JPH0445831Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic tool changer attached to an arm of an industrial robot for attaching and detaching tools.

[Conventional technology]

An automatic tool changer for changing machining tools is attached to the arm of an industrial robot. This automatic tool changer is often
A floating device and the like are provided to prevent overload on the robot side and the workpiece side, an example of which is shown in FIG.

In FIG. 4, the automatic tool changer mainly includes a fixed plate 1 connected to a robot hand and a driven plate 2 integrated with the fixed plate 1 by a floating mechanism or the like. 1 and the driven plate 2 constitute the main body of the tool changer. A tool plate 3 serving as a pedestal for a tool is detachably connected to the driven plate 2. Note that when a floating mechanism or the like is not provided, there is no member corresponding to the driven plate 2, and the tool plate 3 has a structure in which it is directly attached to and detached from the fixed plate 1.

The fixed plate 1 and the driven plate 2 are connected by the floating mechanism as described above, and when the tool plate 3 is attached or removed, the driven plate 2 is moved by this floating mechanism to reduce the load. . Also, these plates 1 and 2
A typical structure is one in which a coupling shaft 20 and its lock cylinder 21 are assembled at predetermined positions.

By the way, between the driven plate 2 and the tool plate 3, a fluid pressure operating system and an electrical system for operating a tool (not shown) integrated with the tool plate 3 are connected. In the illustrated example, the driven plate 2
A working fluid (air) flow path 22 is formed inside, and a socket 23 projects toward the tool plate 3 at its end. The tool plate 3 is provided with a bush 24 for receiving the socket 23, and connects the flow path 22 to the tool plate 2 side. In addition to this working fluid connection, electrodes (not shown) for electrical connection are also connected to the driven plate 2.
and tool plate 3, respectively.

[The problem that the idea aims to solve]

However, when the tool plate 3 is replaced, it is separated from the driven plate 2, so the bush 24 portion becomes exposed. Therefore, foreign matter such as dust enters the channel in the tool plate 3 from the bush 24, and similarly, foreign matter enters the working fluid channel 22 from the socket 23 of the driven plate 2.
For this reason, especially when the tool plate 3 is not in use, it is left for a long period of time, so foreign substances often enter the tool plate, and cleaning or the like is required at the stage of reuse. Further, if there is a large amount of foreign matter, the operation may be hindered, and the tool plate 3 itself must be replaced.

Furthermore, if the joint surfaces of the driven plate 2 and the tool plate 3 are complicatedly uneven, it is difficult to clean these joint surfaces. This is because the uneven portions become a hindrance when cleaning is generally performed by blowing air or wiping with a brush or cloth. If cleaning is not performed sufficiently in this way, poor contact may occur, especially if foreign matter remains accumulated on the electrodes. The above problems occur not only when a floating device is provided, but also when a tool plate is directly connected to the robot body.

Therefore, an object of the present invention is to prevent foreign matter from entering the working fluid flow path and also to make it easier to clean the connecting parts of the electrical system and the like.

[Means to solve the problem]

In order to achieve the above object, the automatic tool changer for a robot of the present invention includes a main body of the tool changer connected to the arm of the robot, a tool plate detachably attached to the main body, and a working fluid flow path. The tool changer is capable of connecting the main body and the tool plate by opening openings on opposing surfaces of the main body and the tool plate, and is characterized in that a filter is provided at the entrance and exit of the working fluid flow path to prevent foreign matter from entering.

Alternatively, a filter may be provided at the entrance/exit of the working fluid flow path of the tool plate, and the end face of the filter may be on the same plane as the periphery of the entrance/exit, so that the area around the entrance/exit is a flat surface.

Furthermore, electrical wiring may be connectably provided between the main body and the tool plate, and the opposing surface of the tool plate including the electrodes of the electrical wiring may be a flat surface.

〔Example〕

Hereinafter, the features of the present invention will be specifically explained with reference to embodiments shown in the drawings.

FIG. 1 is a longitudinal sectional view showing the main parts of an automatic tool changer according to the present invention, and FIGS. 2 and 3 are longitudinal sectional views taken along different planes.

As explained in the conventional example, the automatic tool changer includes a fixed plate 1 connected to a robot hand.
and a driven plate 2, this driven plate 2
It has a configuration in which the tool plate 3 can be freely attached and detached.
The fixed plate 1 and the driven plate 2 constitute a main body of the tool changer, and the tool plate 3 is attached to and detached from the main body as a separate member.

A floating unit 4 is provided between the fixed plate 1 and the driven plate 2, by means of which a floating operation is performed when the tool plate 3 is connected to the driven plate 2. Further, a coupling shaft 2a is integrated with the tool plate 2, and the coupling shaft 2a is passed through the driven plate 2, and its tip is fitted into the mounting hole 1a of the fixed plate 1. A holding cylinder 2b is provided at the center of the driven plate 2, and the connecting shaft 2a is fixedly locked by a holding rod 2d which expands and contracts in the radial direction in conjunction with the movement of the cylinder rod 2c. Further, the driven plate 2 is provided with a floating lock cylinder 2e, which fixes and locks the tool plate 3 to the fixed plate 1 after the floating operation. Note that these floating units 4 and floating lock cylinders 2e are each provided at three locations at a constant circumferential pitch around the center, and the holding rod 2
Three d are also arranged radially from the center.

The opposing surfaces 5 and 6 of the driven plate 2 and the tool plate 3 are both flat surfaces, and when these plates 2 and 3 are separated, there is no protrusion on the opposing surface 6 of the tool plate 3. It is formed. The driven plate 2 and the tool plate 3 are provided with working fluid passages 7 and 8, respectively, for operating a tool (not shown), and
Electric wiring 9, 10 is routed.

The working fluid passages 7 and 8 are formed so that they can be connected to each other, and an orifice 7a is provided on the driven plate 2 side to communicate this portion with the working fluid dragon and 8 on the tool plate 3 side. Orifice chair 7a
The tool utilizes a cylindrical bushing, and has a gasket 7b attached thereto that is in close contact with the opposing surface 6 of the tool plate 3. Further, a filter 11 is embedded at the inlet and outlet of the working fluid channel 8 on the tool plate 3 side so as to be substantially flush with the opposing surface 6. This filter 11 is made of metal mesh or porous material, and is replaceably embedded in a large diameter mounting seat 6a scooped out from the opposing surface 6.

On the other hand, electrodes 9a and 10a are arranged at the connection parts of the electric wirings 9 and 10, respectively, and the tool plate 3
The side electrode 10a is embedded so that its end surface does not protrude from the opposing surface 6.

In the above configuration, when the tool plate 3 is integrated with the driven plate 2, the working fluid channels 7 and 8 communicate with each other as shown in FIG.
a and 10a are also connected. When the tool plate 3 is separated from the driven plate 2, there is no member protruding from the opposing surface 6 of the tool plate 3, and the tool plate 3 is stored in the tool storage position as it is.

When the tool plate 3 is stored, since the filter 11 is provided at the outlet of the working fluid channel 8, foreign matter such as dust does not enter the working fluid channel 8. Therefore, foreign matter does not enter the electromagnetic valve or other pressure fluid equipment provided in the working fluid flow path 8, and the equipment can be maintained. Furthermore, not only the tool plate 3 side but also the equipment on the driven plate 2 side are protected by preventing foreign matter from flowing into the working fluid flow path 7 due to circulation when connected to the driven plate 2. .

Also, when storing the tool plate 3,
Since the opposing surface 6 is flat, it can be easily cleaned by blowing air or using a brush. In particular, since the electrode 10a portion can also be sufficiently cleaned, reliable operation is guaranteed without any connection failure with the electrode 9a on the driven plate 2 side. Note that dust and the like generated during cleaning etc. are blocked by the filter 11, so there is no influence on the working fluid flow path 8.
There is no need to cover it at all.

[Effect of idea]

As explained above, in the present invention, filters are provided at the inlet and outlet of the working fluid flow path. Therefore, when the tool plate is separated from the robot-side main body, the inside of the working fluid flow path is blocked by the filter, thereby preventing foreign matter from entering. Therefore, the built-in equipment such as the solenoid valve can be maintained and its operation will not be disturbed. In addition, if the opposite side of the tool plate to the robot body is flat, there will be no protrusions, so in addition to the above effects, it will be easier to clean and eliminate the accumulation of dust. Since it can be thoroughly cleaned, there is no possibility of poor contact with the robot body.

[Brief explanation of the drawing]

Fig. 1 is a vertical cross-sectional view showing the main parts of the automatic tool changer according to the embodiment of the present invention, Figs. 2 and 3 are longitudinal cross-sectional views cut along different planes, and Fig. 4 shows a conventional example. It is. 1... fixed plate, 2... driven plate, 2
a...Connection shaft, 2b...Holding cylinder, 2c...
Cylinder rod, 2d...Holding rod, 2e...
Floating lock cylinder, 3... Tool plate, 5, 6... Opposing surface, 4... Floating unit, 6a... Mounting seat, 7... Working fluid flow path, 7a... Orifice, 7b... Packing, 8
... Working fluid flow path, 9 ... Electrical wiring, 9a ... Electrode, 10 ... Electrical wiring, 10a ... Electrode, 11 ...
...filter.

Claims (1)

[Claims for Utility Model Registration] 1. A main body of a tool changer connected to an arm of a robot, a tool plate detachably attached to the main body, and an inlet/outlet of a working fluid flow path is provided at each of the main body and the tool plate. 1. An automatic tool changer for a robot, which is connectable by being opened on opposing surfaces, and characterized in that a filter for preventing foreign matter from entering is provided at the entrance and exit of the working fluid flow path. 2. Claim 1, wherein the filter is provided at the entrance/exit of the working fluid flow path of the tool plate, and the end face of the filter is on the same plane as the periphery of the entrance/exit, so that the area around the entrance/exit is a flat surface.
Automatic tool changer for robots as described. 3. The automatic robot tool according to claim 2, wherein an electrical wiring is connectably provided between the main body and the tool plate, and the opposing surface of the tool plate including the electrode of the electrical wiring is a flat surface. Exchange device.