JPH07205084A - Door opening and closing mechanism for robot peripheral equipment - Google Patents

Abstract

PURPOSE:To provide a door opening and closing mechanism of robot peripheral equipment which opens and closes the door by utilizing power of a robot without having a special power source for the purpose of opening and closing the door. CONSTITUTION:A door 14 is mounted on an opening of robot peripheral equipment 7 in such a way that it can be opened and closed freely, and a means 15 which energizes the door 14 in the closing direction is provided. Furthermore, one end of a wire 17 is connected to the door 14, the wire 17 is wound around a plurality of pulleys 16a, 16b, 16c, and the other end is let out to a front face of the opening and fixed. When a robot 2 approaches the front face of the opening and comes into contact with the wire 17, the wire 17 is pulled out to open the door 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opening / closing mechanism for peripheral equipment in robot applications.

[0002]

2. Description of the Related Art In grinder work (burring) using an industrial robot, highly accurate grindstone wear correction is required, and the grindstone wear amount measuring device shown in FIG. 3 measures the grindstone wear amount. That is, the grinder 02 provided with the grindstone 03 is attached to the hand part of the robot 01 controlled by the robot controller 04, and the grindstone 03 is inserted into the grindstone insertion opening 07a of the measurement box 07.
An inclination sensor 018 is attached to the grinder 02.

In the measuring box 07, a transparent scale 013 for comparing the amount of wear of the grindstone 03 is arranged, a device 09 for illuminating the grindstone 03 is provided, and a camera 08 for photographing the shadow of the grindstone 03. Is provided.
The shadow image output from the camera 08 is the image memory device 0.
After 10 minutes, it is displayed on the monitor 011. Further, the grinding angle detected by the inclination sensor 018 is determined by the processing device (C
PU) 012 and output to the robot controller 04.

Since the measuring box 07 is placed in a place where much dust is present, the grindstone insertion opening 07a is provided with a door opening / closing mechanism having a dustproof structure shown in FIG. That is, the lower end of the door 014 is openably and closably attached by the hinge 015 with a return spring to the grindstone insertion opening 07a of the measurement box 07, and is biased in the closing direction by the return spring.

One end of a wire 017 stretched by a pulley 016 is connected to the door 014, and the other end of the wire 017 is connected via a spring 019 to an air cylinder 020 arranged in a measuring box 07. Connected to. The air cylinder 020 is connected to a solenoid valve 021 which is operated by an opening / closing signal, and this solenoid valve 021 is connected to an air supply source via a pressure reducing valve 023 and a filter 022.

Therefore, an opening / closing signal is given to the solenoid valve 021,
By supplying air (compressed air) to the air cylinder 020 through the pressure reducing valve 023, the filter 022, and the electromagnetic valve 021, the spring 019 and the wire 017 are pulled, and the door 014 is rotated in the pulling down direction, so that the door 014.
Will be opened.

[0007]

The conventional door opening / closing mechanism described above has the following problems. (1) Since air is used as a power source, the air cylinder 020 and peripheral devices (pressure reducing valve 023, filter 02)
2. The solenoid valve 021) is required, and the manufacturing cost is high. (2) Since it is necessary to secure a mounting space for the air cylinder 020, the solenoid valve 021, the wiring, the piping, etc. in the measurement box, the capacity (outside dimension) of the measurement box increases.

(3) A door opening / closing sequence is required.
For example, it is necessary between the robot controller 04 and the measuring device. (4) If the air is cut off, the opening / closing operation cannot be performed, which causes inconvenience during inspection. (5) Since air is used, maintenance is required.
For example, pressure adjustment, filter inspection, etc. are required.

The present invention has been made in view of the above-mentioned prior art, and has no special power source for opening and closing the door,
An object of the present invention is to provide a door opening / closing mechanism for a robot peripheral device that opens and closes a door by using the power of a robot.

[0010]

The structure of the present invention which achieves such an object is such that a door is attached to the opening of a robot peripheral device so as to be openable and closable, and a means for urging the door in a closing direction is further provided. One end of the wire is connected to the door, the wire is stretched over a plurality of pulleys, and the other end is extended and fixed to the front surface of the opening, and when the robot approaches the front surface of the opening and contacts the wire. , Pulling the wire to open the door.

Here, as the robot peripheral equipment,
A measuring box for measuring the amount of wear of the grindstone may be used, and a wire provided with a spring may be used as the wire.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in the drawings. 1 and 2 show an embodiment of the present invention. As shown in both figures, a door opening / closing mechanism having a dustproof structure is provided at the opening of the measurement box 7.

That is, at the opening of the measuring box 7, the door 1
The upper end of 4 is attached by a return spring hinge 15 so as to be openable and closable, and is biased in the closing direction by the return spring. The measurement box 7 accommodates a transparent scale, a lighting device, and a camera (not shown) in order to measure the wear amount of the grindstone. On the door 14 of the measurement box 7, a wire 17 stretched over a plurality of pulleys 16a, 16b, 16c.
One end of is connected by a wire hook 14a, and a spring 19 is interposed in the wire 17.

This wire 17 is pulled up obliquely upward in FIG. 2A from the wire hook 14a, and further, the first wire
The pulley 16a is bent to the left in FIG.
Then, the second pulley 16b bends downward in FIG. 1 (a) (to the right in FIG. 2 (a)), and then is carried out from a hole provided in the measurement box 7 to the outside. . The wire 17 carried out from the measurement box 7 is guided to the left in FIG. 1B by the third pulley 16c, and the other end is fixed to the measurement box 7 by the wire fixing metal fitting 24. . That is, the wire 17 connected to the door 14 is in a state of being stretched horizontally between the third pulley 16c and the wire fixing fitting 4 on the front surface of the opening of the measurement box 7.

Therefore, when the grinder 2 having the grindstone 3 mounted thereon is moved upward (to the left in FIG. 2B) in FIG. 1A by a robot (not shown), the grinder 2 is positioned in front of the opening. The wire 17 stretched horizontally between the third pulley 3 and the wire fixing member 4 is pushed by the grinder 2, the spring 19 and the wire 17 are pulled, and the door 14 is rotated in the pulling direction. , The door 14 will open.

Then, after the door 14 is opened, further, as shown in FIG.
By moving upward (to the left in FIG. 2B) in (a), the grindstone 3 reaches the measurement position in the measurement box 7. Here, after the door 14 is opened, the pulling amount of the wire 17 corresponding to the moving amount of the grindstone 3 until it reaches the measurement position is absorbed by the spring 19.

After completion of the measurement, the grinder 2 and the wire are moved by moving the grinder 2 downward (rightward in FIG. 2B) in FIG. 17 is separated, the absorption of the spring 19 is released,
The restoring force of the return spring of the hinge 15 causes the door 14 to rotate in the closing direction.

As described above, in this embodiment, when the grinder 2 having the grindstone 3 mounted thereon is positioned in front of the opening of the measuring box 7, the grinder 2 touches the wire 17, pulls the wire 17, and the door 14 automatically moves. Therefore, the special operation for opening and closing the door 14 is unnecessary. When the grinder 2 is retracted from the front surface of the opening of the measurement box 7, the grinder 2 separates from the wire 17 and the door 17 is closed by the return spring of the hinge 15.

In the above-mentioned embodiment, the spring 19 absorbs the pulling amount of the wire 17 and constantly applies tension to the wire 17, and the return spring of the hinge 15 urges the lid 13 in the closing direction. Besides, since the tension is constantly applied to the wire 17, the spring 19 can be omitted.

[0020]

As described above in detail with reference to the embodiments, the present invention uses the power of the robot to open and close the door, so that no special power source is required and the manufacturing can be performed at low cost. It also contributes to miniaturization. Further, since the door is mechanically opened and closed without using air, a solenoid valve, piping, wiring, etc. are not required, the configuration is simplified, maintenance and inspection are facilitated, and failures are reduced.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a door opening / closing mechanism according to an embodiment of the present invention.

FIG. 2 is an operation explanatory view of the door opening / closing mechanism according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram of a conventional grindstone wear amount measuring device.

FIG. 4 is an explanatory view of a conventional door opening / closing mechanism.

[Explanation of symbols]

 01 robot 02,2 grinder 03,3 grindstone 04 robot controller 07,7 measuring box 07a opening for grindstone insertion 08 camera 09 lighting device 010 image memory device 011 monitor 012 processor (CPU) 013 transparent scale 014 door 015 with return spring Hinge 016 Pulley 017 Wire 018 Tilt sensor 019 Spring 020 Air cylinder 021 Solenoid valve 022 Filter 023 Pressure reducing valve

Claims (3)

[Claims] 1. A means for mounting a door on an opening of a robot peripheral device so as to be openable and closable and for urging the door in a closing direction, and further connecting one end of a wire to the door to connect the plurality of wires. It is stretched over a pulley, and the other end is extended and fixed to the front surface of the opening portion, and when the robot approaches the front surface of the opening portion and contacts the wire, the wire is pulled and the door is opened. Door opening and closing mechanism for robot peripherals. 2. A door opening / closing mechanism for a robot peripheral device, wherein the robot peripheral device is a measurement box for measuring the amount of wear of a grindstone. 3. A door opening / closing mechanism for a robot peripheral device, wherein a spring is provided on the wire.