KR920004498B1 - Tool changer for welding robot - Google Patents

Abstract

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Description

Tool changer for welding robots

1 is a side view of a tool changer for a welding robot according to an embodiment of the present invention.

2 is a side view taken along line II-II of FIG. 1;

3 is a cross-sectional view taken along line III-III of FIG. 2;

4 is a front view of a substrate disposed on the robot arm side of a tool changer for welding robots according to a second embodiment of the present invention.

5 is a cross-sectional view taken along the line VV of FIG.

6 is a front view of a substrate disposed on a tool side of a tool changer for a welding robot according to a second embodiment of the present invention.

FIG. 7 is a cross-sectional view taken along line 6 of FIG.

8 is a side view of the tool robot for machine tool for welding according to the third embodiment of the present invention.

9 is a side view for explaining the positional relationship between the secondary terminal of the transformer and the welded construction terminal.

10 is a view for explaining an example of a conventional tool changer for welding robots.

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* Explanation of symbols for main parts of the drawings

1: board 2: pin

3: substrate 4: pin

5: guide pin 6: power connector

7: connector for control 8: connector for cooling water

9: guide pin receiving 10: connector (connector receiving)

11: control connector 12: cooling water connector (connector receiving)

13 pin connector 14 socket connector

15 connection tube 16 valve

17: socket connector 18: pin connector

19: protective tube 20: coupler

21: Bolt 23: O-ring

24: connection pipe 25: valve

26: hole 27: pin

31: substrate 32: substrate

33: recessed portion 34: binding member (coupler)

35,36,37,38: Attachment member 39,40: Guide pin

41: projection 42: member to be joined (coupler)

43,44,4546: Attachment member 47,48: Guide pin receiving

49,50,51,52,53,54,55,56: Bolt 57,58: Connector

59: unit 60: connector

61: unit 62: connector

63: unit 64, 65: connector

66: Unit 67,68,69,70,71,72,73,74: Bolt

75,76 Connector 77 Unit

78: connector 79: unit

80: connector 81: unit

82,83: Connector 84: Unit

91: board 92: terminal

93: board 94: connector

95 connector 96 trans

97: connector 98: connector

99,99 ': Secondary terminal 100,100': Welded construction terminal

101: insulation plate 107,107 ': stay (Syay)

108: axis 109,109 ': spring

110,110 ': Connector 111,111': Electric wire

131: substrate 133: absorbing plate

132,134: Piano wire 135: Guide pin

136: connector 137: holding plate

138: substrate 139, 140: female part

TECHNICAL FIELD This invention relates to the improvement of the tool changer for welding robots for supplying electricity, gas, air, water, etc. to tools, such as a welding robot gun.

As a tool changer for a welding robot which is an apparatus of this kind, it is known as shown in FIG.

A conventional tool changer for welding robots will be described with reference to FIG.

In other words, such a conventional tool changer for welding robots has a base board 131 connected to a welding robot arm (not shown) and a horizontal support supported by one of the substrates 131 by a piano wire 132. A holding plate for holding the guide pin 135 and the connector 136 (for supplying electricity, gas, air, water, etc.) supported by the piano wire 134 three points on the direction absorbing plate 133 again ( 137, and the other board 138 is provided with female portions 139 and 140 for insertion of the guide pin 135 and the connector 136. As shown in FIG.

In the conventional tool changer for welding robots having such a configuration, the other substrate 138 is brought into contact with one substrate 131, and the guide pin 135 is inserted into the guide pin receiving female portion 139. Even if the connector 136 is inserted into the female part 140 or there is a slight error in the mutual position of the guide pin 135 and the connector 136 or the position or direction of each of the female parts 139 and 140. The error (horizontal and inclined directions) is absorbed by the presence of the piano wire so that the connector can be connected to the correct position.

However, the above conventional tool changer for welding robots has the following problems.

(1) In the board | substrate side in which the guide pin and the connector are installed, many piano wires etc. are used in order to absorb an installation error etc., The structure is very complicated and manufacturing cost becomes high.

(2) Moreover, the welding robot arm side board | substrate and the tool side board | substrate provided with the various connector according to the purpose of use of the tool side must be prepared, respectively, Therefore, considerable installation cost is required and the replacement is complicated. As a result, the work efficiency was reduced.

(3) In addition, in the tool changer for a welding robot which arrange | positions a trance on the tool side, the whole apparatus for using this trance for tool exchange became large, the center became high, and the tool changer became unstable.

The object of the present invention is to solve the problem (1) by simply installing an error absorbing unit in the female part, and to solve the problem (2) by attaching a plurality of connectors to each board and attaching them freely. The problem (3) is to be solved by disposing the transformer at the center of the connector again.

That is, the tool changer for a welding robot of the present invention comprises: a male portion of a connector provided on a substrate attached to the robot arm side for supplying electricity, gas, air, water, etc. from the robot arm side to the tool side; It is connected to the male part of the connector, and consists of a female part of the connector provided on the substrate attached to the tool side in order to receive electricity, gas, air, water, etc. from the male part of the connector, each female part is a connector, It consists of a protective tube provided on the substrate attached to the welding gun side, a coupler inserted into the inside and an O-ring provided between the protective tube and the coupler, the connector and the coupler are formed to fit each other in the protective tube In, the inner circumference of the O-ring is able to slide rotationally in the circumferential direction by the left and right movement of the socket connector.

The objects, features, and advantages of the present invention as described above will become more apparent from the following description with reference to the drawings.

EXAMPLE

[First Embodiment (FIGS. 1 to 3)]

A tool changer for a welding robot according to a first embodiment of the present invention will be described with reference to FIG. 1 and FIG. 3, wherein (1) is a pin (2), (2) on the robot arm (not shown) side. )… … (3) is a pin (4), (4) ... on the welding gun (not shown) side. … It is a substrate fixed by.

The board 1 has three guide pins 5, a power connector 6, a control connector 7 and four coolant connectors 8 for precisely aligning positions of the two substrates 1 and 3, respectively. A male part composed of) is provided. In addition, the board 3 has a guide pin support 9, a power connector 6, a connector 10, a control connector 11, a value for the control connector 7, and a value for the coolant connector 8. The female part which consists of the connector 12 for cooling water for water is provided.

The power connector 6 formed on the board 1 is composed of a pin connector 13 protruding from the robot arm axis and a socket connector 14 protruding toward the board 3 side. The connection pipe 15 protrudes toward the robot side and one end thereof is connected to a hose (not shown), and the valve 16 protrudes toward the substrate 3 from the other end thereof.

In addition, as shown in FIG. 3, the power connector base 10 formed in the board | substrate 3 consists of the socket connector 17 which protrudes to a welding construction axis, and the pin connector 18 which protrudes to the board | substrate 1 side. In addition, the power connector receiver 10 is housed in a coupler 20 which is fitted at a predetermined interval inside the protective tube 19.

The protective tube 19 is fixed to the substrate 3 by bolts 21, and an O-ring 23 is formed in the vicinity of the substrate 3 between the protective tube 19 and the coupler 20. It is. The connector 10 and the coupler 20 are integrally formed, and in the protective tube 19, the inner circumference of the O-ring 23 is circumferentially moved by the left and right movements of the socket connector 17. The slide rotation can be made.

In addition, each coolant connector receiver 12 is composed of a connection tube 24 whose one end is connected to a hose (not shown) and a valve 25 provided at the other end thereof, and each coupler It is housed in 20.

In addition, since the control connector 7 is substantially the same as the said power connector 6, the description is abbreviate | omitted.

Therefore, in the construction of the tool changer for welding robots according to the first embodiment of the present invention, the substrates 1 and 3 are fixed to the robot arms and the welding architecture by bolts 2 and 4, respectively. By inserting the guide pin 5 provided on the substrate 1 close to both of them in the guide pin receiving plate 9 formed on the substrate 3, the substrate 1 can be supplied to and discharged electricity and cooling water. Connectors 10, 11, and 12 constituting the female part for receiving supply and discharge of electricity, cooling water, etc. provided on the board 3 by the connectors 6, 7, and 8 constituting the prepared male part. Guide pins (5), guide pin holders (9) and respective connectors (6), (7), (8) of male part and connectors (10), (11), (12) of female thread part. If the position of is not provided in the correct position, the male part and the female part do not coincide with each other and are not connected to each other.

For example, when the positions of the connector 6 and the connector 10 are slightly displaced, since it is usually difficult to insert the socket connector 14 into the female part, the hole 26 of the socket connector 14 Although the pin connector 18 is not connected to the pin 27, in the present invention, the front end of the pin coupler 18 of the female part is allowed to swing slightly in the protective tube 19 about the O-ring 23. Therefore, even if the positions of the power connector 6 and the connector 10 are slightly shifted, they are absorbed by forcibly moving the front end of the pin coupler 18, so that the connectors 6 and 10 are mutually different. The connection is secure.

Similarly, when the positions of the connectors 7 and 11 are slightly displaced, and when the positions of the connectors 8 and 12 are slightly displaced, the connectors 6 and 10 as described above. As in the case of), the deviation is absorbed.

In addition, in the above embodiment, the electric connection between water and water has been described with reference, but this is of course applied to the connection of gas, air and the like depending on the tool used.

Further, the male portion and the female portion of the connectors may be provided opposite to each other, that is, the male portion of the connector is provided on the substrate attached to the tool tool side, such as a welding gun, and the female portion is provided on the substrate attached to the robot arm side. Can be.

Second Embodiment (FIGS. 4-7)

Next, with reference to FIGS. 4-7, the tool changer for welding robots of 2nd Example of this invention is demonstrated. In this second embodiment, the male and female connectors formed at four corners of the attachment members of the substrates 31 and 32 are united into a plurality of units by bolt fixing means, and each of them can be freely attached and detached from the substrate. It is attached.

In the figure, reference numeral 31 denotes a substrate attached to the robot arm side end, and reference numeral 32 denotes a substrate attached to a tool such as a welded construction. The substrate 31 has a columnar coupling member (coupler) 34 having a concave indentation 33 formed at its center in FIGS. 4 and 5, and an outer periphery of the coupling member 34. As shown in FIG. It is fixed to the attachment members 35, 36, 37, 38, and the attachment members 35, 36 attached radially, and has guide pins 39, 40. In addition, the substrate 32 includes a member (coupler) having a protrusion 41 which coincides with the concave portion 33 (see FIGS. 4 and 5) at the center in FIGS. 6 and 7. 42, attached to the attachment members 43, 44, 45, 46 and the attachment members 43, 44 formed in the shape of a rectangle around the outer side of the engagement member 42; It has guide pin receivers 47 and 48 for receiving the guide pins 39 and 40.

4, between the attachment member 35 and the attachment member 38 of the substrate 31; Between the attachment member 38 and the attachment member 36; Between the attachment member 36 and the attachment member 37; And between the attaching member 37 and the attaching member 35, the male portions of the plurality of connectors are unitized, for example, the bolt 49 and the bolt 50; Bolts 51 and 52; Bolts 53 and 54; The bolts 55 and 56 are attached to the bolts 56 and the like so as to be freely attached and detached by the fixing means.

And the connector, ie, the unit of the male part, for example, has the connectors 57 and 58 (there has a pin for low current supply therein). Unit 59, connector 60 (having a pin for high current supply therein), unit 61, connector 62 (having a tube for gas supply therein) unit 63, A connector 64, 65 (having a cooling water flow path therein) and a unit 66 are formed.

In addition, between the attachment member 43 and 46 of the substrate 32; Between (46) and (44); Between (44) and (45); And female portions of the plurality of connectors are unitized, respectively, as shown by the phantom lines in FIG. 6 between 45 and 43, for example, bolts 67, 68 and 70; 71 and 72; (73) and (74), etc., so that they can be attached and detached freely.

The connector of the plurality of female parts, that is, the unit, for example, has a connector 75, a connector 76 (having a low current receiving pin therein), a unit 77, a connector 78 (inside thereof) Has a high current receiving pin), a unit 79, a connector 80 (having a tube for receiving gas therein), a unit 81, a connector 82, 83 (within It has a cooling water flow path) and a unit 84.

The male connector 57 and the female connector 75, the male connector 58 and the female connector 76, the male connector 60 and the female connector 78, and the male connector 62 And the connector 80 of the female part, the connector 64 of the male part, the connector 82 of the female part, the connector 65 of the male part, and the connector 83 of the female part, respectively.

Since the tool changer for a welding robot according to the second embodiment of the present invention has the configuration as described above, the guide pins 39 and 40 first receive the guide pins by bringing the substrates 31 and 32 close to each other. And guided by the male part of the connector to the corresponding female part of the corresponding connector, and the projection part 41 coincides with the concave part 33 so as to be inserted into the 47 and 48 parts. ) And 32 are completely bonded to each other.

As a result, two types of low currents are supplied from the unit 59 to the unit 67, high current is supplied from the unit 61 to the unit 79, and gas is supplied from the unit 63 to the unit 81. In the unit 66, two kinds of liquids are supplied to the unit.

And if there are any changes to the purpose of use on the tool side, for example, if two types of high currents are to be used among the electricity, gas, air, water and the like used therein, the units 61 and 79 may be replaced. It is good to remove and replace it with the unit provided with the connector for two types of high current supply, and the other unit may be left as it is.

In the tool changer for welding robots of the second embodiment of the present invention described above, terminals are formed in a substantially rectangular shape, but the shape may be, for example, square, flat, or other shapes. good. In addition, although the number of units is four, the number can also be selected suitably.

[Third Embodiment (Figs. 8 and 9)]

Next, with reference to FIGS. 8 and 9, a tool changer for welding robots according to a third embodiment of the present invention will be described.

In the tool changer for a welding robot of this embodiment, a transformer is disposed at the center of the connector, and the secondary side terminal of the transformer and the welding construction terminal are coupled to the connector at the same time.

In FIG. 8, reference numeral 91 denotes a substrate secured to the terminal 92 of the robot arm, and 93 denotes a substrate secured to a tool, for example, a welded construction (not shown). The substrate 91 has a connector 94 (having a cooling water flow path therein), which serves as a guide pin for accurately matching the positions of the two substrates 91 and 93, and electricity and gas. Connectors 95, 95 for supplying air, etc .; … Protrudes and the male part is formed.

These connectors are arranged on both sides of the transformer 96 secured to the substrate 91. In addition, the board 93 has a connector 97 (having a cooling water flow path therein) serving as a guide pin receiving at a position corresponding to the male portion, and a connector receiving electric, gas, air or the like ( 98), 98)... … Protrudes to form a female part.

Further, welded construction terminals 100 and 100 ', which are connected to the secondary terminals 99 and 99' of the transformer 96, are attached to the substrate 93 via the insulating plate 101 therebetween. It is.

Therefore, while the substrates 91 and 93 are fixed to the robot arm and the welded building, respectively, the connectors 94 serving as guide pins provided on the substrate 91 by bringing the substrates 91 and 93 closer to each other. Is inserted into the connector 97 serving as the guide pin receiving provided on the substrate 93, thereby completing the supply passage of the cooling water, and the other connectors 95, 95... (98), (98)... Since each pair is combined, it is completed by supply distribution of electricity, gas and air.

In addition, the secondary terminals 99 and 99 'of the transformer 96 are connected to the welded construction terminals 100 and 100', respectively, in combination and with these connectors. 9 shows a modification of the connection form between the secondary terminals 99 and 99 'of the transformer 96 and the welded construction terminals 100 and 100'.

In this figure, stays 107 and 107 'are fixed to the substrate 93, and welded construction terminals 100 are provided on the shaft 108 provided between the stays 107 and 107'. , 100 'are fixed, and between the stay 107 and the welded construction terminal 100, and between the stay 107' and the welded construction terminal 100 ', respectively, springs 109 and 109'. These are arrange | positioned, and the welding construction terminal 100,100 'is pushed and pressed, respectively.

Further, electric wires 111 and 111 'connected to the connecting terminals 110 and 110' provided on the substrate 93 are connected to the welded construction terminals 100 and 100 '.

Therefore, when the substrates 91 and 93 are close to each other, the secondary terminals 99 and 99 'of the transformer 96 and the welding construction terminals 100 and 100' are forcibly opened. The vehicle side terminals 99 and 99 'and the welding construction terminals 100 and 100' are automatically connected completely.

In the above embodiment, only the connector 94 serving as the guide pin supplies water or electricity. However, depending on the tool used, of course, the connector 94 also applies to the supply of gas, air, and the like.

1 to 9, the plurality of connectors may be unitized into a plurality of units to be freely attached and detached to each board, and a transformer may be disposed at the center between the connectors. At the same time, it can be easily understood as a tool changer for a welding robot that combines a secondary terminal of a transformer and a welding architectural terminal.

According to the present invention, when a rough position is determined by the positioning member when connecting the connectors between the two boards, even if there is a slight misalignment in the position of the connectors, the connectors are correctly connected without difficulty. It is absorbed by the simple configuration of adding an O-ring to the female part, so that precise machining is not necessary at the time of manufacturing a tool changer for a welding robot, and thus it can be easily manufactured at low cost.

In addition, by attaching a plurality of connectors in such a manner that they can be freely attached and detached to each board, the connector unit according to the purpose of use on the tool side can be easily replaced, resulting in good workability and low installation cost.

Furthermore, by arranging the transformer at the center of the connector, the secondary terminal of the transformer and the welded construction terminal are simultaneously coupled with the connector, thereby reducing the overall apparatus of the tool changer for the welding robot, and also the center view thereof. This lowers the tool changer for the welding robot.

In addition, by uniting the connector into a plurality of units to be freely attached and detached to each board, and by placing the transformer in the center of the connector, the transformer is coupled to the secondary terminal and the welded construction terminal at the same time as the connector, According to the purpose of use of the tool axis, the connector unit can be easily exchanged, the workability is improved, the equipment cost is low, and the overall tool changer device for the welding robot becomes smaller, and the center of the tool changer for the welding robot is also lowered. It becomes stable.

In the above, only the preferred embodiment in which the present invention is embodied to some extent has been described, but many modifications and changes can be made without departing from the technical spirit of the present invention.

Claims (1)

Connectors 6 and 7 which are male portions provided on the substrates 1, 31 and 91 on the robot arm side for supplying a predetermined feed from the robot arm side to the tool side; It is connected to the male part of the connector 6, 7, and the board (3), (32), (93) of the tool side to receive a predetermined feed of the connector (6), (7), etc. In the tool changer which consists of the connector part 10 and 11 which are female parts provided in the female part, The female part is the protective tube 19, 19 provided in the connector 10, 11, the board | substrate 3, (19), the coupler 20, (20), (20) inserted into the inside and the protective tube (19), (19), (19), coupler (20), (20), ( O-rings (23), (23), (23) is installed between the 20, the connector (10), (11), (12) and the coupler (20), (20), (20) Are formed to fit with each other to allow the O-rings 23, 23, and 23 to slide circumferentially in the protective tubes 19, 19, and 19. Tool changer for welding robots.

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