JPH06179190A - Automatic tool changing device for industrial robot - Google Patents

Abstract

PURPOSE:To provide an automatic tool changing device for an industrial robot which can prevent the erroneous installation of a robot and secures the smooth changing work. CONSTITUTION:A robot H is operated to engage a tool engagement part 26 with the tool hanger 13 of a tool rack 10, and a necessary tool 20 is selected from a plurality of tools 20, and an installation part insertion hole 31a of a tool holding part 30 is fitted with a tool installation part 21, and a kind display part 25 corresponding to the tool 20 is judged in a kind judging part 35, and after the correctness of the tool 20 is confirmed, the tool 20 and the tool holding part 30 are joined.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool changer for an industrial robot.

[0002]

2. Description of the Related Art For example, as a conveying means for carrying out a work machined by one of the processing machines between the processing machines such as adjacent press machines, and carrying the work into the other processing machine. It is widely performed by an industrial robot provided between processing machines and a tool provided on the robot, for example, an attachment provided with a suction cup.

However, when transferring works of different shapes, it is necessary to replace and attach an attachment having a suction cup arranged corresponding to the shape of the work to the robot. As a countermeasure against this, as disclosed in Japanese Utility Model Laid-Open No. 61-185530, a common attachment is fixed to a robot in advance, and a work-specific attachment in which a suction cup is arranged according to the shape of the work is replaced according to the work. It has been proposed that the common attachment be manually attached and detached.

On the other hand, as disclosed in Japanese Utility Model Laid-Open No. 59-163488, various tools are housed in a tool rack and automatically replaced or replaced by the upper portion of a holder that engages with tools provided in a robot. Measures have been proposed.

[0005]

[Problems to be Solved by the Invention] However, the above-mentioned Japanese Utility Model Publication 6
In the measures disclosed in the publication No. 1-185530,
Since the work-specific attachment is manually attached / detached in accordance with the shape of the work, the work is troublesome, and there are problems such as erroneous mounting. On the other hand
In the one disclosed in 9-163488,
Although the tools accommodated in the tool rack can be easily attached and detached by the robot, there is a risk of erroneous attachment when attaching many types of tools, and smooth tool exchange cannot always be ensured.

Therefore, an object of the present invention is to propose an automatic tool tool changing device for an industrial robot which avoids erroneous mounting and ensures smooth replacement work.

[0007]

[Means for Solving the Problems] The present invention for achieving the above object
The automatic tool changer for industrial robots in Ming
Based on the instructions from the bot controller, the tool rack
Select the tool you need from a wide variety of tools
Tool to be attached to the end of the robot arm.
Position, the frustum-shaped tool mounting part and the tool fixing hole
The type display section that displays the type of tool and the tool locking section
Inserting the mounting part that fits the tool equipped with the tool mounting part
Engage the tool fixing hole of the tool fitted in the hole and the insertion hole
Distinguish between the tool fixing part to be removed and the type display part
A tool installed at the tip of a robot arm equipped with a type determination unit
Tool holding part and the tool locking part to accommodate the tool
Tool rack with multiple tool hangers for holding
I have.

[0008]

[Operation] The robot is operated based on the instruction from the robot controller, and the required tool is selected from the plurality of tools held by engaging the tool locking portion with the tool hanger of the tool rack, and the tool mounting portion thereof is selected. After fitting the insertion hole of the tool holding part provided at the end of the robot arm to the tool arm, and checking the suitability of the tool by checking the type indication part provided on the tool with the type distinguishing part, check the tool fixing hole and tool fixing part. The tools are attached to the tool holding portion and thus to the robot by locking and, and are removed from the tool rack to perform work by the robot. After the work is completed, hold the tool lock part on the tool hanger of the tool rack, and thus hold the tool on the tool rack, and release the lock of the tool fixing hole by the tool fixing part to release the tool mounting part from the mounting part insertion hole. The
Separate the tool from the tool holder.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of an automatic tool changing device for an industrial robot according to the present invention will be described below with reference to the drawings when it is used for conveyance between press devices in a tandem press line.

FIG. 1 is a plan view showing an outline of a tandem press line, which includes a sheet feeder A, a press device B,
C, D, E, carry-out device F and adjacent press devices B and C, C and D, between D and E, press device E and carry-out device F
A transporting means G is disposed between and.

As shown in FIGS. 1 and 2, the transfer means G has two robots H, H, a work support base I, and a tool rack 10 constituting a part of an automatic changer described later. .

A sheet feeder A, each press device B, C,
D and E and the unloading device F are operated by a preset instruction from the press line controller J, and the robot H of the transfer means G is operated by an instruction from the robot controller K controlled by the press line controller J. To do.

The work w carried into the press device B by the sheet feeder A is first press-formed by the press device B, and the press-formed work w is supported by the tool holding portion 30 provided at the tip of the arm of the robot H. It is sucked by the tool 20 and carried out onto the work support base I.
The work w placed on the work support base I is adsorbed by the tool 20 supported by the tool holding portion 30 provided at the arm tip of the adjacent robot H, and the next press device C is attached.
The posture is controlled to be carried in to a predetermined position, and is further press-formed by the press device C.

Similarly, the work w press-formed in sequence by the press devices D and E is carried out by the carry-out device F.

Further, the work w to be press-molded is changed,
When press-forming different workpieces w, the press dies of the respective press devices B, C, D and E are exchanged, and the robot H
The tool 20 attached to the arm tip of the tool holder 30 by the tool holding unit 30 is selected from a plurality of types of tools 20 prepared in the tool rack 10 in advance, and is automatically replaced with the necessary tool 20 corresponding to the work w, and the same as above. , The work w is press-molded.

Next, a tool changing device for automatically changing tools will be described.

This tool exchanging device comprises a tool rack 1
0, the tool 20, and the tool holding unit 30 provided at the tip of the arm of the robot H are main components.

As shown in the perspective view of the main part of the tool rack 10, the tool rack 10 has tool storage parts 12, 12, ...
A box-shaped tool hanger 13 having a concave or open polygonal fitting hole 13a into which an insertion portion 26a of a tool locking portion 26 formed on a tool 20 described later fits is provided in the frame 11 which is the lower side. Is provided.

As shown in FIG. 4, the tool 20 has a tool attachment portion 21 having a truncated cone shape at its base end.
The base portion of the support member 22 having a shape corresponding to the work w is fixedly attached, and the vacuum cup 23 for adsorbing the work w is provided at a required position on the tip of the support member 22.

Tool fixing holes 24 are formed in the taper surface of the tool mounting portion 21 so as to be opposed to each other, and a plurality of tool fixing holes 24 are formed in the upper and lower portions of the tool mounting portion 21 at specific positions according to the type of the tool 20. A type display unit 25 made of a perforated plate having holes 25a is provided.

Further, the tool attaching portion 21 has a tool engaging portion 2
6 is fixed. Each of the tool locking portions 26 protrudes in the vertical direction to form a truncated pyramid-shaped insertion portion 26a, which is fixed by inserting the insertion portion 26a into the fitting hole 13a of the tool hanger 13 provided in the tool rack 10. Then, the tool 20 is stored in the tool rack 10. Further, as shown in the cross section in FIG. 5, the tool attaching portion 21 is penetrated by a tool operating air supply hole 27 having one end opened at the top end thereof, and the other end of the tool operating air supply hole 27 is supplied with air. It is connected via a hose 28 to a vacuum cup 23 provided at the tip of the support member 22.

On the other hand, the tool holding portion 30 provided at the tip of the arm of the robot H has a mounting portion insertion hole 31a into which the tool mounting portion 21 formed in the truncated cone shape of the tool 20 fits.
And a tool fixing portion 32 is provided on both sides of the tool supporting portion 31 so as to face each other.

The tool fixing portion 32 has a cylinder 32a and a fixing pin 32b protruding and retracting by the cylinder 32a, as shown in FIG. 5 showing an enlarged VV line cross section and FIG. 6 showing a holding state of the tool 20, The tool mounting portion 21 of the tool 20 is fitted into the mounting portion insertion hole 31a of the tool support portion 31, and the tip of the fixing pin 32b is engaged with the tool fixing hole 24 formed in the tool mounting portion 21 by the cylinder 32a. 20 is connected to the tool holding portion 30, and the fixing pin 32b is retracted from the tool fixing hole 24 by the cylinder 32a, so that the tool attaching portion 21 of the tool 20 can be extracted from the attaching portion insertion hole 31a of the tool supporting portion 31. It is supposed to do.

Further, the mounting portion insertion hole 31 of the tool support portion 31
One end of the supply-side air supply hole 33 is open at the bottom of a. The other end of the supply-side air supply hole 33 is connected to an air supply source (not shown) controlled by the robot controller K. Therefore, by inserting the tool attachment portion 21 of the tool 20 into the attachment portion insertion hole 31a of the tool support portion 31 and coupling them, the tool operating air supply hole 27 on the tool 20 side and the supply side air supply hole on the tool holding portion 30 side. It is possible to establish a communication state with 33, it is not necessary to provide a separate means for connection, and it is possible to simplify the work and the structure. Reference numeral 34 is a packing that prevents air from flowing out from the connection portion between the supply-side air supply hole 33 and the tool operating air supply hole 27.

The tool 2 is provided on the tool supporting portion 31.
A type discriminating unit 35 for discriminating the type of the tool 20 from the type display unit 25 made of a perforated plate provided at 0 is provided.
The type discriminating unit 35 has a plurality of proximity switches 35a, and when the tool attaching portion 21 is inserted into the attaching portion insertion hole 31a of the tool supporting portion 31, the type indicating portion provided on the tool 20 as shown in FIG. The arrangement state of the holes 25a opened in 25 is detected by turning on and off the proximity switch 35a, and the type of the tool 20 is discriminated by comparing with the data previously input to the robot controller K.

Next, the operation of exchanging the tool 20 associated with the change of the type of the work w in the industrial robot using the automatic tool exchanging device constructed as described above will be explained.

The robot H is operated according to the operation instruction from the robot controller K controlled by the instruction from the press line controller J based on the preset processing information regarding the work w to be press-formed, and the robot H is operated. Insert one insertion portion 26a of the tool locking portion 26 provided on the tool 20 connected to the tip of the arm by the tool holding portion 30 into a fitting hole 13a formed on a predetermined tool hanger 13 provided on the tool rack 10. Then, the tool 20 is locked to the tool rack 10. When the tool 20 is locked, since the insertion portion 26a of the tool locking portion 26 has a quadrangular truncated pyramid shape and has a tapered surface, the relative positional deviation between the tool hanger 13 and the tool locking portion 26 is corrected. And easily positioned in a predetermined state.

The insertion portions 26a are provided on both upper and lower sides of the tool 20, and both of them can be engaged with the tool rack 10, so that the operation range of the robot is widened.
You can increase the number of stored.

Next, according to an instruction from the robot controller K, the fixing pins 32b are retracted by the cylinders 32a of the tool fixing portions 32 provided on both sides of the tool supporting portion 31 and retracted from the inside of the tool fixing holes 24 to fix the fixing pins 32.
The fixing of the tool attachment portion 21 by b is released.

Subsequently, the tool support portion 31 is retracted, and the tool support portion 31 is pulled out from the tool mounting portion 21 of the tool 20 supported by the tool rack 10.

Next, the tool 20 corresponding to the work w to be machined stored in the storage section 12 of the tool rack 10 which is predetermined by the instruction of the robot controller K.
The tool mounting portion 21 has a mounting portion insertion hole 31a which is opened in the tool supporting portion 31 provided in the tool holding portion 30 and faces the tool holding portion 30 along the tapered peripheral surface of the tool mounting portion 21. The position is corrected and the tool mounting portion 21 and the tool supporting portion 31 are fitted together.

By fitting the tool attachment portion 21 and the tool support portion 31 to each other, the arrangement state of the holes 25a of the type display portion 25 formed of a perforated plate provided on the tool 20 is arranged in the tool holding type determination portion 35. ON of the proximity switch 35a
Based on the OFF operation, it is determined whether or not this tool 20 corresponds to the work w to be machined.

Only when it is determined that the tool 20 corresponds to the work w, the fixing pin 32b is projected by the cylinder 32a of the tool fixing portion 32 and the tip is inserted into the tool fixing hole 24 formed in the tool attaching portion 21. By doing so, the tool attachment portion 21 and the tool support portion 31 are coupled, and hence the tool 20 and the tool holding portion 30 are coupled. On the other hand, when it is determined that the work 20 is different from the corresponding tool 20, the fixing of the tool 20 by the tool fixing portion 32 is stopped and the worker is notified by an alarm lamp or the like.

When the connection between the tool 20 and the tool holding unit 30 is completed, the robot controller K instructs the
The arm tip of the robot H, that is, the tool holding unit 30 is raised, the tool locking unit 26 is pulled out from the tool hanger 13 of the tool rack 10, and the work of carrying the work w using the tool 20 is performed by the operation of the robot.

In the above description, the type display unit provided on the tool is a perforated plate having a plurality of holes arranged corresponding to the type of the work, and the type discrimination unit is a proximity switch for detecting the holes of the type display unit. However, it is also possible to use a photoelectric tube or the like instead of the proximity switch, and a bar code is used as the type display unit, and the type display unit is configured by the reading device as the type determination unit by other appropriate means. Also, the type determination unit may be configured.

Further, the case where the present invention is applied to carrying out the work between the press devices has been described. However, by appropriately changing the tool to another tool such as a spot welding machine, it can be widely applied to the work using other robots. Is.

[0037]

According to the automatic tool changing device for the industrial robot of the present invention described above, the tool engaging portion provided on the tool is fitted to the tool hanger so that the tool is supported on the tool rack. By supporting the tool at a predetermined position on the tool rack without rocking and forming the tool attachment part in a truncated cone shape, it becomes possible to guide the tool holding part to the peripheral surface of the tool attachment part. Even if there is a relative positional deviation between the tool holding part and the tool holding part, they can be easily connected. Also, when combining,
Since the type display section provided on the tool is confirmed by the type determination section provided on the tool holding section, erroneous mounting can be avoided, and smooth automatic tool replacement can be ensured.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view of a tandem press line using an embodiment of an automatic tool changing device for an industrial robot according to the present invention.

FIG. 2 is a side view of a main part from the direction of arrow II in FIG.

FIG. 3 is a perspective view of a tool rack used in this embodiment.

FIG. 4 is an explanatory perspective view showing a main part of the present embodiment.

5 is a cross-sectional view of essential parts taken along the line VV in FIG.

FIG. 6 is a cross-sectional view of essential parts for explaining a combined state of a tool attachment portion and a tool holding portion in the present embodiment.

7 is a sectional view taken along the line VII-VII in FIG.

[Explanation of symbols]

 10 Tool Rack 13 Tool Hanger 13a Fitting Hole 20 Tool 21 Tool Mounting Part 24 Tool Fixing Hole 25 Type Display Part 25a Hole 26 Tool Locking Part 26a Inserting Part 30 Tool Holding Part 31 Tool Bearing Part 31a Mounting Part Inserting Hole 32 Tool Fixing Part 35 Type determination unit 35a Proximity switch

Claims (3)

[Claims] 1. An automatic tool exchange device for selecting a necessary tool from a variety of tools arranged on a tool rack based on an instruction from a robot controller and mounting the tool on the tip of an arm of a robot. Section, tool fixing hole, and type of tool that displays the type of tool Tool equipped with a tool display section and tool mounting section A tool holding part provided at the tip of a robot arm having a tool fixing part that is engaged with and disengaged from a hole and a type discriminating part that discriminates the display of the type display part, and a tool retaining part that fits and holds the tool. An automatic tool tool changer for an industrial robot, comprising: a tool rack having a plurality of tool hangers. 2. The tool locking portion has a truncated pyramid-shaped insertion portion, and the tool hanger has a box shape having a polygonal fitting hole that allows fitting of the insertion portion of the tool locking portion. Claim 1
Automatic robot tool changer. 3. The type display unit is a plurality of holes arranged corresponding to the type of tool, and the type discriminating unit is a proximity switch for detecting the arrangement state of the holes. Or the tool automatic changer of the industrial robot of 2.