1295955 (1) 九、發明說明 【發明所屬之技術領域】 本發明係有關一種用來搬運液晶面板用玻璃基盤等搬 送物之產業用機械手臂，特別是有關一種將搬送物載置於 安裝在手臂的手爪上而予以搬送的相關產業用機械手臂。 【先前技術】 > 這種產業用機械手臂，多採用二次元或三次元的移動 ，更於進行旋轉的手部安裝手爪，而於該手爪上放置搬送 物而搬送的方式。該產業用機械手臂，係多段載置於收納 卡匣內的搬送物品、或插入至被載置於處理部的下方，使 該手爪上升，而或將搬送物載置於手爪上。然後，產業用 機械手臂係移動手部，搬送載置於手爪的搬送物。 當搬送物具有如大型的液晶面板用玻璃基板之大的面 積時，須要使用非常長的手爪，而導致手爪的前端下垂。 > 該手爪的前端之下垂量因手爪而異，並且於配合搬送物的 變更而改變手爪長度之情況下亦不同。因此，以往這種產 業用機械手臂的位置控制有操作煩雜的缺點。 再者，爲了防止手爪的前端下垂，而將手爪加粗以提 高剛性，但當加粗手爪時，將導致重量增加，且操作性變 差，而無法使搬送速度降低。因此，以往，如日本特開 2004-1 48476號公報所記載，提案有在將手爪設爲中空狀 之同時，以朝向前端使手爪的厚度變薄之方式所構成的發 明等。據此，雖可將手爪的前端之下垂量抑制爲較小’但 -4- (2) 1295955 卻無法使下垂消失，若加長手爪長度，則下垂量變大，又 ，無法使手爪整體的粗細特別是厚度變薄。 又，當手爪加粗、加厚時，產生必須加大多段載置於 收納卡匣內的搬送物之間隔，在需要大型收納卡匣的同時 ，必須擴大產業用機械手臂的移動範圍。 【發明內容】 >〔發明之揭示〕 本發明係爲了解決上述以往技術的缺點而硏創者，目 的在於提供一種即使手爪的過長，亦不需加粗手爪，而可 修正手爪前端的下垂，可容易、迅速且正確地搬送搬送物 之產業用機械手臂。 爲了達成前述目的，本發明係以機械手臂的手臂來搬 運搬送物之產業用機械手臂，其特徵爲具備有：在水平面 上旋轉的手臂；安裝於前述手臂之前端部的手部；以水平 ►的姿勢安裝於前述手部，用來載置前述搬送物的手爪；以 及將前述手爪的原端部固定於前述手部的上面之手段；於 前述手部具備與前述手爪的下面抵接，推升該爪部的前端 側，調整爪部前端之上下方向之位置的手段。 又，本發明係以機械手臂的手臂搬運搬送物之產業用 機械手臂，其特徵爲具備有：在水平面上旋轉的手臂；以 水平的姿勢安裝於前述手臂之前端部之手部的手爪；於前 述手爪的原端側之第1位置上，將該手爪固定於前述手部 的第1安裝手段；在從前述第1位置僅與手爪前端側分離 -5- d (3) 1295955 特定距離的第2位置上，將該手爪固定於前述手部的第2 安裝手段；以及此等第1安裝手段與第2安裝手段中，至 少一方構成：可調整前述手爪的安裝高度，使第1安裝手 段與第2安裝手段一起動作，調整前述爪部的前端側之上 下方向的位置的手段。 本發明由於以上述方式構成，即使手爪的前端下垂， 藉由手爪前端位置調整手段，可容易且確實地修正手爪前 φ 端的下垂。因此，由於增大手爪的粗細，故不會阻礙產業 用機械手臂本身的操作性，可獲得容易、迅速且正確地搬 送搬送物之效果。 【實施方式】 以下爲關於本發明產業用機械手臂實施形態並隨附圖 面參照說明。 第1實施形態 第1圖係應用本發明之產業用機械手臂的一例、10係 底座、1 1係旋轉台、12係升降旋轉軸、1 3係第1旋回手 臂、1 4係第2旋回手臂、1 5係手部、1 6係手爪。 第1旋回手臂13及第2旋回手臂14，係以於水平面 上旋轉的手臂，彼此在逆方向旋回，將第2旋回手臂的前 端的手部1 5移動到升降、旋轉軸1 2的半徑方向。此時， 手部15係於弟1旋回手臂13及第2旋回手臂14旋回時 ，在第2旋回手臂14上旋轉，將手爪16的方向保持在一BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot arm for transporting a glass substrate or the like for a liquid crystal panel, and more particularly to a carrier placed on an arm. The relevant industrial robot arm that is transported on the claws. [Prior Art] > This type of industrial robot arm uses a two- or three-dimensional movement, and a hand is attached to the hand that rotates, and the conveyance is placed on the hand and transported. The industrial robot arm is a plurality of pieces of conveyed articles placed in the cassette, or inserted under the processing unit to raise the hand, or the carrier is placed on the hand. Then, the industrial robot arm moves the hand and conveys the conveyance placed on the gripper. When the conveyed material has a large area such as a large glass substrate for a liquid crystal panel, it is necessary to use a very long gripper, and the front end of the gripper is drooped. > The amount of the front end of the hand is different depending on the gripper, and it is different when the length of the grip is changed in accordance with the change of the conveyance. Therefore, in the past, the position control of such an industrial robot arm has a disadvantage of being troublesome in operation. Further, in order to prevent the front end of the gripper from sagging, the gripper is thickened to increase the rigidity, but when the gripper is thickened, the weight is increased and the operability is deteriorated, so that the transport speed cannot be lowered. For this reason, as disclosed in Japanese Laid-Open Patent Publication No. 2004-1 48476, there has been proposed a method in which the thickness of the grip is made thinner toward the distal end while the grip is made hollow. According to this, although the sag of the front end of the hand can be suppressed to be small 'but -4- (2) 1295955 can not make the sag disappear, if the length of the claw is lengthened, the amount of sag becomes large, and the whole claw cannot be made. The thickness is especially thin. Further, when the gripper is thickened and thickened, it is necessary to increase the interval between the transported articles placed in the storage cassette in a plurality of stages, and it is necessary to enlarge the movement range of the industrial robot arm while requiring a large storage cassette. [Disclosed from the Invention] The present invention has been made in order to solve the above-described drawbacks of the prior art, and an object of the present invention is to provide a method for correcting a hand without requiring a bold gripper even if the gripper is too long. The industrial robot arm that transports the conveyed material easily, quickly, and accurately with the sag of the front end. In order to achieve the above object, the present invention relates to an industrial robot arm that transports a conveyance by an arm of a robot arm, and is characterized in that: an arm that rotates on a horizontal surface; and a hand that is attached to an end portion of the arm before; a posture in which the hand is attached to the hand, a hand for placing the conveyance; and a means for fixing the original end of the hand to the upper surface of the hand; and the hand is provided with the lower surface of the hand Then, the front end side of the claw portion is pushed up, and the position of the front end of the claw portion in the up-down direction is adjusted. Moreover, the present invention relates to an industrial robot arm that transports a conveyance by an arm of a robot arm, and is characterized in that: an arm that rotates on a horizontal surface; and a hand that is attached to a hand of an end portion of the arm in a horizontal posture; a first attachment means for fixing the grip to the hand at a first position on the proximal end side of the gripper; and only separating from the distal end side of the gripper from the first position - 5 - d (3) 1295955 a second attachment means for fixing the grip to the hand at a second position of a specific distance; and at least one of the first attachment means and the second attachment means: the attachment height of the gripper can be adjusted, The first mounting means is operated together with the second mounting means to adjust the position of the front end side of the claw portion in the up-down direction. According to the present invention, even if the tip end of the gripper is drooped, the sag of the front end φ of the grip can be easily and surely corrected by the grip end position adjusting means. Therefore, since the thickness of the gripper is increased, the operability of the industrial robot itself is not hindered, and the effect of transporting the transported matter easily, quickly, and accurately can be obtained. [Embodiment] Hereinafter, embodiments of the industrial robot arm of the present invention will be described with reference to the drawings. First Embodiment FIG. 1 is an example of an industrial robot arm to which the present invention is applied, a 10 base base, a 1 1 rotary table, a 12-series lifting rotary shaft, a 13-series first rotation arm, and a 14-series second rotation arm. , 1 5 series hand, 16 6 hand claws. The first revolving arm 13 and the second revolving arm 14 are arms that rotate on a horizontal surface, and are rotated in the opposite direction, and the hand 15 of the distal end of the second revolving arm is moved to the radial direction of the elevation and the rotation axis 1 2 . . At this time, the hand 15 rotates on the second swing arm 14 when the rotation of the arm 1 and the second swing arm 14 is rotated, and the direction of the grip 16 is maintained at one.
-6 - (4) 1295955 定。又，手部15與上述連動時亦可另外旋轉。再者，手 部1 5於升降旋轉軸1 2升降之同時上下移動。又，手部1 5 藉由旋轉台11的旋回，移動到升降·旋轉軸12的圓周方 向。 第2圖係放大手部1 5及手爪1 6之詳細平面圖。如第 2圖所示，2支一組的手爪1 6的原端部藉由螺栓1 7固定 於手部1 5上面，手爪1 6、1 6以平行且以水平的姿勢可脫 落地安裝於手部1 5。第3圖係第2圖的A-A線之剖面圖 ，如第3圖所示，在手部1 5的前端側以延伸至手部1 5的 寬度方向的方式，形成有形成凹部的段差部1 5 a。該段差 部1 5 a係在與各手爪1 6的下面接觸的位置配置有按押墊 片22。手爪前端位置調整手段20係由墊片21和按押墊片 22所構成，此等係藉由螺栓23可裝卸地被安裝。 墊片21可預先準備各種厚度，如第3圖所示，按押 墊片22下面和段差部15a之間介存有墊片21，按押墊片 22的上端從手部15的上面突出些許，推升手爪16的下面 。因而，選擇適當厚度的墊片21，手爪16的前端和原端 部以大致成爲相同高度的方式被調整。 然後’說明該產業用機械手臂的作用。當手爪16的 長度長時，如第3圖所示，因全體的彎曲而前端下垂。此 下垂係因適當選擇墊片21的厚度，如第3圖所示，藉由 手爪1 6的前端成爲大致與原端部相同的高度之方式加以 修正。因此’與未圖示的搬送物相對之手部1 5的高度相 關的位置控制變得容易，使操作性良好。又，因爲手爪1 6 (5) 1295955 本體的粗細增加，而提高鋼性’當然不能防止前端的下垂 ，因此不會增加產業用機械手臂的負荷’也不會阻礙產業 用機械手臂本身的操作性。因此’可容易、迅速且確實地 搬送搬送物。 在上述的實施形態例中，手爪前端位置調整手段2 0 藉由墊片2 1、按押墊片2 2及安裝於手部1 5的螺栓2 3所 構成，預先準備各種厚度的墊片21 ’雖表示選擇使用最適 φ 當厚度的墊片21使用之例，但本發明並非限定於此，不 使用墊片21，亦可預先準備各種厚度之設爲與按押墊片 22相同形狀的高度調整塊，選擇最適當的厚度之高度調整 者使用，或僅準備一個高度調整塊，以成爲最適當的厚度 之方式，在此加工使用亦可。 第4圖係本發明之其他實施形態例。在第4圖的實施 形態例中，手爪1 6係藉由放鬆螺栓1 7，沿著設置於手部 1 5的T溝1 5b移動，調整手爪16、16的間隔，藉由於任 ® 意的位置上鎖緊螺栓17，固定於任意寬度方向的位置。然 後’前述的按押墊片22和同樣的按押墊片22a，形成分別 可與手爪16的寬度方向的各安裝位置對應的範圍之長度 ’藉由二支螺栓安裝於手部15。此外，於按押墊片22A 的下方，配置有與該按押墊片22 A相同長度之與前述墊片 21相同的墊片。該按押墊片22A及其下方之未圖示的墊 片’係取代此等設爲與前述的高度調整塊相同亦可。 第5圖係本發明之又一其他實施形態例，使用高度調 整螺絲24，作爲前端位置調整手段20。該高度調整螺釘 -8- (6) 1295955 24係以前端與手爪16的下面抵接之方式’朝向該下面在 上下方向進出地螺合於手部1 5。此外’ 2 5係鎖緊螺帽。 據此，藉由微調整高度調整螺絲24的前端從手部1 5突出 的量，將手爪16的前端高度位置設定在任意處。 在該第5圖所示的實施形態例中，以可以在複數個地 方變更手爪16的寬度方向安裝位置的方式，分別與各安 裝位置對應，設置複數個高度調整螺絲24亦可。 φ 第6圖是表示本發明的其他實施形態例，在手部1 5 設置朝向手爪16的下面進出的高度調整塊26和楔子27, 作爲手爪前端位置調整手段。該高度調整塊2 6的下端形 成傾斜面，該已傾斜的下面以楔子27接受。楔子27係藉 由螺絲28在第6圖中左右地移動，可以使高度調整塊26 上下移動，並可以微調整手部15的上面之突出量。此外 ，29是鎖緊螺帽。藉此，與第5圖所示的實施形態例相同 ，以高度調整塊26推升手爪16，將其前端高度位置設定 0 在任意處。 第7圖是表示本發明的其他實施形態例，與第6圖所 示的實施形態相同，雖然在手部1 5設置與手爪1 6的下面 抵接而上下移動的高度調整塊3 0之點相同，但是取代楔 子2 7藉由螺絲3 1上下移動該高度調整塊3 0。此外，32 爲鎖緊螺帽。藉此與第5圖及第6圖所示的實施形態例相 同，可以將手爪16的前端高度位置設定在任意處。 於此等第6圖及第7圖所示的實施形態例中，如第4 圖所示，可以將手爪16固定並安裝在寬度方向的任意位 -9- (7) 1295955 置，與第4圖所示的按墊片22A相同，亦可使高度調整塊 26、30形成分別與手爪16之寬度方向的各安裝位置對應 的範圍之長度。此時，楔子2 7或螺絲3 1，亦可分別設置 在高度調整塊26、30的寬度方向的中央，或是兩端。 第2實施形態 然後，參照第8圖至第1 2圖說明本發明的產業用機 φ 械手臂的第2實施形態。此外，應用本發明的產業用機械 手臂與第1實施形態相同，爲第1圖所示的機械手臂，就 安裝於手部15的手爪16，於與第1圖至第7圖的第1實 施形態共通的構成要素，附加相同的參照符號並省略詳細 的說明。 第8圖是放大手部1 5以及手爪1 6的詳細平面圖。如 該第8圖所示，兩條一組的手爪1 6的原端側，藉由螺栓 17固定在手部15的上面，手爪16、16是彼此平行且以水 φ 平姿勢安裝在手部15。第9圖是第8圖B-B線剖面圖， 如該第9圖所示，在手部15上面，從螺栓17的手爪16 的原端部之固定位置，靠近手爪1 6的前端側之位置’形 成有與手爪16的下面相對向的凹部15A’在該凹部15A 內配置有構成前端位置調整手段40的偏心塊4 1。 偏心塊4 1是藉由偏心軸42可旋轉地加以支持。該偏 心軸42與手爪16平行而配置在手部1 5，偏心塊41之中 心從偏心軸42偏心，藉由螺帽43固定在偏心軸的前端。 因而，偏心塊4 1的外周面與軸4 2相對而偏心’該外周面 -10- (8) 1295955 從手部1 5的上面突出’其突出量因爲偏心塊41的旋轉位 置而改變。偏心塊42在從手部1 5突出的工具扣合部44 扣合工具而旋轉，藉由螺帽45固定在特定角度位置。 然後，說明該產業用機械手臂的作用。手爪1 6係當 其很長時，如第9圖所示，全體彎曲而前端下垂。因此， 手爪前端位置調整手段40的偏心軸42旋轉，使偏心塊4 1 之外周面的突出量變化，推升手爪16，如第9圖所示’手 φ 爪1 6的前端調整到與原端部大致相同的高度之後，在該 位置上鎖緊螺帽45，將偏心塊4 1固定在特定角度位置。 藉此，可修正手爪1 6之前端的下垂。 如此，根據該產業用機械手臂，由於可極簡單的修正 手爪1 6前端之下垂，因此與未圖示的搬送物相對的手部 1 5之高度相關的位置之控制成爲容易，且操作性良好。又 ，由於不需藉著增大手爪1 6本身的粗細來提高鋼性，以 防止前端的下垂，因此不會增加產業用機械手臂的負荷， # 亦不會妨礙產業用機械手臂本身的操作性。因此，可以容 易、迅速且確實的搬送搬送物。 第1 〇圖至第1 2圖係表示本發明之其他實施形態例， 第10圖係放大手部15及手爪16的詳細平面圖。第11圖 係第10圖之C-C線的剖面圖。第12圖係第1 1圖之D-D 線的剖面圖。其他實施形態例，係使用延伸於橫切手爪1 6 的方向之楔子機構5 0的例子。 如第10圖及第1 1圖所示，手部1 5係從螺栓1 7的手 爪16、16的原端部之安裝固定位置，於靠近手爪16、16 -11 - (9) 1295955 的前端側的位置，設置有延伸於同時橫切手爪1 6、 方向的楔子機構5 0。楔子機構5 0如第1 2圖所示， 上下動作自如地安裝在手部1 5，與手爪1 6的下面 作爲手爪推升構件的上楔子構件5 1 ;以及配置於該 構件5 1下的下楔子構件52所構成。 上楔子構件5 1的下面與下楔子構件5 2的上面 成楔子構件5 0的方式，在第1 2圖中形成傾斜在左 φ 的斜面，在下楔子構件52的第12圖中，於下面裝 地嵌合有進給螺帽5 3。該進給螺帽5 3係扣合於以 手部1 5旋轉的方式被安裝的進給螺絲5 4，藉由將 合在進給螺絲5 4的工具扣合部5 5而旋轉，在第： 移動到左右方向。藉由該進給螺帽53的移動，使 構件5 2在第1 2圖中於左右方向移動，使作爲手爪 件的上楔子構件5 1上下移動，從手部1 5的上面突 致推升手爪1 6。此外，5 6是用來防止進給螺絲5 4 • 的按押板。 根據該其他實施形態例，僅旋轉一個進給螺絲 由一個上楔子構件51同時推升兩條或兩條以上的 手爪1 6，可以同時修正其前端位置。 第3實施形態 然後，參照第13圖至第19圖，說明本發明的 施形態。此外，與第1圖至第7圖的第1實施形態 構成要素，附加相同的參照符號並省略詳細的說明 1 6的 係由： 抵接的 上楔子 ，以構 右方向 卸自如 僅可在 工具扣 2圖中 下楔子 推升構 出，而 之鬆脫 54，藉 複數條 第3實 共通的 -12- (10) 1295955 第1 3圖是放大手部1 5以及手爪1 6的詳細平面圖， 第1 4圖是第1 3圖的E - E線剖面圖。手爪1 6在其原端側 的第1位置上，藉由螺栓61以及鎖緊螺帽6 2、6 3所構成 的第1安裝手段60安裝在手部15，從上述第1位置與離 開手爪1 6的前端側特定量的第2位置上，藉由螺栓65以 及鎖緊螺帽66、67所構成的第2安裝手段64，安裝在手 部15。 φ 該第1 3圖至第1 4圖所示的實施形態例，僅些微的鬆 開鎖緊螺帽62、63、66、67，而轉動螺栓61、65來改變 高度之後，藉由再度鎖緊鎖緊螺帽62、63、66、67，以可 調整手部16的第1及第2位置的安裝高度位置的方式構 成。根據該第1 3圖至第1 4圖所示的實施形態例，藉由第 1及第2安裝手段60、64兩方或者任一方，調整安裝高度 位置，可以使手爪1 6的前端高度位置有更大的變化，並 且可以將該前端高度位置保持在更正確的位置上。 # 第1 5圖是第1 3圖至第1 4圖所示的實施形態例的變 形例，第1安裝手段70係不具有高度調整手段，僅藉由 螺栓71在第1位置上將手爪16安裝固定在手部15。又， 第2安裝手段72,是隔著具有凸曲面的雄型曲面底座73 ;及具有凹曲面的雌型曲面底座74所構成的傾斜容許手 段，來保持手爪1 6。此時，以雌型曲面底座74從上下挾 住手部1 5，分別使雄型曲面底座73重合於雌型曲面底座 74，以螺栓75與鎖緊螺帽76保持此等的方式而構成。77 是用來將螺栓75固定在手部1 5的鎖緊螺帽。此外，該傾 -13- (11) 1295955 斜容許手段亦可省略雌型曲面底座74而僅以推升曲面底 座73形成。 根據該第15圖所示的變形例，藉由在第2安裝手段 72具有傾斜容許手段，由於與第1安裝手段6〇和第2安 裝手段64的安裝高度之不同無關，而可傾斜保持於任意 的角度’因此可使手爪1 6的前端高度位置更圓滑，而且 有更大的變化。 # 第1 6圖係第1 3圖至第1 4圖所示的實施形態例的其 他變形例，第1安裝手段80係不具有高度調整手段，而 是隔著水平橫切手爪1 6的方向而延伸的插銷81，朝向上 下方向搖動自如地安裝於手部1 5。此外，第2安裝手段 72與第1 5圖所示的變形例相同。根據該變形例，由於比 第1 5圖所示的變形例更容易使手爪1 6傾斜，而可使手爪 1 6的前端高度位置更圓滑，而且有更大的變化。 第1 7圖係第1 3圖至第1 4圖所示的實施形態例之其 • 他變形例，將第1安裝手段90設爲與第9圖至第1 0圖所 示的第2安裝手段相同的構造，91爲螺栓，92、93爲鎖 緊螺帽，94、95爲雌雄的曲面底座。根據該變形例，由於 第1安裝手段90具有高度調整手段，因此藉由調整第1 及第2安裝手段90、92的兩方或任一方的安裝高度位置 ’可以調整手爪1 6的前端高度位置，且容易使手爪1 6傾 斜’比第1 6圖所示的實施例更可使手爪1 6的前端高度位 置更圓滑，而且有更大的變化。 第1 8圖至第1 9圖係另一使第1 7圖所示的變形例變 -14- (12) 1295955 形者，第1安裝手段9 0的螺栓91和第2安裝手段9 2的 螺栓95，分別螺合在Τ字型區塊96、98。Τ字型區塊96 、98朝向手爪1 6的寬度方向’分別移動自如地扣合在手 部1 5的上面所設置的Τ型溝1 5 Β、1 5 Β，隔著底座9 7、 99來螺固螺帽93、97，而固定在手爪16之寬度方向的任 意位置上。 根據第1 8圖至第1 9圖所示的變形例，可以任意變更 φ 手爪16的寬度方向的各安裝位置。 此外，即使在第1 〇圖至第1 2圖所示的實施形態例中 ，藉由螺栓17不直接將手爪16安裝在手部15，若使用上 述Τ型溝15Α及Τ字型區塊76，可在寬度方向上移動地 設置手爪1 6，則可任意變更手爪1 6之寬度方向的各安裝 位置。 【圖式簡單說明】 ® 第1圖係應用本發明之產業用機械手臂的正面圖。 第2圖係放大本發明的第1實施形態的產業用機械手 臂所具備的手部及手爪之平面圖。 第3圖係第2圖之Α_Α線剖面圖。 第4圖係放大本發明第1實施形態之其他實施例的手 臂及手爪平面圖。 第5圖係第4圖的手臂及手爪之另一其他變形例的剖 面圖。 第6圖係第4圖的手臂及手爪之另一其他變形例的剖 -15- (13) 1295955 面圖。 第7圖係第4圖的手臂及手爪之另一其他變形例的剖 面圖。 第8圖係放大本發明第2實施形態的其他實施例的手 部及手爪的平面圖。 第9圖係第8圖之B - B線的剖面圖。 第1 0圖係放大本發明之第2實施形態的其他實施例 φ 的手部及手爪的平面圖。 第1 1圖係第1 〇圖之C - C線的剖面圖。 第12圖係第1 1圖之D-D線的剖面圖。 第1 3圖係放大本發明第3實施形態之其他實施例的 手部及手爪的平面圖。 第14圖係第13圖之E-E線的剖面圖。 第1 5圖係第1 4圖的實施例之變形例的剖面圖。 第1 6圖係第1 4圖的實施例其他之變形例的剖面圖。 φ 第1 7圖係第1 4圖的實施例其他之變形例的剖面圖。 第1 8圖係第1 7圖的變形例其他之變形例的剖面圖。 第1 9圖係第1 8圖之E - E線的剖面圖。 【主要元件符號說明】 1 0 :底座 1 1 :旋轉台 12 :升降、旋轉軸 1 3 :第1旋回手臂 -16- (14) 1295955 1 4 :第2旋回手臂 15 :手部 15a :段差部 16 :手爪 17、 23、 61、 65、 71、 75、 91、 95:螺栓 20、40 :手爪前端位置調整手段 21 :墊片 φ 22、22A :按押墊片 24 :高度調整螺絲 25、 29、32、62、63、66、67、76、77、92、93:鎖、 緊螺帽 27 :楔子 2 8、3 1 :螺絲 26、 30 :高度調整塊 41 :偏心塊 • 42 :偏心軸 4 3、4 5 :螺帽 5 〇 :楔子機構 5 1 :上楔子構件 52 :下楔子構件 5 3 :進給螺帽 5 4 :進給螺絲 5 5 :工具扣合部 5 6 :按押板 -17- (15) 1295955 60、80、90:第1安裝手段 64、72、92 :第2安裝手段 73、 94 :雄型曲面底座 74、 95 :雌型曲面底座 76、96、98: T字型區塊 97 、 99 :底座-6 - (4) 1295955 定. Further, the hand 15 can be rotated separately in conjunction with the above. Further, the hand 15 moves up and down while raising and lowering the lifting rotary shaft 12. Further, the hand portion 15 is moved to the circumferential direction of the elevation/rotation shaft 12 by the rotation of the rotary table 11. Fig. 2 is a detailed plan view showing the hand 15 and the finger 16. As shown in Fig. 2, the original end portions of the two sets of the grippers 16 are fixed to the upper portion of the hand 15 by bolts 17, and the grippers 16 and 16 are parallel and can be detached in a horizontal posture. Installed on hand 1 5. 3 is a cross-sectional view taken along line AA of FIG. 2, and as shown in FIG. 3, a step portion 1 in which a concave portion is formed is formed on the distal end side of the hand portion 15 so as to extend in the width direction of the hand portion 15. 5 a. The step portion 15 5 is provided with a pad pad 22 at a position in contact with the lower surface of each of the fingers 16. The grip end position adjusting means 20 is composed of a spacer 21 and a push pad 22, and these are detachably mounted by bolts 23. The spacer 21 can be prepared in various thicknesses in advance. As shown in Fig. 3, a spacer 21 is interposed between the lower surface of the pressing spacer 22 and the step portion 15a, and the upper end of the pressing spacer 22 protrudes slightly from the upper surface of the hand portion 15. Push the bottom of the gripper 16 down. Therefore, the spacer 21 of an appropriate thickness is selected, and the front end and the original end of the gripper 16 are adjusted so as to have substantially the same height. Then 'describe the role of the mechanical arm of the industry. When the length of the gripper 16 is long, as shown in Fig. 3, the tip end is drooped due to the entire bending. This drooping is corrected by appropriately selecting the thickness of the spacer 21 as shown in Fig. 3 so that the tip end of the gripper 16 is substantially the same height as the original end portion. Therefore, it is easy to control the position of the hand 15 with respect to the conveyed object (not shown), and the operability is good. In addition, since the thickness of the body of the gripper 16 6 (5) 1295955 is increased, the rigidity is improved, of course, the front end of the sagging is not prevented, so that the load of the industrial robot arm is not increased, and the operation of the industrial robot arm itself is not hindered. Sex. Therefore, the conveyed object can be transported easily, quickly, and reliably. In the above-described embodiment, the grip end position adjusting means 20 is composed of the spacer 2 1 , the pressing pad 2 2 and the bolt 2 3 attached to the hand 15 , and various spacers are prepared in advance. 21' indicates that the optimum φ is used as the thickness of the spacer 21, but the present invention is not limited thereto, and the spacer 21 may not be used, and various thicknesses may be prepared in advance to have the same shape as the pad spacer 22. The height adjustment block is used to select the height adjuster of the most appropriate thickness, or only one height adjustment block is prepared to be the most suitable thickness, and the processing can also be used here. Fig. 4 is a view showing another embodiment of the present invention. In the embodiment of the fourth embodiment, the gripper 16 is moved along the T-groove 15b provided in the hand 15 by the release bolts 17, and the interval between the grippers 16 and 16 is adjusted. The position of the locking bolt 17 is fixed at any position in the width direction. Then, the aforementioned pressing pad 22 and the same pressing pad 22a are formed to be attached to the hand 15 by two bolts, respectively, in a range corresponding to each mounting position in the width direction of the gripper 16. Further, under the pressing pad 22A, a spacer similar to the spacer 21 of the same length as the pressing spacer 22A is disposed. Instead of the above-described height adjusting block, the pressing pad 22A and the pad (not shown) below it may be replaced by the above-described height adjusting block. Fig. 5 is a view showing still another embodiment of the present invention, in which a height adjusting screw 24 is used as the distal end position adjusting means 20. The height adjusting screw -8-(6) 1295955 24 is screwed to the hand 15 in such a manner that the front end abuts against the lower surface of the gripper 16 in the vertical direction. In addition, the '2 5 series lock nut. Accordingly, the tip end height position of the gripper 16 is set to an arbitrary position by slightly adjusting the amount by which the distal end of the height adjusting screw 24 protrudes from the hand portion 15. In the embodiment shown in Fig. 5, a plurality of height adjusting screws 24 may be provided corresponding to the respective mounting positions so that the mounting positions of the grips 16 in the width direction can be changed in a plurality of places. Φ Fig. 6 is a view showing another embodiment of the present invention, in which the height adjusting block 26 and the wedge 27 that are moved in and out of the lower side of the gripper 16 are provided in the hand 15 as a grip end position adjusting means. The lower end of the height adjustment block 26 forms an inclined surface which is received by the wedge 27. The wedge 27 is moved left and right by the screw 28 in Fig. 6, so that the height adjusting block 26 can be moved up and down, and the amount of protrusion of the upper surface of the hand 15 can be finely adjusted. In addition, 29 is a lock nut. Thereby, similarly to the embodiment example shown in Fig. 5, the gripper 16 is pushed up by the height adjusting block 26, and the front end height position is set to 0 at any position. Fig. 7 is a view showing another embodiment of the present invention. As in the embodiment shown in Fig. 6, the hand portion 15 is provided with a height adjusting block 30 that abuts against the lower surface of the gripper 16 and moves up and down. The points are the same, but instead of the wedge 27, the height adjustment block 30 is moved up and down by the screw 3 1. In addition, 32 is a lock nut. Thereby, the front end height position of the gripper 16 can be set to any position as in the fifth embodiment and the sixth embodiment. In the embodiment shown in Fig. 6 and Fig. 7, as shown in Fig. 4, the gripper 16 can be fixed and attached to any position in the width direction - 9 - (7) 1295955, and 4 is the same as the spacer 22A, and the height adjustment blocks 26 and 30 may be formed to have lengths corresponding to the respective attachment positions in the width direction of the gripper 16. At this time, the wedge 27 or the screw 3 1 may be respectively disposed at the center in the width direction of the height adjusting blocks 26, 30, or both ends. (Second Embodiment) Next, a second embodiment of the industrial machine φ arm of the present invention will be described with reference to Figs. 8 to 1 . In addition, the industrial robot arm to which the present invention is applied is the same as the first embodiment, and the robot arm shown in Fig. 1 is attached to the hand 16 of the hand 15, and is the first one of Figs. 1 to 7 The components that are common to the embodiments are denoted by the same reference numerals, and the detailed description is omitted. Fig. 8 is a detailed plan view showing the enlarged hand 15 and the gripper 16. As shown in Fig. 8, the original end sides of the two sets of the grippers 16 are fixed to the upper surface of the hand 15 by bolts 17, and the grippers 16, 16 are parallel to each other and are mounted in a water φ flat posture. Hand 15. Fig. 9 is a cross-sectional view taken along line BB of Fig. 8. As shown in Fig. 9, on the upper surface of the hand 15, from the fixed position of the original end portion of the claw 16 of the bolt 17, to the front end side of the gripper finger 16. The position 'the concave portion 15A' which is formed to face the lower surface of the hand 16 is disposed in the concave portion 15A with the eccentric block 41 which constitutes the distal end position adjusting means 40. The eccentric block 41 is rotatably supported by the eccentric shaft 42. The eccentric shaft 42 is disposed in the hand portion 15 in parallel with the gripper 16, and the center of the eccentric mass 41 is eccentric from the eccentric shaft 42, and is fixed to the distal end of the eccentric shaft by a nut 43. Therefore, the outer peripheral surface of the eccentric block 4 1 is opposite to the shaft 42 and is eccentric. The outer peripheral surface -10- (8) 1295955 protrudes from the upper surface of the hand 15 and its amount of protrusion changes due to the rotational position of the eccentric block 41. The eccentric block 42 is rotated by the tool engagement portion 44 protruding from the hand portion 15 by a tool, and is fixed at a specific angular position by the nut 45. Next, the role of the industrial robot arm will be explained. When the gripper 16 is long, as shown in Fig. 9, the whole body is bent and the front end is drooped. Therefore, the eccentric shaft 42 of the grip end position adjusting means 40 is rotated, and the amount of protrusion of the outer peripheral surface of the eccentric block 4 1 is changed, and the gripper 16 is pushed up. As shown in Fig. 9, the front end of the 'hand φ claw 16 is adjusted to After substantially the same height as the original end, the nut 45 is locked at this position to fix the eccentric block 41 to a specific angular position. Thereby, the sagging of the front end of the gripper 1 6 can be corrected. In this way, according to the industrial robot arm, since the tip end of the gripper finger 16 can be easily sag, the position of the height of the hand portion 15 facing the transport object (not shown) can be easily controlled, and the operability is improved. good. Further, since it is not necessary to increase the rigidity of the gripper 1 6 itself to improve the rigidity to prevent the front end from sagging, the load on the industrial robot arm is not increased, and # does not hinder the operability of the industrial robot arm itself. . Therefore, the conveyed object can be conveyed easily, quickly, and reliably. Figs. 1 to 2 show other embodiments of the present invention, and Fig. 10 is a detailed plan view showing the hand 15 and the grip 16 enlarged. Figure 11 is a cross-sectional view taken along line C-C of Figure 10. Figure 12 is a cross-sectional view of the D-D line of Figure 11. In another embodiment, an example of a wedge mechanism 50 extending in a direction transverse to the finger 1 6 is used. As shown in Fig. 10 and Fig. 1, the hand 15 is attached from the original end of the claws 16, 16 of the bolt 17 to the fixed position, near the gripper 16, 16 -11 - (9) 1295955 The position of the front end side is provided with a wedge mechanism 50 extending in the direction of the hand 6 6 at the same time. As shown in FIG. 2, the wedge mechanism 50 is movably mounted on the hand 15 in the up-and-down direction, and the upper wedge member 5 1 as the gripping member of the gripper 1 6; and the member 5 1 is disposed on the lower side of the gripper 16 The lower lower wedge member 52 is constructed. The lower surface of the upper wedge member 51 and the upper surface of the lower wedge member 52 are formed into a wedge member 50, and a slope inclined at the left φ is formed in the second figure, and in the 12th view of the lower wedge member 52, A feed nut 53 is fitted to the ground. The feed nut 53 is fastened to the feed screw 5 4 that is attached by the rotation of the hand 15 , and is rotated by the tool engagement portion 5 5 that is engaged with the feed screw 5 4 . : Move to the left and right direction. By the movement of the feed nut 53, the member 52 is moved in the left-right direction in Fig. 2, and the upper wedge member 51 as the claw member is moved up and down, and the upper portion of the hand 15 is pushed upward. Raise the claws 16. In addition, 5 6 is used to prevent the feed screw 5 4 • from being pressed. According to this other embodiment, only one of the feed screws can be rotated by one upper wedge member 51 to simultaneously raise two or more of the grippers 66, and the front end position can be corrected at the same time. (THIRD EMBODIMENT) Next, a configuration of the present invention will be described with reference to Figs. 13 to 19 . In addition, the components of the first embodiment of the first embodiment to the seventh embodiment are denoted by the same reference numerals, and the detailed description of the first embodiment is omitted: the upper wedge that is abutted is unloaded in the right direction. In the figure 2, the lower wedge is pushed up and down, and it is loosened by 54. The -12- (10) 1295955 of the third common is the detailed plan of the hand 1 5 and the hand 16 . Fig. 14 is a cross-sectional view taken along line E-E of Fig. 13. The first claw 60 is attached to the hand 15 at the first position on the home end side by the first mounting means 60 of the bolt 61 and the lock nut 6 2, 63, and is separated from the first position. The second mounting means 64 of the bolt 65 and the locking nut 66, 67 is attached to the hand 15 at a second position of the distal end side of the distal end of the gripper 16. φ In the embodiment shown in FIGS. 13 to 14 , the lock nuts 62 , 63 , 66 , and 67 are loosened only slightly, and the bolts 61 and 65 are rotated to change the height, and then locked again. The tightening nuts 62, 63, 66, and 67 are configured to adjust the mounting height positions of the first and second positions of the hand 16. According to the embodiment shown in FIGS. 13 to 14 , the height of the front end of the gripper 16 can be adjusted by adjusting the mounting height position by either or both of the first and second attachment means 60 and 64. There is a greater change in position and the front end height position can be maintained at a more correct position. #第一五图 is a modification of the embodiment shown in FIGS. 13 to 14 , and the first attachment means 70 does not have a height adjustment means, and the gripper is placed only at the first position by the bolt 71. The 16 is mounted and fixed to the hand 15. Further, the second attachment means 72 holds the grippers 16 by a tilting permitting means constituted by a male curved base 73 having a convex curved surface and a female curved base 74 having a concave curved surface. At this time, the female curved base 74 is used to hold the hand 15 from above and below, and the male curved base 73 is superposed on the female curved base 74, respectively, and the bolt 75 and the lock nut 76 are held. 77 is a lock nut for fixing the bolt 75 to the hand 15 . Further, the tilting -13-(11) 1295955 oblique permitting means can also omit the female curved base 74 and only form the push-up curved base 73. According to the modification shown in FIG. 15, the tilting permitting means in the second mounting means 72 can be tilted and held regardless of the difference in the mounting height of the first mounting means 6A and the second mounting means 64. The arbitrary angle 'causes the front end height position of the gripper 16 to be more rounded and more varied. #第六六图 Other modifications of the embodiment shown in Figs. 13 to 14 show that the first attachment means 80 does not have a height adjustment means but crosses the direction of the gripper 16 horizontally. The extended latch 81 is slidably attached to the hand 15 in the vertical direction. Further, the second attachment means 72 is the same as the modification shown in Fig. 15. According to this modification, it is easier to tilt the gripper 16 than the modification shown in Fig. 5, and the tip end height position of the gripper 16 can be made more rounded and more varied. Fig. 17 is a modification of the embodiment shown in Figs. 13 to 14 and the first mounting means 90 is set to the second mounting shown in Figs. 9 to 0. With the same construction, 91 is a bolt, 92, 93 are locking nuts, and 94 and 95 are male and female curved bases. According to this modification, since the first attachment means 90 has the height adjustment means, the height of the front end of the gripper 16 can be adjusted by adjusting the attachment height position ' of either or both of the first and second attachment means 90, 92. The position, and the tilting of the pawl 16 is easier to make the front end height position of the gripper 16 more rounded and more varied than the embodiment shown in Fig. 16. Figs. 18 to 9 show another modification of the modification shown in Fig. 7 to Fig. 14-(12) 1295955, the bolt 91 of the first mounting means 90, and the second mounting means 92. Bolts 95 are screwed into the U-shaped blocks 96, 98, respectively. The U-shaped blocks 96 and 98 are slidably attached to the upper side of the hand 1 5 in the width direction of the hand piece 16 to the Τ-shaped groove 1 5 Β, 15 Β, which is disposed on the upper surface of the hand 15 , and is separated by the base 9 7 99 is screwed to the nuts 93, 97 and fixed at any position in the width direction of the gripper 16. According to the modification shown in Figs. 18 to 19, the mounting positions of the φ gripper 16 in the width direction can be arbitrarily changed. Further, even in the embodiment examples shown in Figs. 1 to 2, the hand 17 is not directly attached to the hand 15 by the bolt 17, and the above-mentioned 沟-shaped groove 15Α and the Τ-shaped block are used. 76. The claws 16 can be moved in the width direction, and the mounting positions of the grippers 16 in the width direction can be arbitrarily changed. BRIEF DESCRIPTION OF THE DRAWINGS ® Fig. 1 is a front view of an industrial robot arm to which the present invention is applied. Fig. 2 is a plan view showing a hand and a grip of the industrial robot arm according to the first embodiment of the present invention. Figure 3 is a cross-sectional view of the Α_Α line of Figure 2. Fig. 4 is a plan view showing the arm and the claw of the other embodiment of the first embodiment of the present invention. Fig. 5 is a cross-sectional view showing another modification of the arm and the claw of Fig. 4. Fig. 6 is a sectional view taken along line -15-(13) 1295955 of another modification of the arm and the claw of Fig. 4. Fig. 7 is a cross-sectional view showing another modification of the arm and the claw of Fig. 4. Fig. 8 is a plan view showing the hand and the claw of another embodiment of the second embodiment of the present invention. Figure 9 is a cross-sectional view taken along line B-B of Figure 8. Fig. 10 is a plan view showing the hand and the claw of the other embodiment φ of the second embodiment of the present invention. Figure 1 is a cross-sectional view of the C-C line of the first figure. Figure 12 is a cross-sectional view taken along line D-D of Figure 11. Fig. 13 is a plan view showing the hand and the claw of another embodiment of the third embodiment of the present invention. Figure 14 is a cross-sectional view taken along line E-E of Figure 13. Fig. 15 is a cross-sectional view showing a modification of the embodiment of Fig. 14. Fig. 16 is a cross-sectional view showing another modification of the embodiment of Fig. 14. Φ Fig. 17 is a cross-sectional view showing another modification of the embodiment of Fig. 14. Fig. 18 is a cross-sectional view showing another modification of the modification of Fig. 17. Figure 19 is a cross-sectional view of the E-E line of Figure 18. [Description of main component symbols] 1 0 : Base 1 1 : Rotary table 12 : Lifting and rotating shaft 1 3 : 1st rotation arm - 16 - (14) 1295955 1 4 : 2nd rotation arm 15 : Hand 15a : Step section 16: Hand grippers 17, 23, 61, 65, 71, 75, 91, 95: Bolts 20, 40: Hand grip position adjustment means 21: Shims φ 22, 22A: Push pad 24: Height adjustment screw 25 , 29, 32, 62, 63, 66, 67, 76, 77, 92, 93: lock, tighten nut 27: wedge 2 8, 3 1 : screw 26, 30: height adjustment block 41: eccentric block • 42: Eccentric shaft 4 3, 4 5 : Nut 5 〇: Wedge mechanism 5 1 : Upper wedge member 52 : Lower wedge member 5 3 : Feed nut 5 4 : Feed screw 5 5 : Tool engagement portion 5 6 : Press板-17- (15) 1295955 60, 80, 90: first mounting means 64, 72, 92: second mounting means 73, 94: male curved base 74, 95: female curved base 76, 96, 98 : T-shaped block 97, 99: base
1 5 B : T型溝 1 5 a :凹部1 5 B : T-shaped groove 1 5 a : recess
-18--18-