JPS61249296A - 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] [Field of Industrial Application] The present invention relates to a hand device for an industrial robot that performs work such as welding, painting, or moving parts on products on a production line, and in particular, the present invention relates to a hand device for an industrial robot that performs work such as welding, painting, or moving parts on products on a production line. This invention relates to a hand device for an industrial robot that prevents the hand device from being damaged when it collides with an object.

[Conventional technology]

FIG. 3 is disclosed, for example, in Japanese Patent Publication No. 55-53357, in which a device is installed between the arm of an industrial robot and a hand device, and when the hand device collides with a surrounding object while the robot arm is operating, Please indicate a device to prevent damage to the hand device or robot arm due to the impact of this collision.

In the figure, (4) is a robot arm, (5) is a hand device, (7) is a safety device such as this hand device, and (7j
) is the main body of the safety device (7) with an L-shaped cross section,
It is fixed to the robot arm (4) and the hand device (5) by a removable method such as fastening with bolts.

(7k) is the groove provided in the L-shaped corner of the main body (7i), (7m
) is a limit switch, such as a micro switch, which is fixed to the − side of the main body (7j) and has another actuator in contact with it, and (7n) is a flexible metal suspension such as a wire rope. ◎In the conventional safety device of the no-do device with the above configuration, as long as the robot arm (4) is operating in normal conditions such as turning, raising or lowering, the safety device (7) ) is used as a connecting member between the arm (4) and the node device (5), but if the arm (4) deviates from the predetermined operation due to, for example, a malfunction of the robot's CPU, the node device (5) When the device (5) collides with its surroundings, the impact causes stress concentration in the small cross section of the main body (7j) located at the groove (7k) provided in the safety device (7)K, causing the device to break. be done. The hanging tool (7n) prevents the hand device (5> from falling onto the floor) using the cutting trap of the main body (7j), and the arm (4)
Suspend the hand device (5) from the
In m), the actuator comes off and the switch operates to stop the operation of the robot, thereby preventing damage to the hand device (5).

[Problem that the invention seeks to solve]

The conventional hand device safety device described above can prevent damage to the hand device (5) due to impact during a collision, but
When the main body (7j) of the safety device (7) is cut off, the hand device (5) is suspended by a hanging device (7m) during the fall, but depending on the fall position, other surrounding objects may There is a possibility of collision with the main body (7j) and the restoration work of removing the main body (7j) and attaching new members to the arm (4) and the hand device requires a considerable amount of time.

This invention was made to solve this problem, and there is no risk of secondary accidents such as the hand device falling and colliding with other surrounding objects after the safety device operates, and there is no risk of normal operation. The purpose is to obtain a safety device that can shorten the work time required to restore the robot so that it can be used as a robot.

[Means for solving problems]

The safety device for a hand device according to the present invention includes a pair of flange-shaped base members, the first base of which is fixed to the tip of the robot arm, and the second base is fixed to the tip of the robot arm.
The base member is fixed to the center trap of these base members, and the shaft is loosely fitted into the hole drilled in the center of the base member to lock it in the axial direction, and then the shaft is inserted into the multiple holes drilled in the same circular arc in the axial direction. With the pins inserted, these pins normally function as connecting members between the robot arm and the hand device, and when the hand device and its surroundings collide due to the rotational movement of the robot arm, the first. Pin pushed through at the interface of the second base°
is what cuts it.

[Effect]

1st. The pin inserted into the second base normally functions as a fixing member between the two paces, but when the hand device collides with a surrounding object and this impact force is transmitted to the pin, movement occurs at the interface between the two paces. A shearing stress acts and breaks the pin.

〔Example〕

1 and 2 are diagrams showing an embodiment of the present invention. FIG. 1 is a configuration diagram showing the relationship between the entire robot and the safety device according to the present invention, and FIG. 2 is a detailed diagram of the safety device. FIG.

In Figure 1, (1) is the robot body, (2) is the vertical slide axis, (3) and (4) are the robot arm, (
5) is a hand device, (6) is a work gripped by this hand device (5), (7) is a safety device according to the present invention,
The upper surface part is fixed to the robot arm (4) K, and the lower surface part is fixed to the hand device (5), respectively, and normally functions as a connecting member between the robot arm (4) and the hand device (5).

In Figure 2, (4) is the robot arm, (5) is the hand device, and (7a) is the robot arm (4) with a bolt (
The first base is fixed by 7e), (7b) is the second base, which is fixed by the hand device (5) Kpol) (7f). 1 (7C) is the first. The shear bin (7d) is pushed through a plurality of through holes drilled on the same arc of the second bases (7a) and (7b), and is screwed onto the threaded part of the second base (7b). (7g) is the first base (7C) K
a fixed detection switch, such as a proximity switch;
(7h) is the operating piece of the second pace (7b) K fixed detection switch (7g), (71) is the first pace (7a)
) and the second pace (7b) by loosely fitting into the holes of both bases (7a).

(7b) This is a support shaft that is locked in the axial direction so that the boundary surface is brought into close contact with the support shaft.

In the safety device for a hand device according to the present invention configured as described above, the hand device (5) and the workpiece (6) that it grips are at the second pace (7b).

It is suspended from the robot arm (4) via the support shaft (7i) and the first pace (7a), and is normally attached to a shear pin (7C).
K-acting support shaft with pre-calculated strength (7M)
In the stress range in the rotational direction around , robot arm (3).

(4) while the hand device (5) or workpiece (6) is turning.
) collides with these surrounding objects, this impact force is transmitted to the second pace (7b) as a rotational force about the support shaft (71), and the shear pin at the interface with the first pace (7a) is transmitted to the second pace (7b). Since an abnormal value of dynamic shear stress acts on (7C), the shear pin (7b) is sheared and the restraint between the first pace (7a) and the second pace (7C) is released, and the second The second pace (7b) becomes free in the direction of rotation around the support shaft (7i), and the operating piece (7h) rotates together with the second pace (7b), so the contact of the detection switch (7g) is activated. A signal is output to a robot control unit (not shown) to issue an alarm to notify that the shear pin (7C) has been cut, and the robot apparatus is brought to an emergency stop.

That is, 1st. Second pace (7a) t (7)
)) The robot arm (4) and the hand device (5)
) is released from the safety device (7), the hand device (5) is released from restraint in the direction of rotation around the support shaft (71) and is free from damage without being affected by impact force. It turns out.

In addition, after cutting the shear pin (7C), in order to restore the normal connection state between the robot arm (4) and the hand device (5), the first pace (7a) is removed from the robot arm (4). Remove the screwed bolt, remove the cut shear pin (7c), and install a new shear pin (7c).
C) replenishing and penetrating the 11th second pace (7
By inserting it into the holes a) and (7b), the first.
The second paces (7a) and (7b) may be restrained in the direction of rotation around the support shaft (71).

〔Effect of the invention〕

As explained above, the present invention reduces the reaction force generated when the hand device collides with surrounding objects by using a pair of robot arm and hand device that are interposed between the robot arm and the hand device and are supported axially in a balanced manner by the axial pressure passing through the center. The design is configured so that the shear pin, which is restrained in the direction of rotation around the above-mentioned axis, is concentratedly applied to the pace, and the shear pin is cut by dynamic shearing force that corresponds to the reaction force, so the hand There is no risk of the device coming off the robot arm and causing a secondary accident, and there is also the advantage that it can be easily restored to a hand device equipped with a safety device.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention, FIG. 2 is a partial sectional view showing a safety device for a hand device according to an embodiment of the present invention, and FIG. 3 is a diagram showing a safety device for a conventional hand device. It is a partial sectional view showing a safety device. In the figure, (3) l (4) is the robot arm, (
5) is a hand device, (6) is a workpiece, (7) is a safety device, (7a) is a first pace, (7b) is a second pace,
(7C) is a shear pin, and (71) is a support shaft. Note that the same reference numerals in the figures indicate the same or equivalent parts. Agent: Sanro Kimura, Patent Attorney Figure 1 Figure 3 Figure 2

Claims (2)

[Claims] (1) A safety device is provided between the free end of the robot arm and a hand device that grips a workpiece, to prevent collisions between the workpiece or hand device and surrounding objects in the direction of rotation of the robot arm. The hand of an industrial robot, characterized in that the restraint between the free end of the robot arm and the hand device by the safety device is released in the direction of rotation about the axis of the safety device by the impact of the hand device. Device. (2) The safety device consists of two base members formed in the shape of a pair of flanges and locked in the axial direction by a shaft that loosely fits into a hole bored in the center, and the upper The base is fixed to the free end of the robot arm, and the lower base is fixed to the hand device, and a pre-calculated shear force is applied to a plurality of holes drilled through the bases on the same circular arc in the axial direction. 2. A hand device for an industrial robot according to claim 1, wherein a shear pin is inserted and fixed therein.