JPH0588845U - Tool holding device, tool desorption tool, and tool changing device - Google Patents

Abstract

(57) [Summary] [Purpose] Make sure to remove the tool with a small force to improve the efficiency of tool replacement work. [Structure] A base casing 1 having an inner surface at the front end formed into a tapered surface 1c, a front casing 2 having a tapered surface 2b engaging with the tapered surface 1c and a tool 2i on the lower side, and a front casing. And a lever 3a for removal. The tip of the lever 3a is inserted between the base casing 1 and the front casing 2, and the rear portion thereof is the base casing 1.
Extends to the outside. Then, by applying a force to the rear portion, the front casing 2 is moved by levering the inserted front end portion.
Is removed from the base casing 1.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a tool holding device, a tool attaching / detaching tool, and a tool changing device. More specifically, the present invention relates to a tool holding device for accommodating a drive shaft which is driven to rotate by a drive source. In a tool holding device that performs a predetermined work in a state where the base of the tool is engaged with the tapered recess in the tapered surface, it is possible to ensure that even if a large load is applied to the tapered surface engaging portion. The present invention relates to a tool holding device capable of releasing a taper surface engagement and removing a tool, a tool attaching / detaching tool for easily and manually releasing a taper surface engagement, and a tool changing device capable of automatically performing tool exchange.

[0002]

[Prior Art]

 In various fields, it has been practically practiced to mount a desired tool on a hand portion of an industrial robot to automate work. Further, in a specific work, for example, a polishing work, it is necessary to replace various kinds of tools in order to carry out the work, and therefore it is required to replace the tools attached to the hands of the industrial robot. In order to satisfy these requirements, there has been proposed a tool holding device that holds a tool in a removable manner.

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. In this polishing tool holding device, a base casing 52 that surrounds the driving shaft is provided inside a housing 51 that houses a driving shaft (not shown) that is rotationally driven by a driving source, and also engages with the driving shaft. A front casing 53 that accommodates the driven shaft is detachably attached to the base casing 52. The front casing 53 is divided into an upper member 53a and a lower member 53b as a whole because a bearing or the like must be interposed in order to accommodate the shaft inside so that the shaft can rotate, and they are integrated by a tightening bolt 53c. Has been done. Since the housing 51 is mounted on the hand of the industrial robot, by exchanging only the front casing 53, the optimum polishing tool 53e can be used according to the type and stage of the polishing work.

Further, in order to easily attach / detach the front casing 53 to / from the base casing 52, the inner surface of the front end portion of the base casing 52 is formed into a tapered surface 52 a, and the upper portion forming the front casing 53 is formed. The outer surface of the member 53a is formed as a tapered surface 53d that engages with the taper surface 52a. Further, in this case, the engaging recessed groove 53f is formed at a predetermined position of the tapered surface 53d of the upper member 53a, and at the same time, the engaging recess 53f penetrates the lower portion of the base casing 52 and projects inward. By providing the projection 52b and engaging the engagement projection 52b with the engagement groove 53f, the front casing 53 is held in a retaining shape. If this configuration is adopted, the polishing tool 53e is mounted only by operating the industrial robot and engaging the base casing 52 with the front casing 53 supported at a predetermined position by the tapered surface engagement. This improves workability.

[0005]

[Problems to be solved by the device]

 However, in general, even when the machining accuracy of the tapered surfaces 52a and 53d is improved, when polishing work with the polishing tool 53e is performed, especially when a large pressing force is continuously applied for a long time in order to improve the polishing work efficiency. Since the pressing force, that is, the large force in the direction in which the tapered surfaces 52a and 53d are pushed in and considerable vibration are applied, even if the uniform engagement state is maintained over the entire range of the tapered surfaces 52a and 53d, The casing 53 is gradually press-fitted, and when replacing the front casing 53, it may become extremely difficult to remove the front casing 53.

[0006] This difficulty in extraction is in the case of a swing tool that swings the tool by equipping the tip casing 53 with a mechanism that changes the rotational movement of the driving shaft into swing movement. The vibration applied to 53 is further increased, so that it is further increased. To solve this problem, it may be possible to reduce the angle of the tapered surfaces 52a and 53d so that the front casing 53 can be easily removed from the base casing 52. However, to reduce the angle of the tapered surfaces 52a and 53d, There is a problem that the vertical dimension of the casing 52 and the front casing 53 becomes large, and the device becomes large in size.

[0007] Although the front casing 53 is detached from the base casing 52 by a worker in many cases without using a tool changer, the front casing 53 may be manually replaced. However, the front casing 53 cannot be manually removed. Note that when replacing the front casing 53, it becomes extremely difficult to remove the front casing 53, as shown in FIG. 12, as shown in FIG. 12, a rubber plate is provided at the end of the tapered surface 53d of the front casing 53. By interposing the elastic material layer 58 such as the above, it is possible to prevent the front casing 53 from being press-fitted due to vibration and facilitate the extraction of the front casing 53 from the base casing 52. Proposed in 120364. However, even when this configuration is adopted, when it is applied to a large pressing force and a continuous application for a long time, the polishing tool 62 is not held sufficiently and the tapered surface 52a of the front casing 52 is May be damaged by rubbing. On the contrary, if the elastic material layer 58 is removed, the front casing 53 becomes difficult to remove due to the adhesive force of the tapered surfaces 52a and 53d.

[0008]

[The purpose of the device]

 This invention was made in view of the above circumstances, and even when a large load is applied to the tapered surface engaging portion, the front casing can be reliably removed with a small force, and the tool It is an object of the present invention to provide a tool holding device, a tool attaching / detaching tool, and a tool changing device that can improve the efficiency of replacement work.

[0009]

[Means for Solving the Problems]

 To achieve the above object, a tool holding device according to claim 1 has a tapered recess formed at a tapered surface for engaging a base of the tool, and the base of the tool is tapered. In a tool holding device that rotationally drives a tool in a state where it is detachably engaged with a taper surface, one end is located between the facing surfaces of the tool base and the tip of the tool holding device. The tool holding device includes a disengagement member in which an engagement point with one of the tips of the tool holding device is a fulcrum, an engagement portion with the other is an action point, and the other end is a force point.

According to a second aspect of the present invention, there is provided a tool attaching / detaching tool having a tapered recess formed at a tapered surface for engaging with a base of the tool, the base of the tool being removable from the tapered recess. A tool attaching / detaching tool detachably attached to a tool holding device that rotationally drives a tool with the taper surface engaged, wherein the tool holding device includes a base of the tool and a tip of the tool holding device. Between the opposing surfaces of the tool, the engagement point with one of the base part of the tool and the tip of the tool holding device is the fulcrum, the engagement part with the other is the action point, and the other end is the force point. And a rotating member rotatably connected to the base body, the base member releasably engaging the tip of the tool holding device or the tool, and the rotating member. A predetermined position that extends almost parallel to the tip of the holding device is formed at the force point. At the same time, the upper predetermined position is set as an action point that engages with the force point of the disengagement member.

According to another aspect of the tool changer of the present invention, the taper-shaped recess formed on the tapered surface is engaged with the base of the tool, and the base of the tool is removable from the tapered recess. In a tool changer including a tool holding device that rotationally drives a tool with the taper engaged with the taper and a tool support part that supports the tool removed from the tool holding device, the tool holding device is Is located between the opposing surfaces of the base of the tool and the tip of the tool holding device, the engagement point with one of the base of the tool and the tip of the tool holding device is the fulcrum, and the engagement with the other is the action point. And the other end includes a disengagement member having a force point, and the tool support part supports the tool removed from the tool holding device and the tool support part supports the tool. Whether or not there is a discriminating means for discriminating whether or not there is a force point of the engagement releasing member. And a control means for operating the releasing force acting means in response to the determination result of the determining means indicating that the tool is not supported by the tool supporting member. Is included.

[0012]

[Action]

 According to the tool holding device of claim 1, one end of the tool holding device is located between the facing surfaces of the base of the tool and the tip of the tool holding device, and the base of the tool and the tip of the tool holding device are Since the engagement point with one is the fulcrum, the engagement part with the other is the action point, and the other end is the force point, the distance between the fulcrum and the action point can be shortened. The tool can be easily removed by applying a small force to the end. Therefore, even when a large amount of pressing force is continuously applied to the tool, the base of the tool press-fitted into the tip of the tool holding device can be easily removed, which in turn increases the pressing force. It is possible to achieve the accompanying improvement in work efficiency. Further, since a load is hardly applied to the portion supporting the disengagement member, the size of the disengagement member for obtaining sufficient disengagement force can be reduced, and space saving can be achieved.

According to the tool attaching / detaching device of the second aspect, the tool and the rotating member are simultaneously gripped and rotated while the upper predetermined position of the rotating member is engaged with the force point of the disengagement member. The tool can be removed at any position by a simple manual operation that only rotates the member. Also, due to the synergistic effect of the lever action by the disengagement member and the lever action by the rotating member, the tool can be easily removed with an extremely weak force such that the tool and the rotating member are gripped with one hand. Therefore, the tool exchange work can be made efficient.

In the tool exchanging device according to claim 3, the determining means determines whether or not the tool is supported by the tool supporting member, and the controlling means indicates that the tool is not supported by the tool supporting 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. It is possible to reliably prevent damage to the tool and automate tool change.

[0015]

【Example】

 Embodiments will be described in detail below with reference to the accompanying drawings. FIG. 1 is an exploded perspective view of an embodiment of a tool holding device of the present invention, FIG. 2 is a longitudinal sectional view of an essential part after mounting a front casing, FIG. 3 is a longitudinal sectional view of an essential part, and FIG. FIG. 5 is a vertical cross-sectional view of a main part, showing a state afterward.

The tool holding device of this embodiment has a base casing 1, a front casing 2, and a front casing removing mechanism 3. The base casing 1 is slidably accommodated within a front end side of a housing 1b that accommodates a driving shaft (not shown) that is rotationally driven by a drive source 1a. The base casing 1 is formed with a tapered surface 1c (see FIG. 2) in which the inner surface of the tip portion expands toward the tip side, and further, the engagement shaft member 1d is biased to penetrate a predetermined position near the tip and project toward the inner surface. have. A notch 1g is provided at the tip of the base casing 1 at a predetermined circumferential position, and the notch 1g includes a protrusion 2k of a front casing 2 described later and a tip 3f of a lever 3a of the front casing removing mechanism 3. Is inserted. Further, a pair of fixing portions 3b on which a support shaft 3e of the front casing removing mechanism 3 is horizontally mounted are provided on both sides above the notch 1g of the base casing 1. Further, the base casing 1 is provided with a pair of fluid ports 1f for supplying compressed fluid so as to selectively slide the base casing 1 in the opposite direction.

The front casing 2 is integrally connected to an upper member 2a having an outer surface formed on a tapered surface 2b engaging with the tapered surface 1c and a plurality of tightening bolts 2d for the upper member 2a. And a lower member 2c, which has a lower member 2c, and a dynamic force transmitting shaft 2e penetrating both members 2a, 2c is rotatably supported via a bearing 2f. A recess 2g that can be engaged 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 lower outer periphery of the tapered surface 2b of the front casing 2, and by fitting with a notch 1g provided in the base casing 1, the relative position between the base casing 1 and the front casing 2 is determined. Stipulate. Further, the outer circumference of the lower end of the upper member 2a projects outward to form a bearing flange 2j. When the front casing 2 is removed from the base casing 1, it is supported by the tool receiving frame body by the supporting flange 2j. The power transmission shaft 2e is connected to the shaft 2h and rotates the grindstone 2i attached to the tip of the shaft 2h.

FIG. 3 is a vertical cross-sectional view of a main part showing the front casing removing mechanism 3. The front casing removing mechanism 3 has a lever 3a, a support shaft 3e, and a fixed portion 3b to which the support shaft 3e is fixed. The lever 3a is provided with a teardrop-shaped opening 3d substantially at the center thereof and is loosely fitted to the support shaft 3e. The tip portion 3f of the lever 3a is located in the notch 1g of the base casing 1, and the rear portion 3g of the lever 3a is configured to protrude from the base casing 1 to the outside. Further, the lever 3a is biased by the spring 3c while being loosely fitted to the support shaft 3e, and the tip portion 3f of the lever 3a is not in contact with the protrusion 2k.

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

The operation of the tool holding device having the above structure is as follows. First, with the front casing removing mechanism 3 mounted on the base casing 1, as shown in FIG. 4, the front casing 2 to be mounted is attached to the tool exchange position of the industrial robot (tool receiving frame 6b). Place it in a certain position). In this state, an 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 1c of the base casing 1 becomes the tapered surface 2b of the front casing 2. Approximately match each other, and in this state, the base casing 1 is moved toward the front casing 2. At this time, by supplying the pressure fluid through one of the fluid ports 1f, the base casing 1 is kept out of the housing 1b up to the stroke end. Further, 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 project into the tapered recess 2g by applying pressure fluid. By doing so, when the robot moves (falls) to a predetermined position, the base casing 1 and the front casing 2 are joined by the tapered surfaces 1c and 2b. At this time, the driving shaft and the power transmission shaft 2e are also coupled at the same time. In this state, by supplying the pressure fluid to the opposite side of the lock cylinder, the recess 2g can be engaged with the engaging shaft member 1d and held so as not to drop the front casing 2. In this mounted state, the tip 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 base casing 1 and the front casing 2 are in close contact with each other. The tip portion 3f is interposed without affecting the sex (see FIGS. 2 and 3).

Next, by moving the robot in the direction in which the tool receiving frame body 6b extends, the front casing 2 is removed from the tool receiving frame body 6b, and the tip portion 3f is left in a state where the tip casing 3f is interposed and polishing work or the like is performed. Perform the prescribed work. Then, when the work is completed and the tool needs to be replaced, the industrial robot is operated to move the base casing 1 to the tool replacement position again, and the bearing flange of the front casing 2 is supported. 2j is positioned between the recesses of the tool receiving frame 6b. Then, the engaging shaft member 1d is actuated outward by applying a pressure fluid, so that the front casing 2 can be removed. However, when the taper surface 2b of the front casing 2 is difficult to fit into the taper surface 1c of the base casing 1 due to the vibration caused by the polishing work, the robot can be moved upward and hooked in the concave portion of the tool receiving frame 6b. Then, the front casing 2 may not come off. Therefore, before moving the robot upward, first, the lever 3a is tilted in the notch 1g to cause the lever 3a to act at the tip 3f so that the base casing 1 and the front casing 2 are in close contact with each other. After making the gap, the front casing 1 is removed. The movement of the lever 3a that creates the gap at this time will be described in more detail.

FIG. 5 is an enlarged cross-sectional view showing the movement of the lever 3a when the lever action is generated. When a force (see F in the figure) is applied to the rear portion 3g of the lever 3a in the direction of approaching the base casing 1 about the support shaft 3e, and the lever 3a is rotated, the front end portion 3f of the lever 3a is moved to the front portion. The upper surface 2m of the protrusion 2k of the casing 2 is inclined to form an angle θ. Further, since the opening 3d into which the support shaft 3e is inserted is formed to be sufficiently larger than the support shaft 3e, when the rear portion 3g is lifted upward, before the support shaft 3e engages with the opening 3d. Since it engages with the base casing 1, it is possible to prevent a large force from being applied to the support shaft 3e. Therefore, the force F applied to the rear portion 3g of the lever 3a is used as leverage at the engagement point P1 of the upper surface 2m of the protrusion 2k and the engagement point P2 of the cutout 1g of the base casing 1, and is used as the front casing 2. The biting of the taper surfaces 2b and 1c with the base casing 1 can be efficiently released. That is, when the force F is applied in the direction approaching the base casing 1, the engaging portion P2 serves as a lever fulcrum, the engaging point P1 serves as the point of action, and the point to which the force F of the rear portion 3g is applied serves as the working point. The ratio between the length between P2 and the engagement point P1 and the length between the engagement point P2 and the force point becomes extremely large, so that a small force can form a gap between the base casing 1 and the front casing 2.

After the gap is formed, the engaging shaft member 1d is operated outward, and the pressure fluid is supplied through the other fluid port 1f to draw in the base casing 1 to draw the driving shaft and the power transmission shaft. The front casing 2 can be removed from the base casing 1 by disengaging it from 2e.

[0024]

[Embodiment 2] In FIG. 6, when the lever 3a is rotated to release the bite of the taper surfaces 2b and 1c between the front casing 2 and the base casing 1, the front casing 2 and the base portion can be easily operated manually. FIG. 3 is a perspective view showing a tool attaching / detaching tool 5 capable of forming a gap between casings 1.

The tool attaching / detaching tool 5 is rotatably held near the center of the base body 5a having a U-shaped cross section, a shaft 5b spanning between the side surfaces of the base body 5a, and the center of the shaft 5b. And a rocking lever 5c. The oscillating lever 5c has a wedge shape, and a portion 5d (the tip of the wedge) that is distant from the shaft 5b is a portion for applying force by grasping it with a hand, and a portion 5e (the wedge of the wedge) close to the shaft 5b. The rear end surface) is a portion for applying a force to the rear portion 3g of the lever 3a in the direction of removing the front casing 2. Further, notches 5f capable of accommodating the flanges 2j are provided at predetermined positions on both side surfaces of the base body 5a. Further, slide prevention cylinders 5g of the swing lever 5c are provided on both sides of 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 attached to the base casing 1. The tool attachment / detachment tool 5 is fixed to the front casing 2 by fitting the notch 5f of the base body 5a into the support flange 2j of the front casing 2. From this state (shown by the one-dot chain line), while holding the front casing 2 by hand, hold the front portion 5d of the wedge of the swing lever 5c and push in the direction approaching the front casing 2 (see the X direction in the figure). Then, 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 attaching / detaching tool 5, the lever 3a can be moved upward with a smaller force, the front casing 2 can be easily removed by the force of the operator's hand, and the tip of the industrial robot can be removed. The front casing 2 can be removed from the base casing 1 without dropping the front casing 2 with the portion fixed at an arbitrary position.

In this embodiment, the case where the base body 5a of the tool attaching / detaching tool 5 is fixed to the supporting flange 2j of the front casing 2 has been shown, but a strong locking member is provided on the base casing 1. The base body 5a of the tool attaching / detaching tool 5 may be fixed to the locking member. Further, the shapes of the base body 5a and the swing lever 5c may be various structures other than the structure shown in FIG. For example, the base body is not a base body 5a having a U-shaped cross section, but a rectangular parallelepiped body in which a shaft 5b is integrally erected on the base body and has a notch, and the base body has a rectangular parallelepiped shape and a wedge shape. The swing levers may be attached so as to overlap each other.

[0028]

Third Embodiment FIGS. 8 and 9 are views for explaining a tool changing device for automatically removing the front casing 2, respectively. FIG. 8 is a side view of the tool changing device, and FIG. 9 is a tool changing device. It is a top view. The tool changing device 6 includes a main body portion 6a, a plurality of tool receiving frame bodies 6b for supporting tools via the flanges 2j of the front casing, and whether or not each tool receiving frame body 6b has tools. It has a tool detector 6c for detecting, a moving member 6d for moving the lever 3a upward, a drive cylinder 6e for driving the moving member 6d, and a controller 6j for controlling the drive cylinder 6e.

As shown in FIGS. 8 and 9, the moving member 6d is rotatably supported by a supporting member 6k at its end, and one end 6n on the side of the tool receiving frame 6b is attached to the piston 6f of the drive cylinder 6e. The plurality of end portions 6m on the tool receiving frame body 6b side are connected to each other and project into the bearing space of each tool receiving frame body 6b. Therefore, by driving the piston 6f of the drive cylinder 6e upward, all the end portions 6m protruding into the bearing space are rotated upward, and by driving the piston 6f of the drive cylinder 6e downward, all the end portions 6m are moved downward. Turn to. Further, 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 detection result of the tool detector 6c indicating that there is no tool in the tool receiving frame 6b, which is the planned tool attachment / detachment position, and the position detector 6h indicating that the piston 6f is located in the lower portion. , 6i, 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-described configuration will be described with reference to this flowchart.

First, in step SP1, it is determined based on the output of the tool detector 6c whether or not there is already a tool on the tool receiving frame 6b. If it is determined that there is no tool, the tool can be attached / detached. Therefore, in step SP2, it is determined whether or not the piston 6f of the drive cylinder 6e is in the opposite position to the removal side based on the output of the position detector 6i. To do. When it is determined that the piston 6f of the drive cylinder 6e is located on the side opposite to the detaching side, in step SP3, the industrial robot is driven to support the flange of the front casing 2 mounted on the base casing 1 for supporting the flange. 2 j is moved toward the main body portion 6a of the tool changing device 6 while being fitted in the concave portion of the tool receiving frame body 6b, and in step SP4, a predetermined position of the tool receiving frame body 6b, that is, the front casing removing mechanism. It is determined whether or not the front casing 2 has moved to a predetermined position where the end 6m 1 of the moving member 6d is located below the lever 3a of No. 3. Then, when it is determined that the front casing 2 has not reached the predetermined position of the tool receiving frame body 6b, the process of step SP3 is repeated again. In step SP4, when it is determined by the output of the tool detector 6c that the predetermined position has been reached, in step SP5 the engaging shaft member 1d engaged with the recess 2g is retracted. , The holding of the front casing 2 of the base casing 1 of the tool holding device is released.

Next, in step SP6, the piston 6f of the drive cylinder 6e is removed, and the piston 6f is driven upward. Then, in step SP7, it is determined whether or not the position of the piston 6f of the drive cylinder 6e reaches the removal position of the front casing 2 based on the output of the position detector 6h. If it is determined that it has not arrived, the process 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 the 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, which is the planned tool replacement position, the tool cannot be replaced. Therefore, in step SP9, the operation is stopped and the operator is given a warning lamp or the like. Call attention to. In step SP2, when the piston 6f of the drive cylinder 6e is not in the position opposite to the detaching side, the end 6m of the moving member 6d is located above, and when the piston 6f is moved as it is, the end 6m of the moving member 6d is moved. Collides with the lever 3a or the end 6m of the moving member 6d is located above the lever 3a, so the work is stopped and the operator is alerted.

Thus, by providing the tool exchanging device for exchanging the tool attached to the front casing 2 with the front casing 2 with the moving member 6d for moving the lever 3a in the direction of removing the front casing 2, The front casing 2 can be removed easily and automatically.

In this embodiment, the means for moving the lever 3a upward is constituted by the combination of the moving member 6d and the drive cylinder 6e, but other than that, a drive mechanism such as a motor or a solenoid may be used. .. The present invention is not limited to the above-described embodiment, and various design modifications can be made within the scope of the invention. For example, the configuration of the front casing removing mechanism 3 is not limited to the configuration in which the support shaft 3e supports the opening 3d of the lever 3a, but the tip portion 3f of the lever 3a is substantially tilted by a slight angle, and the tip portion 3f thereof is substantially inclined. In the above, there is no particular limitation as long as it is a mechanism for forming the fulcrum and the action point.

Further, in the above-mentioned embodiment, the polishing tool for polishing the object has been described as an example, but the tool is not limited to the polishing tool, and the tool is attached to the hand part of the industrial robot by the combination of the tapered surfaces. It is a holding device, and if it is difficult to remove the front casing due to the indentation of the tapered surface, the application of the tool attached to the front casing (grabbing an object, scraping an object, making a hole in an object, etc.) This device can be applied regardless of

[0037]

[Effect of the device]

 As described above, according to the invention of claim 1, since the one end of the disengagement member is located between the facing surfaces of the base part of the tool and the tip part of the tool holding device, the distance between the fulcrum and the action point. The tool can be shortened and miniaturized, and the tool can be easily and reliably removed using the lever by simply applying a small force to the other end, making the tool replacement work more efficient and pressing it. It has a practicable effect peculiar to being able to improve work efficiency accompanied by being able to increase power.

According to a second aspect of the present invention, the tool and the rotating member are simultaneously gripped and the rotating member is rotated in a state in which a predetermined upper position of the rotating member is engaged with the force point of the disengagement member. It has a unique practical effect that the tool can be removed by a simple manual operation, and the efficiency of the replacement work can be improved when the tool is manually replaced.

According to the third aspect of the invention, the control means responds to the determination result of the determination means, which indicates that the tool is not supported by the tool support member, in response to the release force acting means with respect to the force point of the engagement release member. Since the engagement disengagement force is applied, the tool can be removed only when the tool can be removed and attached, and it is possible to reliably prevent damage to the tool and also to automate the tool change. Produce the desired effect.

[Brief description of drawings]

FIG. 1 is an exploded perspective view of a 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 mounting a front casing.

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

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

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

FIG. 6 is a perspective view of a tool attaching / detaching tool of the present invention.

FIG. 7 is a longitudinal sectional view of an essential part showing the operation of the tool attaching / detaching tool of the present invention.

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

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

FIG. 10 is a flowchart showing the operation of the tool changer 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]

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

Claims (3)

[Scope of utility model registration request] 1. A tool base (2) formed on a tapered surface.
A tool holding tool that has a tapered recess that engages with the distal end portion (1) and rotationally drives the tool with the base portion (2) of the tool detachably engaged with the tapered recess in a tapered surface. In the device, one end is located between the opposing surfaces of the base (2) of the tool and the tip (1) of the tool holder, and the base (2) of the tool and one of the tip (1) of the tool holder are Is a fulcrum, an engaging portion with the other is an action point, and the other end includes an engagement releasing member (3a) which is a force point. 2. A tool base (2) formed on a tapered surface.
A tool holding tool that has a tapered recess that engages with the distal end portion (1) and rotationally drives the tool with the base portion (2) of the tool detachably engaged with the tapered recess in a tapered surface. A tool attachment / detachment device (5) removably attached to a device, wherein the tool holding device is located at one end between facing surfaces of a base part (2) of the tool and a tip part (1) of the tool holding device. An engagement releasing member whose engagement point with one of the base portion (2) of the tool and the tip end portion (1) of the tool holding device is a fulcrum, the engagement portion with the other is an action point, and the other end is a force point A base (5a) including (3a), which is detachably engaged with the tip portion (1) of the tool holding device or the tool, and a rotating member (5c) rotatably connected to the base (5a). Including and
A predetermined position of the rotating member (5c) extending substantially parallel to the tip portion (1) of the tool holding device is formed at the force point, and an upper predetermined position is engaged with the force point of the disengagement member (3a). A tool attaching / detaching tool characterized by being set at an action point. 3. A tool base (2) formed on a tapered surface.
A tool holding tool that has a tapered recess that engages with the distal end portion (1) and rotationally drives the tool with the base portion (2) of the tool detachably engaged with the tapered recess in a tapered surface. A tool changing device (6) including a device and a tool supporting part (6a) for supporting a tool removed from a tool holding device,
One end of the tool holding device is located between the opposing surfaces of the tool base (2) and the tool holding device tip (1), and the tool base (2) and the tool holding device tip (1) are The tool bearing portion (6a) includes a disengagement member (3a) in which an engagement point with one is a fulcrum, an engagement portion with the other is an action point, and the other end is a force point. A tool support member (6b) for supporting the tool removed from the device, and a tool support member (6
discriminating means (6c) for discriminating whether or not the tool is supported by b), releasing force acting means (6e) for exerting an engagement releasing force on the force point of the engagement releasing member (3a), and a tool And a control means (6j) for operating the releasing force acting means (6e) in response to the determination result of the determination means (6c) indicating that the tool is not supported on the support member (6b). Characteristic tool changer.