JPH0698585B2 - Tool removal device for robot - Google Patents

Description

The present invention relates to a tool attachment / detachment device for detachably attaching a tool to a tool holder attached to an operating end of a robot.

(Prior Art) Conventionally, as a detaching device of this type, according to Japanese Patent Laid-Open No. 63-52985, a plurality of positioning holes are formed in a tool holder on a predetermined arrangement edge, and a tool mounting base is formed. A plurality of positioning pins that can be fitted into these positioning holes are planted so that the tool mounting base can be positioned and joined to the tool holder by fitting these positioning pins and positioning holes. A lock sleeve that is rotatable about an axis concentric with the arrangement circle and a lock shaft that can be fitted to the lock sleeve are provided on the mounting base of the tool. It is known that a false tooth is engaged with a facing tooth formed on the outer circumference of a lock shaft to fix a tool to a tool holder.

(Problems to be Solved by the Invention) In the above, since the lock shaft is provided in addition to the positioning pin at the mounting base of the tool, the structure becomes complicated and the cost of the tool rises, where the tool is prepared for model change. Therefore, the equipment cost will increase significantly because it is necessary to deploy more than one.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a device capable of positioning and fixing a tool on a tool holder without using a lock shaft in order to solve such a problem.

(Means for Solving the Problem) In order to achieve the above object, in the present invention, in a tool attachment / detachment device for detachably attaching a tool to a tool holder attached to an operating end of a robot, a tool holder for seating an attachment base portion of the tool A plurality of positioning holes are formed on the front plate of the front plate in a predetermined arrangement circle, and a plurality of positioning pins that can be fitted into the positioning holes are attached to the mounting base, and the front ends of the positioning pins pass through the positioning holes. Planted so as to project to the back of the face plate, on the back side of the front plate of the tool holder,
A substantially circular lock plate having a plurality of cutouts around the tip of each of the positioning pins that can be inserted and removed in the axial direction is provided rotatably around an axis concentric with the circle in which the positioning holes are arranged. The tip of each positioning pin is engaged with the peripheral edge portion of the lock plate adjacent to each notch when the lock plate is rotated from the unlock phase in which each notch aligns with each positioning hole. The engaging groove is formed.

(Operation) While the lock plate is returned to the unlocked phase, the positioning pins implanted in the mounting base of the tool are fitted into the positioning holes formed in the front plate of the tool holder. According to this, when the mounting base of the tool is positioned and joined to the front plate of the tool holder, and then the lock plate is rotated from the unlock phase, the peripheral portion of the lock plate adjacent to each notch position is positioned. The tool is fixed to the tool holder by engaging with the engaging groove of the pin. Also, if the lock plate is returned to the unlocked phase from this state, each notch aligns with each positioning pin, the lock plate is disengaged from each positioning pin, and the tool is removed from the tool holder. You will be able to remove it.

The back surface of the peripheral edge portion of the lock plate and the groove wall surface of each engagement groove that engages with the lock plate are formed into an inclined surface that exhibits a wedge action such that each positioning pin is pulled by the rotation of the lock plate from the unlock phase. If formed, the tool can be firmly fixed to the tool holder without backlash.

(Embodiment) With reference to FIGS. 1 to 3, (1) is a tool holder that is bolted (2) to the working end of a robot, and (3) is a bolt to the base end of a tool such as a welding gun. (4) Shows a mounting base to be stopped, and the tool holder (1) is a dish-shaped main body (1a)
And a front plate (1b) attached to the cover and the front plate (1b).
A pair of locating holes (5) are formed, and a pair of locating pins (6) that can be fitted into the locating holes (5) are planted in the mounting base (3) to attach the locating base (3). ) Is positioned on the front plate (1b) so that they can be joined together.
b) The cable connector (7) provided in (3) and the fluid joint (8) as shown in FIG. 5 are properly connected.

Each of the positioning pins (6) is formed to have a length such that the tip of the positioning pin (6) projects through the positioning holes (5) into the back surface of the front plate (1b), that is, the main body (1a) of the tool holder (1). And both positioning pins (6) in the main body (1a).
A substantially circular lock plate (9) having notches (9a) on both sides of the periphery of which the tip end of the positioning hole (5) can be removed in the axial direction is rotatable about an axis concentric with the arrangement circle of the positioning hole (5). Further, a lever (9b) extending radially outward is attached to the lock plate (9), and the piston rod (10a) of the cylinder (10) incorporated in the tool holder (1) is attached to the lever (9b). A spring bearing (11a) connected to the lever (9b) on the opposite side to the cylinder (10) and a spring bearing (1) fixed to the tool holder (1) while being connected via a link (10b).
1b) is provided with a spring (11) interposed between the lock plate (9) and the spring (11)
In the drawing, the lock plate (9) is biased clockwise to the lock side, and the lock plate (9) is set to the unlock phase in which the notches (9a) are aligned with the positioning holes (5) by the extension operation of the cylinder (10). The tool is attached and detached in this state so that it can rotate against the spring (11).

The peripheral portion of the lock plate (9) adjacent to each notch (9a) when the lock plate (9) is rotated from the unlock phase to the lock side is engaged with the tip of each positioning pin (6). A mating engagement groove (6a) is formed, and the rear surface of the peripheral edge portion and the groove wall surface of the engagement groove (6a) engaging with this are inclined surfaces (9c) (6b) as shown in FIG. According to the rotation of the lock plate (9) to the lock side,
The engaging force of the inclined surfaces (9c) and (6b) causes a pulling force to the tool holder (1) side on the positioning pin (6), so that the mounting base (3) does not rattle the tool holder (1). Fixed.

In the figure, (12) shows a proximity switch which cooperates with the lever (9b) to detect the phase of the lock plate (9).

(Effects of the Invention) As is apparent from the above description, according to the invention of claim 1, the mounting base of the tool is positioned in the tool holder by the plurality of positioning pins planted in the mounting base, and is provided in the tool holder. The tool can be fixed to the tool holder by engaging the lock plate with the engaging groove formed at the tip of each positioning pin, and it is not necessary to provide a lock shaft in addition to the positioning pin on the mounting base as in the conventional device. According to the invention of claim 2, there is an effect that the tool can be firmly fixed to the tool holder without rattling by simplifying the structure of the above.

[Brief description of drawings]

1 is a front view of an example of the device of the present invention, and FIG. 2 is a front view of FIG.
II-II line cutting side view, FIG. 3 is a III-III line cutting front view of FIG. 2, FIG. 4 is a IV-IV line development sectional view of FIG. 3, and FIG. 5 is V- of FIG. It is a V-line cross-sectional view. (1) …… Tool holder, (1b) …… Front plate (3) …… Mounting base, (5) …… Positioning hole (6) …… Positioning pin, (6a) …… Engagement groove (9)… … Lock plate, (9a) …… Notch (6b) (9c) …… Sloping surface

Claims (2)

[Claims] 1. A tool attaching / detaching apparatus for detachably attaching a tool to a tool holder attached to an operating end of a robot, wherein a plurality of a plurality of tool holders are mounted on a front plate of a tool holder on which a mounting base of the tool is seated. While forming the positioning holes, a plurality of positioning pins that can be fitted into the positioning holes are planted in the mounting base so that the tips of the positioning pins project through the respective positioning holes to the back surface of the front plate. On the back side of the front plate, a substantially circular lock plate having a plurality of cutouts around the tip of these positioning pins that can be inserted and removed in the axial direction is provided with a substantially circular lock plate around an axis concentric with the positioning hole. Rotatably provided to the respective positioning pins, and further, the lock plates are provided at the tip portions of the respective positioning pins when the respective notch portions are rotated from an unlock phase in which the respective notch portions are aligned with the respective positioning holes. Tool desorber in the robot, characterized in that the peripheral portion of the lock plate to form engaging groove for engaging adjacent parts. 2. The positioning pins are drawn in by rotating the lock plate from the unlocking phase between the back surface of the peripheral edge portion of the lock plate and the groove wall surfaces of the engagement grooves that engage with the back surface. The tool attachment / detachment device for a robot according to claim 1, wherein the attachment / detachment device is formed on an inclined surface that exhibits such a wedge action.