JP3292929B2 - Tool holding device - 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 for holding a tool in an industrial robot or the like.

[0002]

2. Description of the Related Art In a production line or the like, an industrial robot performs a required production operation such as machining or work using a tool held at the tip of an operation arm thereof.

In such a production line or the like, an industrial robot sometimes needs to exchange a tool held by another tool for a production operation. For this reason, tool holding devices having various structures have been conventionally proposed.

[0004]

For example, there is a device in which a pin slidably provided on an apparatus main body is connected by inserting a pin into a holding hole formed in an attached member provided with a tool. Although the structure is simple, there is a small gap between the holding hole and the pin, and there is a small gap to slide the pin of the device body, and the tool is attached to the device body without rattling in these gaps. It was difficult to do.

[0005] In this type of tool holding device, it is required that the tool change time of the industrial robot be simple because the tool change time has a large effect on the production efficiency in the production line. It is also important that the tool can be securely attached to the apparatus body in a tight contact state without play.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a tool holding device which can easily be replaced with a tool and which can be securely mounted in a compact device without any backlash. It is intended to provide.

[0007]

Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention has the following constitution.

According to a first aspect of the present invention, there is provided a tool holding device for detachably attaching an adhered member provided with a tool to an apparatus main body provided at a distal end of an operation arm, wherein the apparatus main body includes a conical cam. A lock device in which a plurality of lock pins capable of moving forward and backward in the radial direction by pressing is provided, and a seating surface facing the attached member is provided, and the attached member is formed in a ring shape surrounding the outside of the lock device. The upper surface is a mounting surface that abuts against the seating surface, and the cam protrudes inward at a position on the inner peripheral surface side of the adhered member and at least radially outside the lock pin. The cam portion is formed with a cam surface inclined so as to approach the axis of the lock pin as going outward in the radial direction of the lock pin, and the outer end portion of the lock pin is abutted against the cam surface. By letting When the mounting surface is pressed against the seating surface and the lock pin is engaged with the cam portion, the inclination angle of the cam surface at the pressing point of the conical cam that presses the lock pin is set to the tip side of the conical cam. A tool holding device characterized in that the inclination angle of the cam surface is smaller than the inclination angle of the cam surface. ].

According to the first aspect of the present invention, the lock pin is advanced to abut against the cam surface of the member to be attached,
The mounting surface of the member to be attached is fixed to the seating surface of the apparatus body in a pressed state by the component force. As described above, since the fixing of the adhered member to the apparatus main body is performed separately from the lock pin and the cam surface,
The adhered member can be fixed to the apparatus main body while avoiding the influence of the clearance accompanying these connection driving structures, and the play of the mounted tool can be reliably reduced.

Further, since the inclination angle of the cam surface at the pressing point of the conical cam that presses the lock pin is smaller than the inclination angle of the cam surface on the distal end side of the conical cam, the inclination angle of the distal end side with respect to the stroke of the conical cam is reduced. When the lock pin is pressed by the cam surface having a large angle to move the lock pin to a large extent, and when the lock pin engages the cam portion, the pressing force of the conical cam that presses the lock pin increases with the cam surface having a small inclination angle, Can be mounted securely with a compact device.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a tool holding device according to the present invention will be described below.

FIGS. 7 to 1 show a tool holding device according to the present invention.
1 to 6 show a tool holding device for explaining the present invention.

First, the configuration of the tool holding device is shown in FIGS.
FIG. 1 is an explanatory view of a use state of a tool holding device of an industrial robot, FIG. 2 is a cross-sectional view of the tool holding device in a locked state, and FIG. 3 is a cross section of the tool holding device in an unlocked state. FIG. 4 is a sectional view taken along the line IV-IV of FIG. 2, FIG. 5 is a sectional view of a mounting portion of the transmission coupler and the air supply unit, and FIG. 6 is a sectional view of the tool holding device in a positioning state.

In FIG. 1, reference numeral 1 denotes an industrial vertical articulated robot, and a tool holding device 3 is provided at the tip of an operating arm 2 of the industrial robot 1. A tool 4 is mounted on the tool holding device 3, and the tool 4 mounted in this state performs a pick-and-place operation of the workpiece W. That is, the tool 4 has a hand,
By grasping the workpiece W with this hand, the processing machine 5
With a drill D.

The various tools 4 used in the industrial robot 1 are previously mounted on a tool table, so that the industrial robot 1 can exchange the tools 4 mounted on the tool holding device 3 as necessary. The required production work using the new tool 4 is performed.

The tool holding device 3 comprises an apparatus main body 6 and a member 7 to be attached, as shown in FIG. When the tool holding device 3 is mounted on the industrial robot 1 and used as described above, the tool holding device 3 may be damaged even if it collides with a peripheral structure or the like due to a teaching mistake, a program runaway, or the like. Each part is made of stainless steel or general steel in order to reduce the number and improve the corrosion resistance.

The apparatus body 6 comprises a substrate 11 and the substrate 11
The cylinder member 12 fixed to the
2 and a holding member 13 attached to the lower end of the holding member 1.
And a lock device 14 mounted on the lock device 3. Substrate 11
Is a member for attaching the apparatus main body 6 to the operating arm 2. The substrate 11 has a first air passage 15 extending from a first air supply port 19 to an upper portion of the cylinder 17.

The cylinder member 12 is mounted on the lower surface of the substrate 11 and forms a cylinder 17 in which a piston 16 described later can be moved up and down. In the following, the central axis O indicates the center line of the piston 16.

A piston 16 urged downward by a coil spring 18 is disposed in the cylinder 17 so as to be able to move up and down. The first air passage 15 is communicated above the piston 16. ing. At the lower end of the piston 16, a separate conical cam 22 for driving a lock pin 21 described later to advance is mounted via a spring pin 23 so as to be slightly movable in the radial direction of the cylinder 17.

The conical cam 22 has a cam surface 22d. The cam surface 22d is inclined at the end of the piston 16 so as to approach the center line of the piston toward the tip. Lock pin 2 on piston 16
1 are connected so as to be able to swing in the direction in which they advance and retreat.

During the downward stroke of the piston 16, the conical cam 22 is provided at the upper end surface 2 of the peripheral portion of the conical cam 22.
2a and the lower end surface 16a of the piston 16 abut against each other to transmit the driving force of the piston 16.
In the upward stroke, the piston 16 receives a lifting force from the piston 16 via the spring pin 23. The holding member 13 attached to the lower end of the cylinder member 12 includes:
A through hole 13a is formed in the center of the conical cam 22.
Is allowed to appear below.

The peripheral edge 6a of the holding member 13 comes into pressure contact with the peripheral edge 7a of the adhered member 7 via a rubber packing 6b, and a positioning pin 25 is formed in a positioning hole 24 formed in the peripheral edge 7a. Is inserted. The lower surface of the holding member 13 is a seating surface 13b, and the mounting surface 39a formed on the upper surface of the mounting plate 39 mounted on the mounting member 7 is in pressure contact with the mounting member 7 to the holding member 13.
Has been positioned.

When the lock pin 21 is brought into contact with a cam surface 38 to be described later, the seating surface 13b of the holding member 13 is pressed against the mounting surface 39a of the mounting plate 39 to fix the member 7 to the holding member 13. However, instead of this, a gap is provided between the seating surface 13b on the lower surface of the holding member 13 and the mounting surface 39a on the upper surface of the mounting plate 39, and the lock pin 21 is
8, the peripheral portion 6 a of the holding member 13 is pressed against the peripheral portion 7 a of the adherend member 7 so as to be in contact with the adherend member 7.
May be fixed to the holding member 13.

In this case, the peripheral portion 6a of the holding member 13 serves as a seating surface, while the peripheral portion 7a of the member 7 serves as a mounting surface. In this case, the peripheral portion 6a of the holding member 13 and the peripheral portion 7a of the member 7 are provided. The rubber packing need not be interposed between the two. In this embodiment, the cylinder 17
Sleeve member 2 formed separately to improve the airtightness of
6 is mounted in the through hole 13a.

The lock device 14 mounted on the holding member 13 is formed by dividing a lock pin device 28 constituted by a lock pin 21 and a lock cylinder 27 as a piston / cylinder mechanism around the central axis O of the cylinder 17 into three equal parts. (Fig. 4).
The lock cylinder 27 is fitted and held in a fitting hole provided in the holding member 13.

The lock pin 21 is a lock cylinder 2
7, the lock pin 21 is inserted so as to be able to advance and retreat.
Are elastically urged by the coil spring 31 toward the center axis O in the storage direction.

The compressed air supplied to the space below the piston 16 in the cylinder 17 from the second air supply port 32 formed on the side of the cylinder member 12 is supplied to the groove 34 on the outer surface of the sleeve member 26. Second air passage 33 such as
, The lock pin 21 is supplied behind the head 21a.

A separator 36 containing a coil spring 35 is provided below the center of the lock device 14.
Is installed. This separator 36 is used for the holding member 13.
The coil spring 35 is attached to a spring receiver 13 e formed on the holding member 13, and constantly biases the separator 36 in a direction away from the holding member 13.

The separator 36 compresses and deforms the coil spring 35 by the mounting plate 39 at the time of mounting the adherend 7 as will be described later, and then removes the mounted adherend 7 from the apparatus main body 6. By pressing the mounting plate 39 by the elastic force of the coil spring 35, the adhered member 7 is smoothly separated from the apparatus main body 6. This mounting plate 39 is used to
Although it is formed separately from and fixed to it, it may be formed integrally, and the adhered member 7 is a concept that also includes the mounting plate 39.

As shown in FIG. 4, the member 7 to be mounted on the apparatus main body 6 having the above-described structure is a member formed in a substantially ring shape, and protrudes all around the inside of the upper part thereof. A cam portion 37 is formed. In addition, mounting plate mounting holes 95 for mounting the mounting plate 39 are formed at six positions on the mounting member 7.
Zero insertion holes 73 are formed at six locations, and electrode contacts 97 and electrode terminals 98 of the transmission unit 43 described later are provided at ten locations.

A cam surface 38 cooperating with each of the lock pins 21 is formed on the lower surface side of the cam portion 37.
The dimension of the peripheral portion 7a in the radial direction (radial direction in which the lock pin 21 moves forward and backward) is enlarged by installing the cam portion 37, whereby the adhered member 7 is mounted on the apparatus main body 6. Therefore, there is an advantage that the seal surface width at the peripheral portion 7a of the adhered member 7 is wide, the connection rigidity of the adhered member 7 is high, and the play of the tool 4 is suppressed.

A mounting plate 39 for integrally supporting the tool 4 is fixed to the lower surface of the member 7 with bolts or the like (not shown). In addition, the mounting plate 39
It may be formed integrally with the adherend 7,
It may be eliminated again.

Since the adherend 7 is bottomed, when the adherend 7 is mounted on the apparatus main body 6, the lock device 14, the cam portion 37, etc. And it is in a state of being stored in a space completely sealed by the mounting plate 39. Accordingly, even in the case where the industrial robot 1 is used in a space where there is a lot of dust and the like, dust and the like hardly adhere to the lock device 14 and the cam surface 38, and the operation of the lock device 14 is impaired by the dust and the like. And the tool can be changed smoothly without fail.

As described above, the peripheral portion 7a of the member 7 is widened by the cam portion 37, and the wide rubber packing 6b is interposed between the member 7 and the apparatus body 6. Therefore, the dustproof function and the waterproof function are very good. Note that the rubber packing 6b may be omitted, and this portion may be used as a gap.

In this manner, the tool 4 is held by the tool holding device 3 by connecting the adhered member 7 to the apparatus main body 6, and is mounted on the tip of the operating arm 2 of the industrial robot 1. In addition, a hole may be formed in the attaching member 7, and the lock pin 21 may be inserted into the hole.

The mounting of the tool 4 by the tool holding device 3 is performed as follows. That is, first, the device body 6 fixed to the tip of the operating arm 2 of the industrial robot 1
Is moved to a position corresponding to the required tool 4 on the tool holder, and the operating arm 2 is moved closer to the member 7 to which the tool 4 is attached (see the phantom line in FIG. 3). The member 7 is fitted.

Thereafter, compressed air is supplied to the space above the piston 16 of the cylinder 17 through the first air supply port 19 formed in the substrate 11. As a result, the piston 16 descends, and the conical cam 22 is inserted between the three lock pins 21. At this time, when only a part of the lock pins 21 comes into contact with the conical cam 22, the conical cam 22 can move in the radial direction of the cylinder 17, ie, the reciprocating direction of the lock pin 21, as described above. The conical cam 22 slides and displaces due to the reaction force, so that the conical cam 22 uniformly contacts all the lock pins 21.

Therefore, the three lock pins 21 are pushed outward in the radial direction, and the tips of the lock pins 21 abut against the cam surface 38 of the adherend 7 located outside thereof.
Due to the abutment of the lock pin 21 against the cam surface 38, the adhered member 7 receives a pressing force toward the apparatus main body 6 (upward in FIG. 3),
The mounting surface 39a of the member 7 is the seating surface 13b of the apparatus body 6.
And the state shown in FIG. 2 is obtained. In addition, rubber packing 6
b is slightly elastically deformed to reliably seal between the apparatus main body 6 and the adhered member 7.

As described above, the fixing of the adhered member 7 to the apparatus main body 6 is performed on the mounting surface 39a and the seating surface 13b separately from the lock pin 21 and the cam surface 38. The accompanying clearance does not affect the connection between the two, and the two can be closely connected. Therefore, it is possible to reliably connect the apparatus main body 6 and the attached member 7 in a state of no play, and to surely reduce the play of the mounted tool 4. In addition, a so-called transmission coupler 41 is provided as shown in FIG. 5 to electrically connect the adhered member 7 and the apparatus main body 6.

That is, the proximity switch 42 is provided on the holding member 13 side.
And a transmission unit 43 that opens and closes the circuit by magnetic resonance on the adhered member 7 side, and these are arranged to face each other. This allows
The mating surface between the holding member 13 and the attached member 7 can be electrically connected well in a non-contact state, and the electric signal can be reliably transmitted regardless of the use environment of the tool holding device 3. Thus, the reliability of the electrical control is improved.

An air supply pin 70 is inserted into the holding member 13 of the apparatus body 6, and the air supply pin 70 is provided by O-rings 71 and 72 so as to float with respect to the holding member 13. The air supply pin 70 is inserted into the insertion hole 73 of the adherend member 7 via the packing 99, is further held by a retaining ring 100, and drives the tool 4 with air supplied from the air supply pin 70. . Therefore, when the adhered member 7 is inserted into the apparatus main body 6, the air supply pin 70 of the apparatus main body 6 is inserted into the insertion hole 73 of the adhered member 7, but the air supply pin 70 floats on the holding member 13. Thus, the air supply pin 70 is securely inserted into the insertion hole 73.

When the compressed air is supplied from the air passage 70a of the air supply pin 70 when the apparatus body 6 and the adhered member 7 are separated from each other, the adhered member 7 is pushed by the compressed air, and the reaction force is reduced. It acts on the apparatus main body 6, whereby the apparatus main body 6 and the adhered member 7 are easily separated from each other. In addition,
Although the air supply pin 70 is dedicated, it may be provided also as the positioning pin 25. In this case, an air passage may be formed in the positioning pin 25. The positioning pin 25 is inserted into the positioning hole 24, and in this case, the positioning hole 24 is closed with a stopper.

Next, when the mounted tool 4 is removed, the following operation is performed.

That is, when the required work by the mounted tool 4 is completed, the operating arm 2 of the industrial robot 1 is moved to a predetermined position on the tool holder, and the tool holding device 3 in the state of FIG. The supply of the compressed air to the first air supply port 19 is stopped, and the supply of the compressed air to the second air supply port 32 is performed.

Accordingly, the piston 16 of the cylinder 17
The compressed air is supplied to the space below, and the piston 16 starts ascending operation, and the compressed air is also supplied behind each lock pin 21 through the second air passage 33 such as the groove 34, so that each The lock pin 21 retreats toward the central axis O, and the tip of the lock pin 21 is separated from the cam surface 38, whereby the restraint of the adhered member 7 to the apparatus main body 6 is released.

At the same time, the separator 36
When the coil spring 35 in the compressed state is expanded, the mounting surface 39a and the seating surface 13b are separated from each other, and both can be separated smoothly.

Thus, the tool 4 can be stored at a predetermined position on the tool holder from the tip of the operating arm 2 of the industrial robot 1. Then, when performing work with another tool 4 subsequently, the operation arm 2 is moved to the position of the tool 4, and then the required tool 4 is moved in the same manner as described above.
Should be attached.

As described above, according to the tool holding device 3, the conical cam 22 is advanced and retracted by supplying the compressed air.
By operating the lock pin 21, the tool 4 can be quickly attached and detached via the cam surface 38 of the adherend 7, and the setup time associated with the tool change of the industrial robot 1 can be reduced, Production efficiency on the production line can be improved.

In addition, the plurality of lock pins 21 are operated by the operation of the single conical cam 22, which presses the adhered member 7 against the seating surface of the apparatus main body 6 to connect them. It can be securely attached to the main body 6 without play.

As described above, when mounting the apparatus main body 6 on the tool 4 side, the apparatus main body 6 is grasped by the vertical articulated robot, and the positioning pins 25 are inserted into the positioning holes 2 of the adherend member 7.
4 in order to prevent the rotation of the tool 4 with respect to the apparatus body 6 in the use state,
Since the inner diameter of the positioning hole 24 is substantially the same, it is difficult to attach the adhered member 7 to the apparatus main body 6. In particular, when the temperature of the work place changes, the chuck portion of the vertical articulated robot tends to be displaced vertically and in the longitudinal direction of the operating arm 2 of the industrial robot 1, and the mounting operation becomes more difficult.

However, according to the following configuration, even when the temperature of the work place changes, the work of attaching the adhered member 7 to the apparatus main body 6 can be easily performed. That is, the lock device 14 that holds the piston pin 21 has a circular cross section in a plane orthogonal to the central axis O, and has a diameter D slightly shorter than the inner peripheral diameter d of the adherend member 7. That is, a slight gap is formed between the inner periphery of the attachment member 7 and the outer periphery of the lock device 14. A taper surface 14a is formed at the tip of the holding portion of the lock device 14, and a taper surface 7c is also formed at the upper end of the inner peripheral surface of the member 7 to be attached. Is not always necessary.

Further, a taper surface 25a is formed at the tip of the positioning pin 25 of the device body 7, and the locking device 1
4 until the outer peripheral surface of the lock device 14 and the inner peripheral surface of the adhered member 7 are opposed to each other. The outer peripheral surface does not contact the inner peripheral surface of the positioning hole 24. That is, after the outer peripheral surface of the lock device 14 of the apparatus main body 7 and the inner peripheral surface of the adhered member 7 face each other, and after the rough positioning of the apparatus main body 6 with respect to the adhered member 7 is performed, Strict positioning by the positioning pins 25 is performed.

Therefore, conventionally, since the cross section of the lock device 14 has an irregular shape, it has been difficult for the position of the device main body 6 to be slightly shifted in the circumferential direction with respect to the member 7 to be attached. Due to the circular cross section, even if the position of the device main body 6 with respect to the adherend 7 is shifted particularly in the circumferential direction, the lock device 14 easily fits on the inner periphery of the adherend 7. In addition, a tapered surface 14a is
Is formed, the lock device 14 of the apparatus main body 6 is more easily fitted to the adhered member 7.

Here, in order to make the lock device 14 easily enter the inner periphery of the adherend 7, the outer diameter of the lock device 14 is made shorter than the inner diameter of the adherend 7, so that a large gap is formed between the two. Although it is conceivable that the positioning pin 25 is positioned in a state where no positioning is performed, strict positioning is required immediately from the state where no positioning is performed. Insertion, that is, attachment of the adhered member 7 to the inside 6 of the apparatus main body becomes difficult.

On the other hand, since the tapered surface 14a at the tip of the lock device 14 is formed, the gap between the two can be reduced without making the operation of inserting the lock device 14 into the inner periphery of the adherend 7 difficult. When the lock device 14 is inserted into the inner periphery of the adherend 7, the rough positioning of the adherend 7 relative to the device body 6 is automatically performed, and the operation of inserting the positioning pins 25 into the positioning holes 24 can be facilitated. .

Further, the tapered surface 14a of the lock device 14 enters the inner peripheral portion of the adherend 7, so that the outer peripheral surface of the lock device 14 and the inner peripheral surface of the adherend 7 are positioned to face each other. Until then, the outer peripheral surface of the positioning pin 25 and the inner peripheral surface of the positioning hole 24 do not come into contact with each other, so that the operation of inserting the positioning pin 25 into the positioning hole 24 can be facilitated. Further, the tip of the positioning pin 25 has a tapered surface 25a.
, The positioning holes 24 of the positioning pins 25
Insertion work to the can be performed easily.

As described above, when the apparatus main body 6 is mounted on the adhered member 7, the mounting operation can be easily performed without strictly controlling the position of the industrial robot 1 holding the apparatus main body 6. Further, when attaching the apparatus body 6 to the adherend 7, the tool 4 is placed on the tool table so as to be movable in the horizontal direction.
When the position of the positioning pin 25 with respect to 4 is shifted, when the tapered portion 25a is inserted into the positioning hole 24,
Positioning is performed by moving the tool 4 to the correct position on the table.

In the above-described tool holding device, the cam portion 37 has been described as being formed in an annular shape that is continuous over the entire circumference. However, the present invention is not limited to this. May be formed intermittently.

The lock pins 21 may be returned and stored only by the pressure of the compressed air, and the coil spring 31 may be omitted. The number of these lock pins 21 is not limited to three and may be around the central axis O. What is necessary is just to install two or more.

Next, an embodiment of the tool holding device of the present invention will be described. 7 to 10 show an embodiment of the tool holding device of the industrial robot. FIG. 7 is a sectional view of the tool holding device in a used state on the right side and a locked state on the left side. FIG. FIG. 9 is a sectional view taken along line IX-IX of FIG. 7, and FIG. 10 is a sectional view of the conical cam.

In this embodiment, members denoted by the same reference numerals as those in FIGS. 1 to 7 are configured in the same manner, and a description thereof will be omitted. The mounting plate 39 and the adherend member 7 are fixed by bolts 300 at six places.
A projection 39f is provided on the entire upper surface of the projection 9 and the inner peripheral surface of the projection 39f faces the outer peripheral surface of the lock device 14 via a small gap W1. When the holding member 13 is clamped by the apparatus main body 6 and working, even if the tool holding device hits something and the holding member 13 is displaced (tilted) with respect to the apparatus main body 6, the protrusion 39 f of the mounting plate 39 is not removed. Since the inner peripheral surface is in contact with the outer peripheral surface of the lock device 14, the holding member 13 can be prevented from being displaced from the device main body 6.

The mounting member 7 is connected to the mounting plate 39 by a connecting pin 200, and a pin sleeve 202 is inserted into a hole 201 of the mounting member 7.
The bottom of 2 is fastened and fixed to the adherend 7 with screws 203, and when the pin sleeve 202 is worn, it can be replaced by the screws 203. Thus, the positioning hole 24 into which the positioning pin 25 is inserted is replaceable. The positioning pin 25 is inserted into the pin sleeve 202, and the position of the adherend 7 with respect to the holding member 13 is determined.

The transmission couplers 41 for connecting the apparatus main body 6 and the adherend 7 are provided at ten places in the above embodiment, but are reduced to eight places in this embodiment. In addition, by using a transmission coupler 41 which is a non-contact type coupler as a coupler for connecting between the apparatus main body 6 and the adhered member 7, the sealing of the mating surface between the apparatus main body 6 and the adhered member 7 is achieved. The tool holding device 3 according to the present invention can be used in any environment without strict construction.

In the conventional coupler, for example, one of the apparatus main body 6 and the adherend member 7 is provided with a convex terminal projecting toward the other and extending and contracting in the longitudinal direction, and the other is a concave terminal into which the convex terminal is inserted. Is provided. For this reason, when the tool holding device is sprayed with water and enters the sliding surface of the terminal, a short circuit occurs and abnormal operation easily occurs. For this reason, in order to use the apparatus in an environment where water is applied, it is necessary to strictly seal the interface between the apparatus main body 6 and the adherend 7.

In this embodiment, as described above, a pair of terminals, ie, the proximity switch 42 on the holding member 13 side,
A so-called transmission coupler 41 that is energized when the interval between the transmission units 43 on the adhered member 7 becomes smaller than a certain value is used. For this reason, even if the transmission coupler 41 is covered with water, no malfunction occurs and the following effects are obtained. That is,
Since the transmission coupler may be covered with water, it is not necessary to perform the sealing structure of the mating portion between the apparatus main body 6 and the adherend member 7 so strictly. Therefore, it can be used in any environment without making the sealing structure of the mating face between the apparatus main body 6 and the adherend member 7 strict.

In this embodiment, an air supply pin 70 is inserted through the holding member 13 of the apparatus main body 6, and the tip of the air supply pin 70 is inserted into the air sleeve 700 inserted into the insertion hole 700 of the member 7. 701 is inserted via packing 702. The air supply pin 70 has an air passage 70
a is formed penetrating therethrough. The air sleeve 70
1 is fixed to the adherend 7 by screws 703, and a passage 704 formed in the air sleeve 701 communicates with an opening 705 of the adherend 7. Air is supplied to the passage 704 from the air supply pin 70, and the tool 4 is driven by the air supplied from the air supply pin 70.

In the lock pin 21 of this embodiment, the strength of the lock pin 21 is improved by eliminating the constriction in the shaft portion. The cam surface 22 of the conical cam 22 of the lock pin 21
The inclination angle of d is two steps of 40 ° and 90 °. The pressing force of the lock pin 21 against the cam surface 38 of the adherend 7 is
It becomes larger as the inclination angle of the cam surface 22d of the conical cam 22 becomes smaller. For this reason, at the time of clamping, that is, when the adhered member 7 is clamped by the apparatus main body 6, the cam surface bc abutting on the head 21a of the lock pin 21 has a small inclination angle of 40 °.

On the other hand, the amount of axial movement of the lock pin 21 with respect to a predetermined stroke of the conical cam 22 is
Increases as the inclination angle of the cam surface 22d increases. When the lock pin 21 is moved by a predetermined amount in order to move the lock pin 21 from the clamped state to the unclamped state (or vice versa), the shorter the stroke of the conical cam 22 required for this is, the more compact the device becomes, and the more preferable. For this reason, the cam surface ab which comes into contact with the head 21a of the lock pin 21 at the time of unclamping has a large inclination angle of 90 °.

[0069]

As described above, according to the first aspect of the present invention, the lock pin is advanced to abut against the cam surface of the adhered member, and the mounting surface of the adhered member is moved by the component force. Is fixed to the seating surface in a pressed state.

Therefore, since the fixing of the adhered member to the apparatus main body is performed separately from the lock pin and the cam surface, the influence of the clearance accompanying these connection drive structures is avoided, and the adhered member is attached to the apparatus main body. It can be fixed, and the play of the mounted tool can be reliably reduced.

Further, since the inclination angle of the cam surface at the pressing point of the conical cam pressing the lock pin is smaller than the inclination angle of the cam surface on the distal end side of the conical cam, the inclination angle of the distal end side with respect to the stroke of the conical cam is reduced. When the lock pin is pressed by the cam surface having a large angle to move the lock pin to a large extent, and when the lock pin engages the cam portion, the pressing force of the conical cam that presses the lock pin increases with the cam surface having a small inclination angle, Can be mounted securely with a compact device.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a use state in an industrial robot shown for explaining the present invention.

FIG. 2 is a sectional view of the tool holding device in a locked state.

FIG. 3 is a cross-sectional view of the tool holding device in an unlocked state.

FIG. 4 is a sectional view taken along the line IV-IV in FIG. 2;

FIG. 5 is a sectional view of a mounting portion of a transmission coupler and an air supply unit.

FIG. 6 is a sectional view of the tool holding device in a positioning state.

FIG. 7 is a cross-sectional view of the tool holding device according to the embodiment of the present invention, in which the right side is in a used state and the left side is in a locked state.

FIG. 8 is a sectional view of a mounting portion of a transmission coupler and an air supply unit.

FIG. 9 is a sectional view taken along line IX-IX in FIG. 7;

FIG. 10 is a sectional view of a conical cam.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Industrial robot 2 Working arm 3 Tool holding device 4 Tool 6 Device main body 6a Peripheral edge 7 Adhering member 7a Peripheral edge 14 Lock device 16 Piston 17 Cylinder 21 Lock pin 22 Conical cam 37 Cam portion 38 Cam surface

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-117087 (JP, A) JP-A-60-52285 (JP, A) JP-A-3-43174 (JP, A) JP-A-1- 289691 (JP, A) Japanese Utility Model 1983-184291 (JP, U) Japanese Utility Model 62-9035 (JP, Y2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 15/00-15 / 08 B23B 31/107

Claims (1)

(57) [Claims] 1. A tool holding device in which an attachment member provided with a tool is detachably mounted on an apparatus main body provided at a tip of an operation arm, wherein the apparatus main body can be moved forward and backward in a radial direction by pressing a conical cam. A lock device having a plurality of lock pins disposed thereon, and a seating surface facing the attached member, wherein the attached member is formed in a ring shape surrounding the outside of the lock device, and the upper surface is formed on the seating surface. A cam portion that projects inward at least at a position radially outward of the lock pin on the inner peripheral surface side of the adherend member, The cam surface is formed to be inclined so as to approach the axis of the lock pin as going outward in the radial direction of the lock pin. Press on seating surface When the lock pin is engaged with the cam portion, the inclination angle of the cam surface at the pressing point of the conical cam pressing the lock pin is smaller than the inclination angle of the cam surface on the tip side of the conical cam. A tool holding device characterized in that: