KR960001217Y1 - Robot hand safety device - Google Patents

Abstract

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Description

Safety device of robot's RCC hand

1 is a schematic diagram of RCC hand operation principle

2 is a perspective view of the RCC hand of the present invention attached to the robot arm

3 is a cross-sectional view of the second degree

4 is a perspective view showing only the safety device of the present invention

* Explanation of symbols for main parts of the drawings

1: shaft 2: hole

3: slope 6: wall

10: RCC hand 11: robot arm

12: RCC 13, 18: Interface Pleat

14, 15, 19, 20, 30, 31: Bolt 16: Hand

17: hand plate 21: gripper

22, 23: nipple 24: contact height adjusting bolt

25: conical contact terminal 26, 29: insulator

32: conical groove 33: washer

34: nut 35, 37: cable

36: Cable fixing bolt

The present invention relates to a safety device of the robot's RCC hand.

Conventional RCC (Remote Center Comp1iance) is used to fix the horizontal and angular direction errors between parts assembled by mounting between arm or gripper of robot or automatic assembly machine, but when robot is malfunctioned There is no safety device in the system, which causes damage to the mechanism itself.

The present invention is to provide a safety device mounted to the RCC hand to solve the above disadvantages.

The safety device of the RCC hand of the present invention includes a RCC bolted to the robot arm through an upper interface plate, a hand bolted to the RCC via a lower interface shirrate, and an upper interface into the RCC. The conical connection terminal has a conical groove with bolts fixed to the plate via an insulator and a contact height adjustment bolt is located in the center, and it is fixed through the insulator in the interface interface of the lower part and pushed upward from the insulator by the compression spring. The lower part is composed of a slide contact pin which is filled with a nut through a washer and a cable fixed by a fixing bolt to a conical connection terminal connected to the robot controller, respectively, and a cable fixed to the nut of the slide contact pin.

The present invention will be described in detail with reference to the accompanying drawings.

The principle of operation of the RCC hand is schematically shown in FIG. When the shaft 1 reaches the inclined portion 3 around the hole 2 in the case of assembling the shaft 1 to the hole 2 as shown in Fig. 1 (a), the RCC hand 4 The shaft 1 gripped by the gripper 5 of the gripper 5 moves along the inclined portion 3 of the hole 2 as shown in FIG. 1 (b) as the RCC hand 4 moves downward. The RCC hand 4 compensates for this movement.

As shown in FIG. 1 (c), when the shaft 1 is inserted obliquely into the center of the hole 2, the shaft 1 gripped by the gripper 5 of the RCC hand 4 becomes the RCC hand 4 As shown in FIG. 1 (d), the RCC hand 4 compensates for this movement by riding the wall 6 of the hole 2 as shown in FIG.

However, as shown in FIG. 1 (e), when the shaft 1 gripped by the RCC hand 4 creases around the hole 2 and the tolerance is not assembled, it is preset by the downward movement of the RCC hand 4. More than one force may be generated to damage the RCC hand 4 or the shaft 1 as well as to cause an industrial accident.

In FIG. 2, the RCC hand 10 of the present invention is shown attached to the robot arm 11, and in FIG. 3, its cross section is shown.

Referring to FIG. 3, the RCC 12 is attached to the robot arm 11 by bolts 14 and 15 via an interface plate 13. In addition, the hand 16 has an upper hand plate 17 attached to the RCC 12 by bolts 19 and 20 via the interface plate 18. The gripper 12 is located at the bottom of the hand 16 and the nipples 22 and 23 for operating the gripper 21 are located at the middle of the hand 16.

On the other hand, the safety device of the RCC hand of the present invention is located inside the RCC (12) and through the conical contact terminal 25 and the insulator 26 having a contact height adjustment bolt 24 by the compression spring 27 It consists of a sliding contact pin 28 which is slid, a cross-sectional view of which is shown in FIG. 3 and an exploded perspective view in FIG.

Referring to FIG. 3, the conical contact terminal 25 is fixed to the interface plate 13 by bolts 30 and 31 through the insulator 29, and the contact height is adjusted in the conical groove 32 in the center thereof. Bolt 24 is located. In addition, the slide contact pin 28 is fixed to the interface plate 18 by an insulator 26, and the slide contact pin 28 penetrates the insulator 26 from the insulator 26 by the compression spring 27. Pushed to the top The lower portion of the slide contact pin 28 is filled with a nut 34 via a washer 33.

The cable 35 is fixed to the conical contact terminal 25 by a cable fixing bolt 36, and the cable 37 is fixed to the nut 34 to the slide contact pin 28 so that these cables 35 and 37 is connected to the robot control part which is not shown in figure.

Referring to the operation of the safety device of the RCC hand of the present invention is as follows.

If the RCC hand 10 of the present invention malfunctions as shown in FIG. 1 (e), the RCC 12 is deformed by a predetermined force or more and slides the contact pin on the contact height adjusting bolt 24 of the conical contact terminal 25. When the 28 contacts, the cables 35 and 37 are electrically conducted to signal the robot control unit, whereby the robot control unit detects an overload and stops the robot.

The setting of the overload limit is made by adjusting the distance between the contact height adjusting bolt 24 and the slide contact pin 28 of the conical contact terminal 25 by comparing the electrical signal at this time by pulling the workpiece W with the hand balance.

The safety device of the RCC hand of the present invention configured as described above can prevent accidents due to malfunctions and product defects and prevent damage to parts when handling, deburring, and assembling using robots, as well as work by accident. It provides the effect of improving product quality and productivity by reducing time loss and preventing machine damage.

Claims (1)

In the RCC hand 10 attached to the robot arm 11, An RCC (12) attached to the robot arm (11) with bolts (14) and (15) through an interface plate (13); A hand 16 attached to the RCC 12 via bolts 19 and 20 via an interface mlate 18; The RCC 12 has a conical groove 32 which is fixed to the interface plate 13 via bolts 30 and 31 via an insulator 29 and a contact height adjusting bolt 24 is located at the center thereof. A conical contact terminal 25; The slide is fixed through the insulator 26 to the interface plate 18 and is pushed upward from the insulator 26 by the compression spring 27 and the lower part is filled with the nut 34 via the washer 33. A cable fixed to the contact pin 28 and a conical contact terminal 25 respectively connected to the robot controller by a cable fixing bolt 36 and a cable fixed to the nut 34 of the slide contact pin 28. Safety device of the robot RCC hand, characterized in that consisting of (37).