JP3135147B2 - Parent and child hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand for an industrial robot, and more particularly, to a hand that uses two or more kinds of open / close claws in order to hold two or more kinds of works.

[0002]

2. Description of the Related Art In order to hold two or more types of workpieces,
A technique of using two or more types of open / close claws is known,
For example, it is disclosed in JP-A-59-115185. In the technique described in the publication, a plurality of types of open / close claws (this is called a work hand) are prepared, and a mother hand that holds the work hand is used. The mother hand can hold any type of work hand, and holds a work hand suitable for the work with the mother hand.

[0003]

However, with this type of hand, the mother hand itself cannot grip the workpiece. For this reason, when newly gripping a work that cannot be gripped by the work hand that has been used before, first remove the work hand fixed to the mother hand, store it in a predetermined position, and then It must be approached to a suitable work hand and held by the mother hand. That is, both removal and mounting operations are required. Therefore, it takes time to exchange the work hand. Therefore, in the present invention, a hand that can simplify the hand exchange work has been developed.

[0004]

According to the present invention, there is provided:
A parent-child hand in which a child hand placed on a child hand mounting table is detachable from a parent hand, the parent hand includes a pair of parent opening / closing claws for gripping a work, an actuator for opening and closing the parent opening / closing claw, and the child child hand. A swing lever which is constantly urged in a direction opposite to a direction urged by a swing means provided near the hand table, and wherein the child hand is capable of being gripped from outside by the parent opening / closing claw; A child opening / closing claw, an urging means for urging the child opening / closing claw in the opening and expanding direction, and an engagement pin engaged with the swing lever in a state where the child opening / closing claw is gripped by the parent opening / closing claw, The engaging pin allows the detachment of the parent hand and the child hand by the pivoting lever being pivoted by the pivoting means, and the pivoting lever and the engaging pin being disengaged.
When the parent hand attaches the child hand, the parent open / close claw
A parent-child hand that opens and closes the child opening / closing claw by the opening / closing operation of is created.

[0005]

According to the parent-child hand of the present invention, the parent hand itself can grip the work. When handling a workpiece that cannot be gripped by the parent hand, the child hand is gripped by the parent hand, and the child hand is closed by an actuator that closes the parent opening / closing claw. When the parent hand approaches the child hand attached to the child hand table, the swing lever provided on the parent hand is swung by lever swing means, and the child hand is gripped by the parent hand and the lever is swung simultaneously. The mounting of the child hand is completed by releasing the means and swinging the swing lever in the closing direction. When releasing the attachment of the child hand, the above operation is reversed. According to this parent-child hand, when handling a work that cannot be handled by the parent hand, it is sufficient to simply attach the child hand, and it is not necessary to remove the work hand once as in the related art. When handling a work that cannot be handled by the child hand, simply remove the child hand.
It is not necessary to attach another work hand as in the related art. For this reason, the hand exchange work at the time of workpiece exchange is shortened as compared with the related art. In addition, the opening of the parent hand
The child opening / closing claw of the child hand is opened / closed using the opening / closing operation of the closing claw.
The child hand can be
There is no need to provide a separate actuator, and the child hand
Can be simplified.

[0006]

Next, an embodiment of the present invention will be described. FIG. 1 is an overall plan view of a robot tip in which a hand according to this embodiment is incorporated. This tip is used by being fixed to the tip of an arm 2 of an industrial robot. This distal end is a hand suitable for gripping a curved long work as shown by W in FIG. 1, and a first frame 4 fixed to the arm 2 and a rotation with respect to the first frame 4. Second frame 10 freely assembled
And a rotational force applying mechanism 8 for rotating the second frame 10 with respect to the first frame 4. Second frame 1
Numeral 0 has a "-" shape with both ends having a predetermined angle so that a bent long work can be gripped, and a parent hand 21 described later is attached to one end 10a. The parent hand 21 includes parent opening / closing claws 22a, 22b and actuators 12, 1 for opening and closing the parent opening / closing claws 22a, 22b.
3, 14, 16, 18a, 18b, 20a, 20b, 2
4 is assembled. The other end 1 of the second frame 10
A support member 68 for supporting the other end of the work and advance / retreat mechanisms 60, 64, 66, 70a, and 70b for moving the support member 68 are attached to 0b.

A child hand 30 can be attached to and detached from the parent hand 21. A thick work can be gripped by the parent hand 21 and a thin work can be gripped by the child hand 30. Further, the support member 68 can be replaced according to the type of the work.

Next, the detailed structure will be described. In FIG. 1, a first frame 4 includes a flange 4a fixed to the flange 2a of the arm 2 and an intermediate frame 4 welded to the flange 4a.
b and a central frame 4e fixed to the intermediate frame 4b by flanges 4c and 4d. A through-hole is formed in the center frame 4e in a direction perpendicular to the plane of FIG. 1, and as shown in FIG. 10, the shaft / gear 6 is rotatably supported without falling off.

As shown in FIG. 2, a rack 8d is engaged with the shaft and gear 6. Rack 8d
Is connected to the rod 8b of the cylinder 8a via a joint 8c. The cylinder 8a is fixed to the first frame 4 via a cylindrical cover 8e. One cylindrical cover 8f is fixed to the first frame 4 on an extension of the cylindrical cover 8e, and the rack 8d is covered by the cylinder 8a with the covers 8e, 8c.
f. When the rack 8d moves forward and backward, the shaft / gear 6 is rotated with respect to the first frame 4.

As shown in FIGS. 3 and 10, the lower end of the shaft / gear 6 protrudes below the first frame 4, and the second frame 10 is fixed to this protruding portion 6a via a receiving plate 10d. Have been. As shown in FIG. 1, when the rack 8d retreats, the second frame 10 is at the position shown by the solid line in FIG. 1, and when the rack 8d moves forward, the second frame 10 is rotated by 180 ° as shown by the phantom line. .
That is, the second frame 10 is rotatable with respect to the first frame 4 via the shaft 6, and the cylinder 8a
Frame 8d and gear 6 make second frame 10
It is rotated with respect to the frame 4.

Next, the structure of the lower surface of the second frame 10 will be described. FIG. 3 is a view showing a partially broken section along the line III-III in FIG.
The parent hand 21 is attached to a. A support member 68 and a mechanism for moving the support member 68 are assembled to the left end 10b in the figure.

First, the parent hand 21 will be described. Second
The right end 10a of the frame 10 has a vertically downward flange 1
0d is fixed. Cylinder 12 on flange 10d
Is fixed, and the piston rod 13 of the cylinder 12 can advance and retreat through the flange 10d. 3 and 6
, A block 14 having a substantially U-shaped plane is fixed to the tip of the piston rod 13. A pair of flanges 10c and 10e are fixed vertically near both ends of the second frame 10 in the vicinity of the right end of the second frame 10 in the figure. This flange 10
A total of four rollers 26 are formed so as to hold the top and bottom of the block 14 inward from c and 10e, and the block 14 is guided by the rollers 26 while moving in the left and right directions in FIGS. To go back and forth.

A pin 16 is fixed to the block 14 between two opposite sides of a U-shape. And pin 16
Thus, one ends of the pair of levers 18a and 18b are pivotally supported. The other end of the pair of levers 18a, 18b is a pin 20a,
The pair of opening / closing pawls 22a and 22b are pivotally supported via the pair 20b. A pin 24 is disposed so as to penetrate substantially the center of each of the pair of main opening / closing claws 22a and 22b, and the pin 24 is fixed to the pair of flanges 10c and 10e.

With such a structure, when the piston rod 13 of the cylinder 12 advances to the left in FIG.
The pair of pins 20a and 20b open outward, whereby the left ends of the pair of parent opening and closing claws 22a and 22b in the drawing approach each other, and the workpiece can be gripped. That is, a pair of parent opening / closing claws 22a and 22b, a cylinder 12, a piston rod 13, a block 14, a pin 16, and a pair of levers 18
a, 18b, a pair of pins 20a, 20b, and an opening / closing actuator composed of fixed pins 24, the parent hand 21 is formed. The parent hand 21 is designed to grip a thick work, and a child hand 30 is prepared for gripping a thin work.

As shown in FIG. 5, the child hand 30 is always maintained on a child hand table 50 fixed at a position accessible by the robot arm 2. A pair of engaging pins 52a, 52
b is fixed. As shown in FIG. 5, the child hand 30 has a pair of child opening / closing claws 32a and 32b supported by a hinge pin 36 (engaging pin) at the right end in the figure. Are normally urged to the expanding side. A pair of child opening / closing claws 32a, 32
b, engagement holes 33a, 33b are formed at positions corresponding to the engagement pins 52a, 52b.
While the is placed on the table 50, the engaging holes 33a and 33b are engaged with the engaging pins 52a and 52b by the urging force of the spring 38, and are fixed to the table 50 in the posture shown in FIG. As shown in FIG. 6, the hinge pin 36 extends to the side of the child opening / closing claws 32a, 32b.

On the other hand, a pin 24, which is the center of opening and closing of the main opening / closing pawls 22a, 22b, has swinging levers 42a, 4
2b is rotatable. Swing levers 42a, 42
4b, the right side of b is always provided by springs 40a, 40b.
, And the hooks 44a,
44b is urged in the illustrated clockwise direction. Hook 4
Reference numerals 4a and 44b denote child opening / closing claws 32 on the parent opening / closing claws 22a and 22b.
When a and 32b are inserted, they can be engaged with the hinge pin 36 of the sub clamp. A cylinder 54 (lever swinging means) is fixed to the child hand mounting table 50, and a pair of levers 42a, 42
Rollers 58a, 5 for pushing up the right end of FIG.
8b is attached (the rollers 58a are not shown because they are provided in parallel behind the rollers 58b in FIGS. 4 and 5).

When switching from a state in which a thick work is handled to a state in which a thin work is handled, the main opening / closing claw 22 is used.
The arm 2 moves with the a and 22b spread, and the parent opening and closing claws 22a and 22b are put on the outside of the child opening and closing claws 32a and 32b. At this time, since the cylinder 54 raises the piston rod 56, the swing lever 42 is rotated counterclockwise in the drawing, so that the hooks 44a and 44b do not interfere with the pin 36. The cylinder 54 causes the piston rod 56 to contract while the child hand 30 is inserted into the parent hand 21. Then, the levers 42a and 42b rotate clockwise as shown in FIG. 4, and the hooks 44a and 44b and the pin 36 are engaged. That is, the child opening / closing claws 32a and 32b are
It does not fall off from 2a, 22b. Ie hook 4
Engagement means for preventing the parent hand 21 and the child hand 30 from separating from each other are formed by the pins 4a and 44b and the pins 36. In this state, the parent open / close claws 22a and 22b are closed. Then, the child opening / closing claws 32a, 32b are also closed, and the engagement pins 52a,
The engagement between 52b and the engagement holes 33a, 33b is released.
As a result, the child opening / closing claws 32a and 32b
Can be moved away from it. Then, the arm 2 returns to the work holding position and holds the thin work.

When switching from a thin work to a thick work, the cylinder 54 contracts the piston rod 56,
The arm 2 moves with the parent opening / closing claws 22a and 22b closed, and the child opening / closing claws 32a and 32b are moved to the positions shown in FIG.
33b moves to the corresponding position. And parent opening and closing claw 2
2a and 22b are opened, and the piston rod 56 is raised. As a result, the child hand 30 is fixed to the table 50,
The parent hand 21 can move away from the child hand 30.

Next, the left end 10 in the figure of the second frame 10
The support member 68 and its advance / retreat mechanism in FIG. As best shown in FIG. 3, the left end 1 of the second frame 10
A flange 61 is fixed vertically downward to 0b, and a cylinder 60 is fixed here. The piston rod 64 of the cylinder 60 is tapered, and the rod 64 is able to advance and retreat through the flange 61. A pair of guide rails 7 are provided on the lower surface of the second frame 10 along both sides.
0a and 70b are fixed (see FIG. 7). The support members 6 are guided by the guide rails 70a and 70b.
8 is slidable. As shown in FIGS. 7 and 8, a pair of flanges 68 are provided on the upper surface of the support member 68.
a and 68b extend in the sliding direction, during which the hook 66 can be swung by the pin 65. When the hook 66 descends, it engages with the thin portion of the rod 64, and when turned upward, releases the connection between the rod 64 and the support member 68 (see FIGS. 3 and 9).

The tip of the support member 68 is a work receiver 68c. In addition, various types of support members 68 are prepared according to the type of work, and when not used, as shown in FIG.
It is fixed on a cradle 80. Pin 8 on cradle 80
The support member 68 has engagement holes 68d and 68e. The support member 68 is positioned by the engagement between the pin and the hole. Pin 84
Pushes up the hook 66 from below. In this state, the position of the arm 2 is adjusted, and the guide rails 70a, 70b
Moves rightward in the figure. Thereby, the guide rail 70
a and 70b advance rightward while guiding the support member 68 until the rod 64 abuts on the support member 68. Then, in this state, the arm 2 lifts the support member 68 upward via the guide rails 70a and 70b. Then hook 66
Are engaged with the thick portion of the rod 64, and the support member 68 is slidable by the cylinder 60. When replacing with another support member 68, the reverse operation is realized, and the currently mounted support member is placed on the table 80.

In this hand, a long work is carried into a press machine while both ends are supported, and a work machined by the press machine is carried out while both ends are supported.
It is used to be turned over by 80 ° and carried into an adjacent press. For this purpose, first, at the position where the second frame 10 is indicated by the solid line in FIG. At this time, the support member 68 is retracted to the left position in FIG. 3, and no interference occurs between the other end of the work and the support member 68. When one end of the work is gripped by the parent hand 21, the support member 68 advances rightward in FIG. 3, and the other end of the work is supported from below by the receiver 68c. Arm 2 in this state
Moves and moves the work from the work place to the press machine. When it is carried into the press machine, the support member 68 retreats, then the parent hand 21 is unclamped, the arm 2 is moved, and the hand is evacuated outside the press machine while avoiding interference with the work. Processing is performed here.

After the machining, the work is again carried out of the press while being supported at both ends by the parent hand 21 and the support member 68, where the second frame 10 is moved by the rotational force applying mechanism 8 to the first frame 4. Rotated 180 °. After that, the arm 2 moves the hand into the adjacent press machine, and carries in the work. Then, after the support member 68 is slid and the parent hand 21 is unclamped, the hand retreats outside the press. Thereby, the work is processed by the adjacent press machine. In this cycle, when the thickness of the work changes and the parent hand 21 cannot grip the work, the arm 2 moves the parent hand 21 closer to the child hand placing table 50 as described above, and holds the child hand 30 in the parent hand 21. Come. When exchanging the conventional hand, the old hand is detached and a new hand is attached. However, in this embodiment, it is not necessary to detach the parent hand, so that the time for exchanging the hands is reduced. Similarly, when exchanging the child hand 30 for the parent hand 21, it is only necessary to remove the child hand 30.
Again, the hand exchange time is reduced.

The support member 68 can also be exchanged for each type of work, and the exchange is performed by a robot and a hand without requiring any manual operation. For this reason, according to the hand of the present invention, various works can be handled.

[0024]

According to the present invention, the time required for hand exchange is reduced, and the speed of the robot operation is increased. Further, the actuator for opening and closing the opening and closing claws is common to the parent and child hands, and the mechanism can be simplified.

[Brief description of the drawings]

FIG. 1 is a plan view of a robot tip incorporating a hand according to an embodiment.

FIG. 2 is a plan view of a first frame and a rotational force applying mechanism.

FIG. 3 is a sectional view taken along line III-III in FIG. 1;

FIG. 4 is a diagram showing a state in which a child hand is sandwiched between parent hands.

FIG. 5 is a diagram showing a state in which a child hand is fixed to a table.

FIG. 6 is a plan view around the hand.

FIG. 7 is a cross-sectional view near a support member.

FIG. 8 is a plan view near a support member.

FIG. 9 is a view showing a state of a support member fixed to the table.

FIG. 10 is a diagram showing a relationship between a gear / shaft and a second frame.

[Explanation of symbols]

 2 Arm of industrial robot 4 First frame 6 Gear and shaft 8 Rotational force applying mechanism 10 Second frame 21 Parent hand 22a, 22b Parent open / close claw 12,13,14,16,18a, 18b, 20a, 20b, 24 Actuator 30 Child hand 32a, 32b Child opening / closing claw 38 Spring 36, 42, 44 Engagement means

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Sadao Ishihara 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Takeshi Niwa 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation Examination Government official Makoto Yagi (56) References JP-A-59-115185 (JP, A) JP-A-5-38691 (JP, A) JP-A 61-131296 (JP, U) JP-A 63-140388 (JP, A) U) Japanese Utility Model Hei 1-89799 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 15/00 B25J 15/04 B25J 15/08

Claims (1)

(57) [Claims] 1. A parent-child hand in which a child hand placed on a child hand mounting table is detachable from a parent hand, wherein the parent hand opens and closes a pair of parent opening / closing claws for gripping a workpiece and the parent opening / closing claw. An actuator to be actuated and a swing lever constantly urged in a direction opposite to the direction urged by the swing means provided near the child hand mounting table. 1 that can be gripped
A pair of child opening / closing pawls, an urging means for urging the child opening / closing pawls in the opening and expanding direction, and an engagement pin which engages with the swing lever in a state where the child opening / closing claws are gripped by the parent opening / closing claws. When the swing lever is swung by the swing means and the swing pin is disengaged from the engagement pin, the parent hand and the child hand can be attached and detached. And the
When the parent hand attaches the child hand, the parent opening / closing claw is opened.
A parent-child hand configured to open and close the child opening / closing claw by a closing operation .