JPH0639912Y2 - Robot hand wheel gripping claw - Google Patents

Description

[Detailed description of the device]

The present invention relates to a wheel gripping claw of a robot hand used when mounting a wheel on a processing machine.

[Prior art]

As a conventional technique, there is one shown in FIGS. In FIG. 8, 1 is the robot arm axis, and X, Y,
The movement is controlled in the Z-axis direction and the rotation is controlled around the axis of the arm shaft 1. A bracket 2 is fixed to the end of the arm shaft 1, and a pair of cylinders 3 and 4 are attached to the bracket 2. As shown in FIGS. 1 and 2, the cylinders 3 and 4 are mounted in parallel in a direction orthogonal to the axis of the arm shaft 1 and in opposite directions. The rods 3a and 4a of the cylinders 3 and 4 are as shown in FIG.
From the left and right ends of the bracket 2 in the left-right direction,
That is, the holders 5 and 6 are made to be extendable and contractable, and the holders 5 and 6 are respectively fixed to the rods 3a and 4a by facing them in the left-right direction. Clamping claws 7 (7-1 to 7-4) for sandwiching the wheel 10 are fixed to the upper and lower portions of the facing sides of the holders 5 and 6 so as to face each other in a point symmetrical manner. As shown in FIG. 10, the sandwiching claw 7 has a valley-shaped contact surface 7a which is bent in the front-rear direction, that is, in a direction intersecting with the facing direction of the holders 5 and 6, on the facing side. When processing a wheel made of, for example, an aluminum alloy, first, as shown in FIG. 11, the outer peripheral surface of the inner flange 10a of the cast wheel 10 is clamped by the clamping claws 7.
And the outer flange 10b is faced to the chuck 15a side of the first processing machine 15,
After the shaft hole 10c of the wheel 10 is brought into contact with the centering cone 15b and attached to the first processing machine 15, the holding claw 7 is retracted. In this state, as shown in FIG. 12 by the first processing machine 15, after the inner flange 10a, the inner and outer peripheral portions of the body portion 10d and the right portion of the shaft hole 10c are cut, the processed inner flange 10a- The outer peripheral surface of 1 is again clamped by the clamp claws 7 and removed from the first processing machine 15. Next, as shown in FIG. 13, the outer peripheral surface of the outer flange 10b is clamped by the clamping claw 7 via the contact surface 7a by the clamping claw 7, and the processed inner flange 10a-1 is moved to the second position.
After facing the chuck 16a side of the processing machine 16 and fitting the processed shaft hole 10c-1 into the centering collet 16b and attaching it to the second processing machine 16, the clamping claw 7 is retracted. In this state, as shown in FIG. 14 by the second processing machine 16, after the outer flange 10b, the inner and outer peripheral portions of the remaining body portion 10d and the shaft hole 10c are cut, the processed outer flange 10b-1 The outer peripheral surface of is clamped by the clamping claws 7 and removed from the second processing machine 16.

[Problems to be solved by the device]

Since only one valley-shaped abutment surface 7a is formed on the sandwiching claw 7 in the above-mentioned conventional one, when the wheel is machined in a plurality of steps, the abutment surface 7a causes the inner and outer parts which have not been machined to be formed. Inner / outer flange 1 machined with flanges 10a, 10b
It has to be sandwiched by also serving as 0a-1 and 10b-1, which has a drawback of damaging the machined surface. Further, since the contact surface 7a has a valley shape that is bent in the axial direction of the wheel 10, the flanges 10a and 10b can be held but the body portion 10d cannot be held. For this reason, when the wheel 10 is reversed and transferred from the first processing machine 15 to the second processing machine 16, the clamping claw 7 is moved to the inner flange.
It is necessary to transfer from 10a to the outer flange 10b, and the number of times of holding changes increases, which makes quick installation impossible. Moreover, in this case, when the second processing machine 16 is mounted, the clamping claw 7 clamps the unmachined outer flange 10b, so that the machined inner flange 10a-1 and the shaft center of the shaft hole 10c-1 are the second.
There are drawbacks such as misalignment with the axis of the processing machine 16 and failure in attachment to the second processing machine 16. An object of the present invention is to obtain a wheel gripping claw of a new robot hand that solves the above drawbacks.

[Means for Solving the Problems]

The present invention is configured as follows to achieve the above object. That is, a pair of holders that are moved toward and away from each other and that are swung about the center between them are provided, and each holder is provided with a holding claw that projects in the facing direction of the two. In the nail, the sandwiching nail is
A body portion sandwiching piece that projects in the facing direction of each holder and has a flat end surface, a flange sandwiching piece that projects from the base of the body portion sandwiching piece in a direction intersecting with the facing direction of the holder, and a facing side of the flange sandwiching piece. It is configured to fix a soft material to the. The sandwiching claws are barrel body sandwiching pieces that project in the facing direction of each holder and have flat end faces, and first flange sandwiching pieces that project from both sides of the base of the barrel sandwiching pieces in the direction intersecting with the facing direction of the holder. It is effective to adopt a configuration in which the soft material is fixed to the second flange holding piece and the facing side of the second flange holding piece.

[Action]

Since the present invention is configured as described above, when the flange holding piece is brought close to the flange of the hole and each holder is moved in the approaching direction, the flange holding piece holds the flange via the soft material. Further, when the body portion holding piece is brought close to the body portion of the wheel and each holder is moved in the approaching direction, the body portion holding piece holds the body portion. If each holder is turned 180 degrees in this state, the flanges at both ends of the wheel will alternately face the chuck side of the processing machine.

【Example】

An embodiment of the present invention will be described below with reference to the drawings. In the drawings, FIG. 1 is a front view showing an embodiment of the present invention,
FIG. 2 is its A view, FIG. 3 to FIG. 6 are side sectional views of essential parts showing a wheel working process and a gripping form by a wheel gripping claw, and FIG. 7 is another embodiment of the claw. It is a top view corresponding to a figure. In addition, in FIGS. 1 to 6, portions having the same reference numerals as those in FIGS. 8 to 14 have substantially the same structure as those in FIGS. 8 to 14, and therefore description thereof will be omitted. In FIG. 1, 8 (8-1 to 8-4) is a holding claw that holds the wheel 10 and is fixed to the upper and lower portions of the holders 5 and 6 facing each other in a point-symmetrical manner. As shown in FIG. 2, the holding claw 8 has a T-shape that integrally includes a body holding piece 8a having a high central portion, a first flange holding piece 8b and a second flange holding piece 8c having low side portions. Form. That is, the body portion sandwiching piece 8a is made to project in the facing direction of the holders 5 and 6, and the end surface, that is, the contact surface 8a-1 is formed into a flat surface, and the first flange sandwiching piece 8b and the second flange portion are formed. The sandwiching piece 8c is a crossing direction from the base of the body sandwiching piece 8a with respect to the facing direction of the holders 5, 6, that is, it is projected in the axial direction of the wheel 10 to be sandwiched, and the contact surface 8b-1 on the facing side thereof , 8
c-1 is formed on a slope whose protruding side is gradually higher. Then, the soft material 9 made of nylon is fixed to the opposite side of the second flange holding piece 8c. Next, the manner of use of the above embodiment will be described. First, the inner flange 10a of the cast-molded wheel 10
When the side is cut by the first processing machine 15, as shown in FIG. 3, the first flange holding piece 8b is moved to the inner flange 10.
The outer flange 10b is faced to the chuck 15a side of the first processing machine 15 while the holders 5 and 6 are moved closer to each other to face the a side, and the outer flange 10b is faced to the chuck 15a side of the first processing machine 15, and the shaft hole 10c of the wheel 10 is also held. Is brought into contact with the centering cone 15b and attached to the first processing machine 15. After retracting the first flange holding piece 8b in this state,
Of the inner flange 10a and the body 10d by the first processing machine 15
After cutting the outer peripheral portion and the right portion of the shaft hole 10c, as shown in FIG. 4, the outer peripheral portion 10d-1 of the roughened body portion 10d of the wheel 10 is clamped by the body portion clamping piece 8a, 1 processing machine
Remove from 15. Next, by rotating the arm shaft 1 by 180 degrees, the wheel 10 is turned by 180 degrees via the body holding piece 8a,
As shown in FIG. 5, the processed inner flange 10a-
1 is opposed to the chuck 16a side of the second processing machine 16, and the processed shaft hole 10c-1 is fitted into the centering collet 16b and attached to the second processing machine 16. In this case, the body portion sandwiching piece 8a is formed by the first processing machine 15 together with the inner flange 10a on the outer periphery 10d- of the body portion 10d.
Since 1 is sandwiched, misalignment does not occur when sandwiched. Further, since the body part holding piece 8a holds the body part 10d of the wheel 10 and reverses the wheel 10 by 180 degrees, the body part holding piece 8a can be attached to the second processing machine 16 without holding it. Moreover, since the contact surface 8b-1 of the body portion sandwiching piece 8a is a flat surface, the body portion
The outer periphery 10d-1 of 10d is not damaged. In this state, after retracting the body part clamping piece 8a, the outer flange 10b, the inner and outer peripheral parts of the remaining body part 10d and the shaft hole 10c are cut by the second processing machine 16, and then shown in FIG. As described above, the outer peripheral surface of the outer flange 10b-1 machined by the second flange clamping piece 8c is clamped and removed from the second processing machine 16. In this case, since the second flange holding piece 8c holds the outer peripheral surface of the outer flange 10b-1 via the soft material 9, the outer peripheral surface is not damaged. As shown in FIG. 7, the holding claw 8 described above is formed in an L shape including a body holding piece 8a and a first flange holding piece 8b, and a soft material is provided on the opposite side of the first flange holding piece 8b. 9 may be fixed. In this case, the first flange clamping piece 8b clamps the unmachined inner flange 10a shown in FIG. 3 and the machined 10b-1 shown in FIG. 6, and the same effect as described above is achieved. .

[Effect of device]

As is apparent from the above description, the present invention integrally provides a body holding piece that holds the wheel body and a flange holding piece that holds the wheel flange, and a soft material is provided on the opposite side of the flange holding piece. Since the wheels are fixed to each other, the wheel can be quickly attached to and detached from the processing machine, and the processing surface of the wheel can be prevented from being damaged.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention, and FIG.
FIGS. 3 to 6 are side sectional views of essential parts showing a wheel working process and a gripping form by the wheel gripping claws, and FIG. 7 is a plan view corresponding to FIG. 2 showing another embodiment of the claws. 8 and 9 are a front view and a side view showing a conventional example, FIG. 10 is a view shown in FIG. 8B, and FIGS. 11 to 14 are conventional wheel machining steps and clamping by wheel clamping claws. It is a principal part side sectional view which shows a form. 1: Arm shaft, 2: Bracket, 3,4: Cylinder, 3a, 4a: Rod, 5,6: Holder, 8: Holding claw, 8a: Body holding piece, 8a-1: Contact surface, 8b: No. 1 flange clamping piece, 8b-1: contact surface, 8c: second
Flange clamping piece, 8c-1: Contact surface, 9: Soft material. 10: Wheel, 10a: Inner flange, 10b: Outer flange, 10c: Shaft hole, 10d: Body part. 15: 1st and 2nd processing machines, 15a, 16a: chuck, 15b, 16b: centering collet.

Claims (2)

[Scope of utility model registration request] 1. A wheel of a robot hand, comprising a pair of holders which are moved in a direction toward and away from each other and swiveled around a center between them, and each holder is provided with a claw protruding in a facing direction of the two. In the holding claw, the claw includes a body holding piece that projects in a facing direction of each holder and has a flat end surface,
A wheel grip for a robot hand, characterized in that a flange gripping piece projecting from the base of the body gripping piece in a direction intersecting with the facing direction of the holder, and a soft material fixed to the facing side of the flange gripping piece. nail. 2. The claw projecting in the facing direction of each holder and having a flat end surface, and a body holding piece, and projecting in a direction crossing the facing direction of the holder from both sides of the base of the body holding piece. 2. The wheel gripping claw for a robot hand according to claim 1, wherein the 1st flange gripping piece and the 2nd flange gripping piece are made of a soft material fixed to the opposite side of the 2nd flange gripping piece.