KR950031401A

KR950031401A - Forging Robot Hand

Info

Publication number: KR950031401A
Application number: KR1019940010180A
Authority: KR
Inventors: 요시노리 도우또우; 마사미 사까모도; 노리아끼 우시지마; 아끼라 소노따; 유끼오 미우라; 교우스게 아라끼; 겐이찌 요시라
Original assignee: 다데 유스께; 미쓰비시 나가자끼기꼬 가부시끼가이샤
Priority date: 1994-05-10
Filing date: 1994-05-10
Publication date: 1995-12-18
Also published as: KR100307033B1

Abstract

목적：소재 공작물의 일단을 그립하는 그립핸드를 구면좌에 의해 지지하고, 상하 좌우로 변위가능하게 하고, 또 구면부에 그립 핸드가 자유롭게 경사가능하게 하며, 또한 그립핸드가 전후방향(축방향)으로도 이동가능하게 함으로써, 타격시의 충격을 완하하고 로봇핸드 자체와 로봇 본체를 보호하고, 소재 그립부의 변위를 자유자재로 추종 가능하게 하여 정확한 각면 이동을 가능하게 한다.Purpose: Support the grip hand that grips one end of the workpiece by the spherical seat, displaceable up, down, left and right, and make the grip hand freely inclined in the spherical part, and the grip hand is forward and backward (axial direction) By making it moveable, the impact at the time of striking is alleviated, the robot hand itself and the robot body are protected, and the displacement of the material grip part can be freely followed, enabling accurate angular movement.

구성：단조소재의 긴쪽편의 일단을 그립하여 단조작업을 하는 로봇핸드에 있어서, 로봇핸드(2)의 외통(4)의 내부에 소재를 그립하는 그립핸드(3)를 갖추는 2중 구조로 하고, 단조충격시에 그립핸드(3)는 상하좌우로의 변위, 축심의 경사, 그리고 축방향으로 이동 가능하게 하며, 외력에 의해 자유롭게 변위함과 동시에 그립핸드(3)와 로봇핸드(2)의 외통(4) 사이에 상대 변위한 위치에서 재지지할 수 있는 기능과 변위한 그립핸드(3)를 로봇핸드(2)의 외통(4)의 중심으로 복귀시키는 기능을 갖는 구성으로 된다.Constitution: A robot hand forging a long end of a forged material by forging, and having a double structure having a grip hand 3 for gripping a material inside the outer cylinder 4 of the robot hand 2, During the forging shock, the grip hand 3 is movable up, down, left and right, the inclination of the shaft center and the axial direction, and freely displaced by an external force, and at the same time the outer cylinder of the grip hand 3 and the robot hand 2 It has a structure which has the function which can be supported at the position displaced relatively between (4), and the function which returns the displaced grip hand 3 to the center of the outer cylinder 4 of the robot hand 2. As shown in FIG.

Description

Forging Robot Hand

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 로봇핸드의 구성도, 제2도는 제1도의 A－A부의 단면도, 제3노는 단조전의 단조용 소재 공작물을 금형각면에 삽입했을 때의 금형각면 그립핸드, 로봇암(arm)의 위치관계를 나타낸 측면도, 제4도는 단조후의 금형각면, 그립핸드(grip hand) 로봇암의 위치관계를 나타낸 측면도, 제5도는 단조장치내의 금형, 각면의 배치의 1예를 나타낸 평면도.FIG. 1 is a configuration diagram of the robot hand, FIG. 2 is a sectional view of the A-A section of FIG. 1, and FIG. 3 is a position of each grip grip hand and robot arm when a forging workpiece is inserted into each mold face before forging. Fig. 4 is a side view showing the relationship, Fig. 4 is a side view showing the positional relationship of each side of the mold after the forging, a grip hand robot arm, and Fig. 5 is a plan view showing one example of the arrangement of the mold and the respective surfaces in the forging apparatus.

Claims

One end of the long side of the forged material is a robot hand of a robot that grips and forges a double structure having a grip hand that grips a material inside the outer cylinder of the robot hand. And hand grips that are displaced to the robot hand with the ability to move in the axial direction, to the axis of the shaft, and to move in the axial direction and to be freely displaced by external forces, and to be repositioned at a relative displaced position between the grip hand and the outer shell of the robot hand. Robot hand forging work, characterized in that it has the function to return to the center of the outer cylinder of the.

2. The rear side of the grip hand according to claim 1, wherein an annular spherical seat is supported on the inner circumferential side of the hollow inside of the forging work robot hand with the opening of the front end so as to be movable up, down, left and right, and the forging workpiece is gripped. A robot hand for forging work, which is covered with a grip guide member as much as possible, and has a support sphere surface inclined to seat an annular spherical seat on the outer circumferential surface of the grip guide member.

2. The robot hand for forging work according to claim 1, wherein the annular spherical seat is divided into two parts back and forth in the axial direction and has a fluid pressure cylinder that presses the spherical seat in the axial direction.

2. The robot hand for forging work according to claim 1, wherein at least three fluid pressure cylinders are disposed on the outer circumferential side of the annular spherical seat at the top, bottom, left and right, and are moved at equal intervals in the circumferential direction.

2. The robot hand for forging work according to claim 1, wherein at least three fluid pressure cylinders, each of which has a grip guide externally mounted on the rear side of the grip guide member, are disposed at equal intervals in the circumferential interval.

2. The robot hand for forging work according to claim 1, wherein a fluid pressure cylinder for pushing the grip hand forward is disposed on the rear side of the rear end of the grip hand, and the grip guide member has a cylinder for pushing the grip hand through the brake liner from the outer circumference.

4. The robot hand for forging work according to claim 3, wherein an elastic body is filled between annular spherical seats divided into two parts back and forth in the axial direction.

The robot hand for forging work according to claim 1, wherein the entire robot hand mounted to the robot arm rotates left and right.

※ Note: The disclosure is based on the initial application.