JPS5924983A - Robot hand - 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] [Technical field to which the invention pertains] This invention relates to a robot hand.

[Prior art and its problems]

When gripping a workpiece, if you try to grip it with a large force from the beginning, there is a risk of deforming or destroying the workpiece, so the gripping force must be increased step by step to find the optimal gripping force. To control the gripping force at this time, the slippage of the workpiece is extracted as an electrical signal and controlled using this.
In most cases, it had to be equipped with complex elements such as sensors, control circuits, etc.

[Purpose of the invention]

The purpose of the present invention is to provide a gripping device which greatly improves the drawbacks of the conventional device described above, and which can provide a workpiece fall prevention function with a simple mechanism.

[Summary of the invention]

In the present invention, a rotary body that protrudes from the surface facing the workpiece and is eccentrically supported is provided on a part of the finger that can be opened and closed for gripping the workpiece. The gripping force of a portion of the finger is increased by the rotation of the rotating body that rotates eccentrically when the grip is rotated, without the need for an operation to close the portion of the finger.

〔Effect of the invention〕

As described above, when the workpiece is about to slide off, it is necessary to increase the gripping force of the robot hand, but according to the present invention, there is no need to close part of the fingers at all, and therefore the workpiece is prevented from sliding. Sensors and control circuits for detection are also not required.

[Embodiments of the invention]

Hereinafter, the present invention will be described in detail with reference to the drawings. 1st
The figure shows an embodiment of the robot hand according to the present invention. FIG. 1 shows only the hand section of the robot, which is connected to the wrist section on the robot main body side.

A link plate 3a, 3d is rotatably attached to pins 2a, 2b provided on the support plate 1;
This is also rotatably mounted. On the other hand, a cylinder 6 is fixed to the other side of the support plate 1, and a piston rod 7 protruding from the cylinder 6 has a pin 8 attached to it. oshi, the aforementioned link plates 3a, 3d
Link plates 3b and 3c arranged parallel to the link plate 3b and 3c are rotatably connected to the pin 8, and the link plates 3b and 3c are
, 3c are rotatably attached to the inner ends of the fingers 4a, 4b via pins 9a, 9b.

On the other hand, a rotating body 10 is eccentrically supported and installed on the surface of the finger parts 4a, 4b facing the workpiece, and a part of the rotating body 10 protrudes from the surface of the finger parts 4a, 4b facing the workpiece. ing. When gripping the workpiece 11, the cylinder 6 is actuated and the piston rod 7 is moved backward, so that the finger portions 4a and 4b are closed and brought into a gripping state. Therefore, it is the rotating body 10 that is in contact with the workpiece when gripping it.

FIG. 2 is an enlarged view of the rotating body 10 and the finger portions 4a, 4b. FIG. 3 is a sectional view taken along the plane taken along the line A--A in FIG. 2 and viewed in the direction of the arrows.

The rotating body 1O is eccentrically supported by a shaft 12 and is rotatably mounted. Also, the rotating body 10
and the finger parts 4a, 4b are connected by a spring 13.

FIG. 4 is an enlarged view of FIG. 3. Work 11 and rotating body 1
When the workpiece 11 falls when the workpiece 11 starts to make contact and attempts to grip the workpiece 11, the rotating body lO also moves in a straight line around the axis 12' due to the fall of the workpiece 11.
Perform eccentric rotational motion. When the rotating body 10 rotates, due to eccentricity, a force is applied in the direction of clamping the workpiece 11, and the gripping force increases. In this way, by providing the rotating body 10 that protrudes from the work-facing surfaces (1111) of the fins 4a and 4b and is eccentrically supported, it is possible to automatically prevent the fall due to insufficient gripping force when gripping the υ suuk. It is possible to increase the gripping force and prevent the object from falling.

Note that it is desirable that the surface of the rotating body 100 has a large friction coefficient, and it is possible to use knurling treatment or to use synthetic resin, rubber, etc. with a friction coefficient of 9. Alternatively, a polygonal column can also be easily provided with the same function. .

[Brief explanation of drawings]

FIG. 1 is a sectional view showing the robot hand according to the present invention, FIG. 2 is an enlarged view of a part of the finger, and FIG.
4 is an enlarged view of FIG. 3; FIG. 1......Support plate, 2a, 2
b...Pin, 3a, 3b, 3c,
3d...Link plate, 4a, 4b...
・Finger, 5a, 5b...Pin, 6・
......Cylinder, 7...Piston rod, 8...Bin,
9a, 9b...pin, 10...rotating body, 11...work, 12...shaft, 13... ) Kune. Agent: Patent attorney Kensuke Chika (and 1 other person)

Claims (1)

[Claims] In the robot hand, a part of the finger is provided with a nine-turning body that is eccentrically supported and protrudes from the surface facing the workpiece, and has a function that automatically compensates for the workpiece falling due to insufficient gripping force when gripping the workpiece. A robot hand that features: