JPH0592383A - Tool changer - Google Patents

Abstract

PURPOSE:To provide a tool change for which maintenance can be easily made, by simplifying the structure thereof, and by making the tool change lightweight. CONSTITUTION:There are provided a first handle exchanging part 22 from which holder parts 25 having expandable bag-like deformation enlarging parts 28 are projected, and second handle exchanging part 23 having holder receiving hole 32s into which the holder parts 25 are inserted. The holder parts 25 are inserted into the holder receiving holes 32, and the deformation enlarging parts 28 are inflated while it is deformed in accordance with the shape of the holder receiving holes 32 in order to engage the deformation enlarging parts 28 with the second handle exchanging parts 23 so as to couple the second handle exchanging part with the first exchanging part 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool changer incorporated in a robot or the like and used for exchanging tools according to the type of work.

[0002]

2. Description of the Related Art For example, in an industrial robot or the like, a tool is selected according to a work having a different shape, and the selected tool is attached to the robot via a tool changer. Then, as a tool changer, as shown in FIG.
The type shown in is known.

That is, the tool changer 1 shown in FIG.
Is composed of a body 2 and a coupling 3,
A coupling 3 is connected to the main body 2, for example coaxially.
The main body 2 is provided with a lock mechanism 5 having a lever 4 that can be opened and closed, and the coupling 3 is provided with a hook 6 protruding therefrom. Then, the main body 2 and the coupling 3 are combined, the hook 6 is inserted into the holder receiving hole 7 of the main body 2, the lock mechanism 5 is driven to close the lever-4, and the hook 6 is clamped by the lever-4. It

Further, the main body 2 is provided with pilot pins 9 and 9 protruding from the connecting surface 8, and the pilot pins 9 and 9 are inserted into positioning holes 11 and 11 opened in the connecting surface 10 of the coupling 3. Get caught. Then, the pilot pins 9 and 9 guide the coupling 3, and the coupling 3
Is positioned with respect to the main body 2. In addition, the tool changer 1 has an air interface 12 and an electrical interface.
Are provided.

Of these, the air interface 12 is provided with a push rod 14 protruding from the connecting surface 8 of the main body 2, and the push rod 14 is elastic by a push rod holding mechanism portion 15 built in the main body 2. Is retained. further,
The push rod 14 is inserted into the air passage forming recess 16 opened in the coupling surface 10 of the coupling 3 while being slightly retracted into the main body 2. Then, the main body side air passage 17 formed in the push rod 14 and the coupling side air passage 18 formed in the coupling 3 communicate with each other.

The electric interface 13 is provided with a contact probe 19. Contact probe 19
Is elastically held by the main body 2, and is pressed into contact with the terminal 20 exposed on the coupling surface 10 of the coupling 3 while being slightly retracted in the main body 2. Further, the contact probe 19 is connected to a connector portion provided on the main body 2, and electric power is supplied from the main body 2 to the coupling 3 via the electric interface 13. Then, a tool such as a hand according to the type of work is attached to the tip of the coupling 3.

[0007]

By the way, in the tool changer 1 as described above, the structure is complicated,
It was heavy because many metal parts were used. Also,
When the lock mechanism 5 is worn, it is not easy to partially replace the lever 4 and the hook 6, and maintenance is difficult. An object of the present invention is to provide a tool changer that can be simplified in structure, can be made light in weight, and can be easily maintained.

[0008]

In order to achieve the above object, the present invention is directed to a first hand exchanging portion having a protruding holder portion having a bag-like deformed and enlarged portion that can be inflated and contracted, A second hand exchanging portion having a holder receiving hole into which the holder portion is inserted; the holder portion is inserted into the holder receiving hole; To engage the second hand exchanging part to connect the second hand exchanging part to the first hand exchanging part. In this way, the present invention is capable of simplifying the structure, reducing the weight, and facilitating maintenance.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. Note that the description of the same parts as those described in the section of the related art will be omitted.

FIG. 1 shows an embodiment of the present invention, in which reference numeral 21 is a tool changer. The tool changer 21 is used for, for example, an industrial robot and holds a hand selected according to the type of work, and the first hand exchanging unit 22 and the second hand exchanging unit 2 are used.
3 and 3. Then, the first hand exchange unit 22 is attached to the robot, and the second hand exchange unit 2 is attached.
3 is connected to the first hand exchange unit 22.

The main body 24 of the first hand exchanging section 22 is provided with, for example, four holder sections 25 .... The holder parts 25 ... Are connected to the connecting surface 2 located on one axial side of the main body 25.
6 are provided vertically, and are arranged at substantially equal intervals on concentric circles along the circumferential direction of the connecting surface 26. Further, each holder portion 25 is composed of a circular air pipe 27 and an enlarged deforming portion 28 formed by molding rubber or the like into a bag shape and attached to the tip of the air pipe 27.

The enlarged deformation portion 28 is partially open, and the inner side surface of the opening portion is pressed against the outer peripheral surface of the air pipe 27 over the entire circumference. Then, the enlargement / deformation portion 28 is connected to the air pipe 27.
The air pipe 27 and the enlarged deformation portion 28 are hermetically sealed. Then, the enlargement / deformation unit 2
8 communicates the internal space with the internal space of the air pipe 27.

An air supply source 29 is connected to the first hand exchange section 22, and air is exchanged between the air supply source 29 and the first hand exchange section 22. The air sent from the air supply source 29 reaches the air pipes 27 through an air passage (not shown) formed in the main body 24 of the first hand exchanging unit 22, and is blown out from the air pipe 27 to be expanded and deformed. 28 ... It collects inside.

Before the air is supplied, the enlarged deforming portions 28 are contracted as shown in FIG. 2A, and are contracted to a size substantially equal to the thickness of the air pipe 27. Then, as the air is supplied, the pressure inside the enlarged deformation portion 28 ... Is increased,
As shown in FIG. 2 (b), the enlarging deformation portions 28 expand and expand in the radial direction and the base end direction of the air pipe 27, for example.

Further, air is discharged from the first hand exchanging unit 22, for example, if necessary. Then, the air is returned from the enlarging and deforming portion 28, the pressure inside the enlarging and deforming portion 28 decreases, and the enlarging and deforming portion 28 contracts.

As shown in FIG. 1, the second hand exchange section 23 is composed of a main body 30 and a chuck 31. Holder receiving holes 32 ... Are provided in the main body 30, and the holder receiving holes 32 ... Are opened to the connecting surface 33 located at one axial end side of the main body 30. Further, the holder receiving holes 32 ... Are arranged on the concentric circles along the circumferential direction of the connecting surface 33 at substantially equal intervals and have a positional relationship corresponding to the holder portions 25 of the first hand exchanging portion 22. There is. Further, the shape of the openings of the holder receiving holes 32 ... Is set to be circular.

Further, the internal shape of the holder receiving hole 32 is set to be stepped as shown in FIGS. 3 (a) and 3 (b), and the opening area of the holder receiving hole 32 is closer to that of the connecting surface 33. Is also large in distant parts. Then, the holder receiving hole 32
The inner peripheral surface of the taper 3 is inclined so as to expand in the depth direction.
4 is formed, and the taper portion 34 is located at the back of the straight hole 32a.

Further, the connecting surface 2 of the two hand parts 22 and 23
6, 33, for positioning, for supplying power, for circulating air,
And pins 35 for sensor signal communication and the like and these pins 3
.. and the engaging holes 36 .. When the hands 22 and 23 are connected, the pins 35 and the engaging holes 36, which correspond to each other, engage with each other, and positioning, power supply, air circulation, and Transmission and reception of sensor signals are performed.

Here, the pins 35 and the engaging holes 36 are positioned with high precision, and the rigidity of the pins 35 is, for example, the main body 24 of the first hand exchanging portion 22 or the first hand exchanging portion 22. It is set so as not to be deformed or broken even if it interferes with the main body 30 of the second hand exchange unit 23.

In FIG. 3, the pins 35 ... Are provided on the second hand exchanging portion 22, and the engaging holes 36 ...
, Which are provided on the hand exchanging portion 23 of each of the two hand exchanging portions 22, 2 as necessary.
It is possible to provide each of the three. Next, the operation of the above-mentioned tool changer 21 will be described.

First, as shown in FIG. 3A, the first hand exchanging section 22 and the second hand exchanging section 23 face each other with their connecting surfaces 26, 33 facing each other, and the holder section 25 ... And the holder receiving hole. 32 ... and 32 are aligned substantially concentrically. Then, the two hand exchange parts 22, 23 are brought close to each other until the gap between the coupling surfaces 26, 33 becomes extremely small, and the pins 35, ... And the engagement holes 36, ... Engage.

Further, the holder portions 25 ... Include the holder receiving holes 3
Inserted in 2 ... At this time, the enlarged deformation portions 28 of the holder portions 25 are shrunk to be smaller than the opening area of the holder receiving holes 32, and enter the holder receiving holes 32 while being contracted. Then, the enlarged deformation portions 28 reach the lower side of the taper portion 34 of each holder receiving hole 32.

From the air supply source 29 to the first hand exchange section 2
Air is sent to 2, and the enlarged deformation portion 28 expands in the radial direction and the base end direction of the air pipe 27. The enlargement / deformation unit 28 ...
As shown in (b), as the pressure in the internal space rises, it comes into pressure contact with the inner wall surfaces of the holder receiving holes 32, and deforms along the shape of the inner wall surfaces of the holder receiving holes 32 while expanding.

The enlarged deformation portions 28 ... Include the holder receiving holes 32 ...
While pulling inside, the taper part 34 is attracted from the lower part to the upper part, and the first hand exchanging part 22 is connected to the second hand exchanging part.
The hand exchange units 22 and 23 are connected to each other by being locked to the hand exchange unit 3.
The second hand exchanging portion 23 has an expanded and deforming portion 28 ...
While being pressed against the first hand exchange unit 22 by
It is held by the first hand exchange unit 22. Then, the second hand exchange unit 23 is locked to the first hand exchange unit 22 by the holder unit 25. Here, even when a tool such as a hand is used, the second hand exchanging portion 23 is held by the first hand exchanging portion 22 via the expanding and deforming portions 28.

Further, the holder receiving holes 32 have the shape of the second hand exchanging portion 23 in which the enlarged deforming portion 28 ...
It suffices that the hand exchanging unit 22 is set to generate an attractive force.

When the second hand exchanging section 23 is detached from the first hand exchanging section, the tool changer 21 is moved to a stable stand, tray or the like, and the second hand exchanging section 23 is moved. The situation is ensured that the product will not be damaged even if it falls. After that, the air in the enlarged deformation portion 28 is discharged, and the enlarged deformation portion contracts smaller than the opening area of the holder receiving holes 32. Then, the first hand exchange unit 2
2 rises and both hands 22 and 23 are separated.

That is, in the tool changer 21 as described above, the enlarged deforming portions 28 ... Of the first hand exchanging portion 22 have the holder receiving holes 32 of the second hand exchanging portion 23.
Deforms while enlarging inside, and holds and locks the second hand exchanging portion 23 while pressing it against the first hand exchanging portion 22. Therefore, it is possible to connect the first hand exchange unit 22 and the second hand exchange unit 23 without complicating the structure. Further, since the second hand exchanging portion 23 can be held / released only by expanding / contracting the enlargement / deformation portions 28, it is easy to exchange a tool such as a hand.

Further, since the holder portions 25 ... Are composed of the air pipes 27 ... And the deformation enlargement portions 28 ..., Replacement and maintenance of the holder portions 25 are easy. That is,
When the two hand exchange parts 22 and 23 are connected, the flexible deformation expanding part 28 made of rubber or the like contacts the taper part 34, so that there is no fear of wear. Further, the holder portion 25 can be easily replaced, so that the maintainability is good. Further, since the two hand exchange parts 22, 23 are positioned by the holder parts 25, 25 and the pins 35, etc., high positioning accuracy can be obtained. It should be noted that the medium supplied to the deformation expanding portions 28, 28 is not limited to air, but may be another gas or liquid.

The types of the pins 35 and the engagement holes 36 are not limited to those for positioning, power supply, air circulation, and sensor signal communication, and the pins 35 and the engagement holes 36. It is possible to variously change the arrangement. Further, the present invention can be applied to the exchange of various tools other than the hand. The present invention can be variously modified without departing from the scope of the invention.

[0030]

As described above, according to the present invention, the first hand exchanging portion in which the holder portion having the bag-shaped deforming and expanding portion that can freely expand and contract is projected, and the holder receiving hole into which the holder portion is inserted. And a second hand exchanging portion having a second hand exchanging portion, the holder portion is inserted into the holder receiving hole, and the deforming and enlarging portion is inflated and deformed along the shape of the holder receiving hole. The second hand exchanging part is connected to the first hand exchanging part. Therefore, the present invention has the effects that the structure can be simplified, the weight can be reduced, and the maintenance can be easily performed.

[Brief description of drawings]

FIG. 1 is a perspective view schematically showing an embodiment of the present invention.

FIG. 2A is an explanatory view showing a contracted state of the enlarged deformation portion, and FIG. 2B is an explanatory view showing an expanded state of the enlarged deformation portion.

FIG. 3A is an explanatory diagram showing a state before coupling both hand exchange units, and FIG. 3B is an explanatory diagram showing a state after coupling both hand exchange units.

FIG. 4 is a side sectional view showing a conventional example.

[Explanation of symbols]

21 ... Tool changer, 22 ... First hand exchange section,
23 ... 2nd hand exchange part, 25 ... Holder part, 28 ... Enlarged deformation part, 32 ... Holder receiving hole.

Claims (1)

[Claims] 1. A first hand exchanging part having a protruding holder part having a bag-shaped deformation expanding part that can be inflated and contracted, and a second hand exchanging part having a holder receiving hole into which the holder part is inserted. And the holder portion is inserted into the holder receiving hole, and the deformation expanding portion is expanded and deformed along the shape of the holder receiving hole.
Tool changer for engaging the second hand exchanging portion with the first hand exchanging portion by engaging with the hand exchanging portion.