KR950013509B1 - Bond apparatus or exchange apparatus for automatic tool used in robot - Google Patents

Abstract

No content.

Description

Tool automatic changer

1 is a perspective view of an embodiment of an automatic tool changer according to the present invention, in which the first unit and the second unit are separated from each other.

2 is a plan view showing the first unit used in the apparatus with the cover partially cut away.

3 is a partial cross-sectional view taken along the line A-A of FIG.

4 is a plan view of a second unit used in the apparatus.

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

6 is a partial cross-sectional view showing a state immediately before the convex portion of the first unit is inserted into the space of the second unit to join both units with the coupling device.

7 is a partial sectional view showing a state in which both units are fixed by the coupling device.

8 is a partial cross-sectional view showing an example of a conventional tool automatic change device.

* Explanation of symbols for main parts of the drawings

1: Automatic Tool Changer 2: 1st Unit

3: second unit 5: module for interface

8 Electric wire 9 Compressed air port

12: cylinder housing chamber 15: cam

17: air cylinder 18: support member

25 joint 26 connection pin

101: unit on the robot side 102: recess

103: taper hole 104: steel ball

105: steel ball pressing portion 108: port

110: unit on the tool side 111: engaging protrusion

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool changer, in particular having a first unit connected to an operating device such as a robot, and one or more second units to which various tools are attached. A tool automatic changer configured to be detachably connected to a unit.

In the tool automatic changer having the above-described configuration, a coupling device for detachably coupling the robot side unit and the tool side unit is used, but a conventionally known coupling device has a mainstream configuration shown in FIG.

In other words, a tapered hole 103 is formed in the side wall of the recess 102 provided in the unit 101 on the robot side, and the steel ball 104 is formed in the tapered hole 103 so that the inner end thereof protrudes in the recess 102. The steel ball pressing portion 105 is provided on the outside of the steel ball 104 so as to be movable so as to be movable up and down.

The steel ball presser 105 is always forced downward by a compression spring installed in the upper chamber 106, and is moved upward when the compressed air is supplied from the port 108 to the lower chamber 109.

When the steel ball pushing portion 105 descends to the position shown, the inner end surface of the steel ball 104 pushes the steel ball 104 inward, and the inner end of the steel ball 104 protrudes from the side wall of the recess 102.

When the steel ball pusher 105 rises, the steel ball 104 moves outward and does not protrude from the side wall of the recess 102.

The unit 110 on the tool side is provided with a substantially cylindrical engaging protrusion 111 at a position corresponding to the recess 102 of the unit 101 on the robot side, and a cutout portion formed near the front end thereof ( The steel ball 104 mentioned above is inserted into 112 and is engaged.

And "113" is a tool O-ring.

In the case of combining and integrating both units 101 and 110, first, the port 108 supplies compressed air to the lower chamber 109, raises the steel ball pushing portion 105 to the compression spring 107, ), The engaging projection 111 of the unit 110 on the tool side is brought into contact with each other by contacting the opposing surfaces of the unit 101 on the robot side and the unit 110 on the tool side with the robot side unit 101 moved outward. ) Into the recess 102.

Next, when the compressed air is discharged from the lower chamber 109, the steel ball pushing portion 105 is lowered, and the steel ball 104 is pushed inward to engage with the cutout portion 112 of the engagement protrusion 111.

In this way, both units 101 and 110 are combined and integrated.

In addition, the above-described conventional tool automatic changer is a control electric signal line for transmitting an electric signal for controlling the tool to a tool attached to the unit 110 on the tool side, or for supplying air pressure or hydraulic pressure for operating the tool. Pneumatic, hydraulic or cooling water lines are installed to cool the tool.

The electric signal lines for control include the electrical conductors installed on the side surfaces of each unit 101 and 110 and the electrical contacts or electrical conductors installed on the contact surfaces of the units 101 and 110 and the respective electrical conductors within the units 101 and 110. It consists of a lead wire to connect.

In addition, the operation air pressure, the hydraulic line, and the cooling water line are composed of a blocking body provided on the side surfaces and contact surfaces of the units 101 and 110, and pipes and flow paths connecting them in the units 101 and 110, respectively.

Electrical signals, pneumatic pressure, hydraulic pressure, etc. sent from the robot enter into both units 101 and 110 from the electrical conductors or the blocking body of the side of the robot side unit 101, and the electrical conductors or the blocking body of the side of the tool side unit 110. Is sent out to the tool side.

However, in the conventional tool automatic changer described above, since both units 101 and 110 are coupled by engaging the steel ball 104 and the engaging protrusion 111, for example, a spot welding unit and a 100 kg weight group are used. When the tool is attached, a very large contact pressure is generated at the contact point between the engaging protrusion 111 and the steel ball 104 or the contact point between the steel ball pushing portion 105 and the steel ball 104.

For this reason, the contact part is recessed and a steel ball enters the recessed portion, and thus, there is a problem in that undesirable operation such as an operation failure, in particular, inability to separate the units 101 and 110 is likely to occur.

Moreover, in the conventional apparatus, since the position which supports both units 101 and 110 is quite inward (from the center axis) than the outer periphery, the moment acting at right angles to the engaging projection 111 of the tool-side unit 110 is shown. It is extremely weak against both units (101, 110) does not fit snugly, there is a difficulty that the rattling occurs.

In order to solve this problem, there is no way to thicken the engagement protrusion 111, but this inevitably causes the entire apparatus to become large, which is extremely unreasonable as a device for a robot that requires a small size and light weight.

In the conventional apparatus, the electric conductors of the control electric signal line, the electric connector, and the operation air pressure, the hydraulic line, and the insulator of the cooling water line are fixed to each unit 101 and 110, so that they are necessary to control or operate the tool. If the conditions differ significantly, they cannot already be operated with the same device, but must have been operated with another tool changer.

That is, for example, when attaching a hydraulic gripper with a tool, a hydraulic line for supplying hydraulic pressure for operation and a small electric signal line with a few amperes for sending control electric signals are required. In addition to a small electric signal line for control, a welding current line having a current capacity of about 100 amps and a line for cooling water are required.

If the conditions required for such a tool are greatly different, it is already impossible to use the same apparatus, and it is necessary to have various tool automatic changers.

The present invention has been made in view of the above circumstances, and its object is that the coupling force is very large, and even if the tool is operated with a weight of about several hundred kg, the tool may fall or be vibrated during movement, or the operation failure during the coupling and disconnection operation of both units. It provides a tool changer with high strength against external force which is not concerned about and which is perpendicular to the central axis of both units.

It is still another object of the present invention to provide a tool automatic changer having a high durability that does not easily break the coupling device even when a heavy tool is attached and operated.

Another object of the present invention is an automatic tool changer that can be equipped with an optimal line according to each tool even if the electric signal lines or current lines or pneumatic, hydraulic, water, etc. required for the control and operation of the attached tool is significantly different. In other words, it is possible to provide a tool automatic changer that can freely change the joint of a desired line, thereby improving work efficiency even at a low cost of equipment.

It is a further object of the present invention to provide an automatic tool changer, in which the exchange of lines can be made very simple.

The present invention provides a connection portion on the water side to one of a first unit attached to the operation unit or a second unit having the tool for supplying electricity, gas, air, water, oil, and the like from the operation unit side of the robot to the tool side. In the tool automatic changer provided with the female side connection part in the side, and when the said 1st unit and the 2nd unit were joined properly, the number and female side connection part mutually connected, 1st, 2nd unit is each It has a main body portion having a plurality of attachment portion, and detachable attachable to the attachment portion, and has a plurality of types of modules having at least one type of connection portion of electricity, gas, air, water, oil. 2 Each module can be selected and attached to the attachment part of the main body according to the type of tool provided on the unit side.

Since this invention is comprised as mentioned above, it has the following effect | action. In this automatic tool changer, when the first unit and the second unit are properly joined, electricity, gas, air, water, and the like can be supplied from the operation unit side of the robot to the tool side as described in the related art. If the type or capacity of electricity, gas, air, water, etc. to be used is changed according to the purpose of use of the tool, only the module having the connection part to be changed is removed from the attachment part of the main body. The module can be attached.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 to 7 show one embodiment of the automatic tool changer according to the present invention.

In FIG. 1, "1" is a tool automatic changer, "2" is a first unit attached to an operating device (not shown) such as a robot arm, and "3" is a second unit to which a robot welding gun 4 is attached. It is shown.

The 2nd unit 3 arrange | positions several things which attached various tools, such as the above-mentioned robot welding gun 4, is arrange | positioned on the shelf.

In operation, one second unit 3 may be arbitrarily selected and combined with the first unit 2 to be integrated to allow a predetermined operation to be performed by an operation device such as a robot.

The upper first unit 2 consists of a body portion 2a and a convex portion 2b, and as shown in FIGS. 2 and 3, the body portion 2a is approximately two wing-shaped portions in a flat cylindrical member. It has a Y-shaped shape which is formed by cutting out.

The modules 5 and 6 for interface are detachably attached to the notch part of the main-body part 2a, respectively, so that it may become one cylinder shape as a whole.

In addition, the wing-shaped portion 7 which is not cut out has an electric conductor 8 which sends a control electric signal to a tool attached to the second unit 3 on the side, and four pieces which supply and discharge the control compressed air to the tool. The compressed air port 9 is provided, and the lower surface is provided with an electrical connector (not shown) connected to the electric conductor 8 and a blocker (not shown) in communication with the compressed air port 9.

The threshold part 10 is provided in the upper part of the edge edge part of the notch part side of the main-body part 2a, and the above-mentioned interface modules 5 and 6 are bolted to this threshold 10. Tightened

With this arrangement, the replacement of the modules 5 and 6 together with the attachment can be performed only by tightening and loosening the bolts, which is extremely simple.

In addition, since the modules 5 and 6 are fitted to the cutouts in a shape corresponding to the cutouts of the first unit 2, the modules 5 and 6 have a cylindrical shape of the first unit 2. There is an advantage of not blowing outwards.

The convex part 2b is formed in the shape of a star, and protrudes on the bottom surface of the main body part 2a.

The convex portion 2b is composed of three portions 11 extending along three radii constituting 120 ° from each other and simultaneously joined to each other at the center.

The inside of the first unit 2 is cut into a star shape like the convex portion 2b to a depth reaching from the upper end face to the lower end of the convex portion 2b, so that each part 11 of the convex portion 2b is formed. Three cylinder storage chambers 12 are formed along this.

This cylinder accommodating chamber 12 is a space which accommodates the air cylinder 17 for cam drive mentioned later.

The upper opening of the cylinder accommodating chamber 12 is blocked by the cover 13 which consists of a circular plate attached to the upper surface of the main-body part 2a.

In the tip portion 11a of each portion 11 of the convex portion 2b, a window 14 is formed by making a rectangular hole, and a substantially wing-shaped plate cam 15 is provided in the window 14. have.

The cam 15 is a support pin 16 which penetrates from the outside to the right end (horizontal direction) of the front end 11a of the part 11 and extends into the window 14, and the central axis of the first unit 2 Rotation is supported in the parallel surface (vertical surface) so that rotation is possible between the exterior and the inside of the part 11 through the window 14. As shown in FIG.

Engaging with the engagement pin 46 which the cam 15 mentions later is the arc-shaped edge end part 15a.

For this reason, the support pin 16 is provided in the position near the angle | corner 15b on the opposite side to the engaging part 15a of the cam 15. As shown in FIG.

In addition, since the distance between the above-described engagement portion 15a of the cam 15 and the rotation shaft, that is, the support pin 16 is set to increase gradually as the outer portion is minimum and moves inward, the position of the support pin 16 is adjusted. The angle of the both ends of the arc-shaped engaging part 15a is set to deviate downward on the straight line which divides into two parts.

The three cams 15 described above are respectively driven by driving air cylinders 17 provided along the radial direction of the three cylinder housing chambers 12 described above.

Each cylinder 17 is fixed to the mounting base 19 fixed to both inner surfaces of the portion 11 through the support member 18, it is possible to rotate up and down along the central axis of the first unit (2).

The supply and discharge of compressed air to the driving air cylinder 17 is made through the connecting pipes 22 and 23 in the compressed air ports 20 and 21 installed on the side of the main body 2a.

The three cams 15 and the air cylinder 17 described above form a coupling configuration with the engagement pins 46, which will be described later. These three coupling configurations constitute a coupling device of the automatic tool changer of the present invention. have.

The air cylinder 17 mentioned above is arrange | positioned so that the piston rod 24 may be parallel to the cam 15 mentioned above, respectively.

The U-shaped joint 25 is fixed to the tip of the piston rod 24 toward the cam 15 described above, and the cam 15 described above is sandwiched between the two legs of the joint 25. The cam 15 is rotatably connected to one another so as to be fitted.

The connection of the joint 25 and the cam 15 is made the connecting pin 26 provided through both.

The connecting pin 26 penetrates the cam 15 at a position close to the engaging portion 15a.

When the piston rod 24 is moved in and out by operating the driving air cylinder 17 by the above structure, the movement is transmitted to the cam 15 by the U-shaped joint 25 and the connecting pin 26, and the cylinder 17 ), The cam 15 can be rotated around the support pin 16.

The above-described interface module 5 supplies the welding current to the welding gun 4, and the electrical contact 28a for supplying a large electric current 27 on the side and a large current of about 100 amperes on the bottom is provided. Three electrical contacts 28b are respectively provided to supply a standard current of about amperes.

The other module 6 supplies cooling water to the welding gun 4, and the water port 29 is provided in the side, and the two welding holes 30 are provided in the lower surface, respectively.

&Quot; 31 " is a positioning pin provided on the lower surface of the main body 2a described above.

The second unit 3 has a substantially Y-shaped form similar to that of the first unit 2.

The two modules cut roughly in the shape of a wing are attached to each of the interface modules 32 and 33 so that they can be detached from each other to form a circumferential shape of the same hinge as the first unit 2 as a whole.

These modules 32 and 33 are paired with the modules 5 and 6 attached to the first unit 2 so as to overlap each other when the two units 2 and 3 are stacked.

An electric conductor 34 is provided on the side of the module 32 for supplying welding current, and an electric contact 35a for supplying a large current and three electric contacts 35b for supplying a standard current are respectively provided on the upper surface.

The module 33 for supplying the cooling water is provided with two water ports 36 on the side and two water blocking bodies 37 on the upper surface, respectively.

The electrical contacts 35a and 35b of the module 32 are respectively located at positions corresponding to the electrical contacts 28a and 28b of the module 5 of the first unit 2 and both modules 32 and 5 are connected. When overlapping, both are connected.

The two water blocking bodies 37 of the module 33 also correspond to the two connection holes 30 of the module 6 of the first unit 2 so that both modules 33 and 6 communicate when they overlap. We are installing in position.

Both modules 32 and 33 are bolted to the threshold portion 38 provided at the lower end of the edge end on the side of the cutout like the modules 5 and 6 of the first unit 2.

For this reason, the replacement work is very simple with the attachment of the modules 32 and 33 and the advantage that the modules 32 and 33 do not protrude from the second unit 3 is that Same as the case.

An electric connector 40 connected to an unconnected electric connector and a disconnecting body of the first unit 2 when nesting both units 2 and 3 in the wing portion 39 of the second unit 3, respectively. And four compressed air blockers 41 are provided.

The electrical connector 40 and the compressed air interrupter 41 are respectively connected to the electric conductor 42 and four compressed air ports 43 attached to the side of the wing 39.

The center part of the 2nd unit 3 is formed in the space 44 which cut | disconnected to the Y shape and opened up and down.

The Y-shaped convex portion 26 of the first unit 2 described above is fitted into the space 44.

Three outer ends of the space 44 are each formed with recesses 45 recessed radially outward, and the recesses 45 are horizontally (horizontal) from the outside of the second unit 31. The engaging pin 46 which penetrates through is provided.

This engagement pin 46 is provided at a position close to the upper end of the second unit 3 as shown in FIG. 5 and is orthogonal to the plane including the central axis of the second unit 3.

When nesting both units 2 and 3, the inner wall surface 47 of each outer end of the space 44 is in contact with the outer surface of the tip 11a of the convex portion 2b of the first unit 2 and is concave. The outer end of the cam 15 is fitted into the portion 45.

The lower opening of the space 44 described above is blocked by a cover 48 made of a circular plate attached to the lower end of the second unit 3.

The above-mentioned spot welding gun 4 is attached through this cover 48.

And " 49 " for positioning holes into which the positioning pins 31 of the first unit 2 are inserted, " 50 " and " 51 " for the compressed air ports 20 and 21 of the first unit 2; ) Is connected to the breaker.

Next, the use state of the tool automatic changer 1 configured as described above will be explained using FIG. 6 and FIG.

Here, the case where the 2nd unit 3 which attached the spot welding gun 4 shown in the center of the some 2nd unit 3 attached to various racks by attaching various tools is selected is considered.

Firstly, the first unit 2 attached to the robot arm is moved above the second unit 3 described above, and the two positioning pins 31 of the first unit 2 are moved to the second of the second unit 3. Each of the two positioning holes 49 is stopped.

Subsequently, the first unit 2 is lowered so that the positioning pin 31 is inserted into the positioning hole 49 of the second unit 3 so that both units 2 and 3 are superimposed. The convex portion 2b of 2) is automatically fitted into the space 44 of the second unit 3.

At this time, since compressed air is supplied to each air cylinder 17 for driving the cam 15 in the direction in which the piston rod 24 is inserted, most of the cam 15 is transferred to the cylinder accommodating chamber 12 as shown in FIG. Tucked inside, there is no problem in the fitting of both units (2) and (3).

When the lower end surface of the main body portion 2a of the first unit 2 and the upper end surface of the second unit 3 are completely in contact with each other, it is automatically shown in the wing-shaped portion 7 of the first unit 2. The electrical connector and the blocker are connected to the electrical connector 40 and the compressed air blocker 41 respectively provided in the wing 39 of the second unit 3.

In addition, the electrical contacts 28a and 28b of the modules 5 and 6 of the first unit 2 and the connection holes 30 are also connected to the electrical contacts of the modules 32 and 33 of the second unit 3 ( 35a) and 35b) and the water blocking body 37, respectively.

In this way, it becomes possible to send the control electric signal, the compressed air signal, the welding current, and the coolant which were sent from the robot to the first unit 2 to the spot welding gun 4 through the second unit 3.

As described above, when both units 2 and 3 come into contact with each other, the operation valve (not shown) is operated to supply compressed air to the respective air cylinders 17 in the opposite direction to that until then to synchronize each piston rod 24. Extrude

The three cams 15 connected to each piston rod 24 then rotate outwardly about the support pin 16 so that the arcuate engagement portion 15a as shown in FIG. The engagement pin 46 of the unit 3 is in contact.

As described above, the distance between the engaging portion 15a and the support pin 16 of the cam 15 is minimum at a position close to the engaging pin 16 and gradually increases as the distance from the engaging pin 16 increases. As increases, the force for pressing the engagement pin 16 increases.

In this way, both units 2 and 3 can be held together.

In this embodiment, the relationship between the relative position of the engagement pin 46 and the support pin 16, and the dimension of the cam 15 at the time of joining both the units 2 and 3 is set appropriately. Since the position where the engaging portion 15a presses the engaging pin 46 and stops is installed inward from the center position where the bisector of the center angle of the cam 15 intersects with the engaging portion 15a, both units ( 2) When the force acts in the direction of separating (3), the moment due to the force mostly acts in the direction to rotate the cam (15) outward.

Therefore, the above-mentioned force acts in the direction of strengthening the coupling force of both units (2) and (3), so there is an advantage that it is very difficult to separate even in such a case.

In addition, in consideration of the case where the supply of compressed air is stopped due to an accident at the time of power failure, it is appropriate to include a spring in the cylinder 17 described above so that the piston rod 24 remains protruding even when there is no compressed air at the time of engagement. Do.

When separating the combined units (2) and (3), it is preferable to supply compressed air to the cylinder (17) in the opposite direction to the above.

This allows the cam 15 to rotate in the opposite direction and away from the engagement pin 46 so that the cam 15 can be easily removed.

In the above embodiment, three coupling mechanisms constituted by the cam 15, the cylinder 17, and the engagement pin 46 are provided at equal intervals around the central axis of each unit 2, 3, so that the tool There is an effect that the weight is shared equally by each coupling mechanism.

However, the number of coupling mechanisms may be four or more, and in this case, it is appropriate to arrange them evenly around the central axis of each unit (2) (3).

Moreover, in the above-mentioned embodiment, although the cam 15 is formed in the board | substrate of substantially wing shape, this invention is not limited to this, Of course, it can be implemented in various shapes, such as disk shape and a cylindrical shape.

In addition, the engaging portion 15a is not limited to the convex shape.

It is sufficient that the distance of the cam engaging part includes the same part as the distance between the engaging pin at the time of joining and the axis of rotation of the cam and a larger part than this distance, so that the distance gradually changes.

In the above-described embodiment, the interface modules 5, 6, 32, and 33 are all wing-shaped, and are bolted by fitting into the wing-shaped cutouts formed in both units 2 and 3, respectively. have.

However, the shapes of the modules 5, 6, 32, 33 can be arbitrarily changed, and the modules 5, 6, 32 can be provided without the cutouts in both the units 2, 3, respectively. You may fix with the bolt to the side surface of each unit 2 and 3 which made (33) substantially cylindrical.

This invention has the structure mentioned above and has the following effects. From the contents described in the action column, it was possible to provide an automatic tool changer capable of improving work efficiency at a low equipment cost.

Claims (1)

The connecting part on the water side to one of the first unit 2 attached to the operation unit or the second unit 3 having the tool for supplying electricity, gas, air, water, oil, etc. from the operation unit side of the robot to the tool side. In the automatic tool changer provided with the female side connection part on the other side, and when the 1st unit 2 and the 2nd unit 3 were properly joined, the male and female side connection parts mutually connected. Each of the first and second units 2 and 3 has a main body portion having a plurality of attachment portions and a detachable attachment portion to the attachment portion, and a connection portion of at least one kind of electricity, gas, air, water and oil. It has a plurality of types of modules (5) (6) (32) and (33), each of which is selected according to the type of tool provided on the second unit (3) side, I can attach it Tool auto changer.

Images