JPH0711897Y2 - hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a hand used in a handling assembly work device or the like.

<Prior Art and Problems> In a manufacturing process, a handling assembly device is used to convey and assemble works such as parts and products. Various types of hands have been conventionally known for detachably gripping a work used in such an apparatus, but none of them has a small size and can realize a large stroke.

In recent years, with the diversification of products, the number of parts is extremely large, and the working device is required to have general versatility. For example, with respect to the hand, if the gripping method (stroke) range is small, replacement is frequent and the productivity is impaired.

Further, if the hand becomes large in order to obtain a large stroke, the load capacity may be reduced or the size of the device main body may be increased in order to secure the load capacity when the capacity of the device body is constant. There is a problem in that it requires large capital investment and installation area.

The present invention has been made in view of the above conventional circumstances, and an object of the present invention is to provide a small-sized hand with high versatility.

<Means for Solving Problems> In the hand of the present invention, one end of each of a plurality of L-shaped links is engaged with a circumferential groove provided at the tip of a piston that moves up and down in a cylinder, and The claws are radially provided on the base bracket so as to be slidable corresponding to the L-shaped links, and the other ends of the L-shaped links are engaged with the engaging grooves provided in the claws, respectively. With a dog on the back,
The limit switch that is turned on by the movement of the dog is placed on the base bracket, the base bracket is equipped with a striker, and the limit switch that is turned on by the movement of the striker due to the contact with the work is placed on the base bracket. Is characterized by.

<Operation> Due to the lever ratio between the one end and the other end of the L-shaped link, the pawl can be largely moved by a slight movement of the piston.
Further, when the lever ratio of the L-shaped link is reversed from the above, a strong gripping force can be obtained.

<Example> The hand of the present invention will be specifically described based on an example.

FIG. 1 is a partial sectional front view of a hand according to an embodiment of the present invention, FIG. 2 is a plan view seen from below, and FIG. 3 is a part of FIG. 1, a claw and a base bracket. FIG. 4 shows a side view showing a combination of the shaft and the striker.

As shown in the figure, a cylinder 3 is attached to a base bracket 1 via a guide member 2, and three L-shaped links 5 are rotatably provided on the cylinder 3 via a shaft 4. The cylinder 3 whose upper end constitutes the convex portion 15 and which is directly attached to the robot 16 is provided with a pair of intake / exhaust ports 6, and the compressed air is selectively supplied to the ports 6 so that the inside of the cylinder 3 is provided. The contained piston 7 can be slid. A circumferential groove 7a is provided at the tip of the piston 7, and one end 5a of each of the three L-shaped links 5 is engaged with the circumferential groove 7a. Therefore, when the piston 7 is slid, the L-shaped link 5 rotates about the shaft 4.

The guide member 2 is provided with three claws 8 radially, and these claws 8 engage with the guide grooves 2a of the guide member 2 and are slidable in the radial direction in the horizontal direction in FIG. is there. Each claw 8 is provided with an engagement groove 8a, and the other end portion 5b of the L-shaped link 5 is engaged with each engagement groove 8a. Therefore, when the piston 7 slides and the respective L-shaped links 5 rotate, the claws 8 respectively slide in the radial direction and move toward and away from each other.

A dog 5C is projectingly provided on the back of the center of the L-shaped link 5, and the dog 5C can be engaged with a limit switch 9 provided on the base bracket 1 for confirming whether the pawl is open or closed, and the pawl 8 is closed. Can be reliably detected.

In addition, a supporting member is provided on the base bracket 1 near the claw 8.
A shaft 11 slidably held is provided on the shaft 10. The tip of the shaft 11 is urged by a compression spring 12 to project downward from the bracket 1. A striker 13 is provided at the rear end of the shaft 11, and the striker 13 can be engaged with a limit switch 14 for confirming contact when the work comes into contact, and when the hand is lowered, the shaft 11 comes into contact with the work. When the striker 13 is pressed and the striker 13 engages with the limit switch 14, it is possible to detect that the hand contacts the work.

According to the hand having the above configuration, when the compressed air is selectively supplied from the intake / exhaust port 6 and the piston 7 is slid, the other end 5b is set to be longer than the one end 5a of the L-shaped link 5. The lever ratio of the L-shaped link 5 allows the claw 8 to make a large stroke. Therefore, the intake / exhaust port 6
The chuck gripping force can be obtained efficiently because it is directly driven by the air supply from.

If the length relationship between the one end 5a and the other end 5b of the L-shaped link 5 is reversed from that in the above embodiment, the driving force of the piston 7 causes the pawl 8 to move.
It is possible to exert a large gripping force. Further, the present invention is not limited to the above-described embodiment, but may be variously changed based on a known technique such as hydraulically actuating the piston 7 and setting the number of the pawls 8 to any number of two or more. It is a thing.

<Effect of the Invention> According to the present invention, a plurality of claws can be operated by a single drive source with a simple structure, and the stroke of these claws or the gripping force can be freely set by an L-shaped link. It is possible to realize a hand that is small in size and has high versatility.

[Brief description of drawings]

FIG. 1 is a partial sectional front view of a hand according to an embodiment of the present invention, FIG. 2 is a plan view seen from below, FIG. 3 is a sectional view in which a claw is fitted to a base bracket, and FIG. FIG. 4 is a partial cross-sectional view showing a combination of a shaft and a striker as seen from a side surface. In the drawing, 5 is an L-shaped link, 7 is a piston, 7a is a circumferential groove, 8 is a claw,
8a is an engaging groove.

Claims (1)

[Scope of utility model registration request] 1. A L-shaped link having a plurality of pawls mounted on a base bracket, wherein one end of each of the L-shaped links is engaged with a circumferential groove provided at a tip of a piston that moves up and down in a cylinder. Corresponding to the slidably provided radially, the other end of the L-shaped link is engaged with the engaging groove provided in the claw, and a dog is provided on the back of the L-shaped link. A hand in which the limit switch to be turned on is arranged on the base bracket, the base bracket is provided with a striker, and the limit switch to be turned on by the movement of the striker upon contact with the work is placed on the base bracket.