CS264810B1

CS264810B1 - Device for working unit exchange

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 replacement device work unit, e.g. gripper industrial robot or manipulator from the tray. The essence of the solution is that the body of the clamping head is formed on the one hand front stop surface for adapter, on which is formed perpendicularly in the direction of the insertion axis positioning hole for adapter pin, on the other hand, a longitudinal groove for replaceable positioning stones and on the side distance from the front stop surface and perpendicularly for positioning hole drilling for clamping a piston fitted with cylindrical sliding a recess associated with the clamping recess, wherein the clamping piston is on one side perpendicular to the clamping recess provided sloping clamping surface for matching the adapter clamping surface, in which the positioning is formed groove for protruding interchangeable parts positioning stones and for positioning clamping pin protrusion.

Description

(57) 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.(57) The solution concerns a work-unit replacement device, eg. gripper of an industrial robot or manipulator from the magazine. The principle of the solution is that the body of the clamping head has a front end face for the adapter, on which it has a positioning hole for the adapter pin perpendicularly in the direction of the insertion axis, and a longitudinal slot for replaceable positioning stones and laterally spaced from the front end face perpendicular to the positioning hole for a clamping piston having a cylindrical engaging recess coupled to the clamping recess, wherein the clamping piston is on one side perpendicular to the clamping recess provided with an inclined clamping surface for a corresponding stiffening surface of the adapter clamping pin in which a positioning groove is formed projecting parts of the replaceable positioning stones and for the positioning projection of the clamping pin.

CS 264 810 B1CS 264 810 B1

Vynález sa týká zariadenia pre výměnu pracovných jednotiek napr. chápadiel priemyselného robota a manipulátora zo zásobníka.The invention relates to a device for changing work units e.g. grippers of an industrial robot and manipulator from the magazine.

Pri automatizáoii montážnych činností alebo manipulačných činností u obrábacieho stroja pomocou priemyselného robota je potřebná často výměna pracovných jednotiek robota napr. chápadiel, skrutkovacích a uťahovacích jednotiek a podobné.When automating assembly or handling operations in a machine tool by an industrial robot, it is often necessary to replace the robot working units e.g. grippers, screwing and tightening units and the like.

Sú známe rázné systémy spojenia, ktoré takúto výměnu umožňujú, najčastejšie na principe guličkového zámku alebo využívajúce magnetický princip. Určité nevýhody týchto zariadení spočívajú v tom, že majú vačši počet prvkov v silovom reťazci, čo zvyšuje náročnost a náklady na výrobu. U vSčšiny známých riešení sú potřebné áalšie prvky k zabezpečeniu spolahlivosti a bezpečnosti pri poruohe napr. pri výpadku energie. Pri riešeniach využívájúcich princip guličkového zámku je nevýhodou aj bodové zaťaženie telies v miestach styku s guličkou. V elektromagnetických spojovacích zariadeniach je nevýhodou ich velká hmotnost a rozměry, čo znamená vlastně zniženie užitočnej nosnosti robota.Vigorous coupling systems are known which allow such exchange, most often on the ball lock principle or using the magnetic principle. Some disadvantages of these devices are that they have a greater number of elements in the power chain, which increases the manufacturing cost and cost. In most known solutions, additional elements are needed to ensure reliability and failure safety, e.g. in the event of a power failure. In solutions using the ball lock principle, the point load of the bodies at the points of contact with the ball is also a disadvantage. The disadvantage of electromagnetic coupling devices is their large weight and dimensions, which means actually reducing the payload of the robot.

Uvedené nevýhody sú zmiernené zariadením pre výměnu pracovnej jednotky podlá vynálezu, ktorého podstata spočívá v tom, že teleso upínacej hlavy má vytvorenú jednak čelnú dorazovú plochu pre adaptér, na ktorú má kolmo v smere nasúvacej osi vytvořený polohovací otvor pre upínací čap adaptéra, jednak pozdlžnu drážku pre vyměnitelné polohovacie kamene a jednak v bočnom 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 aspoň jednej straně, kolmo na upínacie vybranie, opatřený šikmou upínaoou 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 above-mentioned disadvantages are alleviated by the device replacement device according to the invention, characterized in that the clamping head body has a front end stop surface for the adapter, on which a positioning hole for the adapter clamping pin and a longitudinal groove is formed perpendicularly. for replaceable positioning stones and, secondly, at a lateral distance from the front stop surface and perpendicular to the positioning bore for a clamping piston having a cylindrical engagement recess coupled to the clamping recess, the clamping piston being at least one side perpendicular to the clamping recess provided with an inclined a clamping surface for a corresponding stiffening surface of the adapter clamp pin in which a positioning groove is formed for the protruding portions of the replaceable positioning stones and for the positioning projection of the clamp pin.

Prínosom vynálezu je, že zariadenie pre výměnu pracovnej jednotky napr. chápadla zo zásobníka, najmS pre priemyselné roboty a manipulátory zabezpečuje rýchle a spolahlivé spojenie v automatickom cykle. Uspořiadaním upínacieho priesta v upínacej hlavě podlá vynálezu se docieli malá stavebná výška spoja a kompaktná konštrukcia. V upnutom stave je v zábere len dvojica prvkov, pričom ich spevňovacie plochy móžu byt vytvořené ako samosvorné a preto nie sú potřebné dalšie prvky pre zvýšenie spolahlivosti upnutia v případe výpadku tlakového média. Ďalšou výhodou je, že upínací piest móže pracovat ako jednočinný, pričom upínanie je převedené pomocou upínacej pružiny a uvolnenie napr. pneumaticky. Upínacia sila sa přitom dá jednoducho nastaviť.It is an advantage of the invention that the device for changing the working unit e.g. gripper grippers, especially for industrial robots and manipulators, ensure fast and reliable connection in an automatic cycle. By arranging a clamping collar in the clamping head according to the invention, a low joint height and compact construction are achieved. In the clamped state, only a pair of elements are engaged and their stiffening surfaces can be self-locking and therefore no further elements are required to increase the reliability of the clamping in the event of a pressure medium failure. A further advantage is that the clamping piston can be operated as a single-action, the clamping being converted by a clamping spring and releasing e.g. pneumatically. The clamping force is easy to adjust.

Na přiložených výkresoch je příklad prevedenia zariadenia pre výměnu pracovnej jednotky podlá vynálezu, kde na obr. 1 je čiastočný priečny rez zariadenia v upnutom stave, na obr, 2 pozdlžný rez upínaoou 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.In the accompanying drawings, an example of an embodiment of a device for changing the working unit according to the invention is shown in FIG. 1 is a partial cross-sectional view of the device in the clamped state; FIG. 2 is a longitudinal section of the clamping head; FIG. 3 is a longitudinal section through the adapter; FIG. 4 is a view taken from FIG. 2, FIG. 5 is a view in the direction "Q" of FIG. 3a in FIG. 6 is a section along line B-B in FIG. First

Zariadenie podlá vynálezu pozostáva z upínacej hlavy .10 3pojenej s přírubou robota 70 a z adaptéra 20, ktorý je spojený s pracovnou jednotkou 80 například skrutkami. V telese 11 upínacej hlavy 10 je vytvořená čelná dorazová plocha 14 pre adaptér 20, kolmo na ktorú je vytvořený priebežný polohovací otvor 16 pre upínací čap 30 adaptéra 20. V bočnom odstupe od čelnej dorazovej plochy 14 a kolmo na polohovací otvor 16 je v telese 11 upínacej hlavy 10 vytvořené vřtanie 12 pre upínací piest 40. Poloha upínacieho piesta 40 je proti pootočeniu zaistená pcflhocou aretačného kolíka 44 posuvné vedeného v drážke 15 telesa 11 upínacej hlavy 10. 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 vytvorenú šikmú upínaciu plochu 42 pre zodpovedajúcu spevňovaciu plochu 31 upínacieho čapu 30 adaptéra 20. Upínací piest 40 je 3alej na jednej svojej čelnej ploché v zábere s upínacou pružinou 17, opretou o stavitelné veko 18. V telese 11 upínacej hlavy 10, cez čelnú dorazovú plochu 14 je vytvořená pozdlžna drážka 13 do ktorej sú tesne vložené a upnuté pomocou skrutiek vyměnitelné polohovacie kamene 50, ktoré majú vyčnievajúou časť 53 pre polohovaciu drážku 21 adaptéra 20. Na bočnéj vonkajšej straně vyměnitelných polohovacích kameňov 50 sú umiestnené přípojky tlakového média 52 na ktoré sú napojené prepojovacie kanáliky 51 pre prepojovacie otvory 23 adaptéra 20. Teleso 11 upínacej hlavy 10 má vytvořené bočné výstupky 19 pre upevnenie časti elektrického konektora 60 a pomocou skrutiek. Na teleso 11 upínacej hlavy 10 sú upevněné snímače 61a, 61b polohy upínacieho piesta 40 a snímač 61c pre kontrolu přítomnosti adaptéra 20. K adaptéru 20 je pevne spojený upínací čap 30, ktorý má štvorhranný polohovací výstupok 32, ktorý zapadá do polohovacej drážky 21 adaptéra 20. Adaptér 20 má dalej vytvořené dve protilahlé pozdlžne zafrézovania 24 pre zásobník jednotiek 9θ·The device according to the invention consists of a clamping head 103 connected to a robot flange 70 and an adapter 20 which is connected to the working unit 80 by screws, for example. In the body 11 of the clamping head 10, a front stop surface 14 for the adapter 20 is formed, perpendicular to which a continuous positioning hole 16 is formed for the adapter pin 30 of the adapter 20. At a lateral distance from the front stop surface 14 and perpendicular to the positioning hole 16 The position of the clamping piston 40 is secured against rotation by the locking pin 44 slidably guided in a groove 15 of the body 11 of the clamping head 10. The clamping piston 40 has a cylindrical engaging recess 43 formed perpendicular to its longitudinal axis. perpendicular to the receiving recess 41, the clamping piston 40 has an inclined clamping surface 42 for a corresponding stiffening surface 31 of the clamping pin 30 of the adapter 20. The clamping piston 40 is further on its face flat in engagement with the clamping spring 17 supported by the clamping spring 17. o Adjustable lid 18. In the body 11 of the clamping head 10, through the front end an embossing surface 14 is formed by an elongate groove 13 into which the replaceable positioning stones 50, which have a protruding portion 53 for the positioning groove 21 of the adapter 20, are tightly inserted and clamped by screws. On the side outside of the replaceable positioning stones 50 the connection ducts 51 for the connection holes 23 of the adapter 20 are connected. Attached to the clamping head body 11 are clamp position sensors 61a, 61b and sensor 61c to monitor the presence of the adapter 20. A clamping pin 30 having a square positioning protrusion 32 that fits into the positioning groove 21 of the adapter 20 is firmly connected to the adapter 20. The adapter 20 further has two opposed longitudinal milling 24 for the magazine unit 9θ.

V základnej polohe je pracovná jednotka 80 spojená s adaptérom 20 uložená v zásobníku 90. Tlakové médium napr. tlakový Vzduch je přivedený cez rozvádzač a přípojku tlakového média 52 na lavú stranu vřtania 12. Upínacia hlava 10 má upínací piest 40 v polohe, pri ktorej sa jeho válcové zasúvacie vybranie 43 prekrýva s polohovacím otvorom 16 telesa 11 upínacej hlavy 10. Táto krajná poloha je signalizovaná spínačom 61b polohy cez aretačný kolík 41. Spojenie upínacej hlavy 10 s adaptérom 20 sa uskutočňuje pohybom ramena robota v smere nasúvacej osi a, pričom sa upínací čap 30 zasúva do polohovacieho otvoru 16 upínacej hlavy 10 a zasúvacieho vybrania 43 upínacieho piestu 40. Pri dorazení adaptéra 20 na čelnú dorazová plochu 14 upínacej hlavy 10 sú zasunuté aj vyčnievajúce časti 53 vyměnitelných polohovacích kameňov 50 do polohovacej drážky 21 adaptéra 20 a prvky elektrického konektoru 60a upínacej hlavy 10 sú přepojené s prvkami elektrického konektoru 60b adaptéra 20. Tým sú přepojené pracovně médiá na pracovnú jednotku 80 a tento stav je signalizovaný snimačom 61c na upínacej hlavě 10. Na tento signál sa přepne, například dvojcestný pneumatický rozvádzač a upínací piest 40 přetlačí upínaciu pružinu 17 do druhej polohy, pričom šikmé upínacie plochy 42 upínacieho piesta 40 sa dotlačia na zodpovedajúce vytvořené spevňovacie plochy 31 upínacieho čapu 30. Upínací čap 30 je presne vedený v polohovacom otvore 16 upínacej hlavy 10 a je nadimenzovaný tak, že v upnutom stave vznikne predpatie v spojovacej rovině f medzi adaptérom 20 a upínacou hlavou lj). Tento stav je signalizovaný snimačom 61b cez aretačný kolík 44 upínacieho piesta 40. Na tento signál sa pohne rameno robota, kolmo na spojovací pohyb tj. v smere pozdlžných zafrézovaní 24 adaptéra 20 a vyberie pracovnú jednotku 80 so zásobníka 90. Tým je pracovná jednotka 80 připravená k práci. Vzájomná poloha medzi upínacou hlavou 10 a adaptérom 20 je zabezpečená pomocou vyměnitelného polohovacieho kameňa 50, ktorý móže byť konštrukčne prispósobený na přenos róznychpracovných médií, čím je vytvořená možnost rozšírenia počtu prívodov médií podlá potřeby.In the home position, the working unit 80 coupled to the adapter 20 is housed in a cartridge 90. The pressure medium e.g. The compressed air is supplied via the distributor and the pressure medium connection 52 to the left side of the bore 12. The clamping head 10 has a clamping piston 40 in a position in which its cylindrical insertion recess 43 overlaps with the positioning hole 16 of the clamping head body 11. This limit position is signaled by the position switch 61b via the locking pin 41. The connection of the clamping head 10 to the adapter 20 is effected 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 insertion recess 43 of the clamping piston 40. of the adapter 20 on the end stop surface 14 of the clamping head 10, the projecting parts 53 of the replaceable positioning stones 50 are also inserted into the positioning groove 21 of the adapter 20 and the electrical connector 60a of the clamping head 10 are connected to the electrical connector 60b of the adapter 20. working unit 80 at this condition is signaled by the sensor 61c on the clamping head 10. This signal is switched, for example a two-way pneumatic distributor and the clamping piston 40 pushes the clamping spring 17 into the second position, the inclined clamping surfaces 42 of the clamping piston 40 being pressed against correspondingly formed clamping surfaces 31 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 bias is formed in the connection plane f between the adapter 20 and the clamping head 11j). This state is signaled by the sensor 61b via the locking pin 44 of the clamping piston 40. The arm of the robot is moved to this signal, perpendicular to the connecting movement, i.e. the movement of the robot. in the direction of the longitudinal milling 24 of the adapter 20 and removes the processing unit 80 from the cartridge 90. Thus, the processing unit 80 is ready to work. The relative position between the clamping head 10 and the adapter 20 is provided by means of a replaceable positioning stone 50, which can be structurally adapted to transfer various processing media, thereby creating the possibility of expanding the number of media feeds as needed.

V základnom provedení je upínacia hlava 10 opatřená jednoč^nným upínacím piestom 40 pričom upínacia sila je realizovaná upínacou pružinou 17. Přitom je možnost jednoduchého a přesného nastavenia upínacej sily pomocou stavitelného veka 18, připadne výměnou upínacej pružiny 17. Upínacia hl-ava lj) móže byť opatřená podlá požiadavky aj dvojčinným upínacím piestom 40.In the basic embodiment, the clamping head 10 is provided with a single clamping piston 40, the clamping force being exerted by the clamping spring 17. The clamping force 18 can be easily and precisely adjusted by adjusting the cap 18 or by replacing the clamping spring 17. be equipped with a double - acting clamping piston 40 as required.

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