JP2004082245A - Opening and closing chuck for robot hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening and closing chuck for a robot hand not using a tool and a working fluid, and having a mechanism for easily mounting and demounting a finger. <P>SOLUTION: A stopper 13 is mounted by a screw fixed to a casing 2 movably in the lateral direction in the figure, and a spring 16 is mounted between the stopper 13 and the casing 2. The demounting of the finger can be prevented by hanging a stopper 13 on a step formed on a pin metal 15. The pin metal 15 has a taper shape relative to the step, and the stopper 13 is pressed by the spring 16 to fix the finger. A projecting part from the casing 2 of the stopper 13 is pressed to unfix and demount the finger. The mounting is performed by the similar order when the finger is mounted again, or the other finger is mounted. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an opening / closing chuck used for a robot hand that performs operations such as gripping and moving an article by opening and closing a finger portion.
[0002]
[Prior art]
This type of opening / closing chuck for a robot hand attaches an attachment to the finger portion according to the shape and material of the article to be gripped, and performs operations such as gripping and moving the article. Required.
[0003]
As a method of attaching the attachment to the finger part, it is common to fasten with screws or bolts.If the article to be gripped changes, use an open / close chuck for a robot hand equipped with an attachment according to the article. It is necessary to replace the already attached attachment with an attachment according to the article.
[0004]
Use of multiple robot hand open / close chucks is limited by cost and work space, and replacing attachments requires loosening screws and bolts, fastening and positioning, and is very inefficient. .
[0005]
[Problems to be solved by the invention]
As a solution to the above-mentioned problem, there is already a device that uses a working fluid such as compressed air to attach and detach the finger portion. However, the use of the working fluid increases the size of the main body and the cost.
[0006]
An object of the present invention is to provide a robot hand opening / closing chuck having a mechanism capable of easily attaching and detaching a finger portion without using a tool or a working fluid in order to solve such a problem.
[0007]
[Means for Solving the Problems]
In order to solve the above problem, the present invention provides a mechanism for attaching a stepped pin to a finger portion fastened to a robot hand opening / closing chuck main body and hooking a step of the pin with a simple operation on the robot hand opening / closing chuck main body. Achieved by having
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0009]
The open / close chuck 1 for a robot hand is provided with a pair of fingers 3 at a front portion of a casing 2 as shown in FIG. 1, and the pair of fingers 3 open and close in the left-right direction in the figure via an L-shaped lever 4. Are located in
[0010]
The pair of fingers 3 is guided in the left-right direction in FIG. 1 of the casing 2 via a ball bearing 6 on a rail 5 arranged at the front part of the casing 2. A cover plate 7 is attached to the finger 3 to prevent the ball bearing 6 from falling off.
[0011]
The L-shaped lever 4 is rotatably mounted around a pin 8 fixed to the casing 2. The L-shaped lever 4 is connected to the piston 9.
[0012]
The casing 2 is provided with conduits 12, 12 'for introducing fluid supplied from the supply ports 10, 10' into the respective cylinder chambers 11, 11 '.
[0013]
A pin fitting 15 shown in FIG. 3 is attached to a surface of the rail 5 that is connected to the casing 2.
[0014]
The stopper 13 is attached movably in the left-right direction in FIG. 3 by a screw 14 fixed to the casing 2, and a spring 16 is attached between the stopper 13 and the casing 2.
[0015]
FIG. 3 shows a state in which the finger portion is mounted on the casing 2, and the finger portion is prevented from coming off when the stopper 13 is hooked on a step provided on the pin fitting 15. The pin fitting 15 has a tapered shape up to the stepped portion, and the finger portion is fixed by pressing the stopper 13 with the spring 16 there.
[0016]
To release the fixation and remove the finger portion, the fixation is released by pressing the portion of the stopper 13 that has protruded from the casing 2, and the finger portion can be removed. When installing again or another finger, perform the same procedure.
[0017]
【The invention's effect】
Conventionally, the screw 17 shown in FIG. 4 was removed and the finger was replaced. However, as described above, the opening / closing chuck for the robot hand according to the present invention pushes the stopper 13 protruding from the single surface of the casing 2. The finger can be easily attached and detached.
[Brief description of the drawings]
FIG. 1 is a front sectional view showing an opening / closing chuck for a robot hand according to an embodiment of the present invention.
FIG. 2 is a plan view showing an opening / closing chuck for a robot hand according to an embodiment of the present invention.
FIG. 3 is a cross-sectional view illustrating a finger mounting portion of the open / close chuck for a robot hand according to the embodiment of the present invention.
FIG. 4 is a sectional view showing a finger mounting portion of a conventional robot hand opening / closing chuck.
[Explanation of symbols]
1 Opening / closing chuck for robot hand 2 Casing 3 Finger 4 L-shaped lever 5 Rail 6 Ball 7 Cover plate 8 Pin 9 Piston 10, 10 'Supply port 11, 11' Cylinder chamber 12, 12 'Conduit 13 Stopper 14 Screw 15 Pin fitting 16 Spring 17 screw

Claims (1)

Open / close chuck for robot hand with a mechanism that allows the finger to be easily attached and detached without using tools or working fluid

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