JPS5930680A - Industrial robot - 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 The present invention relates to an industrial robot, and more particularly to an industrial robot whose workpiece gripping hand has a rotation function.

The workpieces placed at multiple locations on the pallet are picked up one by one and carried to the machine tool, and then the processed workpieces are taken out from the machine tool and placed at multiple locations on the armlet. Industrial robots are becoming widely used to save labor and automate work. Industrial Royt used for this purpose? The robot arm is equipped with a hand for grasping a workpiece at the wrist end of a robot arm that rotates horizontally.
1, as schematically shown in FIG. 1, the workpiece gripping hand 2 provided at the wrist end of the robot arm 1 with the point O5 as the center of horizontal rotation does not rotate around the workpiece gripping center 02. Since we believe that it is possible, if rectangular workpieces 4 and shaft-shaped workpieces 5 are lined up at multiple locations on the pallet 3, the orientation of most of the workpieces 4.5 will not match the orientation of the hand 2. It becomes impossible to perform a smooth gripping operation. In order to eliminate such problems, it is safe to align the orientation of the workpieces 4°5 with the orientation of the robot arm 1, but such an arrangement will greatly reduce the density IW of the workpieces on the pallet. , a problem arises in that work efficiency decreases.

This invention 1f is an industrial month i-roa 1 that solves the above problem? The purpose is to provide the

In order to achieve the above object, the present invention is characterized in that the workpiece gripping hand is formed so that a rotating portion 11tb can be formed around the workpiece holding line 71 of the workpiece gripping hand. .

The present invention will be described in detail below with reference to FIGS. 2 to 5 of the drawings.

FIGS. 2 and 3 show an embodiment of the present invention. Referring to FIG. 2, the upper body 10 of the industrial Kawaguchi bot can pivot in the horizontal direction together with the rotary table 11, and the upper body 10 can rotate along a vertical rod 12 provided on the rotary table 11. It can be moved up and down. Upper torso 1
0 is provided with a robot arm 13 that can move forward and backward in the longitudinal direction, and a hand portion 14 that is rotatable about the axis of the robot arm 13 is provided at the distal end of the robot arm 13. The wrist portion 14 may have a swinging function.

A gripping hand support base 15 is attached to the wrist portion 14, and the gripping hand 6 and the gripping hand 16 are connected to the hand support base 15 so that the gripping hand 6 and the gripping hand 16 are aligned with the workpiece gripping center line of the gripping hand 16. A rotary drive device 17 that rotates around the circumference is provided.

Referring to Figure 2 and 3, the hand 16 is connected to the rotating base 18.
The rotating base 18 is connected to the node support base 15 via a bearing 19 at a rotating joint. A cylinder housing song 21 of a cylinder device 20 that uses oil E, I-Else pressure, etc. as a driving source is fixed to the rotating base 18, and a piston rod door two hinge IJ22 of the cylinder device 20 is fixed. Movable base 2
3 is attached. There is a 4-way guide rod 24 parallel to the movable pace 23A, piston, and rod assembly 7" 122 (with sled + tram).

This guide rod 24 has a rotational pace 18 of 1.
21fll above, i.e. cylinder no.
It's elongated.

At the center of the movable base 23, move the piston/rod assembly 22 downward.
A boss extending from M2 to M2 is provided.
5, a piston member 26 is slidably fitted therein.

A piston flange 27 is provided at the upper end of the piston member 26 and can be brought into contact with the upper surface of the movable pace 2. A piston flange 28 is provided in the middle of the piston member 26. A spring 29 of pressure MN 1■ is interposed between the base 23 and the base 23, and the piston member 26 is urged downward by this spring 29. The flange 27 is kept in contact with the upper surface of the flexible Wtb seat 23.

A pawl support flange 30 is attached to the lower end of the piston member 26. What about Franz 30 for claw support? ! Several (for example, four) claw support brackets 31 are removably screwed, and each claw support bracket 31 has a plurality of (for example, four (hard)) workpieces arranged around the piston member 26. Each of the gripping claws 329 is pivotally supported via the bottle 33 in the opening.

An Ir', Y cylinder shield member 34 is slidably provided on the outer periphery of the piston member 26. The cylinder device 34 is provided at the lower end of the cylinder member cotton cylinder portion 35 which is slidably fitted to the peripheral surface of the piston flange 28 of the piston member 26.1. The inner peripheral surface of the cylinder flange part 36 is slidably fitted onto the peripheral surface of the piston 91 material 26. The outer peripheral surface of the piston flange 28 and the cylinder flange 'r'1l (sealed in the groove provided in the VJ4 circumference 1j of 36 respectively) are fitted with tongues 37 and 38, and the piston flange 28 and the cylinder flange 36 are During this time, the child introduction chamber 39 force is created. 40 is the 72 tube used to introduce compressed air and hydraulic oil into the IL J2 inlet chamber 39. This pipe 40 is connected to the piston flange 728, and is connected to the large movable spacer 23 and the rotating pedal. , 18) and extending in one direction. .

On the lower surface of the 71 non-da flange 1 part 36 of the cylinder member 34, a plurality of link support r-th brackets) 4175 (removably screwed) are attached, and each bracket 41 and each workpiece gripping claw 32 are connected to each other. 1 connected via 42, pawl support 1st flange 3 o toshi I of piston member 26
1f between cylinder flange bottom $36 of J7-in member 34
41 is interposed with a compression spring 43, which presses the lower surface of the cylinder flange 11s 36 (rl, piston flange 28).For example, pressure spring 111 air is introduced into the introduction chamber 39. Then, the cylinder flange 36 resists the spring force of the compression spring 43 and is pushed downward against the C piston flange 28, and as the cylinder flange g-1!36 descends, the workpiece gripping claw 32 performs the workpiece gripping operation.Meanwhile, the pressure introduction chamber 3
When the pressure at step 9 is released, the cylinder flange portion 36 is retracted upward by the compression spring 43, and as a result, returns from the workpiece gripping claw 31 to the decoupling position h7.

Here, the work gripping claw 32, the placket 31°41
and link 4:2? j: For gripping the outer periphery of a François workpiece (Although it is made of one piece, it may be configured for gripping the inner periphery of an annular or cylindrical workpiece. Also, a platen) 31. 41 for supporting claws By removing the flange 30 and the cylinder flange portion 36, the outer gripper and the inner gripper can be interchanged.

The arrangement of the workpiece gripping claws 32 can be freely selected according to the shape of the workpiece (for example, circular, rectangular, etc.). Further, the mounting positions of the platen plates 31 and 41 carved on the pawl support flange 32 and the cylinder flange portion 36 can be changed in accordance with changes in the shape of the workpiece.

The piston rod assembly 2 is installed in the cylinder R20.
Upper limit detection switch 44 detects the upper limit of the stroke of No. 2
and a lower limit detection switch 45 that detects the lower limit of the stroke.
is provided. On the other hand, the guide rod 24 is provided with an intermediate detection switch 46 for detecting whether the workpiece gripping claw 32 has reached the workpiece gripping or release position, and the pipe 40 is provided with a switch for this intermediate detection switch 46. A protrusion 47 that can come into contact with the lever 46A is provided. .

Here, the intermediate detection switch 46 is operated by a cushion mechanism consisting of a compression spring 29 and the like. Since it is arranged so as to detect the relative displacement between the I+IJ pace 23 and the piston member 26, it is detected only when the workpiece gripping claw 32 comes into contact with the unprocessed workpiece at 9ret 3 (see Figure 2). Moreover, even when the machined workpiece gripped by the workpiece gripping claws 32 comes into contact with a workpiece on the /4'let 3 or the ·9let 3, the machine operates smoothly. In addition, the arrangement position of the intermediate detection switch 46 is not limited to the illustrated position;
Further, the intermediate detection switch 46 may be of a type other than the illustrated limit switch.

The detection signals of the detection switches 44, 45, and 46 are taken into the robot control device (not shown), and the pressure source is introduced from the control device to the cylinder device 20 and the pressure introduction chamber 39.
A control signal is sent to a release device (not shown).

Next, the rotational drive device 17 that rotationally drives the workpiece gripping hand 16 will be described. The rotary drive device 17 includes a motor 4 connected to an encoder fixed to the hand support plate 15.
8, a driving pulley 50 fixed to the output shaft 49 of the motor 48, and a driven pulley 51 fixed to the rotating pace 18.
and a belt 52 which is passed between both pulleys 50 and 51.

In the above embodiment, when teaching the robot control device the robot operation, the direction of the workpiece gripping hand 16 when the workpiece gripping hand 16 is located directly above each rectangular workpiece is the direction of the rectangular workpiece. The rotational angular position of the workpiece gripping knife 16 can be taught in advance so that the rotational angle position coincides with that of the workpiece gripping knife 16.

After giving predetermined instructions to the robot control device,
When the robot grasps an unprocessed rectangular workpiece on a pallet, the workpiece gripping node 16 reaches the position directly above the unprocessed rectangular workpiece (i). The horizontal rotation movement is stopped, and the orientation of the hand 16 (for gripping the workpiece) is corrected to match the orientation of the unprocessed rectangular workpiece by the operation of the motor 48. Next, the cylinder device 20 is activated to grip the workpiece. The use claw 32 is a piston.
It descends as the rod assembly 22 descends.

When the workpiece gripping claw 32 comes into contact with the rectangular workpiece to be gripped, the workpiece gripping claw 32 stops descending together with the piston member 26, so it continues to descend = q movement -: - between the space 23 and the piston member 26. A relative displacement occurs, and this relative displacement is detected by the intermediate detection switch 46, and the operation of the cylinder device 20 is stopped.

Next, compressed air or the like is supplied to the pressure introducing chamber 39 through the pipe 40, and this pressure causes the cylinder flange portion 3 to
6 is pushed down, and as the cylinder flange portion 36 descends, the workpiece gripping claws 32 grip the side surfaces of the rectangular workpiece.

Thereafter, the piston-rod-r assembly 23 of the cylinder device 20 rises to the upper limit position O, and then the J-bot arm 13 transfers the unprocessed workpiece toward the workpiece mounting position v of the machine tool.

On the other hand, when the hand 16 takes out the modified rectangular workpieces from the machine tool and stacks them at a predetermined position on a predetermined pallet, the hand 16 stops at r9 on the pallet [after stopping above the fixed position, the motor The hand 16 is activated by the operation of 48.
Since the orientation of the rectangular workpieces is corrected to the direction in which the rectangular workpieces are aligned, the rectangular workpieces are stacked on the pallet 71 in an aligned state.

FIG. 4 shows another embodiment of the invention.

In the figures, '! in Figures 2 and 3! 1 Common reference numerals are attached to the basic elements of the 1st generation agreement element.

The hand rotation drive mechanism V of the non-embodiment is the same as that of the above-mentioned embodiment, but the hand rotation drive mechanism V in this embodiment (for gripping a workpiece) is configured to be inclined to grip a shaft-shaped workpiece.

Referring to FIG. 4, a shaft portion 54 extending upward from the upper surface of the cylinder portion 53 is fitted in the boss portion 25 of the movable pace 23 in a slidable manner. 7 ranso 55 are provided. A compression spring 56 as a cushion spring is interposed between the upper surface of the cylinder portion 53 and the lower surface of the movable pace 23. Cylinder part 44
A claw support block 57 is arranged below 53.

Both the claw support block 51 and the cylinder member 53 411
1 fixed between two support plates (only one is shown in the figure) 58, 1 and ilJ are fixed to the support block 57, and two workpiece support claws 59, respectively. It is swingably supported via a shaft 60 . A piston member 61 is slidably fitted into the cylinder member 53. A link support bracket 62 is fixed to the lower surface of the piston member 61, and the bracket 62 and the workpiece gripping claw 59 are connected via a link 63. A &i pressure introduction chamber (54 is formed in the upper blade introduction chamber 464, and
11 An e-build 65 for guiding liquid, etc. is fixed to the cylinder member 53. 66 is a spring that urges the piston member 61 upward, and 67 is a seal ring. The lower surface of the support block 57 is provided with a stone for contacting the workpiece.
968 is fixedly attached, and the shaft-like arm is connected to this strut arm 68 and two workpiece gripping claws 59 (by the way, 1
It has become popular.

Even in the non-implementing relay, as in the above embodiment, the hand 16 is placed directly above the workpiece (the shaft-like workpiece) that it should not grip (after stopping at Q, it is used for gripping the workpiece). The direction of the hand 1G changes 15 times with the 1st stroke of the workpiece.'' (Then, the C motor 48 operates. After that, the workpiece gripping 1st hand 30 changes direction to the 1st pace 23 of the workpiece. Tomo (C descends to S) ,) /P
When 6 g hits the unprocessed shaft-like workpiece, the cushion spring 56 is compressed by 1E, and the supporting base 23 and the cylinder member 53 undergo a relative displacement rS''L, and this relative displacement causes the intermediate A full amount switch to move. (not shown) is activated.A signal from this intermediate detection switch stops the cylinder device () from lowering the piston rod assembly 22. etc. are friends.

The work gripping claws 59 grip the outer periphery of the shirt 41 work.

FIG. 5 shows yet another embodiment of the present invention, in which the same components as those in FIG. The work gripping hand 16 of the non-embodiment is the same as that of the embodiment shown in FIG.
The configuration of the sentry #I device 17 is different from the above-mentioned embodiments, where) -11 rotations 11. The auxiliary device 17 includes a driven bevel gear 69 fixed to the rotary pace 18, and the output shaft of the rotary encoder motor 48 attached to the non-end support pace 15. 49 is fixed with a driving bevel gear 70 that meshes with the driven bevel gear 69.
1-t-/% workpiece to be held by hand 16 (here &J
The motor 48 for gripping the workpiece stops at 1σ directly above the shaft-shaped workpiece, according to a pre-taught program so that the direction of the hand 16 matches the direction of the workpiece.
is activated. 3 Although the embodiments have been described above, the present invention is not limited to the embodiments described above. For example, the rotation transmission mechanism that transmits the rotation of the motor output shaft to the workpiece gripping hand may be of any other type. There may be. Also, upper 1i
Same, City 10 Noboru 1'4:! It is also possible to move the workpiece gripping claw up and down only by a single action.3 As is clear from the above description, the present invention is an industrial robot in which a workpiece gripping hand is provided at the tip wrist of a robot arm. In the robot, the workpiece gripping hand is rotated 7r around the workpiece gripping center line of the workpiece gripping hand.
Since the robot arm is characterized by being configured to be able to grip the workpiece, it is possible to grasp the workpiece regardless of the mismatch between the orientation of the workpiece, such as the rectangular shape and shaft shape of each part on the robot arm and the mesoleft. Handling can now be performed in a state where the orientation matches the orientation of each part of the workpiece on the pallet. Therefore, it is no longer necessary to arrange the workpieces to match the direction of the robot arm, and it becomes possible to increase the mounting density of rectangular, shaft-like, etc. workpieces on the i4let.

[Brief explanation of the drawing]

FIG. 1 is a plan view schematically showing the relationship between a rectangular workpiece and a shaft-shaped workpiece on a pallet, a robot arm of an industrial robot, a workpiece gripping hand, etc., and FIG. 2 is an industrial robot showing an embodiment of the present invention. 3 is a side view of a part of the main part of the industrial robot shown in FIG. 2, and FIG. 4 is a side view of the main part of the industrial robot shown in another embodiment of the present invention. Partial vertical cross section 1h11 view, No. 5
The figure is a partial vertical cross-sectional front view of the main parts of a construction robot showing still another embodiment of the present invention. In the figure, 13... robot arm, 14... hand grip part, 16... work gripping handle, 17... rotary drive device are shown respectively. Figure 5

Claims (1)

[Claims] 1. In an industrial robot in which a workpiece gripping hand is provided at the tip wrist of the robot arm, the workpiece gripping hand is configured to be rotatably driven around a workpiece gripping center line of the workpiece gripping node. An industrial robot featuring: