JPH059889U - Floating unit for industrial robots - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a floating unit of an industrial robot in which the pressing force of a rod can be easily adjusted. [Configuration] Unit body 2 of floating unit 1
A rod 10 having a magnet 14 and a guide rod 11,
11 are slidably provided, the ends thereof are attached to the mounting plate 3, and the adjusting screw 17 allows the urging force of the spring 16 contracted in the cylinder hole 5 of the rod 11 to be adjusted. Switch 7 is attached to 7 for outputting a stop signal to the robot when the magnet 14 approaches. [Effect] By adjusting the biasing force of the spring with the adjusting screw, the pressing force of the rod can be easily adjusted.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a floating unit mounted on an industrial robot.

[0002]

[Prior Art]

 In an industrial robot, if the robot overshoots or the work installation position shifts for some reason, the robot may collide with the work and damage the tools attached to the robot or the work to be handled. , A floating unit is installed to detect abnormalities in the robot itself and the workpiece. A known floating unit is a unit body attached to a tool adapter of an industrial robot, an attachment plate to which a tool is attached, a rod having one end attached to the attachment plate and sliding in a cylinder hole of the unit body, and this rod. Is provided with a spring for urging the mounting plate side, and a switch for outputting a signal when the magnet mounted on the unit body approaches the magnet provided on the rod.

However, in the above-mentioned known floating unit, the pressing force of the rod is uniquely determined by the urging force of the spring contracted in the cylinder hole. Therefore, in order to adjust the pressing force of the rod each time. Since the spring must be replaced, adjusting the pressing force of the rod is troublesome.

[0004]

[Problems to be solved by the device]

 The problem to be solved by the present invention is to provide a floating unit for an industrial robot in which the pressing force of the rod can be easily adjusted.

[0005]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, the present invention provides a floating unit of an industrial robot, comprising a unit body attached to a tool adapter of an industrial robot and a mounting plate to which a tool is attached. A cylinder hole, a guide hole, and a switch mounting part that are approximately parallel to the tool adapter moving direction, and a position sensor on the base end side that is slidably inserted into the cylinder hole, and the tip is fixed to the mounting plate. A rod, a guide rod that is slidably inserted in the guide hole and has its tip fixed to the mounting plate, a spring that biases the rod toward the mounting plate, and an adjustment screw that adjusts the biasing force of this spring. And a switch that outputs a signal when the position sensor approaches, is mounted on the switch mounting portion.

[0006]

[Action]

 When a large force is applied to the tool due to overshoot of the robot or displacement of the work, the rod that moves integrally with the mounting plate slides against the urging force of the spring, and the position sensor provided on this rod switches. The switch outputs a stop signal to the robot as it approaches. In this case, since the urging force of the spring can be adjusted by the adjusting screw, the pressing force of the rod can be easily adjusted and can be adjusted in a wide range. Further, the mounting plate moves by being guided by the rod and the guide rod which are substantially parallel to each other, so that the mounting plate moves smoothly, has a small friction, and does not rattle.

[0007]

【Example】

 1 to 3 show an embodiment of the present invention, in which the floating unit 1 comprises a unit body 2 and a mounting plate 3 and is assembled between a tool adapter and a tool of an industrial robot described later. The unit body 2 is provided with a cylinder hole 5, guide holes 6 and 6 and switch mounting portions 7 and 7 (see FIG. 3) opened in a direction parallel to the moving direction of the tool adapter. The rod 10 and the guide rods 11 and 11 are slidably inserted into the bushes 8 and the guide bushes 9 and 9 which are fitted to the rods 6 and 6, and the mounting plate is attached to the tips of these rods protruding from the unit body 2. 3 are attached with bolts 12 ...

The rod 10 has a magnet 14 as an example of a position sensor on the outer peripheral surface on the base end side, and a spring 16 contracted between a spring bearing 15 inserted in the cylinder hole 5 so as to be able to move forward and backward. , Is urged in a direction projecting from the unit body 2. The adjusting screw 17 for adjusting the urging force of the spring 16 has a screw portion at the tip screwed to the spring receiver 15, an intermediate flange portion abuts the bottom surface of the cylinder hole 5, and a knob portion has a unit main body 2 Since the spring receiver 15 is moved forward and backward by the rotation of the adjusting screw 17 by the knob portion, the biasing force of the spring 16, that is, the pressing force of the rod 10 can be adjusted. The switches 18, 18 mounted on the switch mounting portions 7, 7 are configured to output a stop signal to the industrial robot when the magnet 14 approaches.

An industrial robot 20 schematically shown in FIG. 4 includes a hand side unit 23 having a grip portion 22 of a robot hand 21, a tool adapter 24 to which the unit body 2 of the floating unit 1 is attached, and an attachment plate 3 attached. A tool (an air chuck in the illustrated example) 25 attached to the holes 3a, ... (Refer to FIG. 2) is provided, and the tool adapter 24 is operated by the compressed air supplied and discharged from the operation air tube 27. It is attached to or detached from the hand side unit 23 by (not shown). On the other hand, compressed air is supplied to the tool 25 by the operating air pipes 28a and 28b, and the operating air pipes 28a and 28b and the signal lines 29 of the switches 18 and 18 are connected to the tool adapter 24 to the hand side unit 23. Connected individually by mounting.

The industrial robot 20 to which the floating unit 1 is assembled is operated by a large force acting on the tool 25 due to overshoot of the robot 20 or displacement of a work (not shown). The attached mounting plate 3 moves upward in the drawing against the urging force of the spring 16, and the magnet 14 provided on the rod 10 approaches the switches 18 and 18, so that the switches 18 and 18 output signals. The robot 20 is stopped by this, and damage to the tool 25 and the work is prevented. In this case, the pressing force of the rod 10 varies depending on the tool to be used and the work to be handled, but in the above embodiment, the biasing force of the spring 16, in other words, the rod 10 due to the forward / backward movement of the spring receiver 15 caused by the rotation of the adjusting screw 17. The pressing force can be adjusted appropriately according to the tool used and the workpiece to be handled. Further, since the mounting plate 3 is moved by being guided by the guide rods 11 and 11 and the guide bushes 9 and 9 provided on both sides of the rod 10, the movement is smooth, the friction is small, and there is no rattling. If necessary, the spring can be replaced with another spring having a different biasing force, and then the biasing force can be adjusted by the adjusting screw 17.

[0011]

[Effect of the device]

 Since the floating unit of the present invention can adjust the pressing force of the rod with the adjusting screw, not only can the pressing force of the rod be made appropriate for the tool used and the workpiece to be handled, but also its operation is easy. Is. Also, since the mounting plate is guided by the guide rod, its movement is smooth, friction is small, and it does not rattle.

[Brief description of drawings]

FIG. 1 is a vertical sectional front view of an embodiment.

FIG. 2 is a rear view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is a front view attached to an industrial robot.

[Explanation of symbols]

1 floating unit, 2 unit body,
3 Mounting plate, 5 Cylinder hole, 6 Guide hole, 7
Switch mounting part, 10 rod, 11 guide rod, 14 magnet, 16 spring, 17 adjusting screw, 18 switch, 20 industrial robot, 24
Tool adapter, 25 tools.

Continued Front Page (72) Inventor Shigeo Ueno 4-2-2 Kinnodai, Taniwahara-mura, Tsukuba-gun, Ibaraki SMC Tsukuba Technology Center

Claims (1)

[Claims for utility model registration] 1. A floating unit of an industrial robot, comprising: a unit main body attached to a tool adapter of the industrial robot; and a mounting plate to which a tool is attached. A cylinder hole, guide hole and switch mounting part that are approximately parallel to the tool adapter movement direction,
A rod slidably inserted into the cylinder hole and having a position sensor on the proximal end side, and a tip fixed to the mounting plate, and a guide rod slidably inserted into the guide hole and fixed to the mounting plate. And a spring for urging the rod toward the mounting plate, and an adjusting screw for adjusting the urging force of the spring.A switch that outputs a signal when the position sensor approaches is mounted on the switch mounting portion. Floating unit for industrial robot characterized by