JPH0593786U - End effector fixing device for industrial robot - Google Patents

Abstract

(57) [Summary] [Structure] A hollow cylindrical portion 31 having a tapered portion 11 provided on the outer periphery of the cylindrical end portion of the end effector 1 and a tapered hole 32 into which the tapered portion 11 is fitted. A holding hole penetrating in the vicinity of the tip of the hollow cylindrical portion 31 in the direction perpendicular to the axis of the tapered hole 32 and holding the ball having a diameter larger than the thickness of the hollow cylindrical portion 31;
A ring-shaped holder 4 for suppressing the outer circumference of the ball 2 is provided on the outer circumference. On the outer peripheral surface of the hollow cylindrical portion 31, there is a U-shaped engaging groove 6 including a connecting groove 61 extending in the axial direction, and a connecting groove 62 and a releasing groove 63 extending in the peripheral direction from both ends of the connecting groove 61. , An elongated hole 7 provided on the outer periphery of the holder 4 and extending in the circumferential direction, an engaging pin 8 that engages with the elongated hole 7 and engages with the engaging groove 6, and one end on the head of the engaging pin 8. And a tension spring 9 having the other end fixed near the end of the elongated hole. [Effect] It is possible to provide an end effector fixing device for an industrial robot that fixes the end effector safely and reliably.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a fixing device for detachably fixing an end effector to a wrist portion provided at an arm tip of an industrial robot.

[0002]

[Prior Art]

 Conventionally, when detachably fixing an end effector to a wrist portion provided at the tip of an industrial robot, a taper portion 11 is provided at a cylindrical end portion of the end effector 1 and the taper portion 11 is provided as shown in FIG. Is provided with a ball groove 12 around the outer circumference so that the ball 2 can be engaged. A hollow cylindrical portion 31 is formed at the tip of the wrist portion 3, and a tapered hole 32 into which the tapered portion 11 of the end effector 1 is fitted is formed inside the hollow cylindrical portion 31. A holding hole 33 for holding the ball 2 having a diameter larger than the thickness of the hollow cylindrical portion 31 is provided in the vicinity of the tip of the hollow cylindrical portion 31 in a direction perpendicular to the axis of the tapered hole 32. When the end effector 1 is fixed to the wrist 3, the taper portion 11 and the taper hole 32 come into close contact with the outer periphery of the hollow cylindrical portion 31, and when the ball 2 falls into the ball groove 12, the ball 2 A ring-shaped holder 4 that suppresses the outer circumference of the ball 2 is provided, and the holder 4 is always pressed by the vane 41 to a position that suppresses the outer circumference of the ball 2 (for example, Japanese Utility Model Laid-Open No. 60-113179).

[0003]

[Problems to be solved by the device]

 However, in the above configuration, for example, when performing a wiring work such as an electric wire stretched between electric poles by a robot, the wrist of the robot holding an end effector such as a tool may move while rubbing the surface of the electric wire. At this time, the electric wire may be caught by the holder 4, and the holder 4 may be pressed against the spring 41 to move out of the position where the ball 2 is held, and the end effector may be dropped. An object of the present invention is to provide an end effector fixing device for an industrial robot that securely and securely fixes an end effector by preventing a holder from easily moving due to an external force generated by contact with an electric wire or the like. Is.

[0004]

[Means for Solving the Problems]

 The present invention provides a taper portion provided on the outer circumference of a cylindrical end portion of an end effector, a ball groove provided on the taper portion, and a taper hole into which the taper portion of the end effector is fitted. A hollow cylindrical portion of the wrist, and a holding hole for penetrating in the vicinity of the tip of the hollow cylindrical portion in a direction perpendicular to the axis of the tapered hole and for holding the ball having a diameter larger than the thickness of the hollow cylindrical portion. In an end effector fixing device for an industrial robot, wherein a ring-shaped holder for suppressing the outer circumference of the ball is provided on the outer circumference of the hollow cylindrical portion, an axially extending communication groove and the communication groove are formed on the outer peripheral surface of the hollow cylindrical portion. A U-shaped engaging groove consisting of a connecting groove and a releasing groove extending from both ends of the groove in the circumferential direction, a slot extending in the circumferential direction on the outer circumference of the holder, and the slot engaging with the slot. And engaging with the engaging groove Engaging pin, the head of one end of the engaging pin fixed, in which a end portion fixed tension spring near the elongated hole and the other end.

[0005]

[Action]

 Push the engaging pin at the end of the opening groove against the tension spring in the direction of the connecting groove, slide it in the connecting groove, and insert it into the connecting groove. The ball is moved to hold the ball and fix the end effector and the hollow cylindrical portion. At this time, the engagement pin is attracted to the end of the coupling groove by the tension spring. Therefore, when the end effector and the hollow cylinder are connected, the engaging pin is pulled toward one end of the engaging groove, so that the holder can easily move the ball even if an external force is applied to the holder. It does not fall out of the holding position.

[0006]

【Example】

 The present invention will be described with reference to the embodiments shown in the drawings. 1 is a side sectional view showing an embodiment of the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a front sectional view thereof. A taper portion 11 is provided at a cylindrical end portion of an end effector 1, and the taper portion 11 has A ball groove 12 is provided. A hollow cylindrical portion 31 is formed at the tip of the wrist portion 3, and a tapered hole 32 into which the tapered portion 11 of the end effector 1 is fitted is formed inside the hollow cylindrical portion 31. A holding hole 33 for holding the ball 2 is provided near the tip of the hollow cylindrical portion 31. On the outer circumference of the hollow cylindrical portion 31, a ring-shaped holder 4 for suppressing the outer circumference of the ball 2 is provided. The above is almost the same configuration as the conventional example. The following points are different from the conventional example. That is, a flat mounting seat 5 is provided on a part of the outer peripheral surface of the hollow cylindrical portion 31, and one connecting groove 61 extending in the axial direction is formed in the mounting seat 5, and a connecting groove 62 extending in the circumferential direction from both ends thereof. A U-shaped engaging groove 6 including an opening groove 63 is provided. A top 42 is fixed to the outer periphery of the holder 4, an elongated hole 7 extending in the circumferential direction is provided in the top 42, an engaging pin 8 is inserted into the elongated hole 7, and a tip 81 of the engaging pin 8 is attached. It is inserted in the engaging groove 6. One end of the tension spring 9 is fixed to the head 82 of the engaging pin 8, and the other end is fixed near the end of the elongated hole 7 of the top 42 by a fixing pin 43 so that the engaging pin 8 is always connected. It is designed to be attracted toward the end portion A of the groove 62 or the end portion B of the opening groove 63. When coupling the end effector 1 to the hollow cylindrical portion 31 of the wrist portion 3, the engaging pin 8 at the terminal end A of the coupling groove 62 is pushed against the tension spring 9 in the direction of the communication groove 61. , Slide in the communication groove 61 and insert into the opening groove 63. At this time, the holder 4 moves together with the engagement pin 8, and the holding hole 33 for holding the ball 2 is exposed. Further, the engagement pin 8 is attracted to the terminal end portion B of the opening groove 63 by the tension spring 9. In this state (when the engaging pin 8 is in the opening groove 63 from the beginning), as shown in FIGS. 4 and 5, the taper portion 11 of the end effector 1 is inserted into the taper hole 32 of the hollow cylindrical portion 31. insert. At this time, the ball 2 is inserted into the ball groove 12. Next, the engaging pin 8 at the end portion B of the opening groove 63 is pushed out in the direction of the connecting groove 61 against the tension spring 9 and slid in the connecting groove 61 and inserted into the connecting groove 62. To do. At this time, the holder 4 moves together with the engagement pin 8 to close the through hole 33 for holding the ball 2 and suppress the ball 2 to fix the end effector 1 and the hollow cylindrical portion 31. At this time, the engagement pin 8 is attracted to the terminal end portion A of the coupling groove 62 by the tension spring 9. Therefore, when the end effector 1 and the hollow cylindrical portion 31 are joined together, the engaging pin 8 is pulled to the terminal end portion A of the joining groove 62 of the U-shaped engaging groove 6, so that the holder 4 is held. Even if an external force is simply applied, the holder 4 does not easily come off the position for holding the ball 2.

[0007]

[Effect of the device]

 As described above, according to the present invention, even if an external force is simply applied to the holder, the holder does not easily come out of the position to hold the ball, so that the industrial robot that secures the end effector safely and securely can be used. It is effective in providing an end effector fixing device.

[Brief description of drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention.

FIG. 2 is a plan view showing an embodiment of the present invention.

FIG. 3 is a front sectional view showing an embodiment of the present invention.

FIG. 4 is a side sectional view showing an operating state of the embodiment of the present invention.

FIG. 5 is a plan view showing an operating state of the embodiment of the present invention.

FIG. 6 is a side sectional view showing a conventional example.

[Explanation of symbols]

1 End Effector 11 Tapered Part 12 Ball Groove 2 Ball 3 Wrist Part 31 Hollow Cylindrical Part 32 Tapered Hole 33 Holding Hole 4 Holder 42 Frame 43 Fixing Pin 5 Mounting Seat 6 Engaging Groove 61 Connecting Groove 62 Connecting Groove 63 Opening Groove 7 Long hole 8 Engaging pin 9 Extension spring

Claims (1)

[Scope of utility model registration request] 1. A taper portion provided on an outer circumference of a cylindrical end portion of an end effector, and a ball groove provided on the taper portion,
A hollow cylindrical portion of a wrist portion provided with a tapered hole into which the tapered portion of the end effector fits, and penetrates in the direction perpendicular to the axis of the tapered hole in the vicinity of the tip of the hollow cylindrical portion,
An end effector fixing device for an industrial robot, further comprising: a holding hole for holding the ball having a diameter larger than the thickness of the hollow cylindrical portion; and a ring-shaped holder for suppressing the outer circumference of the ball on the outer periphery of the hollow cylindrical portion. In, the U-shaped engagement groove consisting of a connecting groove extending in the axial direction on the outer peripheral surface of the hollow cylindrical portion and a connecting groove and a releasing groove extending in the circumferential direction from both ends of the connecting groove, and the holder. A long hole extending in the circumferential direction provided on the outer circumference, an engagement pin that engages with the long hole and engages with the engagement groove, and one end is fixed to the head of the engagement pin, and the other end is fixed. An end effector fixing device for an industrial robot, comprising: a tension spring fixed near an end of the elongated hole.