JP2001179553A - Tool exchange device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool exchange device capable of performing the consistent torque control over from an exchange of a tool to a process with a processing tool while automatically exchanging various kinds of processing tool for various kinds of processing. SOLUTION: This invention is provided with a turret head 17 to be driven for rotation by an AC servo motor 4a, various kinds of sockets 24, 25, 26 arranged in the turret head 17 freely to be rotated, a transmission destination changing means for changeover between the structure for transmitting the drive of the motor 4a to the turret head 17 and the structure for transmitting the drive of the motor 4a to the sockets, a torque detecting means 4c for detecting the load torque to be applied to the turret head or the sockets, and a control means for comparing the load torque when the turret head is rotated with a preset allowable value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for performing a plurality of types of processing, such as exchanging a plurality of types of driver bits provided for a plurality of types of screws having different head shapes, drive hole shapes, and the like. The present invention relates to a tool changing device for automatically changing a plurality of types of processing tools.

[0002]

2. Description of the Related Art Conventionally, a screw fastening tool 50 shown in FIG. 11 has been used for fastening a screw to a work.
The screw tightening tool 50 has a structure in which a screw tightening tool 53 is detachably and integrally rotatably connected to an output shaft 52 rotated by driving of a motor 51. In the station, this is used by connecting it to a robot such as an articulated robot, or connecting it to a balancer unit 60 as shown in FIG. The balancer unit 60 winds a wire 61 for suspending the screw tightening tool 50 around a rotating reel 62 and biases the rotating reel 62 in a rotating direction in which the wire 61 is wound by a biasing means (not shown) such as a helical spring. The screw fastening tool 50 is configured to be suspended in the air and pulled up to the work position when needed, and used.

[0003]

However, in the above-mentioned conventional screw tightening tool, for example, when a plurality of kinds of screws are tightened to one work, or when the work is frequently changed and the screw to be tightened is frequently changed. Had to prepare a screw tightening tool provided with a screw tightening bit corresponding to each screw, and had to use these properly. Therefore, when a robot is used, it is necessary to stock up a plurality of screw tightening tools and provide equipment such as an auto tool changer that supplies necessary tools to the robot. And expensive, and the installation space becomes large. In addition, when a balancer unit is used, it is necessary to identify and use a screw that is suitable for a screw to be tightened by a worker at any time from among a plurality of suspended screw tightening tools, and the work loss time associated therewith is increased. In addition, if it is necessary to use different types of screw tightening tools, such as a driver bit with only a different identification number, the screws must be interchanged and tightened, damaging the screw drive holes. And other problems have occurred.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has a rotary drive source, a turret head rotatable by the drive of the rotary drive source, and a rotary drive provided by the turret head. It is characterized by comprising a plurality of processing tools freely arranged and a torque detecting means for detecting a load torque acting on the turret head.

The present invention also provides a rotary drive source, a turret head rotatable by driving the rotary drive source, a plurality of processing tools rotatably disposed on the turret head, and the rotary drive source. Transmission destination switching means for switching to a structure in which the turret head rotates by driving of the processing tool and a structure in which the processing tool rotates by driving of the rotation driving source,
And a torque detecting means capable of detecting a load torque acting on the turret head or the processing tool.

Further, the present invention provides a rotary drive source, a turret head rotatable by driving the rotary drive source,
A plurality of processing tools rotatably disposed on the turret head, a transmission for switching between a structure in which the turret head rotates by driving the rotation driving source and a structure in which the processing tools rotate by driving the rotation driving source; Forward switching means, torque detecting means capable of detecting a load torque acting on the turret head or the processing tool, and control for comparing the load torque when the turret head is rotating with a preset allowable value Means.

It is preferable that the control means determines whether or not the turret head is rotating normally based on a result of comparison between the load torque and the allowable torque. Also,
As the above-mentioned allowable value, it is desirable that a first allowable value corresponding to when the turret head is started and stopped and a second allowable value corresponding to when the turret head is rotating at a constant speed can be set. . Further, the torque detecting means includes:
It is desirable to detect a load torque that acts on the turret head and the processing tool that have a structure capable of transmitting the drive of the rotary drive source.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4, reference numeral 1 denotes an automatic tool changeable screw tightening machine (hereinafter, simply referred to as a screw tightening machine 1 in an embodiment of the present invention), such as a well-known articulated robot or a rectangular coordinate robot. It has a base member 2 that can be attached to a movable part (not shown) of a robot (not shown). The base member 2 has an AC servomotor 4a (hereinafter simply referred to as a motor 4a) which is an example of a rotary drive source. Is installed.

The driver tool 4 includes the motor 4a
The output shaft 4b is rotated by the drive of the motor 4a. The output shaft 4b has a structure in which a turret head 17 described later is rotated by the drive of the motor 4a and a socket 24, 25, 26 described later by the drive of the motor 4a. A transmission destination switching means 5 which switches to a structure in which one of them rotates is provided continuously. The driver tool 4 includes a torque detecting unit 4
The torque detecting means 4c is configured to detect a load torque acting on a turret head 17 or a processing tool described later. Incidentally, as the torque detecting means 4c, for example, Japanese Unexamined Patent Publication No.
No. 131, a reaction force detection type geared sensor is used.

The transmission destination switching means 5 includes an air cylinder 6 attached to the base member 2, an operating arm 7 connected to a piston rod 6a (hereinafter simply referred to as a rod 6a) of the air cylinder 6, and A slide liner 8 connected to the arm 7 and a rotation transmission shaft 9 rotatably attached to the slide liner 8 via a bearing are provided.

The air cylinder 6 has an upper limit sensor 6b and a lower limit sensor 6c.
The configuration is such that the state in which the rod 6a is extended and the state in which the rod 6a is contracted can be detected by c. The slide liner 8 is slidably disposed along a vertical hole 10a of the housing 10, and is configured to reciprocate integrally with the rotation transmission shaft 9 by the expansion and contraction of the rod 6a of the air cylinder 6. ing.

The rotation transmitting shaft 9 has an upper portion formed in a prism portion 9a having a substantially rectangular cross section.
a is always slidably fitted in a square hole 4d formed in the output shaft 4b of the driver tool 4. Therefore, the rotation transmission shaft 9 can reciprocate while maintaining a state of being rotatable integrally with the output shaft 4b. A lower portion of the rotation transmission shaft 9 is formed in a spline portion 9b in which a number of spline grooves are formed, and the spline portion 9b is formed in a spline driving hole 22 formed in a connection shaft 22 described later.
a.

The rotation transmitting shaft 9 is always inserted through a driving bevel gear 11 which is an example of a rotating member rotatably mounted in a vertical hole 10a of a housing 10. The lower part of the hole through which the rotation transmission shaft 9 of the driving bevel gear 11 is inserted is a tapered hole portion 11a having a tapered wall surface.
The rotation transmitting shaft 9 has a tapered shaft portion 9 having a tapered peripheral surface shape corresponding to the tapered hole portion 11a.
c is integrally formed. Then, the tapered shaft portion 9c
The cam groove 12 is formed by dividing the outer periphery into four parts.
Needle rollers 13 are fitted into these cam grooves 12, respectively.

As shown in FIGS. 5 (a) and 5 (b), the cam groove 12 has the deepest bottom 12a, which is the rolling guide surface of the needle roller 13, at the center and the closer to the side walls 12b, 12b. The cross section is formed to have a substantially V-shaped cross section. Therefore, when the tapered shaft portion 9c and the tapered hole portion 11a are engaged with each other, the distance between the bottom surface 12a of the cam groove 12 and the surface of the tapered hole portion 11a decreases sharply toward the side walls 12b and 12b of the cam groove 12.

Further, the needle roller 13 has a rotation transmission shaft 9.
Both ends are supported by elastic rings 14a and 14b fitted into the cam groove 12, and are configured to be able to roll within the cam groove 12. As described above, since the bottom surface 12a of the cam groove 12 has a substantially V-shaped cross section, the needle rollers 1
3 is always positioned at the center of the cam groove 12. At this position, the circumferential surface of the needle roller 13 projects from the surface of the tapered shaft portion 9c.
3 comes into contact with the surface of the tapered hole 11a when the tapered shaft 9c and the tapered hole 11a are engaged with each other, and when the rotation transmission shaft 9 rotates in this state, the bottom surface 12a of the cam groove 12 and the tapered hole 11a It rolls due to friction with the wall surface and bites between them.

On the other hand, the vertical hole 10a of the housing 10
A driven gear shaft 15 is rotatably disposed in the inclined hole 10b formed obliquely in communication with the driven bevel gear 16, and at one end of the driven gear shaft 15, a driven bevel gear 16 that always meshes with the main driving bevel gear 11 is provided. They are connected so as to rotate together. A mortar-like turret head 17 having a truncated cone shape is attached to the other end of the driven gear shaft 15, and a socket support is provided at a position where the conical surface of the turret head 17 is divided into three equal parts. Utensils 18a, 18b,
18c is attached.

The socket supports 18a, 18b, 18
c, a coupling 19 attached to the turret head 17, a liner 20 disposed on the coupling 19, a slide shaft 21 slidably and rotatably disposed along the liner 20, Slide shaft 21
And a compression spring 23 disposed between the connection shaft 22 and the slide shaft 21. The socket 24, which is an example of a processing tool, is provided at the tip of each slide shaft 21. 25 and 26 are integrally connected.

The connecting shaft 22 is connected to the turret head 1.
7 is rotatably fitted via a bearing to a hole 17a formed through the conical surface of the turret head 7, and a spline driving hole 22a formed at the upper end of the connecting shaft 22 is exposed to the inner conical surface of the turret head 17. Have been. The connecting shaft 22 and the slide shaft 21 are connected by fitting a prism 22b formed at the end of the connecting shaft 22 into a square hole 21a formed above the slide shaft 21. , And the slide shaft 21 can be reciprocated along the connecting shaft 22.

The sockets 24, 25, and 26 each have a hexagonal hole formed at the tip thereof so as to be able to engage with the head of the hexagonal bolt, and correspond to hexagonal bolts having different names. . Incidentally, in this example, the socket 24 is for M6, the socket 25 is for M8, and the socket 26 is for M10.

The sockets 24, 25, and 26 are arranged so that the turret head 17 rotates and the sockets 24, 25, and 26 are sequentially arranged in an axially vertical position on an extension of the axis of the driver tool 4. The turret head 17 is provided with three ball plungers 24a, 25a, and 26a corresponding to the sockets 24, 25, and 26, respectively. When the vertical position is established, the turret head 17 is prevented from rotating by engaging with the engaging hole 10 c formed in the housing 10.

On the other hand, the control means 30 of the tool changer includes:
A controller 31; an amplifier 32 for amplifying the torque signal of the torque detector 4c; an A / D converter 33 for converting the torque signal amplified by the amplifier 32 into a digital signal; Motor drive unit 34
And a cylinder drive unit 35 for controlling the operation of the air cylinder 6, and various setting parameters such as an allowable value of a load torque acting when the turret head 17 rotates, a hexagon bolt tightening torque, and drive information of the motor 4a. Operation unit 36, a display unit 37 capable of displaying various information,
The storage unit 38 includes a storage unit 38 for storing the setting parameters and predetermined unique parameters, and an input / output unit 39 to which an external device such as a robot is connected.

The allowable values of the load torque acting when the turret head 17 rotates include a first allowable value corresponding to the time when the turret head 17 starts and stops, and a second allowable value corresponding to the time when the turret head 17 rotates at a constant speed. Are settable. When the turret head 17 starts and stops, the torque detected by the torque detecting unit 4c increases due to the inertia due to the weight of the turret head 17 and the like. Therefore, the first allowable value is set in consideration of this.

As shown in FIGS. 6 to 8, the control unit 1) waits for a work start command signal. (S001) 2) It is confirmed whether or not a predetermined socket is arranged on the axis extension of the driver tool 4, and if it is arranged, the process jumps to 16). (S002) 3) Output a rod contraction command signal to the cylinder driving unit 35 and wait until the upper limit sensor 6b of the air cylinder 6 is turned on. (S201, S202) 4) A motor drive command signal is output to the motor drive unit 34. (S203) 5) It is confirmed whether or not the predetermined socket is arranged on the axis extension of the driver tool, and if it is arranged, the process jumps to 11). (S204) 6) The torque detected by the torque detecting means 4c (= the load torque acting on the turret head 17) is read. (S2
05) 7) If the motor is accelerating, jump to 10).
(S206) 8) The detected torque is compared with the second allowable value. If the detected torque is within the second allowable value, the process returns to 5). (S217) 9) A motor stop command signal is output to the motor drive unit 34, and an abnormality display command signal is output to the display unit 37.
Jump to 2). (S208) 10) The detected torque is compared with the first allowable value, and if it is within the first allowable value, the process returns to 5). If it exceeds the first allowable value, jump to 9). (S207) 11) A motor stop command signal is output to the motor drive unit 34. (S301) 12) Check whether the motor 4a has completely stopped.
If stopped, jump to 16). (S30
2) 13) Read the torque detected by the torque detecting means 4c (= the load torque acting on the turret head 17). (S
303) 14) The detected torque is compared with the first allowable value. If the detected torque is within the first allowable value, the process returns to 12). (S304) 15) After outputting the abnormality display command signal to the display unit 37, 2
Jump to 2). (S305) 16) A rod extension command signal is output to the cylinder driving unit 35, and the control waits until the lower limit sensor 6c of the air cylinder 6 is turned on. (S003, S004) 17) A lowering command signal is output to the input / output unit 39 (the robot lowers), and a motor driving command signal is output to the motor driver 35. (S005) 18) Read the torque detected by the torque detecting means 4c (= the load torque acting on the socket). (S006) 19) Check whether the detected torque has reached the tightening torque. If not, return to 18). (S007) 20) A motor stop command signal is output to the motor drive unit 34, and a completion display command signal and a torque display command signal are output to the display unit 37. (S008) 21) Output a rising command signal to the input / output unit 39. (Robot ascent operation) (S009) 22) End. (S010) The torque control is performed as follows.

The predetermined socket is the driver tool 4
For example, an identifier (not shown) corresponding to each of the sockets 24, 25, and 26 is arranged at a predetermined position of the turret head 17, and a sensor (not shown) that can identify the identifier is used. ) Can be confirmed by a configuration in which the housing is mounted on the housing 10 or the like. That is, in this example, it is possible to confirm whether or not the predetermined socket is disposed on the extension of the axis of the driver tool 4 by reading the sensor identification signal generated when the turret head 17 rotates into the control unit 31. . Whether the motor 4a is accelerating or the motor is completely stopped when the motor 4a is driven is determined by, for example, the motor 4a
Can be confirmed by acquiring and examining the load current value and the rotation angle information by a built-in encoder (not shown). Since the load torque due to inertia acts on the turret head 17 between the time when the motor 4a is accelerating and the time until the motor is completely stopped after the stop command signal,
At this time, the first tolerance is applied.

The tool changer 1 having the above-mentioned configuration is arranged at a work station or the like of a conveyor (not shown) in an assembly line, and is temporarily fastened to a work (not shown) carried to the work station. Work to tighten three types of hexagon bolts (not shown). When the hexagon bolt is tightened, the tool changing device 1 first moves in parallel by the operation of the robot, and positions the socket 24 above a predetermined hexagon bolt of the work. At this time, if the socket 24 does not fit the hexagon bolt, the socket is rearranged.

In order to explain the operation of rearranging the sockets 24, 25, and 26, a case where the socket 25 is arranged on an extension of the axis of the driver tool 4 and a hexagon bolt is tightened will be described below.

First, in the state shown in FIGS. 2 to 4, the motor 4a of the driver tool 4 is driven to rotate the output shaft 4b and the rotation transmission shaft 9. Accordingly, the needle rollers 13 roll, and the bottom surface 12a of the cam groove 12 and the driving bevel gear 11
Of the tapered hole 11a. The rotation transmission shaft 9 and the driven bevel gear 11 can rotate integrally by the wedge effect generated by the biting of the needle rollers 13.

The rotation of the driving bevel gear 11 is performed via the driven bevel gear 16 and the driven gear shaft 15.
7 so that the turret head 17 can rotate. The load torque during the rotation of the turret head 17 is detected by the torque detecting means 4c, and is compared with the first or second allowable value depending on the situation. If the torque detected by the torque detecting means 4c exceeds the first or second allowable value, the driving of the motor 4a is stopped, and a display indicating that there is an abnormality is displayed.

When the socket 25 is placed in an attitude perpendicular to the axis extension of the driver tool 4 due to the rotation of the turret head 17, this is detected by a sensor, and the driving of the motor 4a is stopped once. At the same time, the plunger 25a engages with the engagement hole 10c and the turret head 1
7 is locked. At this time, until the motor 4a is completely stopped, the turret head 1 is detected by the torque detecting means 4c.
The load torque acting on 7 is detected and compared to a first tolerance value. If the torque detected by the torque detecting means 4c exceeds the first allowable value, the display unit indicates that the torque is abnormal.

If the socket 25 is displaced from the extension of the axis of the driver tool 4 between the time when the motor 4a receives the stop command signal and the time when the motor 4a is completely stopped,
Although not shown in the flowcharts of FIGS. 6 to 8, the position of the socket 25 is adjusted by slightly repeating the forward / reverse driving of the motor 4 a.

As described above, when the socket 25 is correctly positioned on the extension of the axis of the driver tool 4, the air cylinder 6 then extends the rod 6a to move the slide liner 8
At the same time, the rotation transmission shaft 9 is lowered. As a result, FIG.
10, the engagement between the tapered hole 11a and the tapered shaft 9c is released, and the rotation transmission shaft 9 and the driven bevel gear 11 are separated from each other. On the other hand, the spline portion 9b of the rotation transmission shaft 9 is fitted into the spline drive hole 22a of the socket support 18b. At this time, the prism 9 of the rotation transmission shaft 9
a remains engaged with the square hole 4d of the output shaft 4b,
When the spline portion 9b and the spline drive hole 22a are fitted, the socket 25 of the socket support 16b is fitted.
Is ready to transmit the rotation of the output shaft 4b.

As described above, the lower limit sensor 6c of the air cylinder 6 has the spline portion 11b and the spline driving hole 22a.
Are turned on at the stage when they are fitted. At this time, if the spline portion 11b and the spline drive hole 22a cannot be fitted due to a phase shift, the air cylinder 6
The lower limit sensor 6c does not turn on even if a predetermined time has elapsed after the operation of. In this case, the motor 4a is slightly driven to slightly rotate the rotation transmission shaft 9, and the phases of the spline portion 9b and the spline drive hole 22a are matched. At this time,
Since the needle rollers 13 are separated from the wall surface of the tapered hole portion 11 a as the rotation transmission shaft 9 descends, the rotation is not transmitted to the turret head 17.

As described above, when the spline portion 9b is fitted into the spline drive hole 22a and the lower limit sensor 6c is turned on, the robot receives the signal and moves down to lower the tool changing device 1. As a result, the socket 25 comes into contact with the head of the hexagonal bolt, and the slide shaft 21 escapes a predetermined amount into the coupling 19 against the bias of the compression spring 23.

In this state, the robot stops, and the tool changer 1 is stopped and held at that position. Subsequently, when the motor 4a is driven again, the output shaft 4b, the rotation transmission shaft 9, the connection shaft 22, the slide shaft 21, and the socket 25 rotate in response thereto. As a result, the socket 25 is engaged with the hexagon bolt head and tightens the hexagon bolt to the work. At this time,
The slide shaft 21 that has escaped into the coupling 19 returns to the forward position by the urging of the compression spring 23 as the hexagon bolt is screwed into the work. For this reason, socket 2
5 can follow the screwing of the hexagon bolt, and the hexagon bolt can be securely tightened.

When the first screw tightening operation is completed normally in this way, the tool changing device 1 is raised by the ascending operation of the robot, and is moved to the next tightening operation point by the horizontal operation of the robot. After processing, tighten the next hexagon bolt. At this time, if the name of the hexagon bolt to be tightened next is different from the previous one, the air cylinder 6 operates to raise the rotation transmission shaft 9 before the tightening work, and the tapered shaft portion 9c is engaged with the tapered hole portion 11a. At the same time, the socket replacement operation is performed again by the same operation as described above. At this time, the tapered shaft portion 9c and the tapered hole portion 11a
That the upper limit sensor 6b of the air cylinder 6
Is confirmed by turning on.

The sockets 24, 25, 26 are
Screwdriver bits for cross recessed screws according to the type of work,
It can be replaced with various kinds of processing tools such as a driver bit such as a screwdriver bit for a hexagonal hole screw and a drill for drilling, and the same effect can be obtained even if any processing tool is used. Further, the needle roller 13 may be such that the cam groove 12 is formed in the tapered hole portion 11a and disposed therein.

[0037]

According to the tool changer of the present invention, a necessary tool can be selectively arranged and driven from a plurality of processing tools. Therefore, for example, a plurality of types of screws must be fastened to one work. Even in the case where it is necessary, there is no need to prepare a plurality of screw tightening tools for each screw as in the related art. Therefore, it is possible to solve the conventional problems in the case of configuring as an automation unit using a robot or in the case of configuring as a manual operation unit using a balancer unit or the like.

Further, since the rotary drive of the turret head and the rotary drive of the driver bit can be performed by only one rotary drive source, the apparatus can be configured to be extremely rational, lightweight and compact. In addition, since rotation is transmitted only to necessary processing tools among the plurality of processing tools, there is an advantage that the load on the rotary drive source can be reduced.

Further, since it is possible to detect the load torque acting on the turret head and the processing tool, it is possible to perform consistent torque control from tool change to completion of the work by the processing tool. Therefore, the allowable value of the load torque during the rotation of the turret head is set, and when the load torque exceeding the allowable value is applied, the turret head is stopped to ensure the safety of the work. In addition, there is an advantage that various kinds of torque data are collected, characteristics and the like when the turret head is rotated are grasped, and optimal control can be performed.

As the allowable value of the load torque when the turret head rotates, a first allowable value corresponding to the time when the turret head is started and stopped, and a second allowable value corresponding to the time when the turret head rotates at a constant speed can be set. Therefore, even when the turret head starts and stops when the torque detected by the torque detecting means increases due to inertia due to the weight of the turret head or the like, accurate torque management can be performed, and a stable operation can be obtained. There are advantages such as.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view of a tool changing device according to the present invention.

FIG. 2 is a front view in which a part of the tool changer according to the present invention is cut away and sectioned.

FIG. 3 is a side view in which a part of the tool changer according to the present invention is cut away and a section is formed.

FIG. 4 is an enlarged partial cutaway sectional view of a main part of the tool changing device according to the present invention.

FIG. 5A is an enlarged cross-sectional view showing engagement between a rotation transmission shaft and a driving bevel gear along line XX in FIG. 4, and FIG.
(A) is a partially enlarged view of a portion indicated by P in the figure.

FIG. 6 is a flowchart showing a part of a process of a control unit in the tool changing device according to the present invention.

FIG. 7 is a flowchart showing a part of a process of a control unit in the tool changing device according to the present invention.

FIG. 8 is a flowchart showing a part of the processing of the control unit in the tool changing device according to the present invention.

FIG. 9 is an operation explanatory view of the tool changing device of the present invention.

FIG. 10 is an operation explanatory view of the tool changing device of the present invention.

FIG. 11 is an explanatory diagram showing a state in which a conventional screw tightening tool is attached to a balancer unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tool changer 4 Driver tool 4a AC servomotor 4b Output shaft 4c Torque detection means 5 Rotation transmission switching means 6 Air cylinder 9 Rotation transmission shaft 11 Main bevel gear 16 Follower bevel gear 17 Turret head 18a, 18b, 18c Socket supports 24, 25 , 26 socket 30 control means

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[Procedure amendment]

[Submission Date] January 14, 2000 (2000.1.1)
4)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction contents]

[0008]

Embodiments of the present invention will be described below with reference to the drawings. In FIGS. 1 to 4, reference numeral 1 denotes a tool changing device, which has a base member 2 which can be attached to a movable portion (not shown) of a robot (not shown) such as a known articulated robot or a rectangular coordinate robot. The base member 2 has a driver tool 4 provided with an AC servomotor 4a (hereinafter simply referred to as a motor 4a), which is an example of a rotary drive source.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0021

[Correction method] Change

[Correction contents]

On the other hand, the control means 30 of the tool changer 1
Is a control unit 31, an amplification unit 32 for amplifying the torque signal of the torque detection unit 4c, and an A / D converter for converting the torque signal amplified by the amplification unit 32 into a digital signal.
A conversion section 33, a motor drive section 34 for driving the motor 4a, a cylinder drive section 35 for controlling the operation of the air cylinder 6, an allowable value of a load torque acting when the turret head 17 rotates, and tightening of a hexagon bolt. An operation unit 36 capable of inputting various setting parameters such as torque and drive information of the motor 4a, and a display unit 37 capable of displaying various information
And a storage unit 38 for storing the set parameters and predetermined unique parameters, and an input / output unit 39 to which an external device such as a robot is connected.

Claims (6)

[Claims] A rotary drive source; a turret head rotatable by driving the rotary drive source; a plurality of processing tools rotatably arranged on the turret head; and a load torque acting on the turret head. And a torque detecting means for detecting the torque. 2. A rotary drive source, a turret head rotatable in response to the drive of the rotary drive source, a plurality of processing tools rotatably disposed on the turret head; Transmission destination switching means for switching to a structure in which the turret head rotates and a structure in which the processing tool rotates by driving the rotation drive source; anda torque detecting means capable of detecting a load torque acting on the turret head or the processing tool. A tool changer comprising: 3. A rotary drive source, a turret head rotatable in response to the drive of the rotary drive source, a plurality of processing tools rotatably disposed on the turret head; Transmission destination switching means for switching to a structure in which the turret head rotates and a structure in which the processing tool rotates by driving the rotation drive source; anda torque detecting means capable of detecting a load torque acting on the turret head or the processing tool. And a control means for comparing a load torque when the turret head is rotating with a preset allowable value. 4. The tool changing device according to claim 3, wherein the control means determines whether or not the turret head is rotating normally based on a comparison result between the load torque and the allowable torque. 5. A first allowable value corresponding to the time when the turret head is started and stopped and a second allowable value corresponding to the time when the turret head is rotating at a constant speed can be set as the allowable value. The tool changing device according to claim 3 or 4, wherein: 6. A torque detecting means for detecting a load torque acting on one of a turret head and a processing tool having a structure capable of transmitting a drive of a rotary drive source. Item 6. A tool changing device according to any one of Items 2 to 5.