JPS6346237Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a robot hand that has flexibility and is capable of gripping several different shaped workpieces with the same hand.

BACKGROUND ART A conventional example of this type of robot hand is disclosed in Japanese Patent Application Laid-Open No. 10492/1983.

Problems to be Solved by the Invention In the conventional robot hand described above, two sets of parallelogram-shaped arms are provided in an X shape, and a chuck unit is pivotally supported at one end of both arms. Furthermore, since the other end is screwed with a screw member, the arm structure becomes complicated, and since two sets of chuck units are required, the hand structure becomes complicated.

Means and Effects for Solving the Problems The present invention has been developed in view of the above-mentioned problems, and includes a pair of gripping arms bent in a dogleg shape, arranged opposite to each other with the tops of the bends serving as fulcrums. The proximal ends of the gripping arms are connected with a drive pin with play, and the distal ends of the gripping arms are gripping claws facing each other, and the driving pins are connected to a driving member such as a gripping cylinder. The position of each fulcrum of both gripping arms can be changed in the moving direction of the drive pin, so that the gripping arm performs a gripping operation by operating the drive member, and the gripping opening degree can be changed by changing the position of the fulcrum. It's summery.

Example Embodiments of the present invention will be described based on the drawings.

In the figure, 1 is a frame body, and this frame body 1 is fixed to a machine frame of a robot (not shown). And this frame 1
A pair of robot hands 2, 2 are attached with their grips concentrically. The pair of robot hands 2, 2 have the same configuration, and the configuration will be described in detail below.

In the figure, reference numerals 3a and 3b are a pair of gripping arms, and both gripping arms 3a and 3b are formed in a dogleg shape and are arranged facing each other, with their respective bent tops serving as fulcrums 4a and 4b. , and their respective proximal ends are connected by a drive pin 5. Furthermore, the tips of the respective gripping arms 3a, 3b form opposing gripping claws 6a, 6b.

Support points 4a, 4b of both gripping arms 3a, 3b are connected to the tips of rods 7a, 7b supported parallel to the frame 1. The rods 7a and 7b are slidably supported by the frame 1, and both base ends of the rods 7a and 7b are integrally connected by a connecting member 8. A piston rod 10 of an opening adjusting cylinder 9 provided on the frame 1 is connected to the intermediate portion of the connecting member 8.

On the other hand, the drive pin 5 connecting the base ends of both grip arms 3a, 3b is loosely fitted to the base ends of both grip arms 3a, 3b, and there is some play. The drive pin 5 is connected to a gripping cylinder 11 provided on the frame 1.

The opposing shapes of the gripping claws 6a and 6b are dogleg shapes facing each other, and the round workpiece 12 can be held as a whole.
Further, each of the square workpieces 13 can be gripped at the tip.

In the above configuration, when the gripping cylinder 11 is extended or contracted, both gripping arms 3a, 3b are moved to the fulcrums 4a, 4b.
The gripping claws 6a and 6b are rotated toward and away from each other using the fulcrum as a fulcrum to grip and release the workpiece.

At this time, when the opening adjustment cylinder 9 is shortened and the fulcrums 4a and 4b of both gripping arms 3a and 3b are moved toward the workpiece side, the gripping claws 6a and 6b of both gripping arms 3a and 3b move toward each other. The gripping interval becomes narrower. On the other hand, when the opening adjustment cylinder 9 is extended and the fulcrums 4a and 4b of both gripping arms 3a and 3b are moved in the direction away from the workpiece, the gripping claws 6
The gripping interval between a and 6b becomes wider.

When the gap between the gripping claws 6a and 6b is narrowed, a relatively small workpiece like the round workpiece 12 shown in FIG.
A relatively large workpiece, such as the square workpiece 13 shown in the figure, can be gripped.

In the above embodiment, an air cylinder configured to be able to stop only at both ends of the stroke was used as the opening adjustment cylinder 9. The opening degree of the gripping claws 6a, 6b can be arbitrarily set by controlling the gripping claws 6a, 6b using a switching valve.

Further, the cylinder in the above embodiments may be either an air cylinder or a hydraulic cylinder. Further, instead of the cylinder, a ball screw may be used and driven by an electric motor or the like to move the rods 7a and 7b in a straight line.

In yet another embodiment, the opening adjustment cylinder 9 may be eliminated and the fulcrums 4a, 4b and the frame 1 may be connected by selectively using rods of different lengths. In this case, the opening degree of the gripping claws 6a, 6b is fixed, but the opening degree of the gripping claws 6a, 6b can be changed simply by changing the length of the rod.
This will be very advantageous for robot hand manufacturers.

That is, a high percentage of robot hands are custom-made, with individual hands being manufactured for individual users, and the design and manufacturing costs involved cannot be ignored. However, when deciding on the size of the robot hand's rods 7a and 7b,
By simply changing the tips of the gripping claws 6a, 6b, it becomes possible to quickly supply hands to a large number of users. By sharing the basic structure in this way, design costs can be saved, and manufacturing costs can also be reduced due to mass production effects.

Effects of the invention According to the invention, by moving the respective fulcrums 4a, 4b of both the gripping arms 3a, 3b relative to the connection point of both the gripping arms 3a, 3b, the gripping arms 3a, 3b The interval between the grips by the gripping claws 6a and 6b can be greatly changed, and the gripping range by the gripping arms 3a and 3b having the same shape can be increased, thereby significantly improving versatility. Further, both gripping arms 3a, 3b have gripping claws 6a,
By changing the design by simply changing the shape of 6b,
It can be applied to various objects of different sizes and shapes, and design and manufacturing costs can be reduced.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, with FIG. 1 being a partially cutaway front view and FIG. 2 being a side view. 3a and 3b are gripping arms, 4a and 4b are fulcrums, 5 is a drive pin, 6a and 6b are gripping claws, and 11 is a gripping cylinder.

Claims (1)

[Scope of utility model registration request] A pair of gripping arms 3 bent into a dogleg shape
a, 3b, their bent tops are fulcrums 4a, 4
The proximal ends of both gripping arms 3a and 3b are connected with a play with a driving pin 5, and the distal ends thereof are gripping claws 6a and 6b facing each other, and the driving pin 5 is connected to a driving member such as a gripping cylinder 11, and the fulcrum 4
A robot hand characterized in that the positions of a and 4b can be changed in the moving direction of the drive pin 5.