JP2567948Y2 - End effector fixing device for industrial robots - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixing device for fixing an end effector to an end unit such as an arm or a wrist of an industrial robot.

[0002]

2. Description of the Related Art Conventionally, when an end effector is detachably fixed to a tip unit such as a wrist of an industrial robot, for example, as shown in FIGS. 2 and an end effector 3 is provided with an oval flange 4 whose side surface is cut by two parallel surfaces. Circular flange 2 of tip unit 1
, A holder 5 having a ring groove 51 which can fit the outer periphery of the circular flange portion 2 and the oval flange portion 4 on the inner periphery is held so as to be rotatable. Further, an insertion hole 53 slightly larger than the outer shape of the oval-shaped flange portion 4 and having an oval-shaped notch having substantially the same shape is provided in the end face portion 52 of the holder 5, and the oval-shaped flange portion 4 is inserted into the insertion hole 53. And fitted in the ring groove 51. On the end face of the circular flange portion 2, a positioning pin 2 is provided at an eccentric position.
1 and is fitted into a positioning hole 41 provided in the oval-shaped flange 4 to position the circular flange 2 and the oval-shaped flange 4 and torque from the circular flange 2 to the oval-shaped flange 4. Is transmitted. Also,
A spring 22 is provided on the end surface of the circular flange portion 2 so that the oval flange portion 4 is always pressed inside the ring groove 51. (For example, see Japanese Patent Application Laid-Open No. 2-145280)
issue). When attaching the end effector 3 to the tip unit 1, the oval flange 4 is inserted from the insertion hole 53 so that the positioning pin 21 and the positioning hole 41 are fitted.
The oval-shaped flange portion 4 is fitted into the ring groove 51, and then the holder 5 is substantially aligned with the oval-shaped flange portion 4 and the oval-shaped insertion hole 53 such that the oval-shaped flange portion 4 is caught inside the ring groove 51. Rotate it until it is at a right angle,
The oval flange 4 is prevented from falling out of the ring groove 51.

[0003]

However, in the prior art, in order to determine the relative position between the circular flange and the oval flange, and to transmit torque, the end face of the circular flange of the tip unit is eccentric. In addition to providing a positioning pin at the position, it is necessary to machine a positioning hole in the oval flange portion of the end effector in accordance with the position of the positioning pin. The positioning of the positioning positions of the positioning pins and the positioning holes requires high-precision processing and takes a long processing time. SUMMARY OF THE INVENTION An object of the present invention is to provide an end effector fixing device for an industrial robot which has a simple structure, does not require high processing accuracy, is easy to assemble, and can securely fix the end effector.

[0004]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention is directed to an end unit having a front end unit having a circular flange portion and an oval flange portion having two parallel side surfaces with the center being equally divided. In an end effector fixing device for an industrial robot, comprising an effector and a ring-shaped holder for holding the circular flange portion and the oval flange portion, the end effector fixing device is provided at an end surface of the circular flange portion, and the center is equally divided. It has two parallel sides and has a fitting groove capable of fitting the oval-shaped flange portion, and is provided at an end face portion on the end effector side of the holder, slightly larger than the outer shape of the oval-shaped flange portion, and An insertion hole having an oval-shaped notch having two parallel sides sandwiching the center equally, and a ball point provided in the circular flange and a holder provided in the holder A detent mechanism comprising a engagement hole, in which a detent release mechanism comprising a push button provided in the holder.

[0005]

When the end effector is fixed to the distal end unit by the above means, the oval flange is inserted into the insertion hole of the holder while the guide portion of the end effector is inserted into the recess of the distal end unit. Then rotate the holder together with the holder until the oval flange fits into the fitting groove of the tip unit, press the end effector toward the tip unit, and fit the oval flange completely into the fitting groove Let it. In this state, the holder is rotated so that the end face of the holder is caught by the oval-shaped flange so that the oval-shaped flange is not detached from the holder, and the ball point is engaged with the engagement hole so that the holder is free. To prevent rotation. In this state, the transmission of torque from the distal end unit to the end effector is performed between two parallel side surfaces of the fitting groove of the circular flange portion and parallel side surfaces of the oval flange portion.

[0006]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
FIG. 1 is a plan sectional view showing an embodiment of the present invention, and FIG. 2 is a side sectional view thereof. In the figure, the distal end unit 1 is provided with a cylindrical concave portion 11 having the same axis, a circular flange portion 2 is provided at an end portion, and an end surface of the circular flange portion 2 is provided as shown in FIG. In addition, a fitting groove 23 having two parallel side surfaces with the center equally divided is provided. Circular flange 2
A ball point 6 is provided at a position where the outer periphery of the screw is divided into four equal parts so that a part thereof protrudes from the tip of the screw by a spring. As shown in FIG. 5, the end effector 3 has an oval-shaped flange portion 4 having two parallel sides sandwiching the center equally, and a guide portion 31 fitted to the inner periphery of the concave portion 11 of the tip unit 1. Oval flange 4
Are fitted in the fitting grooves 23 of the tip unit 1. The outer periphery of the circular flange portion 2 is fitted so as to slide on the inner periphery of the ring-shaped holder 5. Holder 5
The end face 52 on the side of the end effector has an insertion hole having an oval-shaped notch slightly larger than the outer shape of the oval-shaped flange portion 4 and having two parallel sides sandwiching the center equally. 53 is provided so that the oval flange portion 4 can be inserted from the insertion hole 53. A stop plate 54 is attached to the end face of the holder 5 on the tip unit side, and the end face 5
A ring groove 51 is formed between the flange 2 and the stop plate 54, and the oval flange 4 and the circular flange 2 are engaged with the oval flange 4 being fitted into the fitting groove 23 and engaging with the circular flange 2. 2
Are mounted in the ring groove 51. An engagement hole 55 with which the ball point 6 engages is provided on the inner periphery of the holder 5 to form a rotation preventing mechanism for the holder 5. A push button 56 is provided in the engagement hole 55 so that the ball point 6
To release it from the engagement hole 55 to form a detent release mechanism that allows the holder 5 to rotate.

When the end effector 3 is fixed to the end unit 1, the guide portion 31 of the end effector 3 is inserted into the concave portion 11 of the end unit 1 so that the axis is aligned, and the oval flange portion 4 is attached to the holder 5. Insert into insertion hole 53. After that, the oval-shaped flange portion 4 is
The end effector 3 is pressed toward the end unit 1 by rotating the holder 5 to a position where the end effector 3 is fitted to the fitting groove 23 so that the oval flange 4 is completely fitted into the fitting groove 23. In this state, the holder 5 is rotated by about 90 ° so that the end face portion 52 of the holder 5 is caught by the oval flange portion 4 so that the oval flange portion 4 does not come off from the holder 5 and the ball point 6 is engaged. The holder 5 is engaged with the mating hole 55 and held so that the holder 5 does not rotate freely. In this state, transmission of torque from the distal end unit 1 to the end effector 3 is performed between two parallel sides of the fitting groove 23 of the circular flange 2 and two parallel sides of the oval flange 4. When removing the end effector 3 from the tip unit 1, the holder 5 may be rotated approximately 90 ° to align the insertion hole 53 with the oval flange portion 4, and the end effector 3 may be pulled out from the insertion hole 53.

[0008]

As described above, according to the present invention, the relative positioning of the end unit and the end effector and the transmission of torque are performed by the fitting groove having two parallel side surfaces provided on the circular flange portion of the end unit. And between the oval flange portion having two parallel sides provided on the end effector, and the circular flange portion and the oval flange portion are held by the holder, so that the structure is simple and a large torque can be transmitted, and There is an effect that the end effector can be securely fixed to the tip unit without requiring processing accuracy, and being easy to assemble.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of the present invention, and a part thereof is shown in a sectional view.

FIG. 2 is a side sectional view showing an embodiment of the present invention.

FIGS. 3A and 3B are a cross-sectional view and a partial cross-sectional view, respectively, showing a part of the distal end unit according to the embodiment of the present invention.

FIGS. 4A and 4B are a partial cross-sectional view of the holder according to the embodiment of the present invention, and FIG.

5A and 5B are a plan view and a side view showing the end effector according to the embodiment of the present invention.

FIG. 6 is a side sectional view showing a conventional example.

FIG. 7 is a plan view showing a conventional example, and a part thereof is shown in cross section.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tip unit 11 Concave part 2 Circular flange part 23 Fitting groove 3 End effector 31 Guide part 4 Oval flange part 5 Holder 52 End face part 53 Insertion hole 54 Stop plate 55 Engagement hole 56 Push button 6 Ball point

Claims (1)

(57) [Scope of request for utility model registration] 1. An end effector having a front end unit having a circular flange portion, an oval-shaped flange portion having two parallel sides with its center equally divided, and the circular flange portion and the oval-shaped flange portion. An end effector fixing device for an industrial robot having a ring-shaped holder for holding, wherein the end portion of the circular flange portion has two parallel side surfaces sandwiching the center equally, and the oval-shaped flange portion. And two side surfaces which are provided on an end face of the holder on the end effector side and which are slightly larger than the outer shape of the oval flange portion, and which are substantially the same in shape and are equally spaced at the center. An insertion hole having an oval notch with a hole, a detent mechanism comprising a ball point provided in the circular flange portion and an engagement hole provided in the holder, and provided in the holder. An end effector fixing device for an industrial robot, comprising a rotation preventing release mechanism.