JPS58217286A - Mechanical hand of 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] The present invention relates to a mechanical hand for an industrial robot,
In particular, the present invention relates to improvements in the mechanical hand of an industrial robot used in inserting and assembling a workpiece into a predetermined mounting portion.

Generally speaking, as an example of this type of work, the work of installing a combination lamp on the back of a car will be described. As shown in FIG.
and stop at a predetermined position.'Meanwhile, after having previously taught the robot 3 the movement locus and gripping a rear combination lamp (hereinafter referred to as the work) 6 with the mechanical hand 5 attached to the arm 4 of the robot 3,
Based on the teaching information, the robot arm 4
There is one in which the workpiece 6 is inserted and assembled into the lamp mounting part (hereinafter referred to as the four mounting parts) 1 of the vehicle body 2 by operating the lamp.

In such work, the conventional mechanical hand 5, as shown in FIG. 2, has a hand main body 10 connected and fixed to a mounting 7 flange 4a of the robot arm 4 by a bolt (not shown) and a nut (not shown). It consisted of a clamper 11 provided at the tip of the hand body 10 to grip the workpiece 6, and an actuator 13 built into the hand body 10 to open and close the clamper 11 via a link groove 12. The actuator 13 is, for example, a pneumatic cylinder and its wand 13a? By extending the clamper 11 (
d opens.

By the way, in the above-mentioned work, for example, if an error occurs in the stopping position of the vehicle body 2, or if an error occurs in the operation of the robot 3, it is necessary to adjust the workpiece 6 and the mounting recess according to the teaching trajectory. There is a risk that the relative positional relationship with 7 will be out of order, and the workpiece 6 will come into contact with the surface of the vehicle body panel 14 that is displaced from the four mounting parts 7. In such a case,
Since the conventional mechanical hand 5 was a rigid body completely fixed to the robot arm 4, the work 6 and the car body panel 14 could be damaged due to the collision between the work 6 and the car body panel 14, or the robot arm 4 could be damaged. This may cause damage to the workpiece 6, making it difficult to insert and assemble the workpiece 6 into the mounting recess 7. In order to eliminate this problem, it is necessary to extremely improve the stopping position accuracy of the vehicle body 2 and the movement accuracy of the robot 3, but current control technology naturally has its limits, and in the end, the workpiece cannot be placed in the mounting recess 7.
This results in a situation where it is not possible to insert and assemble the parts.

The present invention has been made from the above point of view, and its purpose is to prevent the relative positional relationship between the workpiece and the mounting portion from becoming out of order. By incorporating Lesage motion into a part of the robot's teaching movement process,
To provide a mechanical hand for an industrial robot that enables workpiece positioning that absorbs deviations in the relative positional relationship between the workpiece and a mounting part, and thereby enables the workpiece to be reliably assembled to the mounting part.

The gist of the present invention is that the hand main body constituting the mechanical hand is divided into a fixed part and a floating part, and a guide mail extending in the i-axis direction is formed on one side, and a fliJ guide is formed on the other. 1. A female mail is formed into which the mail is movably fitted, and the floating part can be moved relative to the axial direction of the fixed part from the normal position to the maximum stroke position 1ri. A biasing means for returning the floating part to the normal position is interposed between the fixed part and the third movement b1, and when the floating part is at the normal position and the maximum stroke position, the guide female By fitting tightly into the guide mail and kite female when the floating part is located between the normal position and the maximum stroke position, the workpiece can be easily moved during workpiece transportation and when the robot is linked to Lesage. When aligning, do you fix the floating part of the hand body to the fixed part to prevent the workpiece from wobbling? On the other hand, when the assembly of the workpiece is completed before the end of the robot's Lesage interlock, the floating part can be made to float relative to the fixed part, so that no load is applied to the robot and the parts to be attached such as the car body. It is a mechanical hand.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

In the embodiment shown in FIGS. 3 to 6, the basic configuration of the mechanical hand 5 includes: (3) a hand body 10; a crusher 11 provided at the tip of the hand body 10 to grip the workpiece 6; and an actuator 13 such as a pneumatic cylinder that is built into the hand body 10 and opens and closes via the clamper 11 and the link mechanism 12.

In this embodiment, the robot arm 4. The fixing part 20 is connected and fixed to the flange 4a with bolts and nuts, and the floating part 21 is supported in a floating manner with respect to the fixing part 20 and includes the actuator 13. That is, a guide mail η extending in the axial direction (workpiece insertion direction) is formed in the fixing part 9, and this guide mail 22
As shown in FIGS. 3 and 4, large diameter portions 23a and 23b are formed at the base and central portion of the robot arm 4 side, and the distal end portion VFc widens toward the distal end. A truncated conical locking portion 24 is formed.

On the other hand, the floating part 21 is formed with a guide female 4 into which the guide mail 22 is fitted in a movable manner, and this guide female b is, as shown in FIGS. 3 and 4, The guide female b has a structure that penetrates in the axial direction of the guide mail 22, and this guide female b has a small diameter bone whose inner diameter is equal to the large diameter portions 23a and 231) of the guide mail 22. tb Z6a, 26b is the large diameter portion Z3a,
23b, and a guide mail η is formed at the end of the floating part 21 side of the guide female.
A locking receiving portion 27 is formed in a shape into which the locking portion 24 fits. Further, a spring 28 is interposed between the fixed part 20 and the floating part 21, and the floating g+I 21 is urged to return to the normal position A at the proper time.

Furthermore, in this embodiment, three robots perform a predetermined teaching operation 2, and at the end of the conveyance process of the workpiece 6, the workpiece 6 is moved in a Lesage motion for a predetermined period of time, and at the end of the Lesage movement of the tool 15. It returns to its original position at . In addition, this robot 3 teaching! The clamper 11 of the mechanical hand 5 is opened and closed in conjunction with the operation 19j.

According to the mechanical hand according to this embodiment,
When the workpiece 6 is being transported, the floating portion 21 is located at the normal position A due to the biasing force of the spring 28, as shown in FIGS. 3 and 4. At this time, the locking portion 24 of the guide mail 22
is wedge-engaged with the locking receiving part 27 of the guide female 4, so that movement of both in the axial direction is restricted, and
The floating part 211- of the guide female 25 is fixed to the fixed part 20 without wobbling Fi in the radial direction of the guide mail n. In this state, the floating part 21 and the fixed part 20 are integrally grooved, so that the workpiece 6 does not wobble when being transported.

From this state, when the robot 3 moves the workpiece 6 to the assembly position fM of the workpiece 6 based on the teaching information of the robot 3, as shown in FIG. Move by following. At this time, if the relative position lyj between the workpiece 6 and the four mounting parts I of the vehicle body 2 is incorrect, the workpiece 6 will not fit into the mounting recess 7 and will abut against the surface of the vehicle body panel 14. As a result, the fifth
As shown in the figure, since the floating part 21 is movable relative to the fixed part 2o in the axial direction, the floating part 21
1 overcomes the biasing force of the spring and retreats toward the fixed part 20, reaching the maximum stroke position B. In this state, based on the teaching information of the robot 3, the robot 3 moves the workpiece 6f to the mounting section 7! : In order to align, Lesage movement, that is, turning movement on a plane parallel to the 14th surface of the vehicle body panel &? y now. At this time, the guide mail 220 (large diameter parts 23a, 23L) are tightly fitted into the guide female 3's small diameter receiving parts 26a, 26b, so the guide female 25 is in a state where the guide mail 2
There is no wobbling in the radial direction of the floating part 21.
is fixed to a fixed part 20, and the Lesage motion of the robot 3 is reliably transmitted to the workpiece 6 as shown by the arrow.

When the workpiece 6 moves to a position facing the opening surface of the mounting recess 7 due to Lesage interlocking of the robot 3, the floating part 21 moves against the spring 2 as shown in FIG.
Since the workpiece 6 is urged to return to the normal position A side by the floating part 8, the workpiece 6 is pushed into the mounting recess 7 and assembled as the floating part 21 moves forward. At this time, the floating part 21 is located at an intermediate position C between the normal position if A and the maximum stroke position B, and the small diameter receiving part 26a of the guide mail 22 and the guide female 25.

A gap 29 is formed between the guide mail 26b and the guide mail 2.
2 is loosely fitted into the guide female 3, and the floating part 21 is set in a floating state with respect to the fixed part 9.

Therefore, even if the Lesage interlocking of the robot 3 is not completed when the workpiece 6 is assembled into the mounting recess 7, the Lurie interlocking of the fixed part 20 following the D bore) 3 is As shown in the figure, since this is carried out within the range of the gap 29, there is no transmission of information to the floating part 2Hc, and there is no concern that a large load will be applied to the robot body 3 or the vehicle body 2 (1j.1).

Furthermore, when the movement of the robot 3 is completed based on the teaching information of the robot 3, the clamper 11 is opened by extending the rond of the pneumatic cylinder, which is the actuator 13, in the axial direction, and the gripping operation of the workpiece 6 is completed. At the same time, the robot 3 returns to its original position and the workpiece 6
The assembly work is completed.

Further, the relative position 1t between the workpiece 6 and the concave portion 7 (when there is no deviation in the relationship, the workpiece 6 is assembled to the mounting portion 7 without C via the Lesage movement of the robot 3'. At this time, the workpiece 6 Even if the robot 3 performs a Lesage motion in the assembled state, since the floating part 21 is in a floating state with respect to the fixed part 20 as described above, no load is applied to the robot 3 or the moving vehicle body 2. .

In the above embodiment, the guide mail 22 is formed on the fixed part 20, and the guide female 25 is formed on the floating part 21, but the positional relationship between the guide mail n and the guide female /l/25 is You can do it the other way around. Further, the specific shapes of the guide mail 22 and the guide female b are not limited to those shown in the above embodiments, and at least the floating portion 21 is located at the normal position IVA and the maximum stroke position B. When the guide mail 22 is tightly fitted into the guide female 25, when the floating part 21 is located at the intermediate position MC between the normal position A and the maximum stroke position 'tB, the guide mail 22 is loosely fitted into the guide female 25. It would be good if you could do that.

Furthermore, in the above embodiment, the mechanical hand 5 used with the clamper 11 as the gripping mechanism is not according to the present invention? However, as shown in FIG. 7, the present invention can of course be applied to a mechanical hand 5 using a vacuum cup 30 as a gripping mechanism.

As explained above, according to the mechanical hand of the industrial robot according to the present invention, the hand main body constituting the mechanical hand is moved relative to the fixed part and the fixed part in the axial direction. , and a CP moving part which is capable of moving from a fixed state to a floating state at an intermediate position between the normal position 16 and the maximum stroke position, and when the floating part reaches the maximum stroke position, the robot moves. Lesage motion for aligning the workpiece is incorporated into part of the teaching operation, so even if there is an error in the relative positional relationship between the workpiece and the four mounting parts, the deviation between the two parts can be reliably absorbed while the four mounting parts are adjusted. It is possible to insert and assemble the workpiece. At this time, when transporting the workpiece and aligning the workpiece by the Lesage movement of the robot, the fixed ball 1a and the floating part can be integrated into one body, so the workpiece can be reliably supported by the mechanical hand, and the Lesage movement of the robot can be Even if the assembly of the workpiece is completed before the work is finished, the floating part can be made to float relative to the fixed part, so there is no concern that the Lesage motion of the robot will put a load on the robot or the vehicle body, etc. There isn't.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an example of the workpiece assembly process using an industrial robot, Fig. 2 is a partial cross-sectional explanatory view showing an example of a mechanical hand of a conventional industrial robot, and Fig. 3
□□□ is a partially cross-sectional explanatory diagram showing one embodiment of the mechanical hand of the industrial robot according to the present invention, FIG. 4 is an enlarged view of the main part, and FIG. 5 is the operating state of the mechanical hand during workpiece positioning. 2 is an explanatory diagram similar to FIG. 3 shown in FIG. 2, FIG. 6 is an explanatory diagram similar to FIG. 3 showing the operating state of the mechanical hand during workpiece assembly, and FIG. It is a partial sectional explanatory view showing a modification of . 3...Robot 4...Arm 10
...Hand body 6...Work 11...
・Clamper (gripping mechanism) 20... Fixed part 21... Floating part η... Guide mail 25 instep guide female 28... Spring (biasing means) 30... Vacuum cup (grasping tilting) Patent 1゛1
1 person H Sanhakusha Co., Ltd. 1. Agent a1. ! Professor Tsuchihashi Hiroshi j...
,-,,52'' 1st Flash Figure 6 B CA Figure 7

Claims (1)

[Claims] A mechanical hand for an industrial robot having a hand main body fixed to a robot arm and a gripping mechanism provided at the tip of the hand main body for gripping a workpiece, which is divided into the hand main body, a fixed part, and a floating part, One of the fixed part and the floating part is formed with a guide mail extending in the axial direction, and the other is formed with a J-type female into which the guide mail is movably fitted. While making the floating part relatively movable from the normal position IN to the maximum stroke position, the floating part ? A biasing means for returning to the normal position is provided, so that when the floating part is located at the normal position and the maximum stroke position, the guide mail is tightly fitted into the guide female, and the floating part is located at the normal position and the maximum stroke position. A mechanical hand for an industrial robot, characterized in that the mechanical hand of an industrial robot is loosely fitted into the guide male and the guide female when the hand is located in the middle of the two positions.