JPS61230894A - 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] [Industrial application field] This invention relates to a hand device for an industrial robot.

In particular, industrial use that can prevent damage to the hand device due to guard attacks when the hand device collides with surrounding objects due to robot arm rotation, ascent, 'F lowering, waiting robot CPU failure, etc. The present invention relates to a robot hand device.

[Conventional technology]

FIG. 6 is a configuration diagram showing an example of a normal industrial robot. In the figure (=, (1) is the robot body, (2) is the vertical slide axis that moves up and down by the drive of the robot body (1), (3) is the first arm, and (4) is the first arm (3).
A second arm (5) that rotates around the tip of the second arm (4) is attached to the tip of the second arm (4) and rotates around the tip of the workpiece (
6), and (η is a work table on which the workpiece (6) is placed).

FIG. 4 is a configuration diagram of the hand device (5) in FIG.
The left and right pistons (5c) receive the air pressure that acts on the piston rods (5f) or both ends (5g), and the pair of piston rods (5c)
5b) to open and close the hand arms (5d) fixed to these piston rods (5b). (5e)
are claws provided at the tip of each hand arm (5d).

In the hand device of a conventional industrial robot configured as described above, for example, when gripping and transporting a workpiece (6), first, both end chambers (5g) in the actuator (5a) are Atmospheric electricity: open 1
Next, when supply air pressure is applied to the central chamber (5t), the piston rods (5b) each move left and right to open a pair of claws (5e) at their tips. In this state, the hand device (5) approaches the workpiece (6) according to the next command from the control unit, descends directly above the workpiece (6), and reaches the gripping position (:), when the hand device (5) moves toward the workpiece (6). Central room (5
f) is opened to the atmosphere and inside the first and both end chambers (5g); supply air pressure is applied, the workpiece (6) is gripped by a pair of claws (5e), and is transported to a predetermined position according to a command from the control unit. It has become.

[Problem that the invention seeks to solve]

In the conventional industrial robot hand device as mentioned above, 1
For example, when the hand device (5) approaches the workpiece (6) while descending, the hand device (5) may move toward the workpiece (6) due to a malfunction of the CPU or an erroneous operation by the operator.
) and collides with the workpiece (6), workbench (7), etc., the reaction force of the impact occurs in the direction shown by the arrow in Figure 4 (hand device (5), which has no buffer part, There was a problem that the second arm (4) etc. were damaged.

This invention was made to solve this problem, and even if the tip of the hand device collides with a surrounding object, the buffer section provided within the hand device will prevent the tip of the hand device from colliding with surrounding objects.

The purpose of the present invention is to obtain a hand device for an industrial robot that does not cause damage to the hand device.

[Means for solving problems]

Invention 4: The hand device of the industrial robot.

The pair of hand arms between the piston rod and the pawl is provided with a buffer section made up of a link mechanism and a spring, so that the shock force acting from the direction of the tip of these hand arms is absorbed by the buffer section. .

[For production]

Each pair of hand arms is divided into two pieces.

The member forming the link and the tension spring and stopper provided on the outside of the fulcrum of this link normally maintain the normal state in which the pair of claws face each other, but if the hand arm is When receiving an impact force, the hand arm on the distal end side rotates about the link fulcrum against the force of the tension spring and buffers rR@.

〔Example〕

FIG. 1 is a block diagram of a hand device for an industrial robot according to an embodiment of the present invention, (4), (5a>).

(5b) and (5e) are the same or equivalent parts as those with the same reference numerals in FIG. 4 showing the conventional example.

(5dl) is a pair of first hand arms, each of which is fixed to the left and right piston rods (5b).

Similarly, (5d2) is a pair of second hand arms, which are pivotally connected to the first hand arm (5dl) by pin (5h)+. In addition, (5i) is the first hand arm (
A stopper provided on the side of the first hand arm (5dl) that normally closes the first A stopper (51) fixedly provided on the arm (5dl) side C2 of the hand is connected to the second band arm (5d2).
), and the second hand arm (5d2) is held so as to be symmetrically opposed to each other as shown in the figure. Note that (5k) is 1 for a normally open or normally closed contact switch such as a microswitch.
For example, if it is a normally open contact, the actuating piece of this switch (5k) should be placed on the second hand arm (5d 2) side (: the provided protrusion (5j
) seems to be pressed (in a diagonal).

In the industrial robot hand device according to the present invention configured as described above, the actuator (5a
) to increase or decrease the air pressure in the air chamber (2, therefore, the first
hand arm (5dl) and second hand arm (5dl)
2), the second hand arm (5d2) is point restrained by the pin (5h) and biased by the tension spring (5j).

The left and right claws (5e) perform normal gripping or releasing work on the workpiece (6).

Next, the hand device (5) (=therefore, transporting the workpiece (6)).

During the gripping process, the robot body (1
) due to a malfunction of the CUP or an operator error, the non-handling device (5) may be damaged by its surroundings.
14. Surrounding objects 1, for example, a workpiece (6) as shown in FIG. When the second 71nd arm (5d2) collides with the impact, it rotates counterclockwise against the reaction force of the impact (=therefore, the force of tension and twisting (5j) about the pin (5h)). Therefore, the reaction force that the first hand device (5) receives due to the impact (due to the impact) is the rotation angle (2) of the second hand arm (5d2).
The tensile force that corresponds to 2 is only the drag force of the spring (5j).

No. 1 caused by the collision (5) (2 added #l
i will be lenient.

Also, the rotation of this second hand arm (5d2) (:Therefore, the operating piece of the switch (5k) separates from the protrusion (51) that was pressing it, so 1, for example, the switch (5k)
If k) is a normally open contact, the contact moves from the closed position to the open position, transmits an abnormal signal to the robot body (1) via a relay device, etc., and stops the robot suddenly, thereby preventing the above collision. It is designed to prevent accidents from occurring.

〔Effect of the invention〕

As described above, this invention has two arms, one on each side, on the left and right sides of the hand device. It is divided into a second hand arm, these two arms are pivoted, and a pair of claws face each other to have a gripping function under the action of a holding force generated by a tension spring. When the second 71st arm collides with surrounding objects, the second 71st arm rotates around the pin to which it is pivoted.

At the same time, the operating piece of the switch, which is normally pressed, is released and switches the switch contacts to bring the robot to a sudden stop. This prevents damage caused by the impact of a collision, and furthermore, This has the effect of providing a control device for industrial robots that is free from the risk of accidents.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a node device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of the operation of the node device shown in FIG. 1, and FIG.
FIG. 4 is a block diagram showing an example of a conventional industrial robot, and FIG. 4 is a block diagram showing an example of a conventional handheld device. In the figure, (5) is the node device, (5a) is the actuator, (5dl) is the first node arm, (
5d2) is the second hand arm, (sh) is the pin,
(5i) is a stopper, (5j) is a tension spring, (5
k) is a switch. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Patent Attorney Sanro Kimura Figure 1 5: Hand specialty 5: Suikke

Claims (2)

[Claims] (1) A pair of hand arms which are divided into a first hand arm and a second hand arm, both of which are pivotally connected with a pin, and which are provided on the left and right sides of the actuator;
A tension spring is interposed between the hand arm and the second hand arm and is stretched across these hand arms, and the tension spring is pressed by the biasing force of the tension spring to cause the first and second hand arms to move. and a stopper for fixing the relative position, and when the second hand arm collides with a surrounding object, the second hand arm rotates about the pin against the biasing force of the tension spring, thereby mitigating the impact caused by the collision. A hand device for industrial robots. (2) A patent claim characterized in that a switch is provided, in which the actuating piece is normally pressed, and the pressure on the actuating piece is released by rotation of the second hand arm at the time of a collision, thereby switching the contacts. A hand device for an industrial robot according to item 1.