JP6953769B2 - Industrial robot hand device - Google Patents

Description

The present invention relates to a hand device for an industrial robot.

A slag removing device for removing slag (impurities such as metal oxides, slag) generated in a molten metal (molten metal) in a melting furnace is known, and the slag removing device works on a molten metal having a high temperature of 1000 ° C. or higher. Therefore, heat measures are required.

The hand part that comes closest to the molten metal during the slag removal work is most susceptible to the heat of the melting furnace and the scattered molten metal, so heat measures are required.

Conventionally, there is a heat-resistant hand device described in Patent Document 1 as a measure against heat of the hand portion. This heat-resistant hand device has a grip portion for gripping the sampling rod and an operating rod for operating the grip portion, and the circumference of the grip portion and the operating rod is covered with a heat-resistant protective cylinder and a protective case.

Japanese Unexamined Patent Publication No. 60-1559

In such a conventional heat-resistant hand device, when applied to a multi-axis industrial robot in which an arm portion is connected by a plurality of joint portions, the hand device, the joint portion, and the arm portion are all protected cylinders. And need to be covered with a protective case. For this reason, the movement of the industrial robot may be restricted by the protective cylinder and the protective case.

The present invention has been made by paying attention to the above-mentioned problems, and provides a hand device for an industrial robot that can protect from heat damage without restricting the movement of the industrial robot having multiple axes. With the goal.

The present invention is a rod-shaped hand device provided on an industrial robot having at least one or more arm members connected via at least one or more joints and provided at the tip of the arm member. A grip portion that grips the tool and a drive portion that is installed on the arm member side with respect to the grip portion and drives the grip portion to a grip position and a release position are provided so as to cover the tip of the grip portion. It is characterized by having a first heat shield plate provided and a second heat shield plate provided between the first heat shield plate and the joint portion.

As described above, according to the present invention, the industrial robot can be protected from heat damage without restricting the movement of the industrial robot having multiple axes.

FIG. 1 is a plan view of a slag removing device for a melting furnace according to an embodiment of the present invention. FIG. 2 is a side view of an industrial robot and a melting furnace installed in a slag removing device for a melting furnace according to an embodiment of the present invention. FIG. 3 is a front view of a tool holding rod installed in the slag removing device of the melting furnace according to the embodiment of the present invention. FIG. 4 is a side view of a tool holding rod installed in the slag removing device of the melting furnace according to the embodiment of the present invention. FIG. 5 is a configuration diagram of a slag removing tool main body installed in the slag removing device of the melting furnace according to the embodiment of the present invention. FIG. 6 is a cross-sectional view of a hand device of an industrial robot installed in a slag removing device of a melting furnace according to an embodiment of the present invention. FIG. 7 is a view of the first heat shield plate attached to the hand device of the industrial robot installed in the slag removing device of the melting furnace according to the embodiment of the present invention as viewed from the axial direction of the tool. FIG. 8 is a view of the second heat shield plate attached to the hand device of the industrial robot installed in the slag removing device of the melting furnace according to the embodiment of the present invention as viewed from the axial direction of the tool.

The hand device of an industrial robot according to an embodiment of the present invention is provided on an industrial robot having at least one arm member connected via at least one joint, and the tip of the arm member. The hand device is provided with a grip portion that grips a rod-shaped tool, and a drive portion that is installed on the arm member side with respect to the grip portion and drives the grip portion to a grip position and a release position. It has a first heat shield plate provided so as to cover the tip of the grip portion, and a second heat shield plate provided between the first heat shield plate and the joint portion.

As a result, the industrial robot can be protected from heat damage without being restricted by the movement of the industrial robot having multiple axes.

Hereinafter, examples of the industrial robot according to the present invention will be described with reference to the drawings.
1 to 8 are diagrams showing an industrial robot according to an embodiment of the present invention.

First, the configuration will be described.
In FIGS. 1 and 2, an industrial robot 1, a pedestal 2, and a melting furnace 3 for removing slag are installed in the slag removing device 100, and the industrial robot 1 is installed on the pedestal 2. The pedestal 2 extends upward from the ground on which the slag removing device 100 is installed, and the industrial robot 1 is installed at a higher place than the ground.

In FIG. 2, the melting furnace 3 has a central axis O1 extending in the vertical direction (vertical direction), and the melting furnace 3 can accommodate, for example, a molten metal 4 having a high temperature (for example, about 1500 ° C.). There is. The melting furnace 3 of this embodiment is composed of a vertical melting furnace.

In FIG. 1, the melting furnace 3 is provided with a discharge port 3A, and the molten metal 4 is discharged from the melting furnace 3 through the discharge port 3A. The melting furnace 3 is swingable so that the central axis O1 is tilted by a driving device (not shown), and the molten metal 4 is discharged from the discharge port 3A in the tilted state.

The molten metal 4 is, for example, an aluminum alloy used as a material for disc brakes, brake drums, cylinder blocks of internal combustion engines, etc. for braking automobiles, iron-based alloys such as steel, and the like, and the molten metal 4 is cast. Thereby, these automobile parts are manufactured.

When casting automobile parts, it is necessary to remove the slag generated inside the molten metal 4. Noro is generated by oxidizing the surface of the molten metal 4, and floats on the surface of the molten metal 4. When an automobile part is cast with the slag remaining, the slag gets into the casting and a casting defect called slag biting occurs. Therefore, the slag is removed by the industrial robot 1.

In FIG. 2, the industrial robot 1 has a body portion 11. The body portion 11 includes a lower body portion 12 mounted on the pedestal 2 and an upper body portion 13 connected to the lower body portion 12 above the lower body portion 12.

The upper body portion 13 is swung around the turning center axis L1 extending in the vertical direction with respect to the lower body portion 12 by a first drive unit (not shown) having a motor, a speed reducer, or the like (not shown).

A first arm member 15 is connected to the upper body portion 13 of the body portion 11 via a first joint portion 14. The first joint portion 14 is provided with a second drive portion (not shown) having a motor, a speed reducer, or the like (not shown), and the first arm member 15 swings in the horizontal direction by the second drive portion. It is swung around the shaft L2.

A second arm member 17 is connected to the first arm member 15 via a second joint portion 16. The second joint portion 16 is provided with a third drive portion (not shown) having a motor, a speed reducer, or the like (not shown), and the second arm member 17 is provided with the first arm member 15 by the third drive portion. It swings around the swing shaft L3 extending in the horizontal direction, and swings around the axis L4 of the second arm member 17.

A third arm member 19 is connected to the second arm member 17 via a third joint portion 18. The third joint portion 18 is provided with a fourth drive portion (not shown) having a motor, a speed reducer, or the like (not shown).

The third arm member 19 swings around the swing axis L5 extending in the horizontal direction with respect to the second arm member 17 by the fourth drive unit, and swings around the axis L6 of the third arm member 19. Be moved. A hand device 21 is provided at the tip of the third arm member 19. In FIG. 2, the radiant heat H of the melting furnace 3 is shown by diagonal lines.

As described above, the industrial robot 1 of the present embodiment is composed of a multi-axis industrial robot having a plurality of first joint portions 14, second joint portions 16, and third joint portions 18. The arm member 15, the second arm member 17, and the third arm member 19 of 1 are swung around the turning center axis L1.

The first joint portion 14, the second joint portion 16, and the third joint portion 18 of the present embodiment constitute the joint portion of the present invention, and the first arm member 15, the second arm member 17, and the first arm member 17 and the third joint portion 18 constitute the joint portion of the present invention. The arm member 19 of 3 constitutes the arm member of the present invention.

The first joint portion 14, the second joint portion 16, the third joint portion 18, the first arm member 15, the second arm member 17, and the third arm member 19 constitute an arm mechanism 30. There is. A hand device 21 is provided at the tip of the third arm member 19, and a tool holding rod 51 (see FIGS. 3 and 4) is attached to the hand device 21.

In FIGS. 3 and 4, a slag removing tool main body 52A (see FIG. 5) is attached to and detached from the tool holding rod 51. In FIG. 5, the glue removing tool main body 52A includes a rod-shaped portion 52a and a three-pronged finger portion 52b formed at the tip of the rod-shaped portion 52a to hook the glue.

In FIGS. 3 and 4, the tool holding rod 51 is formed in a rod shape and includes a small diameter portion 51A and large diameter portions 51B, 51C, 51D, and 51E having a diameter larger than that of the small diameter portion 51A. .. A through hole 51a is formed inside the tool holding rod 51, and a rod-shaped portion 52a of the tool body 52A, which will be described later, is fitted into the through hole 51a. As a result, the tool 52 is attached to the tool holding rod 51.

V-shaped notches 51m and 51n are formed in the large diameter portion 51C, and the notches 51m and 51n face each other with the axis of the tool holding rod 51 interposed therebetween.
In FIG. 6, the hand device 21 includes a grip portion 22 and a drive portion 23. The grip portion 22 includes a pair of finger members 24 and 25 and a guide portion 26. The drive unit 23 includes a cylinder member 27.

The finger members 24, 25 are provided with a plurality of protrusions 24a, 24b, 24c, 25a, 25b, 25c on the facing inner walls. The protrusions 24b and 25b are formed in a chevron shape that tapers from the respective finger members 24 and 25 toward the opposite finger members 24 and 25.

The protrusions 24b and 25b are formed on the same outer peripheral surface as the inner peripheral surface of the notches 51m and 51n of the large diameter portion 51C of the tool holding rod 51, and are fitted into the notches 51m and 51n. The protrusions 24a and 25a sandwich the large diameter portion 51B of the tool holding rod 51 from both sides, and the protrusions 24c and 25c sandwich the large diameter portion 51D of the tool holding rod 51 from both sides.

A rail groove 26a is formed in the guide portion 26, and fitting portions 24A and 25A provided above the finger members 24 and 25 are fitted in the rail groove 26a. It moves toward and apart along the rail groove 26a.

An insertion hole 26A is formed in the guide portion 26, and the tip of the tool holding rod 51 is detachable in the insertion hole 26A. When the tip of the hole holding rod 51 is attached to the insertion hole 26A, that is, fitted, the tool 52 is positioned in the axial direction, and when the finger members 24 and 25 are moved to the gripping position in this state, the tool holding rod 51 is fixed in the insertion hole 26A. The guide portion 26 of this embodiment constitutes the attachment / detachment portion of the present invention.

The cylinder member 27 has a cylinder body 31 fixed to the tip of the third arm member 19. A cylinder chamber 32 is formed inside the cylinder body 31, and a plunger 33 is provided in the cylinder chamber 32 so as to be reciprocating.

A partition 33A is formed in the plunger 33, and the partition 33A partitions the cylinder chamber 32 into an introduction chamber 32A and a discharge chamber 32B. The cylinder body 31 is formed with an introduction port 31A and a discharge port 31B.

The introduction port 31A is connected to an introduction passage of an air introduction pipe (not shown), and the introduction port 31A introduces high-pressure air into the introduction chamber 32A through the air introduction passage. The discharge port 31B is connected to a discharge passage of an air discharge pipe (not shown), and the discharge port 31B discharges the air of the discharge chamber 32B to the discharge passage.

A coil spring 34 is housed in the cylinder chamber 32. A receiving plate 35 is fixed to the upper part of the cylinder chamber 32, and the receiving plate 35 supports one end of the coil spring 34.

A receiving groove 33B is formed in the plunger 33, and the receiving groove 33B supports the other end of the coil spring 34. As a result, the plunger 33 is urged by the coil spring 34 in the direction away from the receiving plate 35.

A storage chamber 31C is formed in the lower part of the cylinder body 31, and a link mechanism 36 is housed in the storage chamber 31C. The link mechanism 36 has a pair of guide plates 37, 38 that swing around the swinging portions 37a, 38a as fulcrums. A slit 33C is formed in the lower portion of the plunger 33, and the slit 33C is provided with a fitting portion 33D.

One ends of the guide plates 37 and 38 are fitted to the fitting portion 33D while being housed in the slit 33C. Insertion grooves 24m and 25m are formed in the fitting portions 24A and 25A of the finger members 24 and 25, and ball portions 37b and 38b provided at the other ends of the guide plates 37 and 38 are formed in the insertion grooves 24m and 25m. It has been inserted.

When the ball portions 37b and 38b are completely inserted into the insertion grooves 24m and 25m, the insertion grooves 24m and 25m are formed deeper than the diameters of the ball portions 37b and 38b. As a result, the ball portions 37b and 38b can move along the insertion grooves 24m and 25m in a state where the ball portions 37b and 38b are completely inserted into the insertion grooves 24m and 25m.

In the hand device 21 having such a configuration, when the plunger 33 is urged downward in FIG. 6 by the coil spring 34, the fitting portion 33D of the plunger 33 moves downward. Since one end of the guide plates 37 and 38 is fitted to the fitting portion 33D, when the fitting portion 33D moves downward, one end of the guide plate 37 and 38 moves downward with the swinging portions 37a and 38a as fulcrums. Move to.

As a result, the ball portions 37b, 38b of the guide plates 37, 38 move upward on the outside in FIG. 6 along the insertion grooves 24m, 25m, and the finger member 24 as the ball portions 37b, 38b move outward. , 25 are separated. When the finger members 24 and 25 are separated from each other, the tool holding rod 51 is removed from the finger members 24 and 25.

When high-pressure compressed air is introduced from the introduction port 31A into the introduction chamber 32A, the hand device 21 moves the plunger 33 upward in FIG. 6 toward the receiving plate 35 against the urging force of the coil spring 34. ..

As a result, the fitting portion 33D of the plunger 33 moves upward, and one ends of the guide plates 37 and 38 move upward with the swing portions 37a and 38a as fulcrums. At this time, the ball portions 37b and 38b of the guide plates 37 and 38 move inward and downward in FIG. 6 along the insertion grooves 24m and 25m, and the finger member 24 as the ball portions 37b and 38b move inward. , 25 are approached.

When the finger members 24 and 25 are close to each other, the protrusions 24b and 25b are fitted into the notches 51m and 51n of the tool holding rod 51, and the protrusions 24a and 25a and the protrusions 24c and 25c are each large diameter 51B of the tool holding rod 51. , 51D is sandwiched. As a result, the tool holding rod 51 is firmly held by the finger members 24 and 25.

As described above, the finger members 24 and 25 are movably configured between the gripping position where the tool holding rod 51 is gripped by the cylinder member 27 and the releasing position where the tool holding rod 51 is released from being gripped.

The hand device 21 includes a cylindrical case 39, and the case 39 is fixed to the cylinder body 31 so as to cover the periphery of the cylinder member 27. Here, the air introduction pipe and the air discharge pipe extend from the cylinder body 31 to the inside of the third arm member 19 and are connected to the compressed air supply source through the third arm member 19.

A frame 41 is fixed to the case 39 and the cylinder body 31 (see FIG. 6), and the frame 41 extends from the cylinder body 31 toward the tips of the finger members 24 and 25. A disk-shaped heat shield plate 42 is provided at the tip of the frame 41, and the heat shield plate 42 covers the tips of the finger members 24 and 25.

The heat shield plate 42 has a multi-layer structure in which a heat insulating plate 42A is arranged at the center in the stacking direction, and the heat insulating plate 42A is sandwiched between iron plates 42B and 42C from both sides. In FIG. 7, for example, the heat shield plate 42 is formed to have a size that covers the front surface of the case 39 when viewed from the axial direction L11 of the tool 52.

In FIG. 2, a disk-shaped heat shield 43 is provided on the upper surface of the case 39 facing the third joint 18, and the heat shield 43 includes the heat shield 42 and the third joint 18. It is provided so as to surround the third arm member 19 (see FIG. 2).

In FIG. 6, the heat shield plate 43 has a multilayer structure in which the heat insulating plate 43A is arranged at the center in the stacking direction and the heat insulating plate 43A is sandwiched between the iron plates 43B and 43C from both sides. The heat insulating plates 42A and 43A of this embodiment constitute the heat insulating material of the present invention.

In FIG. 2, the heat shield plate 43 is formed to have a size that covers the third joint portion 18 when viewed from the axial direction L11 of the tool.

In FIG. 2, the area of the heat shield plate 43 in the direction L12 orthogonal to the tool axial direction L11 is larger than the area of the heat shield plate 42 in the direction orthogonal to the tool axial direction L11. The heat shield plate 42 of the present embodiment constitutes the first heat shield plate of the present invention, and the heat shield plate 43 constitutes the second heat shield plate of the present invention.

In FIG. 6, an insertion hole 42a is formed in the radial center portion of the heat shield plate 42, and the insertion hole 42a is coaxial with the insertion hole 26A of the guide portion 26 (coaxially with the tool axial direction L11). It is provided.

The insertion hole 42a is formed to have an inner diameter larger than the large diameter portion 51B to 51D of the tool holding rod 51, and the tool holding rod 51 is inserted into the space between the finger members 24 and 25 through the insertion hole 42a.

In FIG. 1, the slag removing device 100 has a slag removing tool stand 61. The slag removing tool 52 is installed vertically on the slag removing tool stand 61. The slag removing tool stand 61 has a new tool laying portion 61A on which a new slag removing tool 52 is installed.

A used tool holder 61B is provided adjacent to a new tool holder 61A on the slag removing tool stand 61, and a slag removing tool 52 for collecting slag is installed on the used tool holder 61B. ing. The used tool holder 61B is provided with a slag collection box 61C.

In a state where the used slag removing tool 52 is installed vertically in the used tool placing portion 61B, the slag collected by the used slag removing tool 52 is collected in the slag collecting box 61C. The slag recovery box 61C of this embodiment constitutes the slag recovery member of the present invention.

In FIG. 2, a radar 5 is provided above the melting furnace 3. The radar 5 measures the height of the molten metal 4 by irradiating the molten metal 4 with microwaves and measuring the reflected wave from the molten metal 4.

The industrial robot 1 corrects the working position of the hand device 21 based on the height information of the molten metal 4 measured by the radar 5. The radar 5 of this embodiment constitutes the molten metal level detection device of the present invention.

In FIG. 1, in a plan view of the industrial robot 1, that is, in a plan view of the slag removing device 100, the melting furnace 3 and the tool stand 62 are triangular about the turning center axis L1 of the body portion 11 of the industrial robot 1. It is installed in a shape. The tool stand 61 is installed on the industrial robot 1 side with respect to the tool stand 62.

Sample container 53b of the sample acquisition tool 53, skimming container 54b of skimming agent spraying tool, additive container 55b of additive input for tools is opposite to the melting furnace 3 for the tool cradle 62 It is installed in.

In the plan view of the industrial robot 1, the discharge port 3A of the melting furnace 3 is located outward with respect to the tangential direction R of the turning region of the arm mechanism 30. The turning range of the arm mechanism 30 is a turning range of the arm mechanism 30 in the radial direction about the turning center axis L1 of the industrial robot 1.

The slag removing device 100 is provided with a charging device 102 for charging a metal material into the melting furnace 3. The throwing device 102 is movable on the transport path 103 as shown by a virtual line, and the transport path 103 is arranged outward with respect to the tangential direction R of the turning region of the arm mechanism 30.

Next, the action will be described.
When removing the slag, the attitude of the arm mechanism 30 located at the standby position is controlled, and the hand device 21 is moved toward the slag removing tool stand 61.

At this time, the industrial robot 1 approaches the new tool holder 61A of the glue removal tool stand 61 from above, and the tool holding rod 51 of the glue removal tool 52 installed vertically on the new tool holder 61A. To grasp.

Specifically, the industrial robot 1 moves the hand device 21 vertically from above to below to bring the hand device 21 closer to the tool holding rod 51, and a finger member through the insertion hole 42a of the heat shield plate 42. Insert the tool holding rod 51 between 24 and 25.

Further, after inserting the tip of the tool holding rod 51 into the insertion hole 26A of the guide portion 26, the finger members 24 and 25 are moved to the gripping position, so that the finger members 24 and 25 grip the tool holding rod 51.

Next, the hand device 21 is moved to the melting furnace 3, the trident-shaped finger portion 52b of the slag removing tool 52 is put into the molten metal 4, and the slag floating on the surface of the molten metal 4 is hooked on the finger portion 52b for rough removal.

A slag remover is sprayed on the molten metal 4, and by stirring the molten metal 4, the slag floating on the surface of the molten metal 4 efficiently adheres to the slag remover, and a part of the slag is stably solid-oxidized. It can be transformed into an object and removed from the surface of the molten metal 4.

Next, the hand device 21 is moved from the melting furnace 3 to the slag removing tool stand 61, and the slag removing tool 52 is installed vertically on the used tool laying portion 61B. At this time, the slag collected by the slag collecting tool 52 is collected in the slag collection box 61C.

Next, the industrial robot 1 moves the finger members 24 and 25 to the release position, then moves the hand device 21 upward in the vertical direction, and pulls out the tool holding rod 51 from the insertion hole 42a of the heat shield plate 42. After that, the arm mechanism 30 is moved to the standby position to finish the work.

The hand device 21 of the industrial robot 1 of the present embodiment includes finger members 24 and 25 movably provided at a gripping position for gripping the rod-shaped tool 52 and a release position for releasing the grip of the tool holding rod 51. It is provided on the third arm member 19 side with respect to the finger members 24 and 25, and includes a cylinder member 27 that drives the finger members 24 and 25 to the gripping position and the releasing position.

The hand device 21 has a heat shield plate 42 provided so as to cover the tips of the finger members 24 and 25, and a heat shield plate 43 provided between the heat shield plate 42 and the third joint portion 18. ..

As a result, the heat of the high-temperature molten metal 4 can be blocked by the heat shield plate 42, and the molten metal scattered from the melting furnace can be blocked by the heat shield plate 42. Therefore, the finger members 24 and 25 and the cylinder member 27 can be easily protected from the molten metal 4, and as a result, the hand device 21 can be easily protected.

Further, the heat of the high-temperature molten metal 4 can be blocked by the heat shield plate 43, and the molten metal scattered from the molten metal 4 can be blocked by the heat shield plate 43, so that the arm mechanism 30 can be easily protected from the molten metal 4. As a result, the industrial robot 1 can be easily protected from heat damage.

Further, according to the hand device 21 of the industrial robot 1 of the present embodiment, the third arm member 19 is provided with a case 39 that covers the periphery of the cylinder member 27, and is viewed from the axial direction L11 of the tool 52. In addition, the heat shield plate 42 is formed in a size that covers the front surface of the case 39.

As a result, the heat shield plate 42 can be made to have a minimum size enough to cover the finger members 24 and 25 and the cylinder member 27. Therefore, it is possible to prevent the movement of the rod-shaped tool 52 and the arm mechanism 30 from being restricted by the heat shield plate 42, and the hand device 21 can be easily protected from the molten metal 4.

Further, according to the hand device 21 of the industrial robot 1 of the present embodiment, the heat shield plate 43 is formed to have a size that covers the third joint portion 18 when viewed from the axial direction L11 of the tool 52. There is.
As a result, the third joint portion 18 can be more effectively protected from the heat of the molten metal 4 and the molten metal 4 scattered from the melting furnace 3, and as a result, the arm mechanism 30 can be more effectively protected from the molten metal 4.

Further, according to the hand device 21 of the industrial robot 1 of the present embodiment, the direction orthogonal to the axial direction L11 of the tool 52 with respect to the area of the heat shield plate 42 in the direction L12 orthogonal to the axial direction L11 of the tool 52. The area of the heat shield plate 43 in L12 is formed large.

As a result, it is possible to prevent the movement of the hand device 21 closer to the melting furnace 3 than the third joint portion 18 from being restricted by the heat shield plate 42 at the time of removing the slag, and to prevent the third joint portion 18 from being restricted. It can be reliably protected from the heat of the molten metal 4 and the molten metal 4 scattered from the melting furnace 3.

Further, according to the hand device 21 of the industrial robot 1 of the present embodiment, the heat shield plate 42 and the heat shield plate 43 are composed of a multi-layer structure in which the heat insulating plates 42A and 43A are arranged in the central portion in the stacking direction. There is. Thereby, the heat shielding effect of the heat shielding plates 42 and 43 can be improved more effectively. As a result, the hand device 21 and the arm mechanism 30 can be more effectively protected from the heat of the molten metal 4.

Further, the hand device 21 of the industrial robot 1 of the present embodiment has a guide portion 26 in which a tool 52 is detachably provided and an insertion hole 26A for positioning the tool 52 in the axial direction L11 is formed, and is a finger member. The tool 52 is fixed in the insertion hole 26A when the 24 and 25 move to the gripping position.

As a result, the tool 52 can be stably gripped by the finger members 24 and 25 while the tool 52 is positioned and supported in the insertion hole 26A. Further, by positioning the tool 52 in the insertion hole 26A, the V-shaped notches 51m and 51n and the protrusions 24b and 25b can be easily positioned. As a result, when the finger members 24 and 25 are moved to the gripping position, the protrusions 24b and 25b can be reliably fitted into the V-shaped notches 51m and 51n.

Further, according to the hand device 21 of the industrial robot 1 of the present embodiment, the heat shield plate 42 is formed with an insertion hole 42a into which the tool 52 is inserted. As a result, the tool 52 can be inserted between the finger members 24 and 25 even if the finger members 24 and 25 are covered with the heat shield plate 42.

Further, by inserting the tool 52 between the finger members 24 and 25 through the insertion hole 42a, the insertion hole 42a can be closed by the tool 52, and the heat of the molten metal 4 and the molten metal scattered from the melting furnace 3 can be used for the hand device 21. Can be reliably protected from.

Although the embodiments of the present invention have been disclosed, it is clear that some skilled in the art can make changes without departing from the scope of the present invention. All such modifications and equivalents are intended to be included in the following claims.

1 ... industrial robot, 3 ... melting furnace, 4 ... molten metal, 14 ... first joint (joint), 15 ... first arm member (arm member), 16 ... 2nd joint (joint), 17 ... 2nd arm member (arm member), 18 ... 3rd joint (joint), 19 ... 3rd arm member (A chromatography arm member), 21 ... hand device, 22 ... grip portion, 23 ... drive section, 24, 25 ... finger members (gripping portion), 26 ... guide portion (detachable portion ), 27 ... Cylinder member (drive unit), 39 ... Case, 42 ... Heat shield plate (first heat shield plate), 42A ... Insulation plate (insulation material), 42a ... Insertion hole, 43 ... Heat shield plate (second heat shield plate), 43A ... Insulation plate (insulation material), L11 ... Tool axial direction

Claims (7)

A hand device provided on an industrial robot having at least one arm member connected via at least one joint and provided at the tip of the arm member.
A grip that grips a rod-shaped tool,
A drive unit that is installed on the arm member side with respect to the grip portion and drives the grip portion to a grip position and a release position is provided.
A first heat shield plate provided so as to cover the tip of the grip portion,
A hand device for an industrial robot having a second heat shield plate provided between the first heat shield plate and the joint portion. The grip portion has a pair of finger members that can move between the grip position and the release position.
The driving unit has a cylinder member that drives the finger member to the gripping position and the releasing position.
The arm member is provided with a case that covers the periphery of the cylinder member.
The hand device for an industrial robot according to claim 1, wherein the first heat shield plate is formed so as to cover the front surface of the case when viewed from the axial direction of the tool. .. The industrial robot according to claim 1 or 2, wherein the second heat shield plate is formed in a size that covers the joint portion when viewed from the axial direction of the tool. Hand device. A claim characterized in that the area of the second heat shield plate in the direction orthogonal to the axial direction of the tool is larger than the area of the first heat shield plate in the direction orthogonal to the axial direction of the tool. The hand device for an industrial robot according to any one of claims 1 to 3. Any one of claims 1 to 4, wherein the first heat shield plate and the second heat shield plate have a multi-layer structure in which a heat insulating material is arranged at a central portion in the stacking direction. The industrial robot hand device described in. The tool is detachably provided, and has a detachable portion for positioning the tool in the axial direction.
The hand device for an industrial robot according to any one of claims 1 to 5, wherein the tool is fixed to the attachment / detachment portion when the grip portion moves to the grip position. The hand device for an industrial robot according to any one of claims 1 to 6, wherein an insertion hole through which the tool is inserted is formed in the first heat shield plate.

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