JPS63150188A - 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 gripping a workpiece with an industrial robot, and particularly to abnormality detection thereof.

[Conventional technology]

4 to 6 are diagrams showing a hand device of a conventional industrial robot, and FIG. 4 is a side view of the robot.

FIG. 5 is an enlarged view of the section v in FIG. 4, and FIG. 6 is an explanatory diagram of the operation.

In the figure, (1) is the robot body, (2) and +3+ are the arms, (4) is the arm end plate fixed to the tip of the arm (3), and (5) is the function to grip the workpiece (not shown). (6) is a hand end plate (7) fixed to the hand (5) and facing the arm end plate (f4) across a space.
) is a guide rod fixed to the arm end plate 14+ and passes through the space to insert the hand end plate (6) and guide the vertical movement of the hand end plate (6), and (8) is a guide rod (7). ) is fitted with a push spring.

(9) is a detection piece fixed to one end surface of the hand end plate (6).

(10) is an abnormality detector which is fixed to one end surface of the arm end plate (4) and emits an abnormality signal when detecting the detection piece (9).

The hand device of a conventional industrial robot is constructed as described above, and the arms +2) and +3+ are raised and lowered by electric motors (not shown) built into the robot body (]).

Various operations are performed by rotating the arm (2+) by an electric motor (not shown) built in the arm (3) and gripping the workpiece by the hand (5).

When the robot is working normally, Figure 6 Cl1l
) K As shown, the hand end plate (6) is connected to the arm end plate (4).
A predetermined distance away from , and both +61. F4
) Ifi maintains parallelism. If the robot collides with peripheral equipment while teaching the robot to perform a task or while working,
When a force like arrow A is applied to 5) from below, the push spring (
8) is compressed by the hand end plate (6), and the hand (5)
absorbs the force applied to the hand (5) and prevents damage to the hand (5), etc. When the above force is large and the hand end plate (6) approaches the arm end plate (4) as shown in FIG. vessel(
The lot is beginning to issue an abnormal signal and commands to stop the hand (5), retreat, etc.

[Problem that the invention seeks to solve]

In the conventional industrial robot hand device as mentioned above,
Since the detection piece (9) and the abnormality detector 0[l] are fixed to one end surface of the hand end plate (6) and the arm end plate (4), respectively, the hand (5) is fixed as shown in FIG. 6(b). ) when a force in the direction of arrow A perpendicular to the hand (5) is applied, an abnormality in hand (5) is detected, but as shown in Figure 6 (C), a force in the direction of diagonal arrow B is applied to hand (5). In this case, the detection piece (9) may not be detected by the abnormality detector (10), and there is a problem that abnormality detection of the hand (5) becomes unstable.

This invention was made to solve the above problem, and even if a force is applied to the hand from an oblique direction.

An object of the present invention is to provide a hand device for an industrial robot that can reliably detect abnormalities.

[Failure to solve the problem]

A hand device for an industrial robot according to the present invention is a hand device for an industrial robot according to the present invention.

An air tube made of an elastic tube press-fitted with air is placed between the arm tip and the hand, and is brought into close contact with the opposing surfaces of the arm tip and hand. When this air tube is compressed, the air pressure rises. It is equipped with an anomaly detector that detects and issues an anomaly signal.

[Effect]

In this invention, since the air tube is placed between the arm tip and the hand, no matter where the air tube is pressed, the air pressure inside the air tube increases.

An abnormality in the hand is detected.

〔Example〕

Figures 1 to 4 are diagrams showing one embodiment of the present invention.
The figure is an enlarged view of the V section in Fig. 4, Fig. 2 is an air circuit diagram, and Fig. 3 is an operation explanatory diagram (Fig. 4 is the same as the conventional device).
(7) is similar to the conventional device described above.

In Figures 1 and 2, it is formed of an elastic tube such as a USII'i annular rubber tube, is placed surrounding the guide rod (7), and air is press-fitted to form the arm end plate "4" and the hand end plate. (6) Air pipe in close contact with (1G is a pipe line connected to air pipe α9.

(1, 7) tI': r pipe (connected to Iυ, an abnormality detector consisting of a pressure cusp inch that activates and issues an abnormal signal when the air pressure rises above a predetermined value; A relief valve that exhausts air when the temperature rises above a specified value.

The handle is the air source, and ■ is the stop valve connected to the air source α9.

C11 is a pressure regulator inserted between the stop valve Cυ and the relief valve Oa, and (A) is a pressure gauge connected between the pressure regulator (2+) and the relief valve 08.

In the industrial robot hand device configured as described above, the stop valve U is first opened, and the pressure is set using the pressure regulator m 111 and the pressure gauge (22).When the pressure setting is completed, the stop valve (22) is used to set the pressure. ) is closed. This is the stop valve ■
If you don't close it, there will be no air source! If l stops,
This is because when the air pipe αω is compressed, air escapes and the buffering function is lost. In this way, with air at a predetermined pressure being injected into the air pipe αω, the robot starts the same work as described above.

When the robot is working normally, the hand end plate (61) is separated from the arm end plate (4) as shown in Figure 3 (-). When force is applied to the air pipe (15), the air tube (15) is compressed by the hand end plate (61), and the increase in internal pressure absorbs the force applied to the hand (5), preventing damage to the hand (5), etc. do.

When the amount of compression of the air pipe Q5i becomes large, the internal pressure further increases, and the pressure within the pipe line aθ also increases. When this exceeds a predetermined pressure, the abnormality detector (I7) is activated and issues an abnormality signal. The amount of compression when using an air tube becomes even more intense.

When the internal pressure exceeds the specified value, the relief valve (18) is activated.

Maintain the pressure inside the air pipe +151 so that it does not rise above a specified value. If a diagonal force as indicated by arrow B is applied to the hand chuck (5), some part of the air pipe (15) will be compressed as shown in FIG. 3(C). This is K.
Pipeline (if the air pressure in one port exceeds the specified pressure.

The abnormality detector 117) operates. That is, hand (5
) Even if force is applied from an oblique direction, abnormality detection 8P (1
7) can be operated.

〔Effect of the invention〕

As explained above, in this invention, an air tube made of an elastic tube into which air is press-fitted is placed between the arm tip and the hand, and is brought into close contact with the opposing surfaces of the arm tip and the hand.
When this air tube is compressed.

Since the increase in air pressure is detected and an abnormality signal is issued, even if force is applied to the hand from the other direction, the abnormality can be detected with ease.

[Brief explanation of the drawing]

1 to 3 are diagrams showing a hand device for an industrial robot according to the present invention, and FIG. 1 is an enlarged view of the V section in FIG.
The figure is a pneumatic circuit diagram, Figure 3 is an explanatory diagram of operation, Figure 4 is a side view of the robot showing the hand device of the present invention and a conventional industrial robot, and Figures 5 and 6 are of a conventional industrial robot. FIG. 5 is an enlarged view of the V portion of FIG. 4, and FIG. 6 is an explanatory diagram of the operation. In the figure, (3) is the arm, (4) is the arm tip (arm end plate), +5+ is the hand, (61 is the hand end plate, 05)
is the air pipe, and f171 is the abnormality detector. Note that the same reference numerals in Figure 9 indicate the same parts.

Claims (1)

[Claims] A robot arm, a hand that is placed opposite to each other across a space at the tip of this arm and that grips a workpiece, and an elastic tube that is press-fitted with air, and is placed in the space and is placed on the opposing surface of the arm and hand. A hand device for an industrial robot comprising an air pipe that is in close contact with the air pipe, and an abnormality detector that detects an increase in air pressure when the air pipe is compressed and issues an abnormal signal.