JPH03166089A - Hand finger of handling robot - Google Patents

Abstract

PURPOSE:To prevent a sensor for work confirmation from interference of program teaching by disposing a photoelectric switch at the recess part of one hand finger and forming a protrusion part which serves as a switch piece for activating the photoelectric switch at the other hand finger for construction of the sensor for work confirmation. CONSTITUTION:When positioning of hand fingers 20, 30 into hand positions is completed and they begin work holding operation and holding by the hand fingers 20, 30 are carried out, the protrusion part 31 of the hand finger 30 is in an entry condition into the recess part 21 of the hand finger 20, and the protrusion 31 shuts off the light given by a photoelectric switch 50. As a result, the photoelectric switch 50 provides an output that the protrusion part 31 has been detected, so a robot controller which has received the output begins trans ferring of a work W to another place.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hand finger for a handling robot.

[Conventional technology]

In the handling robot, hand fingers 20 and 3 at the tip of the robot arm 10 shown in FIG.
0 to the workpiece handling position, both hand fingers 20 and 30 are moved in the direction of the arrow shown by a drive unit (not shown) to grip the workpiece W, and after the workpiece gripping detection switch is activated, the workpiece gripping confirmation switch is activated. After confirming that the workpiece is being held, the operation moves on to transfer the workpiece W to another location.

[Problem to be solved by the invention]

This work gripping confirmation is performed by attaching a contact type sensor, for example, the tape switch 40 to the hand fingers 20, 30, and checking the presence or absence of an output from the tape switch l3, or by using an external non-contact type sensor, for example. There is a method that uses a photoelectric switch, but the former uses a hand finger 20
, 30, so its lifespan is short, and the latter tends to interfere with the robot during hand linking, causing problems in program teaching.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a hand finger for a handling robot that has a long life and has a workpiece confirmation sensor that does not get in the way during program teaching.

[Means to solve the problem]

In order to achieve the above object, the present invention forms a recess in the workpiece gripping surface of one hand finger, a photoelectric switch is disposed in this recess, and a workpiece gripping surface of the other hand finger is provided with a recess that opposes the recess. A protrusion protruding toward the recess is provided at a position where the workpiece is held, and the protrusion and the photoelectric switch constitute a sensor for confirming gripping of the workpiece.

[Effect]

In the present invention, since the photoelectric switch is disposed in the recessed part of the hand finger, it does not interfere with program teaching unlike the conventional case where the photoelectric switch is disposed outside. Since it is a non-contact type, its lifespan is long.

〔Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

1 and 2, reference numeral 50 denotes a photoelectric switch, and the gripping surface 2OA near the base of the hand finger 20
The light emitting and receiving surfaces are placed on the upper and lower surfaces of the recess 21 formed in the recess 2.
1 and is disposed in a recessed manner. A protrusion 3I that protrudes toward the recess 21 is located at a position facing the recess 2l on the gripping surface 30A near the base of the hand finger 30.
This protrusion 31 and the photoelectric switch 50 constitute a sensor for confirming work gripping. It is the same as the other compositions or the composition precepts in Figure 5.

Note that the workpiece W of this embodiment has a fixed shape, such as a semiconductor wafer or a cassette, and the length of the projection 3l is uniquely determined.

In this structure, after the positioning of the hand fingers 20, 30 to the hand positions is completed, the workpiece gripping operation begins, and gripping by the hand fingers 20, 30 is performed as shown in FIGS. 3 and 4. Then, the protrusion 31 of the hand finger 30 fits into the recess 2l of the hand finger 20.
In this state, the projection 31 blocks the light emitted by the photoelectric switch 50. As a result, the photoelectric switch 50 sends out an output indicating that the protrusion 31 has been detected, and a robot control device (not shown) that receives this output
Then, the operation shifts to transferring the workpiece W to another location.

In the above embodiment, the hand finger 20 has a recess 2.
1 is formed, but it goes without saying that this may also be a through hole. [Effects of the Invention] As explained above, the present invention provides a method for checking a workpiece by disposing a photoelectric switch in the recess of one hand finger and forming a protrusion on the other hand finger that serves as a switch for operating the photoelectric switch. Although this sensor is non-contact, the photoelectric switch is located inside the hand finger, which does not interfere with program teaching as in the case of conventional non-contact sensors. Since the sensor of the present invention is a non-contact type, its lifespan is long.

[Brief explanation of the drawing]

Fig. 1 is a partially sectional plan view showing an embodiment of the present invention, Fig. 2 is a sectional view taken along the line -■ in the above embodiment, and Fig. 3 is a partially sectional plan view showing the state of the above embodiment when gripping a workpiece. 4 is a sectional view taken along line IV-IV in FIG. 3, and FIG. 5 is a plan view showing a conventional hand finger. 20, 30 - Hand fingers 2OA, 30A...Work gripping surface 21, one recess, 31... One protrusion 50...Photoelectric switch. Patent application Shinko Electric Co., Ltd.

Claims (2)

[Claims] (1) In a handling robot that has a pair of hand fingers that grip a workpiece, a recess is formed in the workpiece gripping surface of one hand finger, a photoelectric switch is disposed in this recess, and the workpiece of the other hand finger is A handling device characterized in that the gripping surface has a projection protruding toward the recess at a position opposing the recess, and the projection and the photoelectric switch constitute a sensor for confirming gripping of the workpiece. robot hand fingers. (2) The hand finger of a handling robot according to claim 1, characterized in that a through hole is formed in place of the recess.