JPS61244484A - 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] [Industrial Application Field] The present invention relates to a hand device for an industrial robot, and particularly to a hand device for an industrial robot, and in particular, a plurality of tools that are selected by rotating a predetermined tool used for each individual process. This invention relates to a hand device equipped with a.

[Conventional technology]

FIG. 5 is an overall configuration diagram showing an example of a normal industrial robot. Figure ((1) is the robot body, (2)
is the lifting shaft mounted on this robot body, (3) is the first
arm, (4) is a drive unit that rotates the first arm (3) around the lifting axis (2), (5) is a second arm, and (6) is a drive unit that rotates the second arm. , (7) is a hand device, (8) is a rotating shaft formed so that the entire hand device (7) can be attached and detached, (9) is a drive unit that rotates the dovetail rotating shaft (8), <1 (H″tt work 1) is a work table.

In the conventional industrial robot configured as described above, the vertical movement of the lifting shaft (2) and the operation of the drive parts (4) and (6) are performed in response to commands from a robot control unit (not shown). The hand device (8) is rotated by the rotation of the second arms (3), (5) and the operation of the drive section (9).

During the operation of the robot, which is performed by such an operation, for example, the workpiece CLO is transported and placed on the workpiece table aη, and the gripping function is used to drill a hole in the workpiece a*K. The hand device (7) is removed from the rotating shaft (8), and the hand device (7) is equipped with a drill.
After attaching it to the rotating shaft (8), the next process of drilling is performed.

[Problem that the invention seeks to solve]

In the conventional industrial robot as described above, when switching the hand device (7) to accommodate the workpiece (10K), it is necessary to select the hand device (7) each time and attach/detach it to the rotation axis (8). This caused a decrease in work efficiency.

This invention was made to solve this problem, and when the process shifts during operation and the hand device needs to be replaced, there is no need to attach and detach the hand device from the rotating shaft each time. The purpose is to obtain.

[Means for Solving the Problems] The industrial robot according to the present invention includes a holder that is rotated by the operation of a hand drive unit mounted at the tip of the arm.
A system in which a group of tools used in robot operation are fitted and fixed in advance, and each time the process switches to a process that requires replacing the tools used during operation, the hand drive unit operates to move the specified tools to the use position. It is.

[Effect]

In this invention, since the relationship between the tools used in each process during robot operation and the transition order of these processes is programmed into the control unit, the predetermined change is automatically performed each time a process that requires tool exchange changes. The tool is selected and moved to the position of use of the hand device.

〔Example〕

FIG. 1 is an overall configuration diagram showing an industrial robot according to an embodiment of the present invention, and (1) to (6) and (8) to α are denoted by the same reference numerals as in FIG. 3, which shows a conventional example. is the same or equivalent part. (6) is a hand drive machine, (to) is a hand device, C14 is a holder holding a group of tools constituting this hand device, and (g) is a rotating wheel connected to this holder CI4 to rotate it.

FIG. 2 is a left side view of the hand device (6) showing an example in which the holder α◆ and a plurality of tools in FIG.
It can be attached to and removed from a square hole in a barrel, and after the two are fitted together, they are fastened and fixed with, for example, screws.

In the industrial robot according to the present invention configured as described above, as in the conventional example, the vertical movement is carried out by the lifting shaft (2), and the first arm (3 ), the second arm (5) is rotated, and the hand device (6) is rotated to complete the conveyance process using the gripping device (13c) in FIG. ), the hand drive unit (
2) rotates the holder α4 by 180 degrees, and
Move the gripping device (13a) to the position.

Similarly, when switching from this process to the next process and using the gripping device (13b), the hand drive machine (
6), the holder α4 is rotated 90 degrees to the left, and the gripping device (
13b) Move to 1kA position. Furthermore, when moving to the next process, the holder α→ rotates 180 times, and the gripping device (13
d) to position A, and with the above operation, the holder α
All gripping devices (13a) to (13d) arranged in
is designed to be switched to the use position.

In the above embodiment, the hand device (6) includes four types of gripping devices (
Although an example in which 13a) to (13) are placed on the holder α◆ has been described, other tools such as a plurality of machining tools such as drills may be disposed, and the gripping device and the machining tool may be combined. It goes without saying that even if they are combined and arranged in the holder a4, the same effect as in the above embodiment can be obtained.

〔Effect of the invention〕

As explained above, this invention is configured such that a plurality of tools used for robot operation are fitted and fixed in advance to a holder, and the positions of these tools are programmed into the robot control unit, so that tool replacement is easy. This eliminates the need to attach/detach and replace tools every time a process changes, which has the effect of increasing work efficiency.

[Brief explanation of drawings]

Fig. 1 is an overall configuration diagram of an industrial robot showing an embodiment of the present invention, Fig. 2 is a left side view showing details of the hand device in Fig. 1, and Fig. 6 is an example of a conventional industrial robot. FIG. In the figure, (1) is the robot body, (2) is the lifting axis,
(3) is the first arm, (4), (6), (9) V
i drive machine, (5) is the second arm, (c) is the hand drive machine, α] is the hand device, and α4Vi holder. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Patent Attorney Sanro Kimura Figure 1 +4: , j, 17°.

Claims (1)

[Claims] An elevating axis mounted on the robot body to move the robot arm up and down, an arm drive machine that rotates the robot arm around this elevating axis, a hand drive machine mounted on the tip of the robot arm, and the hand. A hand device is equipped with a holder in which a plurality of tools and gripping devices (hereinafter referred to as tools) are rotated by the operation of a drive machine, and a predetermined tool used for each individual process is controlled by the hand drive machine. An industrial robot characterized in that the tool is selected from among the tools by turning the hand device by actuation.