JPH02121778A - Automatic tool changer - Google Patents

Abstract

PURPOSE: To provide a tool with an optimal line by connecting a line from an operating means to modules which are attached to a first unit and connecting the line to the tool to the modules which are attached to a second unit. CONSTITUTION: The modules 5, 6, 32, 33 in which the optimal line is provided are allowed to attach to the units 2, 3 in accordance with the tool used. Also, the line of the modules 5, 6 which are attached to the first unit 2 is mutually connected to the line of the modules 32, 33 which are attached to the second unit 3 by a connecting means when the unit 2 is combined to the unit 3. Therefore, the line from the operating means is connected to the line leading to the tool via the line of the modules 5, 6 which are attached to the first unit 2 and the line of the modules 32, 33 which are attached to the second unit 3.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic tool changer, and more specifically,
An automatic device comprising a first unit connected to an operating means such as a robot, and at least one second unit to which various tools can be attached, the one second unit being separably connected to the first unit. The present invention relates to a tool changing device.

[Conventional technology]

The coupling device for both units provided in the automatic tool changer with the above configuration usually includes two rod-shaped levers swingably provided on the robot side unit, and an air cylinder with a piston rod engaged with both levers. and two coupling bins provided on the tool side unit. When connecting both units, the air cylinder is operated with the contact surfaces of both units in contact with each other, and both levers are swung in synchronization to engage and lock the connecting pins.

Air pressure for operating the air cylinder is supplied through a flow path (line) consisting of a joint attached to the side surface of the robot-side unit and a pipe provided inside the unit.

The conventional automatic tool changer has a control electric signal line that transmits an electric signal to control the tool to the tool attached to the tool side unit, and an operating air line that supplies air pressure or hydraulic pressure to operate the tool. A pressure/hydraulic line or a cooling water line is provided to cool the tool.

The control electrical signal line is comprised of an electrical conduit provided on the side surface of each unit, electrical contacts or electrical connectors provided on the contact surface of each unit, and lead wires that connect these within each unit. In addition, the operating air pressure/hydraulic lines and the cooling water lines are comprised of joints provided on the side surfaces and contact surfaces of each unit, and pipes or channels that connect these within each unit. Electrical signals, air pressure, hydraulic pressure, etc. sent from the robot enter both units through the electrical conduits and joints on the side of the robot-side unit, exit from the electrical conduits and joints on the side of the tool-side unit, and are sent to the tool. be.

[Problem to be solved by the invention]

The conventional automatic tool changer has electrical conduits for control electrical signal lines, electrical connectors, and operating pneumatic and
Since the hydraulic line and cooling water line joints are fixed to each unit body, if the conditions required to control and operate the tool are significantly different, it will no longer be possible to operate it with the same device, and it will not be possible to use other automatic tool changers. I had to operate it.

That is, for example, when a hydraulic gripper is installed as a tool, a hydraulic line for supplying hydraulic pressure for operation and an electric signal line of a small capacity of approximately several A to send electric signals for control are required. In addition, when a spot welding gun is installed, in addition to the small-capacity electric signal line for control,
A welding current line and a cooling water line with a current capacity of about 100A are required. When the conditions required by the tools to be operated differ greatly, as in both cases, it is no longer possible to use the same device, and it is necessary to have a large number of automatic tool changers.

This invention was made in view of the above circumstances, and its purpose is to connect electrical signal lines, current lines, air pressure, hydraulic pressure, water, etc. necessary for controlling and operating attached tools. To provide an automatic tool changer capable of selecting and equipping the optimum line according to each tool even if the lines are greatly different.

Another object of the invention is to provide an automatic tool changer that allows lines to be changed very easily.

[Means to solve the problem]

In order to achieve the above object, the present invention takes the following technical measures.

That is, the first unit (2) and the second unit (3)
at least a pair of modules (5) (6) (32) (33) each removably attached to the second unit (3) and having a control or operation line depending on the tool attached to the second unit (3); The pair of modules (5) (6) (32) (33
) are the lines of the modules (5) and (6) attached to the first unit (2) and the second unit (3), respectively, when both units (2) and (3) are combined.
It has connection means for mutually connecting the lines of the modules (32) (33) attached to the module (5) (6) (32).
) (33), the module (5) (6) attached to the first unit (2) has a line from the operating means, and the module (32) attached to the second unit (3) ) (33) is characterized in that the line to the tool is configured to be connectable.

The pair of modules (5) (6) (32) (33
) are formed in a shape that fits into the notches provided in both the units (2) and (3), respectively, and are removably fixed to the flanges (10) and (38) provided on the periphery of the notches. It is preferable to

[Effect]

With the above configuration, modules (5), (6), and (3) have optimal lines depending on the tools used.
2) (33) can be attached to both the units (2) and (3).

Furthermore, the lines of the modules (5) (6) attached to the first unit (2) and the lines of the modules (32) (33) attached to the second unit (3) are as follows:
When both UNISO) (2) and (3) are combined, they are connected to each other by the connecting means. Therefore, the line from the operating means is the line of the module (5) (6) attached to the first unit (2) and the line of the second unit (3).
) are connected to the lines leading to the tool via the lines of the modules (32) (33) attached to the modules (32) (33).

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The figure shows an embodiment of an automatic tool changer according to the present invention. In Figure 1, (1) is an automatic tool changer, (2) is a first unit attached to an operating means (not shown) such as a robot arm, and (3) is a spot welding gun (4) attached. The second unit shown in FIG. A plurality of second units (3) with various tools attached thereto, such as the spot welding gun (4), are prepared and arranged on a shelf. When working, select any one second unit (3) and move it to the first unit (2).
It can be combined and integrated into a robot, etc. to perform a specified task.

The upper first unit (2) has a main body part (2a) and a convex part (
2b), as shown in Figures 2 and 3,
The incorporeal portion (2a) has a substantially Y-shaped shape formed by cutting out two substantially fan-shaped portions from a flat cylindrical member. Interface modules (5) and (6) are removably attached to the notches of the main body (2a), respectively, so that the entire body has a substantially single cylindrical shape. In addition, on the side of the uncut fan-shaped part (7), there is an electric conduit (8) that sends control electric signals to the tool attached to the second unit (3), and an electric conduit (8) that supplies control air to the tool. There are four air boats (9) for discharging, and on the bottom side there are electrical connectors (not shown) connected to the electrical conduits (8) and fittings (not shown) that communicate with the air boats (9). is the provision. A flange (10) is provided on the upper edge of the notch side of the main body (2a), and the interface modules (5) and (6) are bolted to this flange (10). .

With this configuration, the modules (5) and (6) can be installed and replaced simply by tightening and loosening bolts, making it very easy. Moreover, the modules (5) and (6) are the first
Since the shape corresponds to the notch of the unit (2) and fits into the notch, the module (5) (6) has the advantage that it hardly protrudes outside the cylindrical shape of the first unit (2). be.

The convex portion (2b) is formed in a star shape and protrudes from the lower surface of the main body portion (2a). The convex portions (2b) are 12
It consists of three parts (11) extending along three 0° radii and joined to each other in the center.

The inside of the first unit (2) has a convex portion (2
b) Each part (11) of the convex part (2b) is cut out in a star shape similar to the convex part (2b) at a depth reaching near the lower end.
Three cylinder housing chambers (12) are formed along the cylinder. This cylinder housing chamber (12) is a space that houses an air cylinder for driving a cam, which will be described later. The upper opening of the cylinder storage chamber (12) is closed by a lid (13) made of a circular plate attached to the upper surface of the main body (2a).

A rectangular hole is formed at the tip (lla) of each portion (11) of the convex portion (2b), and a window (14) is provided inside the window (14). A cam (15) is provided.

This cam (15) is located at the tip (lla) of the portion (11).
The support pin (16) passed through the window (14) from the outside in the horizontal direction (horizontal direction) allows the rack to be opened in a plane (vertical plane) parallel to the central axis of the first unit (2). It is pivotably supported and is pivotable between the exterior and interior of the portion (11) through the window (14).

The cam (15) engages with an engagement pin provided on the second unit (3), which will be described later, at an arcuate edge portion (15a), and the support pin (16) is located near the opposite corner (15b). It is provided in the position.

The three cams (15) are connected to driving air cylinders (17) provided in the three cylinder housing chambers (12) mentioned above.
Each is driven by Each cylinder (17) is supported by a mounting base (19) fixed to the inner side surface of the portion (11) via a support member (18).
It is rotatable up and down along the central axis of the unit (2). Air is supplied to and discharged from the driving air cylinder (17) through an air port (
20) From (21), it is carried out via the connecting pipes (22) and (23).

The air cylinders (17) each have a piston rond (
24) is arranged parallel to the cam (15). A U-shaped joint (25) is fixed to the tip of the piston rond (24) with its two legs facing the cam (15). In a shape that is sandwiched between the two legs of
It is rotatably connected to the cam (15). join)
(25) and the cam (15) are connected by a connecting pin (26) provided through both. The connecting pin (26) is connected to the cam (1) at a position close to the retaining part (15a).
5).

With the above configuration, when the driving air cylinder (17) is operated to move the piston rod (24) in and out, the movement is caused by the movement between the U-shaped joint (25) and the connecting pin (26).
is transmitted to the cam (15) by the cylinder (1
7) allows the cam (15) to rotate around the support pin (16).

The interface module (5) supplies welding current to the welding gun (4), and has an electrical conduit (27) on the side and an electrical contact (27) that supplies a large capacity current of about 100 A on the bottom. 28a) and three electrical contacts (28b) each supplying a standard current of about 5A. The other module (6) supplies cooling water to the welding gun (4), and has a water port (29) on the side.
), and two connection holes (30) are provided on the bottom surface.

Note that (31) is a positioning pin provided on the lower surface of the main body (2a).

The second unit (3) has a substantially Y-shape similar to the first unit (2). The two roughly fan-shaped notches each contain an interface module (3
2) (33) is removably installed,
As a whole, it has a single cylindrical shape that is almost the same as the first unit (2). These modules (32)
(33) is paired with modules (5) and (6) which are attached to the first unit (2), and both units (2)
(3) are arranged so that they overlap each other when stacked.

The module (32) for supplying welding current has an electrical conduit (34) on the side, an electrical contact (35a) for large current supply and three electrical contacts (35) for standard current supply on the top.
b) and are provided respectively. In addition, the module (33) that supplies cooling water has two water ports (36) on the side.
), and two joints (37) are provided on the top surface. The electrical contacts (35a) and electrical contacts (35b) of the module (32) are connected to the module (5) of the first unit (2).
The modules (32) and (5) are located at positions corresponding to the electrical contacts (28a) and (28b), respectively, and are connected when both modules (32) and (5) are overlapped. The two joints (37) of the module (33) are also connected to the two connection holes (30) of the module (6) of the first unit (2) so that they communicate when both modules (33) (6) are overlapped. ) is provided at a position corresponding to

Both modules (32) (33) are connected to the first unit (2).
) Modules (5) and (6) are bolted to a flange (38) provided at the lower part of the edge on the notch side.

Therefore, the installation and replacement work of the modules (32) (33) is very easy.
33) does not protrude from the second unit (3), as in the case of the first unit (2).

The fan-shaped part (39) of the second unit (3) has a shape that allows the first unit (2) to
An electrical connector (40) and four air fittings (
41) is provided. The electrical connector (40) and fitting (41) are connected to an electrical conduit (42) and four air boats (43) provided on the side of the fan-shaped portion (39), respectively.
)It is connected to the.

The center part of the second unit (3) is cut out in a figure 7 shape, forming a space (44) that opens upward and downward. This space (
44) has a 7-shaped convex portion (
2b) is fitted. At the three outer ends of the space (44),
A recess (45) recessed radially outward is formed in each case,
An engagement pin (4
6) is a provision. As shown in FIG. 5, this engagement pin (46) is provided at a position close to the upper end of the second unit (3), and is perpendicular to the plane containing the central axis of the second unit (3). ing. When both units (2) and (3) are stacked, the inner wall surface (47) of each outer end of the space (44) has the outer surface of the tip (lla) of the convex portion (2b) of the first unit (2). are in contact with each other, and the outer end of the cam (15) fits into the recess (45). The lower opening of said space (44) consists of a circular plate attached to the lower end of the second unit (3). (48)
is blocked by. The spot welding gun (4) is attached via this lid (48).

In addition, (49) is a positioning hole into which the positioning pin (31) of the first unit (2) is inserted, and (50) (5
1) is the air port (20) of the first unit (2)
This is a joint connected to (21).

Next, the usage state of the automatic tool changer (1) configured as above will be explained using FIG. 6 and FIG. 7.

Here, we will consider a case where the second unit (3) to which the illustrated spot welding gun (4) is attached is selected from among a plurality of second units (3) arranged in ranks with various tools attached to them. .

First, the first unit (2) attached to the robot arm
above the second unit (3), and align the two positioning pins (31) of the first unit (2) with the two positioning holes (49) of the second unit (3), respectively. and stop.

Next, lower the first unit (2) and attach the positioning pin (
31) into the positioning hole (49) of the second unit (3), and when both units (2) and (3) are stacked, the convex part (2b) of the first unit (2) will align with the second unit (2). The unit (3) fits into the initial space (44). At this time, the cam (
15) Air is supplied to each driving air cylinder (17) in the direction of retracting the piston rod (24), so as shown in Figure 6, most of the cam (15) is in the cylinder housing chamber. (12), so there is no problem in fitting both units (2) and (3) together.

When the lower end surface of the main body (2a) of the first unit (2) and the upper end surface of the second unit (3) are in complete contact, the
The electric connector and air joint (not shown) provided in the fan-shaped portion (7) of the first unit (2) are connected to the second unit (3).
It is connected to an electrical connector (40) and an air joint (41) provided on the fan-shaped portion (39) of the. In addition, the electrical contacts (
28a) (28b) and the air connection hole (30),
Electrical contacts (35a) (35b) of modules (32) (33) of the second unit (3) and air fittings (37)
are connected to each other.

In this way, the electrical signals and air signals for control, the welding current and cooling water sent from the robot to the first unit (2) are passed through the second unit (3) to the spot welding gun (
4).

When both units (2) and (3) come into contact as described above, each air cylinder (
17) in the opposite direction to the previous direction to cause each piston rond (24) to protrude synchronously.

Then, the three cams (15) connected to each piston rond (24) rotate outward about the support pin (16), and as shown in FIG. The mating portion (15a) contacts the retaining pin (46) of the second unit (3). In this way, both units (2) (
3) The connection can be locked and maintained.

In addition, in consideration of the case where the air supply is stopped due to an accident such as a power outage, a spring is built into the cylinder (17) so that the piston rod (24) will remain protruding even if the air runs out during connection. It is preferable to configure it so that it is retained.

When separating the combined units (2) and (3),
Air may be supplied to the cylinder (17) in the opposite direction to the above. In this way, the cam (15) rotates in the opposite direction and separates from the retaining pin (46), so that it can be easily separated.

In the above embodiment, the interface module (5
) (6) (32) and (33) are all approximately fan-shaped,
Both units I-(2) and (3) are fitted into substantially fan-shaped notches and secured with bolts. However, the module (
5) (6) It goes without saying that the shapes of (32) and (33) can be changed arbitrarily, and both units (2) (3)
module (5) (6) without providing a notch in the
(32) Each unit (33) is approximately cylindrical (2)
It may be bolted to the side of (3).

Further, in the above embodiment, the cam (15) is formed from a substantially fan-shaped plate, but the present invention is not limited to this, and can be implemented in various shapes such as a disk shape and a cylindrical shape. Of course you can. Furthermore, the engaging portion (15a) is not limited to a convex shape.

〔Effect of the invention〕

This invention has the configuration described above, and the first
Apart from the unit (2) and the second unit (3), there is a pair of modules (5) (3) each containing a built-in welding current line.
2) and a pair of modules (6) with built-in cooling water lines.
) (33), etc., depending on the type of tool used.
A pair of modules (5) (6) (32) (33) each containing various lines such as air pressure, hydraulic pressure, water, etc. are provided, and one module (5) (6) that forms a pair with the first unit ( 2) and the other unit (32) (
33) is attached to the second unit (3), so even if the lines for electricity, air, oil, water, etc. required to control and operate the attached tool vary widely, the most suitable line for the tool can be selected. You can prepare for it.

In addition, the module (5) (6) (32) (33) is attached to the flange (1) provided in the notch of each unit (2) (3).
0) (38) has the advantage that the installation and replacement work of the modules (5), (6), (32), and (33) can be performed very easily.

[Brief explanation of the drawing]

The figure shows one embodiment of an automatic tool changer according to the present invention, and FIG. 1 is a perspective view showing both units separated from each other. FIG. 2 is a plan view showing the first unit used in the same device with the lid partially cut away. FIG. 3 is a partial cross-sectional explanatory diagram taken along line A-A in FIG. 2. FIG. 4 is a plan view of the second unit used in the same device. FIG. 5 is a partial cross-sectional explanatory diagram taken along line BB in FIG. 4. FIG. 6 is a partially cross-sectional explanatory view showing a state immediately before the convex portion of the first unit is inserted into the space of the second unit and the two units are coupled by the coupling device. FIG. 7 is a partially sectional explanatory view showing a state in which both units are coupled and locked. (1) Automatic tool changer (2) First unit (2a) Main body (2b)
Convex portion (3)...Second unit (4)...Spot welding gun (5) (6)...Interface module (
7)...Fan shaped part (8)...Electric conduit (9)...Air port (10)...Flame part (2
0) (21)...Air port (22) (23
)... Connecting pipe (27)... Electrical conduit (28a) (28b) ・= Electrical contact (29) ・
... Water port (30) ... Connection hole (3
1)...Positioning pins (32) (33)...Interface module (34)...Electrical conduits (35a) (35b)...Electrical contacts (37)...
・Water joint (39)...Fan shaped part (41)...Air joint (43)...Air port (50) (51)...Air joint (36)...Water Port (38)...Flame (40)...Electrical connector (42)...Electrical connector (49)...Positioning hole

Claims (1)

[Claims] 1. A first unit (
2) and at least one second unit (3) to which various tools can be attached;
3) is removably attached to the first unit (2) and the second unit (3), respectively, and the automatic tool changer is configured such that the The second unit (3) is equipped with at least a pair of modules (5) (6) (32) (33) having control or operation lines corresponding to the tools attached to the second unit (3), and the pair of modules (5) ) (6) (32) (33) are the modules (5) (6) attached to the first unit (2) when the two units (2) (3) are combined, respectively.
) and the lines of the modules (32) and (33) attached to the second unit (3). 32)(
33), the module (5) (6) attached to the first unit (2) has a line from the operating means, and the module (32) attached to the second unit (3) (33) An automatic tool changer, characterized in that the line to the tool is connectable. 2. The pair of modules (5) (6) (32) (33)
) are formed in a shape to fit into the notches provided in both the units (2) and (3), respectively, and are removably fixed to the flanges (10) and (38) provided on the periphery of the notches. The automatic tool changer according to claim 1.