JPH0623436Y2 - Positioning and fixing device for work tools on robot wrist - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a work tool positioning and fixing device for mounting a working tool, for example, a portable grinder on a wrist of a robot.

[Prior Art] In the prior art, when a working tool, for example, a portable grinder is attached to a wrist of a robot and a work such as deburring is performed, a handle mounting screw hole and a body of the working tool are removed. It is used to fix the working tool to the wrist of the robot.

[Problems to be solved by the invention]

When attaching a work tool, for example, a portable grinder to a robot wrist, according to the conventional technique, when the portable grinder is replaced, the reproducibility of a predetermined relative position such as a grinding wheel periphery with respect to the reference position of the robot wrist, that is, the robot. Is insufficient, the robot correction time is long and the work efficiency is poor. Furthermore, the conventional mounting and fixing means is
A work tool for the robot wrist due to external force during work,
For example, the displacement of the portable grinder is likely to occur.

[Means for Solving the Problems] A work tool positioning and fixing device for a robot wrist according to the present invention includes a positioning member for the robot wrist, a fixing bolt and a serration bolt that engages with the work tool, and determines the robot wrist. A work tool holder that can be fixed in position and can be mounted in a positionally adjustable manner, and work that can be removably fixed in a fixed position to the work tool holder and that abuts against the working end of the work tool. It is composed of a tool positioning gauge member.

[Action]

The work tool positioning gauge member is fixed to a fixed position of the work tool holder, and the work tool is positioned by a helix bolt so that the end of the work portion and the gauge member collide with each other and then tightened by a fixing bolt. Is attached to the work tool holder. After that, the work tool positioning gauge member is removed from the work tool holder, and then the work tool holder is fixed to a fixed position of the robot wrist by the positioning member. Thus, the work tool will be mounted in place with respect to the robot wrist.

〔Example〕

 An embodiment of this invention will be described with reference to the drawings.

It should be noted that the right side, the left side, the vertical direction of FIG. 1, and the upper side and the lower side of FIG. 2 are the front, rear, right and left directions, upper side, and lower side of the apparatus, respectively.

In FIGS. 1 and 2, a centering pin member 3 is planted in the center of the upper surface of a rectangular plate-shaped holder body 2 of the grinder holder 1, and three centered pin members 3 are arranged at equal intervals around the circumference. Nuts 4,
4,4 and one rotation stop pin 5 are fixed. These positions correspond to the positions of the reference hole of the portable grinder G, that is, the robot wrist on which the grinder holder 1 is mounted, and the bolt hole and the pin hole of the robot wrist flange.

The grinder holder 1 is a mounting bolt inserted into the bolt hole of the robot wrist flange by fitting the centering pin member 3 into the reference hole of the robot wrist portion and the detent pin 5 into the pin hole of the robot wrist flange, respectively. By screwing 6,6,6 with nuts 4,4,4, they are positioned and fixed to the wrist of the robot.

At the front end edge of the holder main body 2, a vertical nut member 7 is formed at the center, and front and rear nut members 8 are formed on both sides of the nut member 7. Further, brackets 9 and 9 are suspended and fixed to both side edges of the front portion of the holder main body 2, and a bolt insertion hole is coaxially provided in the left and right direction at a tip portion of each bracket 9.
10 are drilled.

At the rear of the retainer body 2, U-shaped double bolt insertion holes 11, 1 are provided on both sides.
1 has a screw hole 12 formed at the center thereof, and a nut member 13 in the front-rear direction is formed so as to hang down at the center of the lower surface.

The bolts 14, 14 ... Are screwed into the nut member 7, the nut members 8, 8, the screw hole 12, and the nut member 13, respectively, and each of the bolts 14, 14, ... Is fixed by a lock nut 15, 15. It has been closed. Then, in the U-shaped both bolt insertion holes 11, 11,
Both legs of the U-shaped both bolts 16 are inserted from below, and are fastened by a tightening nut 17 and a lock nut 15 with the holder body 2 sandwiched therebetween.

Mounting bolts (fixing bolts) 18, 18 are inserted into the bolt insertion holes 10, 10 of the brackets 9, 9 with some clearance.

On the other hand, in the base plate portion 20 of the positioning plate gauge 19 having an L-shaped cross section of the portable grinder G, the positioning hole 21 and the pin hole 22 and the nut 4, which are fitted to the centering pin member 3 and the rotation stop pin 5, are provided. Bolt holes 23, 23, 23 corresponding to 4, 4 are drilled. Furthermore, an operation hole 24 for the bolt 14 to be screwed into the nut member 7 is formed.

The lower end edge of the stopper portion 25 formed so as to hang down from the front end edge of the base plate portion 20 is a stepped abutment portion 26 with which the peripheral edge portion of the grinding stone simulated disk M abuts.

The operation and action of the portable grinder positioning and fixing device in the robot wrist, which comprises the above grinder holder and the positioning plate gauge, will be described.

When replacing the portable grinder, install the mounting bolts 6,6,6
The portable grinder G is removed from the robot wrist together with the grinder holder 1 by removing the grinder holder 1. At that time, the rear portion of the body of the portable grinder G with the handle removed is inserted between the legs of the U-shaped bolts 16 and tightened with the tightening nuts 17 and 17, and the bolt insertion holes 10 and 10 of the brackets 9 and 9 are inserted.
The mounting bolts 18 and 18 inserted in are screwed into the handle mounting screw holes of the head of the portable grinder G, and the abutment bolts 14 and 14 are abutted against the respective portions of the portable grinder G,
A portable grinder G is positioned and attached to the grinder holder 1. The U-shaped double bolts 16 and the counter bolts 14 are locked by a lock nut 15.

Next, the lock nuts 15, the tightening nuts 17, 17 and the full bolts 14, 14 ... Are loosened, and the mounting bolts 18, 18 are removed from the portable grinder G. And then
Remove the used handheld grinder G from the grinder holder 1, insert the body of the new handheld grinder G with the preliminarily grindstone simulated disk M into the U-shaped both bolts 16, and attach the mounting bolts 18 and 18. Lightly screw into the handle mounting screw hole, and mount the portable grinder G in a state in which the grinder holder 1 is allowed to be slightly displaced.

Further, the positioning hole of the board portion 20 of the positioning plate gauge 19
21 and the pin hole 22 are fitted to the centering pin member 3 and the rotation stop pin 5 of the grinder holder body 2 and the mounting bolt
6, 6, 6 are inserted into the bolt holes 23, 23, 23 and screwed into the nuts 4, 4, 4 to fix the positioning plate gauge 19 to the grinder holder 1 in a predetermined positional relationship.

Then, install all the bolts 14, 14, ...
The abutting tightening is performed on each of the parts, the position of the portable grinder G is adjusted so that the peripheral edge of the grinding wheel simulated disk M abuts on the stepped abutting part 26 of the stopper 25, and each lock nut 15 is used to adjust the position. After tightening the bolt 14, the tightening nuts 17 and 17 and the lock nuts 15 and 15 are operated to tighten the body portion of the portable grinder G to the holder body 2 with the U-shaped both bolts 16 and the mounting bolts 18, By tightening 18 and fixing the head of the portable grinder G to the bracket 9, the portable grinder G
Is positioned and fixed to the grinder holder 1 with a predetermined positional relationship.

Then, the mounting bolts 6, 6, 6 are removed, and the positioning hole 21 and the pin hole 22 of the base plate portion 20 of the positioning plate gauge 19 are removed from the centering pin member 3 and the rotation stop pin 5 of the grinder holder body 2. The positioning plate gauge 19 is removed from the grinder holder 1, and the grinding wheel simulated disk M and a new grinding wheel are replaced.

Then, the centering pin member 3 is fitted in the reference hole of the robot wrist, the rotation stop pin 5 is fitted in the pin hole of the flange of the robot wrist, and the mounting bolts 16, 16, 16 are fitted in the bolt holes of the flange. After inserting, screw in nuts 4, 4, 4 and tighten. Thus, the portable grinder G is positioned and fixed to the robot wrist so that the predetermined positional relationship between the peripheral portion of the new grinding wheel and the reference position of the robot is maintained.

The work tool in the above example is a handheld grinder, but other power tools such as an air chipper may also be used.

[Effect of device]

A work tool positioning / fixing device for a robot wrist according to the present invention is a grindstone wheel for a robot wrist, that is, a reference position of a robot, when a work grinder, for example, a handheld grinder is attached to the robot wrist, when the handheld grinder is replaced. It is easy to reproduce the predetermined positional relationship such as the periphery,
Work efficiency is good because no teaching modification is required.
In addition, the work tool is attached to the robot wrist so as not to be displaced with respect to the robot wrist due to external force during work.

[Brief description of drawings]

FIG. 1 is a plan view of a work tool positioning and fixing device for a robot wrist in an embodiment of the present invention, and FIG. 2 is a partial sectional front view of a work tool positioning and fixing device for a robot wrist in an embodiment of the present invention. is there. 1: Grinder holder, 2: Holder body 3: Centering pin member, 4: Nut 5: Rotation stop pin, 6: Mounting bolt 7,8,13: Nut member, 9: Bracket 10: Bolt insertion hole, 11 : U-shaped both bolt insertion hole 12: Screw hole, 14: Overhead bolt 15: Lock nut, 16: U-shaped both bolt 17: Tightening nut, 18: Mounting bolt 19: Positioning plate gauge 20: Board part, 21 : Positioning hole 22: Pin hole, 23: Bolt hole 24: Operation hole, 25: Stopper part 26: Stepped abutment part G: Portable grinder, M: Grindstone simulated disk

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsuji Okino 1-1 Asahi-cho, Kariya city, Aichi Toyota Koki Co., Ltd. (72) Inventor Masao Kawase 1-cho, Toyota city, Aichi Toyota Motor Co., Ltd. (72) Inventor Mitsugu Asada 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor Makoto Fujiuchi 1 Toyota Town, Toyota City, Aichi Toyota Motor Corporation (72) Inventor Kaneo Ito 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. (56) References JP-A-61-118601 (JP, A)

Claims (1)

[Scope of utility model registration request] 1. A work tool comprising a positioning member for the robot wrist, a fixing bolt and a countersunk bolt engaging with the work tool, which can be fixed to a fixed position on the robot wrist, and the work tool can be mounted positionally adjustable. A work tool positioning and fixing device for a robot wrist, which is composed of a holding tool and a work tool positioning gauge member that can be removably fixed in a fixed position to the work tool holding tool and that abuts against the working end of the work tool.