JPH0911175A - Hand device of industrial robot - Google Patents
Hand device of industrial robotInfo
- Publication number
- JPH0911175A JPH0911175A JP7193988A JP19398895A JPH0911175A JP H0911175 A JPH0911175 A JP H0911175A JP 7193988 A JP7193988 A JP 7193988A JP 19398895 A JP19398895 A JP 19398895A JP H0911175 A JPH0911175 A JP H0911175A
- Authority
- JP
- Japan
- Prior art keywords
- slider
- shaft
- fingers
- work
- hand
- 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
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39487—Parallel jaws, two fingered hand
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は産業用ロボットのハンド
装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device for an industrial robot.
【０００２】[0002]
【従来の技術】従来、産業用ロボットにおいて、ハンド
本体に左右一対のフィンガーがそれぞれの中央部を枢着
されており、それらのフィンガーの間隔の真ん中をスラ
イダーがワークの軸心に向かつて一直線に進むようにな
つている。そしてフィンガーに設けられたカム溝にはカ
ムフォロアが嵌入しており、そのカムフォロアはスライ
ダーの左右に突出した腕に回転自在に支持されていて、
スライダーが直進するときにフィンガーは回動してワー
クの軸心に向かい、終にはスライダーと両フィンガーの
３者でワークを把持するようになつている。2. Description of the Related Art Conventionally, in an industrial robot, a pair of left and right fingers are pivotally attached to the center of each hand of a hand body, and a slider is aligned in a straight line toward the axial center of the work in the middle of the interval between the fingers. It is going to proceed. A cam follower is fitted in the cam groove provided on the finger, and the cam follower is rotatably supported by the arms protruding to the left and right of the slider,
When the slider moves straight, the fingers rotate toward the axis of the work, and finally the slider and both fingers grip the work.
【０００３】上記従来の構成では、ワークが確実に把持
されたかどうかを確かめるものがなく、把持が不確実な
ままロボットアームを高速で動かすようなことがある
と、ワークが脱落したり、ずれたりすることがあつた。
また、把持が緩むということもあつた。そこで本発明は
スライダーと両フィンガーとでワークを確実に把持しな
ければロボットアームが動かず、また、一旦把持した後
は緩めようとしないかぎり緩まないようになつている産
業用ロボットのハンド装置を提供しようとするものであ
る。In the above-mentioned conventional structure, there is no way to confirm whether or not the work is securely gripped, and if the robot arm is moved at high speed while gripping is uncertain, the work may drop or shift. I have something to do.
In addition, the grip is loose. Therefore, the present invention provides a hand device for an industrial robot in which the robot arm does not move unless the workpiece is reliably gripped by the slider and both fingers, and does not loosen unless it is loosened once gripped. It is the one we are trying to provide.
【０００４】[0004]
【課題を解決するための手段】上記目的を達成するため
に、本発明のハンド装置は、左右一対のフィンガーがそ
れぞれの中央部を枢支され、左右のフインガーの間隔の
真ん中をスライダーが把持しようとするワークの軸心に
向かつて進むようになつており、フィンガーにはカム溝
が設けられ、カム溝にはまるカムフォロアがスライダー
から左右に突出した腕に支持され、スライダーの下端が
ワークの軸心に近付くに従い左右の両フィンガーの先端
もワーク軸心に近付いて終に３者でワークを把持するよ
うになつている点では従来と同じである。本発明のハン
ド装置ではスライダーの軸心にめねじが刻設され、その
めねじに螺合するねじ捧の上端に回転軸が継ぎ足され、
その回転軸が正逆転可能なモーターで回転されるように
なつている。In order to achieve the above object, in the hand device of the present invention, a pair of left and right fingers are pivotally supported at their central portions, and a slider will hold the middle of the interval between the left and right fingers. The fingers are provided with cam grooves, and the cam followers that fit into the cam grooves are supported by the arms protruding from the slider to the left and right, and the lower end of the slider is the axis of the workpiece. It is the same as the conventional one in that the tips of both the left and right fingers approach the work shaft center as they approach, and finally the three people grip the work. In the hand device of the present invention, a female screw is engraved on the shaft center of the slider, and a rotary shaft is added to the upper end of the screw rod screwed to the female screw.
The rotating shaft is rotated by a motor capable of rotating in the forward and reverse directions.
【０００５】そして、上記回転軸を下方即ちワーク軸心
に近付く方向に付勢するばねが回転軸に介装されている
ことが好ましい。Further, it is preferable that a spring urging the rotary shaft downward, that is, in a direction approaching the work shaft center, is interposed on the rotary shaft.
【０００６】また、上記ねじ捧と回転軸との継ぎ目付近
にばね受けが設けられ、回転軸部のスラストベアリング
とばね受けとの間において回転軸に上記のばねが介装さ
れていることが好ましい。Further, it is preferable that a spring bearing is provided near the joint between the screw shaft and the rotary shaft, and the above spring is interposed on the rotary shaft between the thrust bearing and the spring bearing of the rotary shaft portion. .
【０００７】また、ワークが把持された後もモーターが
回転するときは、ねじ捧即ち回転軸がばねに抗して上昇
するが、その上昇を検知するセンサーがハンド本体に設
けられ、センサーの検知信号でモーター軸を制動する保
持ブレーキが作動されるようにするとよい。Further, when the motor rotates even after the work is gripped, the screw rod, that is, the rotating shaft rises against the spring, but a sensor for detecting the rise is provided in the hand body, and the sensor detects the sensor. A holding brake that brakes the motor shaft with a signal may be activated.
【０００８】[0008]
【作用】モーターが起動されると、ねじ捧が回転するこ
とにより、スライダーはワークの軸心に向かつて直進
し、カムフォロアを介して両フィンガーは回動されてワ
ークの軸心に向かい３者によつてワークを把持するよう
になる。スライダーがワーク表面に当接してからもモー
ターが回ると、スライダーは停止したままでねじ捧がば
ねに抗して上方へ動くようになる。ねじ棒即ち回転軸の
上昇はセンサーで検知され、センサーの信号でモーター
の回転が止められる。なお、保持ブレーキが設けてあれ
ば、センサーの信号で保持ブレーキの制動とモーターの
停止が行われる。[Function] When the motor is started, the screw rod rotates and the slider moves straight toward the shaft center of the work piece, and both fingers are rotated through the cam follower toward the work shaft center to move to the three sides. Therefore, the work is gripped. If the motor rotates even after the slider contacts the surface of the workpiece, the slider will stop and the screw rod will move upward against the spring. The rising of the screw rod or the rotating shaft is detected by the sensor, and the rotation of the motor is stopped by the signal of the sensor. If the holding brake is provided, the sensor brakes the holding brake and stops the motor.
【０００９】[0009]
【実施例】以下本発明の実施例を図面について説明す
る。１はローダーアーム、２はハンド本体、３はモータ
ー、４は原動軸、５はスラストベアリング、６は駆動歯
車、７は保持ブレーキである。８は駆動歯車６と噛み合
う従動歯車であり、従回転軸９に固着された円盤状のド
ッグ１０と一体になつている。従回転軸９はスラストベ
アリング１１により軸方向に摺動自在に支持されてお
り、スラストベアリング１１から下方に出ている従回転
軸９の下端には従回転軸９より大径のねじ棒１２が継ぎ
足すように接続され、その接続部に段１３ができてい
る。ばね受け１４が従回転軸９に嵌合されて段１３で受
け止められ、ばね受け１４とスラストベアリング１１と
の間において従回転軸９に圧縮コイルばね１５が巻装さ
れている。対をなしている左フィンガー１６と右フィン
ガー１７はそれぞれ中央部を軸ピン１８でハンド本体２
に枢着され、上半部に設けられたカム溝１９にカムフォ
ロア２０が嵌入している。スライダー２１がワーク２２
の軸心に向かつて摺動可能にスラスト軸受２３によつて
支持され、スライダー２１から左右両側に突出した腕２
４にカムフォロア２０が支持され、スライダー２１の軸
心にめねじが刻設され、そのめねじにねじ捧１２が螺合
している。ねじ棒１２の回転でスライダー２１がワーク
２２の軸心に向かい直進するときに、フィンガー１６，
１７は回動されて先端がワーク２２の軸心に近づくよう
になつている。そして、スライダー２１がワーク２２の
周に当接してからもねじ棒１２が回ろうとすると、スラ
イダー２１は動くことができないので、ねじ捧１２及び
従回転軸９は圧縮ばね１４に抗して上方へ動く。２５は
従回転軸９の上昇を検知するセンサーである。センサー
は非接触式のほか、リミットスイッチであつてもよい。
また、圧縮コイルばねの代わりに皿ばね、あるいはゴム
を使用してもよい。Embodiments of the present invention will be described below with reference to the drawings. Reference numeral 1 is a loader arm, 2 is a hand body, 3 is a motor, 4 is a driving shaft, 5 is a thrust bearing, 6 is a drive gear, and 7 is a holding brake. Reference numeral 8 is a driven gear that meshes with the drive gear 6, and is integrated with a disc-shaped dog 10 that is fixed to a driven rotary shaft 9. The driven shaft 9 is axially slidably supported by a thrust bearing 11, and a threaded rod 12 having a diameter larger than that of the driven shaft 9 is provided at the lower end of the driven shaft 9 protruding downward from the thrust bearing 11. They are connected so as to extend, and a step 13 is formed at the connecting portion. A spring bearing 14 is fitted on the driven rotary shaft 9 and received by the step 13, and a compression coil spring 15 is wound around the driven rotary shaft 9 between the spring bearing 14 and the thrust bearing 11. The left finger 16 and the right finger 17, which form a pair, each have a center portion with a shaft pin 18 at the center of the hand body
A cam follower 20 is fitted in a cam groove 19 provided in the upper half of the cam follower 20. Slider 21 is work 22
The arm 2 that is supported by a thrust bearing 23 so as to be slidable toward the axial center of the
4, the cam follower 20 is supported, a female screw is engraved on the shaft center of the slider 21, and the screw rod 12 is screwed into the female screw. When the slider 21 moves straight toward the axis of the work 22 by the rotation of the screw rod 12, the fingers 16,
17 is rotated so that its tip approaches the axis of the work 22. If the screw rod 12 tries to rotate even after the slider 21 abuts on the circumference of the work 22, the slider 21 cannot move, so that the screw rod 12 and the driven rotary shaft 9 move upward against the compression spring 14. Move. Reference numeral 25 is a sensor for detecting the rise of the secondary rotation shaft 9. The sensor may be a contactless type or a limit switch.
Further, a disc spring or rubber may be used instead of the compression coil spring.
【００１０】従回転軸が上昇してドッグ１０がセンサー
２５に接近すると、センサー２５がこれを検知してモー
ター３を止める。あるいは保持ブレーキ７を作動させる
ようになつている。When the dog 10 approaches the sensor 25 by raising the driven shaft, the sensor 25 detects this and stops the motor 3. Alternatively, the holding brake 7 is activated.
【００１１】実施例では、ばね受け１４が段１３で係止
されているが、段１３で直接にばねを受けてもよい。あ
るいは、段１３を設けずにピンまたはワッシャなどを回
転軸部に固着してばね受けとしてもよい。In the embodiment, the spring receiver 14 is locked by the step 13, but the spring may be directly received by the step 13. Alternatively, without providing the step 13, a pin, a washer or the like may be fixed to the rotating shaft portion to form a spring bearing.
【００１２】モーターはエァモーター、油圧モーター、
電動モーターのいずれであってもよい。The motor is an air motor, a hydraulic motor,
It may be any of electric motors.
【００１３】[0013]
【発明の効果】スライダーが雌雄螺合運動により動き、
スライダーに従つてフィンガーが動くので把持作用が精
密に行われる。The slider moves by the male and female screwing motion,
Since the fingers move according to the slider, the gripping action is performed accurately.
【００１４】ワークを把持したことをセンサーが検知す
るまではモーターが作動しているので、確実に把持させ
ることができる。Since the motor is operating until the sensor detects that the work is gripped, the work can be reliably gripped.
【００１５】また、モーターを停止して把持していると
きは保持ブレーキが働いていて駆動軸を制動しているの
で、モーターの遊転がなくて、把持緩みが起こるなどの
恐れもない。Further, when the motor is stopped and gripped, the holding brake works to brake the drive shaft, so that the motor does not rotate and there is no fear of grip loosening.
【図１】未把持時の縦断面図である。FIG. 1 is a vertical cross-sectional view when not gripped.
【図２】把持時の縦断面図である。FIG. 2 is a vertical sectional view at the time of gripping.
【図３】要部の拡大断面図である。FIG. 3 is an enlarged cross-sectional view of a main part.
１ ローダーアーム ２ ハンド本体 ３ モーター ４ 原動軸 ６ 駆動歯車 ７ 保持ブレーキ ８ 従動歯車 ９ 従回転軸 １０ ドッグ １２ ねじ棒 １３ 段 １４ ばね受け １５ 圧縮コイルばね １６ 左フィンガー １７ 右フィンガー １９ カム溝 ２０ カムフォロア ２１ スライダー ２２ ワーク ２４ 腕 ２５ センサー 1 loader arm 2 hand body 3 motor 4 driving shaft 6 driving gear 7 holding brake 8 driven gear 9 driven rotation shaft 10 dog 12 screw rod 13 steps 14 spring bearing 15 compression coil spring 16 left finger 17 right finger 19 cam groove 20 cam follower 21 Slider 22 Work 24 Arm 25 Sensor
Claims (4)
可能にスライダーがハンド本体に支持され、そのスライ
ダーに対し左右対称位置に左右のフィンガーが揺動可能
にその中央部を軸ピンでハンド本体に枢着され、そのフ
ィンガーにはカム溝が設けられ、そのカム溝に嵌入する
カムフォロアがスライダーから左右に突出した腕に支持
され、スライダーの下端がワークの軸心に近付くに従い
左右の両フィンガーの先端もワーク軸心に近付いて終に
ワークを把持する産業用ロボットのハンド装置におい
て、スライダーの軸心にめねじが刻設され、そのめねじ
に螺合するねじ捧の上端に回転軸が継ぎ足され、その回
転軸を正逆転するモーターが設けられていることを特徴
とする産業用ロボットのハンド装置。1. A slider is supported by a hand main body so as to be slidable toward an axis of a work to be gripped, and left and right fingers can swing at symmetrical positions with respect to the slider. The hand body is pivotally attached, and the fingers have cam grooves, and the cam followers that fit into the cam grooves are supported by the arms protruding from the slider to the left and right. In the hand device of an industrial robot, where the tips of the fingers also approach the work shaft center and grip the work at the end, a female screw is engraved on the slider shaft center, and the rotary shaft is attached to the upper end of the screw shaft that engages with the female screw. A hand device for an industrial robot, characterized in that a motor for reciprocating the rotation axis of the hand is provided.
可能にスライダーがハンド本体に支持され、そのスライ
ダーに対し左右対称位置に左右のフィンガーが揺動可能
にその中央部を軸ピンでハンド本体に枢着され、そのフ
ィンガーにはカム溝が設けられ、そのカム溝に嵌入する
カムフォロアがスライダーから左右に突出した腕に支持
され、スライダーの下端がワークの軸心に近付くに従い
左右の両フィンガーの先端もワーク軸心に近付いて終に
ワークを把持する産業用ロボットのハンド装置におい
て、スライダーの軸心にめねじが刻設され、そのめねじ
に螺合するねじ捧の上端に回転軸が継ぎ足され、その回
転軸を正逆転するモーターが設けられ、回転軸を下方即
ちワーク軸心に近付く方向に付勢するばねが回転軸に介
装されていることを特徴とする産業用ロボットのハンド
装置。2. A slider is supported by a hand main body so as to be slidable toward an axis of a work to be grasped, and left and right fingers can swing in symmetrical positions with respect to the slider. The hand body is pivotally attached, and the fingers have cam grooves, and the cam followers that fit into the cam grooves are supported by the arms protruding from the slider to the left and right. In the hand device of an industrial robot, where the tips of the fingers also approach the work shaft center and grip the work at the end, a female screw is engraved on the slider shaft center, and the rotary shaft is attached to the upper end of the screw shaft that is screwed into the female screw. Is provided with a motor for reversing the rotating shaft in the forward and reverse directions, and a spring for urging the rotating shaft downward, that is, in a direction toward the work axis is interposed in the rotating shaft. A hand device for industrial robots.
可能にスライダーガハンド本体に支持され、そのスライ
ダーに対し左右対称位置に左右のフィンガーが揺動可能
にその中央部を軸ピンでハンド本体に枢着され、そのフ
ィンガーにはカム溝が設けられ、そのカム溝に嵌入する
カムフォロアがスライダーから左右に突出した腕に支持
され、スライダーの下端がワークの軸心に近付くに従い
左右の両フィンガーの先端もワーク軸心に近付いて終に
ワークを把持する産業用ロボットのハンド装置におい
て、スライダーの軸心にめねじが刻設され、そのめねじ
に螺合するねじ捧の上端に回転軸が継ぎ足され、その回
転軸を正逆転するモーターが設けられ、回転軸を下方即
ちワーク軸心に近付く方向に付勢するばねが、ねじ棒と
回転軸との継ぎ目付近に設けられたばね受けと回転軸部
のスラストベアリングとの間において回転軸に介装さ
れ、ワークが把持された後もモーターが回転するときは
ねじ棒と一体の回転軸がばねに抗して上昇するようにな
つており、回転軸の上昇を検知してモーターを停止させ
るセンサーがハンド本体に設けられていることを特徴と
する産業用ロボットのハンド装置。3. A slider gauntle body is slidably supported toward the shaft center of a work to be gripped, and left and right fingers can swing in symmetrical positions with respect to the slider, and a central portion thereof is supported by a shaft pin. The hand body is pivotally attached, and the fingers have cam grooves, and the cam followers that fit into the cam grooves are supported by the arms protruding from the slider to the left and right. In the hand device of an industrial robot, where the tips of the fingers also approach the work shaft center and grip the work at the end, a female screw is engraved on the slider shaft center, and the rotary shaft is attached to the upper end of the screw shaft that is screwed into the female screw. Is provided, and a motor for reversing the rotation axis of the rotation shaft is provided, and a spring for urging the rotation shaft downward, that is, in the direction of approaching the work axis is provided near the joint between the screw rod and the rotation axis. When the motor rotates even after the work is gripped, the rotary shaft, which is inserted between the spring bearing and the thrust bearing of the rotary shaft part, rises against the spring when the motor rotates. The hand device of the industrial robot is characterized in that the hand body is provided with a sensor for stopping the motor by detecting the rise of the rotating shaft.
ー軸を制動する保持ブレーキが備えられていることを特
徴とする請求項３記載の産業用ロボットのハンド装置。4. A hand device for an industrial robot according to claim 3, further comprising a holding brake which is actuated by a detection signal of a sensor to brake the motor shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19398895A JP3483359B2 (en) | 1995-06-26 | 1995-06-26 | Industrial robot hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19398895A JP3483359B2 (en) | 1995-06-26 | 1995-06-26 | Industrial robot hand device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0911175A true JPH0911175A (en) | 1997-01-14 |
| JP3483359B2 JP3483359B2 (en) | 2004-01-06 |
Family
ID=16317108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19398895A Expired - Fee Related JP3483359B2 (en) | 1995-06-26 | 1995-06-26 | Industrial robot hand device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3483359B2 (en) |
Cited By (32)
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|---|---|---|---|---|
| KR20010109811A (en) * | 2000-06-02 | 2001-12-12 | 김찬용 | Finger |
| US6691586B2 (en) * | 1997-12-15 | 2004-02-17 | Mitsubishi Denki Kabushiki Kaisha | Micro actuator |
| JP2007021696A (en) * | 2005-07-21 | 2007-02-01 | Kayaba Ind Co Ltd | Carrying device |
| JP2008036716A (en) * | 2006-08-01 | 2008-02-21 | Komatsu Machinery Corp | Workpiece nipping device |
| JP2009119597A (en) * | 2007-11-16 | 2009-06-04 | Gimatic Spa | Air pressure type angular gripper |
| JP2009242015A (en) * | 2008-03-28 | 2009-10-22 | Okuma Corp | Carrying device |
| CN102407525A (en) * | 2011-09-30 | 2012-04-11 | 赵瑞文 | Mechanical hand device for clamping and overturning W-shaped steel plate |
| CN103728317A (en) * | 2013-12-14 | 2014-04-16 | 山东新华医疗器械股份有限公司 | Clamping type ampoule bottle carrying mechanism for automatic lamp inspection machine |
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3005937U (en) | 1994-03-29 | 1995-01-17 | 株式会社プラスエンジニアリング | Industrial robot hand |
-
1995
- 1995-06-26 JP JP19398895A patent/JP3483359B2/en not_active Expired - Fee Related
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