JP3214044U - Manipulator with easily replaceable end effector - Google Patents

Abstract

A manipulator capable of easily exchanging an end effector is provided. A manipulator in which an end effector can be easily replaced includes an arm member, a detachable member, and at least one end effector. The arm member is provided with a base at one end and at the other end. A coupling portion 12 is provided, and the detachable member is combined with the coupling portion of the arm member, and the main body 21 fixed to the coupling portion, a mounting hole 261 formed on one side of the main body, and a projection projecting into the mounting hole The end effector includes a holder 31 and a clamp 32, and one end of the holder is inserted into the mounting hole and engaged with the engagement unit. A receiving recess is formed at the other end of the holder, and the clamp is combined with the other end of the holder. [Selection] Figure 2

Description

  The present invention particularly relates to a manipulator in which an end effector can be easily replaced.

  As the labor costs have increased with the development of industry, the use of manipulators in production lines has increased significantly, and manipulators can be used to perform repeated operations many times, thereby reducing production costs. In addition, since there is a merit of improving yield and productivity, the introduction of manipulators is becoming the mainstream instead of artificial work regardless of the type of industry.

  In addition, when using an existing manipulator, it is possible to attach an end effector to one end of the manipulator manually to hold the article, but there are many types of articles on the production line, and all dimensions of a single type end effector In addition, when it is not possible to deal with articles having different weights and shapes, it is necessary to replace the end effector.

  However, with existing manipulators, when replacing an end effector, it is necessary for the operator to select an appropriate end effector and remove the attached end effector and replace it with a new end effector. There is a problem that it takes a long time to reduce productivity.

  Also, if you install multiple manipulators with different end effectors on the production line, you do not need to replace the end effectors one by one, but the manipulator costs are high and the manipulators interfere or collide at the work site. The problem is inevitable. Furthermore, there is no end effector that can hold any type of article, and it is very cumbersome to replace the end effector, so existing manipulators need to be improved.

In order to solve the above-described problem, a manipulator in which the end effector according to the present invention can be easily replaced is
An arm member provided with a base at one end and a coupling portion at the other end;
A main body that is combined with and fixed to the joint portion of the arm member, a mounting hole formed on one side of the main body, and a movably mounted inside the main body so as to protrude into the mounting hole A detachable member comprising an engagement unit
The holder is combined with the detachable member, and includes a holder and a clamp. One end of the holder is inserted into the mounting hole and engaged with the engagement unit, and an accommodation recess is formed at the other end of the holder. It has at least one end effector combined with the other end.

In a manipulator in which such an end effector can be easily replaced,
It is preferred to have a plurality of end effectors, each with a different type of clamp attached to the same type of holder.

In a manipulator in which such an end effector can be easily replaced,
The clamp of the end effector includes a combination portion and a claw portion, the combination portion is combined with a holder, an interlocking shaft is installed inside the combination portion, the claw portion includes three claws, and the 3 The two claws are preferably arranged radially at equal angular intervals while being connected to the interlocking shaft.

In a manipulator in which such an end effector can be easily replaced,
It is preferable that the end effector includes an advance / retreat piston, and the advance / retreat piston is installed in the housing recess so as to be capable of advancing / retreating, and is interlocked with the clamp via an interlocking shaft.

In a manipulator in which such an end effector can be easily replaced,
In the vicinity of the mounting hole in the body of the detachable member, an air connection valve connected to an external air source is attached,
The end effector includes an air introduction unit, and the air introduction unit is attached to one side of the outer peripheral surface of the holder so as to be connected to the air connection valve, and feeds air from an air source into the accommodation recess of the holder. It is preferable.

In a manipulator in which such an end effector can be easily replaced,
The detachable member includes a cylinder, a moving cam, a driven unit, and a fixed unit. The main body has a moving hole formed therethrough, and the cylinder communicates with one end of the moving hole. The expansion / contraction piston is installed inside the cylinder, the moving cam is connected to the expansion / contraction piston of the cylinder and is movably attached to the movement hole of the main body, and the driven unit includes: The movable cam is inserted perpendicularly and fitted into the main body so as to be movable in the axial direction, and a pressing head protruding from the mounting hole is installed at the front end of the driven unit,
The engagement unit is mounted between the pressing head in the driven unit and the moving cam, and when the pressing force is applied to the end of the pressing head in the engagement unit, the engagement unit moves radially outward. ,
The fixed unit is fitted into the main body so that one end of the fixed unit is mounted on the engaging unit, and the mounting hole is formed so as to penetrate the fixed unit in the axial direction and is formed coaxially with the driven unit. It is preferable.

In a manipulator in which such an end effector can be easily replaced,
One end of the end effector holder inserted into the attachment / detachment member has a tube shape, and when the end effector is combined with the attachment / detachment member, the holder is mounted around the pressing head of the driven unit, An engagement groove is formed on the inner peripheral surface of the holder,
When the pressing head presses the engagement unit, it is preferable that the end effector is fixedly coupled to the detachable member by moving the engagement unit radially outward and engaging with the engagement groove.

  The manipulator in which the end effector according to the present invention can be easily replaced has a plurality of end effectors each having a different type of clamp attached to the same holder, so that the user can select one of the plurality of end effectors. The end effector can be easily exchanged by appropriately selecting and attaching to the detachable member.

  In addition, since the air connection valve is attached to the body of the detachable member and the air introduction unit is installed in the end effector, when the end effector is fixedly coupled to the detachable member, the air connection valve is changed according to the air introduction unit. Because they can be combined, they can be controlled with respect to the end effector clamp by connecting to an external air source via an air connection valve and turning the air source on or off.

  If the end effector according to the present invention has an easily replaceable manipulator, the existing manipulator replacement takes time and the operation is very inconvenient, and the number of manipulators installed in the production line Can be reduced.

It is a perspective view of the present invention. It is an exploded perspective view of the present invention. It is a disassembled perspective view of the attachment / detachment member in this invention. It is a disassembled perspective view of the end effector in this invention. It is sectional drawing of the attachment / detachment member in this invention. In this invention, it is a fragmentary sectional view which shows the state which the attachment / detachment member fixedly couple | bonded the end effector. It is a fragmentary sectional view of the end effector in the present invention. In this invention, it is a fragmentary sectional view which shows the state which injected the air from the outside into an accommodation recessed part, and pushed the advancing / retreating piston. In this invention, it is explanatory drawing which shows a working state. In this invention, it is explanatory drawing which shows operation which replace | exchanges an end effector. In this invention, it is another explanatory drawing which shows operation which replace | exchanges an end effector.

  As shown in FIGS. 1 and 2, the manipulator in which the end effector according to the present invention can be easily replaced includes an arm member 10, a detachable member 20, and an end effector 30.

  The arm member 10 is provided with a plurality of arms, and includes a base 11 and a coupling portion 12, and the base 11 is provided at one end of the arm member 10 and is shown in FIG. 9. Thus, it is fixed to the work table 40 and is operable with respect to the work table 40, and the coupling portion 12 is provided at the other end of the arm member 10 so as to be positioned above the work table 40.

  As shown in FIGS. 2 and 3, the detachable member 20 is combined with the coupling portion 12 of the arm member 10 via the coupling board 201, and includes a main body 21, a cylinder 22, a moving cam 23, a driven unit 24, and the like. The engagement unit 25, the fixed unit 26, and the air connection valve 27 are provided, and the main body 21 is fixed to the coupling portion 12 so as to be combined with the coupling board 201, and a moving hole 211 penetrating the inside is formed. The cylinder 22 is attached in the vicinity of the coupling plate 201 in the main body 21 so as to communicate with one end of the moving hole 211, and has an expansion / contraction piston 221 inside. The movement cam 23 has one end of the expansion / contraction piston 221 of the cylinder 22. And the other end is attached so as to be inserted in the moving hole 211 of the main body 21 so as to be movable in the axial direction of the moving cam 23. Is attached to the main body 21 so as to be movable in the axial direction of the driven unit 24, and a movable cam 23 is provided perpendicularly in the vicinity of the rear end in the interior thereof, and a pressing head is provided at the front end. 241 is installed.

  The engagement unit 25 is a member that is mounted between the pressing head 241 and the moving cam 23 in the driven unit 24 and can freely move radially outward or inward. When a pressing force is received at the end of the pressing head 241, the engagement unit 25 can move radially outward. The fixing unit 26 is fitted into the main body 21 so that one end of the fixing unit 26 is attached to the engaging unit 25, and an attachment hole 261 is formed through the inside in the axial direction of the fixing unit 26. It is formed coaxially with the driven unit 24 and is located around the pressing head 241 of the driven unit 24, that is, the pressing head 241 is disposed so as to protrude into the mounting hole 261. The air connection valve 27 is attached to the end of the fixed unit 26 in the main body 21 and on the side facing the cylinder 22 and is connected to an external air source, so that air can be input via the air connection valve 27.

  As shown in FIGS. 2 and 4, the end effector 30 is detachably combined with the detachable member 20 and includes a holder 31, a clamp 32, an advancing / retracting piston 33, and an air introduction unit 34. The insertion unit 311 is inserted into the fixing unit 26 of the detachable member 20, the insertion part 311 is provided at one end, and the holding part 312 is provided at the other end. The insertion part 311 has a tube shape, and the outer diameter thereof is fixed unit 26. Since it is substantially smaller than the inner diameter of the mounting hole 261, it is inserted into the fixing unit 26 so as to be inserted into the mounting hole 261, and its outer diameter is substantially larger than the pressing head 241 of the driven unit 24. Therefore, an engagement groove 301 corresponding to the engagement unit 25 is formed on the inner peripheral surface of the insertion portion 311 around the pressing head 241 of the driven unit 24, and the holding unit 24 312 has an axial recess 313 formed on the end surface, an air inlet hole 314 and an air discharge hole (not shown) communicating with the receiver recess 313 on the outer peripheral surface, and the air is recessed through the air inlet hole 314. 313.

  The clamp 32 is combined with the holder 31, a combination part 321 is provided at one end, and a claw part 322 is provided at the other end. The clamp 32 is opposite to the insertion part 311 of the holding part 312 by a plurality of bolts. It is preferable to be fixed to the end surface. The combination part 321 includes an interlocking shaft (not shown) that communicates with the housing recess 313 of the holder 31, the claw part 322 includes three claws, and the three claws are movable at equal angular intervals. It is arranged radially, and is connected to the interlocking shaft and freely moves radially. The advancing / retreating piston 33 is mounted on the holder 31 and the clamp 32 so as to be capable of advancing / retreating, and is attached so as to be positioned in the housing recess 313, interlocked with the claw portion 322 via an interlocking shaft, and further, The elastic unit 302 is installed between

  As shown in FIG. 2, the air introduction unit 34 is attached to the holder 31 so as to be connected to the air connection valve 27, and includes a connection part 341 and an air pipe 342, and the connection part 341 is an outer periphery of the holding part 312. When the attachment / detachment member 20 and the end effector 30 are combined with each other, the air passage communicates with the air connection valve 27, and one end of the air pipe 342 is connected to one end of the air pipe. It is attached so as to communicate with the air passage of the connecting portion 341, and the other end is attached so as to communicate with the air inflow hole 314 of the holding portion 312. According to this, the air enters the accommodating recess 313 through the air passage and the air pipe 342. It is possible to control the holding or releasing of the claw portion 322 by feeding and driving the advance / retreat piston 33.

  When combining the detachable member 20 and the end effector 30, first, the holder 31 of the end effector 30 is inserted into the mounting hole 261, and the insertion portion 311 is mounted on the pressing head 241 of the driven unit 24. The air introduction unit 34 and the air connection valve 27 are in communication with each other. In the method using the detachable member 20, as shown in FIGS. 5 and 6, the telescopic piston 221 of the cylinder 22 pushes the moving cam 23 so that the driven unit 24 moves close to the coupling board 201. The elastic unit 202 is compressed, and at this time, the pressing head 241 presses the engaging unit 25, so that the engaging unit 25 moves radially outward and is engaged with the engaging groove 301 of the insertion portion 311. Accordingly, the end effector 30 can be fixedly coupled to the detachable member 20.

  The end effector 30 is operated by referring to FIGS. 7 and 8, and after the end effector 30 is fixedly coupled to the detachable member 20, an external air source that communicates with the air connection valve 27 is turned on. Flows from the air connection valve 27 sequentially into the connection portion 341, the air pipe 342, the air inflow hole 314, and the housing recess 313 to drive the advance / retreat piston 33, and the advance / retreat piston 33 compresses the elastic unit 302 while rotating the interlocking shaft. Thus, the three claws of the claw portion 322 can be moved radially. On the other hand, when the air source is turned off, the advancing / retreating piston 33 is restored to the holder 31 by the urging force of the elastic unit 302, and the three claws of the claw portion 322 move inward, that is, in the axial direction to pinch the article 50. Can do.

  As shown in FIG. 9, when using a manipulator equipped with a detachable end effector according to the present invention, first, the arm member 10 is fixedly attached to the work table 40 and the end effector 30 corresponding to the article 50 to be sandwiched. , 30A, 30B are selected, and the end effectors 30, 30A, 30B each have a configuration in which different types of clamps 32 are attached to the same type of holder 31. Can be pinched.

  Further, as shown in FIGS. 10 and 11, when the end effector 30 is replaced with the end effectors 30 </ b> A and 30 </ b> B, the cylinder 22 of the detachable member 20 is stopped and the telescopic piston 221 is pulled back, and the urging force of the elastic unit 202 is used. The driven unit 24 is restored, and at this time, the pressing head 241 of the driven unit 24 is separated from the engaging unit 25. Therefore, the engaging unit 25 moves radially inward, that is, in the direction of the axial center to move the end effector. The end effector 30 can be detached from the detachable member 20 because it is detached from the 30 engagement grooves 301. Then, when the manipulator is moved to the work place and the arm member 10 is fixed, and the desired end effector 30A or the end effector 30B is attached to the detachable member 20 by the above-described assembly method, the production lines are produced by the end effectors 30A and 30B of different types. Can be done.

  The plurality of end effectors 30, 30A, 30B in the manipulator having the detachable end effector according to the present invention are used because different types of clamps 32 are attached to the same type of holder 31. A person can select an appropriate end effector 30 according to the shape, size, weight, etc. of the article 50 to be sandwiched, and when the end effector 30 is attached to the detachable member 20, the replacement of the end effector 30 is completed. Therefore, the replacement of the end effector 30 is very simple.

  Furthermore, since the air connection valve 27 is installed in the main body 21 of the detachable member 20, when the end effectors 30, 30A, 30B are combined with the detachable member 20, the air connection valve 27 is introduced into the end effectors 30, 30A, 30B. When combined with the unit 34, that is, when the end effector 30 is combined with the detachable member 20, the air connection valve 27 can be combined with just the air introduction unit 34. Further, it is possible to control the clamping or release with respect to the clamps 32 of the end effectors 30, 30A, 30B by connecting to an external air source via the air connection valve 27 and turning on or off the air source. it can.

  According to the manipulator having the detachable end effector according to the present invention, it is possible to solve the problem that the replacement of the existing manipulator takes time and the operation is very inconvenient, and the number of manipulators installed in the production line is reduced. Can be reduced.

DESCRIPTION OF SYMBOLS 10 Arm member 11 Base 12 Coupling part 20 Detachable member 201 Joining board 202 Elastic unit 21 Main body 211 Moving hole 22 Cylinder 23 Moving cam 24 Driven unit 241 Pressing head 25 Engaging unit 26 Fixed unit 261 Mounting hole 27 Air connection valve 30 , 30A, 30B End effector 301 Engaging groove 302 Elastic unit 31 Holder 311 Insertion section 312 Holding section 313 Housing recess 314 Air inflow hole 32 Clamp 321 Combined section 322 Claw section 33 Advance / retreat piston 34 Air introduction unit 341 Connection section 342 Air pipe 40 Work table 50

Claims (9)

An arm member provided with a base at one end and a coupling portion at the other end;
A main body that is combined with and fixed to the joint portion of the arm member, a mounting hole formed on one side of the main body, and a movably mounted inside the main body so as to protrude into the mounting hole A detachable member comprising an engagement unit
The holder is combined with the detachable member, and includes a holder and a clamp. One end of the holder is inserted into the mounting hole and engaged with the engagement unit, and an accommodation recess is formed at the other end of the holder. A manipulator with an easily replaceable end effector comprising at least one end effector combined with the other end.   The manipulator with easily replaceable end effectors according to claim 1, characterized in that it has a plurality of end effectors, each of which has a different type of clamp attached to the same type of holder.   The clamp of the end effector includes a combination portion and a claw portion, the combination portion is combined with a holder, an interlocking shaft is installed inside the combination portion, the claw portion includes three claws, and the 3 3. The manipulator with which the end effector can be easily replaced according to claim 1, wherein the two claws are connected to the interlocking shaft and are radially arranged at equal angular intervals so as to be movable.   The end effector according to claim 3, wherein the end effector includes an advancing / retreating piston, and the advancing / retreating piston is installed in the accommodating recess so as to be movable back and forth, and is interlocked with the clamp through an interlocking shaft. An easily replaceable manipulator. In the vicinity of the mounting hole in the body of the detachable member, an air connection valve connected to an external air source is attached,
The end effector includes an air introduction unit, and the air introduction unit is attached to one side of the outer peripheral surface of the holder so as to be connected to the air connection valve, and feeds air from an air source into the accommodation recess of the holder. The manipulator in which the end effector according to claim 4 is easily replaceable. The detachable member includes a cylinder, a moving cam, a driven unit, and a fixed unit. The main body has a moving hole formed therethrough, and the cylinder communicates with one end of the moving hole. The expansion / contraction piston is installed inside the cylinder, the moving cam is connected to the expansion / contraction piston of the cylinder and is movably attached to the movement hole of the main body, and the driven unit includes: The movable cam is inserted perpendicularly and fitted into the main body so as to be movable in the axial direction, and a pressing head protruding from the mounting hole is installed at the front end of the driven unit,
The engagement unit is mounted between the pressing head in the driven unit and the moving cam, and when the pressing force is applied to the end of the pressing head in the engagement unit, the engagement unit moves radially outward. ,
The fixed unit is fitted into the main body so that one end of the fixed unit is mounted on the engaging unit, and the mounting hole is formed so as to penetrate the fixed unit in the axial direction and is formed coaxially with the driven unit. The manipulator in which the end effector according to claim 5 can be easily replaced. One end of the end effector holder inserted into the attachment / detachment member has a tube shape, and when the end effector is combined with the attachment / detachment member, the holder is mounted around the pressing head of the driven unit, An engagement groove is formed on the inner peripheral surface of the holder,
When the pressing head presses the engagement unit, the end effector is fixedly coupled to the detachable member by moving the engagement unit radially outward and engaging with the engagement groove. A manipulator in which the end effector according to claim 6 can be easily replaced. In the vicinity of the mounting hole in the body of the detachable member, an air connection valve connected to an external air source is attached,
The end effector includes an air introduction unit, and the air introduction unit is attached to one side of the outer peripheral surface of the holder so as to be connected to the air connection valve, and feeds air from an air source into the accommodation recess of the holder. The manipulator in which the end effector according to claim 1 can be easily replaced. The detachable member includes a cylinder, a moving cam, a driven unit, and a fixed unit. The main body has a moving hole formed therethrough, and the cylinder communicates with one end of the moving hole. The expansion / contraction piston is installed inside the cylinder, the moving cam is connected to the expansion / contraction piston of the cylinder and is movably attached to the movement hole of the main body, and the driven unit includes: The movable cam is inserted perpendicularly and fitted into the main body so as to be movable in the axial direction, and a pressing head protruding from the mounting hole is installed at the front end of the driven unit,
The engagement unit is mounted between the pressing head in the driven unit and the moving cam, and when the pressing force is applied to the end of the pressing head in the engagement unit, the engagement unit moves radially outward. ,
The fixed unit is fitted into the main body so that one end of the fixed unit is mounted on the engaging unit, and the mounting hole is formed so as to penetrate the fixed unit in the axial direction and is formed coaxially with the driven unit. The manipulator in which the end effector according to claim 1 can be easily replaced.

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