JPH038909B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an operating device for manually operating a robot arm in a hydraulically driven industrial robot.

(Prior Art) A fluid pressure driven industrial robot, for example, an intermediate movable member supported by a front and rear swinging arm, a distal end movable member supported by the middle movable member via a vertical swing arm, and a front and rear movable member supported by a vertical swing arm. In a robot equipped with a pneumatic drive means for moving a swinging arm back and forth, and a pneumatic drive means for moving the vertical swinging arm up and down, the two pneumatic drive means are actuated by manual operation, The manual operation device for moving the tip movable member in any direction forward or backward and up or down is a switch that operates a solenoid valve installed in each pneumatic supply path of the two pneumatic drive means, that is, a back and forth swing arm. A fixed control panel includes a switch for swinging the arm forward, a switch for swinging the arm backward, a switch for moving the vertical swinging arm upward, and a switch for moving the arm downward. They were installed side by side on the top or on a switch panel connected to a cable.

(Problems to be Solved by the Invention) In the conventional operating device as described above, it is necessary to select and operate the switch corresponding to the direction in which the movable tip member is to be moved from four parallel switches. In addition, it was extremely difficult to operate two switches at the same time in order to swing the distal end movable member back and forth as well as up and down at the same time. Moreover, since the switch to be operated must be visually selected and checked before operation, the operator must check the position of the movable tip member (specifically, the position of the workpiece attached to the movable tip member) and the control panel or It was necessary to shift one's line of sight to the switch panel one after another, making it impossible to perform safe and efficient operations.

(Means for Solving the Problems) The present invention has been made to solve the problems of the conventional art as described above. The movable member is capable of vertically swinging within a certain range against the urging force that holds it in the horizontal neutral position, and rotates within a certain range in the forward and reverse directions around the grip axis against the urging force that holds it in the neutral position. A possible grip is installed sideways,
The first on-off valve opens when the grip moves upward, the second on-off valve opens when it moves downward, the third on-off valve opens when it rotates forward, and it opens when it reverses. A fourth on-off valve is provided, and each of these on-off valves is interposed in the fluid pressure supply path for manual operation of the two fluid pressure driving means so that the operating direction of the grip and the moving direction of the movable end member match. It is in the point where it is equipped.

(Function) In the manual operating device of the present invention as described above, the hand holding the grip that projects laterally from the movable tip member is moved in the direction in which the movable tip member is desired to be moved, that is, moved upward. When you want to move the grip, lift it up, when you want to move it down, push it down, and when you want to move it forward, rotate the grip forward in the normal direction, and when you want to move it backwards, rotate the grip in the opposite direction. The movable member will be driven in the desired direction.

Of course, if a vertical driving operation and a forward/reverse rotating operation are performed on the grip at the same time, the movable end member is driven in a combined direction of forward and backward directions corresponding to the movement of the grip.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIG. 1, reference numeral 1 denotes a rotary table rotatable around a vertical axis, which is pivotally supported on a base 2 and rotated in any forward or reverse direction by a rotation drive means within the base 2. Reference numeral 3 denotes an intermediate movable member, which is supported by the rotary table 1 via a front-back swinging arm 4 so as to be movable back and forth in parallel. The longitudinal swing arm 4
are mutually parallel drive links 5 that form a parallel quadruple link together with the rotary table 1 and the intermediate movable member 3;
and a posture maintaining link 6. 7
is a distal end movable member, which is supported by the intermediate movable member 3 via a vertically swinging arm 8 so as to be vertically movable in parallel. The vertically swinging arm 8 is composed of a drive link 9 and a posture holding link 10 which are parallel to each other and which together with the intermediate member 3 and the distal end movable member 7 constitute a parallel quadruple link. 11 is
This is a pneumatic motor that swings the back-and-forth swinging arm 4 in the front-rear direction with respect to the rotary table 1 via the drive link 5, and is attached to the rotary table 1. 12
is the vertically swinging arm 8 via the drive link 9.
This is a pneumatic motor that causes the intermediate member 3 to swing in the vertical direction, and is attached to the intermediate movable member 3. Although not shown, a robot hand equipped with an appropriate driving actuator is attached to the movable tip member 7.

In FIGS. 2 and 3, reference numeral 13 denotes a manual operation grip projecting laterally from the side surface of the distal end movable member 7. As shown in FIG. 14 is the tip movable member 7
A fixed shaft fixed horizontally in the front and back direction,
A movable body 15 is provided that can freely rotate up and down around the fixed shaft 14, and a rotary shaft 16 that is perpendicular to the fixed shaft 14 is rotatably supported by the movable body 15. This rotating shaft 16 is connected to a vertically elongated hole 1 provided in the side wall of the tip movable member 7.
7, and the grip 13 is fixed to the projecting end thereof. Reference numeral 18 denotes a torsion spring that holds the movable pair 15 in a horizontally horizontal neutral position of up-and-down swinging, and 19 a torsion spring that holds the rotating shaft 16 in a neutral position of forward and reverse rotation. The mounting structure for these torsion springs 18 and 19 is a conventionally well-known structure as shown in the figure, and its explanation will be omitted.

20 is a first on-off valve, 21 is a second on-off valve, 22 is a third on-off valve, and 23 is a fourth on-off valve. The first on-off valve 20 is connected to the fixed shaft 14 so as to communicate with a pneumatic outlet 24 formed in the movable body 15 and the pneumatic outlet 24 when the movable body 15 rotates by a predetermined angle to the upper limit of movement. The second on-off valve 21 includes a pneumatic outlet 26 formed in the movable body 15, and a pneumatic outlet 26 formed in the movable body 15 when the movable body 15 rotates by a predetermined angle to the lower limit of movement. 26, and a flow path 27 formed in the fixed shaft 14 so as to communicate with the fixed shaft 14. The flow paths 25 and 27 formed in the fixed shaft 14 communicate with a pneumatic supply path 28 formed in the fixed shaft 14 in the axial direction.

Further, the third on-off valve 22 has a pneumatic outlet 29 formed in the movable body 15, and a pneumatic outlet 29 formed in the movable body 15 when the rotary shaft 16 rotates by a predetermined angle to the forward limit position.
9, and a flow path 30 formed in the rotating shaft 16 so as to communicate with the fourth on-off valve 23.
A pneumatic outlet 31 formed in the movable body 15, and a flow path 32 formed in the rotary shaft 16 so as to communicate with the pneumatic outlet 31 when the rotary shaft 16 rotates by a predetermined angle to the rear limit position. It is composed of. Flow paths 30, 3 formed in these rotating shafts 16
2 is formed in the rotary shaft 16 in the axial direction and has one end connected to the air pressure supply path 2 in the fixed shaft 14.
Pneumatic supply path 3 communicating with 8 via branch path 28a
It is connected to 3.

The air pressure supply path 28 in the fixed shaft 14 is connected to a pipe 34.
and a manual/automatic switching solenoid valve 35 to a pneumatic supply source 36 . Said first on-off valve 20
The pneumatic outlet 24 is connected to the upper moving side pneumatic supply path 39 of the pneumatic motor 12 via a shuttle valve 38 and a pipe 37 whose end on the movable body 15 side has an appropriate length as a flexible pipe. connected to the second on-off valve 21
The pneumatic outlet 26 is connected to the lower pneumatic supply path 42 of the pneumatic motor 12 via a shuttle valve 41 and a pipe 40 whose end on the movable body 15 side is a flexible pipe of an appropriate length. It is connected.

The pneumatic outlet 29 of the third on-off valve 22 is connected to a shuttle valve 44 and a pipe 43 whose end on the movable body 15 side has an appropriate length as a flexible pipe. The pneumatic outlet 31 of the fourth on-off valve 23 is connected to the side pneumatic supply line 45 through a shuttle valve 47 and a pipe 46 whose end on the side of the movable body 15 is made of a flexible pipe of an appropriate length. , is connected to the reverse pneumatic supply path 48 of the pneumatic motor 11. Note that 49 to 52 are solenoid valves for automatic operation, 53 and 54 are throttle valves, and 55 and 56 are silencers.

According to the above configuration, when the manual automatic switching solenoid valve 35 is on the automatic operation side as shown in FIG. It is supplied to the lower moving side pneumatic supply path 42 to operate the pneumatic motor 12 in a predetermined direction, and the distal end movable member 7 is moved upward or downward relative to the intermediate movable member 3 via the vertical swing arm 8. I can do it. Also, by automatically controlling the solenoid valves 51 and 52, pneumatic pressure is supplied to the forward pneumatic supply path 45 or the reverse pneumatic supply path 48 to operate the pneumatic motor 11 in a predetermined direction, and the forward and backward swinging arm 4 The intermediate movable member 3 can be moved forward or backward with respect to the rotary table 1 via.

When performing manual operation, switch the manual automatic switching solenoid valve 35 to the manual operation side to supply air pressure to the piping 34.
The air is supplied from the air to the air pressure supply path 28 in the fixed shaft 14 of the manual operating device. As shown in FIGS. 2 and 3, when the grip 13 is in the neutral position, the first to fourth on-off valves 20 to 23 are in a closed state. When the movable body 15 is rotated through the shaft 16 around the fixed position 14 to the upper limit of movement against the urging force of the torsion spring 18, the pneumatic outlet 24 of the first on-off valve 20 is rotated.
communicates with the flow path 25 on the fixed shaft 14 side. Therefore, the air pressure supplied into the air pressure supply path 28 is transferred from the first on-off valve 20 to the upper moving side air pressure supply path 3 of the pneumatic motor 12 via the piping 37 and the shuttle valve 38.
9, and the pneumatic motor 12 is driven in the direction of moving the vertical swinging arm 8 upward.
The movable tip member 7 moves in the same direction as the operating direction of the grip 13, that is, upwardly.

When the grip 13 is pushed down and the movable body 15 is rotated via the rotary shaft 16 around the fixed shaft 14 to the lower limit of movement against the biasing force of the torsion spring 18, the pneumatic outlet of the second on-off valve 21 is opened. 26 is the fixed shaft 14
It communicates with the flow path 27 on the side. Therefore, the pneumatic supply path 28
The air pressure supplied inside the second on-off valve 21
The pneumatic pressure is supplied to the downward movement side pneumatic supply path 42 of the pneumatic motor 12 via the piping 40 and the shuttle valve 41, and the pneumatic motor 12 is driven in the direction of moving the vertically swinging arm 8 downward. The movable member 7 is moved downward in the same direction as the operating direction of the grip 13.

Furthermore, when the grip 13 is rotated forward together with the rotating shaft 16 against the urging force of the torsion spring 19 to the forward limit position, the pneumatic outlet 29 of the third on-off valve 22
and the flow path 30 on the rotating shaft 16 side communicate with each other.
Therefore, the air pressure being supplied from the air pressure supply path 28 in the fixed shaft 14 to the air pressure supply path 33 in the rotating shaft 16 is transferred from the third on-off valve 22 via the piping 43 and the shuttle valve 44. The pneumatic motor 11 is supplied to the forward side pneumatic supply path 45 of the pneumatic motor 11, and the pneumatic motor 11 is driven in the direction of swinging the front-rear swing arm 4 forward, so that the tip movable member 7 moves in the same direction as the operating direction of the grip 13. It will move to the front of.

When the grip 13 is moved to the rearward limit position and reversed together with the rotating shaft 16 against the biasing force of the torsion spring 19, the pneumatic outlet 31 of the fourth on-off valve 23 and the flow path 32 on the rotating shaft 16 side communicate with each other. do. Therefore, the air pressure being supplied to the air pressure supply path 33 in the rotating shaft 16 is transmitted from the fourth on-off valve 23 to the reverse side air pressure supply path of the pneumatic motor 11 via the piping 46 and the shuttle valve 47. 48, and the pneumatic motor 11 drives the front-back swinging arm 4 in the direction of swinging backward, so that the tip movable member 7 moves backward in the same direction as the operating direction of the grip 13.

In the above operating method, the grip 13 is operated in the vertical direction and rotated in the forward and reverse directions separately. It is also possible to drive 4 at the same time.

(Effects of the Invention) According to the robot arm manual operation device of the present invention that can be implemented as described above, the operation of moving the movable tip member upward and downward using the only grip provided on the movable tip member is possible. You can perform all the operations of moving the camera forward, moving it forward, and moving it backward. Therefore, compared to the case of using a conventional operating device that requires selection of multiple switches, not only the operability is greatly improved, but also the direction of operation of the grip matches the direction of movement of the movable tip member. Therefore, there is no risk of erroneous operation. Furthermore, since there is no need to visually confirm the operation target or operation direction, the operator can perform manual operation while continuously checking the movement of the movable tip member or the workpiece attached to it, making work safer and more efficient. can be done.

[Brief explanation of drawings]

Figure 1 is a side view of the entire pneumatically operated robot, Figure 2
The figure is a longitudinal sectional front view of the main part, and FIG. 3 is a cross-sectional plan view of the main part and a piping diagram of the pneumatic supply system. DESCRIPTION OF SYMBOLS 1... Rotating table, 3... Intermediate movable member, 4... Front-rear swing arm, 5, 9... Drive link, 6, 10
... Posture holding link, 7 ... Tip movable member, 8
...Vertical swing arm, 11, 12...Pneumatic motor, 13...Grip, 14...Fixed shaft, 15...
...Movable body, 16... Rotating shaft, 17... Long hole, 1
8, 19...Torsion spring, 20-23...
First to fourth on-off valves, 24, 26, 29, 31...
Pneumatic outlet, 25, 27, 30, 32...flow path, 2
8, 33...Air pressure supply path, 35...Manual automatic switching solenoid valve, 38, 41, 44, 47...Shuttle valve, 49, 52...Solenoid valve.

Claims (1)

[Claims] 1. an intermediate movable member supported by a front-rear swing arm, a distal end movable member supported by the middle movable member via a vertical swing arm, a fluid pressure drive means for moving the back-and-forth swing arm back and forth, and the above-mentioned In a robot equipped with a fluid pressure driving means for vertically moving a vertically swinging arm, the tip movable member is provided with a biasing force that allows the distal end movable member to freely swing vertically against a biasing force that maintains the arm at the neutral position and that holds the arm at the neutral position. A grip that can rotate in forward and reverse directions around the axis of the grip is protruded horizontally against the force of the grip, and a first on-off valve opens when the grip moves upward, and a second open-close valve opens when the grip moves downward. A second on-off valve, a third on-off valve that opens when the rotation is forward, and a fourth on-off valve that opens when the rotation is reversed are provided, and each of these on-off valves is connected to the fluid for manual operation of the two fluid pressure driving means. A manual operating device for a robot arm, which is interposed in a pressure supply path so that the operating direction of the grip and the moving direction of the distal end movable member match.