JPH03120386U - - Google Patents
Info
- Publication number
- JPH03120386U JPH03120386U JP3021090U JP3021090U JPH03120386U JP H03120386 U JPH03120386 U JP H03120386U JP 3021090 U JP3021090 U JP 3021090U JP 3021090 U JP3021090 U JP 3021090U JP H03120386 U JPH03120386 U JP H03120386U
- Authority
- JP
- Japan
- Prior art keywords
- tool
- industrial robot
- moving member
- receiving frames
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
Landscapes
- Automatic Tool Replacement In Machine Tools (AREA)
Description
第１図はこの考案のツール・チエンジ補助装置
の一実施例を示す平面図、第２図は正面図、第３
図は第１図の−線断面図、第４図は産業用ロ
ボツトのハンドに装着されたツール保持機構の構
成の一例を示す縦断面図、第５図はツールの一例
を示す一部切欠側面図、第６図はツール・チエン
ジ動作を説明する概略図。
１……フレーム、２……ツール受け枠体、３…
…センサ、３ｂ……移動部材としての昇降軸、３
ｄ……検出器、３ｅ……識別手段としての判別部
、４……産業用ロボツト、５……ツール保持機構
、６……ツール、６ｆ……支承用フランジ。
Figure 1 is a plan view showing an embodiment of the tool change assist device of this invention, Figure 2 is a front view, and Figure 3 is a front view.
The figure is a sectional view taken along the - line in Fig. 1, Fig. 4 is a longitudinal sectional view showing an example of the configuration of a tool holding mechanism attached to the hand of an industrial robot, and Fig. 5 is a partially cutaway side view showing an example of the tool. FIG. 6 is a schematic diagram illustrating the tool change operation. 1...Frame, 2...Tool receiving frame body, 3...
...Sensor, 3b...Elevating shaft as a moving member, 3
d...detector, 3e...discrimination unit as identification means, 4...industrial robot, 5...tool holding mechanism, 6...tool, 6f...support flange.
Claims (1)
６ｆを有するツール６を支承するツール受け枠体
２を複数個設けてあるとともに、ツール受け枠体
２に近接する所定位置に、産業用ロボツト４に装
着されたツール６の種別を識別するためのセンサ
３が設けてあることを特徴とするツール・チエン
ジ補助装置。 ２ ツール受け枠体２が産業用ロボツト４のスト
ローク・エンド近傍に設けられており、センサ３
が、産業用ロボツト４に装着されたツール６の押
圧に追従して移動する移動部材３ｂと、移動部材
３ｂが所定位置まで移動したことを検出する検出
部材３ｄと、検出部材３ｄにより移動部材３ｂの
所定位置への移動を検出した時点におけるツール
保持機構５の位置に基づいてツール６の種別を識
別する識別手段３ｅを含んでいるツール・チエン
ジ補助装置。 ３ 識別手段３ｅがロボツト・コントローラに設
けられている上記実用新案登録請求の範囲第２項
記載のツール・チエンジ補助装置。[Claims for Utility Model Registration] 1. A plurality of tool receiving frames 2 for supporting tools 6 having supporting flanges 6f are provided at predetermined positions of the frame 1, and a plurality of tool receiving frames 2 are provided at predetermined positions near the tool receiving frames 2. A tool change assisting device characterized in that a sensor 3 is provided at a position for identifying the type of a tool 6 attached to an industrial robot 4. 2 A tool receiving frame 2 is provided near the stroke end of the industrial robot 4, and a sensor 3
However, a moving member 3b moves following the pressure of a tool 6 mounted on an industrial robot 4, a detecting member 3d detects that the moving member 3b has moved to a predetermined position, and a detecting member 3d detects the moving member 3b. The tool change auxiliary device includes an identification means 3e for identifying the type of the tool 6 based on the position of the tool holding mechanism 5 at the time when the movement of the tool 6 to a predetermined position is detected. 3. The tool change assisting device according to claim 2, wherein the identification means 3e is provided in the robot controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1990030210U JP2513591Y2 (en) | 1990-03-23 | 1990-03-23 | Tool change auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1990030210U JP2513591Y2 (en) | 1990-03-23 | 1990-03-23 | Tool change auxiliary device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03120386U true JPH03120386U (en) | 1991-12-11 |
| JP2513591Y2 JP2513591Y2 (en) | 1996-10-09 |
Family
ID=31532938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1990030210U Expired - Lifetime JP2513591Y2 (en) | 1990-03-23 | 1990-03-23 | Tool change auxiliary device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2513591Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571276B (en) * | 2017-10-20 | 2020-08-28 | 昆山万丰达智能装备有限公司 | Quick replacement device for end effector of double-arm cooperative robot and control system thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58211876A (en) * | 1982-06-02 | 1983-12-09 | 松下電器産業株式会社 | Robot handling system |
| JPS63288688A (en) * | 1987-05-18 | 1988-11-25 | 本田技研工業株式会社 | Robot hand identification device |
-
1990
- 1990-03-23 JP JP1990030210U patent/JP2513591Y2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58211876A (en) * | 1982-06-02 | 1983-12-09 | 松下電器産業株式会社 | Robot handling system |
| JPS63288688A (en) * | 1987-05-18 | 1988-11-25 | 本田技研工業株式会社 | Robot hand identification device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2513591Y2 (en) | 1996-10-09 |
Similar Documents
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |