JPS6161957B2 - - Google Patents

Description

[Detailed Description of the Invention] (1) Technical Field of the Invention The present invention relates to a robot hand that vacuum-suctions and transports parts during assembly work, etc., and in particular, a robot hand that can appropriately select and suction even dissimilar parts of different sizes. The present invention relates to a robot hand equipped with an adapter for suctioning dissimilar parts.

(2) Prior art and problems In conventional robot hands, the diameter of the groove in the circumferential direction provided on the tip surface of the component suction part is formed to match the dimensions of the component to be suctioned. Ta. Therefore, if the size of the part to be suctioned changes, the robot hand cannot suction it, and it is necessary to replace it with a robot hand that has a different diameter across the concave groove of the suction part. In this case, it is necessary to change the connection between the drive system and the air system of the robot hand, which requires time to replace the robot hand, and the structure of the robot hand itself becomes complicated.

(3) Purpose of the Invention The present invention has been made to solve the above-mentioned problems, and provides a robot hand equipped with an adapter for suctioning dissimilar parts, which can appropriately select and suction dissimilar parts of different sizes. The purpose is to provide

(4) Structure of the Invention According to the present invention, the above-mentioned object is achieved by having a concave groove on the tip surface of the component suction part, and sucking the air in the groove with a vacuum source to vacuum the component on the tip surface. In the robot hand for suction and transportation, a groove in the circumferential direction is formed on the peripheral edge of the component suction part, and the groove is divided into a plurality of parts, one of which is a selection groove for selecting different types of parts; The remaining other sections are formed in correspondence as component suction grooves, and a common shutoff valve is provided in the air suction path of the selection groove and the component suction groove, so that the upper surface is attracted to the groove of the component suction section and the bottom surface is In this method, a plurality of other grooves for attracting different types of parts of different sizes are formed, and each of the other grooves is provided with an adapter provided with a communication hole that can communicate with the selected groove of the component suction section. , by appropriately rotating the component suction part around its axis to suction the adapter to the component suction part, and selecting and matching the selected groove to only one of the communicating holes of the other grooves of the adapter. This is achieved by providing a robot hand equipped with an adapter for suctioning different types of parts, which is characterized in that the different types of parts are appropriately selected and picked up.

(5) Embodiments of the invention Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a front view showing a robot hand 1 according to the present invention. The component suction unit 2 is for transporting components by vacuum suction on its distal end surface 3, and is attached to the distal end of the support section of the robot hand 1 so as to be rotatable in the directions of arrows A and B. As shown in FIG. 2, a circumferential bank 3' is formed on the distal end surface 3 of the component suction portion 2 at its peripheral edge, and a groove 5 is bored in this bank 3'. This groove 5 is
By suctioning the air inside with a vacuum source not shown, the parts are suctioned to the tip surface 3, and the adapter 11, which will be described later, is used when suctioning dissimilar parts of different sizes. Damping portions 6a and 6b are formed at predetermined positions in the circumferential direction and are divided into a plurality of arcuate grooves 5a and 5b. Of these, the long arc-shaped groove 5a is for sucking a component as well as an adapter 11 (described later), and the short arc-shaped groove 5b is a selection groove for selecting a different type of component to be sucked. It is. Suction ports 7a, 7b that open into the grooves 5a, 5b are bored at predetermined locations in the grooves 5a, 5b, and these suction ports 7a, 7b have a first
As shown in the figure, caps 8a and 8b are provided that protrude from the upper surface of the component suction section 2. The above cap 8a,
Suction hoses 9a and 9b are connected to each of the suction hoses 9a and 9b, and a cutoff valve 10 such as a solenoid valve is provided in the middle of the suction hose 9c where the suction hoses 9a and 9b join.
is provided. This shutoff valve 10 communicates or shuts off an air suction path between a vacuum source (not shown) and the plurality of grooves 5a, 5b.

As shown in FIG. 2, the positions of the damming parts 6a and 6b formed on the bank 3' are determined by using a straight line in the radial direction as one reference, with the center of the circle on the bottom of the component suction part 2 being _O1 . If O ₁ P ₁ , then this straight line
The points S _{1 and} S ₂ are where the radial straight lines O ₁ P ₂ and O ₁ P ₃ , which form an angle of 30 degrees on both sides from O 1 P 1, intersect with the circumference of the bank ₃ ', respectively. There is. In addition, suction ports 7 bored in the grooves 5a and 5b
The positions of a and 7b are radial straight lines that form an angle of 30° further outward from the straight line O ₁ P ₂ .
A suction port 7a is drilled at the point where O ₁ P ₄ intersects with the groove 5a, and the straight line O ₁ P ₁ in the radial direction serves as the reference.
A suction port 7b is formed at the intersection of the selection groove 5b and the selection groove 5b.

An adapter 11 for suctioning a different type of component is suctioned onto the tip surface 3 of the component suction section 2 . This adapter 11 is used to suction a component that is different in size from the component to be suctioned to the tip end surface 3 of the component suction unit 2, and as shown in FIG. Concave grooves 5a and 5b formed on surface 3
The cutting diameter is slightly larger than the cutting diameter R ₁ , and inside the thick part and on the bottom surface 12, there are second grooves 13 and a second groove with cutting diameters R ₂ and R ₃ that are different from the cutting diameter R 1 _. Three grooves 14 are formed concentrically. At the part of the upper surface of this adapter 11 that comes into contact with the tip surface 3 of the component suction part 2, there are two communication holes at a position corresponding to the circumference R _b where the suction port 7b shown in FIG. 2 is provided. 15a and 15b are bored. Its position is determined by assuming that the center of the circle on the bottom of the adapter 11 is O ₂ and a straight line in the radial direction as a reference is O ₂ P' ₁ , and that this straight line O ₂ P' ₁ and the above-mentioned circumference R _b are A communication hole 15b is bored at the point where they intersect,
A communication hole 15a is formed at a point where a radial straight line O ₂ P' ₂ forming an angle of 30 degrees to one side from the straight line O ₂ P' ₁ intersects the circumference R _b . The communication hole 15
a, 15b are the adapters 11 as shown in FIG.
The second groove 13 is opened through communication passages 16a and 16b, which are bored from the top surface to an appropriate depth in the thickness direction and extend toward the center of the circle of the adapter 11, as shown in FIG. Second suction port 17
a and the third suction port 1 that opens to the third groove 14
7b, respectively. Therefore, the suction port 7b on the tip surface 3 of the component suction section 2 is connected to the communication hole 15a or 1 on the top surface of the adapter 11.
5b are selected and matched, and the adapter 11 is sucked into the component suction section 2, the suction hose 9b connected to the component suction section 2 is attached to the second groove 13 or the third groove of the adapter 11. 14 suction ports 17a
Or it will be communicated with 17b.

The second groove 13 bored in the thick part of the adapter 11 has a first
As shown in the figure, a through hole 2 leading to its bottom surface 12
1, 21... are bored, and suction pads 22, 22... made of rubber or the like are attached to the open ends. This is for the purpose of absorbing the unevenness of the suction surface by the suction pads 22, 22, . . . when the upper surface of the component to be suctioned by the second groove 13 is not flat. Note that when the upper surface of the component to be attracted by the second groove 13 is flat, as shown in FIG. The suction pad 22, which is exposed and drilled on the bottom surface 12 of the holder 11, may be omitted.

Next, the operation of the robot hand 1 of the present invention constructed as described above will be explained with reference to FIGS. 5 and 6. Now, assume that the robot hand 1 is used to assemble a disk for a magnetic disk device, and the disk 18 and spacer 18' are the largest in size.
Assume that there is a clamp 19 for fixing the disk 18 as a medium-sized one, and a clamp positioning jig 20 as the smallest one.

First, in order to adsorb and transport the disk 18 or spacer 18', which is the largest component, the second
As shown in the figure, all of the grooves 5a and 5b on the distal end surface 3 of the component suction section 2 having the largest cross-section diameter _R1 of the groove for component suction are used. At this time,
As shown in FIG. 5, a cutoff valve 10 provided in the middle of the suction hose 9c is opened to communicate with a vacuum source not shown. Then, the suction ports 7a, 7 shown in FIG.
The air in the concave grooves 5a, 5b is sucked through all of the grooves 5a and 5b, and the disk 18 or spacer 18' is vacuum suctioned to the tip surface 3 of the component suction section 2 as shown by arrow C in FIG. In this state, when the disk 18 and the like are transported to a predetermined location and the shutoff valve 10 is closed, the adsorption force disappears and the disk 18 and the like can be placed at the predetermined location.

Next, in order to suction and transport the clamp 19 as a medium-sized component and the clamp positioning jig 20 as the smallest component, first, as shown in FIG. An adapter 11 for suctioning different parts is suctioned onto the surface 3. At this time, the grooves 5a and selection grooves 5b formed on the tip surface 3 of the component suction section 2 shown in FIG. For example, in FIG. 2, the communication holes 15a and 15b are connected in a straight line so that they do not match, with the selection groove 5b being located in the middle.
When the component suction section is rotated and placed on the line O 1 Q 1 , O _{1 Q 2 (} ∠Q ₁ O ₁ Q ₂ = 30°), the communication holes 15a _, 15b are connected to the damming section 6a, respectively.
6b, and in this state, the cutoff valve 10 of the suction hose 9c is opened, air is sucked by a vacuum source not shown, and the grooves 5a and 5b of the component suction section 2 are used to remove the adapter 11. The peripheral edge R _b is attracted. After the adapter 11 has been suctioned in this manner, the adapter 11 is carried above the clamp 19 as the component to be suctioned, and placed so that the suction pads 22, 22, . . . are in contact with the upper surface of the clamp 19. Here, in order to adsorb the clamp 19, which is a medium-sized component, the second groove 1 with a medium cross-section diameter _R2 shown in FIG.
3 must be used. Therefore, the above-mentioned shutoff valve 1
0 to release the suction force, and while the adapter 11 is placed on the upper surface of the clamp 19, the component suction unit 2 is
Then, the component suction section 2 is rotated around its axis to align the selection groove 5b with one of the communication holes 15a on the upper surface of the adapter 11. At this time, the other communication hole 15b on the top surface of the adapter 11 is connected to the second
As is clear from the figure and Fig. 3, ∠P′ ₂ O ₂ P′ ₁ =
Since ∠P ₁ O ₁ P ₃ =30°, the communication hole 15b is located exactly at the damming portion 6b of the embankment 3', and the communication hole 15b is blocked. When this state is reached, when the cutoff valve 10 of the suction hose 9c is opened,
The adapter 11 is sucked by the groove 5a of the component suction section 2, and the suction pad 22 attached to the second groove 13 of the adapter 11 as shown in FIG.
Then, as shown by arrow D, the clamp 19 is attracted.
After transporting this clamp 19 to a predetermined location, when the shutoff valve 10 is closed, the suction force is released and the clamp 1
9 can be placed in place.

Next, in order to attract the clamp positioning jig 20, which is the smallest component, it is necessary to use the third groove 14 having the smallest cutting diameter _R3 shown in FIG. At this time, do the same as above,
First, the communication holes 15a and 15 on the top surface of the adapter 11
Concave grooves 5 on the tip surface 3 of the component suction section 2 in both of b.
The component suction unit 2 is placed on the upper surface of the adapter 11 and the adapter 11 is suctioned by rotating so that the selection grooves 5a and 5b do not match. Once the adapter 11 has been suctioned in this manner, the adapter 11 is transported to above the clamp positioning jig 20, which is the component to be suctioned, and placed so that the third groove 14 is in contact with the upper surface thereof. . Then, the shutoff valve 10 is closed to release the suction force, and while the adapter 11 is placed on the upper surface of the clamp positioning jig 20, only the component suction section 2 is raised. Adapter 11 rotates in the opposite direction to the direction when adsorbing the selected groove 5b.
It is made to match the other communication hole 15b on the top surface. At this time, one of the communication holes 15a on the top surface of the adapter 11
is located at the damming portion 6a of the embankment 3', and the communication hole 15a is closed. In this state, when the cutoff valve 10 of the suction hose 9c is opened, the adapter 11 is sucked by the groove 5a of the component suction section 2, and the third part of the adapter 11 is sucked as shown in FIG. The clamp positioning jig 20 is attracted by the groove 14 as shown by the arrow E.
After the clamp positioning jig 20 is transported to a predetermined location, when the shutoff valve 10 is closed, the suction force is released and the clamp positioning jig 20 can be placed at the predetermined location.

Although FIG. 3 shows the adapter 11 as having only two grooves 13 and 14 formed concentrically, the present invention is not limited to this, and may be modified depending on the type of dissimilar parts to be transported by suction. Three or more may be provided concentrically.

(6) Effects of the Invention Since the present invention is configured as described above, even parts of different sizes can be appropriately selected and suctioned by suctioning the adapter 11 to the tip surface 3 of the component suction unit 2. . Therefore, there is no need to replace the robot hand itself with one having a different suction part diameter as in the past, and desired dissimilar parts can be suitably selected and suctioned and transported extremely easily and in a short time. Furthermore, since the adapter 11 is vacuum-adsorbed directly onto the tip surface 3 of the component suction unit 2, there is no need to provide a separate drive system for the adapter 11 other than the drive system that rotates the component suction unit 2 around its axis. , the structure is simple. Furthermore, even if the number of different types of parts to be suctioned increases, it can be handled without increasing the number of suction hoses or shutoff valves.
If the number of suction hoses is increased, it is possible to prevent the rotation accuracy around the axis of the component suction section 2 from decreasing due to the rigidity of the suction hoses, and it is also possible to prevent the robot hand itself from increasing in size. There is an effect.

[Brief explanation of the drawing]

Fig. 1 is a front view showing a robot hand equipped with an adapter for suctioning dissimilar parts according to the present invention, Fig. 2 is a bottom view showing the tip of the parts suction unit, Fig. 3 is a bottom view showing the adapter, The figure is a bottom view showing a modified example of the adapter, and FIGS. 5 and 6 are operation explanatory diagrams showing a state in which dissimilar parts are picked up. 1... Robot hand, 2... Part suction unit, 3
...Tip surface, 5a...concave groove, 5b...selective concave groove,
6a, 6b... damming part, 7a, 7b... suction port, 9a, 9b, 9c... suction hose, 10...
Shutoff valve, 11...Adapter, 12...Bottom surface of adapter, 13...Second groove, 14...Third groove, 15a, 15b...Communication hole, 16a, 16b
...Communication passageway, 17a...Second suction port, 17b
...Third suction port, 22...Suction pad.

Claims (1)

[Claims] 1. In a robot hand that has a concave groove on the distal end surface of the component suction section and carries the component by vacuum suction on the distal end surface by suctioning the air in the concave groove with a vacuum source, the peripheral edge of the component suction section A groove in the circumferential direction is formed in the groove, and the groove is divided into a plurality of parts, one of which is a selection groove for selecting different types of parts, and the other divisions are formed in correspondence with each other as a component suction groove. A common shutoff valve is provided in the air suction path of the selection groove and the component suction groove, and the upper surface is attracted to the groove of the component suction part, and the bottom surface is another groove that is to attract different types of parts of different sizes. In addition to forming multiple strips of
An adapter provided with a communication hole that can communicate with the other groove is combined, the component suction part is rotated appropriately around its axis to suction the adapter to the component suction part, and the selected groove is connected to the adapter. A robot hand equipped with an adapter for suctioning dissimilar parts, characterized in that dissimilar parts are appropriately selected and suctioned by selecting and matching only one of the communication holes of the other grooves.