JPH08120429A - Industrial robot hand and its control - Google Patents

Abstract

PURPOSE: To provide an industrial robot hand capable of making safe and continuous operation with a high production capacity and control method therefor. CONSTITUTION: A shaft housing 31 and an air cylinder 40 are fixed to a plate 20 and a piston 41 is fixed to a driving plate 21. Stoppers 34, 36 are fixed to a shaft 32. The stopper 34 comes into contact with the large-diameter part of the shaft housing 31 and the stopper 36 forms a slight clearance with the driving plate 21 when the air pressure in the air cylinder 40 is low. The shaft 32 and a pressure plate 60 are pushed up together with the driving plate 21 when the air pressure in the air cylinder 40 rises. The shaft 32 descends and the stopper 34 collides against the large-diameter part of the shaft housing 31 when the air in the air cylinder 40 is rapidly released. The plating material sticking to the pressure plate 60 is beated down by this impact and, therefore, the adhesion of the plating material to the pressure plate 60 is prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot hand for performing a plating work process and a control method for the same.

[0002]

2. Description of the Related Art Conventionally, manual plating work is a heavy labor under high heat environment, and it is necessary to improve safety and work efficiency. Therefore, a plating robot as shown in FIG. 5 has been developed which automatically performs plating work in place of manual labor. Industrial robot 7 for plating
0 is a locking member 4a of the support member 4 for supporting the basket 3 and the claw 7
1 is locked and the work 5 is held in the basket 3 by hooking both ends of the support member 4 to the upper end of the plating tank 1 while pressing the work 5 with the push plate 72 so that the work 5 does not float up from the plating solution 2. 5 is immersed in the plating solution 2. And
The claw 71 is pulled out from the locking member 4a and the next cage is immersed in the plating tank 1, or the cage 3 after plating is pulled up from the plating tank 1.

[0003]

However, in the industrial robot 70 for plating as shown in FIG. 5, the push plate 72 is immersed in the plating solution 2 so that the work 5 does not float above the plating solution 2. Then, the plating plate 2 pulled up from the plating solution 2 moves to the next plating process while a part of the plating solution 2 remains attached. At this time, if the operating speed of the industrial robot 70 is high, it is dangerous that the plating material adhered to the push plate 72 is scattered around, so if the operating speed of the robot is reduced in consideration of the safety of the worker, the production capacity is reduced. There is a problem of decrease.

Further, the plated material adhered to the pressing plate 72 is cooled in the air and solidified, and during repeated plating processing, the plated material adhered to the pressing plate 72 and solidified grows and weighs. May increase and may interfere with other members. To remove the solidified plating material,
Since it is necessary to interrupt the plating process of the industrial robot 70, there is a problem that continuous plating process cannot be performed.

Further, the plating material adhered to the pressing plate 72 and solidified is oxidized by air to become an oxide, and this oxide is melted in the plating solution 2 and melts into the plating solution 2, whereby the purity of the plating solution 2 is increased. There is also a problem that is damaged. In order to solve such a problem, it is conceivable to remove the plated material attached to the pressing plate 72 by air blow, but on the contrary, since it also has the effect of promoting the solidification of the attached plated material, the effect of removing the plated material is Not enough.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an industrial robot hand which is safe, has a high production capacity and is capable of continuous work, and a control method thereof.

[0007]

An industrial robot hand according to claim 1 of the present invention for achieving the above object is an industrial robot hand for plating a work by immersing it in a plating solution filled in a plating tank. A robot hand, which is an arm portion that conveys a storage means that stores a work, a support means that is provided at a tip of the arm portion and that can support the storage means, and that extends horizontally at a tip of the arm portion. A pressing plate provided above the work in a state where the main supporting stage supports the accommodating means, an impact generating mechanism for applying an impact to the pressing plate, and a control device for controlling the impact generating mechanism, It is characterized by including.

An industrial robot hand according to a second aspect of the present invention is the industrial robot hand according to the first aspect, further comprising a cover member for covering a front surface of the supporting means facing the push plate. . A method for controlling an industrial robot hand according to claim 3 of the present invention is the industrial robot hand according to claim 1 or 2, wherein the push plate is pulled out from the plating tank, and then on the plating tank. The feature is that an impact can be applied by an impact generation mechanism.

[0009]

According to the industrial robot hand according to the first aspect of the present invention, the pressing plate is located above the work while the supporting means supports the accommodating means that accommodates the work to be plated. When the accommodating means is dipped in the plating solution, the work that is about to overflow from the accommodating means can be kept in the plating solution. Furthermore, when the push plate is pulled out of the plating solution, the impact generating mechanism gives an impact to the push plate to knock off the plated material attached to the push plate. It is possible to prevent the high-temperature plated material attached to the pressing plate from scattering around. For this reason, the safety of the operator can be ensured without lowering the operating speed of the industrial robot hand, so that it is possible to maintain a high production capacity and prevent the plating material from adhering to other devices. Furthermore, since it is possible to prevent the plated material attached to the pressing plate from solidifying and growing, it is not necessary to interrupt the plating process of the industrial robot hand in order to remove the solidified plated material from the pressing plate. Therefore, the plating process can be continuously performed, which has the effect of improving the work efficiency.

According to the second aspect of the industrial robot hand of the present invention, by providing the cover member for covering the front surface of the supporting means facing the pressing plate, the plating material attached to the pressing plate is knocked off. Can be prevented from splashing onto the support means. According to the method of controlling the industrial robot hand according to claim 3 of the present invention, the impact generating mechanism exerts an impact on the push plate to knock off the plating solution adhering to the push plate on the plating bath. Since the material is not scattered, the plated material can be used efficiently.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. An embodiment in which the industrial robot hand of the present invention is used in a plating apparatus is shown in FIGS. Two plating robot hands are used: a carrying-in robot hand for dipping a work into the plating tank 1 and a carrying-out robot hand for drawing a work out of the plating tank 1. The plating robot hand for carrying in will be described below.

As shown in FIG. 1, the plating bath 1 is filled with a plating solution 2. A work 5 to be plated is housed in a cage 3 which is a storage means formed in the shape of a cylindrical net and having an opening at the top, and a support member 4 is attached to the opening of the cage 3. The fixing portion 12 provided at the tip of the arm portion 10 of the plating robot hand supports a pair of hook-shaped grips 11 that are supporting means so as to be movable in the arrow direction of FIG. The claws 11a provided at the tip of the handle 11 face each other.

As shown in FIG. 3, the impact generating mechanism comprises a plate 20, a drive plate 21, a shaft housing 31, a shaft 32, an air cylinder 40, a piston 41, a rod housing 50 and a rod 51. The plate 20 extends in a direction orthogonal to the moving direction of the handle 11 and is fixed to the fixing portion 12, and the shaft housing 31 and the air cylinder 4 are provided.
0, the rod housing 50 is fixed to the plate 20. The piston 41 housed in the air cylinder 40 and the rod 51 reciprocally supported by the rod housing 50 are fixed to the drive plate 21, and the drive plate 21 moves up and down due to the pressure change in the air cylinder 40.

The shaft housing 31 penetrates the plate 20, the large diameter portion 31a is locked to the upper end surface of the plate 20, and the large diameter portion 31a is fixed to the plate 20. The shaft 32 passes through the notch 21a shown in FIG. 2 of the drive plate 21, is supported by the shaft housing 31 so as to be capable of reciprocating, and the push plate 60 is fixed to the lower end portion. The shaft 32 has annular stoppers 34, 35, 36.
Are assembled in this order from the plate 20 side. The stoppers 34 and 35 are located between the plate 20 and the drive plate 21, and the stopper 36 is located above the drive plate 21. When the pressure of the air in the air cylinder 40 is low, the stopper 34
Is in contact with the large-diameter portion 31a, and the stopper 36 forms a slight clearance with the drive plate 21. The compression coil spring 33 is housed in the shaft housing 31, one end of which abuts on a spring seat 32a provided on the shaft 32 and the other end of which abuts on the inner wall of the large diameter portion 31a, and urges the shaft 32 vertically downward. .

The air cylinder 40 is supplied with air from an air supply source (not shown) and lifts the piston 41 and pushes up the drive plate 21 when the pressure is high. Since the rod housing 50 is mounted on the opposite side of the shaft housing 31 with the air cylinder 40 interposed therebetween, the rod 51 reciprocally housed in the rod housing 50 moves the piston 41 up and down to drive the drive plate 21 together with the piston 41. Since it is supported at two points, the drive plate 21 can be held horizontally even if a load is applied to the shaft 32 side.

A push plate 60 fixed to one end of the shaft 32.
Is formed of a circular frame 60a, a cross-shaped middle frame 60b provided inside the circular frame and supporting the circular frame, and a circular net 60c having a roughness that does not allow the work to pass through.
The control device 62 controls the movement and stop of the arm portion 10, the air pressure of the air cylinder 20, and the like.

Next, the operation of the robot hand for plating when galvanizing the work 5 made of, for example, iron will be described. The arm portion 10 moves to a position where the basket 3 accommodating the work is placed, and the locking portion 4 a of the support member 4 is provided.
Insert the claws 11a from both sides of the hole of the
Sandwich. At this time, the pressure in the air cylinder 31 is low, and the stopper 34 is in contact with the upper end surface of the large diameter portion 31a. The push plate 60 is located substantially in the center of the opening portion of the basket 3 and slightly above the opening portion of the basket 3.

The arm portion 10 holding the engaging portion 4a moves above the plating bath 1 and is placed in the plating solution 2 up to a position where the engaging portion 4a and the engaging plate 4b come into contact with the upper end surface of the plating bath 1. Immerse the basket 3. Since iron has a slightly higher specific gravity than zinc, the work 5 is not attached to the work 3 due to bubbles adhering to the periphery of the work 5 while the work 3 is sinking into the plating solution 2.
Sometimes overflows. The push plate 60 is for pressing the work 5 that is about to overflow from the basket 3 into the basket 3, and plating is performed with the locking portion 4a and the locking plate 4b in contact with the upper end surface of the plating tank 1. The liquid 2 descends to a position 10 mm below the surface.

When the support member 4 is placed on the upper end surface of the plating tank 1, the handle 11 spreads out, the claw 11a comes out of the hole of the engaging portion 4a, and the arm portion 10 reaches a position where the pressing plate 60 is not immersed in the plating solution 2. Moves upwards. When the arm unit 10 rises to a predetermined value and stops, air is gently supplied into the air cylinder 40 according to an instruction from the control device 62,
The air pressure in the air cylinder 40 rises. As shown in FIG. 4, this air pressure causes the piston 41 to gently rise and push up the drive plate 21. When the drive plate 21 is pushed up, the stopper 36 contacts the upper end surface of the drive plate 21, and when the drive plate 21 is further pushed up, the push plate 60 is pulled up together with the shaft 32.

As shown in FIG. 4, the driving plate 21 is 50 mm
When rising, the air cylinder 4 is instructed by the controller 62.
The air in 0 is rapidly removed, and the air pressure in the air cylinder 40 rapidly drops. As the air pressure decreases, the drive plate 21
Suddenly falls and strikes the stopper 35. Shaft 3
2 is lowered by the urging force of the compression coil spring 33, the weight of the compression coil spring 33 and the weight of the push plate 60, and the stopper 34 collides with the upper end surface of the large diameter portion 31a. When the shaft 32 moves up and down by the elastic force of the compression coil spring 33 and the reaction force due to the collision, the stopper 34 collides with the large diameter portion 31a several times. Therefore, the plating material attached to the push plate 60 is shaken off in the plating tank 1 due to the shock caused by the vertical movement of the shaft 32. As shown in FIG. 4, the plating material adhered to the pressing plate 60 can be satisfactorily removed by repeating such air supply and air bleeding to the air cylinder 40 three times. Cover member 61
Prevents the plated material shaken off at this time from adhering to the handle 11 or the like.

In the embodiment of the present invention described above, the plating robot hand for loading the work into the plating tank has been described. However, in the present invention, the plating robot for loading and unloading the work into the plating tank is also described. It is also possible to equip the hand with a push plate and an impact generating mechanism to knock off the plating solution adhering to the push plate.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment in which an industrial robot hand of the present invention is applied to a plating system.

FIG. 2 is a perspective view showing a tip end portion of an arm of the plating robot hand according to the present embodiment.

FIG. 3 is a side view showing details of an impact generation mechanism of the plating robot hand of the present embodiment.

FIG. 4 is a characteristic diagram showing a relationship between a lift amount of a drive plate and time according to the present embodiment.

FIG. 5 is a configuration diagram showing an example in which a conventional industrial robot hand is applied to a plating system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Plating tank 2 Plating solution 3 Basket (accommodation means) 5 Work piece 10 Arm part 11 Handle (supporting means) 20 Plate (impact generation mechanism) 21 Drive plate (impact generation mechanism) 31 Shaft housing (impact generation mechanism) 32 Shaft (impact) Generation mechanism) 33 Compression coil spring (impact generation mechanism) 40 Air cylinder (impact generation mechanism) 41 Piston (impact generation mechanism) 50 Rod housing (impact generation mechanism) 51 Rod (impact generation mechanism) 60 Push plate 61 Cover member 62 Control apparatus

Claims (3)

[Claims] 1. An industrial robot hand for plating a work by immersing it in a plating solution filled in a plating tank, the arm part carrying a containing means containing the work, and a tip of the arm part. Support means provided for supporting the accommodating means, and a push plate provided so as to extend horizontally at the tip of the arm portion and positioned above the workpiece in a state in which the main supporting stage supports the accommodating means. An industrial robot hand comprising: a shock generating mechanism that applies a shock to the push plate; and a control device that controls the shock generating mechanism. 2. The industrial robot hand according to claim 1, further comprising a cover member that covers a front surface of the support means facing the push plate. 3. The push plate, after being pulled out from the plating tank, is subjected to a shock by the shock generating mechanism on the plating tank.
A method for controlling the industrial robot hand described.