KR20190002297A - Hand of industrial robot and industrial robot - Google Patents

Abstract

Provided is a hand of an industrial robot, capable of reducing possibility that an object is damaged during transfer when transferring an object to be transferred and easy to be damaged during the transfer. According to the present invention, the hand (3) comprises forks (18, 19) made of a resin including carbon fiber, and a plurality of loading members (21) made of a resin material and loading an object to be transferred thereon. The loading members (21) are arranged on the entire range capable of loading the object (2) to be transferred on the fork (18, 19) in a long side direction (X-direction) of the fork (18, 19), and are fixed to the fork (18, 19) by a bolt. The width in the X-direction of a bolt arrangement hole formed in the loading member (21) is greater than the outer diameter of the bolt. The length in the X-direction of the loading member (21) is set as a length to form a gap between a side surface in the X-direction of the arrangement hole and the bolt even if the fork (18, 19) and the loading member (21) are shrunk or expanded as a surrounding temperature of the hand (3) is changed.

Description

HAND OF INDUSTRIAL ROBOT AND INDUSTRIAL ROBOT [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a hand of an industrial robot for carrying a carrying object. The present invention also relates to an industrial robot equipped with this hand.

BACKGROUND ART Conventionally, an industrial robot for transporting a work such as a glass substrate for a liquid crystal display is known (see, for example, Patent Document 1). The hand of the industrial robot described in Patent Document 1 has two forks (stacking portions) formed in a straight line. The fork is formed of a resin containing carbon fibers. The forks are provided with three substrate supporting portions on which workpieces are mounted and three vacuum pads for holding and holding the workpieces placed on the substrate supporting portions by vacuum suction. The three substrate supporting portions are fixed to the upper surface of the fork with a predetermined gap in the long side direction of the fork.

Japanese Patent Application Laid-Open No. 2006-272526

The present inventors have found that an object of the present invention is to provide an industrial robot which transports a transport object susceptible to damage at the time of transportation, for example, a liquid crystal display in which liquid crystal is injected between two glass substrates, Hand structure of the hand. In the hand of the industrial robot described in Patent Document 1, since the three substrate supporting portions are arranged at predetermined intervals in the long side direction of the fork, the area of the portion of the hand supporting the carrying object becomes narrow, There is a possibility that the state of the object to be carried on the hand becomes unstable. Therefore, when the object to be transported which is liable to be damaged at the time of transportation is transported by the hand of the industrial robot described in Patent Document 1, there is a high possibility that the object to be transported is damaged at the time of transportation.

Therefore, an object of the present invention is to provide a hand of an industrial robot capable of reducing the risk of damage to a carrying object during transportation, even in the case of carrying a carrying object susceptible to damage at the time of carrying. Another object of the present invention is to provide an industrial robot equipped with this hand.

In order to solve the above problems, a hand of an industrial robot according to the present invention is a hand of an industrial robot for carrying a carrying object, comprising: a plurality of forks formed in a straight line; Wherein the fork is formed of a resin containing carbon fibers, and the plurality of stacking members are arranged in a range of a length of the fork in the entire range in which the object to be transported can be stacked And the stacking member is fixed to the fork by a plurality of bolts arranged in a spaced-apart relation in the long-side direction of the fork, and a plurality of arrangement holes in which a part of the bolts are arranged are fixed to the fork, And the fork is provided with a plurality of screw holes into which the male screw formed on the shaft portion of the bolt is screwed, in the direction of the long side of the fork, The width of the fork in the long side direction of the at least one arrangement hole of the plurality of arrangement holes is wider than the outer diameter of the bolt and the width in the long side direction of the fork is wider than the outer diameter of the bolt The length of the stacking member in the long side direction of the fork is set such that the peripheral temperature of the hand is varied so that even if the fork and the stacking member are stretched and contracted, And a length in which a gap is formed between the side surface of the first hole and the bolt.

In the hand of the industrial robot according to the present invention, the plurality of stacking members on which the object to be transported is placed are arranged in the entire range of the fork in which the object to be transported can be stacked in the long side direction of the fork. That is, in the present invention, a plurality of stacking members are arranged so as to extend over the entire range of the fork in which the carrying object can be stacked, in the long side direction of the fork. Therefore, in the present invention, it is possible to widen the area of the portion of the hand that supports the carrying object, and as a result, it becomes possible to stabilize the state of the carrying object mounted on the hand. Therefore, in the present invention, it is possible to reduce the possibility that the object to be transported is damaged at the time of transportation even when the object to be transported is easily damaged at the time of transportation.

Further, in the present invention, a plurality of arrangement holes in which a part of a bolt for fixing the mounting member to the fork is disposed are formed in the mounting member in a state of being spaced apart in the long side direction of the fork, The width of the at least one arrangement hole in the long-side direction of the fork is wider than the outer diameter of the bolt. If the arrangement hole having the width in the long side direction of the fork is larger than the outer diameter of the bolt is the first arrangement hole, the length of the loading member in the long side direction of the fork is changed Even if the fork and the loading member are elongated and contracted, a gap is formed between the side surface of the first placement hole and the bolt in the long side direction of the fork. Therefore, even if the coefficient of linear expansion of the fork formed of the resin containing carbon fibers and the coefficient of linear expansion of the resin-made mounting member are different from each other, the first temperature It becomes possible to prevent the side surface of the placement hole from contacting the bolt.

Therefore, even if the coefficient of linear expansion of the fork is different from the coefficient of linear expansion of the mounting member, it is possible to suppress bending of the fork when the ambient temperature of the hand is varied and lifting of the mounting member from the upper surface of the fork . Therefore, in the present invention, even if the coefficient of linear expansion of the fork and the coefficient of linear expansion of the loading member are different, and the ambient temperature of the hand is fluctuated, the state of the object to be carried on the hand can be stabilized, It is possible to reduce the possibility that the object to be transported is damaged.

In the present invention, for example, the arrangement hole is constituted by a shaft portion arrangement hole in which a part of the shaft portion of the bolt is arranged and a head portion arrangement hole in which the head portion of the bolt is arranged, The width of the first shaft portion disposition hole in the long side direction of the fork is larger than the outer diameter of the shaft portion of the bolt when the head portion disposition hole of the first disposition hole is referred to as the first head portion disposition hole The width of the first head portion disposition hole in the long side direction of the fork is wider than the outer diameter of the head portion of the bolt and the length of the loading member in the long side direction of the fork A gap is formed between the side surface of the first shaft portion arrangement hole in the long side direction of the fork and the shaft portion of the bolt, and even when the fork and the loading member are extended and retreated, 1 is set such that a gap is formed between the side surface of the head portion placement hole and the head portion of the bolt.

Further, in the present invention, for example, the first shaft portion arrangement hole and the first head portion arrangement hole are formed in the shape of a round hole, the inner diameter of the first shaft portion arrangement hole is larger than the outer diameter of the shaft portion of the bolt, The inner diameter of one head portion placement hole is larger than the outer diameter of the head portion of the bolt.

In the present invention, for example, the loading member is fixed to the fork by two bolts arranged in a spaced-apart relation in the long-side direction of the fork, and two first arrangement holes are formed in the fork And are spaced apart in the longitudinal direction. In this case, even if the coefficient of linear expansion of the fork is different from the coefficient of linear expansion of the loading member, bending of the fork when the ambient temperature of the hand is varied and lifting of the loading member from the upper surface of the fork can be prevented.

In the present invention, for example, the outer shape of the loading member when viewed from the up and down direction is substantially a rectangular shape with the long side direction of the fork being the long side direction. In this case, the area of the upper surface of the stacking member can be increased. In other words, it becomes possible to enlarge the area of the portion where the individual stacking members support the transporting object.

The hand of the present invention can be used in an industrial robot having an arm rotatably connected to a distal end side of a hand and a body portion rotatably connected to the proximal end side of the arm. With this industrial robot, it is possible to reduce the possibility that the object to be transported is damaged at the time of transportation even when the object to be transported is easily damaged at the time of transportation.

As described above, according to the present invention, it is possible to reduce the possibility that the object to be transported is damaged at the time of transportation even when the object to be transported is easily damaged at the time of transportation.

1 is a plan view of an industrial robot according to an embodiment of the present invention.
2 is a side view of the industrial robot shown in Fig.
3 is a plan view of the hand shown in Fig.
4 is a cross-sectional view of the EE section of Fig.
5 is an enlarged view of the portion F in Fig.
Fig. 6 is a plan view for explaining the internal structure of the base portion of the hand shown in Fig. 3;
Fig. 7 is a plan view for explaining the operation of the fork shown in Fig. 3;

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Overall configuration of industrial robot)

1 is a plan view of an industrial robot 1 according to an embodiment of the present invention. 2 is a side view of the industrial robot 1 shown in Fig.

The industrial robot 1 (hereinafter referred to as " robot 1 ") of this embodiment is a horizontal articulated robot for carrying a predetermined article 2 to be transported. The transport object 2 of this embodiment is a liquid crystal display in which, for example, two glass substrates are bonded together and liquid crystal is injected between two glass substrates, and the transport object 2 is transported during transportation It is easy to be damaged. The transport object 2 is formed in a rectangular plate shape. The robot 1 is embedded in, for example, a manufacturing system of a liquid crystal display. In addition, the robot 1 of this embodiment is capable of transporting a plurality of kinds of transport objects 2 of different sizes (see Fig. 3).

The robot 1 includes two hands 3 on which the object to be transported 2 is mounted, two arms 4 each of which is connected to the tip side of the two hands 3, two arms 4, And a base 6 for supporting the body portion 5 so as to be movable in the horizontal direction. The main body part 5 includes an arm support 7 which supports the base end side of the arm 4 and is movable up and down, a support frame 8 which supports the arm support 7 in a vertically movable manner, A base 9 that constitutes a lower end portion of the base frame 5 and is horizontally movable with respect to the base 6 and a revolving frame 10 which is rotatable with respect to the base 9 while fixing the lower end of the support frame 8, .

The arm 4 is constituted by two arm portions, that is, a first arm portion 12 and a second arm portion 13. The proximal end side of the first arm portion 12 is rotatably connected to the arm support 7. That is, the proximal end side of the arm 4 is rotatably connected to the main body part 5. [ On the tip end side of the first arm portion 12, the base end side of the second arm portion 13 is rotatably connected. A hand 3 is rotatably connected to the distal end side of the second arm 13. That is, the hand 3 is rotatably connected to the distal end side of the arm 4. The robot 1 is provided with two arm drive mechanisms for expanding and contracting each of the two arms 4.

The support frame 8 holds the hand 3 and the arm 4 so as to be able to move up and down via the arm support 7. The support frame 8 includes a columnar first support frame 14 for holding the arm support 7 so as to be able to ascend and descend and a columnar first support frame 14 for vertically holding the first support frame 14. [ 2 support frame 15. The support frame 15 is provided with a support frame 15, The robot 1 includes a lifting mechanism for lifting and lowering the arm support 7 with respect to the first support frame 14 and a lifting mechanism for lifting and lowering the first support frame 14 with respect to the second support frame 15, A guide mechanism for guiding the first support frame 14 in the vertical direction and a guide mechanism for guiding the arm support 7 in the vertical direction.

The lower end of the second support frame 15 is fixed to the revolving frame 10. The revolving frame 10 is rotatable with respect to the base 9 as described above. The robot 1 is provided with a turning mechanism that rotates the revolving frame 10 with respect to the base 9. The base 9 is horizontally movable with respect to the base 6, as described above. The robot 1 is provided with a horizontal moving mechanism for horizontally moving the base 9 with respect to the base 6. [

(Construction of hand)

3 is a plan view of the hand 3 shown in Fig. 4 is a cross-sectional view taken along the line E-E in Fig. 5 is an enlarged view of the portion F in Fig. 6 is a plan view for explaining the internal structure of the base portion 17 of the hand 3 shown in Fig. 7 is a plan view for explaining the operation of the forks 18 and 19 shown in Fig.

The hand 3 has a base portion 17 rotatably connected to the distal end side of the second arm portion 13 and a plurality of forks 18 and 19 formed in a straight line. The hand 3 of this embodiment is provided with four forks 18 and 19 in total including two forks 18 and two forks 19. [ The hand 3 is provided with a plurality of stacking members 21 which are fixed on the upper surface side of the forks 18 and 19 and on which the transporting object 2 is stacked and a transporting object 2 And a plurality of adsorption mechanisms 22 for vacuum adsorbing the lower surface of the adsorbent.

The base portion 17 is formed in a substantially rectangular parallelepiped shape which is formed in a hollow shape and is thin and thin in the vertical direction. The four forks 18, 19 protrude from the base 17 in the same horizontal direction. Further, the four forks 18 and 19 are arranged parallel to each other. If the Y direction in Fig. 3 or the like orthogonal to the vertical direction and the longitudinal direction is referred to as " lateral direction ", the longer sides of the forks 18 and 19 (X direction in Fig. 3 and the like) The forks 18 are disposed on the inner side in the left-right direction, and the two forks 19 are arranged on the outer side in the left-right direction.

The forks 18 and 19 are formed in a substantially rectangular parallelepiped shape which is formed into a hollow shape. Both upper and lower surfaces of the forks 18 and 19 are flat. Both the left and right side surfaces of the forks 18 and 19 are planes orthogonal to the left and right directions. The thickness of the forks 18, 19 in the up and down direction becomes gradually thinner from the proximal end toward the distal end of the forks 18, 19 (see Fig. 2).

The forks 18 and 19 are formed of a resin containing carbon fibers. That is, the forks 18 and 19 are made of carbon fiber-reinforced plastic. The forks 18 and 19 contain pitch-based carbon fibers and PAN-based carbon fibers as carbon fibers. The ratio of the pitch-based carbon fibers among the carbon fibers contained in the forks 18 and 19 of this embodiment is about 70% and the ratio of the PAN-based carbon fibers among the carbon fibers contained in the forks 18 and 19 is, About 30%. Therefore, the coefficient of linear expansion of the forks 18 and 19 of the present embodiment is a negative value. That is, the forks 18 and 19 decrease when the temperatures of the forks 18 and 19 rise.

The loading member 21 is made of resin. For example, the loading member 21 is formed of polyacetal (POM). The stacking member 21 is formed on a substantially rectangular flat plate and is fixed to the upper surface of the forks 18 and 19 such that the thickness direction of the stacking member 21 and the vertical direction are substantially aligned. The stacking member 21 is fixed to the upper surfaces of the forks 18 and 19 so that the long side direction of the stacking member 21, which is formed on a substantially rectangular flat plate, coincides with the longitudinal direction. That is, the outer shape of the loading member 21 when viewed from the up and down direction is substantially a rectangular shape with the longitudinal direction being the longitudinal direction. The coefficient of linear expansion of the stacking member 21 is a positive value. When the temperature of the stacking member 21 rises, the stacking member 21 stretches.

A plurality of loading members 21 are fixed to each of the two forks 18 and the two forks 19, respectively. The plurality of stacking members 21 are arranged in the entire range of the forks 18, 19 in the front-rear direction in which the objects to be transported 2 can be loaded. 3, the plurality of stacking members 21 are arranged so as to extend over the entire range of the forks 18, 19 on which the objects to be transported 2 can be loaded in the front-rear direction.

More specifically, as described above, the robot 1 of the present embodiment is capable of transporting a plurality of types of transport objects 2 of different sizes, Are arranged on the upper surfaces of the forks 18 and 19 in the entire range of the front and rear direction in which the largest transport object 2 indicated by the broken line is loaded. The spacing of the stacking members 21 adjacent to each other in the front-rear direction is, for example, 10 mm.

The loading member 21 is fixed to the upper surfaces of the forks 18 and 19 by a plurality of bolts 24 arranged in a spaced-apart relationship in the front-rear direction. The mounting member 21 is formed with a plurality of arrangement holes 21a in which a part of each of the plurality of bolts 24 is arranged in a spaced relationship in the front-rear direction. A plurality of screw holes 18a and 19a are formed in the upper surface portion of the forks 18 and 19 so as to be spaced apart from each other in forward and backward directions in which the male screw formed on the shaft portion 24a of the bolt 24 is screwed 5).

4, the loading member 21 is fixed to the upper surface of the forks 18 and 19 by two bolts 24 arranged in a spaced-apart relationship in the front-rear direction , The mounting member 21 is formed with two arrangement holes 21a spaced apart in the front-rear direction. The placement hole 21a is a through hole penetrating the loading member 21 in the vertical direction. As shown in Fig. 5, the arrangement hole 21a has a shaft portion arrangement hole 21b in which a part of the shaft portion 24a of the bolt 24 (concretely, the upper end portion of the shaft portion 24a) And a head portion disposition hole 21c in which the head portion 24b of the bolt 24 is disposed. The shaft portion placement hole 21b constitutes a lower portion of the placement hole 21a and the head portion placement hole 21c constitutes an upper portion of the placement hole 21a.

The shaft portion placement hole 21b and the head portion placement hole 21c are formed in a round hole shape. The center of the shaft portion disposition hole 21b and the center of the head portion disposition hole 21c coincide with each other when viewed from above and below. That is, the arrangement hole 21a is formed in the shape of a round hole having a step. The inner diameter of the shaft portion disposition hole 21b of the two arrangement holes 21a is larger than the outer diameter of the shaft portion 24a of the bolt 24. [ The inner diameter of the head portion disposition hole 21c of the two arrangement holes 21a is larger than the outer diameter of the head portion 24b of the bolt 24. [ That is, the two arrangement holes 21a are larger than the so-called bolt, and the arrangement hole 21a in the front-rear direction is wider than the outer diameter of the bolt 24. [

More specifically, the width of the shaft portion placement hole 21b in the front-rear direction is wider than the outer diameter of the shaft portion 24a of the bolt 24, and the width of the head portion placement hole 21c in the front- And is wider than the outer diameter of the head portion 24b of the bolt 24. In this embodiment, the two arrangement holes 21a formed in one loading member 21 are first arrangement holes whose width in the front-rear direction is wider than the outer diameter of the bolts 24. [ The two shaft portion arrangement holes 21b are the first shaft portion placement holes, and the two head portion placement holes 21c are the first head portion placement holes.

The length of the loading member 21 in the forward and backward directions is set to be shorter than the length of the arrangement holes 21a in the forward and backward directions even when the fork 18, 19 and the loading member 21 are expanded and contracted, And a gap is formed between the side surface of the bolt 24 and the bolt 24. That is, the length of the loading member 21 in the forward and backward directions can be adjusted by changing the circumferential temperature of the hand 3 so that even if the forks 18, 19 and the loading member 21 are extended or retracted, 21a and the bolt 24 are not in contact with each other.

Specifically, even if the fork 18, 19 and the loading member 21 are expanded and contracted due to fluctuations in the ambient temperature of the hand 3, the length of the loading member 21 in the front- A gap is formed between the side surface of the placement hole 21b and the shaft portion 24a of the bolt 24 and the side surface of the head portion placement hole 21c in the anteroposterior direction and the side surface of the head portion 24b And a gap is formed between them.

For example, the length of the loading member 21 in the forward and backward directions is 100 (mm). Further, for example, the lengths of the forks 18 and 19 are about 2 (m). The difference between the inner diameter of the shaft portion hole 21b and the outer diameter of the shaft portion 24a is determined by the amount of expansion and contraction of the forks 18 and 19 when the ambient temperature of the hand 3 is changed by 5 占 폚, 21) of the present invention. The difference between the inner diameter of the head portion placement hole 21c and the outer diameter of the head portion 24b is larger than the difference between the inner diameter of the shaft portion hole 21b and the outer diameter of the shaft portion 24a. The length of the stacking member 21 disposed at the forefront portion of the forks 18 and 19 is shorter than the length of the stacking member 21 disposed at other positions.

In the fork 18, the suction mechanism 22 is provided at two positions on the tip end side of the fork 18. In the fork 19, the suction mechanism 22 is provided at a total of three positions, that is, one of the two positions on the tip end side of the fork 19 and the intermediate position between the forks 19 in the anteroposterior direction. The space between the loading members 21 in the front-rear direction is widened at the place where the suction mechanism 22 is provided and the suction mechanism 22 is disposed between the loading members 21 in the front-rear direction have.

The proximal end portions of the forks 18 and 19 are disposed inside the base portion 17 formed in a hollow shape. 6, a fork pitch changing mechanism 26 for changing the pitch of the two forks 18 in the left and right direction and two forks (for example, 19 for changing the pitch of the fork pitch changing mechanism 27 are disposed. That is, the hand 3 is provided with the fork pitch changing mechanism 26, 27.

The fork pitch changing mechanism 26 includes a drive motor 29, a screw member 30 connected to the output shaft of the motor 29, a nut member (not shown) fixed to one of the two forks 18, And a nut member (not shown) fixed to the other of the two forks 18. The fork pitch changing mechanism 27 is configured similarly to the fork pitch changing mechanism 26. [ That is, the fork pitch changing mechanism 27 includes a motor 34 configured similarly to the motor 29, a screw member 35 configured similarly to the screw member 30, A nut member (not shown) to be fixed, and a nut member (not shown) to be fixed to the other of the two forks 19. [

The screw members 30 and 35 are formed as thin and long film objects. The screw members 30 and 35 are arranged so that the axial direction and the lateral direction of the screw members 30 and 35 coincide with each other and are rotatably supported by the base portion 17. The screw members 30 and 35 are provided with net threaded portions 30a and 35a constituting one end side of the screw members 30 and 35 and reverse threaded portions 30b and 35b constituting the other end side of the screw members 30 and 35 . The net threads 30a and 35a are formed with net threads and the reverse threaded portions 30b and 35b are formed with reverse threads.

The nut member fixed to the one fork 18 is engaged with the net threaded portion 30a and the nut member fixed to the other fork 18 is engaged with the reverse threaded portion 30b. Likewise, the nut member fixed to the one fork 19 is engaged with the net threaded portion 35a, and the nut member fixed to the other fork 19 is engaged with the reverse threaded portion 35b. The two forks 18 and the two forks 19 are guided laterally by two common guide rails 36. The guide rail 36 is fixed to the base 17 such that the long side direction and the left-right direction of the guide rail 36 coincide with each other. The forks 18 and 19 are provided with guide blocks (not shown) for engaging with the guide rails 36.

In the fork pitch changing mechanism 26, when the motor 29 rotates and the screw member 30 rotates, the one fork 18 and the other fork 18 move by the same amount in opposite directions in the right and left direction, The pitch in the left-right direction of the base 18 is changed. Similarly, in the fork pitch changing mechanism 27, when the motor 34 rotates and the screw member 35 rotates, the one fork 19 and the other fork 19 move by the same amount in the left and right opposite directions, The pitches of the forks 19 in the left and right direction are changed.

In this embodiment, when the size of the object 2 to be transported by the robot 1 is determined, before the transport operation in which the robot 1 transports the object 2, the fork pitch changing mechanism 26 determines The pitch of the two forks 18 in the lateral direction is changed and the fork pitch changing mechanism 27 changes the pitch of the two forks 19 in the lateral direction as necessary. That is, the fork pitch changing mechanisms 26 and 27 do not change the pitch in the left and right direction of the forks 18 and 19 during the transportation operation of the object 2 by the robot 1. [ 7, the fork pitch changing mechanisms 26 and 27 change the pitches of the forks 18 and 19 in the lateral direction of the forks 18 and 19 in accordance with the size of the object 2 to be transported by the robot 1, .

(Main effect of this embodiment)

As described above, in the present embodiment, the plurality of stacking members 21 on which the objects 2 to be transported are stacked in the fore-and-aft direction, and the forks 18, Respectively. Therefore, in the present embodiment, the area of the portion of the hand 3 that supports the object 2 to be transported can be made wider, and as a result, the state of the object 2 to be carried on the hand 3 It becomes possible to stabilize it. Therefore, in this embodiment, even when the object 2 to be transported is susceptible to damage at the time of transportation, it is possible to reduce the possibility that the object 2 to be transported is damaged at the time of transportation.

In this embodiment, the inner diameters of the two arrangement holes 21a formed in the loading member 21 are larger than the outer diameter of the bolt 24, and the length of the loading member 21 in the front- A clearance is formed between the side surface of the arrangement hole 21a in the front-rear direction and the bolt 24 even when the fork 18, 19 and the loading member 21 are expanded and contracted due to fluctuations in the ambient temperature of the hand 3 The length is set. Therefore, even if the linear expansion coefficients of the forks 18 and 19 formed of the resin containing carbon fibers are different from the linear expansion coefficient of the loading member 21 made of resin, the ambient temperature of the hand 3 is changed It is possible to prevent the side surface of the arrangement hole 21a from contacting the bolt 24. [

Therefore, even if the coefficient of linear expansion of the forks 18 and 19 and the coefficient of linear expansion of the loading member 21 are different from each other, bending of the forks 18 and 19 when the ambient temperature of the hand 3 is varied, It becomes possible to prevent lifting of the loading member 21 from the upper surface of the forks 18, 19. Therefore, even if the coefficient of linear expansion of the forks 18 and 19 and the coefficient of linear expansion of the loading member 21 are different from each other and the ambient temperature of the hand 3 fluctuates, the conveying object It is possible to stabilize the state of the object 2, and as a result, it is possible to reduce the possibility that the object 2 is damaged during transportation.

(Other Embodiments)

Although the above-described embodiment is an example of a preferred form of the present invention, the present invention is not limited thereto, and various modifications are possible within the scope of the present invention.

The inner diameter of one of the two arrangement holes 21a formed in the mounting member 21 may be substantially equal to the outer diameter of the bolt 24. In this case, That is, the inner diameter of the shaft portion arrangement hole 21b of one arrangement hole 21a is substantially equal to the outer diameter of the shaft portion 24a of the bolt 24, and the head arrangement hole 21c of one arrangement hole 21a The outer diameter of the head portion 24b of the bolt 24 may be substantially equal to the outer diameter of the head portion 24b. That is, only one arrangement hole 21a may be a hole larger than the bolt. In this case, one arrangement hole 21a becomes the first arrangement hole. It becomes possible to prevent bending of the forks 18 and 19 and lifting of the loading member 21 from the upper surface of the forks 18 and 19 when the ambient temperature of the hand 3 fluctuates .

In addition, in the above-described embodiment, the loading member 21 may be fixed to the forks 18 and 19 by three or more bolts 24 arranged in a spaced-apart relationship in the longitudinal direction. In this case, three or more arrangement holes 21a corresponding to the number of bolts 24 are formed in the stacking member 21 in a spaced-apart relationship in the front-rear direction. In this case, the inner diameter of at least one of the arrangement holes 21a among the three or more arrangement holes 21a is larger than the outer diameter of the bolt 24. In this case, the arrangement hole 21a whose inner diameter is larger than the outer diameter of the bolt 24 becomes the first arrangement hole.

In this case, the inner diameters of all the placement holes 21a are made larger than the outer diameter of the bolts 24, or the inner diameters of the placement holes 21a excluding one placement hole 21a are larger than the outer diameter of the bolts 24 It is possible to prevent the bending of the forks 18 and 19 and the lifting of the loading member 21 from the upper surface of the forks 18 and 19 when the ambient temperature of the hand 3 fluctuates. Even when the inner diameter of the placement hole 21a excluding the at least two placement holes 21a is larger than the outer diameter of the bolt 24, the forks 18, 19 and the lifting of the loading member 21 from the upper surface of the forks 18, 19 can be suppressed.

In the above-described embodiment, the arrangement hole 21a formed in the loading member 21 may be a long hole whose longitudinal direction is the long side direction. That is, the shaft portion arranging hole 21b and the head portion arranging hole 21c may be elongated holes whose longitudinal direction is the longitudinal direction. Even in this case, when the circumferential temperature of the hand 3 fluctuates and the forks 18 and 19 and the loading member 21 are expanded and contracted, the side surface of the arrangement hole 21a in the forward and backward direction and the side surface of the bolt 24 An arrangement hole 21a is formed so that a gap is formed in the through hole 21a.

In the above-described embodiment, the pitches of the two forks 18 in the left and right directions may be fixed, or the pitches of the two forks 19 in the left and right directions may be fixed. Further, in the above-described embodiment, the number of forks provided in the hand 3 may be two, three, or five or more. In this case, the pitch of the plurality of forks in the left-right direction may be changeable or may be fixed.

In the above-described aspect, the outer shape of the loading member 21 when viewed from the up and down direction may be a substantially rectangular shape with the lateral direction being the long side direction, or may be substantially square. The outer shape of the stacking member 21 when viewed from the up and down direction may be a square shape other than a substantially square shape and a substantially rectangular shape, or a polygonal shape other than a rectangular shape, a circular shape, or an elliptical shape. In the above-described embodiment, the robot 1 is a horizontal articulated robot, but the robot to which the present invention is applied may be an industrial robot other than the horizontal articulated robot. For example, the robot to which the present invention is applied may be an industrial robot disclosed in Japanese Patent Application Laid-Open No. 2017-19061.

1: Robot (industrial robot)
2:
3: Hand
4: arm
5:
18, 19: Fork
18a, 19a: screw hole
21:
21a: placement hole (first placement hole)
21b: shaft portion placement hole (first shaft portion placement hole)
21c: head portion placement hole (first head portion placement hole)
24: Bolt
24a:
24b:
X: Longitudinal direction of the fork

Claims (6)

1. A hand of an industrial robot for carrying a carrying object,
And a plurality of resin loading members which are fixed on the upper surface side of the fork and on which the carrying object is loaded,
Wherein the fork is formed of a resin containing carbon fibers,
Wherein the plurality of the stacking members are arranged in the entire range of the stack of the to-be-transported objects in the long side direction of the fork,
Wherein the loading member is fixed to the fork by a plurality of bolts arranged in a spaced-apart relation in a long-side direction of the fork,
Wherein the mounting member is formed with a plurality of arrangement holes in which a part of the bolt is arranged in a spaced-apart relation in a long side direction of the fork,
Wherein the fork is formed with a plurality of screw holes in which a male screw formed on a shaft portion of the bolt is screwed is spaced apart in a long side direction of the fork,
The width of at least one of the plurality of arrangement holes in the long side direction of the fork is wider than the outer diameter of the bolt,
When the arrangement hole whose width in the long-side direction of the fork is wider than the outer diameter of the bolt is referred to as a first arrangement hole,
The length of the stacking member in the long side direction of the fork is set so that the length of the side of the first placement hole in the long side direction of the fork, And a length in which a gap is formed between the bolt and the bolt. 2. The bolt according to claim 1, wherein the arrangement hole comprises a shaft portion arrangement hole in which a part of the shaft portion of the bolt is disposed, and a head portion arrangement hole in which the head portion of the bolt is arranged,
The shaft portion arrangement hole of the first arrangement hole is referred to as a first shaft portion arrangement hole and the head portion arrangement hole of the first arrangement hole is referred to as a first head portion arrangement hole,
The width of the first shaft portion arrangement hole in the long side direction of the fork is wider than the outer diameter of the shaft portion of the bolt,
The width of the first head portion disposition hole in the long side direction of the fork is wider than the outer diameter of the head portion of the bolt,
The length of the stacking member in the direction of the long side of the fork is set such that the length of the stacking member in the direction of the long side of the fork can be adjusted even if the fork and the stacking member are stretched or shrunk, Wherein a gap is formed between the side surface of the bolt and the shaft portion of the bolt and a gap is formed between the side surface of the first head portion hole in the long side direction of the fork and the head portion of the bolt And a hand. 3. The apparatus according to claim 2, wherein the first shaft portion arrangement hole and the first head portion arrangement hole are formed in a round hole shape,
Wherein an inner diameter of the first shaft portion disposition hole is larger than an outer diameter of the shaft portion of the bolt,
Wherein an inner diameter of the first head portion disposition hole is larger than an outer diameter of the head portion of the bolt. 4. The apparatus according to any one of claims 1 to 3, wherein the loading member is fixed to the fork by two bolts arranged in a spaced-apart relation in a long-side direction of the fork,
Wherein the mounting member is formed such that two of the first arrangement holes are spaced apart from each other in a long side direction of the fork. The hand according to any one of claims 1 to 3, characterized in that the outer shape of the loading member when viewed from the top and bottom is a substantially rectangular shape with the long side direction of the fork being the long side direction . An electronic device comprising: the hand according to any one of claims 1 to 3; an arm rotatably connected to the distal end side of the hand; and a body portion rotatably connected to the base end side of the arm robot.

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