JPH0592389A - Robot manipulator - Google Patents

Abstract

PURPOSE:To reduce the number of signal lines to a manipulator. CONSTITUTION:Serial transmission from a control device 30 for a robot is transmitted through serial signal wires 25 and a connector 24, and serial signal wires and is converted into parallel transmission so as to control a solenoid valve 3 through an outlet signal cable 1, a connector 2 and an output signal cable 1b. Meanwhile, An output signal which is delivered from a sensor 32 in response to a motion of a hand part 8 is transmitted through an inlet signal cable, a connector 11, an inlet signal cable 10 and the converter 26 so that its parallel transmission is converted into a serial transmission, and is then delivered to a control device 30 through serial signal lines 25a, the connector 24 and the serial signal lines 25. Accordingly, the number of signal lines from the robot control device 30 to a manipulator 31 may be reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot manipulator, and more particularly, to improvement of wiring.

[0002]

2. Description of the Related Art FIG. 3 is a configuration diagram showing a configuration of a conventional robot manipulator (hereinafter referred to as a manipulator), and FIG. 4 is a wiring system diagram showing a wiring system of the manipulator. In the figure, reference numeral 1 denotes an output signal cable in the manipulator 31, one end of which is connected to the connector 2 of the manipulator 31 and the other end of which is similarly connected to the connector 2a. 1a is an output signal cable A for wiring between the manipulator 31 and the robot controller 30, and 1b is an output signal cable B for wiring between the manipulator 31 and the solenoid valve 3. Reference numeral 4 is an air pipe through which air passes. 6 is a joint for connecting the air piping 4, 7 is a curl hose that can freely expand and contract, 8 is a hand part having a grip part, and 9 is a hand part.
Is a hand claw that is a gripping part for gripping a work, and 10 is an input signal cable in the manipulator 31, one end of which is a connector 11
, And the other end is connected to the connector 11a. 12 is an input signal cable which is a curl cord that can be freely expanded and contracted to connect to a sensor 32 for detecting the opening / closing operation of the hand section 8.
Reference numerals A and 12b denote input signal cables B for wiring between the manipulator 31 and the robot controller 30, and one ends thereof are connected to the connector 11a. Reference numeral 14 is a motor that drives the hand portion 8 in the vertical direction, 15 is a drive motor that rotates the hand portion 8, 16 is a second arm that is articulated to the first arm, and 17 is the hand portion 8 that is joined. It is a flange.

Next, the operation will be described. Now, when the operator gives an ON command, an output signal for operating the manipulator 31 from the robot controller 30 is output by parallel transmission, and passes from the output signal cable A1a to the output signal cable 1 to the output signal cable 1 and further to the connector 2 Is transmitted in the order of the output signal cable B1b and reaches the solenoid valve 3. Air controlled by opening and closing the valve of the solenoid valve 3 passes through the air pipe 4 and the curl hose 7 through the joint 6 to supply the air to the hand portion 8 arranged at the tip of the second arm 16. Then, the hand nail 9 is opened and closed. Next, the sensor 32 sequentially operates according to the operation of the hand unit 8, and the sensor output signal generated from the sensor 32 is further transferred from the connector 11 to the input signal cable 10 through the input signal cable A12.
The input signal is transmitted in parallel from 11a to the robot controller 30 through the input signal cable B12b. Based on this transmitted sensor output signal, it is confirmed whether the manipulator 31 is operating normally.

[0004]

Conventional Manipulator
Since 31 is configured as above, the manipulator
There was a problem that the workability was poor due to the large number of 31 signal lines. Further, since the curl cord 12 is connected and wired, there is a problem that the insulation is easily deteriorated by mechanical contact.

The present invention is intended to solve the above problems and to provide a robot manipulator that reduces the signal lines to the manipulator and prevents the mechanical contact of the curl cord.

[0006]

A robot manipulator according to a first aspect of the present invention is a robot manipulator which includes a hand unit having a gripping unit, and which grips and transfers a workpiece based on a command signal. A serial signal transmission means for transmitting an output serial signal, and a signal conversion means arranged near the hand portion of the manipulator for converting the signal transmitted by the serial signal transmission means into parallel transmission. ..

A robot manipulator according to a second aspect of the present invention includes a second arm jointly connected to the first arm,
A hand portion having a workpiece gripping portion disposed at a tip end portion of the second arm, the hand portion having an electromagnetic valve for controlling air for operating the gripping portion, and the second arm It includes an air pipe leading to the solenoid valve and a hollow pipe through which control wiring for the solenoid valve is passed.

[0008]

The serial signal transmission means in the first aspect of the invention serially transmits signals input to and output from the manipulator of the robot,
The signal converting means serves to convert the serially transmitted input / output signal into parallel transmission.

In the hollow pipe according to the second aspect of the present invention, the hand portion passes through an air pipe leading to an electromagnetic valve for controlling the air for operating the grip portion and a control wiring for the electromagnetic valve.

【Example】

Example 1. FIG. 1 is a configuration diagram showing a configuration of a manipulator according to an embodiment of the present invention, and FIG. 2 is a wiring system diagram showing a wiring system of the manipulator. In the figure, the same reference numerals as those in the prior art indicate the same or corresponding portions. .. Reference numeral 24 is an input / output repeater for transmitting / receiving an input / output signal serially transmitted from the robot controller 30, and 24a is a mounting plate for fixing the input / output repeater 24. Reference numeral 25 is a serial signal line that is a serial signal transmission means for transmitting and receiving the output signal transmitted in series from the robot controller 30, and 25a is provided in the manipulator 31 that performs the same function as the serial signal line 25. The serial signal lines A and 26 are converters that are signal converting means for converting serially input / output signals into parallel transmission signals, and are attached to the flange 37. Reference numeral 35 denotes a hollow pipe that penetrates the second arm 16 and is fixed to the flange 37. From the other end of the hollow pipe 35, the air pipe 4
And through the serial signal line A25a. Reference numeral 37 is a flange for connecting the hand portion 8 and fixing the solenoid valve 3, the connector 11 and the converter 26.

Next, the operation will be described. Now, when the operator gives an ON command, an output signal for operating the manipulator 31 is serially transmitted from the robot controller 30 and passed through the serial signal line 25 and the serial signal line through the input / output repeater 24.
The output signal is transmitted to the converter 26 through A25a. converter
After being converted in 26, the parallel output signal is transmitted in the order of output signal cable B1b via output signal line 1 and connector 2, and the air controlled by solenoid valve 3 is aired through joint 6. The hand portion 8 arranged at the tip of the second arm 16 through the air pipe 4 and the air pipe 4 in the hollow pipe 35.
The hand nail 9 is opened and closed by supplying air to. Next, the sensor 32 sequentially operates in accordance with the operation of the hand unit 8 and the sensor output signal generated from the sensor 32 is converted by the converter 26 through the input signal cable A12 through the connector 11 and the input signal cable 10 by parallel transmission. After that, it is transmitted by serial transmission and is serially transmitted to the robot controller 30 by the serial signal line 25 through the connector 24 and the serial signal line A25a. Based on this transmitted sensor output signal, it is confirmed whether the manipulator 31 is operating normally.

[0011]

According to the first aspect of the present invention, the converter for converting the signal transmitted by the serial signal transmission line into the parallel transmission is provided in the vicinity of the hand portion by the serial signal line for transmitting the serial signal input to and output from the manipulator. Therefore, there is an effect that a signal line for input and output can be reduced.

In the second invention, the hand portion has an electromagnetic valve for controlling air, and the second arm includes a hollow pipe through which an air pipe leading to the electromagnetic valve and a wiring for controlling the electromagnetic valve are passed. Therefore, there is an effect that a curl hose is unnecessary.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a configuration of a manipulator according to an embodiment of the present invention.

FIG. 2 is a wiring system diagram showing wiring of a manipulator according to an embodiment of the present invention.

FIG. 3 is a configuration diagram showing a configuration of a conventional manipulator.

FIG. 4 is a wiring system diagram showing wiring of a conventional manipulator.

[Explanation of symbols]

 3 Solenoid valve 4 Air piping 8 Hand part 9 Gripping part 25 Series transmission means 35 Hollow pipe

Claims (2)

[Claims] 1. A manipulator of a robot, comprising a hand part having a grip part, for gripping and transferring a work on the basis of a command signal, a serial signal transmitting means for transmitting a serial signal input to and output from the manipulator, and the manipulator. A manipulator for a robot, comprising: a signal conversion unit arranged near the hand unit for converting a signal transmitted by the serial signal transmission unit into parallel transmission. 2. A second arm, which is articulated to the first arm, and a hand portion, which is disposed at a tip end portion of the second arm and has a work gripping portion, wherein the hand portion is the gripping portion. A robot having an electromagnetic valve for controlling the air for operating the parts, wherein the second arm includes an air pipe leading to the electromagnetic valve and a hollow pipe through which the wiring for controlling the electromagnetic valve is passed. Manipulator.