JPH0661486U - Automatic tool changer - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] In an automatic tool changer in which the fixed side and tool side plates can be attached and detached due to the interlocking relationship between the actuator and the lock pin, the working fluid escapes and the pressure drops when locked. However, the plate on the tool side must be completely prevented from falling off. [Structure] An actuator 3 can be moved in an axial direction of a fixed plate 1, a coupling member 4 that operates in conjunction with this movement can be attached to and detached from a tool plate 2, and the actuator 3 has a stepped portion where the coupling member 4 abuts. -Like stoppers are provided so that when the actuator 3 operates with its steady thrust, the actuator 3 can move by swinging off the axial resistance due to the contact load of the coupling member 4, and the thrust drops when the working fluid escapes or the pressure drops. Sometimes, the engagement relationship between the coupling member 4 and the stopper can prevent the tool plate 2 from falling off the fixed plate 1.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an automatic tool exchanging device which is used in a robot hand or the like and is capable of automatically exchanging tools.

[0002]

[Prior art]

 The industrial robot arm is equipped with an automatic tool changer for exchanging tools for machining. This automatic tool changer is capable of aligning and connecting a tool plate with a tool integrated with a fixed plate connected to the robot arm.

In the conventional automatic tool changer, the applicant of the present application absorbs the misalignment between the tool side and the changer, since the quality of the alignment before coupling is an important issue. We have already proposed an automatic tool changer that can be joined together and positioned with high precision.

This is disclosed in Japanese Unexamined Patent Publication No. 3-43174, in which a fixed plate is provided with a lock pin capable of moving forward and backward in the radial direction, and the lock pin is fitted to a tool plate having a shape for receiving the fixed plate. This is a configuration in which a lock hole that fits in is provided. Then, the fixed plate was fitted with a cylinder with air as the working fluid, and the actuator was placed in the direction orthogonal to the forward / backward axis of the lock pin, and the peripheral surface of this actuator was tapered so that its tip side tapers. It is a thing.

[0005]

[Problems to be solved by the device]

 When the actuator moves back and forth, the taper shape pushes the lock pin into the lock hole of the tool plate when it moves forward, and when it moves backward, it moves in the direction that it is pulled out of the lock hole, which causes the actuator to move. It is locked and unlocked in synchronization.

The taper portion is formed toward the tip end side of the actuator, and the equal-diameter portion and the pointed portion are located from the converging end to the tip end. Therefore, when air escapes from the cylinder, the tip of the lock pin hits the equal-diameter part to prevent movement, and it has a fail-safe function to prevent the tool plate from falling out from the fixed plate side. There is.

However, since the actuator has only the equal-diameter portion and the pointed portion on the tip side, when the actuator retracts, the movement between the joint end of the lock pin and the peripheral surface of the actuator is suppressed. There is no engagement relationship. Therefore, when the air escape occurs, the actuator continues to retreat, and it becomes easy for the actuator to move in the direction in which the lock pin comes out of the lock hole, so that the coupling relationship between the fixed plate and the tool plate becomes loose.

As described above, in the conventional structure, although the fail-safe function against the escape of air is provided, the lock pin only abuts the peripheral surface of the actuator when the actuator retreats, so that the actuator retreats sufficiently. I can't control it.

The problem to be solved in the present invention is an automatic tool changer in which a fixed side plate and a tool side plate can be attached and detached by an interlocking relationship between an actuator and a lock pin. It is to completely prevent the side plate from falling off.

[0010]

[Means for Solving the Problems]

 The present invention comprises a combination of a fixed plate connected to an arm of a robot hand and the like, and a tool plate equipped with a tool. The fixed plate is moved forward and backward with respect to the tool plate by a working fluid. An automatic tool changer including a possible actuator and a coupling member that can be attached to and detached from the tool plate in association with the operation of the actuator, wherein the actuator has the coupling on an outer circumference or an inner circumference. The member forms a tapered surface against which the member abuts, and the connecting member can be forcibly moved to the connecting side with the tool plate by advancing in the axial direction, and the actuator from the connecting member is attached to the tip end side of the tapered surface. A stopper is formed in a stepped shape for restricting slipping of the actuator, and the shaft of the actuator due to the contact load of the coupling member on the stopper. The resistance in the direction, and characterized by being smaller fence than the stationary thrust of the actuator.

[0011]

[Action]

 Even if a contact load is applied to the stepped stopper provided on the actuator by the connecting member, the axial movement resistance due to the load is smaller than the steady thrust of the actuator. The actuator can move in the axial direction of the load due to Therefore, as long as the operation of the actuator at an appropriate positive pressure by the working fluid is continued, the coupling member can be driven by the actuator, and the fixing plate and the tool plate can be attached and detached.

Further, when the actuating thrust of the actuator is reduced and the resistance of the coupling member exceeds this, the stopper is restrained by the contact load of the coupling member. Therefore, the actuator does not come out of the coupling member, and even if the working fluid comes out or the pressure drops during the work, the tool plate is restrained on the fixed plate side and the tool plate is prevented from coming off.

[0013]

【Example】

 FIG. 1 is a schematic vertical sectional view showing an embodiment of the automatic tool changer of the present invention.

In the figure, a tool plate 2 integrated with a tool (not shown) is detachably attached to a fixed plate 1 connected to the tip of an arm (not shown) of a robot hand. .

The fixed plate 1 has a circular cross section, inside which a cylinder bore 1a is formed, and supply / discharge ports 1b, 1c for supplying air as a working fluid to the cylinder bore 1a are provided. An actuator 3 is coaxially connected to the fixed plate 1, and its piston 3a is slidably incorporated in the cylinder bore 1a. Then, a lock pin 4 which is movable in the radial direction is provided on the joint end side of the fixed plate 1 with the tool plate 2.

The tool plate 2 is provided with an annular body having an inner diameter into which the joining end side of the fixed plate 1 can be inserted as a peripheral wall, and the lower end surface in the drawing is used as a mounting seat 2a for a tool (not shown). . Then, the inner peripheral wall of the annular body is provided with a lock hole 2b into which the tip of the lock pin 4 is fitted when the lock pin 4 projects in the radial direction.

The lock pin 4 has a substantially frustoconical sliding head 4a with a blunt tip on the side facing the peripheral surface of the actuator 3, and a substantially hemispherical side on the side fitted into the lock hole 2b. The fitting head 4b having a planar shape is formed.

On the other hand, the lock hole 2b provided in the inner peripheral wall of the tool plate 2 has an opening diameter and a depth capable of receiving almost the entire spherical surface portion of the fitting head 4b of the lock pin 4, and is outwardly exposed as shown in the drawing. It is a taper shape of an opening cross section that tapers toward. By providing such a taper shape, even if the lock pin 4 and the lock hole 2b are deviated from each other in the axial center, if the tip of the fitting head 4b is included in the opening of the lock hole 2b, the lock pin 4 will not move. It fits in while following the taper of the lock hole 2b. When the tool plate 2 is removed, the actuator 3 is lifted to release the pressure on the lock pin 4, while the taper shape of the lock hole 2b and the spherical head-shaped fitting head 4b allow the tool plate to be released. 2 starts to move down due to its own weight. Accordingly, the lock pin 4 gradually moves toward the center while sliding on the tapered surface of the lock hole 2b, and the engagement with the lock hole 2b is released to separate the tool plate 2 from the fixed plate 1.

Instead of providing the lock holes 2b at a plurality of positions, the tool plate 2 may be formed in a groove shape on the entire circumference, and the lock pin 4 may be fitted therein.

FIG. 2 is a diagram showing details of the shapes of the tip portion of the actuator 3 and the sliding head 4 a portion of the lock pin 4.

The actuator 3 has a shape in which a guide taper surface 3b and a coupling taper surface 3c are sequentially formed from the tip end portion thereof, and a stopper 3d is bulged in the radial direction at a boundary portion between these taper surfaces 3b and 3c. . The outer diameter r of the stopper 3d is slightly larger than the outer diameter of the starting end portion of the coupling taper 3c, and a space between the stopper 3d and the starting end portion is a copying taper surface 3e having a taper inclined surface in the opposite direction.

In the coupled state of FIG. 1, when the actuator 3 enters the fixed plate 1, the tip of the sliding head 4a of the lock pin 4 abuts the coupling tapered surface 3c. At this time, the lock pin 4 is inserted into the lock hole 2b by a maximum amount, and the lock pin 4 holds the fixing plate 1 and the tool plate 2 by the spherical surface shape of the fitting head 4b and the taper shape of the lock hole 2b. Constrain in the radial and axial directions and join together.

At the time of this coupling, the tip of the sliding head 4a abuts the coupling tapered surface 3c at a position corresponding to the point P shown in FIG. The outer diameter R of this point P is equal to or slightly larger than the outer diameter r of the stopper 3d. Due to such a relationship between the outer diameters r and R, the actuator 3 is moved upward from the state of FIG. 2, and when it exceeds the stopper 3d, the lock pin 4 moves to the left. In this case, the amount of movement of the lock pin 4 is equal to or slightly smaller than that at the time of hitting the point P, so that the lock pin 4 can be moved to a position where it enters the lock hole 2b by the maximum amount. Therefore, if the actuator 3 is operated so as to be pulled out, the stopper 3d can be disengaged beyond the lock pin 4, and the detaching operation can be performed.

The attachment / detachment operation of the fixed plate 1 and the tool plate 2 in the above configuration will be described with reference to FIGS. 3 and 4.

FIG. 3 is a vertical cross-sectional view showing a state before coupling, in which the tip of the actuator 3 is lifted to a position where it comes into contact with the tip of the sliding head 4 a of the lock pin 4. At this time, the lock pin 4 is located on the center side, and the fitting head 4b thereof is slightly projected from the peripheral surface of the fixed plate 1. The outer diameter of the virtual circle drawn by the fitting head 4b when protruding is smaller than the inner diameter of the joint seat of the tool plate 2 and can be inserted into the tool plate 2 as illustrated.

Next, as shown in FIG. 1, after positioning so that the axis of the lock pin 4 is included in the opening area of the lock hole 2b, compressed air is supplied to the cylinder bore 1a from the supply / discharge port 1b. As a result, the actuator 3 descends from the state shown in FIG. 3, and the sliding head 4a of the lock pin 4 relatively moves in the order of the guide tapered surface 3b, the stopper 3d, the copying tapered surface 3e, and the coupling tapered surface 3c. Move to slide. Then, at the position of the point P shown in FIG. 2, when the tip of the sliding head 4a hits the coupling taper surface 3c, the lock pin 4 moves outward by the maximum amount and the lock hole 2b is coupled. .

When the tool plate 2 is removed from the fixed plate 1, compressed air is supplied to the cylinder bore 1a from the supply / discharge port 1c in FIG. As a result, the actuator 3 rises in the figure, and the sliding head 4a relatively moves from the position of the point P toward the stopper 3d side as shown in FIG. Due to the above-described relationship between the outer diameter R of the point P and the outer diameter r of the stopper 3d, the lock pin 4 once enters the lock hole 2b at the maximum amount when the stopper 3d is removed. After that, when reaching the guide taper surface 3b, the force pushing the lock pin 4 to the outside gradually decreases, and at the same time, the tool plate 2 tries to lower due to its own weight, so that the fitting head 4b and the lock hole 2b. Thereby, the lock pin 4 is pushed toward the center side, and finally the engagement between the lock pin 4 and the lock hole 2b is released.

Even if the stopper 3d is provided in this way, the actuator 3 and the lock pin 4 can be connected and disconnected by mechanically operating the actuator 3 with a predetermined air pressure.

Here, consider a case where air is released or the pressure in the cylinder bore 1a is reduced while the tool plate 2 is attached to the fixed plate 1 and working.

At this time, this corresponds to the case where the air escapes from the supply / discharge port 1b side, and as shown in FIG. 4, the actuator 3 tries to move upward from the state of FIG. On the other hand, as shown in FIG. 2, the sliding head 4a moves from the point P to the stopper 3d side, and the stopper 3d portion prevents the sliding head 4a from coming off at once without being disengaged from the tip of the actuator 3. Therefore, as shown in FIG. 4, until the sliding head 4a moves from the point P to the stopper 3d at the maximum, the actuator 3 comes out of the lock pin 4 unless a large force is exerted in the pulling direction. Is prevented. That is, since the actuator 3 is provided with the stopper 3d, as long as the lock pin 4 abuts above the stopper 3d, the actuator 3 can be restrained from moving up and down, and the tool plate 2 can be removed. Can be prevented.

As described above, even if the air escape occurs, the tool plate 2 does not come off from the fixed plate 1 side, the fail-safe function can be sufficiently fulfilled, and safe machining can be performed. You will be able to work.

In addition to the structure in which the lock pin 4 is moved by the taper shape of the lock hole 2b and the movement of the tool plate 2 due to its own weight, it is also possible to mechanically move the lock pin 4 back and forth using elastic means. 5 is shown in FIG.

In the drawing, a flange 4c is provided on the outer peripheral surface on the sliding head 4a side, and a compression coil spring 4d is provided between the flange 4c and the inner wall of the chamber 1d for the lock pin 4 provided in the fixed plate 1. Incorporate. As a result, the lock pin 4 is urged toward the actuator 3 side, and when the fastening is released, the amount of protrusion of the fitting head 4b from the fixed plate 1 can be reduced and the lock pin 4 can be inserted into the tool plate 2. Also in this example, the attachment / detachment of the tool plate 2 and the prevention of the removal thereof are performed in exactly the same manner as the previous example.

FIG. 6 is a vertical cross-sectional view showing another embodiment in which the fixed plate 1 and the tool plate 2 are joined together, and FIG. 7 is an enlarged vertical cross-sectional view showing details of essential parts. The same members as those in the previous example are designated by common reference numerals, and detailed description thereof will be omitted.

The fixing plate 1 has a joint seat 1f having an annular cross section formed on the surface facing the tool plate 2, and the actuator 3 is incorporated in the joint seat 1f so as to be movable back and forth. A plurality of lock balls 5 are rotatably incorporated in the joint seat 1f, and the lock balls 5 are prevented from coming out to the outside at the outer edge of the opening of the joint seat 1f supporting the lock balls 5. Provide a small protrusion.

The actuator 3 has an outer shape similar to that of the previous example, and has a guide taper surface 3b, a stopper 3d, a copying taper surface 3e, and a coupling taper 3c formed from the tip side as shown in FIG. Is. Then, at the time of coupling, the stroke of the actuator 3 is determined so that the peripheral surface of the lock ball 5 makes point contact with the position of the point P in the figure, and the outer diameter r of the stopper 3d is outside this point P as in the previous example. It should be approximately equal to or slightly smaller than the radius R.

On the other hand, the tool plate 2 is provided with a mounting hole 2c having an inner diameter slightly larger than the outer diameter of the joint seat 1f, and a coupling seat 2d is provided coaxially with the mounting hole 2c. The coupling seat 2d has a taper shape in which the inner diameter is gradually increased from the boundary with the mounting hole 2c, and as shown in FIG. 7, it is joined to the peripheral surface of the lock ball 5 protruding outward and the rising direction of the actuator 3 is increased. To move to.

FIG. 8 is a longitudinal sectional view showing a state before the fixing plate 1 and the tool plate 2 are coupled.

The lock ball 5 is held so as not to hit the guide tapered surface 3 b of the actuator 3 and fall inside the joint seat 1 f. Therefore, at the start of coupling, the joint seat 1f can be inserted into the mounting hole 2c and the lock ball 5 can be positioned on the surface facing the joint seat 2d as shown in the figure.

Next, when compressed air is supplied to the cylinder bore 1a from the supply / discharge port 1b, the actuator 3 descends as shown in FIG. 6, and the lock ball 5 is pushed out to the coupling seat 2d side by the outer shape of the actuator 3. Then, in FIG. 7, when the point P of the coupling tapered surface 3c reaches the surface including the center of the lock ball 5, the lock ball 5 moves to the outermost side and engages with the inner surface of the coupling seat 2d by point contact. Further, since the coupling seat 2d is tapered in the axial direction, the lock ball 5 receives the restraining force in the axial direction, and the fixed plate 1 and the tool plate 2 are integrally coupled.

Since the lock ball 5 is rollable and the coupling seat 2d is a tapered surface, the fixed plate 1 and the tool plate 2 can be aligned at the same time during coupling.

When air escapes from the cylinder bore 1a or pressure drop occurs, the actuator 3 moves up from the state of FIG. 6 as shown in FIG. Against this, as in the previous example, the peripheral surface of the lock ball 5 comes into contact with the stopper 3d, and the engagement between the lock ball 5 and the stopper 3d cannot be released unless it is pulled too strongly. Therefore, the tool plate 2 is prevented from coming off the fixed plate 1 during the work.

FIG. 10 is a vertical sectional view showing still another embodiment when the fixing plate 1 and the tool plate 2 are coupled together, and FIG. 11 is an enlarged vertical sectional view showing details of essential parts. Also in this example, the same members as in the previous example are designated by the common reference numerals, and the detailed description thereof will be omitted.

In the figure, a cylindrical block 1 e is coaxially provided in the cylinder bore 1 a of the fixed plate 1 so as to protrude from the end surface on the side where the tool plate 2 is joined. At the lower end of the block 1e, a hollow joint seat 1f is provided as in the example of FIG. 5, and the lock ball 6 is incorporated in the joint seat 1f in the same manner as in the examples of FIGS. 6 to 9.

The tool plate 2 is provided with a recessed coupling chamber 2e larger than the outer diameter of the actuator 3. Inside the coupling chamber 2e, a coupling block 2f is erected coaxially and a coupling seat 2g is provided at the upper end thereof. The coupling seat 2g has a tapered surface that tapers in the coupling direction of the fixed plate 1.

The actuator 3 has an annular cross-sectional shape that is incorporated so as to be able to advance and retract using the inner peripheral surface of the cylinder bore 1a and the outer peripheral surface of the block 1e as guides. Then, as shown in FIG. 11, a guide taper surface 3b, a stopper 3d, a copying taper surface 3e, and a coupling taper surface 3c are provided on the inner periphery of the lower end in order from the tip.

In the coupled state of FIG. 10, the coupling tapered surface 3c of the actuator 3 abuts the lock ball 6 at the position of the point P shown in FIG. At this time, the lock ball 6 moves to the center side of the joint seat 1f by the maximum amount, and the lock ball 6 hits the joint seat 2g of the tool plate 2 as shown in FIG. Further, since the coupling seat 2g has a tapered surface shape, the fixed plate 1 and the tool plate 2 are integrated by being constrained in the axial direction and the radial direction via the lock balls 6.

As shown in FIG. 11, the inner diameter r of the inner peripheral surface of the actuator 3 passing through the point P is equal to or slightly larger than the inner diameter r of the inner peripheral surface of the stopper 3d. .

FIG. 12 shows a state before coupling, in which the lock ball 6 projects outside the joint seat 1 f and is held by the guide tapered surface 3 b of the actuator 3. At this time, when compressed air is supplied to the cylinder bore 1a from the supply / discharge port 1b, the lock ball 6 is held inside the actuator 3 as shown in FIG. 10, and the lock ball 6 is held at the position of point P shown in FIG. The coupling is completed when it hits the coupling tapered surface 3c.

When releasing the coupling, the actuator 3 is raised in FIG. At this time, the lock ball 6 passes through the stopper 3d, but even at this time, the movement of the lock ball 6 to the center side is equal to or slightly shorter than that when the point P is coupled, so that the lock ball 6 is moved to the center side. Meanwhile, the actuator 3 can be removed.

When the air in the cylinder bore 1a escapes or the pressure drops, the actuator 3 tries to move upward from the state of FIG. 10 as shown in FIG. On the other hand, as shown in FIG. 11, the lock ball 6 moves from the point P to the stopper 3d side, and the stopper 3d portion prevents the lock ball 6 from coming off without being suddenly disengaged from the tip of the actuator 3. Therefore, as in the previous two examples, until the lock ball 6 moves from the point P to the stopper 3d at the maximum, the actuator 3 comes out of the lock ball 6 unless a large force is exerted in the pulling direction. Things are prevented.

In each of the above examples, the stopper 3d provided on the outer circumference or the inner circumference of the actuator 3 has a relatively small undulation, and the inclination from the copying taper surface 3e to the stopper 3d is used to remove the actuator 3 from the actuator 3. The lock pin 4 or the lock balls 5 and 6 are prevented from coming off.

Instead of this, as shown in FIG. 14, an auxiliary groove 3f is formed on the outer peripheral surface of the actuator 3, and a protrusion 4e which is relatively easily detachable from the auxiliary groove 3f is formed at the tip of the lock pin 4. Alternatively, the lock pin 4 may be elastically biased by a coil spring as shown in FIG.

In this case, when the fixed plate 1 and the tool plate 2 are coupled, the protrusion 4e abuts against the coupling taper surface 3c of the outer peripheral surface of the actuator 3 and is held as shown in FIG. It Then, when the actuator 3 rises when air escape occurs, the protrusion 4e fits into the auxiliary groove 3f as shown in FIG. This restrains the movement of the actuator 3 and prevents the tool plate 2 from coming off the fixed plate 1.

If the projections 4e and the auxiliary grooves 3f are appropriately shaped so that the actuator 3 can be detached only when the actuator 3 moves by its normal thrust, the attachment / detachment operation can be performed in the same manner as the previous example. Is.

[0056]

[Effect of device]

 According to the present invention, even if the coupling member is attached to and detached from the tool plate by utilizing the shape of the outer or inner peripheral surface of the actuator, the tool is provided as long as the steady thrust of the actuator does not act because the stopper is provided. The plate cannot be removed from the fixed plate. Therefore, even if the working fluid comes off or the pressure drops during the work, the tool plate does not fall off and the robot can safely perform the machining.

[Brief description of drawings]

FIG. 1 is a schematic vertical sectional view showing an embodiment of an automatic tool changer of the present invention.

FIG. 2 is an enlarged vertical cross-sectional view of a main part showing the positional relationship of the lock pin with respect to the actuator when air is released or the pressure is reduced.

FIG. 3 is a schematic vertical cross-sectional view showing a state before coupling in the example of FIG.

FIG. 4 is a schematic vertical cross-sectional view showing movement of the actuator and operation of the lock pin when air escapes or a pressure drop occurs in the example of FIG.

FIG. 5 is a vertical cross-sectional view of a main part configured to urge a lock pin by a coil spring.

FIG. 6 is a schematic vertical cross-sectional view of a main part showing an example in which a lock ball is used and the lock ball is connected.

FIG. 7 is an enlarged vertical cross-sectional view of a main portion showing the positional relationship of the lock ball with respect to the actuator when air is released or the pressure is reduced.

FIG. 8 is a schematic vertical cross-sectional view showing a state before coupling in the example of FIG.

9 is a schematic vertical cross-sectional view showing movement of an actuator and operation of a lock ball at the time of air release or pressure drop in the example of FIG.

FIG. 10 is a schematic vertical cross-sectional view of a main part showing an example in which a lock ball can be restrained on the inner peripheral side of the actuator and the lock ball is coupled.

11 is an enlarged vertical cross-sectional view of a main part showing the positional relationship of the lock ball with respect to the actuator when air is released or the pressure is reduced in the example of FIG.

12 is a schematic vertical cross-sectional view showing a state before coupling in the example of FIG.

13 is a schematic vertical cross-sectional view showing movement of the actuator and operation of the lock ball when air escapes or pressure drops in the example of FIG.

FIG. 14 is an example in which an auxiliary groove is provided on the outer circumference of the actuator, and a protrusion fitted into the auxiliary pin is provided at the tip of the lock pin. FIG. (B) is a schematic longitudinal sectional view showing a state in which the protrusion is fitted in the auxiliary groove.

[Explanation of symbols]

1 Fixed Plate 3f Auxiliary Groove 1a Cylinder Bore 4 Lock Pin 2 Tool Plate 4a Sliding Head 2b Lock Hole 4b Fitting Head 3 Actuator 5 Lock Ball 3a Piston 6 Lock Ball 3b Guide Tapered Surface 3c Coupling Tapered Surface 3d Stopper

Claims (1)

[Scope of utility model registration request] 1. A combination of a fixed plate connected to an arm or the like of a robot hand and a tool plate provided with a tool, wherein the fixed plate can be moved back and forth in the axial direction relative to the tool plate by a working fluid. An automatic tool changer having a coupling member that is detachable from the tool plate in association with the operation of the actuator, wherein the actuator has a taper with which the coupling member abuts on an outer circumference or an inner circumference. A stopper is formed on the tip side of the taper surface to prevent the actuator from coming off from the coupling member, while forming a surface and forcibly moving the coupling member to the connecting side with the tool plate by advancing in the axial direction. An axis line of the actuator, which is formed in a step shape and is caused by a contact load of the coupling member on the stopper. An automatic tool changer in which the resistance in the direction is smaller than the steady thrust of the actuator.