Device for mounting vibrating tool to robot

Abstract

To provide a device for mounting a vibrating tool to a robot, which can effectively suppress vibration transmitted to the robot.SOLUTION: A mounting device is a device for mounting, to a hand tip of a robot, a vibration tool which has a handle part capable of being gripped by a human hand and in which vibration is generated in operation. The mounting device comprises: a base member which is mounted on the hand tip pf the robot; and a holding member which is mounted on the base member and can hold the handle part. The holding member has: a peripheral part which is provided in the periphery of the handle part; and a vibration-proof part which is provided inside the peripheral part to constitute a portion contacting the handle part, and is constituted of elastically deformable members to absorb vibration generated in the vibration tool, so as to suppress the vibration from being transmitted to the robot.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] An embodiment of the present invention relates to an apparatus for mounting an oscillation tool to a robot. [Background technology]

[0002] 2. Description of the Related Art Conventionally, when performing molding, deburring, or the like using a robot, a vibrating tool that generates large vibrations during use, such as a disc grinder, may be attached to the hand of the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 3-104464 Summary of the Invention [Problem to be solved by the invention]

[0004] If a vibration-generating tool is attached directly to the robot's hand, the vibration and reaction force of the vibration tool are directly transmitted to the robot. This can cause the robot to resonate and break down. In addition, the vibration and reaction force make it difficult to maintain a constant force acting on the workpiece, which can result in a decrease in machining accuracy.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and its object is to provide a device for attaching an vibration tool to a robot that can effectively suppress vibrations transmitted to the robot. [Means for solving the problem]

[0006] The mounting device for a vibration tool to a robot according to the embodiment is a mounting device for mounting a vibration tool having a handle part that can be held by a human hand and generating vibrations during operation to the hand of a robot. The mounting device includes a base member that is mounted to the hand of the robot, and a holding member that is mounted to the base member and capable of holding the handle part. The holding member has a peripheral part provided around the handle part, and a vibration-proof part that is provided inside the peripheral part and forms a part that contacts the handle part, is made of an elastically deformable material, and absorbs vibrations generated in the vibration tool and suppresses the transmission of the vibrations to the robot. [Brief description of the drawings]

[0007] [Figure 1] FIG. 13 is a diagram showing an example in which the attachment device according to the embodiment is attached to the hand of a robot; [Diagram 2] FIG. 13 is a diagram illustrating an example in which the attachment device according to the embodiment is detached from the hand of the robot. [Diagram 3] FIG. 1 illustrates a mounting device according to one embodiment. [Figure 4] FIG. 4 is a view showing the mounting device according to the embodiment from the direction of the arrow X4 in FIG. 3. [Diagram 5] FIG. 5 is a cross-sectional view of the mounting device according to the embodiment taken along the line X5-X5 in FIG. [Figure 6] FIG. 4 is a cross-sectional view of the mounting device according to the embodiment taken along the line X6-X6 of FIG. [Figure 7] FIG. 7 is a diagram showing a mounting device according to an embodiment in a removed state from the state shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, the device for mounting the vibration tool to the robot will be described with reference to the drawings. In the following description, the device for mounting the vibration tool to the robot will be simply referred to as the mounting device.

[0009] 1 and 2 is an attachment device for attaching an oscillation tool 80 to a hand of a robot 90. The attachment device 10 is attached to, for example, a hand 91 of the robot 90 and has a function of detachably holding the oscillation tool 80. The robot 90 can be, for example, a vertical multi-joint robot having a multi-joint robot arm. The robot 90 may also be, for example, a horizontal multi-joint robot, a parallel link robot, or an orthogonal robot.

[0010] The vibration tool 80 is assumed to be a tool that generates large vibrations during use, such as a disc grinder, an impact driver, or a hammer drill. The vibration tool 80 may be one that is designed to be held by a person. In this case, the vibration tool 80 includes, for example, a handle 81. A worker can hold the handle 81 in his or her hand to use the tool.

[0011] 3 to 7, the attachment device 10 includes a base member 11 and a holding member 20. In the present embodiment, the attachment device 10 includes two sets of holding members 20 for one base member 11. The number of holding members 20 can be appropriately adjusted according to the length dimension of the handle portion 81 of the vibration tool 80 to be subjected to the attachment device 10.

[0012] The base member 11 is made of, for example, a plate member made of metal or rigid resin, and is attached to a hand 91 of the robot 90. The holding member 20 is detachably attached to the base member 11, and is configured to be able to hold a handle portion 81 of the vibration tool 80.

[0013] In this embodiment, the holding member 20 has two holding members 201, 202, in this case, a first holding member 201 and a second holding member 202. That is, the first holding member 201 and the second holding member 202 configure one set of holding members 20. As shown in Fig. 4 to Fig. 6, the attachment device 10 is fixed to the base member 11 in a state in which the handle portion 81 is sandwiched and held by the first holding member 201 and the second holding member 202.

[0014] The first holding member 201 has a first peripheral portion 211, a first fixing portion 221, a first vibration-isolating portion 231, and a joint portion 24. The first peripheral portion 211 is provided so as to surround a part of the periphery of the handle portion 81, and has a function of maintaining the shape of the first holding member 201. The first peripheral portion 211 is formed, for example, by bending a metal plate material along the outer periphery of the handle portion 81 into a U-shape with the hand tip 91 side open as shown in FIG.

[0015] The first fixing portion 221 is for fixing the first vibration-proofing portion 231 to the first peripheral portion 211. The first fixing portion 221 is arranged along the first peripheral portion 211, for example, as shown in FIG. 6. The first fixing portion 221 is configured as a long rod shape as a whole. And, as shown in FIG. 5, the first fixing portion 221 has a groove portion M1 on one side surface, in this case, the outer surface. The first fixing portion 221 is attached to the first peripheral portion 211 by, for example, gripping the plate-shaped first peripheral portion 211 in the groove portion M1. That is, the first peripheral portion 211 is inserted into the groove portion M1 of the first fixing portion 221. In this case, in a state where the first peripheral portion 211 is held by the first fixing portion 221, the center portion in the width direction of the first peripheral portion 211 is exposed to the outside.

[0016] The first vibration-proofing part 231 is provided on the inside of the first peripheral part 211 and constitutes a part that comes into contact with the handle part 81 when the vibration tool 80 is held. As shown in Figs. 4 and 6, the first vibration-proofing part 231 is formed in a shape that protrudes from the inner surface of the first peripheral part 211 inward, i.e., toward the handle part 81. When viewed from the center side of the first peripheral part 211 toward the outside, the first vibration-proofing part 231 is formed in an elliptical shape that is long in the width direction of the first peripheral part 211. In other words, the first vibration-proofing part 231 is formed in a protruding shape that is an ellipse when viewed in a plan view. The first vibration-proofing parts 231 are arranged at predetermined intervals in the circumferential direction of the first peripheral part 211.

[0017] The joint 24 is for fixing the first holding member 201 and the second holding member 202 to the base member 11. The joint 24 is formed of, for example, a bolt, and has a male thread portion 241. The male thread portion 241 of the joint 24 protrudes from both ends of the U-shape of the first peripheral portion 211 toward the base member 11. The joint 24 is fixed to both outer parts of the first peripheral portion 211, that is, to the outer surfaces of the parts that extend linearly in the U-shape. When the first peripheral portion 211 is made of, for example, metal, the joint 24 can be fixed to the first peripheral portion 211 by, for example, welding. As shown in FIG. 6, the base member 11 is formed with a hole H1 for passing the joint 24 through.

[0018] The second holding member 202 has a second peripheral portion 212, a second fixing portion 222, and a second vibration isolating portion 232. The second peripheral portion 212 is provided so as to surround a part of the periphery of the handle portion 81, and has a function of maintaining the shape of the second holding member 202. The second peripheral portion 212 is made of, for example, a metal plate material, similar to the first peripheral portion 211. The second peripheral portion 212 is made in the shape of a flat rectangular plate having a length spanning both ends of the first peripheral portion 211. The first peripheral portion 211 and the second peripheral portion 212 surround the entire outer periphery of the handle portion 81.

[0019] The second fixing portion 222 is for fixing the second vibration-proofing portion 232 to the second peripheral portion 212. The second fixing portion 222 is arranged along the second peripheral portion 212, for example, as shown in FIG. 6. The second fixing portion 222 is configured as a long rod shape as a whole. As shown in FIG. 5, the second fixing portion 222 has a groove portion M2 on one side surface, in this case, the outer surface. As shown in FIG. 5, the second fixing portion 222 is attached to the second peripheral portion 212 by, for example, gripping the plate-shaped second peripheral portion 212 in the groove portion M2. That is, the second peripheral portion 212 is inserted into the groove portion M2 of the second fixing portion 222. In this case, in a state in which the second peripheral portion 212 is held by the second fixing portion 222, the center portion in the width direction of the second peripheral portion 212 is exposed to the outside. In addition, the second fixing portion 222 has a hole H2 for passing the joint portion 24 therethrough, as shown in FIG. 7.

[0020] The second vibration-proofing part 232, like the first vibration-proofing part 231, is provided on the inside of the second peripheral part 212 and constitutes a part that comes into contact with the handle part 81 when the vibration tool 80 is held. As shown in Figs. 4 and 6, the second vibration-proofing part 232 is formed in a shape that protrudes from the inner surface of the second peripheral part 212 inward, i.e., toward the handle part 81. When viewed from the center side of the second peripheral part 212 toward the outside, the second vibration-proofing part 232 is formed in an elliptical shape that is long in the width direction of the second peripheral part 212, like the first vibration-proofing part 231. That is, the second vibration-proofing part 232 is formed in a protruding shape that is an ellipse when viewed in a plan view. The second vibration-proofing part 232 is disposed at a predetermined interval toward the longitudinal direction of the second peripheral part 212. As a result, the first vibration-proofing part 231 and the second vibration-proofing part 232 are provided over the entire circumferential area of ​​the outer surface of the handle part 81.

[0021] Each of the vibration-proof parts 231, 232 is made of an elastically deformable material. Therefore, each of the vibration-proof parts 231, 232 is elastically deformed in response to vibration of the vibration tool 80, and can absorb vibrations generated in the vibration tool 80. As a result, each of the vibration-proof parts 231, 232 suppresses the vibrations generated in the vibration tool 80 from being transmitted to the robot 90 via each of the fixing parts 221, 222 and each of the peripheral parts 211, 212.

[0022] Each of the vibration-proof parts 231, 232 is configured to be more easily elastically deformed than each of the surrounding parts 211, 212 and each of the fixed parts 221, 222. In other words, each of the surrounding parts 211, 212 and each of the fixed parts 221, 222 is configured to be less easily elastically deformed than each of the vibration-proof parts 231, 232. In this case, each of the vibration-proof parts 231, 232 is configured to be more easily elastically deformed than each of the fixed parts 221, 222 by making them into a protruding shape arranged at a predetermined interval. Also, each of the vibration-proof parts 231, 232 is configured to be more easily elastically deformed than each of the metal surrounding parts 211, 212 by making them out of a rubber material.

[0023] That is, the peripheral parts 211, 212 and the vibration-proof parts 231, 232 can be made of rubber. In this embodiment, the fixed parts 221, 222 and the vibration-proof parts 231, 232 are integrally formed from rubber. In this case, integral formation means that they are seamlessly integrated by, for example, injection molding. The fixed parts 221, 222 and the vibration-proof parts 231, 232 can be made of, for example, urethane rubber, nitrile rubber, chloroprene rubber, ethylene rubber, butyl rubber, fluororubber, silicone rubber, or the like.

[0024] Here, if the vibration-proofing parts 231, 232 are too hard, they cannot adequately absorb the vibrations generated by the vibration tool 80. On the other hand, if the vibration-proofing parts 231, 232 are too soft, they cannot hold the vibration tool 80 firmly, and appropriate processing cannot be performed. Therefore, the hardness of the rubber used for the fixing parts 221, 222 and the vibration-proofing parts 231, 232 is preferably within the range of Shore A50 to Shore A95, and more preferably within the range of Shore A70 to Shore A90. Note that the hardness of the rubber used for the fixing parts 221, 222 and the vibration-proofing parts 231, 232 is not limited to the above.

[0025] An operator can attach the vibration tool 80 to the hand 91 of the robot 90 using the attachment device 10 as follows. First, as shown in Fig. 7, the operator places the handle 81 inside the first holding member 201 and the second holding member 202, and passes the joint 24 of the first holding member 201 through the hole H2 of the second fixing portion 222 and the hole H1 of the base member 11. Then, the male threaded portion 241 protruding from the hole H1 of the base member 11 is screwed into the nut 25 corresponding to the male threaded portion 241.

[0026] When the nut 25 is tightened, the first holding member 201 approaches the base member 11. Then, with the handle portion 81 sandwiched between the first holding member 201 and the second holding member 202, the first holding member 201 presses the second holding member 202 toward the base member 11. As a result, the mounting device 10 is attached to the hand 91 of the robot 90 while holding the handle portion 81. Note that the worker can separate the first holding member 201 and the second holding member 202 from the base member 11 by loosening the nut 25, thereby removing the vibration tool 80 from the hand 91 of the robot 90.

[0027] According to the embodiment described above, the attachment device 10 is a device for attaching the vibration tool 80, which has a handle part 81 that can be held by a human hand and generates vibrations during operation, to the hand 91 of the robot 90. The attachment device 10 includes a base member 11 and holding members 201 and 202. The base member 11 is attached to the hand 91 of the robot 90. The holding members 201 and 202 are attached to the base member 11 and configured to be able to hold the handle part 81. The holding members 201 and 202 include surrounding parts 211 and 212 provided around the handle part 81, and vibration-proof parts 231 and 232. The vibration-proof parts 231 and 232 are provided inside the surrounding parts 211 and 212, respectively, and constitute a part that comes into contact with the handle part 81. Each of the vibration isolating parts 231 , 232 is made of an elastically deformable material and has the function of absorbing vibrations generated in the vibration tool 80 and suppressing the transmission of the vibrations to the robot 90 .

[0028] According to this, the vibration isolating parts 231, 232 absorb the vibrations generated in the vibration tool 80, and therefore the vibrations generated in the vibration tool 80 can be effectively prevented from being transmitted to the robot 90. Furthermore, according to the above embodiment, the attachment device 10 can attach the vibration tool 80, which is designed to be held by a person, to the hand 91 of the robot 90. Therefore, it is not necessary to prepare a dedicated vibration tool 80 for attachment to the robot 90, and therefore the processing cost using the robot 90 can be reduced.

[0029] Each of the vibration-proof parts 231, 232 is provided over the entire circumferential area of ​​the outer surface of the handle part 81. With this, each of the vibration-proof parts 231, 232 can more effectively absorb vibrations generated in the vibration tool 80 while firmly holding the entire outer periphery of the handle part 81, and can suppress transmission of vibrations to the robot 90.

[0030] The mounting device 10 further includes fixing parts 221 and 222. The fixing parts 221 and 222 have a function of fixing the vibration-proof parts 231 and 232 to the surrounding parts 211 and 212. Here, if vibrations received by the vibration-proof parts 231 and 232 are transmitted to the fixing parts 221 and 222, there is a risk that the vibrations will be transmitted to the robot 90 via the surrounding parts 211 and 212. Therefore, in this embodiment, the vibration-proof parts 231 and 232 are configured to be more easily elastically deformed than the fixing parts 221 and 222. In other words, the fixing parts 221 and 222 are configured to be less easily elastically deformed than the vibration-proof parts 231 and 232.

[0031] As a result, the vibrations of the vibrating tool 80 are reliably absorbed by each vibration-damping section 231, 232, which are easily elastically deformed, while the fixing sections 221, 222, which are less susceptible to elastic deformation, can more effectively prevent the vibrations received by each vibration-damping section 231, 232 from being transmitted to the robot 90 via the surrounding sections 211, 212.

[0032] Here, each of the vibration-proofing parts 231, 232 is repeatedly subjected to large vibrations from the vibration tool 80. Therefore, stress due to vibrations is likely to concentrate at the boundary between each of the vibration-proofing parts 231, 232 and each of the fixed parts 221, 222. Therefore, in this embodiment, each of the vibration-proofing parts 231, 232 and each of the fixed parts 221, 222 are integrally formed from a rubber material. According to this, it is possible to eliminate the joints at the boundary between each of the vibration-proofing parts 231, 232 and each of the fixed parts 221, 222, so that the strength of the boundary can be improved, and as a result, even if stress is concentrated, damage can be avoided as much as possible. In addition, by integrating each of the vibration-proofing parts 231, 232 and each of the fixed parts 221, 222, the number of parts can be reduced, and as a result, the manufacturing cost of the attachment device 10 can be reduced.

[0033] The fixing parts 221, 222 and the vibration-proof parts 231, 232 may be made of different materials. The vibration-proof parts 231, 232 do not necessarily have to be made of rubber, and may be made of any material that can absorb vibration, such as felt or cloth.

[0034] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, and other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure. [Explanation of symbols]

[0035] Reference Signs List 10... mounting device, 11... base member, 20... holding member, 201... first holding member, 202... second holding member, 211... first peripheral portion, peripheral portion, 212... second peripheral portion, peripheral portion, 221... first fixed portion, fixed portion, 222... second fixed portion, fixed portion, 231... first vibration-proof portion, vibration-proof portion, 232... second vibration-proof portion, vibration-proof portion, 80... vibration tool, 81... handle portion, 90... robot, 91... hand

Claims

1. A mounting device for mounting an vibration tool having a handle that can be held by a human hand and that generates vibrations when operated, to a hand of a robot, A base member attached to a hand of the robot; a holding member attached to the base member and capable of holding the handle portion, The holding member is A peripheral portion provided around the handle portion; a vibration isolating section provided inside the peripheral section to form a section in contact with the handle section, the vibration isolating section being made of an elastically deformable material and absorbing vibrations generated in the vibration tool to suppress transmission of the vibrations to the robot; A device for mounting an oscillating tool on a robot.

2. The vibration-proof portion is provided over the entire circumferential area of ​​the outer surface of the handle portion. The mounting device of claim 1 .

3. A fixing portion for fixing the vibration isolating portion to the peripheral portion is further provided, The vibration-proof portion is configured to be more easily elastically deformed than the fixed portion. The device for mounting an oscillation tool to a robot according to claim 1.

4. The vibration-proof part and the fixed part are integrally formed from a rubber material. The device for mounting an oscillation tool to a robot according to claim 3.

Images