Robot tool stand and robot tool unit

Abstract

To provide a robot tool placing table and a robot tool unit capable of reducing required rigidity as much as possible and achieving weight reduction.SOLUTION: The robot tool stand includes a pair of hook pieces (23) arranged at an interval allowing entry of a main body (32) fixed to the robot tool, individually receiving a horizontal shaft (33) coaxially with a horizontal axial line (33a) on both sides of the main body (32), and allowing rotation of the horizontal shaft (33) while regulating horizontal movement of the main body (32) in an axial direction of the horizontal axial line (33a), and a support body arranged below the hook pieces (23) and receiving swinging of the robot tool based on deviation of a center of gravity around the horizontal axial line (33a).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a robot tool stand and a robot tool unit that suspend and support a robot tool connected to a robot arm. [Background technology]

[0002] Patent Document 1 discloses a robot tool stand that includes a flat block connected to the upper end of a support column. The robot tool is hooked onto the flat block and suspended from the flat block. To suspend the robot tool, a support rod that stands up from the top surface of the flat block is fixed. A hook that is connected to the robot tool is fitted onto the support rod. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Chinese Utility Model No. 217318086 Summary of the Invention [Problem to be solved by the invention]

[0004] The support rods and flat blocks are subject to twisting. To prevent fracture due to stress, high rigidity is required for the support rods and flat blocks. The higher the required rigidity, the heavier the support rods and flat blocks become. The increased weight leads to higher manufacturing costs, including material and processing costs.

[0005] An object of the present invention is to provide a robot tool stand and a robot tool unit that can reduce the required rigidity as much as possible and achieve weight reduction. [Means for solving the problem]

[0006] A robot tool stand according to one embodiment of the present invention comprises a pair of hook pieces arranged at an interval to allow the entry of a main body fixed to the robot tool, which individually receive horizontal shafts coaxially with the horizontal axis on both sides of the main body, and which allow rotation of the horizontal axis while restricting horizontal movement of the main body in the axial direction of the horizontal axis, and a support body arranged below the hook pieces to receive oscillation of the robot tool around the horizontal axis due to an imbalance in the center of gravity.

[0007] A robot tool unit according to one embodiment of the present invention comprises a robot tool, a main body fixed to the robot tool, and horizontal shafts extending coaxially outward in opposite directions from the main body and held individually by hook pieces on both sides of the main body so as to be rotatable about their axes, the main body extending linearly in the vertical direction and open at its lower end, and having grooves disposed between the hook pieces for receiving pins protruding from the vertical surface and regulating horizontal movement of the main body in the axial direction of the horizontal shafts. [Effects of the Invention]

[0008] As described above, according to the aspects of the present invention, it is possible to provide a robot tool stand that can reduce the required rigidity as much as possible and achieve a lightweight structure. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a front view showing a schematic configuration of a robot tool stand according to an embodiment of the present invention; [Figure 2] FIG. 1 is an enlarged perspective view schematically showing the structure of a hook block. [Figure 3] FIG. 2 is an enlarged perspective view schematically illustrating the structure of the hook connector. [Figure 4] FIG. 10 is a front view of the hook connector showing the shape of the groove. [Figure 5] 10 is a front view of a hook connector showing another shape of the groove. FIG. [Figure 6] FIG. [Figure 7] 10A and 10B are schematic diagrams of the robot tool rest, illustrating the operation of the robot tool rest. [Figure 8] FIG. 2 is an enlarged front view of the robot tool unit. [Figure 9] FIG. 2 is a plan view of the robot tool stand. [Figure 10] 10A and 10B are schematic diagrams of a robot tool stand showing the movement of a robot tool unit. [Figure 11] FIG. 10 is a schematic diagram showing the robot tool separated from the support about the axis of the horizontal axis. [Figure 12] FIG. 10 is a schematic diagram of a robot tool stand in which the movement of a robot tool unit is indicated by thick arrows. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0011] FIG. 1 shows a schematic configuration of a robot tool stand 11 according to an embodiment of the present invention. The robot tool stand 11 includes a support 13 fixed to a stationary horizontal surface 12, a hook block 14 fixed to the upper end of the support 13, and a support body 15 attached to the support 13 below the hook block 14. The horizontal surface 12 is, for example, the floor. A bracket 16 is attached to the support 13 to secure the hook block 14. The bracket 16 includes a fixed plate 16a fixed to the side of the support 13 with a plurality of bolts 17, and a horizontal plate 16b extending horizontally from the fixed plate 16a. The upper surface of the horizontal plate 16b is defined by a horizontal plane. The hook block 14 is supported on the upper surface of the horizontal plate 16b.

[0012] Support body 15 comprises movable body 15a, which is held at a fixed position in the vertical direction, and elastic body 15b, which is supported by movable body 15a. Movable body 15a can be aligned in the vertical direction while being guided by support column 13. Movable body 15a has an arm that extends horizontally from support column 13. Elastic body 15b is fixed to the tip of the arm.

[0013] The hook block 14 includes a flat block body 22 that is placed on the horizontal plate 16b of the bracket 16 and defines a vertical reference plane 21 at a position horizontally spaced apart from the support 13. As shown in FIG. 2, the flat block body 22 is fixed to the reference plane 21 and spaced apart by a predetermined horizontal distance Sc. A pin 24 is located between the two hook pieces 23 and protrudes from the reference plane 21. The flat block body 22 is fixed to the horizontal plate 16b with bolts. The hook pieces 23 may be formed integrally with the flat block body 22. Each hook piece 23 has a recess 25 recessed from the horizontal plane. The recess 25 has a generatrix parallel to the reference plane 21 and defines a curved surface 25a that allows rotation of the shaft about a reference axis 26. The reference axis 26 is set horizontally and parallel to the reference plane 21. The free ends of the hook pieces 23 are bounded by a vertical plane parallel to the reference plane 21. The pin 24 stands horizontally from the reference surface 21 .

[0014] The hook block 14 further includes a position sensor 27 fixed to the upper surface of the flat block body 22. The position sensor 27 detects the approach of a metal object. When a metal object approaches the terminal 27a of the position sensor 27, the position sensor 27 outputs a position signal. In this way, the position sensor 27 detects the presence or absence of a metal object at a predetermined position.

[0015] As shown in FIG. 3 , the hook block 14 functions in cooperation with a hook connector 31 that is connected to a robot tool. The hook connector 31 includes a main body 32 that is fixed to the robot tool and a pair of horizontal shafts 33 that extend outward in opposite directions from the main body 32. The two horizontal shafts 33 extend coaxially in the horizontal direction. The distance Sc between the hook pieces 23 is set to a size that allows the main body 32 to enter. The horizontal shafts 33 are individually held by the hook pieces 23 on both sides of the main body 32 so as to be rotatable about horizontal axes (axial centers) 33a. A detection piece 34 is fixed to the main body 32 so that it faces the terminal 27a of the position sensor 27 when the horizontal shaft 33 is received by the hook piece 23. The detection piece 34 can be formed integrally with the main body 32.

[0016] The main body 32 has a groove 35 that extends linearly in the vertical direction and is open at its lower end. The groove 35 is formed symmetrically with respect to a vertical plane including the axis of the pin 24. The pin 24 is received in the groove 35. The groove 35 engages with the pin 24 to restrict horizontal movement of the main body 32 in the axial direction of the horizontal shaft 33. As shown in FIG. 4, a tapered surface 36 is formed at the lower end of the groove 35, the width of which increases horizontally as it extends downward. The taper angle θt of the tapered surface 36 is set to, for example, 45° or less. As shown in FIG. 5, instead of the tapered surface 36, a rounded surface 36a may be formed at the lower end of the groove 35, the width of which increases horizontally as it extends downward. The radius of curvature r of the rounded surface 36a is set to, for example, 11 mm or less.

[0017] 6, the recess 25 has an inclined surface 38 that slopes away from a vertical plane 37 including the reference axis 26 as it extends upward in the direction of gravity. The cross-sectional area of ​​the space of the recess 25, which is perpendicular to the vertical plane 37, increases as it extends upward.

[0018] When the robot 41 is used, a robot tool 42 is attached to the tip of the robot arm 41a. As shown in FIG. 7, an automatic tool changer 43 is installed between the robot arm 41a and the robot tool 42. The automatic tool changer 43 includes a robot adapter 44 attached to the tip of a link of the robot arm 41a, and a tool adapter 45 attached to the upper end of the robot tool 42 and detachably connected to the robot adapter 44. When the tool adapter 45 is connected to the robot adapter 44, the robot tool 42 can be fixed to the robot arm 41a. As shown in FIG. 8, a hook connector 31 is connected to the tool adapter 45. In this way, the main body 32 is fixed to the robot tool 42. The robot tool 42, the tool adapter 45, and the hook connector 31 constitute a robot tool unit.

[0019] When using the automatic tool changer 43, the robot tool 42 is supported on the robot tool stand 11. The horizontal shaft 33 of the hook connecting body 31 is received in the recess 25 of the hook piece 23. The horizontal shaft 33 is supported from below by the curved surface 25a at the lowest position. At this time, the axis of the horizontal shaft 33 (horizontal axis 33a) overlaps with the reference axis 26. The horizontal shafts 33 are individually held by the hook pieces 23 on both sides of the main body 32 so as to be rotatable about the horizontal axis 33a. The curved surfaces 25a only support the horizontal shafts 33 from below in the direction of gravity, and constraint can be avoided between the hook piece 23 and the robot tool 42. The occurrence of twisting in the hook piece 23 can be effectively avoided.

[0020] When the horizontal shaft 33 is received by the hook piece 23, the robot tool 42 swings around the axis of the horizontal shaft 33 in accordance with the deviation of the center of gravity. The swinging of the robot tool 42 is received by the elastic body 15b of the support body 15. In this way, the posture of the robot tool 42 can be established. Here, the robot tool 42 is held in an upright position. The coupling surface 46 of the robot tool 42 can be set horizontal. Since the hook piece 23 allows the rotation of the received horizontal shaft 33, the occurrence of twisting in the hook piece 23 can be avoided. The weight of the hook piece 23 can be reduced while ensuring rigidity.

[0021] 9, the main body 32 of the hook connector 31 enters between the hook pieces 23. At this time, the pin 24 of the hook block 14 is received in the groove 35 of the main body 32. When the pin 24 enters the groove 35, the horizontal movement of the robot tool 42 in the axial direction of the horizontal shaft 33 can be restricted. The coupling surface 46 of the robot tool 42 can not only be set horizontally but also be positioned at a predetermined position in the horizontal direction.

[0022] When the automatic tool changer 43 couples the tool adapter 45 to the robot adapter 44, the robot arm 41a lifts the robot tool 42 from the robot tool stand 11. For example, as shown in FIG. 10, when the robot tool 42 is lifted up, the robot arm 41a can move the robot tool 42 parallel to the inclined surface 38 of the recess 25 while keeping the coupling surface 46 horizontal. In FIG. 10, the movement parallel to the inclined surface 38 of the recess 25 is indicated by a thick arrow. This movement can prevent the robot tool 42 from rubbing against the support body 15. The robot arm 41a can achieve smooth operation.

[0023] The recess 25 allows the robot tool 42 to swing between a first position, as shown in FIG. 11 , in which the robot tool 42 is positioned away from the support 15 around the axis of the horizontal shaft 33, and a second position, as shown in FIG. 7 , in which the robot tool 42 is in contact with the support 15 around the axis of the horizontal shaft 33. As a result, as shown in FIG. 12 , for example, when the robot tool 42 is being pulled up, the robot arm 41 a can tilt the orientation of the robot tool 42 prior to the lifting. This tilt allows the robot tool 42 to move away from the support 15. This tilted orientation allows the robot tool 42 to be moved vertically while avoiding friction between the robot tool 42 and the support 15. This movement is indicated by the thick arrow in FIG. 12 .

[0024] When replacing the robot tool 42, the robot arm 41a places the robot tool 42 on the robot tool stand 11. The robot tool 42 is suspended and supported by the robot tool stand 11. In this example, for example, the robot arm 41a establishes an upright position for the robot tool 42. As shown in FIG. 10 , the robot arm 41a (not shown in FIG. 10 ) can move the robot tool 42 parallel to the inclined surface 38 of the recess 25 while maintaining the upright position of the robot tool 42. Even when the robot tool 42 is maintained in an upright position, the vertical plane including the upper end of the inclined surface 38 is separated from the vertical plane including the reference axis 26, so contact between the robot tool 42 and the support body 15 can be avoided. When the horizontal shaft 33 is guided into the recess 25, the robot tool 42 can smoothly descend while remaining in an upright position. When the horizontal shaft 33 is received on the curved surface 25a of the recess 25, the robot tool 42 is received by the support body 15. The automatic tool changer 43 releases the connection between the robot adapter 44 and the tool adapter 45. The robot tool 42 is detached from the robot arm 41a. The robot arm 41a can move toward the next robot tool stand 11. Alternatively, the robot tool 42 may be detached from the robot arm 41a when the horizontal shaft 33 comes into contact with the upper end of the inclined surface 38. In this case, the horizontal shaft 33 can fall freely along the inclined surface 38. When the horizontal shaft 33 is received by the curved surface 25a of the recess 25 in accordance with the weight of the robot tool 42, the robot tool 42 can be established in an upright position on the robot tool stand 11.

[0025] The lower end of the groove 35 is open in the main body 32 of the hook connector 31. When the horizontal shaft 33 is displaced up and down and received by the hook piece 23, the pin 24 enters the groove 35. Interference between the pin 24 and the main body 32 can be avoided. The up and down movement of the main body 32 can be smoothly guided up and down by the action of the pin 24. Moreover, a tapered surface 36 is formed at the lower end of the groove 35, which widens the width of the groove 35 in the horizontal direction as it extends downward. When the main body 32 displaces downward, the pin 24 can easily enter the groove 35. As shown in Figure 5, even if an R-surface 36a is formed instead of the tapered surface 36, the pin 24 can similarly easily enter the groove 35.

[0026] As described above, the recess 25 allows the robot tool 42 to swing between a first position where the robot tool 42 is positioned away from the support body 15 around the axis of the horizontal shaft 33 and a second position where the robot tool 42 is in contact with the support body 15 around the axis of the horizontal shaft 33. As a result, for example, as shown in FIG. 12 , if the robot tool 42 is tilted in an attitude that establishes the first position, contact between the robot tool 42 and the support body 15 can be avoided even if the axis of the horizontal shaft 33 descends within the vertical plane 37 including the reference axis 26. When the robot tool 42 is separated from the robot arm 41 a at the second position, the robot tool 42 swings around the axis of the horizontal shaft 33 due to its own weight. In response to this swing, the robot tool 42 is received by the support body 15. The upright attitude of the robot tool 42 can be established. [Explanation of symbols]

[0027] 11 Robot tool stand 15 Support body 23 Hook piece 24-pin 25 depression 25a Curved surface 32 Subject 33 horizontal axis 33a horizontal axis 35 Groove 36 Tapered surface 36a R side 42 Robot Tools r (radius of curvature of the R surface) θt (tapered surface) angle

Claims

1. a pair of hook pieces arranged at an interval allowing the entry of a main body fixed to a robot tool, which individually receive horizontal shafts coaxially with the horizontal axis on both sides of the main body, and which allow rotation of the horizontal shafts while restricting horizontal movement of the main body in the axial direction of the horizontal axis; a support body disposed below the hook piece and configured to receive swinging of the robot tool based on deviation of the center of gravity around the horizontal axis; A robot tool stand comprising:

2. The hook piece has a recess recessed from a horizontal surface and defining a curved surface having a generatrix parallel to the horizontal axis and allowing rotation of the horizontal shaft about the horizontal axis. The robot tool stand of claim 1 .

3. The recess has an inclined surface that inclines away from a vertical plane including the horizontal axis as it goes upward in the direction of gravity. The robot tool stand of claim 2 .

4. The recess allows the robot tool to pivot about the horizontal axis between a first position that positions the robot tool away from the support and a second position that places the robot tool in contact with the support about the horizontal axis. The robot tool stand of claim 2 .

5. a pin disposed between the hook pieces, protruding from the vertical surface toward the main body, and received in a groove extending linearly in the vertical direction in the main body and opening at the lower end, for restricting horizontal movement of the main body in the axial direction of the horizontal axis; The robot tool stand of claim 1 .

6. A tapered surface is formed at the bottom end of the groove, widening the width of the groove in the horizontal direction as it goes downward. The robot tool stand according to claim 5 .

7. The angle of the tapered surface is 45° or less. The robot tool stand of claim 6 .

8. At the bottom end of the groove, an R surface is formed that widens the width of the groove in the horizontal direction as it goes downward. The robot tool stand according to claim 5 .

9. Robotic tools and a main body fixed to the robot tool; horizontal shafts extending coaxially outward in opposite directions from the main body and held by hook pieces on both sides of the main body so as to be rotatable about their axes; The main body extends linearly in the vertical direction, is open at the lower end, and has a groove that is disposed between the hook pieces and receives a pin that protrudes from the vertical surface, thereby restricting horizontal movement of the main body in the axial direction of the horizontal shaft. Robot tool unit.

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