JPH0442569Y2 - - Google Patents

Description

[Detailed Description of the Invention] Technical Field The present invention relates to a working device using a robot.

BACKGROUND ART Not only on production lines but also in daily life, screw fastening is widely used for repeatedly holding and fixing rigid bodies in the axial direction because it is simple and highly reliable. However, if this operation of tightening the male screw into the female screw is performed by a normal industrial robot, that is, an assembly machine that does not respond to the work status in real time using sensors, etc., it may cause variations in component dimensions and errors in component setting. As a result, angular errors or twists occur, making it impossible to perform screw-in operations with complete repeatability. If this prying occurs, the robot arm may become locked, making further work impossible.
This may cause damage to the threaded parts of important products.

To explain in more detail, FIG. 11 is a sectional view showing a state in which the jacket 1 and material container 2 of the prior art are removed, and FIG. 12 is a sectional view showing the state in which the material container 2 is attached to the jacket 1. be. Such a structure is used in a viscosity analyzer that measures the viscosity of a coal-water slurry. A medium, for example water, is circulated through the passage hole 3 of the jacket 1 to maintain the sample at a predetermined temperature. Inside the cylinder 4 of this jacket 1, the cylinder 5 of the sample container 2 is housed. The cylinder 5 has a bottom, and a cap 6 is fixed to the bottom of the cylinder 5. The cap 6 has an internal thread 7.
is engraved. The screw 7 is threaded into an external thread 8 formed in the tube 4 of the jacket 1, and thus the material stored in the tube 5 of the sample container 2 is brought to the desired temperature by the medium flowing through the space 3 of the jacket 1. heated or cooled. By tightening the screws 7 and 8 in this manner, the jacket 1 and the sample container 2 are screwed together. This type of screw fastening has a problem in that it is likely to be twisted when automated by a robot as described above.

Problems to be Solved by the Invention The purpose of the invention is to provide an attachment/detachment structure that can be attached and detached using a robot or the like without causing the above-mentioned prying.

Means for Solving the Problems The present invention provides (a) a working end 55 having a plurality of axes and a pair of fingers 56 and 57 that are displaced toward and away from each other by a driving means 58; Each finger 5 is provided with an arm 17 that is
6 and 57 are an industrial robot 10 having concave grooves 59 on the inner surfaces facing each other; (b) a right cylindrical shaft portion 50; and a first truncated conical portion 51 with a small diameter portion connected to the shaft portion 50; , a large diameter portion 52 that is connected to the large diameter end of the first truncated cone portion 51 and protrudes outward in the radial direction, and a second truncated cone portion 53 whose large diameter end is connected to the large diameter portion 52 in this order. a gripped means 45 formed coaxially in series and gripped by the grooves 59 of the fingers 56 and 57;
(c) an elastic means 44; (c1) a first support plate 46 fixed to the shaft portion 50;
(c2) another second support plate 28; (c3) one end fixed to the first support plate 46;
A plurality of elongated elastic plates 47 whose other ends are fixed to the second support plate 28, are inclined so as to spread outward in the radial direction toward the first support plate 46, and are arranged at equal intervals in the circumferential direction. (c4) such elastic means 44 configured in a natural state symmetrically with respect to the axis 48; (d) a plurality of pins 30, each pin 30 being connected to the second support plate 28; a right cylindrical shaft portion 31 erected on the surface opposite to the elastic body 47;
Such a pin 30 is formed on a virtual circle at equal intervals in the circumferential direction, and has a head 32 that is fixed to the free end of the pin and has a larger diameter than the shaft portion 31.
and (e) an attachment 3 fixed to the object body 12.
4, this attachment 34 has a thin plate-like mounting plate 38 in which a plurality of mounting holes 39 are formed to correspond to the respective pins 30, and each mounting hole 39 is formed in the head. A pair of insertion holes 40, 41 having an inner diameter larger than the outer diameter of the pin 32 and into which the head 32 is inserted, and a width d3 connected to each of the insertion holes 40, 41 and larger than the outer diameter d1 of the shaft portion 31 of the pin 30. and a locking hole 42 having a width d3 smaller than the outer diameter d2 of the head 32, and both ends of the locking hole 42 in the longitudinal axis direction are connected to each insertion hole 4.
0, 41, the center of each insertion hole 40, 41 and the longitudinal axis of the locking hole 42 are on an imaginary circle having the same radius as the imaginary circle, and the attachment hole 39
On the opposite side of the mounting plate 38 from the elastic means 44, the pin 30 can be inserted and locked.
(f) the attachment 34 is fixed by screwing together a screw 35 formed on the attachment 34 and a screw formed on the object body 12; (g) Fit the pin 30 into one of the insertion holes 40 using the arm 17 of the industrial robot 10, angularly displace the working end 55 in the fastening direction 60 of the screw 35, and insert the pin 30 into the mounting hole 39. This is a working device using a robot characterized in that the pin 30 is attached and removed from the other insertion hole 41 by further angularly displacing the working end 55 in the fastening direction 60.

Effect According to the present invention, an attachment 34 is fixed to the object body 12 such as a workpiece or a tool, and a pin 30 attached to an elastic means 44 is attached to and detached from the attachment 34. The working end 5 is attached to the arm 17 of the industrial robot 10 via the gripped member 45.
5 is gripped by the pair of fingers 56 and 57 of 5, due to the action of the elastic means 44, for example, even if the errors in the horizontal and angular directions between the parts to be assembled are relatively large, It becomes possible to perform assembly reliably.

Further, this elastic means 44 is provided on a member to be gripped 45, and this member to be gripped 45 is gripped by the working end 55 of the arm 17 of the industrial robot 10. 17's carrying capacity is not reduced.

Furthermore, according to the present invention, the elastic means 44 includes an attachment 34 that is inserted through and locked to the pin 30.
Since the object main body 12 is attached through the elastic means 44, the gravity of the working end 55 of the arm 17 does not act on the elastic body 47 of the elastic means 44, so that the force acting on the elastic body 47 is reduced. Ru. Therefore, the motion blur of the object body 12 during acceleration and deceleration of the arm 17 of the industrial robot 10 can be controlled.

Further, according to the present invention, the attachment 34 and the object body 12 are fixed by the attachment 34.
This is achieved by screwing together the screw 35 formed in the object body 12 with the screw 35 formed in the object body 12. Therefore, it is possible to remove the attachment 34 and the object body 12, and when the attachment 34 is not needed. The number of attachments 34 required can be reduced by removing them from the object body 12.

In particular, according to the present invention, when attaching and detaching the pin 30 to the attachment 34 fixed to the object body 12 using the arm 17 of the industrial robot 10, the pin 30 is fitted into one of the insertion holes 40. The pin 30 is attached to the mounting hole 39 by angularly displacing the working end 55 in the fastening direction 60 of the screw 35, and at the time of removal, the working end 55 is further angularly displaced in the fastening direction 60, and the pin 30 is inserted through the other one. Since the attachment is removed through the hole 41, the screw connection between the attachment 34 and the object body 12 is secure during such attachment/detachment, and there is no possibility that the screw connection between the attachment 34 and the object body 12 will loosen and come off. There is no risk and the operation is reliable. Such work is particularly important in fields using robots that require automation.

Embodiment FIG. 1 is a sectional view showing the overall structure of an embodiment of the present invention. A sample container 13 is attached to and detached from a jacket 12 of a viscosity analyzer 11 by an industrial robot 10 having multiple axes. Industrial robot 1
0 is a column 14 and a plurality of arms 15, 16, 17
etc. The viscosity analyzer 11 is provided with a support 18 and a jacket 12 having a vertical axis, as shown in FIG. Into the space 19 of the jacket 12, a medium having a predetermined temperature, such as water, from a constant temperature bath 20 is supplied and circulated by a pump 21, and the water returns to the constant temperature bath 20 again.
The tube 23 of the sample container 13 is inserted into the tube 22 formed coaxially with the jacket 19 from below. In this cylinder 23, as shown in FIG. 3, a sample 24 such as coal/water slurry is stored. With the sample container 13 attached to the jacket 12, the rotor 25 of the viscosity analyzer 11 is attached to the sample 2.
This rotor 25 is immersed in the motor 2.
6 to rotate around the vertical axis. By rotating the rotor 25 within the sample 24 in this manner, the reaction force or viscous resistance that the rotor 25 receives is electrically detected and the viscosity is measured. This cylinder 23 has a bottom, and on the outer periphery near the bottom,
An external thread 27 is cut. A support cylinder 29 is fixed to the support plate 28, and the internal thread formed in the support cylinder 29 and the external thread 27 of the cylinder 23 are screwed together to fix the cylinder 23 and the support plate 28.

A pin 30 is erected on the support plate 28 of the sample container 13 . This pin 30 has a right cylindrical shaft portion 31
and a head 32 fixed to the end of the shaft 31. The outer diameter d1 of the head 32 is larger than the outer diameter d2 of the shaft portion 31. A plurality of pins 30 (four in this embodiment) are formed at equal intervals in the circumferential direction, and the axis of the pins 30 is parallel to the axis of the cylinder 23. It lies on a common imaginary circle centered on it. When the sample container 13 is attached to the jacket 12, the tube 23
The axis of the jacket 12 coincides with the axis of the jacket 12.

4 is a perspective view of the jacket 12 seen from below, and FIG. 5 is a sectional view of the vicinity of the bottom of the jacket 12. An attachment 34 is fixed to the lower part of the jacket 12. This attachment 34 includes an outward flange 36 having an internal thread that engages with an external thread 35 formed in the cylinder 22 of the jacket 12, a short cylindrical part 37 extending downward from the outer peripheral edge of this flange 36, and a short cylindrical part. 37, and a thin plate-like mounting plate 38 extending radially inward from the lower end of the mounting plate 37. A plurality of (four in this embodiment) mounting holes 39 are formed in the mounting plate 38 at equal intervals in the circumferential direction. Each attachment hole 39 corresponds individually to a pin 30 of the sample container 13.

FIG. 6 shows the mounting hole 39 formed in the mounting plate 38.
FIG. This attachment hole 39 has a pair of insertion holes 40 and 41 and a locking hole 42 that connects these insertion holes 40 and 41. Insertion holes 40, 41
are formed at intervals in the circumferential direction of the jacket 12, and their inner diameter is larger than the outer diameter of the head 32 of the pin 30. The locking hole 42 has a width d3 larger than the outer diameter d1 of the shaft portion 31 of the pin 30 and a width d3 smaller than the outer diameter d2 of the head 32. The centers of the insertion holes 40, 41 and the axis of the locking hole 42 are on a common virtual circle centered on the axis of the jacket 12, and this virtual circle is the same as the above-mentioned virtual circle in which the pin 30 is arranged. has a radius.

With reference to FIG. 7, the support plate 28 of the sample container 13
is provided with elastic means 44, and this elastic means 44
The gripped member 45 is attached.

FIG. 8 is a perspective view of the elastic means 44 and the gripped member 45. Support plate 28 and another support plate 4
6, a plurality of (four in this embodiment) elastic bodies 47 are interposed at equal intervals in the circumferential direction. This elastic body 47 is rod-shaped and made of an elastic material such as rubber, and has a spring constant of, for example,
3210Kgf/cm, and both ends in the axial direction are fixed to support plates 28 and 46, respectively. Elastic body 4
The axis of the elastic means 7 is inclined so as to expand radially outward toward the support plate 46, and the elastic means 44 is arranged symmetrically with respect to the axis 48 in its natural state.
In this way, even relatively large errors in the horizontal and angular directions can be corrected when the sample container 13 is attached to the jacket 12 by means of the elastic means 44, and both attachments are ensured.

FIG. 9 is a sectional view of the vicinity of the gripped member 45. This gripped member 45 has a right cylindrical shaft portion 50.
, a truncated cone portion 51 , a large diameter portion 52 , and a truncated cone portion 5
3 and a shaft portion 54, the large diameter portion 52 protruding outward in the radial direction.

Referring again to FIG. 7 above, the working end 55 of the robot arm 17 has a pair of fingers 56, 57 shown in FIG. The fingers 56, 57 are displaced toward and away from each other by a driving means 58.

FIG. 10 is a perspective view of the finger 56. The finger 56 has a generally flat plate shape with an outer diameter, and the truncated cone portions 51 and 53 of the gripped member 45
A groove 58 corresponding to the large diameter portion 52 is formed. By tightly fitting the concave grooves 58 into the truncated conical portions 51 and 53 and the large diameter portion 52 of the gripped member 45, the gripped member 45 can be gripped by the fingers 56,
57, it is securely gripped and installed. As is clear from FIG. 9, the fingers 56 and 57 are
It has grooves 59 on the inner surfaces facing each other. The gripped member 45 includes a right cylindrical shaft portion 50 and a shaft portion 5.
A truncated cone portion 51 with a small diameter end connected to 0, and a truncated cone portion 5
A large-diameter portion 52 that is connected to the large-diameter end of 1 and protrudes outward in the radial direction, and a truncated conical portion 53 that is connected to the large-diameter end of the large-diameter portion 52 are coaxially connected in this order. Ru.

In the elastic means 44, the support plate 46 is connected to the shaft portion 50.
One end of the plurality of elongated elastic bodies 47 is fixed to the support plate 46, and the other end of the elastic bodies 47 is fixed to the support plate 28. The pin 30 is attached to the support plate 28
a right cylindrical shaft 31 erected on the surface opposite to the elastic body 47; a head 32 fixed to the free end of the shaft 31 and having a larger diameter than the shaft 31; has. The attachment 34 is fixed to the jacket 12 which is the object body, and the attachment 34 has a mounting plate 38 in which mounting holes 39 are formed, and a plurality of mounting holes 39 are formed corresponding to each pin 30 individually. be done. Each of the pair of insertion holes 40 and 41 of the attachment hole 39 has an inner diameter larger than the outer diameter of the head 32 of the pin 30, and the head 32 is inserted therethrough. Both ends of the locking hole 42 in the longitudinal axis direction are connected to each insertion hole 4.
Continues to 0,41. In this attachment 34, as clearly shown in FIG. 5, a storage space 60 is formed between the mounting plate 38 and the flange 36.
can be inserted and locked. This storage space 60 is formed on the opposite side of the mounting plate 38 from the elastic means 44 (that is, above the mounting plate 38 in FIG. 5).

In this embodiment, a working end 55 is attached to the arm 17, and a grasped member 45 is attached to the sample container 13 via an elastic body 47. In this way, since the elastic body 47 is present very close to the pin 30, the axis of the cylinder 23 and the cylinder 2 of the jacket 12 are
Even if there is an error in the horizontal and angular directions with respect to the axis of 2, and even if the error is relatively large,
It can be installed securely. This means that even when the cylinder 23 is relatively long in the axial direction, the elastic means 4
4, the above-mentioned functions are fully exhibited.

Further, in this embodiment, the arm 17 has a working end 55.
is attached to the working end 55, it is possible to prevent a reduction in the carrying capacity of objects moved by the working end 55.

Furthermore, in this embodiment, elastic means 4 are provided on the robot side, that is, on the working end 55 and the arm 17.
4 is not attached, the weight that can be carried by the working end 55 can be increased in work that does not require the elasticity of the elastic means 44.

Furthermore, in this embodiment, since the sample container 13 is supported by the elastic body 47, the weight supported by the elastic means 44 is relatively small, and therefore the arm 13 during handling
It is possible to suppress the motion blur of the sample container 13 during the acceleration/deceleration of 7.

The member to be grasped 45 is held by the working end 55 of the robot.
While holding the sample 24 in the sample container 13, insert the cylinder 2 from below the jacket 12.
The sample container 13 is raised while keeping the axes 3 and 22 aligned. In this way, the head 32 of the pin 30 fits into the insertion hole 40 of one of the attachment holes 39. In this state, the head 32 is brought to the position of the locking hole 42 by angularly displacing the working end 55 in the direction of arrow 60 in FIG. In this way, the sample container 13 is attached to the jacket 12. Jacket 1
To remove the sample container 13 from 2, the sample container 13 is angularly displaced by means of the working end 55 in the direction of arrow 60 in FIG. As a result, the head 32 of the pin 30 is displaced into the other insertion hole 41 within the space between the flanges 36 and 38. In this state, sample container 1
By displacing 3 downwards, this sample container 13 can be removed from the jacket 12.

Rotation direction 60 when attaching and detaching the sample container 13
corresponds to the direction in which the screws are tightened when the screws formed in the cylinder 22 of the jacket 12 and the screws 35 of the flange 36 are fastened together, and similarly, the screws 27 of the cylinder 23 of the sample container 13 correspond to the direction in which the screws are tightened. corresponds to the direction in which the screws are tightened when the cylinder portion 29 is fixed to the support plate 28. Therefore, the working end 55 of the robot
By angularly displacing the sample container 13 in one direction 60, it becomes possible to attach and detach it from the jacket 12, and there is no fear that the screwed state will loosen or come off. Moreover, if the sample container 13 were to be fastened to the jacket 12 with screws, there would be a risk of prying, but this embodiment eliminates that risk, and it can be attached and detached in a so-called one-touch manner with a small amount of angular displacement. . Furthermore, in this embodiment, the internal thread of the flange 36 is screwed into the external thread 7 formed in the cylinder 4 in the prior art described in relation to FIGS. It is convenient to be able to use the jacket 1 as is.

Effects As described above, according to the present invention, it becomes possible to automatically attach and detach using a robot or the like without causing any prying. Particularly, according to the present invention, a plurality of mounting holes 39 are formed in the mounting plate 38 of the attachment 34 fixed to the object body 12.
The pins 30 are individually inserted and locked and can be attached and detached, and the pins 30 are provided to the gripped member 45 via elastic means 44, and the gripped member 45 is attached to the arm 17 of the industrial robot 10. Since it is gripped by a pair of fingers 56 and 57 of a working end 55 provided at the top, an excellent effect is achieved in that attachment and detachment can be automatically performed by a robot. Further, the fingers 56 and 57 are displaced by the driving means 58 in the direction toward each other and the direction away from each other.
The gripped member 45 is gripped by grooves 59 formed on the mutually opposing inner surfaces of the grippers 7, thereby making it easy to attach and detach the gripped member 45 by the fingers 56 and 57.

Further, according to the present invention, each of the plurality of attachment holes 39 formed in the attachment 34 is formed by a pair of insertion holes 40 and 41 connected to both ends of the locking hole 42 in the longitudinal axis direction, Attachment 3
The screw 35 formed on the object body 12 is screwed together with the screw 35 formed on the object body 12, and both 34 and 12 are fixed.
0 from one insertion hole 40 to the locking hole 42 by angularly displacing the screw 35 in the fastening direction 60, and further angularly displacing the working end 55 in the fastening direction 60 to insert the pin 30 into the other one. Since it is removed from the hole 41, the attachment 34 and the object body 12 are removed.
The fastening with the screw 35 is reliable, and there is no fear that the fastened state will loosen or come off, and this is especially important when attempting to automate work using the industrial robot 10.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing the overall configuration of an embodiment of the present invention, FIG. 2 is a perspective view of a viscosity analyzer 11, and FIG.
4 is a perspective view of the jacket 12 seen from below, FIG. 5 is a sectional view of the vicinity of the bottom of the jacket 12, FIG. 6 is a bottom view of the insertion hole 39, and FIG. 7 is a sectional view of the sample container 13. 8 is a perspective view showing the elastic means 44 and the gripped member 45, FIG. 9 is a sectional view showing the gripped member 45, and FIG. 10 is a side view showing the sample container 13 and related structures. 56, FIGS. 11 and 12 are cross-sectional views showing the prior art. 10...Robot, 11...Viscosity analyzer, 12
... Jacket, 13 ... Sample container, 15,1
6, 17... Arm, 30... Pin, 31... Shaft, 32... Head, 39... Mounting hole, 40, 41
... Insertion hole, 42 ... Locking hole, 44 ... Elastic means, 45 ... Gripped member, 47 ... Elastic body, 55
...Working end, 56, 57...Finger.

Claims (1)

[Claims for Utility Model Registration] (a) An arm having a plurality of axes and provided with a working end 55 having a pair of fingers 56 and 57 that are displaced toward and away from each other by a driving means 58. 17, each finger 56,5
(b) a right cylindrical shaft portion 50; a first truncated conical portion 51 with a small diameter portion connected to the shaft portion 50; A large diameter portion 52 that is connected to the large diameter end of the first truncated cone portion 51 and protrudes outward in the radial direction, and a second truncated cone portion 53 whose large diameter end is connected to the large diameter portion 52 are coaxial in this order. a gripped means 45 formed in series with the fingers 56 and 57 and gripped by the grooves 59 of the fingers 56 and 57;
(c) an elastic means 44; (c1) a first support plate 46 fixed to the shaft portion 50;
(c2) another second support plate 28; (c3) one end fixed to the first support plate 46;
A plurality of elongated elastic bodies 47 whose other ends are fixed to the second support plate 28, are inclined so as to spread outward in the radial direction toward the first support plate 46, and are arranged at equal intervals in the circumferential direction. (c4) such elastic means 44 configured in a natural state symmetrically with respect to the axis 48; (d) a plurality of pins 30, each pin 30 being connected to the second support plate 28; a right cylindrical shaft portion 31 erected on the surface opposite to the elastic body 47;
Such a pin 30 is formed on a virtual circle at equal intervals in the circumferential direction, and has a head 32 that is fixed to the free end of the pin and has a larger diameter than the shaft portion 31.
and (e) an attachment 3 fixed to the object body 12.
4, this attachment 34 has a thin plate-like mounting plate 38 in which a plurality of mounting holes 39 are formed to correspond to the respective pins 30, and each mounting hole 39 is formed in the head. A pair of insertion holes 40, 41 having an inner diameter larger than the outer diameter of the pin 32 and into which the head 32 is inserted, and a width d3 connected to each of the insertion holes 40, 41 and larger than the outer diameter d1 of the shaft portion 31 of the pin 30. and a locking hole 42 having a width d3 smaller than the outer diameter d2 of the head 32, and both ends of the locking hole 42 in the longitudinal axis direction are connected to each insertion hole 4.
0, 41, the center of each insertion hole 40, 41 and the longitudinal axis of the locking hole 42 are on an imaginary circle having the same radius as the imaginary circle, and the attachment hole 39
On the opposite side of the mounting plate 38 from the elastic means 44, the pin 30 can be inserted and locked.
(f) the attachment 34 is fixed by screwing together a screw 35 formed on the attachment 34 and a screw formed on the object body 12; (g) Fit the pin 30 into one of the insertion holes 40 using the arm 17 of the industrial robot 10, angularly displace the working end 55 in the fastening direction 60 of the screw 35, and insert the pin 30 into the mounting hole 39. A working device using a robot characterized in that the pin 30 is attached and removed from the other insertion hole 41 by further angularly displacing the working end 55 in the fastening direction 60.