Hand Device

Abstract

The present invention provides a hand device capable of holding both ends of workpieces of different sizes without preparing a plurality of hands. The hand device comprises: a gripping part (3) for gripping a workpiece (W); a gripping part driving part (4) for enabling the gripping part to move to a first position for gripping the workpiece, a second position for opening to the maximum extent, and a third position between the first position and the second position; a hand mechanism part (5) having a pair of hands (51) for holding the workpiece and capable of changing the open position of the hands; an operating part (6) linked to the movement of the gripping part and capable of being connected to the hand mechanism part; an actuator (2) for moving the gripping part forward and backward, the hand mechanism part being configured such that: when the gripping part is in the second position, the hand mechanism part is connected to the operating part, the open position of the hand is changeable in conjunction with the forward and backward movement of the gripping part by the actuator, and when the gripping part is in the first position or the third position, the connection between the hand mechanism part and the operating part is released, and the open position of the hand is fixed.

Description

Technical Field

[0001] The invention relates to a hand device. Background Art

[0002] Conventionally, in a lead frame supply device for supplying semiconductor lead frames to a conveying frame, there is known a structure in which a chuck for holding the lead frame can be replaced in accordance with lead frames of different sizes (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 1-143225 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] For a hand device that uses a hand to hold both ends of a workpiece, replacing the hand in accordance with the size of the workpiece in order to hold workpieces of different sizes will increase production losses (Japanese: タクトロス) caused by replacing the hand. In addition, it is necessary to prepare a plurality of hands for replacement, so a place to place the replacement hands is required, and the production cost of the plurality of hands is also required. Therefore, for a hand device that uses a hand to hold both ends of a workpiece, it is desired that the two ends of the workpiece of different sizes can be held without having to prepare a plurality of hands.

[0008] Solutions for solving problems

[0009] A technical solution of the hand device disclosed in the present invention includes: a gripping portion for gripping a workpiece; a gripping portion driving portion for enabling the gripping portion to move to a first position for gripping the workpiece, a second position for maximum opening, and a third position between the first position and the second position; a hand mechanism portion having a pair of hands for holding both ends of the workpiece gripped by the gripping portion in a width direction, and capable of making the opening position of the pair of hands variable; an operating portion, which is arranged to be linked to the movement of the gripping portion and can be connected to the hand mechanism portion; and an actuator for moving the gripping portion forward and backward, the hand mechanism portion being configured such that when the gripping portion is in the second position, the hand mechanism portion is connected to the operating portion, the opening position of the pair of hands is variable in linkage with the forward and backward movement of the gripping portion by the actuator, and when the gripping portion is in the first position or the third position, the connection between the hand mechanism portion and the operating portion is released, and the opening position of the pair of hands is fixed.

[0010] Effects of the Invention

[0011] According to a hand device of one embodiment, it is possible to hold both end portions of workpieces of different sizes without preparing a plurality of hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a perspective view of one embodiment of the hand device as viewed from above.

[0013] Figure 2 This is a perspective view of one embodiment of the hand device as viewed from below.

[0014] Figure 3 is a top view of one embodiment of a hand device.

[0015] Figure 4 is a front view of one embodiment of a hand device.

[0016] Figure 5 is a top view of one embodiment of a hand device showing a minimally open position of the hand.

[0017] Figure 6 It is a front view of one embodiment of the hand device showing the minimum open position of the hand.

[0018] Figure 7 It is a partially enlarged perspective view showing a hand device when the hand is arranged in the maximum open position.

[0019] Figure 8 This is a cross-sectional view showing an enlarged view of an open position fixing pin that fixes the open position adjusting portion.

[0020] Fig. 9 It is a partially enlarged perspective view showing a hand device when the hand is arranged in the minimum open position.

[0021] Fig.10 It is a partially enlarged perspective view of the hand device when the grip portion is moved to the second position.

[0022] Fig.11 This is an enlarged cross-sectional view showing the operating portion and the open position fixing pin when the grip portion is moved to the second position.

[0023] Fig.12 It is a partially enlarged perspective view showing the hand device when the grip portion is moved to the third position.

[0024] Fig.13 This is an enlarged cross-sectional view showing the operating portion and the open position fixing pin when the grip portion is moved to the third position.

[0025] Fig.14 This is a diagram for explaining a situation in which a workpiece having a relatively large width dimension is held by a hand device.

[0026] Fig.15 This is a diagram for explaining a situation in which a workpiece having a relatively small width dimension is held by a hand device.

[0027] Description of Reference Numerals

[0028] 1. Hand device; 2. Actuator; 3. Grip portion; 4. Grip portion driving portion; 5. Hand mechanism portion; 51. Hand; 52. Open position adjustment portion; 52b. Hole portion (first engaging portion); 53. Link portion; 56. Open position fixing pin; 57. Hole member; 57a. Open position fixing hole; 6. Operating portion; 64. Protrusion (second engaging portion); W1, W2, workpiece. DETAILED DESCRIPTION

[0029] Hereinafter, embodiments of the hand of the present disclosure will be described in detail with reference to the drawings.

[0030] Figure 1 This is a perspective view of one embodiment of the hand device as viewed from above. Figure 2 This is a perspective view of one embodiment of the hand device as viewed from below. Figure 3 is a top view of one embodiment of a hand device. Figure 4 is a front view of one embodiment of a hand device. Figure 5 is a top view of one embodiment of a hand device showing a minimally open position of the hand. Figure 6 It is a front view of one embodiment of the hand device showing the minimum open position of the hand.

[0031] The hand device 1 of the present embodiment is mounted on the arm 200 of the robot (see Fig.14 , Fig.15 ) when holding a flat workpiece such as a printed circuit board or glass plate (see Fig.14 , Fig.15 ) is a device for conveying a workpiece according to the movement of the robot arm 200 in the state of both ends of the robot. The hand device 1 includes an actuator 2, a gripping portion 3, a gripping portion driving portion 4, and a hand mechanism portion 5.

[0032] In each figure, the X direction indicates the width direction of the hand device 1. The X1 direction and the X2 direction indicate the opposite directions in the width direction of the hand device 1. The Y direction indicates the front-back direction of the hand device 1. The Y1 direction indicates the front of the hand device 1, and the Y2 direction indicates the back of the hand device 1. The Z direction is the up-down direction of the hand device 1. The Z1 direction indicates the top of the hand device 1, and the Z2 direction indicates the bottom of the hand device 1.

[0033] The actuator 2 is an electric actuator, and has: an actuator body 21 formed to be long in the front-to-back direction, a moving body 22 arranged on the lower side of the actuator body 21, and a motor 23 arranged at the rear end of the actuator body 21 and used to drive the moving body 22. The moving body 22 is connected to the motor 23 by means of a power transmission mechanism (not shown) such as a ball screw and a chain provided in the actuator body 21. A guide hole 21a extending along the length direction of the actuator body 21 is provided on the lower surface of the actuator body 21. The moving body 22 is configured to be able to move forward and backward in the front-to-back direction along the guide hole 21a by being driven by the motor 23. A guide hole 21a for connecting with the arm 200 of the robot (see FIG. 21) is provided on the upper side of the rear end of the actuator body 21. Fig.14 , Fig.15 ) connected to ATC (Automatic Tool Changer) 24.

[0034] The gripping portion 3 has a gripping claw 30 including a movable claw 31 and a fixed claw 32, and the movable claw 31 and the fixed claw 32 are used to grip the end of the workpiece in the thickness direction of the workpiece. The gripping portion 3 also has an upper support member 33, a frame member 34, a lower support member 35 and a movable member 36. The upper support member 33 is fixed to the lower surface of the movable body 22. The frame member 34 is fixed to one side of the upper support member 33 and extends downward from the upper support member 33. The lower support member 35 is arranged directly below the upper support member 33. The lower end of the frame member 34 is fixed to one side of the lower support member 35. As a result, the lower support member 35 is arranged to be spaced from the upper support member 33 by a certain distance corresponding to the length of the frame member 34. The fixed claw 32 is provided on the lower support member 35 in a manner protruding toward the front of the hand device 1.

[0035] The movable member 36 is disposed between the upper support member 33 and the lower support member 35. The movable member 36 is configured to be able to move up and down between the upper support member 33 and the lower support member 35 along a plurality of (three in this embodiment) guide shafts 37 provided so as to bridge the upper support member 33 and the lower support member 35. The movable claw 31 is provided on the movable member 36 in a manner protruding toward the front of the hand device 1.

[0036] like Figure 1 , Figure 2 and Figure 4As shown, when the movable member 36 moves downward to be closest to the lower support member 35 or abuts against the lower support member 35, the movable claw 31 is arranged to be close to the fixed claw 32 provided on the lower support member 35 or overlap with the fixed claw 32. The position where the movable claw 31 and the fixed claw 32 are arranged at this time is the first position where the gripping portion 3 grips the workpiece. The gripping portion 3 is configured such that the upper support member 33 is fixed to the movable body 22, so that the gripping portion 3 can move forward and backward in the front-to-back direction along the longitudinal direction of the actuator 2 by the drive of the actuator 2. Therefore, the gripping portion 3 moves forward and backward in the front-to-back direction of the actuator 2 in a state of gripping the workpiece, so that the workpiece can be pulled out or pushed out in the front-to-back direction of the hand device 1.

[0037] The gripping portion driving unit 4 is composed of, for example, a hydraulic cylinder or a pneumatic cylinder, and is provided on the lower support member 35 of the gripping portion 3. The gripping portion driving unit 4 can move the movable member 36 to any position between the upper support member 33 and the lower support member 35 and stop at the position. In detail, the gripping portion driving unit 4 moves the movable member 36, thereby causing the gripping portion 3 to operate in a manner that allows it to be configured in at least three positions, namely, a first position, a second position, and a third position. As described above, the first position is the position where the movable claw 31 and the fixed claw 32 of the gripping claw 30 are closest to or in contact with each other, that is, the position where the gripping portion 3 grips the workpiece (see Figure 1 , Figure 2 and Figure 4 The second position is the position where the movable claw 31 and the fixed claw 32 are separated to the greatest extent, that is, the gripping portion 3 is opened to the greatest extent (see Fig.10 ). The third position is between the first and second positions (refer to Fig.12 ).

[0038] The gripping portion driving portion 4 can be composed of a three-position cylinder, so that the gripping portion 3 can be operated in a manner that can be arranged at the first position, the second position, and the third position. As a result, the movable member 36 can be easily positioned in the up-down direction, so that the gripping portion 3 can be arranged at any one of the first position, the second position, and the third position. Therefore, it is not necessary to assemble a complex mechanism for positioning the movable member 36 in the gripping portion 3, and the gripping portion 3 can be simplified and lightened. In addition, the first position, the second position, and the third position will be described in more detail later.

[0039] The hand mechanism portion 5 has a pair of hands 51, 51 for holding the two end portions in the width direction of the workpiece, an opening position adjusting portion 52 for adjusting the opening position of the hands 51, 51 corresponding to the width dimension of the workpiece, a connecting rod portion 53 respectively connecting the hands 51, 51 and the opening position adjusting portion 52, and two slide rails 54, 54 for guiding the movement of the hands 51, 51.

[0040] The hands 51, 51 are formed in a flat plate shape and are arranged in parallel with the front side of the actuator 2. Workpiece holding portions 51a, 51a are provided at the lower ends of the hands 51, 51, respectively. The workpiece holding portions 51a, 51a are used to hold the two ends of the workpiece held by the holding claw 30 in the width direction. Figure 4 As shown, the workpiece holding portions 51a, 51a are disposed inwardly at approximately the same height as the fixed claw 32 in the vertical direction of the hand device 1. In the present embodiment, the workpiece holding portions 51a, 51a are formed by grooves extending along the length direction of the hands 51, 51 (the Y direction in the figure). However, the specific structure of the workpiece holding portions 51a, 51a is not limited to the grooves, as long as the two end portions in the width direction of the workpiece can be held between the hands 51, 51. Therefore, the workpiece holding portions 51a, 51a may also be composed of, for example, an inward-facing claw member or plate member (not shown) that only supports the lower surface of the two end portions in the width direction of the workpiece. In addition, as Figure 3 and Figure 5 As shown, when the grip portion 3 moves forward to the maximum extent, the grip claw 30 including the movable claw 31 and the fixed claw 32 protrudes forward from the front ends 51 b and 51 b of the hands 51 and 51 .

[0041] The open position adjusting portion 52 makes the open position of the hands 51, 51 variable by moving in the direction along the forward and backward movement direction of the gripping portion 3. The open position adjusting portion 52 of the present embodiment is formed in a rectangular plate shape and is arranged to be slightly separated from the actuator body 21 toward the upper side on the upper surface of the actuator body 21. The open position adjusting portion 52 is connected to the upper end of the hands 51, 51 by two support rods 53a, 53a each arranged in parallel. Both ends of each support rod 53a, 53a are rotatably mounted to the upper end of the hands 51, 51 and the upper surface of the open position adjusting portion 52 by a rotating pin 53b. The link portion 53 includes a support rod 53a and a rotating pin 53b.

[0042] The slide rails 54, 54 are used to smoothly guide the variable movement of the opening position of the hands 51, 51, and are provided in a one-to-one correspondence with the hands 51, 51. The slide rails 54, 54 include rail parts 54a, 54a and sliders 54b, 54b slidably fitted into the rail parts 54a, 54a, and the slide rails 54, 54 are provided to bridge the hands 51, 51 and the actuator body 21, respectively. One end of the rail parts 54a, 54a is fixed to the base part 55 installed on the upper surface of the front end of the actuator body 21, so as to be slightly separated from the actuator body 21 toward the upper surface of the actuator body 21. The other end of the rail parts 54a, 54a extends linearly toward the hands 51, 51 to both sides of the actuator 2 (X1 direction and X2 direction). One end of the sliders 54b, 54b is fixed to the upper end of the hands 51, 51. The fixing portion of the sliders 54b, 54b on the upper end of the hands 51, 51 is arranged forward of the attachment portion of the support rods 53a, 53a on the upper end of the hands 51, 51. The other ends of the sliders 54b, 54b are inserted into the rail portions 54a, 54a, respectively.

[0043] exist Figure 1 to Figure 4 In the embodiment, the open position adjustment part 52 of the hand mechanism part 5 is arranged in front of the actuator body 21 and closest to the rear of the base part 55. At this time, the support rods 53a, 53a of the link part 53 are arranged to be opened from the open position adjustment part 52 to both sides in a manner substantially orthogonal to the actuator body 21. As a result, the sliders 54b, 54b slide in the direction of separating from the rail parts 54a, 54a, and the hands 51, 51 are arranged in the maximum open position where they are separated from each other to the maximum extent.

[0044] On the other hand, Figure 5 and Figure 6 In the embodiment, the open position adjustment unit 52 of the hand mechanism unit 5 is arranged at the rear of the actuator body 21 and closest to the front of the ATC 24. At this time, the support rods 53a, 53a of the link unit 53 are arranged to rotate around the rotation pin 53b and close along the length direction of the actuator body 21. As a result, the sliders 54b, 54b slide in the direction of insertion into the rails 54a, 54a, and the hands 51, 51 are arranged at the minimum open position closest to each other.

[0045] In the present embodiment, the open position adjusting portion 52 of the hand mechanism portion 5 is moved in a direction along the forward and backward movement direction of the grip portion 3, so that the open position of the hands 51, 51 can be adjusted in multiple stages between the above-mentioned maximum open position and minimum open position. The open position adjusting portion 52 is configured to be fixed at the adjusted position in the front-to-back direction of the actuator body 21, thereby fixing the open position of the hands 51, 51. Generally speaking, the moving direction of the open position adjusting portion 52 is the same direction as the forward and backward movement direction of the grip portion 3, but if it is in the direction along the front-to-back direction of the actuator body 21 and does not hinder the movement of the link portion 53 and the opening movement of the hands 51, 51, it can also be slightly inclined relative to the forward and backward movement direction of the grip portion 3.

[0046] Next, further use Figure 7 to Figure 9 The structure for fixing the open position of the hands 51 , 51 will be described in detail. Figure 7 It is a partially enlarged perspective view showing a hand device when the hand is arranged in the maximum open position. Figure 8 This is a cross-sectional view showing an enlarged view of an open position fixing pin that fixes the open position adjusting portion. Fig. 9 It is a partially enlarged perspective view showing a hand device when the hand is arranged in the minimum open position.

[0047] like Figure 7 to Figure 9 As shown, the open position adjusting portion 52 includes an open position fixing pin 56. The open position fixing pin 56 of the present embodiment includes a pin base portion 56a, a pin operating plate 56b, and a pin tip portion 56c.

[0048] The open position fixing pin 56 has a pair of pin bases 56a, 56a arranged in parallel. The open position fixing pin 56 is installed in the open position adjusting portion 52 by inserting the pair of pin bases 56a, 56a into a pair of pin mounting holes 52a, 52a formed in the open position adjusting portion 52 along the up-down direction. The pin bases 56a, 56a and the pin mounting holes 52a, 52a are arranged in a row along the front-to-back direction of the actuator body 21 at a position close to one end portion in the width direction (close to the end portion in the X2 direction) of the open position adjusting portion 52. The pin bases 56a, 56a are inserted into the pin mounting holes 52a, 52a with a margin. Therefore, the open position fixing pin 56 can protrude / retract downward from the open position adjusting portion 52.

[0049] The pin bases 56a, 56a are erected on the upper surface of a pin operating plate 56b formed of a flat plate. A pin tip 56c protrudes downward (toward the upper surface of the actuator body 21) from the lower surface of the pin operating plate 56b. A flange 56d is provided near the lower end of the pin tip 56c.

[0050] A hole member 57 is installed on the side portion (the side portion in the X2 direction in the figure) corresponding to the lower side of the open position fixing pin 56 on the upper surface of the actuator body 21. The hole member 57 has a length that spans the entire movement range of the open position adjustment unit 52 corresponding to the maximum open position and the minimum open position of the hands 51, 51. The hole member 57 has a plurality of open position fixing holes 57a into which the pin tip 56c of the open position fixing pin 56 can be inserted. The plurality of open position fixing holes 57a are arranged along the moving direction of the open position adjustment unit 52. The positions of the respective open position fixing holes 57a correspond to the plurality of open positions of the hands 51, 51.

[0051] The hole member 57 of this embodiment is formed into a long plate shape along the front-to-back direction of the actuator body 21, but it may also be a rod shape or other shapes. In addition, it may not be formed into a single plate shape along the front-to-back direction of the actuator body 21, but may be formed of a plurality of shorter members having one or more opening position fixing holes 57a.

[0052] like Figure 8 As shown in the figure, when the pin tip 56c is inserted into the open position fixing hole 57a of the hole member 57 due to the downward movement of the open position fixing pin 56, the flange portion 56d abuts against the surface of the hole member 57, thereby restricting the downward position of the open position fixing pin 56. At this time, the pin bases 56a, 56a of the open position fixing pin 56 are partially inserted into the pin mounting holes 52a, 52a of the open position adjusting portion 52. Therefore, when the pin tip 56c of the open position fixing pin 56 is inserted into the open position fixing hole 57a, the open position adjusting portion 52 is fixed to the actuator body 21 by the open position fixing pin 56 in a manner that it cannot move relative to the actuator body 21.

[0053] exist Figure 7 In the embodiment, the pin tip 56c of the open position fixing pin 56 is inserted into the open position fixing hole 57a on the most forward side of the hole member 57. As a result, the open position adjusting portion 52 is fixed to the most forward position of the actuator body 21. At this time, the hands 51, 51 are fixed to the maximum open position. On the other hand, Fig. 9 , the pin tip 56c of the open position fixing pin 56 is inserted into the open position fixing hole 57a on the rearmost side of the hole member 57. Thus, the open position adjusting portion 52 is fixed to the rearmost side of the actuator body 21. At this time, the hands 51, 51 are fixed to the minimum open position. In addition, although not shown in the figure, when the pin tip 56c of the open position fixing pin 56 is inserted into the other position fixing hole 57a sandwiched by the above-mentioned two position fixing holes 57a, 57a, the hands 51, 51 are fixed to the open position between the maximum open position and the minimum open position.

[0054] The open position fixing pin 56 of this embodiment is configured to move downward by its own weight, but the present invention is not limited to such a structure. The open position fixing pin 56 may be configured to be constantly biased toward the hole member 57 by a biasing member (not shown) such as a coil spring.

[0055] Furthermore, the hole member 57 may be replaceable relative to the actuator body 21. Thus, by preparing a plurality of hole members 57 having different numbers and positions of the open position fixing holes 57a, workpieces having various widths can be held by one hand device 1 simply by replacing the hole members 57. In addition, when it is not necessary to replace the hole member 57, the open position fixing holes 57a may be directly formed on the upper surface of the actuator body 21.

[0056] Next, further use Figure 10 to Figure 13 A specific structure in which the open positions of the hands 51 , 51 are variable by moving the open position adjusting unit 52 will be described in detail. Fig.10 It is a partially enlarged perspective view of the hand device when the grip portion is moved to the second position. Fig.11 This is an enlarged cross-sectional view showing the operating portion and the open position fixing pin when the grip portion is moved to the second position. Fig.12 It is a partially enlarged perspective view showing the hand device when the grip portion is moved to the third position. Fig.13 This is an enlarged cross-sectional view showing the operating portion and the open position fixing pin when the grip portion is moved to the third position.

[0057] The operating portion 6 that is linked to the movement of the grip portion 3 is mounted on the movable member 36 of the grip portion 3. The operating portion 6 is arranged on the same side (X2 direction) as the side where the hole member 57 is arranged in the width direction of the actuator 2. The operating portion 6 has a first portion 61 that is fixed to the movable member 36 of the grip portion 3 and extends backward from the movable member 36, a second portion 62 that extends upward from the rear end of the first portion 61, and a third portion 63 that is provided at the upper end of the second portion 62 and serves as a connection portion connected to the open position adjustment portion 52. The third portion 63 extends in the front-rear direction of the hand device 1. The upper surface of the third portion 63 is formed to be parallel to the lower surface of the open position adjustment portion 52.

[0058] A hole portion 52b as a first engaging portion is provided at a position of the open position adjusting portion 52 corresponding to the third portion 63 of the operating portion 6. On the other hand, a convex portion 64 as a second engaging portion that can engage with the hole portion 52b of the open position adjusting portion 52 is provided on the upper surface of the third portion 63 of the operating portion 6. The hole portion 52b opens at the lower surface of the open position adjusting portion 52. The hole portion 52b may or may not penetrate the open position adjusting portion 52. Two of the hole portion 52b and two of the convex portion 64 are arranged in the front-rear direction of the hand device 1.

[0059] like Fig.10 and Fig.13 As shown in the figure, the pin operating plate 56b of the open position fixing pin 56 extends to a position laterally (in the X2 direction) relative to the actuator 2. In addition, the third portion 63 of the operating portion 6 has a protruding portion 63b that protrudes toward the actuator 2 and can interfere with the pin operating plate 56b. The upper surface 63c of the protruding portion 63b is formed to be lower than the upper surface 63a of the third portion 63 having the convex portion 64 by an amount corresponding to the thickness of the pin operating plate 56b.

[0060] like Fig.10 As shown, when the gripping portion 3 is to be moved to the second position, the movable member 36 is moved upward to the maximum extent by driving the gripping portion driving portion 4, and the operating portion 6 mounted on the movable member 36 is also moved upward to the maximum extent. During the upward movement of the operating portion 6, the upper surface 63c of the protruding portion 63b of the third portion 63 interferes with the pin operating plate 56b of the open position fixing pin 56, thereby lifting the pin operating plate 56b upward. In addition, when the operating portion 6 moves upward, the third portion 63 of the operating portion 6 will soon come into contact with the lower surface of the open position adjusting portion 52. At this time, as shown in FIG. Fig.11 As shown, the convex portion 64 of the operating portion 6 is inserted into and engaged with the hole portion 52b of the open position adjusting portion 52, and the open position adjusting portion 52 and the operating portion 6 are connected. In addition, the pin operating plate 56b is clamped between the protruding portion 63b of the operating portion 6 and the open position adjusting portion 52, so that the open position fixing pin 56 is maintained at a position where the pin tip 56c is separated from the open position fixing hole 57a of the hole member 57.

[0061] Thus, the open position adjusting unit 52 can be moved in a direction along the forward and backward movement direction of the gripping unit 3 in conjunction with the forward and backward movement of the gripping unit 3 driven by the actuator 2. The movement of the open position adjusting unit 52 causes the pair of hands 51, 51 of the hand mechanism unit 5 to move in a direction along the forward and backward movement direction of the gripping unit 3 via the link unit 53. Figure 3 and Figure 4 The maximum opening position shown is Figure 5 and Figure 6 The minimum open positions shown are variable.

[0062] Fig.12 and Fig.13 Indicates that the grip portion 3 moves to the first position (refer to Figure 1 ) and the second position (refer to Fig.10 ). In the third position, the third portion 63 of the operating portion 6 moves downward and away from the open position adjusting portion 52, and the connection between the operating portion 6 and the open position adjusting portion 52 is released. In addition, the holding of the pin operating plate 56b of the open position fixing pin 56 by the protruding portion 63b of the third portion 63 is also released, and the open position fixing pin 56 moves downward due to its own weight, so that the pin tip 56c is inserted into the open position fixing hole 57a of the hole member 57.

[0063] Thus, the open position adjusting portion 52 is fixed to the position where the open position fixing pin 56 is inserted into the open position fixing hole 57a, and the open position of the hands 51, 51 corresponding to the position of the open position fixing hole 57a is determined. The fixed position of the open position adjusting portion 52, that is, the position of the open position fixing hole 57a of the hole member 57 into which the open position fixing pin 56 is inserted, is determined by detecting the position of the gripping portion 3 (movable body 22) during the forward and backward movement using a position detection component such as an encoder (not shown).

[0064] In addition, the position of the operating portion 6 when the grip portion 3 is located at the third position can be between the first position and the second position and is not limited to the third position. Fig.12 and Fig.13 When the grip portion 3 is in the third position, the connection between the operating portion 6 and the open position adjusting portion 52 is released, and the holding of the open position fixing pin 56 by the operating portion 6 is released, and the open position fixing pin 56 can be inserted into the open position fixing hole 57a. Therefore, the position of the operating portion 6 when the grip portion 3 is in the third position can also be more Fig.12 and Fig.13 The position shown is lower.

[0065] Next, an example of the holding operation of the hand device 1 for holding a workpiece will be described. Fig.14 1 is a diagram for explaining a case where a workpiece having a relatively large width dimension is held by the hand device 1 . It is assumed that the width dimension of the workpiece W1 is the maximum dimension that can be held by the hand device 1 . Fig.15 1 is a diagram for explaining a situation where a workpiece having a relatively small width dimension is held by a hand device. Assume that the width dimension of the workpiece W2 is the minimum dimension that can be held by the hand device 1. Fig.14 and Fig.15 As shown, a plurality of workpieces W1 and W2 are stored in the magazine 100 at intervals in the vertical direction.

[0066] like Fig.14As shown in FIG. 1 , when it is desired to hold a workpiece W1 of the maximum size that can be held by the hand device 1, first, the gripping portion 3 is positioned in the front-rear direction by driving the actuator 2 so that the third portion 63 of the operating portion 6 is disposed directly below the open position adjusting portion 52. After the gripping portion 3 is positioned, the gripping portion driving portion 4 moves the movable member 36 of the gripping portion 3 upward to move the gripping portion 3 to the second position (see FIG. 1 ). Fig.10 , Fig.11 ). As a result, the convex portion 64 of the operation portion 6 and the hole portion 52 b of the open position adjusting portion 52 are engaged with each other, and the operation portion 6 and the open position adjusting portion 52 are connected.

[0067] When the operation portion 6 and the open position adjustment portion 52 are connected, the open position fixing pin 56 is held at a position away from the open position fixing hole 57a of the hole member 57 by the protruding portion 63b of the operation portion 6. As a result, the open position adjustment portion 52 can move in the front-rear direction. Thereafter, when the grip portion 3 is moved to the frontmost position by driving the actuator 2, the open position adjustment portion 52 also moves to the front, so that the hands 51, 51 are arranged at the maximum open position (see Figure 3 , Figure 4 ). Then, when the movable member 36 of the gripping portion 3 is moved downward by the gripping portion driving portion 4, the gripping portion 3 moves to the third position (refer to Fig.12 , Fig.13 ). As a result, the connection between the operating portion 6 and the open position adjusting portion 52 is released, and the open position fixing pin 56 moves downward due to its own weight, and is inserted into the open position fixing hole 57a arranged at the frontmost position of the hole member 57. As a result, the open position adjusting portion 52 is fixed at this position, and the hands 51, 51 are fixed at the maximum open position.

[0068] After the hands 51, 51 are fixed at the maximum open position, the gripping part 3 that has moved to the third position is moved to the front by driving the actuator 2. Then, the hand device 1 moves toward the vicinity of the bin 100 according to the movement of the robot arm 200, so that the center of the end of the workpiece W1 is arranged between the movable claw 31 and the fixed claw 32. After the hand device 1 is arranged near the bin 100, when the gripping part driving part 4 further moves the movable member 36 of the gripping part 3 downward, the gripping part 3 moves to the first position (see Figure 1 , Figure 2 , Figure 4). Thus, the gripping claw 30 of the gripping portion 3 grips the center of the end of the workpiece W1. When the gripping portion 3 holds the workpiece W1, the gripping portion 3 is moved in the backward direction by driving the actuator 2 to pull the workpiece W1 out of the bin 100. The two ends of the workpiece W1 pulled out of the bin 100 are inserted and held in the workpiece holding portions 51a, 51a of a pair of hands 51, 51 fixed at the maximum open position outside the bin 100. Afterwards, the hand device 1 moves according to the movement of the robot arm 200 to transport the workpiece W1.

[0069] Then, if Fig.15 As shown, when it is desired to hold the workpiece W2 of the minimum size that can be held by the hand device 1, after the operation portion 6 and the open position adjustment portion 52 are connected, the gripping portion 3 is moved to the rearmost position by driving the actuator 2. Figure 5 and Figure 6 As shown in FIG. 5 , the hands 51, 51 are arranged at the minimum open position. Then, when the movable member 36 of the gripping portion 3 is moved downward by the gripping portion driving portion 4, the gripping portion 3 moves to the third position (see FIG. 5 ). Fig.12 , Fig.13 ). As a result, the connection between the operating portion 6 and the open position adjusting portion 52 is released, and the open position fixing pin 56 moves downward due to its own weight, and is inserted into the open position fixing hole 57a arranged at the rearmost of the hole member 57. As a result, the open position adjusting portion 52 is fixed at this position, and the hands 51, 51 are fixed at the minimum open position.

[0070] After the hands 51, 51 are fixed at the minimum open position, the gripping portion 3 that has moved to the third position is moved to the front by driving the actuator 2. Thereafter, the hand device 1 moves toward the vicinity of the bin 100 according to the movement of the robot arm 200, so that the center of the end of the workpiece W2 is arranged between the movable claw 31 and the fixed claw 32. After the hand device 1 is arranged near the bin 100, when the gripping portion driving unit 4 further moves the movable member 36 of the gripping portion 3 downward, the gripping portion 3 moves to the first position (see Figure 1 , Figure 2 , Figure 4 ). Thus, the gripping claw 30 of the gripping portion 3 grips the center of the end of the workpiece W2. When the gripping portion 3 holds the workpiece W2, the gripping portion 3 is moved in the backward direction by driving the actuator 2 to pull the workpiece W2 out of the bin 100. The two ends of the workpiece W2 pulled out of the bin 100 are inserted into and held in the workpiece holding portions 51a, 51a of a pair of hands 51, 51 arranged at the minimum opening position outside the bin 100. Afterwards, the hand device 1 moves according to the movement of the robot arm 200 to transport the workpiece W2.

[0071] As described above, the hand device 1 of the present embodiment includes: a gripping portion 3 for gripping the workpieces W1 and W2; a gripping portion driving portion 4 for causing the gripping portion 3 to operate in a manner that allows the gripping portion 3 to be respectively arranged at a first position for gripping the workpieces W1 and W2, a second position for being opened to the maximum extent, and a third position between the first position and the second position; a hand mechanism portion 5 having a pair of hands 51, 51 for holding both ends of the workpieces W1 and W2 in the width direction gripped by the gripping portion 3, and capable of moving the pair of hands 51, 51 in accordance with the positions of the both ends of the workpieces W1 and W2 The hand mechanism 5 is configured to have a variable opening position of the pair of hands 51; an operating portion 6 which is configured to be linked to the movement of the gripping portion 3 and can be connected to the hand mechanism 5; and an actuator 2 which is used to move the gripping portion 3 forward and backward. The hand mechanism 5 is configured to be: when the gripping portion 3 is in the second position, the hand mechanism 5 is connected to the operating portion 6, and the opening position of the pair of hands 51, 51 is variable in linkage with the forward and backward movement of the gripping portion 3 by the actuator 2. When the gripping portion 3 is in the first position or the third position, the connection between the hand mechanism 5 and the operating portion 6 is released, and the opening position of the pair of hands 51, 51 is fixed. Therefore, the hand device 1 can hold the two ends of a plurality of workpieces W1, W2 of different sizes without having to prepare a plurality of hands corresponding to the width dimensions of the workpieces W1, W2.

[0072] Furthermore, since the actuator 2 for moving the grip 3 forward and backward is used as a drive source for changing the open position of the hands 51, 51, it is not necessary to provide an additional drive source. This prevents the hand device 1 from becoming larger in size, and enables the hand device 1 to be simplified and lightweight.

[0073] In addition, the hand mechanism portion 5 includes: an opening position adjusting portion 52 that is movable in the direction along the forward and backward movement direction of the gripping portion 3, and a link portion 53 for causing a pair of hands 51, 51 to open in the width direction of the workpieces W1, W2 in conjunction with the movement of the opening position adjusting portion 52, the opening position adjusting portion 52 includes a hole portion 52b as a first engaging portion, and the operating portion 6 includes a convex portion 64 that can be engaged with the hole portion 52b as a second engaging portion. The position adjustment portion 52 is configured such that when the grip portion 3 is in the second position, the hole portion 52b and the convex portion 64 are engaged, so that the open position adjustment portion 52 is connected to the operating portion 6 and moves in conjunction with the forward and backward movement of the grip portion 3 by the actuator 2. When the grip portion 3 is in the first position or the third position, the engagement between the hole portion 52b and the convex portion 64 is released, so that the connection between the open position adjustment portion 52 and the operating portion 6 is released, and the open position of the pair of hands 51, 51 is fixed. Therefore, the hand device 1 can easily change the open position of the pair of hands 51, 51 by connecting the open position adjustment portion 52 and the operating portion 6 and by means of the link portion 53. The hand device 1 can easily fix the open position of the pair of hands 51, 51 by releasing the connection between the open position adjustment portion 52 and the operating portion 6.

[0074] In addition, in the hand device 1, the first engaging portion may be formed by a convex portion, and the second engaging portion may be formed by a hole portion. In addition, the specific structure of the first engaging portion and the second engaging portion may be any structure that can engage with each other and can move the open position adjusting portion 52 forward and backward in the front-to-back direction when the grip portion 3 moves forward and backward in the front-to-back direction in the engaged state, and is not limited to a hole portion and a convex portion.

[0075] In addition, the actuator 2 has a plurality of opening position fixing holes 57a arranged along the moving direction of the opening position adjusting portion 52 corresponding to the plurality of opening positions of the pair of hands 51, 51, and the opening position adjusting portion 52 has an opening position fixing pin 56 that can protrude / retract toward the opening position fixing hole 57a, and the opening position fixing pin 56 is configured such that when the grip portion 3 is in the second position, the opening position fixing pin 56 is held by the operating portion 6 at a position away from the opening position fixing hole 57a, and when the grip portion 3 is in the first position or the third position, the operating portion 6 releases the holding of the opening position fixing pin 56, and the opening position fixing pin 56 is inserted into any opening position fixing hole 57a. Therefore, the hand device 1 can easily fix the opening position adjusting portion 52 by only releasing the connection between the opening position adjusting portion 52 and the operating portion 6.

Claims

1. A hand device, wherein: The hand device comprises: A holding portion, which is used to hold a workpiece; a gripping portion driving portion, used to enable the gripping portion to move to a first position for gripping the workpiece, a second position for opening to a maximum extent, and a third position between the first position and the second position; a hand mechanism having a pair of hands for holding both ends of the workpiece in the width direction held by the holding portion, and capable of making the opening position of the pair of hands variable; an operating unit configured to be linked to the movement of the grip unit and capable of being connected to the hand mechanism unit; and an actuator for moving the gripping portion forward and backward, The hand mechanism part is constructed as follows: when the holding part is in the second position, the hand mechanism part is connected to the operating part, and the open position of the pair of hands is variable in conjunction with the forward and backward movement of the holding part using the actuator; when the holding part is in the first position or the third position, the connection between the hand mechanism part and the operating part is released, and the open position of the pair of hands is fixed.

2. The hand device according to claim 1, wherein: The hand mechanism section further comprises: an open position adjustment section configured to be movable in a direction along the forward and backward movement direction of the grip section; and a link portion which, in conjunction with the movement of the opening position adjusting portion, causes the pair of hands to open in the width direction of the workpiece, The open position adjusting portion has a first engaging portion. The operating portion has a second engaging portion that can engage with the first engaging portion. The open position adjustment portion is constructed as follows: when the holding portion is in the second position, the first engaging portion and the second engaging portion engage with each other, so that the open position adjustment portion is connected to the operating portion and moves in conjunction with the forward and backward movement of the holding portion using the actuator. When the holding portion is in the first position or the third position, the engagement between the first engaging portion and the second engaging portion is released, so that the connection between the open position adjustment portion and the operating portion is released, and the open position of the pair of hands is fixed.

3. The hand device according to claim 2, wherein: The actuator has a plurality of opening position fixing holes arranged along the moving direction of the opening position adjusting portion corresponding to the plurality of opening positions of the pair of hands. The open position adjusting portion includes an open position fixing pin capable of protruding toward / retracting from the open position fixing hole. The open position fixing pin is constructed as follows: when the holding portion is in the second position, the open position fixing pin is held in a position away from the open position fixing hole by the operating portion; when the holding portion is in the first position or the third position, the operating portion releases the holding of the open position fixing pin, and the open position fixing pin is inserted into any one of the open position fixing holes.

4. The hand device according to claim 3, wherein: The open position fixing hole is formed in a hole member provided in the actuator. The orifice member is replaceably provided on the actuator.

5. The hand device according to any one of claims 1 to 4, wherein: The gripping portion driving portion is composed of a three-position cylinder and is used to enable the gripping portion to move to any one of the first position, the second position, and the third position.

Images