JPS62264839A - Automatic tool exchanger - Google Patents
Automatic tool exchangerInfo
- Publication number
- JPS62264839A JPS62264839A JP10904386A JP10904386A JPS62264839A JP S62264839 A JPS62264839 A JP S62264839A JP 10904386 A JP10904386 A JP 10904386A JP 10904386 A JP10904386 A JP 10904386A JP S62264839 A JPS62264839 A JP S62264839A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- tools
- robot
- work
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/15546—Devices for recognizing tools in a storage device, e.g. coding devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、自動機における自動ツール交換装置に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to an automatic tool changer in an automatic machine.
この発明は、作業内容に応じて設けられた複数のツール
に、それぞれ識別手段を設けると共に前記作業内容に応
じて、ロボットの画像処理装置を介して前記ツールを自
動選択後、自動把持することによりツールの自動交換を
するようにしたものである。The present invention provides identification means for each of a plurality of tools provided according to the content of work, and automatically selects the tools via an image processing device of the robot according to the content of the work, and then automatically grips the tools. It is designed to automatically exchange tools.
１つのロボットに、種々の作業を行わせる場合、その作
業に応じたツールを選択し交換しなければならない、従
来ツールの選択、及び交換を自動でするためには、第３
図に示すようにツール識別用のセンサ、及び高精度のツ
ール位置決め機構を必要としていた。When one robot performs various tasks, the tool must be selected and replaced according to the task. Conventionally, in order to automatically select and replace tools, a third method is required.
As shown in the figure, a sensor for tool identification and a highly accurate tool positioning mechanism were required.
上記の様な自動ツール交換装置では、必要とするツール
の本数が多くなるとツール識別用のセンサも多く必要と
し、また、ツールの搬送位置決め機構が１１雑となり、
かつ高精度のものを必要とするという欠点を有していた
。In the automatic tool changer as described above, as the number of tools required increases, more sensors are required for tool identification, and the tool transport and positioning mechanism becomes complicated.
It also has the disadvantage of requiring high precision.
上記問題点を解決するためにこの発明は、自動ツール交
換装置において、識別手段を設けた複数のツール及びそ
の識別手段を認識し、ツールを自動選択する画像処理装
置とツールの自動把持機構を有するロボットの構成とし
て、ツールの自動交換をすることにより、自動ツール交
換装置の面素化を計った。In order to solve the above problems, the present invention provides an automatic tool changer that includes a plurality of tools provided with identification means, an image processing device that recognizes the identification means and automatically selects a tool, and an automatic tool gripping mechanism. As for the configuration of the robot, we aimed to simplify the automatic tool exchange device by automatically exchanging tools.
上記のように構成された自動ツール交換装置では、複数
のツールの識別手段、及び把持位置をロボットの画像処
理装置により認識し、作業に応じたツールを自動選択し
ツールの位置を求め、ツールの自動把持を行うことによ
り、多数のツール識別用センサ、及び高精度ツール位置
決め機構を不要とすることができる。In the automatic tool changer configured as described above, the robot's image processing device recognizes multiple tool identification means and gripping positions, automatically selects the tool according to the task, determines the tool position, and By performing automatic gripping, it is possible to eliminate the need for a large number of tool identification sensors and a high precision tool positioning mechanism.
以下に、この発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below based on the drawings.
第１図において、ロポソｌ−１にはツール自動把持機構
２と画像処理装置３が取付けられている。作業内容変更
時には、次作業に対応したツール４と交換するが、ロボ
ット１により画像処理装置３をツール上に移動させ、第
２図における識別手段のマーク９を認識する。ツールに
はあらかじめそのツールに対応した識別用マーク９が構
成されている。ツール上には、多数個の識別用マークを
構成することができるため、多数のツールを自動選択す
ることが可能となる。In FIG. 1, an automatic tool gripping mechanism 2 and an image processing device 3 are attached to Roposo 1-1. When changing the work content, the tool 4 is replaced with a tool 4 corresponding to the next work. The robot 1 moves the image processing device 3 over the tool and recognizes the mark 9 of the identification means in FIG. An identification mark 9 corresponding to the tool is configured in advance on the tool. Since a large number of identification marks can be formed on a tool, it is possible to automatically select a large number of tools.
ツールは、ツール搬送装置６の搬送用チェーン７に取付
けられたツールホルダー５に保持しておく。認識したツ
ールが要求のものでないときには、ツール搬送装置によ
りツールを搬送し、次のツールの識別手段のマークを認
識する。要求のツールを１２識するまで以上の動作を繰
り返す、要求のツールを認識した後、その認識データを
もとにツールの位置を求め、ツール自動把持機構をその
ツールに応じた位置に移動させ、ツールを自動把持し、
次作業を行う。The tools are held in a tool holder 5 attached to a conveyance chain 7 of a tool conveyance device 6. If the recognized tool is not the requested one, the tool is transported by the tool transport device and the mark of the identification means of the next tool is recognized. The above operations are repeated until the requested tool is recognized. After recognizing the requested tool, the position of the tool is determined based on the recognition data, and the automatic tool gripping mechanism is moved to a position corresponding to the tool. Automatically grips tools,
Perform the next task.
画像処理装置は、ロボットに取付けられているためツー
ルの自動交換後、作業対象ワークを画像処理装置により
認識して作業を行うことも可能である。Since the image processing device is attached to the robot, it is also possible to perform the work by recognizing the workpiece to be worked on after automatically exchanging the tools.
この発明は、以上説明したようにロボットの画像処理装
置によりツールの識別手段を１３熾し、ツールの自動選
択及び自動把持を行うことにより、専用の識別用センサ
とツール位置決めａｔｉを不要としており、ツール上に
は多数個の識別手段を設けること力くできるため、多数
のツールの自動選）尺が可能となる。また、ツール本数
が多く、ロボットの可動エリア外にツールを設置する場
合にも、簡単な搬送装置のみでツールの自動交換が可能
である。更に、画像処理装置をロボットに取付けたこと
により、その画像処理装置により作業対象ワークを認識
して作業を行うことも可能である。As explained above, this invention eliminates the need for a dedicated identification sensor and tool positioning by using the image processing device of the robot to identify the tool and automatically select and grip the tool. Since it is possible to easily provide a large number of identification means on the top, automatic selection and measurement of a large number of tools becomes possible. Furthermore, even when there are a large number of tools and the tools are installed outside the robot's movable area, automatic tool exchange is possible using only a simple transport device. Furthermore, by attaching an image processing device to the robot, it is possible to recognize the workpiece to be worked on and perform the work using the image processing device.
第１図は、この発明にかかる自動ツール交換装置の平面
図、第２図はツールの斜視図、第３図は従来の自動ツー
ル交ｔｆｉ装置の縦断面図である。
１・・・ロボット ２・・・自動把持機構３・・・画像
処理装置
４・・・ツール ９・・・識別手段マーク１０・・・
ツール識別用センサ
１１・・・ツール位置決め機構
以上FIG. 1 is a plan view of an automatic tool changer according to the present invention, FIG. 2 is a perspective view of the tool, and FIG. 3 is a vertical sectional view of a conventional automatic tool changer TFI device. 1... Robot 2... Automatic gripping mechanism 3... Image processing device 4... Tool 9... Identification means mark 10...
Tool identification sensor 11...More than tool positioning mechanism
Claims (1)
前記識別手段を介して、ツールを自動選択し、ツールの
把持位置を認識する画像処理装置と、ツールの自動把持
機構とを有するロボットから成り、前記画像処理装置で
ツールの識別手段を認識した後、作業に必要なツールを
自動選択把持するようにした事を特徴とする自動ツール
交換装置。From a robot having a plurality of tools formed with identification means according to the work, an image processing device that automatically selects a tool and recognizes a gripping position of the tool via the identification means, and an automatic tool gripping mechanism. An automatic tool changer characterized in that, after the image processing device recognizes the tool identification means, the tool necessary for the work is automatically selected and held.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10904386A JPS62264839A (en) | 1986-05-13 | 1986-05-13 | Automatic tool exchanger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10904386A JPS62264839A (en) | 1986-05-13 | 1986-05-13 | Automatic tool exchanger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62264839A true JPS62264839A (en) | 1987-11-17 |
Family
ID=14500157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10904386A Pending JPS62264839A (en) | 1986-05-13 | 1986-05-13 | Automatic tool exchanger |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62264839A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0345595A2 (en) * | 1988-06-06 | 1989-12-13 | Friedrich Deckel Aktiengesellschaft | Tool-lamping device for a digitally controlled manufacturing system |
| WO2017218826A1 (en) * | 2016-06-15 | 2017-12-21 | Hexagon Metrology, Inc. | CMM Apparatus for Identifying and Confirming the Stylus |
-
1986
- 1986-05-13 JP JP10904386A patent/JPS62264839A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0345595A2 (en) * | 1988-06-06 | 1989-12-13 | Friedrich Deckel Aktiengesellschaft | Tool-lamping device for a digitally controlled manufacturing system |
| EP0345595A3 (en) * | 1988-06-06 | 1991-01-02 | Friedrich Deckel Aktiengesellschaft | Tool-lamping device for a digitally controlled manufacturing system |
| WO2017218826A1 (en) * | 2016-06-15 | 2017-12-21 | Hexagon Metrology, Inc. | CMM Apparatus for Identifying and Confirming the Stylus |
| US10458772B2 (en) | 2016-06-15 | 2019-10-29 | Hexagon Metrology, Inc. | CMM apparatus for identifying and confirming the stylus |
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