JPS63278785A - Drive mechanism for work terminal device - 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 [Field of Industrial Application] The present invention relates to a drive mechanism for a working hand tool provided in a robot, a machine tool, etc., for imparting a twisting (rotation) motion to the working hand tool.

[Conventional technology]

A working hand tool is provided in a robot, a machine tool, a working machine, etc., and plays the same role as a human hand, and is usually installed at the tip of a working arm.

Such a working hand tool and its drive mechanism will be explained with reference to the drawings.

FIG. 2 is a partially sectional side view of a drive mechanism for a conventional working hand tool. In the figure, 1 is a working hand tool (hereinafter referred to as hand)
, 2 is a support for supporting the hand 1, and 3 is a main body attached to, for example, a working arm (not shown).

A support shaft 4 connects the hand 1 and the support body 2, and a support base (not shown) is fixed to the lower end of the support shaft. 5
6 is a fulcrum fixed to the support base, and 6 is a hydraulic cylinder fixed to the support base. 7 is a hydraulic motor provided in the main body 3, 7a is a pinion of the hydraulic motor 7, and 8 is a gear formed on the inner peripheral surface of the support body 2 and meshes with the pinion 7a. Reference numeral 9 denotes a bearing that rotatably supports the support body 2 on the main body 3. Reference numeral 10 indicates a fluid coupling provided in the main body 3, reference numeral 10a indicates a shaft of the fluid coupling, and reference numeral 11 indicates a hose forming an oil passage between the shaft 10a and the hydraulic cylinder 6.

When gripping an object with the hand 1, when the switching valve 1 (not shown) is operated, oil from the hydraulic source is transferred to the fluid coupling 10.
is supplied to the hydraulic cylinder 6 via the hydraulic cylinder 6, and the hand 1 is rotated around the fulcrum 5 by extending the rond, and the hand 10 is rotated around the fulcrum 5.
Grip the object with the tip of the image.

In addition, when directing a gripped object in a predetermined direction, the hand 1 is twisted by rotating the hydraulic motor 7 in a predetermined direction and transmitting the rotation to the support body 2 via the pinion 7a and the gear 8t. , which changes the direction of the object. When grasping the entire object, hand l'! ! - The same applies when pointing in a direction convenient for grasping an object. In the case of this direction change, since the well-known fluid coupling 10 is used, the oil passage of the hydraulic cylinder 6 is secured without any problem even if the support body 2 rotates.

[Problem that the invention seeks to solve]

By the way, in general, working hand tools and their drive mechanisms]
If the amount of I is large, the dynamic characteristics will deteriorate.

In other words, it becomes difficult to operate and stop one working hand tool, and agility decreases. Furthermore, the size of the object that can be lifted with one working arm becomes smaller, and the working capacity also decreases. Therefore, in order to improve agility (work efficiency) and work ability, it is essential to reduce the mt of the working hand tools and the 70 drive ljb mechanism as much as possible. However, since the drive mechanism of the conventional working hand tool is equipped with the fluid coupling 10, there is a problem in that it is heavy.

Furthermore, due to its mechanism, the fluid coupling needs to be installed on the central axis of rotation of the rotating body.

The hydraulic motor 7 must be placed at nine locations away from the central axis of rotation, and as a result, a support body 2 with a gear 8 provided on its inner circumferential surface is required, which increases the amount of X, and There was also the problem that the overall volume also increased.

An object of the present invention is to solve the problems of the prior art described above, reduce the weight and volume, improve dynamic characteristics, and increase the payload of a working hand tool. There is a mechanism to provide.

[Means for solving problems]

In order to achieve the above object, the present invention supports the Tanabata rotating shaft for rotating the working hand tools in a fixed case, and creates an oil passage by making an opening T in the fixed case, and the rotating shaft of the motor. A through hole is formed inside the rotating shaft of the motor, one end of the through hole is communicated with the groove, and the other end is t% hydraulic pressure for driving the working hand tool. It is characterized by being connected to an actuator.

[For production]

The oil passage between the hydraulic actuator and the switching valve that drives and controls the hydraulic actuator is constituted by an opening in the fixed case, a groove in the rotating shaft, and a through hole in the rotating shaft. Even when the motor is driven to rotate the rotating shaft to change the direction of the working tool, the groove on the rotating shaft is always in communication with the opening in the fixed case.
The oil passage of the hydraulic actuator is secured and the working hand tool can be driven without any hindrance.

FIG. 3 is a partially sectional side view of the moving mechanism. In the figure, parts that are the same as those shown in FIG. 7
b is a reducer connected to the hydraulic motor 7, 7c is a reducer 7
The rotating shaft of the hydraulic motor 7 connected to b) 7d, 7
e is a casing that supports the hydraulic motor 7. 13 is a working yoke, and 14 is a main body rotatably attached to the working arm 13.

15 is a hydraulic motor for horizontally swinging the hand 1 (swinging in a plane perpendicular to the plane of the paper); 16 is a harmonic drive reducer connected to the hydraulic Tanabata 15; 17a is a casing 7C;
a shaft connecting the harmonic drive reducer 16 and the harmonic drive reducer 16;
7b is a shaft connected to the other side of the reducer 7e, and 18 is a bearing fixed to the main body 14 and supporting the shaft 17b. 19
is a case that is fixed to the casing 7e and supports the rotating shaft 7ci, and its inner periphery and the outer periphery of the rotating shaft 7C are in close contact with each other. 19a.

19 b is a through hole drilled at a predetermined location of the case 19;
Additionally, there are bearings provided at both ends of the case 190.

21a, 21k) are two grooves formed around the outer periphery of the rotating shaft 7C. The position of the groove 21 a is the through hole 19
The position of groove 21 is the next position facing a, and the position of b is the through hole 19.
This is the next position facing b. Each groove 212.21b and the bearing gap are provided with an O-ring as a sealing member.

22a%nb is a through hole opened in the axial direction inside the rotating shaft 7C. One end of the through hole 22a is a groove 21
a, and one end of the through hole 22b is connected to the groove 21.
It communicates with b. Furthermore, the other end of the through hole 22a is
The rotating shaft 7C protruding from the case 19 is open on its outer peripheral surface and is connected to one hose 11, and the other end of the through hole 22b is similarly connected to the other hose 11. , 23 are bolts that connect the pedestal (not shown) for fixing the fulcrum 5 and the actuator 6 to the light leakage of the rotating shaft 7C.

Next, the operation of this embodiment will be explained. The through holes 19a and 19b of the case 190 are connected to a switching valve (not shown), and the switching valve is connected to a hydraulic pump and a hydraulic oil tank.

Now, in order to grip the object with the hand 1, the switching valve is switched to supply pressure oil from the hydraulic pump to the through hole 19a119 of the case 19.
b, the pressure oil is supplied to the through holes 19a, 19b,
Groove 218.21b, through hole a% 22b1 hose 11
t- is input to the hydraulic cylinder 6, and the rons ``f'' on both sides of the hydraulic cylinder 60 are contracted against the spring force of the return spring.

As a result, the hand 1 rotates around the fulcrum 5, and its tip is opened so that it can grip an object.

Next, when an object is positioned between the tips of the hand 1 and the switching valve is switched to connect the through holes 19a and 19b of the case 190 to the hydraulic oil tank, the pressure oil supplied to the hydraulic cylinder 6 is transferred to the hose 11 and the through hole. '22a%22b1 groove 21
a, 21b, through holes 19a, 19b, and switching valve t-
After that, it is returned to the hydraulic oil tank. As a result, the return spring acts to extend the rond of the hydraulic cylinder 6, and the hand 1 rotates around the fulcrum 5, so that both ends thereof grip the object. By driving the working arm 13 in this state, the clamped object can be moved to any desired location. By switching the switching valve to the side that supplies pressure oil from the hydraulic pump,
The tip of the hand 1 opens and the object can be released.

On the other hand, when holding an object with the hand 1, or when changing the direction of the object after holding it, when the hydraulic starter 7 is driven, the rotating shaft 7C is rotated via the reducer 7b, and the hand 1 is thereby rotated. It rotates to change its orientation, and if an object is being held, it will naturally change the orientation of the object. In this operation, even if the rotating shaft 7C rotates, the groove 218% 21b always faces the through hole 19a% 19b, so there is no change in the path of the pressure oil, and the clamping percentage of the hand l is released. There is no problem in the operation of the.

Further, when the hydraulic motor 15 is driven, the harmonic drive reducer 16 and the shafts 17a and 17b rotate, and the Cushinga C also rotates accordingly. This rotation of the casing 7e causes the hydraulic motor 7, the reduction gear 761 rotating shaft 7c, the case 19, and the hand 1 to swing laterally along a plane perpendicular to the plane of the drawing. In this case as well, there is no change in the path of the pressure oil, and the gripping and releasing operations of the hand 1 can be performed without any trouble even during the horizontal swing motion or in the horizontal swing posture.

As described above, in this embodiment, an oil path is formed on the rotating shaft of the hydraulic motor for twisting the hand and its support case, so a fluid coupling can be omitted, thereby reducing weight and volume. As a result, the dynamic characteristics can be improved and the recovered weight can be increased.

In the description of the above embodiment, a hydraulic motor was used as an example of the motor for twisting the hand, but it is obvious that an electric motor may also be used. Also, depending on the purpose of use, the hydraulic cylinder can be replaced with a hydraulic motor.

〔Effect of the invention〕

As described above, in the present invention, the rotating shaft of the Tanabata for hand twisting is obstructed by the fixed case, and an oil passage is formed between the fixed case and the rotating shaft, so the fluid coupling can be omitted. This makes it possible to reduce the weight and volume, thereby improving the dynamic characteristics and increasing the payload.

[Brief explanation of the drawing]

FIG. 1 is a partially sectional side view of a drive mechanism for a working hand tool according to an embodiment of the present invention, and FIG. 2 is a partially sectional side view of a 1iAIJIJ mechanism for a working hand tool according to a conventional embodiment. 1... Hand, 6... Bent hydraulic cylinder, 7...
Curved hydraulic motor, 7c... Rotating shaft, 13... Four work jumps, 14... Main body, 19... Case, 19a, 19b, 22a, 22b... Curved. Sadamichiko, 21a, 21b...Hoko ulFiA! Hand I4 ・Each rice 6 Lottery seal;? ! 9 cases? -UL+J-919a,
19b, 22a, 22b-@it hole 7cmri: J turn!
Il] 21a, 21b - Kyo I3 - The claw arm

Claims (3)

[Claims] (1) A working hand tool that is attached to a main body mounted on a working arm, driven by a hydraulic actuator, and rotated by a twisting motor provided in the main body, supporting the rotating shaft of the motor. a fixed case, an aperture formed in the fixed case constituting an oil passage, a groove formed on the outer circumferential surface of the rotating shaft facing the aperture, and a groove formed inside the rotating shaft, one end of which is formed in the outer peripheral surface of the rotating shaft. and a through hole communicating with the hydraulic actuator and having the other end connected to the hydraulic actuator. (2) In claim (1), the working hand tool drive mechanism is characterized in that the working hand tool has a gripping structure for gripping an object. (3) In claim (1), the working hand tool drive mechanism is characterized in that the hydraulic actuator is a hydraulic cylinder.