CN1066993C

CN1066993C - Automatic tool changer

Info

Publication number: CN1066993C
Application number: CN94109490A
Authority: CN
Inventors: 千代智一
Original assignee: Applied Automatics Co ltd; Nitta Corp
Current assignee: Applied Automatics Co ltd; Nitta Corp
Priority date: 1994-08-22
Filing date: 1994-08-22
Publication date: 2001-06-13
Anticipated expiration: 2014-08-22
Also published as: CN1117423A

Abstract

The present invention relates to an automatic cutting tool changer which comprises a first component and a second component, wherein one of the two components is provided with a rotary cam provided with an engaging part, and the other is provided with an engaging pin. The two components are coupled or separated by the engaging and disengaging of the engaging part and the engaging pin following the rotation of the cam. The engaging part has a large part and a small part, and the two parts are divided by a part to which the distance from a rotary shaft is equal to the distance a from the rotary shaft to the contact point P of the engaging pin and the rotary cam when the two components contact each other in a normal direction, wherein the distance from the large part to the rotary shaft is greater than a; the distance from the small part to the rotary shaft is smaller than a, and the small part is provided with a protrusion part; the distance from the rotary shaft to the furthest part of the protrusion part is smaller than a.

Description

Automatic tool changer

The present invention relates to a kind of automatic tool changer, it comprises one first parts and second parts that link to each other with first parts separably.

Such automatic tool changer is open in Japanese Laid-Open Patent Application book 63-269293 number.

Automatic tool changer disclosed herein schematically illustrates in Fig. 7.This automatic tool changer comprises one first parts 1 and one second parts 2.First parts 1 are attached on the arm A of a robot, and second parts 2 that will be connected with an instrument are positioned on the workbench D when itself and first parts 1 are separated.The separation of first parts 1 and second parts 2 realizes with being connected in the following manner, promptly to connection that is positioned at a pressurized strut 3 on first parts 1 and separating opening 30,31 inject air, thereby impel an output shaft 32 to stretch out or withdraw and come back rotation with drive cam 4.

Be rotatably connected on first parts 1 by rotating shaft 39 at the cam shown in Fig. 7 and Fig. 84.Can find out also that in these figure mate is divided into two parts.These two parts are separated by a such part, promptly at this place, part place when first parts 1 contact for normal direction with second parts 2, the distance between rotating shaft 39 and this part equal between the contact point P of rotating shaft 39 and engaging pin 20 and cam 4 apart from a.It is referred to as major part 42 greater than that part of distance a to the distance of rotating shaft 39, and it is referred to as smaller portions 41 less than other that part of distance a to the distance of rotating shaft 39.

Therefore, when cam 4 when overhanging direction is rotated, cam 4 and engaging pin 20 are engaged to together mutually firmly in this position at that moment in the middle of this rotational motion, promptly exceed the position of engaging pin 20 a little at the contact point P of mate 40.

Yet for example as shown in Figure 9, if an exotic D has gone between mate 40 and the engaging pin 20, automatic tool changer recited above will sink into bad engagement.In this case, thus unexpected big external impact makes this bad engagement lose efficacy makes second parts 2 as Figure 10.Shown in drop down from first parts 1 like that.

This shows, main purpose of the present invention just provides a kind of like this automatic tool changer, can prevent also under the condition of poor that second parts are not intended to split away off and a kind of firm coupling can be provided from first parts even this automatic tool changer is in the engagement of male part (for example a cam and an engaging pin).

For reaching this purpose, the invention provides a kind of automatic tool changer, this tool changing device comprises one first parts and one second parts.Cam 4 with a mate 40 is arranged at these two parts on one of them, and an engaging pin 20 is arranged on another parts.Along with the rotation of cam 4, mate 40 and engaging pin 20 are meshing with each other every now and then and break away from, and make the parts 1 of winning also constantly be connected each other and separate with second parts 2.Mate 40 comprises a major part 42 and smaller portions 41.These two parts are demarcated by such part, promptly locate at this part place to the distance of rotating shaft 39 first parts 1 and second parts 2 be in equal when normal direction contacts rotating shaft 39 to the contact point P of engaging pin 20 and cam 4 apart from a.Also have, smaller portions 41 have a projection 5, and are shorter than distance a in the distance b between the part farthest of rotating shaft 39 and projection 5.

One section straight line portion 50 preferably will be arranged on the projection 5, and the distance between this straight line portion 50 and the rotating shaft is being to increase gradually by major part 42 on the direction of smaller portions 41.

Because the present invention is above-mentioned such a kind of structure, so, even the engagement situation between the mate 40 of cam 4 and the engaging pin 20 is bad, and there is the impact of bigger external force (for example power that will separate second parts 2 from first parts 1) to be added on second parts 2, projection 5 and engaging pin 20 still can be engaged with each other, and so just can prevent that second parts 2 are not intended to come off from first parts 1.

Below consult accompanying drawing, one embodiment of the present of invention are further described.

Fig. 1 is the perspective view of an embodiment of automatic tool changer of the present invention;

Fig. 2 is the profile of automatic tool changer shown in Figure 1;

Fig. 3 is a schematic diagram, and it shows in the mate of automatic tool changer cam and engagement between the engaging pin and disengaged position;

Fig. 4 is a schematic diagram, and it shows in the relation between cam and the engaging pin under a kind of bad engagement situation;

Fig. 5 is a schematic diagram, and it shows the couple state that falls between the mate of cam and the engaging pin first parts and second parts under the situation at an exotic;

Fig. 6 is a schematic diagram, and it shows the engagement situation between the projection of engaging pin and cam;

Fig. 7 is the profile of traditional automatic tool changer;

Fig. 8 is a schematic diagram, and it shows in the mate of traditional automatic tool changer cam shown in Figure 7 and engagement between the engaging pin and disengaged position;

Fig. 9 is a schematic diagram, and it is illustrated in the couple state that exotic in traditional tool changing device shown in Figure 7 enters first parts and second parts under the mate of cam and the situation between the engaging pin;

Figure 10 is a schematic diagram, and it is illustrated in the mate of traditional automatic tool changer cam and the state that the engagement between the engaging pin was lost efficacy and second parts come off from first parts.

Automatic tool changer of the present invention comprises one first parts 1 and one second parts 2, as shown in Figure 1.First parts 1 are connected on the arm A of a robot, and second parts 2 that will be connected with instrument are placed on the workbench D.As depicted in figs. 1 and 2, first parts and second parts are designed to be connected with each other by this way, and promptly a protuberance 11 that stretches out from the connection surface of first parts 1 is inserted into the groove 21 of second parts.

The groove 12 that is used for defining the one inner surface in protuberance 11 has a double acting cylinder 3 and a cam 4 as shown in Figure 2.Carry air to the connecting port 30 of cylinder 3 and separating opening 31 to make output shaft 32 stretch out or withdraw, thereby drive cam around-rotating shaft 39 rotations.

As shown in Figure 3, cam 4 is to make with thick blanks, and shape is roughly as fan-shaped.A circular portion of cam 4 defined one will with the mate 40 of engaging pin 20 engagements, engaging pin will be introduced below.Cam 4 is designed to stretch out from an opening 10 that is located at first parts 1 and withdraw, and this illustrates respectively with solid line and double dot dash line respectively in Fig. 3.As shown in Figure 3, mate 40 contains a major part 42 and smaller portions 41.This two parts by a part so separately, promptly this part place locate to the distance of rotating shaft 39 when first parts 1 and second parts 2 are in the normal direction contact, equal rotating shaft 39 between the contact point P of engaging pin 20 and cam 4 apart from a.In major part 42, longer apart from the distance of rotating shaft 39 than distance a, in less part 41, shorter than distance a apart from the distance of rotating shaft 39.Also have, less part 41 has a ledge 5, and the distance b between the part farthest of rotating shaft 39 and ledge 5 is shorter than distance a.

As shown in Figure 4, the ledge 5 of this embodiment has a straight line portion 50, with major part 42 to the direction of smaller portions 41, the distance between straight line portion 50 and the rotating shaft 39 increases gradually.If the engagement between mate 40 and the engaging pin 20 is in bad order, rotating shaft 39 and ledge 5 more farthest between with the Y direction, in other words, just the distance C on the directions X that the direction that first parts 1 and second parts 2 are broken away from each other is orthogonal is greater than the distance on same direction between rotating shaft 39 and the engaging pin 20.

As shown in Figure 2, cylinder 3 is provided with a compression on the side that is arranged in connector 30 contract spring 33 and an axle 36 that is arranged in its rear end.Cam 4 lays respectively at the corresponding end place of output shaft 32 and axle 36, and the pin that cam 4 passes through separately in this position links to each other with two.The stretching out and withdraw in the time of to impel cam 4 and when stretching out and being retracted on first parts 1 in the corresponding opening 10 of output shaft 32.

Have corresponding pin 20 with opening 10 corresponding second parts 2 of first parts 1 that part of.As among Fig. 2 and Fig. 3 with shown in the solid line like that, when cam 4 stretched out from opening 10, cam 4 and pin 20 be correspondingly engagement each other, so that first parts 1 and second parts 2 produce good coupling.On the other hand, shown in the double dot dash line among Fig. 2 and Fig. 3, when cam 4 is hidden in the opening 10 respectively,, so just make that second parts 2 are able to separate from first parts 1 just the cam 4 and the engagement of selling between 20 are thrown off.

Because automatic tool changer of the present invention constitutes as described above like that, so the present invention has the following advantages.The ledge 5 of the mate 40 of cam 4 can prevent second parts 2 accidental from first parts 1.

That is to say, when an exotic falls between the mate 40 of cam 4 and the engaging pin 20 and engagement between mate 40 and the engaging pin 20 is worse off, a big external impacts just has been added on second parts 2, second parts 2 be it seems and will be broken away from first parts 1 and come off, and separate at leisure with first parts 1.Yet as being clearly shown that among Fig. 6, because the existence of ledge 5, engaging pin 20 is meshed with the straight line portion 50 of ledge 5 immediately.This point is represented more specifically in Fig. 6, and the circumferential surface of engaging pin 20 contacts with circular smaller portions 41 and straight line portion 50.So, second parts 2 break away from first parts 1 and the situation of accidental just can not take place.

Angle between the straight line portion 50 of avris 43 and ledge 5 is unrestricted.Also have, the shape of ledge 5 also is not limited to subtriangular, and other shapes that are fit to all can adopt.

As mentioned above, the invention provides a kind of automatic tool changer, this tool changing device can prevent that second parts break away from first parts and accidental, even also can accomplish this point under the bad situation of the engagement of the engagement of bindiny mechanism in the present embodiment or cam and engaging pin.

Claims

1. automatic tool changer, it includes one first parts (1) and one second parts (2), one of them parts is provided with a rotatable cam (4) with mate (40), another parts are provided with an engaging pin (20), wherein, rotation along with described cam (4), engagement between described mate (40) and the described engaging pin (20) and breaking away from can impel described first parts (1) and described second parts (2) coupled to each other with separate, the described mate (40) of described cam (4) comprises major part (42) and smaller portions (41), described two parts are demarcated by such part, promptly this part equals when contacting by described rotating shaft to the distance (a) of described engaging pin (20) with the contact point (P) of described cam (4) in described first parts (1) and described second parts (2) established law apart from the distance of rotating shaft, locate apart from the distance of rotating shaft longer in described major part (42) than the distance (a) between described rotating shaft and the described contact point (P), locate in described smaller portions (41), distance apart from described rotating shaft is shorter than the distance (a) between described rotating shaft and the described contact point (P), it is characterized in that: described smaller portions (41) have a ledge (5), and the distance (b) between the part farthest of described rotating shaft and described ledge (5) is less than distance (a).

2. automatic tool changer as claimed in claim 1, it is characterized in that: described ledge (5) is provided with one section straight line portion (50), and the distance between described straight line portion (50) and the described rotating shaft is progressively being increased to the direction of described smaller portions (41) by described major part (42).