JPH08257963A - Automatic tool changer and method for using same - Google Patents

Abstract

PURPOSE: To make the tip end of a manipulator slimmer and to facilitate checking the installation and removal of a tool and determining whether or not a tool exists by providing a rack portion, which holds a plurality of tools, with two cylinders for pushing, during tool replacement, a clamp button and an unlock button provided at a tool attaching part. CONSTITUTION: A tool attaching part 1, freely replaceably mounted on the end connection 8 of a manipulator 20 such as a robot arm, has a clamp button 2 and an unlock button 3 attached thereto in such a way as to freely move into and out of it while being pressed by a spring. A lock pin is attached to the clamp button 2 and is linked with the unlock button 3 via an arm. Cylinders 4, 5 for pushing the buttons 2, 3 to positions facing the clamp button 2 and the unlock button 3, respectively, are mounted on a rack part 6 adapted for holding plural kinds of tools, and position sensors SA, SB for detecting the expanded or contracted states of the cylinders 4, 5 are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tool changer and a method of using the same.

[0002]

2. Description of the Related Art Conventionally, for example, in a power distribution work robot, an operator rides in a bucket attached to the tip of a boom of the worker and exchanges work tools. However, since the work contents are diverse, work is performed. There were many types of tools, and it was complicated to replace them if necessary. In addition, it is dangerous because it is a work in high places and near the distribution line. Therefore, various manipulator devices equipped with an automatic tool changer have been proposed. For example, in Japanese Unexamined Patent Publication No. 6-143174, a cylinder or the like for pressing a clamp button for fixing a tool on the manipulator side is arranged on the manipulator side, and the presence or absence of the tool on a rack for setting the tool is determined. There was a proximity sensor for.

[0003]

However, in the above-mentioned prior art, when the tool is changed, the driving portion for pushing the clamp button which fixes the tool on the manipulator side is arranged on the manipulator side, so that the manipulator tip portion is arranged. Mechanism is complicated and large, lacks maintainability, and when performing work at heights by remote control, visibility during work decreases,
There was a problem that work efficiency fell. Also, during the tool change operation, it is not possible to confirm whether or not the tool is securely attached / detached to / from the manipulator, which reduces system reliability, and when several types of tools are placed in the same rack, the tool recognition There was a problem of cost increase because a new sensor had to be provided. The problem to be solved by the present invention is to reduce the manipulator tip portion, to make it possible to confirm the attachment / detachment of a tool, the presence / absence of a tool, and the identification of a tool with the same device, which is reliable and low cost. And to provide a method of using the same.

[0004]

In order to solve the above-mentioned problems, an automatic tool changing device of the present invention is attached to a rack portion for holding a plurality of types of tools and a tip of a manipulator, and exchanges any of the tools. In an automatic tool changer equipped with a manipulator-side connecting part that is freely mounted, the manipulator-side connecting part is provided with a key groove and a clamp button locking hole along the tool attaching / detaching direction, and the tool attaching / detaching part. Includes a key for positioning the tool held in the rack part in a key groove provided in the manipulator-side connection part, and a clamp button lock that is freely retractable and is normally biased in a protruding state. A tool-fixed clamp button that fits in a hole and the protruding state of the clamp button is normally locked, and the clamp button is locked when pushed. And a lock release button to release, the rack portion is remotely operated, but which includes a first cylinder and the second cylinder pushes the lock release button and the clamp button. The apparatus further includes a first position sensor that detects an operating state of the unlock button based on a difference in stroke of the first cylinder, and a second position sensor that determines whether or not there is a tool based on a difference in stroke of the second cylinder. It can be Further, the clamp button may have a restoring force different depending on the type of tool.

The method of using the automatic tool changer of the present invention is as follows:
When mounting the tool, the second cylinder is projected to detect the presence or absence of the clamp button in the tool by the second position sensor, and when it is confirmed that the tool is present, the second position sensor is used.
Cylinder is retracted, the first cylinder is projected and the lock release button is pressed, and after it is confirmed that the lock is released by the signal of the first position sensor, the second cylinder is projected and the clamp button is pressed to clamp. Whether or not the tool is appropriate is identified by the pressing force of the button, and when the tool is the target tool, the manipulator is moved to attach the manipulator-side connecting portion to the tool attaching / detaching portion, and the second cylinder is retracted.
Next, the first cylinder is retracted, and after confirming that the first cylinder has retracted by the output of the first sensor, the second cylinder is projected to confirm that the lock is reliably performed, and the second cylinder is retracted. And move the manipulator.
Further, at the time of returning the tool, prior to the return, the second cylinder of the rack portion at the position to be returned is projected to determine the presence or absence of the tool, and when it is confirmed from the output of the second position sensor that there is no tool, the manipulator is returned. To the predetermined position of the rack part, project the first cylinder and press the lock release button, then project the second cylinder to release the connection between the manipulator-side connection part and the tool attachment / detachment part, and remove the manipulator. A second position sensor that moves the cylinder to another location, retracts the second cylinder, then retracts the first cylinder, projects the second cylinder, and prevents the second cylinder from moving to a predetermined stroke due to the presence of the clamp button. The return will be completed by confirming with the output of.

[0006]

By the above means, the second cylinder is ejected before the manipulator starts the tool mounting operation. When there is a tool, the second cylinder stops halfway because the clamp button is locked. The second position detection sensor detects this, and the control unit determines whether or not there is a tool. Next, the second cylinder is once retracted, the first cylinder is ejected, and the lock release button is pressed. The control unit confirms that the lock of the clamp button has been released by the output signal of the first position detection sensor, and the second cylinder comes out to press the clamp button. In this case, by varying the stroke of the second cylinder depending on the type of tool, the control unit identifies the tool by the output signal of the second position detection sensor, and the tip of the manipulator is attached to the rack on which the target tool is placed. Move along a pre-programmed trajectory. Next, when the manipulator-side connection portion is inserted so that the manipulator-side key groove is aligned with the key of the tool attaching / detaching portion and the second cylinder is retracted, the clamp button enters the hole of the manipulator-side connection portion. Then, the first cylinder is retracted, and it is confirmed by the output signal of the first position detection sensor that the first cylinder is reliably retracted,
When the tool is surely fixed to the manipulator by outputting the second cylinder and the output signal of the second position detection sensor, the tool mounting is completed. If the fixation to the manipulator is not successful, a caution signal is output and the work is stopped. When returning the tool, before the manipulator enters the tool returning operation, the second cylinder comes out and the control unit determines the presence or absence of the tool based on the output signal of the second position detection sensor.
Search for an empty rack, move the manipulator along a pre-programmed trajectory, and place the tool in the empty rack. Next, the first cylinder comes out and the lock release button is pressed, and it is confirmed by the output signal of the first position detection sensor that the lock is released. Further, the second cylinder comes out, the clamp button is pushed, the manipulator is separated, the second cylinder is retracted, then the first cylinder is retracted, the second cylinder is again ejected, and the output signal of the second position detection sensor is used. After confirming that the tool has been reliably returned, the tool return is completed. If the return to the rack is incomplete,
Output a caution signal and stop the work.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of an automatic tool changer and a manipulator according to an embodiment of the present invention, FIG. 2 is a side sectional view showing a manipulator-side connecting portion, a tool attaching / detaching portion, and a rack portion, and FIGS. It is a flow chart which shows a processing procedure of a control part. In FIGS. 1 and 2, reference numeral 1 denotes a tool attaching / detaching portion which is replaceably attached to the tip of a manipulator-side connecting portion 8 at the tip of a manipulator 20 such as a robot arm. The tool attaching / detaching portion 1 is held on the rack portion 6 so as not to move in the left-right direction in the drawing when not in use. The manipulator-side connecting portion 8 is shown in FIG.
As shown in (b) (side view), the tool attaching / detaching portion 1 has a cup-shaped main body that fits into the head of the tool attaching / detaching portion 1, and a side wall provided with a clamp button locking hole 12 and a key groove 13. Next, FIG.
Further, as shown in FIG. 2, a clamp button 2 and an unlock button 3 are attached to the tool attaching / detaching portion 1 so that they can be freely moved in and out while being biased by springs. A lock pin 9 fitted into the hole is attached, and an arm 10 is attached between the lock pin 9 and the lock release button 3.
That is, the clamp button 2 cannot be pressed unless the lock release button 3 is pressed. A key 11 into which the key groove 13 of the manipulator-side connecting portion 8 is fitted is provided on the opposite side of the tool attaching / detaching portion 1. Further, a first cylinder 4 and a second cylinder 5 that push the clamp button 2 and the lock release button 3 are attached to the rack portion 6 at positions facing the clamp button 2 and the lock release button 3. And the first
First and second position sensors SA and SB that detect the expansion and contraction states of the cylinder 4 and the second cylinder 5 are provided. Reference numeral 7 in the figure denotes a control unit that issues an operation command for the first and second cylinders 4 and 5 and confirms the state based on detection signals from the first and second sensors SA and SB, and the operation of the manipulator 20. It also controls.

Next, the operation of the present invention will be described.
First, in the case of the tool mounting operation, as shown in FIG. 3, when the manipulator 20 is in the tool mounting operation, the second cylinder 4 is ejected before the manipulator 20 enters the tool mounting operation. When there is a tool, the second cylinder 4 stops halfway because the clamp button 2 is locked. The second position detection sensor SA senses this and the control unit 7 determines the presence or absence of the tool. Next, the second cylinder 4 is once retracted, the first cylinder 5 is ejected, the lock release button 3 is pressed, and the control unit 7 informs that the lock of the clamp button 2 has been released by the output signal of the first position detection sensor SA. Confirm. Then, the clamp button 2 is pushed by ejecting the second cylinder 4. At this time, since the stroke of the second cylinder 4 differs depending on the type of tool, the control unit identifies the tool by the output signal of the second position detection sensor SB, and the manipulator tip portion 8 is attached to the rack on which the target tool is placed. Moves along a pre-programmed trajectory. Then, the key 1 of the tool attachment / detachment part
When the manipulator-side connecting portion 8 is inserted so that the manipulator-side key groove 13 fits into the manipulator 1, and the second cylinder 4 is retracted, the clamp button 2 moves to the manipulator-side hole 1
Enter 2. Subsequently, the first cylinder 5 is retracted, it is confirmed by the output signal of the first position detection sensor SA that the first cylinder 5 is reliably retracted, the second cylinder 4 is projected, and the second position detection sensor SB The output signal confirms that the tool is securely fixed to the manipulator 20, and the tool mounting is completed. If the fixing to the manipulator 20 is not successful, a caution signal is output and the work is stopped. In case of the tool return operation, as shown in FIG.
Before the manipulator 20 starts the tool returning operation, the second cylinder 4 is projected and the control unit 7 determines the presence or absence of the tool by the output signal of the second position detection sensor SB, searches for an empty rack, and the manipulator 20 pre-programs. Move along the specified trajectory and place the tool in the empty rack. Next, the first cylinder 5 comes out and the lock release button 3 is pushed, and when it is confirmed by the output signal of the first position detection sensor SA that the lock is released, the second cylinder 4 comes out and the clamp button 2 is pushed, The manipulator 8 leaves. The second cylinder 4 then retracts, followed by the first cylinder 5
Is retracted, the second cylinder 4 comes out again, and it is confirmed by the output signal of the second position detection sensor SB that the tool has been reliably returned, and the tool return is completed. If the return to the rack is incomplete, a caution signal will be output and the work will be stopped.

[0009]

As described above, according to the present invention, the mechanism of the tip end portion of the manipulator is simplified and the visibility of the operator is improved. Tool attachment / detachment, tool attachment / detachment confirmation, tool presence / absence determination, and tool Can be identified by two types of cylinders with position detection sensors, and system reliability can be improved and cost can be reduced.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an automatic tool changer and a manipulator according to an embodiment of the present invention.

FIG. 2 is a side sectional view showing a manipulator-side connecting portion, a tool attaching / detaching portion, and a rack portion.

FIG. 3 is a flowchart showing a processing procedure of a control unit during a tool mounting operation.

FIG. 4 is a flowchart showing a processing procedure of a control unit at the time of returning a tool.

[Explanation of symbols]

1 tool attaching / detaching part, 2 clamp button, 3 lock release button, 4 second cylinder, 5 first cylinder, 6 rack part, 7 control part, 8 manipulator side connection part,
9 lock pin, 10 arm, 11 key, 12 manipulator side hole, 13 manipulator side key groove, 20 manipulator, SA 1st position detection sensor, SB 2nd position detection sensor

Claims (5)

[Claims] 1. An automatic tool changer comprising: a rack section that holds a plurality of types of tools; and a manipulator-side connection section that is attached to the tip of a manipulator and that replaces any of the tools. The manipulator-side connecting portion is provided with a key groove and a clamp button locking hole along the tool attaching / detaching direction, and the tool attaching / detaching portion is provided with the tool held by the rack portion on the manipulator-side connecting portion. And a key for positioning in the key groove, a clamp button for fixing the tool that fits in the clamp button locking hole and that is freely retractable and is normally biased in a protruding state, and the protruding state of the clamp button is always And a lock release button for releasing the locked state of the clamp button when pushed in, and the rack section is remotely operated. The automatic tool changer, characterized by comprising the lock release button and the first cylinder and the second cylinder pushes the clamp button. 2. A first position sensor for detecting the operating state of the lock release button based on the stroke difference of the first cylinder, and a second position sensor for determining the presence / absence of a tool based on the stroke difference of the second cylinder. The automatic tool changer according to claim 1, further comprising: 3. The automatic tool changer according to claim 1, wherein the clamp button has a restoring force different for each type of tool. 4. A manipulator-side connecting portion, which is attached to a tip of a manipulator and which is capable of exchanging any of the tools, is provided with a rack portion that holds a plurality of types of tools, and the manipulator-side connecting portion is provided. Is provided with a key groove and a clamp button locking hole along the tool attaching / detaching direction, and the tool attaching / detaching portion positions the tool held on the rack portion in the key groove provided on the manipulator-side connecting portion. Key, a clamp button for fixing the tool that fits in the clamp button locking hole and is always urged in a protruding state with a different restoring force depending on the type of tool, and the clamp button normally. Lock release button for locking the protruding state of the clamp button and releasing the locked state of the clamp button when pushed in. A first position sensor that detects the operating state of the lock release button based on the difference in stroke of the first cylinder, and a first cylinder and a second cylinder that press the lock release button and the clamp button.
In a method of using an automatic tool changer equipped with a second position sensor that determines the presence or absence of a tool based on the difference in stroke of the second cylinder, the presence or absence of a clamp button in the tool by protruding the second cylinder when the tool is mounted. Is detected by the second position sensor, and when it is confirmed that the tool is present, the second
Cylinder is retracted, the first cylinder is projected and the lock release button is pressed, and after it is confirmed that the lock is released by the signal of the first position sensor, the second cylinder is projected and the clamp button is pressed to clamp. Whether or not the tool is appropriate is identified by the pressing force of the button, and when the tool is the target tool, the manipulator is moved to attach the manipulator-side connecting portion to the tool attaching / detaching portion, and the second cylinder is retracted.
Next, the first cylinder is retracted, and after confirming that the first cylinder has retracted by the output of the first sensor, the second cylinder is projected to confirm that the lock is reliably performed, and the second cylinder is retracted. A method of using an automatic tool changer, characterized by moving the manipulator. 5. A manipulator-side connecting portion, which is attached to a tip of a manipulator and which is capable of exchanging any one of the tools, is provided with a rack portion that holds a plurality of types of tools, and the manipulator-side connecting portion is connected to the manipulator-side connecting portion. Is provided with a key groove and a clamp button locking hole along the tool attaching / detaching direction, and the tool attaching / detaching portion positions the tool held on the rack portion in the key groove provided on the manipulator-side connecting portion. Key, a clamp button for fixing the tool that fits in the clamp button locking hole and is always urged in a protruding state with a different restoring force depending on the type of tool, and the clamp button normally. Lock release button for locking the protruding state of the clamp button and releasing the locked state of the clamp button when pushed in. A first position sensor that detects the operating state of the lock release button based on the difference in stroke of the first cylinder, and a first cylinder and a second cylinder that press the lock release button and the clamp button.
In a method of using an automatic tool changer equipped with a second position sensor that determines the presence or absence of a tool based on the difference in stroke of the second cylinder, when the tool is returned, the second cylinder of the rack part at the location to be returned prior to the return. To determine whether or not there is a tool,
When it is confirmed from the output of the second position sensor that there is no tool, move the manipulator to a predetermined position on the rack section, project the first cylinder and press the lock release button, and then project the second cylinder. The connection between the manipulator-side connection part and the tool attachment / detachment part is released, the manipulator is moved to another location, the second cylinder is retracted, then the first cylinder is retracted, and the second cylinder is projected so that the clamp button A method of using an automatic tool changer characterized in that the return is completed by confirming from the output of a second position sensor that the second cylinder does not move to a predetermined stroke due to the presence.