JPS6052285A - Removable mechanism - 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 [Technical Field of the Invention] The present invention particularly relates to an attachment/detachment mechanism suitable for automatically attaching and detaching a hand portion of a robot.

[Technical background of the invention and its problems]

In general, when a robot performs various tasks, it is necessary to frequently replace the scales used for the task, the shape of the tip of the robot's hand for the object, etc.

Conventionally, the hand part could not be replaced by the rosette itself because it was difficult to attach and detach it, and therefore, it had to be done by an operator. For this reason, it required nine operators to carry out the work, and the work that could be performed continuously with one robot was limited to work on extremely similar objects.

[Purpose of the invention]

This invention was developed in view of the above circumstances, and its purpose is to provide an attachment/detachment mechanism that can be easily and reliably attached and detached.

[Summary of the invention]

In this invention, a cylindrical protrusion is formed at the tip of the truncated cone, a communicating part is formed that communicates with the four parts opening at the tip surface of the protrusion, and a hole for holding beer is formed in the protrusion. The connected body has a circular shape, and the connecting body has a circular truncated shape that opens at the end surface. A connected body in which a tapered groove having a constricted portion is formed is provided. A cylinder rod is inserted into the communication portion of the connecting body, and a widened tip portion formed at the tip of the cylinder rod is slidably disposed in the recessed portion of the connecting body. A tapered portion is formed on the back surface of this tip. Further, a ball is held in a ball holding hole formed in the protrusion of the connecting body. In order to attach the connected body to the connected body, the truncated conical part of the connected body is inserted into the first cheek groove of the connected body with the cylinder rod (the tip end thereof) moved outward, and In this state, move (the tip of) the cylinder rod inward. By doing this, the beer is formed on the back of the tip.
Pressed by 1B, part of it is yl? -Protrudes outward from the non-holding hole and presses against the inner wall of the second Q/'F groove of the connected body, so that the connected body is attached to the connected body. Further, in order to separate the connected body from the connected body, the cylinder rod is moved outward and its tip presses the bottom surface of the tapered groove of the connected body. By doing so, the beer is freed from being suppressed by the part of Chino, and the connected body is easily separated from the connected body.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to one drawing.

FIG. 1 shows a cross section of a connecting body 10 constituting the attachment/detachment mechanism.

A truncated conical portion 12 is formed in the lower portion of the connecting body body indicated by reference numeral 1. A cylindrical protrusion 13 is formed at the tip of the circular φ11 base portion 12. i! In addition, a communication portion 15 is formed in the connecting body 11 and communicates with a recess 14 that opens at the distal end surface of the protrusion 13 . This communication portion 15 also communicates with a recess 16 that opens on the upper end surface in the drawing. A piston 20 having an O-ring 19 fitted therein for preventing air leakage is slidably provided in the opening 18 of the recess 16 (not shown). In addition, the tip portion 17 has a cylinder interior 1
A supply port 21 is provided which communicates with the upper inner wall of 8 and supplies the protrusion. Further, the connecting body main body 11 is provided with a supply port 22 that communicates with the lower inner ring of the cylinder interior 18 and supplies air. On the other hand, the cylindrical protrusion 13 has (111
A hole 24 for engaging and holding a ball 23 but not for holding it is formed. This is outside the non-holding hole 24 (til
The diameter d of the Gin opening is smaller than the diameter of case 1p13. The cylinder rod 25 that interlocks with the piston 20 has an enlarged tip portion 27 with a tapered portion 26 formed on the back surface. A cylinder rod 25 is inserted into the communication 81ζ15 and connected to the piston 20 so that its tip 27 is slidably disposed in the recess 14. 0, Fl between the cylinder rod 25 and the inner rod of the recess 14
)leg! r (1ffl gap) is set to be smaller than the diameter of the steel ball 23 so that the steel ball 23 can easily come out of the engagement state with the ball retainer 24. Further, the thickness of the wall portion 13 is also set to be smaller than the diameter of the steel ball 23. Therefore, a portion of the steel ball 23 protrudes outward or inward from the pole holding hole 24 and is engaged with the beer holding hole 24. Furthermore, a flange portion 28 is formed at the rear of the truncated cone portion 12 so as to be continuous with the truncated cone portion 12 . A diamond pin 29 is erected on this collar portion 28 for determining the position in the rotational direction when a connected body 50, which will be described later, is attached. As shown in FIG. 2, a pipe 32 protruding from the collar 28 is connected to a suction supply line 30 and fitted with a QIJ song for preventing suction leakage. Also Tsubabe 2
8 includes a signal line 3 for transmitting and receiving electrical signals as shown in FIG.
A connector portion 35 having a contactor 34 (with a built-in spring) connected to the connector 3 is provided. Note that FIG. 2 shows a cross section of the connecting body 10 shown in FIG. 1 from a different position from that in FIG. 1.

Next, the configuration of the connected body 5θ constituting the attachment/detachment mechanism will be explained with reference to the cross-sectional views of FIGS. 3 and 4 and the plan view of FIG. 5. Note that the sectional positions in FIGS. 3 and 4 correspond to those in FIGS. 1 and 2, respectively. The main body of the connected body indicated by the reference numeral 51 has a circle φ11 that opens at the center of the upper end surface in the figure.
A tapered groove 55 having a constricted portion 54 is formed in the intermediate portion from the second groove 52 continuous to the first tapered groove 52 and the first tapered groove 52. The tapered groove 52 is a groove into which the circular diameter 11 base part 12 of the connecting body 10 shown in FIG. 1 (FIG. 2) is fitted. The diameter is set somewhat larger.Also,
The depth of the second tee-groove 53 is such that when the cylinder rod 25 is lowered with the truncated conical portion 12 of the connecting body IO fitted into the first tapered groove 52, The bottom surface of the second chi/e-groove 53, that is, the bottom surface of the tapered groove 55 is set so as to be suppressed. $ pick up/
P of the viscous body 51, A corresponding to the diamond pin 29 (attached to the flange 28 of the connecting body 11) shown in Figure 1)
A guide hole (a guide hole may be used) 56 (into which the diamond pin 29 is inserted as shown by the dashed line in FIG. 5) is formed in 7#/. The tip portion 57 of the lower I-cut is screwed onto the bolt 59 inserted through a mounting hole 58 formed in the body 51 of the body to be connected. Second
At fH, which corresponds to the pipe 32 shown in the figure, there is a hand portion 57.
A supply port 60 for supplying a rush of air to an air cylinder (not shown) for driving is provided connectably to the pipe 32. Further, a connection pin 61 is provided at a position corresponding to the contact 34 shown in FIG. 2 on the main body 51 of the connected body so as to be connectable to the contact 34. The connection part 61 has a hand part 57.
A signal line 62 is connected to transmit a signal from the robot body to a motor (not shown) that drives the robot body, or to transmit a signal corresponding to the operation of the hand portion 57 to the robot body.

Next, the connected body 50 configured in this way is connected to the connected body 10.
We will explain the operation when it is attached to the

When attaching the connected body 50 to the connected body 10, the robot main body supplies nitrogen gas from the supply port 21.

This causes the piston 20 to descend, and in conjunction with the piston 20, the cylinder rod 25 descends.

FIGS. 1 and 2 show this state.

In this state (9 air supply state from the supply port 21, cylinder rod 25 lowered state), the robot body receives the connecting body 10 from the protrusion 13 as desired; Insert into the tapered groove 55 of the Iy binding viscous material. Therefore) 11・Circle ψ of supply body lO [
The f-base part 12 is attached to the first chip 4752 with its center aligned with the center of the first chip 4752 formed on the jiF adhesive body 5θ.
It is fitted into the tapered groove 52. At this time, the positioning in the rotational direction is performed by inserting the diamond pin 29 into the id hole 56 formed in the connected body 50.

Note that when inserting the connecting body 10, a portion of the steel ball 23 that is engaged with the ball holding hole 24 formed in the protrusion 13 has a width of y1? -C may protrude outward from the hole 24 for holding the -C. In this case, the protruding steel ball 23 is inserted into the groove 55 when the protrusion 13 is inserted into the groove 55.
5 , and is moved inward from the outer opening surface of the ball holding hole 24 . Therefore, even if a part of the steel ball 23 protrudes outside the goal holding hole 24, there is no problem in inserting the connecting body 10.

By correctly fitting the truncated conical portion 12 of the connecting body 10 into the first tapered groove 52 of the connected body 50, the connected body 50
A supply port 6θ provided in the supply port 6θ.

A pipe 32 provided on the flange 28 of the connecting body 10 is connected to the connecting pin 61 . Contactor 34 makes the connection. Thus, the robot main body supplies the sudden air from the supply port 22, and also
Set side 1 to exhaust state. For this, piston 20
moves upward, and the cylinder rod 25 moves in conjunction with the piston 20.
rises. When the cylinder rod 25 rises, the steel ball 23 moves toward the tip end 2 of the cylinder rod 25, as shown in FIG.
The ball is guided by a tapered portion 26 formed on the back surface of the ball 7, and a portion of the tapered portion 26 projects outward from the ball holding hole 24. Then, the steel ball 23 is pressed by the chi + - sound lX 26 and comes into pressure contact with the inner wall of the second chi groove 53 formed in the connected body 50 . As a result, the connected body 5θ is reliably attached to the connected body 10. Note that the inner wall of the second tapered groove 53 has an inverted taper shape, and therefore, as long as the cylinder rod 25 is set in the upper row state, the connecting body 10 and the connected body 50 are firmly connected. is combined with In this state, the robot main body drives and controls the hand portion 57 to perform the cutting.

Next, cut the connected body 5θ from the connected body 1θ.
L't, Fg# for "V". In this case, the robot body supplies nitrogen from the supply port 2, and
The supply port 22 side is statically set to an exhaust state. This causes the cylinder rod 25 to descend. When the cylinder rod 25 descends, the steel ball 23 is released from being suppressed by the tapered portion 26 formed on the back surface of the tip 27 of the cylinder rod 25. Also, the cylinder rod 25 is lowered, and its tip 26 is
When the bottom surface of the groove 55 formed in the connected body 50 (that is, the bottom surface of the second tapered groove 53) is pressed, the upper end surface of the connected body 5θ begins to separate from the lower end surface of the collar 28 of the connected body 10. . At this time, the steel ball 23 released from the pressure by the cheater part 26 is pressed against the inner wall of the second tapered groove 53 and gradually moved inward. Then, as the cylinder rod 25 descends, the upper end surface of the connected body 50 is further separated from the lower end surface of the flange 28 of the connecting body 10, and eventually the steel ball 2
3 comes into contact with the constriction 54 in the chi groove 55,
The steel ball 23 moves inward from the outer opening surface of the ball holding hole 24.

Then, as the cylinder rod 25 further descends, the connected body 50 is completely separated from the connected body 10.

In the above-mentioned embodiments, the case where this invention is applied as an attachment/detachment mechanism for the hand portion of a robot is described, but the invention can also be applied to any robot that attaches and detaches a connecting body and a connected body.

〔Effect of the invention〕

As described in detail above, according to the present invention, the connecting body and the connected body can be easily and reliably attached and detached. Therefore, for example, if the connecting body is connected to the robot body and the connected body is the hand part of the robot, the robot itself can automatically attach and detach the connected body (hand part) that matches the type of work and object. It becomes possible to exchange.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of a connecting body constituting an attachment/detachment device according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view of the connecting body shown in FIG. FIG. 3 is a concave view of the connected body constituting the bar 'AIi' and cedar 46 structure according to an embodiment of the present invention, and FIG. 4 is a third view of the connected body shown in FIG.
FIG. 5 is a plan view of the same body to be connected, and FIG. 6 is a sectional view showing the state in which the body to be connected is attached to the body. 10...Connection body, 12...Circular (f base part, 1.?-
...Protrusion Ti1t, 14...Concave Tτ, 15...Communication portion, 23...Steel ball (ball), 24...Gall holding hole, 25...Cylinder rod, 26...・Taper part, 27 ・Tip 81 (, 50 ・They supply body, 52 ・
...1st taper groove, 53...2nd chi/? - Groove, 5
4... Constriction. Applicant's Representative Patent Attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Figure 4 Figure N 5

Claims (1)

[Claims] A connecting body in which a cylindrical protrusion is formed at the tip of the truncated cone, a communication part that communicates with a recess that opens at the distal end surface of the protrusion, and a ball holding hole is formed in the protrusion. and a cylinder having a widened tip portion with a tapered portion formed on the back surface, and inserted into the communication portion of the connecting body such that the tip portion is slidably disposed on the four parts of the connecting body. a rod, a first tapered groove for inserting the truncated conical part of the connecting body having an opening at the end surface, and a continuous connection with the first tapered groove;
a second tapered groove in the shape of a truncated cone, and a tapered groove having a constriction in the middle portion; The base is the first chi/f- of the above-mentioned connected body.
When the tip of the cylinder rod is inserted into the groove and moved inward in this state, it is pressed against a part of the taper formed on the back surface of the tip, and the y? A portion of the ball holding hole protrudes outward to connect the second chi of the connected body.
−? 71+, and by moving the tip of the cylinder rod outward in a press-contact manner, the ball is released from being suppressed by a portion of the chi A' formed on the back surface of the tip. and connect the connected bodies by moving the cylinder rod inward with the truncated conical portion of the connecting body inserted into the first tapered groove of the connected body. It is attached to the body, and in this attached state, the cylinder rod is moved outward, so that the tip of the cylinder rod touches the tip of the body.
An attachment/detachment mechanism whose main feature is to separate the connected body from the connected body by pressing the bottom surface of the knee.