JPH01210287A - Hand device for industrial robot - Google Patents

Abstract

PURPOSE:To perform a shifting operation of a work in a short time to improve the operating efficiency by providing a second hand so that it may be moved to a position corresponding to a holding position of a first hand during shifting the work. CONSTITUTION:When a work is shifted from a first operation process to a second operation process, a small diameter part of the work machined in the first operation process is held by a claw 3a of a first hand 3, and released from hold of a chuck of a first lathe. Then, a turn- driving mechanism 6 is operated to turn a supporting body 7 and bring it close to an arm body 2 so that both holding center axes of the first hand 3 provided on the projecting end side of the arm body 2 and a second hand 4 provided on the turning end side of the supporting body 7 are located on the same line. In this condition, a larger diameter part of the work is held by a claw 4a of the second hand 4, and the smaller diameter part of the work is released from hold of the claw 3a of the first hand 3, and the shifting is completed. After that, the second hand 4 is backed off from the first hand 3, the smaller diameter part of the work is inserted into a chuck of a second lathe, and the larger diameter part of the work is machined in the second operation process.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a hand device for an industrial robot, and in particular to a structure for transferring a workpiece from one of two hands to the other. [Prior Art] No. 5 6, a typical work process using conventional double hands, which is described in, for example, Japanese Utility Model Publication No. 58-21665, is explained, in which a workpiece is placed on a table from a node, the hand is reversed, and the workpiece is regrasped. .

In the figure, (1) is the tip shaft of the operating part of the industrial robot, the details of which will be described later, (2) is the support fastened to the end surface of the tip shaft (1), and (3) is the large diameter part of the workpiece, which will be explained later. A first claw (6a) is provided near the base of the support (2), and (4) is a two-stage pawl (6a) corresponding to the small diameter portion of the support (2).
A second knot (4a) similar to the two-stage claw (3a) is provided at the tip of the second knot (3) apart from the first knot (3).

(5) is a workpiece, with a large diameter part (5a) and a small diameter part (5b)
are formed, (51) is the first step machined surface of the workpiece (5), and (52) is the second process machined surface of the workpiece (5).

The conventional industrial robot cutting device is constructed as described above, and a workpiece (5) is processed as described below. In other words, the industrial robot operates, the tip shaft (1) moves to a predetermined position, and the workpiece (
5) Grip the small diameter part (5b) of the material with the first nozzle (3), and place the small diameter part (5b) of the workpiece (5) processed in the first process on the first lathe (not shown) in the first lathe (not shown). gripped by the second hand (4) and removed from the first lathe, and the first hand (3)
The large diameter part of the workpiece (5) material gripped by is mounted on the first lathe. Next, the workpiece (5) that has been processed in the first step and is held in the second hand (4) is transferred to another inversion table (not shown).
After placing the workpiece (5) and inverting it, the first hand (3) grips the large diameter part (5a) and moves the small diameter part (5b) of the workpiece (5).
) on a second lathe (not shown) to cut the large diameter part (5a).
is processed in the second step. Next, the second hand (4) grips the large diameter part (5a) and holds the workpiece (5) which has been processed in the second process.
) is moved from the second lathe to a finishing conveyor (not shown) K, and the first hand (3) again holds another workpiece (5) from the material conveyor, and the second hand (4) moves it from the first lathe. An operation is performed to remove the other workpiece (5) that has been processed in the first step.

In this way, the first. Second hand +3+ (By 4+, the first and second steps of processing a large number of workpieces (5) are repeated.

[Problem to be solved by the invention]

In the conventional industrial robot hand device as mentioned above, the first
When transferring the process-processed workpiece (5) to the second process process, the workpiece (5) is either inverted on a separately provided inversion table, or placed on a separately provided holding table (not shown). 1. The rotating operation of the second hands (3) and (4) necessitates an operation of reversing the workpiece (5), and there is a problem in improving work efficiency, which decreases due to a longer operation cycle time.

This invention was made to solve this problem, and is an industrial robot hand device that can shorten the time required for reversing a workpiece when transferring it from the first process to the second process, thereby achieving high work efficiency. ? The purpose is to obtain.

[Means to solve the problem]

A hand device for an industrial robot according to the present invention includes a first hand provided at a predetermined position on an arm body.

The second hand is displaceably provided and is moved to a position corresponding to the grasping position of the first hand when the grip is changed.

[Operation J] In this invention, when transferring the workpiece gripped by the first hand, the second hand is moved to a position corresponding to the gripping position of the first hand, and the workpiece is transferred directly from the first hand to the second hand. By being gripped, the holding operation is performed.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

In the figure, the same symbols as in Figures 5 and 6 indicate corresponding parts, (2
j is an arm body whose base is fastened to the end surface of the tip shaft (1) of the actuating part, and (3) is a claw (3a) provided near the protruding end of the arm body.
(6) is a rotary drive mechanism provided at the base of the arm body (2) and mainly composed of a deceleration motor; (7)
) is an arm-shaped support whose one end is connected to the rotation drive mechanism (6), (4) is a second hand provided near the rotation end of the support (7) and has a claw (4a); 8) is an industrial robot with a tip axis (1), a lifting axis (Sa), a first axis (sb
).

A support arm (8e) is provided that is connected to the second shaft (sc), the third shaft (sa), and the third shaft (8d) and supports the tip shaft (1). (9) is a material conveyor whose end is installed near the industrial robot (8), (1α is a completed conveyor installed parallel to the material conveyor, and 0D is a material conveyor (9)
On the first lathe for the first process installed on the side, (1
1a) is the chuck of the first lathe, (1a is the completion conveyor a)
On the second lathe for the second process processing installed on the a side, (
12a) is a chuck of the second lathe.

In the industrial robot device configured as above,
The support body (7) is normally held open about 90' to the arm body (2) as shown in FIG.
) and the second hand (4) are arranged at positions apart from each other. When transferring the workpiece (5) from the first process to the second process, the first hand (3) is used as described below.

The second hand (4) etc. operate. That is, the first lathe O
The chuck (1ia) of D holds the large diameter part (5a), the small diameter part (5b) holds the large diameter part (5a), and the small diameter part (5b) is the workpiece (5) processed in the first process. ) is gripped by the claw (3a) of the first hand (3), and the grip of the chuck (11a) is released, resulting in the state shown in FIG. 4(a). Next, the rotation drive mechanism (6
) is energized, the support body (7) rotates and approaches the arm body (2), so that the grip center axes of both the first hand (3) and the second hand (4) are on the same line. The arrangement results in the state shown in FIG. 4(b). Then, in the state shown in Fig. 4(b), the large diameter part (5) of the workpiece (5) is
a) is grasped, and then the claw (3a) of the first knife (3)
) is released from gripping the small diameter portion (5b), and the holding change is completed. This is the first hand (3).
Since the process is carried out directly from the to the second hand (4) without using an inverting table or the like, there is no wasted working time and the cycle time can be shortened.

Next, the second
The hand (4) is placed at a position away from the first hand (3) by the rotation of the support body (7) due to the rotation drive mechanism (6) being biased again. And the arm body shown in Figure 1 (
2) and the industrial robot (8) with the support (7) open.
operates, and the small diameter part (5b) of the workpiece (5) is inserted into and gripped by the chuck (12a) of the second lathe t1z, but at this time, the first hand (3) and the second hand (4) Since the first hand (3) does not come into contact with the chuck (12a) of the second lathe (I2), it is possible to insert and grip the small diameter part (5b) of the workpiece (5) without any trouble. can.

Then, the large diameter portion (5a) of the workpiece (5) is subjected to a second process machining by the second lathe 0z. In this way, the workpiece (5) can be directly transferred from one of the two hands to the other, and when the workpiece is attached to or removed from the lathe, the other hand is placed at a distance, so there is no problem of contact with the chuck, etc. The first step is easy with a short cycle time. The processing work of the second step can be performed.

〔Effect of the invention〕

As described above, the present invention includes a first hand provided at a predetermined position on the arm body, and a second hand that is displaceably provided and is displaced to a position corresponding to the grasping position of the first hand when changing the workpiece. constitute a hand device, and the first
The workpiece is directly transferred from the hand to the second hand. This makes it possible to omit equipment such as a separate reversing table for changing the workpiece, and also eliminates the problem of other hands coming into contact with the processing machine when loading and unloading the workpiece, reducing costs and shortening the cycle time. The present invention provides a hand device for an industrial robot that can easily perform processing operations in the first and second steps in a timely manner.

[Brief explanation of the drawing]

FIG. 1 is a conceptual front view showing an embodiment of an industrial robot hand device according to the present invention, FIG. 2 is a conceptual front view of a processing device using an industrial robot having the hand device of FIG. 1, and FIG. FIG. 4 is a diagram explaining the operation of the hand device in FIG. 1, FIG. 4(a) is a bottom view corresponding to the second hand in FIG. ．． FIG. 4(,) is a corresponding view showing the state in which the second hands are close to each other, FIG. 5 is a side view of the workpiece processed by the hand device, and FIG. 6 is the first hand device of a conventional industrial robot It is a figure equivalent figure. In the figure, (1) is the tip shaft, (2) is the arm body, (3) is the first hand, (4) is the second hand, (6) is the rotation drive mechanism, and (7) is the support body. . In addition, the same parts or corresponding parts in FIG. 1 are indicated by the same reference numerals. Figure 4 (α) (Each) Figure 5, Da, 52 Figure 6/ Procedural amendment (spontaneous) Day 1, Indication of case Patent application No. 63-032321 3,
Relationship with the case of the person making the amendment Patent Applicant Address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name (601) Mitsubishi Electric Corporation Representative Moriya Shiki 4, Agent Address 2 Marunouchi, Chiyoda-ku, Tokyo Chome No. 3 @ 5, Detailed explanation of the invention column 6 of the amended specification of contents, page 6, line 15 to line 11 of the amended statement of contents, “Gripped ~ 1st step” I corrected it to "11 steps after being grasped."that's all

Claims (1)

[Claims] a first hand provided at a protruding end of an arm whose base is fixed to the tip shaft of the robot actuating section; an arm-shaped support pivotally supported at the base of the arm via a rotational drive mechanism; , is provided near the rotational end of the support body, is normally moved away from the first hand in the pivoting direction of the support body, and is displaced by the rotation of the support body due to the operation of the rotation drive mechanism. A hand device for an industrial robot, comprising: a second hand arranged at a position corresponding to a grasping position of the first hand.