JPH0657584U - Robot gripping mechanism operation confirmation circuit - Google Patents

Abstract

(57) [Abstract] [Object] The present invention is a circuit for confirming the operation of a robot gripping mechanism, in which a cable can be internally wired to a robot structure by transmitting a signal from each switch to a control device in a non-contact manner. The purpose is to provide. [Structure] A robot structure 4 having a robot body 2 and an arm 3 extending from the robot body 2, and a gripping mechanism 7 held at an end of the arm 3 via a wrist shaft 6 and having a drive source.
And a plurality of switches L for confirming the operation of the gripping mechanism 7.
_The switch circuit composed of _{1 to} L ₄ , the signal power to the gripping machine 7 and the opening / closing signal from the switches L _{1 to} L ₄ are exchanged via the cable wirings 15 to 24, and the switches L _{1 to} L ₄ are connected. In the operation confirmation circuit of the robot gripping mechanism, which comprises a robot controller 10 that controls the drive source of the gripping mechanism 7 based on the opening / closing signal, the above-mentioned signal transfer and the signal power transfer between the gripping mechanism 7 and the robot controller 10 are performed. Is performed wirelessly.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a confirmation circuit of a gripping mechanism in a handling robot.

[0002]

[Prior art]

 Hereinafter, a conventional technique will be described with reference to FIGS.

In FIGS. 7 and 8, reference numeral 1 denotes a handling robot, which has a robot structure 4 including a main body 2 and an arm 3 provided on the main body 2. A gripping mechanism 5 for handling a conveyed product is held at the end.

The gripping mechanism 5 can be opened and closed freely in a direction orthogonal to the arm 3 axis direction with a wrist portion 7 attached to an end of the arm 3 via a wrist shaft 6 and is attached to the wrist portion 7. It is composed of holding parts 8L and 8R supported and held, and rotates about the axis of the arm 3 and the wrist axis 6 to make a complicated movement.

Further, as shown in FIG. 9, the gripping portions 8L and 8R are driven by a motor 11 built in the wrist portion 7, and their opening / closing movement is restricted by an operation confirmation circuit.

FIG. 9 is a circuit diagram showing a confirmation circuit for the grip portions 8L and 8R. The configuration and operation of the operation confirmation circuit will be described below with reference to FIG.

In FIG. 9, reference numeral 10 denotes a robot controller that controls the entire operation of the handling robot 1.

Reference numeral 11 denotes a motor that opens and closes the grips 8L and 8R, and is incorporated in the wrist 7 and connected to the grips 8L and 8R via a transmission mechanism (not shown).

L ₁ is an open confirmation limit switch for confirming the maximum open positions of the grips 8L and 8R, and L ₂ is a close confirmation limit switch for confirming the closed positions of the grips 8L and 8R. Both are capable of contacting the gripping portion 8L (may contact the gripping portion 8R) and are provided on the wrist portion 7.

L ₃ and L ₄ are object confirmation limit switches for confirming the conveyed objects grasped by the grasping portions 8L and 8R, respectively, and are provided on the side surfaces of the grasping portions 8L and 8R for grasping the conveyed objects, respectively. It is provided. Incidentally, the limit switch L ₁ ~L ₄ is normal, open state.

The motor 11 and each of the limit switches L _{1 to} L ₄ are connected to the robot controller 10 by signal cables 15 to 24, and the robot controller 10 is connected to the robot controller 10. The command voltage E, the open confirmation signal S ₁ , the close confirmation signal S ₂ , and the object confirmation signal S ₃ are sent to the switch 11 and the limit switches L _{1 to} L ₄ , respectively.

The signal cables 15 to 24 are movably arranged and wired outside the robot structure 4.

In such a configuration, when an operation command is given to the robot controller 10 by means (not shown) in order to start the operation of grasping an object by the grasping portions 8L and 8R, the robot controller 10 causes the robot controller 10 to operate. A command voltage E is applied to 11 to drive the motor 11 to move the grips 8L and 8R from a predetermined closed position to near the maximum open position.

[0014] grip portion 8L, the 8R are moved to the vicinity of the maximum open position, the grip portion 8L abuts the open confirmation limit switch L _1, so closing the opening confirmation limit switch L _1, signal Ke When the bulls 17 and 18 are connected, the open confirmation signal S ₁ is sent to the robot controller 10, and the robot controller 10 which has received the open confirmation signal S ₁ supplies the start command voltage E to the motor 11. To stop. As a result, the driving of the motor 11 is stopped and the grips 8L and 8R are held near the maximum open position.

Then, the robot controller 10 operates the arm 3 and the wrist shaft 6 to move the gripping mechanism 5 to a predetermined position of the conveyed object, and then the command voltage to the motor 11 is reached. E is applied to drive the motor 11 to move the gripping portions 8L and 8R from the maximum open position to the closed position to grip the conveyed object.

At this time, when the gripping portions 8L and 8R press and grip the conveyed object, the object confirmation limit switches L ₃ and L ₄ are closed, so that the signal cables 21 and 22 and the signal cables 21 and 22 are closed. The cables 23 and 24 are connected to each other, an object confirmation signal S ₃ is sent to the robot controller 10, and the robot controller 10 which has received the object confirmation signal S ₃ inputs the command voltage E to the motor 11. Stop the supply of. As a result, the driving of the motor 1 is stopped and the grips 8L and 8R are held in a state of gripping the carrier.

Next, the robot controller 10 operates the arm 3 and the wrist shaft 6 to convey the conveyed object grasped by the grasping portions 8L and 8R to a predetermined position.

Further, when the gripping portions 8L, 8R are closed from the opened state and come close to the closed position, the closing confirmation limit switch L ₂ is closed and the closing confirmation signal S ₂ is sent. It is sent to the robot controller 10 to stop the driving of the motor 11.

In this conventional technique, since the signal cables 14 to 24 are wired to the outside of the robot constructing body 4, they come into contact with the robot structure 4 when the gripping mechanism 5 operates. However, since rubbing occurs and dust is generated by this rubbing, this dust becomes a problem when used in a clean room in a semiconductor manufacturing factory or the like.

Further, there is a problem that the gripping mechanism 4 operates in a complicated manner and the signal cables 14 to 24 are easily broken due to the large operating range.

[0021]

[Problems to be solved by the device]

 To solve this problem, it is conceivable to wire multiple signal cables inside the robot structure, but it is necessary for the gripping mechanism to have complicated operations and to increase the operation range. Therefore, since the gripping mechanism and the robot structure are complicated, there is a problem that it is difficult to secure a space for wiring a plurality of signal cables inside the robot structure.

Further, even if a plurality of signal cables can be wired inside the robot structure, a plurality of signal cables will be wired inside the robot structure in a dense state. However, due to the complicated and large operation of the gripping mechanism, the signal cables rub against each other and are easily broken.

The present invention has been made to solve such a problem, and the cables of the cables are internally wired to the robot structure by transmitting the signals of the respective switches to the control device in a contactless manner. It is an object of the present invention to provide a circuit for confirming the operation of a robot gripping mechanism capable of performing the above.

[0024]

[Means for Solving the Problems]

 In order to achieve the above object, in the operation confirmation circuit of the robot gripping mechanism of the present invention, a robot structure having a robot main body and an arm extending from the robot main body and a wrist shaft at the end of the arm are provided. Gripping mechanism held by the gripping mechanism, a switch circuit consisting of a plurality of switches for confirming the operation of the gripping mechanism, a signal power to the gripping machine side, and an opening / closing signal from the switch. -In the operation confirmation circuit of the robot gripping mechanism, which comprises a robot controller for controlling the drive source of the gripping mechanism on the basis of the open / close signal of the switch, through the bull wiring, between the gripping mechanism and the robot controller. The transmission and reception of the signal and the transmission and reception of the electric power for signal are performed by wireless.

According to a second aspect of the present invention, the gripping mechanism has a built-in transmitter that converts the open / close signal of the switch into a radio signal and transmits the radio signal, and the signal receiver that receives the radio signal transmitted by the transmitter is the signal receiver. It is characterized in that the robot controller or the robot structure is provided.

In the third aspect, the robot controller or the robot structure has a transmitter including an antenna, and the gripping mechanism receives the electromagnetic wave transmitted by the power transmitter and the electromagnetic wave from the loop antenna. It is characterized by having a power supply circuit that extracts the required power.

According to a fourth aspect of the present invention, the antenna on the side of the robot controller or the robot structure and the antenna of the gripping mechanism are arranged close to each other around the wrist shaft.

According to a fifth aspect of the present invention, the gripping mechanism has a built-in optical transmitter that converts an open / close signal of the switch into an optical signal and transmits the optical signal, and the robot controller or the robot structure includes an optical transmitter that transmits the optical signal. It is characterized by comprising an optical receiver for receiving a signal.

According to a sixth aspect of the present invention, the robot control device or the robot structure has a light projector, and the gripping mechanism includes a power supply circuit that extracts required power from a light receiver that receives a light wave from the light projector. To do.

According to a seventh aspect, the power supply circuit has a power storage function.

[0031]

[Action]

 In the above-described robot gripping mechanism confirmation circuit robot of the present invention, each switch is connected to a transmitter, and each open / close signal of each switch is transmitted to the robot control device in a non-contact manner. Requires only a cable to connect the robot controller and the drive source, and the cable space can be significantly reduced compared to the conventional model. It is possible to wire a cable with a large degree of freedom.

[0032]

【Example】

 First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 30 denotes a transmitter including a signal transmitter 31 and a power supply circuit 32, which is provided in the wrist portion 7 of the grip mechanism 5.

The signal transmitter 31 has a transmission antenna 33 protruding from the inside of the wrist portion 7 to the outside, and the signal cables 34 to ₄ are provided to the limit switches L _{1 to} L ₄ , respectively. 1, and sends each signal (open confirmation signal S ₁ , close confirmation signal S ₂ , and object confirmation signal S ₃ ) to each limit switch L _{1 to} L ₄ by the power supplied from the power supply circuit 32. The signals S _{1 to} S ₃ input to the transmitter 31 are converted into radio signals f _{1 to} f ₃ by opening and closing the limit switches L _{1 to} L ₄ and transmitted from the transmitting antenna 33.

The power supply circuit 32 has a power receiving antenna 42 provided outside the wrist portion 7, and an electromagnetic wave f ₄ from a power transmitting antenna 43 provided outside the robot structure 4 is supplied to the power receiving antenna 42. The electromagnetic wave f ₄ is received by the receiving antenna 42, converted into electric power, subjected to rectification processing and the like, and is sent to the signal transmitter 31.

The power transmission antenna 43 is connected to the robot controller 10 via a power transmitter 44, and a signal supplied from the robot controller 10 is converted into an electromagnetic wave f ₄ by the power transmitter 44. Then, the power is transmitted to the power receiving antenna 42.

Reference numeral 45 denotes a signal receiver, which is provided in the robot structure 4 and is connected to a reception antenna 46 outside the robot structure 4 so that a signal can be received by the reception antenna 46. receiving a radio signal f ₁ ~f ₃ sent from the transmitter 30, a signal Ke converts the respective electric wave signals f ₁ ~f ₃ each switching signal S ₁ to S ₃ - Robo through Bull 47 Output to the control unit 10.

The signal cables 15 and 16 are wired in the robot structure 4 to connect the motor 11 and the robot controller 10.

The power transmitting antenna 43 and the power receiving antenna 42 are loop-shaped antennas as shown in FIGS. 2 and 3, and the power transmitting antenna 43 is the arm 3 tip portion 3. The power receiving antenna 42 is provided on the wrist 7 at a distance close to the power transmitting antenna 43. It is concentrically wrapped and provided.

The frequencies of the radio signals f _{1 to} f ₃ transmitted from the signal transmitter 30 and the frequency of the electromagnetic wave f ₄ transmitted from the power transmission antenna 43 are different from each other. The receiving antenna 46 and the power receiving antenna 42 are confused with each other so as not to receive.

Since other configurations have the same configurations as those shown in the related art, detailed description thereof will be omitted.

In such a configuration, when an operation command is given to the robot controller 10 by means (not shown) to start the operation of grasping an object by the grasping portions 8L and 8R, the robot controller 10 causes the robot controller 10 to operate. 11 is applied with a command voltage E to drive the motor 11 to move the grips 8L and 8R from a predetermined closed position to a position near the maximum open position, and at the same time, to send a signal to the power transmitter 44. This signal is transmitted and transmitted as an electromagnetic wave f ₄ from the power transmitting antenna 43 to the power receiving antenna 42.

When the power reception antenna 42 receives the electromagnetic wave f ₄ transmitted from the power transmission antenna 43, the electric circuit 32 converts the electromagnetic wave f ₄ into electric power and rectifies the electric power and supplies the electric power to the signal transmitter 31. It Thus, signal transmitter 31 sends out each switching signal S ₁ to S ₃ each limit Sutchi L ₁ ~L _4, is the output of the radio wave signal f ₁ ~f _3.

Then, when the motor 11 is driven and the grips 8L and 8R are moved to the vicinity of the maximum open position, the grip 8L contacts the open check limit switch L ₁ to check the open. Since the limit switch L ₁ is closed, the signal cables 34 and 35 are connected and the open confirmation signal S ₁ is input to the transmitter 31.

This open confirmation signal S₁The transmitter 31 that has input the₁The radio signal f ₁ And is transmitted from the transmitting antenna 33 to the receiving antenna 46. Then, this radio signal f₁The signal receiver 45 that receives the signal via the receiving antenna 46₁Object confirmation signal S₁To the robot control device 10.

The robot controller 10 which receives the open confirmation signal S ₁ stops the supply of the command electric power E ₁ to the motor 11. As a result, the driving of the motor 11 is stopped, and the grip portions 8L and 8R are held near the maximum open position.

Next, when the robot controller 10 operates the arm 3 and the wrist shaft 6 to move the gripping mechanism 5 to a predetermined position where the conveyed object is present, the motor 11 is instructed to close. An electric voltage E is applied to drive the motor 11 to move the gripping portions 8L and 8R from the vicinity of the maximum open position to the vicinity of the closed position to grip the conveyed object.

At this time, when the gripping portions 8L and 8R press and grip the conveyed object, the object confirmation limit switches L ₃ and L ₄ are closed, so that the signal cables 38 and 39, and the signal cables. The cables 40 and 41 are connected to each other, the object confirmation signal S ₃ is transmitted to the signal transmitter 31, and the signal transmitter 31 to which the object confirmation signal S ₃ is input is the object confirmation signal S 3. ₃ is converted into a radio signal f ₃ and transmitted from the transmitting antenna 33 toward the receiving antenna 46. Then, the radio signal f ₃ signal receiver 45 received via the receiving antenna 46 converts the radio signal f ₃ to the object check signal S ₃ is sent to the robot controller 10.

The robot controller 10 which receives the object confirmation signal S ₃ stops the supply of the command voltage E to the motor 11. As a result, the driving of the motor 1 is stopped, and the grips 8L and 8R are held in a state of gripping the conveyed object.

When the conveyed object is grasped by the grasping portions 8L and 8R, the robot control device 10 operates the arm 3 and the wrist shaft 6 so that the conveyed object grasped by the grasping portions 8L and 8R is predetermined. Transport to a position.

Further, when the gripping portions 8L and 8R are closed from the open state and come close to the closed position, the closing confirmation limit switch L ₂ is closed and the closing confirmation signal S ₂ is sent. A radio signal f ₂ is transmitted from the signal transmitter 31 to the robot controller 10 to stop the driving of the motor 11 and hold the grip portions 8L and 8R in a closed state.

[0052] According to the present embodiment 1, the limit switch L ₁ connected ~L ₄ of the transmitter, the respective limit switch L ₁ each signal ~L ₄ S ₁ to S ₃ a radio signal f _{Since 1 to} f ₃ are transmitted to the robot control device 10 in a non-contact manner, the signal cables 15 and 16 for connecting the robot control device 10 and the motor are passed through the wrist portion 7. Since the cable space can be significantly reduced, the signal cables 15 and 16 can be wired in the robot structure 4 with a relatively large degree of freedom. Is possible.

Second Embodiment Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.

In FIG. 4, the power supply circuit 32 has, for example, a photodetector 50 such as a solar cell, and the optical signal h ₄ received by the photodetector 50 is converted into electric power and then converted. The power is rectified and sent to the signal transmitter 31. The light receiver 50 is attached to the wrist 7 so that it can receive light.

Reference numeral 51 denotes a floodlight including a light bulb, a light emitting diode, and the like. The floodlight 51 is attached to the outside of the robot structure 4 and is connected to the robot control device 10. It is emitted by a signal. As a result, when the projector 51 emits light by the signal from the robot control device 10, the light receiver 50 receives the optical signal h ₄ and supplies power to the transmitter 31 via the power supply circuit 32.

Since other configurations and actions are similar to those shown in the first embodiment, detailed description thereof will be omitted.

According to the second embodiment as described above, the light receiver 50 receives the optical signal h ₄ emitted by the projector 51 from the robot controller 10 and uses it as the operating power of the signal transmitter 31. Therefore, it is possible to obtain the same effect as that shown in the first embodiment.

In the second embodiment, as shown in FIG. 5, the light receiver 50 receives natural light and supplies operating power to the signal transmitter 31 without providing the light projector 51 in the robot structure 4. The same effect can be obtained even with the above.

Third Embodiment Next, a third embodiment of the present invention will be described with reference to the drawings.

In FIG. 6, reference numeral 55 denotes an optical transmitter, which has a signal projecting portion 56 projecting to the outside of the wrist portion 7, which is composed of, for example, a light bulb, a light emitting diode, When the signals S _{1 to} S _{3 of the} limit switches L _{1 to} L ₄ are input, the signals are converted into optical signals h _{1 to} h ₃ and the signal projecting unit 56 emits light, and optical signals of different wavelengths are emitted. Send h _{1 to} h ₃ .

Reference numeral 57 denotes an optical receiver, which has a signal light receiving portion 58 provided outside the robot structure 4, and the signal light receiving portion 58 is transmitted from the optical transmitter 55. The optical signals h _{1 to} h ₃ are received, converted into open / close signals S _{1 to} S ₃ , and sent to the robot controller 10.

Further, the power supply circuit 32 and the robot structure 4 are respectively provided with a light projector 51 and a light receiver 50 similar to those of the second embodiment, and receive the optical signal h ₄ sent from the light projector 51 as a light receiver. 50 receives the light and supplies it to the optical transmitter 55 as electric power.

The optical signals h _{1 to} h ₃ transmitted from the optical transmitter 55 and the optical signal h ₄ transmitted from the light emitter 51 have different wavelengths from each other, and the signal light receiving section 58 and the light receiver 51 are confused with each other so as not to receive.

Other configurations and operations have the same configurations and operations as those shown in the first and second embodiments, and thus detailed description thereof will be omitted.

[0065] According to the third embodiment, the signal projection converts the signals S ₁ ~ S ₃ of the limit switch L ₁ ~L ₄ by the optical transmitter 55 into an optical signal h ₁ to h ₃ Since the light unit 56 emits light and is transmitted to the robot controller 10 in a non-contact manner, the same effect as that of the first embodiment can be obtained.

In the first to third embodiments, the receiver 44 or the optical receiver 58 is provided in the robot structure 4, but instead of this, the robot controller 10 is provided. It may be integrated.

In the first to third embodiments, the power supply circuit 32 may have a built-in capacitor or rechargeable battery. In this case, some condition, for example, the electromagnetic wave f ₄ or the optical signal may be used. Even if h ₄ is intentionally cut off and the power supply to the transmitter 31 or the optical transmitter 55 is momentarily stopped, the transmitter 31 or the optical transmitter 55 can be operated without any problem.

[0068]

[Effect of device]

 As described above in detail, according to the operation confirmation circuit of the robot gripping mechanism of the present invention, a plurality of switch opening / closing signals for confirming the operation of the gripping mechanism are wirelessly transmitted to the robot control device, and these switch opening / closing operations are performed. The signal power for generating signals is wirelessly supplied from the robot controller side, so that the required cable wiring between the gripping mechanism and the robot controller or robot structure is sent to the driving source of the gripping mechanism. Since it is possible to use only the power supply line of the robot, the cable space can be significantly reduced as compared with the conventional one, and the cable structure can be provided with a relatively large degree of freedom. Since it is possible to wire the cable, it is possible to prevent dust from being generated due to the rubbing of the cable, and it is possible to prevent the cable from breaking due to complicated and numerous operations of the gripping mechanism.

[Brief description of drawings]

FIG. 1 is a circuit diagram showing an operation command / confirmation circuit of a gripping mechanism as a first embodiment of the present invention.

FIG. 2 is a plan view showing a gripping mechanism of the robot shown in FIG.

FIG. 3 is a side view showing a gripping mechanism of the robot in FIG.

FIG. 4 is a circuit diagram showing an operation command / confirmation circuit of a gripping mechanism as a second embodiment of the present invention.

FIG. 5 is a circuit diagram showing an operation command / confirmation circuit of a gripping mechanism according to a modification of the second embodiment.

FIG. 6 is a circuit diagram showing an operation command / confirmation circuit of a gripping mechanism as a third embodiment of the present invention.

FIG. 7 is a circuit diagram showing an operation command / confirmation circuit of a conventional gripping mechanism.

8 is a plan view showing a gripping mechanism of the robot in FIG.

FIG. 9 is a side view showing a gripping mechanism of the robot in FIG.

[Explanation of symbols]

1 Handling Robot 2 Robot Main Body 3 Arm 4 Robot Structure 5 Grip Mechanism 6 Wrist Axis 10 Robot Controller 11 Electric Motor 15-24 Cable 31 Signal Transmitter 32 Electric Circuit 34-41 Cable 42 Power Reception Antenna (loop antenna) 43 Power transmission antenna (loop antenna) 44 Power transmitter 45 Signal receiver 47 Cable 50 Light receiver 51 Projector 55 Optical transmitter 57 Optical receiver L _{1 to} L ₄ Limit switch

Claims (7)

[Scope of utility model registration request] 1. A robot structure having a robot main body and an arm extending from the robot main body, and the arm.
A gripping mechanism held at the end of the gripper via a wrist shaft and having a drive source, a switch circuit consisting of a plurality of switches for confirming the operation of the gripping mechanism, a signal power to the gripping machine side and the switch. In the operation confirmation circuit of the robot gripping mechanism, which comprises a robot controller for transmitting and receiving the opening and closing signal through the cable wiring and controlling the drive source of the gripping mechanism based on the opening and closing signal of the switch, The operation confirmation circuit of the robot gripping mechanism, wherein the transmission and reception of the signal and the transmission and reception of the signal power between the robot control devices are performed wirelessly. 2. The gripping mechanism has a built-in signal transmitter for converting the opening / closing signal of the switch into a radio signal and transmitting the signal, and the signal receiver for receiving the radio signal transmitted by the signal transmitter is the signal receiver. The operation confirmation circuit of the robot gripping mechanism according to claim 1, which is provided in the robot controller or the robot structure. 3. The robot controller or the robot structure has a power transmitter including an antenna, and the gripping mechanism receives an electromagnetic wave transmitted by the power transmitter and a required power from the electromagnetic wave. The operation confirmation circuit of the robot gripping mechanism according to claim 1 or 2, further comprising a power supply circuit for taking out. 4. The robot gripping mechanism according to claim 3, wherein the antenna on the side of the robot controller or the robot structure and the antenna of the gripping mechanism are arranged close to each other around the wrist shaft. Operation confirmation circuit. 5. The gripping mechanism has a built-in optical transmitter that converts an open / close signal of the switch into an optical signal and transmits the optical signal, and the robot controller or the robot structure receives the optical signal transmitted by the optical transmitter. The operation confirmation circuit of the robot gripping mechanism according to claim 1, further comprising an optical receiver. 6. The robot controller or the robot structure has a light projector, and the gripping mechanism is provided with a power supply circuit for extracting a required electric power from a light receiver that receives a light wave from the light projector. The operation confirmation circuit of the robot gripping mechanism according to claim 1 or claim 2 or claim 5. 7. The operation confirmation circuit of the robot gripping mechanism according to claim 3, wherein the power supply circuit has a power storage function.