JPH04102792U - robot hand - Google Patents

Abstract

(57) [Summary] [Purpose] To securely grasp and transport a workpiece, and to align the orientation of the flat part provided on the workpiece. [Structure] A robot hand is provided at one end of the rotatably arranged arm body 2 and grasps and transports a disc-shaped workpiece 15 that is partially cut out to form a flat part 16. . This robot hand 1 has a pair of hand members 3 and 4 that can be moved toward and away from each other by the operation of a piston 7 to grip a workpiece 15, and can protrude in a direction perpendicular to the direction of approach and separation of the hand members 3 and 4, and can also grasp a workpiece 15. a detection part 12 having a shape corresponding to the outermost peripheral part of the workpiece 15 and projecting when located on the flat part 16 of the workpiece 15;
Detection members 10 and 11 having 13, this detection section 12,
Sensing members 27 and 3 detect that 13 is in the protruding state.
7. Then, when the sensing members 27, 37 sense, the hand members 3, 4 grip the workpiece 15 together with the detecting parts 12, 13 of the detecting members 10, 11.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention relates to a robot hand, and in particular, to securely grip and transport a workpiece. In addition to being able to be in a predetermined position and facing a predetermined direction. It is about a robot hand.

0002

[Prior art and its problems]

The workpiece, which was conventionally located in the recess of the supply pallet, is grabbed and transported to the specified location. As for the robot hand shown in FIG. 13, there is a known robot hand.

0003 That is, the robot hand 41 shown in FIG. 13 is attached to the end of the arm body 42. A hand member consisting of a bent left hand member 43 and a right hand member 44 45, and a pin connecting between the left hand member 43 and the right hand member 44. It consists of Stone 47.

0004 One end of the left hand member 43 and one end of the right hand member 44 are connected to a fulcrum 46. and a left chuck portion 48 provided at the other end of the left hand member 43. , opposite to the light chuck portion 49 provided at the other end of the right hand member 44. positioned.

[0005] Further, the cylinder bottom side of the piston 47 is pivotally connected to the left hand member 43. The tip of the rod of the piston 47 is pivotally connected to the right hand member 44. ing.

[0006] When the piston 47 reciprocates, the left hand member 43 and The right hand member 44 swings about the fulcrum 46 to release the left chuck portion. 48 and the light chuck section 49 cooperate to grip and release the workpiece 55. It is now possible to do so.

[0007] However, as shown in FIG. 15, a portion is cut out to form a flat portion 56. In the case of the workpiece 55, one of the chuck parts 48 and 49 is When located on the flat part 56, the left chuck part 48 and the right chuck part 49 There may be cases where the workpiece 55 cannot be reliably gripped between the two.

[0008] Further, as shown in FIGS. 16 to 18, a recess 58 provided in the supply pallet 57 The workpiece 55 placed in the supply pallet 59 is transported into the recess 60 provided in another supply pallet 59. When transporting, the flat portions 56 are placed in different directions as shown in FIG. When transporting the workpiece 55 to the recess 60 of another supply pallet 59, the workpiece Although the center of 55 is positioned, the direction of the flat part 56 is aligned. The problem was that it could not be transported.

[0009] This invention solves the problems of the conventional ones as mentioned above. Even if a part of the bar is cut out and a flat part is formed, it can be grasped and transported securely. As shown in Figure 18, align the flat parts and move them to the specified position. The purpose is to provide a robot hand that can be carried.

0010

[Means to solve the problem]

In order to achieve the above purpose, the present invention has a rotatably arranged arm body. Grips a disc-shaped workpiece with a flat part cut out at one end. This is a robot hand that is held and transported, and this robot hand is equipped with an actuator. a pair of hand members that can move toward and away from each other to grip a workpiece by the operation of the hand member; It can protrude in the direction perpendicular to the direction of contact and separation of the workpiece, and it can also be and has a corresponding shape and protrudes when placed on the flat part of the workpiece. a detection member having a detection section; and a detection member for detecting when the detection section is in a protruding state. a member, the hand member detects the workpiece when the sensing member senses the workpiece. This method employs a means for grasping the member together with the detection part.

[0011]

[Effect]

By adopting the above-mentioned means, the present invention enables the detection part provided on the detection member to When it is located on the flat part provided in the arc, it becomes a protruding state, and the detection part The sensing member senses that the state has been reached. When the sensing member senses the detection, the hand member detects the workpiece together with the detection part. It can be carried to another location by holding the flat part in the specified direction. Ru.

0012

【Example】

Embodiments of this invention shown in the drawings will be described below. 1 to 8 show an embodiment of a robot hand according to the present invention. The bot hand 1 is a reflex camera attached to one end of an arm body 2 that is rotatably provided. A hand member 5 consisting of a left hand member 3 and a right hand member 4; A piston 7 that connects the hand member 3 and the right hand member 4, and an arm body. Two detection members 10, 11 provided at one end of 2 and the operation of these detection members 10, 11. It consists of sensing members 27 and 37 that sense the dynamic state.

[0013] One end of the left hand member 3 and one end of the right hand member 4 are supported by a fulcrum 6. and the left chuck part 8 provided at the other end of the left hand member 3 and the right hand member 3. The light chuck portion 9 provided at the other end of the holding member 4 is located opposite to the light chuck portion 9 .

[0014] Moreover, one of the detection members 10 of the pair of detection members 10 and 11 is located at the left hand portion. The left chuck part 8 is located on the side of the left hand member 3 and passes through the left hand member 3. The other detection member 11 is located on the right hand member 4 side, and the other detection member 11 is located on the right hand member 4 side. It penetrates the light hand member 4 and is located inside the light chuck part 9.

[0015] As shown in FIGS. 3 to 5, the detection member 10 has an opening at one end connected to the arm body 2. A cylindrical outer cylinder 21 that is attached and has a small diameter opening at the other end, and a A shaft 22 that is slidably inserted into the opening at the other end, and a lower part of the shaft 22. It consists of a detection section 12 provided at one end. A collar part 23 is provided at the other end of the upper part of the shaft 22, and the shaft 22 This prevents it from falling off from the outer cylinder 21.

[0016] Further, a spring 25 is provided between the collar portion 23 and the arm body 2, and a spring 25 is provided between the flange portion 23 and the arm body 2, and The shaft 22 and the detection section 12 are urged downward. The collar portion 23 is provided with an annular groove 24, and an annular magnet ring is provided in the groove 24. A ring 26 is provided. Further, this magnet ring 26 is made of a magnetic material.

[0017] The detection unit 12 is a rectangular plate formed in an arc shape, and both ends of the short side are The outer circumferential surface of the detecting section 12 is in the shape of an arc, and one of the outer peripheral surfaces of the detecting section 12 is in the shape of an arc. It is located on the side of the lock portion 8, and is attached to the shaft 22 so that the inner circumferential surface is located on the fulcrum 6 side. The other side has a shape corresponding to the outermost periphery of the workpiece 15, and the other side is shaped like a flange. When positioned in the cut portion 16, the outer periphery of the work 15 is formed. Further, a hole 28 is provided approximately in the center of the detection unit 12 in a vertically elongated manner in the long side direction. .

[0018] On the other hand, as shown in FIGS. 6 to 8, the detection member 11 is similar to the detection member 10. The structure is as follows. That is, the opening at one end is attached to the arm body 2, and the opening at the other end has a small diameter. It is slidably inserted into the cylindrical outer tube 31 and the opening at the other end of this outer tube 31. a shaft 32, and a detection section 13 provided at one end of the lower part of this shaft 32. It is becoming more and more. A collar portion 33 is provided at the other end of the upper part of the shaft 32, and the shaft 32 This prevents it from falling off from the outer cylinder 31.

[0019] Further, a spring 35 is provided between the collar portion 33 and the arm body 2, and a spring 35 is provided between the flange portion 33 and the arm body 2, and The shaft 32 and the detection section 13 are urged downward. The collar portion 33 is provided with an annular groove 34, and an annular magnet ring is provided in the groove 34. A ring 36 is provided. Further, this magnet ring 36 is made of a magnetic material.

[0020] The detection unit 13 is a rectangular plate formed in an arc shape, and both ends of the short side are The outer circumferential surface of the detecting section 13 is in the shape of an arc, and one side of the detecting section 13 is shaped like an arc. is located on the side of the lock portion 9, and is attached to the shaft 32 so that the inner peripheral surface is located on the side of the fulcrum 6. The other side has a shape corresponding to the outermost periphery of the workpiece 15, and the other side is shaped like a flange. When positioned in the cut portion 16, the outer periphery of the work 15 is formed. Further, a hole 38 is provided substantially in the center of the detection unit 13 and extends vertically in the long side direction.

[0021] As shown in FIG. 3, one of the sensing members 27 and 37 is It is disposed on the outer peripheral surface of the outer cylinder 21 of the material 10, and reciprocates as the shaft 22 slides. The position of the magnet ring 26 is determined by sensing the magnetic force of the magnet ring 26. By sensing, the protruding state of the detection unit 12 can be detected. ing.

[0022] Further, the other sensing member 37 is connected to the outer cylinder 31 of the sensing member 11 as shown in FIG. a magnet ring that is disposed on the outer peripheral surface and reciprocates as the shaft 32 slides; By sensing the magnetic force of 36 and the position of this magnet ring 36, The protruding state of the detecting section 13 can be detected by the detecting section 13.

[0023] The cylinder bottom side of the piston 7 is provided in the detection section 12 of the detection member 10. The rod side of the piston 7 is is inserted into the hole 38 provided in the detection section 13 of the detection member 11 to connect the right hand section. It is pivoted to material 4.

[0024] When the piston 7 reciprocates, the left hand member 3 and the light The left hand member 4 swings around a fulcrum 6 and connects the left chuck portion 8 and the right chuck. The workpiece 15 can be gripped and released in cooperation with the workpiece 9. It has become.

[0025] In the robot hand 1 configured as described above, the workpiece 15 is gripped and held as follows. FIGS. 9 to 9 illustrate the action of the robot hand 1 when the robot hand 1 is transported to a predetermined location. The explanation will be based on 12. Here, the work 15 is a disk-shaped wafer with a part cut out, and a flat part 16 The explanation will be given assuming that .

[0026] First, the robot Move the workpiece 1 so that the central part of the cut hand 1 is located at the center of the workpiece 15. Position it above 5.

[0027] Next, as shown in FIG. 9, operate the piston 7 to connect the left chuck part 8 and the line. The robot hand 1 is lowered by opening the gap between the detection member 1 and the chuck part 9. 0 and 11 are brought into contact with the peripheral edge of the workpiece 15, Press with the specified pressure.

[0028] At this time, the shafts 22, 32 of the detection members 10, 11 are connected to the springs 25, 35, and is disposed on the flanges 23, 33 of the shafts 22, 32. The magnet rings 26 and 36 that have been removed rise. The sensing members 27 and 37 sense the positions of the magnet rings 26 and 36. It becomes ON state.

[0029] Next, as shown in FIG. 10, the arm main body 2 rotates and the detection parts 12, 1 3 moves on the circumference of the work 15. Then, as shown in FIG. 11, one of the detection units 12 When the workpiece is located at the cut portion 16, it comes off the periphery of the workpiece 15, thereby causing the detection to occur. The protruding portion 12 protrudes.

[0030] That is, as shown in FIG. 12, the detection portion 12 of the detection member 10 It descends due to the urging force of. Also, the magnet ring 26 is lowered, and the sensing member 27 is lowered as the detection section 12 is lowered. This is sensed, the arm body 2 is turned off, and the arm body 2 stops rotating. Then, the position of the sensing member 27 in this OFF state is the position of the workpiece 15. This serves as the basis for decision-making.

[0031] After that, the piston 7 is operated, and the left chuck part 8 and the right chuck part 9 are Close the gap between the Transport to.

[0032] Then, the detection unit 12 is oriented in a predetermined direction with respect to the sensing member 27. Then, attach the robot hand 1 to a predetermined place while holding the workpiece 15. make it ground Then, the piston 7 is operated, and the left chuck part 8 and the right chuck part 9 are When the robot hand 1 is raised, the workpiece 15 is flushed. The front part 16 is positioned with the front part 16 facing in a predetermined direction. Note that even when the detection section 13 protrudes, the same operation as described above occurs, and each workpiece 15 The flat parts 16 are arranged in a state facing a predetermined direction.

[0033]

[Effect of the idea]

The present invention has the above-described configuration, so that the workpiece can be moved between the left chuck part and the line. It can be gripped together with the detection part between the detection part and the chuck part, and transported reliably. Also, when transporting from one place to another, the flat part may be randomly generated at one place. Even if the flat part is facing the specified direction, It has excellent effects such as being able to be transported in various ways.

[Brief explanation of drawings]

FIG. 1 is a schematic front view of an embodiment of a robot hand according to the present invention.

FIG. 2 is a schematic bottom view of an embodiment of the robot hand according to the present invention.

FIG. 3 is a schematic cross-sectional view from the front of one detection member and sensing member in the embodiment of the robot hand according to the present invention.

FIG. 4 is a schematic sectional view from the right side of one detection member in the embodiment of the robot hand according to the present invention.

FIG. 5 is a diagram showing a cross-sectional shape of a detection portion of one detection member in an embodiment of the robot hand according to the present invention.

FIG. 6 is a schematic cross-sectional view from the front of another detection member and sensing member in the embodiment of the robot hand according to the present invention.

FIG. 7 is a schematic cross-sectional view from the left side of another detection member in the embodiment of the robot hand according to the present invention.

FIG. 8 is a diagram showing a cross-sectional shape of the detection portion of another detection member in the embodiment of the robot hand according to the present invention.

FIG. 9 is a diagram illustrating a state in which the detection section of the robot hand according to the present invention is in contact with a workpiece.

FIG. 10 is a diagram illustrating a state in which the detection section of the robot hand according to the present invention moves over a workpiece.

FIG. 11 is a diagram illustrating a state in which the detection section of the robot hand according to the present invention protrudes onto a flat part of a workpiece.

FIG. 12 is a schematic diagram illustrating a state in which the robot hand according to the present invention grasps a work together with a detection section.

FIG. 13 is a schematic front view showing a conventional robot hand.

FIG. 14 is a schematic cross-sectional view showing the cross-sectional shapes of a left chuck portion and a right chuck portion of a conventional robot hand.

FIG. 15 is a schematic diagram showing a state in which a workpiece is gripped and held by a conventional robot hand.

FIG. 16 is a schematic diagram showing a state in which works are positioned in recesses of a supply pallet with the flat portions oriented randomly.

17 is a schematic cross-sectional view taken along line BB in FIG. 16. FIG.

FIG. 18 is a schematic diagram showing a state in which the workpieces are positioned in the recesses of the supply pallet with the flat portions aligned in the same direction.

[Explanation of symbols]

1, 41...Robot hand 2, 42...Arm body 3, 43...Left hand parts 4, 44...Right hand member 5, 45...Hand member 6, 46...Fulcrum 7, 47...piston 8, 48...Left chuck part 9, 49...Light chuck section 10, 11...detection member 12, 13...detection section 15, 55...work 16, 56...Flat part 21, 31...outer cylinder 22, 32...shaft 23, 33...Tsubabe 24, 34...groove 25, 35...spring 26, 36...magnetic ring 27, 37...sensing member 28, 38... hole 57, 59...supply pallet 58, 60... recess

Claims (1)

[Scope of utility model registration request] [Claim 1] Arm body (2) rotatably arranged
It is provided at one end of the flat part (1
6) is a robot hand that grasps and transports a disc-shaped workpiece (15), and the robot hand (1) moves toward and away from the workpiece (15) by the operation of an actuator (7). A pair of hand members that can be held (3)
(4), the hand member (3) can protrude in a direction perpendicular to the direction of contact and separation of the hand members (4), has a shape corresponding to the outermost circumference of the workpiece (15), and has a shape corresponding to the outermost peripheral part of the workpiece (15).
5) A detection member (10) having detection parts (12) and (13) that become protruding when located on the flat part (16) of
(11), and sensing members (27) and (37) that sense when the detection portions (12) and (13) are in the protruding state, and when the sensing members (27) and (37) sense, A robot hand characterized in that the hand members (3) and (4) grip and hold the workpiece (15) together with the detection parts (12) and (13) of the detection members (10 and 11).