JPS6190890A - Hand device for industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand device for gripping a workpiece of an industrial robot.

[Previous technology]

An industrial robot moves its working arm up and down and rotates, and a hand device attached to the tip of the working arm grasps, moves, and releases a workpiece, thereby progressing the work. This hand device is constructed as shown in, for example, Japanese Utility Model Publication No. 56-40549, and a device having functions equivalent to this will be explained with reference to FIGS. 6 and 7.

In the figure, (1) is the robot body with a built-in electric motor, etc., (2)
) is a lifting shaft that is driven by the main body (1) and moves up and down; (3)
(4) is the second arm that is pivoted on the tip of the first arm (3) by the rotation shaft (5), (6) is the first arm that is pivoted on the lifting shaft (2), and A hand device is pivotally supported at the tip of the second arm (4) by a rotating shaft (7), (8) is a gripping drive device that generates driving force using air pressure, hydraulic pressure, etc., and (9) is a drive device (8). ), which rotates when driven by (IOA)
~(100) are each formed by a link and drive shaft (
9) A flat rank mechanism in which the rotation is transmitted at a reduced speed, (
IIA) to (11C) are rank mechanisms (IIA) to (11C), respectively.
The gripping claws attached to the tips of OA) to (10C') are cylindrical workpieces (work objects) held by the gripping claws (11A) to (110).

The hand device of the conventional industrial and construction robot is constructed as described above, and the vertical position of the hand device (6) is determined by the lifting and lowering of the lifting shaft (2).
It is determined by each rotation of the arm (4) and the hand device (6). Moreover, when the drive machine (8) is driven, this driving force is transmitted to the drive shaft (9), and the drive shaft (9) rotates.

This rotation is parallel to the rank mechanism (IOA) ~ (1
0C) is decelerated and transmitted to the rank mechanism (10A
) to (100) rotate, and the gripping claws (11A) to (11
c) moves toward the center line of the workpiece (2) and grips it at three points. When the drive machine (8) is driven in the opposite direction, the horizontal rank mechanisms (IOA) to (1OC) also rotate in the opposite direction, and the gripping claws (IIA) to (110) remove the workpiece (2) from the workpiece (2). Leave, Work@ will be released.

[Problem that the invention seeks to solve]

In the conventional industrial robot hand device as mentioned above,
When inserting a cylindrical workpiece (a) into a round hole with a small relative gap, if there is a minute protrusion (commonly called a burr) on the edge of the workpiece that occurs during cutting, the workpiece (6)
The problem is that it cannot be inserted smoothly into a round hole.

This invention was made to solve the above problems, and aims to provide a hand device for an industrial robot that can smoothly and reliably insert a cylindrical workpiece into a hollow space of an object such as a round hole. purpose.

[Means for solving problems]

A hand device for an industrial robot according to the present invention is configured to give a rotational motion to a workpiece by a rotational drive machine provided in the hand device.

[Effect]

In the hand device for an industrial robot according to the present invention, the gripper moved by the rotation drive machine contacts the workpiece and imparts rotational interlocking motion to the workpiece.

〔Example〕

Figures 1 to 4 are diagrams showing an embodiment of the present invention.
) to (5), (7), and (2) are exactly the same as in FIG.

In the figure, qQ is an L-shaped support fixed to the rotating shaft (7), and (17) is a cylinder fixed to the support OQ and operated by air pressure, hydraulic pressure, etc. is a piston rod driven by a cylinder Qη, a grip piece which is fixed to the piston rod (to) G0, has a guide rod holder loosely fitted to the support Qfe fixed to the upper part, and has a recess (19a) formed in the lower part; 121) is stored in the recess (1c+a') and the pin (
The rocking piece pivoted to the gripping piece 01 by the recess (a)
An elastic body such as rubber (24A) interposed between 19a) and the swinging piece 121).

(24B) are round bar-shaped guide pins that are planted on the rocking piece D and arranged to intersect with each other; (24c), (24
D) are the gripping pieces a*K [round bar-shaped guide pins (25A) to (25D) that are vertically arranged and intersecting with each other.
are cylindrical grip tubes fitted into guide pins (24A) to (24D), respectively, and (26A) to (26D) are grip tubes (25A) fitted to guide pins (24A) to (24D), respectively. ~ (25D) Pressing springs arranged at both ends, (A) a guide rod planted on the support αQ and arranged in parallel with the gripping piece 00, (C) fixed on the support αG and pneumatic, A rotation drive machine (7) that rotates the threaded rod holder using hydraulic pressure or the like is loosely fitted onto the guide rod, the threaded rod holder is screwed, and is placed between the gripping tubes (25B) and (250).・
Grip, child, 31) is a machine tool such as a lathe, G2 is a chuck provided on the machine tool e2 and arranged on the circumference and grips the workpiece (A), and (to) is the cavity formed by the chuck (2). It's a place.

In the industrial robot gripping device constructed as described above, the gripping piece is guided by the guide rod (1) and moved in the left-right direction in FIG. 1 by the piston rod.

As a result, the workpiece (A) is gripped by the tube (25h).

Inside the intersection corner of (25B) and gripping tube (25C, (25D)
) and is gripped by contacting the outside of the gripper (7). At this time, the swing piece 121)
Since it is elastically supported, the workpiece (A) can be gripped reliably.

When the workpiece (2) is gripped in this way and the workpiece a'2 approaches the space (to) into which it is to be inserted, the drive machine (to) rotates, and the gripper (to) moves as indicated by the arrow in Fig. 3. It moves in the direction guided by the guide rod (a). With this, the workpiece (i) is given a rotational movement in the direction of the arrow mark B, and the workpiece (a) can be easily inserted into the empty space (to). At this time,
The grip tube (25A) is moved toward the swinging piece Q1).
B) slides toward the tip of the guide pin (24B) and assists in the rotational movement of the workpiece (2). Note that the rotation direction of the workpiece 0'2 is not limited to one direction, but it is also possible to rotate it in the opposite direction from the middle, and in this way, the workpiece 0'2 can be rotated to the empty space (toward) of the workpiece (2). Insertion becomes even smoother.

In addition, if you glue rubber, etc. with a high friction coefficient to the surface of the gripper that comes into contact with the workpiece (2), the workpiece (2) will be held even more reliably.
2) can be given rotational motion.

In the above embodiment, the cavity 03 of the object into which the workpiece (6) is inserted is formed by the chuck (6) of a lathe, but it is obvious that the present invention can also be applied to a round hole.

FIG. 5 shows a case where a workpiece (12A) having a smaller diameter than the workpiece (c) in FIG. 3 is gripped.

Gripping tube (25A), (25B) and grasping tube (250
) and (25D) are crossed, and even if the gripper (1) and the gripping tubes (25A) to (25D) are close to each other,
Because they do not interfere with each other, small diameter workpieces (12A
) can also be gripped securely like large-diameter workpieces @, and can be given rotational motion.

〔Effect of the invention〕

As described above, in this invention, the hand device of the industrial drainage robot is provided with a rotating drive machine, and the gripper driven by this is brought into contact with the cylindrical workpiece to give a rotating motion to it. This has the effect that the counter-dye material can be smoothly and reliably inserted into the void from the end of the workpiece.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of the hand device for an industrial robot according to the present invention, as seen from the line 1--■ in FIG. 4, and FIG. 2 is a sectional view taken along the line ■--■ in FIG. , FIG. 3 is an explanatory diagram of the operation of FIG. 1, FIG. 4 is a side view showing an outline of the hand device of the industrial robot according to the present invention, FIG. 5 is an explanatory diagram of another operation of FIG. 3, and FIG. 7 is a side view showing an outline of the hand device of a conventional industrial robot, and FIG. 7 is a plan view of the hand device of FIG. 6. (4) is an operating arm (second arm), (2) is work, 0
υ is a hand device, (25A) to (25D) are gripping tubes,
(c) is the rotation drive device, (b) is the gripper, and (c) is the empty space. Note that the same reference numerals in the figures indicate the same parts.

Claims (1)

[Claims] (1) In a device that grips a cylindrical workpiece with a hand device attached to the tip of an operating arm, and inserts the workpiece from the end into a blank space of the object, the hand device installed in the hand device 1. A hand device for an industrial robot, comprising: a rotating drive; and a gripper that contacts the work and is driven by the drive to give rotation to the work.