JPS6351832B2 - - Google Patents

Description

Detailed Description of the Invention [Industrial Application Field] The present invention relates to a power tool that is fixed to one end of an industrial robot or the like having an arm or table that is driven by a motor and moves to a predetermined position to perform a predetermined work. The present invention relates to a tool holding device.

[Prior art]

Recently, versatile industrial robots used in assembly work for high-mix, low-volume production have been attracting attention. Various work units have been developed. With the development of this type of work unit, in order to further increase the versatility of industrial robots, the work tools attached to one end of the industrial robot are configured to be replaceable for each work position, making it possible to handle a wide variety of tasks. It is configured as follows. Generally, the work tool attachment part at one end of this type of industrial robot is provided with a clamping part that opens and closes by the operation of a cylinder.While this clamping part closes and clamps the desired work tool, the cylinder can be opened and closed as necessary. is configured to move back and open the tip of the clamping part so that the working tool can be replaced. Further, the working tool in the standby position is held by a hanger part that opens and closes by the operation of the cylinder and is held by the tool holding device.

[Problem that the invention seeks to solve]

This type of industrial robot requires a clamping part to fix the work tool on the industrial robot side, and
Two cylinders are required, one to operate this and the other to operate the hanger part to hold the work tool in the standby position, which only complicates the attachment part of the work tool at one end of the industrial robot. Furthermore, when replacing this working tool, the two cylinders must be operated in a predetermined sequence, and a control device is required, resulting in disadvantages such as increased cost of the industrial robot.

[Means for solving problems]

The present invention aims to eliminate the above-mentioned drawbacks.
A hanger stand is arranged on the support frame. A mounting base is fixed to the hanger base at a predetermined interval below the hanger base, and a pair of hanger portions are rotatably attached to the hanger base with their tips positioned downward. Furthermore, a small cylinder is fixed to the hanger stand with the rod facing downward;
The upper end of the hanger portion is connected to this rod so as to constitute a link mechanism. Further, the small cylinder is configured to constantly extend its rod to open the upper end of the hanger portion and close the lower end.

On the other hand, the hanger section holds a work tool 20 having a horizontally extending collar, and the work tool has a top end located at a position to be held by the hanger section and a tool stand cut horizontally. A pair of chuck pawls having lower ends that clamp the clamped portion are rotatably attached around the pin. The lower end of this chuck claw protrudes below the mounting surface of the work tool and is biased in the closing direction by a spring, and the upper end of this chuck claw is held by the hanger part so that its tip is in an open state. configured to be retained.

[Effect]

When the work tool is held between the hangers,
The hanger part holds the upper end of the chuck claw attached to the working tool, and the lower end of the chuck claw is held open. In this state, the tool stand of the industrial robot approaches, the small cylinder is operated, and the lower end of the hanger opens and separates from the working tool. At the same time, the lower end of the chuck claw closes due to the elastic force of the spring and grips the clamped portion of the tool stand, thereby fixing the work tool to the tool stand.

In addition, when removing the work tool from the mounting part, after the work tool moves to the lower position of the hanger part, the small cylinder moves back, the lower end of the hanger part closes and the work tool is clamped, and at the same time the chuck claw Grasp the top edge of the Therefore, the lower end of the chuck claw is opened and detached from the mounting portion, and the working tool can be detached from the industrial robot side.

〔Example〕

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below regarding a tool holding device for an orthogonal coordinate type industrial robot. 1st
In the figures and FIG. 2, reference numeral 1 denotes an X-axis unit provided in the X-axis direction on a horizontal plane, and a screw shaft 3 that is rotatable and driven by a motor 2 is horizontally arranged in this X-axis unit 1. ing. An X-unit stand 4 is disposed on the screw shaft 3 and moves as the screw shaft rotates.
The lower end of this X-unit stand 40 is guided by a track rail 5a fixed to the X-axis unit 1. A frame 7 of a Z-axis unit 6 is fixed upright to the X-unit base 4, and a right-handed first screw shaft 8 and a left-handed second screw shaft 9 are rotatably attached to the frame 7. They are arranged in parallel. This first screw shaft 8 and second screw shaft 9
Sliders 10a and 10b are arranged on each of the sliders 10a and 10b, which move up and down as the sliders rotate, and a tool mount 11 is fixed to each of the sliders 10a and 10b. This tool mount 11 is a track rail 5b fixed to the side surface of the frame 7.
The tool mounting base 11 is configured to be slidably guided by the frame 7 and moved up and down along the frame 7 by the rotation of the first screw shaft 8 and the second screw shaft 9. Furthermore, the sliders 10a and 10b are arranged in vertically symmetrical positions, and their weights are also approximately equal.

A driven pulley 12 is fixed to the upper ends of the first screw shaft 8 and the second screw shaft 9 so as to be located on the same plane. on the other hand,
A Z-axis motor 14 as a driving source is attached to the side surface of the frame 7 via a bracket 13.
This Z-axis motor 14 has a drive shaft 14a above, and a drive pulley 15 is fixed to the upper end of the drive shaft 14a so as to be located on the same plane as the driven pulley 12. Moreover, this driving pulley 15 and driven pulley 1
A belt 16 is wound between the Z-axis motor 14 and the first Z-axis motor 14 via the driven pulley 12.
It is configured to be transmitted to the screw shaft 8 and the second screw shaft 9.

A cylinder 17 forming a part of the working unit is fixed to the upper surface of the tool mount 11 so as to extend horizontally, and its rod (not shown)
A horizontally extending tool stand 18 is connected to.
As shown in FIG. 3, a track rail 5c is fixed to the lower surface of the tool stand 18, and is configured to move along a bearing 31. Furthermore, two guide pins 19 are installed above the tool stand 18 at a predetermined interval, and these guide pins 19 fit into guide holes 21 drilled in a working tool 20, which will be described later. , is configured to position the working tool 20.
In addition, a clamped part 22 is cut into the tool stand 18 and is located between the guide pins 19, and this is clamped by a chuck pawl 23 attached to the work tool 20, and the chuck pawl 23 also holds the clamped part 22. is configured to engage.

A working tool 20 is held horizontally on the tool stand 18, and the working tool 20 has a horizontally extending collar portion 20a on the upper portion of which a hanger portion 29, which will be described later, can be engaged with. The working tool 20 includes:
As shown in FIG.
A pair of chuck pawls 23 are attached at positions corresponding to the pins so as to be rotatable about the pin and biased toward closing the lower ends thereof. This chuck nail 2
3 is arranged so as to extend in the same direction as the hanger part 29, and its upper end is held by the hanger part 29 and its lower end is held in an open state. It is located so as to protrude below the surface, and is configured to be able to grip the clamped portion 22 of the tool stand 18 and to be able to engage with the tool stand 18 . Further, the working tool 20
The mounting surface of is configured to be in close contact with the tool stand 18, and the guide pin 1 is attached to this mounting surface.
A guide hole 21 is bored corresponding to the hole 9.

On the other hand, above the Z-axis unit 6, a support frame 25 of the tool holding device 24 is arranged. This support frame 25 has a first cylinder 26
is fixed, and its rod 26a is positioned below. This rod 26a
A hanger stand 27 is fixed to and is configured to be able to move up and down. A mounting base 28 is fixed at a predetermined interval below the hanger base 27 so as to move together with the hanger base 27.
A pair of hanger parts 29 are rotatably attached around a pin. A plurality of small cylinders 30 are fixed to the hanger stand 27 with their rods 30a positioned below.
The hanger portion 2 is configured to form a link mechanism.
The upper ends of 9 are connected. Said small cylinder 30
The rod 30a is constantly extended and the hanger part 29
The top end is open and the bottom end is closed. Further, the hanger portions 29 are configured to hold different types of work tools 20, respectively, and to engage with flange portions 20a provided on both sides of the work tools 20.

In the tool holding device for the industrial robot described above, when a desired work tool 20 is to be fixed to the tool mount 11, the tool mount 11 is positioned at the uppermost position as shown in FIG. 5a. At the same time, the tool mount 11 of the Z-axis unit 6 is moved to below the desired working tool 20. From this state, the first cylinder 26 is activated and the hanger stand 27 is lowered to a predetermined position. At this time, the work tool 20 is placed on the tool mount 11 as shown in FIG. After that, the small cylinder 30 is activated, and the hanger part 2 is positioned so that the lower end is closed.
At the same time as 9 opens, the hanger portion 29 separates from the upper end of the chuck claw 23. Therefore, the lower end of the chuck pawl 23 closes due to the elastic force of the spring 32 and grips the clamped portion 22 of the tool stand 18, and the work tool 20
is fixed to the tool stand 18.

After installing the work tool 20, the work tool 20 is aligned with a predetermined working position. After that, Sirin 17
is activated, the work tool 20 is activated, and the predetermined work is completed.

On the other hand, when removing the working tool 20, the tool mounting base 11 on the side to be replaced is positioned at the uppermost position. At the same time, the Z-axis unit 6 is positioned below the hanger portion 29 whose lower end is open. From this state, when the first cylinder 26 operates, as shown in FIG.
The hanger stand 27 is lowered as shown in FIG. after that,
When the small cylinder 30 operates, the hanger portion 29, which is a link mechanism, closes. At the same time, the hanger part 29 engages with the collar part 20a of the working tool 20, and the chuck claw 2 attached to the working tool 20
3, the lower end of the chuck pawl 23 opens, and the chuck pawl 23 grips the clamped part 2 of the tool stand 18.
Leave from 2. In this state, the first cylinder 26
When the tool 20 moves back, the working tool 20 is separated from the tool stand 18, held by the hanger portion 29, and stands by at a predetermined position.

[Effects of the Invention] As explained above, the present invention grips a work tool with the hanger part that opens and closes when the cylinder is operated, and at the same time grips the upper end of the chuck pawl attached to the work tool with the hanger part, and holds the lower end of the chuck pawl. Since it is configured to open against the spring, it can be used when securing a power tool to one end of an industrial robot.
By simply operating the cylinder and opening the hanger part, the chuck claw can grip one end of the industrial robot by the elastic force of the spring. This eliminates the need for a single cylinder, which simplifies the structure of the work tool attachment part of the industrial robot, which not only makes it possible to provide an inexpensive industrial robot, but also eliminates the need for one cylinder when replacing the work tool. Therefore, the control circuit becomes extremely simple, and there are advantages such as being able to provide an inexpensive device.

[Brief explanation of drawings]

Fig. 1 is a cross-sectional view of the main part of the present invention, Fig. 2 is a cross-sectional view of the main part along line A-A in Fig. 1, and Fig. 3 is a state in which the work tool according to the present invention is attached to an industrial robot. Fig. 4 is an enlarged cross-sectional view of the main part showing B- in Fig. 3.
FIG. 5, which is a sectional view of the main part taken along line B, is an operational diagram of the present invention. 1...X-axis unit, 2...Motor, 3...Screw shaft, 4...X-unit stand, 5a,
5b, 5c... Track rail, 6... Z-axis unit, 7... Frame, 8... First screw shaft, 9... Second screw shaft, 10
a, 10b...Slider, 11...Tool mounting base, 12...Driven pulley, 13...Bracket,
14...Z-axis motor, 14a...drive shaft, 15...
...Drive pulley, 16... Belt, 17... Cylinder, 18... Tool stand, 19... Guide pin, 20...
...Work tool, 20a...Brim part, 21...Guide hole, 22...Pinched part, 23...Chick claw, 2
4... Tool holding device, 25... Support frame, 2
6...first cylinder, 26a...rod, 27...
...Hanger stand, 28...Mounting stand, 29...Hanger part, 30...Small cylinder, 30a...Rod, 3
1...Bearing, 32...Spring.

Claims (1)

[Claims] 1. A hanger stand 27 is arranged on the support frame 25,
A mounting base 28 is fixed to the hanger base 27 at a predetermined interval below the hanger base 27, and a pair of hanger parts 29 are rotatably attached to the mounting base 28 with their tips positioned downward. The small cylinder 30 is fixed so that its rod is positioned downward, and the upper end of the hanger portion 29 is connected to this rod 30a to form a link mechanism, and the rod 30a of the small cylinder 30 is constantly extended. The upper end of the hanger part 29 is opened and the lower end thereof is closed.
0a, and the working tool 20 has an upper end at a position where it is held between the hanger parts 29 and a lower end which holds a held part 22 cut into a horizontally extending tool stand 18. A pair of chuck pawls 23 are attached rotatably around a pin, and the lower ends of the chuck pawls 23 are attached to the power tool 2.
0, the lower end of the chuck pawl 23 is biased in a closing direction by a spring 32, and the upper end of the chuck pawl 23 is held between the hanger portion 29. holding device.