JPH05177569A - Coupler for automatic tool replacement - Google Patents

Abstract

PURPOSE:To provide a coupler for automatic tool replacement, with which the second unit can easily be connected or separated with/from the first unit and with which the second unit does not slip off undeliberately from a robot arm even though a control system for pneumatic pressure goes in malfunction owing to misoperation, lightning, or other electric noise. CONSTITUTION:A coupler for automatic tool replacement is composed of a second unit on the tool side and a first unit mounted on a robot arm. An electric magnet 70 is recessed in the mating surfaces between the first and second units, and also an energize/deenergize changeover switch 71 is furnished there. A magnetic body 72 is recessed in the contacting part of the second unit. A push rod 73 is installed on a table, and the electric magnet 70 is arranged to turn into the deenergized state by the switch 71 when the second unit in the condition connected with the first unit 1 is laid in place on the table.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool change coupler including a first unit attached to an output section for a robot, and a second unit on the work side having a tool connected to the first unit. It is about.

[0002]

2. Description of the Related Art This type of automatic tool change coupler is
Usually, the first unit is provided with a return cylinder and a locking tool, and the locking tool is moved by the expansion / contraction of the output shaft of the returning cylinder associated with the supply of air to the returning cylinder. By engaging / releasing the moved locking member and the second unit portion, the second unit is moved to the second unit.
The unit is connected and separated.

That is, when air is supplied to the connection port side of the two ports sandwiching the piston in the return cylinder, the locking member is moved so as to be engaged with the second unit. The second unit can be connected to one unit, and conversely, when air is supplied to the disconnecting port side of the return cylinder, the locking member is moved to be disengaged from the second unit. The second unit can be separated from the first unit.

However, in the above-mentioned automatic tool change coupler, when the pneumatic control system malfunctions and air is supplied to the disconnecting port of the cylinder due to an operator's erroneous operation, lightning, or other electrical noise, the robot arm moves to the first position. Two
An accident occurs in which the unit drops out.

[0005]

Therefore, in the present invention, it is satisfied that the second unit can be easily connected / disconnected from the first unit, and further, the operator's erroneous operation, lightning or other electrical An object of the present invention is to provide an automatic tool change coupler in which the second unit does not accidentally fall off from the arm of the robot even if the pneumatic control system malfunctions due to noise.

[0006]

According to the first aspect of the invention, the tool-side second unit 2 mounted on the mounting table 4 is provided.
And a first unit 1 attached to the arm of the robot, and the extension / contraction of the output shaft accompanying the supply of air to the separation port or the connection port of the return cylinder 3 included in the first unit 1 Move the stopper 5,
In the automatic tool change coupler of the type in which the second unit 2 is connected to / separated from the first unit 1 by engaging / releasing the moved locking member 5 and the second unit 2 portion, The electromagnet 70 is embedded in the mating surface of the first unit 1 with the second unit 2, and the first unit 1 is equipped with a switch 71 for energizing / de-energizing the electromagnet 70. Two
A magnetic body 72 is embedded in a portion of the second unit 2 that is in contact with the electromagnet 70 in a connected state, while a push rod 73 is provided on the stand 4, and the second unit 2 is in a connected state with the first unit 1.
When the unit 2 is placed at an appropriate position on the stand 4, the input portion of the switch 71 is pushed by the push rod 73 so that the electromagnet 70 changes from the excited state to the non-excited state.

[0007]

The present invention operates as follows. When the arm operates while the second unit 2 is connected to the first unit 1 attached to the arm of the robot (when the second unit 2 is not placed at an appropriate position on the stand 4) In addition, even if the pneumatic control system malfunctions due to an operator's erroneous operation, lightning, or other electrical noise, the fastener 5
Even if the engagement between the second unit 2 and the second unit 2 is released, the attraction force between the electromagnet 70 and the magnetic body 72 in the excited state causes
The second unit 2 will not accidentally drop out of the first unit 1.

The second unit connected to the first unit 1
When the unit 2 is placed at the proper position on the stand 4,
The input portion of the switch 71 is pushed by the push rod 73 to change the electromagnet 70 from the excited state to the non-excited state. As a result, the attraction force between the electromagnet 70 and the magnetic body 72 is lost, and the second unit 2 becomes the first unit. It can be separated from the unit 1.

That is, like the conventional one, the second unit 2 can be easily connected and separated from the first unit 1,
Further, even if the pneumatic control system malfunctions due to an operator's erroneous operation, lightning, or other electrical noise, the second unit will not accidentally drop out of the robot arm.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of the present invention will be described below with reference to the drawings shown as embodiments. In this embodiment, as shown in FIGS. 1 and 2, the second tool-side tool mounted on the stand 4 is used.
The unit 2 is composed of a unit 2 and a first unit 1 attached to the arm A of the robot via a floating device F. As shown in FIG. The locking member 5 is moved by the expansion and contraction of the output shaft 32 caused by the supply of air to the connection port 31 or the connection port 31, and the locking member 5 that has been moved and the second unit 2 portion are engaged and released. , The second unit 2 is connected to or separated from the first unit 1. Then, as shown in the figure, a stopper 7 is provided for preventing the second unit 2 from being accidentally detached from the first unit 1.

As shown in FIG. 2 and FIG.
A fan-shaped cam 5 pivotally supported by the first unit 1
It is configured by 0 and can be projected and retracted through a pair of openings 10 formed in the first unit 1. As shown in FIG. 2, the return cylinder 3 has a compression spring 33 in the connection port 31 described above, and a shaft 36 is provided at the rear end of the cylinder body 35. Then, the end portion of the output shaft 32 and the end portion of the shaft 36 are attached to the above-mentioned fan-shaped cam 50 via pins, respectively, and the fan-shaped cams 50, 50 are connected to the first unit 1 by the extension and contraction of the output shaft 32. It appears to emerge from the opening 10.

Further, as shown in FIG. 2, pins 20, 2 are respectively provided in the second unit 2 portion corresponding to the opening 10.
0 is provided, and as shown by the solid line in FIG.
Is protruding from the opening 10, the pin 20 and the pin 20 are engaged with each other to hold the second unit 2 in a proper state with respect to the first unit 1. Conversely, the two points in FIG. As shown by the chain line, when the fan-shaped cam 50 is retracted, the engagement between the fan-shaped cam 50 and the pin 20 is released, and the second unit 2 can be separated from the first unit 1.

As shown in FIG. 4, the stopper 7 is a first stopper.
The electromagnet 70 embedded in the mating surface of the unit 1 with the second unit 2, and the arm type limit switch 74 (switch 71 in the section of means) provided in the first unit 1 and energizing / de-energizing the electromagnet 70. An iron plate 75 (corresponding to the magnetic body 72 in the column of means) embedded in the portion of the second unit 2 that contacts the electromagnet 70 when the first unit 1 and the second unit 2 are connected. It is composed of a push rod 73 provided on the stand 4. Then, as shown in the figure, when the second unit 2 is connected to the first unit attached to the arm A of the robot, the arm is operating (the second unit 2 is in an appropriate position of the mounting table 4). The electromagnet 70 is in an excited state (when not mounted on the second unit 2) which is in the connected state to the first unit 1 as shown in FIG.
When is mounted at an appropriate position on the mounting table 4, the input portion of the limit switch 74 is pushed by the push rod 73 to change the electromagnet 70 from the excited state to the non-excited state.

Therefore, as shown in the column of action and effect, the first
When the second unit 2 can be easily connected to and detached from the unit 1, and the second unit 2 is connected to the first unit attached to the arm of the robot, the arm is operating. Even if the pneumatic control system malfunctions (when the second unit 2 is not mounted at the proper position on the mounting table 4) due to a malfunction of the operator, thunder, or other electrical noise, the robot arm does not operate. The second unit 2 will not fall out easily.

[0015]

The present invention having the above-mentioned structure has the following effects. According to the present invention, like the conventional one, the second unit 2 can be easily connected / disconnected from the first unit 1, and the air pressure can be controlled by an operator's erroneous operation, thunder or other electrical noise. Even if the system malfunctions, the second unit will not accidentally drop off from the robot arm.

That is, satisfying that the second unit 2 can be easily connected / disconnected from the first unit 1,
Further, even if the pneumatic control system malfunctions due to an operator's erroneous operation, lightning, or other electrical noise, it is possible to provide an automatic tool change coupler in which the second unit does not accidentally drop off from the robot arm.

[Brief description of drawings]

FIG. 1 is a diagram showing an automatic tool changing coupler of the present invention attached to an arm of a robot, and a stand for mounting a second unit of the automatic tool changing coupler.

FIG. 2 is an explanatory view of a first unit and a second unit in the automatic tool changing coupler of the present invention.

FIG. 3 is a perspective view of a first unit and a second unit in the automatic tool changing coupler of the present invention.

FIG. 4 is a diagram showing a relationship between an input unit of a limit switch and a push rod in a state where an automatic tool changing coupler attached to an arm of a robot is not placed on a stand.

FIG. 5 is a view showing the relationship between the input part of the limit switch and the push rod when the automatic tool changing coupler attached to the arm of the robot is placed on the placing table.

[Explanation of symbols]

 1 1st unit 2 2nd unit 3 Return cylinder 4 Mounting stand 5 Locking tool 70 Electromagnet 71 Switch 72 Magnetic body 73 Push rod

Claims (3)

[Claims] 1. Separation of a return cylinder 3 comprising a second unit 2 on the tool side mounted on a mounting table 4 and a first unit 1 mounted on an arm of a robot. The locking device 5 is moved by the expansion and contraction of the output shaft accompanying the supply of air to the port or the connection port, and the locking device 5 and the second unit 2 that have been moved are moved.
In a coupler for automatic tool change of a type in which the second unit 2 is connected / disconnected from the first unit 1 by engaging / disengaging with a part, a mating surface of the first unit 1 with the second unit 2 The electromagnet 70 is embedded, and the first unit 1 is provided with a switch 71 for putting the electromagnet 70 into an excited / non-excited state, and the first unit 1 and the second unit 2 are in contact with the electromagnet 70 in a connected state. When the magnetic body 72 is embedded in the unit 2 part and the push bar 73 is provided on the stand 4, the second unit 2 connected to the first unit 1 is placed at an appropriate position on the stand 4, and An automatic tool change coupler characterized in that the input portion of the switch 71 is pushed by a push rod 73 so that the electromagnet 70 changes from an excited state to a non-excited state. 2. The coupler for automatic tool change according to claim 1, wherein the switch 71 is a limit switch. 3. The automatic tool change coupler according to claim 1, wherein the magnetic body 72 is made of an iron plate.