JPS62251027A - Robot hand - Google Patents

Abstract

PURPOSE:To make precision positioning performable only in a way of making a hand pallet go down, by installing each guide part of fitted parts in respective hand pallets, and embedding one side pin of both these guide parts free of movement in and out. CONSTITUTION:When a bearing 8 is fitted in a shaft 9, first, this bearing 8 is held between U-shaped grooves 4A and 4B installed in each of a pair of upper and lower hand pallets 2 and 3, Afterward, both these hand pallets 2 and 3 are made to go down and the shaft 9 is held by a bottom part of the U-shaped groove 4B of the hand pallet 3 and a pin 5, thus positioning takes place. Next, the bearing 8 is further made to go down via these hand pallets 2 and 3 and fitted in the shaft 9, then each of these hand pallets 2 and 3 is moved in vertical directions and opened, and both hand pallets 2 and 3 are retracted together with a hand body 1 whereby assembling work for the bearing 8 is completed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a robot hand, particularly a robot used for assembly in a minute gap that requires precise fitting tolerances, for example, for assembly work in which a bearing is fitted into a shaft. It's about hands.

[Conventional technology]

A conventional robot hand of this kind is, for example, disclosed in Japanese Patent Application Laid-Open No. 58-2
As described in Japanese Patent No. 17293, there is a swing lever member that swings back and forth between a vertical state and an inclined state, and a fitting part is gripped at the tip of the swing lever member, and the swing lever The force exerted by the finger member that reciprocates in conjunction with the lever member positions the mating part relative to the mated part while the mating part is tilted. It is configured to be fitted into and inserted into the fitted component while being gradually swung back to the vertical position. That is, it has a structure in which the fitting part is fixed and used as a reference, and the fitting part is oscillated or elastically gripped and inserted into the fitting part.

[Departure F! Problem to be solved by A In the above conventional example, when fitting parts are provided at both the upper and lower ends of the fitting part, the perpendicularity of the fitting part to the fitting part (axis) is It is important that the mating parts themselves be inserted at an angle, which is difficult (fool), and consideration has not been taken regarding the length of the mated parts (shafts), so if the shaft lengths are different. had the problem that it was difficult to adapt to this. Furthermore, since the structure is complicated, there is a risk that the cost will be high.

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot hand that has a simple structure and is capable of precisely fitting a mating part and a mating part regardless of the length of the mating parts. shall be.

c) Means for Solving the Problem] The above problem consists of a hand body that is provided so as to be movable in the horizontal direction, and a pair of hand claws that are attached to the hand body so that the hand body can be moved up and down. This problem can be solved by providing guide parts for the fitting parts on each hand claw, and embedding a pin in at least one of the guide parts so as to be able to move in and out.

[Operation] When fitting a mating part (for example, a bearing) into a mated part (for example, a shaft), first hold the bearing between the guide parts (U-shaped #11) provided on each of the pair of hand claws, and then Then, both hand claws are lowered to hold and position the shaft by the bottom of the U-shaped groove and the pin provided in the U-shaped groove. At step h, the bearing is further lowered through the two hand claws and fitted into the shaft, and then each hand claw is moved vertically to release it, and the hand claw is retreated together with the hand body. Complete the bearing assembly work.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
3 and 2 are a perspective view and a longitudinal sectional view of this embodiment, respectively, and FIGS. 3 and 4 are a partially cutaway plan view and a longitudinal sectional view of the lower hand claw, respectively.

In FIGS. 1 and 2 h, 1 is a hand body that is movable in the horizontal direction along a guide rod 7, and 2.3 is a hand body that is attached to the front part of the hand body 1 so as to be movable up and down. On a pair,
The lower hand claws 2.3 are provided with guide portions 4A and 4B for a fitted part (for example, a shaft) 9, respectively. The guide portions 4A, 4B are formed into U-shaped grooves with chamfers. Reference numeral 5 designates a pin embedded in an appropriate position in the U-shaped groove 4B via a spring 6 (see Fig. 5.4) so as to be freely removable. Eight fitting parts (for example, bearings) are held between the guide parts 4A and 4B of the upper and lower hand claws 2.3.

, 3.

This embodiment has the above-mentioned configuration, and when fitting the bearing 8 onto the shaft 9, the pair of upper and lower hand claws 2 are first inserted.
．． U-shaped groove 4A provided for each 3Vc.

After holding the bearing 8 between 4B, both hand claws 2
．． 3 is lowered, and positioning is performed by holding the shaft 9 from the bottom of the U-shape #14B of the hand claw 3, the pin 5, and the button. At step b, the bearing 8 is further lowered via the hand claw 2.3 and fitted onto the shaft 9, and then each hand claw 2.3 is moved upward and downward to open it, and the hand claw 2.3 is opened. .3 is moved backwards (rightward in FIG. 2) together with the hand body 1, the work of assembling the bearing 80 is completed.

[Effect of the Invention J According to 111c of the present invention, a pair of hand claws and a fitted part (
Even if there is no need to precisely position the shaft (shaft) and the length of the shaft is different, the mating part can be positioned relative to the mated part simply by lowering the hand claw. f+ does not require separate control. Therefore, precise fitting is possible without precise positioning of the mating parts and the mated parts.

Since it is simple, it can be manufactured at low cost.

[Brief explanation of drawings]

FIG. 1 and FIG. 2 are a perspective view and a vertical cross-sectional view showing one embodiment of the robot hand of the present invention, and a fifth FM and a fourth FM, respectively.
The figures are a partially cutaway plan view and a longitudinal cross-sectional view of the lower hand claw of the same embodiment, respectively. Explanation of symbols 1...Hand body, 2.3...Hand claw, 4A, 4
B... Guide part, 5... Pin, 6... Spring, 8... Fitting part, 9... Fitting part.

Claims (1)

[Claims] It consists of a hand main body that is provided so as to be movable in the horizontal direction, and a pair of hand claws that are attached to the hand main body so as to be movable vertically. A robot hand characterized in that a pin is embedded in at least one of the parts so that it can be moved in and out.