JPS6427876A - Detachable mechanism - Google Patents

Abstract

PURPOSE: To attach and detach a robot arm and a hand to and from each other only by operating the robot arm or hand in a connecting direction by providing a movable body with an inclined face so as to impart restoring force to a spring for allowing a rotor for connecting the robot arm and hand to act in a circumferential direction. CONSTITUTION: In order to detach a hand body 4 from an arm body 1, the arm body 1 is operated in a reverse direction to a connecting direction to bring a protrusion 19 on a movable body 17 into contact with a protrusion of a storage rack 40 so as to move the movable body 17 in the connecting direction to the arm body 1. When the movable body 17 reaches a moving limit, a roller is displaced from the inclined face of the movable body 17 to a parallel face, and in this state, a locking body 13 is detached from a guide groove 3 of a guide pin 2. The arm body 1 is then pulled in a detaching direction from the hand body 4, and in association with the movement of the guide pin 2, a pin 10 of a rotor 8 is fitted into a hole 7 of a fixed mount 5 by the restoring force of a compression spring 11. The arm body 1 is pulled to leave the hand body 4 in the storage rack 40, and the hand body 4 is detached from the arm body 1.