Robot tool holding structure

Abstract

To provide a holding structure of a tool for a robot capable of improving replacement workability of the tool for the robot, and capable of replacing the tool for the robot by the robot while restraining complication of design and an increase in cost.SOLUTION: A robot tool holding structure includes a robot tool 10 and a tool holding device 50, and the robot tool 10 includes a movable unit 21, a control unit 24 that controls the movable unit 21, and a first non-contact communication unit 22. The tool holding device 50 is provided on the arm portion 31 of the robot 30, has the second non-contact communication unit 56, and is configured to fixedly hold the robot tool 10 in a state in which non-contact communication between the first non-contact communication unit 22 and the second non-contact communication unit 56 is possible by the fixed lower gripper 51 and the movable upper gripper 53 gripping the rear end side portion of the tool shaft 11, the first shaft portion 12, and the second shaft portion 13 of the robot tool 10.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a holding structure for a robot tool. [Background technology]

[0002] Generally, a robot tool is attached to the arm of an industrial robot (hereinafter simply referred to as "robot"). The robot tool is often replaced depending on the type of work the robot is to perform, and a tool changer is known as a device that makes it easy to replace the robot tool. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-279566 Summary of the Invention [Problem to be solved by the invention]

[0004] Some robot tools require the transmission of signals to and from the robot, and such robot tools are typically connected to the robot via a connector when attached to the robot (or its arm). However, this structure requires disconnecting and connecting the connector every time the robot tool is replaced, which does not make the robot tool replacement workable. Furthermore, when the robot is used to replace the robot tool, including disconnecting and connecting the connector, high-precision position control is required, which could lead to complex designs and increased costs.

[0005] The present invention aims to provide a holding structure for a robot tool that can improve the ease of replacing a robot tool and enable the robot to replace the robot tool while suppressing the complexity of the design and the increase in costs. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a novel holding structure for a robot tool, the holding structure for a robot tool including a movable part, a control part for controlling the movable part, and a first non-contact communication part, and a tool holding device provided on an arm part of a robot, the tool holding device having a second non-contact communication part, and configured to fixedly hold the robot tool by gripping a gripped part of the robot tool, the tool holding device capable of contactless communication between the first non-contact communication part and the second non-contact communication part. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a holding structure for a robot tool that can improve the ease of replacing a robot tool and enable the robot to replace the robot tool while suppressing the complexity of the design and the increase in costs. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of a main part of a holding structure (robot tool, tool holding device) for a robot tool according to an embodiment. [Figure 2] FIG. 2 is a perspective view of a rear end portion of the robot tool as viewed from behind. [Figure 3] FIG. [Figure 4] FIG. 2 is a functional block diagram of a holding structure for a robot tool. [Figure 5] 1A and 1B show the state before the tool holding device fixes and holds the robot tool, where FIG. 1A is a plan view and FIG. 1B is a side view with some parts omitted. [Figure 6] 1A and 1B show a state in which the tool holding device has moved to fix and hold a robot tool, where FIG. 1A is a plan view and FIG. 1B is a side view with some parts omitted. [Figure 7] 1A and 1B show a state in which the tool holding device fixedly holds a robot tool, where FIG. 1A is a plan view and FIG. 1B is a side view with some parts omitted. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0010] FIG. 1 is a perspective view of a main part of a holding structure for a robot tool according to an embodiment of the present invention. The holding structure for a robot tool according to the embodiment includes a robot tool 10 and a tool holding device 50 provided at the tip of an arm unit 31 of a robot 30. Here, with regard to the robot tool 10 and the robot 30, FIG. 1 only shows a portion thereof (the rear end portion of the robot tool 10 and the tip portion of the arm unit 31). Furthermore, the arm unit 31 includes a plurality of joints (not shown), each equipped with an electric actuator, and is configured to be able to change the position, posture, etc. of the tool holding device 50 provided at the tip of the arm unit 31. The arm unit 31 is also sometimes referred to as a robot arm.

[0011] The robot tool 10 may be any of various tools selected depending on the work to be performed by the robot 30. Although not particularly limited, if the work to be performed by the robot 30 is painting at high altitudes, such as painting a steel tower, the robot tool 10 may be a "painting tool." Furthermore, if the work to be performed by the robot 30 is felling trees and branches in high altitudes or difficult locations, the robot tool 10 may be a "felling tool."

[0012] FIG. 2 is a perspective view of the rear end portion of the robot tool 10 as viewed from the rear (the tool holding device 50 side in FIG. 1). In this embodiment, the robot tool 10 has a hollow tool shaft 11 extending in the front-rear direction. The robot tool 10 also has a first shank 12 and a second shank 13 extending parallel to each other in the left-right direction. The tool shaft 11, the first shank 12, and the second shank 13 each have high rigidity. The first shank 12 extends through a first predetermined portion at the rear end of the tool shaft 11. The second shank 13 is formed longer than the first shank 12 and extends through a second predetermined portion of the tool shaft 11 rearward of the first predetermined portion. In other words, the first shank 12 and the second shank 13 are spaced apart from each other in the front-rear direction at the rear end of the robot tool 10 and extend parallel to each other in the left-right direction.

[0013] A pair of left and right side plates (left plate 14L, right plate 14R) are fixed to both ends of the first shaft portion 12 and the second shaft portion 13. Specifically, the upper part of the middle portion of the left plate 14L in the front-to-rear direction is fixed to the left end of the first shaft portion 12 and the left end of the second shaft portion 13, and the upper part of the middle portion of the right plate 14R in the front-to-rear direction is fixed to the right end of the first shaft portion 12 and the right end of the second shaft portion 13. Here, as described above, the second shaft portion 13, which is located behind the first shaft portion 12, is formed longer than the first shaft portion 12. Therefore, the left plate 14L and the right plate 14R are arranged so that the distance between them gradually increases toward the rear (conversely, the distance between them gradually decreases toward the front).

[0014] Furthermore, a plate-shaped connecting member 15 is provided in front of the first shaft 12, connecting the front portion of the left side plate 14L and the front portion of the right side plate 14R. The connecting member 15 is formed as a plate-shaped member that has a width smaller than the length of the first shaft 12 and extends in the vertical direction. The left side surface of the connecting member 15 is fixed to the left side plate 14L, and the right side surface of the connecting member 15 is fixed to the right side plate 14R. A U-shaped notch 15a is formed in the upper part of the connecting member 15, through which the tool shaft 11 passes.

[0015] FIG. 3 is a perspective view of a tool holding device 50. In this embodiment, the tool holding device 50 has a lower gripper (hereinafter referred to as a "fixed lower gripper") 51 that does not move, and an upper gripper (hereinafter referred to as a "movable upper gripper") 53 that is driven (moves) by an electric actuator 52. The electric actuator 52 is configured to be able to drive the movable upper gripper 53 in a direction toward the fixed lower gripper 51 and a direction away from the fixed lower gripper 51. The fixed lower gripper 51 and the movable upper gripper 53 are formed so that their widths gradually narrow toward their leading ends (front ends) to correspond to the left and right side plates 14L and 14R of the robot tool 10, i.e., the left and right side plates 14L and 14R that are provided so that the distance between them gradually narrows toward the front. Furthermore, although not particularly limited, in this embodiment, each of the fixed lower gripper 51 and the movable upper gripper 53 is formed by joining multiple parts.

[0016] The tool holding device 50 is configured to grip the rear end portion, first shaft portion 12, and second shaft portion 13 of the tool shaft 11 of the robot tool 10 from above and below when the movable upper gripper 53 approaches the fixed lower gripper 51, thereby fixing and holding the robot tool 10. The tool holding device 50 is also configured to release the grip of the rear end portion, first shaft portion 12, and second shaft portion 13 of the tool shaft 11 of the robot tool 10 when the movable upper gripper 53 moves away from the fixed lower gripper 51, thereby releasing the fixedly held robot tool 10.

[0017] More specifically, in this embodiment, a lower pad member 54 is fixed to the upper surface of the fixed lower gripper 51 of the tool holding device 50, and an upper pad member 55 is fixed to the lower surface of the movable upper gripper 53 of the tool holding device 50. The upper surface of the lower pad member 54 and the lower surface of the upper pad member 55 face each other. Although not particularly limited, the lower pad member 54 and the upper pad member 55 are preferably made of, for example, resin, and are removably (replaceably) fixed to the upper surface of the fixed lower gripper 51 and the lower surface of the movable upper gripper 53.

[0018] A first lower engagement groove 54a that can engage with a lower portion of the outer circumferential surface of the rear end portion of the tool shaft 11 of the robot tool 10 is formed on the upper surface of the lower pad member 54. The first lower engagement groove 54a extends in the front-rear direction through the center in the left-right direction of the lower pad member 54 (fixed lower gripper 51), and has a shape complementary to the lower portion of the outer circumferential surface of the rear end portion of the tool shaft 11 of the robot tool 10.

[0019] Further, a second lower engagement groove 54b engageable with a lower portion of the outer peripheral surface of the first shank 12 of the robot tool 10, and a third lower engagement groove 54c engageable with a lower portion of the outer peripheral surface of the second shank 13 of the robot tool 10 are formed on the upper surface of the lower pad member 54. The second lower engagement groove 54b extends in the left-right direction, intersecting the first lower engagement groove 54a, and has a shape complementary to the lower portion of the outer peripheral surface of the first shank 12 of the robot tool 10. The third lower engagement groove 54c is formed rearward of the second lower engagement groove 54b, extends in the left-right direction, intersecting the first lower engagement groove 54a, and has a shape complementary to the lower portion of the outer peripheral surface of the second shank 13 of the robot tool 10.

[0020] A first upper engagement groove 55a that can engage with an upper portion of the outer circumferential surface of the rear end portion of the tool shaft 11 of the robot tool 10 is formed on the lower surface of the upper pad member 55. The first upper engagement groove 55a extends in the front-rear direction through the center in the left-right direction of the upper pad member 55 (movable upper gripper 53) so as to correspond to the first lower engagement groove 54a of the lower pad member 54, and has a shape complementary to the upper portion of the outer circumferential surface of the rear end portion of the tool shaft 11 of the robot tool 10.

[0021] Further, a second upper engagement groove 55b engageable with an upper portion of the outer peripheral surface of the first shank 12 of the robot tool 10 and a third upper engagement groove 55c engageable with an upper portion of the outer peripheral surface of the second shank 13 of the robot tool 10 are formed on the lower surface of the upper pad member 55. The second upper engagement groove 55b extends in the left-right direction intersecting the first upper engagement groove 55a so as to correspond to the second lower engagement groove 54b of the lower pad member 54, and has a shape complementary to the upper portion of the outer peripheral surface of the first shank 12 of the robot tool 10. The third upper engagement groove 55c is formed rearward of the second upper engagement groove 55b and extends in the left-right direction intersecting the first upper engagement groove 55a so as to correspond to the third lower engagement groove 54c of the lower pad member 54, and has a shape complementary to the upper portion of the outer peripheral surface of the second shank 13 of the robot tool 10.

[0022] When the tool holding device 50 (fixed lower gripper 51, movable upper gripper 53) grips the rear end portion of the tool shaft 11, the first shaft portion 12, and the second shaft portion 13 of the robot tool 10, the first lower engagement groove 54a of the lower pad member 54 engages with the lower portion of the outer circumferential surface of the rear end portion of the tool shaft 11, the second lower engagement groove 54b of the lower pad member 54 engages with the lower portion of the outer circumferential surface of the first shaft portion 12, and The third lower engagement groove 54c of the pad member 54 engages with the lower portion of the outer peripheral surface of the second shaft portion 13, the first upper engagement groove 55a of the upper pad member 55 engages with the upper portion of the outer peripheral surface of the rear end portion of the tool shaft 11, the second upper engagement groove 55b of the upper pad member 55 engages with the upper portion of the outer peripheral surface of the first shaft portion 12, and the third upper engagement groove 55c of the upper pad member 55 engages with the upper portion of the outer peripheral surface of the second shaft portion 13.

[0023] Therefore, by the tool holding device 50 (fixed lower gripper 51, movable upper gripper 53) grasping the rear end portion, first shaft portion 12 and second shaft portion 13 of the tool shaft 11 of the robot tool 10, the robot tool 10 and the tool holding device 50 can be positioned relative to each other and the robot tool 10 can be firmly fixed and held by the tool holding device 50.

[0024] 4 is a functional block diagram of the holding structure for a robot tool according to the embodiment. Referring to FIG. 4, the robot tool 10 further includes a movable part 21, a first non-contact communication part 22, a first memory 23, a control part 24, and a tool battery 25.

[0025] The movable unit 21 includes components and / or devices that can be operated by a control signal. For example, if the robot tool 10 is the "painting tool," the movable unit 21 may include, but is not limited to, an electric paint pump that pumps paint, an electric spray gun that sprays the pumped paint onto the object to be painted, and an electric paint brush that evens out the paint on the object to be painted. Furthermore, for example, if the robot tool 10 is the "tree felling tool," the movable unit 21 may include, for example, an electric hand that grips trees and branches, an electric saw that cuts trees and branches, and the like.

[0026] Although not shown in FIGS. 1 and 2, in this embodiment, the movable part 21 is provided on the front end side of the robot tool 10, that is, on the front end side of the tool shaft 11.

[0027] The first non-contact communication unit 22 is capable of non-contact communication with a corresponding non-contact communication unit, specifically, a second non-contact communication unit 56 of the tool holding device 50, which will be described later. In this embodiment, the first non-contact communication unit 22 is formed, for example, by housing the communication unit main body in a dustproof and waterproof case, and is therefore dustproof and waterproof. In this embodiment, the first non-contact communication unit 22 is attached to the rear surface of the connecting member 15 so as to face the space between the left side plate 14L and the right side plate 14R, which is located below the first shaft portion 12 and the second shaft portion 13 (see FIG. 2).

[0028] The first memory 23 stores various types of information related to the robot tool 10. The various types of information include identification information of the robot tool 10.

[0029] The control unit 24 can control the movable unit 21 by outputting a control signal to the movable unit 21. The control signal includes an operation signal that causes the movable unit 21 to operate and a stop signal that causes the movable unit 21 to stop.

[0030] The control unit 24 can also transmit and receive signals via the first non-contact communication unit 22. For example, the control unit 24 can transmit a signal including identification information of the robot tool 10 or a signal including status information of the robot tool 10 to a second non-contact communication unit 56 of the tool holding device 50, which will be described later, via the first non-contact communication unit 22.

[0031] Although not shown in Figures 1 and 2, the control unit 24 is provided near the movable unit 21, i.e., on the tip side of the robot tool 10 (tool shaft 11), and the first non-contact communication unit 22 and the control unit 24 are connected, for example, via a signal line (not shown) arranged inside the tool shaft 11.

[0032] The tool battery 25 is a power source for the robot tool 10, and supplies power to each part of the robot tool 10 via a power supply line (not shown). The tool battery 25 can be placed in any location.

[0033] Referring again to FIG. 4, the tool holding device 50 further includes a second non-contact communication unit 56 .

[0034] The second non-contact communication unit 56 is capable of non-contact communication with a corresponding non-contact communication unit, specifically, the first non-contact communication unit 22 of the robot tool 10. In this embodiment, similar to the first non-contact communication unit 22, the second non-contact communication unit 56 is configured such that, for example, the communication unit main body is housed in a dustproof and waterproof case, and is therefore dustproof and waterproof. Also, in this embodiment, the second non-contact communication unit 56 is disposed at the tip (front end) of the fixed lower gripper 51 of the tool holding device 50 (see FIG. 3). Note that a protective cover (not shown) that covers the second non-contact communication unit 56 may be provided at the tip (front end) of the fixed lower gripper 51.

[0035] Here, although not particularly limited, the first non-contact communication unit 22 of the robot tool 10 and the second non-contact communication unit 56 of the tool holding device 50 may constitute a so-called remote coupler system, with the second non-contact communication unit 56 of the tool holding device 50 being the base unit of the remote coupler system and the first non-contact communication unit 22 of the robot tool 10 being the remote unit of the remote coupler system. Furthermore, in this embodiment, the first non-contact communication unit 22 and the second non-contact communication unit 56 are configured to perform serial communication in a non-contact manner.

[0036] Referring again to FIG. 4, the robot 30 has, in addition to the arm portion 31 and the tool holding device 50 provided at the tip of the arm portion 31, an input device 60, a second memory 70, a control device 80, and a robot battery 90.

[0037] The input device 60 is a device through which an operator inputs instructions to the arm unit 31, the tool holding device 50 and / or the robot tool 10 in order to operate the arm unit 31, the tool holding device 50 and / or the robot tool 10. Although not particularly limited, in this embodiment, the input device 60 includes an arm operation unit 61 through which the operator inputs instructions to the arm unit 31, a switch 62 through which the operator inputs instructions to the tool holding device 50, and at least one operation button 63 through which the operator inputs instructions to the robot tool 10.

[0038] The second memory 70 stores various programs and various data for operating the arm unit 31, the tool holding device 50 and / or the robot tool 10.

[0039] Output signals from various sensors 100 are input to the control device 80. The various sensors 100 include a tool detection sensor that detects whether the tool holding device 50 is holding the robot tool 10, an angle sensor that detects the angle (joint angle) of each joint of the arm unit 31, and a torque sensor that detects the torque acting on each joint of the arm unit 31 (each joint torque).

[0040] The control device 80 is capable of controlling the arm section 31 based on instructions input by the operator via the arm operation section 61 of the input device 60. Specifically, in this embodiment, the control device 80 is capable of operating the arm section 31 in accordance with the operation of the arm operation section 61 by the operator. The control device 80 is also capable of feeding back force information applied to the arm section 31 of the robot 30, such as the torque of each joint, to the operator. In other words, the control device 80 is configured to be capable of performing bilateral control.

[0041] In addition, the control device 80 is configured to operate the electric actuator 52 so that the movable upper gripper 53 of the tool holding device 50 approaches the fixed lower gripper 51 when the operator turns the switch 62 ON, and to operate the electric actuator 52 so that the movable upper gripper 53 of the tool holding device 50 moves away from the fixed lower gripper 51 when the operator turns the switch 62 OFF.

[0042] Furthermore, the control device 80 can transmit and receive signals via the second non-contact communication unit 56. For example, the control device 80 can transmit an instruction to the robot tool 10, which is an instruction corresponding to the operation button 63 operated by the operator, to the first non-contact communication unit 22 of the robot tool 10 via the second non-contact communication unit 56 of the tool holding device 50. Furthermore, the control device 80 can transmit an instruction to the robot tool 10, which is an instruction corresponding to the operation button 63 operated by the operator, to the control unit 24 of the robot tool 10 via the second non-contact communication unit 56 of the tool holding device 50 and the first non-contact communication unit 22 of the robot tool 10. Note that the instruction to the robot tool 10 can include an operation instruction to operate the movable part 21 of the robot tool 10 and a stop instruction to stop the operation of the movable part 21 of the robot tool 10.

[0043] The robot battery 90 is a power source for the robot 30, and supplies power to each device of the robot 30 via a power supply line (not shown).

[0044] Next, the operation of the robot tool holding structure according to the embodiment will be described.

[0045] FIG. 5 shows a state before the tool holding device 50 fixes and holds the robot tool 10. FIG. 5(a) is a plan view, and FIG. 5(b) is a side view with some parts omitted. In FIG. 5, the robot tool 10 is prepared in a predetermined position (for example, on a tool exchange table), and the tool holding device 50 is located away from the robot tool 10. In addition, in the tool holding device 50, the movable upper gripper 53 is located away from the fixed lower gripper 51.

[0046] Figure 6 shows a state in which the tool holding device 50 has moved to fix and hold the robot tool 10. Figure 6(a) is a plan view, and Figure 6(b) is a side view with some parts omitted. The operator operates the arm operating unit 61 as appropriate, causing the arm unit 31 of the robot 30 to operate, and the tool holding device 50 provided at the tip of the arm unit 31 to move to a position to fix and hold the robot tool 10.

[0047] Specifically, as the arm unit 31 moves in accordance with the operation of the arm operating unit 61 by the operator, the fixed lower gripper 51 of the tool holding device 50 enters from the rear into the space between the left side plate 14L and the right side plate 14R of the robot tool 10. Further, as the arm unit 31 moves further thereafter, the tool holding device 50 moves to a position where the first lower engagement groove 54a of the lower pad member 54 engages with a lower portion of the outer circumferential surface of the rear end portion of the tool shaft 11, the second lower engagement groove 54b of the lower pad member 54 engages with a lower portion of the outer circumferential surface of the first shank 12 of the robot tool 10, and the third lower engagement groove 54c of the lower pad member 54 engages with a lower portion of the outer circumferential surface of the second shank 13 of the robot tool 10. Furthermore, by engaging these three points, the second non-contact communication unit 56 located at the tip (front end) of the fixed lower gripper 51 is positioned so as to be able to communicate non-contact with the first non-contact communication unit 22 of the robot tool 10, and more specifically, is positioned so as to be opposite and close to the first non-contact communication unit 22 of the robot tool 10 (see Figure 6(b)).

[0048] As described above, the fixed lower gripper 51 (and the movable upper gripper 53) is formed so that its width gradually narrows toward the tip (front end) to correspond to the left side plate 14L and right side plate 14R of the robot tool 10, i.e., the left side plate 14L and right side plate 14R that are provided so that the distance between them gradually narrows toward the front. Therefore, the left side plate 14L and right side plate 14R function as guides for the fixed lower gripper 51, and the fixed lower gripper 51 can easily and stably enter the space between the left side plate 14L and right side plate 14R of the robot tool 10 and move within the space between the left side plate 14L and right side plate 14R of the fixed lower gripper 51.

[0049] FIG. 7 shows a state in which the tool holding device 50 securely holds the robot tool 10. FIG. 7(a) is a plan view, and FIG. 7(b) is a side view with some components omitted. After the tool holding device 50 has moved to a position for securely holding the robot tool 10, i.e., in the state shown in FIG. 6, the operator turns on the switch 62. This activates the electric actuator 52 of the tool holding device 50, causing the movable upper gripper 53 to approach the fixed lower gripper 51. The first upper engagement groove 55a of the upper pad member 55 engages with an upper portion of the outer circumferential surface of the rear end portion of the tool shaft 11, the second upper engagement groove 55b of the upper pad member 55 engages with an upper portion of the outer circumferential surface of the first shaft portion 12, and the third upper engagement groove 55c of the upper pad member 55 engages with an upper portion of the outer circumferential surface of the second shaft portion 13.

[0050] In this way, the tool holding device 50 grips the rear end portion, first shank 12, and second shank 13 of the tool shaft 11 of the robot tool 10 with the fixed lower gripper 51 and the movable upper gripper 53. At this time, the outer circumferential surfaces of the rear end portion, first shank 12, and second shank 13 of the tool shaft 11 of the robot tool 10 engage with the corresponding engagement grooves (first to third lower engagement grooves, first to third upper engagement grooves) of the tool holding device 50, thereby allowing the robot tool 10 and the tool holding device 50 to be positioned relative to each other. Therefore, by gripping the rear end portion, first shank 12, and second shank 13 of the tool shaft 11 of the robot tool 10, the tool holding device 50 can fixedly hold the robot tool 10 in a state where non-contact communication between the first non-contact communication unit 22 of the robot tool 10 and the second non-contact communication unit 56 of the tool holding device 50 is possible. Furthermore, the tool holding device 50 can fix and hold the robot tool 10 in a state where the first non-contact communication unit 22 of the robot tool 10 and the second non-contact communication unit 56 of the tool holding device 50 are facing and close to each other.

[0051] Next, an example of processing performed by the control device 80 of the robot 30 and the control unit 24 of the robot tool 10 after the tool holding device 50 has fixedly held the robot tool 10 in this embodiment will be described.

[0052] The control device 80 of the robot 30 recognizes that the tool holding device 50 has fixedly gripped the robot tool 10, for example, based on an output signal from the tool detection sensor. Then, the control device 80 of the robot 30 transmits a predetermined signal (for example, a response request signal) from the second non-contact communication unit 56 of the tool holding device 50. The predetermined signal transmitted from the second non-contact communication unit 56 is received by the first non-contact communication unit 22 of the robot tool 10, and the predetermined signal received by the first non-contact communication unit 22 is sent to the control unit 24 of the robot tool 10. In other words, when the tool holding device 50 fixedly holds the robot tool 10, the control device 80 of the robot 30 transmits the predetermined signal to the control unit 24 of the robot tool 10 via the second non-contact communication unit 56 of the tool holding device 50 and the first non-contact communication unit 22 of the robot tool 10. In other words, when the tool holding device 50 fixes and holds the robot tool 10, the control unit 24 of the robot tool 10 receives the specified signal transmitted from the second non-contact communication unit 56 of the tool holding device 50 via the first non-contact communication unit 22.

[0053] When the control unit 24 of the robot tool 10 receives the predetermined signal, it transmits a signal (e.g., a response signal) including identification information of the robot tool 10 from the first non-contact communication unit 22. The signal transmitted from the second non-contact communication unit 56 is received by the second non-contact communication unit 56 of the tool holding device 50, and the signal received by the second non-contact communication unit 56 is sent to the control device 80 of the robot 30. That is, when the control unit 24 of the robot tool 10 receives the predetermined signal, it transmits a signal including the identification information of the robot tool 10 to the control device 80 of the robot 30 via the first non-contact communication unit 22 and the second non-contact communication unit 56 of the tool holding device 50. In other words, after transmitting the predetermined signal, the control device 80 of the robot 30 receives the signal including the identification information of the robot tool 10 transmitted from the first non-contact communication unit 22 of the robot tool 10 via the second non-contact communication unit 56 of the tool holding device 50.

[0054] When the control device 80 of the robot 30 receives the signal, it confirms the identification information of the robot tool 10 included in the signal, i.e., the identification information of the robot tool 10 fixedly held by the tool holding device 50. Then, after confirming the identification information of the robot tool 10 fixedly held by the tool holding device 50, the control device 80 of the robot 30 sets or resets (changes) the function of at least one operation button 63 of the input device 60 based on the confirmed identification information of the robot tool 10. In this way, the at least one operation button 63 of the input device 60 can be customized for the robot tool 10 fixedly held by the tool holding device 50. Here, if the input device 60 has a display unit (not shown) that displays the function of the at least one operation button 63, the control device 80 of the robot 30 sets or resets (changes) the function display of the at least one operation button 63 on the display unit in accordance with the setting or resetting (change) of the function of the at least one operation button 63.

[0055] For example, if the confirmed identification information of the robot tool 10 indicates the "painting tool," the control device 80 of the robot 30 causes at least one operation button 63 of the input device 60 to function as an operation button for the operator to input instructions to the "painting tool." In this case, the display unit displays information indicating that at least one operation button 63 is an operation button for inputting instructions to the "painting tool."

[0056] Then, when the operator operates at least one operation button 63 of the input device 60, the control device 80 of the robot 30 transmits instructions (operation instructions, stop instructions) for the "painting tool" as instructions for the robot tool 10 corresponding to the operation button 63 operated by the operator to the control unit 24 of the robot tool 10 via the second non-contact communication unit 56 and the first non-contact communication unit 22 of the robot tool 10.

[0057] When the control unit 24 of the robot tool 10 receives an operation instruction for the "painting tool", it outputs an operation signal to the paint pump, the spray gun and / or the paint brush, which are the movable parts 21, to operate the paint pump, the spray gun and / or the paint brush. Also, when the control unit 24 of the robot tool 10 receives a stop instruction for the "painting tool", it outputs a stop signal to the paint pump, the spray gun and / or the paint brush to stop the paint pump, the spray gun and / or the paint brush.

[0058] Alternatively, for example, if the confirmed identification information of the robot tool 10 indicates the "felling tool," the control device 80 of the robot 30 causes at least one operation button 63 of the input device 60 to function as an operation button for the operator to input instructions to the "felling tool." In this case, the display unit displays information indicating that at least one operation button 63 is an operation button for inputting instructions to the "felling tool."

[0059] Then, when the operator operates at least one operation button 63 of the input device 60, the control device 80 of the robot 30 transmits instructions (operation instructions, stop instructions) for the "felling tool" as instructions for the robot tool 10 corresponding to the operation button 63 operated by the operator to the control unit 24 of the robot tool 10 via the second non-contact communication unit 56 and the first non-contact communication unit 22 of the robot tool 10.

[0060] When the control unit 24 of the robot tool 10 receives an operation instruction for the "felling tool", it outputs an operation signal to the electric hand and / or the electric saw, which are the movable unit 21, to operate the electric hand and / or the electric saw. Also, when the control unit 24 of the robot tool 10 receives a stop instruction for the "felling tool", it outputs a stop signal to the electric hand and / or the electric saw to stop the electric hand and / or the electric saw.

[0061] In this embodiment, the rear end portion of the tool shaft 11, the first shaft portion 12 and the second shaft portion 13 of the robot tool 10 correspond to the "held portion of the robot tool" of the present invention.

[0062] According to the robot tool holding structure of the embodiment, for example, the following effects can be obtained.

[0063] The tool holding device 50 provided on the arm section 31 of the robot 30 is configured to hold the robot tool 10 in a fixed state by gripping the rear end portion, first shaft section 12, and second shaft section 13 of the tool shaft 11 of the robot tool 10 so as to enable contactless communication between the first non-contact communication section 22 of the robot tool 10 and the second non-contact communication section 56 of the tool holding device 50 (i.e., on the robot 30 side). The tool holding device 50 is also configured to release the robot tool 10 by releasing its grip on the rear end portion, first shaft section 12, and second shaft section 13 of the tool shaft 11.

[0064] Therefore, disconnecting and connecting the connector is not required when replacing the robot tool 10, and high-precision position control, etc., required for disconnecting and connecting the connector is not required even when the robot tool 10 is replaced by the robot 30. Therefore, the holding structure for a robot tool according to the embodiment improves the workability of replacing the robot tool 10 compared to the conventional technology, and enables the robot tool to be replaced by a robot while suppressing design complexity and cost increases.

[0065] Furthermore, the first non-contact communication unit 22 of the robot tool 10 can transmit a signal including identification information of the robot tool 10 to the second non-contact communication unit 56 of the tool holding device 50, and the second non-contact communication unit 56 of the tool holding device 50 can transmit an instruction to the robot tool 10, which is based on the identification information of the robot tool 10, to the first non-contact communication unit 22. Therefore, for example, when the robot tool 10 is replaced, it is possible to prevent an erroneous instruction (for example, an instruction to the robot tool 10 before replacement) from being transmitted to the replaced robot tool 10.

[0066] The robot 30 also has at least one operation button 63 for the operator to input instructions to the robot tool 10, and a control device 80 that controls the arm unit 31 while transmitting instructions to the robot tool 10 corresponding to the operation button 63 operated by the operator to the first non-contact communication unit 22 of the robot tool 10 via the second non-contact communication unit 56 of the tool holding device 50. The control device 80 is configured to receive a signal including identification information of the robot tool 10 transmitted from the first non-contact communication unit 22 of the robot tool 10 via the second non-contact communication unit 56 of the tool holding device 50, and to set or reset (change) the function of the at least one operation button 63 based on the identification information of the robot tool 10 included in the received signal.

[0067] Therefore, even when the robot tool 10 is replaced, the operator can input instructions to the replaced robot tool 10 simply by operating the operation button 63, without the need for any special work. Furthermore, even when the number of usable robot tools 10 increases, there is no need to increase the number of operation buttons 63, and the operator can input instructions to multiple robot tools 10 using the same operation button 63, i.e., can operate multiple robot tools 10.

[0068] Furthermore, the first non-contact communication unit 22 of the robot tool 10 and the second non-contact communication unit 56 of the tool holding device 50 are configured to perform serial communication without contact. Therefore, even if the number of usable robot tools 10 increases, it is relatively easy to accommodate this, and a highly flexible and expandable configuration can be achieved.

[0069] Furthermore, the first non-contact communication unit 22 of the robot tool 10 and the second non-contact communication unit 56 of the tool holding device 50 are both dustproof and waterproof, which improves outdoor weather resistance.

[0070] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that appropriate modifications and changes can be made based on the technical concept of the present invention. [Explanation of symbols]

[0071] 10...robot tool, 11...tool shaft, 12...first axis portion, 13...second axis portion, 14L...left side plate, 14R...right side plate, 21...movable portion, 22...first non-contact communication portion, 23...first memory, 24...control portion, 25...tool battery, 30...robot, 31...arm portion, 50...tool holding device, 51...fixed lower gripper, 52...electric actuator, 53...movable upper gripper, 54 ...lower pad member, 54a...first lower engagement groove, 54b...second lower engagement groove, 54c...third lower engagement groove, 55...upper pad member, 55a...first upper engagement groove, 55b...second upper engagement groove, 55c...third upper engagement groove, 56...second non-contact communication unit, 60...input device, 61...arm operation unit, 62...switch, 63...operation button, 70...second memory, 80...control device, 90...robot battery

Claims

1. a robot tool having a movable part, a control part for controlling the movable part, and a first non-contact communication part; a tool holding device provided on an arm portion of a robot, the tool holding device having a second non-contact communication unit, and configured to fix and hold the robot tool in a state in which non-contact communication between the first non-contact communication unit and the second non-contact communication unit is possible by gripping a gripped portion of the robot tool; A robotic tool holding structure comprising:

2. The holding structure for a robot tool according to claim 1 , wherein the tool holding device releases the robot tool by releasing the grip of the gripped portion of the robot tool.

3. 3. A holding structure for a robot tool as described in claim 1 or 2, wherein the tool holding device fixes and holds the robot tool in a state where the first non-contact communication unit and the second non-contact communication unit are facing and close to each other by grasping the gripped portion of the robot tool.

4. the first non-contact communication unit is capable of transmitting a signal including identification information of the robot tool to the second non-contact communication unit; the second non-contact communication unit is capable of transmitting to the first non-contact communication unit an instruction to the robot tool, the instruction being based on identification information of the robot tool; The robot tool holding structure according to claim 1 or 2.

5. The robot at least one operation button for an operator to input instructions to the robot tool; a control device that controls the arm unit and transmits an instruction to the robot tool corresponding to an operation button operated by the operator to the first non-contact communication unit via the second non-contact communication unit; and the control device receives a signal including the identification information of the robot tool transmitted from the first non-contact communication unit via the second non-contact communication unit, and sets or resets a function of the at least one operation button based on the identification information of the robot tool included in the received signal; The robot tool holding structure according to claim 1 or 2.

6. The robot tool holding structure according to claim 1 or 2, wherein the first non-contact communication unit and the second non-contact communication unit perform serial communication in a non-contact manner.

7. The robot tool holding structure according to claim 1 or 2, wherein the first non-contact communication unit and the second non-contact communication unit are dustproof and waterproof.

8. the gripped portion of the robot tool includes a first shaft portion and a second shaft portion extending parallel to each other in the left-right direction, the tool holding device includes a fixed lower gripper and a movable upper gripper, and is configured so that the movable upper gripper approaches the fixed lower gripper to grip the first shank portion and the second shank portion, and the movable upper gripper releases its grip on the first shank portion and the second shank portion by moving away from the fixed lower gripper; the second non-contact communication unit is disposed at a tip end of the fixed lower gripper, The robot tool holding structure according to claim 1 or 2.

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