JPS632314Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a robotic hand device.

1A to 1D show conventional robot hand devices, in which 1 and 1 are arranged opposite to each other and have a U-shaped cross section that grips a workpiece 2 with triangular grooves formed on their opposing surfaces. an elongated gripping tool; 3, 3 are fingers for holding the gripping tools 1, 1, respectively;
4, 4 is the above-mentioned gripping tool 1,
1 is attached to the mounting screw, 5, 5 is a pivot pin that rotatably supports the fingers 3, 3 near the base thereof, and 7 is the two fingers 3,
3, a spring inserted between the opposing surfaces of the two to open the gap; 8, a piston for opening and closing the gripper whose acute-angled tip slope is engaged between the opposing surfaces of the bases of the fingers 3, 3; 9, this piston; The return spring 10 of the piston 8 is a biasing cylinder for the piston 8, and by inserting the piston 8 between the opposing surfaces of the bases of the fingers 3, 3 against the return spring 9, the gripping tools 1, 1 are removed. The piston 8 is rotated around the pivot pins 5, 5 to open and release the work 2, and the piston 8 is removed to close the piston 8 and grip the work 2 between them.

However, in the conventional robot hand device, when a workpiece 2 of a predetermined diameter is gripped, the closed fingers 3, 3 and the grippers 1, 1 are parallel to the surface of the workpiece 2, and the workpiece 2 is gripped over its entire length. If the diameter of the workpiece 2 changes due to manufacturing variations, etc., for example, if the diameter of the workpiece 2 is even slightly larger than a predetermined value, if the workpiece 2 is gripped, the gripping force will be maximum. As shown in FIG. 1d, the fingers 3, 3 and the gripping tools 1, 1 are not parallel to the surface of the workpiece 2, and therefore cannot grip the workpiece 2 over its entire length, so the gripping force is reduced. There was a drawback that the number decreased drastically. This holds true even when the diameter of the workpiece 2 becomes slightly smaller.

An object of the present invention is to eliminate such drawbacks and to provide a robot hand device that can firmly grip even a workpiece whose diameter has slightly changed from a predetermined value.

The robot hand device of the present invention consists of two fingers facing each other that can be opened and closed around a fulcrum, and a work piece that is attached to the facing surface of each finger via a spring so as to be movable in directions toward and away from each other. The finger includes a gripping tool and a roller provided on the finger so that its outer peripheral surface protrudes from the opposing surface of each finger and comes into contact with the gripping tool, and the finger is tiltable about the roller, and the roller It is characterized by being relatively movable.

Embodiments of the present invention will be described below with reference to the drawings.

In the present invention, as shown in FIGS. 2a to 2c, the pins 11, 11 are passed through the fingers 3, 3 at right angles, without using the mounting screws 4, 4 in the conventional device,
These pins 11, 11 are held by gripping tools 1, 1 having a U-shaped cross section.
The gripping tools 1, 1 are connected to the fingers 3, 3 by loosely fitting them into holes having a diameter slightly larger than that of the pins 11, 11 formed in the upper and lower walls, respectively.

Further, rollers 12, 12 are rotatably fitted into the intermediate portions of the pins 11, 11, respectively.
The outer peripheral surfaces of fingers 3 and 3 protrude from the through holes formed in the fingers 3 and 3, respectively, and have a U-shaped cross section.
so as to be in contact with approximately the center of the side wall in the longitudinal direction.

Further, spring insertion grooves 13, 13 are formed in the surfaces of the fingers 3, 3 that face each other, and springs 14, 14 are inserted between the grooves 13, 13 and the side walls of the grippers 1, 1. is drilled into the springs 14, 14 around the rollers 12, 12 so that they can rotate to some extent.

Since the robot hand device of the present invention has the above-described configuration, when the workpiece 2 of a predetermined diameter is gripped, the fingers 3, 3 become parallel to the surface of the workpiece 2 as shown in FIG. The tools 1, 1 are parallel to the fingers 3, 3, and grip the workpiece 2 firmly as in the conventional device, but the diameter of the workpiece 2 is, for example, slightly larger, and the fingers 3, 3 are held parallel to each other, as shown in FIG. 2c. Even if the gripping tools 1, 1 are no longer parallel to the surface of the workpiece 2, the gripping tools 1, 1 are rotated around the rollers 12, 12 by the spring 14, and grip the workpiece 2 in a state parallel to the surface of the workpiece 2. There is a great advantage that the gripping force is not at risk of being reduced.

Further, the device of the present invention has the advantage that it can be used for workpieces having different outer diameters or for tapered workpieces without changing the hand.

[Brief explanation of the drawing]

FIG. 1a is a cross-sectional plan view showing a conventional robot hand device in a state before use, FIG. 1b is a cross-sectional plan view showing a state in use, and FIG. 2d is an explanatory diagram of an incomplete grasping state, FIGS. 2a and 2c are explanatory diagrams of a usage state of the robot hand device of the present invention, and FIG. 2b is a longitudinal sectional front view of the gripping tool portion of the gripping tool. 1...Gripper, 2...Work, 3...Finger, 4...Mounting screw, 5...Pivot pin, 6...Mounting tool, 7...Spring, 8...Piston, 9...
...Spring, 10...Cylinder, 11...Pin, 12...Roller, 13...Groove, 14...Spring.

Claims (1)

[Scope of utility model registration request] two fingers facing each other that can be opened and closed about a fulcrum; a workpiece gripping tool that is attached to the opposing surfaces of each finger via a spring so as to be movable in directions toward and away from each other;
a roller provided on the finger such that an outer circumferential surface thereof protrudes from the opposing surface of each finger and comes into contact with the gripping tool; the finger is tiltable about the roller and is movable relative to the roller; A robotic hand device characterized by its flexibility.