JPH064232B2 - Industrial robots - Google Patents

Description

The present invention relates to an industrial robot that uses a lock cylinder having an intermediate stop function.

Conventional industrial robots generally use a highly accurate worm gear mechanism or screw mechanism to control the operation of each part of the robot. Therefore, there is a drawback that the structure of each part of the robot becomes complicated and expensive.

The present invention has been made to eliminate such drawbacks, and an object of the present invention is to provide a simple and inexpensive industrial robot by using a pneumatically operated lock cylinder having an intermediate stop function.

An industrial robot according to the present invention comprises a pneumatically actuated horizontal cylinder device having a hand device horizontally movably connected to one end, and a pneumatically actuated vertical cylinder device having an upper end movably connected to the horizontal cylinder device vertically. The horizontal and vertical cylinder devices each include a feed back unit for detecting the movement of the rod and a rod lock mechanism for stopping the rod at an intermediate position by the detection signal. A first member (B) having a hollow section with a circular cross section that is eccentric with respect to 9), and a rod (4, 4) slidably inscribed on the inner wall surface of the hollow section with a circular cross section.
The second member (18) formed inside by decentering the sliding hole of 9) with respect to the circular cross section, and the first member (B)
On the other hand, the second member (18) is rotated to eccentric the sliding hole, and the rod is urged in the radial direction to stop at the intermediate position. An embodiment of the present invention will be described below with reference to the drawings.

In the figure, (1) is a hand device having a grip claw (2) and can be rotated around a horizontal axis. (3) is a pneumatically operated horizontal cylinder device that moves the hand device (1) in the horizontal direction, and is equipped with a locking mechanism (5) of its piston rod (4), and the tip of the piston rod (4) is connected to the hand device (1). Has been done. (6) is a lateral guide rod provided in parallel with the piston rod (4), which is also connected to the hand device (1) and is adapted to detect the lateral movement amount by the lateral feed back unit (7). ing. (8) is a pneumatically operated vertical cylinder device that moves the horizontal cylinder device (3) in the vertical direction, and is equipped with a locking mechanism (10) of the piston rod (9), and the tip of the piston rod (9) is the horizontal cylinder device (3). Are linked to. (11) is a vertical guide rod provided in parallel with this piston rod (9), which is hung from the horizontal feed back unit (7) and detects the vertical movement amount by the vertical feed back unit (12). I'm running. Further, the vertical cylinder device (8) is provided on a revolving column (13) rotatable about a vertical axis.

The horizontal and vertical feed back units (7) (12) detect the amount of movement of the horizontal and vertical guide rods (6) (11) that accompany the piston rods (4) (9), respectively. When the specified value is reached, the lock mechanism (5) (10) of each horizontal and vertical cylinder device (3) (8) is activated by the signal and the piston rod (4) (9) is moved to the intermediate position. Is to stop. Figure 2 shows the feed back unit (7) (12)
This is an example showing a method of detecting the rod movement amount by means of the encoder method. In the figure, (14) is an encoder, (15) is a roller that rotates by frictionally contacting the guide rods (6) and (11), and the contact surface (16) is made of a material having a high friction coefficient such as rubber. There is. That is, in this method, the number of rotations corresponding to the linear movement amount of the guide rods (6) and (11) is detected by the encoder (14). In addition to the encoder method, although not shown, the guide rod (6) (1
It is also possible to adopt a linear scale method of providing a scale on 1) and reading it.

Next, the locking mechanism of the horizontal and vertical cylinder devices (3) (8)
(5) and (10) are shown in FIGS. 3 and 4 are a vertical sectional front view and a vertical sectional side view at the time of lock operation, and FIGS. 5 and 6 are a vertical sectional front view and a vertical sectional side view when the lock is released. In these figures, (17) is a lock cylinder that is connected to horizontal and vertical cylinder devices (3) (8), and has a hollow section with a circular cross section that is eccentric to the piston rods (4) (9). An eccentricity that is slidably inscribed on the inner wall surface of the hollow part of the formed member (B) and that is formed inside by making the sliding holes of the rods (4) and (9) eccentric with respect to the circular cross section. Insert the lever part (19) of the cam (18) into the lateral hole (21) of the working piston (20) slidably provided in the lock cylinder ((7), and clamp it, then supply the air supply port (22). When the air pressure is discharged from the eccentric cam (18), the working piston (21) is pushed by the spring (23) as shown in FIG.
Is rotated counterclockwise around the piston rod (4) (9) to eccentric to the shaft of the piston rod (4) (9), and the piston rod (4) (9) is locked by the eccentric load generated at that time. To do. On the contrary, when air pressure is fed from the air supply port (22), the working piston (20) moves to the right and the eccentric cam (18) is rotated clockwise as shown in FIG. The piston rods (4) (9) are unlocked in order to release the eccentricity of the eccentric cam (18) with respect to the piston rods (4) (9). With such locking mechanisms (5) and (10), the piston rods (4) and (9) can be stopped at an arbitrary intermediate position.

Therefore, according to the present invention, the lateral feed back unit (7)
Detects the horizontal movement of the piston rod (4) of the lateral cylinder device (3), and the lock mechanism (5) is detected by the signal.
The piston rod (4) can be accurately stopped horizontally at an arbitrary intermediate position, and the vertical feedback unit (12) allows the vertical rod movement of the piston rod (9) of the vertical cylinder device (8). Is detected and the lock mechanism (10) is used by the signal to accurately stop the piston rod (9) in the vertical direction at an arbitrary intermediate position, so the operation of the robot is safe and stable. Since the pneumatic cylinder having the locking mechanism is used, there is an effect that a simple and inexpensive robot can be provided.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of an embodiment according to the present invention, FIG. 2 is an explanatory view showing an example of a feed back unit, and FIGS. 3 to 6 show an example of a locking mechanism. Fourth
The drawings are a vertical sectional front view and a vertical sectional side view at the time of lock operation, and FIGS. 5 and 6 are a vertical sectional front view and a vertical sectional side view when the lock is released. (1): Hand device (3): Horizontal cylinder device (4): Piston rod (5): Lock mechanism (7): Horizontal feed back unit (8): Vertical cylinder device (9): Piston rod (10): Lock Mechanism (12): Vertical feed back unit.

Claims (1)

[Claims] 1. A pneumatically actuated horizontal cylinder having a hand device movably connected in the horizontal direction at one end, and a pneumatically actuated vertical cylinder device having the horizontal cylinder device movably connected in the vertical direction at an upper end thereof. The horizontal and vertical cylinder devices each include a feedback unit that detects movement of the rod and a rod lock mechanism that stops the rod at an intermediate position by the detection signal, and the rod lock mechanism is eccentric with respect to the rod (4, 9). And a first member (B) having a hollow portion having a circular cross section, and a sliding hole of a rod (4, 9) slidably inscribed on the inner wall surface of the hollow portion having the circular cross section with respect to the circular cross section. And a second member (18) that is eccentrically formed inside and that rotates the second member (18) with respect to the first member (B) to decenter the sliding hole, The rod is urged in the radial direction and stopped at the intermediate position. Industrial robot, characterized in that to.