JP2011189418A - Robot hand - Google Patents
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Abstract
Description
本発明は、ワークの円筒形部分をその径方向に把持するロボットハンドに関する。 The present invention relates to a robot hand that grips a cylindrical portion of a workpiece in its radial direction.
ロボットハンドは、例えば多関節ロボットのアーム先端部に取り付けられ、ワークを把持して搬送するために通常用いられる。
また、ワークの円筒形部分をその径方向に把持する場合、ロボットハンドの把持部に対向するＶ字形状の接触部ができるようにするのが一般的である。
しかしこの場合、図１（Ａ）に示すように、爪のＶ字形状の接触部が小径の円筒形部分を確実に把持できても、図１（Ｂ）に示すように、丸印で示すＶ字形状の角にワークが当たり、表面を傷付けたり、把持が不安定になる問題点があった。
A robot hand is attached to the tip of an arm of an articulated robot, for example, and is usually used for gripping and transporting a workpiece.
Further, when gripping the cylindrical portion of the workpiece in the radial direction, it is common to make a V-shaped contact portion that faces the grip portion of the robot hand.
However, in this case, as shown in FIG. 1A, even if the V-shaped contact portion of the nail can securely grip the small-diameter cylindrical portion, it is indicated by a circle as shown in FIG. There is a problem that the workpiece hits the corner of the V-shape and scratches the surface or makes the grip unstable.
そこで、ワークの円筒形部分の直径が大きく異なる場合は、従来は、爪寸法の異なるロボットハンドに全体を交換していた。しかしこの場合、ロボットの作動を停止してロボットハンドを交換するため時間ロスが発生し、ロボットの稼働率が低下する。 Therefore, when the diameter of the cylindrical portion of the workpiece is greatly different, conventionally, the whole is replaced with a robot hand having a different claw size. In this case, however, the operation of the robot is stopped and the robot hand is replaced, so that a time loss occurs and the operation rate of the robot decreases.
そこで、ワークの円筒形部分の直径が異なる場合でも、ロボットハンド全体を交換する必要のない、ロボットハンドが提案されている（例えば、特許文献１）。 Therefore, there has been proposed a robot hand that does not require replacement of the entire robot hand even when the diameter of the cylindrical portion of the workpiece is different (for example, Patent Document 1).
上述したように、把持部の形状が異なる複数種類のワークを別々に把持する場合に、従来はロボットハンド又はその爪を交換することで異なるワークに対応していた。
しかし、この場合、ロボットの作動を中断し、ロボットハンド又はその爪を交換する必要があり、ロボットの稼働率が低下する問題点があった。またこの場合、信号線、電力線、空圧配管なども分離できなければならず、機構が複雑になり高価となる。また、ロボットハンドの重量が重くなる問題点があった。
As described above, when a plurality of types of workpieces having different gripping portion shapes are gripped separately, conventionally, the robot hand or its claws are replaced to cope with different workpieces.
However, in this case, it is necessary to interrupt the operation of the robot and replace the robot hand or its claws, resulting in a problem that the operation rate of the robot is lowered. In this case, it is also necessary to be able to separate the signal line, the power line, the pneumatic piping, etc., and the mechanism becomes complicated and expensive. In addition, there is a problem that the weight of the robot hand becomes heavy.
また、特許文献１は、ロボットハンド全体を交換しないために複雑な機構を用いている。そのため、ロボットハンドが重くなり、ロボットハンドによる可搬重量が小さく、移動速度が低下する問題点があった。また、複雑な機構のため、部品数が増えて故障の発生率が上昇し、「安定した把持」が困難になる問題点があった。 Patent Document 1 uses a complicated mechanism in order not to replace the entire robot hand. For this reason, there is a problem that the robot hand becomes heavy, the loadable weight by the robot hand is small, and the moving speed is lowered. In addition, due to the complicated mechanism, the number of parts increases, the failure rate increases, and there is a problem that “stable gripping” becomes difficult.
本発明は、上述した問題点を解決するために創案されたものである。すなわち、本発明の目的は、直径の異なる円筒形部分を有するワークの前記円筒形部分をその径方向に把持する場合に、円筒形部分の直径が大きく異なっても、作動を中断することなくかつ部品を交換することなく、ワークの把持部を安定して把持することができるロボットハンドを提供することにある。 The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to hold the cylindrical portion of a workpiece having cylindrical portions having different diameters in the radial direction without interrupting the operation even if the diameter of the cylindrical portion is greatly different. An object of the present invention is to provide a robot hand that can stably grip a workpiece gripping part without replacing parts.
本発明によれば、直径の異なる円筒形部分を有するワークの前記円筒形部分をその径方向に把持するロボットハンドであって、
長手方向に延びる１対の爪と、
前記爪の間隔を開位置と閉位置の間で開閉するチャック装置と、を備え、
前記爪は、前記チャック装置により開閉される開閉部材と、該開閉部材に爪の長手方向に伸縮可能に取り付けられた先端部材と、該先端部材を爪の長手方向に伸縮させるアクチュエータとを有しており、
前記開閉部材と先端部材は、前記円筒形部分に接触してこれを把持する互いに交差する把持面をそれぞれ有する、ことを特徴とするロボットハンドが提供される。
According to the present invention, there is provided a robot hand that grips the cylindrical portion of a workpiece having cylindrical portions having different diameters in a radial direction thereof,
A pair of nails extending longitudinally;
A chuck device for opening and closing the gap between the claw between an open position and a closed position,
The claw includes an opening / closing member that is opened and closed by the chuck device, a tip member attached to the opening / closing member so as to be stretchable in the longitudinal direction of the claw, and an actuator for extending and contracting the tip member in the longitudinal direction of the claw. And
The open / close member and the tip member each have a gripping surface intersecting each other for contacting and gripping the cylindrical portion, and a robot hand is provided.
本発明の実施形態によれば、ワークの把持時において、前記１対の爪に作用する反力を検出する力センサを備える。 According to the embodiment of the present invention, a force sensor is provided that detects a reaction force acting on the pair of claws when the workpiece is gripped.
また、本発明の実施形態によれば、前記チャック装置は、前記１対の爪の長手方向末端部を平行に保持して片持支持する１対の片持支持部材と、該片持支持部材の相対位置を連続的に変化させるアクチュエータとを備える。 According to an embodiment of the present invention, the chuck device includes a pair of cantilever support members that cantilever-support the longitudinal ends of the pair of claws in parallel, and the cantilever support members. And an actuator for continuously changing the relative position of the actuator.
また、本発明の別の実施形態によれば、前記チャック装置は、前記１対の爪を単一の回転軸を中心に回転駆動するアクチュエータを備える。 According to another embodiment of the present invention, the chuck device includes an actuator that rotationally drives the pair of claws about a single rotation axis.
上記本発明の構成によれば、爪が、開閉部材、先端部材、及びアクチュエータを有するので、円筒形部分の直径が大きく異なっても、先端部材を爪の長手方向に伸縮させることで、作動を中断することなくかつ部品を交換することなく、開閉部材に対する先端部材の長手方向位置を調整することができる。
また、開閉部材と先端部材は、ワークの円筒形部分に接触してこれを把持する互いに交差する把持面をそれぞれ有するので、４つの把持面でワークの円筒形部分を囲むように把持することで、円筒形部分の直径が大きく異なっても、ワークの把持部を安定して把持することができる。
According to the configuration of the present invention, since the claw has the opening / closing member, the tip member, and the actuator, even if the diameter of the cylindrical portion is greatly different, the tip member can be expanded and contracted in the longitudinal direction of the claw to operate the claw. The longitudinal position of the tip member with respect to the opening / closing member can be adjusted without interruption and without exchanging parts.
Further, since the opening / closing member and the tip member each have a gripping surface that intersects and grips the cylindrical portion of the workpiece, each of the opening / closing member and the tip member can be gripped by surrounding the cylindrical portion of the workpiece with the four gripping surfaces. Even if the diameters of the cylindrical portions are greatly different, the workpiece gripping portion can be stably gripped.
従って、（１）多様な直径の円筒形部分を安定的に把持でき、（２）軽量なロボットハンドとすることで、ロボットハンドの可搬重量を増加でき、かつ移動速度も上昇できる。さらに、４つの把持面でワークの円筒形部分を囲むように把持するので、ワークを傷つけることなく把持できる。
Accordingly, (1) cylindrical portions having various diameters can be stably gripped, and (2) a lightweight robot hand can increase the loadable weight of the robot hand and increase the moving speed. Furthermore, since it grips so that the cylindrical part of a workpiece | work may be enclosed with four holding surfaces, it can hold | grip without damaging a workpiece | work.
本発明を実施するための最良の実施形態を図面に基づいて説明する。なお、各図において共通する部分には同一の符号を付し、重複した説明を省略する。 The best mode for carrying out the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.
図２は、本発明のロボットハンドを備えたロボットの全体構成図である。
この図において、１はロボット、２はロボットアーム、３はロボットの手先部である。
ロボット１は、この例では、テーブル４の上面に固定された垂直多関節ロボットであるが、本発明はこれに限定されず、その他のロボット（スカラロボットや直交ロボット）であってもよい。
FIG. 2 is an overall configuration diagram of a robot provided with the robot hand of the present invention.
In this figure, 1 is a robot, 2 is a robot arm, and 3 is a hand portion of the robot.
In this example, the robot 1 is a vertical articulated robot fixed to the upper surface of the table 4, but the present invention is not limited to this, and may be another robot (a SCARA robot or an orthogonal robot).
本発明のロボットハンド１０は、ロボットの手先部３に搭載され、ロボット１により、所定の作動範囲で３次元的に移動され、かつ自由な姿勢をとることができるようになっている。 The robot hand 10 according to the present invention is mounted on the hand portion 3 of the robot, is moved three-dimensionally within a predetermined operating range by the robot 1, and can take a free posture.
この図において、５はワーク、６はワーク支持台、７はワークテーブルである。
ワーク５は、直径の異なる円筒形部分５ａを有し、ロボットハンド１０は円筒形部分５ａを径方向に把持するようになっている。
In this figure, 5 is a work, 6 is a work support, and 7 is a work table.
The workpiece 5 has a cylindrical portion 5a having a different diameter, and the robot hand 10 is configured to grip the cylindrical portion 5a in the radial direction.
ワーク支持台６は、ワークテーブル７の上面に位置し、ワーク５の下端部を保持する縦穴６ａを有する。この縦穴６ａはワーク５の下端部を保持しワーク５の軸線を鉛直に保持するようになっている。
なお、ワーク支持台６はこの例に限定されず、ワーク５の把持部５ａ（円筒形部分５ａ）をロボットハンド１０で把持できるようにワークの姿勢を保持できる限りで、その他の構造又は装置であってもよい。
The workpiece support 6 is located on the upper surface of the workpiece table 7 and has a vertical hole 6 a that holds the lower end of the workpiece 5. The vertical hole 6a holds the lower end of the work 5 and holds the axis of the work 5 vertically.
The workpiece support base 6 is not limited to this example, and may be any other structure or device as long as the workpiece can be held so that the grip portion 5a (cylindrical portion 5a) of the workpiece 5 can be gripped by the robot hand 10. There may be.
図３は、本発明によるロボットハンドの第１実施形態図である。この図において、（Ａ）は図２のロボットハンド１０の拡大図、（Ｂ）は図２のＢ−Ｂ矢視図である。 FIG. 3 is a diagram showing a first embodiment of a robot hand according to the present invention. In this figure, (A) is an enlarged view of the robot hand 10 of FIG. 2, and (B) is a view taken along the line BB of FIG.
図３において、本発明のロボットハンド１０は、１対の爪１２、及びチャック装置１４を備える。 In FIG. 3, the robot hand 10 of the present invention includes a pair of claws 12 and a chuck device 14.
１対の爪１２は、長手方向（図３（Ａ）で左右方向）に延び、この例では図３（Ｂ）において左右方向に、それぞれ移動できるように支持されている。 The pair of claws 12 extend in the longitudinal direction (left-right direction in FIG. 3A) and are supported so as to be movable in the left-right direction in FIG. 3B in this example.
チャック装置１４は、１対の爪１２の間隔を「開位置」と「閉位置」の間で開閉する。
「開位置」は、１対の爪１２の最小間隔がワーク５の把持部５ａ（円筒形部分５ａ）の最大寸法より大きい位置であり、把持部５ａに干渉することなく、把持部５ａを１対の爪１２の間に位置決めできるように設定されている。
「閉位置」は、１対の爪１２の最小間隔がワーク５の把持部５ａ（円筒形部分５ａ）を把持する位置より小さい位置であり、把持部５ａを１対の爪１２の間に挟んで固定できるように設定されている。
The chuck device 14 opens and closes the distance between the pair of claws 12 between the “open position” and the “closed position”.
The “open position” is a position where the minimum distance between the pair of claws 12 is larger than the maximum dimension of the gripping portion 5a (cylindrical portion 5a) of the workpiece 5, and the gripping portion 5a is set to 1 without interfering with the gripping portion 5a. It is set so that it can be positioned between the pair of claws 12.
The “closed position” is a position where the minimum distance between the pair of claws 12 is smaller than the position where the grip portion 5 a (cylindrical portion 5 a) of the workpiece 5 is gripped, and the grip portion 5 a is sandwiched between the pair of claws 12. It is set so that it can be fixed with.
図４は、図３のロボットハンドの詳細図である。この図において、（Ａ）は図３（Ｂ）のＣ−Ｃ矢視図であり、（Ｂ）は図４（Ａ）の側面図である。また、図４（Ａ）ではその一部を断面で示している。 FIG. 4 is a detailed view of the robot hand of FIG. In this figure, (A) is a CC arrow view of FIG. 3 (B), and (B) is a side view of FIG. 4 (A). FIG. 4A shows a part of the cross section.
図４（Ａ）において、チャック装置１４は、１対の爪１２の長手方向末端部を平行に保持して片持支持する１対の片持支持部材１４ａと、片持支持部材１４ａの相対位置を連続的に変化させるアクチュエータ１４ｂとを備える。
片持支持部材１４ａは、図示しないリニアガイドにより図４（Ａ）で左右方向に案内されている。また、アクチュエータ１４ｂは、例えばラック＆ピニオン機構とモータ、直動の電動シリンダ、ネジ棒とモータ等である。
4A, the chuck device 14 includes a pair of cantilever support members 14a that cantilever-support a pair of claws 12 held in parallel in the longitudinal direction, and a relative position between the cantilever support members 14a. Is provided with an actuator 14b that continuously changes.
The cantilever support member 14a is guided in the left-right direction in FIG. 4A by a linear guide (not shown). The actuator 14b is, for example, a rack and pinion mechanism and a motor, a linear motion electric cylinder, a screw rod and a motor, or the like.
また、本発明のロボットハンド１０は、ワーク１の把持時において、１対の爪１２に作用する反力を検出する力センサ１５を備える。
力センサ１５は、例えばロードセル、歪みゲージ、又は圧力センサであるが、本発明は反力又は圧力を検出できる限りで、これらに限定されない。
かかる力センサ１５を備えることにより、ワーク１の把持時において、１対の爪１２に作用する反力、すなわちワークの把持部５ａに作用する力を検出し、１対の爪１２をその位置で停止することができる。
The robot hand 10 of the present invention also includes a force sensor 15 that detects a reaction force acting on the pair of claws 12 when the workpiece 1 is gripped.
The force sensor 15 is, for example, a load cell, a strain gauge, or a pressure sensor, but the present invention is not limited to this as long as it can detect a reaction force or pressure.
By providing the force sensor 15, a reaction force acting on the pair of claws 12 when the workpiece 1 is gripped, that is, a force acting on the workpiece gripping portion 5 a is detected, and the pair of claws 12 are moved at that position. Can be stopped.
図４（Ａ）に示すように、１対の爪１２は、それぞれ開閉部材１２ａ、先端部材１２ｂ、及びアクチュエータ１２ｃからなる。 As shown in FIG. 4A, the pair of claws 12 includes an opening / closing member 12a, a tip member 12b, and an actuator 12c.
開閉部材１２ａは、チャック装置１４によりこの図で左右に開閉される。また、この例で、開閉部材１２ａの先端側に爪の長手方向に延びる嵌合孔が設けられている。
先端部材１２ｂは、開閉部材１２ａに爪の長手方向（図で上下方向）に伸縮可能に取り付けられている。すなわち、この例で先端部材１２ｂの末端部（図で上側）が開閉部材１２ａの嵌合孔に僅かな隙間で嵌り、先端部材１２ｂを片持ち支持するようになっている。
アクチュエータ１２ｃは、先端部材１２ｂを爪の長手方向に伸縮させる。
また、アクチュエータ１２ｃは、例えば直動の電動シリンダ、ラック＆ピニオン機構とモータ、ネジ棒とモータ等である。また、開閉部材１２ａの停止位置が２位置でよければエアーシリンダでもよい。
The opening / closing member 12a is opened and closed left and right in this figure by the chuck device 14. In this example, a fitting hole extending in the longitudinal direction of the claw is provided on the distal end side of the opening / closing member 12a.
The tip member 12b is attached to the opening / closing member 12a so as to be extendable in the longitudinal direction of the claw (vertical direction in the figure). That is, in this example, the distal end portion (upper side in the figure) of the tip member 12b is fitted into the fitting hole of the opening / closing member 12a with a slight gap so that the tip member 12b is cantilevered.
The actuator 12c expands and contracts the tip member 12b in the longitudinal direction of the claw.
The actuator 12c is, for example, a direct-acting electric cylinder, a rack and pinion mechanism and a motor, a screw rod and a motor, or the like. Further, an air cylinder may be used if the stop position of the opening / closing member 12a is two positions.
図４において、開閉部材１２ａと先端部材１２ｂは、互いに交差する把持面１３ａ，１３ｂをそれぞれ有する。把持面１３ａ，１３ｂは、ワークの円筒形部分５に接触してこれを把持するようになっている。
把持面１３ａ，１３ｂは、この例では平面であるが、円弧状の凹面、或いは凸面でもよい。
In FIG. 4, the opening / closing member 12 a and the tip member 12 b have gripping surfaces 13 a and 13 b that intersect each other. The grip surfaces 13a and 13b come into contact with and hold the cylindrical portion 5 of the workpiece.
The gripping surfaces 13a and 13b are flat in this example, but may be arcuate concave surfaces or convex surfaces.
把持面１３ａ，１３ｂは、対向する面で正方形を作るのが好ましいが，ワーク１の質量が小さく場合は、緩やかな角度のひし形でも良い。 The gripping surfaces 13a and 13b are preferably formed in a square shape on the opposing surfaces, but may be diamonds with a moderate angle when the mass of the workpiece 1 is small.
図５は、図３のロボットハンドの作動説明図である。この図において、（Ａ）は直径の小さい円筒形部分を把持する場合、（Ｂ）は直径の大きい円筒形部分を把持する場合を示している。 FIG. 5 is an operation explanatory diagram of the robot hand of FIG. In this figure, (A) shows a case where a cylindrical portion having a small diameter is gripped, and (B) shows a case where a cylindrical portion having a large diameter is gripped.
本発明のロボットハンド１０は、以下のように作動する。
（１） 把持するワーク１の円筒形部分５ａをワーク情報（計画値、もしくは別途計測した値）に基づき特定する。
（２） 円筒形部分５ａの直径に合わせて、先端部材１２ｂと開閉部材１２ａの位置を決める。
例えば、円筒形部分５ａの外径がＶ字部角部に当たらないようにし、可能な限り、対向する面１３ａ，１３ｂで取り囲む様にする。
（３） ロボットアームで円筒形部分５ａの直径を爪１２が挟める位置にロボットハンド１０を移動させる。
（４） 開閉チャック１４を閉じて、円筒形部分５ａを把持する。
（５） 作業が終了したら、開閉チャック１４を開いて、把持を解除する。
The robot hand 10 of the present invention operates as follows.
(1) The cylindrical portion 5a of the workpiece 1 to be gripped is specified based on the workpiece information (planned value or separately measured value).
(2) The positions of the tip member 12b and the opening / closing member 12a are determined in accordance with the diameter of the cylindrical portion 5a.
For example, the outer diameter of the cylindrical portion 5a is prevented from hitting the corner of the V-shaped portion, and is surrounded by the opposing surfaces 13a and 13b as much as possible.
(3) The robot hand 10 is moved to a position where the claw 12 can pinch the diameter of the cylindrical portion 5a with the robot arm.
(4) The open / close chuck 14 is closed and the cylindrical portion 5a is gripped.
(5) When the work is completed, the opening / closing chuck 14 is opened to release the grip.
図６は、本発明によるロボットハンドの第２実施形態図である。
この例において、チャック装置１４は、１対の爪１２を単一の回転軸１４ｃを中心に回転駆動するアクチュエータ１４ｄを備える。アクチュエータ１４ｄは、例えば直動の電動シリンダ、ラック＆ピニオン機構とモータ、ネジ棒とモータ等である。
この構成により、アクチュエータ１４ｄにより、１対の爪１２を単一の回転軸１４ｃを中心に揺動させて、ハサミのように、１対の爪１２の間隔を「開位置」と「閉位置」の間で開閉することができる。
FIG. 6 is a diagram showing a second embodiment of the robot hand according to the present invention.
In this example, the chuck device 14 includes an actuator 14d that drives the pair of claws 12 to rotate about a single rotation shaft 14c. The actuator 14d is, for example, a linear motorized cylinder, a rack and pinion mechanism and a motor, a screw rod and a motor, or the like.
With this configuration, the actuator 14d causes the pair of claws 12 to swing around the single rotation shaft 14c, and the distance between the pair of claws 12 is “open position” and “closed position” like scissors. Can be opened and closed between.
上述した本発明の構成によれば、爪１２が、開閉部材１２ａ、先端部材１２ｂ、及びアクチュエータ１２ｃを有するので、円筒形部分５ａの直径が大きく異なっても、先端部材１２ｂを爪の長手方向に伸縮させることで、作動を中断することなくかつ部品を交換することなく、開閉部材１２ａに対する先端部材１２ｂの長手方向位置を調整することができる。
また、開閉部材１２ａと先端部材１２ｂは、ワーク１の円筒形部分５ａに接触してこれを把持する互いに交差する把持面１３ａ，１３ｂをそれぞれ有するので、４つの把持面１３ａ，１３ｂでワーク１の円筒形部分５ａを囲むように把持することで、円筒形部分５ａの直径が大きく異なっても、ワーク１の把持部５ａを安定して把持することができる。
According to the configuration of the present invention described above, the claw 12 includes the opening / closing member 12a, the tip member 12b, and the actuator 12c. Therefore, even if the diameter of the cylindrical portion 5a is greatly different, the tip member 12b is moved in the longitudinal direction of the claw. By extending and contracting, the longitudinal position of the tip member 12b with respect to the opening / closing member 12a can be adjusted without interrupting the operation and without exchanging components.
Further, since the opening / closing member 12a and the tip member 12b have gripping surfaces 13a and 13b that are in contact with and hold the cylindrical portion 5a of the workpiece 1, the four gripping surfaces 13a and 13b respectively By gripping so as to surround the cylindrical portion 5a, the grip portion 5a of the workpiece 1 can be stably gripped even if the diameter of the cylindrical portion 5a is greatly different.
従って、（１）多様な直径の円筒形部分５ａを安定的に把持でき、（２）軽量なロボットハンド１０とすることで、ロボットハンド１０の可搬重量を増加でき、かつ移動速度も上昇できる。さらに、４つの把持面１３ａ，１３ｂでワーク１の円筒形部分５ａを囲むように把持するので、ワーク１を傷つけることなく把持できる。 Accordingly, (1) the cylindrical portion 5a having various diameters can be stably grasped, and (2) the weight of the robot hand 10 can be increased and the moving speed can be increased by using the lightweight robot hand 10. . Furthermore, since the gripping is performed so as to surround the cylindrical portion 5a of the workpiece 1 with the four gripping surfaces 13a and 13b, the workpiece 1 can be gripped without being damaged.
なお、本発明は上述した実施形態に限定されず、特許請求の範囲の記載によって示され、さらに特許請求の範囲の記載と均等の意味および範囲内でのすべての変更を含むものである。 In addition, this invention is not limited to embodiment mentioned above, is shown by description of a claim, and also includes all the changes within the meaning and range equivalent to description of a claim.
１ ロボット、２ ロボットアーム、
３ ロボットの手先部、４ テーブル、
５ ワーク、５ａ 把持部（円筒形部分）、
６ ワーク支持台、６ａ 縦穴、７ ワークテーブル、
１０ ロボットハンド、１２ 爪、
１２ａ 開閉部材、１２ｂ 先端部材、
１２ｃ アクチュエータ、１３ａ，１３ｂ 把持面、
１４ チャック装置、１４ａ 片持支持部材、
１４ｂ アクチュエータ、１４ｃ 回転軸、
１４ｄ アクチュエータ、１５ 力センサ
1 robot, 2 robot arms,
3 Robot hand, 4 tables,
5 Work, 5a Gripping part (cylindrical part),
6 Work support, 6a Vertical hole, 7 Work table,
10 robot hands, 12 nails,
12a opening and closing member, 12b tip member,
12c actuator, 13a, 13b gripping surface,
14 chuck device, 14a cantilever support member,
14b actuator, 14c rotating shaft,
14d actuator, 15 force sensor
Claims (4)
長手方向に延びる１対の爪と、
前記爪の間隔を開位置と閉位置の間で開閉するチャック装置と、を備え、
前記爪は、前記チャック装置により開閉される開閉部材と、該開閉部材に爪の長手方向に伸縮可能に取り付けられた先端部材と、該先端部材を爪の長手方向に伸縮させるアクチュエータとを有しており、
前記開閉部材と先端部材は、前記円筒形部分に接触してこれを把持する互いに交差する把持面をそれぞれ有する、ことを特徴とするロボットハンド。 A robot hand for gripping the cylindrical portion of a workpiece having cylindrical portions with different diameters in a radial direction thereof,
A pair of nails extending longitudinally;
A chuck device for opening and closing the gap between the claw between an open position and a closed position,
The claw includes an opening / closing member that is opened and closed by the chuck device, a tip member attached to the opening / closing member so as to be stretchable in the longitudinal direction of the claw, and an actuator for extending and contracting the tip member in the longitudinal direction of the claw. And
The robot hand according to claim 1, wherein the opening / closing member and the tip member each have a gripping surface intersecting each other for contacting and gripping the cylindrical portion.
The robot hand according to claim 1, wherein the chuck device includes an actuator that rotationally drives the pair of claws about a single rotation axis.
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| CN102441890A (en) * | 2011-09-30 | 2012-05-09 | 曹新江 | Single chip microcomputer grabbing mechanical arm |
| JP2013129035A (en) * | 2011-12-22 | 2013-07-04 | Mitsubishi Electric Corp | Hand device |
| CN103481279A (en) * | 2012-06-14 | 2014-01-01 | 南车青岛四方机车车辆股份有限公司 | Multi-freedom-degree manipulator fixture |
| WO2016194516A1 (en) * | 2015-06-05 | 2016-12-08 | 三桜工業株式会社 | Chuck mechanism |
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| EP4129574A1 (en) * | 2021-08-06 | 2023-02-08 | Ohrmann Montagetechnik GmbH | Ring mounting apparatus and method for mounting a ring |
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