JPH10277978A - Attachment chucking device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an attachment chucking device for a robot with no power source required. SOLUTION: In an attachment chucking device where the give and take of an attachment 7 can be performed with no power source used between the side of a robot 1 and the side of a holder main body 13, the attachment 7 is provided with side over-hang parts 70 and 71 arranged at certain intervals, out of the robot 1 side and the holder main body 13 side, oscillating members Y4 having pawls 4 and oscillating members Y8 having pawls 8 are mounted to one and the other respectively in such a way as to be freely locked, and concurrently, the oscillating members Y4 and Y8 are so energized by springs that the pawls 4 and 8 are directed inward. Each pawl 4 and 8 is provided with a tapered wall surface T1 at the inner surface side that is inclined outward toward the end part, and having a hanging wall surface T2 to be hanged over the side over-hang part 70, and concurrently, it is so designed that each pawl is slightly pushed so as to be widened outward when it is locked to the side over hang part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attachment chucking device for a robot.

[0002]

2. Description of the Related Art In a conventional attachment chucking device for a robot, the force of a solenoid or a cylinder is used for chucking the attachment. Therefore, a power source for moving a solenoid or a cylinder is required, and there is a problem that wiring and piping become complicated.

[0003]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an attachment chucking device for a robot that does not require a power source.

[0004]

SUMMARY OF THE INVENTION The present invention relates to a chucking device in which the attachment 7 can be exchanged between the robot 1 and the holder body 13 without a power source.
The attachment 7 has side projections 70 and 71 arranged at regular intervals, and a rocking member Y4 having a claw 4 on one side and a claw 8 on the other side on the robot 1 side or the holder body 13 side. The swinging member Y8 is swingably attached, and the swinging members Y4, Y8 are spring-biased in a direction in which the claws 4, 8 are directed inward. And has a tapered wall surface T1 on the inner surface side inclined outward and a hooking wall surface T2 that is hooked to the side protrusion 70, and the claw is slightly outward when in the locked state with the side protrusion. A first approach operation in which the tapered wall surface T1 of the claw 8 comes into contact with the side projection 71 to spread the claw 8 and the movement of the claw 8 , The end of which abuts on the tapered wall surface T1 of the claw 4 and the claw 4 is pushed and widened. The second approach operation in which the locking between the claw 4 and the side protrusion 70 is released, and the claw while maintaining the state in which the lock between the claw 4 and the side protrusion 70 is released A third approaching operation in which the claw 8 and the side protruding portion 71 are locked with each other beyond the side protruding portion 71;
The claw 4 is brought into contact with the tapered wall surface T1 of the
The attachment 7 can be exchanged between the robot 1 side and the holder main body 13 side by the separation operation that is pushed out until the position exceeds the lockable position of the attachment 7.

A positioning hole 7 is provided in the attachment 7 side.
It is preferable that positioning pins 6 and 9 are provided on the robot 1 and the holder body 13 side, respectively, and the positioning pins 6 or 9 are inserted into the positioning holes 72.

The operation and effect of the robot attachment chucking device of the present invention will be clarified in the following embodiments of the invention.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An attachment chucking device for a robot according to an embodiment of the present invention will be described below in detail with reference to the drawings. (About Embodiment 1) This attachment chucking device for a robot includes a robot 1, a holder body 13,
It is composed of an attachment 7 so that the exchange of the attachment 7 between the robot 1 and the holder body 13 can be performed without a power source.

As shown in FIG. 1, a swinging member Y4 having a claw 4 is attached to the robot 1 on both left and right sides via a shaft 2 so as to be swingable. 4 is urged by the spring 3 inward.
Further, as shown in FIGS. 1 and 8,
A stopper 5 for restricting the pawl 4 of the swing member Y4 from moving inward more than a predetermined amount, and a positioning pin 6 provided on a joint surface with the attachment 7 so as to properly establish a joint positional relationship with the attachment 7 are provided. It is.

As shown in FIG. 1, a swinging member Y8 having a claw 8 is attached to the holder body 13 on both left and right sides via a shaft 12 so as to be swingable.
Numeral 8 is urged by a spring 11 in a direction in which the claw 8 goes inward. In addition, as shown in FIG. 1, the holder main body 13 has a stopper 10 for restricting the claw 8 of the swing member Y8 from moving inward beyond a predetermined distance, and a proper positional relationship between the stopper 7 and the attachment 7. A positioning pin 9 is provided on a joint surface with the attachment 7.

The above-mentioned claws 4 and 8 have an inner tapered wall surface T1 inclined outwardly toward the end,
0,71 and the hanging wall surface T2 and the outer wall surface T3
And the tapered wall surface T1 and the hanging wall surface T2, and the tapered wall surface T1 and the outer wall surface T3 are formed to form an acute angle.

The attachment 7 is, as shown in FIG.
It has side projections 70 and 71 arranged at intervals in the vertical direction, and a positioning hole 72 is provided at a position corresponding to the positioning pins 6 and 9 on the joint surface between the robot 1 and the holder body 13. It is arranged.

In this device, as shown in FIG.
The pawl 4 which is in a locked state with the side protrusion 70 of the attachment 7 is set so as to be located slightly outside the pawl 8 which is in a contact state with the stopper 10. That is, when the attachment 7 is held on the robot 1 side, as shown in FIG. 2, when the attachment 7 is exchanged, the tapered wall surface T1 of the claw 4 and the end portion 80 of the claw 8 (the tapered wall surface T1 and the outer wall surface T3 Corners) are opposed to each other.

As shown in FIG. 8, the pawl 8 in the locked state with the side projection 71 of the attachment 7 is located slightly outside the pawl 4 in the abutting state with the stopper 5. Is set to That is, when the attachment 7 is held on the holder main body 13 side, as shown in FIG. 8, when the attachment 7 is exchanged, the tapered wall surface T1 of the claw 8 and the end portion 40 of the claw 4 (the tapered wall surface T1 and the outer wall surface T3, Corners formed by them) are opposed to each other.

Since this attachment chucking device for a robot has the above configuration, the attachment 7 can be exchanged between the robot 1 and the holder body 13 without a power source, as shown in the following (1) to (4). it can. As shown in FIGS. 1 and 2, the robot 1 holding the attachment 7 is linearly approached. In this state, the positioning hole 72 of the attachment 7 and the positioning pin 9 on the holder main body 13 face each other. When the robot 1 is moved to the position shown in FIG. 2, the tapered wall surface T1 of the claw 8 comes into contact with the side protrusion 71, and when the robot 1 is further moved to the position shown in FIG. The claw 8 is pushed and spread by the pressing force from the side projecting portion 71 (first approach operation). When the robot 1 is moved to the position shown in FIG. 4, the end portion 80 of the claw 8 that is not involved in the movement is brought into contact with the tapered wall surface T1 of the claw 4, and the claw 4 is pushed out.
And the side projection 70 is released (second approach operation). When the robot 1 is moved from the position shown in FIG. 4 to the position shown in FIG. 5, the claw 8 is moved to the side protrusion 71 while maintaining the state in which the lock between the claw 4 and the side protrusion 70 is released. , The claw 8 and the side protrusion 71 are locked (third approach operation). In this state, as shown in FIG. 5, the positioning pins 9 on the holder body 13 are inserted into the positioning holes 72 on the attachment 7 side. Next, as shown in FIGS. 6 to 8, the robot 1 is linearly separated from the holder body 13.

At this time, as shown in FIGS. 6 and 7, the tip 4 of the claw 8 and the tapered wall surface T1 of the claw 4 abut on each other so that the claw 4 can be locked to the side projection 70 by contact. It is pushed out until it exceeds (movement at the time of separation). Further, when the robot 1 is moved away, as shown in FIG. 8, only the robot 1 moves away with the attachment 7 remaining and held on the holder main body 13 side, and the attachment 7 from the robot 1 to the holder main body 13 is moved. The chucking movement is completed. In the above-described state, as shown in FIG. 8, the claw 8 which is in the locked state with the lateral protrusion 71 of the attachment 7 is located slightly outside the claw 4 which is in a state of contact with the stopper 5. It is supposed to. That is, as shown in FIG. 8, the tapered wall surface T1 of the claw 8 and the end portion 40 (the corner formed by the tapered wall surface T1 and the outer wall surface T3) face each other. Therefore, when the robot 1 linearly approaches the holder body 13 holding the attachment 7, the chucking movement of the attachment 7 from the holder body 13 to the robot 1 can be performed by the same mechanism as described above. As is clear from the above, the exchange between the robot 1 and the holder body 13 can be performed without a power source. (Regarding Embodiment 2) As shown in FIGS. 9 and 10, this attachment chucking device for a robot includes a holder body 1a attached to the robot 1, a holder body 13 attached to the pedestal D, and an attachment 7. The holder 1a and the holder body 13 have exactly the same configuration.

The holder main bodies 13, 1a are shown in FIGS.
As shown in the figure, the swing member Y having the claw 8 is
8 are pivotally mounted at 120 ° intervals via a shaft 12, and the oscillating member Y8 is urged by a spring 11 in a direction in which the claw 8 goes inward. 16 are provided. The claw 8 has a tapered wall surface T1, a hanging wall surface T2, and an outer wall surface T3 as in the first embodiment. In addition, as shown in FIG. 11, the holder body 13 includes a contact portion 10a (corresponding to the stopper 10) for restricting the claw 8 of the swing member Y8 from moving inward more than a certain amount, and an attachment 7; Attachment 7 to ensure proper bonding position
And a positioning pin 9 provided on the joint surface with the positioning pin 9.

As shown in FIG. 13 and FIG. 14, the attachment 7 has side projections 7 arranged at intervals in the vertical direction.
The positioning holes 72 are arranged at positions corresponding to the positioning pins 6 and 9 on the joint surface between the robot 1 and the holder main body 13. In addition,
As shown in FIG. 13, the attachment 7 has a shaft 73 projecting from the center thereof. When the attachment 7 is chucked to the holder body 13, the shaft 73 is
Are inserted into the through holes 16 of the holder body 13.

Since the attachment chucking device for a robot according to the second embodiment has the above-described structure, the mechanism between the robot 1 and the holder main body 13 is formed by the same mechanism as that described in the section of the first embodiment. Attachments can be exchanged without a power source.

[0019]

According to the embodiments of the present invention, an attachment chucking device for a robot that does not require a power source can be provided.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a robot, an attachment held by claws on a robot side, and a holder body in a robot attachment chucking device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a first approaching operation in the robot attachment chucking device.

FIG. 3 is an explanatory diagram of a first approach operation in the robot attachment chucking device.

FIG. 4 is an explanatory diagram of a second approach operation in the robot attachment chucking device.

FIG. 5 is an explanatory diagram of a third approach operation in the robot attachment chucking device.

FIG. 6 is an explanatory view of an operation at the time of separation in the robot attachment chucking device.

FIG. 7 is an explanatory diagram of a detachment operation in the robot attachment chucking device.

FIG. 8 is an explanatory view showing a state in which the attachment is chucked and moved from the robot side to the holder main body side.

FIG. 9 is a diagram illustrating a holder main body attached to a robot, an attachment held by claws on a pedestal side, and a holder main body attached to a pedestal in the robot attachment chucking device according to the second embodiment of the present invention. FIG.

FIG. 10 is an explanatory view of the holder body on the robot side, an attachment held by claws on the robot side, and a holder body on the seat base.

FIG. 11 is a perspective view of the holder main body.

FIG. 12 is a perspective view of the holder main body.

FIG. 13 is a perspective view of the attachment.

FIG. 14 is a perspective view of the attachment.

[Explanation of symbols]

 Y4 rocking member Y8 rocking member T1 tapered wall surface T2 hanging wall surface 1 robot 4 pawl 7 attachment 8 pawl 13 holder body 70 side overhang 71 side overhang

Claims (2)

[Claims] In a chucking device capable of exchanging the attachment 7 between the robot 1 side and the holder main body 13 side without a power source, the attachment 7 is provided with side projections 70 arranged at regular intervals. A swing member Y4 having a claw 4 on one side and a swing member Y8 having a claw 8 on the other side, of the robot 1 side or the holder body 13 side.
Are mounted so as to be swingable, and the swing member Y4
Y8 is spring-biased in the direction in which the claws 4 and 8 are directed inward, and the claws 4 and 8 are provided with a tapered wall surface T1 on the inner surface side that is inclined outward toward the end and a lateral protrusion 70. And a hooking wall surface T2 which is hooked. When the hooking wall T2 is in a locked state with the laterally extending portion, the claw is slightly pushed outward, and the tapered wall surface T1 of the claw 8 is The first approach operation in which the claw 8 is pushed and spread by contacting the protruding portion 71, and the end of the claw 8 not accompanying the movement abuts on the tapered wall surface T <b> 1 of the claw 4 and the claw 4 is moved. Are maintained, and the state of the second approach in which the lock between the claw 4 and the side protrusion 70 is released and the state in which the lock between the claw 4 and the side protrusion 70 is released are maintained. And a third approach operation in which the claw 8 moves beyond the lateral overhanging portion 71 and the claw 8 and the lateral overhanging portion 71 are locked. Attachment between the end portion and the tapered wall surface T1 of the claw 4 causes the claw 4 to be pushed and spread out beyond a position where the claw 4 can be locked with the side projection 70, so that the attachment 7 is moved to the robot 1 side. An attachment chucking device for a robot, wherein the attachment chucking device is capable of exchanging with the holder body 13 side. 2. A positioning hole 72 on the attachment 7 side.
The positioning pin (6, 9) is provided on the robot (1) and the holder body (13) side, respectively, and the positioning pin (6) or the positioning pin (9) is inserted into the positioning hole (72). Attachment chucking device for robots.