JPH06210537A - Automatic tool changing device - Google Patents

Abstract

PURPOSE:To prevent falling-off of a second unit from an output part of a robot even if a control system makes malfunction by installing a change-over valve on the second unit side, and opening the change-over valve when the second unit is placed on a table correctly. CONSTITUTION:A removal preventing mechanism 6 is provided to prevent a second unit 2 from dropping from a first unit 1 during work, and the removal preventing mechanism 6 has change-over valve 4, and a dog 29 to push a lever 40 for opening the change-over valve 4 when the second unit 2 is placed on a table D. During work in which the second unit 2 is not placed on the table D, the change-over valve 4 inserted into a cut-off port is closed, so if it makes malfunction because of operation mistake or lightning, the second unit is not removed from an output part of a robot. In addition, when the second unit 2 is placed on the table D, the change-over valve 4 at the cut-off port is opened, so a connection impossible condition between the first unit 1 and the second unit 2 can be eliminated even if air leak from the cut-off port of a cylinder occurs.

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.

[0002]

2. Description of the Related Art An automatic tool changer has already been disclosed in Japanese Patent Application No. 4-291462. As shown in FIG. 5, this automatic tool changing device is composed of a tool-side second unit 2 mounted on a mounting table D at the time of separation and a first unit 1 mounted on an arm A of a robot. As shown in FIG. 6, the cylinder is provided by supplying air to the disconnection port 30 or the connection port 31 (the compression spring 33 is provided in the connection port 31 of the cylinder body 35) of the cylinder 3 provided in the first unit 1. The output shaft 32 of 3 is extended / shortened, and thereby the locking tool 5 is moved to connect / disconnect the second unit 2 to / from the first unit 1.

Further, the automatic tool changer is provided with a fall prevention mechanism, and the fall prevention mechanism is shown in FIGS.
As shown in FIG. 1, a valve unit BU having a first direction switching valve 8, a second direction switching valve 9 and a check valve S is provided on the outer peripheral surface of the first unit 1, and further, the first unit 1 and the second unit. A dog 27 that pushes the input shaft 80 of the first direction switching valve 8 when the first unit 1 and the second unit 2 are in a joined state is provided on the outer peripheral surface of the second unit 2, and the first unit 1 is placed on the table D. The dog 2 that pushes in the input lever 90 of the second direction switching valve 9 when the unit 2 and the unit 2 are brought into a joined state.
8 is provided on the table D.

Therefore, when the first unit 1 and the second unit 2 are separated from each other, or when the first unit 1 and the second unit 2 are connected to each other and the second unit 2 is placed on the table D. Only when the air is supplied, the air can be supplied to the disconnection port 30 via the first and second directional control valves 8 and 9. That is, even if the pneumatic control system malfunctions due to an operator's erroneous operation, lightning, or other electrical noise, the second unit does not accidentally drop off from the first unit attached to the output section of the robot, and the cylinder Even if air leakage occurs from the disconnection port, the inoperable state between the first unit and the second unit can be resolved by remote control.

However, the automatic tool changer described above
Normally, pipes (hoses,
Since the tubes and wirings are arranged in a very complicated manner, there may be a case where the valve unit BU or the like having a relatively large occupied space cannot be attached to the first unit 1. Further, when the tool or the tool mounting plate mounted on the second unit 2 side has a size that covers the table D, it is difficult to mechanically open and close the input shaft 80 of the first direction switching valve 8.

[0006]

Therefore, in the present invention, even if the pneumatic control system malfunctions due to an erroneous operation by the operator, lightning, or other electrical noise, the second part of the robot is inadvertently operated during the work. The unit does not fall off,
Even if air leaks from the disconnection port of the cylinder, the connection failure between the first unit and the second unit can be resolved by remote control, regardless of the size of the tool or tool mounting plate. An object of the present invention is to provide an automatic tool changer in which an air device that opens and closes an air circuit with a power source can be securely attached with a large degree of freedom.

[0007]

The automatic tool changer of the present invention is the second tool-side tool that is placed on the stand D when the tool is separated.
It is composed of a unit 2 and a first unit 1 attached to the output part of the robot, and by supplying air to the disconnecting port 30 or the connecting port 31 of the cylinder 3 provided in the first unit 1, the first unit 1 side Move the lock 5 of the second unit to connect the second unit 2 to the first unit 1.
An automatic tool changer of the type to be cut off, the table D
Switch valve 4 mounted on the side and inserted in the air circuit to the disconnection port 30 for mechanical switching, and the second unit 2 provided on the side of the second unit 2 and properly mounted on the mounting table D. And a dog 29 for pushing the input portion to open the switching valve 4 when the switching valve 4 is opened.

[0008]

The present invention operates as follows. During the work in which the second unit 2 is not mounted on the mounting table D, the switching valve 4 (mechanically switching) inserted in the air circuit to the disconnection port 30 is closed. Even if the pneumatic control system malfunctions due to an operator's erroneous operation or lightning or other electrical noise, the second unit will not accidentally drop out of the output section of the robot during work.

When the second unit 2 is placed on the stand D, the switching valve 4 inserted in the air circuit to the isolation port 30 is in the open state, so that the cylinder is disconnected. Even if air leakage occurs from the separation port 30, the connection-disabled state between the first unit and the second unit can be resolved by remote control. Further, in this automatic tool changer, the switching valve 4 is provided on the side of the mounting table D where the piping and wiring are not arranged in a complicated manner such as around the first and second units 1 and 2, so that the disconnection port 30 The air device for opening and closing the air circuit between the air source and the air source can be securely mounted with a large degree of freedom. Further, since the switching valve 4 on the mounting table D side is opened and closed by the dog 29 mounted on the second unit 2 side, a tool or a tool mounting plate mounted on the second unit 2 side covers the mounting table D. Even in the case of such a size, the first direction switching valve 8 can be reliably opened and closed by changing the mounting position of the switching valve 4 on the stand D.

[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. As shown in FIG. 1, the automatic tool changing device of this embodiment comprises a tool-side second unit 2 mounted on a mounting table D at the time of cutting and a first unit 1 mounted on an arm A of a robot. As shown in FIG. 2, by supplying air to the disconnecting port 30 or the connecting port 31 of the cylinder 3 included in the first unit 1, the locking tool 5 on the first unit 1 side is moved, The second unit 2 is connected to and disconnected from the first unit 1. Further, this device is provided with a drop-out prevention mechanism 6 for preventing the second unit 2 from accidentally falling from the first unit 1 during work. The drop-out prevention mechanism 6 is as shown in FIG. A switching valve 4 inserted into the air circuit to the disconnection port 30 and provided on the mounting table D side;
The dog 29 is provided on the peripheral wall of the second unit 2 and pushes the lever 40 to open the switching valve 4 when the second unit 2 is properly mounted on the mounting table D.

As shown in FIG. 2, the locking tool 5 is composed of a fan-shaped cam pivotally supported by the first unit 1 so as to swing, and a pair of openings 10 formed in the first unit 1. You can appear and disappear from. Cylinder 3
As shown in the figure, has a compression spring 33 on the side of 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 shaft 36 are attached to the locking member 5 which is the above-mentioned fan-shaped cam through the pins, respectively, and the stopper 5 is extended and contracted by the output shaft 32 so that the stopper 5 is opened in the first unit 1. It appears to appear and disappear from.

Further, as shown in FIG. 2, pins 20 are provided in the second unit 2 portion corresponding to the opening 10, respectively, and as shown by the solid line in FIG.
When it is in a state of projecting from the pin 20, the pin 20 and the pin 20 are engaged with each other and the second unit 2 is held in a proper state with respect to the first unit 1. As described above, when the fan-shaped cam 50 is in the retracted state, 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 the changeover valve 4, as described above, the one which is opened and closed by pushing and opening the input shaft is adopted. In this embodiment, as shown in FIG. 3, a solenoid valve that is switched (or manually operated) by an electric signal from the controller of the robot is used in the air circuit between the air source and the cylinder 3. SB is provided, and the switching valve 4 is the solenoid valve S.
It is provided in the passage between B and the disconnection port 30 of the cylinder 3.

Since the automatic tool changer of this embodiment is constructed as described above, it functions as follows. (1) The second unit 2 is separated from the first unit 1.
At this time , as shown in FIG. 3, the switching valve 4 is opened by pushing the lever 40 by the dog 29 on the second unit 2 side, and the fall prevention mechanism 6 is freely operated by operating the solenoid valve SB. It is possible to move the cylinder 3, which is a component of the above, in the separating direction. Therefore, even if air leakage from the disconnection port 30 of the cylinder 3 occurs, the inoperable state between the first unit 1 and the second unit 2 can be easily eliminated by operating the solenoid valve SB. (2) During robot operation In this case, as shown in FIG. 4, the pushing force of the dog 29 to the lever 40 is released, the switching valve 4 is closed, and the disconnection port 30 and the air source circuit. Is shut off. Therefore, the operator's erroneous operation,
Even if the air pressure control system malfunctions due to lightning or other electrical noise and the solenoid valve SB moves to form an air circuit, the first unit 1 attached to the arm A of the robot is inadvertently changed to the second unit 2 Will not fall out. (3) The disconnection operation switching valve 4 between the first unit 1 and the second unit 2 is in the same state as in the above (1), and the fall prevention mechanism 6 is freely operated by operating the solenoid valve SB.
It is possible to move the cylinder 3, which is a component of the above, in the separating direction (see FIG. 3). Therefore, the first unit 1
The second unit 2 can be easily separated from the second unit 2 by operating the solenoid valve SB.

As described in (1) to (3) above, in the automatic tool changer of this embodiment, even if the pneumatic control system malfunctions due to operator's erroneous operation or lightning or other electric noise Even if the second unit 2 is not accidentally dropped from the robot's arm A and air leaks from the disconnection port 30 of the cylinder 3, the first unit 1
The remote connection can eliminate the inability to connect between the second unit 2 and the second unit 2. Furthermore, regardless of the size of the tool or the tool mounting plate, an air device that opens and closes the air circuit between the disconnection port 30 and the air source is reliable. It can be installed with great flexibility.

Although only one second unit 2 is used in the above embodiment, a plurality of second units 2 are usually used. In such a case, when the switching valves 4 are connected in series, at least one of the second units 2 is not on the table D (that is, the second unit 2 is connected to the first unit 1 side). If so, the switching valve 4 on the mounting table D operates to close the air circuit, so that the fall prevention functions effectively.

[0017]

The present invention having the above-mentioned structure has the following effects. From the contents described in the action column,
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's output during work, and air will leak from the cylinder's disconnection port. Even if occurs, the inoperable state between the first unit and the second unit can be resolved by remote control, regardless of the size of the tool or tool mounting plate.
It has been possible to provide an automatic tool changing device in which pneumatic equipment for opening and closing an air circuit between a disconnection port and an air source can be securely mounted with a large degree of freedom.

[Brief description of drawings]

FIG. 1 is an external perspective view of an automatic tool changer according to an embodiment of the present invention.

FIG. 2 is a sectional view of the automatic tool changer.

FIG. 3 is a view showing a state of a falling prevention mechanism of the automatic tool changing device when the second unit 2 is separated from the first unit 1.

FIG. 4 is a diagram showing a state of the drop-out prevention mechanism during the operation of the robot.

FIG. 5 is an external perspective view of an automatic tool changer having a dropout prevention mechanism of the prior art.

FIG. 6 is a cross-sectional view of a prior art automatic tool changer.

FIG. 7 is an explanatory view of a dropout prevention mechanism of the prior art.

[Explanation of symbols]

 1 1st unit 2 2nd unit 3 Cylinder 4 Switching valve 5 Locking tool 6 Fall prevention mechanism 30 Separation port 31 Connection port

Claims (1)

[Claims] 1. A first unit (1) comprising a tool-side second unit (2) mounted on a mounting table (D) at the time of separation and a first unit (1) attached to an output section of a robot. ), The air is supplied to the disconnecting port (30) or the connecting port (31) of the cylinder (3) to move the locking device (5) on the first unit (1) side, and the first unit ( Connect the second unit (2) to 1)
A disconnecting type automatic tool changer, which is a switching valve (4) which is mounted on the side of the stand (D) and is inserted into an air circuit to the disconnecting port (30) and which is mechanically switched.
And a dog which is provided on the second unit (2) side and which pushes the input portion to open the switching valve (4) when the second unit (2) is properly placed on the stand (D). (2
9) An automatic tool changer comprising: