JPH06787A - Automatic tool changer - Google Patents

Abstract

PURPOSE:To simply check the relative position between plates on the robot side and the tool side and efficiently perform the teaching work by providing the display relation indicating the relative position between the fixed plate on the robot side and the tool plate. CONSTITUTION:When a fixed plate 1 and a tool plate 2 are connected, relative positions between all index marks 3 in four directions and a target marker 4 are visually observed before a connecting block 1b starts to be coupled with a cavity 2a, and the positioning in X, Y directions is checked. If there is a dangerous region or a deviation larger than it, both positions of the fixed plate 1 and the tool plate 2 are corrected. After this positioning is checked, the connecting block 1b is inserted into the cavity 2a, the positioning of the index marks 3 in four directions and the target marker 4 is completed in this insertion process, and the fixed plate 1 and the tool plate 2 are quickly connected in no contact between them.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool changer which can be used for a robot hand or the like to automatically change tools.

[0002]

2. Description of the Related Art An arm of an industrial robot is equipped with an automatic tool changer for changing a tool for machining. This automatic tool changer is capable of aligning and connecting a tool plate with a tool integrated with a fixed plate connected to an arm of a robot.

An example of the automatic tool changer is proposed by the present applicant and published as Japanese Patent Laid-Open No. 3-43174. This is because a plurality of lock pins are installed on the fixed plate side that is attached to the robot arm so that they can be projected and retracted in the circumferential direction, and these lock pins can be projected to the outside by the operation of a taper-shaped actuator. The lock pin is fitted into the lock hole on the tool plate side after being assembled into.

[0004]

When assembling the fixed plate and the tool plate, the respective postures of these plates are roughly aligned with each other. For example, at the time of joining and separating at the teaching stage in manufacturing the robot hand, such positioning can be performed relatively quickly by a skilled person.

However, when the fixed plate and the tool plate are joined, the alignment between the fixed plate and the tool plate must be done visually except in the case of teaching work. On the other hand, the fastening of the fixed plate and the tool plate requires three-dimensional alignment including a plane including the axis of the coupling direction and plane coordinates orthogonal to the plane. Therefore, the postures of the fixed plate and the tool plate in all directions must be checked, and such work is not only troublesome, but also the alignment is likely to be insufficient.

Further, not only the device described in the above-mentioned Japanese Patent Laid-Open No. 3-43174, but if the fastening operation is performed with insufficient alignment, a significant load acts between the fixed plate and the tool plate. However, not only the fixed plate but also the robot main body will be worn faster.

As described above, in the conventional automatic tool changer, since there is nothing to be used as an index for aligning the plate on the fixed side and the plate on the tool side, a measuring tool such as a ruler is required, and teaching work or the like is required. There is a problem that it is difficult to do.

The problem to be solved in the present invention is to make it possible to easily confirm the relative positions of the plates on the robot side and the tool side in an automatic tool changer, and to improve the efficiency of teaching work and the like. .

[0009]

The present invention comprises a fixed plate connected to an arm of a robot hand and the like, and a tool plate provided with a tool. The fixed plate and the tool plate are attached and detached by concavo-convex fitting. An enabled automatic tool changer having a display relationship between the fixed plate and the tool plate, which indicates a relative position in a plane orthogonal to the fitting direction and a relative position in a coupling direction. It is characterized by having been done.

[0010]

[Operation] When the fixed plate and the tool plate are joined by the concave-convex fitting, if the positions are aligned in a plane orthogonal to the axis of the fitting direction, the fitting surfaces of the fixed side and the tool side interfere with each other. No contact or contact. On the other hand, if the relative positional relationship between the plate on the fixed side and the plate on the tool side in this plane is known by the display, such positioning can be performed.

Further, by knowing the relative positions of the plate on the fixed side in the fitting axis direction and the plate on the tool side, it is possible to determine the relative postures of both plates from the start to the end of the fitting.

[0012]

1 is a schematic perspective view showing a fixed plate and a tool plate used in an automatic tool changer of the present invention in an exploded manner.

The fixed plate 1 attached to the tip of an arm (not shown) of the robot has an internal structure similar to that described in Japanese Patent Application Laid-Open No. 3-43174 mentioned in the section of the prior art, The tool plate 2 holding a tool (not shown) can be attached and detached.

FIG. 2 is a bottom view of the fixed plate 1, in which a coupling block 1b having a cross-shaped cross section is coaxially projected from a flange 1a mounted on an arm of a robot. Then, as shown in FIG. 3 of the above-mentioned publication, lock pins 1c are respectively provided on end faces of the coupling block 1b in four directions, and actuators (not shown) that operate these lock pins 1c by cylinder drive. It is possible to emerge from the combined block 1b by utilizing. In order to enable such operation of the lock pin 1c, the axis of the actuator is orthogonal to the axis of each lock pin 1c and has a tapered peripheral surface, and a spring or the like for biasing the lock pin 1c inward is provided. Be prepared.

On the other hand, the tool plate 2 is the fixed plate 1
A cavity 2a having a cross-shaped cross-sectional shape into which the coupling block 1b is fitted is formed, and lock holes 2b are opened at positions corresponding to each lock pin 1c of the fixed plate 1.

The tip of the lock pin 1c has a tapered taper shape, and the lock hole 2b has a taper hole which matches the taper. Then, the fixed plate 1 is inserted into the cavity 2b of the tool plate 2, and when the lock pin 1c is aligned with the lock hole 2b, the actuator is operated to fit the lock pin 1c into the lock hole 2b. As a result, the tool plate 2 is coupled to the fixed plate 1, and the electric connectors (not shown) incorporated in the fixed plate 1 and the tool plate 2 are simultaneously connected.

An index 3 for alignment with the tool plate 2 is provided on the end surface of the coupling block 1b of the fixed plate 1. As shown in FIG. 3, these indexes 3 are located almost directly above the lock pin 1c, and two adjacent indexes 3 can be visually confirmed when viewed from the corner portion of the fixed plate 1 as shown in FIG. To do so.

FIG. 4 is an enlarged view showing an example of the index 3.

As the index 3, for example, a commonly used adhesive seal can be used, and the surface thereof is marked. Then, when positioning the fixed plate 1 and the tool plate 2 at the time of coupling, as shown in FIG.
It is a three-dimensional direction of X, Y, and Z as an axis, and the indicator 3 is provided with indications corresponding to these directions.

In the illustrated example, XY is formed on the surface of the seal 3a.
A center marker 3b for displaying a position on a plane and side markers 3c and 3d on the left and right sides thereof are drawn in the vertical direction. The width of the center marker 3b is wide, and the range of the width is designated as a "target area" for alignment between the fixed plate 1 and the tool plate 2. Also, the side markers 3c and 3d
The width between the inner edges of is specified as the "safety area", and the width between the outer edges is specified as the "dangerous area". Then, the center marker 3b connects the seal 3a to the coupling block 1b so as to be located right above the axis of the lock pin 1c.
To be attached to the surface of.

Further, for alignment in the Z-axis direction, a scale 3e is drawn on the right side of the side marker 3d. The scale 3e is a 10 mm display indicating the level in the Z-axis direction,
Numerical values of "0", "-5", "-10" are displayed on the left side from the upper end to the lower end. Then, the scale 3e corresponding to the display of "0" is designated as the "fastening position" indicating that the fastening between the fixed plate 1 and the tool plate 2 is completed.

On the other hand, a target marker 4 is provided on the upper end surface of the peripheral wall surrounding the cavity 2a of the tool plate 2 so as to correspond to the index 3 of the fixed plate 1. These target markers 4 are drawn in a plane including the axis of each lock hole 2b, and the width thereof is almost the same as that of the center marker 3b.

Here, the fixed plate 1 and the tool plate 2
When combining and, as shown in FIG.
b enters into the cavity 2a. At this time,
The index 3 provided on the end surface of the coupling block 1b comes to face the target marker 4 of the tool plate 2, and these first perform alignment in the X and Y directions.

In this alignment, the relative positions of the center marker 3b and the side markers 3c and 3d described in FIG. 4 and the target marker 4 are determined. Then, when the target marker 4 is almost completely aligned with the center marker 3b, it is determined that the target marker 4 is within the range of the "target area", and the combining process is proceeded as it is. Also, when the target marker 4 is relatively displaced to one of the left and right side markers 3c and 3d and is in the range of the "safety region", it is determined that the positional relationship is the same so that the target marker 4 can be combined.
Then, when the position of the target marker 4 deviates within the range of the "dangerous area", it is determined that there is a risk that the coupling surface or the like between the fixed plate 1 and the tool plate 2 may interfere or contact. .

The determination of the relative positions of the fixed plate 1 and the tool plate 2 is not made by a set of the index 3 and the target marker 4, but all the sets arranged in four directions are visually observed. Do it.

When the fixed plate 1 and the tool plate 2 are joined according to the above criteria, as shown in FIG.
Before the coupling block 1b begins to be fitted in the cavity 2a, the alignment in the X and Y directions is confirmed as described above.
This is performed by visually observing the relative positions of all the indicators 3 in four directions and the target marker 4. If there is a deviation of "dangerous area" or more, the fixed plate 1 and the tool plate 2 Correct the position of each other.

After confirming the alignment, the coupling block 1b is inserted into the cavity 2a. In this insertion process, the alignment of the indices 3 in the four directions and the target marker 4 is completed, so there is no contact between the fixed plate 1 and the tool plate 2, and quick connection is possible.

As the coupling block 1b advances in the cavity 2a, the index 3 also moves so as to be embedded in the cavity 2a, as shown in FIG. On the other hand, the lock pin 1c is in a state of being fitted into the mating lock hole 2b, and in order to ensure this coupling, alignment in the Z-axis direction is performed by the scale 3e. That is, when the combined block 1b enters the cavity 2a, the scale 3e is gradually hidden from the upper end surface of the cavity 2a to which the target marker 4 is attached. Therefore, the position of the fixed plate 1 in the Z-axis direction with respect to the tool plate 2 can be read from the numerical value of the scale 3e. Then, by checking the scales 3e of all the indexes 3 in the four directions, it is possible to determine whether the coupling direction matches the Z axis or there is an inclination, and based on the determination result, the fixed plate 1 and the tool. After the plates 2 are combined or the postures of the plates 2 are corrected, the combination process is performed.

In this way, since the position and the posture relationship between the fixed plate 1 and the tool plate 2 in the connecting direction are also confirmed and connected, they are connected when the lock pin 1c and the lock hole 2b are connected. Can be set to a perfectly matched state. Therefore, the lock pin 1c and the lock hole 2b are quickly coupled, and the tool plate 2 can be reliably coupled by the lock.

In the embodiment, the index 3 is provided on the side of the fixed plate 1 and the target marker 4 is provided on the side of the tool plate 2, but it is also possible to do the opposite, and in any case, the fixed plate 1 and the tool plate 2 are provided. It suffices that the relative position between and can be determined.

[0031]

According to the present invention, since the relative positional relationship between the fixed plate and the tool plate can be visually confirmed by the display, it is possible to easily set an appropriate positional relationship by the judgment before connecting them. Therefore, the work at the teaching stage in manufacturing the automatic tool changer can be quickly performed with uniform accuracy without requiring skill, and productivity can be improved.

[Brief description of drawings]

FIG. 1 is an exploded perspective view of a fixed plate and a tool plate.

FIG. 2 is a schematic bottom view showing the shape of a coupling block provided on the fixing plate in FIG.

FIG. 3 is a side view of a main portion for showing a relative position between an index provided on the coupling block and a target marker on the tool plate side.

FIG. 4 is a detailed view of an index and also shows the meaning of the display.

[Explanation of symbols]

 1 Fixed Plate 1a Flange 1b Coupling Block 1c Lock Pin 2 Tool Plate 2a Cavity 2b Lock Hole 3 Index 4 Target Marker

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] June 4, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 3

[Correction method] Change

[Correction content]

[Figure 3]

Claims (1)

[Claims] 1. A fixed plate connected to an arm or the like of a robot hand, and a tool plate provided with a tool,
An automatic tool changer in which these fixing plate and tool plate are attachable and detachable by concave-convex fitting, and the relative positions between the fixing plate and the tool plate in a plane orthogonal to the fitting direction. And an automatic tool changer characterized by having a display relationship indicating the relative position of the coupling direction.