JPH0243678Y2 - - Google Patents

Description

[Detailed description of the invention] <Industrial field of application> The present invention relates to a gripping device for gripping relatively easily deformable packages such as cardboard boxes, and is capable of gripping the package reliably without damaging the package, especially in a limited space. The present invention relates to a gripping device for a robot having a structure that allows

<Prior Art> Relatively heavy contents are sometimes placed in a package made of a material that is easy to process, lightweight, and has appropriate toughness, such as cardboard. Such packages are usually transported or stored by being loaded onto pallets by a robot, but during such palletizing, the packages are usually wrapped by a robot hand 1 as shown in Fig. 5. The bodies 2 are grabbed and placed one after another on the pallet 3. Robot hand like this 1
The following gripping mechanisms are conventionally known.

○B As shown in Fig. 6, the package 2 is clamped integrally from two opposing sides.

○B As shown in Figure 7, among a set of gripping bodies,
One is configured for flat gripping, and the other gripping body consists of a hook-shaped plate whose lower tip is bent inward at a right angle, and the bent part of the hook-shaped plate scoops up the object from below. There is a type in which the flat portion is placed along the object to be held and the flat plate is also pressed from the other side of the object to be held, and the object (packaged body) is held between these two gripping bodies and lifted.

Among these types of gripping mechanisms, the type ○A lifts both sides of the package 2 with only one set of gripping force, so it cannot be lifted unless the gripping force is increased.
Therefore, there is a limit to the clamping force that can be applied because the package deforms and damages the contents inside the package. Additionally, if the interior items are heavy, there is a risk of them slipping.
On the other hand, the ○-ro format requires a large space because the legs are opened and closed using the shaft 6 as a support point.

Therefore, it is not suitable as a mechanism for a gripping device used in a narrow space such as in palletizing.

<Problems to be solved by the invention> The present invention was proposed to solve the above-mentioned difficulties in gripping devices for robots that operate in narrow spaces. It is an object of the present invention to provide a gripping device for a robot that can be gripped safely and reliably without damage.

<Means and effects for solving the problems> In order to solve the above-mentioned problems, the robot gripping device according to the present invention includes a screw shaft rotatably supported horizontally on a support frame, and a male thread of the screw shaft. By interposing the female thread part in the part, the parts are suspended from the screw shaft and are facing each other,
Two gripping bodies that move toward each other or away from each other along the axial direction of the screw shaft as the screw shaft rotates, and spikes and cross sections are provided on the opposing gripping body sides. Biting parts such as triangular wave surfaces are formed respectively, and while normally stored in each grip body, they each protrude from opposite surfaces of the grip body toward the opposite grip body by supply of high-pressure air, etc. It is characterized by having a meshing part that can be formed.

Since the gripping device for the robot of the present invention is constructed as described above, it can grip the package without deforming or damaging the package, and it can also hold the teeth attached to the gripper on the sides of the package. Since it is structured so that it can be bitten, there is no chance of damaging the interior components.

<Embodiments> Representative embodiments of the present invention will be described below with reference to the drawings.

1 to 4 show a schematic structure of a robot gripping device according to an embodiment, FIG. 1 shows a cross-sectional view of a main part of the first embodiment, and FIG. 2A and FIG. 2B respectively Cross-sectional view of main parts of other embodiments and FIG. 2A
It is a XX arrow view of , and FIGS. 3 and 4 are
Other implementations The gripping device for the robot shown in FIG. It is made up of a tooth assembly 19.

The support frame 7 includes plates 8, 8, which are arranged parallel to each other with a certain distance apart;
Bearings 9a and 9b provided on the opposing inner peripheral surfaces of 8 and bearing 9
A screw shaft 1 installed horizontally and rotatably between a and 9b
0, a bevel gear 11 fixed to the center of the screw shaft 10, and a bevel gear 12 meshed with the bevel gear 11 at right angles to the gear.
Male threaded portions 10a and 10b are provided which are threaded in opposite directions from the center toward both ends.

The gripping body 13 has female threaded parts 14a and 15a screwed into the male threaded parts 10a and 10b of the threaded shaft 10, so that the plates 14 and 15 can be attached to the threaded shaft 1.
It is supported by this screw shaft 10 while hanging perpendicularly to 0. The plates 14 and 15 are the bevel gear 12
The gear 11 meshing with the bevel gear 12 and the threaded shaft 10 are rotated by the rotation of
Depending on the direction of rotation of the screw shaft 10, the plates 14 and 15 supported on the screw shaft 10 are moved toward each other toward the other plate surface, or moved away from each other in the opposite direction. A cavity is formed that moves horizontally toward the other opposing plate. A high-pressure air supply port 17, which will be described later, is opened on the rear wall surface of the cavity 16.
The high pressure air sent from the pipe 23 is connected to the teeth 19
It has a structure in which the water is ejected from the rear surface of the cavity 16.
A protrusion opening 18 is opened in the front surface of the plate to allow the tooth assembly 19 to protrude toward the other opposing plate.

The tooth assembly 19 also includes a convex plate 20 disposed in the cavity 16 with its tip facing the other plate surface, and a large number of spikes horizontally implanted on the surface of the convex plate 20. 21, and a convex plate 20
The convex plate 2 is
0 is biased toward the rear of the plates 14 and 15. Furthermore, the high pressure air supply port 1 of the cavity 16 mentioned above
7 is connected to a pipe 23, air is sent into the cavity 16 from a high pressure source not shown, and the convex plate 20 is made to protrude toward the other plate.

In a gripping device according to another embodiment shown in FIGS. 2A and 2B, a portion corresponding to the convex plate 20 in the above embodiment is replaced with a horizontal moving portion 20-1, a lever 20
-2 and shaft 20-3, and these horizontal moving part 20-1, lever 20-2 and shaft 2
0-3 is housed in the cavity 16 of the plate 14.

The horizontal moving part 20-1 is normally urged by a spring 26 toward the opposite plate side, and the pipe 2
When high-pressure air is supplied to the chamber 28 through the small holes 25 and 3, the plate 1 resists the spring force of the spring 26.
Move to the rear of 4 (15). Lever 20-2
is rotatably supported at its upper end by a shaft 20-3, and has an upper end protrusion 20-4 projecting from its upper end surface, which is a recess 20-4 formed on the lower surface of the horizontally moving section 20-1. It is loosely fitted into 1a. That is, the upper end protrusion 20-4 is adapted to engage with the recess 20-1a as the horizontal movement section 20-1 moves in the horizontal direction. Thus, the lever 20-2 rotates about the shaft 20-3 as the horizontal movement section 20-1 moves. As a result, when the horizontal moving part 20-1 moves to the left in the figure due to the supply of high-pressure air to the chamber 28, the lever 20-2 moves toward the shaft 20-3.
Rotate counterclockwise around the center of rotation. The spike 21 is installed horizontally on a surface facing the plate 15 at the lower part of the lever 20-2. The spike 21 is installed horizontally on a surface facing the plate 15 at the lower part of the lever 20-2.

In this way, in this embodiment, the horizontal moving unit 20-
1, lever 20-2, shaft 20-3, spike 21
The tooth assembly 19 is constituted by the spring 26 and the spring 26 .

The tooth assembly 19 is similarly constructed on the plate 15 side. Further, in FIGS. 2A and 2B, the same parts as in FIG. 1 are given the same numbers, and redundant explanations will be omitted.

In addition, the devices shown in FIGS. 3 and 4 have spikes 21 implanted on the top of the convex plate 20 and the inner side surface of the lower end of the lever 20-2 in the teeth assembly used in FIGS. 1 and 2A, respectively. 1 and 2 A and 2, respectively, except that a wave surface 27 formed with a triangular cross section is used instead of .
As shown in Figure B, it is composed of a similar support frame, gripping body, and tooth assembly.

When gripping a package, the robot gripping device shown in the above embodiment not only clamps the gripping body from both sides of the gripped object, but also protrudes the teeth from the lower end of the gripping body to grasp the gripped object. Since it is structured so that it can be grabbed from the side, it can securely grip the object without increasing the gripping force of the gripper, so it can be safely gripped without damaging the package or damaging the contents inside. can do.

<Effects of the invention> As is clear from the above description, the robot gripping device of the present invention includes at least one set of gripping bodies provided on the wrist of the robot to grip an object to be gripped,
In addition, since the teeth are disposed on each gripper and are movable toward the other gripper, the object can be reliably gripped without increasing the clamping force of the gripper.

Further, there is an advantage that safe and reliable gripping can be performed even in a narrow work space.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of a main part showing a schematic configuration of a gripping device for a robot according to an embodiment, FIG. 2A is a sectional view of a main part of a gripping device according to another embodiment, and FIG. 2B is a sectional view of a main part of a gripping device according to another embodiment. 3 and 4 are enlarged views of essential parts showing the structure of the tooth mating surface of the tooth joint top of the robot gripping device according to other embodiments, and FIG. 5 is a view of the robot hand. FIGS. 6 and 7 are illustrations of a package being held by a conventional gripping device of a robot. In the drawings, 7...support frame, 10...rotation shaft, 1
1, 12...Bevel gear, 13...Gripper, 14, 15
...Gripping plate, 16...Cavity, 19...Tooth combination, 2
0... Convex plate, 20-1... Convex body, 20-1a... Notch, 20-2... Lever, 20-3... Shaft, 20-
4... Lever protrusion.

Claims (1)

[Scope of Claim for Utility Model Registration] A screw shaft that is rotatably supported horizontally on a support frame, and a screw shaft that is suspended from the screw shaft and faces each other by being screwed into the male thread of the screw shaft via the female thread. , two gripping bodies that move toward each other or away from each other along the axial direction of the screw shaft as the screw shaft rotates, and spikes and spikes are provided on the opposite surfaces of the gripping bodies. Engagement parts such as wave surfaces with a triangular cross section are formed respectively, and while normally stored in each grip body, they respectively protrude from opposing surfaces of the grip toward the opposite grip body due to supply of high-pressure air, etc. What is claimed is: 1. A gripping device for a robot, characterized in that the gripping device has a meshing portion formed in a flexible manner.