JPS6352985A - Exchanger for automatically mounting or dismantling tool in industrial robot - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION a. Field of Industrial Application The present invention relates to a changing device for automatic attachment and detachment of tools in an industrial robot, having the structure described in the generic concept of claim 1. .

b. Prior Art Such a switching device is disclosed in German Patent No. 342 of the Federal Republic of Germany.
1452. In this device, the rotational movement necessary to assemble the joint parts together is performed by rotation of the industrial robot to the last rotational axis, which is expensive. This axis of rotation, however, is not always necessary6, for example if the tools are only to be transferred by means of a gripper or to be transferred from a pallet to a working machine, for which a gantry robot is suitable. There is.

C1 Problem to be Solved by the Invention It is an object of the invention to improve switching devices of the known type so as to simplify the connection of the parts to be connected. That is, the object of the present invention is to provide an exchange device for tools, etc., which can be used even in industrial robots that do not have a rotation axis at the final stage.

d. Means for solving the problem The above problem can be solved by providing a coaxial worm wheel for the worm driven by a rocking motor in a rotatable ring, and placing this ring together with the drive in the transmission casing of the connecting element. This can be solved by supporting the shaft. The locking motor is not a drive device for an industrial robot as in known devices (it is simply a coupling element, so this locking motor is very small and therefore low in cost; It can be provided and pivoted directly on the connecting element.

For a blade-like stop that can be actuated by a displacer (solenoid) on the shaft of the locking motor to prevent the coupling from undesirably separating and thus increasing the degree of safety. Can install maintenance gear. In order to make it possible to operate the connection even after an interruption in the power supply, an attachment part that can be gripped with a tool can be attached to the end face of the shaft.

In an embodiment of the invention, on the arc in the connecting element,
A proximity sensor is arranged for the transmission tongue which is mounted on the rotatable ring.

The proximity sensor communicates the end of the formation or separation of the connection to the control panel, thus enabling the industrial robot for the next scheduled movement. In the base part, contact! One or more opening valves for the pressure means valves installed in the terminals can be provided. By using two of the aforementioned pressure means conduits in the connection consisting of the connecting element and the coupling part, actuation control valves are no longer necessary in grippers that can be connected to a variety of devices. If the actuation control valve is attached to the gripper, the actuation control valve will be located within the direct actuation range, which may cause an obstruction. The actuation control valve can be installed at a suitable location on the industrial robot. If four or more pressure means conduits are used, two or more grip modules can be operated independently of each other.

In order for the industrial robot to be able to accommodate a large number of different grippers, workpieces and tools on its own using changing devices, these are arranged on a magazine plate. For automatic storage, the mushroom-shaped locking element, which can be accommodated by a rotatable ring, has two oppositely located holes for rods, such as grippers, on the edge of the connecting plate.

The rod is configured to be slidable in the gripper against the force of a spring in the direction of the joint by pressing on the connecting element. The aforementioned magazine plate has a plurality of edge holes for the base plate of the gripper and edge recesses for the rods, connected to the edge holes and located oppositely.

The rod is guided by a rotation blocking member in a sleeve surrounding the spring. The rod has, on the sides not located opposite each other, a return jump to the top of the edge hole, which extends beyond the edge cutout. The connecting plate of the joint portion and the base plate of the gripper are inserted into the wall thickness reduction recess of the pressure magazine plate surrounding the edge hole.

EXAMPLES Next, the present invention will be explained in detail based on examples and with reference to the drawings.

A transmission staff 4 and a pressure means line 5 and a control line 6 are connected to a connecting element 1 for a coupling part 2, which is used for connecting a gripper 3 of an industrial robot. The changing device is driven by a locking motor which, as shown in FIG.
and drive.

FIG. 1 shows that the wormwheel 11 is part of a rotating sleeve 12 surrounding a ring 13 with bayonet teeth 14. FIG. After the connecting element 1 has been lowered into the coupling part 2 shown in FIG. engage. The rotary sleeve 12 is journalled via a rolling bearing 24 in a transmission housing 19 .
is surrounded by the casing 20 of the connecting element 1. The connecting element 1 has a proximity sensor 21 above the ring surface of the mushroom-shaped locking element 16, which detects via its transmission conductor that the mushroom-shaped locking element 16 has been introduced into the ring 13. Communicate to a computing device. ring 13
When the sensor rotates, the bent transmission tongue piece 23 attached to the ring 13 connects the other proximity sensors 22 and 22.
a and these proximity sensors 22 and 23
transmits the signal via the transmission conductor 4a. The proximity sensors 21, 22 and 22a are connected to the sensor support member 57.
installed on.

The mushroom-shaped locking member 16 has a flange 18 into which a standardized connecting plate 25 is screwed, and this connecting plate 25 uses its external attachment portion 26 to attach to the opening of the magazine plate 43 shown in FIG. It can be inserted into the section. This connecting plate 25 serves an internal fitting 27 for the connection of the gripper 3 shown in FIG. The connecting plate 25 further includes a first
It has a lonisopur 28 between the reservoirs of the valve 29 shown in the figure and connected to the pressure means conduit 5 mentioned above. The opening lonisoplue 28 opens the valve 29 when the connecting element 1 is placed on the coupling part 2. The connecting plate 25 has an introduction rod 30 shown in FIGS. 5, 8, and 9.
The connecting element 1 and the joint part (base part) 2 can be guided and centered in one piece via the guide sleeve 31 shown in FIG. double ii1
In order to avoid errors, one of the two introduction rods 30 has a chamfered surface. The connecting plate 25 has on its upper surface two accommodating members 32 for plugs 33, each having a replaceable socket terminal 34 for the electric wire and two centering studs 35, and are supported in a loosely fitted manner. For this socket terminal 34 shown in FIG.
has two socket throats 36 shown in FIG. The position of the plug 33 on the coupling plate 25 is shown in FIGS. 3 and 4.

FIG. 3 shows a V
TT is shown. For this purpose, the shaft has a maintenance gear 37, and the tooth grooves of this maintenance gear 37 are operated by a spring force.
A rotatable blade-like stopper 39 is engaged. This blade-like stopper 39 is rotatably supported on a bearing screw 40. When actuating the changing device, the blade stop 39 is rotated back against the spring force by the displacement device (solenoid) 38. The shaft 9 has a mounting slit 41 for rotational movement with a tool at the end of the guide sleeve of the maintenance gear 37 for rotational movement in the event of a power failure or other faults.
has. The tool is inserted through the hole 42 in the casing 20.

In order to have a plurality of joint parts with different grips 3 in reserve, a magazine plate 43, shown in FIGS. 12 to 14, is provided in the operating range of the industrial robot. This magazine plate 43 has a number of edge holes 44, each of which has a recess 45 for accommodating the external mounting portion 26 of the coupling plate 25. Recess 45 is shown in FIG. In order to prevent the coupling part 2 from undesirably disengaging from the edge hole 44, this edge hole 44 has two edge notches 46 slightly in front of the edge of the magazine plate 43.
exists. One of these edge notches 46 is shown enlarged thirteenth time. Edge hole 4
The base plate 3a of the Gritsuba 3 is inserted into both edge holes 46 of the Gritsuba 3.
The rod 47 guided into the contact hole 49 of the connecting plate 25 engages with the rod 47 . Each rod 47 is supported by passing upward from the spring 51 through a hole 49 in the connecting plate 25 . Furthermore, a rotation stopper 47a is attached to the lower end of the rod 47 to prevent the rod from rotating. The rotation blocking member 47a engages in a sleeve 50 located below the base plate 3a. When the connecting element 1 is placed on the coupling part 2, the casing 20
downwardly until the return jump 48 of the bar 47 reaches the level of the edge notch 46, as shown in FIG. Subsequently, the gripper 7 bar 3 is pushed out laterally through the edge hole 44 of the magazine plate 43 and the return jump 4 of the rod 47 is then pushed out.
8 slides along the top 44a of the edge hole 44.

When the joint part 2 is accommodated in the magazine plate 43, the adjustable switch stopper 52 of the gripper base plate 3a presses the switch 53 attached to the magazine plate 43 and shown in FIG. This switch 53 signals the arrival of the gripper 3 to the central control unit.

The industrial robot has a magazine plate 4 together with its connecting element 1 for accommodating the coupling part 2 by means of its grips 3.
moving over the joint part 2 which is housed in 3. In this way, the connecting element 1 is lowered. At that time, 1. the introduction rod 30 enters the guide sleeve 31,
2. The mushroom-shaped locking member 16 together with the opposing teeth 15,
into a ring 13 having insert teeth 14; 3;
The centering rod 35 and the plug terminal of the plug 33 enter into the socket 14; 4. the two opening pulls 28 open the two valves;
8 and all together to a position where it can be operated.

When the connecting element 1 approaches the joint part 2 in this way, the mushroom-shaped locking element 16 activates the proximity sensor 21, which subsequently detects that the connecting element 1 is close to the joint part 2.
This is transmitted to the central control unit, which subsequently switches on the locking motor 7. This locking motor 7 subsequently rotates the rotary sleeve 12 via the worm 10 and the worm wheel 11 and in this way also rotates the ring 13, the insert tooth 14 of this ring 13 being located below the counter tooth 15. reached and those documents press against each other. ring 13
The transmission tongue 23 attached to the arm approaches the proximity sensor 22 from below, and the proximity sensor 22 transmits the end of the rotational movement, thus allowing the industrial robot to
can be slid to the outside from the edge hole 44 of the magazine plate 43 by the gripper 3.

When the changing device is unlocked, the transmission tongue 23 reaches a further proximity sensor 22a from below, which signals the end of the separating operation.

The aforementioned insert teeth 14 and their counter teeth 15 have a slope angle of approximately 6 degrees. In this case, the surface properties of the sliding surfaces are such that the connection is still in the region of self-locking.

In FIG. 3 it can be seen that the three insert teeth 14 and the three opposing teeth 15 are each provided at an angle of slightly less than 60 degrees.

The connecting plate 25 of the gripper and the base plate 3a are connected to each other by screws 55 (FIG. 4).

The gripper 3 is centered on the gripper base plate 3a and is attached by screws 56 (FIG. 9).

[Brief explanation of the drawing]

Figure 1 is the cutting line of Figure 3! -1 cross-sectional view,
Figure 2 is a cross-sectional view of Figure 3 taken along cutting line ■-■;
3 is a bottom view of the exchanger, partially in section; FIG. 4 is a bottom view of the connectable gripping tool; FIG. 5 is a side sectional view of the coupling part of the exchanger; FIG. 6 is a side view of the joint portion with the gripper, and FIG. 7 is a side view of the joint portion with the gripper.
The top view seen from X', Figure 8 is the 6
Fig. 9 is a side sectional view taken along cutting line IX-IX of Fig. 6;
Figure 1O is a side cross-sectional view of Figure 3 taken along the cutting line 13 is an enlarged plan view of "Z" in FIG. 12, and FIG. 14 is a side sectional view of FIG. 13 taken along cutting line XIV-XIV. DESCRIPTION OF SYMBOLS 1... Connection element, 2... Base part (joint part), 3... Gripper, 3a... Base plate, 4... Transmission conductor, 5... Pressure means 4 pipes,
6...Control 4 wires, 7...Rocking motor, 8...Overload clutch, 9...Axle, 10...
・Worm, 11... Worm wheel, 12...
Rotating sleeve, 13... Ring, 14... Insert tooth, I5... Opposing tooth, 16... Mushroom-shaped locking member, 17... Transparent opening, I8... Flange, 1
9... Transmission device casing, 20... Casing, 21... Proximity sensor, 22... Proximity sensor, 23... Transmission tongue piece,
24... Rolling bearing, 25... Connection plate, 26
...External mounting part, 27...Internal mounting part, 28
...Opening valve, 29...Valve, 30...Introduction rod, 31...Guiding sleeve, 32...
Plug housing member, 33... Plug, 34... Plug-in terminal, 35... Centering stud, 36...
socket, 37... maintenance gear, 38... moving device, 39... blade-like stopper, 40...
Bearing screw, 4I...Iss slit, 42
...hole, 43...magazine plate, 44
...edge hole, 45...recess, 46...
Edge notch, 47... Rod, 47a... Rotating stopper member, 48... Return jumping portion, 49... Hole,
50... Sleeve, 51... Spring,
52... Switching stopper, 53... Switch, 54... Leading wire, 55... Screw,
56...Screw, 57...Supporting member.

Claims (1)

[Claims] 1. A changing device for automatically attaching and detaching tools in an industrial robot, wherein the last transmission element of the industrial robot is a connecting element for a joint part for attaching a gripper or the like. , wherein the connecting element and the coupling part are guided towards each other via a rotation blocking element in the approximating state and are connected to each other via an energy socket connection in the coupled state, and the connecting element and the coupling part are In an exchange device for automatic attachment and detachment of tools in an industrial robot, in which a ring for opposing teeth of a rotatable locking member having mushroom-shaped insert teeth of a joint portion is pivotally supported, the ring 13 is moved by a locking motor 7. Industrial, characterized in that it comprises a coaxial worm wheel 11 for the driven worm 10, said ring 13 together with its drive being journalled in a transmission casing 19 of said connecting element 1. A changing device for automatic attachment and detachment of tools in industrial robots. 2. Tool automation in an industrial robot according to claim 1, characterized in that an overload clutch 8 is provided between the rocking motor 7 and the worm and worm wheels 10, 11. Exchange device for attachment and detachment. 3. On the shaft 9 of the locking motor 7, a maintenance gear 37 for a blade-like stop 39 which can be actuated by a displacement device 38 is mounted, as claimed in claim 1. A changing device for automatic attachment and detachment of tools in industrial robots. 4. The maintenance gear 37 mounted on the shaft 9 is provided with a mounting slit 41 in its guide sleeve, which can be gripped by a tool. A changing device for automatic attachment and detachment of tools in the described industrial robot. 5. The patent is characterized in that a proximity sensor 21, 22 for a transmission tongue 23 mounted on the rotatable ring 13 on an arc is arranged in the connecting element 1. An exchange device for automatically attaching and detaching tools in an industrial robot according to claim 1. 6. characterized in that in the base part 2 one or more opening nipples 28 are installed for a valve 29 for the pressure means installed in said connecting element 1,
An exchange device for automatically attaching and detaching tools in an industrial robot according to claim 1. 7. The mushroom-shaped locking member 16 that can be accommodated by the rotatable ring 13 is attached to the gripper 3 on the edge of the connecting plate 25.
etc., with two opposing holes 49 for rods 47, said holes 49 being slidable in said gripper 3 against the force of spring 5 in the direction of the joint by pressing of said connecting element 1; a magazine plate 43 for the base plate 3a of the gripper 3 and a plurality of edge holes 44 for the rods 47 connected to the edge holes 44 and located opposite each other; It is characterized by having an edge notch 46,
An exchange device for automatically attaching and detaching tools in an industrial robot according to claim 1. 8. The rod 47 is rotated by the spring 51 by the rotation prevention member 47a.
8. Changing device for automatic attachment and detachment of tools in an industrial robot according to claim 7, characterized in that it is guided in a sleeve 50 surrounding the holder. 9. characterized in that said bar 47 has a return jump 48 for the top 44a of said edge hole 44 extending beyond said edge notch 46 on sides not facing each other; , an exchange device for automatically attaching and detaching tools in an industrial robot according to claim 7. 10. The magazine plate 43 surrounds the edge hole 44 and connects the connecting plate 25 of the base portion 2 and the base plate 3a of the gripper 3.
8. The changing device for automatic attachment and detachment of tools in an industrial robot according to claim 7, characterized in that it has a wall thickness reduction recess 45 for an external attachment portion 26 of the industrial robot.