JPH0448948Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a gripping device for a robot.

[Conventional technology]

To grasp an item by a robot, a grasping device attached to the tip of the robot's arm is used. A prior art document disclosing a gripping device for a robot is, for example, Japanese Patent Laid-Open No. 52-101567.

The gripping device is equipped with a fixed claw and a movable claw, and the fixed claw and the movable claw grip an article. Conventionally, there have been three mechanisms for moving the movable claw.

The first method utilizes a parallel link mechanism.

The second method utilizes a rack and pinion mechanism.

The third method uses a pinion and a worm gear (for example, Japanese Patent Application Laid-Open No. 101567/1983).

The device that uses a parallel link mechanism and a rack-and-pinion mechanism has a problem in that when a strong force is applied to the item in the direction of opening the movable claw, the movable claw opens and the gripping force of the movable claw is lost.

On the other hand, gripping devices using pinions and worm gears do not have this problem.

[Problem that the invention attempts to solve]

However, the gripping device using a pinion and a worm gear has the following two problems.

One problem is that the gripping device becomes larger. This is because bearings are required to support the pinion and worm gear, and in order to increase the gripping force, the pinion and worm gear must be made larger.

The second problem is that the opening and closing speed of the claws is slow. In order to increase the opening/closing speed of the claws, the twist angle of the worm gear can be increased, but if this is done, the self-locking function of the worm gear will be lost. Loss of the self-locking function of the worm gear means that when a strong force is applied to the item in the direction of opening the movable claws, the movable claws open and the gripping force of the movable claws is lost.

The present invention solves these problems of the conventional technology.

The technical problem of this invention is to enable the claws to open and close quickly without increasing the size of the gripping device.
Moreover, the purpose is to prevent the claw from opening even if an external force is applied.

[Means for solving problems]

In order to achieve this technical problem, the following measures are taken in the present invention.

That is, the robot gripping device according to the present invention includes a frame attached to the tip of the arm of the robot, a fixed claw fixed to the frame,
A movable claw provided on the frame so as to be movable relative to the fixed claw, a driving means for driving the movable claw, and a sliding member fixed to the frame and extending in a direction perpendicular to the direction in which the movable claw is displaced. a guide plate having a groove, a sliding block connected to the driving means and capable of sliding in the sliding groove; and a sliding block rotatable with respect to the sliding block; a link having one end connected to the movable claw that is movable in a direction perpendicular to the direction of the sliding groove; The other ends of the links are connected so as to overlap, and when the fixed claw and the movable claw grip an item, the angle between the link and the sliding groove is a right angle or an acute angle. This is a characteristic feature.

[Effect]

When the driving means is driven, a sliding block connected to the driving means slides in the sliding groove. As the sliding block slides, a link whose one end is rotatably connected to the sliding block is displaced in accordance with the movement of the sliding block. On the other hand, since the other end of the link overlaps the extension of the movable claw and is rotatably connected to the extension of the movable claw, the link is displaced in a direction perpendicular to the sliding direction of the sliding block. The movable claw then approaches and moves away from the fixed claw.

And even if a strong force is applied to the item in the direction of opening the movable jaw when the item is gripped by the fixed claw and the movable claw, the angle between the link and the sliding groove is a right or acute angle. When the sliding block pushes the guide plate, a component of the pressing force does not act on the drive means to release the grip, so the movable claws do not open and the movable claws do not lose their gripping force.

〔Example〕

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

In FIG. 1, 1 is a frame. The frame 1 has a U-shape consisting of an upper part 2, a lower part 3, and an intermediate part 4. In the lower part 3, the frame 1 is attached to the tip of an arm of a robot (not shown).

A plate-shaped guide plate 5 is attached to the side surface of the upper portion 2 of the frame 1. frame 1
and the guide plate 5 are connected by bolts (not shown).

The guide plate 5 is provided with a sliding groove 12 in which a sliding block 11 (described later) slides.

FIG. 3 is a right side view of the gripping device of the robot of FIG. 1.

As can be seen in FIG. 3, a guide rail 13 is fixed on the upper part 2 of the frame 1. Further, an air cylinder 16 is fixed under the upper portion 2 of the frame 1.

The guide rail 13 extends in a direction perpendicular to the plane of the drawing in FIG. A movable claw 14 is slidably attached to the guide rail 13. The movable claw 14 can slide in a direction perpendicular to the plane of the paper. Movable claw 1
4 has two claw members 21 for holding the item 15 therebetween.

Returning to FIG. 1, 16 is an air cylinder, and 14 is a movable claw. The sliding direction of the movable claw 14 is indicated by arrow A,
This is the B direction.

In addition to the movable claw 14, a fixed claw 22 is fixed onto the upper portion 2 of the frame 1 by bolts (not shown). The fixed claw 22 is also provided with two claw members 23 for holding the article 15 therebetween. The movable claw 14 is movable relative to the fixed claw 22 in the directions of arrows A and B.

2 is a top view of the gripping device of the robot of FIG. 1; FIG.

In FIG. 2, 1 is a frame, 5 is a guide plate, 14 is a movable claw, and 22 is a fixed claw. Further, 13 is a guide rail, and 21 and 23 are claw members of a movable claw 14 and a fixed claw 22, respectively. As mentioned above, the movable pawl 14 can slide on the guide rail 13 in the directions of arrows A and B.

As can be seen in FIG. 2, the movable pawl 14 is provided with an extension portion 24 on the side thereof that extends toward the fixed pawl 22. A link 31 is attached to the tip of the extension part 24 by a pin 25 so as to be rotatable with respect to the extension part 24. Link 31 is extension part 2
4 and extends toward the movable claw 14. The tip of the link 31 is connected to the sliding block 1 by a pin 32.
1 is rotatably attached to a sliding block 11.

Returning to FIG. 1, 25 is a pin that attaches the link 31 and the extension portion 24 of the movable claw 14, and 32 is a pin that attaches the link 31 and the sliding block 11. The sliding block 11 is fitted into the sliding groove 12. Sliding groove 12
extends in the direction (direction of arrows C, D) perpendicular to the direction in which the movable claw 14 is displaced (direction of arrows A, B) on the guide plate 5. Therefore, the sliding direction of the sliding block 11 is the direction of arrows C and D. Naturally, the sliding direction of the movable claw 14 (arrows A and B directions) and the sliding direction of the sliding block 11 (arrows C and D
direction).

A rod 34 is connected to the sliding block 11 and passes through a through hole 35 bored in the guide plate 5. A connecting bar 41 is connected to the tip of the rod 34.

In FIG. 3, 31 is a link, 11 is a sliding block, 32 is a pin, 34 is a rod, and 41 is a connecting bar. As can be seen from FIG. 3, the connecting bar 41 is not only connected to the rod 34;
The other end is connected to a rod 42 discharging air from the air cylinder 16. The rod 42 is connected to a piston (not shown) inside the air cylinder 16.

By supplying air to the air cylinder 16, the rod 42 can be moved in the directions of arrows C and D. When the rod 42 moves in the directions of arrows C and D,
Since the rod 42 and the rod 34 are connected by the connecting bar 41, the rod 34, that is, the sliding block 11 also moves along the sliding groove 12 of the guide plate 5 as shown by the arrow C.
It is movable in the D direction. In FIG. 1, since the sliding block 11 and the extension portion 24 of the movable claw 14 are connected by a link 31, for example, when the sliding block 11 moves in the direction of arrow C, the movable claw 14 moves in the direction of arrow A. Move to the position indicated by the two-dot chain line indicated by the maximum alphanumeric value Z. Conversely, if air is supplied to the air cylinder 16 to move the rod 42 in the direction of arrow D, the movable claw 14 will move in the direction of arrow B, ie, to the position shown by the solid line in FIG.

As shown in FIG. 1, when the rubber bush 15 is gripped by the movable claw 14 and the fixed claw 22, the link 31 is arranged to be at right angles to the sliding groove 12.

The item 15 being gripped by the gripping device of FIG. 1 is a rubber bushing. Rubber bush 15
should be attached to the bracket 51. That is, as shown in FIG. 1, the rubber bush 15 is gripped by the movable claw 14 and the fixed claw 22, and the entire gripping device 10 is moved in the direction of arrow B.
Rubber bush 15 is attached to bracket 51.

FIG. 4 is a perspective view of an automobile exhaust system.

In FIG. 4, 52 is an exhaust pipe, 53 is a muffler, and 51 is a bracket attached to the body of the automobile (not shown). Bracket 5
The muffler 3 is attached to the body of the automobile by attaching the rubber bush 15 to the muffler 1 and connecting the rubber bush 15 and the muffler 53 with a connecting rod 54. The gripping device shown in FIG. 1 is for attaching the rubber bush 15 to the bracket 51 shown in FIG.

The operation of the gripping device shown in FIG. 1 according to this embodiment will be explained.

First, in order to sandwich the rubber bush 15 between the fixed pawl 22 and the movable pawl 14, air is supplied to the air cylinder 16 and the rod 42 is moved in the direction of arrow C in FIG. When the rod 42 moves in the direction of arrow C, since the sliding block 11 and rod 42 are connected to the rod 34 by the connecting bar 41, the sliding block 11 also moves in the direction of arrow C in the sliding groove 12. .

When the sliding block 11 moves in the direction of arrow C,
A link 31 whose one end is connected to the sliding block 11 by a pin 32 moves in the direction of arrow A while rotating with respect to the sliding block 11, and a part of the link 31 moves into the sliding groove 12. do. and link 3
The other end of the link 31 is connected to the extension 24 of the movable claw 14 by a pin 25, so that the link 31 rotates relative to the extension 24 of the movable claw 14 in the direction indicated by the arrow A.
When the movable claw 14 moves in the direction shown in FIG.

In this state, if the rubber bush 15 is moved between the movable pawl 14 and the fixed pawl 22 by supplying air to the air cylinder 16 to move the rod 42 in the direction of arrow D, the sliding block 11 will move in the direction of arrow D. 31 moves in the direction of arrow B while rotating with respect to the sliding block 11, and furthermore, the movable claw 1 is attached to the link 31.
4, the movable pawl 14 returns to the position shown by the solid line in FIG. 1, and grips the rubber bush 15. When the rubber bush 15 is gripped by the movable claw 14 and the fixed claw 22, the link 31 becomes perpendicular to the sliding groove 12.

Next, the gripping device 1 that grips the rubber bush 15
Move the entire bracket 51 in the direction of arrow B.
All you have to do is fit the rubber bushing 15 into it.

When the rubber bush 15 is fitted into the bracket 51 by moving the entire gripping device 10 holding the rubber bush 15 in the direction of arrow B, the rubber bush 15
A force is applied in the direction of arrow A. This force is the movable claw 1
4 in the direction of opening.

The external force acting on the movable claw 14 acts on the sliding block 11 via the link 31, but since the link 31 is stopped at a position perpendicular to the sliding groove 12, the sliding block 11 does not move the guide plate 5. Simply push in the direction of arrow A. In other words, movable claw 1
Since the force acting on the movable claws 4 is received by the guide plate 5, the movable claws 14 will not open and the gripping force of the movable claws 14 will be lost.

As can be seen from FIG. 1, this example has the following:
Since the claws are opened and closed by the air cylinder 16, the claws can be opened and closed very quickly.

Moreover, as can be seen from FIG. 1, the entire gripping device 10 of this embodiment is very compact.

Furthermore, the air cylinder 16 of the gripping device 10 of this embodiment only needs to generate the force necessary to grip the rubber bush 15. That is, since the movable claw 14 does not need to receive external force, the air cylinder 16
A small one can be used.

Although a specific embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and includes various embodiments within the scope of the utility model registration claims. For example, in this embodiment, an air cylinder was used to drive the movable claw, but a hydraulic cylinder may also be used. Further, the gripping device of the present invention is not limited to a rubber bush attached to an automobile exhaust system.

[Effect of idea]

According to the present invention, the claws can be opened and closed quickly without increasing the size of the gripping device, and the claws do not open even when external force is applied.

[Brief explanation of the drawing]

1 is a front view of a robot gripping device according to an embodiment of the present invention, FIG. 2 is a top view of the robot gripping device of FIG. 1, and FIG. 3 is a front view of the robot gripping device of FIG. 1. The right side view of the device, FIG. 4, is a perspective view of the exhaust system of an automobile. 1...Frame, 5...Guide plate, 10
... Robot gripping device, 11 ... Sliding block, 12 ... Sliding groove, 14 ... Movable claw, 16 ...
Air cylinder (fluid cylinder), 22... fixed claw, 31... link, 34, 42... rod,
41...Connection bar.

Claims (1)

[Scope of utility model registration request] A frame attached to the tip of the arm of the robot, a fixed claw fixed to the frame, a movable claw provided on the frame so as to be movable relative to the fixed claw, and a drive for driving the movable claw. and a guide plate fixed to the frame and having a sliding groove extending perpendicularly to the direction in which the movable pawl is displaced, the guide plate being connected to the driving means and sliding in the sliding groove. a movable sliding block, a link whose one end is connected to the sliding block so as to be rotatable relative to the sliding block, and the movable pawl movable in a direction perpendicular to the direction of the sliding groove. The other end of the link is rotatably connected to an extension extending in the direction of the fixed claw and overlapping the extension;
A gripping device for a robot, characterized in that when an article is gripped by the fixed claw and the movable claw, the angle formed by the link and the sliding groove is a right angle or an acute angle.