Adsorption device for robot

Abstract

In a robot suction device mounted on a robot arm for use, the duration of at least one of a suction state and a suction release state can be easily changed on site. The robot suction device (10) includes a suction pad (16) and a timer (18). The timer (18) switches between an adsorption state in which a vacuum adsorption force generated by a vacuum pump (52) disposed within the housing (32) is generated on the adsorption pad (16) and an adsorption release state in which the vacuum adsorption force is not generated on the adsorption pad (16). The timer (18) has a grip section (62) for setting and changing the duration of the suction state. When the duration set by the timer (18) has elapsed, the robot suction device (10) switches from the suction state to the suction release state.

Description

Technical Field

[0001] The present invention relates to a robot suction device that is mounted on a robot arm and used, and more particularly, to a robot suction device that is used to vacuum-suction a workpiece to be transported for transport. Background Art

[0002] When a robot is used to transport a workpiece to be transported, a robot arm having a suction device vacuum-suctions the workpiece to be transported and transports the workpiece from a predetermined position to another position (Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-122872 Summary of the invention

[0006] Problems to be solved by the invention

[0007] Usually, the timing of adsorption and adsorption release in such an adsorption device is controlled by a control program installed in the robot arm or an external control device that controls the robot arm. The timing of adsorption and adsorption release is sometimes controlled based on the position of the robot arm, the output of various sensors installed on the robot arm, etc., but as a simpler method, it is also controlled by time. For example, sometimes, the timing of starting adsorption is completed based on the position information of the robot arm, and the adsorption is released after the adsorption is performed and a specified time has passed. The duration of the adsorption state is predetermined in consideration of the time required for the robot arm to move to a specified position after adsorbing the object workpiece to be transported, and this time is predetermined in the control program. On the other hand, sometimes, when introducing a robot at a production site, it is necessary to make a fine adjustment to the timing of adsorption release, or to change the timing of adsorption release with the change of the object workpiece to be transported or the change of the transport path. In order to make such a setting change of the timing of adsorption release, the control program must be changed every time. However, for operators who are not familiar with programming, such a program change operation is difficult or essentially impossible to complete, and even if the program change can be made, it is sometimes troublesome to make a program change at a production site.

[0008] Therefore, an object of the present invention is to enable a duration of at least one of a suction state and a suction release state to be easily changed on site in a suction device for a robot that is mounted on a robot arm and used.

[0009] Solutions to Solve Problems

[0010] That is, the present invention provides a robot suction device, which is installed on a robot arm for use, wherein:

[0011] The robot adsorption device comprises:

[0012] A suction unit connected to a vacuum source to suction and hold a workpiece to be transported; and

[0013] a timer for switching between a suction state in which a vacuum suction force based on the vacuum source is generated on the suction portion and a suction release state in which the vacuum suction force is not generated on the suction portion, and capable of setting a duration of at least one of the suction state and the suction release state, and having a manual operation unit for setting and changing the duration,

[0014] When the duration set by the timer has elapsed, the robot suction device switches from the one state to the other state.

[0015] In the robot suction device, the duration of at least one of the suction state and the suction release state can be changed by operating the manual operation unit of the timer. Therefore, there is no need to change the control program to change the duration as in the conventional device, and the duration can be easily changed on site.

[0016] Furthermore, the timer may be set to a duration of the adsorption state, and the robot adsorption device may be switched from the adsorption state to the adsorption release state after the duration has elapsed.

[0017] Furthermore, the vacuum source may be a vacuum pump built into the suction device for the robot.

[0018] In addition, it can be,

[0019] The robot adsorption device further comprises:

[0020] a communication unit for establishing a communication connection with an external control device; and

[0021] A mode selection mechanism, which is used to select an internal control mode and an external control mode,

[0022] The robot suction device sets the duration by the timer when the internal control mode is selected, and sets the duration based on a command from an external control device communicatively connected to the communication unit when the external control mode is selected.

[0023] In addition, it can be,

[0024] The robot adsorption device comprises:

[0025] An arm fixing portion, which is fixed to the robot arm;

[0026] a frame mounted on the arm fixing portion;

[0027] a housing covering at least a portion of the frame; and

[0028] an axial member extending in the vertical direction from an upper end supported by the frame to a lower end located outside the housing, the adsorption portion being provided at the lower end and a passage constituting a part of a flow path between the adsorption portion and the vacuum source being formed inside the axial member,

[0029] A downward load applied to the suction portion is supported by the arm fixing portion via the shaft member and the frame.

[0030] With such a structure, the downward load applied to the suction unit by the workpiece sucked and held by the suction unit can be supported by the arm fixing unit instead of being applied to the housing. Therefore, it is not necessary to make the housing a high-strength structure.

[0031] Hereinafter, embodiments of the suction device for a robot according to the present invention will be described with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a front view of the appearance of a suction device for a robot according to an embodiment of the present invention.

[0033] Figure 2 yes Figure 1 A side view of the robot suction device.

[0034] Figure 3 It is shown Figure 1 A front view of the internal structure of the robot adsorption device.

[0035] Figure 4 It is shown Figure 1 A side view of the internal structure of the robot suction device.

[0036] Figure 5 It is shown Figure 1 Schematic diagram of the flow path structure of the robot adsorption device. DETAILED DESCRIPTION

[0037] like Figures 1 to 4As shown, a suction device 10 for a robot according to an embodiment of the present invention includes a main body 12, an arm fixing portion 14 located above the main body 12 and fixed to a robot arm, and a suction pad (suction portion) 16 located at a position protruding downward from below the main body 12. As described later, in the suction device 10 for a robot, when the suction pad 16 is pressed against a workpiece to be transported and displaced upward relative to the main body 12, negative pressure is generated on the suction pad 16 to suction and hold the workpiece to be transported, and when suction starts and a preset duration has passed, the negative pressure is released to release the suction and holding of the workpiece to be transported.

[0038] like Figure 1 As shown in FIG. 1 , a timer 18, a pressure display monitor 20, and an error indicator 22 are arranged on the front of the main body 12. Figure 2 As shown, a regulator 24, a mode selection switch (mode selection mechanism) 26, and a communication cable connector (communication unit) 28 for communication connection with an external control device are arranged on the side of the main body 12. In addition, a main power switch 30 of the robot suction device 10 is arranged on the lower surface of the main body 12.

[0039] like Figure 3 as well as Figure 4 As shown, a frame 34 mounted on the arm fixing portion 14 and an axial member 36 supported by the frame 34 are arranged in the housing 32 of the main body 12. The frame 34 includes four support members 38 extending downward from the arm fixing portion 14, and a plate-shaped member 40 fixed to the support members 38 and extending in the horizontal direction. The axial member 36 is installed in a manner that is movable in the up-down direction relative to the plate-shaped member 40 of the frame 34. The axial member 36 extends in the up-down direction from an upper end portion 36a supported by the frame 34 to a lower end portion 36b located outside the housing 32, and a suction pad 16 is detachably mounted on the lower end portion 36b. A tube 56 (see FIG. 1 ) is installed at the upper end portion 36a of the axial member 36. Figure 5 ) of the tube connection portion 42, and a passage 36c ( Figure 5). The shaft-shaped member 36 is urged downward by the spring 44, so that when the suction pad 16 is pressed against the conveying object, the shaft-shaped member 36 moves upward while compressing the spring 44. A micro switch 48 having a rod 46 is also arranged in the housing 32. The rod 46 of the micro switch 48 is located at a position engaged with the switch engaging portion 50 of the shaft-shaped member 36. When the shaft-shaped member 36 is located at the lower end position shown in the figure, the rod 46 of the micro switch 48 engages and is pressed into the switch engaging portion 50 of the shaft-shaped member 36, and the micro switch 48 becomes disconnected. When the shaft-shaped member 36 moves upward, the engagement with the switch engaging portion 50 is released, the pressing of the rod 46 is released, and the micro switch 48 becomes connected. When the suction pad 16 is pressed against the conveying object workpiece and the micro switch 48 becomes connected, the suction device 10 for the robot becomes adsorbed.

[0040] A vacuum pump (vacuum source) 52 and a solenoid valve 54 are also disposed in the housing 32 of the main body 12. The vacuum pump 52 is Figure 5 As shown in FIG. 5, via tube 56 (at Figure 3 as well as Figure 4 The solenoid valve 54 is connected to the flow path 58 between the vacuum pump 52 and the shaft-shaped member 36, and when it is in an open state, the flow path 58 between the vacuum pump 52 and the shaft-shaped member 36 is opened to the atmosphere. A pressure sensor 60 is also connected to the flow path 58. The pressure sensor 60 measures the pressure in the flow path 58, and the pressure value is displayed on the above-mentioned pressure display monitor 20. In addition, the regulator 24 is used to adjust the pressure in the flow path 58 generated by the vacuum pump 52. It should be noted that the magnitude of the pressure adjusted by the regulator 24 can be changed by operating the gripping portion exposed to the outside of the main body 1.

[0041] In the robot suction device 10, when the suction pad 16 is pressed upward and the micro switch 48 is turned on, a suction state in which a vacuum suction force is generated on the suction pad 16 is formed, and when a predetermined duration has passed from the suction state, a suction release state in which no vacuum suction force is generated is formed. More specifically, when the micro switch 48 is turned on, the electromagnetic valve 54 is closed and the vacuum pump 52 is started, and a vacuum suction force is generated on the suction pad 16 via the passage 36c of the shaft member 36. And, when a predetermined duration has passed, the vacuum pump 52 is stopped and the electromagnetic valve 54 is opened, and the flow path 58 is opened to the atmosphere, thereby the pressure in the flow path 58 rises to the atmospheric pressure, and the vacuum suction force of the suction pad 16 is quickly released. It should be noted that the upper limit vacuum pressure and the lower limit vacuum pressure in the suction state can be set by operating the pressure display monitor 20. In the suction state, when the pressure value measured by the pressure sensor exceeds the upper limit vacuum pressure, the vacuum pump 5 is temporarily stopped, and when the measured pressure value is lower than the lower limit vacuum pressure, the vacuum pump 52 is started again. This makes it possible to maintain the vacuum suction force generated in the suction pad 16 within a certain range. It should be noted that the regulator 24 can be used to adjust the vacuum pressure so as not to exceed a certain level.

[0042] In the robot adsorption device 10, an internal control mode and an external control mode can be selected by a mode selection switch 26. When the internal control mode is selected, the duration of the adsorption state becomes the value set by the timer 18. The timer 18 has a gripping portion (manual operation portion) 62 configured to be operable from the outside, and the duration setting can be changed to an arbitrary value by operating the gripping portion 62. When the external control mode is selected, the setting of the timer 18 is ignored, and the duration is set according to a command from an external control device that is communicatively connected via a communication cable. It should be noted that the communication connection with the external control device can also be performed by other means, such as wireless communication.

[0043] If the pressure measured by the pressure sensor does not drop below the specified normal operation pressure value even after a specified time has passed since the adsorption state was entered, it is determined that the workpiece being transported is not properly adsorbed by the adsorption pad 16, the transporting action based on the robot arm is stopped, and the error light 22 is turned on to notify of this state.

[0044] The downward load applied to the suction pad 16 when the workpiece to be transported is adsorbed and held on the suction pad 1 in the adsorption state is not applied to the housing 32, but is supported by the arm fixing portion 14 via the shaft member 36 and the frame 34. In this embodiment, the housing 32 is formed of a resin with low strength, and the shaft member 36, the frame 34, and the arm fixing portion 14 are formed of a high-strength metal. Therefore, even when a heavy workpiece to be transported is adsorbed and held, since the load is applied only to the high-strength member, the workpiece to be transported can be held in a stable state.

[0045] In the robot suction device 10, the duration of the suction state can be set by operating the gripping portion 62 of the timer 18 provided on the main body 12, so that the timing of switching from the suction state to the suction release state can be easily changed without changing the control program as in the past. It should be noted that in the above-mentioned embodiment, the duration of the suction state is set by the timer 18, but the duration of the suction release state can also be set.

[0046] The above is a description of the embodiment of the present invention, but the present invention is not limited to this embodiment. For example, the main body may not have a vacuum pump, but may be connected to another vacuum source located outside through a tube or the like. In this case, for example, through a solenoid valve, the adsorption pad and the external vacuum source can be made fluidically connected in the adsorption state, and the adsorption pad and the external vacuum source can be blocked in the adsorption release state, and the flow path on the adsorption pad side can be opened to the atmosphere. In addition, in the above-mentioned embodiment, a micro switch is used to detect that the adsorption pad is pressed into the main body side and the adsorption state is started, but an optical sensor such as a camera can also be used to detect that the adsorption device of the robot reaches a specified position, or an encoder of each joint of the robot arm can be used to detect that the robot arm reaches a specified coordinate, and based on this, the adsorption state or the adsorption release state is started. In addition, the manual operation part for setting and changing the duration in the timer is not limited to a component based on a gripping part, and various methods such as a component based on button operation or a component based on a touch panel can also be used.

[0047] Description of Reference Numerals

[0048] 10 Robot suction device

[0049] 12 Main body

[0050] 14 Arm fixing part

[0051] 16. Adsorption pad (adsorption part)

[0052] 18. Timer

[0053] 20 Pressure display monitor

[0054] 22 Error light

[0055] 24 Regulator

[0056] 26 Mode selection switch (mode selection mechanism)

[0057] 28 Communication cable connector (communication part)

[0058] 30 Main power switch

[0059] 32 Shell

[0060] 34 Framework

[0061] 36 Shaft member

[0062] 36a Upper end

[0063] 36b Lower end

[0064] 36c Pathway

[0065] 38 Support components

[0066] 40 Plate-like components

[0067] 42 pipe connection

[0068] 44 Spring

[0069] 46 shots

[0070] 48 micro switch

[0071] 50 switch engagement portion

[0072] 52 Vacuum pump (vacuum source)

[0073] 54 Solenoid valve

[0074] 56 tubes

[0075] 58 flow path

[0076] 60 Pressure Sensor

[0077] 62 Gripping portion (manual operation portion).

Claims

1. A suction device for a robot, which is installed on a robot arm for use, wherein: The robot adsorption device comprises: A suction unit connected to a vacuum source to suction and hold a workpiece to be transported; and a timer for switching between a suction state in which a vacuum suction force based on the vacuum source is generated on the suction portion and a suction release state in which the vacuum suction force is not generated on the suction portion, and capable of setting a duration of at least one of the suction state and the suction release state, and having a manual operation unit for setting and changing the duration, When the duration set by the timer has elapsed, the robot suction device switches from the one state to the other state.

2. The robot suction device according to claim 1, wherein: The timer sets a duration of the adsorption state, and the robot adsorption device switches from the adsorption state to the adsorption release state after the duration has elapsed.

3. The robot suction device according to claim 1, wherein: The vacuum source is a vacuum pump built into the suction device for the robot.

4. The robot suction device according to claim 1, wherein: The robot adsorption device further comprises: a communication unit for establishing a communication connection with an external control device; and A mode selection mechanism, which is used to select an internal control mode and an external control mode, The robot suction device sets the duration by the timer when the internal control mode is selected, and sets the duration based on a command from an external control device communicatively connected to the communication unit when the external control mode is selected.

5. The robot suction device according to any one of claims 1 to 4, wherein: The robot adsorption device comprises: An arm fixing portion, which is fixed to the robot arm; a frame mounted on the arm fixing portion; a housing covering at least a portion of the frame; and an axial member extending in the vertical direction from an upper end supported by the frame to a lower end located outside the housing, the adsorption portion being provided at the lower end and a passage constituting a part of a flow path between the adsorption portion and the vacuum source being formed inside the axial member, A downward load applied to the suction portion is supported by the arm fixing portion via the shaft member and the frame.

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