JPS63134136A - Hand device for industrial robot - Google Patents

Abstract

PURPOSE:To extend the service life of a robot by providing a fixing member for securing a workpiece to a retainer to hold an insertion member, and installing a driver to give a work force for pushing or pulling the insertion member in and from the workpiece secured thereto. CONSTITUTION:An insertion member 7 is held with a retainer 6, stopped just above the hole 9a of a workpiece 9 and inserted therein to such an extent as not tumbling. Then, a fixing member 6a at the tip of the retainer 6 is engaged with the groove 9b of the workpiece 9 and the workpiece 9 is secured with the fixing member 6a. In this state, a cylinder 11 is actuated and a piston 12 is lowered, thereby pushing the insertion member 7 into the hole 9a of the wrokpiece 9. Also, the insertion member 7 is pulled out in such a way that the tip of the piston 12 can hold the head of the insertion member 7. According to the aforesaid constitution, reaction generated due to the pushing or pulling of the insertion member 7 is absorbed by the fixing member 6a and not transmitted to the arm 4 of a robot, thereby enabling the extension of the service life of the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand device provided on a working arm of an industrial robot.

[Conventional technology]

Recently, attempts have been made to use hand devices of industrial robots to assemble or dismantle two parts that have very small relative gaps and require a large force to push or pull out.

FIG. 1 is a side view showing a conventional industrial four-pot/Sand device.

In the figure, (1) is the main body of the industrial robot, and (2) is the main body (
1) is a lifting shaft that is raised and lowered by the elevator, (3) is a first arm that is pivotally supported on the upper end of the lifting shaft (2) and rotates in a horizontal plane, and C4) is a first
A second arm that is pivotally supported at the tip of arm (3) and rotates in a horizontal plane (
5) is attached to the lower tip of the second arm (4) and is a nine-handed hand device; (6) is a gripper that opens and closes with respect to the center line of the hand device +5) to grip the insertion member (7); 8) is a work stand, and (9) is a work stand (8 is a fixed work, and a hole (9m) corresponding to the insertion member (7) is provided.

The conventional industrial robot no-do device is configured as described above. First, the insertion member (7) is held by the gripper (6), and the insertion member (7) is placed directly above the hole (9a) of the workpiece (9). )
so that the vertical axis (2), the first and second arms +3),
(4) is controlled to stop the insertion member (7) as shown in FIG. Next, the lifting shaft (2) is lowered to push the insertion member () into the hole (9a). After finishing the work.

The hand device (5) releases its grip on the insertion member (7).

In addition, the push-in member (7) that has already been press-fitted into the hole (9@)
When removing the hand device (5), insert the hand device (5) into the insertion member (7).
The insert member (7) is stopped directly above the insert member (7) and lowered to grip the insertion member (7) with the first gripper (6). Next, raise the lifting shaft (2) and pull out the insertion member (7) from the hole (9a).
Problems to be Solved by the Invention] In the conventional industrial robot hand device as described above,
Since the insertion member (7) gripped by the hand device (5) is pushed in or pulled out, these large reaction forces are applied to the robot, causing the first and second arms +31. +4) Or those joints are deformed or damaged.

There is a problem that accurate work cannot be performed.

This invention has been made in order to solve the above-mentioned problems, and is a hand device for an industrial robot that absorbs the reaction force generated by pushing or pulling out an insertion member and is pressurized so that highly accurate work can be continued. The purpose is to provide.

[Means for solving problems]

A hand device for an industrial robot according to the present invention is as follows.

The gripper is provided with a fixing member that fixes the workpiece, and the hand device is provided with a drive machine that applies a pushing force or a pulling force to the insertion member while the fixing member fixes the workpiece.

[Effect]

In this invention, after the workpiece is fixed with the fixing member of the nine grippers, the insertion member is pushed in or pulled out.
What is the reaction force generated by the above work?

It is absorbed by the fixed member and is not transmitted to the robot.

〔Example〕

Figures 1 to 5 are diagrams showing one embodiment of the present invention.
The figure is a side view, FIG. 2 is an enlarged view of the hand device portion, and FIGS. 3 to 5 are work explanatory diagrams (1) to (9).

(9a) is similar to the conventional device described above.

In the figure, (6ri is a fixing member that is formed at the tip of the gripper (61) and engages with the groove (9b) formed on the side surface of the workpiece (9) to fix the workpiece (9), and αυ is the hand device +5 ) and abuts against the head of the insertion member (7).
2 in the vertical direction 1, for example, by a cylinder driven by hydraulic pressure.

A driving machine is composed of a cylinder aυ and a piston az.

Industrial robot hand device I configured as above
In I, the operation of pushing the insertion member (7) is performed in the ninth order.

First, as in the conventional case, insert the insertion member ()) into the gripper +
61 Grip the insertion member (7) and insert it into the hole (9) of the workpiece (9).
9a), lower the hand device (5), and push the tip of the insertion member (7) into the hole (9a) to the extent that it does not fall over, as shown in Figure 3.Next, , 4th
As shown in the figure, the fixing member (6a
) is engaged with the groove (91) Ic of the workpiece (9), and the workpiece (9) is fixed with the fixing member (6ri). In this state, as shown in Fig. 5, the cylinder αD is driven and the piston is (13 is lowered, its tip is brought into contact with the head of the insertion member ()), and the piston a2 is further lowered and the insertion member () is lowered.
7) into the hole (9).The reaction force generated by this pushing is absorbed by the fixing member (6) of the gripper (61), so the second and first arms 141. (31, Lifting shaft (2) 9 body (not transmitted to 11 etc.) Therefore,
These parts will not be deformed (deformed) or damaged, and the robot can be expected to have a long lifespan and work with high precision.

FIG. 6 is a partially enlarged view of a hand device showing another embodiment of the present invention, which is used to pull out an insertion member (7). That is, after fixing the workpiece (7) with the fixing member (Sa), the tip of the piston (12) grasps the head of the insertion member (7) and raises it, and the insertion member (7) is inserted into the hole of the workpiece (9). (The reaction force generated by pulling out is absorbed by the fixing member (6a), as described above, and is not transmitted to the robot side.

In the above embodiment, the workpiece (9) is fixed by engaging the groove (91) of the workpiece (9) with the K fixing member (6ri), but the tip of the gripper (61) is made of high friction material such as rubber. The workpiece (9) may be fixed by fixing a forest or a magnet as a fixing member and melting or adhering it to the outer periphery of the workpiece (9).

Further, in the embodiment, an example was shown in which the insertion member (7) is pushed into the workpiece (9) and pulled out from the workpiece (9), but the drilling work is performed on the workpiece (9)K.

It is also applicable when performing punching work, cutting work, etc.

〔Effect of the invention〕

As explained above, in this invention, the gripper is provided with a fixing member that fixes the workpiece, and the hand device is provided with a drive machine that applies a pushing force or a pulling force to the insertion member while the fixing member fixes the workpiece. The reaction force generated during the above-mentioned work is absorbed by the fixed member and not transmitted to the robot, thereby extending the life of the robot and allowing it to continue working with high precision.

[Brief explanation of the drawing]

1 to 5 are views showing an embodiment of the hand device for an industrial robot according to the present invention, in which FIG. 1 is a side view, FIG. 2 is an enlarged view of the hand device portion of FIG. 1, and FIG. 5 to 5 are work explanatory diagrams, and FIG. 6 is an enlarged view of a hand device portion showing another embodiment of the present invention. FIG. 7 is a side view showing a conventional industrial robot hand device. In the figure, f4) is a working arm (second arm), and 15) is a hand device. (6) is the gripper e (6') is the fixed member, (7)
is an insert member. FIG. 1 (9) is a workpiece, aυ is a driving machine (cylinder), and yaz is a driving machine (piston). Note that the same reference numerals in Figure 9 indicate the same or equivalent parts.

Claims (1)

[Claims] A gripper pivotally supported by a hand device at the tip of a working arm grips an insertion member and pushes it into a workpiece or pulls it out from the workpiece, a fixing member provided on the gripper and fixing the workpiece; A hand device for an industrial robot, comprising: a drive device that is provided on the hand device and applies a force in the working direction to the insertion member with the fixing member fixing the workpiece.