JPH01295779A - Variable pitch hand - Google Patents
Variable pitch handInfo
- Publication number
- JPH01295779A JPH01295779A JP12534088A JP12534088A JPH01295779A JP H01295779 A JPH01295779 A JP H01295779A JP 12534088 A JP12534088 A JP 12534088A JP 12534088 A JP12534088 A JP 12534088A JP H01295779 A JPH01295779 A JP H01295779A
- Authority
- JP
- Japan
- Prior art keywords
- base
- stationary
- engaging
- movable
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 description 27
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、長さの異なる２種類以上の部材を保持できる
可変ピッチハンドに関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a variable pitch hand capable of holding two or more types of members having different lengths.
［従来の技術］
従来、長さが長く、しかも長さの異なる２種類の部材を
保持するロボットのハンドとして、部材の両端部を保持
する１対の保持部をもち、これら１対の保持部の間隔を
作業者により、あるいはハンドに取付けた駆動装置によ
り変えるものが知られている。そして、長さが異なる部
材毎に１対の保持部間の間隔をかえ、短い部材に対して
は、１対の保持部間の間隔を短くして部材を保持し、長
い部材に対しては１対の保持部間の間隔を長くして長い
部材を保持していた。[Prior Art] Conventionally, a robot hand that holds two long members of different lengths has a pair of holding parts that hold both ends of the member. It is known that the distance between the two can be changed by the operator or by a drive device attached to the hand. Then, the distance between the pair of holding parts is changed for each member of different length, and for a short member, the distance between the pair of holding parts is shortened and the member is held, and for a long member, the distance between the pair of holding parts is changed. A long member was held by increasing the distance between a pair of holding parts.
［発明が解決しようとする課題］
しかし１対の保持部間の間隔を作業者が変更することは
作業能率を大幅に低下させることになる。[Problems to be Solved by the Invention] However, if the operator changes the distance between the pair of holding parts, the work efficiency will be significantly reduced.
またハンドに１対の保持部の間隔を自動的に変える駆動
装置を設けた場合にはハンド自体の構造が複雑になると
ともにハンドの重量が増すためロボットの作動能力が低
下し、さらにハンド自体のコストも高くなるという問題
があった。Furthermore, if the hand is equipped with a drive device that automatically changes the distance between the pair of holding parts, the structure of the hand itself becomes complicated, and the weight of the hand increases, reducing the operating ability of the robot. There was also a problem that the cost was high.
本発明は上記問題に鑑み、作業能率及びロボットの作動
能力を低めることなく、しがもコストの安い可変ピッチ
ハンドを提供することを課題とするものである。SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to provide a variable pitch hand that is inexpensive and does not reduce work efficiency or robot operating performance.
［課題を解決するための手段］
本発明の可変ピッチハンドはロボット先端に取付けられ
案内部を有する基部と、この基部の一端に取付けられワ
ークを保持する固定保持部と、この案内部に可動自在に
保持されるとともにロボット先端の動きと独立した静止
位置に固定された静止係合部材と係合する係合部を有し
、この係合部と静止係合部材とが係合した状態でその基
部をそのロボットにより移動させることによりこの基部
との間の相対位置が変わる可動部材とこの可動部材に取
付けられ前記固定保持部とともにワークを保持する可動
保持部とからなることを特徴とする。[Means for Solving the Problems] The variable pitch hand of the present invention has a base that is attached to the tip of the robot and has a guide part, a fixed holding part that is attached to one end of the base and holds a workpiece, and a movable part that is attached to the guide part. It has an engaging part that engages with a stationary engaging member that is held at a stationary position and is fixed at a stationary position independent of the movement of the robot tip, and when the engaging part and the stationary engaging member are engaged, the It is characterized by comprising a movable member whose relative position with the base changes when the base is moved by the robot, and a movable holder that is attached to the movable member and holds a work together with the fixed holder.
［作用］
長さが異なるワークを保持する場合、基部に取りつけら
れた固定保持部と可動保持部との間の必要な間隔が決定
されるとその間隔がその時点にお番ノる間隔と異なる場
合、ロボットの動作によりハンドを移動させ、係合部の
一端を固定された静止係合部材に係合させる。このとき
係合部の他端は基部と係合している。そして係合部が静
止係合部材と係合した状態でロボットの動作によりハン
ドの基部を移動させ係合部と基部との係合を解除する。[Function] When holding workpieces of different lengths, once the required spacing between the fixed holding part attached to the base and the movable holding part is determined, that spacing will be different from the currently designated spacing. In this case, the hand is moved by the action of the robot, and one end of the engaging portion is engaged with a fixed stationary engaging member. At this time, the other end of the engaging portion is engaged with the base. Then, while the engaging portion is engaged with the stationary engaging member, the robot moves the base of the hand to release the engagement between the engaging portion and the base.
この係合部と基部が解除された状態でロボットの動作に
より基部と可動部材が案内部に沿って相対移動するよう
に基部を移動させ可動部材を基部の所定位置に位置させ
る。そしてロボットの動作により可動部材を基部の所定
位置に保持しつつハンドの基部を移動させ係合部を基部
と係合させ可動部材の基部への位置決め固定を完了させ
る。With the engaging portion and the base being released, the robot moves the base so that the base and the movable member move relative to each other along the guide portion, and the movable member is positioned at a predetermined position on the base. Then, the robot moves the base of the hand while holding the movable member at a predetermined position on the base to engage the engaging portion with the base, thereby completing positioning and fixing of the movable member to the base.
その後ロボットの動作により係合部と静止係合部材との
係合を解除してハンドを作業位置に移動させ各保持部に
よりワークの保持を行なう。Thereafter, the engagement between the engaging portion and the stationary engaging member is released by the operation of the robot, the hand is moved to the working position, and the workpiece is held by each holding portion.
［実施例〕
本実施例の可変ピッチハンドは第１図に示すようにロボ
ット先端に取付けられたレール１１を有する基部１と、
この基部１の一端に取付けられた固定保持部２と、レー
ル１１に可動自在に保持されるとともに静止係合部材４
と係合可能な係合部３２を有し、さらに可動保持部３１
を有する可動部材３とからなる。[Example] As shown in FIG. 1, the variable pitch hand of this example includes a base 1 having a rail 11 attached to the tip of the robot;
A fixed holding part 2 is attached to one end of the base 1, and a stationary engagement member 4 is movably held on the rail 11.
It has an engaging part 32 that can be engaged with the movable holding part 31.
It consists of a movable member 3 having a
基部１は長尺状で両側部の長手方向に溝１１１のあるレ
ール１１とこのレール１１にボルト１３で固定されると
ともにロボットのアームにボルト１４で固定された７ラ
ンジ部１２とからなる。The base 1 is made up of a long rail 11 with grooves 111 in the longitudinal direction on both sides, and seven flange parts 12 fixed to the rail 11 with bolts 13 and to the arm of the robot with bolts 14.
固定保持部２はレール１１の一端にボルト２１で固定さ
れた１字状のブラケット部材２２と第１把持爪２３１、
第２把持爪２３２及びこの両把持爪２３１．２３２を駆
動する駆動シリンダ２３３よりなる把持部２３とよりな
る。The fixed holding part 2 includes a single-shaped bracket member 22 fixed to one end of the rail 11 with a bolt 21, a first gripping claw 231,
The gripping portion 23 includes a second gripping claw 232 and a drive cylinder 233 that drives both gripping claws 231 and 232.
ブラケット部材２２の先端には第１把持爪２３１と第２
把持爪２３２を軸承する軸承部２３４が取りつけられて
いる。A first gripping claw 231 and a second gripping claw 231 are provided at the tip of the bracket member 22.
A bearing portion 234 is attached to support the gripping claw 232 .
第１把持爪２３１（第３図）は軸承部２３４より垂直に
突出した第１軸２３４ａに回動自在に軸承され、先端に
ワーク５を把持するためのための第１爪部２３１ａを有
する。また第２把持爪２３２は軸承部２３４より第１軸
２３４８と平行に突出する第２軸２３４ｂに回動自在に
軸承され、先端にワーク５を第１爪部２３１ａとともに
把持する第２爪部２３２ａを有する。そしてこの第１爪
部２３１ａと第２爪部２３２ａは相向かい合っている。The first gripping claw 231 (FIG. 3) is rotatably supported on a first shaft 234a vertically protruding from the bearing part 234, and has a first claw part 231a for gripping the workpiece 5 at its tip. The second gripping claw 232 is rotatably supported on a second shaft 234b that protrudes parallel to the first shaft 2348 from the bearing part 234, and has a second claw part 232a at the tip that grips the workpiece 5 together with the first claw part 231a. has. The first claw portion 231a and the second claw portion 232a face each other.
また第１把持爪２３１は第１軸２３４ａを中心とする第
１ギヤ部２３１ｂを有し、第２把持爪２３２は第２軸２
３４ｂを中心とする第２ギヤ部２３２ｂを有し、この第
１ギヤ部２３１ｂと第２ギヤ部２３２ｂは噛み合い、第
１爪部２３１ａと第２爪部２３２ａとが略軸対称な動作
をするよう連動している。Further, the first gripping claw 231 has a first gear portion 231b centered on the first shaft 234a, and the second gripping claw 232 has a first gear portion 231b centered on the first shaft 234a.
34b, the first gear part 231b and the second gear part 232b mesh with each other, so that the first claw part 231a and the second claw part 232a operate approximately axially symmetrically. It's linked.
駆動シリンダ２３３はブラケット部材２２に固定された
支持部２３５により揺動自在に保持され、この駆動シリ
ンダ２３３のプランジャー２３３ａは第１把持爪２３１
の第１軸２３４ａより上部のシＶフト部２３１ｃの先端
に軸承され、第１把持爪２３１及び第２把持爪２３２を
駆動する。The drive cylinder 233 is swingably held by a support part 235 fixed to the bracket member 22, and the plunger 233a of this drive cylinder 233 is attached to the first gripping claw 231.
It is rotatably supported at the tip of the V-shift portion 231c above the first shaft 234a, and drives the first gripping claw 231 and the second gripping claw 232.
可動部材３（第１図）はレール１１の溝１１１と係合し
て摺動する摺動部３３と、この摺動部３３と一体であり
可動保持部３１を保持する下方に突出したブラケット３
４とからなる。またこの可動部材３は静止係合部材４と
係合する係合部３２を有する。The movable member 3 (FIG. 1) includes a sliding portion 33 that engages with and slides in the groove 111 of the rail 11, and a bracket 3 that is integral with the sliding portion 33 and protrudes downward to hold the movable holding portion 31.
It consists of 4. The movable member 3 also has an engaging portion 32 that engages with the stationary engaging member 4.
第４図に示すように係合部３２はブラケット３４に垂直
に固定されたスリーブ３２１とスリーブ３２１に貫通し
て上下動する垂直な位置決め軸３２２とからなる５、こ
の位ｉｆｆ決め軸３２２のスリーブ３２１より下側には
スリーブ３２１と当接することによって位置決め軸３２
２のに方への仙きを制限する当接リング３２２ａが固定
され、さらに最下端には静止係合部材４と係合する係合
リング３２２ｂが固定されている。位置決め軸３２２の
スリーブ３２１より上方にはバネ押えリング３２２Ｃが
固定され、スリーブ３２１とバネ押えリング３２２Ｃと
の間にはコイルバネ３２２ｄが介され位置決め軸３２２
を上方へ付勢する。As shown in FIG. 4, the engaging part 32 consists of a sleeve 321 fixed vertically to the bracket 34 and a vertical positioning shaft 322 that penetrates the sleeve 321 and moves up and down. The positioning shaft 32 is located below the sleeve 321 by contacting the sleeve 321.
An abutment ring 322a that restricts sideways movement of the 2 is fixed, and an engagement ring 322b that engages with the stationary engagement member 4 is also fixed at the lowermost end. A spring holding ring 322C is fixed above the sleeve 321 of the positioning shaft 322, and a coil spring 322d is interposed between the sleeve 321 and the spring holding ring 322C.
force upward.
基部１にはレール１１の上面から水）Ｖに張り出した張
り出し部材１１２がポルｌ−１１３で固定され、可動部
材３に取付けられた係合部３２の位置決め軸３２２の上
部先端３２２ｅは基部１と可動部材３との相対移動にお
ける所定の位置で張り出し部材１１２に設けられた■金
穴１１２ａに位置決め軸３２２の当接リング３２２ａが
スリーブ３２１と当接する位置で嵌合する。An overhanging member 112 extending outward from the upper surface of the rail 11 is fixed to the base 1 with a pole l-113, and the upper tip 322e of the positioning shaft 322 of the engaging part 32 attached to the movable member 3 is connected to the base 1. At a predetermined position during relative movement with the movable member 3, the contact ring 322a of the positioning shaft 322 fits into the metal hole 112a provided in the overhanging member 112 at a position where it contacts the sleeve 321.
ワーク５を保持する可動保持部３１は固定保持部２の把
持部２３と同一構造で、可動部材３のブラケット３４に
把持部２３と対向して取付けられている。The movable holding part 31 that holds the workpiece 5 has the same structure as the gripping part 23 of the fixed holding part 2, and is attached to the bracket 34 of the movable member 3 so as to face the gripping part 23.
静止係合部材４は、第２図に示すように、床に固定され
た支柱部４１とこの支柱部４１上に取付けられたＬ字状
のフック４２とからなる。このフック４２は支柱部４１
に垂設された垂直部４２１と、この垂直部４２１の上部
から水平にのび係合部３２の係合リング３２２ｂと係合
する切欠き部４２２ａを有する水平部４２２とからなる
。As shown in FIG. 2, the stationary engagement member 4 consists of a support 41 fixed to the floor and an L-shaped hook 42 attached to the support 41. This hook 42 is connected to the support section 41
It consists of a vertical part 421 that is vertically installed, and a horizontal part 422 that extends horizontally from the top of the vertical part 421 and has a cutout part 422a that engages with the engagement ring 322b of the engagement part 32.
以下本実施例の作用について述べる。The operation of this embodiment will be described below.
保持１゛べきワーク５を保持する場合、まず図示しない
ロボットの制御部により固定保持部２と可動保持部３１
との必要な間隔が決定される。その時点で固定保持部２
と可動保持部３１との間隔が決定された間隔と異なる場
合、ロボットの動作によりこのハンドを静止係合部材４
の付近まで移動させる。そしてロボットの動作により係
合部３２の係合リング３２２ｂと静止係合部材４のフッ
ク４２の切欠き部４２２ａとを係合させる。この後ロボ
ットの動作でハンドの基部１を上昇させ、係合部３２の
位置決め軸３２２の上部先端３２２ｅを張り出し部材コ
１２の嵌合穴１１２ａからはずす（第３図の２点鎖線位
置）。この状態でロボットの動作によりハンドの基部１
を水平に移動する。When holding the workpiece 5 that should be held 1, first the fixed holding part 2 and the movable holding part 31 are controlled by the controller of the robot (not shown).
The required spacing is determined. At that point, the fixed holding part 2
If the distance between the hand and the movable holding member 31 is different from the determined distance, the robot moves the hand to the stationary engagement member 4.
Move it to the vicinity of. Then, the engaging ring 322b of the engaging portion 32 and the notch 422a of the hook 42 of the stationary engaging member 4 are brought into engagement by the action of the robot. Thereafter, the base 1 of the hand is raised by the action of the robot, and the upper tip 322e of the positioning shaft 322 of the engaging part 32 is removed from the fitting hole 112a of the overhanging member 12 (position shown by the two-dot chain line in FIG. 3). In this state, the robot moves the base 1 of the hand.
move horizontally.
この時、可動部材３は静止していてレール１１を摺動す
る。こうして固定保持部２と可動保持部３１を決定され
た間隔にする。こうして間隔が定まった俊、ロボットの
動作により基部１を下降させ係合部３２の位置決め軸３
２２の上部先端３２２ｅを張り出し部材１１２の嵌合穴
１１２ａに嵌合する。このとき当接リング３２２ａはス
リーブ３２１に当接（る。この後、ロボットの動作によ
り係合部３２の係合リング３２２ｂを静止係合部材４の
フック４２の切欠き部４２２ａからはず（，２、固定保
持部２と可動保持部３１との間隔の変更が完了する。At this time, the movable member 3 is stationary and slides on the rail 11. In this way, the fixed holding part 2 and the movable holding part 31 are spaced at a determined distance. After the distance is determined in this way, the base 1 is lowered by the movement of the robot, and the positioning shaft 3 of the engaging part 32 is
22 is fitted into the fitting hole 112a of the overhanging member 112. At this time, the abutting ring 322a comes into contact with the sleeve 321. After this, the engaging ring 322b of the engaging part 32 is removed from the notch 422a of the hook 42 of the stationary engaging member 4 by the action of the robot. , the change in the distance between the fixed holding part 2 and the movable holding part 31 is completed.
この後ハンドはロボットの動作によりワーク５を保持す
る位置まで移動する。そして固定保持部２と可動保持部
３１は駆動用シリンダ２３３の動作により第１把持爪２
３１が閉じ、第１ギヤ部２３１ｂと第２ギＶ部２３２ｂ
との噛み合いにより第２把持爪２３２ち閉じその結果第
１爪部２３１ａと第２爪部２３２Ｅ１が対照的に移動し
てワーク５を把持する。そしてロボットの動作によりワ
ーク５を移動させた後、駆動用シリンダ２３３の動作に
より第１把持爪２３１と第２把持爪２３２を開き（第３
図の２点鎖線位置）、ワーク５を離して移動を完了する
。Thereafter, the hand moves to a position where it holds the workpiece 5 by the operation of the robot. The fixed holding part 2 and the movable holding part 31 are moved to the first gripping claw 2 by the operation of the driving cylinder 233.
31 is closed, the first gear part 231b and the second gear V part 232b
The second gripping claw 232 is closed by engagement with the second gripping claw 232, and as a result, the first claw portion 231a and the second claw portion 232E1 move symmetrically to grip the workpiece 5. After the workpiece 5 is moved by the operation of the robot, the first gripping claw 231 and the second gripping claw 232 are opened by the operation of the driving cylinder 233 (the third
(position shown by the two-dot chain line in the figure), the workpiece 5 is released to complete the movement.
従って本実施例の可変ピッチハンドは可動保持部３１を
作業者により交換することもなく、また可動部材３をハ
ンドに取付けられた馴初源によって移動させる必要もな
く、固定保持部２と可動保持部３１との間隔を変更する
ことができる。なお、上記実施例においては位置決め軸
３２２の上部先端３２２ｅを嵌合穴１１２ａに嵌合させ
ることによって可動保持部３を位置決めしていたが、こ
れに限られるものではなく、張り出し部材１１２を上下
方向より挟み込んでクランプすれば固定保持部２と可動
保持部３の間隔を自由に設定できる。Therefore, in the variable pitch hand of this embodiment, there is no need for the operator to replace the movable holding part 31, and there is no need to move the movable member 3 by a familiarization source attached to the hand. The distance from the section 31 can be changed. In the above embodiment, the movable holding part 3 is positioned by fitting the upper end 322e of the positioning shaft 322 into the fitting hole 112a, but the present invention is not limited to this. If they are clamped together, the distance between the fixed holding part 2 and the movable holding part 3 can be set freely.
さらに、このクランプ動作をシリンダ等のアクチュエー
タによって行なってもよい。Furthermore, this clamping operation may be performed by an actuator such as a cylinder.
［効１］
本発明の可変ピッチハンドは係合部を静止係合部材と係
合させ、ロボットの動作により基部と可動部材の相対位
置を変えることにより、ワークの長さが変るたびに保持
部を交換する必要もなく、また固定保持部と可動保持部
のピッチを変える駆動源も必要ないため、作業能率が向
上し、また軽量化によりロボットの作動能力を高め、し
かもコストの安い可変ピッチハンドを提供することがで
きる。[Effect 1] The variable pitch hand of the present invention engages the engaging part with the stationary engaging member, and changes the relative position of the base and the movable member by the movement of the robot. There is no need to change the pitch of the fixed holding part and the movable holding part, so there is no need for a drive source to change the pitch between the fixed holding part and the movable holding part, which improves work efficiency.The robot's operating capacity is increased by reducing the weight, and the variable pitch hand is inexpensive. can be provided.
第１図は本実施例の可変ピッチハンドの正面図である。
第２図は同ハンドと静止係合部材の平面図である。第３
図は可動部材と固定保持部の把持部及び係合部と静止係
合部材の位置関係を示した側面図である。第４図は係合
部の断面図である。
１・・・基部 １１・・・レール２・・・固
定保持ＳＩＳ ２３・・・把持部３・・・可動部
材 ３１・・・可動保持部３２・・・係合部
４・・・静止係合部材５・・・ワーク
特許出願人 豊田工機株式会社
同 トヨタ自動車株式会社FIG. 1 is a front view of the variable pitch hand of this embodiment. FIG. 2 is a plan view of the hand and the stationary engagement member. Third
The figure is a side view showing the positional relationship between the movable member, the grip part of the fixed holding part, the engaging part, and the stationary engaging member. FIG. 4 is a sectional view of the engaging portion. DESCRIPTION OF SYMBOLS 1... Base 11... Rail 2... Fixed holding SIS 23... Gripping part 3... Movable member 31... Movable holding part 32... Engaging part
4...Static engagement member 5...Work Patent applicant Toyoda Machine Tool Co., Ltd. Toyota Motor Corporation
Claims (1)
、 該基部の一端に取付けられワークを保持する固定保持部
と、 該案内部に可動自在に保持されるとともにロボット先端
の動きと独立した静止位置に固定された静止係合部材と
係合する係合部を有し、該係合部と該静止係合部材とが
係合した状態で前記基部を前記ロボットにより移動させ
ることにより該基部との間の相対位置が変る可動部材と
該可動部材に取付けられ前記固定保持部とともにワーク
を保持する可動保持部と、 からなる可変ピッチハンド。(1) A base that is attached to the robot tip and has a guide part, a fixed holding part that is attached to one end of the base and holds the workpiece, and a stationary part that is movably held by the guide part and is independent of the movement of the robot tip. It has an engaging part that engages with a stationary engaging member fixed at a position, and the base part is moved by the robot in a state where the engaging part and the stationary engaging member are engaged. A variable pitch hand comprising: a movable member whose relative position therebetween changes; and a movable holding part attached to the movable member and holding a work together with the fixed holding part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12534088A JP2620308B2 (en) | 1988-05-23 | 1988-05-23 | Variable pitch hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12534088A JP2620308B2 (en) | 1988-05-23 | 1988-05-23 | Variable pitch hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01295779A true JPH01295779A (en) | 1989-11-29 |
| JP2620308B2 JP2620308B2 (en) | 1997-06-11 |
Family
ID=14907695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12534088A Expired - Fee Related JP2620308B2 (en) | 1988-05-23 | 1988-05-23 | Variable pitch hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2620308B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014213385A (en) * | 2013-04-22 | 2014-11-17 | トヨタ自動車株式会社 | Ingot clamp device |
-
1988
- 1988-05-23 JP JP12534088A patent/JP2620308B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014213385A (en) * | 2013-04-22 | 2014-11-17 | トヨタ自動車株式会社 | Ingot clamp device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2620308B2 (en) | 1997-06-11 |
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