KR101114626B1 - Tool replacing device - Google Patents

Abstract

This invention is a tool replacement apparatus which has a case member, and in the case member, the engagement ball supported between the holding member and the movable member is engaged with the engagement ball by the extrusion surface formed in the movable member which is urged by the 2nd spring. It protrudes in this holding member, and a tool can be engaged. In addition, by pressing the movable member against the biasing force of the second spring, the engaging ball can be moved into the movable member. Moreover, since the impact sensor which detects the movement distance of the holding member which hold | maintains a tool is provided, the collision of a tool etc. can be detected. According to the tool replacing device of the present invention, even if the power supply is stopped, the tool can be held, the tool can be easily attached and detached, and the accuracy of the operation of the robot arm for moving the tool can be improved.

Description

TOOL REPLACING DEVICE}

TECHNICAL FIELD This invention relates to the tool replacement apparatus mounted in an industrial robot apparatus. Specifically, It is related with the hollow tool (cylindrical) tool replacement apparatus provided with an impact sensor.

In an industrial robot apparatus for performing welding and cutting operations, various tools such as a welding torch and a cutting tool are attached to a tool holder located at the tip of the robot arm to perform welding or cutting.

Here, in the welding and cutting operation by the industrial robot device, since the tool contacts and collides with the work object, there is a problem that damage such as a welding torch) or load is applied to the robot device.

For example, as shown in Japanese Patent Laid-Open No. 1993-192890, contact and collision of the tool not only damages the welding torch, but also the tool mounted by positioning the mounting position with respect to the tool holder. There was a problem of being out of order.

If the mounting position of the tool is displaced, accurate work cannot be performed. Therefore, the work is interrupted and the work is carried out again to position and mount. In addition, since the mounting work was also fixed to the tool holder with a bolt or the like, attachment and detachment were not easy.

Concerning the problems such as contact and collision of the tool described above, a structure is known in which an impact sensor is attached to the tip of the robot arm so as to detect the contact and collision of the tool and to improve it.

In addition, Japanese Unexamined Patent Publication No. 1997-330125 provides a plurality of springs in a tool holder for connecting a welding torch or the like, in order to prevent misalignment of the mounting position of the tool due to contact or collision. Disclosed is a tool holder for absorbing and correcting errors.

On the other hand, in Unexamined-Japanese-Patent No. 2003-117868, in order to facilitate attachment and detachment, invention regarding the holder which used pressurized air is disclosed with respect to installation of a tool.

Here, it is preferable that a tool such as a welding torch mounted on the robot arm has a large weight and that the welding torch or the like is disposed on the axis line in the longitudinal direction of the robot arm in order to accurately move the welding torch or the like with respect to the position to be moved. .

However, according to Japanese Patent Laid-Open No. 1997-330125, since the holder has a spring that absorbs an error in position and inclination, the holder is inserted into the holder to hold the tool, that is, the robot arm is held. It could not be accommodated inside, and the tool had to be seen from the outside of the robot arm.

Therefore, there is a problem that the tool cannot be disposed on the longitudinal axis of the robot arm, and the accuracy of the operation of the robot arm for moving a tool such as a welding torch is impaired.

Moreover, in order to attach a tool with a screw or a bolt, the problem that attachment / detachment of a tool becomes complicated is not solved.

According to Japanese Patent Application Laid-Open No. 2003-117868, the engagement of a ball (see "ball 47" in FIG. 1) to a tool plate (see "tool plate 30" in FIG. 1) by pressurization by air. As a result, since the tool is held, the supply of pressurized air is stopped when the supply of electric power is stopped due to a power failure or the like, the tool plate is disengaged from the ball, and the welding torch and the like are separated from the tool holder. There is.

In addition, according to Japanese Patent Laid-Open No. 2003-117868, in the case where a welding torch or the like is detached from the tool holder, even if a fail safe mechanism is provided, when the pressurization by air is stopped, the ball and the tool Since the plates do not engage, the problem that the welding torch or the like is displaced from the positioning position where the tool holder is positioned can not be solved.

Moreover, in the conventional hollow holder, there was no holder provided with the impact sensor.

In view of the above problems, the present invention can detect a collision of a tool and the like, and even if the supply of power stops, the tool can be held, and the tool can be easily attached and detached, and the robot arm for moving the tool is provided. To provide a tool replacement device that can improve the accuracy of the operation is to be eliminated.

In order to solve the said subject, the tool replacement apparatus of this invention which concerns on the 1st invention is a tool replacement apparatus in which the mounting hole is formed in the front-end | tip side into which a tool is inserted, and a base end is attached to the front-end | tip part of a robot arm. The tool changer includes a substantially cylindrical case member having a first extension portion, a second extension portion, and a third extension portion extending toward the inner diameter side between the tip side, the proximal side, and the proximal side and the proximal side; A substantially cylindrical holding member which is positioned inside the case member and extends toward the inner circumferential surface of the case member between the second extension portion and the third extension portion, and is located on the tip side of the holding member; And a fifth extension portion supported between the holding member and the case member and extending toward the inner circumferential surface of the case member between the first extension portion and the third extension portion. And a substantially cylindrical movable member, wherein the case member is configured to move the holding member in the cylindrical axial direction of the case member via a first elastic body between the second extension portion and the fourth extension portion. At the same time, the movable member is movably supported in the cylindrical axial direction of the case member via a second elastic body between the third extension portion and the fifth extension portion, and the proximal end side of the third extension portion. An end face is provided with an impact sensor which contacts the fourth extension part and detects movement of the holding member, and supplies a fluid to a proximal end end face of the fifth extension part to a proximal end end face of the first extension part. And a fluid supply hole for moving the movable member in a direction opposite to the direction of the biasing force of the second elastic body, wherein the holding member is provided with the movable member. A protruding hole is formed in which the engaging ball held in the protruding portion can protrude on the inner circumferential surface side of the holding member, and the movable member has a front end side end surface of the fifth extension portion that is attached to the second elastic body. When contacted with the proximal end surface, the fluid has an extrusion surface which projects the engaging ball from the protruding hole toward the inner peripheral surface side of the holding member by contacting the inner peripheral surface of the movable member facing the engaging ball. The movable member facing the engagement ball when the fifth extension part is pressed against the bias of the second elastic body by the fluid supplied from the supply hole and the movable member moves to the base end side. On the inner circumferential surface of the groove portion is formed a groove portion for receiving and engaging the engaging ball from the protruding hole toward the inner circumferential surface side of the movable member. have.

According to the above-described configuration, the tool can be held in the tool changer by inserting a tool such as a welding torch into the holding member positioned in the case member, and engaging the engaging part of the tool and the engaging ball projecting into the holding member. .

Therefore, the tool held by the tool replacing apparatus can solve the problem of being located on the longitudinal axis of the robot arm and impairing the accuracy of the operation of the robot arm.

Moreover, according to the said structure, since the impact sensor arrange | positioned at the case member is in contact with a holding member, when a holding member which hold | maintains a tool moves to the base end side as the tool contacts an external member, an impact sensor By detecting the movement of the holding member, it is possible to detect that the tool is in contact with an external member.

In addition, since the projecting surface of the movable member presses the engagement ball member so that the engaged portion of the tool and the engagement ball member engage, the tool can be held in the holding member even when the power supply is stopped. The problem that the position is out of shift also does not occur. In addition, the tool is detached from the tool by simply pressing the movable member with a fluid against the bias force of the second spring to move the engaging ball member to the outside of the retaining member, and the tool can be detached. Easily removable.

MEANS TO SOLVE THE PROBLEM In order to solve the said subject, the tool replacement apparatus of this invention which concerns on the 2nd invention is provided with the tool replacement apparatus in which the mounting hole of the said tool is formed in the front-end | tip side into which a tool is inserted, and the base end is attached to the front-end | tip part of a robot arm. The tool replacement device includes: a substantially cylindrical case member having a first extension portion and a second extension portion extending in the outer diameter direction on a tip end side and a base end side; and a proximal end side located on a tip end side of the case member. A third extension that extends toward and positioned between the first extension and the second extension of the case member, a fourth extension that extends toward the inner diameter side, and the third extension Between the part and the 4th extension part, the substantially cylindrical holding member provided with the 5th extension part extended to an inner diameter side, located inside of the said holding member, and toward the outer diameter side between the front end side and the base end side. And a movable member having a sixth extension portion extending and positioned between the fourth extension portion and the fifth extension portion, wherein the case member includes a first member between the second extension portion and the third extension portion. The third extension portion of the holding member, which is supported by the holding member so as to be movable in the cylindrical axial direction of the case member, is disposed on the distal end side end surface of the second extension portion and moves in the cylindrical direction via an elastic body. It is provided with the impact sensor which detects the movement of the said holding member by contacting a base end side end surface, The said holding member interposes a 2nd elastic body between the said 5th extension part and the 6th extension part, The movable member is movably supported in the cylindrical axial direction of the holding member, and the proximal end of the sixth extension is provided at the proximal end of the fourth extended portion. The fluid supply hole which supplies a fluid to a side surface, and moves the said movable member in the direction opposite to the direction of the secondary force of a 2nd elastic body is formed, The 7th extension part extended from the inner diameter side end surface of the said 5th extension part to the front end side is formed. The seventh extension part has a protruding hole in which the engagement ball held between the movable member can protrude to the inner peripheral surface side of the holding member, and the movable member is formed in the second elastic body. The engaging ball is brought into contact with the inner circumferential surface of the movable member opposite to the engaging ball when the distal end side end face of the sixth extension part that is urged comes into contact with the proximal end end face of the fourth extension part. It has an extrusion surface which protrudes to the inner peripheral surface side of the said holding member from the said, and the fluid supplied from the said fluid supply hole makes the said When the 6th extension part is pressed against the bias of the said 2nd elastic body, and the said movable member moved to the said base end side, the said engagement ball moves from the said protruding hole to the inner peripheral surface of the said movable member which opposes the said engagement ball. The groove part which moves and accommodates in the inner peripheral surface side of a member is formed.

According to the above-described configuration, the tool is replaced with a tool by inserting a tool such as a welding torch into a holding member positioned at the front end side of the case member and engaging with the engagement ball protruding into the engaged portion and the holding member of the tool. It is possible to look on.

Therefore, the tool held by the tool replacing apparatus can solve the problem that it is located on the longitudinal axis of the robot arm, and impairs the accuracy of the operation of the robot arm.

Moreover, according to the said structure, since the impact sensor is arrange | positioned between a case member and a holding member, when a holding member which hold | maintains a tool moves to the base end side by contacting an external member by a tool, an impact sensor By detecting the movement of the holding member, it is possible to detect that the tool is in contact with an external member.

In addition, since the protruding surface of the movable member presses the engagement ball member so that the engaged portion of the tool and the engagement ball member engage, the tool can be held even when the power supply is stopped, and the mounting position of the tool is shifted. There is no problem to say. In addition, when the tool is separated, the engagement ball member moves to the outside of the holding member and the tool can be detached by merely pressing the movable member with a fluid against the side force of the second spring. Easily removable.

In the tool replacement apparatuses of the first and second inventions, the first elastic body and the second elastic body are springs, and the springs may be arranged at predetermined intervals along the circumferential direction of the case member.

In the tool changer according to the above configuration, the tools can be engaged using the force of the mechanical force such as a spring.

According to the tool replacement device according to the present invention, it is possible to detect a collision of a tool or the like, and even if the power supply is stopped, the tool can be held, the tool can be easily attached and detached, and the robot arm for moving the tool is provided. The accuracy of the operation can be improved.

Next, a tool changer according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7. 1 is a side view which shows the industrial robot apparatus which hold | maintained the welding torch. 2 is a perspective view showing a tool changer. 3 is a cross-sectional view taken along the line A-A of the tool replacement device shown in FIG. 2. 4 is an enlarged cross-sectional view of a portion of the frame B of the tool changer shown in FIG. 3. 5 is a perspective view illustrating a method of inserting a welding torch with respect to a tool changer. 6 is an enlarged cross-sectional view illustrating a process of engaging a welding torch and a tool changer. 7 is a view showing a process in which the holding member returns to its original position.

As shown in FIG. 1, the industrial robot apparatus 100 is provided with the tool changer 1 in the front-end | tip of the robot arm 2 which can move freely in a 6-axis direction, and the tool changer 1 The welding torch 3 is held by this.

The robot arm 2 rotates the joint part of each arm in the direction of the arrow shown in FIG. 1, and determines the welding torch 3 held by the tool replacement device 1 at the distal end in the three-dimensional space. You can move it to the position of.

Moreover, the inside of the robot arm 2 is formed in hollow, and the welding wire and the cable 4 are inserted.

The welding torch 3 held by the tool changer 1 is a tool for performing arc welding or the like on an object to be processed. The power, shield gas, cooling water and welding wire supplied to this welding torch 3 are supplied via a cable 4 inserted into the robot arm 2.

Next, the tool replacement apparatus 1 is demonstrated with reference to FIGS.

As shown in FIG. 2, the tool replacement device 1 has a cylindrical case member whose proximal end is attached to the tip end side of the robot arm 2 and the mounting hole 11 is formed from the distal end side to the proximal end side ( 10), the cylindrical holding member 20 located inside the case member 10, and the movable member 30 positioned between the case member 10 and the holding member 20 are provided.

Moreover, the engagement ball 29 is hold | maintained between the holding | maintenance member 20 and the movable member 30 so that it may protrude toward the inner peripheral surface side of the holding member 20, and this engagement ball 29 is a holding member 20. The welding torch 3 is configured to be held by the holding member 20 by projecting toward the inner circumferential surface side and engaging with the engaged portion of the welding torch 3 inserted into the holding member 20.

In addition, the case member 10 is provided with the impact sensor 40 (refer FIG. 3) which detects the movement of the holding member 20. As shown in FIG. The case member 10 supports the holding member 20 so as to be movable in the cylindrical direction by the first spring 26 described later, and the movable member 30 in the cylindrical direction by the second spring 39. I support it to be movable.

As shown in FIG. 3, the case member 10 is substantially cylindrical, The 1st extension part in which the mounting hole 11 which can insert a tool is formed from the front end side to the base end side, and extends toward an inner diameter side. 12a, 2nd extension part 12b, and 3rd extension part 12c are formed along the circumferential direction. Moreover, the flange 19 attached to the front-end | tip of the robot arm 2 is formed in the base end of the case member 10. As shown in FIG.

As shown in FIG. 4, the 1st extension part 12a is a site | part which extended the inner peripheral surface of the case member 10 toward the inner diameter side at the front end side of the case member 10, and this 1st extension part The inner diameter of 12a is formed with the diameter substantially the same as the outer diameter of the front end side of the movable member 30 mentioned later.

Moreover, the pressurized air supply hole 51 mentioned later is formed in the base end side end surface of the 1st extension part 12a. This pressurized air supply hole 51 may be a structure continuously formed in the circumferential direction, or a structure formed at predetermined intervals in the circumferential direction.

The 2nd extension part 12b is the site | part which extended the inner peripheral surface of the case member 10 toward the inner diameter side in the base end side of the case member 10, and is formed continuously in the circumferential direction. Moreover, the inner diameter of this 2nd extension part 12b is formed with the diameter smaller than the inner diameter of the holding member 20. As shown in FIG.

Moreover, the 1st spring deep hole 14 which is the groove | channel formed toward the base end side at the front end side end surface of the 2nd extension part 12b is formed plurally annularly at predetermined intervals in the circumferential direction centering on a cylindrical axis. It is. One end side of the first spring 26 is fixed to the first spring deep hole 14. In addition, although the coil spring uses the 1st spring 26 which concerns on embodiment, a leaf spring may be sufficient.

The third extension part 12c is a portion where the inner circumferential surface of the case member 10 extends continuously in the circumferential direction toward the inner diameter side between the front end side and the proximal side of the case member 10. The inner diameter of the extension part 12c is formed larger than the outer diameter of the holding part 21 of the holding member 20 mentioned later.

Moreover, the 2nd spring deep hole 17 which is the groove | channel formed toward the base end side is annularly formed in the cylindrical shaft center at the front end side end surface of the 3rd extension part 12c. One end side of the plurality of second springs 39 is fixed to the second spring deep hole 17. In addition, although the coil spring uses the 2nd spring 39 which concerns on embodiment, a leaf spring may be sufficient.

Moreover, the groove | channel is formed in the base end side end surface of the 3rd extended part 12c along the circumferential direction as shown in FIG. And the position correction ball 15a is arrange | positioned in the groove | channel formed in the circumferential direction at predetermined intervals so that it may be hold | maintained by the ball holding member 15b in the state which protrudes the spherical surface to the base end side. And the spherical surface of the position correction ball 15a is formed so that it may protrude toward the base end side rather than the base end side end surface of the 3rd extension part 12c.

Moreover, the impact sensor accommodating space 16 which accommodates the impact sensor 40 mentioned later is formed in the base end side end surface of the 3rd extension part 12c. In addition, four impact sensor accommodation spaces 16 are formed at equal intervals in the circumferential direction, and the impact sensor 40 is fixed to each impact sensor accommodation space 16. In addition, the impact sensor 40 is a well-known sensor which detects the displacement of an object by making a tip part contact a target object.

Between the 1st extension part 12a and the 3rd extension part 12c, the movable member accommodation hole 13a which is a groove | channel formed in the outer peripheral direction of the inner peripheral surface of the case member 10 is formed along the circumferential direction. The diameter of this movable member accommodation hole 13a is formed so that it may have a diameter substantially the same as the outer diameter of the 5th extension part 31 formed in the movable member 30 mentioned later.

Between the 2nd extension part 12b and the 3rd extension part 12c, the holding member accommodation hole 13b is formed along the circumferential direction toward the outer diameter direction. The diameter of the base end side of this holding member accommodation hole 13b is formed larger than the outer diameter of the 4th extended part 22 of the holding member 20 mentioned later.

In addition, the front end side of the holding member accommodating hole 13b is formed with a guide surface 18 which is formed obliquely with respect to the third extension portion 12c of the case member 10.

Next, the movable member 30 will be described.

As shown in FIG. 4, the movable member 30 is a cylindrical member inserted in the front end side of the case member 10, and the inner diameter is a welding torch (3) so that the welding torch 3 to hold | maintain can be inserted. It is formed with a diameter larger than the outer diameter of the to-be-held member of 3).

In the movable member 30, a fifth extension portion 31 accommodated in the movable member accommodation hole 13a is formed along the circumferential direction. In addition, the length in the cylindrical axial direction of the movable member accommodation hole 13a of the case member 10 is formed longer than the length in the cylindrical axial direction of the fifth extension part 31. In addition, the length in the cylindrical axial direction of the groove formed on the distal end side of the third extension part 12c is such that the proximal end surface of the fifth extension part 31 is in contact with the distal end side surface of the third extension part. It is formed in length. Therefore, the movable member 30 is supported by the case member 10 in the state which can slide in the cylindrical axial direction of the case member 10.

Moreover, in the 5th extension part 31 of the movable member 30, the 2nd spring shallow hole 32 is formed in the circumferential direction at predetermined intervals, and the one end side is the front end of the 3rd extension part 12c. The other end side of the second spring 39 fixed to the second spring deep hole 17 formed in the side end surface is fixed. In addition, the second spring 39 is a biasing force such that the front end side end face of the fifth extension part 31 is always in contact with the front end side end face of the first extension part 12a of the case member 10. The movable member 30 is always urged toward the tip side.

Moreover, the groove | channel is formed in the inner peripheral surface base end side of the movable member 30 toward the front end side from the base end side. As for the length of the groove in the cylindrical axial direction, the movable member 30 moves to the base end side by supplying pressurized air, and the base end side end surface of the 5th extension part 31 and the front end side of the 3rd extension part 12c. It is the length that an end surface can contact.

Moreover, the pressurizing chamber 33 is formed in the movable member 30 in the front end side end surface of the 5th extension part 31. As shown in FIG. This pressurizing chamber 33 is formed in the space between the pressurized air supply hole 51 formed in the base end side end surface of the 1st extension part 12a, and the front end side end surface of a 5th extension part opposing.

Therefore, since the pressurizing chamber 33 is formed, when the pressurized air supplied to the pressurized air supply hole 51 flows into the pressurizing chamber 33, the 5th extension part 31 will move to a base end side. That is, the movable member 30 resists the bias force of the second spring 39 and moves to the base end side.

Then, when the movable member 30 moves to the proximal end in response to the secondary force of the second spring 39, the engagement ball 29 described later is stored in the groove 34 without being in contact with the paper surface 36. It becomes.

In addition, the pressurized air supplied may be sufficient to the extent that the movable member 30 urged to the front end side by the second spring 39 can move to the proximal end side. Moreover, in order to prevent the pressurized air sent to the pressurizing chamber 33 from leaking, the O-ring 52 is equipped between the case member 10 and the movable member 30. As shown in FIG.

Moreover, the groove part 34, the extrusion surface 35, and the papermaking surface 36 are formed in the inner peripheral surface of the movable member 30 sequentially from the front end side toward the base end side.

The groove portion 34 is a groove formed along the circumferential direction from the inner circumferential surface of the movable member 30 toward the outer diameter. The papermaking surface 36 is a plane located inward of the outer diameter part of the groove part 34. Moreover, the extrusion surface 35 is an inclined surface located between the groove part 34 and the papermaking surface 36. And the groove part 34 is a groove | channel for accommodating the engagement ball 29 mentioned later, and preventing the engagement ball 29 from protruding from the protrusion hole 23. As shown in FIG. In addition, the extrusion surface 35 is a slope for moving a part of the engagement ball 29 located in the groove 34 to the protrusion hole 23 to protrude a part of the engagement ball 29 from the protrusion hole 23. In addition, the papermaking surface 36 is a plane for holding | maintaining the state which protruded a part of the engagement ball 29 from the protruding hole 23. As shown in FIG.

Next, the holding member 20 will be described.

As shown in FIG. 4, the holding member 20 includes a substantially cylindrical holding portion 21, a fourth extension portion 22 formed along the circumferential direction accommodated in the holding member accommodation hole 13b, and will be described later. The engagement ball 29 has a protruding hole 23 which is a hole that can protrude toward the inner peripheral surface side of the holding member 20.

The diameter of the holding member accommodating hole 13b of the case member 10 is formed larger than the outer diameter of the fourth extension part 22, and the inner diameter of the third extension part 12c of the case member 10 is the holding part. It is formed larger than the outer diameter of 21, and the holding member 20 is supported in the case member 10. As shown in FIG. In addition, since the inner diameter of the case member 10 is larger than the outer diameter of the holding member 20, the holding member 20 can move in the outer diameter direction (the direction orthogonal to the cylindrical axial direction) within the case member 10. have.

The retaining portion 21 is substantially cylindrical and has an inner diameter of approximately the same diameter as the outer diameter of the held member of the tool so that the tool can be inserted therein.

Moreover, the outer diameter of the holding part 21 is a diameter smaller than the inner diameter of the 3rd extended part 12c located in the outer peripheral surface side of the holding part 21, and the paper surface 36 of the movable member 30, and The sliding surface 28 mentioned later of the four extension part 22 is formed so that it may be in contact with the guide surface 18 formed in the holding member accommodation hole 13b.

Moreover, the 1st spring shallow hole 25 is formed in the base end side end surface of the 4th extension part 22. As shown in FIG. In the first spring shallow hole 25, the other end side of the first spring 26, one end of which is fixed to the first spring deep hole 14 of the second extension 12b of the case member 10, is described above. It is fixed via the engineer plastic for fixing the 1st spring 26.

In addition, the first spring 26 has a biasing force such that the front end side end face of the fourth extension part 22 always contacts the front end side end face of the third extension part 12c of the case member 10. It is.

As a result, the holding member 20 is always urged toward the tip side along the cylindrical direction by the plurality of first springs 26 provided in the case member 10, and furthermore, The front end side end surface comes into contact with the proximal end end surface of the third extension part 12c of the case member 10.

In addition, when the holding member 20 is displaced in the radial direction of the cylindrical shaft when the holding member 20 is moved to the proximal side and is returned to the distal end side by the force of the first spring 26, the fourth member Since the sliding surface 28 of the extension part 22 moves to the front end side along the guide surface 18 of the case member 10, the shift | offset | difference of the radial direction of the cylindrical shaft of the holding member 20 is corrected.

Moreover, since the position correction groove 27 is formed in the front end surface side of the 4th extension part 22 urged to the front end side by the 1st spring 26, this position correction groove 27 and the case member ( The shift | offset | difference is corrected in the circumferential direction of the cylindrical shaft of the holding member 20 by engaging the position correction ball 15a which protrudes from the base end side end surface of the 3rd extended part 12c of 10).

Here, the shock sensor 40 accommodated in the shock sensor accommodating space 16 in the case member 10 is mounted so that the distal end of the impact sensor 40 contacts the distal end side surface of the fourth extension part 22. . Therefore, when the welding torch 3 held by the holding member 20 contacts with an external member and the holding member 20 moves to the proximal side, the tip of the impact sensor 40 is formed of the holding member 20. Detect movement

Moreover, the sliding surface 28 which is an inclined surface is formed in the front end side end surface of the 4th extension part 22, and is in contact with the guide surface 18 of the case member 10. As shown in FIG.

As shown in FIG. 4, the protruding holes 23 of the holding portions 21 are formed at predetermined intervals along the circumferential direction. Moreover, as for the position of the up-down direction of the protrusion hole 23, the front end side end surface of the 4th extension part 22 contacts the base end side end surface of the 3rd extension part 12c of the case member 10, and The proximal end surface of the first extended portion 12a of the case member 10 is in contact with the proximal end surface of the fifth extended portion 31 of the movable member 30 (hereinafter referred to as "always state"). In the position opposite to the paper surface 36 of the movable member 30.

In addition, although the protrusion hole 23 is a tubular hole so that it may expand diameter continuously from the inner peripheral surface side of the holding part 21 toward the outer peripheral surface side, the diameter of the hole on the inner peripheral surface side is an engagement ball (inserted into this protrusion hole 23). It is a diameter smaller than the diameter of 29, and the diameter of the hole on the outer peripheral side is formed with the diameter larger than the diameter of the engagement ball 29. As shown in FIG.

The engagement ball 29 is arrange | positioned between the protruding hole 23, the groove part 34 of the movable member 30, the extrusion surface 35, and the papermaking surface 36. As shown in FIG. Moreover, the diameter of the engagement ball 29 fits in the protrusion hole 23 in the state which contacted the papermaking surface 36 located in the outer peripheral surface side of the holding part 21, and also the holding part 21 It is formed in the diameter which protrudes toward the inner peripheral surface side. In addition, as a material of the engagement ball 29, although hard members, such as steel materials, are mentioned as an example, it is not limited to this.

Thereby, in the constant state (state in which air is not supplied), the to-be-engaged part of the welding torch 3 inserted in the holding part 21, and the engagement ball 29 which protrude toward the inner peripheral surface side of the holding part 21 are carried out. ) Can be engaged.

Moreover, since the engagement ball 29 contacts the papermaking surface 36 of the movable member 30, it does not move to the outer diameter direction of the holding part 21, but the engagement ball 29 and the welding torch 3 are carried out. It is possible to keep the engagement state with the to-be-engaged portion of.

In addition, since the diameter of the hole on the inner circumferential side of the protruding hole 23 is smaller than the diameter of the engagement ball 29 in the state where the welding torch 3 is not inserted into the holding portion 21, the engagement ball 29 is used. It does not fall to the inner peripheral surface side of the holding portion 21.

In addition, when pressurized air is supplied to the pressurizing chamber 33 of the movable member 30, and the movable member 30 moved to the base end side in response to the 2nd spring 39, the protrusion formed in the holding part 21 is carried out. Since the groove part 34 of the movable member 30 is located in the outer peripheral surface side of the hole 23, the engagement ball 29 supported in the protrusion hole 23 can move to the groove part 34. As shown in FIG. In addition, since the groove part 34 is a groove formed toward the outer diameter direction by the amount which the engaging ball 29 protrudes from the protruding hole 23 of the holding member 20 to the inner peripheral surface side of the holding member 20, the groove part 34 The engagement ball 29 which moved in) does not protrude to the inner peripheral surface side of the holding member 20.

Next, the procedure to attach the welding torch 3 to the industrial robot apparatus 100 provided with the tool replacement apparatus 1 which concerns on embodiment is demonstrated.

In addition, the tool replacing apparatus 1 is a type which inserts and mounts the welding torch 3 which is a tool from the mounting hole 11 side of the front end side of the tool replacing apparatus 1, and the proximal end side of the tool replacing apparatus 1; The welding torch 3 is received from the mounting hole formed in the robot arm 2 of the robot arm 2, and there is a type of mounting from the base end side of the tool changer 1 toward the tip end side.

As shown in FIG. 5, the welding torch 3 is supported from the outer cylindrical base end of the substantially cylindrical held member 7 held by the tool changer 1 and the outer peripheral base end of the held member 7 toward the distal end side. Cable 4 wired from the formed groove part 5, the groove part 6 which is a groove | channel formed in the circumferential direction of the outer peripheral surface of the to-be-held member 7, and the cable supply apparatus from the base end side end surface of the to-be-held member 7; ).

In the case of the type which mounts the welding torch 3 toward the tip side from the base end side of the tool changer 1, the tip side of the welding torch 3 is formed in the robot arm 2, as shown in FIG. Insert the welding torch (3) towards the hole. At that time, the groove 5 of the welding torch 3 is inserted to engage with the protrusion 24 formed on the inner peripheral surface side of the tool changer 1.

In addition, in the case of the type which inserts and welds the welding torch 3 from the mounting hole 11 side of the front end side of the tool changer 1, the welding torch 3 isolate | separates the cable 4 from a supply apparatus once. In one state, the base end side of the welding torch 3 is inserted toward the mounting hole 11 of the tool changer 1. At that time, the cable 4 is inserted into the robot arm 2 and connected to the supply device.

Next, with reference to FIG. 6, the process by which the to-be-held member 7 of the welding torch 3 and the holding member 20 of the tool changer 1 engage is demonstrated. Here, the figure shown in FIG. 6 is an enlarged view of the location enclosed by the frame C of sectional drawing of the tool changer 1 shown in FIG.

As shown in FIG. 6A, in the state where the pressurized air is not supplied to the pressurizing chamber 33, the engaging balls 29 protrude toward the inner circumferential surface side of the retaining member 20. The held member 7 of 3) interferes with the engagement ball 29 and the welding torch 3 cannot be inserted into the holding member 20.

Therefore, as shown in FIG.6 (b), when inserting the welding torch 3, when pressurized air is sent to the pressurized air supply hole 51, and pressurized air is supplied to the pressurizing chamber 33, The fifth extension part 31 of the movable member 30 is pressed to the proximal side by pressurized air, and the movable member 30 moves to the proximal side against the second spring 39.

Then, the engagement ball 29 is pushed out of the retaining member 20 by the held member 7 of the welding torch 3 inserted into the retaining member 20 and starts to move into the groove 34. In addition, when the to-be-held member 7 of the welding torch 3 moves to the proximal end side, the engagement ball 29 enters the groove 34 and is not protruded from the inner circumferential surface of the retaining member 20. The insertion of the holding member 7 is not prevented.

Next, as shown in FIG. 6C, when the supply member 7 of the welding torch 3 is inserted into the holding member 20, when the supply of pressurized air is stopped, the second spring Since 39 pushes the movable member 30 to the front end side, the engagement ball 29 is extruded toward the inner peripheral surface side of the retaining member 20 by the extrusion surface 35.

Then, as shown in FIG. 6D, the engagement ball 29 extruded to the extrusion surface 35 protrudes into the engaged portion 6 formed in the supported member 7 of the welding torch 3. By engaging, the welding torch 3 is held by the holding member 20. In addition, in the state in which the engagement ball 29 is engaged, the engagement ball 29 comes into contact with the papermaking surface 36 and cannot move in the outer circumferential direction of the holding member 20.

By the above process, the to-be-held member 7 of the welding torch 3 is held in the holding member 20, and the welding torch 3 is attached to the tool changer 1.

Next, the state in which the welding torch 3 contacts an external member such as a workpiece will be described. The holding member 20 holding the welding torch 3 moves to the proximal end by the impact at the time of contact.

At this time, as shown to Fig.7 (a), the holding member 20 which moved to the base end side is urged by the 1st spring 26 to the front end side.

In addition, the holding member 20 may move not only in the axial direction but also in the radial direction. FIG. 7B is a diagram when the retaining member 20 is displaced in the radial direction. In this case, the sliding surface 28 of the holding member 20 is in contact with the guide surface 18 of the case member 10. And the holding member 20 attached to the 1st spring 26 moves to the front end side, correcting the radial shift | deviation along the guide surface 18. As shown in FIG.

Moreover, even if it returns to the original position along the guide surface 18, as shown to FIG.7 (c), there exists a possibility that the holding member 20 may shift | deviate to the circumferential direction.

In this case, the front end side of the position correction groove 27 formed in the holding member 20 is in contact with the position correction ball 15a of the case member 10. And the front end side of the position correction groove 27 slides the surface of the position correction ball 15a which is spherical, and the spherical surface of the position correction ball 15a is accommodated in the position correction groove 27. As shown in FIG. Thereby, as shown in FIG.7 (d), the holding member 20 can correct | deviate the position shift of the circumferential direction, and can return to an original position.

In addition, as shown in FIG. 4, since the front end part of the impact sensor 40 is attached in the state which contacted the 4th extension part 22 of the holding member 20, the welding torch 3 may contact. In this case, it is detected that the holding member 20 has moved to the proximal end. Therefore, the impact sensor 40 can determine that the welding torch 3 is in unnecessary contact with another member. Therefore, the robot arm 2 can stop an operation by the signal of the impact sensor 40. FIG. In addition, since four impact sensors 40 are arranged at equal intervals in the circumferential direction in the case member 10, the four impact sensors 40 detect how much the holding member 20 has moved in which direction. By doing so, in addition to the movement to the proximal end of the holding member 20 in the case member 10, it is also possible to detect the movement in the radial direction and the circumferential direction of the holding member 20.

In addition, as shown in FIG. 6D, the engagement ball 29 is in contact with the paper surface 36 of the movable member 30 and cannot move in the radial direction. The welding torch 3 is not separated from the tool replacement device 1 even when the supply of the gas is stopped.

As described above, according to the tool replacement device according to the embodiment, since a tool such as a welding torch can be held in the tool replacement device, it is located on the axis of the robot arm in the longitudinal direction, thereby impairing the accuracy of the operation of the robot arm. We can solve the problem that we say. In addition, since the tool held by the holding member is not separated unless the pressurized air is supplied, the tool is not separated from the tool changer 1 even when the power supply is stopped.

In addition, as a modification of this invention, as shown in FIG. 8, the tool changer 101 is mentioned. The difference between the tool replacement device 101 and the tool replacement device 1 is that in the tool replacement device 1 described above, the holding member 20 is disposed inside the case member 10, but is shown in FIG. 8. In the modification described above, the holding member 120 is disposed outside the case member 110, and the movable member 130 can be provided inside the holding member 120, and the pressurized air supply hole 151 is provided. The point formed is different.

The case member 110 is cylindrical, and the 1st extension part 111 and the 2nd extension part 112 extended in the outer diameter direction are formed in the front end side and the base end side of the cylindrical outer peripheral surface.

In addition, a third extension part 121 extending toward the inner diameter side is formed at the proximal end of the holding member 120, and the third extension part 121 is the first extension part 111 formed on the outer circumferential surface side of the case member 110. ) And the second extension portion 112.

In addition, a fourth extension portion 122 is formed on the distal end side of the holding member 120 and extends toward the inner diameter side, and the fourth extension portion 122 and the third extension portion 121 formed on the proximal side are moved toward the inner diameter side. An extended fifth extension part 123 is formed.

The movable member 130 is provided with the sixth extension part 131 extending in the outer diameter direction, and is located between the fourth extension part 122 and the fifth extension part 123 of the holding member 120.

The first spring 126 is disposed between the distal end side surface of the second extension portion 112 of the case member 110 and the proximal end surface of the third extension portion 121 of the holding member 120. have. The 1st spring 126 becomes easy to move, and it is easy to disperse | distribute the inertia force from the time when the tool changer 101 collides with an object and it stops.

Further, a second spring 139 is provided between the distal end side surface of the fifth extension portion 123 of the holding member 120 and the proximal end surface of the sixth extension portion 131 of the movable member 130. It is arrange | positioned and the movable member 130 is supported so that the movement to the cylinder axial direction inside the holding member 120 is possible. Moreover, the pressurized air supply hole 151 is formed in the base end side end surface of the 4th extension part 122 of the holding member 120. As shown in FIG.

Moreover, the engagement ball 129 which engages with an engaging part by the front end side is supported by the inner diameter side end surface of the 5th extension part 123 of the holding member 120. As shown in FIG. In addition, the movable member 130 includes a groove portion 134 for accommodating the engagement ball 129 on the inner circumferential surface side thereof, an extrusion surface 135 for projecting the engagement ball 129 to the inner circumferential surface side of the retaining member 120, The papermaking surface 136 for holding | maintaining the state which the engagement ball 129 protruded to the inner peripheral surface side of the holding member 120 is formed.

In addition, although not shown, the impact sensor is arrange | positioned between the front end side end surface of the 2nd extended part 112 of the case member 110, and the holding member 120. As shown in FIG. Thereby, when the impact sensor not shown detects the movement of the holding member 120, it can be judged that the welding torch 3 which the holding member 120 hold | maintains contacted.

BRIEF DESCRIPTION OF THE DRAWINGS The side view which shows the whole of the industrial robot apparatus provided with the tool replacement apparatus which concerns on embodiment.

2 is a perspective view showing an entire tool changing apparatus according to the embodiment;

3 is a cross-sectional view taken along the line A-A of the tool replacement device shown in FIG. 2;

4 is an enlarged cross-sectional view of a portion of the frame B of the tool changer shown in FIG. 3, FIG.

5 is a perspective view illustrating a method of inserting a welding torch with respect to a tool changer.

6 is an enlarged cross sectional view showing a process of engaging a held member and a held member of a welding torch;

7 is a view showing a process in which the holding member returns to its original position;

8 is a cross-sectional view illustrating a cross section of a tool changer according to a modification.

<Description of the symbols for the main parts of the drawings>

1: Tool change device 2: Robot arm

3: welding torch 10: case member

16: shock sensor receiving space 18: guide surface

20: holding member 26: first spring

27: position correction groove 29: engagement hole

30: movable member 34: groove portion

35: extruded surface 36: papermaking

39: second spring 51: pressurized air supply hole

100: industrial robot device

Claims (4)

In the tool replacement apparatus in which the mounting hole of the said tool is formed in the front-end | tip side into which a tool is inserted, and the base end is attached to the front-end | tip part of a robot arm, The tool replacement device, A cylindrical case member having a first extension portion, a second extension portion, and a third extension portion extending from the tip side, the proximal side, and between the tip side and the proximal side toward the inner diameter side; A cylindrical holding member positioned inside the case member and having a fourth extension portion extending between the second extension portion and the third extension portion toward an inner circumferential surface of the case member; A cylindrical member positioned on the front end side of the holding member and supported between the holding member and the case member and extending to an inner circumferential surface of the case member between the first extension portion and the third extension portion; With a movable member, The case member, The holding member is movably supported in the cylindrical axial direction of the case member via a first elastic body between the second extension part and the fourth extension part, and the third extension part and the fifth extension part. The movable member is supported to be movable in the cylindrical axial direction of the case member via a second elastic body therebetween, A shock sensor for detecting the movement of the holding member in contact with the fourth extension part at a proximal end end face of the third extension part; A proximal end surface of the first extension portion is provided with a fluid supply hole for supplying a fluid to the distal end surface of the fifth extension portion to move the movable member in a direction opposite to the direction of the secondary force of the second elastic body, The holding member is provided with a protruding hole in which the engagement ball held between the movable member can protrude toward the inner peripheral surface side of the holding member, The movable member, The engagement is caused by contacting the inner circumferential surface of the movable member facing the engagement ball when the distal end side end face of the fifth extension portion that is biased to the second elastic body is in contact with the proximal end end face of the first extension portion. Having an extruded surface for projecting the ball from the protruding hole toward the inner peripheral surface side of the holding member, When the fifth extension part is pressed against the side force of the second elastic body by the fluid supplied from the fluid supply hole, and the movable member moves to the base end side, the movable member faces the engagement ball. The inner peripheral surface is provided with a groove portion in which the engaging ball moves from the protruding hole to the inner peripheral surface side of the movable member and is accommodated therein. Tool changer. In the tool replacement apparatus in which the mounting hole of the said tool is formed in the front-end | tip side into which a tool is inserted, and the base end is attached to the front-end | tip part of a robot arm, The tool replacement device, A cylindrical case member having a first extension portion and a second extension portion extending in the outer diameter direction on the tip side and the base end side; A third extension portion positioned at the tip side of the case member, the proximal side extending toward the inner diameter side, and positioned between the first extension portion and the second extension portion of the case member, and the tip side facing the inner diameter side; A cylindrical holding member having a fourth extension portion extending, a fifth extension portion extending inwardly between the third extension portion and the fourth extension portion, A movable member disposed inside the holding member, the sixth extending portion being formed between the leading end side and the proximal side and extending toward the outer diameter side and positioned between the fourth extension portion and the fifth extension portion, The case member, While holding the holding member so as to be movable in the cylindrical axial direction of the case member via a first elastic body between the second extension portion and the third extension portion, The impact sensor which detects the movement of a said holding member by contacting the base end side end surface of the said 3rd extension part of the said holding member arrange | positioned at the front end side end surface of the said 2nd extension part and moving in a cylindrical axial direction is provided. Doing The holding member is, While supporting the movable member movably in the cylindrical axial direction of the holding member via a second elastic body between the fifth extension part and the sixth extension part, The proximal end surface of the fourth extension portion is provided with a fluid supply hole for supplying a fluid to the distal end surface of the sixth extension portion to move the movable member in a direction opposite to the direction of the secondary force of the second elastic body. , A seventh extension portion extending from the inner diameter side end surface of the fifth extension portion to the tip side; The seventh extension portion is provided with a protruding hole in which the engagement ball held between the movable member can protrude toward the inner peripheral surface side of the holding member, The movable member, The engagement is caused by contacting the inner circumferential surface of the movable member opposite to the engagement ball when the distal end side end face of the sixth extension portion that is biased to the second elastic body is in contact with the proximal end side face of the fourth extension portion. Having an extruded surface for projecting the ball from the protruding hole toward the inner peripheral surface side of the holding member, When the sixth extension part is pressed against the side force of the second elastic body by the fluid supplied from the fluid supply hole, and the movable member moves to the base end side, the movable member faces the engagement ball. The inner peripheral surface is provided with a groove portion in which the engaging ball moves from the protruding hole to the inner peripheral surface side of the movable member and is accommodated therein. Tool changer. The method of claim 1, The first elastic body and the second elastic body are springs, and the springs are arranged at predetermined intervals along the circumferential direction of the case member. Tool changer. The method of claim 2, The first elastic body and the second elastic body are springs, and the springs are arranged at predetermined intervals along the circumferential direction of the case member. Tool changer.

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