Tool stand system and tool stand

Abstract

To provide a tool table system which prevents damage of a tool and a tool table.SOLUTION: A tool table system includes a tool table (91) on which a tool (81) is mounted, a robot hand device (92) which grips the tool (81) and mounts the tool (81) on the tool table (91), and a control device (93) for controlling operation. The tool (81) has a projecting leg part (822), the tool table (91) includes a finger part (2L) having a column part which is engaged with the leg part (822) when the tool (81) is mounted, is not moved when the tool (81) is mounted in a normal state and is moved when the tool (81) is mounted in a non-normal state, and a sensor for measuring a distance with the column part. The control device (93) determines displacement of the column part on the basis of the measurement result of the sensor, and controls operation of the robot hand device (92) for cancelling the displacement, in next mounting operation to the tool table (91) of the tool (81) by the robot hand device (92).SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a tool mounting table system and a tool mounting table.

Background Art

[0002] A tool mounting table provided in a tool changer and on which a tool carried by a robot hand is placed is known.

[0003] Patent Document 1 describes a tool mounting table on which a robot mounts a tool, and which is provided with a movable frame body that can be finely moved in the front-back, left-right, and up-down directions via an equalizing mechanism.

[0004] The tool mounting table described in Patent Document 1 can satisfactorily absorb any positional deviation and inclination even if there is some positional deviation and inclination in the tool held by the robot, and can eliminate poor placement of the tool on the movable frame body.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The tool mounting table described in Patent Document 1 can absorb positional deviations and inclinations when the robot places a tool on the tool mounting table if the tool is displaced and inclined with respect to the normal position and posture.

[0007] However, the tool mounting table described in Patent Document 1 is for the next tool to be mounted by the robot. ​​​​​​In the placing operation, the positional deviation and the inclination of the tool that occur in this placing operation are not considered. .

[0008] Therefore, if positional deviation and inclination occur for some reason and they gradually increase, the tool and the tool mounting table will interfere with each other beyond the absorbable range of the deviation, and there may be problems such as damage to either one. Therefore, it is desired that the tool be placed on the tool mounting table in as regular a position and posture as possible.

[0009] Therefore, the problem to be solved by the present invention is to provide a tool mounting table system and a tool mounting table in which the tool and the tool mounting table are less likely to be damaged.

Means for Solving the Problem

[0010] To solve the above problems, the present invention has the following configurations 1) and 2). 1) A tool mounting table on which a tool is placed, a robot hand device that grips the tool and places it on the tool mounting table, a control device that controls the operation of the robot hand device, and is configured to include, the tool has protruding legs, the tool mounting table, engages with the legs when the tool is placed, does not move when the tool is placed in a regular state, and has a finger portion having a column portion that moves when the tool is placed in an irregular state and a sensor that measures the distance to the column portion, the control device obtains the displacement of the column portion based on the measurement result of the sensor, and controls the operation of the robot hand device so as to cancel the displacement in the next placing operation of the tool on the tool mounting table by the robot hand device. It is a tool mounting table system. 2) A tool having protruding legs is placed, engages with the legs when the tool is placed, and when the tool is placed in a normal state it does not move, and a pillar portion that moves when the tool is placed in an abnormal state and a finger portion having a sensor for measuring the distance from the pillar portion A tool stand provided.

Effect of the Invention

[0011] According to the present invention, an effect that the tool and the tool stand are difficult to be damaged can be obtained.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

BEST MODE FOR CARRYING OUT THE INVENTION

[0013] (Example 1) The tool stand and the tool stand system according to the embodiment of the present invention will be described by the tool stand 91 and the tool stand system 91ST in the example.

[0014] FIG. 1 is a configuration diagram showing the tool stand system 91ST.

[0015] FIG. 2 is a perspective view showing a part of the tool stand 91 constituting the tool stand system 91ST and the tool 81 and.

[0016] For convenience of explanation, each direction of up, down, left, right, front, and back is defined in the direction of the arrows in FIGS. 1 and 2. Up and down The direction is the vertical direction. The left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z axis direction.

[0017] As shown in FIG. 1, the tool stand system 91ST includes a tool stand 91, a robot ha nd device 92, and a control device 93.

[0018] The tool stand 91 has a pedestal portion 3 installed on the installation surface FL and a base 1 attached on the pedestal portion 3. And.

[0019] The base 1 is provided with a first finger portion 2L and a second finger portion 2R.

[0020] The robot hand device 92 includes a six-degree-of-freedom articulated arm group having a clamp 922 at the tip and a drive unit 921. The posture of the arm group and the gripping operation of the clamp 922 are driven performed by the unit 921. The operation of the drive unit 921 is closed-loop controlled by the control device 93.

[0021] The tool 81 has a flat tool base 821 and, on the lower surface 821a of the tool base 821, bar-shaped first and second legs 822 and 823 that are spaced apart in the left-right direction and protrude downward. In this example, the first leg 822 and the second leg 823 are cylindrical. The central axis CL8L of the first leg 822 and the central axis CL8R of the second leg 823 are parallel to each other and are spaced apart by a pitch Lp.

[0022] The robot hand device 92 places the gripped tool 81 on the first finger part 2L and the second finger part 2R of the tool stand 91 from above.

[0023] Specifically, the robot hand device 92 grips the tool 81 by a clamp 922 and lowers the tool base 821 as indicated by an arrow D1 (see FIG. 1) from above.

[0024] The robot hand device 92 places the tool 81 such that the first leg 822 and the second leg 823 engage with the first finger part 2L and the second finger part 2R, respectively. The tool base 821 placed on the first finger part 2L and the second finger part 2R is indicated by a two-dot chain line in FIG. 1.

[0025] FIG. 3 is a top view of the first finger part 2L on the base 1.

[0026] As shown in FIGS. 2 and 3, the first finger part 2L has four finger units 2L1 to 2L4, and the second finger part 2R has four finger units 2R1 to 2R4.

[0027] On the base 1, virtual axes CL that are spaced apart by a pitch Lp in the X-axis direction and extend parallel to the Z-axis direction 1L and CL1R are set.

[0028] The finger units 2L1 to 2L4 are arranged oppositely at 90° intervals around the virtual axis CL1 L on the upper surface 1a of the base 1.

[0029] Specifically, the finger unit 2L1 and the finger unit 2L2 face each other in the left - right direction and the finger unit 2L3 and the finger unit 2L4 face each other in the up - down direction. .

[0030] The finger units 2R1 to 2R4 are arranged at 90° intervals around the virtual axis CL1 R on the upper surface 1a of the base 1.

[0031] Specifically, the finger unit 2R1 and the finger unit 2R2 face each other in the left - right direction and the finger unit 2R3 and the finger unit 2R4 face each other in the up - down direction. .

[0032] As shown in FIGS. 2 and 3, the finger units 2L1 to 2L4 each have a linear moving body 51 to 54, a biasing portion 551 to 554, and a sensor 61 to 64. Also, the finger units 2R1 to 2R4 each have a linear moving body 55 to 58, a biasing portion 55 5 to 558, and a sensor 65 to 68.

[0033] The linear moving bodies 51 to 54 each have rails 521 to 528 and sliders 531 to 53 8. Column portions 541 to 548 are respectively attached to the sliders 531 to 538 .

[0034] On the upper surface 1a of the base 1, concentric with the virtual axes CL1L and CL1R respectively, there are of a predetermined outer diameter Cylindrical reference columns 11L and 11R are attached.

[0035] In FIG. 2, the cylindrical first legs 822 and the second leg 823 protruding downward from the tool base 821 of the tool 81 have an outer diameter substantially the same as that of the reference columns 11L and 11R. The tip portions of the first leg 822 and the second leg 823 are formed as guide portions 822a and 823a whose outer diameter decreases toward the tip.

[0036] The structures of the eight finger units 2L1 to 2L4 and 2R1 to 2R4 are common. Therefore, taking the finger unit 2L2 as a representative, it will be described in detail with reference to FIG. 4. FIG. 4 is a perspective view showing only the finger unit 2L2 excluding the sensor 62, the base 1, and the reference column 11L.

[0037] As shown in FIGS. 2 to 4, the linear moving body 52 has a rail 522 fixed to the upper surface 1a of the base 1 and a slider 532 engaged with the rail 522 and movable in the X-axis direction.

[0038] At the right end of the slider 532, a thin plate-shaped column portion 54 2 extending upward in parallel with the virtual axis CL1L is attached.

[0039] Further, an arm portion 532a extending rearward is attached to the slider 532.

[0040] On the upper surface 1a of the base 1, the biasing portion 552 is installed adjacent to the rear side of the linear moving body 52.

[0041] The biasing portion 552 has a push bar 552a that moves in and out in the right direction and a biasing member such as a compression spring that biases the push bar 552a to the right. The push bar 552a is a biasing portion ​​​​​​It is biased to the right by the material, pushing the arm portion 532a of the slider 532 to the right.

[0042] The slider 532 is always biased toward the reference column 11L by the biasing force of the biasing portion 552 and the column portion 542 is in contact with the reference column 11L, restricting further movement to the right. .

[0043] In each finger unit 2L1 to 2L4, 2R1 to 2R4, the state where the column portions 541 to 544 , 545 to 548 are in contact with the reference columns 11L, 11R is referred to as the reference state in each finger unit .

[0044] Also, in the four finger units 2L1 to 2L4, the state where all the column portions 541 to 54 4 are in contact with the reference column 11L is referred to as the full reference state in the first finger portion 2L . Similarly, in the four finger units 2R1 to 2R4, the state where all the column portions 545 to 5 48 are in contact with the reference column 11R is referred to as the full reference state in the second finger portion 2R .

[0045] With this configuration, as shown in FIG. 2, the substantially prismatic space surrounded by the four column portions 5 41 to 544 and the reference column 11L in the first finger portion 2L is referred to as the space VL. Also , the substantially prismatic space surrounded by the four column portions 545 to 548 and the reference column 11R in the second finger portion 2R is referred to as the space VR.

[0046] The spaces VL and VR are spaces into which the first leg portion 822 and the second leg portion 823 enter when the tool 81 is placed on the first finger portion 2 L and the second finger portion 2R by the robot hand device 92.

[0047] In addition to the above configuration, as shown in FIG. 3, the sensor 62 is attached to the upper surface 1a of the base 1 via a bracket.

[0048] The sensor 62 is an optical distance measuring sensor that irradiates the pillar portion 542 with an optical beam Ls2 shown by a thick solid line to measure the distance in the X-axis direction between the pillar portion 542 and the sensor 62, and outputs the measured distance as a measurement signal S2 (see FIG. 7) to the control device 93.

[0049] Based on the measurement signal S2 output from the sensor 62, it is possible to grasp the presence or absence of movement and the movement distance of the pillar portion 542 and the slider 532 in the X-axis direction.

[0050] The sensors 61 to 64 of the finger units 2L1 to 2L4 having the above-described configuration and functions measure the distances between the sensors 61 to 64 and the pillar portions 541 to 544, respectively, and output them as measurement signals S1 to S4. The measurement signals S1 to S4 indicate the distances between the sensors 61 to 64 on the right, left, upper, and lower sides with respect to the reference pillar 11L and the pillar portions 541 to 544.

[0051] Similarly, the sensors 65 to 68 of the finger units 2R1 to 2R4 output the distances between the sensors 65 to 68 and the pillar portions 545 to 548, respectively, as measurement signals S5 to S8. The measurement signals S5 to S8 indicate the distances between the sensors 65 to 68 on the right, left, upper, and lower sides with respect to the reference pillar 11R and the pillar portions 545 to 548.

[0052] Regarding the acquisition of the movement distance when the pillar portions 541 to 548 move, taking the finger unit 2 L2 as an example, it will be described in detail with reference to FIGS. 5 and 6.

[0053] ​​​​​​​FIG. 5 is a top view showing the state where the column portion 542 is in the reference position. The reference position is the position where the column portion 54 2 abuts against the reference column 11L.

[0054] FIG. 6 is a top view showing the state where the column portion 542 has moved to the left in the X-axis direction.

[0055] As shown in FIG. 5, when the column portion 542 is in the reference position, the distance between the sensor 62 and the column portion 542 is defined as the distance La.

[0056] Also, as shown in FIG. 6, when the column portion 542 has moved to the left as indicated by the arrow D2, the distance between the sensor 62 and the column portion 542 is defined as the distance Lb. That is, the distance Lb < the distance La, and the difference ΔL2 as the displacement of the column portion 542 is the distance Lb - the distance La when the left side in the X-axis direction is (-) and the right side is (+).

[0057] FIG. 7 is a block diagram of the tool mounting table system 91ST.

[0058] The control device 93 includes a displacement acquisition unit 931, a correction information generation unit 932, a mounting operation control unit 933, and a storage unit 934.

[0059] The measurement signals S1 to S8 output from each of the sensors 61 to 68 of the tool mounting table 91 are input to the displacement acquisition unit 931.

[0060] The displacement acquisition unit 931 respectively obtains the distances between each of the sensors 61 to 68 and the column portions 541 to 548 before and during the mounting of the tool 81 on the tool mounting table 91 from the measurement signals S1 to S8 input from the sensors 61 to 68.

[0061] For example, the displacement acquisition unit 931 measures the time t1 before the tool 81 is mounted on the tool mounting table 91 ​​​​​From the measurement signal S2 from the sensor 62 of the finger unit 2L2, the distance La21 between the sensor 62 and the column part 542 is grasped.

[0062] Also, at the time t2 during the operation when the robot hand device 92 places the tool 81 on the tool mounting table 91, the displacement acquisition unit 931 measures from the sensor 62 of the finger unit 2L2 signal S2 to grasp the distance La22 between the sensor 62 and the column part 542.

[0063] The time t2 is the time when the first leg part 822 and the second leg part 823 are entering and descending into the spaces VL and VR of the first finger part 2L and the second finger part 2R respectively.

[0064] Next, the displacement acquisition unit 931 obtains the difference ΔL2 between the distance La21 and the distance La 22 at times t1 and t2 as (distance La22 - distance La21).

[0065] The difference ΔL2 indicates the displacement of the column part 542 to the left in the X-axis direction during the operation of placing the tool 81 on the tool mounting table 91. to the left.

[0066] Similarly, the displacement acquisition unit 931 obtains differences ΔL1, ΔL3 to ΔL8 which are the displacements of the column parts 541, 543 to 548 respectively based on the measurement signals S1, S3 to S8 coming in from sensors 61, 63 to 68 other than the sensor 62. Based on the measurement signals S1, S3~S8 coming in from sensors 61, 63~68 other than the sensor 62, the displacement acquisition unit 931 obtains differences ΔL1, ΔL3~ΔL8 which are the displacements of the column parts 541, 543~548 respectively. to obtain differences ΔL1, ΔL3~ΔL8.

[0067] Regarding the above differences ΔL1~ΔL8, reference will be made to FIGS. 8 and 9 corresponding to the horizontal positions of the first leg part 822 and the second leg part 823 of the tool 81 for detailed description. Referring to FIGS. 8 and 9 corresponding to the horizontal positions of the first leg part 822 and the second leg part 823 of the tool 81, the above differences ΔL1~ΔL8 will be described in detail.

[0068] FIG. 8 shows that the tool 81 has its central axis lines CL8L, CL8R respectively being the temporary Substantially coinciding with the imaginary axes CL1L and CL1R, the first leg portion 822 and the second leg portion 823 are respectively a horizontal cross-sectional view showing a state in which they are descending in the spaces VL and VR. The Y-axis intersecting the central axis CL8 L is defined as the Y1-axis, and the Y-axis intersecting the central axis CL8R is expediently defined as the Y2-axis.

[0069] As shown in FIG. 8, a state in which the central axes CL8L and CL8R of the tool 81 substantially coincide with the imaginary axes CL1L , CL1R is referred to as the normal state of the tool 81. When the tool 81 is placed on the tool mounting base 91 from above in the normal state, the first finger portion 2L and the second finger portion 2R are in the full reference state.

[0070] FIG. 9 is a horizontal cross-sectional view showing a state in which the first leg portion 822 and the second leg portion 823 are respectively descending in the spaces VL and VR with the tool 81 shifted to the right rear in a top view with respect to the normal state of the tool 81 shown in FIG. 8.

[0071] As shown in FIG. 9, the displacement acquisition unit 931 acquires the differences Δ L1 to ΔL8, which are the displacements of the column portions 541 to 548, as follows. That is, Difference ΔL1 = a1, difference ΔL2 = b1, difference ΔL3 = c1, difference ΔL4 = d1 Difference ΔL5 = a2, difference ΔL6 = b2, difference ΔL7 = c2, difference ΔL8 = d2

[0072] In FIG. 9, since the tool 81 is shifted to the right rear with respect to the normal state, the first leg portion 822 pushes and moves against the biasing forces of the biasing portions 551 and 553 (see FIG. 2) of the column portions 541 and 543. On the other hand, the first leg portion 822 does not contact the column portions 542 and 544 and does not move the column portions 542 and 54 4. Therefore, b1 and d1 become 0 (zero).

[0073] On the other hand, the second leg portion 823 pushes and moves the column portions 545 and 547 against the biasing forces of the biasing portions 555 and 557 (see FIG. 2). On the other hand, the second leg portion 823 does not contact the column portions 546 and 548 and does not move the column portions 546 and 548. Therefore, b2 and d2 become 0 (zero).

[0074] In the tool 81, the displacement amount in the X-axis direction is indicated by the displacement amount Xa of the first leg portion 822 and the displacement amount Xb of the second leg portion 823, and the displacement amount in the Y-axis direction is indicated by the displacement amount Ya of the first leg portion 822 and the displacement amount Yb of the second leg portion 823.

[0075] Xa = ΔL1 + ΔL2, Xb = ΔL5 + ΔL6 Ya = ΔL3 + ΔL4, Yb = ΔL7 + ΔL8 As shown in FIG. 9, in the tool 81, when a line segment connecting the central axis CL8L and the central axis CL8R orthogonally is defined as the line segment LN8, when "Xa = Xb and Ya = Yb", the tool 81 is displaced horizontally in a state where the line segment LN8 is parallel to the X-axis.

[0076] When "Xa = Xb and Ya = Yb" does not hold, the tool 81 is displaced horizontally with the line segment LN8 inclined with respect to the X-axis.

[0077] The displacement acquisition unit 931 shown in FIG. 7 obtains the inclination θy of the line segment LN8 with respect to the X-axis from the following equation.

[0078] θy = arctan[(Yb - Ya) / Lp] The displacement acquisition unit 931 outputs displacement information J1 including the acquired differences ΔL1 to ΔL8, displacement amounts Xa, Xb, Ya, Yb, and the inclination θy.

[0079] ​​​​​​​​​The correction information generation unit 932 of the control device 93 generates correction information J2 that cancels out the displacements indicated by the displacement information J output from the displacement acquisition unit 931. From 1, correction information J2 is generated to cancel out the displacements indicated by the differences ΔL1 to ΔL8.

[0080] Specifically, a correction displacement amount Xh that cancels out the displacement amount Xa of the first leg portion 822 in the X-axis direction, and a correction angle θh for canceling out the inclination angle θy of the line LN8 with respect to the X-axis and making it parallel to the X-axis are generated by the following (Equation 1) and (Equation 2), and output as correction information J2.

[0081] Xh = -Xa ··· (Equation 1) θh = -θy ··· (Equation 2) The placement operation control unit 933 of the control device 93 controls the operation of the drive unit 921 of the robot hand device 92. This control is executed by a placement program stored in advance in the storage unit 934 for placing the tool 81 on the tool stand 91.

[0082] In the placement program, the positions of the central axes CL8L and CL8R in the normal state of the tool 81

[0083] are indicated by XY coordinates. Also, the rotation angle of the clamp 922 that grips the tool 81 in the normal state around the vertical line is indicated by the rotation angle with respect to the X-axis around the central axis CL8L.

[0084] . For example, the XY coordinates of the position of the central axis CL8L of the first finger portion 2L in the normal state of the tool 81 are set to (Xk, Yk), and the rotation angle with respect to the X-axis at the (Xk, Yk) position of the clamp 922

[0085] is set to the angle θk.

[0085] In this case, the placement operation control unit 933 places the tool 81 gripped by the clamp 922 in the normal state. When positioning, correct based on the correction information J2 output from the correction information generation unit 932. Perform correction.

[0086] Specifically, add the correction displacement amount Xh to the XY coordinates (Xk, Yk) in the normal state before correction for the X coordinate to obtain [(Xk + Xh), Yk]. That is, in the above example, the XY coordinates (Xk, Yk) at the position of the central axis CL8L in the normal state become the coordinates [( Xk - Xa), Yk] after correction according to (Equation 1).

[0087] Also, the placement operation control unit 933 corrects the angle θk, which is the inclination of the tool 81 gripped by the clamp 922 in the normal state, based on the correction information J2 output from the correction information generation unit 932.

[0088] Perform correction. Specifically, add the correction angle θh to the angle θk in the normal state before correction to obtain the angle (θk + θh

[0089] ). That is, in the example where θh = -θy, the rotation angle θk in the normal state becomes the angle (θk - θy) after correction according to (Equation 2). In the placement operation of the tool 81 on the tool mounting table 91 performed by the robot hand device 92 under the control of the placement operation control unit 933, the horizontal displacement (displacement) and inclination with respect to the X-axis of the tool 81 generated in this operation are corrected in the next placement operation. That is, in the tool mounting table system 91ST, the control device 93 controls the operation of the robot hand device 92 based on the measurement results of the sensors 61 to 68 when the tool 81 is mounted, so as to cancel the displacement or inclination obtained from the measurement results in the next placement operation of the tool 81. Similarly, the displacement (displacement) or inclination with respect to the X-axis generated in the next placement operation is corrected in the subsequent placement operations.​​​​​​​​​​It is corrected by the operation.

[0090] Therefore, in the tool mounting table system 91ST, the tool 81 is highly likely to be always mounted on the tool mounting table 91 in a normal state, and the tool 81 and the tool mounting table 91 are less likely to be damaged.

[0091] The embodiments described in detail above are not limited to the above-described configurations and procedures, and may be modified as a modified example without departing from the gist of the present invention.

[0092] The sensors 61 to 68 that measure the distances from the column portions 541 to 548 have been described as non-contact type, but may be contact type.

[0093] The biasing force that biases the sliders 531 to 538 of the biasing portions 551 to 558 is such that the tool 81 is in a non-normal state when being gripped by the robot hand device 92, and is set to such an extent that the column portions 541 to 548 can be pushed without resisting the non-normal tool 8 1.

[0094] Further, the biasing force that biases the sliders 531 to 538 of the biasing portions 551 to 558 may be set to have a force that moves the non-normal tool 81 to the normal state in a state where the gripping of the robot hand device 92 is released.

[0095] Although the tool 81 having the first leg portion 822 and the second leg portion 823 has been described, the tool 81 may have only one first leg portion 822, and the tool mounting table 91 and the tool mounting table system 91 ST may be provided with only the first finger portion 2L that engages with the first leg portion 822.

[0096] In this case, the control device 93 obtains the inclination when the tool 81 is placed on the tool mounting table 91. ​​Rather than that, only the displacement amount is obtained, and the robot hand device 9 is controlled to cancel out the displacement amount. Control the next placement operation of 2.

[0097] This configuration can be used when the shape of the tool 81 is constant regardless of the inclination, or when the inclination of the tool 81 does not affect the placement. For example, when the placement is not affected.

[0098] As the tool pedestal 91, although the first finger part 2L having a total of four column parts 541 to 548 arranged opposite to each other in the X-axis direction and the Y-axis direction has been described, the tool pedestal 91 is not limited to this configuration. For example, in the configuration where the first leg part 822 is engaged with the first finger part 2L, only the movement of the first leg part

[0099] 822 to the left (- side) in the X-axis direction may be allowed, and the movement in the right direction in the X-axis direction and the Y-axis direction may be mechanically restricted, for example. In this configuration, the first finger part 2L only needs to include only one finger unit 2L2 having one column part 542 and a sensor 62 for measuring the displacement of the column part 542.

Explanation of symbols

[0100] 1 Base 1a Upper surface 11L, 11R Reference columns 2L First finger part 2L1 to 2L4 Finger units 2R Second finger part 2R1 to 2R4 Finger units 3 Pedestal part 51 to 58 Linear moving bodies 521 to 528 Rails 531 to 538 Sliders 531a to 538a Arm parts 541 to 548 Column parts Biasing parts 551~558 Push bars 551a~558a Sensors 61~68 Tool 81 Tool base 821 Bottom surface 821a First leg 822 Guide part 822a Second leg 823 Guide part 823a Tool stand 91 Tool stand system 91ST Robot hand device 92 Drive part 921 Clamp 922 Control device 93 Displacement acquisition part 931 Correction information generation part 932 Placement operation control part 933 Memory part 934 Virtual axis lines CL1L, CL1R Central axis lines CL8L, CL8R Installation surface FL Displacement information J1 Correction information J2 Distances La, Lb, La21, La22 Line segment LN8 Pitch Lp Optical beam Ls2 Measurement signals S1~S8 Displacement amounts Xa, Xb, Ya, Yb Correction displacement amount Xh Coordinates Xk, Yk Spaces VL, VR Differences (displacements) ΔL1~ΔL8 Correction angle θh Angle θk Tilt angle θy

Claims

[Claim 1] A tool stand provided in a tool changer, on which a tool carried by a robot hand is placed, comprising: A tool having protruding legs is placed on the A base portion which is a platform on which the tool is placed; a finger portion having a reference post attached to an upper surface of the base portion and a post portion attached to a slider movable on the upper surface of the base portion and surrounding the reference post; a biasing portion that constantly biases the slider toward the reference post by a biasing force; Equipped with a tool stand.

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