JPH0976132A - Tool placing table - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tool placing table in which poor setting can be eliminated well even if positional deviation or inclination is generated at the time of exchanging of exclusive tools for a robot. SOLUTION: A movable frame body 4 is arranged on an upper frame 3 of a tool placing table through an equalizing mechanism S so as to be longitudinally, laterally and vertically jogged, and the equalizing mechanism S is constituted of a guide recessed part 6a, a rolling spherical body 7 to be brought in contact with the upper part of the guide recessed part 6a, a slide guide shaft 10 erected on a spherical body supporting part 8 for holding the rolling spherical body 7, a holding table part 11 fitted around the slide guide shaft 10 so as to be vertically moved, and a spring 13 for energizing the holding table part 11 upward.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool stand for placing and holding a dedicated tool at a predetermined position in a facility in which two or more kinds of dedicated tools are exchanged and used by one robot.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG.
A pair of positioning pins 52, 52 are provided upright on the tool stand 51, and a tool-side tool changer 53 formed with engaging holes 54, 54 for engaging the positioning pins 52, 52 is provided with a dedicated tool 55. , A welding gun is attached, and this tool side tool changer 5
A pair of positioning pins 56, 56 are provided upright on the upper surface side of the robot 3. On the other hand, a robot side tool changer 58 is provided on the tip side of a robot arm 57. The tool side tool changer 53 is positioned and mounted on the pair of positioning pins 52, 52 of the tool stand 51 while being engaged with the positioning pins 56, 56, and in this state, the tool side tool changer 53 is used to move the robot side tool. When the changer 58 is separated, the robot arm 57 picks up another tool, and after the work by the other tool is completed, the robot arm 57 puts the other tool in a predetermined position and again places the tool on the tool stand 51. The tool 55 held by the side tool changer 53 is retrieved, but at this time, as described above. , The tool side tool changer 53
A robot side tool changer 58 is positioned on the positioning pins 56, 56 for chucking, and the robot arm 57 picks up the tool 55 and returns to the origin.

During such a tool exchange cycle, it is necessary to accurately align the robot side tool changer 58 with the positioning pins 56, 56 of the tool side tool changer 53, and the positioning pins 56, 56 may be misaligned. When the robot-side tool changer 58 or the like is tilted, a setting failure occurs, and particularly, the repeat accuracy of the robot arm 57 is limited, and there is a problem that a setting failure occurs due to a positional shift and a tilt.
In order to eliminate set defects, it is necessary to control the robot arm 57 by extremely precise programming.
There is a problem that it is difficult to create a control program.

[0004]

SUMMARY OF THE INVENTION The present invention has been devised in view of the above-mentioned problems of the prior art, and an object thereof is not to provide a tool stand that can be set satisfactorily even if there is some positional deviation or inclination. The gist is a tool stand that holds the special tool at a predetermined position so that the robot can replace the special tool, and the tool stand can be finely moved back and forth, left and right, and up and down via a plurality of equalizing mechanisms on the upper frame. A movable frame body is disposed in the equalizing mechanism, and each of the equalizing mechanisms includes a dish-shaped guide concave portion formed on the upper frame, a rolling sphere that is rollably abutted in the guide concave portion, A slide guide shaft erected on a sphere support portion that holds the rolling sphere,
A holding base portion that is fitted onto the slide guide shaft so as to be vertically movable and fixed to the lower surface of the movable frame body, and is interposed between the holding base portion and the spherical body supporting portion and urges the holding base portion upward. It consists of a spring.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective configuration diagram of a tool holder of this example,
The tool table 1 has a U-shaped upper frame 3 formed on four legs 2, 2, 2, 2 which are vertically arranged. On the upper frame 3, four equalizing mechanisms S are arranged. , S, S, S is provided with a movable frame body 4 which can be finely moved in the front-back, left-right, up-down direction
On the movable frame 4, a pair of positioning pins 5a, which face each other,
5b is erected. The positioning pins 5a and 5b can be engaged with the engagement holes 54 and 54 of the tool side tool changer 53 described with reference to FIG. 3 to mount and hold the tool side tool changer 53 on the tool mounting base 1. Is.

FIG. 2 shows an enlarged configuration diagram of each of the equalizing mechanisms S, and the equalizing mechanism S will be described. The equalizing mechanism S includes a positioning guide plate 6 fixed on the upper frame 3, and the positioning guide plate 6 is provided. A guide recess 6a is formed in a dish shape on the upper surface side of 6, and a central hole 6b is formed in the center of the guide recess 6a. The guide concave portion 6a is formed so as to be inclined from the outer peripheral side toward the central hole 6b side so that the depth becomes deep. The rolling sphere 7 is in contact with the guide recess 6a, and the rolling sphere 7 can roll on the guide recess 6a to move back and forth and left and right, and naturally when no external force from the upper side acts. It is configured to rest on the central hole 6b in an aligned state.

The rolling sphere 7 is rotatably supported by a sphere supporting portion 8. A receiving ring 9 is fixed on the sphere supporting portion 8, and a central portion of the receiving ring 9 is fixed. A slide guide shaft 10 is erected in a fixed manner, and the upper end portion of the slide guide shaft 10 has a central recess 1 of a holding base 11.
1a, and is connected to the holding base 11 through the stopper ring 14 and the nut 15 in the central recess 11a. The holding base portion 11 is fixed to the lower surface of the movable frame body 4, and a guide tube body 12 slidably fitted on the slide guide shaft 10 is provided at the lower portion of the holding base portion 11. The guide tube body 12 allows the holding table 11 to move well up and down along the slide guide shaft 10. A coil-shaped spring 13 is interposed between the upper surface of the receiving ring 9 and the lower surface of the holding base 11 on the outer peripheral side of the guide cylinder 12, and the holding force is constantly applied by the spring 13. The base 11 is biased and held upward.

According to such an equalizing mechanism S, the rolling sphere 7 rolls on the guide recess 6a to absorb the positional deviation between the front, rear, left and right, and along the slide guide shaft 10. By moving the holding base portion 11 up and down, it can also move up and down.
The movable frame body 4 is configured to be capable of finely moving forward, backward, leftward, rightward, and downward with respect to the upper frame 3 via an equalizing mechanism S.

Therefore, the tool side tool changer 53 is attached to the positioning pins 5a and 5b on the tool stand 1 as described above.
When the robot arm 57 moves and the robot-side tool changer 58 is engaged with the positioning pins 56, 56 of the tool-side tool changer 53 and is slightly set, the robot arm 57 may be slightly displaced and tilted. Since the movable frame 4 can be moved back and forth, left and right, and up and down, this positional deviation and inclination can be absorbed well, and the robot side tool changer 58 can be satisfactorily engaged and set with the tool side tool changer 53. As a result, the defective set at the time of replacement can be eliminated, and the dedicated tool can be reliably replaced.

Further, since a slight positional deviation and inclination are absorbed by the equalizing mechanism S as described above, the program for controlling the robot arm 57 may be a rough program, and the control program can be simplified to change tools. It is also possible to shorten the cycle time of.

[0011]

The present invention is a tool holder for holding a dedicated tool at a predetermined position so that the robot can replace the dedicated tool, and the tool holder is provided on the upper frame through a plurality of equalizing mechanisms, and the front, rear, left, right and up and down directions. A movable frame body is disposed so as to be capable of fine movement, and each of the equalizing mechanisms includes a dish-shaped guide concave portion formed on the upper frame, and a rolling sphere that is rollably abutted in the guide concave portion. A slide guide shaft that is erected on a sphere support portion that holds the rolling sphere, and a holding base portion that is externally fitted to the slide guide shaft so as to be vertically movable and fixed to the lower surface of the movable frame body, Since it is composed of a spring that is interposed between the holding base and the spherical support and urges the holding base upward, some displacement and inclination may occur when the dedicated tool is replaced by the robot. Mo equalizing mechanism In good absorb the misalignment and tilt through can be eliminated a defective set of delivery of specialized tools to the robot side. In addition, some positional deviation,
Since the inclination is absorbed, there is no need for an accurate control program as in the prior art, and there is an effect that the control program can be simplified and the tool exchange cycle time can be shortened.

[Brief description of drawings]

FIG. 1 is a perspective configuration diagram of a tool holder of this example.

FIG. 2 is an enlarged configuration diagram of an equalizing mechanism of the tool stand of FIG.

FIG. 3 is an exploded configuration diagram of a conventional tool stand, a tool side tool changer, and a robot side tool changer.

[Explanation of symbols]

 1 Tool Stand 3 Upper Frame 4 Movable Frame 5a, 5b Positioning Pin 6 Positioning Guide Plate 6a Guide Recess 6b Center Hole 7 Rolling Sphere 8 Sphere Support 9 Receiving Ring 10 Slide Guide Axis 11 Holding Base 12 Guide Cylindrical 13 Spring 14 Stopper ring 53 Tool side tool changer 56 Positioning pin 57 Robot arm 58 Robot side tool changer S Equalizing mechanism

Claims (1)

[Claims] 1. A tool stand for holding a dedicated tool at a predetermined position so that a robot can replace the dedicated tool, the tool stand 1 being arranged on an upper frame 3 through a plurality of equalizing mechanisms S, and front, rear, left and right and up and down. The movable frame body 4 is disposed so as to be finely movable, and each of the equalizing mechanisms S has a dish-shaped guide concave portion 6a formed on the upper frame 3 and is rotatably abutted on the guide concave portion 6a. Rolling sphere 7, a slide guide shaft 10 erected on a sphere support 8 for holding the rolling sphere 7, and the movable frame 4 which is fitted onto the slide guide shaft 10 so as to be vertically movable. And a spring 13 which is interposed between the holding base 11 and the spherical support 8 and biases the holding base 11 upward. Tool stand.