JPH0611986U - Insulator for tool changer - Google Patents

Abstract

(57) [Abstract] [Purpose] To facilitate the teaching of the movement of the wrist of the robot for tool changer. An upper end of a movable plate 12 to which a tool adapter 5 is connected is fixed to a base 8 connected to a wrist portion 1 of a robot, which is elastically deformable in the vertical direction and elastically deformable and elastic in the lateral direction. The elastic support member 9 formed so as to be twistable is fixed to the free end of the lower end of the elastic support member 9 to allow the movable plate 12 and the tool adapter 5 to move in the lateral direction between the frame 8b of the base 8 and the movable plate 12. It is allowed within the range of the formed clearance a.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an insulator for a tool changer which is applied when a plurality of types of tools conveyed by a robot are connected to the wrist of the robot.

[0002]

[Prior art]

 Conventionally, when connecting a tool to be transported to a robot, a tool adapter 51, which is attached to and detached from a tool 50 transferred onto a jig 57 and fixed directly to a wrist 52 of the robot, is used as shown in FIG. Alternatively, as shown in FIG. 6, the upper plate 54 fixed to the wrist and the lower plate 55 fixed to the tool adapter are connected by the spherical body 54a on the upper plate 54 side and the spherical joint 55a on the lower plate 55 side. Then, the tool is fixed to the robot using the spherical joint type insulator 53 in which the elastic material 56 is sandwiched between the upper and lower plates 54 and 55.

[0003]

[Problems to be solved by the device]

 When the tool adapter 51 is directly fixed to the wrist portion 52 of the robot, the pin 51a of the tool adapter 51 and the pin hole 50a of the tool 50 are aligned, so it is difficult to teach the operation of controlling the movement and inclination of the wrist portion 52. If the fitting tolerance of the pin hole 50a and the pin 51a is increased, the fitting state of the pin 51a and the pin hole 50a becomes poor, and the tool 50 cannot be grasped accurately. There is a point. Further, the spherical joint type insulator 53 can absorb the lateral bending action applied to the wrist portion of the robot, but the insulator 53 cannot absorb the longitudinal compression action and impact load. Also, when the tool pin hole's axial center and the tool adapter's pin hole center become misaligned when the tool is attached or detached, the pin is pushed diagonally into the pin hole, making it impossible to fit the pin into the pin hole. Also, since it is impossible to remove the pin in the diagonal direction, it is necessary to accurately align the pin hole with the pin. The present invention aims to solve the above problems.

[0004]

[Means for Solving the Problems]

 An insulator for a tool changer according to the present invention is elastically deformable in the vertical direction and elastically deformable in the lateral direction and elastically twistable in a frame formed on a base connected to a wrist of a robot. An elastic support member having an upper end fixed to the base is installed, and a movable plate to which a tool adapter is attached / detached to / from a tool is fixed to a free end portion of the lower end of the elastic support member. A play gap is formed between the part and the part to allow a floating motion of the movable plate in the lateral direction within a certain range.

[0005]

[Action]

 The movable plate connected to the tool adapter is fixed to the free end of the lower end of the elastic support member installed in the frame of the base with the upper end fixed to the base connected to the wrist of the robot. The impact load applied to the movable plate and transmitted to the base is absorbed by the elastic compression deformation behavior of the elastic support member, and the lateral side is elastically deformed and twisted by the elastic support member. The movable plate is allowed to move in the direction, and the moving range is defined by the size of the play formed between the frame portion and the movable plate.

[0006]

[Effect of device]

 Since the present invention is configured as described above, it is possible to set a large allowable limit for the alignment between the tool adapter connection pin and the tool pin hole, and it is easy to teach the wrist operation when the tool is attached or detached. Therefore, the precision of wrist motion control can be relaxed. Further, the impact load applied to the tool adapter when the tool is attached / detached and transmitted to the wrist part is absorbed by the elastic compression deformation behavior of the elastic support member, so that the impact on the wrist part can be reduced.

[0007]

【Example】

 Next, one embodiment of the present invention will be described with reference to FIGS. Work pieces 4 having different specifications are fixed to the respective tools 3 which are carried by the wrist portion 1 of the robot and transferred from the fixed base 2 to another fixed base.

On the lower surface of the tool adapter 5 to which the respective tools 3 are selectively coupled, a pair of connecting pins 6 fitted in a pair of pin holes 7 penetrating the respective tools 3 are projected. . The upper end of each pin hole 7 is formed with a tapered surface whose hole diameter gradually increases upward, and the lower end of each connecting pin 6 is formed with a taper surface whose outer diameter gradually decreases downward.

In the insulator I for connecting the tool adapter 5 to the wrist portion 1 in a state where the rotation center O of the wrist portion 1 and the center of the circle having the pitch P of both connecting pins 6 as the diameter are matched, The base 8 connected to the part 1 is formed in a box shape that is open downward, and a rectangular plate-shaped upper plate 8a is horizontally formed at the upper end of the base 8 and the four peripheral edges of the upper plate 8a are formed. A rectangular frame-shaped frame portion 8b is connected, and a projecting edge 15 that is slightly projected inward is formed at the lower end edge of the frame portion 8b.

An elastic support member 9 having a substantially inverted H-shaped vertical cross-section inside the base 8 and formed so as to be elastically compressible and deformable in the longitudinal direction and elastically deformable and elastically deformable in the lateral direction. Is installed.

A fixing portion 9 a whose outer end surface is inscribed in the frame portion 8 b of the base 8 is horizontally formed at the upper end of the elastic supporting member 9 and the lower end of the elastic supporting member 9 has a protruding length. A mounting portion 9b, which is shorter than the protruding length of 9a, is formed to project horizontally.

The fixing portion 9a of the elastic supporting member 9 is fastened to the upper plate 8a of the base 8 by the bolt 11 together with the upper pressing plate 10 which is superposed on the lower surface thereof, and the elastic supporting member 9 has its lower end at the free end. It is fixed to the base 8 in the state.

A rectangular dish-shaped movable plate 12 to which the tool adapter 5 is coupled is installed at a lower end in a frame portion 8 b of the base 8 with a gap, and the elastic support member 9 is provided at four peripheral edges of the movable plate 12. A protruding edge 12a having a height equal to the thickness of the mounting portion 9b is formed so as to project.

In the movable plate 12, the outer end of the mounting portion 9b of the elastic support member 9 is inscribed in the projecting edge 12a of the movable plate 12, and the mounting portion 9b is sandwiched between the movable plate 12 and the lower pressing plate 13. In this state, it is fixed to the free end of the elastic support member 9 by the bolt 14.

Between the inner wall surface 16 of the frame portion 8b of the base 8 and the outer wall surface 17 of the projecting edge 12a of the movable plate 12, a floating motion of the movable plate 12 in the lateral direction is allowed within a certain range. A play 20 of 1 is formed, and between the upper surface 18 of the projecting edge 15 of the frame portion 8b of the base 8 and the lower surface 19 of the movable plate 12, the floating motion of the movable plate 12 in the vertical direction is within a certain range. A second play space 21 is formed to allow it inside.

The size a of the first clearance 20 is based on the outer diameter d of the connecting pin 6, the distance D between both connecting pins 6, the distance A between both inner wall surfaces 16 of the frame portion 8b of the base 8, and the like. The connecting pin 6 is set to a size within a range guided by its tapered surface and the tapered surface of the pin hole 7, and a <d / 2 or It is set to the smaller of these.

The size b of the second play 21 is set to about 1 mm or less based on the elastic compression characteristics and hardness of the elastic support member 9.

Next, the operation and effect of the embodiment having the above configuration will be described. In this example, the frame 8b formed on the base 8 connected to the wrist 1 of the robot is elastically deformable in the vertical direction and elastically deformable in the horizontal direction and elastically deformable in the torsional direction. The elastic support member 9 fixed to the base 8 is installed, and the movable plate 12 to which the tool adapter 5 to be attached to and detached from the tool 3 is fixed is fixed to the free end of the lower end of the elastic support member 8, Between the plate 12 and the frame portion 8b, a second clearance 21 that allows a vertical floating motion of the movable plate 12 within a certain range, and a horizontal free motion of the movable plate 12 within a certain range. A first clearance 20 is formed to allow it.

Therefore, when the operation of the wrist 1 is controlled so that the deviation between the axial center of the connecting pin 6 and the center of the pin hole 7 when the tool is attached becomes equal to or smaller than the size a of the first clearance 20. When the connecting pin 6 is fitted into the pin hole 7, the movable plate 12 and the connecting pin 6 move in parallel in the lateral direction due to the elastic bending deformation behavior and the elastic twisting deformation behavior of the elastic support member 9 in the lateral direction. The connecting pin 6 can be fitted into the pin hole 7 by reasonably introducing it into the pin hole 7 in a state where the axis of the connecting pin 6 is parallel to the center of the pin hole 7. Although not shown, the connecting pin 6 has a ring-shaped groove at the tip, and the ball provided on the pin hole 7 side engages with this groove, so that the tool 3 is connected to the tool adapter 5. Fixed. When the tool 3 is conveyed, the movable plate 12 comes into contact with the projecting edge 15 of the frame portion 8b of the base 8, and the base 8 supports the load of the tool 3.

According to the invention, the allowable limit of the alignment between the connecting pin 6 and the pin hole 7 can be set to a large value, teaching of the operation of the wrist part 1 when the tool is attached and detached becomes easy, and the operation of the wrist part 1 can be facilitated. The control accuracy can be relaxed.

Further, the impact load applied to the tool adapter 9 and transmitted to the wrist P1 when the connecting pin 6 is pushed into the pin hole 7 too much when the tool is attached or detached is changed by the elastic compression deformation behavior of the elastic support member 9. It is possible to absorb and reduce the impact on the wrist 1.

Further, since the first play 20 and the second play 21 are formed, the elastic support member 9 is restrained from excessive deformation behavior in the lateral direction and the vertical direction and elastically supported. The durability of the member 9 can be ensured.

[Brief description of drawings]

FIG. 1 is a partially cutaway side view showing a usage state of an insulator for a tool changer according to an embodiment of the present invention.

FIG. 2 is a partially cutaway perspective view of the tool changer insulator.

FIG. 3 is a vertical cross-sectional view of a tool changer insulator.

4 is a sectional view taken along line XX of FIG.

FIG. 5 is a side view showing an example of a connected state of a conventional tool adapter and a robot.

FIG. 6 is a vertical sectional view of a conventional insulator.

[Explanation of symbols]

 1 wrist part 3 tool 5 tool adapter 8 base 8b frame part 9 elastic support member 12 movable plate 20 first play

Claims (1)

[Scope of utility model registration request] 1. A robot frame, which is formed on a base coupled to a wrist of a robot, is elastically deformable in the vertical direction, elastically deformable in the horizontal direction, and elastically deformable in the lateral direction. An elastic supporting member fixed to the movable supporting plate is fixed to a free end portion of the lower end of the elastic supporting member, and a movable plate to which a tool adapter that is attached to and detached from a tool is coupled is fixed between the movable plate and the frame portion. An insulator for a tool changer is characterized in that a play gap is formed in the plate to allow a floating motion of the movable plate in a lateral direction within a certain range.