JPS5918195B2 - industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot, and more particularly to a joint device that connects the tip of a main body of an industrial robot to a holding device.

Most of the joint devices of conventional industrial robots are composed of rigid joints, and these joint devices are suitable for positioning using numerical control, but are inappropriate for performing tasks such as searching, fitting, or copying. It was hot.

Furthermore, joint devices for industrial robots that are partially composed of flexible joints are known, but because they have a large degree of freedom, they tend to move due to the influence of gravity. When positioning the device at a predetermined position, it is not only impossible to accurately position the device, but also has the drawback that its control is complicated. In view of the above-mentioned conventional drawbacks, it is an object of the present invention to provide a tactile function during searching, fitting, or copying processing so that the object or tool held by the holding device can easily follow the shape of the other part with which it comes into contact. Posture control is possible...
To provide an industrial robot having a joint device 00 in which positioning can be performed accurately by preventing a holding device from moving during handling.

That is, in order to achieve the above object, the present invention configures a joint device that connects the tip of the main body of an industrial robot and a holding device to be switchable between a flexible joint and a rigid joint. (5) The main body of the robot consists of a support member that rotatably supports the holding device with a fixed fulcrum at the tip, and a spring that allows the holding device to return to its original position against rotational displacement, that is, to provide flexibility. A detection means is provided for detecting the rotational displacement caused by the force applied to the holding device when the joint device is switched to a flexible joint, and a signal obtained from the detection means is fed back to detect the rotational displacement of the industrial spout pot. This is an industrial robot characterized by being provided with a control means for controlling the position of the main body. In particular, in the present invention, the holding device is rotatably supported with a fixed fulcrum to form a flexible joint, so only the rotational component is detected by the detection means, making it easy to control the positioning of the main body of the industrial robot. Become. Q4- The present invention will be specifically described below based on embodiments shown in the drawings.

FIG. 1 is a schematic diagram showing the arm portion of an industrial robot equipped with the joint device of the present invention. 1 is the 3-axis direction. In other words, it is the main body of an industrial robot that moves three-dimensionally according to commands.

Reference numeral 2 denotes a joint device according to the present invention, which is attached to the main body of an industrial robot.

Reference numeral 3 denotes a holding device formed with opposing holding claws, which is attached to one end of the joint device 2.

4 is holding device 3! It is an object that also includes tools and the like that are to be handled by the IC.

Reference numeral 5 indicates a hole 6 in which the object 4 is positioned and inserted, and is an object to be processed by the object 4, which has a flat surface at its upper end.

Next, the joint device 2 will be specifically explained based on FIGS. 2 and 3. That is, the link 7 is a connection part with the holding device 3 shown in the first VC, and the base 8 is a connection part with the main body 1 of the industrial robot shown in FIG. Therefore, the holding claw of the holding device 3 of the handling robot is fixed to the link 7, and the main body 1 of the industrial robot 1 is fixed to the base 8. On the other hand, the link 7 is rotatably supported by a pin 9 implanted in the upper end of the base 8. Further, both ends of the link 7 are rotatably connected to the link 1 via a pin 10.
1 is rotatably connected to a joint 13 via a pin 12. The joint 13 is formed integrally with a shaft 14, and the shaft 14 is slidably supported by a linear ball pairing 16ifC implanted in a guide 15 formed protruding from the base 8, so as to perform parallel motion. ing. In addition, a flange formed at the lower end of the shaft 14 and a guide 1
A spring 17 is inserted between the lower end surface of the shaft 5 and the shaft 14, and presses the shaft 14 downward with a spring force. The stopper 18 is for positioning the shaft 14, and a linear ball bearing 20 is installed in a guide 19 formed to protrude from the pace 8.
It is slidably guided. The lower end of the stopper 18 is connected by a bridge member 21 and further connected to a piston rod of an air cylinder 22 supported by the base 8. On the other hand, a strap 23 is fastened to the upper end of the shaft 14 on the right side as shown in FIG. Examples of the displacement detector 24 include a differential transformer and a potentiometer. With this configuration, first, the air cylinder 22 of the joint device 2 is operated and the stroke lever 1 is activated.
8 is raised, the posture of the link 7 is kept constant, and the joint of the joint device 2 is fixed.

Next, the articulating device 2 is commanded to position the object 4 above the holding device 3, which is fed by a feeding device (not shown) and positioned at a fixed position, so that the holding device 3 can handle the object 4. The main body 1 of the industrial robot is moved according to the following. By operating the holding device, the positioned object 4 is held between the holding claws. When the object 4 is clamped by the holding device in this manner, the air cylinder 22 is returned to its original position so that the link 7 can rotate around the pin 9, which is a fixed fulcrum, against the pressing force of the spring 17. . Next, as shown in FIG. 1, the main body 1 of the industrial robot is controlled so as to move while pressing the object 4 so that the lower end of the object 4 is connected to the upper surface of the target object 5. Then, a moment is applied from the holding device 3 to the link 7 of the joint device 2 while holding the object 4, and the link 7 rotates about the pin 9 as the axis. This rotation causes the shaft 14 to move via the link 11 and is deflected to a position balanced by the pressing force of the spring 17. This deviation is determined by a signal detected from the displacement detector 24 connected to the joint 131IC.
Thereafter, the main body 1 of the industrial robot is moved so that the object 4 moves in the direction of the arrow shown in FIG. The force acting on the object 4 decreases, and as a result, the link 7 of the joint device 2 rotates to return to its original position due to the pressing force of the spring 17, causing a sudden change in the signal detected by the displacement detector 24. By extracting this change,
It is recognized that the object 4 has reached the position of the hole 6 drilled in the target object 5. Thereafter, for example, when inserting the object 4 into the hole 6, the link 7 of the articulating device 2 is balanced by the pressing force of the spring 17 via the holding device 3 so that the moment applied to the object 4 becomes zero. The position of the industrial robot main body 1 may be controlled by feeding back the signal detected from the displacement detector 24 as a feedback signal to the control device (not shown) of the industrial robot main body 1 so that the position of the industrial robot main body 1 is changed. That is, after moving the main body 1 of the industrial robot two-dimensionally on a plane in the radial direction of the hole 6 so that no moment is applied to the link 7 of the joint device 2, the main body 1 of the industrial robot is sequentially moved into the hole 6. By moving the object 4 in the axial direction of the object 6, the object 4 is inserted into a hole 6 made in the target object 5. However, in addition to the above embodiment, the stopper 18 of the joint device 2
Although the air cylinder 22 has been cited as an example of the actuator, other devices such as a plunger magnet may be used.

Alternatively, the object may be formed using a grinding tool or the like to remove burrs or the like occurring in the holes of the object. As explained above, according to the present invention, the posture of a robot, etc. is automatically corrected by following the shape of an object using a tactile sense, and complex work such as assembly work, copying work, or search work such as hole position etc. This has the effect of automating many tasks.

[Brief explanation of the drawings] Fig. 1 is a diagram showing the general state of the arm part of the industrial robot, the target object, and the held object, and Fig. 2 is a diagram specifically showing the joint device shown in Fig. 1. FIG. 3 is a left side view of FIG. 2. 1...The main body of the industrial robot, 2...
Joint device, 3...holding device, 4...phrase, 5...target object, 6...hole, 7...
...link, 8...bai 9. ．． ．． ．． ．． ．．
Pin, 11...Link, 13...Joint, 14...Shaft, 17...Spring,
18...Stopper, 22...Air cylinder, 24...I position detector.

Claims (1)

[Claims] 1. A joint device connecting the tip of the main body of an industrial robot and a holding device is configured to be switchable between a flexible joint and a rigid joint,
The flexible joint includes a support member that rotatably supports the holding device with a fixed fulcrum at the tip of the main body of the industrial robot;
and a detection means for detecting rotational displacement caused by a force applied to the holding device when the joint device is switched to a flexible joint; An industrial robot characterized by comprising a control means for controlling the position of a main body of the industrial robot by returning a signal obtained from the detection means.