JPH08243968A - End effector - Google Patents

Abstract

PURPOSE: To provide an end effector which can cope even with a work of a small circle, a small rectangular shape or the like and can reliably attract the work in the end effector to carry a magnetic substance work by electromagnetically attracting it. CONSTITUTION: An end effector is composed of an electromagnet 3 to attract a magnetic substance work, a plunger to move after the detecting end 51 contacts with the work and a proximity sensor 7 to detect a movement of the plunger. The proximity sensor 7, the plunger 5 where a detecting surface 54 opposed to a detecting part of the proximity sensor 7 through a void is arranged on an end surface on the opposite side of the detecting end 51 and a spring 6 to give a pre-load to this plunger 5 are housed in a step hole 4 arranged in the central axial direction of the electromagnet 3, and an electromagnetically attracting type end effector is constituted. The work is detected with the center of the electromagnet 3 as a reference.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an end effector for electromagnetically attracting and transporting a magnetic work.

[0002]

2. Description of the Related Art Conventionally, as a method of gripping plate-like works stacked on a flat surface and placing them at a predetermined place, a detection rod arranged in parallel with an electromagnet below a gripping device and a detection rod have come into contact with the work. The first sensor for detecting the contact state detects that the detection rod of the gripping device comes into contact with the work, temporarily stops the gripping device, and causes the gripping device to be adjacent to the work by the adjacent distance stored in the memory of the control device. There is a device for driving (for example, JP-A-62-44385).

[0003]

However, since the electromagnet and the detection rod are arranged side by side, it is possible to handle a long work, but for a work such as a small circle or a small rectangle, the electromagnet is above the work. However, there is a problem that if the detection rod comes off the work, it cannot be handled. The present invention was devised in view of such a point, and an object thereof is to provide an end effector capable of accommodating a work such as a small circle or a small rectangle and surely adsorbing the work.

[0004]

An end effector comprising an electromagnet 3 for adsorbing a magnetic work, a plunger whose detection end 51 moves after contact with the work, and a proximity sensor 7 for detecting movement of the plunger. 7
And the proximity sensor 7 on the end face opposite to the detection end 51.
The plunger 5 provided with a detection surface 54 facing the detection part of the electromagnet 3 and a spring 6 for pressurizing the plunger 5 is housed in a step hole 4 provided in the central and axial directions of the electromagnet 3 and is of an electromagnetic adsorption type. Configure end effectors.

[0005]

By the above means, the work is detected with the center of the electromagnet as a reference.

[0006]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a sectional view showing an embodiment of the present invention. A ring-shaped or rectangular electromagnet 3 is provided on the lower surface of a holder 2 having an attachment surface 1 attached to the wrist of the robot on the upper surface. At the outer edge of the electromagnetic core 3C of the electromagnet 3,
A ring-shaped or rectangular groove 31 is provided, and an outer edge core 32 and a central core 33 are formed. In the groove 31,
An exciting coil 35 wound around the bobbin 34 is stored.
The lower surface of the electromagnet 3 becomes the attraction surface 3A. The lead 36 of the exciting coil 35 is drawn out through a hole 37 provided in the side surface of the outer edge core 32. At the center of the central core 33, a portion close to the holder 2 is made a large diameter portion 41, and
A step hole 4 having a small-diameter portion 42 at a portion close to is provided. A bush 44 made of a self-lubricating material such as gunmetal, Delrin (trade name), oil-impregnated alloy, or carbon is fitted to the small diameter portion 42. Inside the stepped hole 4, a shell-shaped detection end 51 having a rounded tip and a straight line part in the middle, and a diameter larger than the small diameter part 42 and smaller than the large diameter part 41 of the stepped hole 4 are provided above the detection end 51. Of the spring seat 52, the rod portion 53 provided on the upper portion of the spring seat 52, and a flat surface portion provided on the end surface of the rod portion 53 opposite to the detection end 51 as a detection surface 54, aluminum, stainless steel,
A nonmagnetic plunger 5 such as gun metal is stored. The bush 44 is slidably engaged with the straight portion above the detection end 51. At the upper part of the spring seat 52, the lower end of the spring 6 such as a coil spring or a disc spring which uses the rod portion 53 as a guide is provided. The upper end of the spring 6 is provided with a hole 43 at the center for slidably guiding the rod portion 53 and is fixed in the step hole 4 with a screw or the like. Self-lubrication of gun metal, Delrin (trade name), oil-impregnated alloy, carbon, etc. A stopper 55 made of a flexible material is in contact with the spring 6, and the spring 6 is pressurized. The tip of the detection end 51 is provided so as to protrude from the suction surface 3A by a height H. The plunger 5 slides up and down in the step hole 4. The detection surface 54,
A detection portion of the proximity sensor 7 that is activated when the plunger 5 moves substantially by the height H is provided so as to face each other with a gap. The proximity sensor 7 is provided at the center of the sensor seat 71. The sensor seat 71 is fixed in the step hole 4 with a screw or the like,
The lead 73 of the proximity sensor 7 is drawn to the outside from a hole 72 provided orthogonal to the step hole 4. The operation will be described below. The electromagnet 3 is attached to a plate-shaped work (not shown).
When the wrist of the robot is further moved to the work side after the tip of the detection end 51 provided at the center of the contact point comes into contact, the plunger 5 moves upward, and the detection surface 54 approaches the detection section of the proximity sensor 7. When the plunger 5 moves substantially by H, the proximity sensor 7 operates and detects that the suction surface 3A and the workpiece are in contact with each other. When the contact is detected and the exciting coil 35 of the electromagnet 3 is energized, the work is attracted to the attraction surface 3A. After adsorption, the wrist of the robot is moved to the work placement position, and when the excitation coil 35 is de-energized, the work is separated from the electromagnet 3. At this time, the plunger 5 is returned to the initial position by the spring 6 and the next position is set. Return to the state where the work can be transported.

As described above, according to the present invention, since the work is detected with the center of the electromagnet as a reference, the work can be securely attracted.

[Brief description of drawings]

FIG. 1 is a sectional view showing an embodiment of the present invention.

[Explanation of symbols]

 1 Mounting surface 2 Holder 3 Electromagnet 3A Adsorption surface 3C Electromagnetic core 31 Groove 32 Outer edge core 33 Central core 34 Bobbin 35 Excitation coil 36, 73 Leads 37, 43, 72 Hole 4 Step hole 41 Large diameter part 42 Small diameter part 43 Hole 44 Bush 5 Plunger 51 Detection End 52 Spring Seat 53 Rod Part 54 Detection Surface 55 Stopper 6 Spring 7 Proximity Sensor 71 Sensor Seat

Claims (1)

[Claims] 1. An end effector comprising an electromagnet for adsorbing a magnetic work, a plunger whose detection end moves after contact with the work, and a proximity sensor for detecting movement of the plunger, the proximity sensor being opposite to the detection end. A plunger having a detection surface facing the detection portion of the proximity sensor via a gap on the end face on the side and a spring for axially pressing the plunger are housed in a step hole provided in the center / axial direction of the electromagnet. An end effector characterized in that.