JP2019084666A - Automatic tool changing device - Google Patents

Abstract

To provide an automatic tool changing device in which a size of a non-contact unit can be reduced even when much electric power and many electric signals are used, and which can be used in common even if fluid and electric power to be used and the number of electric signals vary.SOLUTION: The automatic tool changing device is constituted of a robot-side unit, a non-contact unit A provided in the robot-side unit, a tool-side unit and a non-contact unit B provided in the tool-side unit, where the robot-side unit and the tool-side unit are connected separatably from each other. With the non-contact unit A and the non-contact unit B opposing to each other, electric power and electric signals are transmitted between the non-contact unit A and the non-contact unit B by electromagnetic induction action. The robot-side unit is provided with a wiring saving system, and the tool-side unit is provided with a wiring saving system and a valve.SELECTED DRAWING: Figure 4

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an automatic tool changer which removably attaches a tool applied to various industrial robot hands to a robot.

  There are many types of machines that are attached to machine tools in factories and use a robot with an air cylinder, a hand using an air cylinder, an electric hand that controls a motor and a servo gun, and a servo gun. In order to reduce the amount of production and reduce the cost of equipment, it is necessary to carry out a plurality of operations with one robot, and as a method therefor, an automatic tool changer which changes tools such as a hand is used.

  For example, in Patent Document 1 and Patent Document 2, as an automatic tool changer, an automatic tool change having a structure in which a connection member attached to the robot side and a connection member attached to the tool side can be mutually connected and separated. An apparatus has been proposed.

  In such an automatic tool changer, various connection parts that enable the supply of gas or liquid between the robot side and the connection member on the tool side according to the tool to be used and enable the transmission of electric power or electric signal are included. It is provided. Here, the transmission of the power and the electric signal is performed by a pin contact in which a pin protruding from one of the connection portion on the robot side and the connection portion on the tool side contacts a terminal provided on the other.

  However, in a production plant, work machines such as a large number of robots are operated and work such as welding, painting, and cleaning is performed, which tends to result in a high temperature and high humidity environment. Under such high temperature and high humidity environment, pin contacts used for transmission of power and electrical signals are prone to contact failure, and further, if dust or slag gets in between the pins and terminals, wear due to repeated connection, It becomes easy to cause the contact failure of a connection part, such as transformation and generation of a film. For this reason, there is a problem that the pin contact frequently requires much time and money for maintenance such as regular inspection and cleaning. Furthermore, since the pins protrude, they are easily damaged, and even when connecting the robot side connection part and the tool side connection part, the two members must be precisely aligned so as not to break the pins. There is a problem that it takes time to change tools.

  In order to avoid the above-mentioned problems, for example, Patent Document 3 discloses that the robot side and the tool side are not in contact with each other electrically by positioning transmission surfaces provided in a pair of coil units to be opposed to each other. We propose a structure that can be connected to However, in such a structure, there is a problem that as the number of power and electric signals increases, the size of the connection increases and the price of the mechanical device increases. Furthermore, there is a problem that it is not possible to cope with the exchange of tools, such as the number of circuits being too large or too small, when the number of fluid or electric power or electric signals used changes by exchanging the tools.

Patent Document 1: Japanese Patent Application Laid-Open No. 2004-1177 Patent Document 1: Japanese Patent Application Publication No. 2008-207294 JP 2010-36286 A

  The present invention makes the size of the non-contact unit smaller even if the number of electric power and electric signals increases, and can be used commonly even if the number of fluids and electric power and electric signals used changes. It is providing a tool changer.

  In a first aspect of the automatic tool changer according to the present invention, as means for solving the above problems, a robot side unit attached to the main body side of the robot and a noncontact unit A provided to the robot side unit are separately provided. An automatic tool changer comprising a plurality of tool side units to which a tool is fixed and a noncontact unit B provided on the tool side unit, wherein the robot side unit and the tool side unit can be separated from each other, and In an automatic tool changer connected non-rotatably relative to each other, the noncontacting unit A and the noncontacting unit B are opposed to each other by electromagnetic induction between the noncontacting unit A and the noncontacting unit B. An electrical signal is transmitted, the robot side unit is provided with a wire saving system, and the tool side unit is provided with a wire saving system and a valve. Characterized by comprising providing and.

  According to this aspect, even if the number of fluid and electric signals used changes by changing the tool attached to the tool side unit, any tool can be supported regardless of the number of circuits. it can.

  According to a second aspect of the automatic tool changer of the present invention, in the automatic tool changer according to the first aspect, the non-contact unit A transmits a power coil A enabling transmission of power and transmission of an electric signal. And a coil A for electric signal, and the non-contact unit B includes a coil B for power which enables transmission of electric power, and a coil B for electric signal which enables transmission of an electric signal. It is characterized by including.

  According to this aspect, it is possible to transmit power in addition to the electrical signal between the robot side unit and the tool side unit. As a result, for example, drive power of an apparatus driven by power such as a motor can be supplied, and the number of cables can be reduced.

  According to a third aspect of the automatic tool changer of the present invention, in the automatic tool changer according to the second aspect, an electromagnetic field generated by electromagnetic induction of the power coil A and the power coil B, and the electric signal An electromagnetic field generated by electromagnetic induction of the coil A for the electric signal and the coil B for the electric signal is characterized by being shifted by 90 degrees.

  According to this aspect, the generated electromagnetic field of the power coil and the coil for the electric signal are compared with those in which the directions of the generated electromagnetic field of the coil for the power and the generated electromagnetic field of the coil for the electric signal are not parallel. The size of the non-contact unit is reduced because a member having a shielding effect is not required as an electromagnetic shielding member between the power coil and the electric signal coil because the direction of the generated electromagnetic field deviates by 90 degrees. It can be manufactured inexpensively.

  According to a fourth aspect of the automatic tool changer of the present invention, in the automatic tool changer according to the second or third aspect, noncontact transmission is performed between the noncontact unit A and the noncontact unit B. In electrically transmitting the electric power and the electric signal between the robot side unit and the tool side unit in a noncontact manner, transmission of the electric signal is superimposed on transmission of the electric power. .

  According to this aspect, only one type of the power coil is required to reduce the size and weight of the non-contact unit by requiring only two types of the power coil and the electric signal coil. By reducing the load and load moment applied to the robot, the robot can be transported faster than before. Furthermore, since the controller and tools are connected by power lines and can transmit and receive electrical signals from any location where the power lines are located, the controller does not have to be close to the robot and can be installed anywhere, making it easy to manage Become.

  According to a fifth aspect of the automatic tool changer of the present invention, in the automatic tool changer according to the second or third aspect, noncontact transmission is performed between the noncontact unit A and the noncontact unit B. In electrically transmitting power without contact between the robot side unit and the tool side unit, transmission of power from the robot side unit to the tool side unit and the robot from the tool side unit Enable transmission to the side unit. The robot-side unit and the power converter of the tool-side unit may be a bidirectional power converter.

  According to this aspect, it is possible to improve energy utilization efficiency by converting kinetic energy, which is reduced when the tool attached to the tool side unit is decelerated by a brake or the like, into electric power and recovering it.

  As described above, according to the automatic tool changer of the present invention, in the automatic tool changer in which the tool applied to each industrial robot can be exchangeably attached to the robot, between the robot side unit and the tool side unit, By using a non-contact unit for the transmission of electrical signals, compared to the transmission of electrical signals at the conventional pin contacts, wear due to adhesion of dust such as dust or dirt, repeated connection, transformation, etc. There is no contact failure caused by the occurrence of a film, etc., and it is possible to eliminate the need for periodic maintenance and cleaning. In addition, the problem of the pin being easily damaged due to the protruding pin, and the problem of having to be precisely aligned so as not to break the pin when connecting the connection part between the robot side unit and the tool side unit, is solved. ing. In addition, it has water resistance and can be more resistant to external noise than conventional products.

  In the past, changing tools has changed the fluid and electrical signals used, so it is necessary to use an automatic tool changer with the size of the maximum circuit size of the tools used, and more When the circuit became necessary, it could not respond. However, according to the automatic tool changer of the present invention, by providing the wire saving system in the robot side unit and the wire saving system and the valve in the tool side unit, even if the fluid or electric signal to be used is changed, By changing the program and the number of valves, it is possible to respond flexibly. Further, the automatic tool changer according to the present invention can reduce the size of the automatic tool changer because the fluid path of the automatic tool changer itself and the wiring of the electrical signal can be made one by one.

  Furthermore, in the automatic tool changer according to the present invention, the non-contact unit comprises a power coil that enables transmission of electric power and an electric signal coil that enables transmission of an electrical signal. The drive power of the device driven by the power can be supplied, and the number of cables can be reduced.

  Furthermore, in the automatic tool changer according to the present invention, when the directions of the generated electromagnetic field of the power coil and the coil generated electromagnetic field of the electric signal deviate by 90 degrees, the generated electromagnetic magnetic field of the power coil and the generated electric signal coil Since a member having a shielding effect is not required as an electromagnetic shielding member between the power coil and the electric signal coil as compared with the parallel arrangement in which the direction of the electromagnetic magnetic field is not deviated, the noncontact unit can be miniaturized. It can be manufactured inexpensively.

  Furthermore, the automatic tool changer according to the present invention superimposes the transmission of the electrical signal on the transmission of the electric power in order to electrically transmit the electric power and the electric signal between the robot side unit and the tool side unit in a noncontact manner. As a result, it becomes possible to reduce the size and weight of the non-contact unit by improving the power coil and the coil for electric signal by using only one type of coil for electric power. By reducing the load and load moment, the robot can be transported faster than before. Furthermore, since the controller and tools are connected by power lines and can transmit and receive electrical signals from any location where the power lines are located, the controller does not have to be close to the robot and can be installed anywhere, making it easy to manage Become.

  Furthermore, the automatic tool changer according to the present invention transmits power from the robot-side unit to the tool-side unit when electrically transmitting power without contact between the robot-side unit and the tool-side unit. And transmission from the tool side unit to the robot side unit. By using the robot-side unit and the power conversion unit of the tool-side unit as a bidirectional power converter, the tool attached to the tool-side unit converts kinetic energy, which is reduced due to deceleration by a brake, etc. By doing this, it is possible to improve the utilization efficiency of energy used by the tool.

Explanatory drawing explaining the structure of a present Example Top view showing the structure of the robot side unit of this embodiment Top view showing the structure of the tool side unit of this embodiment AA cross section before connection of a present Example B-B cross-sectional view before connection of this embodiment B-B cross-sectional view after connection of this embodiment Explanatory drawing which shows the structure of the non-contact unit of a present Example Explanatory drawing which shows the structure of the non-contact unit of a prior art example Explanatory drawing explaining wiring in the case of using the valve | bulb of a present Example Explanatory drawing explaining the wiring in the case of using the motor of a present Example Explanatory drawing explaining the wiring at the time of superposition of a present Example Explanatory drawing explaining the wiring at the time of the bidirectional communication of the electric power of a present Example

  Hereinafter, the form of the automatic tool changer of the present invention will be described based on FIG. 1 to FIG.

  FIG. 1 shows the configuration of a robot apparatus (2) provided with an automatic tool changer (1) according to the present embodiment (numbers in parentheses are symbols of the drawings, hereinafter the same). The robot apparatus (2) has a structure in which a tool A (4) is provided at the tip of an arm member (3) provided with a plurality of joints. In such a structure, as the tool A (4), for example, a hand using an air cylinder, an electric hand performing control by controlling a motor, a servo gun or the like is used.

  In FIG. 1, the automatic tool changer (1) can separate the robot side unit (5) attached to the robot apparatus (2) and the tool side unit (6) to which the tool A (4) is attached, and A plurality of tool side units B which are connected non-rotatably, separate the robot side unit (5) and the tool side unit A (6) as needed, and to which another tool B (7) is fixed It can be exchanged for (8).

  In FIG. 1, for example, when using a tool A (4) that requires a plurality of fluids, such as a hand using an air cylinder, by attaching a valve (9) to the tool side unit A (6) Can be branched into a plurality of lines, and by changing the number of valves (9), it is possible to cope with changes in the number of fluids. At this time, in order to control the valve (9), the controller (10) integrates a plurality of electric signals for controlling the valve (9) into one electric signal by the wiring saving system A (11). The wire saving system B (12) attached to the tool side unit A (6) controls the valve (9) by reconverting the integrated electrical signals into respective electrical signals. And a valve (9) drives by connecting a power supply (13) to a valve (9) via an automatic tool changer (1).

  In FIG. 1, for example, when using a tool B (7) that needs to transmit and receive electrical signals such as an electric hand that controls a motor to perform work, a plurality of lines from the controller (10) to the tool B (7) Are integrated into a single electrical signal by the wiring saving system A (11), and the integrated electrical signals are respectively transmitted from the wiring saving system C (14) contained in the tool B (7). To convert the electrical signal between the tool B (7) and the controller (10) by reconverting to the electrical signal of the power source, and the tool (13) of the power supply via the automatic tool changer (1) The tool B (7) is driven by connecting to B (7).

  2 to 12 described below, FIGS. 2 to 6 further explain the automatic tool changer (1) of FIG. Further, FIG. 7 illustrates the non-contact unit of the present embodiment, and FIG. 8 illustrates the non-contact unit of the conventional example. 9 to 12 illustrate the wiring of each embodiment.

  2 to 6, FIG. 2 is an explanatory view of the robot side unit (5), and FIG. 3 is an explanatory view of a tool side unit A (6) and a tool side unit B (8). 4 and 5 are sectional views of the automatic tool changer (1) before connection, and FIG. 6 is a sectional view after connection.

  2 to 6 show a plan view and a sectional view of the structure of the automatic tool changer (1) shown in FIG. 1 of this embodiment. In FIG. 2 to FIG. 6, the robot side unit (5) shown in FIG. 1 has a cylinder (100) at the center and a robot side body (102) and a cylinder (100) having positioning portions (101) at a plurality of locations. A piston (103) housed reciprocally movably by fluid pressure inside and a cam (104) connected to the piston (103) to reciprocate in the axial direction and a ball holder (105) disposed at the center of the body It comprises a contact unit A (106) and a fluid path A (107).

  In FIG. 2 to FIG. 6, the robot side unit (5) shown in FIG. 1 inserts the piston (103) inside the ball holder (105), connects the cam (104) with the bolt (108), 103) in the circular groove portion of the piston seal (109), in the groove of the contact portion between the piston (103) and the ball holder (105), the rod seal (110), the contact portion of the robot side body (102) and the ball holder (105) The pressure chamber A (112) for reciprocating the piston (103) in the axial direction, and the pressure chamber B, while taking measures against air leakage when fluid pressure is applied by attaching the cylinder seal (111) to the (113) is formed.

  In FIGS. 2 to 6, in the robot side unit (5) shown in FIG. 1, by applying fluid pressure to the pressure chamber A (112), the piston (103) is on the ball holder (105) side. Move in the opposite direction to the first direction in the axial direction (hereinafter referred to as the second direction) by applying fluid pressure to the pressure chamber B (112). Thus, the piston (103) reciprocates in the axial direction.

  In FIGS. 2 to 6, the tool side unit A (6) and the tool side unit B (8) shown in FIG. 1 have a tool side body (concave or hole-like hollow portion (114)) opened on the outer surface 115) and a lock plate (117) having a hole-like hollow portion opened on the outer surface of a plurality of positioned portions (116), a noncontact unit B (118), and a fluid path B (119), Various tools are fixed to the tool side body (115), and the robot side unit (5) is attached to the lock plate (117).

  In FIGS. 2 to 6, the inner diameter of the hollow portion of the lock plate (117) decreases from the end face where the tool side body (115) is attached toward the end face where the robot side unit (5) is attached It is set in a tapered shape, whereby the locking portion (120) is formed on the inner peripheral portion of the tool side unit A (6) and the tool side unit B (8).

  In FIGS. 2 to 6, the method of connecting the robot side unit (5) and the tool side unit A (6) or the tool side unit B (8) shown in FIG. Fluid pressure is applied to the pressure chamber A (112) to move the piston (103) in the first direction, and at the same time, it is connected to the piston (103) by the bolt (107). By moving the cam (104), a portion of the ball member (121) fitted in the plurality of through holes formed at intervals in the circumferential direction in the ball holder (105) And push it out of the ball holder (105) to make it lockable to the locking portion (120), and apply fluid pressure to the pressure chamber B (113) to move the piston (103). The second By moving toward the direction and moving the cam (104) in the same manner as described above, a part of the ball member (121) is retracted into the inside of the ball holder (105), and the locking portion (120) By switching the locked state, it is possible to connect and disconnect the robot side unit (5) and the tool side unit A (6) or the tool side unit B (8).

  In FIGS. 2 to 6, when the automatic tool changer (1) shown in FIG. 1 is connected, the non-contact unit A (106) and the non-contact unit B (118) are opposed to each other And the robot side unit (5), the tool side unit A (6) and the tool side unit B (8).

  FIG. 7 shows the structure of the non-contact unit inside the automatic tool changer (1) of this embodiment. As shown in FIG. 7, the non-contact unit A (122) comprises a power coil A (123) that enables transmission of power and a coil unit A (124) for electrical signal that enables transmission of electrical signals. Ferrite core A (125) covering coil A (123) and coil A (124) for electric signal, coil A (123) for power, coil A (124) for electric signal, and ferrite core A (125) The contactless unit B (127) is composed of the case A (126) covering the whole including, and the electric coil B (128) for enabling transmission of electric power and for electric signals for enabling transmission of electric signals. Ferrite core B (130) covering coil B (129), power coil B (128) and electric signal coil B (129), power coil B (128) and electric signal coil B (129) Constituted by a case B (131) covering the whole including a ferrite core B and (130).

  FIG. 8 shows the structure of the non-contact unit of the prior art. As shown in FIG. 8, a conventional non-contact unit a (200) comprises a power coil a (201) that enables transmission of power and a coil unit a (202) that enables transmission of electrical signals. , Electromagnetic shielding for preventing interference between ferrite core a (203) covering power coil a (201) and electric signal coil a (202), power coil a (201) and electric signal coil a (202) The case a (205) covers the whole including the member a (204), the power coil a (201), the electric signal coil a (202), the ferrite core a (203), and the electromagnetic shielding member a (204) The conventional non-contact unit b (206) is composed of a power coil b (207) which enables transmission of electric power and a coil unit b (208) of electric signal which enables transmission of an electric signal. An electromagnetic shielding member for preventing interference between the ferrite coil b (209) covering the power coil b (207) and the electric signal coil b (208), the power coil b (207) and the electric signal coil b (208) The case b (211) covers the whole including b (210), power coil b (207), electric signal coil b (208), ferrite core b (209), and electromagnetic shielding member b (210). It is done.

  Comparing FIG. 7 for explaining the structure of the non-contact unit of this embodiment with FIG. 8 for explaining the structure of the conventional contact unit, the power coil A (123) and the power coil B (128) By arranging so that the direction of the electromagnetic field generated by electromagnetic induction and the direction of the electromagnetic field generated by electromagnetic induction of coil A (124) for electric signal and coil B (129 for electric signal) deviate by 90 degrees, It reduces the mutual interference between the transmission of power and transmission of electrical signals, and eliminates the need for the electromagnetic shield a (204) and the electromagnetic shielding member b (210) shown in FIG. The replacement device can be made small and inexpensive. In the present embodiment, the case where the electric signal coil A (124) and the electric signal coil B (129) are provided two by two is shown, but the electric signal coil A (124) and the electric signal coil B (129) ) May be one by one.

  Next, FIG. 9 will be described. FIG. 9 is a schematic view of a wiring in the case of using the tool A (4) shown in FIG. 1 which requires a plurality of fluids such as a hand using an air cylinder according to the present embodiment. In FIG. 9, the non-contact unit A (300) provided in the robot-side unit (5) shown in FIG. 1 and the non-contact unit B (301) provided in the tool-side unit A (6) shown in FIG. , Are facing each other.

  In FIG. 9, transmission of electrical signals is performed by integrating a plurality of electrical signals transmitted from the controller (302) into one electrical signal by the wire-saving system A (303) incorporated in the controller (302). The electric signal is transmitted to the noncontact unit A (300), and the noncontact transmission is performed from the noncontact unit A (300) to the noncontact unit B (301) using electromagnetic induction.

  In FIG. 9, the transmission of the electrical signal is transmitted from the non-contact unit B (301) to the wire-saving system B (304), and the electrical signal integrated into one is reconverted into each electrical signal to be a tool. An electrical signal is received at a valve (305) attached to the side unit to move the tool.

  In FIG. 9, when the tool moves, the signal of the open / close confirmation of the air hand by the sensor (306) is transmitted to the wiring saving system B (304), and in the order opposite to the reception time, the noncontact unit B (301). Signal transmitted to the non-contact unit A (300), transmitted to the wire-saving system A (303), and received by the controller (302) a signal of confirmation of opening and closing of the air hand. Transmission and reception are performed, and control can be performed.

  In FIG. 9, even when an external peripheral I / O (307) such as an external sensor is attached to the tool, the signal from the peripheral I / O (307) is connected to the reduced wiring system B (304). Enables transmission and reception of electrical signals between the robot and the tool.

  In FIG. 9, the power transmission sends a power on / off signal to the controller (302), converts the direct current into an alternating current using the inverter (308), and transfers the non-contact unit A (300) to the non-contact. Contactless transmission is performed using electromagnetic induction in the contact unit B (301).

  In FIG. 9, the transmission of electric power is performed by transmitting electric power from the non-contact unit B (301) to the converter (309), converting it from alternating current to direct current, and transmitting electric power to the valve (305).

  Next, FIG. 10 will be described. FIG. 10 shows a configuration diagram of wiring in the case of using the tool B (7) shown in FIG. 1 which needs to transmit and receive electric signals such as an electric hand that controls and operates a motor according to this embodiment. It is. In FIG. 10, the non-contact unit A (300) provided in the robot-side unit (5) shown in FIG. 1 and the non-contact unit B (301) provided in the tool-side unit B (6) shown in FIG. They are in a state of facing each other.

  In FIG. 10, transmission of electrical signals is performed by integrating a plurality of electrical signals transmitted from the controller (302) into one electrical signal by the wire-saving system A (303) incorporated in the controller (302). The electric signal is transmitted to the noncontact unit A (300), and the noncontact transmission is performed from the noncontact unit A (300) to the noncontact unit B (301) using electromagnetic induction.

  In FIG. 10, in the transmission of electrical signals, the electrical signals are transmitted from the non-contact unit B (301) to the wire-saving system C (311) incorporated in the servo drive (310), and the electricals are integrated into one. The signals are reconverted into respective electrical signals, and in the case of an electrically powered hand, the electrical signals are received by a motor (312) built into the electrically powered hand to move the tool.

  In FIG. 10, when the tool moves, information such as the rotational direction, rotational position, rotational speed, etc. is transmitted from the encoder (313) to the wire-saving system C (311), and in the reverse order of reception, non-contact. It is transmitted to the unit B (301), transmitted to the contactless unit A (300) without contact, transmitted to the wire-saving system A (303), and received by the controller (302). Transmission and reception are performed, and feedback control can be performed.

  In FIG. 10, even when the external peripheral I / O (307) such as an external sensor is attached to the tool, the signal from the peripheral I / O (307) is connected to the reduced wiring system C (311) Enables transmission and reception of electrical signals between the robot and the tool.

  In FIG. 10, power transmission sends a power on / off signal to the controller (302), converts the direct current into an alternating current using the inverter (308), and transfers the non-contact unit A (300) to the non-contact unit. Contactless transmission is performed using electromagnetic induction in the contact unit B (301).

  In FIG. 10, in the transmission of electric power, the electric power is transmitted from the non-contact unit B (301) to the converter (309), converted from an alternating current to a direct current, and transmitted to the servo drive (310). Power is transmitted at (312).

  Next, FIG. 11 will be described. FIG. 11 shows a configuration diagram of wiring in the case where transmission of an electric signal according to the present embodiment is superimposed on transmission of power. In FIG. 11, the transmission of the electric signal is transmitted from the controller (302) to the superposition / separation circuit A (314), and is transmitted to the non-contact unit A (300) by superimposing the transmission of the electric signal on the transmission of power. In this case, the number of devices to be transmitted to the noncontact unit B (301) is also one.

  In FIG. 11, the transmission of the electrical signal is separated into the transmission of the electrical signal and the transmission of the power by the superposition / separation circuit B (315) when the superposition and transmission to the non-contact unit B (301) is performed, Each transmission is performed along the aforementioned path.

  In FIG. 11, the transmission of the electrical signal by the sensor (305) is transmitted to the wire-saving system B (304) in the same manner as the transmission from the controller (302), and the superposition / separation circuit B (315) The transmission is superimposed on the transmission of power, and after being transmitted from the noncontact unit B (301) to the noncontact unit A (300) contactlessly, the superposition / separation circuit A (314) transmits the electric signal and the amount of electricity. Are separated and sent and received.

  In FIG. 11, the non-contact unit A (300) and the non-contact unit B (301) can miniaturize and reduce the weight of the unit itself, as one type of coil is required for non-contact transmission.

  Next, FIG. 12 will be described. FIG. 12 shows a configuration diagram of wiring when the power conversion unit according to the present embodiment is changed from a rectifier circuit to a bidirectional power converter. In FIG. 12, the basic mechanism is the same as when using the above-mentioned electric hand (see FIG. 10), and both are changed by changing the internal circuit of the inverter (308) and the converter (309) which are power converters. By changing the direction regeneration inverter (316) and the bidirectional regeneration converter (317), it is possible that only the thing that causes the power to run from the robot unit to the tool unit regenerates the tool unit to the robot unit become able to.

  In FIG. 12, for example, the transmission of electric power can be regenerated to convert kinetic energy, which is reduced when the motor mounted on the tool attached to the tool unit is decelerated by a brake or the like, into electric power and recover it. be able to. Therefore, since the motor can be operated as a generator, the energy utilization efficiency can be improved.

1 Automatic Tool Changer 2 Robotic Device 3 Arm Member 4 Tool A
5 Robot side unit 6 Tool side unit A
7 Tool B
8 Tool side unit B
9 Valve 10 Controller 11 Reduced wiring system A
12 Wire-saving system B
13 Power supply 14 Reduced wiring system C
100 cylinder 101 positioning unit 102 robot side body 103 piston 104 cam 105 ball holder 106 non-contact unit A
107 fluid path A
108 bolt 109 piston seal 110 rod seal 111 cylinder seal 112 pressure chamber A
113 Pressure chamber B
114 hollow portion 115 tool side body 116 positioned portion 117 lock plate 118 non-contact unit B
119 fluid path B
120 locking portion 121 ball member 122 non-contact unit A
123 Power coil A
124 Electric Signal Coil A
125 Ferrite core A
126 Case A
127 Non-contact unit B
128 Power coil B
129 Electric signal coil B
130 Ferrite core B
131 Case B
200 non-contact unit a
201 Power coil a
202 Electric signal coil a
203 ferrite core a
204 Electromagnetic shielding member a
205 Case a
206 Non-contact unit b
207 Power coil b
208 Electric signal coil b
209 ferrite core b
210 electromagnetic shielding member b
211 case b
300 Non-contact unit A
301 Non-contact unit B
302 Controller 303 Wire-saving system A
304 Wire-saving system B
305 Valve 306 Sensor 307 Peripheral I / O
308 Inverter 309 Converter 310 Servo drive 311 Reduced wiring system C
312 motor 313 encoder 314 superposition / separation circuit A
315 Superimposition / separation circuit B
316 Bidirectional regenerative inverter 317 Bidirectional regenerative converter

Claims (5)

  A robot side unit attached to the main body of the robot, a noncontact unit A provided to the robot side unit, a plurality of tool side units to which a plurality of tools are fixed, and a noncontact unit B provided to the tool side unit An automatic tool changer, wherein the noncontact unit A and the noncontact unit B mutually connect the robot side unit and the tool side unit so as to be separably and non-rotatably connected to each other. In the opposing state, an electric signal is transmitted between the non-contact unit A and the non-contact unit B by electromagnetic induction, and the robot-side unit is provided with a wire-saving system, and the tool-side unit is saved. An automatic tool changer comprising a wiring system and a valve.   The non-contact unit A includes a power coil A that enables transmission of power and an electrical signal coil A that enables transmission of an electrical signal, and the non-contact unit B includes power 2. The automatic tool changer according to claim 1, comprising a power coil B for enabling transmission and an electrical signal coil B for enabling transmission of an electrical signal.   The generated electromagnetic field by electromagnetic induction of the power coil A and the power coil B, and the generated electromagnetic field by electromagnetic induction of the electric signal coil A and the electric signal coil B are deviated by 90 degrees. The automatic tool changer according to claim 2.   Non-contact transmission between the non-contact unit A and the non-contact unit B causes non-contact electrical transmission of power and transmission of electrical signals between the robot-side unit and the tool-side unit. 4. The automatic tool changer according to claim 2, wherein the transmission of the electrical signal is superimposed on the transmission of the electric power.   In order to perform electric contactless transmission of power between the robot side unit and the tool side unit by contactless transmission between the contactless unit A and the contactless unit B, electric power can be transmitted. Bidirectional power conversion between the robot side unit and the power conversion unit of the tool side unit that enables transmission from the robot side unit to the tool side unit and transmission from the tool side unit to the robot side unit The automatic tool changer according to claim 2, wherein the machine is a machine.

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