JPS6284988A - Gripper for robot - 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 [Technical Field of the Invention] The present invention relates to a gripping device for a robot, and a gripping device for a robot that can handle a plurality of workpieces at the same time.

[Technical background and problems of the invention]

In FIG. 4, when the robot 1 performs a workpiece handling operation, the arrangement conditions for the workpieces (at the workpiece receiving position and the workpiece delivery position) are usually different. For example, when performing palletizing work as shown in the figure (- indicates the workpiece receiving position (the distance between the two works 2 is determined by the feeding method of the workpiece supplying device 3 (=Yo~tsuC).Similarly, the workpiece delivery position In this case, the distance between the workpieces is determined by the pitch of the pallets 4. Therefore, even if multiple grippers 5 are provided and workpieces are received at the same time, the distance between the workpieces is determined by the pitch of the pallets 4.
Because the pitch (2) did not match, it was not possible to insert multiple workpieces 2 at the same time on the pallet 4 (2).

[Purpose of the invention]

The object of the present invention is to provide a gripping device for a robot that can eliminate the above-mentioned drawbacks and handle multiple workpieces at the same time even if the distances between the workpieces at the workpiece receiving position and the delivery position (=) are different. shall be.

SUMMARY OF THE INVENTION The present invention provides a gripper support attached to the end of a robot drive shaft, a plurality of movable grippers attached to the gripper support, and a distance between the movable grippers that can be varied by one ton. The gripper 151 is characterized by having a 4ii gripper groove.

Embodiment of the Invention] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram for explaining the configuration of this embodiment, and FIG. 2 is a configuration diagram of a gripper interval drive suppression mechanism according to this embodiment.

In FIG. 1, a tow clipper support 7 is fixed to the end of a robot drive shaft 6. As shown in FIG. A movable gripper 9 is attached to the lower side of the gripper support section 7 (secondly, on both sides of the fixed gripper 8).

The drive restraint machine 110 for the movable gripper 9 will be explained using FIG. 2. The pinion 11 is driven by a servo motor C2 (not shown). Repinion 1 by servo motor
1 moves, the upper rack 12 and lower rack 13 move, the movable gripper 9 attached to these moves, and the distance from the fixed gripper 8 changes.

The movable gripper 9 and the fixed gripper 8 themselves are driven by an air cylinder or the like, and perform opening/closing operation 1: gripping the workpiece.

Figure 3 shows the robot control circuit.

Arithmetic control unit 1 in which a predetermined drive program is stored
5, the servo motor drive circuits 16 and 17 control the robot arm elevation mechanism 18 and the gripper drive control mechanism 10, respectively, to control the distance between the grippers to a predetermined value.

In other words, in the above configuration (=), when performing two-piece palletizing work simultaneously (=, the robot arm is moved to the work receiving position (2. Based on the command from the arithmetic control unit 15), the servo motor Drive circuit 17. Gripper drive control mechanism Drives the servo motor in the gripper support 7 through the gripper support 7 through the rank and pinion mechanism, and controls the gripper in a manner that matches the distance between the grippers and the workpieces.Gripper After setting the mutual spacing, the robot lowers the drive shaft and holds three workpieces at the same time, and after gripping is completed, raises the robot drive shaft.Similarly, move the robot arm to the specified position on the pallet. At the same time, the interval between the grippers is controlled to match the pitch of the pallet (two pallets), and after the setting is completed, two pieces (2a) are inserted at the same time.

Even if the distance between the workpieces at the receiving position and the delivery position (-) is different, the distance between the grippers can be changed, so a plurality of workpieces can be received and delivered at the same time.

In the embodiments shown in FIGS. 1 and 2, the case where there are three grippers is shown, but the fixed gripper may be omitted and the number of grippers may be two. Also, gripper drive! ! III The control mechanism section uses the arithmetic control section 15 and the servo motor drive circuit 17 in the robot control circuit 14, but it may be controlled by providing a dedicated control device externally. The gripper spacing can be changed continuously (in two ways) by driving with a servo motor, but if the gripper spacing is limited to two types, large and small, it is of course possible to use an air cylinder drive.Also, As for the type of gripper, in addition to the type that grips by opening and closing operations, a vacuum suction type, an electromagnetic suction type, etc. can also be used.

[Effect of investigation]

According to the present invention, it is possible to provide a gripping device for a robot that has a simple configuration and can simultaneously handle a plurality of workpieces even if the distances between the workpieces are different.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of a gripping device for a robot according to an embodiment of the present invention, Fig. 2 is a diagram of a drive control mechanism of a movable gripper according to Fig. 1, Fig. 3 is a robot control circuit diagram, and Fig. 4 is an explanatory diagram of a conventional gripping device for a robot. 6...Robot drive shaft 7...Gripper support section 8.9...Gripper mechanism 10...Gripper drive control section Agent Patent attorney Nori Chika Ken Yudo Hirofumi MitsumataFigure 2Figure 3Figure 4

Claims (1)

[Claims] The robot includes a gripper support attached to the end of the robot drive shaft, a plurality of movable grippers attached to the gripper support, and a gripper control mechanism that makes it possible to vary the distance between the movable grippers. Characteristic gripping device for robots.