JPS629034Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for automatically changing industrial robot hands.

Industrial robots are used to grasp objects with their hands, move the objects, or change the posture of the objects. The shape and weight of objects vary widely depending on the type of product. For this reason, the robot hand must be changed to one that is suitable for the object work.

An object of the present invention is to provide a device that can automatically exchange various types of robot hands using the motion of industrial robot hands. Another purpose is to incorporate into the automatic exchange device a means for attaching and detaching the robot hand as well as a means for driving the claws of the robot hand, thereby simplifying the structure of the robot hand and making it compatible with the exchange of various robot hands. The point is to make it possible.

Hereinafter, the present invention will be specifically explained based on an embodiment shown in the drawings.

The automatic exchange device for industrial robot hands of the present invention includes an automatic exchange device 1 and various robot hands 3.
It consists of a combination of 0, 31, and 32.

Figures 1 to 4 show the automatic exchange device 1 of the present invention.
It shows. This automatic exchange device 1 is constructed by incorporating various mechanical elements inside a box-shaped machine frame 2. That is, the machine frame 2 supports two parallel guide bars 3 inside, and the guide bar 3 fixes a support 4 at the center, and a pair of The drive plate 5 is slidably held at the guide holes 6 so as to be able to move in parallel. The support body 4 has a positioning pin 7 on its lower surface, and the pair of drive plates 5 have driving pins 8 on their lower surfaces at positions aligned with the positioning pin 7. Further, a driving cylinder 10 is fixed inside the machine frame 2. The cylinder rod 9 of this cylinder 10 is fixed at its tip to a bracket 11 attached to the end of one drive plate 5. This bracket 1
A dog 12 is attached to the tip of the cylinder rod 9, and this dog 12 is connected to two limit switches 13 and 14 that detect the forward limit and reverse limit of the cylinder rod 9.
It corresponds to The machine frame 2 has a mounting flange 15 on one side, and is attached to the tip of an arm of an industrial robot (not shown) at this portion.

The support body 4 has a shaft 16 attached to its upper part.
The pinion 17 is rotatably supported.
This pinion 17 has a pair of racks 1 at the left and right positions.
It is engaged with 8. These racks 18 are fixed to the upper surface of each drive plate 5 in a parallel manner. The above cylinder 10, pinion 1
7 and the rack 18 serve as driving means for the drive plate 5.

Further, as shown in FIG. 4, the support body 4 has a groove 19 formed along the longitudinal direction, and two parallel support shafts 20 extending over the groove 19 serve as a pair of locking means. The hook 21 is rotatably supported. The upper end portion of each hook 21 is connected to a connecting rod 23 and a cylinder rod 24 by connecting pins 22, respectively. Connecting rod 23
One end is connected to the rear end portion of the cylinder 25 by pin 2.
7, and the cylinder rod 2
4 is fixed to a piston 26 housed inside the cylinder 25, and is slidably inserted into the cylinder 25. The piston 26 always urges the cylinder rod 24 in the direction of advancing from the cylinder 25 by a biasing spring 28 provided inside the cylinder 25. This biasing spring 28
The cylinder 25 constitutes hook driving means. Note that this cylinder 25 operates by taking in a pressure source from the port 29 portion.

Next, FIGS. 5 and 6 show a sliding robot hand 30. As shown in FIG. This robot hand 30 has notches 34 formed at both ends of the hand body 33, and a pair of parallel connecting shafts 35 are fixed in these parts, and a pair of parallel bars 36 are fixed to this hand body 33. A slider 38 holding a pair of claws 37 is slidably supported on a guide bar 36. The hand main body 33 has a positioning hole 39 on its upper surface that fits into the positioning pin 7, and each slider 38 has a drive hole 40 on its upper surface that fits on the drive pin 8.

Next, the operation will be explained. The robot hand 30 is placed in a fixed position within the operating range of the industrial robot. The industrial robot guides the automatic exchange device 1 attached to the tip of the arm to a position above the robot hand 30 by movement of its arm, and then lowers the automatic exchange device 1. At this time, since driving pressure is supplied to the inside of the cylinder 25 from the port 29, the piston 26 in the cylinder 25 resists the elasticity of the biasing spring 28 and moves toward the cylinder rod 2.
4 is being pushed back. For this reason, the pair of hooks 21 serving as locking means rotate about the support shaft 20 and are in an open state. When the automatic exchange device 1 moves to the maximum lowered position, the positioning pin 7 is inserted into the positioning hole 39 to align the two,
Further, each drive pin 8 fits into a corresponding drive hole 40. Further, a pair of open hooks 21 are located on the outer side of each connecting shaft 35. When the supply of driving pressure to the cylinder 25 is released in this state, the pair of hooks 21 are moved by the biasing spring 28.
It rotates in the closing direction under the force of the elastic force, and holds the two connecting shafts 35 between them. In this way, the automatic exchange device 1, as shown in FIGS. 7 and 8,
It will be combined with the robot hand 30. When the cylinder 10 is operated in this connected state and its cylinder rod 9 is moved backward, the bracket 11 and one drive plate 5 slide toward the center while sliding on the guide bar 3. This movement causes one rack 18 to rotate the pinion 17 counterclockwise and drive the other rack 18, so that the other drive plate 5 moves toward the center at the same speed as the one drive plate 5. Since this movement of both drive plates 5 is transmitted to the slider 38 of the robot hand 30 via the drive pin and the drive hole 40, the pair of claws 37 move in the closing direction and grip a predetermined object. Of course, when the cylinder rod 9 is retracted, the pair of claws 37 move in the direction of releasing the object from being held. In this manner, the automatic exchange device 1 includes not only a means for connecting with the robot hand 30 but also a means for driving the pair of claws 37 of the robot hand 30. Therefore, no driving means for the pair of claws 37 or operating means for connecting them are required on the robot hand 30 side, and the structure thereof becomes simpler.

Now, the robot hand 3 in Figures 5 and 6
0 is a sliding type robot hand, but the robot hand 31 shown in FIGS. 9 and 10 is a lever type robot hand. That is, the pair of levers 41 are rotatably supported by a fulcrum shaft 43 with respect to the T-shaped hand body 42, and the drive pin 8 is connected to the drive hole 44 formed by the elongated hole formed at the other end of the lever 41.
Fit into each other. This pair of levers 41 are connected to the drive hole 4
The movement of the drive pin 8 is taken in from the portion 4, and it rotates around the fulcrum shaft 43, and this rotation grips the object between the pair of claws 45.

Further, FIG. 11 shows a toggle joint type robot hand 32. That is, the pair of levers 46 are attached to the fulcrum shaft 4 with respect to the hand body 47.
8 and a link 50 by a pin 49 at the end.
The links 50 fit into the drive pins 8 at the drive holes 51, respectively. The lever 46, the hand main body 47, and the link 50 constitute a toggle joint mechanism when combined with the automatic exchange device 1, and generate a gripping force between the pair of claws 52 under a boosting action.

Although the above embodiment utilizes a cylinder and rack-and-pinion mechanism as the drive means for the drive plate 5, this drive means may be replaced with other known drive means. Furthermore, although the pair of drive plates 5 are guided by sliding relative to the guide bar 3, this guiding means can also be constructed by sliding guiding means such as grooves and protrusions. The driving means for the pair of locking means (hooks 21) is the cylinder 2.
5 and the biasing spring 28, for example, a toggle joint may be combined with a spring or the like.

According to the present invention, since various robot hands can be detachably combined with a common automatic exchange device, work on a wide variety of objects can be performed by appropriate robot hands, and the necessary drive mechanism and automatic robot hand Since the means for connecting the exchange device and the robot hand is built into the automatic exchange device, there is no need for electrical wiring or piping such as a pressure source in the robot hand, and the configuration of the robot hand can be simplified accordingly. It can be simplified.

[Brief explanation of the drawing]

Figure 1 is a side view of the automatic exchange device of the present invention;
The figure is a back view of the device, Figure 3 is a sectional view of the inside, Figure 4 is a sectional view of the hook driving means, Figure 5 is a side view of the sliding robot hand, and Figure 6 is a plan view of the robot hand. Figure 7 is a side view of the automatic exchange device and the sliding robot hand in a combined state;
8 is a bottom view of the connected state, FIG. 9 is a side view of the lever type robot hand, FIG. 10 is a plan view of the robot hand, and FIG. 11 is a plan view of the toggle joint type robot hand. DESCRIPTION OF SYMBOLS 1... Automatic exchange device, 2... Machine frame, 3... Guide bar, 4... Support body, 5... Drive plate, 7... Positioning pin, 8... Drive pin, 10... Cylinder, 17
...Pinion, 18...Rack, 20...Spindle, 21...
Hooks as a pair of locking means, 25... cylinder, 28... biasing spring, 30, 31, 32... robot hand.

Claims (1)

[Scope of utility model registration request] It consists of an automatic exchange device that is attached to an industrial robot hand, and various robot hands that can be detachably combined with this automatic exchange device. a pair of supported locking means, a drive means for providing an opening/closing motion to the locking means, and a pair of drive pins slidably held on the machine frame;
The robot hand includes a driving means for reciprocating the pair of drive pins in a direction toward or away from each other, and a connecting shaft that engages with the pair of locking means in the hand main body, Automatic replacement of an industrial robot hand, characterized in that it is equipped with a pair of claws supported on the hand body so as to be openable and closable, and a drive hole that fits into the drive pin and transmits opening and closing motion to the pair of claws. Device.