JPH059892U - 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 can be easily adjusted. [Configuration] Unit body 2 of floating unit 1
And a slider 9 guided by the guide mechanisms 10 and 10,
Plungers 19 and 19 having magnets 20 are provided slidably, a mounting plate 3 is attached to the tip of the slider 9, and pressure adjusting screws 24 are attached to the cylinder holes 17 and 17 of the plungers 19 and 19.
The pressure fluid is supplied from the pressure reducing valve 7 capable of continuously adjusting the output fluid pressure by. Also, the switch mounting portions 18, 18
Then, switches 21 and 21 for outputting a stop signal to the robot 30 when the magnets 20 and 20 approach each other are attached. [Effect] By adjusting the fluid pressure in the cylinder hole steplessly by the pressure 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, the pressing force of the rod, in other words, the pressing force of the mounting plate mounted on the rod is uniquely determined by the urging force of the spring compressed in the cylinder hole. In order to adjust the pressing force of the plate, 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 problems, the present invention provides a floating industrial robot that includes a unit body that is attached to a tool adapter of an industrial robot and a mounting plate to which the tool is attached. In the unit, the unit body is slidably guided by the guide mechanism, the cylinder hole and the switch mounting portion, which are substantially parallel to the moving direction of the tool adapter, and the guide mechanism, and the mounting plate is mounted on the tip. A slider, a plunger slidably inserted into the cylinder hole and having a position sensor on the base end side, and a pressure fluid adjusting means for the output pressure to supply pressure fluid to the cylinder hole to attach the tip of the plunger to the mounting plate. And a pressure reducing valve to be brought into contact with, and a switch that outputs a signal when the position sensor is brought into contact with is attached to the switch mounting portion. That.

[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 fluid pressure of the fluid supplied to the cylinder hole can be continuously adjusted by the pressure adjusting means provided in the pressure reducing valve, the pressing force of the mounting plate can be adjusted very easily. 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, a pressure reducing valve 7 and an end plate 8 that cover one end of the body 5 in the axial direction, and the slider 9 and the slider 9 are provided in the recess 5 a of the body 5. The guide mechanisms 10, 10 and the guides 11, 11 constituting the guide mechanism 10, are installed, and the mounting plate 3 is mounted on the tip of the slider 9 protruding from the body 5 by the mounting bolts 12 ,. ing.

The slider 9 and the guides 11, 11 have guide grooves on the surfaces facing each other substantially parallel to the moving direction of the slider 9, and between these guide grooves, a rolling member made of a roller or a ball. , 13 are inserted rotatably, and these rolling members 13, ... Are attached to the pressure reducing valve 7 side of the slider 9 and the mounting plate 3 side of the guides 11 and 11 by means of the presser plate 14. , ・ ・ Prevents slipping out of the guide groove. Further, the slider 9 and the guides 11, 11 are pressed against one side surface of the recess 5a by the captive screws 15, ... That are screwed to the body 5, and in this state, the guides 11, 11 are bolts 16 ,. It is fixed to the body 5 by. The body 5 and the cover 6 are provided with cylinder holes 17 and 17 which are substantially parallel to the moving direction of the slider 9 in a direction substantially orthogonal to the abutting surfaces thereof. Switch mounting portions 18, 18 are formed substantially in parallel with the. The plunger 19 slidably inserted into each cylinder hole 17 has a magnet 20 which is an example of a position sensor attached at the base end portion. There is. Further, the switches 21 and 21 attached to the switch attachment portions 18 and 18 are configured to output a stop signal to the industrial robot when the magnets 20 and 20 approach each other.

The decompression valve 7 decompresses the primary side air supplied from the input port 23 opened in the end plate 8 and supplies the decompressed air to the cylinder holes 17, 17, and constitutes a pressure adjusting means. The output force can be reduced steplessly by adjusting the spring force of the pressure adjusting spring 25 by rotating the pressure adjusting screw 24. In the figure, reference numeral 26 is a stopper of the slider 9, and 27 is a pressure gauge.

An 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 attached. A tool (an air chuck in the illustrated example) 35 attached to the holes 3a, ... Is provided, and the tool adapter 34 is operated by a gripping mechanism (not shown) operated by the compressed air supplied and discharged from the operation air tube 37. It is attached to and detached from the hand side unit 33. On the other hand, compressed air is supplied to the tool 35 by the operation air pipes 38a and 38b, and the operation air pipes 38a and 38b and the signal lines 39 of the switches 21 and 21 are connected to the tool adapter 34 of the hand side unit 33. Connected individually by mounting.

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 acting force of the fluid pressure in the cylinder holes 17 and 17, and the magnet 20 attached to the plungers 19 and 19 approaches the switches 21 and 21. The switches 21 and 21 output a signal to stop the robot 30, which prevents damage to the tool 35 and the work. In this case, although the pressing force of the mounting plate 3 varies depending on the tool used and the workpiece to be handled, the floating unit 1 is rotated by the pressure adjusting screw 24 of the pressure reducing valve 7 so that the fluid pressure in the cylinder holes 17, 17 is increased. Can be adjusted to an appropriate value depending on the tool used and the work being handled. Further, since the slider 9 to which the mounting plate 3 is attached is guided by the guide mechanisms 10 and 10, the movement thereof is smooth, the friction is small, and there is no rattling.

[0012]

[Effect of the device]

 Since the floating unit of the present invention can adjust the output fluid pressure of the pressure reducing valve steplessly by the pressure adjusting mechanism, the floating unit can be easily adjusted to an appropriate one according to the tool using the pressing force of the mounting plate and the workpiece to be handled. Not only can it be operated, but its operation is easy. Further, 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 cross-sectional 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, 7 pressure reducing valve, 9 slider, 10 guide mechanism, 17 cylinder hole, 18 switch mounting portion, 19 plunger, 20 magnet, 21 switch, 23 pressure adjusting screw, 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 cylinder hole and a switch mounting part that are approximately parallel to the tool adapter movement direction, a slider that is slidably guided by the guide mechanism and the mounting plate is attached to the tip, and a slidable insertion into the cylinder hole. A plunger having a position sensor on the proximal side,
A pressure reducing valve having an output pressure adjusting means for supplying pressure fluid to the cylinder hole to bring the tip of the plunger into contact with the mounting plate, and outputs a signal to the switch mounting portion when the position sensor approaches. A floating unit for an industrial robot, which is equipped with a switch for