JPS59224280A - Automatic exchanger for hand of 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 Industrial Application The present invention relates to a knot changing device for a knotting machine such as a robot. This invention relates to an automatic hand changing device that can be easily replaced.

Configuration of conventional example and its problems Conventional robots select hands according to the content of the work to grasp the object, and can only attach one type of specific hand each time the shape of the object changes. This is usually done by bolting.

Therefore, it is difficult to automatically change the hands, and when the robot is attached to various types of hands to perform gripping work, the robot must be stopped and the hands replaced each time. However, in such a tank production line, there is a drawback that it involves a large loss in production efficiency.

On the other hand, Japanese Patent Publication No. 57-12676 and Japanese Patent Publication No. 54
In Japanese Patent No. 43260, a patent application has been filed for a gripping device with a replaceable gripping portion. Figure 1 shows the Tokuko Sho 57-1
An example of the publication No. 2676 is shown. Also, Figure 2,
FIG. 3 shows an embodiment of Japanese Patent Publication No. 54-43260.

As shown in FIG. 1, these embodiments have complex structures such as an exchangeable stop for the hand 1, a built-in drive mechanism for the fluid pressure cylinder 2, and a piston mechanism.
This has the disadvantage that node 1 cannot be replaced smoothly. Furthermore, as shown in FIGS. 2 and 3, the cylinder 3 and electromagnet 4 are provided inside the hand exchanger in order to replace the hand 6, which complicates the structure and increases the equipment cost. There are drawbacks to the price.

OBJECT OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks, and has a simple structure, is inexpensive, and does not require a built-in drive mechanism for replacing the handle. It is an object of the present invention to provide a practically excellent automatic exchange device that can handle a wide variety of products.

Structure of the Invention The present invention relates to a robot that performs work by attaching a required hand to an operating shaft, and which includes a holder whose one end is integrally attached to the operating shaft and a stepped portion formed at the other end, and a mechanism for positioning the hand. a hand holder having a guide hole; insert the collar into the holder and the guide hole of the holder;
When replacing the hand with a lever that is clamped by a spring that always acts in the closing direction on the stepped part of the holder, the spring can be removed by moving the wedge-shaped claw at the tip. The feature is that the lever is opened from the stepped part of the holder against force, and there is no built-in drive mechanism for changing the hand, so the structure is simple, and it can be used for inexpensive, irregularly shaped, and wide variety of items. DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 4 to 7.

4 to 7, 7 is an operating shaft, 8 is a stopper, 9 is a bearing, 10 is a shaft, 11 is a compression coil spring,
12 is a holder, 13 is a guide hole, 14 is a positioning pin,
15 is a penetration that serves as a passage for supplying air to the hand 18; 16;
is a stepped part formed on the shaft part 19 of the holder 12, 1γ is a hand holding part, 18 is a hand, 19 is a shaft part, 20 is a roller, 21 is a lever, 22 is a hand body, 23 is a spring, and 24 is a penetration part. A piston slides by air supply from 15, 26 is a fulcrum, and 26 is an article 27 with 25 as a fulcrum.
28 is a spring that always acts in the closing direction, 29 is the fulcrum of the lever 21, 30 is a claw that forms a wedge shape 31 at the tip, and 32 is for moving the claw 30 in the C direction and the D direction. This actuator is provided inside the hand stock stand 35.

Regarding the automatic hand changing device configured as above,
The operation will be explained below.

First, one end of the hand holding section 17 is integrally attached to the working shaft 7, and when the hand holding section 17 is connected to the hand 18, the positioning pin 14 provided on the hand body 22 is inserted into the guide hole 13 of the holder 12. In addition, the stepped portion 16 formed on the shaft portion 19 is connected to the fulcrum 2 provided on the hand body 22.
A pair of levers 21 pivoted at 9 are supported by a spring 28.

On the other hand, the gripping work of the article 27 is performed by the piston 24 built into the hand body 22 of the hand 18 being supplied with air from the penetration 15 and sliding, and the claw 26 swinging about the fulcrum 25. Can be done.

When replacing the hand 18, the claw 30 is moved in the D direction by the actuator 32 that moves the claw 3Q. At this time, the wedge-shaped portion 31 at the tip of the claw 30 pushes apart the pair of rollers 20 provided on the lever 21 against the force of the spring 28. Therefore, the lever 21 is separated from the stepped portion 16 and separated from the outer circumferential surface of the shaft portion 19. In this state, when the operating shaft 7 moves linearly in the input direction, the hand 18 is separated from the hand holding section 17.

After separation, when attaching the knife 18 to be used next to the knife holder 17, the robot 34 receives a command from the control device 33 and moves it to a specified position on the knife stand 35. Moving. After the movement, the working shaft 7 moves linearly in the B direction. In this case, in the hand 18 to be used,
The lever 21 is moved in the D direction by the drive of the claw 30 or the actuator 32, and is in a state away from the outer peripheral surface of the shaft portion 19.

In the above state, when the operating shaft A moves linearly with a certain constant stroke, the positioning pin 14 is inserted into the guide hole 13 and the shaft portion 1 is inserted into the hand body 22. After insertion, the claw 30 is moved in the C direction by one drive of the chikutuator 32. Therefore, the lever -21 is clamped to the stepped portion 16 by the spring 28. As a result, hand 18
The attachment of the hand holding portion 17 to the hand holding portion 17 is completed.

In order to ensure secure attachment, the shaft 10 is made slidable, and the holder 12 attached to the shaft 10 is always acted on in the B direction by a compression coil spring 11.

Next, an example of its use will be explained with reference to Fig. 7.

an X slide unit 36 having an X slider linearly moved by a motor;
A Y slide unit 37 having a Y slider that is linearly moved by a motor in a direction perpendicular to the X7 direction, and a Z-axis slide unit 38 that has an operating shaft that is provided on the Y slider and that is linearly moved by a motor in a direction perpendicular to both the X7 directions. There is. A knife holding portion 17 is attached to the working shaft 7, and a necessary hand 18 is attached thereto. With the above configuration, an assembly bench type robot 34 having an arm is formed.

39 is a parts station, and 40 and 41 are parts pallets held at the parts station 39. 42 is an assembly jig; 43 is the X-slide unit 36, a parts station 39, a toss dock table 35 stocked with hands compatible with various types of articles; and an assembly jig 42.
, the main body to which the control device 33 is fixed.

The operation will be explained below. First, an XYZ orthogonal system robot is configured by the X slide unit 36, Y slide unit 37, and Z-axis slide unit 38, and in response to a command from the control device 33, the two surfaces 4 of the main body 43
4 can be positioned at any position within the plane.

When holding, transferring and assembling article A, the holder 12 moves to the anchor stand 35, automatically anchors the anchor 18 for article A, and loads article A at the parts station 39.
Hold and transfer using assembly jig 42-1.

Perform assembly. Furthermore, in the case of article B, the hand for article A is automatically attached and detached, and is automatically exchanged with the hand for article B, and article B is grasped, transferred, and assembled.

As described above, according to this embodiment, since there is no drive mechanism built into the robot that performs the work for replacing the knife and the knife, the structure of the robot is simple, and it can be used for inexpensive, irregularly shaped, and wide variety of articles. We can provide a practical and excellent automatic band exchange device that can handle this.

Note that in this embodiment, the needle is a mechanical needle, but other methods such as a magnet, vacuum suction, etc. may be used. Furthermore, although the assembly bench type was used in the usage example, it can also be used as an in-line type.

Effects of the Invention As described above, the present invention simplifies the structure of the robot because the drive mechanism for changing the hand is not built into the robot that performs the work, but is provided inside the hand stock stand. This automatic hand changing device is inexpensive, can handle a wide variety of irregularly shaped items, and is highly practical.

[Brief explanation of the drawing]

Figure 1 is a front view of a conventional robot hand exchange device, Figure 2 a is a side sectional view of another conventional hand exchange device, and Figure 2 a is a side sectional view of another conventional hand exchange device.
Figure bH1 is the same front view, Figure 3 is the same side view, Figure 4 is the same side view, Figure 4 is the front view of the automatic hand changing device for a robot according to an embodiment of the present invention. cross section,
FIG. 5 is a front view of the main part, FIG. 6 is a sectional view of the main part, and FIG. 7 is a perspective view of the robot. 7...Action axis, 12...Holder, 13.
...Guide hole, 14 ...Positioning pin, 16
... Step part, 1A... Hand holding part, 18...
...Hand, 21 ...Lever, 28...
... Suffling, 30... Nail, 31, ...
・Wedge-shaped, 34...Robot, 35...Hunts dock stand. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 3
Figure (0-) (b) Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] It consists of an operating shaft, a handle, a holder whose one end is integrally attached to the operating shaft and whose other end forms a stepped part, and a hand holding part having a guide hole for positioning the hand, The node is inserted into the holder and the guide hole of the node holding part, and includes a lever that is clamped by a spring that always acts in a closing direction on the stepped part of the holder, and when replacing the node, An automatic knife exchange device for a robot configured to open a lever from a stepped part of a holder by moving a wedge-shaped claw at the tip thereof, against the force of the spring.