JPS59219191A - Hand for robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a hand for an industrial robot, and in particular, to a hand for an industrial robot.
．． This article concerns a robot hand that has been improved to be suitable for inspecting and servicing products.

[Background of the invention]

Audio Power Seven Deck and other audio products and V
Home electronic products such as TRs, measuring instruments such as oscilloscopes,
In addition, in the production process of other electronic products, the inspection and adjustment process after the completion of product assembly occupies a large proportion.

An example of a conventional adjustment device used to automate the adjustment process of these products is shown in Figure 1.

In this example, 1 is an electronic device product to be inspected and adjusted, and 3 and 15 are adjustment tool units. The adjustment tool unit 3 for the front panel is provided so as to face the front panel 2 of the percentage unit 1, and the sliding base 6 is connected to the attached device @ 4 such as a motor via the belt 5. It has a structure that allows it to move back and forth above.

In the adjustment tool unit 3, tools 9 and 10 corresponding to the diamond A/7 and the knob 8 provided on the front panel 2 are arranged according to the arrangement of the respective target parts. 'FF via IEy
, are moved by the power source 12. Submissive, 1h''
Adjustment 1. The tool unit 3 is advanced and the tools 9.10 are connected to the dial 7, the knob 8 etc. and can be rotated. Further, above the device to be adjusted 1, apart from the above, an adjustment tool unit 15 is provided which is moved upwardly on the slide base 14 by a drive source 13. The tool 1B for operating the adjustment component 17 such as a semi-fixed resistor on the rotary board 16 that is mounted on the rotary board 16,
14 parts 17, and is driven by a thrust source through universal joints 19 and 19'. Therefore, the adjustment tool unit 15 is lowered with respect to the positioned equipment to be adjusted, and the tool 18 is connected to the adjustment parts 1174 and rotates them. As described above, the peripheral control device fully controls the adjustment device by feeding back the signal from the LAD adjustment target equipment l, and performs inspection and adjustment.

In the conventional method mentioned above, tools 9, 10, 18
The arrangement h° is fixed based on the arrangement of the target parts 7, 8, and 17 of the tool in the valley. If the arrangement changes, it is necessary to replace the tool arrangement installed on the tool unit 3.15, 6 plates 21 and 22, and change the entire arrangement of tools 9, 10, and 1.8. (Sometimes tool units) 3, 15 It was necessary to completely change the structure of the entire structure on a large scale. In addition, each tool 9
, 10, 18, the driving forces of the helical moving parts 12, 20 are set to operating forces suitable for the respective target adjustment parts 7, 8, 17, and the FJ, 'fl adjustment parts 7, 8, 17 are set within the movable range. When the end of adjustment part 7 is reached, an attempt is made to apply further rotation. ．． 8.17'i To prevent damage, a torque limiter (not shown) is provided to suppress the operating force within a predetermined value, and the above set operating force and the limit torque of the torque limiter must be adjusted individually. Appropriate values are determined for each part, and these values of the driving source 12° for each tool 9, 10, and 18 are set to different values.

Therefore, when changing the model of the device to be adjusted 1 or changing the installed adjustment parts, it is also necessary to change the settings of these operating forces and limit torques.

In other words, conventional coffin preparation devices are effective when dealing with a single model, but when dealing with multiple products that require frequent model changes] (in II.
It is not suitable for small-scale products because it lacks the flexibility to respond to model changes. On the other hand, the number of types of home electronic products such as audio products has increased as customer preferences have diversified.
High variety, medium and low intake production. Furthermore, this tendency has also appeared in assembly measuring instruments such as oscilloscopes, and in the production process of these electronic products, an adjustment device that can flexibly respond to model switching is desired. However, at present,
There are many adjustment devices that can meet this demand, and most of the adjustment work for these products is done manually. For this reason, variations in adjustment values and adjustment errors are likely to occur, creating a bottleneck in cost reduction.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and can flexibly correspond to the types of equipment to be adjusted. The purpose of this invention is to provide a robot hand that is compatible with the robot hand.

[Summary of the invention]

In order to achieve the above object, the first invention of the present application includes a driving shaft driven by a 200lT14 dynamic storage, and a part having torsional elasticity that is phantom to the driving shaft 1'tll. A driven shaft connected via a driven shaft, means for detecting the rotational phase of each of the driving shaft and the driven shaft, and at least one tool driven by the driven shaft.
l'b'j characteristic.

A second invention that further improves the first invention is a driving source, a driving shaft driven by the above) H%F+lJ, and a member having torsional elasticity with respect to the above FA movable shaft. A connected driven at+, a means for detecting the rotational phase of each of the driving shaft and the driven shaft, at least one tool driven by the driven shaft, and a control means for controlling the drive source described in nit. The control means is characterized in that it calculates the load torque applied to both shafts by calculating a phase difference of 4 degrees between the driving shaft and the driven shaft, and controls the drive source based on the calculation result. .

[Embodiments of the invention]

Next, one embodiment of the present invention will be described with reference to FIGS. 2 to 8.

This embodiment is a hand configured to be used in a robot that automatically adjusts the audio cassette deck shown in FIG. The interior of this audio cassette deck is comprised of a power supply section 1, an electronic circuit section, and an electronic circuit section 26, an annual bond circuit 27. Transistor Ah, fixed resistor 29 along with semi-fixed resistor 30 for adjustment (30
a, 30b, 30c) are installed. Also,
On the front panel 31 of the Detsukiru, there is a cassette tape holder 33 that accommodates a cassette tape 32, and a power switch 34.
, operation buttons 35 (35a-35g) for running the train 32, fast forwarding 91 rewinding, recording, pausing, etc.
tape selection button 36, noise reduction function selection button 37,
A volume control 3B, a 1/bell meter 31), a slide switch 40, etc. are provided.

FIG. 3 shows the hand 1 (
) 6 installed and the audio cartridge deck 23 k M”fl shown in Figure 2 is shown in a state in which it is set up. 65
Reference numeral 87 indicates a bit as an adjustment tool, 87 indicates a button as an adjustment tool, and 103 and 104 indicate fingers for undling the cassette tape. These work divisions will be explained in detail later.

FIG. 4 is a normal IJ view of the robot arm according to this embodiment with the cover removed, and FIG. 5 is a view taken in the direction of arrow A in FIG. 4.

First, the main parts of the configuration of this embodiment will be briefly described. 45 is a DC servo motor as a driving source for the adjustment operation.

On the other hand, 47 is a driving shaft rotated by the servo motor 45, and 49 is a driven shaft connected to the driving shaft 47 via a clutch 48.

FIG. 6 is an explanatory diagram schematically depicting the clutch 48 in the "disengaged" state.
In the "off" state, the prime mover and slave mover are connected by a full torsion spring 60.

The rotational phase of the original FIII shaft 470 is detected by a rotary encoder 56, and the rotational phase of the driven shaft 49 is detected by a rotary encoder 57.

1)-, Attach an adjustment tool to the driven +hb 49 as described below and rotate it.

Next, the entire configuration of this embodiment will be explained in detail with reference to FIGS. 4 to 6. As shown in Figure 4, bracket) 50
A driving shaft 47 whose rotation is transmitted from a timing belt 46 to a DCC servomorph 4 fixed to the housing 51 is supported by a housing 51 and connected to a driven shaft 49 by a clutch 48 . The driven shaft 49 is supported by a nozzle 52 and transmits rotation to the left and right shaft systems by timing bells 53 and 54.

As shown in FIG. 6, rotation is transmitted from each of the driving shaft 47 and the driven shaft 49 to two rotary encoders 56 and 57 fixed to the lower surface of the base 41 with a bracket 55, and then to two rotary encoders 58 and 59. Ru. As shown in FIG. 6, when the clutch 48 is turned off, the driving shaft 47 and the driven shaft 49 are connected only by the spring 60.

As shown in FIG. 5, the rotation of the driven shaft 49 is transmitted to the sysspline shaft 61 by the timing belt 54.

6:3, 64 C1 (5-6 upper 17 splines 4
・111 kkō" + 1 shi freely) and the print in the 1st direction!
This is No Ramming, which is based on 1.1's rL. A bit 65 is attached to one end (lower end in this figure) of the spline 1fl+bl via a flexible A coupling 62.

Furthermore, a housing 66 is mounted on the upper end of the spline shaft 61 shown in the figure in a manner that it can be rotated in a fixed manner and is prevented from sliding in the axial direction. As will be described later, this is for reciprocating the spline shaft 61 (in the iz-axis direction) through the housing 66 to move the pit 65 back and forth completely. and are connected via a spring 70t.The shaft 69 is fixed to the ramming 66, and is configured to be movable in the axial direction by being pushed through a hole in a nut 68. As a result, the feed screw 67, whose rotation is transmitted by the timing belt 73 from the motor 72 fixed to the bracket 71, screws the nut 68.

74 is a housing that supports the feed screw 67. The nut 68 pushes the shaft 69 via the spring 70,
The spline shaft 61 is moved back and forth (up and down in the figure) through the housing 66. Furthermore, the spline shaft 61 is connected to the driven shaft 4.
The semi-fixed resistor 30'ff inside the cassette deck of i2[X+ is rotated and adjusted. At this time, the reason why the spline shaft 61 is projected forward (downward in the figure) and rotated is to insert only the bit 65 into the narrow cassette deck and perform the adjustment operation.Normally, other adjustment operations are performed. Because it gets in the way of
Retract it as shown in Figure 5. i! Manual operation procedure for MI adjustment The entire hand is moved by the robot above the fixed resistor 30, and the bit 65 is made to protrude. After protruding to the forward end, the bit 65 is rotated, and the robot lowers the tip and connects the bit 65 and the semi-fixed resistor. Immediately after the bit 65 is connected to the semi-fixed resistor blade, the relief effect of the spring 70 comes into play, so that the bit 65 can be connected in this way without applying excessive force to the semi-fixed resistor. Too bad, about the descent stop point f
There is no need for precision of the decision point. Further, when the clutch 48 is released and the driving shaft 47 and the driven shaft 49 are connected by the spring 60, the semi-fixed resistor 30 is turned by the bit 65, and when it reaches its rotation end, t.・The load l and the torque increase, and the driving force Ir1l147 and the driven shaft 49
causes the spring 60 to have a natural shape, and a phase difference occurs between these two axes. This emulsifies in proportion to the magnitude of the load torque, so the two rotary encoders 56,
The difference in rotational phase detected by each of the rotational motors 57 represents the load torque.

In this v5 embodiment, the above rotary encoder 56
, 57 is input to control the drive motor 45, and when the load torque reaches a fixed value of 79, the drive motor 45'f: stops. The program is built in so that
There is no sagging that can cause damage due to excessive rotational power when the adjusted part reaches the stroke end.

When final positioning the semi-fixed resistor 30, move the driving finger 11.
47 and the driven shaft 49 are connected via the spring 60, lifting occurs and n''A alignment accuracy cannot be obtained. Therefore, the clutch 48 is connected, and the rotation of the driving shaft 47 is coupled to the driven shaft 49 as a pair. The full rotational angle is transmitted to the bit 65.This allows multiple semi-fixed resistors with different operating forces to be used.
In addition, since the operating force and stall torque can be set simply by changing the programming, there is no risk of damaging the semi-fixed resistor, and precise rotational positioning can be performed with the clutch 48 in the "engaged" state. can.

As shown in FIG. 5, the shaft 75 is supported at one end by a no-ramming 76 fixed to the base 41, and the entire rotation of the driven shaft 49 is transmitted by the timing belt 53, and the shaft 79 is rotated by the bevel gears 77 and 78. . As shown in FIG. 4, the entire rotation of the shaft 7 is transmitted to the pinion 82 via the clutch 80 and shaft 81. Furthermore, the rotation is made into a linear motion by the rack 83, and as shown in FIG. 7, a block 85 supported by two linear shafts 84 is moved.

Fig. 71 is a view taken from arrow B in Fig. 4;

A linear shaft 84 is supported by a bracket 86, which is fixed to the pace 42. A pusher 87 and a slider 88 are fixed to the block 85.
8i, L slide switch 40. Make two pies with a lever switch (not shown). The method of detecting the operating force is the same as the previous) Hoshi/Ko 21' solid force 11 (same as the anti-armor, but in the case of a push-pull, push stop point 1 of push bokunsu/f-guchi)
, Shaft 47 and driven shaft 49
By detecting the phase difference between the two switches, it is possible to know that each switch is at the stopping point. passed away,
The slide switch may have to be operated back from the end stop point to the center stop point, and in this case, the phenomenon that the load torque increases at one end cannot be used. Therefore, stoppers 89 and 90't fixed to the base 42 as shown in Fig. 7 are placed on the left and right sides of the slider, and a robot is used to position them so that the slide switch protrusion hits the inner end surface of the stopper at the central stop point. By operating the slider, you can stop not only at both ends, but also at the center or any other point. Since the bit rotation part moves by a common drive system with the slider and the linear motion f511 of the pusher V, in this embodiment, endless rotation of the rotation part is prevented due to restrictions on the movable range of the linear motion part. As shown in Fig. 4, a clutch 80 is provided between the shaft 79 and the shaft 81, and when all the direct-acting parts are not used, the clutch 80 is fully moved.
The rotating part can rotate endlessly.

Furthermore, since this embodiment is a robot hand constructed for inspecting and adjusting cassette ticks, it is equipped with a chuck member for handling cassette tapes.

Its structure is shown in FIG.

Figure (4) is a sectional view taken along the line C-C in Figure 4, and Figure 8 (J
3) is a view taken along arrow F in FIG. 8GA). A knee cylinder 92 is added to a bracket 91 fixed to the base 42. A rack 94 is fixed to the tip of a rod 93 of the air cylinder, and a pinion 95 converts the linear motion of the air cylinder 92 into rotational motion to rotate a shaft 96.

11+ 96 is supported by a housing 97, and the housing 97 is connected to an angle 44 fixed to the base 42.
I'm getting kicked out. When the shaft 96 rotates, the link 9
8°99'i5, and pull the blocks 101 and 102 supported by the linear shaft 100 toward the inside. Fingers 103 and 104 are fixed to the blocks 101 and 102, respectively.
, 102 'l[-pull inward, finger 103
, 104 grip the cassette tape. Also, perform the reverse of the above operation and release the C1 cassette tape. As described above, this embodiment is capable of driving and controlling 14 tools of 3 types P with one drive source and one set of detectors, and one hand has the function of Moreover, it is also possible to increase the external dimensions of the hand and the size of the hand.

Also, old age? :ff: The detection function is linked to the tool, and
Since control values can be set programmably, it has a versatile inspection and adjustment hand function that does not depend on the target work.

〔Effect of the invention〕

As detailed above, the first invention of the present application includes a driving source,
Above 1 accent! A driving shaft moved by an I source, a driven shaft connected to the driving shaft via a portion having torsional elasticity, and means for detecting rotational phases of the driving shaft and the driven shaft, respectively; By providing at least one tool driven by the above-mentioned driven shaft, it is possible to flexibly respond to changes in the model of the adjustable mechanism, without having to replace the component parts. , i+H, it is possible to configure a 4j robot hand to adapt to the adjusted equipment.

Further, the second invention of the present application is a movable door, which is movable by the illumination source 8b! il+, the above W, a driven shaft connected to the driving shaft via a part having torsional elasticity, means for detecting the rotational phase of each of the driving shaft and the driven shaft, and the driven shaft of the upper one. At least one tool driven by the shaft, and a control means for controlling the drive Ki described in i′]il are provided, and the control means calculates a phase difference between the driving shaft and the driven shaft and By calculating the load torque applied to the shaft and controlling the drive source based on this n-determined result, it is possible to replace the component parts when changing the model of the device to be adjusted, similarly to the first invention device. It is possible to adapt the system without having to worry about it, and in addition, it is possible to control the adjustment process to a high degree and automatically make precise adjustments.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an example of a conventional n''3 adjustment tool, FIG. 2 is a perspective view of an example of a target device for adjustment work in an embodiment of the present invention, and FIG. Invented robot hand 1
-1! FIG. 4 is a front view of one embodiment of the present invention with the cover removed; FIG. 5 is a view taken in the direction of arrow A in FIG. 4; FIG. is an explanatory diagram schematically depicting the configuration of the torque detection section, FIG. 7 is a view taken in the direction of arrow B in FIG. 4, and FIG. It is a view taken in the direction of arrow F in figure (A). 1...NI-directed leveling device, 45...Motor, 47...
・Driving shaft, 48... Clutch, 49... Driven shaft, 5
6, 57...Rotary encoder, 60...Spring, 61...Spline shaft, 65...Bit, 72...
...Motor, 77.78...Bevel gear, 80...
Clutch, 82... Binion, 83... Rack, 9
4...Rack, 95...Pinion, 103, 10
4...Finger, 105...Robot, 106...
·hand. Agent Patent Attorney Tadashi Akimoto Figure 1 3:j″, 2 Figure 3 +05 (3 r:: 4 ri 87 kini is 5 m 4 9 Figure 6 511-1157 Figure 7 Year 8 Figure 8 (A) 44 512-

Claims (1)

[Scope of Claims] 1. A driving source, a driving shaft driven by the driving source, a driven shaft connected to the driving shaft via a part having a torsional elasticity, and the driving shaft. and means for fully detecting the rotational phase of each of the driven shafts, and at least one tool driven by the driven shafts. 2. A driving source, a driving shaft that is disturbed by the driving source, a driven shaft connected to the driving shaft via a member having torsional elasticity, and each of the driving shaft and driven shaft. at least one tool driven by the driven shaft; and control means for controlling the drive source, and the control means includes means for detecting all rotational phases of W, the driving shaft and the driven shaft. The total phase difference of n. The robot hand is characterized in that it determines the load torque cracker 1 applied to both shafts and controls the driving source based on the result of this determination. 3. Either a state in which a clutch is provided at 1141 between the driving shaft and the driven shaft in IMI and both shafts are directly connected, or a state in which both shafts are connected through a torsion elastic part 4/4 metal. The robot hand according to claim 1 or 2, characterized in that the robot hand selects and operates the state. 4. At least one of a rotary power transmission mechanism and a rotary motion → linear motion switching mechanism is interposed between the driven shaft and the tool, and the entire operating force of the tool is detected by the rotational phase detection means. The robot hand according to claim 1 or 2, characterized in that the robot hand is configured to be detectable. 5. A clutch means is interposed and connected to at least one of the transmission system using the rotational power transmission mechanism and the transmission system using the rotational motion → linear motion conversion mechanism to transmit and cut off the driving force of the tool. The robot hand according to claim 4, characterized in that the robot hand is configured to be controllable.