CS264810B1

CS264810B1 - Work Unit Replacement Device

Info

Publication number: CS264810B1
Application number: CS863592A
Authority: CS
Inventors: Mikulas Ing Szegheo; Ladislav Kusy; Jozef Tomsik; Milos Ing Dobrovicky; Dusan Ing Pospisil
Original assignee: Szegheo Mikulas; Ladislav Kusy; Jozef Tomsik; Dobrovicky Milos; Pospisil Dusan
Priority date: 1986-05-16
Filing date: 1986-05-16
Publication date: 1989-09-12
Also published as: CS359286A1

Abstract

Riešenie sa týká zariadenia pre výměnu pracovnej jednotky, napr. chápadla priemyselného robota alebo manipulátora zo zásobníka. Podstatou riešenia je, že teleso upínacej hlavy má vytvořenu jednak čelnú dorazová plochu pre adaptér, na ktorú má kolmo v smere nasúvacej osi vytvořený polohovací otvor pre upínací čap adaptére, jednak pozdlžnu drážku pre vyměnitelné polohovacie kamene a jednak v bocnom odstupe od čelnej dorazovej plochy a kolmo na polohovací otvor vřtanie pre upínací piest, ktorý je opatřený válcovým zasúvacím vybráním spojeným s upínacím vybráním, pričom upínací piest je na jednej straně kolmo na upínacie vybranie opatřený šikmou upinacou plochou pre zodpovedajúcu spevňovaciu plochu upínacieho čapu adaptéra, v ktorom je vytvořená polohovacia drážka pre vyčnievajúce časti vyměnitelných polohovacích kameňov a pre polohovací výstupok upínacieho čapu.The solution relates to a device for changing a working unit, e.g. a gripper of an industrial robot or a manipulator from a magazine. The essence of the solution is that the body of the clamping head has formed on the one hand a front stop surface for the adapter, on which a positioning hole for the adapter clamping pin is formed perpendicularly in the direction of the insertion axis, on the other hand a longitudinal groove for replaceable positioning stones and on the other hand at a lateral distance from the front stop surface and perpendicularly to the positioning hole a drilling for the clamping piston, which is provided with a cylindrical insertion recess connected to the clamping recess, the clamping piston being on one side perpendicularly to the clamping recess provided with an inclined clamping surface for the corresponding reinforcing surface of the adapter clamping pin, in which a positioning groove is formed for the protruding parts of the replaceable positioning stones and for the positioning projection of the clamping pin.

Description

264810 2264810 2

Vynález sa týká zariadenia pre výměnu praoovných jednotiek napr. chápadiel priemyselnéhorobota a manipulátora zo zásobníka.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for replacing a feeder unit, e.g.

Pri automatizáoii montážnych činností alebo manipulačných činností u obrábacieho strojapomocou priemyselného robota je potřebná často výměna praoovných jednotiek robota napr. chá-padiel, skrutkovacich a uťahovacich jednotiek a podobné. Sú známe rázné systémy spojenia, ktoré takúto výměnu umožftujú, najčastejšie na principeguličkového zámku alebo využívajúce magnetický princip. Určité nevýhody týchto zariadeníspočívajú v tom, že majú vačši počet prvkov v silovom reťazci, čo zvyšuje náročnost a nákladyna výrobu. U váčšiny známých riešení sú potřebné dalšie prvky k zabezpečeniu spolahlivostia bezpečnosti pri poruche napr. pri výpadku energie. Pri riešeniach využívájúcich principguličkového zámku je nevýhodou aj bodové zaťaženie telies v miestach styku s guličkou. V ele-ktromagnetických spojovacích zariadeniach je nevýhodou ich velká hmotnost a rozměry, čo zna-mená vlastně zníženie užitočnej nosnosti robota.When automating assembly operations or handling operations on a machine tool by an industrial robot, it is often necessary to replace the robot's servicing units, such as kits, screwing and tightening units, and the like. Vigorous coupling systems are known which allow such an exchange, most often on a principle-lock or using a magnetic principle. Some disadvantages of these devices are that they have a greater number of elements in the power chain, which increases the cost and cost of production. In most of the known solutions, additional elements are needed to ensure safety reliability in the event of a power failure, for example. The disadvantage of the solutions using the ball-ball lock is also the point load of the bodies in contact with the ball. The disadvantage of the electromagnetic fasteners is their heavy weight and dimensions, which in fact means a reduction in the payload of the robot.

Uvedené nevýhody sú zmiernené zariadením pre výměnu pracovněj jednotky podlá vynálezu,ktorého podstata spočívá v tom, že teleso upínacej hlavy má vytvorenú jednak čelnú dorazováplochu pre adaptér, na ktorú má kolmo v smere nasúvacej osi vytvořený polohovací otvor preupínací čap adaptéra, jednak pozdlžnu drážku pre vyměnitelné polohovacie kamene a jednakv bočnom odstupe od čelnej dorazovej plochy a kolmo na polohovací otvor vřtanie pre upínacípiest, ktorý je opatřený válcovým zasúvacím vybráním spojeným s upínacím vybráním, pričomupínací piest je na aspoň jednej straně, kolmo na upínacie vybranie, opatřený šikmou upínacouplochou pre zodpovedajúcu spevňovaciu plochu upínacieho čapu adaptéra v ktorom je vytvořenápolohovacia drážka pre vyčnievajúce časti vyměnitelných polohovacích kameňov a pre polohovacívýstupok upínacieho čapu.These disadvantages are alleviated by the working unit replacement device according to the invention, characterized in that the head of the clamping head has, on the one hand, a front stop face for an adapter, which has a positioning hole of the adapter pivot pin perpendicular to the insertion axis and a longitudinal groove for replaceable positioning stones and, on the other hand, laterally spaced from the end stop surface and perpendicular to the drilling positioning hole for the clamping plate, which is provided with a cylindrical insertion recess connected to the clamping recess, the clamping piston being provided with at least one side, perpendicular to the clamping recess, with an inclined clamping surface for the corresponding reinforcing surface an adapter pin in which a positioning groove is formed for the protruding portions of the replaceable positioning stones and for the positioning recess of the clamping pin.

Prínosom vynálezu je, že zariadenie pre výměnu pracovnej jednotky napr. chápadla zo zá-sobníka, najma pre priemyselné roboty a manipulátory zabezpečuje rýchle a spolahlivé spojeniev automatickom cykle. Uspořiadaním upínacieho priesta v upínacej hlavě podlá vynálezu se do-cieli malá stavebná výška spoja a kompaktná konštrukcia. V upnutom stave je v zábere lendvojica prvkov, pričom ich spevňovacie plochy mĎžu byt vytvořené ako samosvorné a preto niesú potřebné dalšie prvky pre zvýšenie spolahlivosti upnutia v případe výpadku tlakovéhomédia. Ďalšou výhodou je, že upínací piest máže pracovat ako jednočinný, pričom upínanie jepřevedené pomocou upínacej pružiny a uvolnenie napr. pneumaticky. Upínacia sila sa přitomdá jednoducho nastavit.It is an advantage of the invention that the work unit exchange device, e.g., the gripper, particularly for industrial robots and manipulators, provides fast and reliable connection in an automatic cycle. By arranging the clamping nose in the clamping head according to the invention, a small construction height of the joint and a compact construction are achieved. In the clamped state, a pair of elements is engaged, and their reinforcement surfaces can be formed as self-locking and therefore do not have the necessary additional elements to increase the clamping reliability in the event of a pressure media failure. Another advantage is that the clamping piston can operate as a single-acting piston, whereby the clamping is transferred by means of a clamping spring and, for example, released pneumatically. The clamping force is easily adjusted.

Na přiložených výkresoch je příklad prevedenia zariadenia pre výměnu pracovnej jednotkypodlá vynálezu, kde na obr. 1 je čiastočný priečny rez zariadenia v upnutom stave, na obr, 2pozdlžný rez upínacou hlavou, na obr. 3 pozdlžny rez adaptérom, na obr. 4 je pohlad smerom"s" z obr. 2, na obr. 5 je pohlad smerom “Q” z obr. 3a na obr. 6 je rez B-B z obr. 1.1 is a partial cross-sectional view of a device in a clamped state; FIG. 2 is a longitudinal section through a clamping head; FIG. 3 is a longitudinal section through an adapter; FIG. 2, FIG. 5 is a view of " Q " of FIG. 3a in FIG. 6 is a section BB of FIG. 1.

Zariadenie podlá vynálezu pozostáva z upínacej hlavy .10 3pojenej s přírubou robota 70a z adaptéra 20, ktorý je spojený s pracovnou jednotkou 80 například skrutkanii. V telese 11upínacej hlavy 10 je vytvořená čelná dorazová plocha 14 pre adaptér 20, kolmo na ktorú jevytvořený priebežný polohovací otvor 16 pre upínací čap 30 adaptéra 20. V bočnom odstupe odčelnej dorazovej plochy 14 a kolmo na polohovací otvor 16 je v telese 11 upínacej hlavy 10vytvořené vřtanie 12 pre upínací piest 40. Poloha upínacieho piesta 40 je proti pootočeniuzaistená pcflhocou aretačného kolíka 44 posuvné vedeného v drážke 15 tele3a 11 upínacej hlavy10. Upínací piest 40 má kolmo na svoju pozdlžnú os vytvořené válcové zasúvacie vybranie 43,ktoré je spojené s upínacím vybráním 41. Kolmo na upínacie vybranie 41 má upínací piest 40 vy-tvorenú šikmú upínaciu plochu 42 pre zodpovedajúcu spevňovaciu plochu 31 upínacieho čapu30 adaptéra 20. Upínací piest 40 je 3alej na jednej svojej čelnej ploché v zábere s upínacoupružinou 17, opretou o stavitelné veko 18. V telese 11 upínacej hlavy 10, cez čelnú dorazovúplochu 14 je vytvořená pozdlžna drážka 13 do ktorej sú tesne vložené a upnuté pomocou skrutiekvyměnitelné polohovacie kamene 50, ktoré majú vyčnievajúou časť 53 pre polohovaciu drážku 21The device according to the invention consists of a clamping head 10 connected to the robot flange 70a from an adapter 20 which is connected to the working unit 80 for example by screwing. In the body 11 of the clamping head 10 there is provided a front stop surface 14 for the adapter 20 perpendicular to which a continuous positioning hole 16 is provided for the clamping pin 30 of the adapter 20. In the lateral distance of the stop stop surface 14 and perpendicular to the positioning hole 16 there is formed in the clamping body 11 the drilling 12 for the clamping piston 40. The position of the clamping piston 40 is secured against rotation by the locking pin 44 slidably guided in the groove 15 of the clamping head body 11 and 11. The clamping piston 40 has a cylindrical insert recess 43 formed perpendicular to its longitudinal axis, which is connected to the clamping recess 41. The clamping piston 40 has a perpendicular clamping surface 42 for the corresponding clamping surface 31 of the adapter 20 perpendicular to the clamping recess 41. the piston 40 is in engagement with the clamping member 17 on one of its front flat faces, supported on the adjusting lid 18. In the clamping head body 11, a longitudinal groove 13 is formed through the end stop 14, into which they are closely inserted and clamped by means of a replaceable positioning stone 50, which have a protruding portion 53 for the positioning groove 21

Claims

3 264810 of adapter 20. On the lateral outer side of the replaceable positioning stones 50 are located pressure medium connections 52 to which are connected connecting channels 51 for the interconnecting holes 23 of the adapter 20. The body 11 of the clamping head 10 has formed side protrusions 19 for mounting a portion of the electrical connector 60 and using screws. Clamping piston position sensors 61a, 61b and clamp presence sensor 61c are attached to clamping body 11, 10a, and clamping pin 30 is fixed to the adapter 20 having a square positioning recess 32 that fits in positioning groove 21 of adapter 20. 20 further has two opposed longitudinal milling 24 for the storage unit 9θ ·. In the basic position, the working unit 80 is connected to the adapter 20 stored in the magazine 90. The pressure medium, e.g., pressurized air, is fed through the distributor and the connection of the pressurized fluid 52 to the left side of the drilling 12. The clamping head 10 has a clamping piston 40 in a position where its cylindrical engagement recess 43 overlaps with the positioning hole 16 of the clamping head body. is signaled by the position switch 61b via the locking pin 41. The connection of the clamping head 10 to the adapter 20 is accomplished by moving the robot arm in the direction of the insertion axis "a", the clamping pin 30 being inserted into the positioning hole 16 of the clamping head 10 and the engaging recess 43 of the clamping piston 40. the shifting of the adapter 20 to the front face 14 of the clamping head 10 is retracted as well as the protruding portions 53 of the replaceable positioning stones 50 into the positioning groove 21 of the adapter 20, and the elements of the electrical connector 60a of the clamping head 10 are coupled to the electrical connector elements 60b of the adapter 20. the unit 80 and this state is signaled by the sensor 61c on the clamping head 10. This signal is switched, for example the two-way pneumatic distributor and the clamping piston 40 push the clamping spring 17 into the second position, the inclined clamping surfaces 42 of the clamping piston 40 being pressed onto the corresponding reinforcing surfaces 31 of the clamping pin 30. The clamping pin 30 is precisely guided in the positioning hole 16 of the clamping head 10 and is dimensioned such that, in the clamped state, a pre-bias occurs in the connecting plane "f" between the adapter 20 and the clamping head 10. is indicated by sensor 61b through the pin 44 of the clamping piston 40. The robot arm moves perpendicularly to this signal, i.e. in the direction of the longitudinal milling 24 of the adapter 20 and picks up the work unit 80 with the magazine 90. . The relative position of the intermeshing head 10 and the adapter 20 is provided by a replaceable positioning stone 50 which can be structurally adapted to transfer the various working media, thereby providing the possibility of extending the number of media feeds as desired. In a basic embodiment, the clamping head 10 is provided with a single clamping piston 40, while the clamping force is provided by a clamping spring 17. In this case, the clamping force can be easily and accurately adjusted by means of an adjustable lid 18, possibly by changing the clamping spring 17. · Clamping h-ava Π) may also be provided with a double-acting clamping pin 40 as desired.

An apparatus for exchanging work units, particularly for industrial robots and manipulators, which comprises a clamping head mounted on an end flange of the robot, further an adapter fixed to the work unit, wherein in the clamping head there is a clamping mechanism with a power element for clamping the adapter with the work unit, control elements for signaling the clamped and released state of the adapter in the clamping head and further in the clamping head and in the adapters, the connecting elements for connecting the working media from the robot required for operation of the processing units, characterized in that the clamping head body (10) has a single face a stop surface (14) for an adapter (20) on which a positioning hole (16) for the adapter pin (30) of the adapter (20) is formed perpendicularly in the direction of the insertion axis ("a") and a longitudinal groove (13) for replaceable shelf stones (50) and, secondly, at a lateral distance from the front end surface (14) and perpendicular to the positioner a drill hole (16) for the clamping piston (40), wherein the clamping piston (40) is at least one side perpendicular to the clamping recess (41) provided with a sloping surface (42) for the corresponding clamping surface (31) of the clamping pin (30) ) an adapter 264810 4 (20) in which a positioning groove (21) is formed for the projecting portions (53) of the replaceable positioning stones (50) and for the positioning projection (32) of the clamping pin (30).

Device for changing work units according to claim 1, characterized in that the clamping piston (40) is provided with a locking pin (44) displaceable in the groove (15) of the clamping head body (11), the locking pin ( 44) is in engagement with the sensor (61a, 61b) in the end positions of the clamping position (40).

The work unit exchange device according to items 1 and 2, characterized in that at least one of the replaceable positioning stones (50) is provided with a pressure medium connection (52) and a switching channel (51) for the adapter opening (23) of the adapter (20) and unit (80).

A work unit exchange device according to claim 1, 2 or 3, characterized in that the clamping head body (11) has side protrusions (19) formed to secure the electrical connector (60a) and the adapter (20) is fitted with clamps (25) for electrical connector (60b)

Device for changing work units according to Claims 1 to 4, characterized in that the clamping piston (40) on its front side is adapted to contact the clamping spring (17) pressed by the adjustable lid (18).

6. A work unit replacement device according to claim 1, wherein the adapter (20) is provided with two longitudinal grooves (24) for the magazine (90). 4 drawings