JPS60155390A - Hand device for industrial robot - Google Patents
Hand device for industrial robotInfo
- Publication number
- JPS60155390A JPS60155390A JP945284A JP945284A JPS60155390A JP S60155390 A JPS60155390 A JP S60155390A JP 945284 A JP945284 A JP 945284A JP 945284 A JP945284 A JP 945284A JP S60155390 A JPS60155390 A JP S60155390A
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- workpiece
- piston
- arm
- industrial 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
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は産業用ロボットの・・ノド装置に関し、さら
に詳しくは何らかの原因でワーク把持爪の駆動源が断た
れた場合にもワークの把持状態を維持し続け、ワークの
落下による事故を未然に防止する構造の産業用ロボット
のハンド装置に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a gutter device for an industrial robot, and more specifically, it is capable of maintaining the gripping state of a workpiece even if the drive source of the workpiece gripping claws is cut off for some reason. The present invention relates to a hand device for an industrial robot having a structure that allows continuous maintenance and prevents accidents caused by falling workpieces.
産業用ロボット労働安全衛生規則の発効により１０ボツ
トが異常停止した場合、把持した物を安定して把持し続
けるもの」が義務付けらねた。With the enforcement of the Occupational Safety and Health Regulations for Industrial Robots, 10 robots are now required to be capable of stably gripping the object in the event of an abnormal stop.
これに対処する構造として、駆動源が油圧、空圧式の場
合は逆流防止パルプを付加するのが一般的であるが、構
造が複雑で高価で信頼性が低いと共に駆動源が電気の場
合は対処がむつかしいという問題点があった。To deal with this, when the drive source is hydraulic or pneumatic, it is common to add backflow prevention pulp, but the structure is complex, expensive, and unreliable, and when the drive source is electric, it is common to add backflow prevention pulp. The problem was that it was difficult.
この発明は上記のような問題点を解決するためになされ
たもので、把持爪でワークを把持した状態で、把描爪を
駆動する駆動機の駆動源が断たれても機械的にワークの
把持状態を維持することができる産業用ロボットのハン
ド装置を提供することを目的とするものである。This invention was made to solve the above-mentioned problems, and it is possible to mechanically move the workpiece even if the drive source of the drive machine that drives the gripping claws is cut off while the workpiece is being gripped by the gripping claws. It is an object of the present invention to provide a hand device for an industrial robot that can maintain a grasping state.
以下、この発明の一実施例を図について説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第１図はこの発す」の一実施例を示しワークを把持した
状態の正面図、第２図は同じくこの発明の一実施例ケ示
し把持爪を開いた状態の正面図、第６図はこの発明の他
の実施例を示す正面図、第４図はこの発明の更に他の実
施例を示す正面図である。Fig. 1 shows an embodiment of this invention, and is a front view of the workpiece gripped, Fig. 2 shows an embodiment of the invention, and is a front view of the gripping claws opened. FIG. 4 is a front view showing still another embodiment of the invention.
第１図および第２図において、（１）はロボットのアー
ム、（２）は回動軸Ａで、アーム（１）に設けられた回
動軸Ａ駆動機（３）によって回動自在となっている。In Figures 1 and 2, (1) is the arm of the robot, and (2) is the rotation axis A, which is rotatable by the rotation axis A driver (3) installed on the arm (1). ing.
（４）は回動軸Ｂ駆動機で、回動軸Ａ（２）に固定され
、回動軸Ａ（２）に直角に配置された回動軸Ｂ（５）を
駆動するものである。(4) is a rotating shaft B driving machine, which is fixed to the rotating shaft A(2) and drives the rotating shaft B(5) arranged perpendicular to the rotating shaft A(2).
（６）はハンド装置で、下記（７）〜四から構成される
。(6) is a hand device, which is composed of the following (7) to (4).
（７）は回動軸Ｂ（５）に一体に固定されたフレームで
、回動軸Ｂ（５）を含み紙面に垂直な面で断面した形状
がコ字状をしている。（８）は一対の把持爪で、一方の
把持爪（８ａ）と他方の把持爪（８ｂ）とからなる。(7) is a frame that is integrally fixed to the rotating shaft B (5), and has a U-shaped cross section taken along a plane that includes the rotating shaft B (5) and is perpendicular to the plane of the paper. Reference numeral (8) denotes a pair of gripping claws, which are composed of one gripping claw (8a) and the other gripping claw (8b).
（９）は把持アームで、一方のアーム（９ａ）と他方の
アーム（９ｂ）とからなる。把持爪（８ａ）とアーム（
９ａ）は一体のもので構成され、把持爪（８ｂ）とアー
ム（９ｂ）とは図示の如くゴム等の弾性変位体叫を介装
して一体に組立てられている。アーム（９）は枢Ｗ＋Ｕ
ηによりフレーム（７）に対して回動口１能に支持され
ている。１だ、アーム（９）の把持爪（８）と反対側の
端部にはローラｔｔａが設けである。このローラ（６）
は後述のピストンとの摺動抵抗を減らす目的のものであ
る。ｏ３は把持爪（８）の駆動機で、フレーム（７）に
固定され空圧、油圧、電気等を駆動源としている。（１
４１は駆動機α１のピストン、（１５はピストンＣ１４
の先端に設けられたテーバ部、なお、アーム（９）は図
示しないばねにより矢印ａＱの方向に常時付勢されてお
り、ｑ７）はワークである。(9) is a gripping arm, which is composed of one arm (9a) and the other arm (9b). Grip claw (8a) and arm (
The gripping claw (8b) and the arm (9b) are integrally assembled with an elastic displacement member such as rubber interposed therebetween as shown in the figure. Arm (9) is pivot W+U
The rotary opening 1 is supported by the frame (7) by η. 1, a roller tta is provided at the end of the arm (9) opposite to the gripping claw (8). This roller (6)
is for the purpose of reducing sliding resistance with the piston described later. o3 is a driver for the gripping claw (8), which is fixed to the frame (7) and uses pneumatics, hydraulic pressure, electricity, etc. as a driving source. (1
41 is the piston of the driving machine α1 (15 is the piston C14
The tapered part provided at the tip of the arm (9) is always biased in the direction of arrow aQ by a spring (not shown), and q7) is the workpiece.
以上の構成において、第２図に示す把持爪が開いている
状態から、駆動機（１３に動作させてヒ“ストン（，１
→を押し出すと、ローラ（６）がビストノα→のテーバ
部四で変位された後ピストンＣＩ４の平行部分と係合し
て把持爪（８）が閉じ、ワークＱ７１を把持することが
できる。In the above configuration, from the state where the gripping claws are open as shown in FIG.
When → is pushed out, the roller (6) is displaced by the taper portion 4 of the biston hole α→ and then engages with the parallel portion of the piston CI4, the gripping claw (8) closes, and the workpiece Q71 can be gripped.
なお、把持爪（８ｂ）とアーム（９ｂ）との間に介装さ
れている弾性変位体（１１は、ワーク←ηの把持を完了
した状態でＤ１要の把持力を発生するように設計しであ
る。この弾性変位体（１［）の作用によりワークαηの
外径寸法めるいはピスト／←◆、ローン（６）等に若干
の製作誤差があっても殆んど一定の把持力でワークμの
を把持することができる。また、一方の把持爪（８ａ）
は弾性変位休園を介装していないので、ロボットのアー
ムに対するワークの位置は、との把持爪（８ａ）で正確
に決定されるため、正確なワークの把持、搬送及び組立
等ができる。In addition, the elastic displacement body (11) interposed between the gripping claw (8b) and the arm (9b) is designed to generate the required gripping force D1 when the gripping of the workpiece←η is completed. Due to the action of this elastic displacement body (1 [), even if there is a slight manufacturing error in the outer diameter of the workpiece αη, piston/←◆, loan (6), etc., the gripping force remains almost constant. It is possible to grip the workpiece μ.In addition, one gripping claw (8a)
Since the robot does not have an elastic displacement mechanism, the position of the workpiece relative to the arm of the robot is accurately determined by the gripping claw (8a) of the robot, so that the workpiece can be accurately gripped, transported, assembled, etc.
第６図はこの発明の他の実施例を示し、第１図および第
２図と同一部分には同一符号を付しである。（２）はピ
ストンαゆに設けだローラ嵌合凹部である。この実施例
ではローラ（６）はワークα力を把持した状態で、ロー
ラ嵌合凹部購と嵌合する。したがって、把持爪（８）の
設けられた把持アーム（９）の駆動機、つまりピストン
ｔＳの駆動機ｕ３の駆動源がたたれても、ワーク叩の把
持状態を維持し続けることができる。FIG. 6 shows another embodiment of the invention, in which the same parts as in FIGS. 1 and 2 are given the same reference numerals. (2) is a roller fitting recess provided on the side of the piston α. In this embodiment, the roller (6) fits into the roller fitting recess while gripping the workpiece α force. Therefore, even if the drive unit for the gripping arm (9) provided with the gripping claw (8), that is, the drive source for the drive unit u3 for the piston tS, fails, the gripping state for hitting the workpiece can be maintained.
第４図はこの発明の更に他の実施例を示し、第１図およ
び第２図と同一部分には同一符号を付しである。（６）
は第２チー７％部で、この第２テーノ〈部咋はピストン
（ロ）の中心線−と傾斜面とのなす角θを摩擦角以下と
している。FIG. 4 shows still another embodiment of the invention, in which the same parts as in FIGS. 1 and 2 are given the same reference numerals. (6)
is the 7% part of the second tee, and the angle θ between the center line of the piston (b) and the inclined surface is less than or equal to the friction angle.
以上の構成において、駆動機伏１を動作させてピストン
鵠を押し出すと、ローラ（６）がピストンａ◆のテーパ
部四で変位された後第２チー・（部四の傾斜面と係合し
、把持爪（８慢ヌ閉じ、ワークαηを把持することがで
きる。このとき、角θが摩擦角以下としであるから、把
持爪（８）の設けられた把持アーム（９）の駆動機、つ
まりピストン球→の駆動機（至）の駆動源がたたれても
ピストンα慢が移動しない。したがって、ワークαりの
把持状態を維持し続けることができる。In the above configuration, when the drive mechanism 1 is operated to push out the piston, the roller (6) is displaced by the taper section 4 of the piston a◆ and then engages with the inclined surface of the second tee (section 4). , the gripping claw (8) is closed, and the workpiece αη can be gripped. At this time, since the angle θ is less than or equal to the friction angle, the driver of the gripping arm (9) provided with the gripping claw (8), In other words, even if the driving source of the driving device for the piston ball is turned off, the piston α does not move.Therefore, the gripping state of the workpiece α can be maintained.
なお、第１図および第２図に示す実施例は角θが零の場
合に相当する。Note that the embodiments shown in FIGS. 1 and 2 correspond to the case where the angle θ is zero.
以上述べたように、この発明によれば、把持爪でワーク
を把持した状態で把持爪の駆動機の駆動源が断たれても
機械的にワークの把持状態を維持する手段を設けたから
、ロボットが異常停止した場合でもワークが落下するこ
とがなく、事故を未然に防止することができる。As described above, according to the present invention, even if the drive source of the drive machine of the gripping claws is cut off while the workpiece is being gripped by the gripping claws, a means for mechanically maintaining the gripping state of the workpiece is provided. Even if the machine stops abnormally, the workpiece will not fall, and accidents can be prevented.
第１図はこの発明の一実施例を示しワークを把持した状
態の正面図、第２図は同じくこの発明の一実施例を示し
把持爪を開いた状態の正面図、第６図はこの発明の他の
実施例を示す正面図、第４図はこの発明の更に他の実施
例を示す正面図である。
図中、（１）はロボットアーム、（２）は回動軸Ａ、（
３）は回動軸Ａ駆動機、（４）は回動軸Ｂ駆動機、（５
）は回動軸Ｂ、（６）はハンド装置、（７）はフレーム
、（８）は把持爪、（９）は把持アーム、αＱは弾性変
位体、０υは枢軸、に）はローラ、Ｑ葎は把持爪の駆動
機、ｏ脅はピストン、（ハ）はテーバ部、α叶は矢印、
◇ηはワーク、（至）はローラ嵌合凹部、（６）は第２
テーバ部、翰はピストンαゆの中心線である。
な訃、図中同一符号は夫々同一または相当部分を示す。
代理人弁理士 木 村 三 朗
第１図
ｏ８ｂｌＯ
第２図
８ｏ ８ｂ １０
第３図
■
８ａ ８ｂ ＩＱ
第４ 図
ｓｏ ｓｂ ｔ。FIG. 1 shows an embodiment of the present invention and is a front view of the workpiece being gripped, FIG. 2 is a front view of the embodiment of the invention with the gripping claws open, and FIG. 6 is a front view of the invention. FIG. 4 is a front view showing still another embodiment of the present invention. In the figure, (1) is the robot arm, (2) is the rotation axis A, (
3) is the rotation axis A drive machine, (4) is the rotation axis B drive machine, (5
) is the rotation axis B, (6) is the hand device, (7) is the frame, (8) is the gripping claw, (9) is the gripping arm, αQ is the elastic displacement body, 0υ is the pivot, ni) is the roller, Q葎 is the drive mechanism of the gripping claw, O is the piston, (C) is the taber part, α is the arrow,
◇η is the workpiece, (to) is the roller fitting recess, (6) is the second
The taper part and the blade are the center line of the piston α. The same reference numerals in the figures indicate the same or corresponding parts, respectively. Representative Patent Attorney Sanro Kimura Figure 1 o8blO Figure 2 8o 8b 10 Figure 3 ■ 8a 8b IQ Figure 4 so sb t.
Claims (3)
設けられた把持アームを駆動する駆動機とを備え、上記
把持爪でワークを把持した状態で上記駆動機の駆動源が
断たれても機械的にワークの把持状態が維持されること
を特徴とした産業用ロボットのハンド装置。(1) A pair of gripping claws that grip a workpiece, and a drive machine that drives a gripping arm provided with the gripping claws, and the drive source of the drive machine is disconnected when the workpiece is gripped by the gripping claws. A hand device for an industrial robot that mechanically maintains its grip on a workpiece even if it leans down.
の把持状態で上記把持アームが係合するテーバ部の傾斜
面と中心線とのなす角を摩擦角以下として行なうことを
特徴とする特許請求の範囲部１項記載の産業用ロボット
のハンド装置。(2) A patent characterized in that the gripping state is maintained by making the angle between the center line and the inclined surface of the tapered portion that the gripping arm engages with when the workpiece is gripped by the piston of the driving machine be equal to or less than the friction angle. A hand device for an industrial robot according to claim 1.
た四部に上記把持爪が設けられた把持アーム（４）把持
爪の一方を弾性変位体を介して把持アームに取付けたこ
とを特徴とする特許請求の範囲第１項乃至第６項のいず
れかに記載の産業用ロボットのハンド装置。(3) To maintain the gripping state, the gripping arm is provided with the gripping claws on four parts provided on the piston of the driving machine.(4) One of the gripping claws is attached to the gripping arm via an elastic displacement body. A hand device for an industrial robot according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP945284A JPS60155390A (en) | 1984-01-24 | 1984-01-24 | Hand device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP945284A JPS60155390A (en) | 1984-01-24 | 1984-01-24 | Hand device for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60155390A true JPS60155390A (en) | 1985-08-15 |
| JPH042395B2 JPH042395B2 (en) | 1992-01-17 |
Family
ID=11720676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP945284A Granted JPS60155390A (en) | 1984-01-24 | 1984-01-24 | Hand device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60155390A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02243287A (en) * | 1989-02-22 | 1990-09-27 | Gerd Juergen Eckold | Motorized pinch type tool holder for control device |
| JPH0343174A (en) * | 1989-07-06 | 1991-02-25 | Mishima Kosan Co Ltd | Automatic tool exchange device |
| JP2007139360A (en) * | 2005-11-21 | 2007-06-07 | Ishikawajima Harima Heavy Ind Co Ltd | Shell holding device |
| JP2009220244A (en) * | 2008-03-18 | 2009-10-01 | Star Seiki Co Ltd | Rocking opening/closing chuck |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5041659U (en) * | 1973-08-17 | 1975-04-26 | ||
| JPS5425057A (en) * | 1977-07-25 | 1979-02-24 | Fuji Electric Co Ltd | Handling device |
-
1984
- 1984-01-24 JP JP945284A patent/JPS60155390A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5041659U (en) * | 1973-08-17 | 1975-04-26 | ||
| JPS5425057A (en) * | 1977-07-25 | 1979-02-24 | Fuji Electric Co Ltd | Handling device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02243287A (en) * | 1989-02-22 | 1990-09-27 | Gerd Juergen Eckold | Motorized pinch type tool holder for control device |
| JPH0343174A (en) * | 1989-07-06 | 1991-02-25 | Mishima Kosan Co Ltd | Automatic tool exchange device |
| JP2007139360A (en) * | 2005-11-21 | 2007-06-07 | Ishikawajima Harima Heavy Ind Co Ltd | Shell holding device |
| JP2009220244A (en) * | 2008-03-18 | 2009-10-01 | Star Seiki Co Ltd | Rocking opening/closing chuck |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH042395B2 (en) | 1992-01-17 |
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