JPS635229B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hand device for an industrial robot.

Recently, there are plans to have industrial robots perform tasks such as tightening bolts, removing products from synthetic resin molding machines, and polishing.
These operations apply a large reaction force to the industrial robot, which has the disadvantage that the entire industrial robot deforms, making it impossible to perform highly accurate operations. Moreover, such work may shorten the life of the industrial robot body for the same reason.

Therefore, an object of the present invention is to provide a hand device that absorbs the reaction force when an industrial robot performs work that generates a large reaction force, allows the work to continue with high precision, and extends the life of the robot. Our goal is to provide the following.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The hand device for an industrial robot according to the present invention will be described in more detail below with reference to preferred embodiments shown in the accompanying drawings.

1 and 2 show an industrial robot equipped with a hand device according to an embodiment of the present invention.

In FIGS. 1 and 2 showing this embodiment, 1 indicates the main body of an industrial robot;
supports an elevating body 2 that vertically reciprocates. A first arm 3 that reciprocates in a horizontal plane is supported at the upper end of the elevating body 2, and a second arm 4 that similarly rotates in a horizontal plane is supported at the tip of the first arm 3. ing. An elevating device 10 having an elevating rod 10a is attached to the end surface of the second arm 4, and the elevating rod 10a generally slides in the vertical direction using air pressure.

A working device 11 consisting of an electric drill device is fixed to the lower end of the lifting rod 10a of the lifting device 10, and a tool 11a such as a drill is attached to the output shaft of the working device 11.

On the other hand, a second arm 4 is attached to the upper end of the lifting rod 10a.
An actuating piece 10b projecting to the side is attached, and a second actuating piece 10b is attached.
A limit switch 12 is attached to the upper end of the arm 4 at a position where the operating piece 10b at the upper end comes into contact with the lifting rod 10a when it is lowered.

A reaction force absorbing device 8 made of an electric magnet is attached to the lower surface of the tip of the second arm 4 so as to face downward.
A limit switch 9 is attached to the lower end 8a of this reaction force absorbing device 8. This limit switch 9 is attached to the top surface 5a of the workbench 5 installed on the common base 6 at the tip end, ie, the bottom end 8a, of the reaction force absorbing device 8.
It is positioned so that it is activated when the two come in contact with each other.

Note that 7 indicates a work fixed to the upper surface 5a of the workbench 5, and 13 indicates a power cable that supplies power to the reaction force absorbing device 8, the lifting device 10, the work device 11, and the limit switches 9 and 12, respectively.

Next, the operation of the industrial robot of the above embodiment will be explained.

First, the positions of the elevating body 2 and the first and second arms 3, 4 are controlled so that the tool 11a is located directly above the position where a hole is to be drilled in the workpiece 7, and the tool 11a is stopped as shown in FIG. Next, as shown in FIG.
lower it until it operates. When this limit switch 9 is activated, power is supplied to the reaction force absorbing device 8,
A magnetic force is generated, and its tip 8a is attracted to the upper surface 5a of the workbench 5.

Next, power is supplied to the working device 11, and the tool 11
At the same time as a starts rotating, air is supplied to the lifting device 10 so that the lifting rod 10a of the lifting device 10 starts to descend, and thereby the lifting rod 10a starts to descend. Then, when the tool 11a comes into contact with the workpiece 7, the work of drilling a hole is started. As shown by the imaginary line in FIG. 2, when the depth of the drill hole reaches a certain dimension, the work piece 10b operates the limit switch 12, the power supply to the work device 11 is cut off, and the tool 1
Rotation of 1a stops. At the same time, air is supplied to the lifting device 10 in order to raise the lifting rod 10a, and when the lifting rod 10a starts to rise and reaches the position indicated by the solid line in FIG. 2, power is supplied to the reaction force absorbing device 8. The magnetic force at the cut-off tip 8a disappears. Next, the positions of the first and second arms 3 and 4 are controlled to move the elevating body 2 to the next working position while slightly raising it, and the above-described operation is repeated.

In this way, in the embodiment described above, the reaction force for drilling a hole is generated upward through the tool 11a, but the magnetic force generated at the tip 8a of the reaction force absorbing device 8 causes the tip of the second arm 4 to is absorbed downward via the reaction force absorbing device, the reaction force is canceled out by the attractive force caused by the magnetic force, and the main body 1, the elevating body 2, and the first and second arms 3, 4 are deformed. Never. Therefore, highly accurate work can be realized, and at the same time, the work device 11, the lifting device 10, the main body 1, the lifting body 2, the first and second arms 3,
4, etc., and the service life can be extended.

In the above embodiment, the working device 11 is an electric drill device, but similar effects can be obtained by using an electric or pneumatic screw tightening device. Further, although the reaction force absorbing device 8 is of an electromagnetic type, the same effect can be achieved even if a simple rod is provided with an engaging hook at its tip and a locking piece with which the hook engages is provided on the upper surface 5a of the workbench 5. is obtained.

Another embodiment of the invention is shown in FIG. This embodiment is for the case where pressure is generated in the opposite direction to the embodiment shown in FIG. 1, such as when a product is pulled out from a synthetic resin mold. In this figure 3, the second
The same parts or corresponding parts as in the example of the figure are given the same reference numerals, and the explanation thereof will be omitted.

The industrial robot hand device shown in FIG. 3 includes a gripping device 17 fixed to the lower end of the lifting rod 10a of the lifting device 10. As shown in FIG. This gripping device 17 has gripping claws 17a formed on its lower surface. Also,
A reaction force absorbing device consisting of a simple rod 16 extending downward is provided on the lower surface of the tip of the second arm 4.

In addition, numeral 14 is a mold made of synthetic resin, 14a is the upper surface of the mold, 14b is a product mold part, 15 is a product molded by the product mold part 14b, and 15a is a mold release part protruding from the product surface. The grips are shown in each figure.

In the industrial robot hand device of this embodiment, the tip 16a of the reaction force absorbing device 16 comes into contact with the upper surface 14a of the mold 14, and the gripping device 17 is lowered to the position indicated by the dashed-dotted line as the lifting rod 10a is lowered. The gripping claws 17a grip the gripping portion 15a of the product 15. When this grip is confirmed, the lifting rod 10a of the lifting device 10 is driven in the upward direction, and the product 15 is
is released from the product mold part 14b.

This reaction force at the time of mold release is generated downward via the gripping device 17, but is offset by the reaction force absorbing device 16, which causes the main body 1, the elevating body 2, the first and second arms 3 and 4 are not deformed, it is possible to achieve highly accurate work and extend the life of the industrial robot.

As explained above, according to the hand device for an industrial robot of the present invention, a device is provided at the tip of the arm of the industrial robot to absorb the reaction force generated by various work devices during various operations. According to
It is possible to achieve highly accurate work without placing excessive loads on the main body, arm, etc. of the industrial robot, and to prevent deformation of various work equipment and industrial robots, thereby extending the life of the robot. In the invention, since the other end of the reaction force absorbing device is connected to the working movement, the reaction force to the arm can be absorbed without the need for a special device, so it can be constructed at an extremely low cost. By linking the position and operation of the work equipment, reliable work can be achieved.

[Brief explanation of the drawing]

1 is a schematic side view showing an industrial robot equipped with a hand device according to an embodiment of the present invention; FIG. 2 is a side view showing the hand device of the industrial robot shown in FIG. 1; FIG. 3 is a side view similar to FIG. 2 showing a hand device for an industrial robot according to another embodiment of the present invention. 1... Industrial robot main body, 3... First arm, 4... Second arm, 5... Workbench, 7...
Workpiece, 8, 16... Reaction force absorbing device, 10... Lifting device, 10a... Lifting rod, 11, 17... Working device. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Scope of Claims] 1. A working device attached to the tip of an arm extending from the main body of an industrial robot, a tool attached to the output shaft of the working device, and a tool with one end fixed to the tip of the arm. A reaction force absorbing device whose other end abuts and connects to the workbench when a tool approaches a workpiece on a workbench, and this contact occurs when the tip of the other end of the reaction force absorption device abuts the workbench. A hand device for an industrial robot, comprising: a switch device that detects and operates the work device. 2. In the hand device for an industrial robot according to claim 1, the reaction force absorbing device is composed of an electromagnetic device, and attracts the upper surface of the workbench with magnetic force, and applies a tensile force to the main body of the reaction force absorbing device. A hand device for an industrial robot, characterized in that the hand device is adapted to receive the hand. 3. In the hand device for an industrial robot according to claim 1, the reaction force absorbing device comprises a rod having one end attached to the tip of the arm and the other end contacting the top surface of the workbench, and A hand device for an industrial robot, characterized in that a rod receives compressive force. 4. In the hand device for an industrial robot according to claim 1, the reaction force absorbing device comprises a rod having one end attached to the tip of the arm and the other end extending toward the workbench. A hand device for an industrial robot device, characterized in that a tip of the hand device is engaged with a part of the workbench.