JPH0639764A - Coupler for exchanging automatic tool - Google Patents

Abstract

(57) [Summary] [Purpose] Even when the second unit side collides with a fixed object or when a load exceeding the allowable value is applied to the second unit side,
To provide an automatic tool change coupler in which damage is unlikely to occur in the main part of the device and the damage can be repaired to such an extent that it can be repaired. [Structure] A first unit attached to an output part of a robot, and a tool-side second unit mounted on a mounting table at the time of disconnection, and connecting or disconnecting the second unit with respect to the first unit side. And a guide hole into which the positioning pin is densely inserted is provided on the other of the joint surfaces of the first and second units, and the other side is provided with a positioning hole. In the coupler for positioning, the positioning pin is attached to the first unit or the second unit.
In addition to being detachable from the unit, the portion of the positioning pin projecting from the first unit or the second unit is provided with a stress concentration portion that is destroyed by a constant force.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool change coupler comprising a first unit attached to the output part of a robot and a work-side second unit having tools and the like connected to the first unit. It is about.

[0002]

2. Description of the Related Art This type of automatic tool changing coupler is
Usually, the first unit is provided with a return cylinder and a locking tool, and the locking tool is moved by extending / shortening the output shaft of the returning cylinder accompanying the supply of air to the returning cylinder. The second unit is connected / disconnected from / to the first unit by engaging / releasing the moved locking member and the second unit portion.

In order to properly connect the first unit and the second unit to each other,
A tapered tapered positioning pin is provided on the joint surface of the first unit with the second unit, and a guide hole into which the positioning pin is densely inserted is provided on the joint surface of the second unit with the first unit. There is. However, when, for example, the second unit side collides with a fixed object in the vicinity while working using the automatic tool changing coupler having the above-mentioned configuration,
The part to be damaged and the manner of damage are also indefinite, and a main part of the device (for example, a mechanism for connecting / disconnecting the second unit provided on the first unit side) is often damaged. When damaged, they are often irreparable.

[0004]

Therefore, in the present invention, even if the second unit collides with a fixed object or a load exceeding the allowable value is applied to the second unit, damage occurs in the main part of the device. An object of the present invention is to provide an automatic tool change coupler that is difficult to perform and that is lightly stopped so that the damage can be repaired.

[0005]

The invention according to claim 1 is
A mechanism for connecting or disconnecting the second unit to or from the first unit, which comprises a first unit attached to the output part of the robot and a second unit on the tool side that is placed on the mounting table at the time of detaching. And a guide hole into which the positioning pin is densely inserted, the other one of the joint surfaces of the first and second units is provided with a positioning pin protruding from the other. In the above, the positioning pin is detachable from the first unit or the second unit, and the stress concentrating portion is destroyed by a constant force at a portion of the positioning pin protruding from the first unit or the second unit. Is equipped with.

According to a second aspect of the present invention, in addition to the first aspect of the invention, a tool-corresponding portion is provided between the stress concentration portion and the mounting portion on the unit in the positioning pin.

[0007]

The present invention operates as follows. In the coupler for automatic tool change of the invention described in claim 1, the stress concentrating portion of the positioning pin is broken when the second unit side collides with a fixed object or when a load exceeding the allowable value is applied to the second unit side. Therefore, the main part of the device is less likely to be destroyed. Further, since the positioning pin is attachable to and detachable from the first unit or the second unit, it can be easily replaced (in the case of the invention according to claim 2, the tool corresponding portion is used).

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of the present invention will be described below with reference to the drawings shown as embodiments. In this embodiment, as shown in FIGS. 1 to 3, the automatic tool changing coupler according to the present invention is attached via a floating device F to an arm A of a robot that instantaneously stops when an overload acts. A first unit 1, a second unit 2 having a tool or the like connected to the first unit 1 and mounted on a mounting table 9 at the time of separation, and a first unit 1 mounted on the side of the first unit 1 and
It is configured to have a mechanism 3 that enables connection / separation between the unit 1 and the second unit 2.

As shown in FIG. 2, the first unit 1 includes a main body 1a having a thick disk-shaped appearance and a main body 1a.
It is composed of a hanging portion 1b protruding from a. As shown in FIG. 3, the mechanism 3 included in the first unit is provided in the hanging portion 1b, and a cylinder 30 configured by accommodating a piston 32 in a chamber 31 inside a main body 1a so as to be vertically movable. An eccentric rotation plate 33 that is rotated forward and backward by advancing and retracting the output shaft of the cylinder 30. When the eccentric rotation plate 33 rotates forward and backward, the peripheral surface of the eccentric rotation plate 33 appears and disappears inward and outward. Engages with a pin 21 to be described later on the unit 2 side.
It is released, thereby enabling connection / disconnection with the second unit 2.

As shown in FIG. 2, the second unit 2 is formed in a thick disk shape in appearance, and has a recess portion 20 for accommodating the hanging portion 1b in a connected state with the first unit 1. , And a pin 21 provided near both ends of the recess 20. Then, as shown in FIG.
The first unit 1 is provided with a contact portion 12 and a female connector 13 for air / oil / water path connection which are electrically connected to a power source, a control device and the like, and the second unit 2 is provided with the female connector. 13 is provided with a male connector 23 connected to 13 and a contact pin 22 electrically connected to the contact part 12. Further, the first and second units 1 and 2 are provided with the connectors 13 and 23 and the contact part 12. In order to realize a reliable connection between the contact pin 22 and the contact pin 22, the positioning pin 4 and the guide hole 5 are provided.

As shown in FIG. 4, the positioning pin 4 has a male screw portion 40 for screwing to the first unit 1 side,
A tool-corresponding portion 41 for facilitating attachment / detachment to / from the first unit 1 and a stress concentration portion 42 formed to have a smaller diameter than other portions.
And the taper pin portion 43 inserted into the guide hole 5, the stress concentrating portion 42 is set to a thickness such that a minimum load is generated so that the robot is momentarily stopped at the time of shear failure of the stress concentrating portion 42. is there.

As shown in the figure, the guide hole 5 is formed in the bottom wall of the shallow hole 29 in which the tool corresponding portion 41 is housed, and in the connected state of the first unit 1 and the second unit 2. The base end of the taper pin portion 43 is the shallow hole 29.
The depth is set to match the bottom wall of the. Since the automatic tool change coupler of this embodiment is configured as described above, when the second unit 2 side collides with a fixed object or when a load of an allowable value or more is applied to the second unit side,
As shown in FIG. 5, the stress concentrating portion 42 of the positioning pin 4 is sheared and broken, and the robot is instantaneously stopped at the time of this shearing and breaking.
Therefore, the impact on the robot arm A, which is the main part of the apparatus, the mechanism 3, etc. is alleviated, and there is no possibility that these parts will be damaged beyond repair.

The positioning pin 4 is the first unit 1
Since it is detachable, it can be easily replaced by using the tool corresponding part 41. The stress concentration part 4 described above
As for 2, any known structure can be adopted as long as it is a structure that causes stress concentration such as a notch. Further, a configuration in which the positioning pin described above is provided on the second unit side and the guide hole is provided on the first unit side can also be adopted.

Further, in all of the above-mentioned embodiments, the first unit 1 and the second unit 2 are connected and separated by engaging and releasing the eccentric rotation plate 33 and the pin 21. The present invention is not limited to this, and a link mechanism or the like having a known configuration can be adopted instead of the eccentric rotation plate 33.

[0015]

The present invention having the above-mentioned structure has the following effects. From the contents described in the action column,
Even if the second unit collides with a fixed object, or if the second unit side is loaded with more than the allowable value, damage is unlikely to occur in the main part of the device and the method of damage is a light stop that can be fixed We were able to provide a coupler for tool change.

[Brief description of drawings]

FIG. 1 is a perspective view showing an automatic tool changing coupler of the present invention attached to a robot arm, and a stand.

FIG. 2 is a cross-sectional view showing a connection state / separation possible state between a first unit and a second unit in the automatic tool changing coupler.

FIG. 3 is a perspective view of the automatic tool changing coupler.

FIG. 4 is an explanatory view of a positioning pin and a guide hole of the automatic tool changing coupler.

FIG. 5 is a view showing a state in which a positioning pin of the automatic tool changing coupler is sheared and broken.

[Explanation of symbols]

 A arm 1 1st unit 2 2nd unit 2 2nd unit 3 Mechanism 4 Positioning pin 5 Guide hole 41 Tool corresponding part 42 Stress concentration part

Front Page Continuation (72) Inventor Chiichi Chiyo 172 Ikezawa Town, Yamatokoriyama City, Nara Nitta Stock Company Nara Factory

Claims (2)

[Claims] 1. A first unit attached to an output section of a robot, and a second unit on a tool side which is placed on a stand when detached.
And a second unit with respect to the first unit side.
A guide hole in which a mechanism for connecting or disconnecting the units is provided, and one of the joint surfaces of the first and second units is provided with a positioning pin and the other is densely inserted with the positioning pin. In the coupler for automatic tool exchange provided with, the positioning pin is detachable from the first unit or the second unit, and at the portion of the positioning pin protruding from the first unit or the second unit. An automatic tool change coupler having a stress concentrating portion that is broken by a constant force. 2. The automatic tool change coupler according to claim 1, further comprising a tool-corresponding portion between the stress concentration portion and the mounting portion on the unit in the positioning pin.