JP2593635Y2 - Tool removal tool and tool changer - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool holding device, a tool attaching / detaching device, and a tool changing device. More specifically, the present invention relates to a tool holding device for accommodating a drive shaft rotated by a drive source. In a tool holding device in which a predetermined recess is formed and a predetermined operation is performed with the base of the tool engaged with the tapered recess in a tapered surface, a large load is applied to the tapered surface engaging portion. However, the present invention relates to a tool holding device capable of reliably releasing a tool by releasing a tapered surface engagement, a tool attaching / detaching device for easily releasing a tapered surface engagement manually, and a tool changing device capable of automatically performing a tool change. .

[0002]

2. Description of the Related Art Conventionally, in various fields, it has been practically used to mount a desired tool on a hand portion of an industrial robot and automate the work. Also, in a specific work, for example, in the brushing work and the like, since it is necessary to perform the work by sequentially changing various types of tools, it is required to change the tool mounted on the hand of the industrial robot,
In order to satisfy such demands, there has been proposed a tool holding device for detachably holding a tool.

FIG. 11 is a partially cutaway side view of a conventional tool holding device, showing a case where a polishing tool is mounted as a tool. The polishing tool holding device includes a housing 51 for accommodating a driving shaft (not shown) that is rotationally driven by a driving source.
Is provided with a base casing 52 surrounding the driving shaft, and a front casing 53 for accommodating a driven shaft engaged with the driving shaft is detachably mounted on the base casing 52. The front casing 53 is entirely divided into an upper member 53a and a lower member 53b because bearings and the like must be interposed in order to accommodate the shaft therein so that the shaft can rotate, and the front casing 53 is integrated with a fastening bolt 53c. Have been. Since the housing 51 is mounted on the tip of the industrial robot, by replacing only the front casing 53, the most suitable polishing tool 53e can be used according to the type and stage of the polishing operation.

In order to easily attach and detach the front casing 53 to and from the base casing 52, the inner surface of the distal end of the base casing 52 is tapered to form a tapered surface 52a.
The outer surface of the upper member 53a constituting the front casing 53 is formed as a tapered surface 53d which engages with the tapered surface 52a. In this case, the engagement groove 5 is provided at a predetermined position on the tapered surface 53d of the upper member 53a.
3f, and an engaging projection 52b penetrating a lower portion of the base casing 52 and projecting inward is provided, and the engaging projection 52b is engaged with the engaging groove 53f. , The tip casing 53 is held in a retaining shape. If this configuration is adopted, the polishing tool 53e can be mounted only by operating the industrial robot to engage the base casing 52 with the tapered surface of the front casing 53 supported at a predetermined position. And workability can be improved.

[0005]

However, in general, even when the machining accuracy of the tapered surfaces 52a and 53d is improved, when a polishing operation is performed with the polishing tool 53e, a large pressing force is applied for a long time in order to increase the polishing operation efficiency. When used continuously, the pressing force, that is, the tapered surface 52
Since a large force and a considerable vibration in the direction in which the a and 53d are engaged are given, the front casing 53 is gradually pressed into the tapered surfaces 52a and 53d even if a uniform engagement state is maintained over the entire range. As a result, when the front casing 53 is replaced, it may be extremely difficult to remove the front casing 53.

[0006] The difficulty in removing the gear is that the mechanism for changing the rotational motion of the driving shaft into the rocking motion is provided in the front casing 53. Since the applied vibration becomes even larger, it is further increased. To solve this problem, the tapered surface 52
It is conceivable that the angles of the tapered surfaces 52a and 53d are reduced by reducing the angles of the base casing 52 and the front casing 53. There is a problem that the size in the vertical direction becomes large and the device becomes large in size.

In many cases, an operator manually replaces the front casing 53 without using a tool changer to remove the front casing 53 from the base casing 52. However, when the degree of press-fitting of the front casing 53 increases, the degree of press-fitting of the front casing 53 increases. However, the front casing 53 cannot be removed manually. As shown in FIG. 12, a rubber plate is attached to the end of the tapered surface 53d of the front casing 53 in order to remove the front casing 53 when the front casing 53 is replaced. By interposing an elastic material layer 58 such as this, it is possible to prevent the press-fitting of the front casing 53 due to vibration and to make it easy to remove the front casing 53 from the base casing 52. No. is proposed. However, even when this configuration is adopted, when applied to an application in which a large pressing force is applied continuously for a long time, the holding of the polishing tool 62 becomes insufficient, and the tapered surface 52a of the front casing 52 becomes May be damaged by friction. Conversely, when the elastic material layer 58 is removed, the front casing 53 becomes difficult to remove due to the adhesion between the tapered surfaces 52a and 53d.

[0008]

This invention has been made in view of the above circumstances, and it is possible to reliably remove the front casing with a small force even when a large load is applied to the tapered surface engaging portion. It is an object of the present invention to provide a tool holding device, a tool attaching / detaching tool, and a tool exchanging device that can perform the tool changing operation efficiently.

[0009]

[0010]

According to a second aspect of the present invention, there is provided a tool remover having a tapered recess at a distal end thereof for engaging a base of a tool formed on a tapered surface. ,
What is claimed is: 1. A tool detachable tool which is removably mounted on a tool holding device which rotationally drives a tool in a state where a base of the tool is detachably taperedly engaged with a tapered recess, wherein the tool holding device has one end. The part is located between the opposing surfaces of the base of the tool and the tip of the tool holding device. The base of the tool, the point of engagement with one of the tips of the tool holding device is the fulcrum, and the engagement with the other is the point of action. A base that detachably engages with the tip end of the tool holding device or the tool, and a rotating member that is rotatably connected to the base, the engagement member including a disengagement member having a force point at the other end. And a predetermined position of the rotating member, which extends substantially parallel to the tip of the tool holding device, is formed at the point of force, and a predetermined upper position is at the point of action of engagement with the point of force of the disengagement member. Is set.

According to a second aspect of the present invention, there is provided a tool changer having a tapered recess at a tip end for engaging with a base of a tool formed on a tapered surface, and the base of the tool is detachable from the tapered recess. In a tool changing device including a tool holding device that rotationally drives a tool in a state of being engaged with a tapered surface, and a tool support portion that supports a tool removed from the tool holding device, the tool holding device has one end of the tool. Located between the opposing surfaces of the base and the tip of the tool holding device, the point of engagement with one of the base of the tool and the tip of the tool holding device is a fulcrum, the portion of engagement with the other is an action point, and A tool support portion for supporting a tool removed from the tool holding device, and determining whether or not the tool is supported by the tool support member; Between the force of the disengagement member A release force acting means for applying a release force, in response to the determination result of the determination means indicates that the tool to the tool support member is not supported, and a control means for operating the release force action means.

[0012]

[0013]

According to the tool attaching / detaching tool of the first aspect, when the upper predetermined position of the rotating member is engaged with the force point of the disengaging member,
The tool can be removed at an arbitrary position by a simple manual operation of simply holding the tool and the rotating member at the same time and rotating the rotating member. Further, the synergistic effect of the lever action by the disengagement member and the lever action by the rotating member makes it possible to easily remove the tool with an extremely weak force enough to grip the tool and the rotating member with one hand. In addition, the efficiency of tool change work can be improved.

According to the second aspect of the present invention, the determination means determines whether or not the tool is supported on the tool support member, and the control means determines that the tool is not supported on the tool support member. In response to the determination result of the means, the disengagement force acting means applies the disengagement force to the force point of the disengagement member, so that the tool can be removed only when the tool can be detached, and the tool can be removed. Damage can be reliably prevented, and tool change can be automated.

[0015]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. FIG. 1 is an exploded perspective view of a tool holding device applied to the present invention, FIG. 2 is a vertical sectional view of a main part after mounting a front casing, FIG. 3 is a vertical cross sectional view of a main part, and FIG. FIG. 5 is a longitudinal sectional view showing a main part.

The tool holding device includes a base casing 1
, A front casing 2, and a front casing removal mechanism 3. The base casing 1 is slidably housed within a distal end side of a housing 1b that houses a driving shaft (not shown) that is rotationally driven by a driving source 1a. The base casing 1 is formed with a tapered surface 1c (see FIG. 2) in which the inner surface of the distal end portion has an enlarged distal end side.
In addition, it has an engaging shaft member 1d urged to penetrate a predetermined position near the front end and protrude toward the inner surface side. A notch 1 g is provided at a distal end portion of the base casing 1 at a predetermined circumferential position.
The notch 1g has a projection 2 of a front casing 2 described later.
k and the distal end 3f of the lever 3a of the front casing removal mechanism 3 are inserted. Further, on both sides above the notch 1g of the base casing 1, a front casing removal mechanism 3 is provided.
Is provided with a pair of fixing portions 3b on which the supporting shaft 3e is horizontally mounted. The base casing 1 has a base casing 1.
Are provided with a pair of fluid ports 1f for supplying a compressed fluid to selectively slide in a reverse direction.

The front casing 2 has an upper member 2a having an outer surface formed on a tapered surface 2b engaged with the tapered surface 1c.
And a lower member 2c integrally connected to the upper member 2a by a plurality of tightening bolts 2d. A power transmission shaft 2e passing through both members 2a, 2c rotates via a bearing 2f. It is freely supported. A recess 2g capable of engaging with the engagement shaft member 1d is formed at a predetermined position on the tapered surface 2b. A protrusion 2k is provided at a predetermined position on the outer periphery of the tapered surface 2b of the front casing 2 and fits into a notch 1g provided on the base casing 1 so that the relative position between the base casing 1 and the front casing 2 can be adjusted. Stipulate. Further, the outer periphery of the lower end of the upper member 2a protrudes outward to form a support flange 2j. When the front casing 2 is detached from the base casing 1, the front casing 2 is supported by the tool receiving frame by the support flange 2j. The power transmission shaft 2e is connected to the shaft 2h, and rotates the grindstone 2i mounted on the tip of the shaft 2h.

FIG. 3 is a longitudinal sectional view of a main part showing the front casing removing mechanism 3. As shown in FIG. Tip casing removal mechanism 3
Has a lever 3a, a support shaft 3e, and a fixing portion 3b to which the support shaft 3e is fixed. The lever 3a is provided with a tear-shaped opening 3d substantially at the center thereof, and is loosely fitted to the support shaft 3e. The tip 3f of the lever 3a is located within the notch 1g of the base casing 1 and the rear 3g of the lever 3a.
Has a configuration projecting outward from the base casing 1. The lever 3a is biased by the spring 3c while being loosely fitted on the support shaft 3e, and the tip 3f of the lever 3a is not in contact with the projection 2k.

The fixed portion 3b is provided at a predetermined position on the outer periphery of the base casing 1, and a support shaft 3e for loosely fitting the lever 3a between the pair of fixed portions 3b and a support shaft 3h of the spring 3c are respectively laid horizontally. I have.

The operation of the tool holding device having the above configuration is as follows. First, in a state where the front casing removing mechanism 3 is mounted on the base casing 1, as shown in FIG. 4, the front casing 2 to be mounted is moved to a position where the tool of the industrial robot is replaced (the position where the tool receiving frame 6b is provided). Position). In this state, the industrial robot (not shown) is operated to move the base casing 1 to a position above the front casing 2 so that the tapered surface 1 c of the base casing 1 substantially matches the tapered surface 2 b of the front casing 2. Then, the base casing 1 is moved toward the front casing 2 in this state. At this time, by supplying the pressurized fluid through the one fluid port 1f, the base casing 1 is kept in a state in which the base casing 1 has come out of the housing 1b to the stroke end. The engagement shaft member 1d is directly connected to the piston of the lock cylinder, and is returned to a position where it does not protrude into the tapered recess 2g by applying a pressure fluid. By doing so, when the robot moves (falls) to a predetermined position, the base casing 1 and the front casing 2 are connected by the tapered surfaces 1c and 2b. At this time, the driving shaft and the power transmission shaft 2e are simultaneously connected. In this state, by supplying the pressurized fluid to the opposite side of the lock cylinder, the recess 2g can be engaged with the engagement shaft member 1d to hold the front casing 2 so as not to fall. In this mounted state, the distal end 3f of the lever 3a is inserted into the notch 1g of the base casing 1, and the lever 3a is substantially parallel to the lower surface of the base casing 1, so that the tightness between the base casing 1 and the front casing 2 is maintained. , Without interfering at all (see FIGS. 2 and 3).

Next, by moving the robot in the direction in which the tool receiving frame 6b extends, the front casing 2 is detached from the tool receiving frame 6b, and while the tip 3f is interposed, the robot can be used for a polishing operation or the like. Perform predetermined work. Next, when the work is completed and it is necessary to change the tool, the industrial robot is operated to move the base casing 1 again to the tool changing position, and the supporting flange 2j of the front casing 2 is moved. Is positioned between the concave portions of the tool receiving frame 6b. Then, the engagement shaft member 1d is moved outward by applying a pressure fluid, so that the front casing 2 can be removed. However, when the tapered surface 2b of the front casing 2 is stuck into the tapered surface 1c of the base casing 1 due to the vibration caused by the polishing operation, it is only necessary to move the robot upward to catch the tapered surface in the recess of the tool receiving frame 6b. The front casing 2 may not come off.
Therefore, before moving the robot upward, first, the lever 3a is tilted within the notch 1g to cause a leverage action at the distal end portion 3f to bring the base casing 1 and the front casing 2 into close contact with each other. After leaving a gap,
The front casing 1 is removed. The movement of the lever 3a that creates a gap at this time will be described in more detail.

FIG. 5 is an enlarged sectional view showing the movement of the lever 3a when the leverage action is generated. When a force (see F in the drawing) in a direction approaching the base casing 1 is applied to the rear portion 3g of the lever 3a around the support shaft 3e and the lever 3a is rotated, the distal end portion 3f of the lever 3a The projection 2k is inclined so as to form an angle θ with the upper surface 2m of the projection 2k. The opening 3d into which the support shaft 3e is inserted is supported by the support shaft 3e.
When the rear portion 3g is lifted upward, the support shaft 3e engages with the base casing 1 before engaging with the opening 3d, so that a large force is applied to the support shaft 3e. Can be prevented. Therefore, the force F applied to the rear portion 3g of the lever 3a is equal to the upper surface 2 of the projection 2k.
It is used as leverage at the engagement point P1 of the m and the engagement point P2 of the notch 1g of the base casing 1 to efficiently release the biting of the tapered surfaces 2b and 1c between the front casing 2 and the base casing 1. it can. That is, when the force F is applied in a direction approaching the base casing 1, the engaging portion P2
The leverage point and the engagement point P1 become the point of action, and the point where the force F of the rear part 3g is applied becomes the power point. Therefore, the length between the engagement point P2 and the engagement point P1 and the length between the engagement point P2 and the power point are determined. The ratio becomes extremely large, and a gap can be created between the base casing 1 and the front casing 2 with a small force.

After the gap is formed, the engagement shaft member 1d is moved outward, and the pressurized fluid is supplied through the other fluid port 1f to retract the base casing 1 so that the driving shaft and the power transmission shaft are formed. The front casing 2 can be detached from the base casing 1 by releasing the engagement with the base casing 1.

[0024]

Embodiment 2 FIG. 6 shows a case where the lever 3a is rotated to cancel the biting of the tapered surfaces 2b and 1c between the front casing 2 and the base casing 1. FIG. 2 is a perspective view showing a tool detachable tool 5 capable of forming a gap between the tool detachable tools 1.

This tool detacher 5 has a base 5a having a U-shaped cross section in the transverse direction, and a shaft 5 bridged between the side surfaces of the base 5a.
b, and a swing lever 5c rotatably held near the center of the shaft 5b. The swing lever 5c has a wedge shape, and a portion 5d (the forward end of the wedge) separated from the shaft 5b is a portion to which a force is applied by hand, and the shaft 5
The part 5e (rear end face of the wedge) close to b
This is a portion that applies a force to the rear part 3g of the a in the direction in which the front casing 2 is removed. Notches 5 that can accommodate the flanges 2j are provided at predetermined positions on both side surfaces of the base 5a.
f is provided. On both sides of the swing lever 5c, there are provided slide prevention cylinders 5g for the swing lever 5c.

FIG. 7 is a longitudinal sectional view showing a state in which the tool attaching / detaching tool 5 is attached to the support flange 2j of the front casing 2 with the front casing 2 mounted on the base casing 1. The notch 5f of the base 5a is fitted to the supporting flange 2j of the front casing 2 so that the tool detachable tool 5 is fixed to the front casing 2. In this state (indicated by a dashed line), while holding the front casing 2 by hand, holding the front portion 5d of the wedge of the swing lever 5c and pushing it in the direction approaching the front casing 2 (see the X direction in the figure). The swing lever 5c rotates about the shaft 5b, and the upper surface 5e of the swing lever 5c pushes the lever 3a upward. The swing lever 5c in the pushed up state is shown by a solid line. By using this tool detachable tool 5, the lever 3a can be moved upward with a smaller force, the front casing 2 can be easily removed with the force of an operator's hand, and the hand of the industrial robot can be removed. With the part fixed at any position,
The front casing 2 can be removed from the base casing 1 without dropping the front casing 2.

In this embodiment, the tool detacher 5
The base 5a is fixed to the support flange 2j of the front casing 2. However, the base casing 1 is provided with a strong locking member, and the locking member is provided with the base 5a of the tool detachable tool 5.
May be fixed. The base 5a and the swing lever 5c may have various configurations other than the configuration shown in FIG. For example, the base is not a base 5a having a U-shaped cross section, but is a rectangular parallelepiped with a shaft 5b provided integrally with the base and having a notch. The moving levers may be mounted so as to overlap.

[0028]

Third Embodiment FIGS. 8 and 9 are views for explaining a tool changing device for automatically removing the front casing 2, and FIG. 8 is a side view of the tool changing device, and FIG. It is a top view. The tool changing device 6 includes a main body 6
a, a plurality of tool receiving frames 6b supporting the tools via the flange 2j of the front casing, and a tool detector 6c for detecting whether or not there is a tool in each of the tool receiving frames 6b.
A moving member 6d for moving the lever 3a upward,
It has a drive cylinder 6e that drives the moving member 6d, and a control unit 6j that controls the drive cylinder 6e.

The moving member 6d is, as shown in FIGS.
At the end, it is rotatably supported by a support member 6k,
One end 6n on the tool receiving frame 6b side is a drive cylinder 6e.
, And a plurality of ends 6m on the tool receiving frame 6b side project into the support space of each tool receiving frame 6b. Therefore, the piston 6 of the drive cylinder 6e
Due to the upward drive of f, all the end portions 6m protruding into the support space rotate upward, and by the downward drive of the piston 6f of the drive cylinder 6e, all the end portions 6m rotate downward. The drive cylinder 6e is provided with position detectors 6h and 6i for detecting whether the piston 6f is on the upper side or the lower side.

The control unit 6j detects the result of the detection by the tool detector 6c indicating that there is no tool in the tool receiving frame 6b at the position where the tool is to be removed, and the position detectors 6h and 6i indicating that the piston 6f is located at the lower part. In response to the detection result, the drive cylinder 6e is operated to move the piston 6f upward. FIG. 10 is a flowchart for explaining the operation of the control unit of the tool changing device 6, and the operation of the tool changing device 6 having the above configuration will be described with reference to this flowchart.

First, in step SP1, based on the output of the tool detector 6c, it is determined whether or not there is a tool already in the tool receiving frame 6b. If it is determined that there is no tool, the tool can be attached or detached. In step SP2, the drive cylinder 6 is turned on based on the output of the position detector 6i.
It is determined whether or not the piston 6f of e is located at a position opposite to the removal side. Piston 6f of drive cylinder 6e
If it is determined that is located on the opposite side to the removal side, in step SP3, the industrial robot is driven to attach the support flange 2j of the front casing 2 mounted on the base casing 1 to the tool receiving frame. 6b, it is moved toward the main body 6a of the tool changer 6 in step SP4. At step SP4, a predetermined position of the tool receiving frame 6b, that is, the lever 3 of the front casing removal mechanism 3 is set.
It is determined whether or not the front casing 2 has moved to a predetermined position where the end 6m of the moving member 6d is located below “a”.
When it is determined that the front casing 2 has not reached the predetermined position of the tool receiving frame 6b, the process of step SP3 is repeated again. If it is determined in step SP4 that the output has reached the predetermined position based on the output of the tool detector 6c, in step SP5, the engaging shaft member 1d engaged with the recess 2g is retracted, and the tool holding device is retracted. Of the base casing 1 of the base casing 1 is released.

Next, in step SP6, the piston 6f of the drive cylinder 6e is driven to the removed position, that is, upward. Then, in step SP7, it is determined whether or not the position of the piston 6f of the drive cylinder 6e has reached the position where the front casing 2 has been removed, based on the output of the position detector 6h. If it is determined that it has not reached, the processing of step SP6 is repeated.
If it is determined that the piston has reached the position corresponding to the removal position, in step SP8, the piston 6f of the drive cylinder 6e is driven to a position opposite to the removal side, and the operation is completed.

In step SP1, if there is already a tool in the tool receiving frame 6b at the planned tool replacement position, the tool cannot be replaced. In step SP9, the work is stopped and a warning lamp or the like is issued to the operator. To call attention. In step SP2, when the piston 6f of the drive cylinder 6e is not at the position opposite to the detached side, the end 6m of the moving member 6d is located above. Or the end 6m of the moving member 6d is located above the lever 3a, so that the operation is stopped and the operator is alerted.

As described above, by providing the moving member 6d for moving the lever 3a in the direction in which the front casing 2 is removed, the tool changing device for replacing the tool attached to the front casing 2 with the front casing 2 is provided. Removal of the casing 2 can be easily and automatically performed.

In this embodiment, the means for moving the lever 3a upward is constituted by the moving member 6d and the driving cylinder 6
Although the configuration is made by the combination of e, a drive mechanism such as a motor or a solenoid may be used in addition to this. In addition,
The present invention is not limited to the above embodiment, and various design modifications can be made without departing from the scope of the present invention. For example, the configuration of the front casing removal mechanism 3 is such that the support shaft 3 is provided in the opening 3d of the lever 3a.
e, the lever 3a
The tip 3f is not particularly limited as long as it is a mechanism in which a fulcrum and an action point are formed at the tip 3f at a small angle.

Further, in the above-described embodiment, an example has been described in which the polishing tool is used for polishing an object. However, the present invention is not limited to the polishing tool. If it is a holding device and it is difficult to remove the front casing due to the indentation of the tapered surface, use the tool attached to the front casing (grab an object, cut an object, pierce an object, etc.) Regardless, the invention can be applied.

[0037]

[0038]

As described above, according to the first aspect of the present invention, the tool and the rotating member are simultaneously held while the upper predetermined position of the rotating member is engaged with the force point of the disengaging member, and the rotating member is rotated. The tool can be removed by a simple manual operation only by rotating the moving member, and the specific practical effect that the efficiency of the replacement operation can be improved when the tool is replaced manually.

According to a second aspect of the present invention, the control means responds to the result of the discrimination by the discriminating means indicating that the tool is not supported on the tool supporting member, and causes the releasing force actuating means to act on the force of the disengaging member. Since the disengagement force is applied, the tool can be removed only when the tool can be attached or detached, preventing the tool from being damaged and having the unique practical effect of automating tool change. Play.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view of the tool holding device of the present invention.

FIG. 2 is a longitudinal sectional view of a main part of the tool holding device of the present invention after the front casing is mounted.

FIG. 3 is a longitudinal sectional view of a main part of the tool holding device of the present invention.

FIG. 4 is a view showing a state of the tool holding device of the present invention after the front casing is removed.

FIG. 5 is a longitudinal sectional view of a main part of the tool holding device of the present invention.

FIG. 6 is a perspective view of the tool detacher of the present invention.

FIG. 7 is a vertical sectional view of a main part showing the operation of the tool detacher of the present invention.

FIG. 8 is a side view of the tool changing device of the present invention.

FIG. 9 is a plan view of the tool changing device of the present invention.

FIG. 10 is a flowchart showing the operation of the tool changing device of the present invention.

FIG. 11 is a partially cutaway side view showing an example of a conventional polishing tool holding device.

FIG. 12 is a partially cutaway side view showing an example of a conventional polishing tool holding device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Base casing 2 Front casing 3a
Lever 5 Tool attachment / detachment tool 5a Base 5c Swing lever 6 Tool changer 6a Main body 6b Tool receiving frame 6c Tool detector 6e Drive cylinder 6j
Control unit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B23Q 3/157 B23B 31/06 B23B 31/117

Claims (2)

(57) [Scope of request for utility model registration] 1. A tool base (2) formed on a tapered surface.
A tool holder having a tapered recess at its tip (1) that engages with the tool, and rotationally drives the tool in a state where the base (2) of the tool is detachably engaged with the tapered recess in a tapered surface. A tool detachable tool (5) removably mounted on a device, wherein a tool holding device is located at one end between opposing surfaces of a base (2) of a tool and a tip (1) of the tool holding device. An engagement release member in which the engagement point with one of the base (2) of the tool and the tip (1) of the tool holding device is a fulcrum, the engagement part with the other is an action point, and the other end is a force point. (3a), a base (5a) detachably engaged with the tip (1) of the tool holding device or the tool, and a rotating member (5c) rotatably connected to the base (5a). And
A predetermined position of the rotating member (5c) extending substantially in parallel with the tip portion (1) of the tool holding device is formed as a power point, and a predetermined upper position is engaged with the power point of the disengagement member (3a). A tool attachment / detachment tool set at an action point. 2. A base (2) of a tool formed on a tapered surface.
A tool holder having a tapered recess at its tip (1) that engages with the tool, and rotationally drives the tool in a state where the base (2) of the tool is detachably engaged with the tapered recess in a tapered surface. In a tool changer (6) including a device and a tool support (6a) for supporting a tool removed from a tool holding device,
The tool holding device has one end located between opposing surfaces of the base (2) of the tool and the tip (1) of the tool holding device, and the base (2) of the tool and the tip (1) of the tool holding device. An engagement release member (3a) having an engagement point with one of them as a fulcrum, an engagement part with the other as an action point, and the other end as a power point, includes a tool holding part (6a) which holds a tool. A tool support member (6b) for supporting a tool removed from the device, and a tool support member (6
a determination means (6c) for determining whether or not a tool is supported by b); a release force operation means (6e) for applying an engagement release force to a force point of an engagement release member (3a); Control means (6j) for operating the release force action means (6e) in response to the result of the determination by the determination means (6c) indicating that the tool is not supported on the support member (6b). Characterized tool changer.