JPH077104Y2 - Robot and tool coupling device for automatic tool changer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a robot-tool connecting device used in an automatic tool converting device, in which a convex wheel of a fitting mechanism is engaged with a rolling shaft pin. The upper pedestal and the lower pedestal are fitted together by means of the function of self-locking both pedestals, and the action of safety engagement prevents the disengagement of both pedestals after the fitting due to the interruption of the driving air pressure source. It is equipped with.

[Prior Art] A generally used device of this type is one in which a spring element is inserted in a pneumatic cylinder to prevent the danger of detachment in the unlikely event that the driving atmospheric pressure source is interrupted. However, such a spring element is not ideal because it can easily fatigue and lose its safety effect, so that the spring element must always be maintained.

[Problems to be Solved by the Invention] The present invention is an improvement over the drawbacks of the commonly used prior art, in which the convex pedestal is rotated by vertically moving the slide pedestal by a pneumatic cylinder to rotate the upper pedestal. The lower pedestal and the lower pedestal are engaged and separated, and the automatic tool conversion operation is performed.The self-locking function is given to the convex wheel of the fitting mechanism, and after the upper pedestal and the lower pedestal are fitted, the drive pressure source It is not necessary to insert the spring element into the pneumatic cylinder even when the operation is interrupted, and the safety engagement is made possible so that the two pedestals are not disengaged.

[Means for Solving Problems] A robot-tool connecting device for an automatic tool converting device of the present invention is joined to an upper pedestal having an upper pedestal end plate that is fixedly connected to an arm of a robot for an automatic tool converting device. A stationary pin and a fitting mechanism are projected on the surface, and a joining hole of the lower pedestal that has a lower pedestal end plate that is connected and fixed to a tool is used to house the stationary hole and the fitting mechanism for housing the stationary pin. The fitting recess is bored, and the rolling shaft pin is attached to the fitting recess perpendicular to the insertion direction of the mechanism.
The fitting mechanism includes a support frame to which a convex wheel is rotatably attached and a slide pedestal that can be moved vertically along the support frame by a pneumatic cylinder provided on the upper pedestal. The slide pedestal is connected to the convex wheel so as to rotate, and the convex wheel is formed with an arc surface having a contact position and an engagement lock position with respect to the rolling shaft pin, and the convex wheel is rotated to form the convex wheel and the rolling shaft pin. By engaging and disengaging, the upper pedestal and the lower pedestal can be engaged and separated.

[Embodiment] FIGS. 1-1, 1-2 and 1-3 show a perspective view, a plan view and a front view of an upper pedestal of the present invention.
The upper pedestal is constructed as follows.

The upper pedestal 10 has an electric joint 102, and the electric joint 102 is composed of a spring probe 1021 and a D-type joint 1022 connected to the robot. The pedestal body 101 of the upper pedestal 10 has its joining surface 1
Two fixed pins 103 for fitting and one fitting mechanism 104 for 1
And an upper pedestal end plate 105 for connecting the robot arm to the opposite surface opposite to the joint surface 11, and the pedestal end plate 105 fixes the upper pedestal body 101 at a predetermined position. . Inside the upper pedestal 101, a vent hole 1011 for transporting the atmospheric pressure source to the lower pedestal is provided.

Further, FIGS. 2-1, 2-2 and 2-3 show a perspective view, a plan view and a front view of the lower pedestal of the present invention.
20 is composed as follows.

The electric joint 202 of the lower pedestal 20 is a spring probe sleeve 2021 and
The pedestal body 201 of the lower pedestal 20 is provided with a fitting concave portion 22 into which the fitting mechanism 104 of the upper pedestal main body 101 is inserted, and the concave portion 22 is formed. Has a rolling shaft pin 203 extending perpendicularly to the inserting direction of the fitting mechanism 104, and a lower pedestal end plate for connecting a tool to the facing surface opposite to the joint surface 21.
205, and the lower pedestal body 201 is fixed to a predetermined position by the lower pedestal end plate 205. The lower pedestal body 201 is provided with a ventilation hole 2011 for transporting a pressure source to the tool, and a stationary hole 2012 for inserting a stationary pin 1103 for a fixed position when the upper and lower pedestals are combined and joined. There is. The vent hole 2011 is provided with a sealed O-type ring 204 for preventing generation of air leak when transmitting the atmospheric pressure source to the tool after joining.

FIG. 3 shows a front view of the fitting mechanism of the present invention.
The fitting mechanism 104 of the upper pedestal 10 is composed of a wedge-shaped slide pedestal 1024 attached to the piston rod 12 inserted into both moving pneumatic cylinders 1041 provided in the upper pedestal 10, and the wedge-shaped slide pedestal 1042 is a pneumatic cylinder 1041. By means of this, it is possible to move vertically along a supporting frame 13 mounted adjacent to the joint surface 11, and the supporting frame 13 has a convex wheel shaft pin 10
A convex wheel 1044 is rotatably attached by 45, and the convex wheel 1044 is engaged with the yoke type slide pedestal 1042 by a support pin 1043. Both moving pneumatic cylinders 1041 drive the convex wheel 1044 by the support pin 1043 by pulling or pushing the yoke type slide pedestal 1042, and rotate the convex wheel 1044 with the convex wheel shaft pin 1045 as a fulcrum. The lower pedestal 20 is engaged with and disengaged from the rolling shaft pin 203, and the upper pedestal 10 and the lower pedestal 20 are joined and separated.
On the convex wheel 1044, the rolling shaft pin 2034 of the lower pedestal 20
An arcuate surface having a contact position and an engagement lock position with respect to is formed, and the convex wheel 1044 holds the engagement lock position even when the atmospheric pressure is lost.

Next, the operation of the preferred embodiment used in the robot of the present invention will be described.

Before operation, first use the upper pedestal end plate 105 to fix the upper pedestal 10 to the arm of the robot (not shown), and the lower pedestal end plate 205 to attach the tool to the lower pedestal 2
It is fixed to 0 and placed on a tool storage (not shown), and after that, the robot is driven to move it to the position shown in FIG. 3, and the lower pedestal 20 placed on the tool storage is moved. Prepare to position. FIG. 4 is a front view of the fitting mechanism 104 after positioning according to the present invention, in which the pair of stationary pins 103 of the upper pedestal 10 are inserted into the stationary holes 2012 (shown in FIG. 3) of the lower pedestal 20 before joining. Complete the preparation. At this time, the distance A between the upper pedestal 10 and the lower pedestal 20 is about 0 to 3 mm. Next, FIG. 5 shows a plan view of the fitting mechanism after the completion of the combined joining of the upper pedestal 10 and the lower pedestal 20. In this figure, the lower pedestal is shown.
The rolling shaft pin 203 of 20 is a fitting mechanism 104 of the upper pedestal 10.
When the piston in the pneumatic cylinder 1041 returns and reaches the bottom of the pneumatic cylinder on the convex wheel 1044 on the convex wheel 1044, the fitting mechanism 104 becomes stationary at equilibrium, and the convex wheel 1044 is It is positioned at the engagement lock position. Even if the air pressure source is interrupted, the total weight of the lower pedestal 20 and the tool (not shown) attached to the lower pedestal 20 still rotates the convex wheel 1044 only by applying the pressure to the convex wheel shaft pin 1045. I can't let you do it. That is, this is a self-locking function, and the engagement locking position of the convex wheel 1044 holds the engagement between the upper pedestal 10 and the lower pedestal 20 and thereby the separation thereof does not occur.
When the upper pedestal 10 and the lower pedestal 20 are to be separated from each other, first, the robot is moved to move the lower pedestal 20 and its mounting tool device onto the tool storage table, and then the pneumatic cylinder 1041 is further driven. Then press the yoke slide 1042 to rotate the convex wheel 1044 to rotate the rolling shaft pin 20.
By disengaging the engagement with 3, the upper pedestal 10 and the lower pedestal 20 can be easily separated.

Hereinafter, the principle of the fitting mechanism will be described in more detail. Sixth-
1 and 6-2 are perspective views showing the disengaged and engaged state of the fitting mechanism of the present invention, the weight of the lower pedestal 20 and the tool attached thereto is symbol W, and symbol F is the pneumatic cylinder 10.
The pulling or pushing force generated by driving 41 (where F is defined as the pulling force when the pneumatic cylinder returns). The engaging part of the fitting mechanism is the arc abc of the convex wheel 1044.
The arc ab is a convex wheel obtained by combining the lever principle in the ascending process required for the convex wheel 1044 to rotate by a certain angle and ascend, and also to consider the fitting motion at a constant speed. It is the outline of a curve. bc is an arc obtained by making the convex wheel shaft pin 1045 the center of the circle and having the same radius as the dead point on the convex wheel 1044, so that the convex wheel 1044 has no ascending stroke action at this stage.

Once the fitting mechanism is engaged (as shown in FIG. 6-2), F strongly rotates the convex wheel 1044 by the pulling force, and thus the circular arc ab and the rolling shaft pin 203 are brought into contact with each other. Change. At this time, due to the action of the lever, the rolling shaft pin 203 of the lower pedestal 20 is lifted, and the lower pedestal 20 is further driven in the upward direction with the upward movement of the outer shape of the convex wheel 1044 to strongly stick to the upper pedestal 10. When the engagement reaches the arc bc, it is located in the acting direction of W and the localization pin 103
Since the fixed position is positioned with, the lateral reaction force H
(Shown in FIGS. 7-1 and 7-2) occurs, and since the center of the arc bc of the engaging surface is the convex wheel shaft pin 1045, a reaction force N is formed to cause rolling with the convex wheel shaft pin 1045. Axis pin
A constant pressure passes through the connecting center line of 203, at which time the piston rod 12 of the pneumatic cylinder attaches the bottom of the cylinder 1041 as shown in FIG. 6-2. So convex foil
1044 ceases to rotate and allows mating mechanism 104 to rest, completing the mating operation. At this time, when the cylinder source is interrupted and the intake air (INTO) becomes 0, the rolling shaft pin 203 becomes a free body at F = 0 at this time (Figs. 7-1 and 7-2).
As shown in the figure), the three forces W, H, N are in equilibrium, that is, W
The larger is the horizontal reaction force H and the pressure N acting on the convex wheel.
Therefore, the pressure N is just convex wheel shaft pin 10
Just pressing it towards 45 does not rotate it separately. Therefore, the mating mechanism still retains its static state, thus ensuring that the coupled device does not disengage. This is the self-locking of the mating mechanism, so that the purpose of safety engagement can be achieved.

Further, when the fitting mechanism is separated, the F becomes a drop force (No. 6-1
Rotate the convex wheel 1044 (as shown in the figure) to lower the pedestal.
The 20 rolling axis pins 203 are slid along the contour cba of the convex wheel 1044 to change from contact to separation. When engaged at the stage of arc bc, W produces a torque cooperating with one loosening and disengagement, so that the fitting machine can easily complete the disengagement operation. Further, in order to reduce wear when the convex wheel 1044 engages, the rolling axle pin 203
Is formed as a shaft pin for bearing rotation, and the convex wheel 10
The engagement with 44 can be in rolling contact to reduce wear and increase smoothness of engagement and disengagement.

[Advantage of the Invention] The present invention has a function of engaging the upper pedestal and the lower pedestal with the convex wheel of the fitting mechanism, and causes a self-locking mechanism on both pedestals, and there is a risk of disengagement even when the driving air pressure source is interrupted It is safer and more secure than loading the spring in the cylinder, because the self-lock is formed from the fitting mechanism, and it does not require the maintenance of the spring element, and the fatigue of the spring. The problem of loss of safety effect caused by can be eliminated.

Since the fitting mechanism of the present invention applies the lever principle and is formed by the convex wheel curve, the engaging and disengaging operations are all very smooth and smooth. In particular, the constant stepless ascending arc surface utilizing the dead center on the convex wheel has an engagement lock position, so that even after the engagement, even under the condition of a non-atmospheric pressure source, those engagement surfaces are engaged. Since it keeps holding, safe engagement is possible.

[Brief description of drawings]

1 is a perspective view of an upper pedestal and FIG. 1-2 is a plan view of the upper pedestal. , 1-3
Figure is a front view of the upper pedestal, Figure 2-1 is a perspective view of the lower pedestal, Figure 2-2 is a plan view of the lower pedestal, Figure 2-3 is a front view of the lower pedestal, and Figure 3 is the upper pedestal. And a lower pedestal showing a fitting mechanism thereof, FIG. 4 is a front view showing a state of the fitting mechanism after the upper pedestal and the lower pedestal have been combined, and FIG. 5 shows a combined upper pedestal and the lower pedestal. FIG. 6A is a front view showing the fitting mechanism of FIG. 6, FIG. 6-1 is a schematic view showing the disengaged state of the fitting mechanism, and FIG. 6-2 is a schematic view showing the engaged state of the fitting mechanism. FIGS. 7-1 and 7-2 are explanatory views of the force receiving force of the fitting mechanism. 10 …… Upper pedestal, 11 …… Joint surface, 12 …… Piston rod, 13
…… Support frame, 101 …… Upper pedestal body, 1011 …… Ventilation hole, 1
02 …… Electric joint, 1021 …… Spring probe, 1022 …… D type joint, 103 …… Locating pin, 104 …… Mating mechanism, 1041 …… Pneumatic cylinder, 1042 …… Swing base, 1043…
… Support pin, 1044 …… Convex wheel, 1045 …… Convex wheel shaft pin, 105 …… Upper pedestal end plate, 20 …… Lower pedestal, 21 …… Mating surface, 22 …… Mating recess, 201 …… Lower pedestal Main body, 2011 ... Vent, 202 ... Electric contact, 2021 ...
… Spring probe sleeve, 2022 …… D type joint, 203 …… Rolling shaft pin, 204 …… O type ring, 205 …… Lower pedestal end plate

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-60-213494 (JP, A)

Claims (1)

[Scope of utility model registration request] 1. A lower pedestal having a fixed pin and a fitting mechanism projectingly provided on a joint surface of an upper pedestal having an upper pedestal end plate coupled and fixed to an arm of a robot for an automatic tool changer, and coupled and fixed to a tool. The joining surface of the lower pedestal having the end plate is provided with a stationary hole for housing the stationary pin and a fitting recess for housing the fitting mechanism, and the fitting direction is inserted into the fitting recess. A rolling frame pin is attached vertically to the support frame, and a fitting frame is rotatably attached to the fitting mechanism, and a slide pedestal that can be moved vertically along the support frame by a pneumatic cylinder provided on the upper pedestal. The slide pedestal is connected to the convex wheel so as to rotate the convex wheel by the movement of the slide pedestal, and the convex wheel has a contact position and an engagement lock position for the rolling shaft pin. For an automatic tool changer characterized by forming an arc surface and engaging and disengaging the upper pedestal and the lower pedestal by rotating the convex wheel to engage and disengage the convex wheel and the rolling shaft pin. Robot and tool connection device.