JP3095032B2 - Robot hand for work - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for machining.

[0002]

2. Description of the Related Art For example, when performing a deburring operation for removing burrs from a cast workpiece by a robot, a machining robot hand supporting a file as a deburring tool is attached to a robot shaft. Deburring work is performed automatically.

[0003]

However, since the conventional machining robot hand is rigidly connected to the robot shaft, a file is more strongly applied to the work than necessary due to a dimensional error of the work, an error in the repeatability of the robot, and the like. There has been a problem that the workpiece is excessively shaved due to contact, or required processing cannot be performed because the workpiece does not contact the workpiece.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is to provide a machining robot capable of stably and safely performing required machining by constantly bringing a file into contact with a work at a predetermined pressure. To provide a hand.

[0005]

In order to achieve the above object, the present invention provides a tool unit comprising a base plate fixed to a shaft of a robot and supporting a file for reciprocating a file for deburring a work by bolts. And a rotatable support via a ball joint and an elastic support via an anti-vibration rubber, and a touch sensor electrically connected to a controller is attached to the base plate to constitute a robot hand for working, and the tool unit is provided. Is displaced and comes into contact with the touch sensor, and the controller stops driving the tool unit.

[0006]

According to the present invention, the tool unit for supporting the file is rotatable about the bolt and is elastically supported by the vibration-proof rubber. The repetition accuracy error and the like of the robot are absorbed by the elastic deformation of the vibration isolating rubber, and the file is constantly pressed against the work with a constant force, so that the work is not excessively shaved or unworkable.

Further, since the tool unit is greatly displaced due to the file coming into contact with the work with excessive force, and when the tool unit comes into contact with the touch sensor, the drive of the tool unit is stopped, thereby preventing damage to the work and the vibration isolating rubber. Safe.

[0008]

An embodiment of the present invention will be described below with reference to the accompanying drawings.

FIG. 3 is a side view of a six-axis robot 1 equipped with a work robot hand 10 according to the present invention.
The six-axis robot 1 has six axes indicated by S, L, U, R, B, and T, and its wrist axis 2 is S, L, U,
The robot hand 10 according to the present invention can be moved around the R, B, and T axes in the directions of arrows s, l, u, r, b, and t.

[0010] A robot hand 10 according to the present embodiment.
Is for deburring, and details of its structure are shown in FIGS. 1 is a side view of the robot hand 10, and FIG. 2 is a sectional view taken along line AA of FIG.

The robot hand 10 is roughly composed of a base plate 11 and a deburring tool unit 12.
The base plate 11 is connected to the wrist shaft 2 of the six-axis robot 1 with four bolts 13.

The deburring tool unit 12 is supported on the base plate 11 so as to be rotatable about a bolt 14 serving as a movable fulcrum, and is elastically supported by an anti-vibration rubber 15 made of an elastic body. ing. That is, the mounting boss 1 is provided on the free end face of the base plate 11.
6 are connected by bolts 17 and the mounting boss 1
6 and the ball joint 1
8, a deburring tool unit 12 is rotatably supported via a rod end 19 and a tool holder 20.

A spring seat 21 is connected to the deburring tool unit 12, and the deburring tool unit 12 is elastically supported on the base plate 11 via the spring seat 21 and the vibration-proof rubber 15. The deburring tool unit 12 has a rod 12a which advances and retreats in the direction of the arrow in the figure, and a file 23 which is a deburring tool is attached to the tip of the rod 12a.

On the other hand, a touch sensor 22 is attached to a portion of the base plate 11 facing the spring seat 21, and a lead wire 2 led out from the touch sensor 22 is provided.
4 is electrically connected to a controller (not shown) through the inside of the base plate 11 as shown in FIG. In the present embodiment, the touch sensor 22 detects whether or not the nut 25 attached to the upper surface of the spring seat 21 contacts the spring sensor 21. When the nut 25 contacts the touch sensor 22, The controller stops driving the deburring tool unit 12.

Next, a deburring operation by the robot hand 10 will be described with reference to FIGS. FIG. 4 is a cutaway side view showing a deburring operation of the connecting rod 30 for the internal combustion engine, and FIG. 5 is a plan view of the same.

The connecting rod 30 is set horizontally on the work mounting jig 31 as shown in the figure, and its large end 30a is fitted into the semicircular projection 31a of the work mounting jig 31, and its small end 30b is fixed to the work. Is fixed by being pressed by a fixing rod 33 which is advanced and retracted in the direction of the arrow shown in FIG.

Thus, the six-axis robot 1 shown in FIG. 3 is driven, the posture of the robot hand 10 fixed to the wrist shaft 2 of the robot 1 is controlled, and the deburring tool unit 12 of the robot hand 10 The provided file 23 is pressed by each part of the connecting rod 30, and the file 23 is moved forward and backward in the direction of the arrow at each position to remove the burr of the connecting rod 30. Here, the deburring tool unit 12 that supports the file 23 is rotatable about the bolt 14 that is a movable fulcrum, and is elastically supported by the vibration-proof rubber 15. Therefore, if the file 23 is pressed against the connecting rod 30, ,
The dimensional error of the connecting rod 30 and the repetition accuracy error of the robot 1 are absorbed by the deformation of the anti-vibration rubber 15, and the file 23 is constantly pressed by the connecting rod 30 with a constant force. Be avoided.

When the file 23 comes into contact with the connecting rod 30 with excessive force, the deburring tool unit 12 is largely displaced, and when the nut 25 provided on the spring seat 21 comes into contact with the touch sensor 22, the burr is removed as described above. Since the driving of the picking tool unit 12 is stopped, damage to the connecting rod 30 and the anti-vibration rubber 15 is prevented and safety is achieved.

[0019]

As apparent from the above description, according to the present invention, the base plate fixed to the shaft of the robot has:
A tool unit that supports a file that reciprocates to remove the work deburr is rotatably supported via bolts and ball joints, and elastically supported via anti-vibration rubber, and is electrically connected to the controller. The touch sensor is attached to the base plate to form a robot hand for machining, and when the tool unit is displaced and comes into contact with the touch sensor, the controller stops driving the tool unit. There is an effect that the required processing can be stably and safely performed by always making contact with a predetermined pressure.

[Brief description of the drawings]

FIG. 1 is a side view of a working robot hand according to the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is a side view of a six-axis robot equipped with a work robot hand according to the present invention.

FIG. 4 is a cutaway side view showing a deburring operation of a connecting rod for an internal combustion engine.

FIG. 5 is a plan view showing a deburring operation of a connecting rod for an internal combustion engine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 6-axis robot 10 Machine robot hand 11 Base plate 12 Deburring tool unit (tool unit) 14 Bolt 15 Anti-vibration rubber 18 Ball joint 22 Touch sensor 23 File

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 9/00 B23D 69/00 B25J 17/02

Claims (1)

(57) [Claims] 1. A base play fixed to the axis of a robot
Supports a file that reciprocates to deburr the work
Bolt and ball joint
Via a vibration-isolating rubber.
Elastically supported and electrically connected to the controller.
A touch sensor is attached to the base plate
The tool unit is displaced and this is
When the tool comes into contact with the
A work robot hand wherein the drive of the unit is stopped .