JPH0441192A - Robot attachment/detachment device - 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 an attachment/detachment device for attaching and detaching a hand handling an article to and from a robot body in a robot that processes or assembles articles.

[Conventional technology]

Generally, when a single robot is used to perform various tasks, it is necessary to replace the hand depending on the task, and for this reason, a hand attachment/detachment device is required to attach/detach the hand to the end of the robot's arm. .

Furthermore, this hand attaching/detaching device also requires a configuration having a connection mechanism for supplying air to the hand, power supply, communication, etc. to the hand.

Conventionally, as a hand attachment/detachment device as described above, there is, for example, Japanese Patent Application Laid-Open No. 186589/1989, and this prior publication discloses that the shape of the hand in the Z-axis direction (the direction in which the hand is removed) is made smaller (in order to set the shape smaller). A locking ball is supported on the side of the hand attaching/detaching device connected to the robot arm through an outer tapered surface so as to be movable back and forth along the radial direction, and on the other hand, the side of the hand to be attached/detached is engaged with this locking ball. A configuration with an inner Taper surface is disclosed.

In this prior art, the outer tapered surface is pushed down to bring the cylindrical outer peripheral surface into contact with the locking ball, thereby causing the locking ball to protrude outward in the radial direction. and the inner tapered surface are engaged with each other to connect the hand to the attachment/detachment mechanism, and the cylindrical outer peripheral surface is pulled up so that the outer tapered surface is positioned on the side of the locking ball. By setting and allowing the locking ball to move radially inward, the connection of the inner tapered surface to the locking ball is released and the hand is removed from the attachment/detachment mechanism. As a result, in such a conventional hand attachment/detachment device, when exchanging the hand, the movement distance in the axial direction is short and the time required for the exchanging operation is short.

[Problems with conventional technology]

In the changing device disclosed in the above-mentioned prior art publication, the change adapter has a cylindrical shape in order to fit into the changer body of the robot, and the cylindrical end face is open as necessary to constitute the changing device. When the above-mentioned exchange device sends and receives electric signals between the robot side and the hand side, measures are taken to prevent dust and foreign objects from entering through the opening when an electric circuit board for relaying electric signals is stored in the change adapter. Requires.

[Problems to be solved by the invention]

As mentioned above, the present invention includes a printed circuit board that forms an electric circuit in an attachment/detachment device for exchanging a robot and a hand,
The present invention proposes a device that prevents dirt, dust, and foreign matter from entering into the attachment/detachment device when a fluid pressure control means for driving the hand using air pressure and fluid pressure is used in response to signals from the robot side.

[Effect]

Therefore, in the present invention, the opening of the finger side attachment/detachment part [Embodiment] Below, the configuration of an embodiment in which the present invention is applied to a SCARA type robot will be described in detail with reference to the accompanying drawings.

<Robot System> First, with reference to FIG. 1, a schematic configuration of a robot (automatic assembly device) 12 to which the hand attachment/detachment device 10 of this embodiment is employed will be described.

This robot 12 includes a support 14 fixed on a base (not shown), a first horizontal arm 16 supported rotatably on the upper end of the support 14 in a horizontal plane, and A second rotatably supported at the tip in a horizontal plane.
The vertical arm 20 is supported at the tip of the second horizontal arm 18 so as to be vertically movable and rotatable about its own axis, and is formed of a hollow cylinder. Here, the hand attachment/detachment device 10, which is a feature of the present invention, is attached to the lower end of this vertical arm 20.

The first horizontal arm 16 is set to be rotated around the support 14 by a first drive motor (not shown) disposed within the support 14. Also,
The second horizontal arm 18 is set to be driven to rotate around the tip of the first horizontal arm 16 by a second drive motor 22 disposed approximately at the center of the upper surface of the first horizontal arm 16. has been done. On the other hand, the vertical arm 20
The horizontal arm 18 is driven to move along the vertical direction (Z-axis direction) and rotate around its own central axis by the third and fourth drive motors 24 and 26 disposed on the base end of the upper surface of the horizontal arm 18. It is set as follows.

The first to fourth drive motors 18, 24, 26 are connected to the robot controller via connection lines (not shown) arranged to pass through the inside of the column 14 and the first horizontal arm 16. 28, and are each controlled to be rotationally driven so as to move the hand mechanism 30 attached to the hand attaching/detaching device 10 to a predetermined position and in a predetermined posture (rotation position) based on control commands from the robot controller. ing.

In addition, the hand mechanism 30 is connected via the connection cable 32.
It is connected to a robot controller 28 and a pneumatic mechanism (not shown), and is controlled to be driven via the robot controller 28 and pneumatic mechanism. here,
This connection cable 32 passes through the column 14, penetrates the base end of the first horizontal arm 16, is taken out to the outside, and is bent into a large loop, and then connected to the vertical arm 16.
0 from the upper end thereof, passes through it, and is connected to the hand mechanism 30 via the hand attachment/detachment device 10.

Next, the configuration of the hand attaching/detaching device 10, which is a feature of the present invention, will be explained in detail with reference to FIGS. 2 to 7.

Yoshitomo This hand attachment/detachment device 10 is provided to detachably attach a hand mechanism 30 to the lower end of a vertical arm 20 of a robot 12, and as shown in FIG.
It basically includes a holder 34 fixed to the distal end of the holder 34, and a shank 36 which is removably connected to the holder 34 and has a hand mechanism 30 fixed to its lower part.

As shown in the figure, this holder 34 includes a fixed part 37 fixed to the outer periphery of the lower end of the vertical arm 20, and a cylinder part 4 attached to the lower surface of the fixed part 37 via a bolt 38.
0, a piston 42 that is slidably housed in the cylinder section 40 along the vertical direction, and a cylinder section 4.
an inner cylinder 44 that is integrally fitted over the lower end surface and lower inner circumference of the piston 42; a ball support cylinder 48 that is fixed in the inner cylinder 44 via a bolt 46;
A locking member 54 has an outer tapered surface 54a formed on its outer periphery and engages from below the inner lower portion of a plurality of balls 52 supported by the ball support tube 48. and a coil spring 56 that is interposed between the piston 42 and the piston 42 and constantly biases the piston 42 upward.

Here, as shown in FIG. 3, the above-mentioned cylinder part 40 includes a cylinder body 40a formed on a substantially hollow cylinder with an open top and bottom, and an internal space of this cylinder body 40a divided into upper and lower parts. A partition wall 40b (shown in FIG. 2), a first outer flange portion 40c formed on the outer circumference of the upper end of the cylinder body 40a, and a second outer flange portion formed on the outer circumference of the lower end of the cylinder body 40a. 40d.

A wide slit 40e extending vertically along the center line is located above the partition wall 40b of the cylinder body 4.0a to form a first outer flange portion 40c.
It has been formed over the years. Since the slit 40e is formed in this way, the connection cable 32 passing through the inside of the vertical arm 20 can be connected upward from the lower end opening of the vertical arm 20 to above the partition wall 40b of the cylinder part 40, as shown in FIG. is taken out into the internal space of the slit 4.
It can be taken out to the outside of the cylinder portion 40 via Oe.

As shown in FIG. 2, the connection cable 32 includes a first air hose 32a for introducing compressed air into a cylinder chamber 58, which will be described later, and three second air hoses for supplying compressed air to the hand mechanism 30. A cable 32c electrically connects the air hose 32b (only one is shown for convenience of drawing), the hand mechanism 30, and the robot controller 28.
It is composed of. And the first air hose 32
a connects the partition wall 40b through the first connection port 60a.
The three second air hoses 32b are connected to the upper surface of the second outer flange portion 40d via second connection ports 60b, respectively. The cable 32c also has a first connector 62 connected to its tip.
It is electrically connected to a relay board 66 attached via a stay 64 on the second outer flange portion 40d via a.

On the other hand, the above-mentioned cylinder chamber 58 is defined by a space surrounded by the lower surface of the partition wall 40b, the upper surface of the piston 42, and the inner peripheral surface of the cylinder body 40a.

The piston 42 includes a piston body 42a that is in sliding contact with the inner circumferential surface of the cylinder body 40a, and a piston body 42a that is in sliding contact with the inner peripheral surface of the cylinder body 40a.
It is set to protrude downward at the center of the lower surface of 2a, and is integrally formed with a solid cylindrical protrusion 42b.

Here, the piston 42 configured in this manner is elastically held at the uppermost position where it contacts a stopper (not shown) by the biasing force of the coil spring 56 when no compressed air is introduced into the cylinder chamber 58. There is. Further, this piston 42 is located in the first cylinder chamber 58.
By introducing compressed air through the connection port 60a, the cylinder is pushed downward against the biasing force of the coil spring 56, and is held at the lowest position by coming into contact with the upper end of the inner cylinder 44 mentioned above. will be done.

In addition, the above-mentioned inner cylinder 44 includes a hollow cylindrical inner cylinder main body 44a that is set to fit into the inner circumferential surface of the lower part of the cylinder main body 40a, and is open at the top and bottom, and this inner cylinder main body 44a.
An inner flange portion 44b formed at the upper end and a second outer flange portion 40d formed at the lower end of the inner cylinder main body 44a.
It is integrally formed with an outer flange portion 44c that contacts the lower surface of the. Here, the lower surface of this outer flange portion 44c is set so as to define the upper side of the attachment/detachment surface PL. That is, the above-mentioned shank 36 is defined below the lower surface of the outer flange portion 44c.

The ball support cylinder 48 described above is formed in a cylindrical shape with an open bottom surface, and in detail, as shown in FIG. 4, it is set to fit into the upper part of the inner cylinder main body 44a. A hollow cylindrical support tube body 48a and a ceiling portion 48 formed to cover the upper surface of the support tube body 48a.
It is integrally formed from b. Here, the above-mentioned protruding portion 4 of the piston 42 is located at the center of the ceiling portion 48b.
An insertion hole 48c is formed into which the holder 2b is inserted so as to be vertically movable.

As shown again in FIG. 2, the above-mentioned locking member 54 is a generally disc-shaped main body portion fixed to the lower end of the protrusion 42b that protrudes into the internal space of the pole support tube 48 through the insertion hole 48c. 54b, and an outer flange portion 54c formed at the lower end of the main body portion 54a and having an outer circumferential surface that slides into contact with the inner circumferential surface of the support cylinder main body 48a. The upper edge of this outer flange portion 54c and the main body portion 54
The above-mentioned outward tapered surface 54a is defined between the lower end edge of b. This outwardly tapered surface 54a is inclined so that its diameter increases as it goes downward.

In this way, these balls 52 are attached to the ball support cylinder 48.
The ball is supported in the ball support hole 48d in a state where it is prevented from being pulled out either outward or inward.

Note that, when the piston 42 is lifted to the uppermost position, the outer tapered surface 54a comes into contact with the inner part of the corresponding ball 52, as shown by the dashed line in FIG.
These balls 52 are biased radially outward so that their respective outer portions protrude outward from the outer peripheral surface of the support cylinder main body 48a, and when the piston 42 is pushed down to the lowest position, , are disengaged from the inner portions of the corresponding balls 52, allowing radial inward movement of these balls 52, as shown by the two-dot chain lines in FIG. It is set so as not to protrude from the outer peripheral surface of the main body 48a.

JLM On the other hand, as shown in FIG. 5A, a total of nine connection holes 74a to 74i are provided on the upper surface of the second outer flange portion 40d of the cylinder portion 40, approximately on the right half of the figure. It is formed. Here, each of the connection holes 74a to 74i is set so that the second connection port 60b is connected to each of the connection holes 74a to 74i. That is, in this embodiment, as described above, the second connection port 60b connects to the three second air hoses 32.
Only three are arranged corresponding to b, and depending on the compressed air supply position in the hand mechanism 30 described later, the first,
Fifth and ninth connection holes 74a, 74e, 74i are used.

Here, in FIG. 2, for convenience of the drawing, the ninth connection hole 74i is shown as a representative at this cross-sectional position, but the connection holes 74a to 74i are connected to each other. , on the lower surface of the second outer flange portion 40d,
Communication chambers 76a to 761 are opened here to form communication chambers 76a to 761.

On the other hand, each of the communication chambers 76a to 761 is closed by an outer flange portion 44c of the inner cylinder 44 attached to the lower surface of the second outer flange portion 40d of the cylinder portion 40. Each communication chamber 76a is provided in this outer flange portion 44c.
Nine connection pipe insertion holes 78a to 78i are formed in the radial direction inner portions of the pipes 76i and 76i, respectively, and penetrate in the thickness direction, into which connection vibes 98a to 98i, which will be described later, are respectively inserted.

Moreover, as shown in FIG. 5A again, the above-mentioned relay board 6
6, a plurality of connection pins 80a to 800, 15 in this embodiment, are fixed in an upright state. Here, each of the connection pins 80a to 80° is set so that the above-described first connector 62a is attached in a connected state.

The cable 32c is configured as a serial interface cable, and communication is established between the robot controller 28 and the hand mechanism 30 through this cable 32c.

On the other hand, the connecting pins 80a to 80° on this relay board 66 are connected to the inner cylinder 44 through connecting rods 82a to 82o, respectively.
The connecting bushes 84a to 840 formed on the lower surface of the outer flange portion 44c are electrically connected.

That is, each connection bushing 84 is provided on the outer flange portion 44c.
A through hole 44d passing through the bushings 84a to 840 vertically is formed to accommodate the bushings 84a to 840, and the internal space of each of the connection bushes 84a to 84o is defined so that connection terminals (to be described later) can be inserted therein and electrically connected.

Further, each of the connecting rods 82a to 82o connects to the corresponding connecting bush 84a to 840 via a through hole 40f formed in the second outer flange portion 40d so as to vertically pass through the second outer flange portion 40d. The connection pins 80a to 80o are fitted into the upper part and electrically connected to each other.
and the connection bushes 84a to 800 are electrically connected to each other.

This shank 36 is commonly configured for various hand mechanisms that are removably attached to the vertical arm 20 of the robot 12 via the hand attaching/detaching device 1o, as shown in FIG. A shank body 86 whose upper surface defines the lower side of the attachment/detachment surface PL, a connecting tube 9o fixed to the lower side of the shank body 86 via a bolt 88, and a bolt attached to the lower surface of the connecting tube 90. It is mainly composed of a mounting plate 94 fixed via a mounting plate 92.

Here, the shank main body 86 is provided with a disc-shaped detachable member 86b having a circular through hole 86a formed in the center thereof, into which the ball support tube 48 of the holder 34 is loosely inserted. A cylindrical locking tube portion 86c is integrally formed on the upper surface of the detachable member 86b, surrounding the through hole 86a and standing up from the periphery of the opening. An inner flange portion 86 is provided at the upper end of this locking cylinder portion 86c.
d is formed on the inner surface of this inner flange portion 86d,
A latching inward tapered surface 86e that can be latched is formed on the outer upper part of the ball 52 supported by the ball support tube 48 mentioned above.

On the other hand, a falling part 86f having a predetermined thickness is integrally formed around the entire circumference on the lower surface of the outer peripheral part of the detachable member 86b of the shank body 86, and a hand rest ( A locking groove 86g is formed around the entire circumference, and the locking groove 86g is locked to the ring (as shown in FIG. 6).

As shown in the figure, this hand holder 96 is attached to each shank 36.
A plate-shaped rack body 96a having a thickness to be fitted into the locking groove 86g is provided, and a recess 96b for largely receiving the shank 36 is formed in the front end surface of the rack body 96a.

In addition, in the shank body 86 configured in this way,
As shown in an enlarged view in FIG. 4, when the shank 36 hooked to the shank holder 96 is attached to the outer periphery of the upper surface of the inner flange portion 86d, when the holder 34 descends from above,
The inner flange portion 86d of the shank body 86 is connected to the inner cylinder 44.
An outer tapered surface 86h is formed over the entire circumference so that it can be easily fitted into the inner peripheral surface of the inner cylinder main body 44a in a state of sliding contact.

On the other hand, the inner cylinder 4
After the shank body 86 is fitted into the locking sleeve 68 , when the holder 34 is further lowered, the inner circumferential surface of the inner flange portion 86 d of the shank body 86 slides into contact with the outer circumferential surface of the locking sleeve 68 . An inner tapered surface 86i for insertion is formed around the entire circumference so that the insert can be reliably inserted in the closed state.

Here, as shown in FIG. 5B, on the upper surface of the shank body 86, there are holes directed upward so that they can be pushed through from below at positions corresponding to the connection pipe insertion holes 78a to 78i described above. Connection pipes 98a to 98i are arranged in a protruding state. Then, the holder 34 comes down and
In a state in which the holder 34 and the shank 36 are coupled to each other, that is, in a state in which the lower surface of the outer flange portion 44c of the inner cylinder 44 and the upper surface of the detachable member 86b of the shank body 86 are in contact with each other, each of the connecting pipes 98a- The upper ends of the pipes 98i are set to be inserted into the communication chambers 76a to 76i through the corresponding connection pipe insertion holes 78a to 78i.

Further, as shown in FIG. 5B, on the upper surface of the shank body 86, there are provided upwardly protruding parts at positions corresponding to the above-mentioned connection bushes 84a to 84° so that they can be inserted from below. Connection terminals 100a to too-o are provided. Then, when the holder 34 is lowered and the holder 34 and the shank 36 are connected to each other, the upper ends of the connection terminals 100a to 100j are inserted into the corresponding connection bushes 84a to 84i, respectively, and electrically connected. is set to be

Furthermore, as shown in FIG. 5B, the upper surface of the shank body 86 has four through holes 102a-1 for fixing the mounting plate 94 to the connecting tube 90 by rotating the bolt 92 from above.
02d are formed at equal intervals along the circumferential direction and penetrate in the thickness direction.

The inwardly tapered latching surface 86e is accurately defined in shape and size, and thus, as shown in FIG.
In the accurately positioned state, a state is achieved in which the six balls 52 are sandwiched between the outer tapered surface 54a, and therefore, according to this embodiment, the connected state is achieved in the node attachment/detachment device 10. In the specified case, on the attachment/detachment surface PL, the lower surface of the outer flange portion 44c of the inner tube 44 on the holder 34 side and the upper surface of the shank body 86 on the shank 36 side are in close contact with each other, and are in a good condition with no play. A state of binding will be achieved.

On the other hand, the connecting cylinder 90 constituting the shank 36 is formed integrally with a main body part 90a, which is formed into a cylindrical shape with the top and bottom open, and an inner flange part 90b formed at the upper end of this main body part 90a. ing. Inside this connecting tube 90,
A pair of upper and lower circuit boards 106a and 106b are spacers 1
08, and is disposed in a suspended state on the lower surface of the inner flange portion 90b. Here, the upper circuit board 106
a and the above-mentioned connection terminals 100a to 100o are connected to each other through connecting rods 110a to 110o, which are disposed vertically passing through the detachable member 86b of the shank body 86 and the inner flange portion 90b of the connecting tube 90. electrically connected. Note that the upper circuit board 106a and the lower circuit board 106b are electrically connected via a connection board 106c.

Further, on the outer peripheral surface of the main body portion 90a of this connecting cylinder 90,
The nine connection holes 112a to 112 for connection ports correspond to the nine connection pipes 98a to 981 described above, respectively.
1 is formed in an open state. Here, each connection hole 112a-1124 is connected to the attaching/detachable member 8 of the shank body 86.
6b and the inner flange portion 90b of the connecting cylinder 90 in the vertical direction.
114i, the connecting pipes 98a to 98i are connected to each other so as to communicate with each other.

Among the nine connection holes 112a=112i described above, the first, fifth and ninth connection bushes 74a, 74
Connection holes 112a, 112e, corresponding to
112i, as shown in FIG. 5C, three connection hoses l15a 5115b and 115c are connected to connection ports 116a and 116b, respectively.

116c, these three connection hoses 1
15a to 115c are provided to the hand mechanism 3o.

Here, as shown in FIG. 2, the pair of upper and lower circuit boards 106aX106b includes a robot controller 2.
Both circuit boards 106a are configured with circuits for converting serial signals sent from the robot controller 8 into parallel signals, and converting signals sent from the robot controller 28 from parallel signals into serial signals.

The signal from 106b is transmitted to the first
and a second connection line group] 18a and 118b, respectively, to the hand mechanism 30.

In order to temporarily take out the first and second connection line groups 118a and 118b from the connecting tube 90, as shown in FIG. A pair of openings 120 a% 120
b is formed. In this way, the opening 120a.

120b, the above-mentioned first and second
The connection line groups 118a and 118b are connected to these openings 1
20a.

After passing through 120b and being taken out of the shank 36, it is connected to the hand mechanism 30.

On the other hand, a total of four bolts 92 are provided, and in order to install these four bolts 92, they are located directly below the through holes 92a to 92d and communicated with each other. The outer peripheral surface of the main body portion 90a of the connecting tube 90 has 4
Book recesses 122a to 122d are formed. Here, the height of each of the recesses 122a to 122d is set to be slightly longer than the height of each bolt 92.

With this configuration, each bolt 92 is first housed in the corresponding recess 112a-112d from the side, and then a driver (not shown) inserted from above through the corresponding through-hole 102a-102d is inserted into the corresponding recess 112a-112d. is rotated through
It is now in a state where it can be screwed onto the mounting plate 94, and in this way, the mounting plate 94 can be fixed to the connecting tube 90.

Incidentally, as shown in FIG. 2, the internal space of the shank 36 is
The shank main body 86 and the connecting tube 90 are vertically separated from each other by a partition plate 124 which is disposed in a sandwiched manner. By providing this partition plate 124, when this shank 36 is held on the hand stand 96 in a state separated from the holder 34, that is,
In the state where the shank 36 is exposed to the outside, the circuit boards 106a, 106b are still located in the closed space, and the circuit boards 106a, 106
The dustproof effect b is achieved.

Here, since it is configured to include the partition plate 124 in this way, as is clear from FIG. 2, the shank 3
In the state in which the holder 34 is coupled to the piston 4
The volume of the space in which the lower part of 2 is located, that is, the space surrounded by the partition plate 124, the shank body 86, and the ball support cylinder 48, is limited to a small volume. When the above-mentioned space is in a sealed state as the piston 42 descends during the attachment/detachment operation described later, the lower part of the piston 42 protrudes into this sealed space, and the air in this sealed space is compressed, so-called. It exhibits an elastic effect and acts as a counter force against the downward movement of the piston 42.

〔Effect of the invention〕

As described above, the attachment/detachment mechanism of the present invention includes a first coupling means (holder 34) on the robot arm side and a second cylindrical coupling means (shank 36) on the hand side that couples with the first coupling means.
), and a partition member 24 is provided within the cylinder of the second coupling means.
By arranging the shank body and forming a pressure-tight chamber in the shank body by the partition member when performing the attachment/detachment operation by coupling the eleventh second coupling means, the electric circuit printed circuit board in the shank body can be removed. 106a and 106b could be protected from dust.

[Brief explanation of drawings]

FIG. 1 is a front view schematically showing the configuration of a robot to which an embodiment of the hand attachment/detachment mechanism according to the present invention is applied; FIG. 2 is a longitudinal sectional view showing the attachment/detachment mechanism shown in FIG. 1 in a coupled state; Figure 3 is a perspective view showing the cylinder body taken out; cross-sectional view taken along line B; Figure 6 is a perspective view showing the structure of the shank rack; Figure 7 is a perspective view showing the structure of the shank rack formed on the shank body. Front sectional view showing the formation state of the measurement slit; In the figure, M1 to M3... Drive motor, PL... Mounting/detaching surface, 10... Hand mounting/detaching mechanism, 12... Robot, 1
4... Support column, 16... First horizontal arm, 18...
・Second horizontal arm, 20... Vertical arm, 22...
- Second drive motor, 24...Third drive motor, 2
6... Fourth drive motor, 28... Robot controller, 28a... Robot side interface circuit, 28b... Main control circuit, 30... Hand mechanism, 3
2... Connection cable, 32a... First air hose, 32b... Second air hose, 32c... Electric cord, 34... Holder, 36... Shank, 37...
...Fixed part, 38... Bolt, 40... Cylinder part, 40a... Cylinder body, 40b... Partition wall, 4
0c...First outer flange portion, 40d...Second outer flange portion, 40e...Slit, 40f...
Through hole, 42...Piston, 42a...Piston body, 42b...Protrusion, 44...Inner cylinder, 44a...
・Inner cylinder body, 44b...Inner flange part, 44c...
- Outer flange part, 44d... Through hole, 46... Bolt, 48... Ball support tube, 48a... Support tube body, 48b... Ceiling part, 48c... Insertion hole, 48d・
...Ball support hole, 50...Bolt, 52...Ball, 54...Locking member, 54a...Outward tapered surface,
54b...Body portion, 54c...Outer flange, 1
06a, 106b...Printed circuit board, 124...Partition member/6C No β 侭Q

Claims (1)

[Claims] (1) In a device for attaching and detaching a hand that performs processing or assembly work to a robot, the attaching and detaching mechanism includes a first coupling means on the robot arm side and a second cylindrical second coupling means on the hand side coupled to the first coupling means. a coupling means, a partition member is disposed within the cylinder of the second coupling means, and when performing an attachment/detachment operation by coupling the first and second coupling means,
A robot attachment/detachment device characterized in that the partition member forms an airtight chamber.