JPH0679547A - Work inserting method by hand mechanism - Google Patents
Work inserting method by hand mechanismInfo
- Publication number
- JPH0679547A JPH0679547A JP23176492A JP23176492A JPH0679547A JP H0679547 A JPH0679547 A JP H0679547A JP 23176492 A JP23176492 A JP 23176492A JP 23176492 A JP23176492 A JP 23176492A JP H0679547 A JPH0679547 A JP H0679547A
- Authority
- JP
- Japan
- Prior art keywords
- work
- finger
- housing
- support
- fingers
- 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.)
- Withdrawn
Links
Landscapes
- Automatic Assembly (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、複数本の回動可能な指
部を回動させてワークを把持すると共に前後方向への移
動等を行うロボットハンドを含む自動機のハンド機構に
おけるワーク挿入方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to work insertion in a hand mechanism of an automatic machine including a robot hand for rotating a plurality of rotatable fingers to grip a work and move the work in the front-back direction. It is about the method.
【０００２】[0002]
【従来の技術】図６は従来のワーク挿入方法を行うハン
ド機構の構造を示す平面図、図７は図６の正面図、図８
は従来のワーク挿入方法を示すフローチャートである。
図６および図７において、１はハンド機構の支持体であ
り、上面および前面側を開口した箱型となっている。2. Description of the Related Art FIG. 6 is a plan view showing the structure of a hand mechanism for performing a conventional work insertion method, FIG. 7 is a front view of FIG. 6, and FIG.
3 is a flowchart showing a conventional work insertion method.
In FIGS. 6 and 7, reference numeral 1 denotes a support for the hand mechanism, which has a box shape with an open top surface and front surface side.
【０００３】２はこの支持体１内に前後動可能に支持さ
れた矩形の筐体であり、背面側からばね材３により前進
する方向、つまり支持体１の前面側開口面から突出する
方向に付勢されている。４はこの筐体２の前面側に突設
したブラケットＡ、５はこのブラケットＡ４の先端に設
けた複数本の指部であり、図７に示すように上下左右の
４方向から中心に向けて放射状に配置されており、これ
ら指部５は全てピン６により中心に向けて閉じたり開い
たりする方向に回動可能な構造となっている。Reference numeral 2 denotes a rectangular casing supported in the support 1 so as to be movable back and forth, in a direction in which the spring material 3 advances from the back side, that is, in a direction in which it projects from the opening surface on the front side of the support 1. Being energized. Reference numeral 4 denotes a bracket A projectingly provided on the front side of the housing 2, and reference numeral 5 denotes a plurality of finger portions provided at the tip of the bracket A4, as shown in FIG. The fingers 5 are arranged in a radial pattern, and all of the fingers 5 are structured so as to be rotatable by a pin 6 in a direction of closing or opening toward the center.
【０００４】ブラケットＡ４はその中心にブラケットＢ
７を介してシャフト８を保持しており、後端付近でレバ
ー９と係合している。１０はこのシャフト８を後端面側
から指部５方向へと付勢している圧縮コイルバネであ。
１１は前記レバー９の自由端９ａ側と突出部１１ａを介
して連結しているソレノイドであり、このソレノイド１
１は電流を投入することで前記突出部１１ａを本体側に
吸引し、かつ電流を切断することで吸引していた突出部
１１ａを前記圧縮コイルバネ１０の付勢力により押し出
し、この前後動により前記レバー９の上端を支点として
自由端９ａ側を回動させて、このレバー９の動作により
前記シャフト８を前後方向に移動するようになってい
る。シャフト８はその先端付近の周面に、所定の幅で係
合溝８ａを設けており、そしてこの係合溝８ａに、前記
指部５の基部側に設けた係合部５ａを係合させており、
これにより各指部５を回動することで開閉動作を行う指
開閉機構としている。The bracket A4 has a bracket B at its center.
The shaft 8 is held via the shaft 7, and is engaged with the lever 9 near the rear end. Reference numeral 10 is a compression coil spring that biases the shaft 8 from the rear end surface side toward the finger portion 5.
A solenoid 11 is connected to the free end 9a side of the lever 9 via a protrusion 11a.
Reference numeral 1 indicates that the projection 11a is attracted toward the main body by applying an electric current, and the projection 11a that is attracted by cutting off the current is pushed out by the urging force of the compression coil spring 10. The free end 9a side is rotated around the upper end of 9 as a fulcrum, and the operation of the lever 9 moves the shaft 8 in the front-rear direction. The shaft 8 is provided with an engagement groove 8a with a predetermined width on the peripheral surface near the tip thereof, and the engagement portion 5a provided on the base side of the finger portion 5 is engaged with the engagement groove 8a. And
Thereby, the finger opening / closing mechanism is configured to open / close by rotating each finger portion 5.
【０００５】１２は４本の指部５によりその中心に把持
した針状のワークであり、このワーク１２は指部５間に
把持された状態で前記ブラケットＡ４の先端に突設した
保持部４ａに、その基部が当接するようになっている。
１３は支持体１の側面から突出形成した腕部１ａを介し
て螺合させているネジ部、１４はこのネジ部１３を一端
で支持して回転駆動するモータであり、このモータ１４
を駆動することでネジ部１３を回転させて、このネジ部
１３に沿って筐体２共々支持体１を前進後退する前進後
退機構とし、筐体２の前面側に設けた指部５により把持
したワーク１２の挿抜動作を行うものである。Reference numeral 12 denotes a needle-like work which is held at its center by four finger portions 5, and the work 12 is held between the finger portions 5 and has a holding portion 4a protruding from the tip of the bracket A4. In addition, the base portion is adapted to abut.
Reference numeral 13 denotes a screw portion screwed through an arm portion 1a formed to project from a side surface of the support 1, and 14 denotes a motor that supports the screw portion 13 at one end to drive the rotation.
Is driven to rotate the screw portion 13 to form an advancing / retreating mechanism for advancing / retreating the support body 1 together with the housing 2 along the screw portion 13, and grasped by the finger portion 5 provided on the front surface side of the housing 2. The work 12 is inserted and removed.
【０００６】１５はこのワーク１２を挿入するために固
定体１６に設けた穴である。上述した構成による従来の
ワークの挿入方法を、図８のフローチャートに基づいて
説明する。なお、以下に示す記号ＳＡは処理ステップを
示す。まず、指部５によりワーク１２を把持するべく、
ソレノイド１１に電源を供給し、突出部１１ａを図６の
矢印Ａ方向に吸引する（ＳＡ１）。Reference numeral 15 is a hole formed in the fixed body 16 for inserting the work 12. A conventional method of inserting a work having the above-described configuration will be described with reference to the flowchart of FIG. The symbol SA shown below indicates a processing step. First, in order to hold the work 12 with the fingers 5,
Power is supplied to the solenoid 11 to attract the protrusion 11a in the direction of arrow A in FIG. 6 (SA1).
【０００７】これにより、レバー９の自由端９ａが同Ａ
方向に引っ張られ、シャフト８を後端側で同じくＡ方向
に引っ張る。シャフト８の移動により係合溝８ａを介し
て指部５の係合部５ａが同方向に引っ張られ、指部５は
ピン６を支点として中心方向閉じるように回動して上下
左右の４方向からワーク１２の基部側を把持して、筐体
２の前面側に支持する。As a result, the free end 9a of the lever 9 is
And the shaft 8 is also pulled in the A direction at the rear end side. By the movement of the shaft 8, the engaging portion 5a of the finger portion 5 is pulled in the same direction through the engaging groove 8a, and the finger portion 5 is rotated about the pin 6 as a fulcrum so as to be closed toward the center, and the finger portion 5 is rotated in four directions of up, down, left and right. From the above, the base side of the work 12 is grasped and supported on the front side of the housing 2.
【０００８】このワーク１２の把持は、ソレノイド１１
の突出部１１ａ付近に設けた図示せぬ指開閉センサがＯ
Ｎになることで確認されるようになっており、このセン
サがＯＮとなるまでソレノイド１１を吸引し続ける（Ｓ
Ａ２）。ワーク１２の把持が確認されると、モータ１４
の駆動を開始し（ＳＡ３）、前進後退機構１３のネジ部
を回転させ腕部１ａを介して支持体１を、筐体２を含め
て固定体１６方向へと前進させる（ＳＡ４）。The work 11 is gripped by the solenoid 11
The finger opening / closing sensor (not shown) provided near the protruding portion 11a of the
It is confirmed by setting to N, and the solenoid 11 is continuously attracted until this sensor is turned on (S
A2). When the grip of the work 12 is confirmed, the motor 14
Is started (SA3), the screw part of the forward / backward movement mechanism 13 is rotated, and the support 1 including the housing 2 is advanced toward the fixed body 16 via the arm 1a (SA4).
【０００９】この前進動作によって指部５に支持したワ
ーク１２を、固定体１６の穴１５へとその先端側から挿
入していく。このワーク１２の挿入開始と同時に、筐体
２を後方から押圧してワーク１２の挿入を弾性により調
整するばね材３のばね力を、図示せぬばね圧検出センサ
により検出する。（ＳＡ５）。By this forward movement, the work 12 supported by the finger portion 5 is inserted into the hole 15 of the fixed body 16 from its tip side. Simultaneously with the start of the insertion of the work 12, the spring force of the spring member 3 which presses the housing 2 from the rear to adjust the insertion of the work 12 by elasticity is detected by a spring pressure detection sensor (not shown). (SA5).
【００１０】ＳＡ５において、バネ材の押圧力が所定押
圧値になったことが検出されたら、モータ１４の駆動を
停止し、支持体１の前進動作を停止する（ＳＡ６）。こ
れによりワーク１２は固定体１６の穴１５内に、指部５
により挟持された基部付近の所定挿入箇所まで挿入され
たことになり、ワーク１２の挿入完了を認識する（ＳＡ
７）。When it is detected in SA5 that the pressing force of the spring material reaches the predetermined pressing value, the driving of the motor 14 is stopped and the forward movement of the support 1 is stopped (SA6). As a result, the work 12 is inserted into the hole 15 of the fixed body 16 and
Since it has been inserted up to a predetermined insertion position near the base portion sandwiched by, the completion of insertion of the work 12 is recognized (SA
7).
【００１１】このようにして、従来はワーク１２を指部
５により挟持したままで、ばね材３のばね圧が所定のば
ね圧値に達するまで、モータ１４を駆動して支持体１を
前進させて固定体１６の穴１５への挿入を行っていた。
また、ワーク１２を穴１５から引き抜く場合も同様であ
り、すなわちワーク１２は指部５により挟持した状態で
引き抜きが開始され、ばね材のばね圧が所定のばね圧値
に達するまで、支持体１をモータ１４を駆動して固定体
１６の穴１５からの抜去を行っていた。In this way, conventionally, the motor 12 is driven to move the support 1 forward until the spring pressure of the spring material 3 reaches a predetermined spring pressure value while the work 12 is held between the fingers 5. Then, the fixed body 16 was inserted into the hole 15.
The same applies to the case where the work 12 is pulled out from the hole 15, that is, the work 12 is pulled out while being held by the fingers 5 and the spring pressure of the spring material reaches a predetermined spring pressure value until the support 1 The motor 14 was driven to remove the fixed body 16 from the hole 15.
【００１２】[0012]
【発明が解決しようとする課題】しかしながら上述した
従来の技術においては、指部に把持したワークと、挿入
しようとしている穴の中心位置がずれていたりすると、
上下左右の４方向から挟持している指部との対応するワ
ークの所定部分に過大な負荷が加わり、この負荷により
ワークが折れてしまうという問題があった。However, in the above-mentioned prior art, if the center position of the work held by the finger portion and the center of the hole to be inserted are misaligned,
There has been a problem that an excessive load is applied to a predetermined portion of the work corresponding to the fingers that are sandwiched from the four directions of up, down, left and right, and the work breaks due to this load.
【００１３】ワークが折れてしまうと、ワークの挿入動
作は完了することができず、また再度の挿入動作を行お
うとしても、ワークと穴との位置のずれが修正されなけ
れば確実に挿入を完了させることはできず、挿入動作の
信頼性を低下させることになっていた。本発明は上述し
た問題点を解決するためになされたものであり、たとえ
ワークと、このワークを挿入すべき穴の中心位置がずれ
ていても、挿入時にワークが折れてしまうようなことな
く確実に穴内に挿入して、信頼性の高いワーク挿入方法
を得ることを目的とする。If the work is broken, the work inserting operation cannot be completed, and even if the re-inserting operation is attempted, the work can be surely inserted if the positional deviation between the work and the hole is not corrected. It could not be completed, and the reliability of the insertion operation was reduced. The present invention has been made to solve the above-mentioned problems, and even if the center position of the work and the hole into which the work is to be inserted are deviated, the work will not be broken during insertion and can be reliably performed. The purpose is to obtain a highly reliable work insertion method by inserting the work into the hole.
【００１４】[0014]
【課題を解決するための手段】上述した目的を達成する
ため本発明は、背面側に設けたばね材により筐体を前後
動可能として支持体上に設けると共に、この支持体を前
進後退機構により前進後退可能とし、前記筐体の前面側
には複数本の指部を放射状に回動可能に配置し、かつこ
の複数本の指部をそれぞれ中心方向に閉じるように回動
させることで中央で針状のワークを把持し、また開く方
向に回動させることでワークの把持を解除するハンド機
構を構成し、前記各指部を閉じる方向に回動することで
指部の中央にワークを把持し、前進後退機構により支持
体を筐体も一体で前進させることによって前記ワークを
筐体背面側のばね材の付勢力と共に、所定間隔で筐体前
面側に対向配置した固定体の穴内に挿入するハンド機構
によるワーク挿入方法において、前記指部の開閉を検出
する指開閉センサと、支持体の移動量を検出する移動量
検出センサと、筐体を付勢するバネ材のばね圧をばね圧
検出センサとを備え、まず、前記指開閉センサによりワ
ークを指部間により把持していることを確認し、この後
前進後退機構を駆動して支持体を固定体方向に前進させ
る。In order to achieve the above-mentioned object, the present invention provides a housing on a support body so that the housing can be moved back and forth by a spring material provided on the back side, and the support body is advanced by an advance / retract mechanism. It is retractable, a plurality of fingers are rotatably arranged on the front side of the housing in a radial manner, and the plurality of fingers are rotated so as to be closed in the center direction, respectively, so that the needle is centered. -Shaped work is grasped, and a hand mechanism is configured to release the grip of the work by rotating it in the opening direction, and gripping the work in the center of the finger parts by rotating each of the finger parts in the closing direction. By advancing the support body integrally with the housing by the advancing / retreating mechanism, the work is inserted into the holes of the fixed body which are arranged facing each other on the front surface side of the housing at a predetermined interval together with the biasing force of the spring material on the rear surface side of the housing. Workpiece insertion by hand mechanism In the method, a finger opening / closing sensor for detecting the opening / closing of the finger portion, a movement amount detecting sensor for detecting the movement amount of the support, and a spring pressure detecting sensor for detecting the spring pressure of the spring member for urging the housing are provided. First, it is confirmed by the finger opening / closing sensor that the work is grasped between the finger parts, and then the advance / retract mechanism is driven to advance the support body toward the fixed body.
【００１５】次に、この支持体が所定量移動したことを
移動量検出センサにより検出したならば、前記指部を開
放してワークの把持を解除する。そして、指部を開放し
たままの状態で前進後退機構により支持体を固定体方向
に前進させてワークの挿入を行い、前記ばね圧検出セン
サが筐体を前進する方向に付勢しているばね材のばね圧
値が所定値になったことを検出した時に、ワークの穴内
への挿入完了を認識して前進後退機構を停止することと
したものである。Next, when the movement amount detecting sensor detects that the support has moved by a predetermined amount, the fingers are released to release the work. A spring is urged in the direction in which the spring pressure detection sensor advances the housing by advancing the support body toward the fixed body by the advancing / retracting mechanism with the fingers kept open to insert the work. When it is detected that the spring pressure value of the material has reached a predetermined value, the completion of insertion of the work into the hole is recognized and the forward / backward movement mechanism is stopped.
【００１６】[0016]
【作用】上述した方法により、ワークを指部に把持し
て、支持体ごと前進させて固定体方向に移動させること
で、ワークの挿入を行った時、支持体が前進後退機構に
よって所定量移動した時点でワークを把持している指部
が開き、把持状態を解除するようになる。According to the above-described method, the work is grasped by the finger portion and is moved together with the support body to move toward the fixed body. When the work is inserted, the support body is moved by a predetermined amount by the forward / backward movement mechanism. At that point, the fingers holding the work open, and the held state is released.
【００１７】この時、ワークは固定体の穴内に所定の長
さまで挿入された状態となっており、そのため穴内に挿
入された挿入部分が固定端となって自由方向に移動可能
となる。従って、指部により把持されていたワークと、
固定体の穴中心位置がずれていたりした場合は、ワーク
はこの穴の中心位置に対応する方向に、その自由端側が
移動することになる。At this time, the work is in a state of being inserted into the hole of the fixed body up to a predetermined length, so that the insertion portion inserted in the hole serves as a fixed end and is movable in the free direction. Therefore, with the work held by the fingers,
When the hole center position of the fixed body is displaced, the free end side of the work moves in the direction corresponding to the center position of the hole.
【００１８】この後、前進後退機構によって支持体を前
進すれば、ワークは負荷が加えられることなくなくスム
ーズに穴内に挿入することができる。After that, if the support is moved forward by the forward / backward movement mechanism, the work can be smoothly inserted into the hole without being loaded.
【００１９】[0019]
【実施例】以下、本発明の実施例を図面を用いて説明す
る。図１はハンド機構によるワーク挿入方法を示すフロ
ーチャート、図２はこのフローチャートを実行するハン
ド機構のブロック図、図３〜図５はワークの挿入動作を
示す説明図であり、図３は挿入動作開始時を、図４は指
部の開放動作時を、そして図５は挿入完了時をそれぞれ
示している。なお、従来とほぼ同様の部位には従来と同
一の符号を付し、その説明は省略する。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a flow chart showing a method for inserting a work by a hand mechanism, FIG. 2 is a block diagram of a hand mechanism for executing this flow chart, FIGS. 3 to 5 are explanatory views showing a work inserting operation, and FIG. FIG. 4 shows the time when the finger is released, and FIG. 5 shows the time when the insertion is completed. It should be noted that substantially the same parts as the conventional ones are denoted by the same reference numerals and the description thereof will be omitted.
【００２０】まず、図２のブロック図及び図３〜図５に
よりハンド機構の概略構成を説明すると、１７はソレノ
イド１１の吸入、解除動作により指部５の開閉を行って
ワーク１２を把持したり開放したりする指開閉機構、１
８はこの指開閉機構１６の指部５の開閉を検出する指開
閉センサであり、前記ソレノイド１１の吸入あるいは解
除動作を検出することで、ソレノイド１１吸入時は指部
５は閉じ状態、そして解除時は指部５を開放している状
態であると検出する。なお、この開閉動作の検出は後述
するワーク挿入動作時の手順を述べる際に、図３〜図５
の図面を用いて詳述する。First, the schematic structure of the hand mechanism will be described with reference to the block diagram of FIG. 2 and FIGS. 3 to 5. Reference numeral 17 indicates the opening and closing of the finger 5 by the suction and release operations of the solenoid 11 to grip the work 12. Finger opening and closing mechanism to open 1
Reference numeral 8 denotes a finger opening / closing sensor for detecting the opening / closing of the finger portion 5 of the finger opening / closing mechanism 16. By detecting the inhalation or release operation of the solenoid 11, the finger portion 5 is in the closed state and released when the solenoid 11 is inhaled. At the time, it is detected that the finger portion 5 is open. It should be noted that the detection of the opening / closing operation will be described later with reference to FIGS.
Will be described in detail with reference to the drawings.
【００２１】１９は支持体１を固定体１６方向に向かっ
て前進後退移動させる前進後退機構であり、モータ１４
から突出させたネジ部１３を支持体１の側面から突設し
た腕部１ａに螺合させた構造とし、モータ１４を駆動し
てネジ部１３を回転させることで腕部１ａを介して支持
体１を筐体２も含めてネジ部１３に沿って前進後退させ
るものである。Reference numeral 19 denotes an advancing / retracting mechanism for advancing and retracting the support 1 toward the fixed body 16, and a motor 14
The structure is such that the screw portion 13 protruding from the side is screwed into the arm portion 1a protruding from the side surface of the support body 1, and the motor 14 is driven to rotate the screw portion 13 to rotate the screw portion 13 through the arm portion 1a. 1 including the housing 2 is moved forward and backward along the screw portion 13.
【００２２】２０はこの前進後退機構１９により支持体
１が移動した量を検出するため、モータ１４の駆動量を
検出する移動量検出センサである。２１は支持体１内部
にばね材３によって前後方向に移動可能に支持した筐体
２を、その背面側から押圧しているばね材３のばね圧を
検出するばね圧検出センサである。Reference numeral 20 is a movement amount detection sensor for detecting the amount of drive of the motor 14 in order to detect the amount of movement of the support 1 by the forward / backward movement mechanism 19. Reference numeral 21 denotes a spring pressure detection sensor that detects the spring pressure of the spring material 3 that presses the housing 2 that is supported by the spring material 3 inside the support body 1 so as to be movable in the front-rear direction from the back side thereof.
【００２３】２２は上述したこれらの各構成要素を制御
する制御部であり、以下に示すワーク挿入方法を実行さ
せるものである。次に、本実施例のワーク挿入方法を、
図２及び図３〜図５に図１の挿入動作フローチャートを
加えて説明する。なお、以下に示す記号ＳＢは処理ステ
ップを示す。Reference numeral 22 denotes a control unit for controlling each of the above-mentioned constituent elements, which executes the work insertion method described below. Next, the work insertion method of the present embodiment,
The insertion operation flowchart of FIG. 1 will be described with reference to FIGS. 2 and 3 to 5. The symbol SB shown below indicates a processing step.
【００２４】まず、複数本の指部５によりワーク１２を
把持すべく、ソレノイド１１に電源を供給し、突出部１
１ａを図３の矢印Ａ方向に吸引する（ＳＢ１）。これに
より、レバー９は自由端９ａ側がソレノイド１１の本体
側に引き寄せられ、この動作によってレバー９のほぼ中
央部と係合しているシャフト８を後端側で同Ａ方向に引
っ張り、シャフト８がＡ方向に移動すると、先端側に設
けた係合溝８ａに係合している指部５の係合部５ａが同
方向に引っ張る。この動作で、指部５はピン６を支点と
して中心方向、つまりワーク１２方向に回動してワーク
１２の基部側を把持する。これが図３に示す状態であ
る。First, in order to grip the work piece 12 with a plurality of fingers 5, power is supplied to the solenoid 11 and the protrusion 1
1a is sucked in the direction of arrow A in FIG. 3 (SB1). As a result, the free end 9a side of the lever 9 is pulled toward the main body side of the solenoid 11, and by this operation, the shaft 8 engaged with the substantially central portion of the lever 9 is pulled in the same direction A at the rear end side, and the shaft 8 moves. When moving in the A direction, the engaging portion 5a of the finger portion 5 engaged with the engaging groove 8a provided on the tip side pulls in the same direction. By this operation, the finger portion 5 rotates about the pin 6 as a fulcrum in the center direction, that is, the direction of the work 12 and grips the base side of the work 12. This is the state shown in FIG.
【００２５】指部５によるワーク１２の把持を確認する
べく、ソレノイド１１の突出部１１ａ付近に設けた指開
閉センサ１８のＯＮ／ＯＦＦを検出する（ＳＢ２）。Ｓ
Ｂ２で、指開閉センサ１８がＯＮと検出されると、ワー
ク１２は指部５により把持されていると認識されるの
で、続いてモータを駆動し（ＳＢ３）、前進後退機構１
９のネジ部１３を回転させ腕部１ａを介して支持体１
を、筐体２を含めて固定体１６方向へとネジ部１３に沿
って前進させる（ＳＢ４）。In order to confirm the grip of the work 12 by the finger portion 5, ON / OFF of the finger opening / closing sensor 18 provided near the protruding portion 11a of the solenoid 11 is detected (SB2). S
When the finger open / close sensor 18 is detected to be ON in B2, it is recognized that the work 12 is gripped by the finger portion 5, so that the motor is subsequently driven (SB3), and the forward / backward movement mechanism 1 is performed.
By rotating the screw portion 13 of the support member 9 through the arm portion 1a
Is advanced along the screw portion 13 in the direction of the fixed body 16 including the housing 2 (SB4).
【００２６】この前進動作によって指部５に支持したワ
ーク１２を、固定体１６の穴１５へとその先端側から挿
入していく。この前進開始後、移動量検出センサ２０に
よりモータ１４の駆動量を検出し、支持体１がＺ距離移
動したか否かを検出し（ＳＢ５）、移動していなければ
さらにモータ１４を駆動して支持体１を前進させる（Ｓ
Ｂ６）。The work 12 supported on the finger portion 5 by this forward movement is inserted into the hole 15 of the fixed body 16 from the tip side thereof. After the start of the forward movement, the drive amount of the motor 14 is detected by the movement amount detection sensor 20 to detect whether or not the support 1 has moved by the Z distance (SB5), and if it has not moved, the motor 14 is further driven. The support 1 is moved forward (S
B6).
【００２７】ＳＢ５において、Ｚ距離移動したことを検
出すると、ワーク１２を把持するために吸引していたソ
レノイド１１への電流を停止して、吸引状態を解除した
後（ＳＢ７）、指開閉センサ１８のＯＮ／ＯＦＦを検出
する（ＳＢ８）。つまり、ソレノイド１１の吸引を解除
すると、図４に示すようにソレノイド１１の突出部１１
ａは吸引されていた状態から矢印Ｂ方向に突出し、これ
によりレバー９も圧縮コイルバネ１０の付勢力により押
し出され、上端を支点として自由端９ａ側が時計方向に
回動し、中央部に係合させたシャフト８をその後端側か
ら前方方向の押し出す。この動作でシャフト８は前方に
移動し、同時にその先端側で係合溝８ａにより指部５の
係合部５ａを押し出し、指部５は支点６を中心として広
がる方向に回動し、把持していたワーク１２を開放す
る。In SB5, when it is detected that the Z distance has been moved, the current to the solenoid 11 which is attracted to grip the work 12 is stopped and the attracted state is released (SB7). ON / OFF of is detected (SB8). That is, when the suction of the solenoid 11 is released, as shown in FIG.
a protrudes in the direction of arrow B from the state of being sucked, whereby the lever 9 is also pushed out by the urging force of the compression coil spring 10, and the free end 9a side rotates clockwise around the upper end as a fulcrum to engage with the central portion. The shaft 8 is pushed forward from the rear end side. By this operation, the shaft 8 moves forward, and at the same time, the engaging portion 5a of the finger portion 5 is pushed out by the engaging groove 8a at the tip end side thereof, and the finger portion 5 rotates about the fulcrum 6 in the direction of spreading and grasps. The work 12 that had been opened is released.
【００２８】つまり、指開閉センサ１８がソレノイド１
１のＯＦＦ（すなわち解除状態）を検出すると、ワーク
１２の指部５による把持が開放されたことになり（ＳＢ
９）、この時のワーク１２はその先端が固定体１４の穴
１３内に所定の長さで挿入された状態となる。従って、
指部５の把持を開放してもワーク１２が落ちてしまうよ
うなことはなく、ワーク１２は穴１３により保持された
状態となる。また、ワーク１２の他端はブラケットＡ４
の保持部４ａに当接した状態にあるため、ひきつづきば
ね材３により押圧されている状態にあり、かつ前進後退
機構１９による前進動作もこの保持部４ａよりワーク１
２に伝達される。That is, the finger opening / closing sensor 18 is the solenoid 1
When the OFF state of 1 (that is, the released state) is detected, the grip of the work 12 by the finger portion 5 is released (SB
9) At this time, the tip of the work 12 is inserted into the hole 13 of the fixed body 14 with a predetermined length. Therefore,
Even if the grip of the finger portion 5 is released, the work 12 does not drop and the work 12 is held by the hole 13. Further, the other end of the work 12 has a bracket A4.
Since it is in contact with the holding portion 4a of the workpiece 1, it is continuously pressed by the spring member 3, and the forward movement of the forward / backward moving mechanism 19 is performed by the workpiece 1 from the holding portion 4a.
2 is transmitted.
【００２９】このような状態にあって、指部５により把
持されていた時のワーク１２を、穴１３の中心位置がず
れていたような場合は、指部５が開放されたことで動き
が自由になったワーク１２が、保持部４ａとの当接部分
を滑りながらずれて、ワーク１２に挿入動作による負荷
が掛からない方向へと移動する。この動作中にも前進後
退機構１９による前進動作は継続して行っており、ワー
ク１２は支持体１との間に設けられたばね材３のばね圧
によって挿入圧を調整されながら、穴１３内へと挿入さ
れていく。In such a state, when the center position of the hole 13 of the work 12 held by the finger portion 5 is deviated, the movement of the work piece 12 can be achieved by opening the finger portion 5. The freed work 12 shifts while sliding on the contact portion with the holding portion 4a, and moves in a direction in which the work 12 is not loaded by the insertion operation. Even during this operation, the advancing operation by the advancing and retracting mechanism 19 is continuously performed, and the work 12 is moved into the hole 13 while the insertion pressure is adjusted by the spring pressure of the spring material 3 provided between the work 12 and the support 1. And will be inserted.
【００３０】この後、前記バネ材３のばね圧値を、ばね
圧検出センサ２１により検出する。（ＳＢ１０）。ＳＢ
１０において、バネ材３のばね圧が所定ばね圧値になる
まで前進後退機構１９によりモータ１４の駆動を継続し
て支持体１を前進移動させ（ＳＢ１１）、所定ばね圧値
になったことを検出したら、モータの駆動を停止し、支
持体１の前進動作を停止する（ＳＢ１２）。Thereafter, the spring pressure value of the spring member 3 is detected by the spring pressure detection sensor 21. (SB10). SB
10, the motor 14 is continuously driven by the forward / backward movement mechanism 19 until the spring pressure of the spring member 3 reaches a predetermined spring pressure value (SB11), and the predetermined spring pressure value is reached. When detected, the drive of the motor is stopped and the forward movement of the support 1 is stopped (SB12).
【００３１】これによりワーク１２は固定体１６の穴１
５内に、指部５により挟持された基部付近の所定挿入箇
所まで挿入されたことになり、ワーク１２の挿入動作は
完了する（ＳＢ１３）。As a result, the workpiece 12 is fixed to the hole 1 of the fixed body 16.
This means that the workpiece 12 has been inserted up to a predetermined insertion location near the base portion held by the finger portion 5, and the insertion operation of the work 12 is completed (SB13).
【００３２】[0032]
【発明の効果】以上説明したように本発明によれば、背
面側に設けたばね材により筐体を前後動可能として支持
体上に設けると共に、この支持体を前進後退機構により
前進後退可能とし、前記筐体の前面側には複数本の指部
を放射状に回動可能に配置し、かつこの複数本の指部を
それぞれ中心方向に閉じるように回動させることで中央
で針状のワークを把持し、また開く方向に回動させるこ
とでワークの把持を解除するハンド機構を構成し、前記
各指部を閉じる方向に回動することで指部の中央にワー
クを把持し、前進後退機構により支持体を筐体も一体で
前進させることによって前記ワークを筐体背面側のばね
材の付勢力と共に、所定間隔で筐体前面側に対向配置し
た固定体の穴内に挿入するハンド機構によるワーク挿入
方法において、前記指部の開閉を検出する指開閉センサ
と、支持体の移動量を検出する移動量検出センサと、筐
体を付勢するバネ材のばね圧をばね圧検出センサとを備
え、前記指開閉センサによりワークを指部間により把持
していることを確認後、前進後退機構を駆動して支持体
を固定体方向に前進させ、この支持体が所定量移動した
ことを移動量検出センサにより検出したら前記指部を開
放してワークの把持を解除し、指部を開放したままの状
態で前進後退機構により支持体を固定体方向に前進させ
てワークの挿入を行い、前記ばね圧検出センサが筐体を
前進する方向に付勢しているばね材のばね圧値が所定値
になったことを検出するとワークの穴内への挿入完了を
認識して前進後退機構を停止することとした。As described above, according to the present invention, the housing is provided on the support so that the housing can be moved back and forth by the spring material provided on the back side, and the support can be moved forward and backward by the forward and backward movement mechanism. A plurality of finger portions are radially rotatably arranged on the front surface side of the housing, and the plurality of finger portions are rotated so as to be closed in the center direction to form a needle-shaped workpiece in the center. A hand mechanism that releases the grip of the work by gripping and rotating in the opening direction is configured, and the work is gripped in the center of the finger by rotating each finger in the closing direction, and a forward / backward movement mechanism. The work is performed by a hand mechanism that inserts the work together with the urging force of the spring material on the back side of the housing into the holes of the fixed body arranged facing the front side of the housing at predetermined intervals by advancing the support together with the housing. In the insertion method, before The finger opening / closing sensor includes a finger opening / closing sensor for detecting opening / closing of a finger portion, a movement amount detecting sensor for detecting an amount of movement of the support, and a spring pressure detecting sensor for detecting a spring pressure of a spring member for urging the housing. After confirming that the work is grasped between the finger parts by, drive the forward / backward mechanism to advance the support toward the fixed body, and if the movement amount detection sensor detects that the support has moved a predetermined amount. The finger portion is released to release the grip of the work, and the work is inserted by advancing the support body toward the fixed body by the advancing / retreating mechanism with the finger portion being opened, and the spring pressure detection sensor is When it is detected that the spring pressure value of the spring member urging the body in the forward direction reaches a predetermined value, the completion of insertion of the work into the hole is recognized and the forward / backward mechanism is stopped.
【００３３】このため、指部により把持されたワーク
と、このワークを挿入する穴の中心位置がずれていたり
しても、所定量移動した時点で指部を開放してワークを
自由にするので、ワークは挿入動作に伴う負荷が掛から
ない方向へと移動することができ、従ってワークは指部
による負荷を受けることなく前進後退機構による前進動
作によってスムーズに穴内に挿入される。Therefore, even if the work held by the finger and the center position of the hole into which the work is inserted are displaced, the work is freed by opening the finger when the work moves by a predetermined amount. , The work can be moved in a direction in which the load associated with the inserting operation is not applied, and therefore the work is smoothly inserted into the hole by the advancing operation by the advancing / retreating mechanism without receiving the load by the fingers.
【００３４】その結果、ワークと穴の中心位置がたとえ
ずれていたとしても、従来のように指部により把持され
ている部分に負荷が掛かるようなことがないので、挿入
動作途中で折れてしまうようなことはなく、信頼性ある
挿入方法を提供することができる。また、このようにワ
ークと穴の中心位置が多少ずれていても良いため、これ
らの対応作業も高精度な一致結果を要求されることがな
いので、作業も容易となった。As a result, even if the center positions of the workpiece and the hole are deviated from each other, a load is not applied to the portion gripped by the finger portion as in the conventional case, and the workpiece is broken during the inserting operation. There is no such a case, and a reliable insertion method can be provided. Further, since the center positions of the work and the holes may be slightly deviated as described above, the corresponding work is not required to have a highly accurate matching result, and thus the work is facilitated.
【図１】本実施例のハンド機構によるワーク挿入方法を
示すフローチャートである。FIG. 1 is a flowchart showing a work insertion method by a hand mechanism of the present embodiment.
【図２】図１のフローチャートを実行するハンド機構の
概略ブロック図である。FIG. 2 is a schematic block diagram of a hand mechanism that executes the flowchart of FIG.
【図３】ワークの挿入動作を示す説明図である。FIG. 3 is an explanatory diagram showing a work insertion operation.
【図４】ワークの挿入動作を示す説明図である。FIG. 4 is an explanatory diagram showing a work insertion operation.
【図５】ワークの挿入動作を示す説明図である。FIG. 5 is an explanatory diagram showing a work insertion operation.
【図６】従来例のハンド機構の構造を示す平面図であ
る。FIG. 6 is a plan view showing a structure of a conventional hand mechanism.
【図７】図６の正面図である。FIG. 7 is a front view of FIG.
【図８】従来例のワーク挿入方法を示すフローチャート
である。FIG. 8 is a flowchart showing a conventional work insertion method.
１ 支持体 ２ 筐体 ３ ばね材 ４ａ 保持部 １１ ソレノイド １３ ネジ部 １４ モータ １５ 穴 １６ 固定体 １７ 指開閉機構 １８ 指開閉センサ １９ 前進後退機構 ２０ 移動量検出センサ ２１ ばね圧検出センサ DESCRIPTION OF SYMBOLS 1 Support body 2 Housing 3 Spring material 4a Holding part 11 Solenoid 13 Screw part 14 Motor 15 Hole 16 Fixed body 17 Finger opening / closing mechanism 18 Finger opening / closing sensor 19 Forward / backward movement mechanism 20 Moving amount detection sensor 21 Spring pressure detection sensor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 平山 利夫 東京都港区虎ノ門１丁目７番12号 沖電気 工業株式会社内 (72)発明者 北畠 茂 東京都千代田区内幸町一丁目１番６号 日 本電信電話株式会社内 (72)発明者 西岡 照秋 神奈川県川崎市中原区上小田中1015番地 富士通株式会社内 (72)発明者 上村 美津雄 神奈川県川崎市中原区上小田中1015番地 富士通株式会社内 ─────────────────────────────────────────────────── --- Continuation of the front page (72) Inventor Toshio Hirayama 1-7-12 Toranomon, Minato-ku, Tokyo Oki Electric Industry Co., Ltd. (72) Inventor Teruaki Nishioka 1015 Kamiodanaka, Nakahara-ku, Kawasaki City, Kanagawa Prefecture Fujitsu Limited (72) Inventor Mitsuo Uemura 1015, Kamedotachu, Nakahara-ku, Kawasaki City, Kanagawa Prefecture Fujitsu Limited
Claims (1)
動可能として支持体上に設けると共に、この支持体を前
進後退機構により前進後退可能とし、前記筐体の前面側
には複数本の指部を放射状に回動可能に配置し、かつこ
の複数本の指部をそれぞれ中心方向に閉じるように回動
させることで中央で針状のワークを把持し、また開く方
向に回動させることでワークの把持を解除するハンド機
構を構成し、 前記各指部を閉じる方向に回動することで指部の中央に
ワークを把持し、前進後退機構により支持体を筐体も一
体で前進させることによって前記ワークを筐体背面側の
ばね材の付勢力と共に、所定間隔で筐体前面側に対向配
置した固定体の穴内に挿入するハンド機構によるワーク
挿入方法において、 前記指部の開閉を検出する指開閉センサと、支持体の移
動量を検出する移動量検出センサと、筐体を付勢するバ
ネ材のばね圧をばね圧検出センサとを備え、 前記指開閉センサによりワークを指部間により把持して
いることを確認後、前進後退機構を駆動して支持体を固
定体方向に前進させ、 この支持体が所定量移動したことを移動量検出センサに
より検出したら前記指部を開放してワークの把持を解除
し、 指部を開放したままの状態で前進後退機構により支持体
を固定体方向に前進させてワークの挿入を行い、 前記ばね圧検出センサが筐体を前進する方向に付勢して
いるばね材のばね圧値が所定値になったことを検出する
とワークの穴内への挿入完了を認識して前進後退機構を
停止することを特徴とするハンド機構によるワーク挿入
方法。1. A spring member provided on the back side of the housing allows the housing to move back and forth and is provided on a support body, and the support body can be advanced and retracted by an advancing and retracting mechanism. The fingers are rotatably arranged in a radial manner, and the plurality of fingers are each rotated so as to be closed in the central direction, so that the needle-like work is gripped in the center and rotated in the opening direction. A hand mechanism for releasing the grip of the work is gripped, the work is gripped in the center of the finger by rotating each of the fingers in the closing direction, and the support and the housing are also integrally advanced by the forward / backward mechanism. In this way, in the work insertion method by the hand mechanism that inserts the work into the holes of the fixed body that are arranged to face the front surface of the housing at a predetermined interval together with the biasing force of the spring material on the back surface of the housing, the opening / closing of the finger portion is detected. Finger open / close sensor A movement amount detection sensor for detecting a movement amount of the support body and a spring pressure detection sensor for detecting a spring pressure of a spring member for urging the casing, and the finger opening / closing sensor grips the work between the finger parts. After confirming this, the forward / backward mechanism is driven to move the support forward in the direction of the fixed body, and when the movement amount detection sensor detects that the support has moved by a predetermined amount, the fingers are released to grasp the work. With the finger released, the support is moved forward by the forward / backward mechanism toward the fixed body to insert the work, and the spring pressure detection sensor urges the housing forward. A method for inserting a work by a hand mechanism, wherein when the spring pressure value of a spring material is detected to be a predetermined value, the completion of insertion of the work into the hole is recognized and the forward / backward movement mechanism is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23176492A JPH0679547A (en) | 1992-08-31 | 1992-08-31 | Work inserting method by hand mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23176492A JPH0679547A (en) | 1992-08-31 | 1992-08-31 | Work inserting method by hand mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0679547A true JPH0679547A (en) | 1994-03-22 |
Family
ID=16928667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23176492A Withdrawn JPH0679547A (en) | 1992-08-31 | 1992-08-31 | Work inserting method by hand mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0679547A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08168927A (en) * | 1994-12-19 | 1996-07-02 | Fujitsu Ltd | Part assembling device |
| JP2000006078A (en) * | 1998-06-25 | 2000-01-11 | Mitsubishi Electric Corp | Robot hand device |
| KR101379492B1 (en) * | 2005-11-23 | 2014-04-01 | 더 코카콜라 컴파니 | Natural high-potency tabletop sweetener compositions with improved temporal and/or flavor profile, methods for their formulation, and uses |
-
1992
- 1992-08-31 JP JP23176492A patent/JPH0679547A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08168927A (en) * | 1994-12-19 | 1996-07-02 | Fujitsu Ltd | Part assembling device |
| JP2000006078A (en) * | 1998-06-25 | 2000-01-11 | Mitsubishi Electric Corp | Robot hand device |
| KR101379492B1 (en) * | 2005-11-23 | 2014-04-01 | 더 코카콜라 컴파니 | Natural high-potency tabletop sweetener compositions with improved temporal and/or flavor profile, methods for their formulation, and uses |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19991102 |