KR101917328B1 - Automatic tool changer for robot - Google Patents

Abstract

The automatic tool changer for a robot according to the present invention comprises a housing provided with a recessed part fixing groove 116 and a projection 118 having a guide hole 116a formed on a bottom surface thereof, A rod 112 coupled with the server motor 111 and performing linear motion and having a first fixing pin 112a fixed to one end surface thereof, a first through hole 113a passing through the top and the bottom, A second through hole 113b is provided; A first fixing pin 112a fixed to the rod 112 is rotatably fitted to the rod bracket 113 and a second fixing pin 114a is fixed to one side of the first through hole 113a, And a third fixing pin 114b is fixed to the other side; The second fixing pin 114a includes a link 114 which is rotatably and slidably coupled to a second through hole 113b formed in the rod bracket 113, A hook bracket 115 coupled to the through hole formed at one end surface of the hook bracket 115 so as to be rotatable with a third fixing pin 114b fixed to the link 114, And a fourth fixing pin (115b) fixed to the bottom surface of the component fixing groove (116) while passing through the upper fixing plate
A cylindrical guide pin 121 fitted to the guide hole 116a so as to be detachable and formed with a notch 121a at one side thereof and a PCB plate 122 having an electric signal contact pin formed at the center thereof, And a lower plate 120 as shown in FIG.

Description

Automatic tool changer for robot

The present invention relates to a tool changer, and more particularly to a tool changer capable of selectively removing and attaching two or more types of tools to a robot hand according to the workability of the robot, The present invention relates to a tool changer for minimizing the area and facility investment costs, and relates to an automatic tool changer for a robot that enables smooth and accurate removal of the tool on the robot hand.

The conventional tool changer includes two cylindrical guides 101 provided on the bottom surface of the base tool 100 and two guide rods 111 provided on the upper surface of the target tool 110 as shown in FIGS. 1 and 2, A reference point for the Z axis is formed by two reference planes 102 formed on the bottom surface of the base tool 100 and two reference planes 112 formed on the top surface of the target tool 110, So that bonding takes place at the correct position,

In addition, an air connection port 113 and an electric connection port 114 are separately provided to supply current and air from the basic tool to the target tool. However, such a method has a complicated structure, and when a reference surface for forming a reference point for the Z axis is provided at both ends so that a bending deformation occurs due to long-term use of the tool, it is difficult to form an accurate reference point, .

In addition, although the two tools are mutually fastened and joined by the C-type clamping mechanism 130 operated by the air cylinder 120, there is a problem that there is a risk of separation or fall when the air circuit breaks or the supply of air is interrupted .

Patent Registration No. 10-1044204 (issued on July 1, 2011)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to simplify the structure of a tool body to facilitate manufacture and setting, to replace a PCB with a PCB, It is intended to provide an automatic tool changer for robots that can be easily maintained and maintained by simplifying and automating with a hook bracket, a shaft bracket and a server motor.

The automatic tool changer for a robot according to the present invention comprises a housing having a recessed part fixing groove and a protrusion formed with a guide hole on a bottom surface, a servo motor inserted and fixed to the protrusion, A rod having a fixing pin fixed thereto, a first through hole penetrating upward and downward, and a second penetrating hole; A first fixing pin is fixed to one side of the rod bracket and a third fixing pin is fixed to the other side of the rod bracket; Wherein the second fixing pin has a link coupled to the second through hole formed in the rod bracket so as to be rotatable and slidable, And a third fixing pin fixed to the link is rotatably coupled to the through hole so as to be rotatable through the through hole formed on the other side of the hook bracket, 4 fixing pin,

A lower plate that is detachably attached to the guide hole and includes a cylindrical guide pin having a notch formed at one side thereof and a PCB plate having an electric signal contact pin formed at an inner center thereof.

Further, the mechanism top plate further includes a cover; The cover is characterized by sealing the components and the servomotor provided on the upper part of the mechanism part with the outside, thereby shielding rainwater and moisture from being leaked.

Further, the hook bracket has a stepped portion 115a.

The present invention simplifies the structure of a tool changer for a robot to facilitate manufacture and setting, replaces an electric module with a PCB, eliminates installation constraints, simplifies the operation mechanism into a hook bracket, a shaft bracket and a servo motor, And is easy to maintain and repair by automation.

In addition, since the structure is simple, it is possible to minimize the malfunction of the apparatus that may occur during the tool change, and to prevent the target tool from falling apart during the work.

In addition, since a single robot can handle various objects, it is possible to maximize the installation space efficiency and to maximize the utilization rate of the robot when producing a large number of small items

In addition, it can be applied to various kinds of tools in the field of industrial robots, and can be applied to a robot that removes shells in place of people in a dangerous environment, or rescues and relieves oxygen supply, hemostasis, injection gadgets, and the like.

Further, by automating the operation mechanism, there is an effect that the tool exchange can be performed quickly.

1 is a schematic perspective view of a conventional tool changer;
Fig. 2 is a diagram showing the operation state of the conventional tool changer
3 is an exploded perspective view of the automatic tool changer of the present invention
4 is a perspective view of a top plate of the present invention.
Fig. 5 is a flowchart showing a process of removing and removing the automatic tool changer according to the present invention

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. For reference, the size, line thickness, and the like of the components shown in the drawings referred to in describing the present invention may be somewhat exaggerated for ease of understanding. The terms used in the description of the present invention are defined in consideration of the functions of the present invention, and thus may be changed depending on the user, the intention of the operator, customs, and the like. Therefore, the definition of this term should be based on the entire contents of this specification.

It is to be understood that the present invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know completely.

In the following description, well-known functions or constructions are not described in detail to avoid obscuring the subject matter of the present invention.

3 is an exploded perspective view of the automatic tool changer of the present invention.

As shown in the figure, the automatic tool changer 100 is roughly divided into a mechanism upper plate 110, a lower mechanism plate 120, and a cover 130.

The cover 130 is fastened to one surface of the upper plate 110 to protect the components. Particularly, by sealing the servo motor 111 with the outside, it functions to prevent rainwater, moisture and the like that can be infiltrated from the external environment during the robot operation to prevent a short circuit.

Fig. 4 is a perspective view of a top plate of the present invention, and Fig. 5 is a flowchart of a detachment process of the automatic tool changer of the present invention.

As shown in the figure, the mechanical part upper plate 110 has a disc-shaped housing structure having a predetermined thickness with a protrusion 118 formed on one side thereof,

And a component fixing groove 116 is recessed at one side thereof, and a component for attaching / detaching the lower mechanism plate 120 and a servomotor 111 are inserted and fixed.

By adopting such a configuration, the component is not exposed to the outside plane of the top plate 110 of the mechanism part, and thus the interference with the outside is blocked to some extent to protect the component.

A cover 130 is coupled to the outer surface of the mechanism top plate 110 (see FIG. 3).

A guide hole 116a is formed in the component fixing groove 116 so that the guide pin 121 of the lower mechanism plate 120 to be described later is fastened to the guide hole 116a.

remind The mechanism top plate 110 includes a servo motor 111, a rod 112, a rod bracket 113, a link 114, a hook bracket 115, a component fixing groove 116, a motor wiring path 117, 118).

The servo motor 111 is drive means for drawing or pulling out the rod 112 by an external signal and causing it to perform a linear movement. Since the structure for pulling in and pulling out the rod 112 is known, A detailed description thereof will be omitted.

The first fixing pin 112a is fixed to one end surface of the rod 112, and the first fixing pin 112a is fixed to one end surface of the first fixing pin 112a. Is coupled to the first through hole 113a formed in the rod bracket 113 to be described later so as to be rotatable so that the rod bracket 113 is pushed or pulled to perform linear motion.

The rod bracket 113 has a box shape, and has a first through hole 113a and two second through holes 113b which are upwardly and downwardly penetrated. As described above, the first fixing pin 112a fixed to the rod 112 is rotatably fitted to the first through hole 113a, and the link 114 is formed in the second through hole 113b. And a second fixing pin 114a fixed to one side of the first fixing pin 114a is rotatably fitted.

The link 114 has the shape of a long plate member and the second fixing pin 114a is fixed to one side thereof so that the second through hole 113b formed in the rod bracket 113 is rotated and slidable And the third fixing pin 114b is fixed to the other side and is engaged with the through hole of the hook bracket 115 to be described later.

The hook bracket 115 A step portion 115a is formed at the center in the longitudinal direction, and a through hole is formed in both end surfaces. A third fixing pin 114b fixed to the link 114 is rotatably fitted to the through hole formed in the end surface of one end, and a fourth fixing pin 115b is rotatably mounted on the through hole formed in the other end surface, The fourth fixing pin 115b is fixed to the bottom surface of the component fixing groove 116. As shown in Fig.

By forming the stepped portion 115a in the hook bracket 115 as described above, the stepped portion 115a is provided on the lower mechanism plate 120 to be described later, which is detachably fitted to the guide hole 116a of the mechanism part upper plate 110 Shaped guide pin 121 to fix the guide pin 121 and reduce the weight of the hook bracket 115 in parallel.

The part fixing groove 116 And a servo motor 111, a rod bracket 113, a hook bracket 115, and the like are embedded in the opening of the upper plate 110.

The motor wiring path 117 The electric wire is inserted into the portion where the electric wire for supplying power to the servo motor 111 is inserted. Thus, when the robot is operated, there is an effect of preventing the occurrence of short-circuiting with other parts in advance.

The protrusion 118 And is projected on one side face of the disk-shaped mechanism part upper plate 110, and functions to embed the servo motor 111. [

As shown in FIG. 3, the lower mechanism plate 120 A circular guide pin 121 protrudes on both sides of the guide pin 121 and a cutout 121a is formed on one side of the guide pin 121. The guide pin 121 is inserted into the mechanism And is fitted to the guide hole 116a formed in the component fixing groove 116 of the upper plate 110 so as to be detachable.

A PCB plate 122 having an electrical signal contact pin is provided at an inner center of the mechanism lower plate 120.

In the operating relationship of the above configuration,

The operator inserts the guide pin 121 provided on the lower plate 120 of the mechanism into the guide hole 116a of the upper plate 110 to attach the lower plate 120 and the upper plate 110 The rod 112 interlocked with the sub motor 111 linearly moves to push the rod bracket 113 and the rod bracket 113 is rotated to the second through hole 113b , While being guided by the second fixing pin 114a of the link 114 which is fastened as much as possible.

When the rod bracket 113 is moved, the rod bracket 113 rotates the link 114. The third fixing pin 114b fixed to the link 114 is fixed to the through hole of the hook bracket 115 The link 144 is rotated toward the guide pin 121 of the lower plate 120 of the mechanism unit.

When the link 114 is rotated, one side is rotatably coupled to the third fixing pin 114b fixed to the link 114, and the other side is rotatably coupled to the fourth fixing pin 115b The hook bracket 115 is rotated with the fourth fixing pin 115b as a fulcrum and the cutout portion 121a formed on one side of the guide pin 121 of the lower mechanism plate 120 passing through the guide hole 116a The stepped portion 115a formed on one side of the hook bracket 115 is fitted so that the lower and upper plates 110 and 120 are firmly coupled.

When the upper and lower plates 110 and 120 are separated, the above process is performed in the reverse order and can be easily separated.

As described above, the present invention simplifies the structure of the tool body to facilitate fabrication and setting, eliminates restrictions on installation by replacing the electric module with a PCB, simplifies the operation mechanism into a hook bracket, a shaft bracket, and a servo motor It is possible to minimize the malfunction of the apparatus that may occur during the tool change and to prevent the target tool from falling apart during the operation.

In addition, since a single robot can handle various objects, it is possible to maximize the installation space efficiency and to maximize the utilization rate of the robot when producing a large number of small items, and it can be applied to various tools in the industrial robot field, It is possible to apply the present invention to a robot that removes a shell in place of a person in a dangerous environment, saves oxygen, supplies hemostasis, injects gadgets, and performs relief work.

Further, by automating the operation mechanism, there is an effect that the tool exchange can be performed quickly.

100: Tool changer 110: Mechanism top plate
120: Mechanism lower plate 130: Cover
111: Servo motor 112: Load
113: rod bracket 114: link
115: hook bracket 116: part fixing groove
117: motor wiring path 118: protrusion
112a: first fixing pin 113a: first through hole
113b: second through hole 114a: second fixing pin
114b: third fixing pin 115a: stepped portion
115b: fourth fixing pin 116a: guide ball

Claims (3)

A housing having a depressed part fixing groove 116 and a protrusion 118 formed with a guide hole 116a on the bottom surface,
A servomotor 111 inserted and fixed to the protruding portion 118,
A motor wiring path 117 in which wires for supplying power to the servomotor 111 are wired,
A rod 112 coupled with the servomotor 111 for linear motion and having a first fixing pin 112a fixed to one side thereof,
A first through hole 113a and a second through hole 113b penetrating upward and downward;
The first through hole 113a is provided with a rod bracket 113, which is rotatably fitted to the first fixing pin 112a fixed to the rod 112,
A second fixing pin 114a is fixed to one side surface, and a third fixing pin 114b is fixed to the other side surface; The second fixing pin 114a includes a link 114 coupled to the second through hole 113b formed in the rod bracket 113 to be rotatable and slidable,
A through hole is formed in both end surfaces; A hook bracket 115 coupled to the through hole formed at one side so as to be rotatable with a third fixing pin 114b fixed to the link 114,
And a fourth fixing pin 115b which is rotatably inserted into a through hole formed on the other side of the hook bracket 115 on which the step portion 115a is formed and is fixed to the bottom surface of the component fixing groove 116 The upper part of the mechanism part 110
A circumferential guide pin 121 fitted on the guide hole 116a so as to be detachable and having a notch 121a formed on one side thereof,
And a lower plate (120) including a PCB plate (122) having an electric signal contact pin formed at an inner center thereof. The automatic tool changer for a robot
The method according to claim 1,
The mechanism part upper plate 110 further includes a cover 130;
The cover (130) seals the components and the servomotor (111) provided on the mechanism top plate (110) with the outside to prevent rainwater and moisture from being leaked,
delete

Images