JPS635234B2 - - Google Patents
Info
- Publication number
- JPS635234B2 JPS635234B2 JP58052893A JP5289383A JPS635234B2 JP S635234 B2 JPS635234 B2 JP S635234B2 JP 58052893 A JP58052893 A JP 58052893A JP 5289383 A JP5289383 A JP 5289383A JP S635234 B2 JPS635234 B2 JP S635234B2
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- workpiece
- industrial robot
- hand device
- friction
- 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.)
- Expired
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- Manipulator (AREA)
Description
【発明の詳細な説明】
本発明は産業用ロボツトのハンド装置に関す
る。従来の産業用ロボツトのハンド装置では、大
きな重量のワークの把持及び搬送が難しいという
欠点があつた。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hand device for an industrial robot. Conventional hand devices for industrial robots have the disadvantage that it is difficult to grasp and transport heavy workpieces.
従つて、本発明の目的は、従来装置の欠点を解
消して、大きな重量のワークの把持および搬送を
可能とする産業用ロボツトのハンド装置を提供す
ることにある。 SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a hand device for an industrial robot that overcomes the drawbacks of conventional devices and is capable of gripping and transporting heavy workpieces.
以下、本発明の産業用ロボツトのハンド装置を
添付図面に示された好適な実施例を参照して更に
詳細に説明する。 DESCRIPTION OF THE PREFERRED EMBODIMENTS The hand device for an industrial robot according to the present invention will be described in more detail below with reference to preferred embodiments shown in the accompanying drawings.
第１図ないし第５図には、本発明の産業用ロボ
ツトのハンド装置に係る一実施例が示されてい
る。 1 to 5 show an embodiment of a hand device for an industrial robot according to the present invention.
当該実施例を示す第１図ないし第５図におい
て、１は産業用ロボツトの本体を示し、該本体１
には垂直往復運動する昇降体２が支持されてい
る。この昇降体２の上端には水平面を往復回動す
る第１のアーム３が支持され、且つこの第１のア
ーム３の先端には同様に水平面を往復回動する第
２のアーム４が支持されている。更に、この第２
のアーム４の先端部下面には垂直な回動軸５によ
つて支持され且つ該回動軸５回わりを往復回動す
るハンド６が取付けられている。 In FIGS. 1 to 5 showing this embodiment, 1 indicates a main body of an industrial robot;
supports an elevating body 2 that vertically reciprocates. A first arm 3 that reciprocates in a horizontal plane is supported at the upper end of the elevating body 2, and a second arm 4 that similarly rotates in a horizontal plane is supported at the tip of the first arm 3. ing. Furthermore, this second
A hand 6 is attached to the lower surface of the tip of the arm 4, which is supported by a vertical rotation shaft 5 and reciprocated about five rotations of the rotation shaft.
このハンド６の詳細な構成を更に説明する。 The detailed configuration of this hand 6 will be further explained.
回動軸５の下端には、ブラケツト７が該回動軸
６と直交するようにその一端近傍で固着されてい
る。このブラケツト７は矩形状の板部で、これを
基部７ａとすると、その他端両側縁には軸受板７
ｂ，７ｃが回動軸５側へ立設固定されている。こ
の２つの軸受板７ｂ，７ｃの間のほぼ中央部にお
ける基部７ａには穴７ｄが形成され、基部７ａの
下面に取付けられたモータ８の出力軸８ａがその
穴７ｄを挿通して基部７ａ上面へ伸長し、該出力
軸８ａの端部には歯車９が固定されている。 A bracket 7 is fixed to the lower end of the rotating shaft 5 in the vicinity of one end so as to be orthogonal to the rotating shaft 6. This bracket 7 is a rectangular plate part, and if this is a base part 7a, there are bearing plates 7 on both sides of the other end.
b, 7c are erected and fixed on the rotating shaft 5 side. A hole 7d is formed in the base 7a at an approximately central portion between the two bearing plates 7b and 7c, and the output shaft 8a of the motor 8 attached to the lower surface of the base 7a is inserted through the hole 7d, and the upper surface of the base 7a is inserted through the hole 7d. A gear 9 is fixed to the end of the output shaft 8a.
回動軸５の中心と出力軸８ａの中心とを結ぶ仮
想線に直交する方向に伸長し、歯車９に噛合うラ
ツク１０ａを備えた断面角形の被動軸１０が前記
両軸５，８ａ間に配置されている。一方、これに
対向するようにもう１つの断面角形の被動軸１１
がそのラツク１１ａを歯車９に噛合わせて被動軸
１０に平行に配置されている。これら２本の被動
軸１０，１１のそれぞれ両端は各軸受板７ｂ，７
ｃに形成された角穴７ｅ，７ｆ，７ｇ，７ｈを挿
通して支持され、基部７ａの側方へ伸長してい
る。そして、第２図に示されるように、２つの被
動軸１０，１１において、該第２図でみて被動軸
１０の右端は金属製の左側把持片１２に固定さ
れ、その左端は金属製の右側把持片１３に形成さ
れた角穴１３ａに挿通されている。また、他の被
動軸１１の左端は前記右側把持片１３に固定さ
れ、その右端は左側把持片１２に形成された角穴
１２ａに挿通されている。 A driven shaft 10 with a rectangular cross section, which extends in a direction perpendicular to an imaginary line connecting the center of the rotating shaft 5 and the center of the output shaft 8a, and is provided with a rack 10a that meshes with the gear 9, is provided between the two shafts 5 and 8a. It is located. On the other hand, there is another driven shaft 11 having a rectangular cross section opposite to this.
is arranged parallel to the driven shaft 10 with its rack 11a meshing with the gear 9. Both ends of these two driven shafts 10, 11 are connected to respective bearing plates 7b, 7.
It is supported by being inserted through the square holes 7e, 7f, 7g, and 7h formed in the base portion 7a, and extends laterally of the base portion 7a. As shown in FIG. 2, in the two driven shafts 10 and 11, the right end of the driven shaft 10 as seen in FIG. It is inserted into a square hole 13a formed in the grip piece 13. The left end of the other driven shaft 11 is fixed to the right gripping piece 13, and the right end thereof is inserted into a square hole 12a formed in the left gripping piece 12.
これら相対して配置された把持片１２，１３
は、前述した両軸５，８ａの中心を結ぶ仮想線に
沿つて回動軸５とは反対の方向へ伸長し、その端
部内側（両把持片の対向側）にはそれぞれ把持部
１２ｂ，１３ｂが形成されている。 These gripping pieces 12, 13 arranged opposite to each other
extends in the direction opposite to the rotating shaft 5 along the virtual line connecting the centers of the aforementioned shafts 5 and 8a, and has a gripping portion 12b and a gripping portion 12b on the inner side of the end (on the opposite side of both gripping pieces), respectively. 13b is formed.
この各把持部１２ｂ，１３ｂの対向面たる把持
面１２ｃ，１３ｃはそれぞれその中央部に把持片
の長手方向に沿つて伸長する溝１２ｄ，１３ｄを
有する平担面に形成されている。この各把持面１
２ｃ，１３ｃにおける溝１２ｄ，１３ｄには、ポ
リウレタンゴムなどの摩擦係数の高い弾性材料か
らなる摩擦材１４，１５が嵌着されている。これ
ら各摩擦材１４，１５は把持面１２ｃ，１３ｃよ
り僅かに突出するような寸法にされている。この
摩擦材１４，１５の硬度および把持面１２ｃ，１
３ｃからの突出寸法は規定の把持力の時、摩擦材
１４，１５の端面が把持面１２ｃ，１３ｃと同一
面になるように適宜決められている。 The gripping surfaces 12c and 13c, which are the opposing surfaces of the gripping parts 12b and 13b, are each formed into a flat surface having grooves 12d and 13d extending in the longitudinal direction of the gripping pieces in the center thereof, respectively. Each gripping surface 1
Friction materials 14 and 15 made of an elastic material with a high coefficient of friction such as polyurethane rubber are fitted into the grooves 12d and 13d in the grooves 2c and 13c. Each of these friction materials 14 and 15 is dimensioned so that it slightly protrudes from the gripping surfaces 12c and 13c. The hardness of the friction materials 14 and 15 and the gripping surfaces 12c and 1
The protrusion dimension from 3c is appropriately determined so that the end surfaces of the friction materials 14 and 15 are flush with the gripping surfaces 12c and 13c when a specified gripping force is applied.
なお、１６は給電ケーブル、１７は円筒形のワ
ークを示している。 Note that 16 indicates a power supply cable, and 17 indicates a cylindrical workpiece.
叙上の如く構成された実施例の産業用ロボツト
のハンド装置では、モータ８に給電して出力軸８
ａを例えば第２図に矢印で示す時計方向へ歯車９
を回転駆動すると、被動軸１０，１１が相反する
方向へ移動される。前記歯車９の回転方向の場合
は各被動軸１０，１１の移動方向は第２図の矢印
で示される方向となる。従つて、各被動軸１０，
１１の対向する端部に固定された把持片１２，１
３は、相互に離れる方向へ移動し、その結果、把
持部１２ｂ，１３ｂの把持面１２ｃ，１３ｃで把
持されていたワーク１７を開放する。また、この
逆、すなわち、歯車１９を反時計方向に駆動する
と、把持片１２，１３が相互に接近してその把持
面１２ｃ，１３ｃでワーク１７を把持する。 In the industrial robot hand device of the embodiment configured as described above, power is supplied to the motor 8 and the output shaft 8 is
For example, move gear 9 clockwise as shown by the arrow in FIG.
When the driven shafts 10 and 11 are rotationally driven, the driven shafts 10 and 11 are moved in opposite directions. In the case of the rotating direction of the gear 9, the moving direction of each driven shaft 10, 11 is the direction shown by the arrow in FIG. Therefore, each driven shaft 10,
gripping pieces 12,1 fixed to opposite ends of 11;
3 move away from each other, and as a result, the workpiece 17 that has been gripped by the gripping surfaces 12c and 13c of the gripping parts 12b and 13b is released. In addition, when this is reversed, that is, when the gear 19 is driven counterclockwise, the gripping pieces 12 and 13 approach each other and grip the workpiece 17 with their gripping surfaces 12c and 13c.
このようなハンド装置において、持ち上げるワ
ーク１７の重量は、次の式で示されるW1又はW2
のうちの大きい方の値となる。 In such a hand device, the weight of the workpiece 17 to be lifted is W 1 or W 2 expressed by the following formula.
The value is the larger of the two.
W1＝μ・Ｐ
W2＝μ1・P1
前記式において、μは把持面１２ｃ，１３ｃと
ワーク１７との間の摩擦係数、Ｐは把持力、μ1は
摩擦材１４，１５とワーク１７との間の摩擦係
数、P1は摩擦材１４，１５を把持面１２ｃ，１
３ｃまで押し付ける力の反力を示す。 W 1 = μ・P W 2 = μ 1・P 1 In the above formula, μ is the coefficient of friction between the gripping surfaces 12c, 13c and the workpiece 17, P is the gripping force, and μ1 is the friction coefficient between the friction materials 14, 15 and the workpiece. The coefficient of friction between the friction materials 14 and 15 and the gripping surfaces 12c and 1 is P1.
Shows the reaction force of the force pushing up to 3c.
このような式において、μ1は一般的にμの数倍
であるので、P1をほぼＰに等しくなるように摩
擦材１４，１５の材料および形状の選定を適正に
行なうことにより、数倍大きな重さのワーク１７
を搬送することが可能となる。 In such a formula, μ 1 is generally several times as large as μ, so by appropriately selecting the materials and shapes of the friction materials 14 and 15 so that P 1 becomes approximately equal to P, it can be increased several times as much as μ. Heavy workpiece 17
It becomes possible to transport.
これにより、ハンド６全体を小形化することが
でき、モータ８の容量なども小さくすることがで
きる。また、ワーク１７の位置は金属製の把持面
１２ｃ，１３ｃによつて正確に決められるため位
置精度のよい作業が可能となる。 Thereby, the entire hand 6 can be made smaller, and the capacity of the motor 8 can also be made smaller. Further, since the position of the workpiece 17 is accurately determined by the metal gripping surfaces 12c and 13c, work with high positional accuracy is possible.
なお、前記実施例では、摩擦材１４，１５を把
持面１２ｃ，１３ｃに各々１個線状に配置した
が、点状に多数個配置しても同様な効果が得られ
る。 In the above embodiment, one friction material 14, 15 is arranged in a linear manner on each of the gripping surfaces 12c, 13c, but the same effect can be obtained even if a large number of friction materials 14, 15 are arranged in a dotted manner.
第６図は本発明の他の実施例を示し、該実施例
では把持片１２，１３の把持部１２ｂ，１３ｂ内
に空所が形成され、その把持面１２ｃ，１３ｃに
は前述した溝１２ｄ，１３ｄに代えて前記空所に
連通する開口が形成されている。この空所内に
は、ばね１８が収容されると共に断面凸状の摩擦
材１４，１５が収容される。この摩擦材１４，１
５は空所内でばね１８により押圧され、その突起
部が把持面１２ｃ，１３ｃの開口から突出してい
る。このようなハンド装置によれば、P1の調整
が更に容易となり、本発明の目的を完全に達成す
ることができる。 FIG. 6 shows another embodiment of the present invention, in which voids are formed in the gripping parts 12b, 13b of the gripping pieces 12, 13, and the gripping surfaces 12c, 13c have the grooves 12d, An opening communicating with the void is formed in place of 13d. A spring 18 is housed in this space, and friction members 14 and 15 having a convex cross section are housed therein. This friction material 14,1
5 is pressed by a spring 18 in the cavity, and its protrusion protrudes from the openings of the gripping surfaces 12c and 13c. According to such a hand device, the adjustment of P 1 becomes easier, and the object of the present invention can be completely achieved.
以上説明したように、本発明によれば、把持片
の把持面に、ワークを把持していない時はその一
部が把持面より突出していて、ワークを把持する
と把持面と平担面即ち同一面になるまで引込む摩
擦係数の高い弾性体を配置したことにより、重量
の大きいワークを位置精度よく把持して搬送する
ことができる。 As explained above, according to the present invention, a part of the gripping surface of the gripping piece protrudes from the gripping surface when the workpiece is not gripped, and when the workpiece is gripped, the gripping surface and the flat surface, i.e., are flush with the gripping surface. By arranging an elastic body with a high coefficient of friction that retracts until it becomes a flat surface, it is possible to grip and transport a heavy workpiece with high positional accuracy.
第１図は本発明の一実施例に係るハンド装置を
備えた産業用ロボツトを示す斜視図、第２図は第
１図に示された産業用ロボツトのハンドのみを示
す平面図、第３図は第２図の−線に沿つて得
たハンドの断面図、第４図は第２図の−線に
沿つて得たハンドの把持片の部分的な断面図、第
５図は第２図の−線に沿つて得たハンドの把
持片の部分的な断面図、第６図は本発明の他の実
施例における把持片の部分的な断面図である。
１……産業用ロボツト本体、３……第１のアー
ム、４……第２のアーム、５……回動軸、１２，
１３……把持片、１２ｂ，１３ｂ……把持部、１
２ｃ，１３ｃ……把持面、１４，１５……摩擦
材、１７……ワーク。なお、図中同一符号は同一
部分又は相当する部分を示す。
FIG. 1 is a perspective view showing an industrial robot equipped with a hand device according to an embodiment of the present invention, FIG. 2 is a plan view showing only the hand of the industrial robot shown in FIG. 1, and FIG. 2 is a sectional view of the hand taken along the - line in FIG. 2, FIG. 4 is a partial sectional view of the gripping piece of the hand taken along the - line in FIG. FIG. 6 is a partial sectional view of the gripping piece of the hand taken along the line -, and FIG. 6 is a partial sectional view of the gripping piece in another embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Industrial robot main body, 3... First arm, 4... Second arm, 5... Rotation axis, 12,
13...Gripping piece, 12b, 13b...Gripping part, 1
2c, 13c...Gripping surface, 14, 15...Friction material, 17...Work. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (1)
端に取付けられるハンド装置において、ワークを
挾んで把持する離隔接近可能な把持片を含み、該
把持片のワークを挾持する把持面の少なくとも一
部に、ワークを把持していないときは一部が前記
把持面より突出していてワークを把持すると前記
把持面と同一面になるまで引込む摩擦係数の高い
弾性体を設けたことを特徴とする産業用ロボツト
のハンド装置。 ２ 特許請求の範囲第１項に記載の産業用ロボツ
トのハンド装置において、前記弾性体が前記把持
片の内部に形成した空所内に配置され、該突所内
に設置したばねによつて押圧され、前記把持面に
形成された開口から部分的に突出していることを
特徴とする産業用ロボツトのハンド装置。[Scope of Claims] 1. A hand device attached to the tip of an arm extending from the main body of an industrial robot, which includes a grasping piece that can be separated and accessed to pinch and grasp a workpiece, and a grasping surface of the grasping piece that clamps the workpiece. The invention is characterized in that at least a portion thereof is provided with an elastic body having a high coefficient of friction, which partially protrudes from the gripping surface when the workpiece is not gripped, and retracts until it is flush with the gripping surface when the workpiece is gripped. Industrial robot hand device. 2. In the hand device for an industrial robot according to claim 1, the elastic body is arranged in a cavity formed inside the gripping piece, and is pressed by a spring installed in the protrusion, A hand device for an industrial robot, characterized in that the hand device partially protrudes from an opening formed in the gripping surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5289383A JPS59182080A (en) | 1983-03-29 | 1983-03-29 | Hand device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5289383A JPS59182080A (en) | 1983-03-29 | 1983-03-29 | Hand device for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59182080A JPS59182080A (en) | 1984-10-16 |
| JPS635234B2 true JPS635234B2 (en) | 1988-02-02 |
Family
ID=12927538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5289383A Granted JPS59182080A (en) | 1983-03-29 | 1983-03-29 | Hand device for industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59182080A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02303797A (en) * | 1989-05-17 | 1990-12-17 | Dainippon Printing Co Ltd | Container conveyance device |
| JP5993539B2 (en) * | 2011-01-06 | 2016-09-14 | セイコーエプソン株式会社 | Robot hand and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5337750Y2 (en) * | 1974-06-22 | 1978-09-12 |
-
1983
- 1983-03-29 JP JP5289383A patent/JPS59182080A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59182080A (en) | 1984-10-16 |
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