JPS62282891A - Optical-signal transmitter in hand exchanging mechanism 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] 3. Detailed Description of the Invention The present invention relates to an optical signal transmission device in a hand exchange mechanism for a robot. The optical signal transmission device in the robot node exchange mechanism that can be attached to the robot easily transmits and receives control signals, etc. between the robot and the hand, and is sufficiently resistant to frequent coupling and disconnection between the robot and the hand. The present invention relates to an optical signal transmission device with high reliability.

2. Description of the Related Art In recent years, robot devices that automatically perform various tasks such as processing, transportation, and assembly have been widely used in factories to efficiently produce large quantities of products. Although such robot devices generally perform a single task, they often produce many different types of products within a factory. For this reason, there has been a demand for a so-called multi-functional robot that allows a single robot device to perform various different tasks.

Therefore, a hand section for assembling workpieces, processing operations, etc. is configured to be detachable from the robot body, and the hand section can be replaced with a desired hand section to handle various different tasks. A robot hand exchange device has been adopted that allows a single robot device to perform the operations.

By the way, in such a robot device, it is not enough just to mechanically connect the robot main body part and the hand part. It is required to have a structure that can perform functions such as transmitting the hydraulic and pneumatic fluid as a medium and is easy to attach and detach.

In general, in the above-mentioned robot devices, it is necessary to connect a large number of electrical cables to send and receive control signals between the robot body and the hand, so connectors that can be combined are used, but the hand can be replaced. If the frequency is high,
Durability is a problem due to attachment and detachment during connection and disconnection.

In addition, in recent years, attempts have been made to eliminate mechanical coupling in signal transmission by using magnetic coupling methods instead of mechanical connectors, or by converting electrical signals into optical signals and using optical connectors. ing. However, the method of using a magnetic sensor at the coupling part suffers from the problem of being affected by disturbances caused by external magnetic fields and requiring a large area of space because the magnetic sensors must be arranged to accommodate the required number of electrical cables. have. Moreover, when transmitting the necessary control signals using a single optical fiber using optical signals,
Parallel control signals corresponding to multiple electrical cables are converted into serial signals and transmitted, and a conversion circuit is required on the receiving side to convert the serial signals back to the original parallel control signals, resulting in a complex configuration. There are problems such as increased cost and increased cost.

The present invention has been made in order to eliminate such inconveniences, and includes a plurality of sets that transmit and receive control signals at the joint surfaces when the two are connected to the robot body side and the robot hand side, respectively. Optical signal transmission means, for example, optical fibers are disposed so as to face each other in a non-contact manner, and
It is configured to be equipped with a photoelectric conversion circuit so that control signals can be sent and received without using mechanical coupling means,
It is an object of the present invention to provide an optical signal transmission device that is easy to attach and detach when connecting and disconnecting even when hands are frequently replaced, and is highly durable and reliable. A further object of the present invention is to provide an optical signal transmission device capable of detecting dirt on the joint surface between the main body side of the robot throat and the hand.

In order to achieve these objects, the present invention has a first coupling member attached to the arm side of the robot, and a second coupling member attached to the hand side of the robot, so that the hand can be detachably attached to the robot. A robot hand exchange mechanism coupled to an arm, wherein the first coupling member and the second coupling member include at least one set of optical signals for transmitting and receiving control signals at a joint surface between the arm and the hand of the robot. Transmission means are disposed so as to face each other in a non-contact manner, and the arm side and hand side of the robot convert optical signals received through the optical signal transmission means into electrical signals and/or transmit the optical signal. It is characterized by comprising a photoelectric conversion circuit that converts an optical signal transmitted through the means from an electrical signal.

Next, preferred embodiments of the optical signal transmission device in the robot hand exchange mechanism according to the present invention will be described in detail with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 10 indicates the main body of the robot hand exchange mechanism according to the present invention. In this case, the main body part 10 is the first body part mounted on the robot main body side.
a coupling member 12, an engagement member 14 rotatably fitted onto the first coupling member 12, and a second coupling member mounted on the hand side and coupled to the first coupling member 12 via the engagement member 14. 16.

A flange portion 18 is formed on one end of the outer circumference of the first coupling member 12 having a substantially cylindrical shape, and a plurality of bolt insertion holes 20 are bored in the flange portion 18 in an axial direction. . A pair of parallel housing portions 22a and 22b extending in a direction orthogonal to the axial direction of the first coupling member 12 is formed in a bulging manner on the outer circumferential portion of the first coupling member 12.

Further, cylindrical portions 24 are provided at the ends of the housing portions 22a and 22b.
A large-diameter portion 26 having a larger diameter than the cylindrical portion 24 is formed at the end of the cylindrical portion 24 (see FIG. 2). Therefore, the cylinder mechanisms 28a, 28b are installed in the housing parts 22a, 22b.
is provided.

As shown in FIG. 3, chambers 30a and 30b are defined at both ends of the housing portion 22a, respectively, and piston members 32a and 32b are fitted into the chambers 30a and 30b.

In this case, the piston members 32a and 32b are fixed to both ends of the rod member 34, and
A rack 36 is formed on the outer periphery of 4 and extends in the axial direction. Furthermore, chambers 30a, 30 are provided at both ends of the housing portion 22a.
A lid body 38a538b is fixed to close the fluid conduit 40a and 38b, respectively.
, 40b are connected, and the pipes 40a, 40b are connected to each other.
The other end is connected to a pressure fluid supply source (not shown).

On the other hand, the housing part 22b is fitted with a rod member 34a having a rack 36a carved therein so as to be freely displaceable (see FIG. 2), similar to the housing part 22a. Fluid conduits 40C are attached to the fixed lids 38c and 38d, respectively.
140d is connected.

and the rack 36.36a of the rod member 34.34a.
meshes with the engagement member 14.

The engaging member 14 has a cylindrical shape, and has a binion portion 42 at one end of its outer periphery that engages with the rack 36.36a.
is formed (see Figure 3). A stepped hole 44 is bored in the center of the engaging member 14, and claws 46a to 4 bulge radially inward toward the large diameter side of the stepped hole 44.
6h are provided at equal intervals. The claw portions 46a to 46h
Locking surfaces 48a to 48h are formed on the inner side surface of the locking member 14 and are inclined in the direction of tightening rotation (direction of arrow A) of the engaging member 14 and cut inward to the respective claw portions 46a to 46h. (See Figure 4). Therefore, bearings 47a147b are interposed in the cylindrical portion 24 and large diameter portion 26 of the first coupling member 12, and the engagement member 14 is rotatably fitted onto the first coupling member 12, and the pinion portion 42 is each rack 3
6.36a meshes.

Furthermore, a stepped hole 50 is formed in the center of the large diameter portion 26 of the first coupling member 12, and a disk 52 is fitted and fixed into the stepped hole 50. In this case, the disk 52 is integrally formed of a manifold 56 including a plurality of fluid ports 54 and a holding plate 60 having a plurality of optical fibers 57 and connection terminals 58. Note that positioning pin members 62a and 62b are screwed onto the front surface of the first coupling member 12 on the side of the large diameter portion 26 (see FIG. 1).

On the other hand, a claw portion 64a corresponding to the claw portions 46a to 46h of the engagement member 14 is provided at one end of the outer periphery of the cylindrical second coupling member 16.
64h to 64h are formed to bulge outward in the radial direction, spaced apart from each other at equal intervals. The claw portions 6, 4a to 64h have the claw portions 46
Slanting locking surfaces 66a to 66h are formed corresponding to the locking surfaces 48a to 48h of a to 46h. in this case,
The diameter of the virtual circle connecting the outer peripheral surfaces of the claws 64a to 64h is selected to be smaller than the diameter of the large diameter portion of the stepped hole 44 of the engagement member 14.

Furthermore, holes 67a and 67b are formed in the claws 64c and 64g, oriented in the axial direction of the second coupling member 16, and the pin member 62a of the first coupling member 12 is provided in the holes 67a and 67b.
, 62b are fitted together to position the first coupling member 12 and the second coupling member 16 relative to each other.

Further, a disc 70 is fixed to the center of the second coupling member 16 through a stepped hole 68. Like the disk 52 described above, the disk 70 is integrally formed from a manifold 74 having a plurality of fluid boats 72 and a holding plate 78 having a plurality of optical fibers 75 and connection terminals 76. . Said discs 70 and 52 are connected to respective coupling members 12.1.
6 are brought into contact when connected to connect the respective fluid ports 72 and 54, and also connect the respective optical fibers 57 and 75.
And the connection terminals 76 and 58 can be connected.

In such a configuration, bolts (not shown) or the like are inserted into the plurality of holes 20 formed in the flange portion to open the first
The coupling member 12 is attached to the arm 80 of the robot, while
The second coupling member 16 is attached to, for example, a seat gripping hand 82 of an automobile. Therefore, the manifold 74 and the holding plate 78 fixed to the second coupling member 16 are connected to the necessary number of fluid conduits 84, optical fibers 75, and conducting wires 86 to drive and control the sheet gripping hand 82. ing. On the other hand, on the first coupling member 12 side, at least the same number of conduits 88, optical fibers 57, and four wires 90 as the conduits 84, optical fibers 75, and conducting wires 86 are connected to the manifold 56 and the holding plate 60, The conduit 88, the optical fiber 57, and the conducting wire 90 are housed in the first coupling member 12 and are connected from the arm 80 to the robot main body (not shown).

The robot hand exchange mechanism according to the present invention is basically constructed as described above, and next, regarding its mechanical operation, a sheet gripping hand 8 is attached to the arm 80 of the robot.
2 will be described below by way of example.

First, as shown in FIG. 1, when the first coupling member 12 and the second coupling member 16 are made to face each other and are displaced relatively close to each other,
Since the claws 46a to 46h of the engaging member 14 and the claws 64a to 64h of the second coupling member 16 are at different angular positions, the second coupling member 16 fits loosely into the stepped hole 44. Therefore, the pin members 62a and 62b screwed onto the first coupling member 12 are connected to the hole 67a of the second coupling member 16,
67b, the respective coupling members 12 and 16 are positioned, and the disks 52 and 70 abut to connect the respective manifolds 56 and 74 and the holding plates 60 and 78. Therefore, the pipe line 84 and the pipe line 8 corresponding to the pipe line 84
8 communicate with each other, the optical fiber 57 and the optical fiber 75 corresponding to the optical fiber 57 are connected, and the conducting wire 86 and the conducting wire 90 corresponding to the conducting wire 86 are connected.

Next, as shown in FIG. 3, the cylinder mechanisms 28a, 2
8blJ<driven. That is, when a predetermined fluid is supplied into the chamber 30a from the conduit 40a in the housing portion 22a, the piston member 32a is pressed in the direction of arrow B, and the rod member 3 integrally connected to the piston member 32a is pressed.
4 is displaced in the same direction as arrow B7. For this reason, the rod member 34
The pinion part 42 that meshes with the rack 36 formed in the pinion part 42 rotates in the direction of arrow A, and the engaging member 14 forming the pinion part 42 similarly rotates in the direction of arrow A. Furthermore, the claws 45a to 46h rotate in the direction of arrow A via the engagement member 14, and the locking surfaces 48a to 48h formed on the inner surfaces of the claws 46a to 46h are connected to the second coupling member 16. It comes into contact with locking surfaces 66a to 66h formed on the claws 64a to 64h. In this case, the locking surface 4
8a to 48h indicate the direction of tightening rotation of the engaging member 14 (arrow A
direction) and are inclined toward the second coupling member 16, while the locking surfaces 66a to 66h are oriented toward the locking surface 4.
It is inclined corresponding to 8a to 48h (see Figure 4).
. Therefore, if the engaging member 14 is further rotated in the direction of arrow A, the respective locking surfaces 48a to 48h and 66a to 66h
A strong pressure contact is achieved due to the imitation effect. At this time, the cylinder mechanism 28b provided in the casing 22b is also driven in the same manner as the cylinder mechanism 28a described above, and pressure fluid is supplied into the casing 22b from the conduit 40d, and the rod member 34
a is displaced in the direction of arrow C, this loft member 34a
The binion portion 42 that meshes with the rack 36a rotates in the direction of arrow A in conjunction with the displacement movement of the rod member 34 described above. As a result, the first connecting member 12 and the second connecting member 12 by the retaining member 14
The fixing effect of the coupling member 16 can be made even stronger.

In this way, the sheet gripping hand 82 is attached to the arm 80.
After the sheet gripping hand 82 is attached, pressurized oil or pressurized air is supplied to the pipe line 84 side through the pipe line 88, and the sheet gripping hand 82
drive the cylinder, etc. Furthermore, an optical signal is sent to the optical fiber 75 via the optical fiber 57, and the conductor 9
0 to the i'4IA 86 to drive the motor etc. of the sheet gripping hand 82, as shown in FIG. conduct.

In this case, according to the robot hand exchange mechanism, the sheet gripping hand 82, which has a relatively large diameter and is heavy, can be suitably attached to the arm 80. That is, the robot-side first coupling member 12 and the hand-side second coupling member 16 are connected to a plurality of claws 64a to 64h provided on the outer circumference of the second coupling member 16 and the first coupling member 1.
2 through claw portions 46a to 46h of the engaging member 14, which are rotatably fitted onto the outer surface of the engaging member 14. Moreover, the locking surfaces 64a to 64h and 46a to 46h have inclined locking surfaces 6.
6a to 66h and 48a to 48h are formed. Therefore, the load of the sheet gripping hand 82 is
O is not partially loaded, and furthermore, the second coupling member 16 and the first coupling member 12 may come apart due to the imitation effect of the respective locking surfaces 48a to 48h and 66a to 66h. It is firmly connected without any problems. Therefore, conventionally,
Heavy sheet gripping hand 82 that was not applicable
can be attached to the arm 80 reliably and accurately. Furthermore, in order to rotate the engagement member 14 by the two cylinder mechanisms 28a and 28b, the first coupling member 12
and the second coupling member 16 can be connected even more firmly.

Furthermore, in the robot hand exchange mechanism, the conduit 84, the optical fiber 75, and the conducting wire 86 for driving the sheet gripping hand 82 are not exposed to the outside. That is, when the first coupling member 12 and the second coupling member 16 are coupled, the respective discs 52 and 70 come into contact with each other, and the manifolds 56 and 74 communicate with each other, and the optical fiber 5
7 and 75 are connected, and the connection terminals 58 and 76 are electrically connected.

Therefore, the conduit 84 and the optical fiber 75 necessary for the sheet gripping hand 82 are connected to the disc 52 on the first coupling member 12 side. By providing the same number of conduits 88, optical fibers 57, and conducting wires 90 as 86, the sheet gripping hand 82
It is possible to easily supply driving media, control signals, electric power, etc. to the device. As a result, it is possible to avoid inconveniences such as the conduits, optical fibers, and conducting wires exposed to the outside being damaged by external forces as in the past.

Next, when removing the sheet gripping hand 82 from the arm 80 side, the following operation may be performed in reverse to the above-described procedure.

First, with the second coupling member 16 side placed on, for example, a hand mounting table, pressurized fluid is supplied into the housing parts 22a, 22b from the pipes 40b, 40c that constitute the cylinder mechanisms 28a, 28b. . The pressure fluid supplied into the chamber 30b of the housing portion 22a presses the piston member 32b in the direction of the arrow C, and the piston member 32b and the rod member 34 are integrally displaced in the direction of the arrow C, and the rod member 34 is moved through the rack 36. The binion portion 42 rotates in the direction of the arrow. On the other hand, conduit 40d
The rod member 34a is displaced in the direction of arrow B through the pressure fluid supplied from the pinion portion 4 that engages with the rack 36a.
2 similarly rotates in the direction of the arrow. Therefore, the engaging member 14 forming the pinion portion 42 rotates in the direction of the arrow, and the claw portions 46a to 46h are connected to the claw portion 64 of the second coupling member 16.
The respective locking surfaces 48a to 48 are spaced apart from a to 64h.
The wedge action between h and 66a to 66h is released. Therefore, when the claws 46a to 46h and 64a to 64h reach different angular positions, the cylinder mechanisms 28a and 2
When the drive of 8b is stopped and the first coupling member 12 and the second coupling member 16 are relatively displaced apart, the second coupling member 16 is removed from the stepped hole portion 44. Eventually, the arm 80 and the sheet gripping hand 82 are separated. Then, in the same manner as in the process described above, a desired hand may be attached to the arm 80 and the next operation may be performed.

Therefore, in the robot hand exchange mechanism that performs the above-described operation, an optical signal transmission device that transmits control signals and the like via an optical fiber will be described next.

That is, in FIG. 6, a holding plate 60 holds a power supply connection terminal 58 and a plurality of optical fibers 57, and is disposed in the coupling member 12 on the robot main body side. Similarly, the holding +1i78 holds the power supply connection terminal 76 and a plurality of optical fibers 75, and is disposed in the coupling member 16 on the robot hand side. Reference numeral 102 is a photoelectric conversion circuit provided on the guide side, which converts control signals L S + to LS (electrical signals) indicating the operating status of each part on the hand side into optical signals using a light emitting element, etc. It is sent to Reference numeral 104 is a photoelectric conversion circuit provided on the main body side of the robot, and is a conversion circuit that converts an optical signal received through the optical fiber 57 into an electrical signal using a photocoupler or the like. Reference numeral 106 indicates a display panel;
The state of each of the control signals LS to LS is determined by the light emitting element 10.
8, and on the other hand, the connection terminal 58
．． Reference numeral 76 denotes a terminal for supplying power, and from the power wires P, , PK connected to the robot body side, through the conductor 90 and the connection terminal 58, to the connection terminal 76 on the hand side, and the conductor 86.
Power is supplied to. Reference numeral 110 indicates a coil spring for press-contacting the connection terminal 58 to the connection terminal 76 when the robot body and the hand are connected. In this case, the plurality of optical fibers 57 and the plurality of optical fibers 75 are positioned so as to face each other at the joint surface 112 when the robot main body side and the hand are coupled, and are attached to each holding plate 60.78. Retained.

Next, the operation and effects of the optical signal transmission device will be explained.

As explained in FIGS. 1 to 4, when the main body side arm 80 of the robot and the sheet gripping hand 82 are connected by the connecting members 12 and 16, the connecting terminal 58
．． Power is supplied from the main body side to the hand side by 76. Signals LS to LS indicating the operating status of each part on the hand side
fi is converted from an electrical signal to an optical signal by the photoelectric conversion circuit 102 and guided to the bonding surface 112 by the optical fiber 75.

In the bonded state, the bonding surfaces 112 are configured to be bonded with a minute gap maintained, and the optical signal from the optical fiber 75 is transmitted to the optical fiber 57 facing the other side, and the light emitting element provided on the display panel 106 The operating status is displayed at 108.

The optical signal transmitted to the optical fiber 57 is converted into an electric signal again by the photoelectric conversion circuit 104 on the main body side, and is transmitted to a sequence control section (not shown) on the robot main body side, where the operation of the hand is controlled.

Since the conversion from an electrical signal to an optical signal is performed in a binary state by turning on and turning off the light emitting element, the optical fibers 75 and 57
Even if there is an axis misalignment, signal transmission is possible as long as significant axis misalignment does not cause large transmission loss. In order to avoid such transmission loss, the mechanical precision of the coupling member 12.16 and the holding plate 60.78 should be increased so as to maintain high precision of the facing precision at the joint surface 112 of each part of the optical fibers 75 and 57. is desirable.

Further, the optical fibers 75 and 57 are connected at the joining surface 112,
Because they face each other without contact while maintaining a small gap, the hands must be replaced frequently (even if they do, the optical fibers will not be damaged because they are not in contact with each other, further improving durability and reliability.

FIG. 7 is a diagram illustrating a detection means for detecting dirt on the joint surface of the arm and hand of the robot in the optical signal transmission device shown in FIG. 6.

Since the robot related to the present invention is used in a manufacturing factory, there is a risk that the joint between the arm and the hand may also become dirty with oil or have dust attached thereto. In the optical signal transmission device of the present invention in which control signals are sent and received between the two using optical signals, it is not preferable for the end face of the optical fiber to become dirty because it increases transmission loss.

The configuration shown in FIG. 7 is a means to solve this problem, and it uses one of the LS signals indicating the operating status of each part of the hand section, such as when the arm and hand are clamped in a coupled state. The light emitting element 11 in the photoelectric conversion circuit 102 is always activated while the two are in a coupled state.
4 is turned on and an optical signal is transmitted to the optical fiber 75. Therefore, from the optical fiber 75 to the bonding surface 11
The optical signal guided through the optical fiber 57 on the arm side through the optical fiber 57 is converted into an electrical signal by the photocoupler 116 in the photoelectric conversion circuit 104. At this time, the relationship between the amount of light (light reception level) L of the optical signal transmitted via the optical fiber 75, 57 and the output voltage level (2) of the photoelectric conversion element such as a photocoupler exhibits characteristics as shown in FIG. That is, as the light tL increases, the output voltage also increases proportionally.

Therefore, the output of the photocoupler 116 is transferred to the differential amplifier 118.
The sensitivity of photoelectric conversion can be set by inputting the reference voltage into the reference voltage terminal 120 and setting the reference voltage applied to the reference voltage terminal 120.

For example, as shown in Figure 8, compared to the sensitivity v2 when the signal light intensity is normal, if sensitivity ■1 is applied to match the light intensity when the light intensity is further reduced, the bonding surface becomes dirty and the light intensity decreases. can also be detected reliably.

FIG. 9 is a diagram showing another means for detecting dirt on the joint surface. In this embodiment, an L S o signal indicating that the arm and hand have been coupled is applied to the timer circuit 121, and the output of the timer circuit 121 causes each part of the hand to be activated for a predetermined period of time after the arm and hand are coupled. All the signals LS to LS indicating the operating state are activated, all the light emitting elements in the photoelectric conversion circuit 102 are turned on, and the optical fiber 7 is turned on.
5 to the arm side optical fiber 57 through the joint surface 112.
An optical signal is transmitted to and converted into an electrical signal by a photoelectric conversion element such as a photocoupler in the arm-side photoelectric conversion circuit 104.

At this time, the sensitivity of each photoelectric conversion element in the arm-side photoelectric conversion circuit 104 is set to the same sensitivity (2) as explained in FIGS. 7 and 8 during this period, so that the sensitivity shown in FIG. Contamination on the bonding surface is detected in the same manner as described in FIG. 8.

FIG. 1O is a waveform diagram showing the above-mentioned operation, where LS represents a signal indicating that the arm and hand are in a coupled state, and TM represents the output of the timer circuit 121.

The timer circuit 121 determines a certain period of time T after the arm and hand are coupled.

During this period, signals LSI to LS indicating the operating status of each part of the hand are turned on, and the light signals are converted into optical signals by each light emitting element in the photoelectric conversion circuit 102 via each AND circuit 122 shown in FIG. It will be converted.

As described above, the optical signal transmission device according to the present invention includes a first
A plurality of pairs of optical signal transmitting means for transmitting and receiving control signals at the joint surface of the arm and hand are disposed in the second coupling member so as to face each other without contacting each other, and each of the arm and the hand is provided with a photoelectric conversion circuit. There are no mechanical contact parts when transmitting and receiving control signals, so it is extremely easy to attach and detach when replacing the hand, and the optical signal transmission means does not get damaged even if the hand is replaced frequently, making it durable. , it is possible to provide an optical signal transmission device with high reliability. Further, compared to the case where magnetic coupling is used, only an optical signal transmission means is required, so that the configuration of the control signal transmission section can be made smaller.

Further, the optical signal transmission device according to the present invention transmits an optical signal by using a pair of optical fibers at all times or for a predetermined time after coupling an arm and a hand, and detects the optical signal at a preset light reception level. This makes it possible to detect contamination on the bonding surface. This has the advantage that it can be effectively used to improve reliability.

Although the present invention has been described above with reference to a preferred embodiment, the present invention is not limited to this embodiment. Similar functions can be achieved by embedding a set of a light emitting element and a light receiving element such as an LED and a phototransistor inside a holding plate and incorporating an electric circuit into each holding plate. Of course, various improvements and changes in design are possible without departing from the spirit of the invention.

[Brief explanation of the drawing]

FIG. 1 is a partially omitted perspective view showing a separated state of the robot hand exchange device according to the present invention, FIG. 2 is a partially omitted vertical cross-sectional view showing the combined state of the present invention device, and FIG. FIG. 4 is a schematic explanatory diagram of the coupling action of the device of the present invention, FIG. 5 is a schematic perspective view of the sheet gripping hand attached to the robot by the device of the present invention, and FIG. A schematic configuration diagram of an optical signal transmission device according to the present invention; FIG. 7 is an explanatory diagram showing means for detecting contamination on a bonding surface; FIG. 8 is an explanatory diagram illustrating identification of a photoelectric conversion element; FIG. 10 is an explanatory diagram showing waveforms of various parts of FIG. 9. 10... Main body part 12... Connecting member 1
4... Engaging member 16... Coupling member 22
a, 22b... Housing parts 28a, 28b... Cylinder mechanism 34.34a... Loft member 36.36 a-... Rack 40a to 4Gd... Pipe line 42... Pinion part 46a to 46h ...Claw portion 48a-48
h...locking surface 56...manifold 57.
...Optical fiber 60...Holding plates 62a, 62b...Bin members 64a to 64h...
・Claw portions 66a to 66h...locking surfaces 67a, 67
b... Hole 74... Manifold 75...
・Optical fiber huff 8...holding plate 80...
- Arm 82... Sheet gripping hand 102. 104... Photoelectric conversion circuit 106... Display panel 108... Light emitting element 112... Joint surface

Claims (5)

[Claims] (1) Robot hand exchange in which the hand is removably connected to the robot arm using a first connecting member attached to the arm side of the robot and a second connecting member attached to the robot hand side. The mechanism includes at least one set of optical signal transmission means for transmitting and receiving control signals at the joint surface between the arm and hand of the robot, and the first coupling member and the second coupling member face each other without contacting each other. An optical signal is provided on the arm side and the hand side of the robot to convert an optical signal received through the optical signal transmission means into an electrical signal and/or to transmit it through the optical signal transmission means. 1. An optical signal transmission device in a robot hand exchange mechanism, comprising a photoelectric conversion circuit that converts an electric signal into an electric signal. (2) An optical signal transmission device in a robot hand exchange mechanism in the device according to claim 1, in which the optical signal transmission means includes a pair of optical fibers. (3) An optical signal transmission device in a robot hand exchange mechanism, in which the set of optical signal transmission means includes a light emitting element and a light receiving element. (4) In the device according to claim 2, the pair of optical fibers is configured to constantly send and receive optical signals when the arm and hand of the robot are in a coupled state, and the optical fibers are configured to constantly transmit and receive optical signals at a preset light reception level. 1. An optical signal transmission device in a robot hand exchange mechanism, which detects a received light signal based on the contact surface and detects dirt on the joint surface. (5) In the apparatus according to claim 2, each pair of optical fibers detects a light reception signal based on a preset light reception level at least after the arm and hand of the robot are coupled, and An optical signal transmission device in a robot hand exchange mechanism that detects the presence or absence of dirt on a surface.