JP2020131305A - Tool replacement device - Google Patents
Tool replacement device Download PDFInfo
- Publication number
- JP2020131305A JP2020131305A JP2019023888A JP2019023888A JP2020131305A JP 2020131305 A JP2020131305 A JP 2020131305A JP 2019023888 A JP2019023888 A JP 2019023888A JP 2019023888 A JP2019023888 A JP 2019023888A JP 2020131305 A JP2020131305 A JP 2020131305A
- Authority
- JP
- Japan
- Prior art keywords
- connecting member
- operating rod
- output member
- chamber
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
- B23B31/1079—Retention by spring or wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/06—Features relating to the removal of tools; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/12—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for securing to a spindle in general
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
- Gripping On Spindles (AREA)
Abstract
Description
本発明は、工具交換装置に関するものである。 The present invention relates to a tool changer.
この種の工具交換装置には、従来では、特許文献１(日本国・実開平５−００２８８７号公報)に記載されたものがある。その従来技術は、次のように構成されている。
ロボットアームの先端部に工具交換装置の第１連結部材が固定される。工具交換部材の第２連結部材が工具部材に固定される。その第１連結部材内に出力部材が上下方向へ移動可能に挿入される。その出力部材のピストンの上側にロック室が形成され、ピストンの下側にリリース室が形成される。第１連結部材の下端部から筒状のプラグ部が下方へ突設され、そのプラグ部の筒孔に出力部材の出力ロッドが挿入される。その出力ロッドの下端部にテーパ外周面が下方へ向かうにつれて先細りするように形成されている。プラグ部の筒壁に案内孔が半径方向に向けて周方向に所定距離をあけて複数貫通され、その各案内孔に係合ボールが移動可能に挿入される。その係合ボールがテーパ外周面に係合可能となっている。プラグ部は、第２連結部材の上部に形成される装着孔に挿入可能となっている。その装着孔の内周壁にテーパ内周面が上方へ向かうにつれて先細りするように形成され、そのテーパ内周面が係合ボールに係合可能となっている。そして、ロボットアームの作動によってプラグ部が第２連結部材の装着孔に挿入された状態で、出力ロッドが下方へロック駆動するときに、リリース室から圧縮エアが排出されると共に、ロック室へ圧縮エアが供給される。出力ロッドのテーパ外周面が係合ボールを半径方向の外方へ押し出し、その係合ボールが第２連結部材のテーパ内周面に係合される。これにより、第１連結部材に第２連結部材が固定される。
Conventionally, there is a tool changer of this type described in Patent Document 1 (Japanese Patent Publication No. 5-002887). The prior art is configured as follows.
The first connecting member of the tool changer is fixed to the tip of the robot arm. The second connecting member of the tool changing member is fixed to the tool member. The output member is inserted into the first connecting member so as to be movable in the vertical direction. A lock chamber is formed on the upper side of the piston of the output member, and a release chamber is formed on the lower side of the piston. A tubular plug portion is projected downward from the lower end portion of the first connecting member, and the output rod of the output member is inserted into the tubular hole of the plug portion. The lower end of the output rod is formed so that the outer peripheral surface of the taper tapers downward. A plurality of guide holes are pierced through the tubular wall of the plug portion at a predetermined distance in the circumferential direction in the radial direction, and an engaging ball is movably inserted into each of the guide holes. The engaging ball can be engaged with the outer peripheral surface of the taper. The plug portion can be inserted into a mounting hole formed in the upper part of the second connecting member. The inner peripheral wall of the mounting hole is formed so as to taper as the tapered inner peripheral surface moves upward, and the tapered inner peripheral surface can engage with the engaging ball. Then, when the output rod is locked downward with the plug portion inserted into the mounting hole of the second connecting member by the operation of the robot arm, compressed air is discharged from the release chamber and compressed into the lock chamber. Air is supplied. The tapered outer peripheral surface of the output rod pushes the engaging ball outward in the radial direction, and the engaging ball is engaged with the tapered inner peripheral surface of the second connecting member. As a result, the second connecting member is fixed to the first connecting member.
上記の工具交換装置では、メンテナンス時や緊急停止時に作業者の安全を確保するために、圧縮エア源からの圧縮エアの供給が停止されることがある。このとき、工具交換装置は、ロック駆動及びリリース駆動ができなくなる。この場合、ロボットアームから工具部材が意図せず取り外されて落下するという問題があると共に、作業者またはロボット等によって所望するときに簡単に取り外すことができないという問題がある。
本発明の目的は、駆動流体の供給が停止されても、装着状態が維持されると共に簡単に取り外し操作ができる工具交換装置を提供することにある。
In the above-mentioned tool changing device, the supply of compressed air from the compressed air source may be stopped in order to ensure the safety of the operator during maintenance or emergency stop. At this time, the tool changer cannot be locked or released. In this case, there is a problem that the tool member is unintentionally removed from the robot arm and falls, and there is a problem that the tool member cannot be easily removed when desired by an operator or a robot or the like.
An object of the present invention is to provide a tool changing device that can be easily removed while maintaining a mounted state even when the supply of a driving fluid is stopped.
上記の目的を達成するため、第１発明は、例えば、図１から図３に示すように、工具交換装置を次のように構成した。
第１連結部材１と第２連結部材２とが連結機構６によって装着および離脱される。圧力流体がリリース室１１に給排される。そのリリース室１１の圧力流体によって、前記連結機構６の一部を構成する出力部材８が前記第１連結部材１内で軸方向にリリース駆動される。前記出力部材８を挟んで前記リリース室１１と反対側に形成される作動室１４の内部に、進出バネ１５が装着される。前記出力部材８の前記軸方向に対して交差する方向に移動可能に第１操作ロッド２６が、第１連結部材１内に挿入される。前記第１操作ロッド２６の移動方向に対して傾斜するように楔部２９が形成される。前記楔部２９に係合可能である第２操作ロッド３１が、前記出力部材８に係合可能となっている。その第２操作ロッド３１が、前記リリース室１１に突出可能となるように前記第１連結部材１に移動可能に挿入される。
In order to achieve the above object, in the first invention, for example, as shown in FIGS. 1 to 3, the tool changing device is configured as follows.
The first connecting member 1 and the second connecting member 2 are attached and detached by the connecting mechanism 6. The pressure fluid is supplied and discharged to the release chamber 11. The pressure fluid in the release chamber 11 axially releases the output member 8 forming a part of the connecting mechanism 6 in the first connecting member 1. The advance spring 15 is mounted inside the operating chamber 14 formed on the opposite side of the output member 8 from the release chamber 11. The first operating rod 26 is inserted into the first connecting member 1 so as to be movable in a direction intersecting the axial direction of the output member 8. The wedge portion 29 is formed so as to be inclined with respect to the moving direction of the first operating rod 26. The second operating rod 31 that can be engaged with the wedge portion 29 can be engaged with the output member 8. The second operating rod 31 is movably inserted into the first connecting member 1 so that it can project into the release chamber 11.
本発明は、次のような作用効果を奏する。
上記の工具交換装置が、何らかの原因によって、例えば、不具合により作業途中で停止されたときや、メンテナンスのときなどに、作業者の安全を確保するために、駆動流体（圧力流体）源からの圧力流体の供給が停止され、さらに、給排路中の残留圧力流体も外部へ排出されることがある。この場合、圧力流体によって工具交換装置を作動させることができない。本発明の工具交換装置では、進出バネによって出力部材をロック駆動させることによりロック状態を維持できると共に、作業者や周辺機器やロボットアーム自身が第１操作ロッドと第２操作ロッドとを介して出力部材を簡単に取り外し操作できる。その取り外し操作により、連結機構がロック状態からリリース状態へ切り換えられ、その結果、第１連結部材を第２連結部材から簡単に離脱させることができる。
The present invention has the following effects.
Pressure from the drive fluid (pressure fluid) source to ensure the safety of the operator when the above tool changer is stopped in the middle of work due to some cause, for example, during maintenance, etc. The supply of fluid is stopped, and the residual pressure fluid in the supply / discharge path may also be discharged to the outside. In this case, the pressure fluid cannot operate the tool changer. In the tool changing device of the present invention, the locked state can be maintained by locking the output member by the advance spring, and the operator, the peripheral device, and the robot arm itself output via the first operating rod and the second operating rod. The member can be easily removed and operated. By the removal operation, the connecting mechanism is switched from the locked state to the released state, and as a result, the first connecting member can be easily separated from the second connecting member.
上記の目的を達成するため、第２発明は、例えば、図１から図３に示すように、工具交換装置を次のように構成した。
上記の工具交換装置は、第１連結部材１と第２連結部材２とを装着および離脱させるものであり、下記のように構成される。前記第１連結部材１が、本体部分３と、その本体部分３から先端側に突設された筒状のプラグ部分４とを有する。前記プラグ部４が挿入可能となっている装着孔５が、第２連結部材２に形成される。前記第１連結部材１内に出力部材８が軸方向へ移動可能に挿入される。前記出力部材８の基端側に形成されるリリース室１１に、圧力流体が供給および排出される。前記出力部材８の先端側に作動室１４が形成される。前記作動室１４内に装着される進出バネ１５が、前記出力部材８を基端側に付勢する。前記プラグ部分４の筒壁に複数の貫通孔１６が、周方向へ所定の間隔をあけて形成される。前記貫通孔１６に移動可能に係合部材１７が挿入される。前記出力部材８の先端部に形成されるカム部１９が、前記係合部材１７に係合可能となっている。前記係合部材１７に係合可能となるように受け面２０が前記装着孔５に形成される。前記出力部材８の前記軸方向に対して交差する方向に移動可能となるように、第１操作ロッド２６が第１連結部材１内に挿入される。前記第１操作ロッド２６の移動方向に対して傾斜するように楔部２９が形成される。前記楔部２９に係合可能であると共に、前記出力部材８に係合可能となっている第２操作ロッド３１が、前記リリース室１１に突出可能となるように前記第１連結部材１に移動可能に挿入される。
この場合、工具交換装置が、何らかの原因によって、例えば、不具合により作業途中で停止されたときや、メンテナンスのときなどに、作業者の安全を確保するために、駆動流体（圧力流体）源からの圧力流体の供給が停止され、さらに、給排路中の残留圧力流体も外部へ排出されることがある。この場合、圧力流体によって工具交換装置を作動させることができない。本発明の工具交換装置では、進出バネによって出力部材がロック状態となるように維持される。また、作業者や周辺機器やロボットアーム自身が第１操作ロッドと第２操作ロッドとを介して出力部材を簡単に取り外し操作できる。その取り外し操作により、工具交換装置がロック状態からリリース状態へ切り換えられ、その結果、第１連結部材を第２連結部材から簡単に離脱させることができる。
In order to achieve the above object, in the second invention, for example, as shown in FIGS. 1 to 3, the tool changing device is configured as follows.
The above-mentioned tool changing device attaches and detaches the first connecting member 1 and the second connecting member 2, and is configured as follows. The first connecting member 1 has a main body portion 3 and a tubular plug portion 4 projecting from the main body portion 3 toward the tip end side. A mounting hole 5 into which the plug portion 4 can be inserted is formed in the second connecting member 2. The output member 8 is inserted into the first connecting member 1 so as to be movable in the axial direction. The pressure fluid is supplied and discharged to the release chamber 11 formed on the proximal end side of the output member 8. An operating chamber 14 is formed on the tip end side of the output member 8. The advance spring 15 mounted in the operating chamber 14 urges the output member 8 toward the proximal end side. A plurality of through holes 16 are formed in the tubular wall of the plug portion 4 at predetermined intervals in the circumferential direction. The engaging member 17 is movably inserted into the through hole 16. The cam portion 19 formed at the tip end portion of the output member 8 can engage with the engaging member 17. A receiving surface 20 is formed in the mounting hole 5 so as to be able to engage with the engaging member 17. The first operating rod 26 is inserted into the first connecting member 1 so that the output member 8 can move in a direction intersecting the axial direction. The wedge portion 29 is formed so as to be inclined with respect to the moving direction of the first operating rod 26. The second operating rod 31, which is engageable with the wedge portion 29 and is also engageable with the output member 8, moves to the first connecting member 1 so as to be able to project into the release chamber 11. Can be inserted.
In this case, in order to ensure the safety of the operator when the tool changer is stopped in the middle of work due to some cause, for example, during maintenance, or when maintenance is performed, the tool changer is transmitted from the driving fluid (pressure fluid) source. The supply of the pressure fluid is stopped, and the residual pressure fluid in the supply / discharge path may also be discharged to the outside. In this case, the pressure fluid cannot operate the tool changer. In the tool changer of the present invention, the output member is maintained in the locked state by the advance spring. Further, the operator, the peripheral device, or the robot arm itself can easily remove and operate the output member via the first operation rod and the second operation rod. The removal operation switches the tool changer from the locked state to the released state, and as a result, the first connecting member can be easily detached from the second connecting member.
第１発明および第２発明は、下記の構成を加えることが好ましい。
例えば、図１から図３に示すように、前記作動室１４に圧力流体が供給および排出される。
It is preferable to add the following configurations to the first invention and the second invention.
For example, as shown in FIGS. 1 to 3, pressure fluid is supplied and discharged to the working chamber 14.
図１から図３は、本発明の一実施形態を示している。この実施形態では、工具交換装置をロボットアームＲの先端部に取り付けた場合を例示している。その工具交換装置は、ロボットアームＲに固定された第１連結部材１と、工具部材Ｔに固定された第２連結部材２とを装着および離脱させるものである。まず、図１から３に基づいて工具交換装置の構造を説明する。
ロボットアームＲの下端部に工具交換装置の第１連結部材１が固定される。第１連結部材１は、本体部分３と、その本体部分３から下方（先端側）へ向けて突設された筒状のプラグ部分４とを備える。また、第２連結部材２の上部に装着孔５が形成され、その装着孔５に第１連結部材１のプラグ部４が挿入可能となっている。
1 to 3 show an embodiment of the present invention. In this embodiment, a case where the tool changing device is attached to the tip of the robot arm R is illustrated. The tool changing device attaches and detaches the first connecting member 1 fixed to the robot arm R and the second connecting member 2 fixed to the tool member T. First, the structure of the tool changer will be described with reference to FIGS. 1 to 3.
The first connecting member 1 of the tool changing device is fixed to the lower end of the robot arm R. The first connecting member 1 includes a main body portion 3 and a tubular plug portion 4 projecting downward (tip side) from the main body portion 3. Further, a mounting hole 5 is formed in the upper part of the second connecting member 2, and the plug portion 4 of the first connecting member 1 can be inserted into the mounting hole 5.
上記の第１連結部材１と第２連結部材２とを装着および離脱させる連結機構６が、第１連結部材１と第２連結部材２とに跨って設けられる。その連結機構６は次のように構成される。
その第１連結部材１内にシリンダ孔７が保密状で上下方向（軸方向）に形成される。そのシリンダ孔７に出力部材８のピストン９が上下方向（軸方向）へ移動可能に挿入され、プラグ部分４の筒孔４ａに出力部材８の出力ロッド１０が挿入される。そのピストン９の上側にリリース室１１が形成される。第１連結部材１の胴部３ａに圧縮エア（圧力流体）の給排ポート１２が形成され、その給排ポート１２が給排路１３を通ってリリース室１１に連通される。ピストン９の下側にバネ室（作動室）１４が形成され、そのバネ室１４に進出バネ１５が装着されている。その進出バネ１５の下端部がバネ室１４の底壁に当接されると共に、進出バネ１５の上端部がピストン９の下端面に当接される。このため、進出バネ１５が第１連結部材１に対してピストン９を上方に付勢している。なお、上記の進出バネ１５は、周方向へ所定の間隔をあけて複数配置されている。
A connecting mechanism 6 for attaching and detaching the first connecting member 1 and the second connecting member 2 is provided across the first connecting member 1 and the second connecting member 2. The connecting mechanism 6 is configured as follows.
A cylinder hole 7 is tightly formed in the first connecting member 1 in the vertical direction (axial direction). The piston 9 of the output member 8 is movably inserted into the cylinder hole 7 in the vertical direction (axial direction), and the output rod 10 of the output member 8 is inserted into the cylinder hole 4a of the plug portion 4. A release chamber 11 is formed on the upper side of the piston 9. A supply / discharge port 12 for compressed air (pressure fluid) is formed in the body portion 3a of the first connecting member 1, and the supply / discharge port 12 is communicated with the release chamber 11 through the supply / discharge path 13. A spring chamber (operating chamber) 14 is formed on the lower side of the piston 9, and an advance spring 15 is mounted in the spring chamber 14. The lower end of the advance spring 15 is in contact with the bottom wall of the spring chamber 14, and the upper end of the advance spring 15 is in contact with the lower end surface of the piston 9. Therefore, the advance spring 15 urges the piston 9 upward with respect to the first connecting member 1. A plurality of the advance springs 15 are arranged at predetermined intervals in the circumferential direction.
上記のプラグ部分４ａの周壁に、貫通孔１６が周方向へ所定の間隔をあけて複数形成され、各貫通孔１６に係合ボール（係合部材）１７が移動可能に挿入される。出力ロッド１０の下部外周壁には、退避溝１８と、その退避溝１８の下側に下方へ向かうにつれて広がるカム溝(カム部)１９とが上下に形成される。
また、第２連結部材２の装着孔５の内周壁に受け面２０が上方へ向かうにつれて先細りするようにテーパ状に形成され、その受け面２０に第１連結部材１の係合ボール１７が係合可能となっている。
A plurality of through holes 16 are formed in the peripheral wall of the plug portion 4a at predetermined intervals in the circumferential direction, and an engaging ball (engaging member) 17 is movably inserted into each through hole 16. A retractable groove 18 and a cam groove (cam portion) 19 that expands downward toward the lower side of the retractable groove 18 are vertically formed on the lower outer peripheral wall of the output rod 10.
Further, the receiving surface 20 is tapered on the inner peripheral wall of the mounting hole 5 of the second connecting member 2 so as to taper upward, and the engaging ball 17 of the first connecting member 1 is engaged with the receiving surface 20. It is possible to match.
上記のプラグ部分４の外周壁の上半部分にコレット２１が外嵌めされる。そのコレット２１は、上下方向へ形成されたスリット２２を有し、半径方向へ縮小可能で自己の弾性復元力によって半径方向へ拡大可能に構成されている。また、コレット２１の外周壁に係合面２３がテーパ状に形成されている。
また、第２連結部材２の装着孔５の内周壁に係止面２４が上方へ向かうにつれて広がるようにテーパ状に形成され、その係止面２４に上記のコレットの２１の係合面２３が係合可能となっている。
The collet 21 is externally fitted to the upper half of the outer peripheral wall of the plug portion 4. The collet 21 has a slit 22 formed in the vertical direction, and is configured to be retractable in the radial direction and expandable in the radial direction by its own elastic restoring force. Further, the engaging surface 23 is formed in a tapered shape on the outer peripheral wall of the collet 21.
Further, the locking surface 24 is formed in a tapered shape on the inner peripheral wall of the mounting hole 5 of the second connecting member 2 so as to expand upward, and the engaging surface 23 of the collet 21 described above is formed on the locking surface 24. It can be engaged.
上記の第１連結部材１の上壁３ｂに案内孔２５が水平方向へ形成される。その案内孔２５に第１操作ロッド２６が移動可能に挿入される。案内孔２５の右端部を封止するように蓋部材２７が第１連結部材１の外周壁に固定されている。その案内孔２５内であって、蓋部材２７と第１操作ロッド２６との間に復帰バネ２８が装着され、第１操作ロッド２６を左方へ付勢している。第２操作ロッド３１の外周壁に案内溝（楔部）２９が、右方へ向かうにつれて深くなるように傾斜されて形成されている。また案内孔２５とリリース室１１とを連通させる収容孔３０が、第１連結部材１の上壁３ｂに案内孔２５の軸方向に対して直交（交差する方向）に形成される。その収容孔３０に第２操作ロッド３１が保密状で上下方向へ移動可能に挿入される。その第２操作ロッド３１の上端面３２が、当該第２操作ロッド３１の軸心に対して傾斜するように形成されている（本実施形態においては、右方に向かうにつれて高くなるように形成されている）。その第２操作ロッド３１の上端面が第１操作ロッド２６の案内溝２９に挿入され、その上端面が案内溝２９の底面に摺動可能に係合されている。なお、本実施形態において、収容孔３０と案内孔２５とが交差される角度が９０°に形成されているが、これに限られず、任意の角度であってよい。ここで、本実施形態において、第１操作ロッド２６と第２操作ロッド３１とによって離脱機構が構成される。 A guide hole 25 is formed in the upper wall 3b of the first connecting member 1 in the horizontal direction. The first operating rod 26 is movably inserted into the guide hole 25. The lid member 27 is fixed to the outer peripheral wall of the first connecting member 1 so as to seal the right end portion of the guide hole 25. A return spring 28 is mounted between the lid member 27 and the first operating rod 26 in the guide hole 25 to urge the first operating rod 26 to the left. A guide groove (wedge portion) 29 is formed on the outer peripheral wall of the second operating rod 31 so as to be inclined so as to become deeper toward the right. Further, an accommodating hole 30 for communicating the guide hole 25 and the release chamber 11 is formed in the upper wall 3b of the first connecting member 1 at right angles (intersections) with respect to the axial direction of the guide hole 25. The second operating rod 31 is tightly inserted into the accommodating hole 30 so as to be movable in the vertical direction. The upper end surface 32 of the second operating rod 31 is formed so as to be inclined with respect to the axial center of the second operating rod 31 (in the present embodiment, it is formed so as to become higher toward the right). ing). The upper end surface of the second operating rod 31 is inserted into the guide groove 29 of the first operating rod 26, and the upper end surface thereof is slidably engaged with the bottom surface of the guide groove 29. In the present embodiment, the angle at which the accommodating hole 30 and the guide hole 25 intersect is formed at 90 °, but the angle is not limited to this and may be any angle. Here, in the present embodiment, the detaching mechanism is configured by the first operating rod 26 and the second operating rod 31.
上記工具交換装置は次のように動作する。
図１の工具交換装置の初期（リリース）状態では、リリース室１１に圧縮エアが供給され、そのリリース室１１の圧縮エアが進出バネ１５の上方への付勢力に抗してピストン９を介して出力ロッド１０を下限位置へ移動させている。このとき、出力ロッド１０の退避溝１８が係合ボール１７に対面する高さ位置へ移動されており、その係合ボール１７が退避溝１８へ向けて半径方向の内方へ移動が許容されている。また、このとき、第１操作ロッド２６は、作業者によって操作されておらず、復帰バネ２８の左方への付勢力によって左限界位置へ移動されている。また、第２操作ロッド３１は、リリース室１１の圧縮エアの圧力によって上限位置へ移動されている。
The tool changer operates as follows.
In the initial (release) state of the tool changer of FIG. 1, compressed air is supplied to the release chamber 11, and the compressed air in the release chamber 11 passes through the piston 9 against the upward urging force of the advance spring 15. The output rod 10 is moved to the lower limit position. At this time, the retracting groove 18 of the output rod 10 is moved to a height position facing the engaging ball 17, and the engaging ball 17 is allowed to move inward in the radial direction toward the retracting groove 18. There is. Further, at this time, the first operating rod 26 is not operated by the operator, but is moved to the left limit position by the urging force to the left of the return spring 28. Further, the second operating rod 31 is moved to the upper limit position by the pressure of the compressed air in the release chamber 11.
上記図１のリリース状態から図２のロック状態へ切換えるときには、まず、図１に示すように、ロボットアームＲによって第１連結部材１を下降させていき、工具交換装置のプラグ部分４を第２連結部材２の装着孔５に挿入させて、第１連結部材１の係合面２３を第２連結部材２の係止面２４に係合させる。次いで、リリース室１１から圧縮エアを排出させることにより、進出バネ１５の上方への付勢力によってピストン９を介して出力ロッド１０が上方へ移動され、出力ロッド１０のカム溝１９の周壁が係合ボール１７を半径方向の外方へ押し出していく。引き続いて、その係合ボール１７が受け面上方へ押していくことにより、第２連結部材２の係止面２４が第1連結部材１のコレット２１を縮径させていく。これにより、第２連結部材２の上端面３２が第１連結部材１の本体部分３の下端面に受け止められ、第２連結部材２が第１連結部材１に装着される。その結果、工具交換装置がリリース状態からロック状態へ切換えられる。 When switching from the released state of FIG. 1 to the locked state of FIG. 2, first, as shown in FIG. 1, the first connecting member 1 is lowered by the robot arm R, and the plug portion 4 of the tool changing device is seconded. It is inserted into the mounting hole 5 of the connecting member 2 to engage the engaging surface 23 of the first connecting member 1 with the locking surface 24 of the second connecting member 2. Next, by discharging the compressed air from the release chamber 11, the output rod 10 is moved upward via the piston 9 by the upward urging force of the advance spring 15, and the peripheral wall of the cam groove 19 of the output rod 10 is engaged. The ball 17 is pushed outward in the radial direction. Subsequently, as the engaging ball 17 pushes upward on the receiving surface, the locking surface 24 of the second connecting member 2 reduces the diameter of the collet 21 of the first connecting member 1. As a result, the upper end surface 32 of the second connecting member 2 is received by the lower end surface of the main body portion 3 of the first connecting member 1, and the second connecting member 2 is attached to the first connecting member 1. As a result, the tool changer is switched from the released state to the locked state.
上記図２のロック状態から図１のリリース状態へ切り換えるときには、リリース室１１に圧縮エアを供給していく。すると、そのリリース室１１の圧縮エアが進出バネ１５の上方への付勢力に抗してピストン９および出力ロッド１０を下方へ移動させていく。係合ボール１７が出力ロッド１０の退避溝１８への移動が許容され、係合ボール１７が受け面２０から離間可能となる。次いで、ロボットアームＲによって第１連結部材１を上昇させていく。これにより、第１連結部材１が第２連結部材２から離脱される。その結果、工具交換装置がロック状態からリリース状態へ切換えられる。 When switching from the locked state of FIG. 2 to the release state of FIG. 1, compressed air is supplied to the release chamber 11. Then, the compressed air in the release chamber 11 moves the piston 9 and the output rod 10 downward against the upward urging force of the advance spring 15. The engaging ball 17 is allowed to move to the retracting groove 18 of the output rod 10, and the engaging ball 17 can be separated from the receiving surface 20. Next, the first connecting member 1 is raised by the robot arm R. As a result, the first connecting member 1 is separated from the second connecting member 2. As a result, the tool changer is switched from the locked state to the released state.
ここで、上記のロボットアームＲが、何らかの原因によって、例えば、不具合により作業途中で停止されたときや、メンテナンスのときなどに、工具部材Ｔを取り外すことがある。この場合に、作業者の安全を確保するために、圧縮エア源からの圧縮エアの供給が停止され、さらに、給排路中の残留圧縮エアも外部へ排出されるので、圧縮エアによって工具交換装置を作動させることができない。本実施形態の工具交換装置では、進出バネ１５の付勢力によって出力部材８が上方へ移動された状態が維持される。また、作業者や周辺機器やロボットアーム自身によって、次のような操作をすることにより、第１連結部材１を第２連結部材２から簡単に離脱させることができる。 Here, the tool member T may be removed for some reason, for example, when the robot arm R is stopped in the middle of work due to a defect, or when maintenance is performed. In this case, in order to ensure the safety of the operator, the supply of compressed air from the compressed air source is stopped, and the residual compressed air in the supply / discharge path is also discharged to the outside, so the tool is replaced by the compressed air. The device cannot be activated. In the tool changing device of the present embodiment, the state in which the output member 8 is moved upward by the urging force of the advance spring 15 is maintained. Further, the first connecting member 1 can be easily separated from the second connecting member 2 by performing the following operations by the operator, the peripheral device, or the robot arm itself.
まず、工具交換装置の第１操作ロッド２６を右方へ押し込んでいく。その第１操作ロッド２６の案内溝２９が上端面３２を介して第２操作ロッド３１を下方へ押し出していく。次いで、その第２操作ロッド３１の下端面がピストン９の上端面に係合されて、その後、第２操作ロッド３１がピストン９を介して出力ロッド１０を下限位置へ移動させる。すると、係合ボール１７が退避溝１８内へ移動可能となる。これにより、工具交換装置がロック状態からリリース状態に切り換えられる。その結果、第１連結部材１を第２連結部材２から離脱させることができる。 First, the first operation rod 26 of the tool changer is pushed to the right. The guide groove 29 of the first operating rod 26 pushes the second operating rod 31 downward through the upper end surface 32. Next, the lower end surface of the second operating rod 31 is engaged with the upper end surface of the piston 9, and then the second operating rod 31 moves the output rod 10 to the lower limit position via the piston 9. Then, the engaging ball 17 can move into the evacuation groove 18. As a result, the tool changer is switched from the locked state to the released state. As a result, the first connecting member 1 can be separated from the second connecting member 2.
なお、作業者等が第１操作ロッド２６から手を放して操作を止めると、復帰バネ２８の左方への付勢力によって第１操作ロッドが左方へ移動されていく。すると、第１操作ロッド２６の案内溝から第２操作ロッド３１の上面３２が離間される。出力部材８は、進出バネ１５の付勢力によって上方へ移動されて、その出力部材８のピストン９が第２操作ロッド３１を上方へ押し上げる（ロック駆動する）。 When the operator or the like releases the hand from the first operating rod 26 to stop the operation, the first operating rod is moved to the left by the urging force of the return spring 28 to the left. Then, the upper surface 32 of the second operating rod 31 is separated from the guide groove of the first operating rod 26. The output member 8 is moved upward by the urging force of the advance spring 15, and the piston 9 of the output member 8 pushes up the second operation rod 31 upward (lock drive).
上記の各実施形態は次のように変更可能である。
圧力流体は、例示した圧縮エアに代えて、他の気体または圧油等の液体であってもよい。
前記の工具交換装置の駆動手段が単動式のシリンダによって構成されていることに代えて複動式のシリンダであってもよい。すなわち、前記のバネ室に代えて、圧縮エアが供給および排出されるロック室とすると共に、そのロック室に進出バネ１５が装着されるようにしてもよい。
上記の係合部材は、球状の係合ボール１７であることに代えて、円柱状の係合ピンなど他の形状のものであってもよい。
作業者が第１操作ロッド２６を押し込み操作することに代えて、ロボットを操作して周辺部材に第２操作ロッドを押し当てて、第２操作ロッドを押し込み操作するようにしてもよい。また、第１操作ロッド２６を押し込み操作することにより第２操作ロッド３１を貸して出力部材８をリリース駆動させることに代えて、第１操作ロッドを引き込み操作することによりリリース駆動させるようにしてもよい。より詳しくは、上記実施形態において、案内溝９が右側へ向かうにつれて深くなるように形成されることに代えて、左方向へ向かうにつれて深くなるように形成されるようにする。また、このとき、復帰バネ２８が蓋部材２７に対して第１操作ロッド２６を左方へ付勢するのに代えて、右方へ付勢するようにする。
前記の収容孔案と案内孔とは、直交させることに代えて、その直交状態よりも所定の角度で傾けた状態で交差させてもよい。
出力部材８は、当該出力部材の下方（基端側）に形成されたバネ室（作動室）１４に進出バネ１５を装着することに代えて、出力部材の上方（先端側）に形成されたバネ室に進出バネを装着するように構成してもよい。この場合、カム溝３８が上方へ向かうにつれて狭まる先細りするように傾斜されていることに代えて、上方へ向かうにつれて広がるように傾斜するように構成してもよい。さらには、（第１操作ロッド２６，復帰バネ２８，第２操作ロッド３１等から構成される）離脱機構を第１連結部材１等の上壁３ｂに１組設けるのに代えて、下壁に前述した離脱機構等を（全体寸法を小さくして下壁に収まるようにして）複数設けるようにしてもよい。
なお、離脱機構は、第１操作ロッド２６，第２操作ロッド３１等から構成される機構に限られず、他の機構でもよく、また、上記離脱機構から一部の部材を省略してもよい。
その他に、当業者が想定できる範囲で種々の変更を行えることは勿論である。
Each of the above embodiments can be modified as follows.
The pressure fluid may be another gas or a liquid such as pressure oil instead of the illustrated compressed air.
Instead of the driving means of the tool changing device being composed of a single-acting cylinder, a double-acting cylinder may be used. That is, instead of the spring chamber, a lock chamber to which compressed air is supplied and discharged may be used, and an advance spring 15 may be mounted in the lock chamber.
Instead of the spherical engaging ball 17, the engaging member may have another shape such as a columnar engaging pin.
Instead of the operator pushing in the first operating rod 26, the robot may be operated to push the second operating rod against the peripheral member, and the second operating rod may be pushed in. Further, instead of lending the second operation rod 31 to drive the output member 8 by pushing the first operation rod 26, the output member 8 may be released by pulling the first operation rod. Good. More specifically, in the above embodiment, the guide groove 9 is formed so as to become deeper toward the left instead of being formed so as to become deeper toward the right side. At this time, the return spring 28 urges the lid member 27 to the right instead of urging the first operating rod 26 to the left.
Instead of making the accommodation hole plan and the guide hole orthogonal to each other, the accommodation hole plan and the guide hole may intersect in a state of being tilted at a predetermined angle from the orthogonal state.
The output member 8 is formed above the output member (tip side) instead of mounting the advance spring 15 in the spring chamber (operating chamber) 14 formed below the output member (base end side). An advance spring may be mounted in the spring chamber. In this case, instead of the cam groove 38 being inclined so as to be tapered so as to be narrowed upward, the cam groove 38 may be configured to be inclined so as to be widened as it is directed upward. Further, instead of providing a set of detachment mechanisms (composed of the first operating rod 26, the return spring 28, the second operating rod 31, etc.) on the upper wall 3b of the first connecting member 1 and the like, the lower wall A plurality of the above-mentioned detachment mechanisms and the like may be provided (by reducing the overall size so as to fit in the lower wall).
The detaching mechanism is not limited to a mechanism composed of the first operating rod 26, the second operating rod 31, and the like, and may be another mechanism, or some members may be omitted from the detaching mechanism.
Of course, various changes can be made within the range that can be assumed by those skilled in the art.
１：第１連結部材，２：第２連結部材，３：本体部分，４：プラグ部分，５：装着孔，６：連結機構，８：出力部材，１１：リリース室，１４：作動室（バネ室），１５：進出バネ，１６：貫通孔，１７：係合部材(係合ボール)，１９：カム部（カム溝），２０：受け面，２６：第１操作ロッド，２９：楔部（案内溝），３１：第２操作ロッド． 1: 1st connecting member, 2: 2nd connecting member, 3: main body part, 4: plug part, 5: mounting hole, 6: connecting mechanism, 8: output member, 11: release chamber, 14: operating chamber (spring) Room), 15: Advance spring, 16: Through hole, 17: Engagement member (engagement ball), 19: Cam part (cam groove), 20: Receiving surface, 26: First operation rod, 29: Wedge part ( Guide groove), 31: Second operation rod.
Claims (3)
圧力流体が給排されるリリース室（１１）であって、前記連結機構（６）の一部を構成する出力部材（８）を当該リリース室（１１）の圧力流体によって前記第１連結部材（１）内で軸方向にリリース駆動させるリリース室（１１）と、
前記出力部材（８）を挟んで前記リリース室（１１）と反対側に形成されると共に、内部に進出バネ（１５）が装着される作動室（１４）と、
前記出力部材（８）の前記軸方向に対して交差する方向に移動可能に第１連結部材（１）内に挿入される第１操作ロッド（２６）と、
前記第１操作ロッド（２６）の移動方向に対して傾斜するように形成される楔部（２９）と、
前記楔部（２９）に係合可能であると共に、前記出力部材（８）に係合可能となっている第２操作ロッド（３１）であって、前記リリース室（１１）に突出可能となるように前記第１連結部材（１）に移動可能に挿入される第２操作ロッド（３１）と、を備える工具交換装置。 A connecting mechanism (6) for attaching and detaching the first connecting member (1) and the second connecting member (2), and
The release chamber (11) to which the pressure fluid is supplied and discharged, and the output member (8) forming a part of the connecting mechanism (6) is connected to the first connecting member (8) by the pressure fluid of the release chamber (11). The release chamber (11) that drives the release in the axial direction in 1) and
An operating chamber (14) formed on the opposite side of the output member (8) from the release chamber (11) and to which an advance spring (15) is mounted therein.
A first operating rod (26) inserted into the first connecting member (1) so as to be movable in a direction intersecting the axial direction of the output member (8).
A wedge portion (29) formed so as to be inclined with respect to the moving direction of the first operating rod (26),
A second operating rod (31) that is engageable with the wedge portion (29) and is also engageable with the output member (8), and can project into the release chamber (11). A tool changing device including a second operating rod (31) that is movably inserted into the first connecting member (1).
前記第１連結部材（１）が有する本体部分（３）と、その本体部分（３）から先端側に突設された筒状のプラグ部分（４）と、
前記プラグ部（４）が挿入可能となるように第２連結部材（２）に形成される装着孔（５）と、
前記第１連結部材（１）内に軸方向へ移動可能に挿入される出力部材（８）と、
前記出力部材（８）の基端側に形成されると共に、圧力流体が供給および排出されるリリース室（１１）と、
前記出力部材（８）の先端側に形成される作動室（１４）と、
前記作動室（１４）内に装着される進出バネ（１５）であって、前記出力部材（８）が基端側に付勢される進出バネ（１５）と、
前記プラグ部分（４）の筒壁に周方向へ所定の間隔をあけて形成される複数の貫通孔（１６）と、
前記貫通孔（１６）に移動可能に挿入される係合部材（１７）と、
前記出力部材（８）の先端部に形成されると共に、前記係合部材（１７）に係合可能となっているカム部（１９）と、
前記係合部材（１７）に係合可能となるように前記装着孔（５）に形成される受け面（２０）と、
前記出力部材（８）の前記軸方向に対して交差する方向に移動可能となるように第１連結部材（１）内に挿入される第１操作ロッド（２６）と、
前記第１操作ロッド（２６）の移動方向に対して傾斜するように形成される楔部（２９）と、
前記楔部（２９）に係合可能であると共に、前記出力部材（８）に係合可能となっている第２操作ロッド（３１）であって、前記リリース室（１１）に突出可能となるように前記第１連結部材（１）に移動可能に挿入される第２操作ロッド（３１）と、を備える工具交換装置。 A tool changing device for attaching and detaching the first connecting member (1) and the second connecting member (2).
A main body portion (3) included in the first connecting member (1), a tubular plug portion (4) projecting from the main body portion (3) to the tip side, and
A mounting hole (5) formed in the second connecting member (2) so that the plug portion (4) can be inserted.
An output member (8) that is movably inserted into the first connecting member (1) and
A release chamber (11) formed on the base end side of the output member (8) and to which a pressure fluid is supplied and discharged, and
An operating chamber (14) formed on the tip side of the output member (8),
An advance spring (15) mounted in the operating chamber (14), the advance spring (15) in which the output member (8) is urged toward the proximal end side.
A plurality of through holes (16) formed in the tubular wall of the plug portion (4) at predetermined intervals in the circumferential direction, and
An engaging member (17) movably inserted into the through hole (16),
A cam portion (19) formed at the tip of the output member (8) and capable of engaging with the engaging member (17).
A receiving surface (20) formed in the mounting hole (5) so as to be engaged with the engaging member (17),
A first operating rod (26) inserted into the first connecting member (1) so that the output member (8) can move in a direction intersecting the axial direction.
A wedge portion (29) formed so as to be inclined with respect to the moving direction of the first operating rod (26),
A second operating rod (31) that is engageable with the wedge portion (29) and is also engageable with the output member (8), and can project into the release chamber (11). A tool changing device including a second operating rod (31) that is movably inserted into the first connecting member (1).
前記作動室（１４）に圧力流体が供給および排出される、ことを特徴とする工具交換装置。 In the tool changer according to claim 1 or 2.
A tool changing device characterized in that a pressure fluid is supplied and discharged to the operating chamber (14).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019023888A JP7127836B2 (en) | 2019-02-13 | 2019-02-13 | tool changer |
| PCT/JP2020/004065 WO2020166428A1 (en) | 2019-02-13 | 2020-02-04 | Tool replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019023888A JP7127836B2 (en) | 2019-02-13 | 2019-02-13 | tool changer |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2020131305A true JP2020131305A (en) | 2020-08-31 |
| JP2020131305A5 JP2020131305A5 (en) | 2022-01-11 |
| JP7127836B2 JP7127836B2 (en) | 2022-08-30 |
Family
ID=72045588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019023888A Active JP7127836B2 (en) | 2019-02-13 | 2019-02-13 | tool changer |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7127836B2 (en) |
| WO (1) | WO2020166428A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023074105A1 (en) * | 2021-10-26 | 2023-05-04 | ビー・エル・オートテック株式会社 | Tool changer |
| EP4209316A1 (en) | 2022-01-07 | 2023-07-12 | SMC Corporation | End-effector exchange device |
| WO2024070395A1 (en) * | 2022-09-27 | 2024-04-04 | 株式会社コスメック | Member replacement device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606090B (en) * | 2020-12-01 | 2022-06-21 | 江门实瑞包装有限公司 | Accurate positioning device is used in paper tube processing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02110491U (en) * | 1989-02-22 | 1990-09-04 | ||
| JPH0428989U (en) * | 1990-06-22 | 1992-03-09 | ||
| WO2000027596A1 (en) * | 1998-11-05 | 2000-05-18 | Pascal Kabushiki Kaisha | Tool connecting device for robot hand |
| WO2004012902A1 (en) * | 2002-08-06 | 2004-02-12 | Kosmek Ltd. | Clamp device |
| JP2010105111A (en) * | 2008-10-29 | 2010-05-13 | Nabeya Co Ltd | Fastening device |
| JP2016080156A (en) * | 2014-10-10 | 2016-05-16 | 株式会社コスメック | Output device |
| JP2016159377A (en) * | 2015-02-27 | 2016-09-05 | 株式会社コスメック | Output device and output system |
| CN108543674A (en) * | 2018-06-26 | 2018-09-18 | 东莞市欧特自动化技术有限公司 | A kind of dispensing and package system and its dispensing method |
-
2019
- 2019-02-13 JP JP2019023888A patent/JP7127836B2/en active Active
-
2020
- 2020-02-04 WO PCT/JP2020/004065 patent/WO2020166428A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02110491U (en) * | 1989-02-22 | 1990-09-04 | ||
| JPH0428989U (en) * | 1990-06-22 | 1992-03-09 | ||
| WO2000027596A1 (en) * | 1998-11-05 | 2000-05-18 | Pascal Kabushiki Kaisha | Tool connecting device for robot hand |
| WO2004012902A1 (en) * | 2002-08-06 | 2004-02-12 | Kosmek Ltd. | Clamp device |
| JP2010105111A (en) * | 2008-10-29 | 2010-05-13 | Nabeya Co Ltd | Fastening device |
| JP2016080156A (en) * | 2014-10-10 | 2016-05-16 | 株式会社コスメック | Output device |
| JP2016159377A (en) * | 2015-02-27 | 2016-09-05 | 株式会社コスメック | Output device and output system |
| CN108543674A (en) * | 2018-06-26 | 2018-09-18 | 东莞市欧特自动化技术有限公司 | A kind of dispensing and package system and its dispensing method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023074105A1 (en) * | 2021-10-26 | 2023-05-04 | ビー・エル・オートテック株式会社 | Tool changer |
| JP7306589B1 (en) * | 2021-10-26 | 2023-07-11 | ビー・エル・オートテック株式会社 | tool changer |
| EP4209316A1 (en) | 2022-01-07 | 2023-07-12 | SMC Corporation | End-effector exchange device |
| WO2024070395A1 (en) * | 2022-09-27 | 2024-04-04 | 株式会社コスメック | Member replacement device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP7127836B2 (en) | 2022-08-30 |
| WO2020166428A1 (en) | 2020-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2020131305A (en) | Tool replacement device | |
| JP3550010B2 (en) | Clamping device | |
| JP4864164B2 (en) | Clamping system with fluid coupler | |
| US6641127B2 (en) | Clamping apparatus | |
| EP1078713A1 (en) | Clamping apparatus with datum function | |
| WO2003027511A1 (en) | Clamp device | |
| JP2015509448A (en) | Device for connecting the tool to the robot arm | |
| KR102452989B1 (en) | Compliance unit with lock mechanism | |
| WO2017212790A1 (en) | Tool exchange device | |
| JPWO2007074737A1 (en) | Positioning device, positioning system and clamping device | |
| JP2009023050A (en) | Robot arm coupling device | |
| JP7064785B2 (en) | Gripping device | |
| JP2014030892A (en) | Clamp device | |
| JP5734173B2 (en) | Clamping device | |
| JP2022179629A (en) | Tool exchange device | |
| JP6886653B2 (en) | Clamp device with temporary lock function | |
| TW202116470A (en) | Workpiece support | |
| WO2021085110A1 (en) | Clamp device | |
| JP2005007504A (en) | Positioning device | |
| JP6567916B2 (en) | Coupling device | |
| JP6755441B2 (en) | Tool changer | |
| JP2005224929A (en) | Aligning device and positioning system equipped with the device | |
| JP2002346862A (en) | Clamping device | |
| JP2020078843A (en) | Fixing device and fixing system comprising the same | |
| WO2020162318A1 (en) | Pneumatic cylinder device with holding valve |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211201 |
|
| RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20211201 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220120 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220802 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220810 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 7127836 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |