JPS5993281A - Robot hand - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Technical field of Hatsutsu J The present invention relates to a versatile and efficient robot hand that is applied when operating a transaction device It, etc. by automatic testing or injection using a robot. be.

(2) Conventional technology and problems Conventionally, J■ withdrawal devices, such as scuttling BJA money dispensing machines, etc.
7* t4=Test; Self-rub of thrift (E is a run-in luck for a 41-sized unit) After one continuous operation test, a comprehensive operation test is conducted. In this test, the 81iji directly faces the operating section of the device and performs operations similar to those actually used in banks and the like.

This test requires, for example, 300 transactions per machine and 8 hours of man-hours. Having to perform such simple work for 181 long hours, including night work, and requiring high reliability to avoid mistakes in the work places a heavy burden on the workers. Therefore, in order to automate the overall operation test of such a device, a process-specific self-excitation 1A as shown in Fig. 1 (α) and (b) was devised.

FIG. 5(a) shows the automatic 1 position for the key 20 on the keyboard 1, and a position address is given to the granger control unit 4, which holds all the magnetic plungers 6, to select the position and press the key. FIG. 6 (6) shows an attachment for removing and inserting cards, receipts and banknotes 4, and an attachment 7 shown by a dotted line is provided outside the medium inlet/outlet n6 of the device 5. It is temporarily held between the entrance/exit port 6 and the rubber roller 8, and then inserted after the insertion operation has started, replacing the human operation.

These automatic ledgers for each process are semi-automated as a system, and although they are useful for labor saving, they can put a considerable burden on people.

In response to this, the applicant has proposed that a comprehensive operation test of such a device be conducted using a robot with a full size robot, and furthermore, a robot with a common arm that can be used for multiple purposes and is flexible. It is designed to be applied to robots. 1 (3) Purpose of the Invention The purpose of this book #3 is to provide a robot hand that can be used for a variety of purposes with a common arm that can be used when testing the operation part of a device using a robot's own rIJb test. It is.

(4) n1Fr purpose before composition of invention'? f: In order to achieve this, the robot hand of the present invention is a robot capable of performing a self-b test by operating a device operating section with the robot hand and monitoring the entire operating state of the device, and the robot hand is equipped with at least the device operating section. The device 1 is characterized by comprising means for pressing keys, means for grasping a data medium such as paper or cards, and an optical sensor capable of monitoring a lamp indicating the operating state of the device 1.

(5) Examples of the invention Automatic deposit payment will be used as the device under test.

As mentioned above, since it takes a very long time to perform a comprehensive operation test of this device by human operation, it is natural to consider having a robot perform this test.

FIG. 1 is a detailed explanatory diagram of the present invention, and is a system block diagram of a testing method using a robot.

In the figure, the robot 11 rotates in direction on the robot body 11-1*! 71111-2, attach it to the upper end f
c The hand 11-3 consisting of a plurality of arms can be freely bent in all directions. Further, an optical sensor is provided at the tip 11-4 of the ring for striking the bell, for holding the card passbook, for holding the card, etc., and it is possible to detect the status lamp. The robot 11 is controlled by a control device 1 consisting of a microprocessor.
1ijlJ III in 3. That is, test procedures for each unit of the automatic teller machine 12 are stored in advance on the floppy disk 15, and
A predetermined test Grodarum gold finger is added from the keyboard of the robot B, the contents of the floppy disk 15 are sequentially read out, and the robot B is operated according to the operation sequence.

Then, it detects the lamp that indicates the operating status of the device and monitors the time. If it is normal, the test proceeds, and if there is an abnormality, the robot and device are stopped and predetermined measures are taken. The operating status of the robot can be monitored on the CRT display 14, but this is not necessary in the case of automatic operation.

FIG. 6 (α) to <c) are explanatory diagrams of the main parts of the embodiment of this @ gate. Me9, the robot arm 11-3 of the embodiment of FIG.
This figure shows an example of detailed cloning of a portion of the tip and the distal end 11-4.

In the figure, it is assumed that the robot arm 11-6 can form a three-dimensional arbitrary 8'L tail by cooperating with other connected arms. From the connection point, it is connected to the hand body 20 shown as a hexahedron through a connection frame. Hand body 20-4
The surface is provided with at least the necessary means for operating and viewing the device. That is, a cylinder 24 is fixed to the upper part, a helical spring 26 is located inside, and a cushion button 21 is provided from the upper end of the cylinder 24 via a granger 22. This cushion button 21 is used for keystrokes in the same way as the fingers between the shims.

A pair of parallel fingers 25,26 are then provided which project from the interior of the hand body 20. The shape is a wide part at the rear 25-1.26-1 and a wide part at the front 25-2.
．． 26-2, as shown in FIG. 2 and 26-
2 is suitable for grabbing cards.

The outer surfaces of these fingers 25 and 26 are lined with rubber to completely prevent damage to paper and cards.

The movement of the parallel fingers 25 and 26 is similar to that of the hand body 20.
In this process, the air glazer system, which is a technology for peripheral equipment, was grasped. That is, when the finger is in the open state due to the spring, the cipher/jar is moved by the supply of compressed air, the lever mechanism is activated, and the finger is in the closed state.

Furthermore, an optical sensor 27 is provided on the open surface of the hand body 20, which indicates the operating status of the device and the time monitoring rung. Measures will be taken.

As described above, the hand main body 20 has at least three
Means indicating functions are integrally provided, and the common robot arm 11-6 selects the means specified in the siprogram to set a predetermined position. For example, when a keystroke is specified, the cushion button 21 is turned toward the dot, moved to a predetermined key position, and pressed down. Parallel fingers 25.2 for inserting and removing cards and receipt passbooks
6 moves to a predetermined position ntK, and the aforementioned grasping operation is performed. Similarly, the position of the optical sensor 27 is set close to a predetermined lamp.

(6) Effects of the Invention As explained above, according to the present invention, the robot hand has a common arm, at least means for the striking part, and a robot hand (M, L/C).

It is necessary to provide a means to grasp and take in and out data such as bankbooks, and an optical system to monitor fraudulent activity.In other words, it is necessary to provide a means for checking the operation of transaction devices, etc., and to provide multiple functions with one robot hand. Since you can set the sharpness, hand + 1j is 1111
Simplified and efficient automatic testing becomes OJ capability.

[Brief explanation of drawings]

FIGS. 1(α) and (b) are explanatory diagrams of the conventional example, FIG. 2 is a schematic diagram of the embodiment of the present invention, and FIGS. 6(α) to <c>
1 is a detailed explanatory diagram of the main part of the embodiment of the present invention.
1 is a robot, 11-5 is a robot arm, 11-4 is a robot hand, 20 is a hand body, 21 is a cushion button, 22 is a plunger, 25 is a spring, 24 is a cylinder,
Reference numerals 25 and 26 indicate a frame, and 27 indicates an optical sensor. Patent Applicant: Fujitsu Limited Post-Agent Patent Attorney 1) Yoshi Saka Mold Part 1 Diagram (a)
(b) Figure 2 Figure 3 (a) (b) (c)

Claims (1)

[Claims] In a robot capable of automatically testing the operating state of the device by operating an equipment operating section with a robot hand, the robot hand includes means for pressing at least a key of the operating section of the device, a sheet of paper, A robot hand characterized in that it is equipped with means for grasping a medium for storing a card, and an optical sensor capable of monitoring a lamp indicating all the malfunctions of the device.