JPS6346236Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to an attachment attachment/detachment device for industrial robots.

Prior Art Most industrial robots have specialized devices attached to their wrists to perform repetitive motions.

Even general-purpose wrists were grip-type, and were primarily used for handling lightweight objects.

Problems the invention aims to solve In order to use industrial robots more effectively, it is necessary to have highly versatile functions that allow the attachments to be replaced, but conventional grip-type robots have a narrow range of applicability.

Purpose of the invention The purpose of the invention is to provide an attachment attachment/detachment device for a robot that can reliably attach/detach a heavy attachment, and can efficiently grip the attachment without shifting the rotational direction during attachment/detachment and without causing errors in attachment/detachment. It is to provide.

Means and Effects for Solving the Problems The present invention provides a handle body 14 provided on a robot wrist 1 with a plurality of cylinder devices 2, 2',
A movable plate 4 is provided on the rods 3, 3' of the cylinder devices 2, 2', a positioning hole 5 is provided on the movable plate 4, a plate 6 is provided on the attachment 13 to be held by the hand body 14 by the movable plate 4, and the plate 6 is provided on the attachment 13. A positioning pin 8 is provided to be inserted into the positioning hole 5 when clamping, and by operating the cylinder devices 2 and 2', the movable plate 4 clamps the plate 6 to the hand body 14 and positions it in the positioning hole 5. The attachment 13 is attached to the robot wrist 1 by inserting a pin 8.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 is a robot wrist, and a hand main body 14 is fixed to this robot wrist 1. The hand body 14 is provided with two cylinder devices 2, 2', and a movable plate 4 is fixed to the rods 3, 3' of the cylinder devices 2, 2'. A pair of tapered positioning holes 5 are provided in the movable plate 4.

13 is an attachment, the attachment 13 is equipped with a plate 6, a notch 7 is formed at the end of the plate 6, and the plate 6 is
A positioning pin 8 consisting of a pair of tapered pins is attached to. A magnet 10 is attached to the plate 6 via a connecting rod 9.

11 is a holding plate fixed to the fixing member 12.

Insert the plate 6 of the attachment 13 between the lower end of the hand body 14 and the movable plate 4,
The movable plate 4 is operated by operating the cylinder devices 2 and 2'.
The attachment 13 is attached to the hand body 14 by holding the plate 6 on the hand body 14 and inserting the positioning pin 8 into the positioning hole 5.

In this way, the robot wrist 1 holding the attachment 13 is operated to attract, for example, a workpiece with the magnet 10 and convey it to a processing position or an assembly position.

The attachment 13 is placed on the holding plate 11, the cylinder devices 2 and 2' are operated to separate the movable plate 4 from the plate 6, and the attachment 13 is placed on the holding plate 11.
release the grip.

The attachments 13 include not only the magnet 10 but also a measuring device, a welding device, and a deburring device.

Effects of the Invention As detailed above, the present invention provides a plurality of cylinder devices 2, 2' in the hand body 14 provided on the robot wrist 1, and a movable plate 4 in the rods 3, 3' of the cylinder devices 2, 2'. The movable plate 4 is provided with a positioning hole 5, the attachment 13 is provided with a plate 6 which is clamped on the hand body 14 by the movable plate 4, and the plate 6 is provided with a positioning pin 8 which is inserted into the positioning hole 5 when clamping. This is a robot attachment attachment/detachment device characterized by the following.

Therefore, by operating the cylinder devices 2 and 2', the movable plate 4 moves the plate 6 to the hand body 1.
4 and inserting the positioning pin 8 into the positioning hole 5, the attachment 13 can be attached to the robot wrist 1.

Therefore, the heavy attachment 13 can be reliably attached and detached, and by using a plurality of cylinder devices 2, 2', there is no deviation in the rotational direction, and positioning by the positioning pin 8 can eliminate errors in attachment and detachment.

Moreover, the gripping means according to the present invention has a simple structure in which the cylinder devices 2 and 2' are actuated to clamp the plate 6 of the attachment 13 to the hand body 14 by the movable plate 4, so that the plate 6 can be attached and detached extremely smoothly. Moreover, since the plate 6 is attached and detached in the vertical direction, positioning becomes easy, and when the attachments 13 are arranged and prepared, the attachments 13 can be attached and detached by approaching the hand body 14 from above. The attachment 13 can be gripped efficiently.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the configuration of one embodiment of the present invention, Fig. 2 is a perspective view of the same, Fig. 3 is an enlarged view of the part in Fig. 1, and Fig. 4 is an enlarged view of the part in Fig. 1.
The figure is a view taken from the direction of figure 3, figure 5 is a plan view of the hand body, figure 6 is a side view of the same section,
7 is a plan view of the movable plate, FIG. 8 is a side view of the same, FIG. 9 is a plan view of the plate, FIG. 10 is a sectional view of the same, FIG. 11 is a plan view of the holding plate, and FIG.
The figure is the same side view. 2, 2' are cylinder devices, 3, 3' are rods, 4
is a movable plate, 5 is a positioning hole, 6 is a plate, and 8 is a positioning pin.

Claims (1)

[Scope of utility model registration request] A plurality of cylinder devices 2, 2' are provided in the hand body 14 provided on the robot wrist 1, a movable plate 4 is provided in the rods 3, 3' of the cylinder devices 2, 2', and a positioning hole 5 is provided in the movable plate 4. An attachment detaching device for a robot, characterized in that the attachment 13 is provided with a plate 6 which is clamped to the hand body 14 by the movable plate 4, and the plate 6 is provided with a positioning pin 8 which is inserted into the positioning hole 5 when clamping.