JPS6039090A - Hand device for industrial 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] [Technical Field of the Invention] The present invention relates to a control device for an industrial robot, and more specifically, to prevent damage to the control device due to erroneous operation during teaching and to ensure the safety of workers. This invention relates to a no-end device having a safety device to ensure safety.

[Prior art]

For an industrial robot to function according to a given purpose,
It is necessary to train industrial robots to perform these tasks in advance. When performing this teaching work, if the hand device is hit against a workbench around the robot due to an erroneous operation, the hand device will be damaged. Furthermore, it is dangerous if the hand device hits a worker for some reason even during automatic operation. Therefore, safety for workers must be ensured.

Conventionally, there has been no hand device that has a safety device for preventing the hand device from being damaged as described above and ensuring the safety of the operator.

[Summary of the invention]

This invention was made in view of these points,
A bumper supported by at least two fixed length support wires is provided on each of a pair of grippers for gripping a workpiece, and either the bumper or the gripper can detect when an external force is applied to the bumper. This invention provides a hand device that prevents damage to the hand device and ensures the safety of the operator by providing a detector to detect the hand device.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described based on the drawings.

Fig. 1 is a perspective view showing a general robot, Fig. 2 is a perspective view showing an embodiment of the invention, Fig. 6 is a front view showing an embodiment of the invention, and Fig. 4 is a perspective view showing an embodiment of the invention. This is an explanatory diagram explaining the operation of one embodiment. Figure 4 (a) is an explanatory diagram when external force is applied from the side, and Figure 4 (a) is an explanatory diagram when external force is applied from below. 4(c) are explanatory diagrams when an external force is applied from the front.

In Figure 1, (1) is the robot body, (2) is the first
The arm (3) is a second arm, and (4) is a hand device according to the present invention, which is attached to the 03 rotating shaft at the tip of the second arm (3). (5) is an axis of vertical movement.

The hand device (4) will be described in detail below. In FIGS. 2 to 4, (6a) and (6b) are a pair of grippers, and a gripping portion (6c) has a V-shaped gripping surface at the end.

(6d) is fixed. (The force is supplied by a drive device, not from an air cylinder, and a gripper (6a) at the tip of the piston.
(6b) is installed and when the air cylinder is operated, the grippers (6a) and (6b) will close by 1 yen.

The grippers (6a), (6b) can also be opened and closed by this drive device (force is limited to the air cylinder motor). (8a), (8b) are bumpers, and the length is the gripper (6a), ( 6b) It is longer and the tip is bent towards the inner surface.

The width is also longer than the grippers (6a) and (6b), and the lower end is bent. The bumpers (8a) and (8b) may be made of plastic or the like as long as it has sufficient strength against external forces.

Grippers (6a), (6b) and bumpers (8a) (8b)
) are each supported by a fixed length of support wire (9), and the number of support wires (9) is at least two. In addition, bumpers (8a) and (8b) are the third
As shown in the figure, the bumpers are installed at an angle so that the gap between the bumpers is smaller on the bottom side than on the top side. This is to prevent the bumpers (8a) and (8b) from opening in the opposite direction to the direction in which the detector is operated when the hand device is operated from below, as will be described later.

(10) is a spring, and when an external force acts on the bumpers (8a), (8b) and the distance between the grippers (6a), (6b) and the corresponding bumpers (8a) * (8b) is reduced, this It is a spring that acts in the direction of returning to its original state. In this embodiment, a coil spring with a support wire (9) placed inside is used as the tail. 01) is a switch that functions as a detector to detect external force applied to the bumper (a=), (8b), and is fixed to the bumper (8a), (8b), and outputs contact signals and other signals. The information is also transmitted to a controller (not shown) via the robot body (1). In addition, it may be attached to the switch (1υ gripper (6a), (6b)).

Next, the operation will be explained.

First, in the normal state, as shown in Fig. 6, the gripper (6a
) and the bumper (8a) is kept constant by the support wire (9), so the distance between the switch 0υ and the gripper (
6a) or (6b), there is a gap between switch (1
υ does not work. Next, as shown in Figure 4(a)...
When the handheld device N (4) hits something like a stand, it is exposed to an external force (1
3 acts on the bumper (8a), the bumper (8a)
and the gripper (6a) are connected to the support wire (9) and the spring (+0
1 is deformed and the distance between them becomes smaller than normal.

This change in interval applies force to the actuator of the switch (11), which operates and outputs a robot stop signal. This stop signal is applied to the robot body (
1) is input as a robot stop signal to a controller (not shown), and as a result, the robot stops. The same operation occurs when an external force is applied to the other side (8b) of the bumper.

Figure 4(b) shows when the external force (121) is applied from below, and Figure 4(e) shows when the external force 02 is applied from the front. It also transforms against. The switch 0υ can output a robot stop signal in any case by using a switch that operates no matter which direction force is applied to its actuator. When an external force is applied from below or from the front, both switches (1) may operate at the same time or only one may operate, depending on the state when the switch hits the switch. In either case, the robot should be stopped.

In addition, the length and width of the bumpers (8a) and (8b) are such that even when an external force acts and the switch (11) is operated, as shown in Fig. 4 (b) and (e), It is determined that there is a space between the workbench and the grippers (6a) and (6b).

〔Effect of the invention〕

As described above, according to the present invention, each of a pair of grippers that grips a workpiece is provided with a bumper supported by at least two support wires of a fixed length, and either one of the grippers that straddles the bumper is By installing a detector that detects when an external force is applied to the bumper, a stop signal for the robot is output, which prevents damage to the robot and ensures worker safety. A hand device with a safety device can be obtained.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing a general robot, Fig. 2 is a perspective view showing an embodiment of this robot, Fig. 6 is a front view showing an embodiment of the invention, and Fig. 4 4(a) is an explanatory diagram illustrating the operation of an embodiment of the present invention. FIG. 4(a) is an explanatory diagram when external force is applied from the side, and FIG. 4(b) is an explanatory diagram when external force is applied from below. Figure 4 (C) is an explanatory diagram when an external force is applied from the front. In the figure, (■) is the robot body, (2) is the first arm, (
3) is the second arm, (4) is the...end device, (5) is the vertical movement axis, (6a) and (6b) are the grippers,
(Force is the drive device, (8a), (8b) is the bumper, (
9) is a support wire, (10 is a spring, (ID is a switch, and (t2 is an external force.) In addition, the same reference numerals in the figures indicate the same or priest parts. Agent Masuo Oiwa Figure 1 Figure 2

Claims (1)

[Claims] A pair of grippers that are driven by a drive device to grip a workpiece, a bumper supported by at least two support wires of a certain length on each of the grippers, and either the bumper or the gripper. A nodding device for an industrial robot, comprising: a detector installed at the bumper for detecting that an external force is applied to the bumper.