP7646786 A JP 7646786A JP 7646786 A JP7646786 A JP 7646786A JP S62236692 A JPS62236692 A JP S62236692A
- Authority
- JP
- Japan
- Prior art keywords
- hand
- opening
- workpiece
- closing
- industrial robot
- 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
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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〕
本発明は、工業用ロボットに関し、特に工業用ロボット
のハンドに２ける改良＊＠に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to industrial robots, and particularly to two improvements*@ in the hands of industrial robots.
近年、特に型造加工業等の分野では、自動化技術の進歩
によって各種製造工程の無人化が急速に進んでいる。In recent years, advances in automation technology have led to rapid progress in unmanned manufacturing processes, particularly in the mold manufacturing industry.
そして工業用ロボットを用いた製造工程等の無人化に対
する強い要請に応えて、各種工業用ロボットの開発が盛
んである。In response to the strong demand for unmanned manufacturing processes using industrial robots, various industrial robots are being actively developed.
このような工業用ロボットの一種として１人間の上肢の
動作機能に遜色のない様々な動作を実現できるロボット
アーム装置がこれまで櫨々開発されている。As a type of industrial robot, robot arm devices that can perform various movements comparable to those of a human's upper limbs have been developed.
例えば、第５図に示されるロボットアーム装置ではロボ
ットアーム５０の先端に取り付けられた基部５１に内蔵
された図示されぬ駆動機構により接離動する一対の開閉
指５２ ａ ＊ ５２ ｂからなるハンドでワーク５３
を把持したのち所定の作業を遂行すべく、ワーク５３を
目標位置に移動し、しかる後にワーク５３を開放する動
作が行なわれている。For example, the robot arm device shown in FIG. 5 uses a hand consisting of a pair of opening/closing fingers 52a*52b that move toward and away from each other by a drive mechanism (not shown) built into a base 51 attached to the tip of the robot arm 50. Work 53
After gripping the workpiece 53, the workpiece 53 is moved to a target position in order to perform a predetermined work, and then the workpiece 53 is released.
このようなロボットアーム装置ではハンドによって把持
されたワーク５３は把持片である開閉指５２ａ、５２ｂ
に対してハンドに対して不変であるように固定されてい
る。したがってワーク５３を他の物体１ｃ挿入する作業
を行なわせようとするには。In such a robot arm device, a workpiece 53 gripped by a hand is held by opening/closing fingers 52a, 52b, which are gripping pieces.
is fixed so that it remains unchanged for each hand. Therefore, in order to have the workpiece 53 inserted into another object 1c.
ハンドを支持するロボットアームＯ制御を精度よく行う
必要があり、またアームの剛性も充分でなければならな
い。It is necessary to accurately control the robot arm that supports the hand, and the arm must also have sufficient rigidity.
特にロボットアームが、多関′ｔＩ型のロボットアーム
の場合には、ワークの位置決め精度は、各関節の回転角
の決定清寂及びアームの剛性によって大きく左右される
。つまり各関節に所望の回転精度が得ら孔ない場合やア
ームの剛性が不足している場合は、ハンドの決定位置の
分解能が粗くなる。Particularly in the case where the robot arm is a multiplex type robot arm, the accuracy of positioning the workpiece is greatly influenced by the accuracy of determining the rotation angle of each joint and the rigidity of the arm. In other words, if each joint does not have a hole to obtain the desired rotational precision, or if the arm is insufficiently rigid, the resolution of the determined position of the hand becomes coarse.
そしてまた、ロボットアーム５０の有する位置決め精度
にも自ずと限界があり、より高い？ｒ１度より高剛性を
有するロボットアームを適用することになりコストがか
かるという欠１点がありた。Furthermore, there is naturally a limit to the positioning accuracy of the robot arm 50. One drawback was that it required a robot arm with higher rigidity than r1 degree, which increased costs.
さらにまたワークのはめ合い作業を実施する場合、アー
ムの関節を駆動させるため、ロボットアームの作業空間
に十分な余裕をもたせ周囲の作業環境との干渉を防ぐ必
要があった。Furthermore, when fitting workpieces together, the joints of the arms are driven, so it is necessary to provide a sufficient working space for the robot arm to prevent interference with the surrounding work environment.
本発明は、上記問題に鑑みてなされたもので。 The present invention has been made in view of the above problems.
その目的は、アーム自体を動かすことなく微細なはめあ
い作業を行なわせることを目的とする。The purpose is to perform fine fitting work without moving the arm itself.
上述した問題点を解決するためになされた本発明は、駆
動機構により平行に接離動する少なくとも２つの開閉指
によってワークを多点で把持、開放する工業用ロボット
のハンドに２いて、少なくとも一つの前記開閉指の前記
ワークとの接触部位に前記１硝閉指に対して相対移動可
能な部材を配設し、前記部材のうちの少なくとも一つに
前記部材の前記開閉指に対する相対位置を決定する部材
駆動手段を備えたこ七及びこれら前記開閉指全体が、ハ
ンド基部に対して相対ｇ ｑｙ）な駆動手段をもつこと
を特徴とする工業用ロボットのハンドである。The present invention, which was made to solve the above-mentioned problems, has two fingers in the hand of an industrial robot that grips and opens a workpiece at multiple points using at least two opening/closing fingers that move toward and away from each other in parallel by a drive mechanism. A member movable relative to the one closing finger is disposed at a contact portion of the two opening/closing fingers with the work, and at least one of the members determines a relative position of the member with respect to the opening/closing finger. The hand of the industrial robot is characterized in that the seventh member is provided with a member driving means for moving the member, and the entire opening/closing finger has a driving means relative to the hand base.
本発明による工業用ロボットのハンドでは、開閉指に配
（４された部材が部材駆動手段によってワークを供って
開閉指に対し相対移動し、また開閉指全体が移動可能で
あるので、ワークは開閉指に対する前唆移動とハンドに
対する左右の移動が可能である。従ってロボットアーム
を動かすことなくワークをハンド基部に対して前後左右
方向に移動させることが可能で高精度、高剛性のロボッ
トアームを必要とせずに、微細なはめ合い作業を行なわ
せることが可能である。In the industrial robot hand according to the present invention, the member disposed on the opening/closing finger (4) is moved relative to the opening/closing finger by the member driving means with the workpiece, and the entire opening/closing finger is movable, so that the workpiece cannot be moved. It is possible to move the opening/closing fingers in front and in the left and right directions with respect to the hand.Therefore, it is possible to move the workpiece in the front, back, left and right directions relative to the hand base without moving the robot arm, making it possible to create a highly accurate and highly rigid robot arm. It is possible to perform fine fitting work without the need.
（発明の実施例〕
以上１本発明の工業用ロボットハンドを図面を参照しな
がら、詳細に説明する。本発明の／％ンドは、第１？１
ｌａ）に示さ２するように、ロボットアームａの先端に
固定された／Ｎンド基部１に績合さｎた開閉＄！堪部２
と、この開閉指基部２に内蔵された１図示せぬ駆動機構
により平行に接ｔｉｌｌ！ＩｊＪできる開閉ｆｆ１ｌＬ
ｏ−ａ、１０−ｂからなっている。(Embodiments of the Invention) The industrial robot hand of the present invention will be described in detail with reference to the drawings.
As shown in Fig. 2a), the opening/closing mechanism is fixed to the tip of the robot arm a and is connected to the base 1 of the robot arm a. Tanabe 2
And, the opening/closing finger base 2 is connected in parallel by a drive mechanism (not shown) built into the opening/closing finger base 2! IjJ opening/closing ff1lL
It consists of o-a and 10-b.
また開閉指Ｉ Ｑ−ａ 、 １０−ｂの中には、ワーク
把持部Ｈが組み込まれ、これと一体に形成されたワーク
把持案内棒１１の前後の動きにつれて、開閉指１０−８
、１０−ｂ 内の案内溝１２に沿って移動可能なよ
うになってＳつ、ワーク把持案内棒１１は。Further, a work gripping portion H is incorporated in the opening/closing fingers IQ-a, 10-b, and as the work gripping guide rod 11 formed integrally therewith moves back and forth, the opening/closing fingers 10-8
, 10-b, the workpiece gripping guide rod 11 is movable along the guide groove 12 in the S.
ウオームギア１２．小歯車１３を介してモータ１４−
の回転によりａ −ａ’ 方向に移動する。尚第１図
（ｂ）は同図ｉａ）のＸ−Ｘ矢視断面図である。Worm gear 12. Motor 14- through small gear 13
The rotation moves in the a-a' direction. Note that FIG. 1(b) is a sectional view taken along the line X--X of FIG. 1(a).
また第２図に示すように開閉指基部２は、ハンド基部１
に対して相対移動可能になりており。Further, as shown in FIG. 2, the opening/closing finger base 2 is connected to the hand base 1.
It is possible to move relative to.
ハンド基部１内に組み込まれたモータ２２の回転により
ウオーム２３が回転し、Ｓｔ形が形成された開閉指基部
案内部２１と伴に開閉指基部２が、ハンド基部１に対し
て開閉指宿長方向ｂ ？＋ ｂ ’へ相対移動できるよ
うになりている。尚第２図１ｂ）には同図（ａ）の側面
図である。The worm 23 is rotated by the rotation of the motor 22 built into the hand base 1, and the opening/closing finger base 2 is moved in the opening/closing finger length direction with respect to the hand base 1 together with the opening/closing finger base guide part 21 formed in the St shape. b? It is now possible to move relative to +b'. FIG. 2(b) is a side view of FIG. 2(a).
第３図及びｇｃ４図に本発明の工業用ロボットハンドで
、ワークＷを前後方向に移動させた例を示す。3 and GC4 show an example in which a workpiece W is moved in the front-rear direction using the industrial robot hand of the present invention.
このうち、＠３図には、ワークＷを把持しながら、二本
の開閉指ＩＱ−ａ、１０−ｂのワーク把持部Ｈを同一方
向に同一距離移動させ、ワークＷをノ１ンド基部ｌに対
して前後左右に移動させた例を示す。第４図には、開閉
指基部２をハンド基ｇ１に対して、相対移動させること
によりワークＷをハンド基部ｌに対して左右方向に移動
させた例を示しである。またさらに第３図、第４図に示
されたハンドの前後方向、左右方向への移動機能を組み
合わせることによりワークＷを任意の方向に移動させる
ことが可能である。Among these, Figure @3 shows that while gripping the workpiece W, the workpiece gripping parts H of the two opening/closing fingers IQ-a and 10-b are moved in the same direction and the same distance, and the workpiece W is moved to the base l of the gripper. An example is shown in which the image is moved forward, backward, left and right. FIG. 4 shows an example in which the workpiece W is moved in the left-right direction with respect to the hand base l by moving the opening/closing finger base 2 relative to the hand base g1. Furthermore, it is possible to move the workpiece W in any direction by combining the functions of moving the hand in the front-rear direction and left-right direction shown in FIGS. 3 and 4.
このように本実施例のハンドによｎば、ロボットアーム
のｒ′！Ａｍを駆動させることなく、ワークＷの微細な
位置決め作業を行なうことができ、したがってロボット
ハンドを用すたはめ合い作業の作業効率を大幅に向上さ
せることができる。In this way, according to the hand of this embodiment, the r'! of the robot arm! Fine positioning of the workpiece W can be performed without driving Am, and therefore the efficiency of fitting work using a robot hand can be greatly improved.
＠１図及び第２図は１本発明の一実施例の工業用ロボッ
トハンドの！４戊図、＠３図及び第４図は同実施例の工
業用ロボットを用いてワークを前後及び左右Ｉ／Ｃ微小
移動させた例を説明する説明１閃。
禦５図は、従来の工業用ロボットハンドの構成図である
。
ｌ・・・ハンド基部、２・・・開閉指基部ｈ １ｏ−
ａｌｌｏ−ｂ・・・開閉指、１１・・・ワーク把持案内
棒％ １２・・・案内棒、１３°°°小歯車、１４．２
２・・・モータ、１５．２３・・・ウオーム歯車、５０
・・・ロボットアーム５１・・・基部、５２ａ、５２ｂ
・・・開閉指％ ５３・・・ワーク。
（ａ） Ｃｂ）第 ２ 図
第 ３ 図
第 ４ 図
第 ５ 図@Figures 1 and 2 are of an industrial robot hand according to an embodiment of the present invention! Figure 4, Figure 3, and Figure 4 are first flashes of explanation for explaining an example in which the industrial robot of the same embodiment is used to slightly move a workpiece back and forth and left and right I/C. Figure 5 is a configuration diagram of a conventional industrial robot hand. l... Hand base, 2... Opening/closing finger base h 1o-
allo-b... Opening/closing finger, 11... Workpiece gripping guide rod% 12... Guide rod, 13°°° small gear, 14.2
2...Motor, 15.23...Worm gear, 50
...Robot arm 51...Base, 52a, 52b
...Opening/closing finger% 53...Work. (a) Cb) Figure 2 Figure 3 Figure 4 Figure 5
Claims (1)
指によってワークを多点で把持、開放する工業用ロボッ
トのハンドにおいて、少なくとも一つの前記開閉指の前
記ワークとの接触部位に前記開閉指に対して相対移動可
能な部材と、前記部材のうち少なくとも一つに配置され
前記部材の前記開閉指に対する相対位置を決定する部材
駆動手段と、前記ハンドを支持する支持体と前記ハンド
とを相対移動させる移動機構とからなることを特徴とす
る工業用ロボットのハンド。In an industrial robot hand that grips and releases a workpiece at multiple points using at least two opening/closing fingers that move toward and away from each other in parallel by a drive mechanism, a contact portion of at least one opening/closing finger with the workpiece is provided with a contact portion with respect to the opening/closing finger. a member that is movable relative to each other; a member driving means that is disposed on at least one of the members and determines the relative position of the member with respect to the opening/closing finger; and a support that supports the hand and the hand. An industrial robot hand characterized by comprising a moving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7646786A JPS62236692A (en) | 1986-04-04 | 1986-04-04 | Hand for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7646786A JPS62236692A (en) | 1986-04-04 | 1986-04-04 | Hand for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62236692A true JPS62236692A (en) | 1987-10-16 |
Family
ID=13605970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7646786A Pending JPS62236692A (en) | 1986-04-04 | 1986-04-04 | Hand for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62236692A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1947675A1 (en) * | 2007-01-22 | 2008-07-23 | FEI Company | Manipulator for rotating and translating a sample holder |
| US7851769B2 (en) | 2007-10-18 | 2010-12-14 | The Regents Of The University Of California | Motorized manipulator for positioning a TEM specimen |
| US7884326B2 (en) | 2007-01-22 | 2011-02-08 | Fei Company | Manipulator for rotating and translating a sample holder |
-
1986
- 1986-04-04 JP JP7646786A patent/JPS62236692A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1947675A1 (en) * | 2007-01-22 | 2008-07-23 | FEI Company | Manipulator for rotating and translating a sample holder |
| US7884326B2 (en) | 2007-01-22 | 2011-02-08 | Fei Company | Manipulator for rotating and translating a sample holder |
| US7851769B2 (en) | 2007-10-18 | 2010-12-14 | The Regents Of The University Of California | Motorized manipulator for positioning a TEM specimen |
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