JPS59166486A - Automatic hand exchanger for double hand - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Description: TECHNICAL FIELD The present invention relates to industrial robots, and more particularly to an automatic hand exchange device for double hands that exchanges and attaches robot double hands with various working abilities to the tip of an arm of an industrial robot.

Conventional technology Industrial robots are widely used in conjunction with machine tools to automatically process workpieces and automatically assemble workpieces, contributing to improved work efficiency and labor savings. The robot mainly has a configuration in which the robot hand is fixedly attached to the tip of the robot's toe arm and performs only a single function. This is one of the reasons for the shortage, and it has the disadvantage that it is impossible for one industrial robot to automatically select and perform various work functions. Hand changing devices have already been proposed. However, a hand exchange device for double hands, particularly a hand exchange device suitable for independently operating each hand of a robot double hand, has not yet been provided.

Purpose of the Invention An object of the present invention is to expand the work flexibility of a single industrial robot by automatically attaching and replacing Taga robot double hands, each with a different work capacity. The object of the present invention is to provide a hand exchange device.

Structure and operation of the invention According to the present invention, in an automatic hand exchange device for a double hand, a changer body attached to the robot arm side of an industrial robot hand and a changer adapter to which a robot double hand is attached are detachably formed. A clamping piston, a clamping ball that moves between a clamping position and an unclamping position by the axial movement of the clamping piston, and an operating cap body supply path to the double hand are provided in the changer body, and the changer adapter A working fluid supply path connectable to an engaging part with the clamp ball of the changer body and the working fluid supply path is provided in the changer body, and the robot double hand is exchanged according to attachment and detachment of the changer body and the changer adapter. An automatic hand exchange device for double hands is provided, which is characterized in that the arm of an industrial robot is operated in accordance with control commands from a robot control device, thereby automatically changing the double hand at a pre-installed double hand exchange position. The purpose of the exchange is to carry out the exchange of

By providing at least three clamp balls, the changer adapter can be reliably and stably clamped, and therefore a double hand can also be stably held.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on embodiments shown in the accompanying drawings.

Embodiment FIG. 1 is a partially sectional front view showing a hand exchange device for double hands according to the present invention.

In the figure, a hand exchange device 10 is composed of a changer body 12 that is attached to the robot arm side of an industrial robot via a well-known safety joint, and a changer adapter 50 to which a robot double hand 70 is attached. is provided with a safety joint on one end surface 12g, and can be removed from the robot arm, but is usually fixedly attached to the arm. Now, the changer body 12 is connected to the cylinder part 14 via the clamp ball holding seat 18 to the cylinder part 14.
4, a piston 20 provided so as to be slidable in the axial direction along the liner ring 16 within the cylinder portion 14, and a piston 20 attached to the clamp ball holding seat 18. It is comprised of an adapter mounting barrel 30 and clamp balls 32 held at equal intervals in ball holes formed in the cylindrical seat 18a of the clamp ball holding seat 18. Therefore, the piston 20 is a piston that is tightly fitted into the cylinder chamber of the cylinder portion 14, @22
% Piston head 24. It has a piston rod 26, a clamp ball actuating hole 2B formed below the piston rod 26, and a pressure decoration ball 1 formed on the cylinder portion 14.
4a, 14b, the pressure acid body is connected to the upper cylinder 15
When supplied to one of a and the lower cylinder chamber 15b,
The piston 20, which is made up of these various components, slides in a linear direction under the pressure of the pressure fluid. The pressure body is alternately supplied from the pressure/f suspension body S to the above-mentioned pressure body boat 14a or 14b via the lightning boat 80. Further, in the cylinder portion 14, a compression spring 17 is disposed between the lower surface of the piston plate 22 and the upper surface of the ball holding seat 18 facing the lower cylinder chamber 15b, and constantly presses the piston plate 22 upward. , unless the pressure fluid is supplied to the upper cylinder chamber 15a by the crack.

The piston 20 is pushed upward for the reason described below. Note that an O-ring 19 is attached to the piston 822 and the liner ring 16 to prevent leakage of pressure fluid. The piston 20 mentioned above is that jIFtll! Direction print! When the I movement is performed, the clamp ball operating ring 28 also comes off as a whole.
Performs operations in the casting direction. As a result, the clamp ball operating ring 28 moved upward in FIG. 32 to the outward clamping position and, conversely, when the clamp ball operating ring 28 moves downward in FIG. Since it faces the ball 32, the clamp ball 32
can be moved inward and becomes cyan clamped. When the clamp ball 32 is in the above-mentioned clamping position, the changer adapter 50 received in the conical receiving hole 34 of the adapter attachment 30 is clamped, and the clamp ball 62 is in the above-mentioned unclamping position. Then, the changer adapter 50 is removably immersed in the adapter attachment 30. Therefore changer adapter 50
A shoulder 52 is formed on the inside of the upper end, which the clamp ball 62 comes into contact with when it reaches the clamp position, and the shoulder 52 receives the clamping force of the clamp ball 32 to extend and open the changer adapter 50 for attaching the adapter 30. It is retained. In addition, clamp ball z, 21
d - 77.9 pieces are arranged at equal intervals on one circle w, and normally three clamp ball rollers 2 are arranged. The outer circle of the changer adapter 50 is the same as the adapter mounting g.
5, which has a complementary conical shape to the snow-shaped receiving hole 34, and the adapter mounting IIl'ii! Filter D and changer adapter 50 are equipped with a pressure chamber, π path 36, 1.51: l, 52
is formed, and when the changer adapter is 500VM, the first pressure female body passages 36 and 50 are connected, and the pressure fluid passages 38 and 5 are connected.
2 are arranged so that they are in communication with each other.

The piping has been reshaped so that pressure fluid can be supplied to the body passageway 36 from the outside via a No. 2 switching solenoid valve 82, and the pressure body passageway 36 has a small pressure body passageway 3.
Similarly, piping is formed in 8 so that pressure fluid can be supplied from the outside via a near switching solenoid valve 84. The pressure fluid supplied to the IM path is the hand 72a provided on the robot double hand 70,
72b and )-nd 74a.

This is used to independently operate two sets of robot hands 74b. It should be noted that which pressure fluid is connected to the adapter mounting 3, and the changer adapter 50.
Sealing materials made of O-rings 56 are installed at various locations in the receiving holes 34 of the adapter attachment 30 to prevent leakage from the engagement portion with the changer adapter 1.Of course, these sealing materials are installed on the outer periphery of the changer adapter 50. It may also be a configuration. Further, the pressure fluid passages 52 and 54 formed in the changer adapter 50 are connected to a passage portion formed in an annular shape on the outer periphery of the changer adapter 50, and a pressure fluid boat (not shown) of the robot double hand 70 from this annular passage portion. The annular passage portion is formed to communicate with a pressurized fluid oil 1136, 38 formed in the adapter attachment 30. Changer adapter 5 for the tab for attaching the adapter 30
If there is a slight misalignment in the circumferential direction, there will be no problem at all with the supply of pressure fluid for excitation of the dabur node.

Next, the operation of the hand exchange device 10 for double 71 hands according to the present invention having the above-described structure will be explained with reference to FIGS. 1 and 2.

Now, the changer adapter 501 to which the robot double hand 70 is attached is mounted on a fork-shaped node holder 92 of a change table 90 that has been installed in advance at the robot/cito work site. Therefore, a large number of fork-shaped hand holders 92 are provided in advance on the exchange table 90, and a large number of different types of double hands 70 are prepared. By the way, a large number of robot double hands 70 of various types are required.

By moving the piston 20 shown in FIG. 1 upward, the clamp ball 32
With the robot hand held in the unclamp position, the changer body 12 is moved above (C) the robot hand 70 held by the fork-shaped hand holder 92 by the robot action.Then, the changer body 12 is moved by the robot action When the main body 12 is lowered toward the robot hand 70, the changer adapter 50 on the upper part of the robot hand 70 fits into the receiving hole 34 of the adapter mounting barrel 30.At this time,
When the solenoid valve 80 is switched to move the piston 20 downward, the clamp ball 32 moves to the clamp position and clamps the nuclear robot double hand 70 together with its changer adapter 50. Next, when the changer adapter 50 and the robot hand 70 are moved laterally from the fork-shaped hand holder 92 by robot operation again, the hand mounting operation is automatically completed.

On the other hand, when removing the robot double hand 70 and its changer adapter 50 mounted on the changer main body 12, the robot double hand 70 and its changer adapter 50 attached to the changer main body 12 are to be removed from the changer main body 12. First, the changer adapter 50 and the double hand 70 are inserted, and then the piston 20 is moved upward to unclamp the clamp ball 32, and as the changer body 12 is moved upward by robot operation, the "changer adapter 50" is the adapter 3 for attaching the changer body 12.
0 and the removal operation is completed, so 2. .

Therefore, when the double hand 70 is being replaced, the robot's change 1 main body 12 can be removed by the above-mentioned removal operation.
The double hand 70 attached to the changer adapter 50 together with the changer adapter 50 can be returned to the 11ζ forked hand holder 92, and then the next required double hand 70 can be attached to the changer body 121C by the same hand attaching operation described above. First, all of these operations are performed by the robot itself, so by teaching the operating procedure of the robot control bag 4YT (C hand exchange operation) in advance, the hand exchange can be performed automatically. In addition, in FIG. 1, the annular groove 56 formed on the outer periphery of the changer adapter 50 is formed as a retaining groove for engaging with the fork-shaped hand holder 92 of the exchange table 9D. It is something that

Effect of the invention As is clear from the above description, according to the present invention.

It becomes possible to automatically attach a wide variety of double hands to the tip of the robot arm according to the type of work of the industrial robot, and therefore the work ability of a single industrial robot can be further improved.

[Brief explanation of the drawing]

FIG. 1 is a front view, including a partial sectional view, of a daple hand exchange device according to the present invention, and FIG. 2 is a plan view and a side view showing the structure of a hand holder for hand exchange. 10...Hand exchange device for double hand, 12
...Changer body% 20...Piston. 32... Clamp ball, 60...
For attaching an adapter, 50...changer adapter, 70...double hand.

Claims (1)

[Scope of Claims] 1. In an automatic hand exchange device for double hands, in which a changer body P-attached to the robot arm side of an industrial robot hand and a changer adapter to which a robot double hand is attached are formed in a detachable manner, the changer A clamping piston, a clamping ball that moves between a clamping position and an unclamping position by the axial movement of the clamping piston, and a working fluid supply path to the double hand are provided in the main body, and the changer adapter is connected to the changer adapter. A working fluid receiving path connectable to an engaging portion of the main body with the clamp pole and the working fluid supply path is provided,
An automatic hand exchange device for a double hand, characterized in that a robot double hand is exchanged in accordance with the attachment and detachment of the changer body and the changer adapter. 2. The double hand according to claim 1, wherein the changer body includes a built-in spring means that always presses the clamping piston in one direction so as to hold the clamp ball in the clamping position. Automatic hand exchange device for use.