JP3096404B2 - Robot hand device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand device used for assembling a traveling speed reducer such as a construction machine or a turning speed reducer.

[0002]

2. Description of the Related Art Recently, in assembling hydraulic equipment parts of construction equipment, a special machine has been used for caulking work such as a spring pin or a hard ball. The assembly evaluation tended to be unknown, and the long development period required a lot of investment costs. Therefore, there is a tendency to use a robot that is a finished product, and the assembling operation can be greatly simplified by using a robot hand device for simple assembling.

[0003] As a robot hand device, a hand structure having a single hand or a two-function hand which is selectively used depending on the shape of a work is often used.

However, in this type of robot hand device, when caulking work is performed, equipment is often configured in combination with a dedicated machine, so that the assembly work area becomes complicated and assembly time tends to be long due to various electric signals. It is in.

[0005] In addition, for caulking work,
No. 57084, a driving tool with an air hammer, which is manually driven by an operator,
Japanese Patent Application Laid-Open No. 1-169532 discloses a press-fitting and caulking device for components. However, since each of them is a dedicated caulking machine, there is a problem in a location where the caulking device is installed in a line where a large number of components are supplied. It cannot be used for assembly work.

On the other hand, there is an automated spring pin mounting device as disclosed in Japanese Utility Model Application Laid-Open No. 2-19435, but it is not suitable for use in combination with a robot in terms of shape. When the robot is mounted on the device, the spring pin mounting device becomes a hindrance when the robot performs the original work, and there is a problem that the equipment becomes large because it is replaced with another device.

[0007]

When the above-described caulking operation is performed by an air hammer or the like, an impact is generated during the operation of the air hammer or the like. The mounting of a simple air hammer or the like has not been considered because the impact generated from the air hammer or the like may impair the function of the robot arm or the robot body.

[0008] Under such circumstances, there has been no compact robot hand device for assembly that can also perform crimping work, and its realization has been desired.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and a crimping function is added to a robot hand device which is originally used for an assembling operation so that the crimping operation can be performed quickly and properly. The purpose is to do so.

[0010]

According to a first aspect of the present invention, there is provided a robot hand apparatus having a detachable tool adapter attached to a robot adapter attached to a robot body. A mounting base elastically provided on the plate via an elastic body, and a driving air slidably mounted inside the mounting base.
Hammer that operates by the supply of water and the operation of this hammer
And a caulking fitting connected to the rear end of the hammer
Forward by air pressure, and
Hammer preload cylinder that absorbs the impact of the machine by its air pressure
And a robot hand device having a configuration including:

According to a second aspect of the present invention, in the robot hand device according to the first aspect, as the caulking metal fitting,
A swaging pin for swaging a swaging stud by an enlarged shape portion formed at the tip is fitted to a central portion of a pin holding member that can be disassembled.

[0012] The invention described in claim 3 is the first invention.
In the mounting of the robot hand device, it is obtained by including a pin chuck Han De gripping the spring pin at the tip of the caulking fittings.

According to a fourth aspect of the present invention, in the robot hand device according to the third aspect, as the caulking metal fitting,
A central guide pin fitted into the spring pin and a caulking pin arranged in parallel behind the guide pin are fitted in a dismountable pin holding member.

According to a fifth aspect of the present invention, in the robot hand device according to the third aspect, a shaft which is vertically movable below a mounting base by a vertical guide shaft and is elastically urged downward by a spring. A chuck mounting plate is provided, a shaft chuck cylinder is provided on the upper surface of the mounting plate, and a convex shaft-shaped chuck hand which is opened and closed by the shaft chuck cylinder is provided below the mounting plate. is there.

According to a sixth aspect of the present invention, in the robot hand device according to the third aspect, a gear vertically movable below a mounting base by a vertical guide shaft and elastically urged downward by a spring. A chuck mounting plate is provided, and a gear chuck hand for holding a gear which is opened and closed by a gear chuck cylinder is provided on the mounting plate.

[0016]

According to the first aspect of the present invention, there is provided a hammer preloading system.
The hammer and swaging metal are advanced by the air pressure of the
At the same time, the hammer is operated, and a caulking operation is performed on the workpiece by the caulking fitting. The impact generated during the hammer operation is caused by the elastic body and the hammer preload cylinder provided between the plate of the tool adapter and the mounting base.
It is absorbed by the air pressure of the damper so that it does not reach the robot body.

According to the second aspect of the present invention, the head portion of the swaging stud is swaged by the enlarged shape portion of the swaging pin.
When the swage pin is worn out, disassemble the pin holding member and replace only the swage pin.

According to the third aspect of the present invention, the spring pin is gripped by the pin chuck hand and moved to the hole position where the spring pin is to be inserted into the work to position the spring pin. Then, after the hammer is advanced by the hammer preload cylinder at the rear end of the hammer and the spring pin is pressed against the opening edge of the pin insertion target hole, when the hammer is operated, the swaging metal is hit and the spring pin is pressed into the hole. You. At this time, the opening edge of the hole is caulked with a caulking metal fitting to prevent the spring pin from coming off. The impact of the impact generated during the hammer operation is absorbed by the elastic body provided between the plate of the tool adapter and the mounting base and the air pressure of the hammer preload cylinder, so as not to reach the robot body.

According to a fourth aspect of the present invention, the guide pin at the center of the caulking fitting is inserted into a hole in the spring pin by a preliminary operation of advancing the caulking fitting by the hammer preload cylinder, and after inserting, the spring pin is removed. Hold with a pin chuck hand. Thereafter, the spring pin is pressed into the hole of the work to be pressed into the spring pin, and the swaging metal is hit by the hammer operation to press-fit the spring pin. After the press-fitting, the opening edge of the work hole is stamped with a caulking pin to perform caulking. For this reason, in the frequent assembling work, the guide pin and the swaging pin of the swaging metal fitting are severely worn, and in the case of a conventional integrated swaging metal fitting, the swaging metal fitting is expensive because the entire swaging metal fitting is replaced. However, in the present invention, the pin holding member of the caulking fitting is disassembled so that the inner guide pin and the caulking pin can be easily replaced, so that the cost is low.

According to a fifth aspect of the present invention, a convex shaft chuck hand is closed by a shaft chuck cylinder and inserted into the shaft hole of the shaft, and the shaft chuck hand is opened to set the inner diameter surface of the shaft hole from the inside. Hold. The shaft is inserted into the hole to be inserted by an operation such as raising and lowering the robot body, the shaft chuck hand is closed, and the shaft is taken out from the shaft hole of the shaft. During such operation,
Even if the mounting base is lowered more than necessary, the spring between the mounting plate for the shaft chuck absorbs extra movement, and no excessive force is applied to the shaft chuck hand.

According to a sixth aspect of the present invention, the gear chuck hand is closed by a gear chuck cylinder to hold the gear, and the gear is inserted into a portion to be assembled by an operation such as turning the robot body. Open hand and retreat. During such an operation, even if the mounting base is lowered more than necessary, the spring between the mounting plate for the gear chuck absorbs the movement, and no excessive force is applied to the gear chuck hand.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in FIGS. 1 to 11 and the embodiments shown in FIGS.

First, the embodiment shown in FIGS. 1 to 11 will be described. The embodiment shown in FIG. 1 to FIG. 11 shows the invention described in claims 1, 3, 4, 5 and 6.

FIG. 8 shows a robot used for assembling a planetary gear type reducer used for a traveling speed reducer, a turning speed reducer or the like of a construction machine, for example. This robot turns, lifts, and lowers on a robot arm 12 provided on a robot body 11.
It has functions such as expansion and contraction and torsional rotation.

A part feeder 13 for supplying a spring pin to a fixed position centering on the robot body 11, a turntable 14 for supplying a reduction gear component other than the spring pin to a fixed position, and supply from the turntable 14. Assembling device 15 for assembling the carrier assembly of the planetary gear type reducer by transferring the parts
And a table 16 on which various robot hand devices H1, H2, H3, H4, which are attached to and detached from the tip of the robot arm 12, are fixed, and a conveyor 17 for transporting finished products assembled by the assembly device 15. And a carrier 18 waiting at the extended position of the conveyor 17 to receive the finished product.

As shown in FIG.
The robot adapter 21 for mounting the robot hand provided at the tip of the robot hand, and various robot hand devices H1, H2,
An automatic tool changer (ATC) is constituted by a tool adapter 22 provided at H3 and H4 and detachable from the robot adapter 21.

This ATC is a cam lock system in which the tool adapter 22 is firmly connected by two pneumatic operation cams provided on the robot adapter 21. The ATC connects a pneumatic line and a sensor electric signal line as described later. can do.

One robot hand device H1 includes a six-jaw chuck hand 23 for transporting the carrier C and a chuck hand 24 for transporting the sun gear Go. Another robot hand device H2 is a planetary gear G
Gear assembly hand 25 for assembling bearing B inside
And a vacuum hand 26 for sucking the thrust washer W with a negative pressure and incorporating the thrust washer W into the planetary gear G.

The robot hand device H3 according to the present invention comprises:
A gear chuck hand 31 that is gripped when the planetary gear G is incorporated into the carrier C; a shaft chuck hand 32 that is gripped when the shaft S is inserted into the shaft hole of the carrier C and the planetary gear G; A pin chuck hand 33 for gripping a spring pin P having a C-shaped cross section to be inserted into the radial hole, and a crimping fitting 34 for punching and caulking the opening edge of the target hole into which the spring pin P is inserted. Have. Details will be described later.

Further, another robot hand device H4 is
A three-jaw chuck hand 35 for taking out the completed carrier assembly Cas onto the conveyor 17 is provided.

FIG. 10 shows the carrier assembling apparatus 15 and a carrier receiving table for fixing the carrier C in a fixed position.
A number of centering guide pins 38 for centering and positioning the planetary gear G are provided around the 36 and the carrier clamp 37 so as to be vertically movable. The carrier receiver 36 and the centering guide pins 38 are rotated by a rotation mechanism 39. In the robot hand device H3 according to the present invention, the spring pin P is press-fitted into the lower carrier C fixed by the carrier assembling device 15 and caulked.

Next, the robot hand device H3 according to the present invention will be described with reference to FIGS.

First, in this robot hand device, a tool adapter plate 41 is provided integrally with a tool adapter 22 connected to a robot adapter 21 at the tip of the robot arm 12, and the tool adapter plate 41 is divided into two parts via a plate 42. Elastic bodies 43 and 44 are provided integrally. These elastic bodies 43 and 44 are formed of rubber, but may be formed of a number of coil springs.

One mounting base 45 is elastically provided on the front elastic body 43. The mounting base 45 is formed by fixing the upper portion of the guide support 47 on both left and right sides with bolts 48 based on the base plate 46, and fixing the lower plate 49 with the bolts 50 between the lower portions of the guide supports 47 on both sides. Construct a frame.

A guide main body 51 as a guide member is fixed inside the mounting base 45, and an air impact hammer (hereinafter, referred to as an air hammer 52) is slidably mounted in the guide main body 51. The hammer preload cylinder 53 is connected to the rear end of the cylinder. This hammer preload cylinder 53
Is mounted on a cylinder mounting plate 55 fixed by bolts 54 between the left and right guide supports 47.

A detector dock 56 for detecting the advance of the air hammer 52 is attached to a rear side surface of the air hammer 52. The detector dock 56 projects outside through an elongated hole 57 formed in a guide support 47 on the same side. It is detected by a hammer advancing end detector 58 disposed outside.

The caulking fitting 34 is integrally provided at the tip of the caulking tool 61 of the air hammer 52. As will be described in detail with reference to FIG. 6, the swaging metal fitting 34 has a guide pin 62 protruding long at the center of the distal end, and a pair of caulking pins 63 protruding short at both sides.

A pair of pin chuck hands 33 holding the spring pin P are opened and closed in parallel with the tip of the caulking fitting 34. The mechanism for opening and closing the pin chuck hand 33 is such that a pin chuck cylinder 67 is obliquely mounted on the upper surface of the base plate 46 with a bolt 65 via a mounting plate 66, and a chuck motion conversion unit 68 is mounted on the pin chuck cylinder 67. The pair of pin chuck hands 33 are attached to the left and right operation parts of the motion conversion unit 68, and the spring pins P are gripped in front of the guide pins 62 by the spring pin grip grooves 69 formed at the tips of the pin chuck hands 33. ,
Open.

In order to grip the spring pin P, the pin chuck hand 33 opened by the robot arm 12 is moved to the part feeder for aligning and feeding the spring pin.
After moving to the position of the spring pin P vertically mounted on the takeout station 13 and inserting the guide pin 62 at the center of the caulking fitting 34 into the hole in the spring pin P, the outer peripheral surface of the spring pin P is pinned. It is lightly gripped by the spring pin grip groove 69 of the chuck hand 33. Thereafter, the robot arm 12 is moved to the hole position of the carrier C where the spring pin is to be inserted, and the spring pin P is positioned at the hole position.

Thereafter, the air hammer 52 and the swaging metal fitting 34 are advanced by the hammer preload cylinder 53, the spring pin P is pressed into the hole, the pin chuck hand 33 is opened, and the supply of driving air to the air hammer 52 is started. As a result, the air hammer 52 starts hitting, the swaging fitting 34 advances by hitting, and the swaging fitting 34 further advances between the pin chuck hands 33 to press-fit the spring pins P into the holes of the carrier C and insert the pin into the pin C. The caulking pins 63 located on both sides of the guide pin 62 of the caulking fitting 34 are pressed against the opening edge of the hole and hit, and the caulking process is performed on the opening edge of the hole.

At the time of hammering, the impact of the air hammer 52 is applied to a hammer preload cylinder connected to the rear end of the air hammer 52.
It is absorbed by the air pressure on the head side (plate 55 side) of 53 and by the elastic body 43 on the mounting base 45 so as not to be transmitted to the robot arm 12.

Four guide shafts 71 are vertically screwed and fixed to the lower surface of the lower plate 49 constituting the mounting base 45, and the shaft chuck mounting plate 72 is vertically movable by these guide shafts 71. And the mounting plate 72 is elastically urged downward by a compression coil spring 73 fitted to the guide shaft 71.

A shaft chuck cylinder 74 is fixed on the upper surface of the shaft chuck mounting plate 72, and a chuck motion converter 75 operated by the cylinder 74 is provided below the mounting plate 72. A convex shaft long three-jawed shaft chuck hand 32 is attached to the three radial operating portions so as to be openable and closable, and a small-diameter hand end 32a inserted into the shaft hole h of the shaft S as a work is provided at the lower end thereof.

Then, the shaft chuck hand 32 is closed by the shaft chuck cylinder 74, and the hand end 32 is closed.
a is inserted into the shaft hole h of the shaft S, the shaft chuck hand 32 is opened, and the inner diameter surface of the shaft shaft hole h is held from the inside.

When the shaft S is inserted into a hole to be inserted by operations such as raising and lowering and turning of the robot arm 12, the shaft chuck hand 32 is closed and taken out from the shaft hole h of the shaft S.

During such an operation, even if the mounting base 45 descends more than necessary, the spring 73 between the mounting plate 72 for the shaft chuck absorbs the excessive movement, and an excessive force is applied to the shaft chuck hand 32. It does not take.

A support 81 as the other mounting base is elastically provided on the rear elastic body 44, and four guide shafts 83 are vertically fixed to the lower surface of the support 81 by screwing with a nut 82. A pair of reverse L-shaped gear chuck mounting plates 84 are vertically movably mounted by these guide shafts 83, and a compression coil spring 85 fitted to the guide shafts 83 is provided.
Urges elastically downward.

The chuck motion converting section 86 is integrally provided between the gear chuck mounting plates 84. This motion converter
86 converts the linear motion of the gear chuck cylinder 87 attached to one side into an opening and closing operation in the vertical direction and outputs it to the other side,
A parallel gear chuck hand for gripping gears on its output operating part
Install 31.

When the gear chuck hand 31 is closed by the gear chuck cylinder 87 and the gear G is gripped, and the gear G is inserted into a portion to be assembled by an operation such as turning of the robot body 11, the gear chuck hand 31 is moved. Open and retreat. During such operation, even if the support 81 is lowered more than necessary, the spring between the gear chuck mounting plate 84
85 absorbs the movement, and no excessive force is applied to the gear chuck hand 31.

As shown in FIG. 3, the air hammer 5
2, hammer preload cylinder 53, pin chuck cylinder 67,
The shaft chuck cylinder 74 and the gear chuck cylinder 87 are each an air cylinder driven by a pneumatic circuit.

In this pneumatic circuit, a pneumatic source 91 such as a compressor, a pressure reducing valve 92 for controlling pressure and a solenoid valve 93 for switching pneumatic pressure are provided on the robot body side. A pressure reducing valve 94, a shuttle valve 95, a speed controller 96, and the like are provided on the side of the robot hand which is connected by the control. One solenoid valve 93a controls cam lock air for connecting the robot adapter 21 and the tool adapter 22.

As shown in FIGS. 4 and 5, the air hammer 52 is fitted inside a cylindrical hammer guide bush 111. At this time, the air introduction of the air hammer 52 into the notch groove 111a of the hammer guide bush 111 is performed. The part 52a is fitted.

In this hammer guide bush 111, a hammer fixing boss 113 is integrated with a rear end opening by a bolt 112, and a hammer fixing bracket 115 is integrated with a front end opening by a bolt 114.

The hammer fixing bracket 115 is formed by integrating the halved product with a bolt 116 to form the hammer guide bush 11.
1 has the same outer diameter, but has a smaller inner diameter to hold the small diameter portion 52b of the air hammer 52.

The hammer guide bush 111 and the hammer fixture 115 are slidably held in the axial direction by a bearing bush 117 fitted in the guide body 51. Further, the damper 61 is disposed coaxially with the impact generating portion 52c of the air hammer 52.

The rivet guide 61 is fixed to the front of the guide body 51 by bolts 121.
2 is slidably held by a bush 123 in the inside, and a retaining spring 125 fitted inside a metal fitting stopper 124 locks the flange portion 126 of the metal fitting 61 by axial movement within a certain range.

As shown in FIG. 6, the caulking fitting 34
The lower pin holding member 131 is attached to the tip of the
The upper pin holding member 132 is engaged with the lower pin holding member 131, and the pin holding members 131, 132
Central guide pin 62 inserted between spring pins
And two caulking pins 63 arranged in parallel behind the guide pins 62, and can be disassembled by integrating them with bolts 133.

The guide pin 62 is an upper pin holding member.
132 is inserted into a guide pin hole 134 provided on the lower pin holding member 131, and a head 62a is formed on the lower pin holding member 131.
It is locked by the front end surface 136 of 135.

The tip of the caulking pin 63 is protruded from a caulking pin hole 137 provided in the upper pin holding member 132, and the head 63a is fitted in a locking groove 138 formed in the lower pin holding member 131. Most of the shaft portion is fitted into the shaft groove 139 and is pinched by the upper pin holding member 132.

The structure of the swaging metal fitting 34 allows the swaging pin 63 and the like to be exchanged and has excellent durability. If the swage pin 63 etc. is worn out,
133 is removed, and the pin holding members 131 and 132 are disassembled and replaced with new ones.

FIG. 7 shows a modified example of the swaging fitting 34, in which insertion holes 142 and 143 for the guide pin 62 and the swaging pin 63 are formed in the pin guide 141, and these pins are inserted. A connecting metal fitting 146 is fitted into a rear annular groove 144 of the pin guide 141 and a front annular groove 145 of the rivet 61, and integrated by a snap ring 147.

The guide pin 62 is locked by the front end face of the caulking tool 61, and the caulking pin 63 is fitted into a pin insertion groove 148 formed in the front face of the caulking tool 61, and is locked behind the guide pin 62. I do. The swaging metal fitting 34 can also be replaced with the swaging pin 63 by removing the snap ring 147.

Next, the operation of the robot hand device according to the present invention will be described with reference to FIGS.

The planetary gear G is gripped by the gear chuck hand 31, and the gear G is inserted between carriers C as a base material to be assembled by operations such as raising and lowering and turning the robot arm 12.

The centering guide pin 38 is raised to align the hole of the carrier C with the hole of the planetary gear G.

The convex shaft chuck hand 32 is closed and inserted into the shaft hole h of the shaft S, and the shaft chuck hand 32 is opened to hold the shaft hole inner diameter surface of the shaft S from the inside. Then, the shaft S is inserted into the insertion hole of the carrier C and the planetary gear G to be inserted by the operation such as lifting and lowering and turning of the robot arm 12, and the shaft chuck hand 32 is closed to remove the shaft S from the shaft hole h of the shaft S. Pull out.

The spring pin P lightly gripped by the pin chuck hand 33 in the manner described above is positioned so as to face the radial hole of the carrier C into which the pin is to be inserted and the aligned radial hole of the shaft S.

After the spring pin P is pressed into the hole by the pushing action of the hammer preload cylinder 53, the pin chuck hand 33 is opened, the electromagnetic valve 93 of the air circuit is switched, and the supply of the driving air to the air hammer 52 is started. The spring pin P is pressed into the hole of the carrier C by the striking operation of the air hammer 52, and the opening edge of the hole in which the spring pin P is inserted is swaged by the swage pin 63 to thereby form the spring pin P. Try to prevent slipping.

When the hammer is hit, the hammer preload cylinder
The shock of the air hammer 52 is absorbed by the air pressure of the head 53 and the elastic body 43 exerting a buffering action, so that the shock is not transmitted to the robot arm 12 and the robot body.

Next, referring to FIGS. 12 to 14,
Another embodiment of the robot hand device according to the first and second aspects of the present invention will be described. This other embodiment is suitable for crimping a swage stud or a hard ball. The same parts as those in the embodiment shown in FIGS. 1 to 11 are denoted by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 12, a tool adapter 22 is removably mounted on a robot adapter 21 mounted on the robot body side, and a mounting base is mounted on a plate 42 on which the tool adapter 22 is mounted via an elastic body 43. An air hammer 52 is attached to the mounting base 45, and a caulking metal fitting 34 is attached to a tip of a caulking tool 61 of the air hammer 52.
1 is the same as the embodiment shown in FIG. 1, but in the embodiment shown in FIG. 12, the crimping fitting 34 has a shape suitable for caulking a caulking tack, and ,
This embodiment differs from the embodiment shown in FIG. 1 in that the pin chuck hand 33 for holding the spring pin shown in FIG. 1 is removed.

As shown in FIG. 13A, the caulking fitting 34 has a single caulking pin 63 fitted at the center of pin holding members 131 and 132. This caulking pin 63
The enlarged shape portion 151 is formed in an inverted V-shape at the tip end thereof, and a crimp attachment portion 152 for crimping a swage stud is provided on the tip surface of the enlarged shape portion 151.

As shown in FIG. 13 (B), the caulking portion 152 of the caulking pin 63 is formed in a spherical concave groove shape, and the head of the caulking tack is protected by the spherical caulking portion 152. be able to.

As shown in FIG. 14, the caulking fitting
The 34 pin holding members 131 and 132 are provided disassembly so that only the swaging pin 63 can be replaced.

That is, in the caulking fitting 34, the lower pin holding member 131 is integrally provided at the tip of the caulking tool 61, and the upper pin holding member 132 is detachably attached to the lower pin holding member 131. And pin holding members on both sides thereof
The head 63a and the shaft of the caulking pin 63 are fitted into the locking groove 138 and the shaft groove 139 formed on the opposing surfaces of the 131 and 132, respectively, and the lower and upper pin holding members 131 and 132 are connected with four bolts. 133
By removing 3, it can be disassembled.

Then, the head of the caulking rivet is caulked by the spherical caulking attachment portion 152 formed on the enlarged shape portion 151 of the caulking pin 63. When the swaging pin 63 is swaged by the swaging pin 63, the impact generated during the hammer operation is absorbed by the elastic body 43 and the hammer preload cylinder 53, so that the impact can be prevented from reaching the robot body.

Further, when the swaged pin 63 becomes worn out, as shown in FIG. 14, the bolt 133 is removed, the pin holding members 131 and 132 are disassembled, and only the swaged pin 63 can be replaced with a new one. Excellent in durability and economy.

In each of the above embodiments, the air hammer 52 is slidably mounted on the mounting base 45 via the guide body 51.
Hammer preload cylinder located at the rear end of this air hammer 52
Although the reciprocation is performed by 53, the invention described in claim 1 includes one in which the air hammer 52 is directly mounted on the mounting base 45.

In each of the above embodiments, the caulking pin 63 of the caulking fitting 34 is fitted into the pin holding members 131 and 132 which can be disassembled.
This also includes the one in which the 63 and the pin holding members 131 and 132 are integrated.

The robot hand device configured as described above is a multi-hand for a robot in which a multifunctional drive system including caulking means is incorporated in one hand.
The entire process from assembling to caulking can be performed quickly and properly in a short period of time, and continuous unmanned operation over a long period of time is possible.

In particular, since the air hammer 52 can be mounted on the robot hand device as described above, it can be used as a multifunctional robot by using a holder such as a flap in addition to the caulking operation.

[0082]

According to the first aspect of the present invention, the mounting base is elastically provided on the plate of the tool adapter via the elastic body, and the plate is applied by the operation of the hammer mounted on the mounting base.
Since the caulking metal fitting for performing the caulking operation on the workpiece is provided, the impact generated at the time of the hammer operation can be absorbed by the elastic body, and the possibility of the impact reaching the robot body can be prevented. In addition, a hammer preload cylinder is attached to the rear end of the hammer.
Hammer strikes during hammer operation
Can be absorbed by the elastic body.
Double absorption by the air pressure of the hammer preload cylinder
Conventionally, actuators that generate impacts etc.
Had a robot hand that was considered impossible to mount
A more compact robot that can attach
A hand device can be configured.

According to the second aspect of the present invention, when the swaging rivet is crimped by the enlarged shape portion formed at the tip of the swaging pin, the impact generated during the hammer operation is absorbed by the elastic body. It is possible to prevent the impact from reaching the robot body. In addition, when the swage pin becomes worn out, the pin holding member can be disassembled and only the swage pin can be replaced, which is excellent in durability and economy.

According to the third aspect of the present invention, after a mounting base is provided on a plate to which the tool adapter is mounted via an elastic body , a hammer is slidably mounted inside the mounting base. Movement of the workpiece
By providing a caulking metal fitting for performing caulking work and a pin chuck hand for gripping a spring pin, a caulking function can be added to a robot hand device used for spring pin insertion work, and caulking work can be performed quickly and properly. . In particular, this robot hand device can continuously perform the spring pin assembling operation and the swaging operation by providing the pin chuck hand at the tip of the swaging metal fitting.

Further, since the hammer preload cylinder is provided on the rear end side of the hammer, the impact of the hammer hit generated during the hammer operation can be absorbed by the elastic body.
In the present invention, a hammer can be attached to a robot hand, which was previously impossible to mount an actuator that generates an impact, because the fluid pressure of the hammer preload cylinder can also absorb the fluid twice. A more compact robot hand device can be configured.

According to the fourth aspect of the present invention, since the guide pin and the caulking pin are fitted in the dismountable pin holding member, the guide pin and the caulking pin can be replaced when the guide pin and the caulking pin are worn, and the durability is improved. Excellent in terms of economy and economy.

According to the fifth aspect of the present invention, it is the same as inserting the shaft held by the convex shaft-shaped chuck hand into the hole to be inserted and driving the spring pin into the radial hole of the shaft. This can be done with a robot hand device.

According to the sixth aspect of the present invention, a series of operations for gripping and assembling a gear such as a speed reducer with a gear chuck hand, and driving a spring pin into a shaft inserted into the gear to fix it by caulking. Can be collectively performed by one robot hand device.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of a robot hand device according to the present invention.

FIG. 2 is an exploded perspective view of the robot hand device.

FIG. 3 is a pneumatic circuit diagram of the robot hand device.

FIG. 4 is a perspective view of a hammer part of the robot hand device.

FIG. 5 is an exploded perspective view of a hammer part of the robot hand device.

FIG. 6A is a perspective view of a caulking fitting of the robot hand device, and FIG. 6B is an exploded perspective view thereof.

FIG. 7A is a perspective view of a modified example of a caulking fitting portion of the robot hand device, and FIG. 7B is an exploded perspective view thereof.

FIG. 8 is a schematic diagram of an assembly robot to which the robot hand device is applied and peripheral devices thereof.

FIG. 9 is a perspective view of various robot hand devices including the above robot hand device.

FIG. 10 is a perspective view of the carrier assembling apparatus receiving a spring pin driving operation by the robot hand apparatus.

FIG. 11A is a cross-sectional view showing a work cross section when a spring pin is driven by the robot hand device, and FIG. 11B is a cross-sectional view taken along the line BB.

FIG. 12 is a perspective view showing another embodiment of the robot hand device according to the present invention.

FIG. 13A is a perspective view of a caulking fitting portion of the robot hand device, and FIG.

FIG. 14 is an exploded perspective view of a caulking fitting portion of the robot hand device.

[Explanation of symbols]

 P Spring pin 11 Robot body 21 Robot adapter 22 Tool adapter 31 Gear chuck hand 32 Shaft chuck hand 33 Pin chuck hand 34 Caulking bracket 42 Plate 43, 44 Elastic body 45 Mounting base 51 Guide body as guide member 52 Hammer 53 Hammer preload cylinder 61 Drilling tool 62 Guide pin 63 Caulking pin 71 Guide shaft 72 Mounting plate for shaft chuck 73 Spring 74 Shaft chuck cylinder 81 Support as mounting base 83 Guide shaft 84 Mounting plate for gear chuck 85 Spring 87 Gear chuck cylinder 131, 132 Pin holding member

Continuation of the front page (56) References JP-A-3-270827 (JP, A) JP-A-63-107587 (JP, U) JP-A-6-74233 (JP, U) (58) Fields investigated (Int) .Cl. ⁷ , DB name) B23P 19/04 B25J 15/00

Claims (6)

(57) [Claims] 1. A robot hand device having a detachable tool adapter attached to a robot adapter attached to a robot body side, wherein a mounting base elastically provided on a plate to which the tool adapter is attached via an elastic body. And slidably mounted inside the mounting base to supply driving air.
A hammer that operates by hitting by feeding, and a crimping operation on the workpiece by the operation of the hammer
A caulking fitting a work is connected to the rear end of the hammer to hammer and caulking fittings air
Move forward by pressure and hit the hammer when hitting the hammer.
A robot hand device comprising: a hammer preload cylinder that absorbs a strike by its air pressure . 2. A caulking metal fitting, wherein a caulking pin for caulking a caulking rivet with an enlarged shape portion formed at a tip portion is fitted to a central portion of a dismountable pin holding member. Item 4. The robot hand device according to Item 1. 3. A caulking fitting of the tip at a robot hand device according to claim 1, characterized by including a pin chuck Han De gripping the spring pin. 4. A caulking fitting in which a central guide pin fitted into a spring pin and a caulking pin arranged in parallel behind the guide pin are fitted into a dismountable pin holding member. The robot hand device according to claim 3, wherein: 5. A mounting plate for a shaft chuck, which is vertically movable by a vertical guide shaft and elastically urged downward by a spring, is provided below the mounting base,
4. The robot hand according to claim 3, wherein a shaft chuck cylinder is provided on an upper surface of the mounting plate, and a convex shaft-shaped chuck hand which is opened and closed by the shaft chuck cylinder is provided below the mounting plate. apparatus. 6. A mounting plate for a gear chuck, which is vertically movable by a vertical guide shaft and resiliently urged downward by a spring, is provided below the mounting base, and the mounting plate is opened and closed by a gear chuck cylinder. 4. The robot hand device according to claim 3, further comprising a gear chuck hand for gripping the gear.