JPS60238084A - Mechanism for attaching tool in automatic machine - Google Patents

Abstract

PURPOSE:To provide a titled mechanism which is small in size and light in weight and can change the direction of a tool as desired by the constitution in which a projection for assisting rotation attached to the tool gripping part of a rotating mechanism is pressed to a work and that the rotating mechanism is rotated around a holding part. CONSTITUTION:The holding part 4 of a tool attaching mechanism is attached via a wrist bending shaft 2 and an oscillating shaft 3 to the top end of the arm 1 of a robot having at least 3 deg. of freedom and the tool gripping part 6 which rotates together with the rotating mechanism 5 rotating around the part 4 and grips the tool such as a torch 10 is attached to the top end of said mechanism, thereby constituting the tool attaching mechanism of an automatic machine such as robot. A positioning mechanism which energizes balls 8 engaging with plural positioning holes 7 provided to the mechanism 5 by a pressing mechanism 9 consisting of springs, etc. is provided to the above-mentioned mechanism to position securely and easily the torch 10. The projection 11 for assisting rotation is provided to the above-mentioned part 6 so that the front end direction of the torch 10 is changed easily together with the mechanism 5 while the projection 11 is held pressed to the work, etc.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a tool mounting mechanism in an automatic machine such as a robot, and more specifically, to an end of a rotation auxiliary protrusion provided on a tool holding mechanism having a rotation mechanism. The tool is pressed against an object, and the tool is attached by moving a mechanism, and the tool is attached by rotating the mechanism to change the direction of the tool.The tool attachment of an automatic machine is related to the mechanism.

[Background of the invention]

In automatic machines such as robots, tools such as welding torches are attached to the tips of their arms. In order to freely change the direction of the tool, three independent rotating shafts are required to change the direction. However, if the wrist has many rotational axes, the wrist becomes too large, making it difficult to work with the wrist. In addition, since the weight of the tip increases, there are structural problems such as the need to increase the power source of the main body.

[Purpose of the invention]

The present invention has been made in view of the problems of the conventional structure described above, and an object of the present invention is to provide a tool mounting mechanism for an automatic machine that is small, lightweight, and capable of freely changing the direction of the tool.

[Summary of the invention]

The tool mounting mechanism of an automatic machine having an arm with at least six degrees of freedom includes a rotating mechanism that rotates the handle of a tool holding section attached to the tip of the arm, a tool gripping section attached to the rotating mechanism, and a tool holding section attached to the rotating mechanism. A positioning mechanism that is provided on the rotating mechanism and sets the rotating mechanism to a predetermined position according to the torque applied around the center line when the rotating mechanism is rotated; and a tool grip that is attached to the tip of the rotating mechanism and rotates together with the rotating mechanism. and a rotation auxiliary protrusion that is attached to the tool gripping part and presses against a surrounding object when changing the direction of the tool, and changes the direction of the tool tip together with the rotation mechanism. be.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a perspective view of a robot equipped with the tool attachment mechanism of the present invention, in which A is a base with a built-in drive source, B is a first arm, C is a support frame that supports arm B, and D is a is the second arm,
E is the wrist, F is the torch cable, and G is the welding torch.

Also, Figure 2 shows the wrist part in Figure 1.
The figure shows its operating state. Also, Figure 4 is similar to Figure 2 and 3.
It is a partially enlarged view of the figure.

In these figures, 1 is the robot arm with 3 degrees of freedom, 2 is the wrist bending axis, which is used to rotate the tool attachment mechanism around the central axis, and 03 is attached to the wrist bending axis 2. , is a swing axis that rotates in the direction of arrow H. Reference numeral 4 denotes a holding portion of the tool attachment mechanism, which is fixed to the swing shaft 6. Reference numeral 5 denotes a rotation mechanism, which rotates the holding part A by rotations 9. Reference numeral 6 denotes a tool gripping portion, which is attached to the tip of the rotating mechanism 5. Reference numeral 7 denotes a positioning hole provided at the other end of the rotation mechanism 5, and is provided on three sides with a phase of 90° in the circumferential direction. 8 is positioning hole 7
When a torque around the center line of the rotating mechanism 5 is applied from the outside, the pole is housed in a pole that moves between the three positioning holes 7 according to the direction.

Reference numeral 9 denotes a pressing mechanism for pressing the pole 8, which uses a spring to press the ball 8 in the direction of the positioning hole 7. This configuration is shown in the enlarged sectional view of FIG. 1[1
A welding torch is held by a tool gripping portion 6, and its wide tip is aligned with the center line of the rotating mechanism 5. 11
is a rotation auxiliary protrusion, and as shown in FIG. 3, the rotation mechanism 5
However, when rotating around the holding part 4, it helps to prevent it from getting in the way of other mechanical parts.

FIG. 3 is an explanatory diagram when the rotation mechanism 5 is rotated along the rotation of the holding part 4, and the posture (A) in FIG.
This is a view of the rotation mechanism 5 in FIG. 2 viewed from the rear, with the rotation auxiliary protrusion 11 pressed against the workpiece indicated by diagonal lines or an object 12 located in the vicinity, and the arm of the automatic machine shown in FIG. This is a state diagram in which the tool is rotated in the A direction and the tool attachment is moved without changing the posture of the holding part 4 of the mechanism.
0 is cut at the position of the tool gripping part 6, and the arm 11 of the automatic machine is bent at the bending axis 2. A part of the swinging axis 3 and the holding part 4 are omitted. A case where the swing shaft 3 is rotated and moved from the posture (a) to the posture (b) without changing the posture of the holding part 4 will be explained as follows.

That is, the movement from posture 0) to posture (b) is performed by driving the center of the rotation mechanism 5 to draw an arc around the rotation auxiliary protrusion 11.

In that case, the vertical movement distance in FIG. 3 is important, and the rotation auxiliary protrusion 11 must be maintained in a state where it is partially pressed by the object 12.

In FIG. 3, even in the posture (b), the posture of the holding portion 4' remains unchanged, so the ball 8' fixed thereto
, the posture of the pressing mechanism 9' is the same as posture (a). On the other hand, the postures of the rotating mechanism 5' and the tool gripping part 6'1 positioning hole 7' fixed thereto are shifted by 90 degrees. At the same time, the position 10 of the torch moves, and becomes in the state indicated by N.

In this way, in the state shown in FIG.
What was a masterpiece within the paper plane of the figure now becomes a masterpiece within a plane perpendicular to the paper plane of FIG. 2, centered on the center line of the rotation auxiliary projection 11.

Therefore, it is possible to attach a tool attachment mechanism to the tip of an arm of an automatic machine with five degrees of freedom, hold a bent torch 10 at the tip of the tool attachment mechanism, and change the direction of the torch 10 without a special power source. can.

When rotating the torch tip by applying an external force in this way,
Although deformation of each member is a problem, since the rotation auxiliary protrusion 11 is provided, the rotation protrusion 11 absorbs the deformation and prevents deformation of other parts.

In addition to the above-mentioned embodiments, there is also a method of using an electric motor or an air motor to change the direction of the tip of the torch 10, but this increases the weight of the tip and increases the capacity of the drive device on the automatic machine side. It's not a special plan. And, of course, it will also increase the price.

Furthermore, the attachment mechanism at the tip of the torch must be simple and compact in order to allow the torch to work inside a hollow part, but as shown in the same example, a mechanism without an actuator is difficult to protect. It is suitable for working in sections.

〔Effect of the invention〕

As is clear from the above-mentioned embodiments, according to the present invention, there are fewer rotating shafts in the wrist of an automatic machine. It is very useful for dogs in work.7.

Ru. Further, there are advantages such as the fact that the power of the drive source for the main body can be small.

[Brief explanation of the drawing]

The attached drawings are for explaining one embodiment of the present invention, and FIG. 1 is an overall perspective view of the robot, FIG. 2 is a configuration diagram of the wrist portion of FIG. 1, and FIG. FIG. 4 is a diagram for explaining the operating state. The ball pressing shown in FIG. 3 is an enlarged sectional view of the mechanical part. 1... Arm, 2... Wrist bending axis, 3... Shooting axis, 4
...Holding part of the tool mounting mechanism, 5...Rotation mechanism, 6.
...Tool gripping part, 7...Positioning hole, 8...Ball, 9...Pushing mechanism, 10...Torch, 11...
・Rotation auxiliary protrusion, 12 Fig. 1 2nd and a half 3 Fig. 4

Claims (1)

[Claims] Tool mounting in an automatic machine having an arm with at least three degrees of freedom includes a rotating mechanism that rotates around a tool holding section attached to the tip of the arm, a tool gripping section attached to the rotating mechanism, and a rotating mechanism that rotates around a tool holding section attached to the tip of the arm. a positioning mechanism that is provided on the mechanism and sets the rotation mechanism to a predetermined position according to the torque applied around the center line when the rotation mechanism is rotated; and a tool grip that is attached to the tip of the rotation mechanism and rotates together with the rotation mechanism. and a rotation auxiliary protrusion that is attached to the tool grip and presses against a surrounding object when changing the direction of the tool, and changes the direction of the tool tip together with the rotation mechanism. Tool installation is mechanical.