JPS632751B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hand device for an industrial robot, and more particularly to a device for automatically exchanging hands.

Conventionally, when an industrial robot is made to perform a plurality of different types of work, a hand corresponding to the work is selected and attached to an arm. However, if it is not properly attached, it may fall off during work and damage the robot body, peripheral equipment, or workpiece, and it is also dangerous when people are nearby.
Furthermore, when a robot performs the work of placing an object to be grasped (hereinafter referred to as a work) in a specified position, there may be problems such as the position of the work becoming inaccurate and making it impossible to continue the work. It was hot.

This invention was made in view of the above problems, and includes a detection means for detecting attachment and detachment of the hand, and when the detection means does not operate during the attachment and detachment operation of the hand, by repeating the attachment and detachment operation, the hand is reliably attached and detached. The purpose is to make it removable.

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 7.

Fig. 1 shows the entire industrial robot. 1 is the main body of the robot, 2 is an elevating body supported by the main body 1 and reciprocating in a vertical direction, and 3 is an elevating body supported by the elevating body 2 and reciprocating in a horizontal plane. A moving first arm, 4 a second arm supported by the tip of the first arm 3 and rotating back and forth in a horizontal plane, 5 a rotation axis perpendicular to the tip of the second arm 4 (described later) 6 is a hand attached to the hand holder 5, and 7 is a hand holder that is connected to the main body 1 and the first arm 3 and houses cables and hoses for supplying electric power and compressed air. A flexible body 8 is a flexible body branched from the flexible body 7 and supplied to the first arm 3, 9 is a flexible body also supplied to the second arm 4, and 10 is supplied to the hand holder 5. flexible body,
11 is a flexible body supplied to the hand 6.

Figures 2 and 3 show hand holder 5 and hand 6.
5a is a rotating shaft that rotatably holds the hand holder 5, 20 is a mounting hole with a circular cross section drilled vertically in the center of the hand holder 5, and 21 is a mounting hole of the hand holder 5. a first cylinder that is horizontally drilled from the side and communicates with the mounting hole 20;
22 is a second cylinder formed coaxially with this first cylinder 21 and has a larger inner diameter than the first cylinder 21; 23 advances toward the first cylinder 21;
The plunger is fitted into the first cylinder in a retractable state, and has a conical end 23a facing the mounting hole 20, and an L-shaped fitting 23b attached to the other end. 23c is a disk-shaped piston provided at a portion of the plunger 23 corresponding to the second cylinder 22, which slides airtight with the second cylinder 22 and
It partitions the cylinder 22 into a left chamber 22a and a right chamber 22b. 22c is an air hole that connects the left chamber 22a and the air hose 10b of the flexible body 10, 22d is an air hole that also connects the right chamber 22b and the air hose 10c, and 25 is a drive source connection attached to the hand holder 5. A motor 26 is a coupling part that is coupled to the shaft 25a of the drive source coupled motor 25 and rotates in the directions of arrows A and B shown in the figure. An air hole 26b is connected to the air hose 11b, an air hole 26b is also connected to the air hose 11c, and 30 is a cylindrical holder protruding from the top of the hand 6, with a cylindrical holder provided on the side in a direction perpendicular to the axial direction of the hand 6. A locking hole 30a into which the end portion 23a of the plunger 23 is fitted is formed in the hole 30a. 31 is an air hole drilled in the hand 6;
One end functions as a receiving portion connected to the air hole 26a via the packing 31a. 32
is also an air hole, and one end is connected to the air hole 26b via packing 32a. 33
is a right cylinder bored in the hand 6, one end of which communicates with the air hole 31, and the other end of which communicates with the air hole 32. Reference numeral 34 denotes a right piston that slides in the right cylinder 33 in an airtight manner to move the right rod 34a in the horizontal direction. 35 is an L-shaped right gripping piece fixed to one end of the right rod 34a at the upper part of the upright position, and 36 is a left cylinder, one end of which communicates with the air hole 31 and the other end of which communicates with the air hole 32. 37 is a left piston that moves the left rod 37a in the horizontal direction. 38 is a left grip piece. In other words,
The right and left pistons 34 and 37 have gripping pieces 35
and 38. 3
9 is a workpiece held by the right gripping piece 35 and the left gripping piece 38. 40 is activated when the plunger 23 moves to the right side and is accurately fitted into the locking hole 30a of the holding portion 30 to reach the state shown in FIG. A hand attachment detection switch 41 sends a signal to the air hole 26a and the air hole 31, and also connects the air hole 26a and the air hole 31 when the coupling portion 26 is rotated by the drive source coupling motor 25 in the direction of the arrow A shown in the figure. 32 is connected and the third
When the state shown in the figure is reached, the electric wire 11 of the flexible body 11 is activated.
A hand drive source coupling detection switch that sends a signal to a. Note that the hand attachment detection switch 40 and the hand drive source connection detection switch 41 are attachment/detachment detection means that are activated and returned to the state when the hand 6 is attached or detached.

Fig. 4 shows the control means of the industrial robot.
0 is a computer, 50a is a central processing unit (hereinafter referred to as CPU) of this computer 50, 50b is also a read/write memory (hereinafter referred to as RAM), 50c
is also a read-only memory (hereinafter referred to as ROM). 51 is an I/O port for transmitting and receiving signals between the computer 50 and an external device; 52 is an arm that controls arm driving means 53 that drives the first arm 3 and second arm 4 based on signals from the computer 50; A control means, 54 is a compressor operated under the control of the computer 50, 55 is an air pipe to which the compressed air of the compressor 54 is sent, 56 is a left ventricular electromagnetic valve connected to the air pipe 55 and the air hose 10b, Normally, the left ventricle 22a is communicated with the outside air through the air hole 22c and the air hose 10b, and is activated by a signal from the computer 50 to communicate the air pipe 55 with the left ventricle 22a. 57 is a right ventricular electromagnetic valve configured in the same manner. Reference numeral 58 indicates a control means for controlling the drive source coupled motor 25 in accordance with a signal from the computer 50, and 59 indicates an alarm device which operates in response to a signal from the computer 50.

FIG. 5 shows the general flow of the program stored in the ROM 50c, and FIGS. 6 and 7 show the detailed flow.

The operation of the hand device configured as described above will be explained with reference to FIGS. 5 to 7.

First, as shown in step 100, the first arm 3 and the second arm 4 are operated by the arm control device 52 and the arm drive device 53, and the holding part 30 of the hand 6 is inserted into the mounting hole 20 of the hand holder 5. The state shown in FIG. 3 is established. The computer 50 detects the position of the hand holder 5 as a point on orthogonal coordinates consisting of x, y, and z axes. Such arm control is well known, and detailed explanation will be omitted. When the hand holder 5 is in the specified position, the procedure
As shown at 101, the hand 6 is attached. That is, first, in step 201, the compressor 54 is activated, and in step 202, the left ventricular solenoid valve 5 is activated.
6 is activated to send compressed air to the left ventricle 22a. The plunger 23 is driven by the piston 23c and the second
Move in the direction of arrow C in the figure. Steps 203 and 204
Then, it is checked whether the end portion 23a of the plunger 23 is reliably engaged with the locking hole 30a within a predetermined time and the hand attachment detection switch 40 is activated. When the engagement is secure, go to step 103. If the hand attachment detection switch 40 does not operate even after a predetermined period of time has elapsed, a hand attachment re-command is issued as shown in step 102. That is, in step 205, the right ventricular solenoid valve 57 is activated to send compressed air to the right ventricle, and the left ventricular solenoid valve 56 is reset to allow the right ventricle to communicate with the outside air. As a result, the plunger 23
moves in the direction of arrow D in FIG. 2, and after a predetermined time period shown in step 206 has elapsed, the plunger 23 temporarily returns to its original state. In step 207, the pressure of the compressor 54 is increased, and in step 208, the left ventricular solenoid valve 56 is operated again to send the increased pressure to the left ventricle 22a, and the plunger 23 is actuated more forcefully than in step 101. Move it in the direction of arrow C. Then, in steps 209 and 210, it is checked whether the hand attachment detection switch 40 has been activated within a predetermined time. If it works, go to step 103.
On the other hand, if it does not work, go to step 211.
The compressor 54 is stopped, the plunger 23 is stopped in its current state, and the alarm device 59 is activated according to step 212.

When the hand 6 is securely locked to the hand holder 5, the coupling portion 26 is coupled to the hand 6 in step 103.
That is, in step 213, the drive source coupling motor 25 is energized to rotate the coupling portion in the direction of arrow A in FIG. Through steps 214 and 215, it is checked whether the coupling portion 26 has reliably engaged with the hand 6 and the drive source coupling detection switch 41 has been activated within a predetermined time. If it works, go to step 105. If it does not operate, the coupling portion 26 is coupled to the hand 6 again in step 104. i.e. steps 216 and
217 to drive the drive source coupled motor 25 for a predetermined period of time.
Rotate in the direction of arrow B in the figure to raise the joint once. In step 218, the torque of the drive source coupling motor 25 is increased and the coupling portion 26 is engaged with the hand 6 again. Steps 219 and 220 check to see if the drive source coupling detection switch 41 has been properly engaged and activated within a predetermined time, and if it has been activated, proceed to step 105.
go to Then, a work command is issued to the arm to send compressed air to the air hoses 11b and 11c, and the right rod 34a and left rod 37a are moved left and right to grip and release the workpiece 39 to perform the work. If the drive source detection switch 219 does not operate, the drive source coupled motor 25 is deenergized and stopped in its current state in step 221, and the alarm device is activated in step 212. In addition,
Steps 102 and 104 function as a reattachment/detachment command means for issuing a reattachment/detachment command. Also, the steps
211 and 221 function as attachment/detachment operation stopping means for stopping the attachment/detachment operation.

Next, when removing the hand 6, the procedure is the same as when attaching the hand 6. First, the hand 6 is placed in a predetermined position, and the drive source coupling motor 25 is rotated in the direction of arrow B in FIG. 2 to engage the coupling portion 26. Solve. Next, compressed air is sent to the right chamber 22b via the air hose 10c, and the cylinder 23 is moved in the direction of arrow D in FIG. 2 to disengage from the holding portion 30. Then, when the arm is lifted, the hand 6 is removed. Even when the hand 6 is removed in this way, if the drive source coupling detection switch 41 does not return, the torque of the drive source coupling motor 25 is increased and operated, and if it does not return within a predetermined time, the motor 25 is turned off. The force warning device 59 is activated. Further, when the hand attachment detection switch 40 does not return, the pressure of the compressor 54 is increased and activated, and when the hand attachment detection switch 40 does not return within a predetermined time, the compressor 54 is stopped and the alarm device 56 is activated.

According to the above embodiment, when the hand 6 is not attached or detached as intended, the operating force is increased and the hand 6 is operated again, so that the hand 6 can be attached and detached reliably.

In addition, if the hand 6 is not attached or detached as intended even after the hand 6 is attached or detached again, the operation is stopped and an alarm is issued while the current status is maintained, making it easy to discover the cause of the problem. It is possible to quickly return to normal condition.

In addition, in the above embodiment, when the first attachment/detachment operation does not work as intended, the operating force is increased and the operation is performed again, but an alarm is issued after the attachment/detachment operation is attempted a predetermined number of times. It is a good thing.

As described above, in a hand device for an industrial robot that automatically attaches and detaches a hand to a hand holder provided on an arm, the present invention not only detects that the hand is attached to and detached from the hand holder, but also detects that the hand is attached to and detached from the hand holder. The engagement between the connecting part that supplies the power source and the receiving part is simultaneously detected by the attachment/detachment detection means, and when the attachment/detachment detection means does not detect attachment/detachment, the operating force is increased to reattach/detach. It is characterized by the fact that it is made as follows.

Therefore, the hand can be attached to the hand holder and the drive source can be reliably supplied, and the gripping operation of the robot can be ensured.

[Brief explanation of the drawing]

1 to 7 show an embodiment of the present invention,
Figure 1 is a perspective view showing the entire industrial robot, Figure 2 is a perspective view showing the entire industrial robot.
The figure is a sectional view of the main part while the hand is being attached to the hand holder, Figure 3 is a sectional view of the main part when the hand is attached, Figure 4 is a block diagram of the control section, and Figure 5 is a sectional view of the main part when the hand is attached.
The general flow of the program stored in the ROM, FIGS. 6 and 7, also show detailed flows. In the figure, 3 is a first arm, 4 is a second arm, 5 is a hand holder, 6 is a hand, 40 is a hand attachment detection switch (attachment and detachment detection means), 41 is a hand drive source coupling detection switch (attachment and detachment detection means),
102 is a hand attachment re-instruction and confirmation flow (reattachment/detachment command means), 104 is a drive source connection re-instruction and confirmation flow (reattachment/detachment command means), 211 is a compressor stop flow (attachment/detachment operation stop means), and 221 is a drive source connection This is a motor deenergization flow (attachment/detachment operation stopping means). Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] 1. A hand holder provided on an arm, a coupling portion attached to a predetermined portion of the hand holder and configured to send out a driving source, a hand that is automatically attached to and detached from the hand holder, and a coupling portion provided at a predetermined portion of the hand to transmit a driving source. a receiving part that engages with the receiving part and receives the driving source; a driving device that causes the hand to perform a gripping operation using the driving source from the receiving part; and engagement and disengagement between the coupling part and the receiving part; attachment/detachment detection means for detecting attachment/detachment of the hand and the hand holder;
A hand device for an industrial robot, comprising reattachment/detachment command means for issuing a command to increase operating force and perform the attach/detach operation again when the attach/detach detecting means does not operate within a predetermined time when the hand is attached/detachd.