JPH08105Y2 - Work driving hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a work driving hand which is provided at the arm end of a robot and drives a work.

<Prior Art> Conventionally, a robot for inserting a work into a hole having a relatively small fit is disclosed in, for example, Japanese Patent Laid-Open No. 63-134136. As shown in FIG. 4, this type of robot hand is provided with a gripping mechanism 4 which is attached to an arm end of a robot (not shown) via a flange 1 and grips the insertion member 3 by a gripper 2, and the gripping mechanism 4. The insertion member 3 is attached by driving the piston 5 by means such as hydraulic pressure (not shown).
Is formed by a press-fitting mechanism 8 for press-fitting into a hole 7 provided in the workpiece 6. The gripping mechanism 8 allows the insertion member 3
After being gripped and positioned in the hole 7 provided in the workpiece 6, the insertion member 3 is press-fitted into the hole 7 by the press-fitting mechanism 8.

<Problems to be Solved by the Invention> In the robot hand described above, when the workpiece 6 is a relatively brittle material such as a sand mold and the concentrated load due to plastic deformation cannot be alleviated, When the work piece 6 is press-fitted into the hole 7, the work piece 6 is gradually loaded by the press-fitting, and the work piece 6 is deformed and finally broken. Due to this problem, the work of inserting the mild steel pin into the hole provided in the sand mold must be done manually.

The present invention solves these problems and provides a work driving hand that enables a robot to perform the work of press-fitting an insertion member into a work piece of a relatively fragile material such as a sand mold. To aim.

<Means for Solving Problems> The work hammering hand according to the present invention is made to solve the above-mentioned problems, and a gripping mechanism for gripping a work through a floating mechanism and a fixing part are provided. A support plate rotatably supported by a fixed frame with one end as a fulcrum, a first hammer that strikes the other end of the support plate by reciprocating movement of the weight, and the first of the support plates. A second hammer that is provided at a position offset from the impact point of the hammer to the fulcrum side and transmits the impact force of the first hammer to the work held by the gripping mechanism, and the support by the impact of the first hammer. And a driving amount detection sensor for detecting a driving amount of the work by detecting a predetermined amount of movement of the plate.

<Operation> The work, which is the driving member arranged on the pallet, is gripped by the gripping mechanism. At this time, the support plate is in a state where the side opposite to the fulcrum side is lifted by the work. Then, the work is carried by the robot to a predetermined position on the driven member. When the support plate is hit with the first hammer in this state, the hitting force is transmitted to the work by the second hammer. At this time, since the support plate is in a state of being rotatable about one end as a fulcrum, the work can be driven with a small striking force by the lever principle. Further, since the striking force at this time is absorbed by the floating mechanism, the vibration due to the striking force is prevented from being transmitted to the robot side. When the work is hit in this way and the work is driven to a predetermined depth, the driving amount detection sensor detects the movement of the support plate at this time. This completes the work driving operation.

<Example> An example of the present invention will be described below.

1 to 3 show a workpiece driving hand attached to a robot arm end (not shown). The base 11 of the workpiece driving hand is attached to the flange 1 at the end of the robot arm, and the air hammer 10 and the two gripping mechanisms 4 are attached to the base 11 via the floating mechanism 9 so that they can be mounted two at a time. The book insert member 3 (workpiece) can be held. The floating mechanism 9 can float in a direction orthogonal to the direction in which the insertion member 3 is inserted. Further, the air hammer 10 guides the air supplied from an air supply source (not shown) to the air cylinder 12, lifts the piston 13 by this air pressure, abruptly removes the air from the air cylinder 12 and drops the piston 13 to cause the first hammer. You get a hitting power of 14. Frame 15 on the side of air cylinder 12
At the striking point of the first hammer 14, there is provided a supporting plate 16 rotatably supported on the frame 15 with the pin 15a as a fulcrum. A second hammer that strikes the insertion member 3 gripped by the two gripping mechanisms 4 is provided at both ends of the support plate 16.
17 is installed. A driving amount detection sensor 18 is provided on the opposite side of the first hammer 14 with the support plate 16 interposed therebetween.

Each gripping mechanism 4 has two grippers 2 and is driven by the pressure of air supplied from an air supply source (not shown). The insertion member 3 held by the two sets of grippers 2
The second hammer 17 is located directly above the structure.

Next, the operation of the work driving hand configured as described above will be described. The robot first moves to an unillustrated pallet in which the insertion members 3 are aligned, and the two gripping mechanisms 4 grip the insertion members 3 one by one. At this time, support plate 16
Is lifted by the two inserted members 3 that are gripped, and is separated from the driving amount detection sensor 18. The distance between the support plate 16 and the driving amount detection sensor 18 is the driving amount of the insertion member 3. After this, the robot carries the insertion member 3 to the position of a hole (not shown) on the workpiece, which is the driven member, and installs it with the tip of the insertion member 3 slightly inserted into the hole on the workpiece. At this time, the error in the position of the hole for installing the two insertion members 3 and the relative positioning error between the workpiece and the robot are eliminated by the floating action of the floating mechanism 9. The robot starts hitting the air hammer 10 while holding the insertion member 3 with the gripper 2. The striking force of the air hammer 10 is transmitted to the second hammer 17 through the support plate 16 and drives the two insertion members 3 little by little to a predetermined position. At this time, the air hammer 10 intermittently strikes the insertion member 3 with a force that does not exceed the elastic limit of the workpiece, so the load applied to the workpiece is
It becomes 0 each time it is hit, and the deformation of the workpiece recovers as it was. Further, the floating mechanism 9 absorbs unnecessary vibrations, so that the workpiece is not air hammered.
It cannot be broken by a 10-power strike. When the insertion member 3 is driven, the support plate 16 is gradually lowered, and when the insertion member 3 is driven to a certain position, the support plate 16 contacts the driving amount detection sensor 18, and the driving amount detected by this contact is detected. The detection sensor 18 stops the impact of the air hammer 10. Then, the robot opens the gripper 2 to open the insertion member 3
Finish a series of work to drive the. In this way, the insert 3 is always driven into the hole on the workpiece by the same amount.

By the procedure described above, the work driving hand can surely perform the work of driving the insertion member 3 into the workpiece while keeping the driving amount constant.

<Effect of device> As described above, the workpiece driving hand of the present invention is
While the work is gripped by the gripping mechanism, the striking force of the first hammer is transmitted to the second hammer provided on the support plate by using this principle, and the work is driven. Therefore, the striking force of the first hammer can be small, and the vibration due to the striking transmitted to the robot side is also small. Further, since the floating mechanism is provided, it is possible to prevent the vibration from being transmitted to the robot side. Further, since the driving amount detection sensor for detecting the movement of the support plate is provided, the work is not hit more than necessary and an unnecessary hitting force is not given to the driven member. Therefore, even if the driven member for driving the work is made of a relatively fragile material, the work driving hand of the present invention does not transmit unnecessary vibrations, so that the work can be driven reliably. This makes it possible for robots to perform work that had previously had to rely on human hands, such as driving mild steel into a sand mold, so the present invention is superior in terms of economy, efficiency, and safety. There is an effect.

[Brief description of drawings]

1 to 3 show an embodiment of a workpiece driving hand according to the present invention, FIG. 1 is an overall view of the workpiece driving hand, and FIG. 2 is a sectional view taken along line II-II of FIG. FIG. 3 is a sectional view taken along the line III-III in FIG. FIG. 4 is a diagram showing an example of a conventional technique. 3 ... Insert member, 4 ... Grip mechanism, 10 ... Air hammer,
13 ... Piston.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Takuro Sato 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd. (72) Sadao Kitazawa 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd. ( 72) Inventor Shiro Kato 3-17-4 Hanshiro Dotonaka-cho, Kariya city, Aichi Examiner, Cross Applications, Inc. Ichiro Hasegawa (56) Reference JP-A-63-134136 (JP, A) JP-B 51-38611 (JP) , B2)

Claims (1)

[Scope of utility model registration request] 1. A gripping mechanism for gripping a work through a floating mechanism, a support plate rotatably supported by a frame fixed to a fixed portion with one end as a fulcrum, and a weight reciprocating, A first hammer that strikes the other end of the support plate; and a first hammer that is provided at a position offset from the impact point of the first hammer of the support plate to the fulcrum side, and that is attached to the work gripped by the gripping mechanism. A second hammer that transmits the hammering force of one hammer; and a hammering amount detection sensor that detects the hammering amount of the work by detecting a predetermined amount of movement of the support plate due to the hammering of the first hammer. A work driving hand characterized by that.