JPH0744381Y2 - Position changer for tool changer - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] This invention relates to a tool changer connected to a robot arm connected to a tool changer on the welding gun side mounted on a mounting table. The present invention relates to a device for controlling the position of the tool changer.

[Prior Art] Generally, in a robot welding gun device, the welding gun is often replaced according to the object to be welded. At that time, since the electric current, air, cooling water, etc. supplied to the welding gun are also changed, a tool changer is used between the robot arm and the welding gun.

Therefore, when replacing the welding gun, the tool changer on the robot arm side connected to the robot arm is brought close to the tool changer on the welding gun side to be joined, which is placed on the mounting table by the robot arm, and both tool changers are attached. It is normal to connect and lock.

By the way, when the tool changer on the robot arm side is moved to join both tool changers when exchanging the tool changer, if the moving direction is incorrect, for example, the fitting of the shank and shank receiver, which is the joint between the two, may be performed. In that case, there is a risk that the robot arm will be unreasonably applied with excessive force and damaged.

Therefore, there is one in which a positioning pin is arranged on the tool changer on the robot arm side, a positioning hole is formed on the tool changer on the welding gun side facing the positioning pin, and the robot arm side is accurately moved by fitting the positioning hole. (See, for example, JP-A-62-9887).

[Problems to be Solved by the Invention] In the above-mentioned conventional example, since the positioning pin is fixed and this pin is fitted into the positioning hole, the length of the pin cannot be made particularly long. Since the desired movement cannot be performed unless the tool changer is brought into a state in which the tool changer is very close to each other, the robot is required to be operated with high accuracy.

The present invention has been made in view of such problems of the conventional technology, and the purpose thereof is to use a positioning pin inserted into a substrate when joining both tool changers. It is an object of the present invention to provide a miniaturized tool changer position control device in which both tool changers are already accurately positioned at positions far apart from each other, and a robot that is easy to operate is not subjected to excessive force.

[Means for Solving the Problems] In order to achieve the above object, a position control device for a tool changer according to the present invention is a tool connected to a robot arm on a welding gun side tool changer mounted on a mounting table. When connecting a changer, position recognizing members are arranged on the board of the tool changer on the robot arm side and the board of the tool changer on the welding gun side respectively, and both recognizing members control the position of the tool changer on the robot arm side. The position recognition member is a plurality of pins movably penetrating the substrate of the tool changer on the robot arm side and a mark on the substrate of the tool changer on the welding gun side mounted on the mounting table. It is characterized by consisting of.

[Operation] When connecting the tool changer connected to the robot arm to the tool changer on the welding gun side mounted on the mounting table, the tool changer on the robot arm side is brought closer to the tool changer on the welding gun side. ,
A plurality of pins extended from the board of the tool changer on the robot arm side abut earlier on the marks on the board of the tool changer on the welding gun side. Due to this abutment, the tool changer on the robot arm side is already in a predetermined and accurate position, so when the robot lowers the tool changer on the robot arm side toward the tool changer on the welding gun side, the pins move the board The tool changer on the robot arm side can be reasonably brought close to the tool changer on the welding gun side while moving through it and gradually shortening its length. Do not apply unreasonable force to the fitting part and robot arm.

[Embodiment] One embodiment of the present invention will be described with reference to FIG.

In the figure, 1 is a tool changer on the side of a welding gun, a shank 3 is projecting toward the substrate 5 of a tool changer 4 on the robot arm side at the center of a substrate 2, and a control connector 21 is provided around it. And power connector 22 etc. are arranged.

Further, the substrate 2 is detachably connected to a welding gun (not shown) by a connecting bracket 8, and the substrate 5 is also detachably connected to a robot arm (not shown) by a connecting bracket 9.

Further, a shank receiver 10 for receiving the shank 3 is projected in the center of the substrate 5 toward the substrate 2 of the tool changer 1 on the welding gun side, and the control connector 21, power connector 22 and the like are provided around the shank receiver 10. A control connector 23, a power connector 24, and the like that cooperate with each other are arranged.

The tool changers 1 and 4 are connected by locking the shank 3 and the shank receiver 10 with a well-known lock ball and its locking device.

Further, 13 is a mounting table on which the tool changer 1 is mounted.

A plurality of pin insertion holes 28, 28 are formed in the board 5 of the tool changer 4 connected to the robot arm, and pins 29, 29 are inserted in the holes 28, 28.

In addition, on the upper surface of the substrate 2 of the tool changer 1,
Marks such as + at the position directly below the pins 29, 29,
30 is attached.

Since the gun-side tool changer 1 is placed on the mounting table 13 and the tool changer 4 to be joined is moved onto the mounting table 13 by the robot arm, the substrate 2 of the tool changer 1 is constituted as described above. The tool changer 4 is moved by the robot arm toward the tool changer 1 while observing the mark 30 and the pin 29 so that the mark 30 which is the position recognition member formed on the position 29 is located immediately below the pin 29.

Then, when the tool changer 4 on the robot arm side approaches the tool changer 1 on the welding gun side, the plurality of pins 29 extending from the tool changer 4 on the robot arm side quickly advance to the substrate of the tool changer 1 on the welding gun side. It abuts the mark 30 above.

Due to this abutment, the tool changer 4 on the robot arm side is already in a predetermined accurate position, so if the robot lowers the tool changer 4 on the robot arm side toward the tool changer 1 on the welding gun side,
The plurality of pins 29 move in the hole 28 of the substrate 5 while penetrating through the pin insertion hole 28 of the substrate 5 and gradually shorten the length of the tool changer 4 on the robot arm side to the tool changer on the welding gun side. Since it can be brought close to 1 and finally both tool changers 1 and 4 are connected,
No unreasonable force is applied to the fitting part of the shank 3 and the shank receiver 10 and the robot arm.

[Effect of the Invention] According to the present invention, when the tool changer connected to the robot arm is connected to the tool changer on the welding gun side mounted on the mounting table, the tool changer on the robot arm side extends long. Since the multiple pins abut earlier on the mark on the substrate of the tool changer on the welding gun side, both tool changers can be accurately positioned earlier, and the movement operation on the robot arm side is easy and accurate. It is a position changer for tool changer.

Further, after the contact, when the tool changer on the robot arm side is lowered toward the tool changer on the welding gun side, the plurality of pins move through the substrate and the length thereof is gradually shortened without difficulty. Since the tool changer on the robot arm side can be brought close to the tool changer on the welding gun side, it is not necessary to use a particularly thick plate for both boards, and the tool changer can be made smaller as a whole. It becomes a position control device.

Furthermore, since both tool changers are accurately positioned from relatively distant positions, an unreasonable force is not applied to the fitting part of the shank and shank receiver, the robot arm, etc. until the tool changers are connected. Position control device.

[Brief description of drawings]

FIG. 1 is a side view of a tool changer using the position control device according to the present invention. 1 ... Welding gun side tool changer, 2 ... Board, 4 ... Robot arm side tool changer, 5 ... Board, 13 ... Mounting table, 29 ... Pin (position recognition member), 30 ... Mark (position recognition member).

Claims (1)

[Scope of utility model registration request] 1. A method for connecting a tool changer connected to a robot arm to a tool changer on the welding gun side, which is mounted on a mounting table, wherein a board of the tool changer on the robot arm side and a tool changer on the welding gun side are connected. A device in which position recognizing members are provided on the respective substrates, and the position of the tool changer on the robot arm side is controlled by both recognizing members, wherein the position recognizing member moves the substrate on the tool changer on the robot arm side. A tool changer position control device comprising a plurality of pins that penetrate as much as possible and marks on a substrate of a tool changer on the side of a welding gun that is mounted on a mounting table.