Method for preventing damage to robots, robot systems, and workpieces

Abstract

When the power supply is interrupted, this prevents the workpiece and tool from coming into contact more than necessary. [Solution] This robot processes a workpiece by bringing the workpiece into contact with a tool. This robot is equipped with a mechanism that separates the tool and the workpiece without using electricity when the power supply is interrupted. Because it is equipped with a mechanism that separates the tool and the workpiece without using electricity when the power supply is interrupted, it is possible to prevent the workpiece and the tool from coming into contact more than necessary when the power supply is interrupted.

Description

Technical Field

[0001] The technology of the present disclosure relates to a robot, a robot system, and a method for preventing damage to a workpiece.

Background Art

[0002] Patent Document 1 discloses a robot that performs processing such as polishing or grinding of a workpiece. Such processing is performed by bringing a tool into contact with the workpiece. When the power supply to the robot is interrupted due to a power outage, the workpiece and the tool may come into contact more than necessary due to the gravity acting on the inclined robot, vibration, or the state of the cable, etc., and there is a risk that the workpiece may be damaged. Therefore, when the power supply is interrupted, the power stored in an uninterruptible power supply (UPS) is used to separate the workpiece and the tool from each other.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the power supply to the robot is interrupted, if the power stored in the uninterruptible power supply is used up, it becomes impossible to separate the workpiece and the tool from each other.

[0005] The technology of the present disclosure aims to provide a robot, a robot system, and a method for preventing damage to a workpiece that can prevent the workpiece and the tool from coming into contact more than necessary when the power supply stops.

Means for Solving the Problems

[0006] To achieve the above objective, a first aspect of the technology of this disclosure is a robot that processes a workpiece by bringing the workpiece into contact with a tool. This robot is equipped with a mechanism that separates the tool and the workpiece without using electricity when the power supply is interrupted.

[0007] The robot system of the second embodiment comprises the robot of the first embodiment and the tool.

[0008] A third aspect is a method for preventing damage to a workpiece in a robot that processes a workpiece by bringing the workpiece into contact with a tool, The mechanism separates the tool and the workpiece without using electricity when the power supply is interrupted. [Effects of the Invention]

[0009] The technology of this disclosure includes a mechanism that separates the tool and the workpiece without using electricity when the power supply is interrupted. Therefore, when the power supply is interrupted, it is possible to prevent the workpiece and the tool from coming into contact more than necessary. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram showing an example of a robot system 100 according to the first embodiment, and it shows the state in which power is supplied to the robot system 100. [Figure 2] Figure 2 is a schematic diagram showing an example of the robot system 100 according to the first embodiment, and it shows the state in which the power supply to the robot system 100 has been stopped. [Figure 3] Figure 3 is a schematic configuration diagram showing an example of a modified robot system 100H of the first embodiment, and it shows the state in which power is supplied to the robot system 100H. [Figure 4] Figure 4 is a schematic configuration diagram showing an example of a modified robot system 100H of the first embodiment, and it shows the state in which the power supply to the robot system 100H has been stopped. [Figure 5] Figure 5 is a schematic diagram showing an example of the robot system 100I according to the second embodiment, and illustrates the state in which power is supplied to the robot system 100I. [Figure 6] Figure 6 is a schematic configuration diagram showing an example of the robot system 100I according to the second embodiment, and it shows the state in which the power supply to the robot system 100I has been stopped. [Figure 7] Figure 7 is a schematic configuration diagram showing an example of a modified robot system 100J of the second embodiment, and it shows the state in which power is supplied to the robot system 100J. [Figure 8] Figure 8 is a schematic configuration diagram showing an example of a modified robot system 100J of the second embodiment, and depicts a state in which the power supply to the robot system 100J has been stopped. [Modes for carrying out the invention]

[0011] [Embodiment] Embodiments of the technology of this disclosure will be described below with reference to the drawings.

[0012] [First Embodiment] (composition) The configuration of the robot system 100 in this embodiment will now be described. Figures 1 and 2 are schematic diagrams showing an example of the robot system 100. Figure 1 shows the state in which power is supplied to the robot system 100, and Figure 2 shows the state in which the power supply to the robot system 100 is stopped.

[0013] As shown in Figure 1, the robot system 100 comprises a tool 20 rotatably held on a support column 25, and a robot 10 equipped with a workpiece 14 at its tip, which processes the workpiece 14 by bringing the workpiece 14 into contact with the tool 20. The robot 10 is mounted on a base 17 so as to be able to move away from the tool 20 when the power supply is cut off.

[0014] When the supply of power to the robot system 100 stops, the robot system 100 includes a mechanism 70 that separates the tool 20 from the workpiece 14 without using power. The mechanism 70 is fixed to a support member 15 fixed to the robot 10.

[0015] The mechanism 70 includes a mechanical mechanism 5458 that separates the tool 20 from the workpiece 14, and an electrical mechanism 5556 that inhibits the mechanical mechanism 5458 from separating the tool 20 from the workpiece 14 only when power is being supplied.

[0016] The mechanical mechanism 5458 includes a spring 54 and a movable plate 58 to which one end of the spring 54 is connected. The other end of the spring 54 is connected to the surface of the solenoid 55 of the electrical mechanism 5556 on the side of the movable plate 58. The mechanical mechanism 5458 moves the movable plate 58 against the movable plate 12 fixed to the robot 10 by the force of the extended spring 54 that has been contracted. When the movable plate 58 is applied against the movable plate 12 in this way and the movable plate 12 moves, the robot 10 moves away from the tool 20, and the tool 20 and the workpiece 14 are separated.

[0017] The electrical mechanism 5556 includes a piston 56 that passes through the spring 54 and has one end connected to the movable plate 58, and a solenoid 55 that moves the piston 56 so that the spring 54 contracts only when power is being supplied. The solenoid 55 is fixed to a support member 15 fixed to the robot 10.

[0018] The force Fs by which the contracted spring 54 extends and moves the movable plate 58 against the movable plate 12 is smaller than the force Fe by which the solenoid 55 moves the piston 56 so that the spring 54 contracts. Therefore, while power is being supplied to the solenoid 55, the spring 54 remains contracted.

[0019] (Operation) Next, the operation of this embodiment will be described. [[ID=二十三]] [[ID=二十四]]

[0020] [[ID=二十五]] When power is supplied to the robot system 100, the tool 20 rotates. The robot 10 brings the workpiece 14 into contact with the tool 20, thereby performing processing such as polishing or grinding on the workpiece 14.

[0021] As described above, one end of the spring 54 is connected to a movable plate 58, which is arranged to be movable, and the other end is connected to a solenoid 55 which is fixed to a support member 15 that is fixed to the robot 10.

[0022] While power is supplied to the solenoid 55, the spring 54 remains compressed.

[0023] However, if the power supply is interrupted due to a power outage or the like, the solenoid 55 does not generate the force Fe that moves the piston 56 so that the spring 54 contracts. Therefore, no force acts on the spring 54. Consequently, as shown in Figure 2, the contracted spring 54 attempts to extend back to its original state, and this extension force causes the moving plate 58 to move against the movable plate 12 fixed to the robot 10. As a result, the robot 10 moves away from the tool 20, separating the tool 20 from the workpiece 14.

[0024] (effect) As explained above, the system is equipped with a mechanism 70 that separates the tool 20 and the workpiece 14 without using electricity when the power supply is interrupted. Therefore, when the power supply is interrupted, it is possible to prevent the workpiece 14 and the tool 20 from coming into contact more than necessary.

[0025] The mechanism 70 of this embodiment includes a mechanical mechanism 5458 that separates the tool 20 and the workpiece 14, and an electrical mechanism 5556 that, when power is supplied, prevents the mechanical mechanism 5458 from separating the tool 20 and the workpiece 14. The electrical mechanism 5556 releases this obstruction when the power supply is cut off. Therefore, when the power supply to the electrical mechanism 5556 is cut off, the tool 20 and the workpiece 14 begin to move apart. Consequently, when the power supply is cut off, the mechanical mechanism 5458 immediately separates the tool 20 and the workpiece 14, preventing damage to the workpiece 14.

[0026] In this embodiment, the electrical mechanism 5556 includes a solenoid 55 that is compressed by the spring 54 of the mechanical mechanism. Therefore, compared to the second embodiment described later, the number of additional components can be reduced, and the overall size of the mechanism 70 can be miniaturized. Also, compared to the modified version of the first embodiment described later, when the power supply is stopped, the moving plate 58 can be moved more quickly by contacting the plate to be moved 12, thereby separating the tool 20 and the workpiece 14.

[0027] [Modified version of the first embodiment] Next, a modified robot system 100H of the first embodiment will be described.

[0028] (composition) Since the configuration of the robot system 100H in this modified example is substantially the same as that of the robot system 100 in the first embodiment, the same reference numerals are used for the same parts, and their descriptions are omitted. The differences will be described primarily.

[0029] Figures 3 and 4 are schematic diagrams showing an example of the robot system 100H. Figure 3 shows the state in which power is supplied to the robot system 100H, and Figure 4 shows the state in which the power supply to the robot system 100H is stopped.

[0030] In the first embodiment described above, the electrical mechanism 5556 includes a solenoid 55.

[0031] In contrast, this modified version differs in that it is equipped with a pneumatic actuator 55H. The pneumatic actuator 55H uses compressed air to move the piston 56 so that the spring 54 is contracted, but only when power is supplied.

[0032] The force exerted by the pneumatic actuator 55H to move the piston 56 and the spring 54 to contract is the same as the force Fe exerted by the solenoid 55 to move the piston 56 and the spring 54 to contract.

[0033] (action) If the power supply is interrupted due to a power outage or the like, the pneumatic actuator 55H does not generate the force Fe that moves the piston 56 so that the spring 54 contracts. Therefore, no force acts on the spring 54. As a result, as shown in Figure 4, the contracted spring 54 attempts to extend back to its original state, and this extension force causes the moving plate 58 to move against the movable plate 12 fixed to the robot 10. This causes the robot 10 to move away from the tool 20, separating the tool 20 from the workpiece 14.

[0034] (effect) As explained above, this modified version also prevents the workpiece 14 and the tool 20 from coming into contact more than necessary when the power supply is interrupted.

[0035] Furthermore, in this modified example, the pneumatic actuator 55H is smaller in size compared to the solenoid 55. Therefore, the robot mechanism can be made more compact.

[0036] [Second Embodiment] (composition) The configuration of the robot system 100I of this embodiment will now be described. Since the configuration of the robot system 100I of this embodiment is substantially the same as that of the robot system 100 of the first embodiment, the same reference numerals are used for the same parts, and their descriptions are omitted. The main differences will be described.

[0037] Figures 5 and 6 are schematic diagrams showing an example of the robot system 100I. Figure 5 shows the state in which power is supplied to the robot system 100I, and Figure 6 shows the state in which the power supply to the robot system 100I is stopped.

[0038] As shown in Figure 5, the robot system 100I is equipped with a mechanism 60 that separates the tool 20 and the workpiece 14 without using power when the power supply is interrupted.

[0039] Mechanism 60 includes a mechanical mechanism 6168 that separates the tool 20 from the workpiece 14 by causing the held weight 64 to fall. Mechanism 60 also includes a sliding hand 64 that grips the weight 64, which is held by an electrical mechanism, specifically a motor (not shown), only when power is supplied.

[0040] The mechanical mechanism 6168 comprises a support column 61 whose tip is separated into two branches 61A and 61B, rollers 62A and 62B rotatably attached to the respective ends of the branches 61A and 61B, and a roller 67 rotatably attached to the tip of the support column 66. The mechanical mechanism 6168 also comprises a string 68 which is wrapped around the rollers 62A, 62B and 67, is temporarily hooked onto the robot's hooking part 16, and has a weight 65 attached to the other end.

[0041] (action) Next, the operation of this embodiment will be described. When power is supplied, the robot system 100I operates in the same manner as the robot system 100 of the first embodiment.

[0042] If the power supply is interrupted due to a power outage or the like, the slide hand 64 will not be able to hold the weight 64. Therefore, the weight 64 will move downward G (fall). When the weight moves downward, the string 68 will move the robot system 100 in a direction F away from the tool 20, and the tool 20 and the workpiece 14 will be separated.

[0043] (effect) As described above, this embodiment can prevent the workpiece 14 and the tool 20 from coming into contact with each other more than necessary when the power supply is interrupted.

[0044] In the first embodiment described above, the mechanical mechanism uses a spring, so with repeated use, the elasticity of the spring deteriorates (so-called wear and tear). In contrast, the mechanical mechanism of the second embodiment includes a string 68 that connects the weight 65 and the robot 10, so the deterioration of the string itself is less compared to the spring. Therefore, the time until deterioration can be extended.

[0045] The mechanism 60 is positioned on the opposite side of the robot 10 from the workpiece 14. Therefore, dust generated from the workpiece 14 being processed by the tool 20 can enter the slide hand 64, preventing motor malfunctions and reducing the likelihood of the weight 65 falling when the power supply is cut off.

[0046] Because a sliding hand 64 is used, it can flexibly handle changes in the size of the weight 65 being held.

[0047] [Modified version of the second embodiment] Next, a modified robot system 100J of the second embodiment will be described.

[0048] (composition) The configuration of the robot system 100J in this modified example is substantially the same as that of the robot system 100I in the second embodiment. Therefore, the same reference numerals are used for the same parts, and their descriptions are omitted. The differences will be described primarily.

[0049] Figures 7 and 8 are schematic diagrams showing an example of the robot system 100J. Figure 7 shows the state in which power is supplied to the robot system 100J, and Figure 8 shows the state in which the power supply to the robot system 100J is stopped.

[0050] In the second embodiment, a slide hand 64 is provided as an electrical mechanism.

[0051] In contrast, this modified example includes, as an electrical mechanism, a pair of holding parts 69 with a distance between them greater than that of the weight 65 and the weight 65 interposed between them, and a piezoelectric element 63 interposed between the pair of holding parts 69 together with the weight 65. The thickness of the piezoelectric element 63 increases when power is supplied so that the length between the piezoelectric element 63 and the weight 65 becomes greater than or equal to the distance between the pair of holding parts 69. Thus, the weight 65 is held in place.

[0052] (action) When the power supply is interrupted due to a power outage or the like, the thickness of the piezoelectric element 63 decreases so that the distance between the piezoelectric element 63 and the weight 65 becomes shorter than the distance between the pair of holding parts 69. The pair of holding parts 69 can no longer hold the weight 64. Therefore, the weight 64 moves downward (falls). When the weight moves downward, the string 68 moves the robot system 100J away from the tool 20, and the tool 20 and the workpiece 14 are separated.

[0053] (effect) As explained above, this modified version also prevents the workpiece 14 and the tool 20 from coming into contact more than necessary when the power supply is interrupted.

[0054] In this modified version, a piezoelectric element 63 is provided as an electrical mechanism. When the power supply is stopped, the thickness becomes thinner, which prevents the weight 65 from falling due to dust.

[0055] Furthermore, since it only involves applying voltage to the piezoelectric element 63, the electrical mechanism can be made simple. [Explanation of Symbols]

[0056] 10 Robots 12 Moved plate 14 Work 15 Support member 16. Hook part 17 Base 20 Tools 25 Posts 54 Springs 55 Solenoid 55H Pneumatic Actuator 56 Pistons 58 Mobile plate 60 mechanism 61 Pillars 61A Branch 61B Branch 62A Roller 62B Laura 63 Piezoelectric element 64 Slide Hand 66 Pillar 67 Laura 68 string 69 Holding part 70 Mechanism 100 Robot Systems 100H Robot System 100I Robot System 100J Robot System 5458 Mechanical mechanism 5556 Electrical Mechanism 6168 Mechanical mechanism Fe force Fs force

Claims

1. A robot that processes a workpiece by bringing the workpiece into contact with a tool, The system includes a mechanism that separates the tool and the workpiece without using electricity when the power supply is interrupted. robot.

2. The aforementioned mechanism is A mechanical mechanism for separating the tool and the workpiece, An electrical mechanism that prevents the mechanical mechanism from separating the tool and the workpiece only when the aforementioned power supply is available, Equipped with, The robot according to claim 1.

3. The aforementioned mechanical mechanism is a mechanism that separates the tool and the workpiece by the force of the extension of a contracted spring. The aforementioned electrical mechanism is a mechanism that contracts the spring only when the power supply is available. The robot according to claim 2.

4. The aforementioned mechanical mechanism is a mechanism that separates the tool and the workpiece by causing a held weight to fall. The aforementioned electrical mechanism is a mechanism that holds the weight only when the power supply is available. The robot according to claim 2.

5. The robot according to claim 1, The aforementioned tool, A robotic system equipped with the following features.

6. A method for preventing damage to a workpiece in a robot that processes a workpiece by bringing the workpiece into contact with a tool, The mechanism separates the tool and the workpiece without using electricity when the power supply is interrupted. Methods for preventing workpiece damage.

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