JPS63150187A - Holder - 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 holding device that does not use power, and particularly to a holding device suitable for holding a hand attachment/detachment mechanism of a mask slave type manipulator.

[Conventional technology]

Conventionally, tools used by manipulators are held by fitting a hand mounting plate attached to one end of the tool into a holding part called a tool bracket, as seen in product catalogs for robot auto tool changers and other products. Ta.

[Problem that the invention seeks to solve]

The above conventional technology is based on FA (Factory Auto).
The hand is intended to be attached to and detached from a manipulator for use with a master-slave type manipulator, and there are problems with positioning when handling it with a master-slave type manipulator.

An object of the present invention is to make it possible to easily hold and hold a hand even if the positioning accuracy of a manipulator for attaching and detaching the hand is poor.

l' [Means for solving the problem] The above object can be achieved by opening and closing the holding plate using the weight of the attached hand or the downward force of the arm.

[Effect]

The holding device converts a lever that moves up and down due to the downward force of the arm of the manipulator or the weight of the hand into rotational movement of left and right screws, and converts the holding plates provided at both ends of the rotating body into linear movement.

This can be achieved by creating a structure in which the holding force can be mechanically generated without using power from a motor or the like.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

FIG. 2 shows a bayonet-type attachment and detachment mechanism for attaching and detaching the arm 100 and hand 101 shown in FIG. 4. This attachment/detachment mechanism consists of a hand-side attachment/detachment mechanism 200 and an arm-side attachment/detachment mechanism 300. The hand-side attachment/detachment mechanism 200 includes a fixed mount 3, a positioning hole 4'b, a detachable ring 2, a positioning hole 4a, and a claw 5.
and the removable ring 2 have a structure that can be rotated. When fixing the hand-side attachment/detachment mechanism 200 and the arm-side attachment/detachment mechanism 300, insert the three bottles 1 on the arm side into the positioning holes 4a, 4b on the hand side, and rotate the attachment/detachment ring 2. A tapered claw 5 integrated with the bottle 2 engages with a groove in the bottle 1 on the arm side, so that the hand side and the arm side can be fixed. When removing the bottle, the claw 5 is removed from the groove of the bottle 1 by rotating the detachable ring 2 in the opposite direction, allowing the hand and arm to be separated.

Robot arm 1 using bayonet attachment/detachment mechanism
FIG. 1 shows the configuration of a holding device for remotely attaching and detaching the hand 101 and the hand 101. The holding device is composed of three parts: an arm holding mechanism for holding the arm 100, a hand holding mechanism for holding the hand-side attachment/detachment mechanism 200, and a hand support mechanism for supporting the hand 101 itself. The arm holding mechanism includes a holding plate 10a having a right nut 13a and a left nut 13b for holding the arm 100.

10b and a lever 11 for moving the holding plates 10a and 10b along the two guide rails 14.
It consists of a right-hand screw 12a and a left-hand screw 12b that are integrally constructed.

The operation of the arm holding mechanism will be described in detail below. The holding plates 10a, 10b are opened slightly larger than the outer diameter of the arm 100 by tension springs 25a, 25b attached to both ends of the right-hand screw 12a and left-hand screw 12b. Therefore, the arm 100 is lowered from above between the holding plates 10a and 10b,
When the arm 100 hits the lever 11, the weight of the arm 100 pushes the lever 11 downward, causing the right-hand screw 12a and the left-hand screw 12b to rotate. The right-hand screw 12a is turned by the rotation of the right-hand screw 12a and the left-hand screw 12b.

Right nut 13a and left nut 1 engaged with left screw 12b
3b and along the two guide rails 14.
0a and 10b change from the open state to the closed state, and the arm 10
Can hold 0. In this case, when the lever 11 is in a horizontal position, the arm 100 is prevented from descending downward by the lever 26. Here, the lever 11 and the tension spring 25a.

25b will be explained with reference to FIG. When the weight F of the arm is applied to the lever 11 shown by the solid line, the lever 11 descends to the position shown by the two-dot chain line, and the screw 12 also rotates.
The tension spring 25 is extended and moved to the position indicated by the two-dot chain line. Further, when the weight F of the arm is removed from the lever 11, the screw 12 is rotated by the tensile force of the tension spring 25, and the lever 11 is rotated.
also moves to the position indicated by the solid line. That is, by opening and closing the holding plates 10a and 10b shown in FIG. 1 in conjunction with the operation of the lever 11, the arm 100 can be held or released.

The holding mechanism for holding the hand side attachment/detachment mechanism 200 is as follows:
The mechanism is the same as the arm holding mechanism, and the operation of each part is also the same, so the explanation will be omitted. The hand support mechanism is
It is composed of a hand support 20 attached to a base 24, a T-shaped rotation support 21, a shaft 22 that supports the rotation support 21, and two bearings 23.

The T-shaped convex portion of the rotating support base 21 is held between hands and rotated by two bearings 23. FIG. 4 is an explanatory diagram when the arm 100 is attached to the hand 101. As shown in the figure, a bayonet-type hand attachment/detachment ring 2 shown by a two-dot chain line attached to the hand and a control box 8 containing a control circuit and a motor for opening and closing the hand serve as a hand holding mechanism and hand support, respectively. It is held by a mechanism.

The arm 100 equipped with the arm-side attaching/detaching mechanism 300 shown by the two-dot chain line is lowered from the upper part of the arm holding mechanism, or the holding plate 10a is moved from the left end in the figure.

10b, and when the lever 11 is lowered by the weight of the arm 100, the holding plate 10a is rotated by the right-hand screw 12a and the left-hand screw 12b.

10b moves inward, and the arm 100 is held at the position indicated by the two-dot chain line. In this case, when the lever 11 is in a horizontal position, the arm 100 hits the spring 26, and the arm 100
is held horizontally. In this state, the hand side attachment/detachment mechanism 20
0 and the center of the arm side attachment/detachment mechanism are aligned. Then, slide the arm 100 forward (in the direction of the arrow) and insert the pin 1 of the arm-side attachment/detachment mechanism 300 into the positioning hole 4a of the hand attachment/detachment ring 2 and the positioning hole 4b of the fixed mount shown in FIG. Next, when the arm 100 is rotated, the part cut parallel to the outside diameter of the hand detachable ring 2 is attached to the retaining plate 15 of the hand side retaining mechanism.
a and 15b, the hand attachment/detachment ring 2 does not rotate, but the hand 101 equipped with the fixed mount 3 of the arm side attachment/detachment mechanism and the hand side attachment/detachment mechanism rotates, and the pin 1 of the arm side attachment/detachment mechanism 300 tapers. Arm 1 engages with claw 5 of
00 and hand 101 can be identified. When removing hand 101- from arm 100, remove arm 1. It can be easily removed by rotating OO in the opposite direction. FIG. 5 is a diagram showing a positioning method when the arm 100 is held by the arm-side holding mechanism. The arm-side holding mechanism is opened larger than the outer diameter of the arm 100, as shown by the solid line, so that if the arm 100 shifts at an angle θ, the arm 100 can be inserted into the arm holding mechanism by positioning the arm.

Therefore, by lowering the lever 11 explained in FIG. 3 due to the weight of the arm 100, the right-hand screw 12a and the left-hand screw 1
holding plate 10a via 2b.

10b moves inward and the arm 10 moves inward as shown by the two-dot chain line.
At 0, the hand-holding-like tank and the core are forced to coincide. In this way, the arm 100 has a mechanism that allows easy centering even when the arm 100 is roughly positioned.

〔Effect of the invention〕

According to the present invention, the force applied to the lever of the holding device is mechanically restrained and released by the weight of the arm and hand of the manipulator or by pushing, without requiring power such as electricity, pneumatic pressure, or hydraulic power. Therefore, there is no need to control the holding device, and there is an excellent effect in terms of reliability with fewer failures.

[Brief explanation of the drawing]

Figure 1 is a perspective view of one embodiment of the present invention, Figure 2 is a three-dimensional view of the bayonet structure used in the holding device of the present invention, and Figure 3 is a perspective view of an embodiment of the present invention.
The figure is a partial view showing the relationship between the lever of the holding device and the tension spring, FIG. 4 is a perspective explanatory view for attaching and detaching the arm and hand, and FIG. 5 is a top view of an embodiment of the present invention. . DESCRIPTION OF SYMBOLS 10... Holding plate, 11... Lever, 12... Left and right screws, 13... Left and right nuts, 14... Guide rail, 25... Tension spring, 20... Hand support base, 2
1...Rotating support base.

Claims (1)

[Claims] 1. In a device that holds a remote attachment/detachment part to realize attachment/detachment of a hand, there is a means for converting the vertical movement caused by the weight of the hand to be attached or the downward force of the attachment/detachment part of the manipulator into a rotational motion, and a means for converting the rotational motion into a rotation axis. and means for converting the holding plates attached to both ends of the holding plate into a linear opening/closing movement.