JPH09267285A - Automatic tool change mechanism of handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To promote the automation of tool changing operations. SOLUTION: In a handling device which attaches two tools 2 and 2', holding workpieces by dint of air suction, to a robot arm tip and transfer these workpieces in an interval between two working machines, this is an automatic tool change mechanism to set these tools 2 and 2' suited to a form of each individual workipece to a tool setting part 24 at the robot arm tip. In this constitution, the tool setting part 24 is provided with a suction pad sucking the workipece and a tubular part 33 having an opening hole 34, where a mouthpiece 3 to be interconnected in an air suction passage is inserted, interconnected to an air suction source, and further it installs a ball 37 being retractable in or out of both inner and outer diametral surface, and a piston 42 sliding on the outer diametral surface of the tubular part 33 by means of air supply is housed and set up in a closed airspace part 38 formed so as to contact with the outer diametral surface of the tubular part 33. Subsequently, at the time of locking, the ball 37 is projected out of an inner diametral surface of the tubular part 33 by dint of this piston 42, fitting it in the mouthpiece 3, and at the time of unlocking, the ball 37 is retreated from the inner diametral surface of the tubular part 33 by means of separation of the piston from the ball 37, thereby making the mouthpiece 3 datachable from the opening hole 34.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool exchanging mechanism for a handling device, for example, a handling device for transferring a workpiece between a plurality of processing machines such as presses in automobile manufacturing and the like. The present invention relates to an automatic tool exchange mechanism for attaching and detaching a tool conforming to the shape to the tip of a robot arm.

[0002]

2. Description of the Related Art For example, in the manufacture of automobiles, a plurality of processing machines such as a press machine are arranged on a manufacturing line so that each processing machine sequentially performs a predetermined processing on a work piece which is an automobile part. Is common. Further, a handling device for transferring the workpiece between the respective processing machines is installed, and the handling device has a structure in which a tool for gripping the workpiece by air suction is attached to the tip of the robot arm.

In the handling device installed between the processing machines, when the processing of the workpiece is completed by the processing machine in the preceding stage, the tool at the tip of the robot arm grips the workpiece by air suction, and the processing in the subsequent stage. Transfer to the machine.

[0004]

In the handling device described above, it is necessary to transfer a plurality of types of workpieces having different shapes. In that case, the tool at the tip of the robot arm sucks the workpiece by air suction. Due to the gripping structure, when the shape of the work piece is changed, it becomes difficult to hold the changed work piece with one tool.

Therefore, usually, a plurality of types of tools suitable for the shape of the workpiece are prepared, and each time the workpiece is changed, the tool suitable for the shape of the workpiece is replaced with the robot arm. Need to change tools.

However, since this tool replacement work is performed by the operator removing the used tool at the tip of the robot arm and attaching a new tool to the tip of the robot arm, it takes a lot of time and effort. The current situation is that skill is required and the processing machine must be stopped during the replacement work, so the operating efficiency is poor and it is difficult to improve productivity.

Therefore, the present invention has been proposed in view of the above problems, and an object of the present invention is to automate the tool replacement work.

[0008]

As a technical means for achieving the above object, the present invention mounts a tool for gripping a workpiece by air suction on the tip of a robot arm,
In a handling device for transferring the workpiece between a plurality of processing machines, a tool automatic exchange mechanism for attaching and detaching a tool adapted to the shape of the workpiece to a tool attaching / detaching portion provided at the tip of the robot arm, The tool attachment / detachment portion includes a tubular portion in which an opening hole, into which a tool mouthpiece, which is in communication with an adsorption pad for adsorbing a workpiece by an air suction path, is inserted, is in communication with an air suction source. A mouthpiece locking member that projects into and out of the inner and outer diameter surfaces of the tubular portion, and the closed space portion formed so as to contact the outer diameter surface of the tubular portion is supplied with air to the closed space portion so that the tubular portion When the tool is locked, the press-fitting member that slides on the outer diameter surface is stored and arranged.When the tool is locked, the cap locking member is projected from the inner diameter surface of the tubular part to fit the tool mouthpiece, and when unlocked, the mouthpiece engagement Pressing member from stop member It was retracts the cap locking member from the inner diameter surface of the tubular portion by leaving it, characterized in that to enable pulled out tools mouthpiece through the opening hole.

According to the present invention, an elastic member is provided that elastically urges the pressing member in the locking direction so that the pressing member keeps the mouthpiece locking member protruding from the inner diameter surface of the tubular portion. It is desirable to store it in the closed space.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of an automatic tool changing mechanism of a handling device according to the present invention will be described with reference to FIGS.

A plurality of types of tools suitable for the shape of the workpiece are prepared as tools used in this handling device. For example, when the workpiece 1 is a straight press-molded product as shown in FIG. 5A, the tool 2 is mounted with the straight bracket 5 orthogonal to the tip of the support rod 4 extending from the die 3. , Suction pads 6 on both ends of the bracket 5
Is provided, and the base 3 and the suction pad 6 are communicated with each other by an air hose 7, which is a part of an air suction path arranged along the support rod 4 and the bracket 5.

Further, for example, when the work piece 1'is a bent press-formed product as shown in FIG. 5 (b), the tool 2'is a support rod extending from the die 3 like the tool 2 described above. 4 has a structure in which a bracket 5'is attached to the tip of 4 orthogonally, and suction pads 6 are provided at both ends of the bracket 5 '.
In the shape of. That is, both ends of the bracket 5'has a shape bent downward according to the shape of the workpiece 1 '.

Explaining these tools 2 and 2'specifically, the mouthpiece 3 has a small diameter portion 8 fitted to the tip of the robot arm and a flange 9 (see FIG. 10), as shown in FIGS.
And a large-diameter portion 10 to which the support rod 4 is fixed (see FIG. 11), and the small-diameter portion 8 is further provided with a reduced-diameter portion 11 having a tapered surface.

In the mouthpiece 3, an air suction passage 12 that opens to the end surface of the small diameter portion 8 is bent and is opened to a part of the end surface of the large diameter portion 10. Further, a concave portion 13 is formed at the center of the end surface of the large-diameter portion 10, the supporting rod 4 is inserted into the concave portion 13, and the base end portion of the supporting rod 4 is welded to the flange 9 at the peripheral edge of the central hole 14 of the flange 9. The flange 9 to which the support rod 4 is fixed is fixed to the base 3 by bolts using the screw holes 15. An air hose 7 [FIG. 5 (a)] is provided in the opening 16 of the air suction passage 12 located at the end surface of the large diameter portion 10 of the mouthpiece 3 via the through hole 17 of the flange 9.
Reference] is connected.

A pin hole 18 is formed in the bottom portion of the outer peripheral surface of the large-diameter portion 10 so that a positioning pin provided on a stand (to be described later) of the tool stand can be inserted therein. Further, a sensor sensing plate 19 for detecting the presence / absence of the tools 2 and 2 ′ by a tool identification sensor (described later) provided at the tip of the robot arm is provided at a portion obliquely above the outer peripheral surface of the large diameter portion 10. To do. Furthermore, a positioning pin 20 for positioning the mouthpiece 3 with respect to the tip of the robot arm is provided on the upper portion of the outer peripheral surface of the large diameter portion 10 so as to project.

Since the base 3 is commonly used regardless of the types of the tools 2 and 2 ', when replacing the parts other than the base 3, the mounting hole 2 of the flange 9 is used.
In order to prevent the rattling of the flange 9 that occurs when the bolt is inserted through the screw 1 and the bolt is tightened in the screw hole 15 of the cap 3, the flange 9 is aligned with the knock pin 22 with respect to the cap 3. A flat surface 23 is formed on a part of the outer peripheral end surface of the flange 9 for positioning when the flange 9 is mounted on a stand of a tool stand.

Next, the tip structure of the robot arm to which the above-mentioned tools 2 and 2'are attached will be described in detail. As shown in FIG. 1 to FIG. 4, the tool attaching / detaching portion 24 provided at the tip of the robot arm is mainly composed of three members of an adapter 25, a holder 26 and a cylinder 27.

First, the adapter 25 is a substantially disk-shaped member fixed to the tip of the robot arm by bolting using a through hole 28, and an air suction path 29 is formed from the central portion thereof toward the side end surface. An air suction source (not shown) is connected to the opening 30 at the side end face via an air hose. The adapter 25 has a knock pin 31 for positioning the adapter 25 with respect to the tip of the robot arm in order to prevent rattling that occurs when the bolt is inserted into the through hole 28 at the tip of the robot arm and tightened. I try to match.

Next, the holder 26 comprises a flange portion 32 joined to the adapter 25 and a tubular portion 33 integrally projecting from the flange portion 32, and a tool is provided in an opening hole 34 of the tubular portion 33. 2, 3'base 3 is inserted. An air coupler 35 is fitted in the rear portion of the opening hole 34,
Through this air coupler 35, the opening hole 34 and the adapter 25
To communicate with the air suction passage 29. In addition, the cylindrical portion 3
A tapered round hole 36 having a diameter reduced toward the inner diameter direction is formed through the front end of 3, and a ball 37, which is a cap locking member, is fitted into the round hole 36. Since the opening diameter of the round hole 36 on the inner diameter surface of the tubular portion is smaller than the outer diameter of the ball 37, the ball 37 will not be pulled out from the round hole 36.

The cylinder 27 is joined to the flange portion 32 of the holder 26 and at the front end of the cylindrical portion 33 to form a closed space portion 38 with the holder 26. Further, the tools 2, 2 ′ are provided above the front end of the cylinder 27.
A positioning block 39 for fitting and positioning the positioning pin 20 of the base 3 is fixed. In addition, the cylinder 27, the holder 26, and the adapter 2 are fixed by tightening the cylinder 25 with the holder 26 in the adapter 25 with the bolts 41 using the screw holes 40.
The three of 5 are joined and integrated.

In the closed space 38 formed by the holder 26 and the cylinder 27, a cylindrical piston 42 as a pressing member is provided between the outer peripheral surface of the cylindrical portion 33 of the holder 26 and the inner peripheral surface of the cylinder 27. It is slidably housed. The piston 42 divides the closed space portion 38 into a lock side located at the rear and an unlock side located at the front. Further, on the lock side of the closed space portion 38, the cylindrical portion 33 is provided between the rear end portion of the piston 42 and the flange portion 32 of the holder 26.
A spring 43, which is an elastic member to be externally inserted, is housed and arranged, and the elastic force of the spring 43 urges the piston 42 forward.

An air passage (not shown) communicating with the lock side and the unlock side of the closed space 38 is formed in a part of the cylinder 27, and both air passages are connected to the front end of the side end face and the air passage. The rear ends are opened, and the air hoses 46 and 47 are connected to the openings 44 and 45, respectively, and are connected to an air supply source (not shown).

A tool identification sensor 48 is provided on the front end surface of the cylinder 27, and as described above, the tool 2,
The presence or absence of the tools 2 and 2'is detected by the proximity of the sensor sensing plate 19 provided on the base 3 of 2 '. Further, at the lower part of the front end of the cylinder 27, the piston 42 is located at the forward end position, and the ball 37 allows the base 3 of the tool 2, 2'to move.
Lock sensor 4 for detecting that the lock is engaged
9 are provided. An electric cord 50 for the above-described sensor or the like is derived from a part of the cylinder 27.

The tool exchanging work by the automatic tool exchanging mechanism of the handling device having the above construction will be described below.

Here, the tool 2 which has been used due to the change of the type of the workpieces 1 and 1'and the tool 2'which is newly used are replaced at a predetermined position as shown in FIGS. Is performed by the tool stand 51. The unnecessary tool 2 that has been used is supported by a pedestal 53 provided on the support column 52 in a suspended state. That is, the tool 2 is suspended and held by inserting the support rod 4 of the tool 2 into the notch 54 provided in the pedestal 53 while the flange 9 of the tool 2 is locked to the pedestal 53. It should be noted that the flange 9 of the tool 2 is fitted into the holding member 55 provided on the pedestal 53 to prevent the tool 2 from moving upward.

On the other hand, the newly used tool 2'is supported horizontally on a pedestal 56 provided on the support column 52. That is, the tool 2 ′ includes the V-shaped support portions 57, 5 on the pedestal 56.
The large-diameter portion 10 of the mouthpiece 3 of the tool 2 ′ and the support rod 4 are respectively mounted on the tool 8 to be horizontally held. This time,
Positioning pins 59 protruding from the V-shaped support portion 57 are positioned by fitting into the pin holes 18 formed in the large diameter portion 10 of the mouthpiece 3 of the tool 2 '.

The flat surface 23 (see FIGS. 10 and 11) formed on a part of the outer peripheral end surface of the flange 9 has a pedestal 5
The tool 2'is also positioned and mounted in a stable state by matching with the mounting surface of 6. Also,
When the flange 9 of the tool 2 ′ comes into contact with the pressing plate 60 provided on the frame 56, the movement of the tool 2 ′ toward the tip side is restricted.

In the above-mentioned case, the used tool 2 is supported in a suspended state on the pedestal 53 of the tool stand 51 in order to effectively use the space due to space restrictions or the like. It is also possible to support the tool 2'in a horizontal state like the simple tool 2 '. It is preferable to support the used tool 2 in a horizontal state like the new tool 2 ', because it is positioned on the pedestal when the used tool 2 is reused.

First, while the tools 2 and 2'are in use, the tools 2 and 2'are attached to the tool attaching / detaching portion 24 at the tip of the robot arm. At this time, the cap 3 of the tool 2, 2 ′ is in a state of being inserted into the opening hole 34 of the holder 26 of the tool attaching / detaching portion 24, and the ball 37 is fitted in the reduced diameter portion 11 of the small diameter portion 8. Yes (see Figure 1). Holder 2
Since air is supplied to the lock side of the closed space 38 between the cylinder 6 and the cylinder 27, the piston 42 is at the forward end position and the ball 42 is pressed inward by the piston 42 to regulate the position. Then, the ball 37 is retained by the reduced diameter portion 11 of the mouthpiece 3 of the tool 2, 2 ′, and the state in which the tool 2, 2 ′ is attached to the tool attaching / detaching portion 24 of the robot arm is maintained.

When the workpieces 1, 1'are sucked by the tools 2, 2 ', the adapter 25 of the tool attaching / detaching portion 24 is used.
From the air suction path 29 of the air coupler 35, the tool 2,
The workpieces 1 and 1 ′ are suction-held by the suction pad 6 by the air suction along the path reaching the suction pad 6 through the mouthpiece 3 of 2 ′ and the air hose 7.

After using the tool, the used tool 2
When replacing the tool 2 with a new tool 2 ', the used tool 2 is removed from the tool attaching / detaching portion 24 of the robot arm. The removal of the used tool 2 is performed as follows.

First, the used tool 2 is transferred to the pedestal 53 of the tool stand 51 by the robot arm, and the supporting rod 4 is inserted into the notch 54 of the pedestal 53 while the tool 2 is hung vertically. And the flange 9 is placed on the pedestal 53 (see FIGS. 12 and 13). In this state, the tool attaching / detaching part 24 of the robot arm is used to hold
By supplying air to the unlocked side of the sealed space 38 between the cylinder 6 and the cylinder 27, the piston 42 is retracted against the elastic force of the spring 43 by the air pressure. When the piston 42 retreats, the piston 42 is separated from the ball 37, and the ball 37 can be retracted from the inner diameter surface of the tubular portion 33 so that the mouthpiece 3 of the tool 2 is pulled out from the opening hole 34 of the tubular portion 33. It is possible to remove it (see Fig. 1).

When the robot arm is lifted with the piston 42 released from the ball 37, the tool 2 is restricted by the pressing member 55 on the pedestal 53 (see FIGS. 12 and 13). The base 3 of the tool 2 is not lifted and the open hole 34 of the holder 26
The tool 2 is removed from the tool attaching / detaching portion 24 smoothly.

After removing the used tool 2, a new tool 2'is attached to the tool attaching / detaching portion 24 of the robot arm. The attachment of this new tool 2'is performed in the following manner.

First, the tool attaching / detaching portion 24 at the tip of the robot arm is brought close to the new tool 2'positioned and placed on the mount 56 of the tool stand 51, and the tool attaching / detaching portion is attached to the mouthpiece 3 of the tool 2 '. The opening holes 34 of 24 are opposed to each other. At this time, by the tool identification sensor 48 provided on the front end surface of the cylinder 27 of the tool attaching / detaching portion 24, the sensor sensing plate 19 provided on the large diameter portion 10 of the mouthpiece 3 of the tool 2 ′ (see FIGS. 7 and 8). ) Is detected and tool 2 '
The presence or absence of can be identified.

After that, the mouthpiece 3 of the tool 2'is inserted into the opening hole 34 of the tool attaching / detaching portion 24. At the time of this insertion, the positioning pin 2 provided on the large diameter portion 10 of the mouthpiece 3 of the tool 2 '
0 (see FIGS. 6 to 8) is a positioning block 39 (FIGS. 1 to 4) provided on the cylinder 27 of the tool attaching / detaching portion 24.
The tool 2 ′ can be aligned with the tool attachment / detachment portion 24 by inserting the tool 2 ′ into the tool attachment / detachment portion 24.

On the other hand, in the opening hole 34 of the holder 26 of the tool attachment / detachment portion 24, air is supplied to the unlock side of the closed space 38 between the holder 26 and the cylinder 27, so that the piston 42 is elastic in the spring 43. The ball 37 is in a free state by retreating against the force. Therefore, the tip of the mouthpiece 3 inserted into the opening hole 34 enters while pushing the ball 37 away and finally the insertion is completed in a state where the ball 37 is fitted into the reduced diameter portion 11 of the small diameter portion 8 of the mouthpiece 3. .

When the tool attaching / detaching portion 24 is pushed into the mouthpiece 3 of the tool 2 ', the flange 9 of the tool 2'is held by the pressing plate 60 (see FIG. 1) on the mount 56 of the tool stand 51.
2 to FIG. 14), the tool 2 ′ does not move in the pushing direction.

Then, by supplying air to the lock side of the sealed space 38 between the holder 26 and the cylinder 27, the piston 42 is advanced by air pressure, and the ball 37 is pressed by the tip of this piston 42. The state in which the ball 37 projects from the inner diameter surface of the tubular portion 33 and is locked to the reduced diameter portion 11 of the base 3 is ensured. At this time, the lock sensor 49 can detect that the piston 42 is at the forward end position and confirm that the mouthpiece 3 is locked (see FIG. 1).

When the locking of the mouthpiece 3 is completed, the robot arm lifts the tool 2'from the pedestal 56 and removes it. Then, the workpiece 1'is sucked by the air suction path 29 from the air suction path 29 of the adapter 25 of the tool attaching / detaching portion 24 to the suction pad 6 via the air coupler 35, the mouthpiece 3 of the tool 2 ', and the air hose 7. Adsorb and hold with 6. When the tool 2'is used, even if the air supply to the lock side of the closed space 38 is cut off for some reason, the elastic force of the spring 43 causes the piston 42 to be in the forward end position. Since the state can be maintained, the locked state of the mouthpiece 3 can be ensured and safety can be ensured.

[0041]

According to the automatic tool exchanging mechanism of the handling apparatus of the present invention, the exchanging of the used tool from the tip of the robot arm and the attachment of a new tool to the tip of the robot arm are possible. The structure of the tool attachment / detachment part and the tool mouthpiece allows the work to be performed automatically without human intervention, resulting in a dramatic improvement in workability and improved operating efficiency of the processing machine, resulting in a significant increase in productivity. Can be achieved. In addition, even if the air pressure that locks the tool base at the tool attachment / detachment section is cut off, it is equipped with a means for maintaining the locked state of the base, so it is excellent in safety and improves reliability. Can be achieved.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a tool attaching / detaching portion at a tip of a robot arm in an automatic tool changing mechanism of a handling device of the present invention.

FIG. 2 is a left side view of the tool attaching / detaching portion of FIG.

FIG. 3 is a right side view of the tool attaching / detaching portion of FIG.

FIG. 4 is a bottom view of the tool attaching / detaching portion of FIG.

FIG. 5A is a perspective view showing an example of a tool. FIG. 5B is a partial perspective view showing another example of the tool.

FIG. 6 is a front view including a partial cross section showing a tool base.

7 is a right side view of the base of FIG.

8 is a left side view of the base of FIG.

FIG. 9 is a partial cross-sectional view showing an air suction passage of a mouthpiece.

FIG. 10 is a side view showing a flange fixed to the base.

11 is a front view including a partial cross-section showing the flange of FIG.

FIG. 12 is a front view showing a tool stand.

FIG. 13 is a plan view showing a tool stand.

FIG. 14 is a partially enlarged side view showing a gantry on which a new tool is placed.

[Explanation of symbols]

 1, 1'Workpiece 2, 2'Tool 3 Base 6 Suction pad 24 Tool attaching / detaching part 33 Cylindrical part 34 Opening hole 37 Base metal locking member (ball) 38 Sealed space part 42 Holding member (piston) 43 Elastic member ( Spring)

Claims (2)

[Claims] 1. A handling device for mounting a tool for gripping a work piece by air suction on the tip of a robot arm and transferring the work piece between a plurality of processing machines, the handling device being provided at the tip of the robot arm. An automatic tool changing mechanism for attaching / detaching a tool suitable for the shape of the workpiece to / from the tool attaching / detaching portion, wherein the tool attaching / detaching portion has a tool mouthpiece that is in communication with an adsorption pad for adsorbing the workpiece and an air suction path. A cylindrical portion having an opening hole communicating with an air suction source, and a cap locking member projecting and retracting from the inner and outer diameter surfaces of the cylindrical portion is provided in a part of the cylindrical portion, and the outer diameter surface of the cylindrical portion is provided. The press-fitting member that slides on the outer diameter surface of the cylindrical part is housed in the sealed space formed so as to contact the base, and when the tool is locked, the cap locking member is held by the press-fitting member. The inner diameter of the tubular part When it is unlocked, the holding member is retracted from the inner diameter surface of the tubular part by releasing the pressing member from the mouth locking member, and the tool mouth is pulled out from the opening hole. The automatic tool change mechanism of the handling device, which is possible. 2. An elastic member for elastically urging the pressing member in the locking direction so as to maintain a state in which the mouthpiece locking member projects from the inner diameter surface of the tubular portion by the pressing member when air is shut off. The automatic tool changing mechanism of the handling device according to claim 1, wherein the automatic tool changing mechanism is housed and arranged.