Gripper automatic change system

Abstract

According to one embodiment of the present application, there is provided a clamp automatic replacement system capable of automatically replacing a clamp installed at an installation position of a work machine by tightening or loosening a bolt. The clamp automatic replacement system includes a detection device, a robot, a bolt tightening and loosening device, and a control device. The detection device is configured to detect a predetermined portion of the clamp. The robot is configured to carry the clamp. The bolt tightening and loosening device is configured to tighten or loosen the bolt for fixing the clamp. The control device determines a bolt tightening and loosening position based on a detection result of the detection device for the predetermined portion, causes the robot to carry the clamp out of the installation position or to carry the clamp into the installation position, and causes the bolt tightening and loosening device to move to the bolt tightening and loosening position and to tighten or loosen the bolt.

Description

Technical Field

[0001] This invention relates to an automatic clamp changing system. Background Technology

[0002] The working machine is equipped with a predetermined fixture according to the workpiece to be processed. Patent Document 1 discloses a chuck that grips the workpiece from the front of the main body, in which the top jaws serving as the fixture need to be changed according to the workpiece.

[0003] Existing technical documents

[0004] Patent documents

[0005] [Patent Document 1] Japanese Patent Publication No. 2019-034384 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, there is also a need for automated fixture changing. In cases of automated fixture changing, robotic arms or other working devices can be considered. However, when using a bolt tightening device as a working device, specific bolt positions are required. However, the bolt positions will vary depending on the shape of the fixture designed to fit the workpiece, and even if the fixture shape is the same, different installation positions will result in different bolt positions.

[0008] Therefore, it is difficult to automatically tighten or loosen the bolts of various clamps corresponding to various workpieces through the working device.

[0009] The present invention was made in view of the above circumstances, and its purpose is to provide an automatic clamp changing system that can determine the tightness of the clamp bolts and automatically change the clamp.

[0010] Solution for solving the problem

[0011] According to one aspect of the present invention, an automatic clamp changing system is provided, capable of automatically changing clamps installed at a mounting position on a working machine by means of bolt tightening or loosening. The automatic clamp changing system includes a detection device, a robot, a bolt tightening / loosening device, and a control device. The detection device is configured to detect a predetermined location on the clamp. The robot is configured to transport the clamp. The bolt tightening / loosening device is configured to tighten or loosen bolts used to fix the clamp. The control device determines the bolt tightening / loosening position based on the detection result of the detection device at the predetermined location, causing the robot to move the clamp out of or into the mounting position, and causing the bolt tightening / loosening device to move to the bolt tightening / loosening position to tighten or loosen the bolt.

[0012] According to one aspect of the present invention, the bolt tightness position is determined by detecting a predetermined location on the clamp, and the bolt tightening / loosening device is moved to the determined bolt tightness position to tighten or loosen the bolt. In this way, the clamp can be automatically replaced even if the bolt tightness position on the clamp is not fixed. Attached Figure Description

[0013] Figure 1 This is a diagram showing the structure of the automatic clamp changing system 1 according to an embodiment of the present invention.

[0014] Figure 2 This is a diagram showing an example of a working machine 2 with a clamp 3 installed.

[0015] Figure 3A This is a diagram showing the storage 15 and the replacement claw 31-1 housed in the storage 15.

[0016] Figure 3B This is a diagram showing the storage 15 and the replacement claw 31-1 housed in the storage 15.

[0017] Figure 4A This is a diagram used to illustrate the replacement of claw 31-1.

[0018] Figure 4B This is a diagram used to illustrate the replacement of claw 31-1.

[0019] Figure 5A This is a diagram showing the front side of the replacement claw 31-1 with the replacement claw 31-1 installed in the chuck 21.

[0020] Figure 5B This is a diagram showing the left side of the replacement claw 31-1 with the replacement claw 31-1 installed in the chuck 21.

[0021] Figure 5C This is a diagram showing the left side of the replacement claw 31-1 in the state where it is housed in the storage container 15.

[0022] Figure 6A This is a diagram showing the left side of the replacement claw 31-1 with the replacement claw 31-1 installed in the chuck 21.

[0023] Figure 6B This is a diagram showing the left side of the replacement claw 31-1 in the state where it is housed in the storage container 15.

[0024] Figure 7 This is a diagram showing a detection example where the end face of T-nut 313 is taken as a predetermined position by a displacement gauge.

[0025] Figure 8AThis is a diagram showing the front side of the replacement claw 31-1 with the replacement claw 31-1 installed in the chuck 21.

[0026] Figure 8B This is a diagram showing the left side of the replacement claw 31-1 with the replacement claw 31-1 installed in the chuck 21.

[0027] Figure 9 This is a diagram illustrating a detection example when a camera is used in detection device 12.

[0028] Figure 10 This is a flowchart illustrating the motion flow when the jaw is replaced and installed on the chuck.

[0029] Figure 11 This is an animation diagram illustrating the process of replacing the claw and storing it in the storage container.

[0030] Figure 12 This is an animation diagram illustrating the process of replacing the claw and storing it in the storage container.

[0031] Figure 13 This is a diagram showing a vise-type clamp. Detailed Implementation

[0032] The embodiments of the present invention will now be described with reference to the accompanying drawings. The various features shown below can be combined with each other.

[0033] The program used to implement the software can be provided as a non-transitory computer-readable storage medium, or it can be downloaded from an external server, or the program can be launched by an external computer to perform functions on a client terminal (i.e., cloud computing).

[0034] Furthermore, "part" can be a concept that includes, for example, hardware resources implemented in a general sense as circuits and software information processing specifically implemented by these hardware resources. Moreover, this involves various types of information, which can be represented by, for example, physical values ​​representing signal values ​​of voltage or current, or as high or low signal values ​​of a binary bit set consisting of 0s or 1s, or as quantum superposition (i.e., so-called qubits), and can perform communication and computation on a generalized circuit.

[0035] Furthermore, in a broader sense, a circuit is a circuit implemented by at least appropriately combining circuits, circuitry, processors, and memory. That is, it includes application-specific integrated circuits (ASICs), programmable logic devices (such as simple programmable logic devices (SPLDs) and complex programmable logic devices (CPLDs), and field-programmable gate arrays (FPGAs), etc.

[0036] 1. Structural Example

[0037] Figure 1 This diagram illustrates the structure of an automatic fixture changing system 1 according to an embodiment of the present invention. As shown in the diagram, the automatic fixture changing system 1 includes a control device 11, a detection device 12, a robot 13, a bolt tightening device 14, and a storage device 15. The automatic fixture changing system 1 is capable of automatically changing the fixture 3 mounted on the mounting position of the work machine 2 by tightening or loosening the bolts. The work machine 2 is, for example, a chuck, a fixture fixed to a machining center or a five-axis machining center. The chuck is configured such that at least the top jaw is mounted as a fixture on the main jaw provided on the chuck. Furthermore, the fixing device is configured such that at least the top jaw is mounted as a fixture.

[0038] The control device 11 determines the bolt tightness position based on the detection result of the detection device 12 at the predetermined location. The predetermined location is a part that has certain characteristics effective in determining the bolt tightness position, and is part of the clamp 3 or its fasteners. For example, the predetermined location may be the end face of a T-nut on the clamp 3, a protrusion or recess on the side of the clamp 3, a tightening tool hole on the bolt fastening the clamp 3, or the head of the bolt fastening the clamp 3. Details regarding the predetermined location will be explained later.

[0039] Additionally, the control device 11 causes the robot 13 to move the clamp 3 from the mounting position or move the clamp 3 into the mounting position. The mounting position is the location on the working device 2 where the clamp 3 is mounted. Furthermore, the control device 11 moves the bolt tightening device 14 to the bolt tightening position and tightens or loosens the bolt. The bolt is used to fix the clamp 3 to the working machine 2, and the bolt tightening position is the position where the bolt is tightened or loosened.

[0040] In addition, the control device 11 may be configured as the same device as the control device that controls the operation of the working machine 2 (not shown), or it may be configured to operate in coordination with the control device.

[0041] The detection device 12 is configured to detect predetermined locations on the fixture 3. One or more of the detection devices 12 are provided in the automatic fixture changing system 1. Alternatively, the detection device 12 may be located in at least one of the storage device 15 and the working machine 2, or it may be located in the robot 13. Of course, it may also be provided independently of the storage device 15, the working machine 2, or the robot 13.

[0042] For example, when the predetermined location to be detected is the end face of the T-nut provided in the clamp 3, the detection device 12 is a displacement meter or a laser displacement meter that detects the position of the T-nut. Alternatively, when the predetermined location to be detected is a protrusion or recess provided on the side of the clamp 3, the detection device 12 is any one of a laser displacement meter, a two-dimensional laser displacement meter, or a proximity sensor that detects the position of the protrusion or recess. When the predetermined location to be detected is the tightening tool hole provided on the bolt of the clamp 3, the detection device 12 is any one of a laser displacement meter, a two-dimensional laser displacement meter, a camera, or a 3D scanner that detects the position of the tool hole. When the predetermined location to be detected is the head of the bolt of the clamp 3, the detection device 12 is any one of a laser displacement meter, a two-dimensional laser displacement meter, a camera, or a 3D scanner that detects the position of the head.

[0043] The robot 13 is configured to transport the gripper 3. Specifically, the robot 13 has a structure such as a handle to hold the gripper 3, and moves the gripper 3 from its mounting position on the machine 2 to a storage position in the storage unit 15, or moves the gripper 3 from the storage position to the mounting position. Furthermore, the automatic gripper changing system 1 may include multiple robots 13. The robot 13 can be a robotic arm or a gantry robot. Of course, other types are also possible.

[0044] The bolt tightening device 14 is configured to tighten or loosen the bolts used to fix the clamp 3. The bolt tightening device 14 can also be integrally mounted on the robot 13.

[0045] The storage unit 15 is configured to house the clamp 3 in a storage position. Of course, the storage unit 15 can house multiple clamps 3. The storage unit 15 is mounted on the ground or similar surface, but it can also be a movable type, such as a rotating type, or a fixed type, such as a fixed type. When the storage unit 15 is fixed, it is not necessary to secure the clamp 3 with bolts when it is housed in the storage position. However, when the storage unit 15 is movable, it is preferable to secure the clamp 3 with bolts when it is housed in the storage position for safety reasons. Of course, it is entirely up to the storage unit 15 whether or not the clamp 3 is fixed to it.

[0046] 2. Pre-selected location

[0047] Next, the predetermined parts to be detected by the detection device 12 will be explained. Figure 2 This is a diagram illustrating an example of a working machine 2 equipped with a clamp 3. The chuck 21 shown in the diagram is one type of working machine 2, on which are mounted changing jaws 31-1, 31-2, and 31-3, which serve as clamps 3. Changing jaw 31-1, for example... Figure 3A and Figure 3B It is housed in storage 15 as shown. Figure 3A and Figure 3B This is a diagram showing the storage container 15 and the replacement claw 31-1 housed within it. (See diagram) Figure 3A As shown, the storage unit 15 has a slot 151. Furthermore, when the claw 31-1 is replaced and housed in the storage unit 15, as... Figure 3B As shown, the T-nut 313 is housed in the slot 151, and its position is restricted by the regulating part 314. The T-nut 313 and the regulating part 314 will be described later. Additionally, the replacement claw is sometimes also referred to as the top claw.

[0048] The replacement of claw 31-1 is explained here. Figure 4A and Figure 4B This diagram illustrates the replacement of claw 31-1. (For example...) Figure 4A As shown, the replacement claw 31-1 includes a protrusion 311, serrations 312, a T-nut 313, and a regulating part 314. Additionally, as... Figure 4B As shown, the replacement claw 31-1 has a through hole 315.

[0049] The protrusion 311 is part of a "fixing screw" that screws into the side of the changing claw 31-1. The serration 312 is provided on the surface of the changing claw 31-1 that contacts it when it is mounted on the chuck 21 or housed in the storage container 15. When mounted on the chuck 21, the serration 312 engages with the serration of the main claw on the chuck 21 side. When housed in the storage container 15, since the storage container 15 does not have serrations, the serration 312 only contacts the storage container 15. Of course, serrations can also be provided in the storage container 15. The T-nut 313 is the part that inserts into the T-groove provided on the main claw on the chuck 21 side, and when housed in the storage container 15, it is also housed in the groove 151. The regulating part 314 maintains the position of the changing claw 31-1 even when the robot 13 releases its grip on the changing claw 31-1 when it is mounted on the chuck 21, and restricts its storage position when it is housed in the storage container 15. The through hole 315 is the hole into which the bolt 41 for fixing the replacement claw 31-1 is inserted.

[0050] For convenience, the side of the replacement claw 31-1 with the serrations 312 is designated as the back side, and the opposite side is designated as the front side. Therefore, the protrusion 311 is located on the left side of the replacement claw 31-1.

[0051] 2-1. Replace the side of the claw

[0052] First, let's explain the case where the side of the replacement claw 31-1 is the predetermined location. When the side of the replacement claw 31-1 is the predetermined location, the protrusion 311 located on the left side of the replacement claw 31-1 is inspected. Figures 5A to 5C This diagram illustrates a test example where the side of the claw 31-1 is replaced as the intended location. Figure 5A This is a diagram showing the front side of the replacement jaw 31-1 with the replacement jaw 31-1 installed in the chuck 21. Figure 5B This diagram shows the left side of the replacement jaw 31-1 with the replacement jaw 31-1 installed in the chuck 21. Figure 5C This is a diagram showing the left side of the replacement claw 31-1 with the replacement claw 31-1 housed in the storage container 15. Although it is not possible to see from... Figure 5B and Figure 5C The left side of the replacement claw 31-1 is shown to visually identify the bolt 41, but for ease of understanding, the position of the bolt 41 is indicated by a dashed line.

[0053] When a laser displacement meter is used in the detection device 12, the laser displacement meter moves along... Figure 5A and Figure 5B Scan arrow A, towards Figure 5BThe laser is irradiated in the direction of arrow B. The area indicated by arrow A is the possible range where the protrusion 311 may exist. Since the positions of the protrusion 311 and the bolt 41 are constant, for example, the protrusion 311 can be detected with the replacement claw 31-1 pre-installed in the chuck 21, and the detection result can be stored in association with the tightness position of the bolt 41. When the protrusion 311 is detected using a laser displacement meter, the difference between the detected position of the protrusion 311 and the stored position of the protrusion 311 is calculated, and the difference is calculated by offsetting the stored tightness position of the bolt 41, thereby specifying the tightness position of the bolt 41. The installation position of the replacement claw 31-1 when the position of the protrusion 311 is pre-stored can be anywhere within the installation range. When a proximity sensor is used in the detection device 12, along the Figure 5A and Figure 5B The protrusion 311 is scanned to detect the position of the specific bolt 41 by scanning along arrow A′. Alternatively, if the detection device 12 uses a two-dimensional laser displacement meter, the protrusion 311 is detected by scanning in a manner that includes the area indicated by arrow A.

[0054] Additionally, with the replacement claw 31-1 housed in the storage unit 15, the detection device 12 moves along... Figure 5C Scan with arrow C, towards Figure 5C The laser is irradiated in the direction of arrow D, and the protrusion 311 is similarly detected to pinpoint the position of the bolt 41. When a proximity sensor is used in the detection device 12, along... Figure 5C The arrow C′ is scanned to detect the position of the protrusion 311 to a specific bolt 41.

[0055] 2-2.T Nut End Face

[0056] Next, we will explain the case where the end face of T-nut 313 is used as the predetermined location. Figure 6A and Figure 6B This diagram shows a test example when the end face of T-nut 313 is used as the predetermined location. Figure 6A This diagram shows the left side of the replacement jaw 31-1 with the replacement jaw 31-1 installed in the chuck 21. Figure 6B This is a diagram showing the left side of the replacement claw 31-1 with the replacement claw 31-1 housed in the storage container 15. Although it is not possible to see from... Figure 6A and Figure 6B The bolt 41 is visually identified by showing the left side of the replacement claw 31-1, but for ease of understanding, the position of the bolt 41 is indicated by dashed lines. Additionally, for further clarity, the chuck 21 and storage tank 15 are shown in perspective and indicated by dashed lines.

[0057] When a laser displacement meter is used in the detection device 12, along... Figure 6A and Figure 6BThe laser beam is irradiated in the direction of arrow E or arrow F. Thus, the detection device 12 can detect the position of the T-nut 313. Specifically, the bolt 41 is screwed into the threaded hole of the T-nut 313, therefore the end face 313a of the T-nut 313 and the position of the bolt 41 are constant. Therefore, for example, with the replacement claw 31-1 pre-installed in the chuck 21, the end face 313a of the T-nut 313 is detected, and the detection result is stored in association with the tightness position of the bolt 41. When the end face 313a is detected using a laser displacement gauge, the difference between the detected position of the end face 313a and the stored position of the end face 313a is calculated, and the stored tightness position of the bolt 41 is offset by the calculated difference, thereby specifying the tightness position of the bolt 41. The installation position of the replacement claw 31-1 when the position of the end face 313a is pre-stored can be anywhere within the installation range.

[0058] Figure 7 This diagram illustrates a detection example where the end face of T-nut 313 is positioned as a predetermined location using a displacement gauge. Additionally, in... Figure 7 In the image, for ease of understanding, the storage device 15 is shown in perspective and represented by dashed lines. Figure 7 The displacement gauge 121 shown is disposed in the storage container 15. When the replacement claw 31-1 is housed in the storage container 15, the displacement gauge 121 contacts the end face 313b of the T-nut 313 to detect the position of the end face 313b of the T-nut 313. According to this structure, the displacement gauge 121 can determine the position of the bolt 41 by detecting the position of the end face 313b of the T-nut 313.

[0059] 2-3. Tool hole portion of bolt

[0060] Next, we will explain the case where the tool hole portion of bolt 41 is used as the predetermined location. Figure 8A and Figure 8B This diagram shows an example of an inspection when the tool hole portion of bolt 41 is used as the predetermined location. Figure 8A This is a diagram showing the front side of the replacement jaw 31-1 with the replacement jaw 31-1 installed in the chuck 21. Figure 8B This diagram shows the left side of the replacement jaw 31-1 with the replacement jaw 31-1 installed in the chuck 21. Additionally, in Figure 8B In the image, for ease of understanding, the chuck 21 is shown in perspective and represented by dashed lines.

[0061] When a laser displacement meter is used in the detection device 12, the laser displacement meter moves along... Figure 8A and Figure 8B Scan along arrow G. Figure 8BThe laser beam is irradiated in the direction of arrow H. The area indicated by arrow G is the possible location of bolt 41. Furthermore, when a two-dimensional laser displacement meter is used in the detection device 12, a scan is performed to include the area indicated by arrow G to detect the tool hole portion of bolt 41. Specifically, the vicinity of the tool hole portion of bolt 41 is scanned beforehand, and the distance between the bottom of the tool hole and the vicinity is stored as a pattern. By comparing the detected changes in distance with the stored pattern, it is determined whether it is the tool hole portion of bolt 41. Alternatively, when using a proximity sensor to detect the tool hole portion of bolt 41, detection is performed directly. When using a camera to detect the tool hole portion of bolt 41, an image is taken so that the possible location of the tool hole portion of bolt 41 is included within the image range. When using a 3D scanner to detect the tool hole portion of bolt 41, a scan is performed so that the possible location of the tool hole portion of bolt 41 is included within the scanned area.

[0062] In addition, when the replacement claw 31-1 is housed in the storage unit 15, the area on the front of the replacement claw 31-1 where the bolt 41 may be present is also scanned to detect the tool hole portion of the bolt 41.

[0063] When the camera is used in the inspection device 12, the area where the bolt 41 may be located on the front of the replacement jaw 31-1 is photographed, and the tool hole portion of the bolt 41 is inspected by image processing. Additionally, when the replacement jaw 31-1 is mounted on the chuck 21, as... Figure 9 As shown, by making the camera's shooting range include the entire front of the chuck 21, it is possible to simultaneously photograph the bolt 41-2 of the replacement claw 31-1 and the bolt 41-3 of the replacement claw 31-3, in addition to the bolt 41 of the replacement claw 31-1. Figure 9 This diagram illustrates a detection example where a camera is used in the detection device 12. Furthermore, when the camera's field of view encompasses the entire front of the chuck 21, in addition to bolts 41, 41-2, and 41-3, the bolts securing the chuck itself are also captured. In this case, the contours of the replacement claws 31-1, 31-2, and 31-3 are detected through image processing, and those located inside are identified as objects for detecting tool holes. Specifically, images captured in advance with the replacement claw 31-1 mounted on the chuck 21 are stored in association with the tightness position of specific tool holes and bolts 41, thereby allowing the detection of the tightness position of specific bolts 41 within the tool hole. While the mounting position of the replacement claw 31-1 during pre-capture and storage can be anywhere within the mounting range, by pre-storing multiple images of different mounting positions and their associated tightness positions of bolts 41, it becomes easier to perform orientation and scale changes based on image processing, and the specific accuracy of the bolt tightness position can be improved.

[0064] 2-4. Bolt head

[0065] Bolts sometimes lack a tool hole. In such cases, the bolt head is inspected. The inspection of the bolt head is the same as that for the tool hole of bolt 41, therefore detailed description is omitted.

[0066] 3. Action Examples

[0067] Next, an example of the operation of the automatic fixture changing system 1 will be explained.

[0068] 3-1. Scenario of installing a replacement claw on the chuck.

[0069] Figure 10 This is a flowchart illustrating the operation flow when the replacement jaws are installed in the chuck. First, the detection device 12 detects the position of the bolts 41 of the replacement jaws 31-1 housed in the storage container 15 (A101). Next, with the main jaws not in the open position, the control device of the chuck 21 drives a cylinder (not shown) to move all the main jaws to the open position (A102).

[0070] Next, the control unit of the machine operates the spindle equipped with chuck 21, indexing the position of the main jaw, on which the changing jaw 31-1 is mounted, to a predetermined position (A103). The predetermined position is, for example, the position representing 12 o'clock on a clock. Then, the robot 13 transports the changing jaw 31-1 from the storage 15 to the predetermined position of the main jaw, which is its mounting position (A104). Then, based on the bolt position detected by A101, the bolt tightening device 14 moves to the position of the bolt 41 (A105). The bolt position detected in A101 is the position of the bolt 41 relative to the changing jaw 31-1, thus the position of the bolt 41 can be specified based on this position and the position of the transporting changing jaw 31-1. Then, the bolt 41 is tightened by the bolt tightening device 14 (A106).

[0071] Similarly, the control unit of the working machine causes the spindle equipped with chuck 21 to move, indexing the position of the main jaw on which the replacement jaw 31-2 is mounted to a predetermined position (A103). Next, the robot 13 transports the replacement jaw 31-2 from the storage unit 15 to the predetermined position of the main jaw, which serves as its mounting position (A104). Then, based on the bolt position detected in A101, the bolt tightening device 14 is moved to the position of bolt 41-2 (A105). Subsequently, the bolt tightening device 14 tightens bolt 41-2 (A106).

[0072] Then, the control device of the working machine causes the spindle equipped with chuck 21 to move, indexing the position of the main jaw on which the replacement claw 31-3 is mounted to a predetermined position (A103). Next, the robot 13 transports the replacement claw 31-3 from the storage 15 to the predetermined position of the main jaw, which is its mounting position (A104). Then, based on the bolt position detected in A101, the bolt tightening device 14 is moved to the position of bolt 41-3 (A105). Subsequently, the bolt tightening device 14 tightens the bolt 41-3 (A106).

[0073] Then, when the replacement claws 31-1, 31-2, and 31-3 are installed onto the chuck 21, the installation of a set of replacement claws onto the chuck 21 is completed.

[0074] In addition, since the bolt positions of all replacement claws are the same in most cases, the bolt position detection is only performed once, but it is also possible to detect the bolt positions of all replacement claws.

[0075] 3-2. Case of storing a replacement claw in the storage device.

[0076] Figure 11 This is an animation diagram illustrating the operation flow when the replacement claw is housed in the storage container. First, robot 13 removes chips from the surface of chuck 21 using air blowing or the like (A201). Next, with the main claw not in the open position, the control device of chuck 21 drives a cylinder (not shown) to move all the main claws to the open position (A202).

[0077] Next, the machine's control unit actuates the spindle on which the chuck 21 is mounted, indexing the position of the main jaw, on which the changing jaw 31-1 is mounted, to a predetermined position (A203). The predetermined position is, for example, the position representing 12 o'clock on a clock. Then, the detection device 12 detects the position of the bolt 41 on the changing jaw 31-1 (A204). It should be noted that if the changing jaws 31-1 (changing jaws 31-2 and 31-3) mounted on the chuck 21 are the same as during installation, their tightness is also the same, thus this step can be omitted.

[0078] Next, based on the bolt position detected in A204, the bolt tightening device 14 is moved to the position of bolt 41 (A205), and bolt 41 is loosened by the bolt tightening device 14 (A206). Then, robot 13 pulls the replacement claw 31-1 from the main gripper (A207) and transports the pulled-out replacement claw 31-1 to the cleaning position for cleaning (A208). After cleaning, robot 13 transports the replacement claw 31-1 to the storage position of storage 15 (A209).

[0079] Similarly, the machine's control unit actuates the spindle equipped with chuck 21, indexing the position of the main jaw equipped with replacement jaw 31-2 to a predetermined position (A203). Next, based on the bolt position detected in A204, the bolt tightening device 14 moves to the position of bolt 41-2 (A205), and the bolt 41-2 is loosened by the bolt tightening device 14 (A206). Then, the robot 13 pulls the replacement jaw 31-2 from the main jaw (A207) and transports the pulled-out replacement jaw 31-2 to the cleaning position for cleaning (A208). After cleaning, the robot 13 transports the replacement jaw 31-2 to the storage position of the storage unit 15 (A209).

[0080] Additionally, the machine's control unit actuates the spindle equipped with chuck 21, indexing the main jaw, on which the replacement jaw 31-3 is mounted, to a predetermined position (A203). Next, based on the bolt position detected in A204, the bolt tightening device 14 moves to the position of bolt 41-3 (A205), loosening bolt 41-3 (A206). Then, the robot 13 removes the replacement jaw 31-3 from the main jaw (A207) and transports it to a cleaning position for cleaning (A208). After cleaning, the robot 13 transports the replacement jaw 31-3 to the storage position in the storage unit 15 (A209).

[0081] Additionally, since the bolt positions of all replacement claws are mostly the same, the bolt position detection is only performed once, although it is also possible to detect the bolt positions of all replacement claws. Furthermore, the replacement claws do not need to be cleaned one by one; instead, all replacement claws can be moved to the cleaning location for centralized cleaning, and then moved to the storage location after cleaning.

[0082] 3-3. Case of storing a replacement claw in the storage device.

[0083] The automatic fixture changing system 1 sometimes includes a detection device 12 and a bolt tightening device 14 in the robot 13, but it can also be configured so that the detection device 12, the robot 13, and the bolt tightening device 14 operate independently. In this case, the detection device 12, the robot 13, and the bolt tightening device 14 can operate in parallel. Here, an example of operation when the robot 13 and the bolt tightening device 14 operate in parallel will be described.

[0084] Figure 12 This is an animation diagram illustrating the action flow when the replacement claw is housed in the storage container. First, robot 13 removes chips from the surface of chuck 21 using air blowing or the like (A301). Then, with the main claw not in the open position, the control device of chuck 21 drives a cylinder (not shown) to move all the main claws to the open position (A302).

[0085] Next, the control device of the machine operates the spindle equipped with chuck 21, indexing the position of the main jaw equipped with changing jaw 31-1 to a predetermined position (A303). The predetermined position is, for example, the position representing 12 o'clock on a clock. Then, the detection device 12 detects the position of the bolt 41 of the changing jaw 31-1 (A304).

[0086] Subsequently, based on the bolt position detected in A304, the bolt tightening device 14 is moved to the position of bolt 41 (A305), and bolt 41 is loosened by the bolt tightening device 14 (A306). Then, the robot 13 pulls the replacement claw 31-1 out of the main claw (A307).

[0087] Next, robot 13 moves the removed replacement claw 31-1 to the cleaning position for cleaning (A308). After cleaning, robot 13 moves the replacement claw 31-1 to the storage position of storage unit 15 (A309).

[0088] On the other hand, during the processing of A308 and A309 by robot 13, the control device of the working machine causes the spindle equipped with chuck 21 to move, indexing the position of the main claw equipped with changing claw 31-2 to a predetermined position (A310). Then, based on the bolt position detected in A304, the bolt tightening device 14 is moved to the position of bolt 41 (A311), and bolt 41 is loosened by bolt tightening device 14 (A312).

[0089] When the processing of A309 by robot 13 and the processing of A312 by bolt tightening device 14 are completed, robot 13 will pull the replacement claw 31-2 out of the main claw (A307).

[0090] Similarly, robot 13 transports the removed replacement claw 31-2 to the cleaning position for cleaning (A308). After cleaning, robot 13 transports the replacement claw 31-2 to the storage position of storage unit 15 (A309). At this time, the control device of the working machine causes the spindle equipped with chuck 21 to move, indexing the position of the main claw equipped with replacement claw 31-3 to the predetermined position (A310). Then, according to the bolt position detected by A304, the bolt tightening device 14 moves to the position of bolt 41 (A311), and the bolt tightening device 14 loosens bolt 41 (A311).

[0091] Next, robot 13 pulls the replacement claw 31-3 out of the main claw (A313), and robot 13 transports the pulled-out replacement claw 31-3 to the cleaning position for cleaning (A314). After cleaning, robot 13 transports the replacement claw 31-3 to the storage position of storage 15 (A315).

[0092] 4. Other

[0093] So far, the combination of the working machine 2 and the fixture 3, the chuck 21 and the changing jaws 31-1 have been used as examples. However, even if the working machine 2 and the fixture 3 are different, the fixture 3 can be changed through the automatic fixture changing system 1. The following describes an example of a vise-type fixture.

[0094] Figure 13 This diagram illustrates a vise-type clamp. In the example shown, a fixed portion 32 for the gripping claw, a movable portion 33 for the gripping claw, and a fixed claw 34 are mounted on the clamp body 22. In this example, the fixed portion 32, the movable portion 33, and the fixed claw 34 can be replaced. When performing these replacements, the automatic clamp replacement system 1 needs to detect the position of fasteners such as bolts. This detection is performed by detecting the position of the protrusion 321 of the fixed portion 32 or the protrusion 341 of the fixed claw 34, using the protrusion 221 or protrusion 222 of the clamp body 22 as a reference. Furthermore, the detection of bolts within the through-hole 322 of the fixed portion 32, the through-hole 331 of the movable portion 33, and the through-hole 342 of the fixed claw 34 can also be performed in the same manner as described above.

[0095] Figure 13 The fixture shown is the type that grips the workpiece by tightening or loosening the bolts. Therefore, the workpiece can be gripped or released by tightening or loosening the bolts at specific locations, similar to changing the fixture. This allows for easier use... Figure 13 In the case of the fixture shown or the same type of fixture, the workpiece can also be changed automatically.

[0096] The present invention can also be provided in various other ways.

[0097] The automatic clamp changing system also includes a storage unit configured to receive clamps. The robot moves the clamps from the mounting position to a storage position provided in the storage unit, or moves the clamps from the storage position to the mounting position.

[0098] In the automatic fixture changing system, the detection device is located in at least one of the storage device and the working machine.

[0099] In the automatic fixture changing system, the detection device is located on the robot.

[0100] In the automatic clamp changing system, the bolt tightening device is integrally integrated into the robot.

[0101] In the automatic fixture changing system, the predetermined part is the end face of the T-nut of the fixture, and the detection device is a displacement meter or laser displacement meter that detects the position of the T-nut.

[0102] In the automatic fixture changing system, the predetermined part is a protrusion or recess located on the side of the fixture, and the detection device is any one of a laser displacement meter, a two-dimensional laser displacement meter, or a proximity sensor that detects the position of the protrusion or recess.

[0103] In the automatic clamp changing system, the predetermined part is the tool hole for tightening and loosening set on the bolt of the clamp, and the detection device is any one of a laser displacement meter, a two-dimensional laser displacement meter, a camera, or a 3D scanner for detecting the position of the tool hole.

[0104] In the automatic clamp changing system, the predetermined part is the head of the bolt that fastens the clamp, and the detection device is any one of a laser displacement meter, a two-dimensional laser displacement meter, a camera, or a 3D scanner that detects the position of the head.

[0105] In the automatic clamp changing system, the working machine is a chuck, and the chuck has at least one top jaw mounted as a clamp on the main jaw of the chuck.

[0106] In the automatic fixture changing system, the working machine is a fixture fixed to a machining center or a five-axis machining center, and the fixture at least has the top jaw installed as a fixture.

[0107] Of course, it's not limited to this.

[0108] Finally, although various embodiments of the present invention have been described, these embodiments are merely illustrative and are not intended to limit the scope of the invention. The present invention can also be implemented through various other embodiments, and any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. Related embodiments or variations should not only be included within the scope or spirit of the present invention, but also within the scope of the invention as described in the claims and their equivalents.

[0109] Symbol Explanation

[0110] 1: Automatic clamp changing system

[0111] 2: Working machines

[0112] 3: Fixture

[0113] 11: Control device

[0114] 12: Detection device

[0115] 13: Robot

[0116] 14: Bolt tightening device

[0117] 15: Storage

[0118] 21: Chuck

[0119] 22: Fixture body

[0120] 31-1: Replace the claw

[0121] 31-2: Replace the claw

[0122] 31-3: Replace the claw

[0123] 32: Fixing part

[0124] 33: Movable parts

[0125] 34: Fixed claw

[0126] 41: Bolt

[0127] 41-2: Bolt

[0128] 41-3: Bolts

[0129] 121: Displacement gauge

[0130] 151: Slot

[0131] 221: convex part

[0132] 222: convex part

[0133] 311: convex part

[0134] 312: Serrated

[0135] 313: T-nut

[0136] 313a: End face

[0137] 313b: End face

[0138] 314: Regulation Department

[0139] 315: Through hole

[0140] 321: convex part

[0141] 322: Through hole

[0142] 331: Through hole

[0143] 341: convex part

[0144] 342: Through hole

[0145] A: Arrow

[0146] B: Arrow

[0147] C: Arrow

[0148] D: Arrow

[0149] G: Arrow

[0150] H: Arrow

Claims

1. A clamp automatic replacement system capable of automatically replacing a clamp installed at an installation position of a work machine by tightening and loosening of a bolt, characterized by, Possessing: a detection device, a robot, a bolt tensioning device, and a control device; the detection device is configured to detect a predetermined portion of a jig, the position of the predetermined portion of the jig is stored in association with the bolt tensioning position of the jig; the robot is configured to carry the jig; the bolt tensioning device is configured to tighten or loosen the bolt for fixing the jig; the control device decides the bolt tensioning position of the jig based on the detection result of the predetermined portion of the jig by the detection device, causes the robot to carry the jig out of the installation position or to carry the jig into the installation position, causes the bolt tensioning device to move to the bolt tensioning position, and causes the bolt tensioning device to tighten or loosen the bolt.

2. The jig automatic replacement system according to claim 1, further comprising a storage, the storage is configured to accommodate the jig, the robot carries the jig out of the installation position to a storage position provided in the storage, or carries the jig from the storage position to the installation position.

3. The jig automatic replacement system according to claim 2, wherein the detection device is provided in at least one of the storage and the working machine.

4. The jig automatic replacement system according to any one of claims 1 to 3, wherein the detection device is provided in the robot.

5. The jig automatic replacement system according to any one of claims 1 to 3, wherein the bolt tensioning device is integrally provided in the robot.

6. The jig automatic replacement system according to claim 1, wherein the predetermined portion is an end surface of a T-nut provided in the jig, the detection device is a laser displacement meter that detects the position of the T-nut.

7. The jig automatic replacement system according to claim 1, wherein the predetermined portion is a protrusion or a recess provided on the side surface of the jig, the detection device is any one of a laser displacement meter, a proximity sensor that detects the position of the protrusion or the recess.

8. The jig automatic replacement system according to claim 1, wherein the predetermined portion is a tool hole portion for tightening or loosening the bolt for fixing the jig, the detection device is any one of a laser displacement meter, a camera, a 3D scanner that detects the position of the tool hole portion.

9. The jig automatic replacement system according to claim 1, wherein the predetermined portion is a head portion of the bolt for fixing the jig, the detection device is any one of a laser displacement meter, a camera, a 3D scanner that detects the position of the head portion.

10. The jig automatic replacement system according to any one of claims 6 to 9, wherein the working machine is a chuck, the chuck mounts at least a top jaw as a jig to a main jaw provided in the chuck.

11. The jig automatic replacement system according to any one of claims 6 to 9, wherein the working machine is a fixing tool fixed to a machining center or a five-axis machining machine, the fixing tool mounts at least a top jaw as a jig. ​

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