JPS60177835A - Tool catching device - Google Patents

Abstract

PURPOSE:To realize an unattended factory by exciting a magnet coil in a tool gripping device then engaging the engaging section on the rear face of tool with the contact-tight face of tool at the tip of tool body under radially shrinked state of chuck section thereby automatically converting the tool. CONSTITUTION:Shaft stroke means of tool gripping device or a magnet coil 5 is excited to stroke an inner shaft constituting the chuck shaft 3 forward and under the state where the chuck section 32b of the outer shaft 32 has shrinked radially, the engaging section on the rear face of tool T is engaged with the engaging section 1b on the leading end face 1a of frame body 1 thus to contact the rear face of tool T tightly with the leading end face 1a of frame body 1. Consequently, current will flow through an electromagnet 2 contained in the frame body 1 to perform gripping of tool T immediately and automatically. While the magnet coil 5 is de-energized to move the inner shaft 31 rearward through a spring 4 thus to enlarge the chuck section 32b at the tip of outer shaft 32, then the tool T is hooked to the double step hole for preventing falling of the rear face of tool.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a tool gripping device that can automatically exchange various tools.

Background technology> In recent years, where factory automation has been promoted,
There is an increasing need for industrial robots, general-purpose work equipment, and general-purpose machine tools to be able to perform not only one type of work, but also many types of work unattended. There is a need for a tool gripping device that is replaceable.

<Purpose of the Invention> The present invention has been devised as a result of intensive research in view of the points mentioned in (a) above, and allows various tools to be easily and automatically replaced without the need for manpower. The present invention provides a tool gripping device that is free from the danger of falling and can be attached to the wrist of an industrial robot, a general-purpose work machine, a general-purpose T-machine, or the like, or can exert great power in unmanned factories.

<Configuration of the Invention> The configuration of the tool gripping device of the present invention will be described with reference to the drawings.

This device is composed of a frame body 1, an electromagnet 2, a chuck shaft 3 consisting of an inner shaft 31 and an outer shaft 32, a spring 4, and a shaft stroke means 5, and the wiring to the electromagnet 2 is This is the configuration achieved by the method.

The frame body l has a tip surface 1a that is a tool contact surface that comes into close contact with the rear surface of the tool T, and this tool contact surface 1a
The tool T has an engaging part 1'b that can engage and face the secured part provided on the rear surface of the tool T, and the tool T is sucked in a state where the tool contact surface 1a and the rear surface of the tool T are aligned. When a force is applied, the tool T is supported by the tool suction force and the engagement between the engaged portion and the engaging portion 1b. This engaging portion 1b uses a tapered pin from which the tool can easily escape when overloaded.

The electromagnet 2 is housed in the frame body 1 and is located at a position corresponding to the rear surface of the tool T so as to attract the tool T. The chuck shaft 3 has a collet chuck structure consisting of an inner shaft 31 and an outer shaft 32, and is housed in the frame body 1. The inner shaft 31, which can be stroked, is moved rearward under the bias of a spring 4, so that the inner shaft 31 can be moved. The acid taper part 32a on the inner surface of the tip with the slit of the outer shaft 32 fixed to the frame main body 1 is expanded by the male taper part 31a at the tip, and the chuck part 32b on the outer surface of this acid taper part 32a is expanded. When the tool T comes into close contact with the tool contact surface 1a of the frame body 1, a two-stage hole (
or a two-stage recess), and the locked state is released by stroking the inner shaft 31 forward. In this latched state, no current flows through the electromagnet 2, and the magnetic force is only applied to the front end surface 1a of the frame body 1.
The latched portion of the tool T is latched while allowing the tool T to be slightly separated from the frame body l so that the close contact between the two parts is broken. In this way, if a force greater than the magnetic force of the electromagnet 2 is applied to the tool T during work, or if the current to the electromagnet 2 is interrupted due to a fault in the electrical wiring, etc., and the tool gripping force is lost, , the tool T can be hung to prevent the risk of falling. Shaft stroke means 5
is attached to the frame body 1 and is adapted to stroke the chuck shaft 3 forward. In this figure, a magnetic coil is used and placed outside the spring 4.

In order to perform its specific work, the tool T must be supplied with power, fluid or powder, or a working medium specific to the tool via the device of the present invention that grips the tool. Therefore, electric wires, tubes, passages, etc. are provided inside or outside the frame body l. In the figure, 6 is a terminal that serves as a power source for the tool T, and 7 is a high-pressure air supply port that supplies high-pressure air to the tool T. However, terminal 6 and high pressure air supply lower, etc.
Although it is desirable to provide this because it increases versatility, it should be recognized that this is a component that may be provided as needed.

In addition, since the device of the present invention is attached to the wrist of an industrial robot, a general-purpose work machine, a general-purpose T machine tool, etc., power is supplied to the electromagnet 2 from the rear surface of the tool T and the tip of the frame body L. This is accomplished in software by programming a robot or the like in such a way that it is performed when the surfaces 1a are in close contact.

Next, the action will be explained.

The magnet coil 5 serving as the shaft stroke means is energized to stroke the inner shaft 31 constituting the chuck shaft 3 forward, and the chuck portion 32b of the outer shaft 32 is brought into a reduced diameter state so that the rear surface of the tool T is engaged. and the engaging portion 1b of the distal end surface 1a of the frame body l.
The rear surface and the front end surface 1a of the frame body 1 are brought into close contact. Then, a current flows through the electromagnet 2 housed inside the frame body 1, and the tool T is immediately and automatically gripped.

Further, as described above, when the rear surface of the tool T and the tip surface 1a of the frame body l are brought into close contact, the chuck portion 32b of the outer shaft 32
corresponds to the large diameter part of the two-stage four part or two-stage hole formed on the rear surface of the tool to prevent falling. Therefore, when the magnet coil 5 is demagnetized and the inner shaft 31 is moved backward by the bias of the spring 4, and the chuck portion 32b at the tip of the outer shaft 32 is expanded, the tool is latched into a two-step hole for fall prevention on the rear surface of the tool. If the reaction force from the workpiece applied to the tool T exceeds the attraction force of the electromagnet 2, or the power supply to the electromagnet 2 is cut off,
Even if the rear surface of the tool T and the distal end surface 1a of the frame body 1 are brought into close contact due to magnetic attraction, the tool T will not be separated.

Modified Example> The engaging portion and the engaged portion are not limited to male-female fitting, but include any means that can achieve positioning of the rear surface of the tool and the distal end surface of the frame body.

The back of the tool and 1. The latching state in which the end surface of the frame body is brought into close contact with the tool latching shaft and the latching part is latched by rotating the tool latching shaft by a predetermined angle (for example, 90 degrees) means that the latching part is the tool. Allows the tool to escape from the latched part of the
It is a structure in which the latching part is not attached to the latching part, and it is better for the latching part to be separated from the latching part, but it is also possible for the latching part to be in close contact with the latching part.

The shaft stroke means may utilize the stroke of a cylinder device. For example, a cylinder chamber may be formed in the frame body and a piston may be attached to the rear end of the chuck shaft.
Alternatively, the micro cylinder device may be fixed to the frame body, a taper cam may be attached to the piston head, and a roller that rolls on the tapered surface of the tapered cam may be attached to the rear end of the chuck shaft to stroke the tapered cam.

Power supply to electromagnets also includes those achieved through hardware. This can be achieved, for example, by having the current flow through a wire within the frame body, through a wire within the tool frame, through a wire within the frame body, and then through an electromagnet. In other words, because power is supplied to the electromagnet via the wiring installed inside the frame body and part of the wiring installed inside the tool, the rear surface of the tool and the tool contact surface of the frame body are aligned. The configuration may be such that power can be supplied to the electromagnet when the state is reached.

<Effects of the Invention> As explained above, the tool gripping device of the present invention engages the engaged portion on the rear surface of the tool with the engaging portion on the distal end surface of the frame body, so that the rear surface of the tool The tool gripping device of the present invention can be used in industrial robots and The tool gripping device of the present invention can be used as a wrist of a general-purpose working machine or a general-purpose machine tool, or can be attached to the wrist.On the other hand, various tools can be set in a predetermined posture on a tool mounting table, and the tool gripping device of the present invention can be attached to the rear surface of a desired tool. When butted against each other, the tool can be gripped easily and accurately by the magnetic attraction of the electromagnet.Also, the rear surface of the tool and the end surface of the frame body are brought into close contact, and a reciprocating stroke is applied to the inner sleeve that makes up the chuck shaft using a spring and shaft stroke means. In particular, the structure is such that the chuck part at the tip of the outer shaft that makes up the chuck shaft is latched to the latched part to prevent the rear surface of the tool from falling during strokes due to spring bias. If a load greater than the magnetic force is applied to the tool, or the current to the electromagnet is cut off due to a fault in the electrical wiring, etc., and the tool gripping force is lost, the tool may hang and fall. In addition, if the positioning condition is detected to be resolved and the industrial robot, general-purpose work equipment, or general-purpose machine tool is brought to an emergency stop, overload can be prevented. A tool gripping device equipped with a machine and a general-purpose machining mechanism (it is suitable for use as a child), and since the tool does not fall, the tool or workpiece will not be damaged. Even if the tool or tool gripping device comes out of the gripping state, the tool can still be removed. It is possible to do this automatically, which makes it extremely effective for unmanned factories.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional side view of an embodiment of the tool gripping device of the present invention. 1... Frame body, la... Tool adhesion surface (tip surface), 1b... Engagement part, No. 2 electromagnet, 3... Chuck shaft, 31 ring/inner shaft, 31a part of male taper, 32 ...Outer shaft, 32am intermediate taper part, 32b-φ chuck part, 4
1 Spring, 5...Axis stroke means, T--Tool, Figure 1 Procedural amendment dated June 19, 1980l Indication of case Patent order No. 29978 of 1982 2 Title of invention Tool gripping device 3 Amendment Patent applicant address: 301 Nishimiyazawa, Miyazawa, Kosai-machi, Nakakoma-gun, Yamanashi Prefecture Name: Dainichi Kiko Co., Ltd. Representative director Toshio Kono 4 Agent Zip code: 107, TEL: L (03) 5B
2-0009 May 28, 1982 (Shipping date)

Claims (1)

[Claims] The tip surface is a tool contact surface that comes into close contact with the rear surface of the tool, and the tool contact surface has an engaging portion that can be engaged with and aligned with the engaged portion provided on the rear surface of the tool, When a suction force is applied to the tool with the tool contact surface and the rear surface of the tool together, the frame body supporting the tool due to the sole suction force and the engagement between the engaged portion and the engaging portion, and the frame an electromagnet that is housed in the main body and is located at a position corresponding to the rear surface of the tool to attract the tool;
It has a collet chuck structure consisting of an inner shaft and an outer shaft, and is housed in the frame body, and by moving the inner sleeve that can be stroked backwards by the force of a spring, a part of the male taper at the tip of this inner sleeve can close the frame body. A part of the female taper at the tip with the slit of the outer shaft fixed to the frame expands, and the chuck part on the outer surface of this part of the female taper touches the rear surface of the tool when the tool comes into close contact with the tool contact surface of the frame body. A chuck shaft that is engaged in a two-stage recess or a two-stage hole for fall prevention that is formed and is released from the engaged state by stroking the inner shaft forward; A tool characterized in that it is configured with a shaft I and a loaf means for stroking the shaft forward.