JPH0366528A - Robot hand - Google Patents

Abstract

PURPOSE:To actuate a follow-up mechanism only at necessary time by moving a guide so as to constrain a robot hand at transfer of the robot hand and release it at actuation of the follow-up mechanism. CONSTITUTION:A guide 3 having a little clearance of the inside diameter is fitted to the outside of a robot hand 1 grasping an object to be grasped 11, to prevent actuation of a follow-up mechanism 2. Until directly before the object to be grasped 11 is inserted in an inserting hole 12, the hand 1 is moved in the constrained condition with the guide 3. When the distance to a plate provided with the inserting hole 12 is measured to be a prescribed value by a distance measuring sensor 9 on the extreme end of a driving mechanism 4 - 8 of the guide 3, the driving mechanism 4 - 8 is actuated to retreat the guide 3 and release constraint against the hand 1. The follow-up mechanism 2 is actuated and the object 11 is accurately inserted in the inserting hole 12.

Description

[Detailed Description of the Invention] [Summary] This invention relates to a robot hand that is equipped with a mechanism that can selectively activate the tracking mechanism of the robot hand, which does not require high equipment costs, is small in size, and has a simple structure. The object of the present invention is to provide a robot hand equipped with a following mechanism that is capable of following and inserting an object being grasped by the robot hand into an insertion hole into which the object is to be inserted. In the robot hand, when the robot hand is moved, the robot hand is restrained, and when the following mechanism is activated to provide the robot hand with a following function, a guide for releasing the restraint of the robot hand is moved. The device is configured to include a mechanism.

[Industrial application field]

The present invention relates to a robot hand equipped with a mechanism that can selectively operate a follow-up mechanism of the robot hand.

In the assembly process using robots in recent years, it is required that even if there is some positional deviation between the object to be grasped and the insertion hole, the object can be inserted reliably with a force ζ.

For this reason, robot hands equipped with various follow-up mechanisms have been provided, but these follow-up mechanisms can sometimes be assembled to absorb misalignment between the object to be grasped and the insertion hole through a tracing effect. However, on the other hand, assembly may cause vibrations of the robot hand when assembled in a horizontal direction, and when it is assembled in a horizontal direction, it is affected by gravity and cannot perform its function satisfactorily. The follow-up mechanism must not operate at any time other than when the

Under the above circumstances, there is a need for a robot hand that can operate the follow-up mechanism only when necessary, and not operate the follow-up mechanism in other cases.

[Conventional technology]

A conventional robot hand will be explained in detail with reference to FIG.

FIG. 3 is a diagram showing a schematic structure of a conventional robot hand.

In the figure, in order to prevent the tracking function from operating on the robot hand 21 provided at the tip of the parallel plate spring type tracking mechanism 22 in the A force control technique is used, which is provided on the robot arm 20 and uses the sensor 24 to determine the displacement of the object to be grasped 11 relative to a predetermined position, and forcibly restores the position of the robot hand 21 using the force control mechanism 25 based on this displacement information. ing.

[Problem to be solved by the invention]

In the conventional robot hand described above, force control technology is used to selectively activate the tracking mechanism, so it is difficult to attach it to the tip of a small robot hand. Even in such cases, there was a problem in that high equipment costs were required.

In view of the above-mentioned circumstances, it is an object of the present invention to provide a robot hand that does not require high equipment costs, is small in size, and is equipped with a follow-up mechanism that has a simple structure.

[Means to solve the problem]

The robot hand of the present invention is a robot hand equipped with a tracking mechanism capable of following and inserting an object being gripped by the robot hand into an insertion hole into which the object is to be inserted. When the robot hand is restrained when moving the hand and the following mechanism is activated to provide the robot hand with a following function, the robot hand is configured to include a mechanism for moving a guide that releases the restraint of the robot hand. .

[Effect]

That is, in the present invention, when it is not necessary to operate the follow-up mechanism provided in the robot hand, the robot hand is restrained by the guide so that it does not move, and when the follow-up mechanism is activated, the robot hand is prevented from moving. Since the guide is moved freely by the mechanism, it is possible to selectively activate the follow-up mechanism only when necessary.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

FIG. 1 is a side view showing a case where the following mechanism is not activated, and a robot hand 1 is attached to the robot arm 20 via a parallel leaf spring type following mechanism 2 in the XY directions.

A grasped object 11 is grasped by the robot hand l,
A guide 3 having an inner diameter that differs from the outer diameter of the robot hand 1 by about 0.05 m is fitted on the outside of the robot hand 1 to prevent the follow-up mechanism 2 from operating.

This guide 3 is fixed to a guide block 8, which is slidable along a guide bar 7, and a rack 6 provided on the guide block 8 is connected to a pinion 5 which is rotated by a motor 4. They mesh together. A distance measuring sensor 9 is provided at the tip of the drive mechanism section of the guide 3.

FIG. 2 is a side view showing the case where the follow-up mechanism is activated. The difference from FIG. 1 when the follow-up mechanism is not activated is that the pinion 5 is rotated by the motor 4,
The rough black that is meshing with the rack moves to the right and reaches rack 6.
is provided on the guide block 8, so the guide block 8 moves rightward along the guide bar 7.
The guide 3 fixed to the guide block 8 also moves to the right, and the robot hand 1 is no longer restrained by the guide 3.

The robot hand 1 is inserted into the insertion hole 1 by the robot arm 10.
2, the tip of the object to be grasped 11 reaches the entrance of the insertion hole 12 as shown in the figure, and the distance between the plate on which the insertion hole 12 is provided and the distance measurement sensor 9 reaches a predetermined value. motor 4
begins to rotate and the guide 3 no longer restrains the robot hand l as described above, so the follow-up mechanism 2 is activated and the object to be grasped 11 can be inserted along the insertion hole 12.

In this way, it is possible to move the guide 3 and operate the follow-up mechanism 2 only when necessary, so it is possible to prevent the follow-up mechanism 2 from operating when it is not necessary.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, by providing a mechanism with an extremely simple structure and moving the guide that restrains the robot hand, it is possible to selectively operate the tracking mechanism only when necessary. It is possible to provide a robot hand that can be expected to have significant economical and reliability improvements.

[Brief explanation of drawings]

FIG. 1 is a side view showing a case where the following mechanism according to an embodiment of the present invention is not activated; FIG. 2 is a side view showing a case where the following mechanism according to an embodiment of the present invention is activated; Side view showing the case where the example tracking mechanism is activated (al side view) A-A arrow view

Claims (1)

[Claims] The object (11) being held by the robot hand (1) is inserted into the insertion hole (11) into which the object (11) is to be inserted.
Following mechanism (2) that can be inserted following 12)
In the robot hand (1), the robot hand (1) is restrained when the robot hand (1) moves, and the follow-up mechanism (2) is activated to give the robot hand (1) a follow-up function. In this case, a robot hand is provided with a mechanism (4, 5, 6, 7, 8) for moving a guide (3) that releases the restraint of the robot hand (1).