JPH07314375A - Robot hand floating unit - Google Patents

Abstract

PURPOSE:To smoothen movement, reduce height, and increase the accuracy of obstacle recognition by shifting a slide shaft part of a robot hand floating unit from the center of the unit. CONSTITUTION:Linear slide bushes 5 and 6 are installed on an upper plate 1 on the robot Z-axis 16 side at a position out of the plate center, and slide shafts 3 and 4 are vertically installed on a lower plate 2 on the robot hand 15 side oppositely to the linear slide bushes 5 and 6. The slide shafts 3 and 4 pass the through holes 13 and 14 of the upper plate 1 and linear slide bushes 5 and 6 through helical compression springs 9 and 10 which give a repulsive force between the upper plate 1 and lower plate 2, and guide both plates smoothly so that they can be moved closely to and apart from each other. When a unit lowers and the robot hand 15 touches an obstacle, the upper plate 1 and the lower plate 2 are moved closely to each other, and a photoelectric sensor shield plate 12 shields light from a photoelectric sensor 11 so as to transmit the recognition of obstacle to a robot controller through a sensor cable 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a floating mechanism,
In particular, the present invention relates to a floating mechanism applicable to a connecting portion between an arm of an industrial robot and a robot hand.

[0002]

2. Description of the Related Art As shown in FIG. 4, a conventional robot hand floating unit includes a slide shaft 23 having one end fixed to a central portion of an upper plate 21 connected to a robot Z axis 16 on the arm side of the robot, and a robot hand. 15
Linear slide bush 25, one end of which is fixed to the central portion of the lower plate 22 that is connected to the upper plate 21, the photoelectric sensor 11 provided on the bracket 29 fixed to the side surface of the upper plate 21, and the photoelectric sensor light shielding provided on the lower plate The slide shaft 23, which is composed of the plate 12, is inserted into the linear slide bush 25 and is slidable in the axial direction. An elliptical key hole 26 is provided on the side surface of the linear slide bush 25, and a key 27 is driven into the slide shaft 23 from here to prevent rotation of the slide shaft 23 about its axis and removal from the linear slide bush 25. The compression coil spring 24 is provided around the linear slide bush 25 and the slide shaft 23, and applies repulsive force to the upper plate 21 and the lower plate 22. The photoelectric sensor shading plate 12 does not shield the photoelectric sensor 11 when the floating unit has a natural length, and shields the photoelectric sensor 11 when the entire length is shortened. This floating unit is usually provided between the robot Z-axis 16 and the robot hand 15 as described above. The signal from the photoelectric sensor 11 is connected to the I / O of the robot controller via the sensor cable 17.

Next, the operation of this conventional example will be described with reference to FIGS. FIG. 5A shows that the floating unit 28 is provided between the robot Z axis 16 of the robot 20 and the robot hand 15. The state where the robot Z-axis 16 descends and the robot hand 15 contacts the obstacle 19 is shown in FIG. 6 is shown in FIG.
It is an enlarged view of the floating unit 28 part in (b).

When the robot hand 15 contacts the obstacle 19, the slide shaft 23 enters the linear slide bush 25 and the total length of the unit is shortened. At this time, the photoelectric sensor light shielding plate 12 shields the photoelectric sensor 11, and this signal is transmitted to the I / O of the robot controller via the sensor cable 17 to recognize the obstacle 19.

[0005]

In this conventional robot hand floating unit, since the slide shaft and the linear slide bush are provided in the central portion of the plate, the length of the axial slide stroke is proportional to the total length. , It is difficult to reduce the size in the axial direction,
There is only one set of slide shaft and linear slide bush,
In addition, since the rotation direction around the axis is fixed by the key, there are problems that the movement is not smooth, the accuracy is likely to decrease due to rattling, and the strength is weak.

[0006]

A robot hand floating unit according to the present invention is arranged on a robot hand side so as to face a first plate arranged on the arm side of a robot and the first plate. A second plate, at least two linear slide bushes standing upright from the center of the plate on the first plate, and the first plate is drilled at a position corresponding to the linear slide bushes. Through hole and at least two rod-like members that are vertically provided on the second plate and that extend through the through hole and the linear slide bush from the lower surface side of the first plate and that have a retaining member at the upper end. Between the slide shaft and the first and second plates, and the repulsive force is fitted between the slide shaft and the first and second plates. The applying spring member, the photoelectric sensor provided on the side surface of the first plate, and the photoelectric sensor provided on the side surface of the second plate shield the photoelectric sensor when the first and second plates approach each other. And a light shield.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be described with reference to the drawings.

FIG. 1 shows a floating unit according to an embodiment of the present invention, (a) is a plan view, (b) is a front view, and FIG. 2 is a view in which the unit of this embodiment is attached to a robot.
2A is a front view showing a state when the unit is in contact with an obstacle before the operation, and FIG.
It is a front view which expands and shows the principal part in (b).

On the upper plate 1 connected to the robot Z-axis 16 on the arm side of the robot, two linear slide bushes 5 and 6 are erected at symmetrical positions deviated from the plate center, and through holes are provided at the positions. 13 and 14 are opened respectively, and the photoelectric sensor 1 is provided on the side surface of the upper plate 1.
1 is provided. On the other hand, on the lower plate 2 connected to the robot hand 15, slide shafts 3 and 4 are vertically provided at positions corresponding to the linear slide bushes 5 and 6 of the upper plate 1, and a photoelectric sensor is provided on a side surface of the lower plate 2. A light shielding plate 12 is provided. The rod-shaped slide shafts 3 and 4 pass through the through holes 13 and 14 of the upper plate 1,
Further, the upper plate 1 and the lower plate 2 are connected to each other by passing through the linear slide bushes 5 and 6 and fitting E-shaped retaining rings 7 and 8 as retaining members in the grooves at the upper end. Here, the compression coil springs 9 and 10 as spring members are provided so as to be fitted on the outer circumferences of the slide shafts 3 and 4 and to be sandwiched between the upper plate 1 and the lower plate 2. Are pressed against each other to give repulsive force to each other.

As described above, the floating unit of this embodiment is usually provided between the robot Z-axis 16 and the robot hand 15, and the upper plate 1 and the lower plate which are arranged facing each other. 2 can be moved in a direction in which the two slide shafts 3 and 4 are used as guides and resist the repulsive force of the compression coil springs 9 and 10 so as to come into contact with and separate from each other. The signal from the photoelectric sensor 11 is connected to the I / O of the robot controller via the sensor cable 17.

Next, the operation of this embodiment having such a configuration will be described with reference to FIGS. FIG. 2A shows that the floating unit 18 is provided between the robot Z axis 16 of the robot 20 and the robot hand 15. The robot Z-axis 16 descends and the obstacle 19 contacts the robot hand 15, resulting in the state shown in FIG. 2B.
FIG. 3 shows the floating unit 18 shown in FIG.
It is an enlarged view of a part.

When the floating unit 18 descends and the robot hand 15 comes into contact with the obstacle 19, the slide shafts 3 and 4 are linear slide bushes 5 and 6 of the upper plate 1 via the lower plate 2 and the compression coil springs 9 and 10.
Further entering the inside, the upper plate 1 and the lower plate 2 approach each other against the repulsive force of the compression coil springs 9 and 10, and the total length between them becomes short. Here, upper plate 1 and lower plate 2
When the two move toward and away from each other, the two slide shafts 3 and 4 serve as guides, so that the movement is extremely smooth. When the upper plate 1 and the lower plate 2 approach each other, the photoelectric sensor shading plate 12 on the lower plate 2 side shields the photoelectric sensor 11 on the upper plate 1 side, and this signal is transmitted to the sensor cable 1
It is transmitted to the I / O of the robot controller via 7.
The obstacle 19 is recognized.

In this embodiment, two slide shafts 3 and 4 and two linear slide bushes 5 and 6 are provided at positions deviated from the center of the plate. However, the present invention is not limited to this, and may be used depending on the application and scale. The number may be three or more.

In this embodiment, the E-shaped retaining rings 7 and 8 are exemplified as the retaining members for the slide shafts 3 and 4, but other retaining means such as fitting a split pin to the slide shafts 3 and 4 may be used. You may use. Further, although the compression coil springs 9 and 10 are illustrated as the spring members between the upper plate 1 and the lower plate 2, other spring means such as a disc spring or a leaf spring may be used.

[0015]

As described above, according to the present invention, a plurality of slide shafts and linear slide bushes are provided, the mounting on the plate is shifted from the center position, and the escape of the shaft upper part when the slide shaft slides is also provided. , The total length of the unit can be shortened, the movement between the plates can be smoothed by the guide of multiple slide shafts, the movement accuracy can be improved without rattling, and the mechanical rigidity can be increased. , It is possible to recognize obstacles without any trouble.

[Brief description of drawings]

FIG. 1 shows a floating unit of one embodiment of the present invention, (a) is a plan view and (b) is a front view.

2A and 2B are diagrams in which the unit according to the embodiment of the present invention is attached to a robot, and FIG. 2A is a front view showing a state before contact with an obstacle and FIG.

FIG. 3 is a front view showing an enlarged main part in FIG. 2 (b).

FIG. 4 is a front view showing a conventional floating unit.

5A and 5B are front views showing a state in which a conventional example is attached to a robot, in which FIG. 5A is a state before the operation and FIG. 5B is a state after the operation.

FIG. 6 is an enlarged front view showing a main part of FIG. 5 (b).

[Explanation of symbols]

 1 Upper plate 2 Lower plate 3,4 Slide shaft 5,6 Linear slide bush 7,8 E-shaped retaining ring 9,10 Compression coil spring 11 Photoelectric sensor 12 Photoelectric sensor light-shielding plate 13,14 Through hole 15 Robot hand 16 Robot Z axis 17 Sensor Cable 18 Floating Unit 19 Obstacle 20 Robot

Claims (3)

[Claims] 1. A first plate arranged on the arm side of a robot, a second plate arranged on the robot hand side so as to face the first plate, and a first plate on the first plate. Of at least two linear slide bushes erected at a position deviated from the plate center of the first plate, through holes formed at positions corresponding to the linear slide bushes of the first plate, and rod-shaped second holes. At least two slide shafts that are vertically installed on the plate and that have the retainer member at the upper end that passes through the through hole and the linear slide bush from the lower surface side of the first plate; and the first and second plates. Between the first and second plates, which are fitted into the slide shaft between the first and second plates, and a photoelectric sensor provided on the side surface of the first plate. Robot hand floating unit, comprising: a sensor and a light shielding plate that is provided on a side surface of the second plate and shields the photoelectric sensor when the first and second plates approach each other. 2. The robot hand floating unit according to claim 1, wherein the retaining member is an E-shaped retaining ring. 3. The robot hand floating unit according to claim 1, wherein the spring member is a compression coil spring.