KR20120057704A - Semi-automatic tool changer - Google Patents

Abstract

PURPOSE: A semiautomatic tool changer is provided to be easily attached and detached because the changer is fixed by a knob after a slave fixed to a work tool is coupled to a master inserted into an upper work device. CONSTITUTION: A semiautomatic tool changer comprises a fixing housing(1), a master(2), and a slave. An upper part of the fixing housing is coupled to an air balancer, and connects the master and slave using a knob rotating body(104) and a vertical cylinder(101). The master is coupled to a lower part of the fixing housing, and connects a plurality of connectors to the slave with being slid by pressing. The knob rotating body is turned through an insertion portion(203) of the master. The slave is coupled from the lower part of the master by the knob rotating body, and a plurality of the connectors is connected to connectors of the master. The knob rotating body is rotated through the insertion portion(302) of the slave.

Description

Semi-automatic tool changer

The present invention relates to a semi-automatic tool changer, in particular a large tool for a variety of tasks including welding to heavy objects such as train cars, etc. The present invention relates to a tool changer having a structure that can be fastened and detached simply and safely by allowing the master to be fixed with a knob after fastening up and down.

In general, welding is carried out while replacing large guns having various sizes and shapes for welding the carriage body.

Tools for heavy work are usually installed in the industrial air balance, gantry device to operate, for this purpose, by using a tool changer to change the various tools according to the intended work to be used in the installation equipment.

However, it is not easy to install (mount) precisely and quickly because the weight of the tool is heavy in a device using a conventional tool changer.

Conventionally, a fastening method using a general tool changer is a method in which a tool or a bracket equipped with a tool is slid to a connection portion of an air balance in a lateral direction. In other words, the air balance, the master mounted on the gantry and the slave device coupled with the connection device, such as a bracket for mounting the tool or tool selected according to the purpose of use, is lifted to the engagement position and fitted in the lateral direction.

However, the tool changer composed of a conventional master and a slave as described above has a drawback in that the fastening process takes a lot of time because it is not easy to match the height of each other due to the heavy weight when fastening by sliding between the upper master and the lower slave in the lateral direction. ,

In addition, the distinction between supply means (air, coolant, power supply) by means of use is unclearly mixed, and the problem of incorrect wiring may occur due to complexity.

In addition, due to the relatively large size of the tool changer (eg, width 36 cm, length 41 cm, height 27 cm), there was a problem in the field installation that the interference with the peripheral device is high.

An object of the present invention for solving the above problems is to provide a tool changer that can be easily fastened and separated by fastening the knob between the slave and the master in the up and down direction when replacing a large tool for heavy work in the vertical direction.

Another object of the present invention is to provide a tool changer having a structure that can be securely and simply fastened by using a knob for preventing the fall when tightening in the vertical direction between the master and the slave forming the tool changer.

The present invention, which achieves the object as described above and performs the task for eliminating the conventional drawbacks, the upper side is fixed to the air balance, the knob rotating body to rotate in the circumferential direction and the upper and lower cylinders to press the master in the lower direction Fixed housing for fastening between the master and the slave located in the lower portion;

A master knob which is fastened to the lower side of the fixed housing and is slid to connect a plurality of connectors formed on the lower surface to the slave by pressing the upper and lower cylinders, and a master knob inlet portion capable of rotating the knob rotating body at one or more points;

A plurality of connectors formed on the upper surface by being fastened in the lower direction of the master by the knob rotating body are connected to the connector of the master, and a slave knob inlet portion capable of rotating the knob rotating body is formed at one or more points around the lower portion. Is achieved by providing a semi-automatic tool changer comprising a slave coupled with the tool.

In the present invention, the slave knob entry portion is grooved to a size corresponding to the master knob entry portion in the vertical direction, but the locking jaw is protruded in the upper one section to rotate the knob rotating portion formed in the lower portion of the knob knob It is characterized in that it is configured to support the load of the slave when positioned below it.

In the present invention, the upper and lower cylinders installed in the fixed housing is configured to raise and lower the master connection portion connected to the lower portion, thereby elevating the master coupled with the master connection portion.

In the present invention, the knob rotating body is installed on the lower side of the fixed housing is rotated in the left and right circumferential direction is coupled to the knob for fastening up and down between the master and the slave, the central portion is formed by punching the center portion so that the upper and lower cylinders and the master connection portion passes through And, it is characterized in that it is configured to rotate mounted on the jaw formed in the circumferential direction of the knob support fastened to the lower fixed housing.

In the present invention, the fixed housing includes a locking bar rotating body installed around the upper and lower cylinders and formed with one or more locking bars protruding outward; A locking cylinder for rotating the locking bar rotating body; It is installed on the top of the locking hole formed to penetrate the fixed housing up and down, the locking pin support portion for intermittent the rising of the locking pin protruding to the upper portion of the master when the locking bar is rotated; characterized in that the configuration further comprises.

In the present invention, two or more reference pins protrude downward in the fixed housing, and are configured to penetrate between the master guide hole formed in the master positioned below and the slave guide hole formed in the slave fastened to the master.

As described above, the present invention provides a connection between a slave fixed to a work tool and a master installed in an upper work device when replacing a large tool having a variety of shapes for various tasks including welding to heavy objects such as train cars. After fastening up and down, it is easy to fasten and detach by fixing with a knob.

In addition, the advantage of providing a structure that can be securely and simply tightened using the knob to prevent the fall when tightening in the vertical direction between the master and the slave forming the tool changer,

In addition, the cable installation of air, cooling water, power, etc., connected up and down through the tool changer can be classified according to the purpose can be installed to prevent the wrong wiring,

In addition, it is a useful invention having the advantage that the installation volume of the tool changer can be reduced to reduce the interference with neighboring peripheral devices, the invention is expected to be used in the industry.

1 is a perspective view of a tool changer according to the invention,
2 and 3 are exploded perspective views of the tool changer according to the invention,
4 is a cross-sectional view and an exemplary view showing a clamping structure of a tool changer according to the present invention;
5 is a perspective view showing a perspective structure and a cross-sectional view showing a locking structure of the tool changer according to the present invention;
6a to 6g are exemplary views showing the operation sequence of the tool changer of the present invention.

Hereinafter, the configuration and the operation of the embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a perspective view of a tool changer according to the present invention, FIGS. 2 and 3 are exploded perspective views of a tool changer according to the present invention, and FIG. 4 is a cross-sectional structure and an example showing a clamping structure of the tool changer according to the present invention. 5 is a perspective view showing a perspective structure and a cross-sectional view showing a locking structure of the tool changer according to the present invention.

As shown, the tool changer of the present invention has a multi-stage cylindrical structure that connects and connects the upper air balance and the lower tool in the up and down direction, and the upper part is basically fixed and coupled with the air balance, and rotates in the circumferential direction. Fixed housing (1) for fastening the master and the slave located in the lower using the upper and lower cylinders for pressing the master in the whole and the lower direction; A master (2) fastened to the lower side of the fixed housing and slid to connect the plurality of connectors formed on the lower surface to the slave by pressing the upper and lower cylinders; A plurality of connectors formed on the upper surface by being fastened in the lower direction of the master by the knob rotating body are connected to the connector of the master, and the lower part of the slave 3 is coupled to the tool.

The plurality of connectors formed to correspond to each other on the lower surface of the master 2 and the upper surface of the slave 3 are connectors for supplying power, water and air. In addition, these connectors communicate with each other around the master and slave to form protruding power connector and nipple terminals for water and air supply. This allows the air balance garden, water and air to be connected via a connecting cable. The configuration and connection principle of these connectors is basically the configuration in the tool changer, so further description thereof will be omitted. However, the connector of the present invention has the advantage that it is installed in the circumferential direction than the wiring method of the various connectors and cables formed in the conventional tool changer, to prevent erroneous wiring.

Hereinafter, the coupling configuration between the fixed housing 1 and the master 2 will be described.

The fixed housing is a hollow hollow structure, the lower surface of the inner space is provided with a pneumatic (or hydraulic) upper and lower cylinder 101 for vertically sliding the master (2). When the upper and lower cylinders 101 are extended downward by pneumatic pressure (or hydraulic pressure), the master connection part 102 connected to the lower part is raised and lowered to raise and lower the master 2 coupled thereto.

At this time, the clearance that is lowered is a plurality of power, water, installed to buffer the plurality of power, water, air connectors formed on the lower surface of the master 2 is lowered correspondingly to the spring method formed on the upper surface of the slave Press the air connector to have a play enough close contact. In other words, even if the knob is rotated after the slave is placed on the lower part of the master, the connector of the master and the connector of the slave are not connected. It is in contact with each other, and the lower surface of the master and the upper surface of the slave are not in direct contact with each other. However, when the upper and lower cylinders lower the master, the connector of the master pushes the connector of the slave downwards, so that the lower surface of the master and the upper surface of the slave are contacted and fastened. Of course, even if the upper and lower cylinders are not pressurized, the master and the slave are held in a locked state by the locking of the knob rotating body so that safety accidents such as falling of the slave do not occur.

As described above, when the master descends and the connectors between the master and the slave are in close contact with each other, power is supplied between the master and the slave, and water or air is also passed through or vented.

Therefore, the master and the slave are not normally connected unless the pressure caused by the expansion of the upper and lower cylinders is applied to the upper connectors of the slaves, which are buffered by the spring method, so that leakage, leakage and leakage of air are prevented in this state.

Likewise, if there is no contraction action of the upper and lower cylinders 101, the sealing state is always maintained to maintain the energization, water flow, and ventilation state at all times.

The upper and lower cylinders have a lower housing and a fixed housing and bolts. The piston of the upper and lower cylinders is fastened and fixed, and is moved up and down while being inserted into the hole formed in the center part of the master connection part through the space portion drilled in the center part of the fixed housing.

As described above, the master connection part has a hole formed like a cylinder in a vertical direction in which the piston of the upper and lower cylinders is inserted and moved up and down in the center part, and the lower part is mounted on the upper part of the hole formed in the center part of the master to a fastening means such as a bolt nut. Is fixed by.

In addition, two or more reference pins (PIN, 103) in the fixed housing (1) is fixed to protrude in the downward direction, the master guide hole 201 formed in the master (2) located in the lower portion and the slave (3) is fastened with the master It is configured to penetrate between the slave guide holes 301 formed in the tool changer accordingly guides while interlocking the position between the fixed housing, the master and the slave when coupled up and down.

In addition, the lower side of the fixed housing 1 is provided with a knob rotating body 104 is coupled to the knob 1041 is rotated in the circumferential direction and the upper and lower fastening between the master and the slave. The central portion of the knob rotating body is formed by drilling a central portion so that the upper and lower cylinders and the master connection portion pass.

At this time, the knob rotating body 104 is fastened to the fixed housing 1 so that the jaw is formed on the upper side in the circumferential direction so that the knob rotating body is placed on the upper side, and the center part is drilled so that the upper and lower cylinders and the master connection part pass. The knob support 105 of the circular band structure configured is coupled to one point of the lower part of the fixed housing by a fastening means such as a bolt nut. Accordingly, the knob rotating body rotates left and right in a state spanning the circumferential jaw to the knob support body without being in direct contact with the fixed housing.

At least one point in the circumferential direction of the master and the slave, the knob connection portion 1042 protruding one point in the circumferential direction and the master knob entry portion 203 having a predetermined space so that the knob 1041 provided in the knob connection portion can rotate. ) And slave knob inlet 302 are machined.

The master knob entry portion 203 is configured to be grooved in the same size in the vertical direction to rotate the knob 1041,

The slave knob entry portion 302 is a groove processing to the size corresponding to the master knob entry portion 203 in the vertical direction, the locking jaw 3021 is protruded in the upper one section is a knob installed on the knob rotating body When the 1041 is rotated to the place where the jamming jaw is located, the knob catching portion 1043 processed to be bent inward from the lower side of the knob is positioned to contact the jamming jaw to prevent the fall of the slave to fasten the slave and the master. do.

The knob 1041 is formed in the vertical direction to have a height corresponding to the combined height of the upper master knob entry portion 203 and the lower slave knob entry portion 302 of the plurality of knob connection portions 1042 formed on the knob rotating body. Each end is installed by means of fastening such as bolts. In addition, as described above, the knob catching portion 1043 is installed at the lower portion of the knob to support the lower portion of the catching jaw 3021 that protrudes at an upper point of the slave knob entry portion 302 so that the slave falls. This prevents the slave and the master from being combined.

In addition, a locking bar rotating body 106 having one or more locking bars 1061 protruded outward is provided around the upper and lower cylinders installed at the center of the fixed housing, and the locking bar rotating body 106 is operated by pneumatic (or hydraulic). Is connected to one point of the locking cylinder 107, when the piston of the locking cylinder is straight, the linked locking bar rotary body is configured to rotate by a predetermined length. Rotating section is sufficient to satisfy only the rotation section enough to enter or exit the locking bar to the locking pin support 108.

The locking cylinder 107 is connected to one side of the plurality of locking pin support or one of the locking pin support or fixed housing fixedly linked, the expansion and contraction of the piston is connected to the locking bar rotating body and the locking bar rotating body It is configured to extend without receiving interference due to the change of angle during rotation of the. At this time, one or more locking bar rotating body may be installed.

Locking bar 1061 protruding outwardly of the locking bar rotating body is a locking pin support part for preventing the rising of the locking pin 202 protruding toward the upper portion of the master through the locking hole 109 formed on one side of the fixed housing ( 108 is accommodated after the rotation to block the space portion formed in the lower portion of the locking pin support instead of the locking pin 202. Thus, when the locking bar 1061 is accommodated in the locking pin support, it protrudes in the upper direction of the master (2). The locking pin 202 presses between the master and the slave by pressing the upper and lower cylinders, thereby preventing the fastening between the master and the slave from being loosened in the fixed state. That is, before the upper and lower connectors of the master and the slave are crimped, the locking pin penetrates the locking hole and then is positioned on the locking pin support 108 to stably fix the position of the master.

6a to 6g are exemplary views showing the operation sequence of the tool changer of the present invention.

The tool changer according to the present invention having the structure as described above is located at the bottom in the state in which the fixed housing (1) installed in the air balance and the master (2) installed in the lower portion of the fixed housing (1) are coupled as shown in FIG. 6A. Any tool selected from the various tools (not shown), for example, is located on the upper surface of the slave 3 connected to a welding tool or a bracket installed in the welding tool. At this time, the Ricking pin 202 of the master penetrates through the locking hole 108 formed in the fixed housing (1) is a state in which the upper portion is supported by the locking pin support (108).

Thereafter, the worker lowers the fixed housing and the master by using a handle (hand wheel) formed around the fixed housing and inserts the reference pin 103 into the slave guide hole 301 formed in the slave. At the same time, the knob 1041 located on the left side also enters the slave knob inlet 302.

Referring to FIG. 6B, it can be seen that the upper and lower masters and the slaves are accurately positioned up and down at the correct positions according to the guide of the reference pin 103. At this time, it can be seen that there is some play between the master and the slave. The reason is that the upper and lower cylinders installed in the fixed housing do not operate yet, so the various connectors formed on the lower surface of the master do not push the connectors located on the upper surface of the slave downwards. It can be seen that only the contact. At this time, the power, air and water through the connectors are not connected yet.

6C and 6D, it can be seen that the knob 1041 provided on the knob rotating body 104 has rotated to the right. By this operation, the master and the slave are in a fastening state, so that the slave does not fall downward due to its own weight. The reason is that the knob locking portion 1043 bent inward of the slave knob entry portion 302 formed on the lower side of the knob rotated to the right is located below the locking step 3021 protruding from the upper side of the slave knob entry portion 302. This is because the fixed housing 1 coupled with the knob rotating body supports the weight of the slave.

6E to 6G, it can be seen that the upper and lower cylinders are extended and the locking pins 202 formed in the master are lowered from the locking holes 109. Then, the locking bar rotating body 106 extends the locking cylinder 107. By rotating by entering the lower space portion of the locking pin support 108, it can be seen that the locking bar 1061 is a state to prevent the rising of the locking pin 202 by blocking the lower space.

In addition, it can be seen from the drawings that the play between the master and the slave has disappeared. In this state, it can be seen that the upper and lower cylinders are extended and the master connection part connected to the lower part pushes the master downward so that the connector of the master and the connector of the slave are pressed together and the power is applied, and the water passage and the aeration state are reached.

The manipulation of the upper and lower cylinders and the locking cylinder is operated by an operator who adjusts the air balance.

6A to 6G are diagrams illustrating the fastening between the fixed housing, the master and the slave, and may be reversed from the above method when the tool is removed from the air balance. In other words, take out the locking bar rotating body from the locking pin support by using the locking cylinder so that the locking pin can be raised again, and then contract the upper and lower readers to separate the power and air and water from the master and slave, and then disconnect the knob. When rotating to the left side, the slave is separated from the master and the fastening of the fixed housing by the worker's manpower is simply released.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

<Explanation of symbols for the main parts of the drawings>
(1): fixed housing (2): master
(3): slave 101: upper and lower cylinder
(102): Master connection (103): Reference pin
(104): knob rotating body (105): knob support
(106): locking bar rotating body (107): locking cylinder
(108): locking pin support portion (109): locking hole
201: master guide hole 202: locking pin
(203): master knob entry (301): slave guide hole
(302): Slave knob entry (1041): Knob
(1042): knob connection portion (1043): knob locking portion
(1061): locking bar 3021: locking jaw

Claims (6)

The upper side is fixed and coupled to the air balance, and the locking housing for engaging between the master and the slave located in the lower portion using the upper and lower cylinders for pressing the master rotating body in the circumferential direction and the rotating knob in the lower direction;
A master knob which is fastened to the lower side of the fixed housing and is slid to connect a plurality of connectors formed on the lower surface to the slave by pressing the upper and lower cylinders, and a master knob inlet portion capable of rotating the knob rotating body at one or more points;
A plurality of connectors formed on the upper surface by being fastened in the lower direction of the master by the knob rotating body are connected to the connector of the master, and a slave knob inlet portion capable of rotating the knob rotating body is formed at one or more points around the lower portion. Is a slave coupled with the tool; semi-automatic tool changer, characterized in that configured including.
The method according to claim 1,
The slave knob entry part is grooved into a size corresponding to the master knob entry part in the vertical direction, but the locking jaw is protruded in the upper one section to rotate the knob rotating body to the knob engaging portion formed in the lower portion of the knob Semi-automatic tool changer, characterized in that configured to support the load of the slave in position.
The method according to claim 1,
The upper and lower cylinders installed in the fixed housing are lifted up and down the master connection portion connected to the lower, semi-automatic tool changer, characterized in that configured to raise and lower the master coupled with the master connection.
The method according to claim 1,
The knob rotating body is installed on the lower side of the fixed housing is rotated in the left and right circumferential direction is coupled to the knob for fastening up and down between the master and the slave, the central portion is formed by punching the center portion so that the upper and lower cylinder and the master connection portion, Semi-automatic tool changer, characterized in that configured to rotate mounted on the jaw formed in the circumferential direction of the knob support fastened to the lower housing.
The method according to claim 1,
The fixed housing includes: a locking bar rotating body installed around the upper and lower cylinders and having at least one locking bar protruding outwardly; A locking cylinder for rotating the locking bar rotating body; Semi-automatic tool changer, characterized in that it further comprises a locking pin support portion which is installed on the top of the locking hole formed to penetrate the fixed housing up and down to lock the locking pin protruding from the upper part of the master when the locking bar is rotated.
The method according to claim 1,
Semi-automatic tool changer, characterized in that two or more reference pins protruding downward in the fixed housing, through the master guide hole formed in the master located in the lower portion and the slave guide hole formed in the slave to be coupled to the master.

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