JP6858962B2 - Robot system - Google Patents

Description

The present invention relates to a robot system.

Conventionally, a robot system including an articulated robot has been used in various manufacturing processes. In such a robot system, in a robot hand attached to the tip of a robot arm, an operation unit provided with an operation member such as a gripping claw suitable for an operation target such as a part to be gripped is interchangeably configured (for example). , See Patent Documents 1 to 3 below).

Japanese Unexamined Patent Publication No. 3-294195 Japanese Unexamined Patent Publication No. 7-214487 JP-A-2005-118958

However, in the above-mentioned conventional robot system, an actuator or a drive mechanism is required or a manual operation is required to attach / detach the operation unit provided with the operation member, which complicates the structure and increases the cost. There is also a problem that automation becomes difficult.

Therefore, an object of the present invention is to provide a robot system provided with a drive mechanism and a detachable mechanism that does not require a drive mechanism or a manual operation for attaching and detaching an operation unit.

In order to solve the above problems, the robot system (first invention) of the present invention includes a main body portion having a movable connection end portion and an operation member for operating an operation target, and the connection end portion includes the operation member. It is provided with a detachable operation unit which is configured to be detachable. Further, a first connecting portion (for example, one of a plug and a receptacle) provided at the connection end portion and a second connecting portion (for example, one of the plug and the receptacle) provided at the attachment / detachment operation portion and configured to be connectable with the first connecting portion. , The other side of the plug and receptacle), and has a detachable connector structure. Here, one of the first connecting portion and the second connecting portion is a lock configured to be movable with respect to the connecting portion main body and the outer surface of the one connecting portion with respect to the connecting portion main body. It is equipped with a control unit. Further, in the detachable connector structure, when the first connecting portion is attached to the second connecting portion, the lock control portion shifts to an outer lock position with respect to the connecting portion main body, and the first connecting portion and the second connecting portion are formed. When the lock control unit shifts to an outer release position with respect to the connection portion main body different from the outer lock position by an external force, the connection between the first connection portion and the second connection portion is unlocked. It is configured as follows. Further, the main body portion engages the lock control portion with another portion (another member) by operating the connection end portion to which the attachment / detachment operation portion is connected, and in the engaging direction thereof. Further, by moving the connection end portion, the lock control unit is moved to the outer release position by a reaction force applied from the other portion, and the connection between the first connecting portion and the second connecting portion is locked. To cancel.

In the present invention, the lock control unit is configured to be able to shift to the outer lock position and the outer release position along the attachment / detachment direction of the attachment / detachment connector structure with respect to the connection portion main body, and the main body portion is the said. It is preferable to engage the lock control unit with the other portion in the attachment / detachment direction. In this case, it is desirable that the main body portion performs the engagement / disengagement operation of the lock control unit with respect to the other portion by moving the connection end portion in a direction orthogonal to the attachment / detachment direction. Further, in the detachable connector structure, the one connecting portion is configured to be able to accept the other connecting portion of the first connecting portion and the second connecting portion, and the outer lock position of the lock control portion. Is preferably set on the tip end side of the one connecting portion in the attachment / detachment direction with respect to the outer release position.

In the present invention, the other portion is an operation unit holder that has an engaging structure that can be engaged with the lock control unit and can hold the attachment / detachment operation unit in a state of being engaged with the lock control unit. Is preferable. Here, it is desirable that the engaging structure supports the attachment / detachment operation portion via the lock control portion. For example, the engagement structure is configured to engage the lock control unit in the attachment / detachment direction of the attachment / detachment connector portion and to be engaged and disengaged in a direction orthogonal to the attachment / detachment direction.

In the present invention, the first connecting portion and the other connecting portion of the second connecting portion are on the push-in protrusion provided on the outer surface and on the outer surface adjacent to the base end side of the push-in protrusion. A lock groove provided at a position is provided, and the one connecting portion is configured to be able to accept the other connecting portion. Further, the one connecting portion is accommodated in a tubular connecting portion main body having an accommodating hole penetrating inside and outside, and is movably accommodated in the accommodating hole in the inward and outward directions, and is fitted into the lock groove at an inner peripheral position. The lock portion configured to be compatible and the outer lock position restrict the movement of the lock portion to the outer peripheral side position, and the outer release position allows the lock portion to move to the outer peripheral side position. The lock control unit urged in the direction from the outer release position to the outer lock position and the inner peripheral side of the connecting portion main body are configured to be movable in the detachable direction of the detachable connector structure with respect to the connecting portion main body. The movement of the lock portion to the inner peripheral side position is restricted at the inner release position, the movement of the lock portion to the inner peripheral side position is permitted at the inner lock position of the connecting portion main body, and the movement from the inner lock position is permitted. It is preferable to include a detachable interlocking portion that is urged in the direction toward the inner release position and is configured to be pushed into the inner lock position by the push-in protrusion when the other connecting portion is inserted. ..

Another robot system (second invention) according to the present invention includes a main body portion having a movable connection end portion and an operation member for operating an operation target, and is detachable from the connection end portion. It is provided with a detachable operation unit configured in. Further, a first connecting portion (for example, a plug) provided at the connection end portion and a second connecting portion (for example, a plug) provided at the attachment / detachment operation portion and capable of being connected to the first connecting portion (for example, a plug can be accepted). It has a detachable connector structure including a connecting portion (for example, a receptacle). Here, the second connecting portion includes a connecting portion main body and a lock control unit configured to be movable in the detachable direction of the detachable connector structure with respect to the connecting portion main body on the outer surface of the second connecting portion. .. Further, in the detachable connector structure, when the lock control unit shifts to the outer lock position with respect to the connecting portion main body by an external force, the connection between the first connecting portion and the second connecting portion is locked, and the lock control unit is subjected to an external force. The lock of the connection between the first connecting portion and the second connecting portion is released when the position shifts to the outer releasing position with respect to the connecting portion main body, which is different from the outer locking position. Further, the outer lock position of the lock control unit is set on the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position. At this time, the main body portion engages the lock control portion with the other portion in the attachment / detachment direction by operating the connection end portion to which the attachment / detachment operation portion is connected. By further moving the connection end portion in the direction in which the detachable connector structure is separated in the attachment / detachment direction, the lock control portion is moved to the outer release position by a reaction force applied from the other portion, and the first The connection between the 1 connection portion and the second connection portion is unlocked and the connection is separated. Further, the main body portion moves the connection end portion to which the attachment / detachment operation portion is not connected to the attachment / detachment operation portion in which the lock control portion engages with the other portion in the attachment / detachment direction. On the other hand, the connection end portion is mounted in the direction in which the detachable connector structure is connected in the detachable direction, and the lock control portion is moved to the outer lock position by a reaction force given from the other portion, and the first The connecting portion and the second connecting portion are connected and the connection is locked.

In this case, the first connecting portion (for example, a plug) includes a push-in protrusion provided on the outer surface and a lock groove provided at a position on the outer surface adjacent to the base end side of the push-in protrusion. , Are preferably provided. Further, the second connecting portion (for example, a receptacle) is configured to accept the first connecting portion. Here, the second connecting portion is accommodated in a tubular (for example, tubular) connecting portion main body having an accommodating hole penetrating inside and outside, and inside the accommodating hole so as to be movable in the inward and outward directions, and is accommodated on the inner peripheral side. At the position, the lock portion configured to fit into the lock groove and the outer lock position restrict the movement of the lock portion to the outer peripheral side position, and at the outer release position, move to the outer peripheral side position of the lock portion. The lock control unit is urged in the direction from the outer release position to the outer lock position, and the lock control unit is configured to be movable in the attachment / detachment direction on the inner peripheral side of the main body of the connection unit. The movement of the lock portion to the inner peripheral side position is restricted at the inner release position with respect to the main body of the unit, and the movement of the lock portion to the inner peripheral side position is permitted at the inner lock position with respect to the main body of the connecting portion. It is provided with a detachable interlocking portion configured to be urged in a direction from the lock position toward the inner release position and to be pushed into the inner lock position by the push-in protrusion when the first connecting portion is inserted. Is preferable.

Yet another robot system according to the present invention (first invention) includes a main body portion having a movable connection end portion and an operation member for operating an operation target, and is attached to and detached from the connection end portion. In a robot system including a freely configured detachable operation unit, a first connecting portion (for example, a plug) provided at the connection end portion is provided at the detachable operation portion and is connected to the first connecting portion. It has a detachable connector structure comprising a second connecting portion (eg, a receptacle) configured to be possible (eg, acceptable). Here, one of the first connecting portion and the second connecting portion (for example, a receptacle) is movable with respect to the connecting portion main body and the outer surface of the one connecting portion with respect to the connecting portion main body. It is provided with a lock control unit configured in. In the detachable connector structure, when the first connecting portion is attached (for example, inserted) to the second connecting portion, the lock control portion shifts to an outer lock position with respect to the connecting portion main body, and the plug and the receptacle are connected. When the lock control unit is locked and shifts to an outer release position with respect to the connection portion main body different from the outer lock position by an external force, the connection between the first connection portion and the second connection portion is unlocked. Will be done. Further, the first connecting portion and the other connecting portion (for example, a plug) of the second connecting portion are adjacent to the push-in protrusion provided on the outer surface and the base end side of the push-in protrusion. It is provided with a lock groove provided at a position on the outer surface. Further, the one connecting portion is configured to accept the other connecting portion. Here, the one connecting portion is accommodated in a tubular (cylindrical) connecting portion main body having an accommodating hole penetrating inside and outside, and in the accommodating hole so as to be movable in the inward and outward directions, and at an inner peripheral position. The lock portion configured to fit in the lock groove and the lock portion are restricted from moving to the outer peripheral side position of the lock portion at the outer lock position with respect to the connecting portion main body, and the lock portion is restricted at the outer release position with respect to the connecting portion main body. The lock control unit is urged in the direction from the outer release position to the outer lock position, and the attachment / detachment connector structure is attached / detached on the inner peripheral side of the connecting portion main body. It is configured to be movable in the direction, restricts the movement of the lock portion to the inner peripheral side position at the inner release position with respect to the connecting portion main body, and restricts the movement of the lock portion to the inner peripheral side position with respect to the connecting portion main body. Allows movement to the position, is urged in the direction from the inner lock position to the inner release position, and is pushed to the inner lock position by the push-in protrusion when the other connecting portion is inserted. It is provided with a configured detachable interlocking unit. Here, the main body portion engages the lock control portion with another portion by operating the connection end portion to which the attachment / detachment operation portion is connected, and further engages the connection end portion in the engaging direction. It is preferable to move the lock control unit to the outer release position by a reaction force applied from the other portion, and release the lock of the connection between the first connecting portion and the second connecting portion. ..

Yet another robot system according to the present invention (second invention) includes a main body portion having a movable connection end portion and an operation member for operating an operation target, and is attached to and detached from the connection end portion. In a robot system including a freely configured detachable operation unit, a first connecting portion (for example, a plug) provided at the connection end portion is provided at the detachable operation portion and is connected to the first connecting portion. It has a detachable connector structure comprising a second connecting portion (eg, a receptacle) configured to be possible (eg, acceptable). Here, the second connecting portion includes a connecting portion main body and a lock control unit configured to be movable in the detachable direction of the detachable connector structure with respect to the connecting portion main body on the outer surface of the second connecting portion. .. In the detachable connector structure, when the lock control unit shifts to the outer lock position with respect to the connection portion main body by an external force, the connection between the plug and the receptacle is locked, and the lock control unit is different from the outer lock position due to the external force. The lock of the connection between the first connecting portion and the second connecting portion is released when the position shifts to the outer release position with respect to the connecting portion main body. At this time, it is preferable that the outer lock position of the lock control unit is set to the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position. Here, the first connecting portion includes a push-in protrusion provided on the outer surface and a lock groove provided at a position on the outer surface adjacent to the base end side of the push-in protrusion. Further, the second connecting portion is configured to accept the first connecting portion. Here, the second connecting portion is accommodated in a tubular (cylindrical) connecting portion main body having an accommodating hole penetrating inside and outside, and inside the accommodating hole so as to be movable in the inward and outward directions, and at an inner peripheral position. The lock portion configured to fit in the lock groove and the lock portion are restricted from moving to the outer peripheral side position of the lock portion at the outer lock position with respect to the connecting portion main body, and the lock portion is restricted at the outer release position with respect to the connecting portion main body. Allows movement to the outer peripheral side position, and can move in the attachment / detachment direction on the inner peripheral side of the connecting portion main body and the lock control unit urged in the direction from the outer release position toward the outer lock position. The lock portion is restricted from moving to the inner peripheral side position at the inner release position with respect to the connecting portion main body, and the lock portion is moved to the inner peripheral side position at the inner locking position with respect to the connecting portion main body. Is urged in the direction from the inner lock position to the inner release position, and the attachment / detachment is configured to be pushed into the inner lock position by the push-in protrusion when the other connecting portion is inserted. It is equipped with an interlocking unit. Here, the main body portion engages the lock control unit with another portion in the attachment / detachment direction by operating the connection end portion to which the attachment / detachment operation portion is connected, and the engaging portion. By further moving the connection end portion in the direction in which the detachable connector structure is separated in the attachment / detachment direction, the lock control portion is moved to the outer release position by a reaction force applied from the other portion, and the first connection is made. It is preferable to unlock the connection between the portion and the second connecting portion and separate the connection.

In the present invention, the lock control unit is preferably an outer peripheral sleeve that is movably attached to the outer circumference of the connecting portion main body in the attachment / detachment direction. Further, it is desirable that the portion of the lock control unit that engages with the other portion (operation unit holder) is the outer peripheral groove of the outer peripheral sleeve. Further, it is preferable that the detachable connector structure is composed of a pipe joint in which the first connecting portion and the second connecting portion each have an internal passage along the axial direction. In this case, it is desirable that the detachable connector structure includes a valve mechanism that opens and closes the internal passage in conjunction with the detachable operation. For example, it is desirable that the valve mechanism is provided in the one connecting portion or the second connecting portion (a connecting portion including a connecting portion main body and a lock control portion) and interlocks with the detachable interlocking portion.

In the present invention, the first connecting portion and the second connecting portion are configured to be relatively rotatable around an axis along the attachment / detachment direction of the detachable connector structure at the time of connection, and the connection end portion and the attachment / detachment operation. It is preferable to further have a detachable fitting structure configured to perform a fitting / detaching operation in the attaching / detaching direction at a position deviated from the axis in conjunction with the attaching / detaching operation of the detachable connector structure. At this time, it is desirable that the detachable fitting structure has a fitting margin for a predetermined angle around the axis.

Next, the operation method (first invention) of the robot system according to the present invention includes a main body portion having a movable connection end portion and an operation member for operating an operation target, and the connection end portion includes an operation member. On the other hand, it is an operation method of a robot system including a detachable operation unit configured to be detachable. Here, a first connecting portion (for example, a plug) provided at the connection end portion and a second connecting portion (for example, a receptacle) provided at the attachment / detachment operation portion and configured to be connectable with the first connecting portion. It has a detachable connector structure with and. Further, one of the first connecting portion and the second connecting portion (for example, a receptacle) can be moved with respect to the connecting portion main body and the outer surface of the one connecting portion with respect to the connecting portion main body. It includes a configured lock control unit. Further, in the detachable connector structure, when the first connecting portion is attached (for example, inserted) to the second connecting portion, the lock control portion shifts to an outer lock position with respect to the connecting portion main body and becomes the first connecting portion. When the connection of the second connecting portion is locked and the lock control unit shifts to an outer release position with respect to the connecting portion main body different from the outer lock position by an external force, the connection between the first connecting portion and the second connecting portion is performed. It is configured to be unlocked.

Next, the operation method (second invention) of the robot system according to the present invention includes a main body portion having a movable connection end portion and an operation member for operating the operation target, and the connection end portion includes an operation member. On the other hand, it is an operation method of a robot system including a detachable operation unit configured to be detachable. Here, a first connecting portion (for example, a plug) provided at the connection end portion and a second connecting portion (for example, a receptacle) provided at the attachment / detachment operation portion and configured to be connectable with the first connecting portion. It has a detachable connector structure with and. Further, the second connecting portion includes a connecting portion main body and a lock control portion configured to be movable in the detachable direction of the detachable connector structure with respect to the connecting portion main body on the outer surface of the second connecting portion. Further, in the detachable connector structure, when the lock control unit shifts to the outer lock position with respect to the connecting portion main body by an external force, the connection between the first connecting portion and the second connecting portion is locked, and the lock control unit is subjected to the external force. The lock of the connection between the first connecting portion and the second connecting portion is released when the position shifts to the outer releasing position with respect to the connecting portion main body, which is different from the outer locking position. At this time, it is preferable that the outer lock position of the lock control unit is set to the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position.

In each of these inventions, the main body alternately executes the first step of attaching the attachment / detachment operation portion to the connection end portion and the second step of removing the attachment / detachment operation portion from the connection end portion. .. Here, in the first step, the main body portion moves the connection end portion toward the attachment / detachment operation portion engaged with another portion, and the connection end portion is moved with respect to the attachment / detachment operation portion. By mounting the detachable connector structure in the detachable direction, the lock control unit is moved to the outer lock position to lock the connection between the first connecting portion and the second connecting portion (first invention). On the other hand, by moving the connection end portion to which the attachment / detachment operation portion is not connected, the connection end portion with respect to the attachment / detachment operation portion in which the lock control portion engages with another portion in the attachment / detachment direction. By mounting the lock control unit in the direction in which the attachment / detachment connector structure is connected in the attachment / detachment direction, the lock control unit is moved to the outer lock position by a reaction force given from the other portion, and the first connection portion and the attachment / detachment connector structure are connected. The connection of the second connecting portion is locked (second invention). At this time, it is preferable that the main body portion then disengages the attachment / detachment operation portion with the other portion by operating the connection end portion. Further, in the second step, the main body portion engages the lock control portion of the attachment / detachment operation portion with another portion by operating the connection end portion to which the attachment / detachment operation portion is connected. After that, by further moving the connection end portion in the engagement direction with the other portion, the lock control portion is moved to the outer release position by the reaction force given from the other portion, and the first The lock of the connection between the first connecting portion and the second connecting portion is released (first invention). On the other hand, by operating the connection end portion to which the attachment / detachment operation unit is connected, the lock control unit is engaged with the other portion in the attachment / detachment direction, and the engagement is made in the attachment / detachment direction. By further moving the connection end portion in the direction in which the detachable connector structure is separated, the lock control portion is moved to the outer release position by a reaction force applied from the other portion, and the first connecting portion and the said The connection of the second connection portion is unlocked (second invention). After these, if necessary, the main body portion preferably moves the connection end portion in a direction away from the attachment / detachment operation portion.

In the present invention, the other portion is an operation unit holder that has an engaging structure that can be engaged with the lock control unit and can hold the attachment / detachment operation unit in a state of being engaged with the lock control unit. Is preferable. It is desirable that the attachment / detachment operation portion separated from the connection end portion is held by the attachment / detachment operation portion by engaging with the engagement structure. Further, it is desirable that a plurality of types of the attachment / detachment operation units are prepared. It is desirable that the main body further includes a selection step of selecting one attachment / detachment operation unit from the plurality of types of attachment / detachment operation units. When the attachment / detachment operation portion is not attached to the connection end portion, the main body portion attaches the attachment / detachment operation portion selected in the selection step in the first step, and the attachment / detachment operation portion selected in the selection step is attached to the connection end portion. When the attachment / detachment operation unit is already attached, the attachment / detachment operation unit that has already been attached is removed in the second step, and then the attachment / detachment operation selected in the selection step is performed in the second step. Attach the part.

In the first step, the lock control unit is released from the outside by the lock portion whose movement to the inner peripheral side is restricted because the attachment / detachment interlocking portion is in the inner release position. It is preferably in a state of being held in position. Here, for example, when the one connecting portion is the second connecting portion, the main body portion moves the connecting end portion with respect to the second connecting portion of the attachment / detachment operation portion. Insert the first connecting part. Then, the detachable interlocking portion is pushed by the push-in protrusion to move to the inner lock position, and the lock portion is allowed to move to the inner peripheral side position, and the lock control portion is moved from the outer release position. By returning to the outer lock position and restricting the movement of the lock portion to the outer peripheral side position, the lock portion is fitted in the lock groove, the connection is locked, and the attachment / detachment to / from the connection end portion is performed. The operation unit is installed. After that, by operating the connection end portion, the main body portion releases the engagement state of the attachment / detachment operation portion attached to the connection end portion with respect to the other portion.

When one of the connecting portions is the second connecting portion, the lock control portion is configured to be movable with respect to the connecting portion main body in the attachment / detachment direction of the attachment / detachment connector portion, and the lock control portion is controlled. When the outer lock position of the portion is set to the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position, in the first step, the main body portion is the lock control unit. Moves the connection end portion toward the attachment / detachment operation portion engaged with the other portion, and attaches the connection end portion to the attachment / detachment operation portion in a direction in which the attachment / detachment connector structure is connected in the attachment / detachment direction. By doing so, it is desirable to shift the lock control unit to the outer lock position by a reaction force applied from the other portion to lock the connection between the first connecting portion and the second connecting portion.

In the second step, first, the main body operates the connection end portion to which the attachment / detachment operation portion is attached to operate the lock control portion of the attachment / detachment operation portion attached to the connection end portion. Engage with the other site. Here, for example, when the one connecting portion is the second connecting portion, the main body portion is then connected in the direction of pulling out the first connecting portion from the second connecting portion of the detachable operation portion. By moving the end portion, the lock control unit shifts from the outer lock position to the outer release position due to a reaction force applied from another portion, so that the lock portion is allowed to move to the outer peripheral side position. At the same time, the detachable interlocking portion returns from the inner lock position to the inner release position and the movement of the lock portion to the inner peripheral side position is restricted, so that the lock portion escapes from the lock groove and is located on the outer peripheral side. The lock of the connection between the first connecting portion and the second connecting portion is released. After that, the main body portion is separated from the attachment / detachment operation portion by moving the connection end portion, and is separated.

According to the present invention, it is possible to provide a robot system provided with a drive mechanism and a detachable mechanism that does not require a drive mechanism or a manual operation for attaching / detaching an operation unit.

It is a perspective view which shows the whole structure of embodiment of the robot system which concerns on this invention. It is a front partial sectional view which shows the connection structure of the connection end part and the attachment / detachment operation part of the same embodiment. It is an outer view (a) at the time of separation and the outer view (b) at the time of connection of the detachable connector structure of the same embodiment. It is an enlarged sectional view which shows the structure at the time of separation of the detachable connector structure of the same embodiment. It is an enlarged sectional view which shows the structure at the time of connection of the detachable connector structure of the same embodiment. In the perspective view (a) showing how the attachment / detachment operation unit is held by the operation unit holder of the same embodiment, and in the front view (b) showing the connection structure of the connection end portion and the attachment / detachment operation unit together with the operation unit holder. is there. A perspective view (a) showing a state in which the attachment / detachment operation portion is held by the operation portion holder of the same embodiment, and the connection end portion is connected to one of the held attachment / detachment operation portions for explanation. , The front view (b).

Next, embodiments of the present invention (first invention and second invention) will be described in detail with reference to the accompanying drawings. First, with reference to FIG. 1, the overall configuration of the embodiment of the robot system according to the present invention will be described. FIG. 1 is a perspective view showing the overall configuration of the present embodiment. In the present embodiment, as a configuration example of the present invention, a robot system 1 having a main body 10 which is a handling robot having an articulated robot structure is configured. The main body 10 has a base 11 attached to a support 2 having a frame structure in the illustrated example. Inside the base body 11, a control unit (for example, a computer system) for controlling each unit of the robot system 1 is built. However, the control unit is not limited to the case where it is provided only inside the base body 11, but is provided outside the base body 11 and each unit is controlled via the communication means provided in the base body 11. It is not particularly limited as it may be a thing. Further, the work table 3 for handling is fixed to the support 2. The main body 10 has an arm portion 12 operably connected to the base body 11, an arm portion 13 operably connected to the arm portion 12, and an arm portion 13 operably connected to the arm portion 12. It has an arm portion 14 operably connected, an arm portion 15 operably connected to the arm portion 14, and a hand portion 16 connected to the tip end portion of the arm portion 15. In the illustrated example, the arm structure including the two sets of the arm portions 12 to 15 and the hand portion 16 is connected to the base body 11, respectively, but the number of sets of the arm structures is arbitrary. , Not particularly limited. The operation of each arm structure is controlled by the control unit.

In the present embodiment, a pair of operation portions A and B are attached to the tip portion of the hand portion 16. These operation units A and B are parts that operate on the hand unit 16 and are used to perform some operation on a work (operation target) such as a part (not shown). The operation units A and B are configured to be operable by an actuator (electric motor, etc.) housed inside the hand unit 16 and a drive mechanism (reducer, conduction mechanism, etc.) connected to the actuator (electric motor, etc.). The operation units A and B are connected to the connection ends 17 and 18 attached to the hand unit 16 and the attachment / detachment operation units 21 which are detachably connected to the connection ends 17 and 18, respectively. 22 and are included. The connection end portions 17 and 18 correspond to the connection end portions of the main body portion 10 according to the present invention, and are attached to the main body portion of the hand portion 16 as described later. In the illustrated example, the operation portions A and B are portions that constitute a finger (for example, a gripping claw) provided on the hand portion, or a portion that includes the finger. As an example, this portion operates so that the mutual distance increases or decreases in a posture in which the operation units A and B face each other, and has a function of gripping the work as an example of the operation function. The shapes of the operating portions A and B connected to the hand portion 16 shown in FIG. 1 exemplify the case where the shape is a general gripping claw shape, but an actual detailed structural example will be described later.

An operation unit holder 4 is attached to the support 2 on the side of the base 11. In the illustrated example, the operation unit holder 4 is provided for each set of the arm structures 12 to 16. The operation portion holder 4 includes a leg portion 41 fixed to the support body 2 and a plate-shaped holding portion 42 attached to the upper end of the leg portion 41. The holding portion 42 is provided with a plurality of engaging portions 42a. As shown in FIGS. 6 and 7, the engaging portion 42a has a notch shape having an opening 42c on the outside of the holding portion 42. The attachment / detachment operation units 21 and 22 according to the present embodiment are held in the engaged portion 42a in an engaged state. Further, as one aspect of the engaging structure, an engaging edge 42b that engages with the lock control unit 211c, which will be described later, is formed inside the engaging portion 42a. The attachment / detachment operation portions 21 and 22 are configured so that the engagement portion 42a of the operation portion holder 4 can be engaged and disengaged through the opening 42c.

FIG. 2 shows a structural example of the connection end portions 17 and 18 and the attachment / detachment operation portions 21 and 22 in the operation units A and B. Here, since the operation units A and B, the connection ends 17 and 18, and the attachment / detachment operation units 21 and 22 can have the same structure as each other, the connection end 17 and the attachment / detachment operation are described in the drawings and the following description. Only the operation unit A including the unit 21 will be described, and the description of the operation unit B will be omitted.

In the operation unit A, the connection end portion 17 is mounted on the mounting base 170 on which the mounting surface 170a is mounted on the hand portion 16, the plug (first connecting portion) 171 mounted on the mounting base 170, and the mounting base 170. It is provided with a pin 172. The plug 171 is provided so as to project from the facing surface 170b of the mounting base 170. Further, the pin 172 includes a tip portion 172a that protrudes from the facing surface 170b in parallel with the plug 171 and is formed in a tapered shape, and a shaft portion 172b that is formed in a columnar shape.

On the other hand, the attachment / detachment operation portion 21 is formed in parallel with the support base 210, the receptacle (second connecting portion) 211 provided so as to project from the facing surface 210a of the support base 210, and the axis Ax of the receptacle 211. A fitting hole 212 formed from the facing surface 210a and an operating member 213 mounted on the mounting surface 210b of the support base 210 are provided. Here, the operation member 213 is a member for abutting the work (operation target) and performing some operation, for example, a gripping claw or the like. The fitting hole 212 is formed in the depth of the introduction portion 212a having an inner diameter that gradually increases in diameter so that the inlet into which the pin 172 is inserted opens, and a shaft having the same diameter in the axial direction. It has a hole 212b.

The plug 171 and the receptacle 211 (both connecting portions) form a detachable connector structure that is detachably configured in the detachable direction along the axis Ax (hereinafter, simply referred to as the axial direction). Further, the pin 172 and the fitting hole 212 form a detachable fitting structure that is freely fitted and detached along the axis Ay. Here, the axis Ax and the axis Ay are set in parallel. Further, when the detachable connector structure is completely connected, the detachable fitting structure is completely fitted, and when the detachable connector structure is completely separated, the detachable fitting structure is also completely separated. ing. In the detachable connector structure of the present embodiment, the plug 171 and the receptacle 211 are configured to be rotatable about the axis Ax at the time of connection. The relative rotation operation around the axis Ax between the connection end portions 17, 18 and the attachment / detachment operation portions 21 and 22 is regulated by the attachment / detachment fitting structure. The fitting structure of the pin 172 and the fitting hole 212 in the detachable fitting structure makes it possible to easily set and adjust the mechanical rigidity and the rotation characteristics in the relative rotation direction when the axis Ax is the center. .. For example, the inner diameter of the shaft hole portion 212b of the fitting hole 212 may be set slightly larger than the outer diameter of the shaft portion 172b of the pin 172 in order to provide a predetermined angle margin. This angle margin provides an angle margin around the axis Ax between the position and posture of the hand unit 16 and the operation target when the operation members 213 and 223 act on the operation target in the operation units A and B. Produces the advantage. The rigidity and angle margin in the rotation direction are set and adjusted by the elasticity of the pins 172 and 182 between the mounting bases 170 and 180 and the support bases 210 and 220 (engagement holes 212 and 222) at the time of connection. It can also be done by setting or adjusting the degree of deformation. However, the elastic deformation of the pins 172 and 182 causes not only an angular margin around the axis Ax but also a change in posture along the axis Ax to the extent permitted by the detachable connector structure.

3 to 5 show the appearance and cross-sectional structure of the detachable connector structure at the time of separation and connection. The plug 171 is provided with a shaft hole 171b that penetrates in the axial direction and opens at the tip portion 171a. Further, on the outer circumference of the plug 171, a push-in protrusion 171c having a shape (flange shape) protruding toward the outer circumference side and a lock groove 171d adjacent to the push-in protrusion 171c are formed. Here, the push-in protrusion 171c is arranged on the side of the tip portion 171a with respect to the lock groove 171d. It is desirable that the lock groove 171d is provided with a truncated cone-shaped inclined inner surface on the tip side (right side in the drawing) as shown in the drawing in order to push the lock member 211d to the outer peripheral side position at the time of separation described later. In the illustrated example, the lock groove 171d is provided with the inclined inner surfaces on both sides in the axial direction.

Further, the receptacle 211 is provided with a tubular (cylindrical) receptacle main body (connecting portion main body) 211a. The receptacle main body 211a includes a shaft hole 211b that opens at the tip. On the outer circumference of the receptacle main body 211a, an outer peripheral sleeve (lock control unit) 211c mounted so as to be movable in the axial direction is arranged. The outer peripheral sleeve 211c is in a state of being urged toward the tip end side (left side in the drawing) of the receptacle 211 by the spring 211h with respect to the receptacle main body 211a. An outer peripheral groove 211x is provided on the outer surface of the outer peripheral sleeve 211c. In the case of the illustrated example, the outer peripheral groove 211x is an annular groove formed over the entire circumference around the axis Ax. The shape of the outer peripheral groove 211x is directly reflected in the shape of the inner peripheral surface of the outer peripheral sleeve 211c, and forms an inner peripheral rib protruding toward the inner peripheral side. As will be described later, this inner peripheral rib serves as a regulation portion that restricts the movement of the lock member 211d to the outer peripheral side position when the outer peripheral sleeve 211c is in the outer lock position. Further, on the inner surface of the end portion on the tip end side of the inner peripheral rib, the lock member 211d is moved from the outer peripheral side position to the inner peripheral side while the outer peripheral sleeve 211c is moving from the outer release position on the base end side to the outer lock position on the tip end side. It constitutes a truncated cone-shaped inclined inner surface for pushing into position.

Further, the receptacle main body 211a is formed with accommodating holes penetrating inside and outside. Further, a lock member (lock portion) 211d that is movably accommodated inside and outside the accommodation hole is provided. Although the lock member 211d is spherical in the illustrated example, it may be a lever-shaped member having a lock portion at the tip as long as it has a lock function described later, and is not particularly limited. A plurality of the accommodating holes and the lock member 211d are provided around the axis Ax, and it is particularly preferable that the accommodation holes and the lock member 211d are provided at three or more locations. In the state shown in FIGS. 3A and 4 (separated state), the lock member 211d is arranged at the outer peripheral side position and is held by the outer peripheral sleeve 211c. At this time, the outer peripheral sleeve 211c allows the lock member 211d to be arranged at the outer peripheral side position shown in the figure without restriction. The position of the outer peripheral sleeve 211c in the axial direction with respect to the receptacle main body 211a at this time is referred to as an outer release position.

Further, on the inner circumference of the receptacle main body 211a, an inner circumference sleeve (detachable interlocking portion) 211e mounted so as to be movable in the axial direction is arranged. The inner peripheral sleeve 211e is in a state of being urged toward the tip end side (left side in the drawing) of the receptacle 211 by a spring 211i via a valve body 211g described later with respect to the receptacle main body 211a. The inner peripheral sleeve 211e has an end shape, an inner diameter, and the like so that when the plug 171 is inserted into the receptacle 211, the inner peripheral sleeve 211e is pushed toward the base end side (right side in the drawing) in the axial direction by the push-in protrusion 171c. To. In the separated state shown in FIGS. 3A and 4, the inner peripheral sleeve 211e is arranged on the inner peripheral side of the lock member 211d to restrict the locking member 211d from being arranged on the inner peripheral side position. .. The position of the inner peripheral sleeve 211e in the axial direction with respect to the receptacle main body 211a at this time is referred to as an inner release position.

Further, a valve seat 211f is fixed to the inner circumference of the receptacle main body 211a. The valve seat 211f may be provided integrally with the receptacle main body 211a. A valve body 211g is mounted on the inner peripheral side of the valve seat 211f so as to be movable in the axial direction. Since the valve body 211g is in contact with the inner peripheral sleeve 211e via the O-ring 211j, the inner peripheral sleeve 211e is pushed toward the base end side (right side in the drawing) in the axial direction and moves to the same side. The opening / closing portion provided with the O-ring 211k separates from the valve seat 211f to open the valve. When the pushing force applied to the inner peripheral sleeve 211f is released by pulling out the plug 171 from the receptacle 211, the valve body 211g is returned to the tip side (left side in the drawing) in the axial direction by the spring 211i, and the above The opening / closing part is seated on the valve seat 211f and returns to the valve closed state.

In the detachable connector structure, in order to shift from the separated state shown in FIGS. 3 (a) and 4 to the connected state shown in FIGS. 3 (b) and 5, simply insert the plug 171 into the receptacle 211 in the axial direction. Good. As described above, when the pushing protrusion 171c of the plug 171 to be inserted pushes the inner peripheral sleeve 211e, the inner peripheral sleeve 211e is retracted from the inner peripheral side of the lock member 211d, and the lock member 211d is moved to the inner peripheral side position. Allow to move. The position of the inner peripheral sleeve 211e with respect to the receptacle main body 211a at this time in the axial direction is referred to as an inner lock position. As a result, the lock member 211d can be introduced into the lock groove 171d adjacent to the push-in protrusion 171c, and the tip side of the inner peripheral rib of the outer peripheral sleeve 211c urged by the spring 211h on the tip side (to the left side in the drawing). It is pushed into the inner peripheral side position by the inclined inner surface of the above, and is in a state of being fitted into the lock groove 171d. Then, the outer peripheral sleeve 211c further moves to the tip end side, and restricts the lock member 211d from returning to the outer peripheral side position. The position of the outer peripheral sleeve 211c with respect to the receptacle main body 211a in the axial direction is referred to as an outer lock position. This is the connected state shown in FIG. In this connected state, by arranging the outer peripheral sleeve 211c at the outer lock position, the lock member 211d is restricted from returning to the outer peripheral side position by the outer peripheral sleeve 211c, and the inner peripheral side position fitted in the lock groove 171d. Is held in. Therefore, the connected state is locked unless a force in the axial direction is applied to the outer peripheral sleeve 211c to move to the outer release position.

6 and 7 are views showing the relationship between the structure of the operation unit holder 4 and the attachment / detachment operation units 21 and 22. With respect to the operation unit holder 4, the attachment / detachment operation units 21 and 22 are in a state where the engagement edge 42b is engaged with the outer peripheral grooves 211x and 221x of the outer peripheral sleeves 211c and 221c in the axial direction. It is held in 42a. At this time, the attachment / detachment operation portions 21 and 22 can enter and exit the engaging portion 42a through the opening 42c. As a result, the attachment / detachment operation portions 21 and 22 and the engaging portion 42a can be engaged and disengaged in the axial direction and in the direction along the plate surface of the holding portion 42, that is, in the direction orthogonal to the axial direction. It is composed.

The main body portion 10 approaches the attachment / detachment operation portions 21 and 22 held by the operation portion holder 4 as described above by moving the hand portion 16 (connection end portions 17, 18), and the plug thereof. 171 and 181 and pins 172 and 182 are inserted into the receptacles 211 and 221 and the fitting holes 212 and 222 of the attachment / detachment operation units 21 and 22. At this time, as shown by the dotted line in FIG. 4, since the outer peripheral sleeves 211c and 221c of the attachment / detachment operation portions 21 and 22 are locked in the axial direction by the engaging edge 42c of the operation portion holder 4, the plug 171 is pushed into the plug 171. When the portion 171c pushes the inner peripheral sleeve 211e, a reaction force for moving the outer peripheral sleeve 211c to the tip side opposite to the pushing direction is applied from the engaging edge 42b. As a result, when the inner peripheral sleeve 211e is retracted from the inner peripheral side of the lock member 211d by the push-in protrusion 171c, the lock member 211d is moved to the inner peripheral side by the inclined inner surface of the outer peripheral sleeve 211c due to the reaction force as well as the spring 211h. Since it is pushed into the position, it fits into the lock groove 171d and becomes the connected state shown in FIG. 5, and finally the outer peripheral sleeve 211c shifts to the outer lock position, and the connection is locked. After that, the main body portion 10 moves the hand portion 16 (connection end portions 17, 18) in the same posture along the holding portion 42 of the operation portion holder 4, that is, in the direction orthogonal to the axis Ax. , The outer peripheral sleeve 211c is pulled out from the engaging edge 42c, and the attachment / detachment operation portions 21 and 22 escape from the engaging portion 42a through the opening 42c, so that the hand portion 16 (connection end portions 17, 18) is separated from the operation holder 4. Can be made to.

On the other hand, when the attachment / detachment operation units 21 and 22 are already attached to the connection ends 17 and 18 of the hand portion 16, when the attachment / detachment operation portions 21 and 22 are removed from the hand portion 16, the main body portion 10 is the hand portion 16. 21 and 22 are introduced into the engaging portion 42a through the opening 42c, and the outer peripheral groove 211x of the outer peripheral sleeve 211c is engaged with the engaging edge 42b. At this time, the connection end portions 17 and 18 and the attachment / detachment operation portions 21 and 22 are in a locked connected state as shown in FIG. Here, the main body portion 10 raises the hand portion 16 (connection end portions 17, 18) so as to be separated from the attachment / detachment operation portions 21 and 22 in the axial direction. As a result, the pulling force of the hand portion 16 is applied between the plug 171 and the outer peripheral sleeve 211c locked to the engaging edge 42c, so that the outer peripheral sleeve 211c is given a reaction force from the engaging edge 42b. As a result, the outer peripheral sleeve 211c is moved to the base end side (right side in the drawing) in the axial direction relative to the receptacle main body 211a connected to the plug 171, and as a result, the outer peripheral sleeve 211c begins to shift from the outer lock position to the outer release position. , The lock member 211d is pushed out to the outer peripheral side position by the inclined inner surface of the lock groove 171d. As a result, the plug 171 is pulled out from the receptacle 211, the outer peripheral sleeve 211c returns to the outer release position, and the inner peripheral sleeve 211e also returns to the inner release position. Therefore, the lock member 211c moves to the outer peripheral side position. The separated state shown in 4 is obtained. As a result, the attachment / detachment operation units 21 and 22 remain in the operation unit holder 4, so that the attachment / detachment operation units 21 and 22 can be separated from the hand portions 16 (connection end portions 17, 18).

In the above embodiment, as one aspect of the second invention, the outer peripheral sleeve 211c, which is a lock control unit, is attached to another portion in both the mounting state in which the detachable connector structure is connected and the detaching state in which the detachable connector structure is separated. In a state of being engaged with (operation unit holder 4), the connection is locked or unlocked while applying a reaction force to the outer peripheral sleeve 211c. However, in the detachable connector structure, when the detachable connector structure is attached in the connected state, even if the outer peripheral sleeve 211c which is the lock control unit is left in the free state, the attachment force is only applied between the plug 171 and the receptacle main body 211a. Then, the outer peripheral sleeve 211c automatically shifts to the outer lock position, and the connected state is locked. Therefore, at the time of mounting (first step), the attachment / detachment operation portions 21 and 22 are supported by engaging the support bases 210 and 220 with other parts such as the operation portion holder 4, and the main body portion. With 10, the connection ends 17 and 18 can be automatically connected without the need for a drive mechanism or manual operation by simply pushing the connection ends 17 and 18 into the attachment / detachment operation units 21 and 22. That is, according to the above, one aspect of the first invention can be constructed. Here, in the first invention, receptacles may be provided at the connection end portions 17 and 18, and plugs may be provided at the attachment / detachment operation portions 21 and 22.

In the present embodiment, the shaft hole 171b and the shaft hole 211b are connected in the connected state by using the plug 171 and the receptacle 211 that can be used as a pipe joint as the detachable connector structure. Further, in this connected state, the valve body 211g is separated from the valve seat 211f to open the valve, so that the shaft hole 211b is opened toward the proximal end side. Therefore, in the above-mentioned connected state, for example, by performing vacuum suction or compressed air supply from the hand portion 16 side, suction action, spraying (pressurizing) action, etc. are performed on the operation target from the attachment / detachment operation units 21 and 22. Can be given.

According to the present embodiment described above, the main body 10 having the connection ends 17 and 18 configured to be movable and the operation members 213 and 223 for operating the operation target are included and can be attached to and detached from the connection end. In a robot system including the attachment / detachment operation units 21 and 22 configured in the above, a plug 171 provided on one of the connection end portion and the attachment / detachment operation portion and a plug 171 provided on the other of the connection end portion and the attachment / detachment operation portion are provided. The receptacle 211 has a detachable connector structure including a receptacle 211 that is configured to be able to accept a plug, and the receptacle 211 includes a receptacle main body 211a and a lock control unit 211c that is configured to be movable with respect to the receptacle main body on the outer surface of the receptacle. When the plug is inserted into the receptacle, the lock control unit 211c shifts to the outer lock position with respect to the receptacle body to lock the connection between the plug and the receptacle, and the lock control unit 211c is set to the outer lock position by an external force. It is configured so that the connection between the plug and the receptacle is released when the position shifts to the outer release position with respect to a different receptacle body. Further, the main body portion 10 engages the lock control portion 211c with the other portion 4 by moving the connection end portion 17 to which the attachment / detachment operation portion 21 is connected, and further engages the connection end portion 17 in the engaging direction. By moving the lock control unit 211c, the lock control unit 211c is moved to the outer release position, and the lock of the connection between the plug and the receptacle is released. As a result, the main body 10 moves the connection end 17 and attaches it to the attachment / detachment operation unit 21 to lock the connection, and the main body 10 moves the connection end 17 to move the lock control unit 211c to another portion. The lock of the connection is released by shifting the lock control unit 211c to the outer release position by engaging and further moving the connection end portion in the engagement direction (one aspect of the first invention). Further, the detachable connector structure is also configured so that the connection between the plug and the receptacle is locked when the lock control unit 211c shifts to the outer lock position with respect to the receptacle body by an external force. By moving the connection end portion 17 with respect to the detachable connecting portion 21 engaged with the portion of the above portion and inserting the plug 171 into the receptacle 211, the lock control portion 211c is moved to the outer lock position by the reaction force applied from the other portion. The transition can also be made to lock the connection (one aspect of the second invention). Therefore, in any case, the attachment / detachment operation unit 21 can be attached / detached to / from the connection end portion 17 without the need for a drive mechanism or manual operation. Further, since a drive mechanism for attaching / detaching the connection end portion 17 and the attachment / detachment operation portion 21 is not required, it is possible to reduce the cost, size and weight, and no manual operation is required. Therefore, the operating member can be replaced automatically.

In the present embodiment, the lock control unit 211c is configured to be able to shift to the outer lock position and the outer release position along the attachment / detachment direction (axis direction) of the attachment / detachment connector structure with respect to the receptacle main body 211a. The lock control unit 211c is engaged with the other portion 4 in the attachment / detachment direction. As a result, the lock control unit 211c can be moved from the outer lock position to the outside by simply moving the connection end portion 17 with respect to the attachment / detachment operation unit 21 in the attachment / detachment direction while the lock control unit 211c is engaged with the other portion 4. Since it can be moved to the release position, the connection end portion 17 and the attachment / detachment operation portion 21 can be more easily removed.

In this case, the main body portion 10 performs an engagement / disengagement operation with respect to the other portion 4 of the lock control unit 211c by moving the connection end portion 17 in a direction orthogonal to the attachment / detachment direction. As a result, the attachment / detachment operation portion 21 can be engaged with or disengaged from the other portion 4 simply by moving the connection end portion 17 in a specific direction without requiring any operation. Can be done.

In the present embodiment, the plug 171 is provided at the connection end portion 17, the receptacle 211 is provided at the attachment / detachment operation unit 21, and the outer lock position of the lock control unit 211c is the receptacle 211 in the attachment / detachment direction with respect to the outer release position. It is set on the tip side of. As a result, in a state where the lock control unit 211c is engaged with the other portion 4 in the attachment / detachment direction, the connection end portion 17 is simply pulled out from the attachment / detachment operation unit 21, and the pulling force causes the lock control unit 211c to be pulled out from the outside. Since it can be moved to the release position, the attachment / detachment operation unit 21 can be removed from the connection end 17 only by the attachment / detachment operation.

Further, in this case, the connection end portion 17 is simply inserted into the attachment / detachment operation unit 21 in the attachment / detachment direction with the lock control unit 211c engaged with the other portion 4, and the reaction force generated at the time of insertion causes the reaction force. , The lock control unit 211c can be moved to the outer lock position. Therefore, the connection end portion 17 can be attached to the attachment / detachment operation portion 21 only by the attachment / detachment operation (one aspect of the second invention).

In the present embodiment, as a detachable connector structure, plugs 171,181 are provided at the connection ends 17, 18 and receptacles 211,221 are provided at the attachment / detachment operation portions 21 and 22, but conversely, the connection ends are provided. A receptacle may be provided in the vehicle and a plug may be provided in the attachment / detachment operation unit (one aspect of the first invention). In this case, the support base of the attachment / detachment operation unit provided with the plug is held by engaging with the operation unit holder 4 in the axial direction, and the receptacle at the connection end attached to the hand unit 16 approaches the plug. By pressing the outer peripheral sleeve, the outer peripheral sleeve can be automatically shifted to the locked connection state shown in FIG. 5 in the same manner as described above.

On the other hand, in this case, in order to separate the attachment / detachment operation unit from the connection end portion, the locking member 43 shown by the dotted line in FIG. 5 is provided in the vicinity of the operation unit holder 4, and the hand unit 16 is attached to the operation unit holder 4. In the process of approaching, the outer peripheral sleeve of the receptacle at the connection end is pressed against the locking member 43, and the outer peripheral sleeve is shifted from the outer lock position to the outer release position, so that the lock in the connected state can be released. After that, the attachment / detachment operation unit is engaged with the operation unit holder 4, and then the hand unit 16 is pulled up and the receptacle at the connection end portion is pulled out from the plug of the attachment / detachment operation unit to separate the attachment / detachment operation unit from the connection end portion. Can be done.

The locking member 43 may be provided in the operation unit holder 4 (near the engaging portion 42a of the operation unit holder 4), or may be provided in a place different from the operation unit holder 4. Further, although the locking member 43 shown in the figure is brought into contact with the tip of the outer peripheral sleeve, the locking member is engaged with the outer peripheral groove of the outer peripheral sleeve to move the outer peripheral sleeve from the outer locking position to the outside as described above. It may be moved to the release position.

In the present embodiment, the plug 171 and the receptacle 211 are configured to be relatively rotatable around the axis Ax along the attachment / detachment direction, and the attachment / detachment connector structure is attached / detached between the connection end portion 17 and the attachment / detachment operation portion 21. Further, the detachable fitting structure 172, 212 is configured to perform the fitting / detaching operation in the attachment / detachment direction at a position deviated from the axis Ax (position on the axis Ay) in conjunction with the attachment / detachment. As a result, the detachable connector structure can be simplified, so that the size, weight, and cost can be reduced. By providing the detachable fitting structure 172, 212, the rigidity in the rotation direction around the axis Ax can be increased. It is possible to easily set and adjust the angle margin.

The robot system of the present invention is not limited to the above embodiment, and various modifications can be made within the scope of the technical idea of the present invention. For example, in the above embodiment, the lock control unit provided on the receptacle according to the present invention is an outer peripheral sleeve mounted so as to be movable in the axial direction. However, the lock control unit is not limited to a sleeve shape such as an outer peripheral sleeve, and can be configured into various shapes as long as it exists on the outer surface of the receptacle.

Further, the lock control unit is not limited to the one mounted so as to be movable in the axial direction with respect to the receptacle main body, and can be set to the lock position and the release position by the movement, and has a function of locking and releasing the connected state. As long as it can be played, it may be configured to be movable in the radial direction, for example, such as a push button.

Further, the other parts are not limited to the operation part holder 4, but are related to the lock control part 211c such as the support 2, the work table 3, at least a part of the base body 11, and at least a part of the other arm structure. Any part may be used as long as it is possible to make the connection ends 17 and 18 relatively movable by the main body 10.

Further, in the above embodiment, the detachable connector structure of the connection ends 17, 18 and the detachable operation portions 21 and 22 is composed of a plug and a receptacle that can accept the plug, but the present invention is limited thereto. As long as one and the other connecting portion can be connected to each other, it may not have a structural male-female relationship.

Further, in the above embodiment, the detachable connector structure is configured such that when both connecting portions are attached, the lock control unit 211c automatically shifts to the outer lock position and the connection is locked (automatic locking function). The connection is locked when the lock control unit shifts to the outer lock position by an external force (has a lock operation function). However, the present invention is not limited to such a thing, and in the second invention, it may have a higher lock operation function without having the above-mentioned automatic lock function, and the first invention In the above-mentioned automatic locking function, the above-mentioned automatic locking function may be provided without providing the above-mentioned locking operation function.

1 ... Robot system, 2 ... Support, 3 ... Work table, 4 ... Operation part holder, 10 ... Main body part, 11 ... Base body, 12 to 15 ... Arm part, 16 ... Hand part, 17, 18 ... Connection end part , 21,22 ... Detachable operation unit, A, B ... Operation unit, 170, 180 ... Mounting base, 171,181 ... Plug (first connecting part), 172,182 ... Pin, 210, 220 ... Support base, 211, 221 ... Receptacle (second connecting part), 212, 222 ... Fitting hole, 211c ... Outer sleeve (lock control part), 211d ... Lock member (lock part), 211e ... Inner circumference sleeve (detachable interlocking part), 211f ... Valve seat, 211g ... Valve body, 211h, 211i ... Spring, 211j, 211k ... O-ring

Claims (9)

In a robot system including a main body having a movable connection end and a detachable operation unit including an operation member for operating an operation target and detachable from the connection end.
It has a detachable connector structure including a first connecting portion provided at the connection end portion and a second connecting portion provided at the detachable operation portion and configured to be connectable to the first connecting portion.
The second coupling part before SL has a coupling portion main unit, and a movably arranged lock control unit with respect to the coupling portion main unit in an outer surface of the second connecting portion,
In the detachable connector structure, when the first connecting portion is attached to the second connecting portion, the lock control portion shifts to an outer lock position with respect to the connecting portion main body to connect the first connecting portion and the second connecting portion. Is locked, and when the lock control unit shifts to an outer release position with respect to the connection portion main body different from the outer lock position by an external force, the connection between the first connection portion and the second connection portion is unlocked. The second connecting portion is configured to be able to accept the first connecting portion, and the outer lock position of the lock control unit is the second connection in the attachment / detachment direction with respect to the outer release position. Set on the tip side of the part,
It is provided with an engaging structure that can be engaged with the lock control unit, and further has an operation unit holder that can hold the attachment / detachment operation unit in a state of being engaged with the lock control unit.
The lock control unit is configured to be able to shift to the outer lock position and the outer release position along the attachment / detachment direction of the attachment / detachment connector structure with respect to the connection portion main body.
The body portion is engaged with the detachable direction for the operating unit holder the lock control unit by operating the connection end the detachable operating unit is connected, is the direction of this engagement By further moving the connection end portion in the direction in which the detachable connector structure is separated in the attachment / detachment direction, the lock control unit is moved to the outer release position by a reaction force given from the operation unit holder, and the first Unlock the connection between the 1st connecting part and the 2nd connecting part ,
The main body portion moves the connection end portion to which the attachment / detachment operation portion is not connected, so that the lock control portion engages with the operation portion holder in the attachment / detachment direction with respect to the attachment / detachment operation portion. The connection end portion is mounted in the direction in which the detachable connector structure is connected in the attachment / detachment direction, and the lock control portion is moved to the outer lock position by a reaction force given from the operation portion holder, and the first connection portion is formed. And the second connecting portion are connected and the connection is locked .
A robot system characterized by that. By moving the connection end portion in a direction orthogonal to the attachment / detachment direction, the main body portion performs an engagement / disengagement operation of the lock control portion with respect to the operation portion holder.
The robot system according to claim 1. The first connecting portion includes a push-in protrusion provided on the outer surface and a lock groove provided at a position on the outer surface adjacent to the base end side of the push-in protrusion.
The second connecting portion is accommodated in a tubular connecting portion main body having an accommodating hole penetrating inside and outside, and is movable in the inward and outward directions in the accommodating hole, and can be fitted into the lock groove at an inner peripheral position. The lock portion configured in the above and the outer lock position restrict the movement of the lock portion to the outer peripheral side position, allow the lock portion to move to the outer peripheral side position at the outer release position, and release the outer side. The lock control unit urged in the direction from the position toward the outer lock position and the inner peripheral side of the connecting portion main body are configured to be movable in the detachable direction of the detachable connector structure, and the inside of the connecting portion main body is released. At the position, the movement of the lock portion to the inner peripheral side position is restricted, the movement of the lock portion to the inner peripheral side position is permitted at the inner lock position of the connecting portion main body, and the movement from the inner lock position to the inner side is permitted. It is provided with a detachable interlocking portion that is urged in the direction toward the release position and is configured to be pushed into the inner lock position by the push-in protrusion when the first connecting portion is inserted.
The robot system according to claim 1 or 2. In a robot system including a main body having a movable connection end and a detachable operation unit including an operation member for operating an operation target and detachable from the connection end.
It has a detachable connector structure including a first connecting portion provided at the connection end portion and a second connecting portion provided at the detachable operation portion and configured to be connectable to the first connecting portion.
The second connecting portion includes a connecting portion main body and a lock control portion configured to be movable in the detachable direction of the detachable connector structure with respect to the connecting portion main body on the outer surface of the second connecting portion.
In the detachable connector structure, when the lock control unit shifts to the outer lock position with respect to the connecting portion main body by an external force, the connection between the first connecting portion and the second connecting portion is locked, and the lock control unit is moved to the outer side by an external force. It is configured so that the lock of the connection between the first connecting portion and the second connecting portion is released when the position shifts to the outer release position with respect to the connecting portion main body different from the lock position.
The outer lock position of the lock control unit is set on the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position.
It is provided with an engaging structure that can be engaged with the lock control unit, and further has an operation unit holder that can hold the attachment / detachment operation unit in a state of being engaged with the lock control unit.
By operating the connection end portion to which the attachment / detachment operation portion is connected, the main body portion engages the lock control portion with the operation portion holder in the attachment / detachment direction, and the engagement / detachment operation portion is engaged. By further moving the connection end portion in the direction in which the detachable connector structure is separated, the lock control unit is moved to the outer release position by a reaction force given from the operation unit holder, and the first connection is performed. The connection between the portion and the second connecting portion is unlocked and the connection is separated.
Further, the main body portion moves the connection end portion to which the attachment / detachment operation portion is not connected to the attachment / detachment operation portion in which the lock control portion engages with the operation portion holder in the attachment / detachment direction. On the other hand, by mounting the connection end portion in the direction in which the detachable connector structure is connected in the detachable direction, the lock control unit is moved to the outer lock position by the reaction force given from the operation unit holder, and the lock control unit is moved to the outer lock position. The first connecting portion and the second connecting portion are connected and the connection is locked.
A robot system characterized by that. The first connecting portion includes a push-in protrusion provided on the outer surface and a lock groove provided at a position on the outer surface adjacent to the base end side of the push-in protrusion.
The second connecting portion is configured to accept the first connecting portion.
The second connecting portion is accommodated in a tubular connecting portion main body having an accommodating hole penetrating inside and outside, and is movable in the inward and outward directions in the accommodating hole, and can be fitted into the lock groove at an inner peripheral position. The lock portion configured in the above and the outer lock position restrict the movement of the lock portion to the outer peripheral side position, allow the lock portion to move to the outer peripheral side position at the outer release position, and release the outer side. The lock control unit urged in the direction from the position toward the outer lock position and the lock control unit are configured to be movable in the attachment / detachment direction on the inner peripheral side of the connecting portion main body, and the lock is made at the inner release position with respect to the connecting portion main body. The movement of the portion to the inner peripheral side position is restricted, the movement of the lock portion to the inner peripheral side position is allowed at the inner lock position of the connecting portion main body, and the movement is directed from the inner lock position to the inner release position. It is provided with a detachable interlocking portion that is urged in the direction and is configured to be pushed into the inner lock position by the push-in protrusion when the first connecting portion is inserted.
The robot system according to claim 4 , wherein the robot system is characterized by the above. The first connecting portion and the second connecting portion are configured to be relatively rotatable around an axis along the attachment / detachment direction at the time of connection.
The attachment / detachment fitting is configured so that the attachment / detachment operation is performed in the attachment / detachment direction at a position deviated from the axis in conjunction with the attachment / detachment operation of the attachment / detachment connector structure between the connection end portion and the attachment / detachment operation portion. Has more structure,
The robot system according to any one of claims 1 to 5 , wherein the robot system is characterized by the above. Operation of a robot system including a main body having a movable connection end and a detachable operation unit including an operation member for operating an operation target and detachable from the connection end. In the method
It has a detachable connector structure including a first connecting portion provided at the connection end portion and a second connecting portion provided at the detachable operation portion and configured to be connectable to the first connecting portion.
The second coupling part before SL has a coupling portion main unit, and a movably arranged lock control unit with respect to the one the coupling portion main unit in an outer surface of the connecting portion of,
In the detachable connector structure, when the first connecting portion is attached to the second connecting portion, the lock control portion shifts to an outer lock position with respect to the connecting portion main body to connect the first connecting portion and the second connecting portion. Is locked, and when the lock control unit shifts to an outer release position with respect to the connection portion main body different from the outer lock position by an external force, the connection between the first connection portion and the second connection portion is unlocked. Configured
The outer lock position of the lock control unit is set on the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position.
The main body alternately executes the first step of attaching the attachment / detachment operation portion to the connection end portion and the second step of removing the attachment / detachment operation portion from the connection end portion.
In the first step, the main body is provided with an engaging structure that can be engaged with the lock control unit, and the operation unit holder that can hold the attachment / detachment operation unit in a state of being engaged with the lock control unit. The attachment / detachment connector structure in which the attachment / detachment operation portion is not connected, the connection end portion is moved toward the engaged attachment / detachment operation portion, and the connection end portion is attached to the attachment / detachment operation portion in the attachment / detachment direction. By mounting the lock control unit in the direction in which they are connected, the lock control unit is moved to the outer lock position, and the connection between the first connection unit and the second connection portion is locked.
In the second step, the body portion, by operating the connection end the detachable operating unit is connected, the detachable direction against the lock control unit of the detachable operating unit on the operation unit holder in engaged with, followed by the detachable connector structure of an engagement direction of the operation unit holder the detachable direction moves the further the connection end portion in the direction of separating, the operation of the locking controller The reaction force given from the portion holder shifts to the outer release position to unlock the connection between the first connecting portion and the second connecting portion.
The operation method of the robot system characterized by this. Operation of a robot system including a main body having a movable connection end and a detachable operation unit including an operation member for operating an operation target and detachable from the connection end. In the method
It has a detachable connector structure including a first connecting portion provided at the connection end portion and a second connecting portion provided at the detachable operation portion and configured to be connectable to the first connecting portion.
The second connecting portion includes a connecting portion main body and a lock control portion configured to be movable in the detachable direction of the detachable connector structure with respect to the connecting portion main body on the outer surface of the second connecting portion.
In the detachable connector structure, when the lock control unit shifts to the outer lock position with respect to the connecting portion main body by an external force, the connection between the first connecting portion and the second connecting portion is locked, and the lock control unit is moved to the outer side by an external force. It is configured so that the lock of the connection between the first connecting portion and the second connecting portion is released when the position shifts to the outer release position with respect to the connecting portion main body different from the lock position.
The outer lock position of the lock control unit is set on the tip end side of the second connecting portion in the attachment / detachment direction with respect to the outer release position.
The main body alternately executes the first step of attaching the attachment / detachment operation portion to the connection end portion and the second step of removing the attachment / detachment operation portion from the connection end portion.
In the first step, the main body is provided with an engaging structure that can be engaged with the lock control unit, and the operation unit holder that can hold the attachment / detachment operation unit in a state of being engaged with the lock control unit. was engaged, toward the detachable operating unit, by moving the connection end the detachable operating unit is not connected, engage in the detachable direction the lock control unit to the operating unit holder By mounting the connection end portion in the direction in which the detachable connector structure is connected to the detachable operation portion, the lock control portion is attached to the outer lock position by a reaction force given from the operation portion holder. To lock the connection between the first connecting portion and the second connecting portion.
In the second step, the main body portion operates the connection end portion to which the attachment / detachment operation portion is connected to engage the lock control portion with the operation portion holder in the attachment / detachment direction. By further moving the connection end portion in the direction in which the detachable connector structure in the engaging attachment / detachment direction is separated, the lock control unit is moved to the outer release position by a reaction force given from the operation unit holder. To unlock the connection between the first connecting portion and the second connecting portion.
The operation method of the robot system characterized by this. In the first step, the main body portion locks the connection between the first connecting portion and the second connecting portion, and then disengages the attachment / detachment operating portion with the operating portion holder. Move the end further,
In the second step, the main body portion unlocks the connection between the first connecting portion and the second connecting portion, and then further moves the connecting end portion so as to separate from the detachable mounting portion. ,
The method of operating the robot system according to claim 7 or 8, wherein the robot system operates.

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