JPH0453911Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a handling device having at least three claw structure for gripping a workpiece in an industrial robot device.

[Prior Art] As the above-mentioned conventional handling device for industrial robots, for example, a robot hand disclosed in Japanese Patent Publication No. 16794/1983 is known.

This robot hand has a U-shaped base and a plurality of mounting pieces placed on the base and branches of this base, which are connected by the same drive source, with the transmission direction changing at an opening of 120 degrees. At least three sets of screws are frequently driven, a guide bar is provided substantially parallel to the screws, and fingers are attached to the screws at their bases and guided by the respective guide bars, and the fingers are guided by the respective guide bars. The finger is formed in a longitudinal shape with each terminal end at the abutting claw portion or the base portion, and is configured to drive the finger between the mounting pieces so that the claw portion converges and diverges approximately at the center of the notch portion of the base. ing.

[Problems to be solved by the invention] However, the conventional robot hand with the above configuration requires four screws to move the three claws, and one electric motor can move the four screws. In order to synchronously rotate the screws in a predetermined direction, the four screws must be connected to each other by bevel gears, which complicates the structure and increases the weight and size of the device itself.

In particular, the industrial robot according to the present application improves work efficiency by moving the work gripped by the handling device at high speed, but when the handling device becomes larger and heavier, the handling device The movement responsiveness of the motor becomes poor, the execution time of a predetermined operation becomes longer, and when the motor is stopped at each position, the load inertia becomes larger, causing a problem that the stopping position accuracy becomes worse.

This invention was devised to solve the above-mentioned conventional drawbacks, and its purpose is to hold a workpiece by moving the three claws in the same direction at a constant speed using a simple structure. It is an object of the present invention to provide a handling device for an industrial robot that can reduce the size and weight of the device.

[Structure of the invention] For this reason, the present invention provides a handling device that is attached to the tip of a movable arm of an industrial robot, and includes a guide member that is arranged to match at least each side of an equilateral triangle, and a , a movable member supported so as to be movable in the longitudinal direction, a claw portion extending for each movable member at an equal distance in a direction perpendicular to the direction of movement thereof, and a claw portion extending for each movable member at an equal distance in a direction perpendicular to the direction of movement thereof; A rack gear is mounted toward the guide member, and an electric motor has a pinion gear that meshes equally with each rack gear, and each movable member is moved equally from one side of each guide member to the other as the electric motor is driven. This feature is characterized in that the tips of the respective claws move toward each other in the direction of approaching each other to grip the workpiece.

[Operation of the invention] Since the present invention is configured as described above, when the electric motor is driven with the movable member positioned on one side of the guide member, each rack gear attached to each movable member Equally meshing pinion gears move each movable member toward the other of the guide members.

As a result, the tips of the claws of each movable member move close to each other at the center position of a circle assumed to pass through each vertex of the equilateral triangle in which the guide member is arranged, thereby gripping the workpiece.

[Example] An example of the present invention will be described below with reference to the drawings.

Fig. 1 is a front view showing a handling device for an industrial robot according to the present invention, Fig. 2 is a side view of Fig. 1, Fig. 3 is a plan view of Fig. 1, and Fig. 4 is Fig. 1A.
- It is a longitudinal sectional view taken along line A, and a handling device 3 is attached to the tip of an arm 1 (indicated by a dashed line in FIGS. 1 and 2) of an industrial robot device. The main body frame 5 of the handling device 3 is formed in the shape of an equilateral triangle, and linear guide members 7 extending in the longitudinal direction are fixed to each side of the main body frame 5, respectively. A locking groove 7a such as a dovetail groove is formed in the guide member 7 so as to extend in the longitudinal direction thereof. Each guide member 7 has a movable body 9
is locked in the locking groove 7a and supported so as to be slidable in the longitudinal direction of the guide member 7. Each movable body 9 accommodates a ball bearing 9a that is locked to the locking portion 7a and rotates. A stopper 11 is fixed to one end of each movable body 9, and the stopper 1
1 comes into contact with the movable body 9 when it moves toward one end along the guide member 7, and restricts the movement of the movable body 9.

A claw portion 13 is fixed to the upper portion of each movable body 9, respectively. Each claw portion 13 extends toward the inside of the main body frame 5 perpendicularly to the moving direction of each movable body 9,
The movable body 9 is connected to the stopper 1 of the guide member 7.
They are formed with such a length that their tips come into contact with each other when they move to the other end opposite to 1. Furthermore, a rack gear 15 is fixed to the lower part of each movable body 9 in parallel with each of the guide members 7.

The main body frame 5 includes a support frame 17,
They are fixed so as to face each other with a required spacing between them. An electric motor 19 such as a DC motor or a step motor constituting a driving means is fixed to the support frame 17.
A pinion gear 21 is attached to the rotating shaft 19a of the electric motor 19 located between the support frame 17 and the support frame 17. The pinion gear 21 meshes with each of the rack gears 15. In addition, 23 in the figure
is a speed reduction mechanism integrated into the electric motor 19. Furthermore, a claw opening detection device (not shown) such as a micro switch is attached to the support frame 17 on the stopper 11 side.
When moving toward the stopper 11 along , the claw opening detection device outputs a claw opening signal due to contact with each movable body 9. In addition, a claw closure detection device (not shown) such as a micro switch is installed on the support frame 7, and a guide member 7 opposite to the stopper 11
The claw closure detection device is attached to each end of the movable body 9 when the movable body 9 moves along the support frame 7 to the end opposite to the stopper 11. Outputs a section close signal.

Next, the operation of the handling device 3 configured as described above will be explained with reference to FIGS. 1 and 5.

In Fig. 1 and Fig. 5 showing the closed state of each claw, the workpiece W (indicated by a two-dot chain line in Fig. 5)
In the non-grip state, each movable body 9 moves toward one end of the guide member 7 and comes into contact with the stopper 11.
In this state, the tips of each claw portion 13 are separated from each other and opened. In addition, each claw opening detection device 25
When it comes into contact with each movable body 9, it turns on, for example, and outputs a claw opening instruction signal to a control device (not shown) of the industrial robot device.

When the workpiece W is inserted between the open claws 13 in the above state, the electric motor 19 is driven based on a gripping instruction signal from the control device to rotate the pinion gear 21 in a desired direction. As a result, the driving force of the electric motor 19 is transmitted to each movable body 9 via the rack gear 15 with which the pinion gear 21 meshes, and each movable body 9 moves along the guide member 7 toward the other end opposite to the stopper 11. Move in a straight line. As a result, the tip of each claw portion 13 moves linearly in the centripetal direction of the circle connecting the vertices of the main body frame 5, and grips the workpiece W with its tip. At this time, each claw portion 13 makes line contact with the outer circumferential surface of the workpiece W in the axial direction and grips the workpiece W.

Note that after the work W gripped by the above operation is moved to a required position by the movement of the arm 1, the electric motor 19 is driven in the opposite direction to the above based on a grip release signal output from the control device, and each The grip on the work W is released by moving the movable body 9 toward the stopper 11 and opening the tips of the claws 13.

In this way, in this embodiment, the workpiece W is gripped by moving the three claws 13 linearly.
The workpiece W can be reliably gripped by increasing the contact area of the claw portion 13 against the workpiece W.

The above explanation assumes that the body frame 5 has an equilateral triangular shape, and that the workpiece W is gripped by linearly moving each claw part 13 along a linear guide member 7 fixed to each side of the body frame 5. However, work W
The main body frame 5 has a regular polygonal shape according to the cross-sectional shape of the main body frame 5, and the workpiece W is gripped by four or more claws attached to move linearly along each side of the main body frame 5. It may be hot.

[Effects of the invention] As described above, the present invention has a simple configuration and can hold a workpiece by moving the three claws in the same direction at a constant speed, making it possible to reduce the size and weight of the device. It is possible to provide a handling device for an industrial robot.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a handling device for an industrial robot according to the present invention, FIG. 2 is a side view of FIG. 1, FIG. 3 is a plan view of FIG. 1, and FIG. 4 is a FIG. 5 is a longitudinal sectional view taken along line A and a plan view showing the operation of the handling device. In the figure, 3 is a handling device, 5 is a main body frame, 7 is a guide member, 9 is a movable body, 13 is a claw part,
19 is an electric motor as a driving means.

Claims (1)

[Claim for Utility Model Registration] In a handling device attached to the tip of a movable arm of an industrial robot, a guide member arranged to match at least each side of an equilateral triangle; a movable member supported so as to be movable; a claw extending for each movable member at an equal distance in a direction perpendicular to the direction of movement of the movable member; a rack gear, and an electric motor having a pinion gear equally meshed with each rack gear, and each movable member is moved equally from one side of each guide member to the other side as the electric motor is driven. A handling device characterized in that a workpiece is gripped by moving the tips of each claw portion toward each other in a direction.