JPH01222883A - Hand device for robot - Google Patents

Hand device for robot

Info

Publication number
JPH01222883A
JPH01222883A JP4359388A JP4359388A JPH01222883A JP H01222883 A JPH01222883 A JP H01222883A JP 4359388 A JP4359388 A JP 4359388A JP 4359388 A JP4359388 A JP 4359388A JP H01222883 A JPH01222883 A JP H01222883A
Authority
JP
Japan
Prior art keywords
robot
hand device
switch
contact
emergency
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP4359388A
Other languages
Japanese (ja)
Inventor
Masumi Ishida
真澄 石田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP4359388A priority Critical patent/JPH01222883A/en
Publication of JPH01222883A publication Critical patent/JPH01222883A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To prevent both a robot arm and a hand device from being deformed and slipped off at the time of collision by providing a collision detecting means within a shock absorbing member attached on the outer circumference section of a hand device, and thereby providing an emergency suspension means which suspends the operation of a robot in case of emergency by the contact detection signal of said detecting means. CONSTITUTION:When the hand device 5 of a robot collides withe external peripheral devices, a collided section forces a shock absorbing member 1 attached onto the center circumference section of the hand device 5 to be deformed inward so as to push a switch 10 in a belt form of a collision detecting means 7 provided within the shock absorbing means with pressure via a protective film 12 so as to electrically disconnect a contact 8 with a switch 9, which situation allows the switch 10 in a belt form to send a contact detecting signal to the emergency suspension circuit of the robot so as to bring the operation of the robot to an emergency suspension by a command from an emergency suspension circuit based on the detected signal. As a result, both a robot arm 4 and the hand device 5 can be prevented from being deformed and slipped off, works can thereby be returned to a normal condition with ease.

Description

【発明の詳細な説明】 （産業上の利用分野〕 この発明は産業用ロボットのハンド装置に関し、特にロ
ボットアームの旋回時外部の周辺物に衝突した際ハンド
装置の変形やずれを防ぐようにした産業用ロボットのハ
ンド装置に関するものである。[Detailed Description of the Invention] (Field of Industrial Application) This invention relates to a hand device for an industrial robot, and in particular, to prevent the hand device from being deformed or displaced when the robot arm collides with an external peripheral object during rotation. This invention relates to a hand device for an industrial robot.

〔従来の技術〕[Conventional technology]

第５図は例えば特開昭６１−２４９２９６号公報に開示
された従来のロボットのハンド装置を示すもので、図に
おいて、（４）　はロボットアーム、（５）はこのロボ
ットアーム（４）の自由端に連結されたハンド装置、　
（６）はこのハンド装置　（５）に把持されたワークで
、このハンド装置　（５）が外部の周辺機器と衝突した
場合、ロボットアーム（４）　　に固定された第１のベ
ース（１４ａ）とハンド装置　（５）に固定された第２
のベース（１４ｂ）との貫通孔に挿通されたシ蕾−ピン
（１４ｃ）に動的せん断応力が作用し、このシャーピン
（１４Ｃ）がぜん断されて第１のベース（１４ａ）　と
第２のベース（１４ｂ）との拘束が解かれ、第２のベー
ス（１４ｂ）は支持軸（１４ｉ）を中心に回転方向に自
由状態となるように構成されている。そのためシャーピ
ン（１４ｃ）がぜん断されるような大きな衝撃力が加わ
った後検出スイッチ（１４ｇ）の接点が作動し、シャー
ピン（１４ｃ）の切断信号をロボットの制御部へ送出し
、ロボットの緊急停止が行なわれる。従って、正常な状
態に復帰させるには各ベース（１４ａ）　、　（１４ｂ
）を取外し、切断したシャービン（１４ｃ）を除去した
後新しいシャーピン（１４ｃ）を補給し、再度各ベース
（１４ａ）　、　（ｔ４ｂ）をそれぞれボルト（１４ｅ
）　、　（１４ｆ）を介してロボットアーム（４）　と
ハンド装置　（５）に固定するようにしていた。Figure 5 shows a conventional robot hand device disclosed in, for example, Japanese Unexamined Patent Publication No. 61-249296. In the figure, (4) is a robot arm, and (5) is the freedom of this robot arm (4). a hand device connected to the end;
(6) is a work gripped by this hand device (5), and if this hand device (5) collides with an external peripheral device, it will collide with the first base (14a) fixed to the robot arm (4). The second hand device fixed to the hand device (5)
Dynamic shearing stress acts on the shear pin (14c) inserted through the through hole with the base (14b), and the shear pin (14C) is sheared, causing the first base (14a) and the second base to (14b) is released, and the second base (14b) is configured to be free in the rotational direction about the support shaft (14i). Therefore, after a large impact force that shears the shear pin (14c) is applied, the contact of the detection switch (14g) is activated, and a disconnection signal of the shear pin (14c) is sent to the robot control unit, causing an emergency stop of the robot. It is done. Therefore, in order to restore the normal state, each base (14a), (14b
), remove the cut shear pin (14c), supply a new shear pin (14c), and reinstall each base (14a) and (t4b) with each bolt (14e).
) and (14f) to be fixed to the robot arm (4) and hand device (5).

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

上記のような従来のハンド装置の安全装置では、外部周
辺物との衝突の際、ハンド装置に変形やずれが生じ安全
装置の取付は作業に多大な時間を要するだけでなくロボ
ットのハンド装置の機構が複雑化し、ハンド装置の大型
化を招くとともに製造コストの増大が避けられないとい
う課題があった。With conventional hand device safety devices such as those mentioned above, the hand device is deformed or displaced in the event of a collision with an external peripheral object, and installation of the safety device not only takes a lot of time, but also requires a lot of work on the robot's hand device. There are problems in that the mechanism becomes complicated, the hand device becomes larger, and manufacturing costs inevitably increase.

この発明は係る課題を解消するためになされたもので、
ロボットと外部周辺物との衝突時ハンド装置の変形やず
れを回避し容易に作業に復帰できる簡素な構成の安全装
置を得ることを目的とする。This invention was made to solve the problem,
The purpose of the present invention is to obtain a safety device with a simple configuration that avoids deformation or displacement of a hand device in the event of a collision between a robot and an external peripheral object and allows the user to easily return to work.

〔課題を解決するための手段〕[Means to solve the problem]

この発明に係るロボットのハンド装置は、ハンド装置の
外周部に緩衝材を貼付し、この緩衝材内部に設けられた
衝突検知手段によりハンド装置と外部周辺物との接触を
検知し、この衝突検知手段により検知された接触検知信
号をロボットの非常停止手段に送出し、ロボットの作動
を非常停止させ容易に正常な作業に復帰させるようにし
たものである。In the robot hand device according to the present invention, a cushioning material is attached to the outer periphery of the hand device, and a collision detection means provided inside the cushioning material detects contact between the hand device and an external peripheral object. The contact detection signal detected by the means is sent to the emergency stop means of the robot, so that the operation of the robot is brought to an emergency stop and the robot can easily return to normal work.

（作用〕 ハンド装置外周部の緩衝材内部に設けられた衝突検知手
段は、外部周辺物との接触を検知すると接触検知信号を
非常停止手段に送出し、ロボットの作動を非常停止させ
る。(Operation) When the collision detection means provided inside the cushioning material on the outer periphery of the hand device detects contact with an external peripheral object, it sends a contact detection signal to the emergency stop means to emergency stop the operation of the robot.

（実施例） 第１図ないし第４図はこの発明の一実施例を示す図であ
り、第１図はロボット全体とこの発明に係るハンド装置
の構成図、第２図（ａ）　、　（ｂ）はそれぞれ第１図
の要部を拡大して示す正面図および側面図、第３図はこ
の発明に係る緩衝材の断面図、第４図はこの緩衝材と外
部周辺物との衝突時の断面図である。(Embodiment) FIGS. 1 to 4 are diagrams showing an embodiment of the present invention. FIG. 1 is a block diagram of the entire robot and a hand device according to the present invention, and FIGS. 2(a) and (b) ) are respectively an enlarged front view and a side view of the main parts of FIG. 1, FIG. 3 is a sectional view of the cushioning material according to the present invention, and FIG. FIG.

図において、（７）は上記ハンド装置　（５）の外周部
に貼付された衝突検知手段で、この衝突検知手段　（７
）は弾性体（例えばスポンジ等）からなる緩衝材（１１
）の表面側に接点　（８）とスイッチ　（９）とが交互
に埋設された帯状スイッチ（１０）を備え、この帯状ス
イッチ（ｌＯ）表面には保護膜（１２）が被着されてい
る。また、上記緩衝材（１１）は両面テープ（１３）に
よりハンド装置（５）上に貼着されている。この衝突検
知手段　（７）はハンド装置（５）が外部周辺機器と衝
突した際、帯状スイッチ（１０）の接点　（８）とスイ
ッチ　（９）との電気的接続がオフ状態となる接触検知
信号をロボット制御部の非常停止手段（図示せず）に送
出するよう構成されている。In the figure, (7) is a collision detection means attached to the outer periphery of the hand device (5).
) is a cushioning material (11
) is provided with a strip switch (10) in which contacts (8) and switches (9) are alternately embedded, and a protective film (12) is coated on the surface of the strip switch (lO). Further, the cushioning material (11) is adhered onto the hand device (5) with double-sided tape (13). This collision detection means (7) is a contact detection signal that turns off the electrical connection between the contact (8) of the strip switch (10) and the switch (9) when the hand device (5) collides with an external peripheral device. is configured to send the signal to an emergency stop means (not shown) of the robot control unit.

次に上記のように構成された本発明のハンド装置の動作
について説明する。ロボットアーム（４）の旋回中ある
いはハンド装置　（７）の作業中、ロボットの操作ミス
またはＣＰＵの誤動作等の原因によりハンド装置（５）
が外部の周辺機器と衝突した際、衝突部はＩ商材（１１
）内方へ弾性変形し保護膜（１２）を介して帯状スイッ
チ（１０）に押圧力が作用し、接点　（８）とスイッチ
　（９）との電気的接続が断たれる。そして電気的接続
がオフ状態となると上記帯状スイッチ（ｌＯ）から接触
検知信号がロボットの非常停止回路（図示せず）に送出
され、この接触検知信号を受けて上記非常停止回路がロ
ボットの作動を非常停止させる。従って、ハンド装置（
５）が外部周辺機器と接触してからロボットを非常停止
させるまでの時間を極めて小さくすることができる。Next, the operation of the hand device of the present invention configured as described above will be explained. While the robot arm (4) is rotating or the hand device (7) is working, the hand device (5) may be damaged due to a robot operation error or a malfunction of the CPU.
When the collides with an external peripheral device, the collision part
) The strip switch (10) is elastically deformed inward, and a pressing force is applied to the strip switch (10) through the protective film (12), thereby breaking the electrical connection between the contact (8) and the switch (9). When the electrical connection is turned off, a contact detection signal is sent from the strip switch (lO) to the robot's emergency stop circuit (not shown), and upon receiving this contact detection signal, the emergency stop circuit stops the robot from operating. Make an emergency stop. Therefore, the hand device (
5) The time from when the robot comes into contact with an external peripheral device until the robot comes to an emergency stop can be extremely shortened.

しかしながら、ロボットの種類によっては非常停止まで
に時間的なずれが生じる場合も考えられ、その場合、緩
衝材（１１）を所望の厚さに設定するかあるいは所望の
弾性係数を有する材質を用いることにより衝突の経時的
衝撃力をその弾性変形で吸収してロボットアームやハン
ド装置への変形やずれを避けるようにしてもよい。However, depending on the type of robot, there may be a time lag before the emergency stop. In that case, it is necessary to set the cushioning material (11) to the desired thickness or use a material with the desired elastic modulus. The impact force of the collision over time may be absorbed by its elastic deformation to avoid deformation or displacement of the robot arm or hand device.

なお、帯状スイッチ（１０）は接点　（８）とスイッチ
（９）とを連続的に接続したブレーク接点構成となって
おり、信号線の断線時等でもより安全なフェイルセーフ
としての検出回路が可能となる。Furthermore, the strip switch (10) has a break contact configuration in which the contact (8) and the switch (9) are connected continuously, allowing for a safer fail-safe detection circuit even in the event of a signal line breakage, etc. becomes.

またこの帯状スイッチ（１０）を複数箇所に設ける場合
は直列に接続すればよい。In addition, when the strip switches (10) are provided at multiple locations, they may be connected in series.

〔発明の効果〕〔Effect of the invention〕

この発明は以上説明したとおり、ハンド装置と外部周辺
部との衝突の際、ａＩ撃を緩和する緩衝材を設け、その
１ｌａｉ材内部の衝突検知手段により検知した接触検知
信号を受けてロボットを非常停止させるように構成した
ので、衝突時のロボットアーム並びにハンド装置の変形
やずれを防止し、正常な作業への復帰を容易にして作業
能率の向上を図ることができるという効果がある。As explained above, this invention provides a cushioning material to reduce the impact when a hand device collides with an external peripheral part, and receives a contact detection signal detected by a collision detection means inside the 1lai material to send the robot into emergency mode. Since the robot arm and the hand device are configured to be stopped, deformation or displacement of the robot arm and hand device in the event of a collision can be prevented, and return to normal work can be facilitated, thereby improving work efficiency.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はこの発明による一実施例を示す全体構成図、第
２図（ａ）　、　（ｂ）はそれぞれ第１図の要部を拡大
して示す正面図および側面図、第３図は上記実施例に係
る衝突検知手段の断面図、第４図はその衝突時の断面図
、第５図は従来のハンド装置の安全装置を示す部分断面
図。 （５）・・・ハンド装置、　（７）　−・・衝突検知手
段、（８）　・・・接点、　　　　　（９）・・・スイ
ッチ、（ｌＯ）・・・帯状スイッチ、（１１）・・・緩
衝材。 なお、各図中、同一符号は同−又は相当部分を示す。FIG. 1 is an overall configuration diagram showing one embodiment of the present invention, FIGS. 2(a) and (b) are front and side views respectively showing enlarged main parts of FIG. 1, and FIG. 3 is the above-mentioned FIG. 4 is a cross-sectional view of the collision detection means according to the embodiment, FIG. 4 is a cross-sectional view of the collision detection means, and FIG. 5 is a partial cross-sectional view showing a safety device of a conventional hand device. (5)...Hand device, (7)--Collision detection means, (8)...Contact, (9)...Switch, (lO)...Strip switch, (11)... Buffer material. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (1)

【特許請求の範囲】[Claims] ロボットアームの自由端部に連結されたロボットのハン
ド装置において、このハンド装置の外周部に貼付された
緩衝材と、この緩衝材内部に設けられ外部周辺物との接
触を検知する衝突検知手段と、上記衝突検知手段により
検知された接触検知信号によりロボットの作動を非常停
止させる非常停止手段とを備えたことを特徴とするロボ
ットのハンド装置。A robot hand device connected to a free end of a robot arm includes a cushioning material affixed to the outer periphery of the hand device, and a collision detection means provided inside the cushioning material to detect contact with an external peripheral object. A hand device for a robot, comprising: emergency stop means for emergency stopping the operation of the robot in response to a contact detection signal detected by the collision detection means.
JP4359388A 1988-02-26 1988-02-26 Hand device for robot Pending JPH01222883A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4359388A JPH01222883A (en) 1988-02-26 1988-02-26 Hand device for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4359388A JPH01222883A (en) 1988-02-26 1988-02-26 Hand device for robot

Publications (1)

Publication Number Publication Date
JPH01222883A true JPH01222883A (en) 1989-09-06

Family

ID=12668097

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4359388A Pending JPH01222883A (en) 1988-02-26 1988-02-26 Hand device for robot

Country Status (1)

Country Link
JP (1) JPH01222883A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5038488A (en) * 1988-10-04 1991-08-13 Carl-Zeiss-Stiftung Protective arrangement for a longitudinally extendible machine component
BE1004639A5 (en) * 1990-09-27 1993-01-05 Dumont Gilbert Pad for protection against the risk of automated equipment collision
JP2003071778A (en) * 2001-09-05 2003-03-12 National Institute Of Advanced Industrial & Technology Tactile sensor for robot arm
US7152456B2 (en) * 2004-01-14 2006-12-26 Romer Incorporated Automated robotic measuring system
US7525276B2 (en) 2005-09-13 2009-04-28 Romer, Inc. Vehicle having an articulator

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5038488A (en) * 1988-10-04 1991-08-13 Carl-Zeiss-Stiftung Protective arrangement for a longitudinally extendible machine component
BE1004639A5 (en) * 1990-09-27 1993-01-05 Dumont Gilbert Pad for protection against the risk of automated equipment collision
JP2003071778A (en) * 2001-09-05 2003-03-12 National Institute Of Advanced Industrial & Technology Tactile sensor for robot arm
US7152456B2 (en) * 2004-01-14 2006-12-26 Romer Incorporated Automated robotic measuring system
US7441341B2 (en) 2004-01-14 2008-10-28 Romer, Inc. Automated robotic measuring system
US7578069B2 (en) 2004-01-14 2009-08-25 Hexagon Metrology, Inc. Automated robotic measuring system
US7525276B2 (en) 2005-09-13 2009-04-28 Romer, Inc. Vehicle having an articulator

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