JPH059891U - 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 mounting plate of a tool can be easily adjusted. [Configuration] Unit body 2 of floating unit 1
, A slider 8 guided by the guide mechanism 9, 9 and a plunger 19, 19 having a magnet 20 are slidably provided, the mounting plate 3 is attached to the tip of the slider 8, and the spring hole 17
The urging force of the spring 22 that is contracted to the position can be adjusted by the adjusting screw 23, and switches 25 and 25 that output a stop signal to the robot when the magnets 20 and 20 approach each other are attached to the switch mounting portions 18 and 18. [Effect] By adjusting the biasing force of the spring with the adjusting screw, the pressing force of the mounting plate 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, since the pressing force of the rod, in other words, the pressing force of the mounting plate is uniquely determined by the urging force of the spring contracted in the cylinder hole, the pressing force of the mounting plate is reduced. In order to adjust the pressure, the spring must be replaced each time, so 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 a mounting plate 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. Guide mechanism, spring hole and switch mounting part that are approximately parallel to the tool adapter movement direction, slider that is slidably guided by the guide mechanism and the above mounting plate is mounted on the tip, and slides in the spring hole. The switch is equipped with a plunger that is inserted and has a position sensor on the base end side, a spring that is contracted in a spring hole to bring the tip of the plunger into contact with a mounting plate, and an adjusting screw that adjusts the urging force of the spring. It is characterized in that a switch that outputs a signal when the position sensor approaches is mounted on the mounting portion.

[0006]

[Action]

 When a large force acts on the tool due to robot overshoot or work position displacement, the plunger whose tip abuts the mounting plate slides against the biasing force of the spring, and the position sensor provided on this plunger switches the switch. The switch outputs a stop signal to the robot as it approaches. In this case, since the biasing force of the spring can be adjusted by the adjusting screw, the pressing force of the plunger, in other words, the pressing force of the mounting plate, can be easily adjusted and can be adjusted in a wide range. Further, since the slider having the mounting plate attached thereto slides under the guidance of the guide mechanism, the movement is smooth, the friction is small, and there is no rattling.

[0007]

【Example】

 1 to 4 show an embodiment of the present invention, in which a 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 includes a body 5, a cover 6 attached to one side surface of the body 5, and an end plate 7 that covers one end of these bodies in the axial direction. The guide mechanism 9, 9 is formed in the recess 5 a of the body 5. The guides 10, 10 and the slider 8 guided by the guide mechanism 9, 9 are installed, and the mounting plate 3 is mounted on the tip of the slider 8 protruding from the body 5 by the mounting bolts 11, 11 (only one is shown). Has been.

The slider 8 and the guides 10, 10 have guide grooves, which are substantially parallel to the moving direction of the slider 8, on their mutually opposing surfaces, and a rolling member 12 made of a roller or a ball is provided between these guide grooves. , ... are rotatably inserted, and these rolling members 12, ... Are attached to the end plate 7 side of the slider 8 and the holding plate 13 attached to the mounting plate 3 side of the guides 10, 10.・ ・ Prevents slipping out of the guide groove. Further, the slider 8 and the guides 10, 10 are pressed against one side surface of the recess 5a by a cap screw 14, which is screwed to the body 5, and in this state, the guides 10, 10 are tightened by bolts 15 ,. It is fixed to the body 5. The body 5 and the cover 6 are provided with spring holes 17 and 17 which are substantially parallel to the moving direction of the slider 8 in a direction substantially orthogonal to these contact surfaces, and the spring holes 17 and 17 in the body 5 are provided near the spring holes 17 and 17, respectively. Switch mounting portions 18, 18 are formed substantially parallel to. The plunger 19 slidably inserted in each spring hole 17 has a magnet 20 as an example of a position sensor at its base end, and is contracted between the plunger 19 and a spring receiver 21 inserted in the spring hole 17 so as to be able to move forward and backward. The tip end is in contact with the mounting plate 3 by the biasing force of the spring 22.

The adjusting screw 23 for adjusting the urging force of the spring 22 has a screw portion at the tip screwed to the spring receiver 21, and an intermediate flange portion abuts on the bottom wall of the end plate 7 on the side of the spring hole. The knob portion is located in the hole 7a of the end plate 7, and the biasing force of the spring 22, that is, the pressing force of the mounting plate 3 can be adjusted by moving the spring receiver 21 forward and backward by the rotation of the knob portion. it can. In this case, since the radial protrusions 21a of the spring bearings 21 are loosely fitted in the slits 17a of the spring holes 17, the spring bearings 21 do not rotate. Further, the switches 25, 25 (see FIG. 3) mounted on the switch mounting portions 18, 18 are configured to output a stop signal to the above industrial robot when the magnets 20, 20 approach. Reference numeral 26 in FIG. 1 is a stopper of the slider 8.

The industrial robot 30 schematically shown in FIG. 5 includes a hand side unit 33 having a grip portion 32 of a robot hand 31, a tool adapter 34 to which the unit body 2 of the floating unit 1 is attached, and an attachment plate 3. Tool (an air chuck in the illustrated example) 35, and the tool adapter 34 is attached to and detached from the hand-side unit 33 by a gripping mechanism (not shown) that operates with compressed air supplied and discharged from the operating air tube 37. To be done. On the other hand, compressed air is supplied to the tool 35 by operating air pipes 38a and 38b, and the operating air pipes 38a and 38b and the signal lines 39 of the switches 25 and 25 are attached to the hand side unit 33 by attaching the tool adapter 34. Are connected respectively.

In the industrial robot 30 with the floating unit 1 assembled, when a large force acts on the tool 35 due to overshoot of the robot 30 or displacement of a work (not shown), the tool 35 is The attached mounting plate 3 moves upward in the figure against the biasing force of the springs 22 and 22, and the magnets 20 and 20 provided on the plungers 19 and 19 approach the switches 25 and 25. A signal is output to stop the robot 30, which prevents damage to the tool 35 and the work. In this case, the pressing force of the mounting plate 3 varies depending on the tool to be used and the work to be handled, but in the above-described embodiment, the springs 21 and 21 are moved forward and backward by the rotation of the adjusting screws 23 and 23 to move the springs 22 and 22. The urging force, in other words, the pressing force of the mounting plate 3 or the plungers 19, 19 can be adjusted to an appropriate one according to the tool to be used and the workpiece to be handled. Further, since the slider 8 to which the mounting plate 3 is attached is guided by the guide mechanisms 9 and 9, the movement thereof is smooth, the friction is small, and there is no rattling. Further, since the mounting plate 3 is pressed by the two springs 22, 22, the pressing force of the mounting plate 3 is averaged and is not biased. If necessary, the spring may be replaced with another spring having a different biasing force, and then the biasing force may be adjusted with the adjusting screws 23, 23.

[0012]

[Effect of the device]

 Since the floating unit of the present invention can adjust the pressing force of the mounting plate with the adjusting screw, not only can the pressing force of the mounting plate be made suitable for the tool used and the workpiece to be handled, but also its operation. Is easy. Also, since the mounting plate is mounted on the slider guided by the guide mechanism, 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 vertical sectional front view of a main part.

3 is a cross-sectional view taken along the line AA of FIG.

FIG. 4 is a sectional view taken along line BB in FIG.

FIG. 5 is a front view attached to an industrial robot.

[Explanation of symbols]

1 floating unit, 2 unit body,
3 Mounting plate, 8 Slider, 9 Guide mechanism, 17
Spring hole, 18 Switch mounting part, 19 Plunger, 20 Magnet, 22 Spring, 23 Adjustment screw, 25 Switch, 30 Industrial robot, 34
Tool adapter, 35 tools.

 ─────────────────────────────────────────────────── ─── Continuation of the 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 guide mechanism, a spring hole and a switch mounting part that are substantially parallel to the moving direction of the tool adapter, a slider that is slidably guided by the guide mechanism and the above mounting plate is mounted on the slider, and a slidable insertion into the spring hole. A switch having a position sensor on the base end side, a spring contracted in a spring hole to bring the tip of the plunger into contact with a mounting plate, and an adjusting screw for adjusting the biasing force of the spring. A switch for outputting a signal when the position sensor approaches is attached to the section of the industrial robot frame. Computing unit.