JPH0627346Y2 - Hand compliance mechanism - Google Patents

Description

The present invention relates to a compliance mechanism of a hand that is attached to the wrist of an industrial robot, and more specifically, to a fixed position such as an assembly part gripped by a chuck. The present invention relates to a compliance mechanism of a hand which can be advantageously implemented such as for mounting.

2. Description of the Related Art In the typical prior art, a wrist 3 of an industrial robot shown in FIG. 7 is provided with a chuck 3 via an elastic member 2 such as rubber, and thus a hand 4 is provided. Composed. The assembly 3 is fitted into the hole 7 of the mechanical device 6 or the like provided at the fixed position by the chuck 3.

In the prior art shown in FIG. 7, the check 3
When the component 5 gripped by the wrist is brought by the wrist 1 of the industrial robot, even if the axis of the component 5 and the axis of the hole 7 are deviated, the component 5 functions as the elastic member 2. The component 5 is moved into the hole 7 by the horizontal displacement.
It is possible to fit in.

The problem of the prior art shown in FIG. 7 is that when the axis of the component 5 is inclined at an angle with respect to the vertical direction, the component 5 or the like is bored due to the adverse effect of gravity. When it is fitted in 7, the component 5 or the like is subjected to an eccentric load and a twist, and the elastic member 2 is displaced, so to speak, a sagging.

In the new prior art shown in FIG. 8, the arms 12, 13 and the wrist 1 about the vertical axes of rotation 9, 10, 11 are shown.
4 is angularly displaceable, and further, the wrist 14 having the chuck 16 can be moved up and down in the direction of the arrow 15, and thus has a large rigidity in the vertical direction, which is the assembling direction,
The structure has a large compliance function in the horizontal direction.

Problems to be Solved by the Invention The problem of the prior art shown in FIG. 8 is that effective compliance can be obtained only in the horizontal direction, and the adverse effect of gravity cannot be avoided when the axis is oblique, The negative effect of gravity is unavoidable in a tilted posture other than horizontal.

An object of the present invention is to provide a hand compliance mechanism that can prevent the adverse effect of gravity and can be downsized.

Means for Solving the Problems In the present invention, a gripping means 63 is provided at one end of the lever 48 in the longitudinal direction, and another gripping means 63a is provided at the other end of the lever 48 substantially symmetrically with the gripping means 63. , A lever 48 is pivotally supported near the center of gravity of the lever 48 by a first pin 52 having an axis perpendicular to the longitudinal direction,
The swing member 30 is pivotally supported on the wrist 20 of the industrial robot by a second pin 45 having an axis parallel to the axis of the first pin 52 at a position deviated from the axis of the first pin 52. The gripping means 63, 63a are provided on the lever 48 so as to be displaceable in the axial direction of the first pin 52, the drive source 26 is attached to the wrist 20, and the drive source 26 allows the gripping means 63, 63a to be parallel to the axis line of the first pin 52. The positioning protrusion 27 is displaced so that it can be inserted into and removed from the positioning hole 82 formed in the lever 48, and one plane including the axis of the first pin 52 and the axis of the second pin 45 is kept within one vertical plane. The wrist compliance mechanism is characterized by moving the wrist 20.

Operation According to the present invention, the gripping means 6 is provided at one end of the lever 48.
3 is provided, and at the other end, another gripping means 63a is provided substantially symmetrically with the gripping means 63, whereby the lever 48 has a uniform hole around the axis of the first pin 52. The plane including the axis of the first pin 52 and the second pin 45 that pivotally supports the swinging member 30 on the wrist 20 is kept within one vertical plane, and each gripping means 63, 63a is attached to the lever 48 and the first pin. When the positioning projection 27 is disengaged from the positioning hole 82, the gripping means 63, 63a are displaced in the axial direction of the first pin 52 as described above. Not only free but lever 4
8 is angularly displaceable around the axis of the first pin 52, and the rocking member 30 is angularly displaceable around the axis of the second pin 45, so that each gripping means 63, 63a has a first and a second gripping means. Displacement is possible within a plane perpendicular to the axes of the pins 52 and 45. Therefore, it is possible to smoothly bring the component or the like grasped by either one of the grasping means 63 or 63a to the fixed position, and assemble, attach or detach the component, and the above-mentioned prying or the like. Can be prevented.

In particular, in the state where both of the gripping means 63, 63a grip parts having substantially the same weight, there is no adverse effect due to gravity,
It is possible to easily assemble, install and remove parts.

When the component is gripped only by one gripping means 63 or 63a, the positioning projection 27 is fitted into the positioning hole 82, whereby the lever 48 and the swinging member 30 are angularly displaced about the axis of the first pin 52. And the swinging member 30 and the wrist 20 are prevented from swinging around the axis of the second pin 48, so that the respective gripping means 63, 63.
It is possible to bring the component in the desired position, or the gripping means 63 or 63a not gripping the component, while gripping the component in only one of the a's.

Embodiment FIG. 1 is a front view of an embodiment of the present invention, FIG. 2 is an exploded perspective view thereof, and FIG. 3 is a section line III-II of FIG.
FIG. 4 is a sectional view as seen from I, and FIG. 4 is IVa-IVb-IVc-IVd-IVe.
FIG. 7 is a cross-sectional view seen from -IVf-IVg-IVh. With reference to these drawings, a mounting plate 22 of a mounting member 21 is fixed to a wrist 20 of an industrial robot having a plurality of axes. Mounting plate 2
Two brackets 23 and 24, which are arranged to face each other with a pair of gaps, are hung and fixed to 2. Mounting plate 2
A double-acting pneumatic cylinder 26, which is a driving means, is fixed to the lower sides of the brackets 2 on the sides of the brackets 23, 24 by a supporting piece 25 extending downward, and the positioning projection 27 having a truncated cone shape is fixed by the cylinder 26. It is driven horizontally. Insertion holes 28 and 29 are formed in the brackets 23 and 24, respectively.

A swinging member 30 is arranged between the brackets 23 and 24. The swing member 30 includes a pair of support walls 31 and 32,
Connecting walls 33, 34 connecting these supporting walls 31, 32
Is attached to form a substantially cylindrical shape. At the upper part of the swinging member 30, the stoppers 35, 3 protruding upward are provided.
6 is fixed. Further, hitting pieces 37 and 38 are fixed to the side portions of the bracket 31.

Through holes 39, 40; 41, 42 are formed in the support walls 31, 32 of the rocking member 30 at intervals in the vertical direction.

Bearings 43 and 44 are attached to the insertion holes 28 and 29 formed in the brackets 23 and 24 of the attachment member 21,
The bearings 43 and 44 support the pin 45 so as to be angularly displaceable around its axis. Insertion hole 3 of swing member 30
The tubular body 46 through which the 9 and 41 are inserted is fixed to the support walls 31 and 32, and the pin 45 is inserted and fixed in the tubular body 46.

A cylinder 49 is fixed to the lever 48. Swing member 30
Insertion holes 40, 42 formed in the support walls 31, 32 of the
Bearings 50 and 51 are attached to the pin, and a pin 52 is attached rotatably around its axis. This pin 52
The tubular body 49 is inserted and fixed to the tubular body 49. Pin 45,
The axes of 52 are in a common vertical plane due to the displacement of the wrist 20, the axes being parallel to each other and can be horizontal and tilted with respect to the horizontal. .

The end plates 55 and 56 of the brackets 53 and 54 are fixed to both ends of the lever 48. Support walls 57, 58; 59, 60 are attached to the end plates 55, 56 so as to face each other. A pair of stoppers 61, 62 projecting facing each other are fixed to the end plates 55, 56. These stoppers 61, 62 abut against mutually separated surfaces of the contact pieces 37, 38 attached to the rocking member 30, and thereby the rocking member 30 around the axis of the pin 52 of the lever 48. The relative angular displacement of is limited.

The stoppers 35, 36 of the rocking member 30 abut against the lower surface of the mounting plate 22 of the mounting member 21, thereby allowing the rocking member 30 to move.
The amount of angular displacement of the pin 45 relative to the mounting member 21 about the axis is limited.

The gripping means 63 is a gripping piece 64, 65 for gripping a component or the like.
And a chuck 66 having The chuck 66 is driven by air pressure or the like, and one gripping piece 65 is displaced toward and away from the other gripping piece 64. The chuck 66 is provided with a mounting piece 67. The attachment piece 67 is formed with a pair of insertion holes 68 and 69. The mounting piece 67 is located between the support walls 59 and 60 of the bracket 54 and has the insertion holes 70 and 7
1; 72 and 73 correspond to the insertion holes 68 and 69, respectively. As shown in FIG. 4, the shaft 74 has a linear bushing 75.
Is supported in the insertion hole 70 by means of the shaft, and is supported by the insertion hole 72 by means of another linear bushing 76, so that the shaft 74 can be displaced in the axial direction parallel to the axes of the pins 45, 52. The shaft 74 is inserted into the insertion hole 68 of the attachment piece 67 and is fixed to the attachment piece 67. The spring 77 urges the mounting piece 67 toward the front side, that is, downward in FIG. 4, whereby the shaft 74 of the chuck 66 can be displaced along the axial direction.

The shaft 78 is inserted through the insertion hole 69 of the attachment piece 67 and the attachment piece 6 is inserted.
7 is fixed to the shaft 7 and is urged by a spring 79 so that the shaft 7
Reference numeral 8 designates the insertion holes 71 and 73 of the bracket 54 to the above-mentioned shaft 74.
Insert in the same manner as. The axes 74, 78 have axes that are parallel to each other and they are arranged one above the other.

The other gripping means 63a also has a similar structure, and this gripping means 63a is substantially symmetrical to the gripping means 63, and the gripping means 63a is attached to the bracket 53 and corresponds to the gripping means 63a. Portions are shown with the same numbers with a subscript a added.

Support wall 5 of bracket 54 fixed to lever 48
A positioning plate 81 is fixed to the surface of the 9 facing the other support wall 59. The positioning plate 81 includes
A hollow truncated cone-shaped positioning hole 82 is formed. A truncated cone-shaped protrusion 27 can be inserted into and removed from the positioning hole 82. By fitting the protrusion 27 into the positioning hole 82, the mounting member 21, the swinging member 30, and the lever 48 are attached.
Mutual displacement with is prevented.

The axis of the pin 52 has the lever 48 and the gripping means 63, 63a.
The position of the center of gravity of the component including, for example, is roughly passed.

FIG. 5 is a side view of the gear cutting machine 92 and FIG. 6 is a plan view of the gear cutting machine 92. The compliance mechanism of the hand according to the present invention is implemented, for example, in connection with such a gear cutting machine 92. The index mechanism 84 on the base 83 grips the material 86 around an axis 85 oblique to the vertical and makes angular displacement. The material 86 is formed by cutting teeth by the cutting means 87. Material 86 of index mechanism 84
The gap 1 between the chuck 88 and the cutting means 87 for fixing is relatively short. Therefore, in the prior art shown in FIG. 8 and FIG.
Cannot be mounted on the check 88. Material 8
It is necessary to mount the material 86 in an oblique posture in which the axis line of 6 is indicated by reference numeral 85, and therefore, the prior art of FIGS. 8 and 9 cannot avoid the adverse effect of gravity. According to the present invention, such a problem is solved, and the material 86 can be inserted into the relatively narrow space 1 to be gripped by the chuck 88 for compliance loading, and the gear after finishing the gear cutting can be mounted. It can be taken out without compromising compliance and automation becomes possible.

When the gear whose gear cutting has been completed is attached to the chuck 88 and the gear is removed and a new material 86 is attached, first, the protrusion 27 is moved by the action of the cylinder 26 to the positioning hole 82. To prevent the wrist 20, the attachment member 21, the swing member 30, and the lever 48 from swinging. In this state, the material 8 is attached to one gripping means 63a.
6 is held, and the other holding means 63 does not hold anything. By displacing the wrist 20, the pins 45, 5
The axes of the two are inclined with respect to the horizontal in a vertical plane passing through the two axes, and the gripping means 63 is arranged at the distance 1 between the index mechanism 84 and the cutting means 87. Since the protrusion 27 is fitted in the positioning hole 82 as described above, the lever 48
The rocking member 30 and the rocking member 30 are not angularly displaced about the axis of the pin 52, and the rocking member 30 and the wrist 20 are not pin 45.
There is no angular displacement about the axis of, i.e. the lever 48 and the wrist 20 do not displace each other. As described above, the axes of the pins 45 and 52 are inclined with respect to the horizontal line,
Therefore, the gripping means 63, 63a have the shafts 74, 78; 74.
It does not move along a and 78a. Therefore, even if the gripping means 63 is set to the interval 1 and the interval 1 is small,
Can be accurately brought and placed. In this way, the gripping means 63 can be brought to the interval 1 as described above even when the material 86 is gripped only by one gripping means 63a, in a so-called unbalanced state.

Therefore, the gripping means 63 grips the gear held by the chuck 88 of the index mechanism, and when both gripping means 63 and 63a are in a state where they can be balanced, the cylinder 26 is moved. The positioning protrusion 27 is reduced and separated from the positioning hole 82. As a result, both the gripping means 63, 63a are in equilibrium and can be moved with a small force.
It is possible to smoothly grip and remove the gear that is being gripped by the 3 from the index mechanism without twisting. That is, the gear held by the gripping means 63 and the material 86 held by the gripping means 63a are in a state where the balance of gravity is maintained, and the gears can be smoothly removed by the gripping means 63. Of.

After the gear of the index mechanism is grasped by the grasping means 63 and removed, the cylinder 26 is rapidly extended to insert the positioning protrusion 27 into the positioning hole 82, and the lever 48 and the grasping means 63, 63a are connected to the wrist 20. Make it possible to move integrally.

In this state, the material 86 grasped by the grasping means 63a is brought near the chuck 88 of the index mechanism 84 by moving the wrist 20.

Then, when the positioning projection 27 is again removed from the fitting hole 82, the weight balance of the gripping means 63, 63a is substantially maintained, so that the material 8 gripped by the gripping means 63a is maintained.
6 can be displaced with a small force, so that the material 86 can be smoothly attached to the chuck 88 of the index mechanism 84 and held by the chuck 88.

In this state, the protrusion 27 is fitted into the positioning hole 82 by the action of the cylinder 26. In this way, the movement of the wrist 20 disengages the gripping means 63 from the space 1. Thus the gear cutting machine 8
It is possible to automate the work of taking out a gear from which gear cutting has been completed and attaching a new material.

Effects of the Invention As described above, according to the present invention, it becomes possible to assemble and mount components and the like even in an oblique direction or in a narrow space without adversely affecting gravity.

Particularly, according to the present invention, the positioning protrusion 27 is fitted into the positioning hole 82 by the drive source 26, and
When the axes of the second pins 52 and 45 are kept in one plane and the axes of the first and second pins 52 and 45 are inclined with respect to the horizontal line, both gripping means 63, 63a. The mutual displacement between the gripping means 63 and 63a and the wrist 20 is such that even if one of the gripping means 63 and 63a grips a component in an unbalanced state, the gripping means 63 and 63a and the wrist are mutually displaced. Therefore, either gripping means 63, 63a can be accurately brought to a desired position.

When the positioning protrusion 27 is removed from the positioning hole 82 by the drive source 26, the gripping means 63, 63a are
The lever 48 can be displaced in the axial direction of the first pin 52, the lever 48 and the swinging member 30 can be angularly displaced around the axis of the first pin 52, and the swinging member 30 and the wrist 20 can be moved together. It becomes possible to perform angular displacement around the axis of the 2 pin 45, thus allowing the gripping means 63, 63a to move in the required compliance direction, and
It can be attached or removed smoothly without prying.

[Brief description of drawings]

1 is a front view of an embodiment of the present invention, FIG. 2 is an exploded perspective view of the embodiment shown in FIG. 1, and FIG. 3 is a cross section taken along the section line III-III of FIG. Fig. 4 and Fig. 4 are the cut plane lines I of Fig. 1.
Va-IVb-IVc-IVd-IVIVe-IVf-IVg-IVh sectional view, FIG. 5 is a side view of the gear cutting 92, FIG. 6 is a plan view of the gear cutting 92, and FIG. FIG. 8 is a sectional view of the technology, and FIG. 8 is a perspective view of another prior art. 21 ... Mounting member, 23, 24 ... Bracket, 27 ... Positioning protrusion, 30 ... Oscillating member, 31, 32 ... Support wall, 4
5, 52 ... Pins, 48 ... Swing members, 53, 54 ... Brackets, 63, 63a ... Gripping means

Claims (1)

[Scope of utility model registration request] 1. A lever 48 is provided with a gripping means 63 at one end in the longitudinal direction, and another gripping means 63a is provided at the other end of the lever 48 so as to be substantially symmetrical to the gripping means 63. The vicinity thereof is pivotally supported on the rocking member 30 by a first pin 52 having an axis perpendicular to the longitudinal direction,
The swing member 30 is pivotally supported on the wrist 20 of the industrial robot by a second pin 45 having an axis parallel to the axis of the first pin 52 at a position deviated from the axis of the first pin 52. The gripping means 63, 63a are provided on the lever 48 so as to be displaceable in the axial direction of the first pin 52, the drive source 26 is attached to the wrist 20, and the drive source 26 allows the gripping means 63, 63a to be parallel to the axis line of the first pin 52. The positioning protrusion 27 is displaced so that it can be inserted into and removed from the positioning hole 82 formed in the lever 48, and one plane including the axis of the first pin 52 and the axis of the second pin 45 is kept within one vertical plane. A hand compliance mechanism characterized by moving the wrist 20.