JPH07246583A - Air connection device of robot hand and work clamp jig - Google Patents

Abstract

PURPOSE:To provide an air connection device of a robot hand and a work clamp jig in which no damage is generated to the wiring in the driving condition, the space is utilized effectively, and furthermore, no leaking phenomenon of the air connection device is generated. CONSTITUTION:In an air connection device of a robot hand and a work clamp jig to carry out the feeding and the discharge of the air by adhering the air communicating passage of a presser 21 to an air communicating passage formed in an accepter 22, a transmitter unit 45 mainly of a metal fitting is provided immediately under the accepter 22. On the other hand, at the lower side of an operation plate 17 fixed to the robot hand 16, and at the position corresponding to the transmitter unit 45 in the vertical direction, a receiver unit 46 mainly of a plunger with spring in electric contact with the metal fitting of the transmitter unit 45 when the presser 21 is adhered is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an air connecting device in a system for transferring a work clamped by a work clamp jig to various processing machines such as a stationary welding machine by a robot hand.

[0002]

2. Description of the Related Art Generally, a robot is used as a system for automating the process of subjecting a work such as spot welding to a work. Normally, a work is clamped to a work clamp jig equipped with an air cylinder, and a robot hand is used. A means for transporting the work clamp jig to a stationary welding machine while supporting it is used.

For example, as shown in FIG. 4, the work clamp jig 15 is placed on the jig base 12, the work 13 to be conveyed is set on the substrate 1 of the work clamp jig 15, and then the outside of the drawing is performed. After starting the operation of the robot body, the locating pin 18 protruding from the lower wall 17a of the operation plate 17 fixed to the robot hand 16 is inserted into the positioning hole 4 formed in the support plate 3 of the work clamp jig 15. When the air cylinder 19 is driven and the rod 20 of the air cylinder 19 is extended downward, the pressing tool 21 fixed to the lower end of the rod 20 is lowered. It moves and comes into close contact with the receiver 22 on the support plate 3 as indicated by arrow B. At this time, the air flow passage 2 formed so as to penetrate through the inside of the presser foot 21
Since 3 and 24 are communicated with the air flow passages 25 and 26 formed by penetrating the inside of the receiver 22, two air flow passages are formed between the retainer 21 and the receiver 22.

Therefore, when air is sent from the air source on the robot body side to the air hose 27 under this condition, the sent air passes through the air hose 27, the air flow passage 24, the air flow passage 26, and the air hose 28 for clamping. To enter the lower port of the air cylinder 6 to extend the rod 7 of the clamping air cylinder 6, and to close the work holding plate 8 of the work clamp jig 15 to clamp the work 13 set on the substrate 1. You can

When the work clamp plate 8 of the work clamp jig 15 is unclamped from the work 13, the air hose 29 on the other side of the robot main body is passed through the air flow passage 23 → the air flow passage 25 → the air hose 30. By feeding air into the upper port of the clamp air cylinder 6, the rod 7 of the air cylinder 6 is shortened and the clamp of the work holding plate 8 can be released.

In the above structure, generally, a non-contact type switch or limit switch (not shown) is provided between the support plate 3 and the lower wall 17a of the operation plate 17 so that the pressing member 21 and the receiving member 22 are in close contact with each other. It is customary to determine whether the degree and parallelism are normal and to start the air cylinder 19 based on the signal generated by the switch.

In the case of such a device, in the case where signals are transmitted and received in multiple systems, a large number of the non-contact type switches or limit switches must be mounted, and the space required for mounting becomes large. There is a problem that the types of switches that can be used are limited.

In response to the above, the present applicant previously filed Japanese Utility Model Application No. 6
No. 3-14093 (Jpn. Pat. Appln. KOKAI Publication No. 5-46866) proposed an air connecting device shown in FIGS. To briefly explain this, the pressing member 21 in which the air flow passages 23 and 24 are formed has a protrusion 21a having an annular shape in plan view, which holds an appropriate size, at the lower end portion of the pressing member 21, and
From the upper part of the holes 35, 35 formed around the periphery of the metal fitting 3
The screws 36 and 36 to which 8 and 38 are fixed are inserted and fixed, and the plungers 37 and 37 with springs are arranged in the holes 35 and 35 to configure the transmission unit 31.
Incidentally, 38a is a wiring connected to the metal fitting 38.

Further, the projection 21a formed on the holding member 21 side can be fitted into the upper end portion of the receiving member 22 in which the air flow passages 25 and 26 are formed.
And the hole portions 39 and 3 formed in the receiving member 22.
Screws 40, 4 to which metal fittings 41, 41 are fixed from the bottom of 9
The receiving unit 32 is configured by inserting and fixing 0. 4
Reference numeral 1a is a wiring connected to the metal fitting 41.

According to this structure, when the operation shown in FIG.
When the presser foot 21 fixed to the lower end of the rod 20 shown in FIG.
Fits into the concave portion 22a formed at the upper end of the receiving tool 22 so that the two are in close contact with each other, and air is supplied and discharged between the receiving tool 22 and the pressing tool 21 through the air flow passage and at the same time Ingredient 2
Since the spring-loaded plunger 37 configuring the transmitting unit 31 disposed in 1 is electrically connected to the screw 40 configuring the receiving unit 32 disposed in the receiver 22, signals are exchanged. Based on this signal, it is possible to control the continuation and stop of the desired operation. In this example, since the transmission / reception unit is arranged inside the holding tool 21 and the receiving tool 22, it is not necessary to separately install a large number of switches even when the signals are transmitted and received in multiple systems, and space is saved. An air connection device that is also advantageous from the aspect is provided.

[0011]

In the air connecting device shown in FIG. 4, a large number of non-contact type switches or limit switches must be mounted as described above in the case where signals are transmitted and received in multiple systems. However, there is a problem that the types of switches that can be used are limited.

On the other hand, as shown in FIGS. 5 and 6, by arranging the transmitting / receiving unit between the pressing member 21 and the receiving member 22, even if the signals are transmitted and received in multiple systems, the switches are separately provided. Although it is not necessary to attach a large number of them to each other, which is advantageous in terms of space, but when the presser foot 21 moves downward with the start of driving the air cylinder, the wiring 38a connected to the metal fitting 38 of the presser foot 21 is Since the wire 38a moves up and down together with the presser tool 21, the wire 38a is likely to be broken during long-term use, and especially when there is a welding step during the operation of the robot, the wire 38a approaches the vicinity of the welding machine. The wiring 38a may be damaged due to the influence of sputtering or the like, which may hinder the transfer of signals.

Further, since the air connecting portion between the pressing member 21 and the receiving member 22 has a shield mechanism having only a flat surface, an air leak phenomenon occurs due to abrasion of the air connecting portion during use. There is a fear.

Therefore, the present invention solves the problem of the conventional air connecting device for the robot hand and the work clamp jig, and further improves the device shown in FIGS. 5 and 6, There is no fear that the wiring part will be damaged during driving,
Moreover, it is an object of the present invention to provide an air connecting device between a robot hand and a work clamp jig, in which the space is effectively used and there is no leak phenomenon in the air connecting portion.

[0015]

In order to achieve the above object, the present invention provides a locating pin projecting from a lower wall of a substantially L-shaped operation plate fixed to a robot hand to a clamping air cylinder. The work clamp jig is movably supported by fitting it into the positioning hole formed in the support plate of the equipped work clamp jig, and the work clamp with a plurality of air flow passages is attached to the robot hand side. It is driven up and down by a supported air cylinder, and the pressing member is closely attached to the receiving member which is arranged on the work clamp jig side and has an air flow passage formed at a portion corresponding to the air flow passage. an air connection equipment between the robot hand and the workpiece clamping jig which is adapted to discharge, while disposing the transmitting unit mainly comprising metal directly under part of the receptacle, is fixed to the robot hand A robot hand and a work provided with a receiving unit mainly composed of a plunger with a spring that electrically contacts the metal fitting when the pressing tool is in close contact with the lower surface of the operation plate and in a position vertically corresponding to the transmitting unit. An air connection device with a clamp jig is provided.

At the periphery of the opening of the air flow passage on one side of the air flow passage on the side of the retainer and the air flow passage on the side of the receiver,
A rubber bush is fitted and fixed to improve the adhesion between both air flow passages and prevent leakage during operation.

[0017]

According to this structure, the locate pin protruding from the lower wall of the operation plate of the robot hand is fitted into the positioning hole formed in the support plate of the work clamp jig to support the air supported by the robot hand. By driving the cylinder, the presser having a plurality of air flow paths is brought into close contact with the receiver arranged on the work clamp jig side to supply and discharge air. At this time, the metal fittings of the transmission unit arranged directly below the receiving member come into contact with the spring-loaded plunger arranged on the lower surface of the operation plate of the robot hand, and as a result, the transmission unit and the reception unit are electrically connected. Contact is made to exchange signals.

By sending air from the air source on the robot body side based on this signal, the rod of the clamping air cylinder extends and the work holding plate of the work clamp jig is closed to clamp the work. You can The action of releasing the clamp can be similarly performed by changing the flow state of the air.

Further, since the rubber bush is fitted and fixed to the peripheral edge of the opening of the air flow passage on either side of the holding tool or the receiving tool, the adhesion between both air flow passages is enhanced. Therefore, leakage during operation is prevented.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A concrete embodiment of an air connecting apparatus for a robot hand and a work clamp jig according to the present invention will be described in detail by giving the same reference numerals to the same components as those of the conventional structure.

Reference numeral 21 shown in FIG. 1 is a retainer, and air flow passages 23 and 24 are formed inside the retainer 21. On the other hand, 22 is a receiver, and air flow passages 25 and 26 are formed inside the receiver 22.
A transmission unit 45 is arranged immediately below the receiving tool 22.

Reference numeral 16 denotes a robot hand, which is a lower surface of a lower wall 17a of the operation plate 17 fixed to the robot hand 16 and having a substantially L shape, and a receiving unit at a position vertically corresponding to the transmitting unit 45. 46 is provided. The transmission unit 45 and the reception unit 46 form a transmission / reception unit according to this embodiment.

As shown in FIG. 2, the transmission unit 45 arranged just below the receiving member 22 has the same structure.
The screw 50 is fixed to the lower surface of the receiving member 22 by being inserted into the hole 48 formed in the hole 50 and the wiring 51 led out from the screw 50. Further, the receiving unit 46 arranged on the lower surface of the lower wall 17a of the operation plate 17 includes a screw 53 and a spring-loaded plunger 54 which are fixed by being inserted into a hole 52 formed in the receiving unit 46. The wiring 55 fixed to the screw 53 is mainly configured. 56 and 57 are insulating bushes.

According to this structure, as a basic operation, as shown in FIG. 1, the locating pin 18 protruding from the lower wall 17a of the operation plate 17 fixed to the robot hand 16 and having a substantially L shape is attached to the work. Support plate 3 for the clamp jig 15
Is fitted into the positioning hole 4 formed in the position shown by arrow A to movably support the work clamp jig 15, and then the air cylinder 19 supported on the robot hand 16 side.
Is driven downward to move the holding member 21 having the plurality of air circulation passages 23, 24 to the support plate 3 of the work clamp jig 15.
The air flow passages 25, 26 formed in the receiving tool 22 are brought into close contact with the receiving tool 22 disposed on the side as shown by the arrow B, so that the air flowing paths 23, 24 on the holding tool 21 side are formed.
Air is supplied and discharged in accordance with.

In parallel with such an operation, as the lower wall 17a of the operation plate 17 shown in FIG. 2 moves upward, it is supported by the screw 53 inserted and fixed in the hole 52 of the receiving unit 46. The spring-loaded plunger 54 allows the hole 4 of the transmitter unit 45 to be inserted through the bush 56 as shown by the arrow C.
8 and contact the screw 50, and as a result, the wiring 51 on the transmitting unit 45 side and the wiring 5 on the receiving unit 46 side
5 is electrically connected to exchange signals. When air is sent from the air source on the robot body side to the air hose 27 shown in FIG. 1 based on this signal, the sent air passes through the air hose 27 → the air flow passage 24 → the air flow passage 26 → the air hose 28. The rod 7 of the clamping air cylinder 6 extends into the lower port of the clamping air cylinder 6, the workpiece holding plate 8 of the workpiece clamping jig 15 is closed, and the workpiece 13 set on the substrate 1 is clamped. can do. When the clamp is released, air is sent from the air hose 29 on the other side of the robot body to the upper port of the clamp air cylinder 6 through the air flow passage 23, the air flow passage 25, and the air hose 30 as described above. As a result, the air cylinder 6
The rod 7 can be shortened, and the clamp of the work holding plate 8 can be released.

FIG. 3 shows the air flow passage 2 on the side of the holding member 21.
FIG. 3 is an enlarged cross-sectional view of a connecting portion between the air circulation passages 25 and 26 on the receiving member 22 side, and FIG.
Around the opening of the air flow passage on one side or on one side of the receiving device 22, in the illustrated example, the air flow passages 25, 26 on the receiving device 22 side
A rubber bush 60 is fitted and fixed to the peripheral edge of the opening. With this rubber bush 60, the air flow passages 23, 2
4 and the air flow passages 25, 26 are improved in adhesion, leakage during operation can be prevented, and reliable air supply / discharge can be performed.

In the present embodiment described above, while the transmission unit is arranged just below the receiving member, it is located on the lower surface of the operation plate fixed to the robot hand and at a position corresponding to the transmission unit in the vertical direction. Since the receiving unit is provided in the above, the space can be effectively used, and the structure of the transmitting / receiving unit itself is simple and extremely compact.

[0028]

As described in detail above, according to the air connecting device for the robot hand and the work clamp jig according to the present invention, the following operational effects are brought about. That is, when the air cylinder on the presser tool side is driven and the rod of the air cylinder is extended downward, the presser tool and the work clamp jig side receiver are brought into close contact with each other, and at the same time, they are placed directly below the receiver. The metal fitting of the transmission unit provided is brought into contact with the plunger with the spring arranged on the lower surface of the operation plate of the robot hand, and the transmission unit and the reception unit are electrically brought into contact with each other, so that signals can be exchanged. . Therefore, by sending air from the air source on the robot body side to the air cylinder of the work clamp jig based on this signal, the rod of the clamp air cylinder extends and the work clamp plate of the work clamp jig closes. Work can be clamped. The action of releasing the clamp can be similarly performed by changing the flow state of the air.

Further, in the case of the present invention, since the transmitting / receiving unit is arranged below the receiving member and on the lower surface of the operation plate, the wiring does not move along with the vertical movement of the pressing member, and therefore, during long-term use. Even if there is, the wiring will not be damaged, and even if there is a welding process during the operation of the robot, there is no fear that the wiring will be damaged due to the influence of spatter or the like.

Further, the rubber bush is fitted and fixed to the peripheral edge of the opening of the air flow passage on either side of the holding tool side or the receiving tool side, whereby the adhesion between the air flow passages is enhanced. It is possible to effectively prevent leakage during operation.

In particular, since the space occupied by the transmission / reception unit is effectively utilized, it is not necessary to attach a large number of switches separately even when signals are transmitted and received in multiple systems, and the types of usable switches are limited. There is an advantage that it will not be done. Further, as a usable switch, a reed switch or the like can be adopted instead of the non-contact type switch, and the effect that the form and type of the switch can be expanded is exhibited.

[Brief description of drawings]

FIG. 1 is a side view showing an example of an air connecting device between a robot hand and a work clamp jig used in the present invention.

FIG. 2 is a sectional view of an essential part showing an example of a transmission unit and a reception unit used in the present invention.

FIG. 3 is an enlarged cross-sectional view of a connecting portion between the air flow passage on the side of the retainer and the air flow passage on the side of the receiver.

FIG. 4 is a side view showing an example of a conventional air connecting device between a robot hand and a work clamp jig.

5 is a cross-sectional view of a main part showing a structural example of the presser foot in FIG.

FIG. 6 is a cross-sectional view of an essential part showing a structural example of the receiver in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Substrate 3 ... Support plate 4 ... Positioning hole 6, 19 ... Air cylinder 8 ... Work holding plate 12 ... Jig stand 13 ... Work 15 ... Work clamp jig 16 ... Robot hand 17 ... Operation plate 18 ... Locate pin 21 ... Holding device 22 ... Receiving device 23, 24, 25, 26 ... Air flow passage 45 ... Transmitting unit 46 ... Receiving unit 50, 53 ... Screws 51, 55 ... Wiring 54 ... Spring-loaded plunger 56, 57 ... Insulation bush 60 ... Rubber bush

Claims (2)

[Claims] 1. A positioning hole formed in a support plate of a work clamp jig equipped with an air cylinder for clamping, which is provided with a locate pin projecting from a lower wall of a substantially L-shaped operation plate fixed to a robot hand. And the work clamp jig is movably supported, and a holding tool having a plurality of air flow passages is vertically driven by an air cylinder supported on the robot hand side, and the work clamp jig side is moved. There is an air connection device between a robot hand and a work clamp jig, in which the pressing member is closely attached to a receiving member having an air flow passage formed at a portion corresponding to the air flow passage to supply and discharge air. in location, while disposing the transmitting unit mainly comprising metal directly under part of the receptacle, to cope with and the transmission unit and the vertical direction on the lower surface of the operation plate which is fixed to the robot hand In position, the air connection device between the robot hand and the workpiece clamping jig, characterized in that arranged the reception unit mainly comprising spring loaded plungers in electrical contact with the metal fittings when the retainer is in close contact. 2. An air flow passage on one side of the air flow passage on the side of the retainer and a side air flow passage on the side of the receiver are provided at the peripheral edge of the opening of the air flow passage to improve adhesion between the air flow passages during operation. 2. An air connecting device between a robot hand and a work clamp jig according to claim 1, wherein a rubber bush for preventing leakage is fitted and fixed.