JPS6110943Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to a mounting structure for finger units in industrial robots, autoloaders, etc., and easily prevents damage to robots and mechanical equipment caused by unexpected external forces acting on the fingers and the workpieces held there. It is an object of the present invention to provide a structure for mounting a finger unit that can prevent such problems.

In other words, this mounting structure prevents unexpected excessive or shocking external force from being applied to the finger or the workpiece held by the finger unit by holding the tip of the arm between the body of the finger unit and the synthetic resin cover. By destroying the synthetic resin cover when the external force is applied, the robot body and mechanical equipment are prevented from being damaged by the external force, and the finger unit is prevented from falling off when the cover is destroyed. This is avoided by freely connecting the arm to the arm.

The figures show one embodiment of this invention; Fig. 1 is a plan view showing the finger portion attached to the tip of arm 1, Fig. 2 is a longitudinal sectional view thereof, and Fig. 3 shows the finger unit attached to arm 1. FIG.

Only the tip of the arm 1 is shown in FIGS. 1 and 2, and the finger unit consists of a half-split base 2a provided on the body 2 of the unit and a cover 3 made of synthetic resin. It is mounted by pinching the tip, and is connected to the arm 1 by screwing a bolt 5 loosely fitted into a bracket 4 provided on the arm 1 into the base 2a of the body 2. 6 is a finger pivotally attached to the fuselage 2 by a pin 7; 8 is a cylinder formed on the fuselage 2; 9
10 is a rack formed on the rod of the piston 9, 11 is a partial gear formed at the base of the finger 6 and meshes with the rack 10, and 12 supplies hydraulic oil to the cylinder 8. This hydraulic hose 12 is connected through a hollow hole 13 in the arm 1 to a hydraulic system provided on the robot body side. Numeral 14 is a bolt that connects the body 2 and cover 3 to hold the arm 1, 15 is a tap hole provided in the body 2, and 16 in FIG. 3 is a bolt insertion hole provided in the cover 3.

A bolt 5 that loosely connects the body 2 and the arm 1 is loosely inserted into a through hole in a bracket 4 fixed to the arm 1, and its tip is attached to the base 2a of the body 2.
It is screwed onto and fixed by a lock nut 17. A locking nut 18 is screwed onto the bolt 5, and a slight play is provided between the locking nut 18 and the bracket 4 and between the head of the bolt 5 and the bracket 4.

When an excessive or shocking external force in the direction A in FIG. 1 is applied to the workpiece 19 held by the finger unit attached to the tip of the arm 1 with the above structure, this external force A causes the arm 1 to twist and A bending moment is applied, but before the finger unit or arm 1 is damaged by this external force, the synthetic resin cover 3 is destroyed and the finger unit rotates around the bolt 5 to release the external force, causing damage to the finger unit and the arm 1. Damage to mechanical equipment that collides with the robot body or the workpiece 19 can be prevented. Furthermore, even if the cover 3 is destroyed, the finger unit is held at the tip of the arm 1 by the bolt 5, so the finger unit and the workpiece 19
There is no risk of it falling.

The illustrated embodiment is configured to operate particularly effectively when an unexpected external force is applied from the direction A in FIG. Aircraft 2 and arm 1
By appropriately selecting the connection structure with the robot, it is possible to create a structure that can effectively release external forces from various directions, and it is possible to create a structure that can effectively release external forces from various directions. By designing these specific structures, it is possible to create a structure that prevents damage to the robot body and mechanical equipment.

As explained above, the mounting structure of this invention is
Its structure is extremely simple, and it can prevent the robot body or other mechanical equipment from being damaged by excessive or shocking external force, and the equipment can be repaired by replacing the damaged cover. This has the effect that it can be repaired extremely easily and inexpensively.

[Brief explanation of the drawing]

The drawings show an embodiment of this invention, in which Fig. 1 is a plan view, Fig. 2 is a longitudinal sectional view, and Fig. 3 is a perspective view of the cover. In the diagram, 1... Arm, 2... Body, 3... Cover, 4... Bracket, 5... Bolt, 6... Finger, 14... Bolt, 15... Tapped hole, 1
6... Bolt insertion hole, 17... Lock nut, 1
8...lock nut, 19...work.

Claims (1)

[Scope of utility model registration request] The finger unit is fixed by sandwiching the tip of the arm 1 between a body 2 of the unit and a cover 3, and the cover is made of synthetic resin, and the body 2 of the finger unit and the arm 1 are connected so as to be freely movable. The finger unit mounting structure is characterized by the following: