Hand exchanger for robot

[Detailed Description of the Invention]

(Field of the Invention) The present invention relates to the hand exchange device of the robot for industry. (PRIOR ART) In order that attachment of the hand at the time of exchange may prevent breakage by the collision with a hand, a work, or a jig etc. which comes from an error etc. in this seed exchange device, The vulnerable object of bakelite etc. was established between the hand exchange section by the side of a robot, and the hand attachment component by the side of a hand, and the shock was made to absorb by destruction of the vulnerable object. Since a rigid weak place would exist locally, (the problem which an invention tends to solve), for this reason usual A state 5-C- caused oscillating generating, and they had problems, like starting workability of time and effort is bad in exchange of a vulnerable object. (Means for solving a problem) Special carry out having provided the pressurization cylinder which carries out press-fit maintenance of the above-mentioned hand attachment component in the above-mentioned hand exchange section in the hand exchange device of the robot which made the hand exchange section which the present invention is a thing aiming at solving this problem, and was provided in the robot's wrist part, and the hand attachment component to which a hand is attached form enabling free attachment and detachment, and having provided the sensor which detects the back pressure in the pressurization circuit of the pressurization cylinder, and the relief valve opened following the predetermined back pressure of the sensor with the feature (EXAMPLE) when one example of the present invention is described based on a drawing below, (1) shows a robot body and (2) shows an arm -- the arm (a hand (5) is attached to the wrist part (3) at a tip via a hand exchange section (4), enabling free exchange.) And the hand exchange section (4) is a hand as shown in Drawings 2 and 3 (the fit-in hole (7) which fits in the hand attachment component (6) to which 9 is attached enabling free attachment and detachment). The pressurization cylinder (8) which faces in the fit-in hole (7), and carries out press-fit maintenance of the attachment component (6) is provided, An attachment component (6) is formed in a cross section rectangle in the thing of illustration, and it is a fit-in hole (also forming n in a cross section rectangle and providing one pair of pressurization cylinder (8) in the both-sides side where a fit-in hole (7) intersects perpendicularly). The piston (9) is a pad (sensor which detects the back pressure in the pressurization circuit (+1) which makes an attachment component (6) counter via IO, and stands in a row in the pressurization room further (121 and the sensor (relief valve a3 opened following the predetermined back pressure of 21 [ +] is provided.))). The pressure connection mouth for a hand operation which provided a/D in a figure in the pressure source of pressurization circuit at, and provided a9 in the hand exchange section (4), and the oilway for a hand operation (+7) which provided aG in the attachment component (6) show the chain for the prevention from hand omission. Next, if the operation is explained, press-fit maintenance of the attachment component (6) with which it is equipped in a fit-in hole (7) will be carried out by - pressurization of a pressurization cylinder (8) into a fit-in hole (7), and the attachment will be finished, When unjust power acts on a hand (5) in this state, that power is detected by sensor 621 as back pressure of pressurization circuit av, Press-fit maintenance of an attachment component (6) is released by relief valve a3 opened following the back pressure, and the breakage by the collision of a hand, a work, or a jig by the attachment error, etc., etc. is prevented. (EFFECT OF THE INVENTION) Thus, when based on the present invention, Attachment and detachment with a hand exchange section (4) and a hand attachment component (6) become easy from Established about the pressurization cylinder (8) which makes the hand exchange section (4) provided in the robot's wrist part (3) carry out press-fit maintenance of the hand attachment component (6), and Therefore is also in pressurization circuit Ov of a pressurization cylinder (8), Sensor a2 which detects the back pressure Since n To relief valve a3 is provided following the predetermined back pressure of 1 this sensor az, it is a hand (since it is immediately detected by the sensor and press-fit maintenance of the attachment is released by the relief valve a3, the power of non-etc by the attachment error of 9 has an effect of the breakage being prevented.).

[Brief Description of the Drawings]

A drawing shows one example of the present invention and, in Drawing 1, the sectional view of the important section of Drawing 1 and Drawing 3 of a schematic diagram and Drawing 2 are ■-■ line sectional views of Drawing 2. (3) ... Wrist part (4) ... Hand exchange section (5) ... Hand (6) ... Hand attachment component (8) ... Pressurization cylinder (lv ... pressurization circuit) (+21 ... Sensor) 03 ... Relief valve