JPH0445828Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field The present invention relates to industrial robots, and in particular, to a teaching playback type industrial robot whose arm is driven by a hydraulic actuator, it is possible to switch between a teaching mode and a playback mode. This invention relates to an industrial robot that can be operated manually.

In a teaching playback type industrial robot whose arm is driven by a hydraulic actuator, so-called teaching is required before the robot is made to perform a predetermined work. During this teaching, it is necessary to communicate the forward and reverse sides of the cylinder of the actuator to reduce the load required for arm operation.

During playback, it is necessary to disconnect the forward and reverse sides of the cylinder so that hydraulic pressure can act on the cylinder.

BACKGROUND ART Conventionally, in order to drive an actuator in the forward direction and in the reverse direction, a valve that is opened and closed by an air cylinder is provided in the middle of a flow path that bypasses a flow path that supplies pressure oil.

Problems that the invention aims to solve: For this reason, compressed air is required to operate the valve, and if the supply of compressed air is cut off for some reason, it is not possible to switch between teaching and playback modes. First, there was the problem that industrial robots could not be operated.

Another problem was that conventional industrial robots could not be used in areas without a compressed air source.
Therefore, conventional industrial robots require equipment for obtaining compressed air, resulting in high costs.

Means for Solving the Problems In order to achieve the above object, the present invention bypasses the flow path that supplies pressure oil to the hydraulic actuator provided on the arm in order to drive the actuator in the forward and reverse directions, respectively. In an industrial robot that is provided with a bypass valve device in the middle of a flow path to be bypassed, the bypass valve device is connected to two connection ports connected to the bypass flow path, and two connection ports extending from the two connection ports. a manifold having a flow path and a fluid chamber formed between ends of the two flow paths; a spool that is movable in the axial direction between a valve open position that communicates the flow path; a spring that is provided on the manifold and biases the spool in the axial direction; one end that contacts the spool and the other end that a rod movably provided within the manifold with the handle protruding outside the manifold; a handle provided at the other end of the rod; a first stopper that locks the handle to restrict the spool to the valve position; and a second stopper that is attached to the manifold and locks the handle to restrict the spool to the valve open position. By moving the handle in the axial direction of the rod, the spool is moved to the valve closing position or the valve opening position, and by rotating the handle, the handle is moved to the first stopper or the valve opening position. It is configured to be locked to a second stopper.

Operation By pushing or pulling the handle, it is possible to move the spool into the open and closed positions.

The handle can be locked to the first and second stoppers by simply rotating it, for example, 90 degrees.

The spring stabilizes the engagement of the handle with the first and second stoppers.

The handle also eliminates the need for compressed air, which was previously required.

Example An embodiment of the present invention will be described below.

FIG. 1 is a diagram showing the industrial robot of the present invention together with its hydraulic system.

In the figure, 1 is an industrial robot body for painting, 2 is an arm, 3 is a painting gun, and 4 and 5 are actuators.

6 is a hydraulic power source, 7 is a servo switching valve, and 8 is a bypass valve device which is a main part of the present invention.

The bypass valve device 8 is connected to a branch pipe 11 of a pipe 10A connected to the forward movement side 9A of the cylinder 9 of the actuator 4 and a branch pipe 12 of the pipe 10B connected to the return movement side 9B of the cylinder 9. It is located in the middle of.

The pipes 10A and 10B constitute a flow path for supplying pressure oil to drive the actuator 4 in the forward direction and in the reverse direction, respectively. Branch pipes 11 and 12 constitute a flow path that bypasses the above flow path.

2 to 5 show the bypass valve device 8. FIG.
2 to 4 show the valve closed state, and FIG. 5 shows the valve open state. As will be described later, the on-off valve is configured to be manually operated, and the bypass valve device 8 does not require a compressed air source.

In FIG. 2, 13 is a valve body, and 14 is a spool, which constitute a valve 15. Valve 15 is incorporated within manifold 16.

Reference numeral 17 denotes a rod, which is sealed within the manifold 16 by a packing 18 and is slidably provided in the directions of arrows X ₁ and X ₂ .

The left end of the rod 17 is in contact with the right end of the spool 14, and the right end of the rod 17 is in contact with the manifold 16.
It protrudes outward, and an I-shaped handle 19 is formed here as a gripping portion.

A stopper 20 for locking the handle 19 is attached to the manifold 16 and consists of a first stopper 21 and a second stopper 22.

23 is a coil spring, which is provided between the spool 14 and the cap screw 24;
is biased in _{the two} directions of arrow X.

Further, a fluid chamber 30 is formed within the manifold 16, and the spool 14 is inserted here as shown by the arrow in FIG.
It is movable in the X ₁ and X ₂ directions. As shown in FIG. 2, this spool 14 has a valve closing position S that blocks flow paths 31A and 31B formed in the manifold 16 and connected to the fluid chamber 30, and is displaced from this position in the direction of arrow _X2 . Then, as shown in FIG. 5, the valve is set to the open position O, which allows the flow paths 31A and 31B to communicate with each other.

Next, the structure inside the manifold 16 other than the above will be explained.

The flow path 31A is connected to the piping 11 to the cylinder 9 via the connection port 32A,
Piping 33 to the servo switching valve 7 via a connection port 32B communicated through the end of the fluid chamber 30
Connected to A. On the other hand, the flow path 31B is
Piping 1 to the cylinder 9 via the connection port 32C
2, and is also connected to a pipe 33B to the servo switching valve 7 via a connection port 32D.

The spring 23 is housed in a fluid chamber 34,
A flow path 35 connected to the fluid chamber 34 is connected to a hydraulic power source 6.
The connection port 3 is connected to the pipe 36B connected to the tank side (open side) of the tank via the connection port 37A, and the connection port 3 is connected to the pipe 38B connected to the servo switching 7 through the connection port 37A.
It is connected via 7B.

Furthermore, a flow path 39 is connected to the fluid chamber 30, and the flow path 39 is connected to a connection port 4A to a pipe 36A connected to the pump side (pressure side) of the hydraulic power source 6.
0A, and is also connected to a pipe 38A connected to the servo switching valve 7 via a connection port 40B.

Regarding other actuators 5 and the like, a bypass valve device 8 is provided in the same manner as described above.

Next, the operations of the industrial robot having the above configuration during teaching and playback will be explained.

◎ During teaching Before teaching, the operator first stops the hydraulic power source 6, then grasps the handle 19 and turns it 90 degrees in the direction of arrow A in Fig. 4 so that it is oriented vertically as shown by the two-dot chain line. , remove the handle 19 from _the first stopper 21, pull the handle 19 in the direction of arrow 22.

By performing the above handle operation, the rod 17 moves in the direction of arrow X ₂ , and following this _, the spool 14 moves in the direction of arrow .

Thereby, the bypass valve device 8 becomes as shown in FIG. That is, although the rod 17 is biased in the direction of arrow _X2 by the spring 23, the handle 19 is
It is locked by the stopper 22 and its position is regulated. The spool 14 is biased in the direction of arrow _X2 by the spring 23, and its right end is engaged with the tip of the rod 17, so that it is held at the valve open position O, and the valve 15 is opened and maintained in that state.

When the valve 15 opens, the flow path 31A and the flow path 31B
The forward side 9 of the cylinder 9 forms a series of passages.
A and the reciprocating side 9B are communicated, fluid resistance when moving the piston 41 from the outside is reduced, and the piston 41 is in a state where it can easily move forward and backward.

As a result, teaching, which is performed by the operator while moving the arm 2 by holding the handle 42 at the tip of the arm 2, is performed under a light load state.

◎ During playback When teaching is finished and you want to move the industrial robot, first grasp the handle 19 and operate it in the reverse order as described above. That is, turn the handle 19 90 degrees to make it vertical, remove it from the second stopper 22, and
Push it in against the spring 23 in the _X1 direction, turn it 90 degrees, and lock it with the first stopper 21. Handle 1
9 is held in this locked state.

By this handle operation, the spool 14 is pushed by the rod 17 and moves toward the arrow X ₁ against the spring 23.
2, the valve 15 is closed and maintained in this position.

As a result, the flow paths 31A and 31B are cut off, and the continuity between the forward side 9A and the backward side 9B of the cylinder 9 is cut off.

Next, when the hydraulic power source 6 is activated, the pressure oil supplied from the hydraulic power source 6 is sent to the servo switching valve 7 via the flow path 38.
By switching, the cylinder 9 is sent to either the forward side 9A or backward side 9B, and the robot arm 2 operates to perform a predetermined playback operation. Further, the oil removed from the cylinder 9 is returned to the tank of the hydraulic power source 6 via the flow path 35.

Note that the valve 15 is not limited to the spool valve as in the above embodiment, but may be a valve of other structure.

Further, the actuator used in the robot is not limited to the reciprocating type as in the above embodiment, but may be a rotary type.

Effects of the invention As is clear from the above explanation, the invention has the following features.

The compressed air source and air piping that were conventionally required for switching between teaching and playback can be eliminated, reducing costs, and even when the compressed air supply is cut off.
It can also be used in locations without a compressed air source.

Moving the spool to the open and closed positions and holding it there requires a series of operations such as pushing and turning the handle, and is easy to operate.

Due to the action of the spring, the handle can be stably held at the position where it is stopped by the first and second stoppers,
As a result, the spool can be stably held in the closed or opened position.

The risk of explosion disaster can be completely eliminated.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an industrial robot according to an embodiment of the present invention together with its hydraulic system, FIG. 2 is a longitudinal sectional front view showing the state of the bypass valve device in FIG. 1 in playback mode, and FIG. The figure is the bottom view,
FIG. 4 is a side view thereof, and FIG. 5 is a longitudinal sectional front view showing the bypass valve device in a teaching mode. 1... Industrial robot body, 2... Arm,
4, 5...actuator, 6...hydraulic source, 7...
...Servo switching valve, 8...Bypass valve device, 9...
Cylinder, 9A...Forward side, 9B...Backward side, 1
0A, 10B... Piping, 11, 12... Branch piping, 13... Valve body, 14... Spool, 15
... Valve, 16... Manifold, 17... Rod, 19... Handle, 20... Stopper, 21
...first stopper, 22...second stopper,
23...Coil spring, 24...Cap screw, 4
1... Piston.

Claims (1)

[Scope of Claim for Utility Model Registration] A bypass valve device is provided in the middle of a flow path that bypasses a flow path that supplies pressure oil to the actuator in order to drive the hydraulic actuator provided on the arm in the forward and reverse directions, respectively. In an industrial robot, the bypass valve device is connected to two connection ports connected to the bypass flow path, two flow paths extending from the two connection ports, and the ends of the two flow paths. a manifold having a fluid chamber formed between the manifold; and a valve provided within the fluid chamber of the manifold between a closed position for blocking the two flow paths and an open position for communicating the two flow paths. a spool that is movable in the axial direction; a spring that is provided on the manifold and urges the spool in the axial direction; A rod movably provided within the manifold, a handle provided at the other end of the rod, and a handle attached to the manifold that engages the handle to regulate the spool to the closed position. a first stopper for stopping the handle, and a second stopper attached to the manifold for stopping the handle in order to restrict the spool to the open position, and a second stopper for stopping the handle in the axial direction of the rod. By moving the spool, the spool is moved to the valve closing position or the valve opening position, and by rotating the handle, the handle is locked to the first stopper or the second stopper. industrial robot.