JPH0642091U - Tool change coupling device - Google Patents

Abstract

(57) [Abstract] [Purpose] A tool exchange coupling device for coupling a tool to a robot arm by coupling a robot side member attached to a robot arm and a tool side member attached to a tool has a simple structure and a high load. Withstands vibrations and shocks so that the bonded state can be maintained well. [Structure] The pin 5 is provided on the coupling surface 34 side of the robot side member 12.
A pair of eccentric cams 56 are provided so as to be rotatable around 8, and an air cylinder 36 is provided to drive the output rod 38 protruding from the coupling surface 34 to retract and drive, while a receiving hole 78 formed in the coupled surface 76 of the tool-side member 14 is provided. Within
A cam surface 82 that expands from the opening side toward the inside is provided, and the eccentric cam 56 and the cam surface 82, which are rotated outward by the engagement with the output rod 38 driven to protrude, are engaged and tightened. Apply force.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a tool exchanging connecting device for selectively connecting a plurality of types of tools to the tip end side of a robot arm, and particularly to a technique for strengthening the connection between a robot side member and a tool side member. It is about improvement.

[0002]

[Prior art]

 Industrial robots that automatically perform various tasks such as assembly, cutting, welding, and polishing are often used. However, in order to use one robot for multiple purposes, you can select multiple types of tools that perform certain tasks. Some are configured so that they can be connected to a robot arm. In order to facilitate smooth tool exchange, such robots have a robot-side member that is attached to the robot arm with a connecting surface that is perpendicular to the connecting direction with the tool, and is closely attached to the connecting surface. In recent years, there has been an increasing number of cases in which a tool exchanging connecting device including a tool-side member that is attached to a plurality of types of tools and that is integrally connected to a robot-side member is provided with a coupled surface to be coupled.

The tool changing coupling device shown in FIG. 11 is an example thereof, and a fitting protrusion 126 having a plurality of steel balls 124 in a circumferential direction on a coupling surface 122 of the robot side member 120 so as to be radially movable. On the other hand, the tool-side member 128 is provided with a housing hole 132 that is open to the coupled surface 130 side and that allows the fitting protrusion 126 to be inserted and withdrawn. At the time of the connection shown in FIG. 12, when the pressure air is supplied to one pressure chamber 136 of the air cylinder 134 provided inside the robot side member 120 with the fitting protrusion 126 inserted into the accommodation hole 132, By moving the piston 138 to the coupling surface 122 side and pushing out the plurality of steel balls 124 engaged with the output rod 140 thereof, they are engaged with the reverse taper surface 142 in the accommodation hole 132. The robot-side member 120 and the tool-side member 128 are joined together with the joining surface 122 and the joined surface 130 in close contact with each other. The connection surface 122 and the connection surface 130 are generally provided with various connection terminals and connection ports for connecting electric signals, air pressure, large-capacity current, cooling water, etc. so that they can be supplied. They are supplied to the tool side.

[0004]

[Problems to be solved by the device]

 However, in the connected state of the tool exchanging connecting device of FIG. 12, the projecting dimension of the steel ball 124 that can project outward from the outer peripheral surface of the fitting protrusion 126 can be increased as the diameter of the steel ball 124 is increased. Since there is a restriction on the design such as holding the steel ball 124 so that it cannot be removed, the protruding size is limited, and the engagement margin between the steel ball 124 and the tool side member 128, that is, the size d in FIG. small. Further, since the fitting projection 126 is linearly moved in the radial direction and engages with the reverse taper surface 142, the steel ball 124 moves in a direction (projection direction) for generating a tightening force at the time of engagement. The amount of movement is also small, and it is inevitable that the tightening force will change significantly due to an extremely slight displacement.

For this reason, the coupling state between the robot side member and the tool side member is likely to become unstable due to dimensional error and wear of the engaging portion, and such a conventional device is used for a press-fitting machine or the like to which a relatively high load is applied. Not applicable to processing equipment, and when vibration or impact is involved, slight wear of the engagement part causes rattling between the robot side member and the tool side member, resulting in pressure air leaks, etc. However, there is a problem in that the connection may be broken in some cases. In addition, it is necessary to dispose a leaf spring or the like in order to prevent the steel balls from falling off, which complicates the structure and increases the cost, and there is also an inconvenience that the repair requires labor.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a tool having a simple structure capable of withstanding a high load and maintaining a good coupled state against vibration and impact. To provide a replacement coupling device.

[0007]

[Means for Solving the Problems]

 In order to achieve such an object, the gist of the present invention is to have a connecting surface perpendicular to the connecting direction in order to selectively connect a plurality of types of tools for performing a predetermined work to the robot arm. A robot-side member attached to the robot arm, and a tool-side member that is attached to each of the plurality of types of tools and has a surface to be joined that is brought into close contact with the joining surface, and that is integrally joined to the robot-side member. (A) A tool exchange coupling device comprising: (a) an integral part of the robot side member, wherein the pressure air is selectively supplied to a pair of pressure chambers so that the tip end portion is on the coupling surface side. An air cylinder that drives the output rod that protrudes to and retracts, and (b) is rotatable about the output rod about an eccentric axis that is orthogonal to the output rod. A plurality of eccentric cams, which are disposed on the member and are engaged with the output rod to be eccentrically rotated outward when the output rod is driven to project; and (c) the coupled surface of the tool-side member. A housing hole that is open to the side to allow insertion and extraction of the output rod and the plurality of eccentric cams when the output rod is not driven to protrude, and (d) the housing hole The plurality of eccentric cams, which are provided on the inner peripheral surface of the casing so as to expand from the opening side toward the inside and are inserted into the accommodation holes, are eccentrically rotated outward by the output rod. It has a cam surface that is engaged with the outer peripheral portions of the plurality of eccentric cams and that exerts a tightening force so that the coupled surface and the coupling surface come into close contact with each other.

[0008]

[Effect of action and device]

 In such a tool exchange coupling device, the coupling surface of the robot side member attached to the robot arm is brought close to the coupled surface of the tool side member attached to the tool so that the tool side member When a plurality of eccentric cams are inserted into the housing holes of the air cylinders and pressure air is supplied to one of the pressure chambers of the air cylinder and the output rod is ejected in that state, the plurality of eccentric cams engaged with the output rods. Is eccentrically rotated outward. As a result, the outer peripheral portions of the eccentric cams are engaged with the cam surfaces provided in the accommodation holes, and a tightening force is applied so that the coupled surface and the coupling surface come into close contact with each other. And the tool side member are integrally connected.

At this time, since the plurality of eccentric cams have a structure of rotating around the eccentric shaft perpendicular to the output rod and projecting to the outer peripheral side, a sufficiently large engagement margin between the eccentric cam and the tool side member is secured. it can. Further, these eccentric cams can be brought into sliding contact with the cam surface at a relatively large rotation angle as the output rod projects, and gradually increase with the rotation. Since the tightening force can be applied, the change in the tightening force with respect to the rotation amount is relatively small, and it becomes difficult for the tightening force to rotate in the loosening direction due to vibration or impact, and the decrease in the tightening force is suppressed. Therefore, a stable connected state can be obtained regardless of dimensional error and wear of the engaging portion, and the robot side member and the tool side member are firmly and reliably connected. As a result, it can be applied to processing devices such as press-fitting machines that are subject to comparatively high loads, and even when vibration or impact is involved, it is possible to achieve early operation between the robot side member and the tool side member. It prevents rattling and disconnection.

Further, since the eccentric cam is eccentrically rotatable attached to the robot side member by a pin or the like, its structure is simpler and less expensive than the conventional case in which the steel ball is held irremovably. Therefore, repairs can be easily performed.

[0011]

【Example】

 An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a cross-sectional view showing a tool changing coupling device 10 according to an embodiment of the present invention. The robot side member 12 shown in detail in FIGS. 2 to 5 and the robot side member 12 shown in FIGS. 6 to 8 are shown in detail. The tool-side member 14 is formed. FIG. 2 is a front view showing a part of the robot side member 12 attached to the tip of the robot arm 16 in a partially cutaway view. The robot side member 12 is integrally connected to the tool side member 14 shown in FIG. By doing so, the tool is connected to the robot arm 16. The main body portion of the robot side member 12 includes a plurality of bolts 24 (four in this embodiment), each of which is a robot side mounting plate 18, an intermediate block 20, and a robot side fastening plate 22 in order from the robot arm 16 side. 26 and the like are integrally assembled. A fitting recess 28 is formed on the robot arm 16 and a fitting projection 30 is provided on the mounting plate 18, and a plurality (three in the present embodiment) of the fitting projections 30 are fitted to each other. The robot side member 12 is attached to the robot arm 16 by fastening the attachment plate 18 with the bolt 32.

The lower surface of the fastening plate 22 is a connecting surface 34 perpendicular to the connecting direction with the tool-side member 14, that is, the downward direction in FIG. 2, and from the center of the connecting surface 34, the robot side member 12 An output rod 38 of the air cylinder 36 integrally provided inside projects downward. The output rod 38 is formed integrally with a piston 42 which is arranged in a cylinder bore 40 formed in the center of the intermediate block 20 so as to be movable in the vertical direction in the figure. On the other hand, a pair of supply ports 44 and 46 are formed in the radial direction from the side surface of the intermediate block 20 so as to be separated from each other in the vertical direction in the figure, and communicate with upper and lower pressure chambers 48 and 50 in the cylinder bore 40, respectively. Has been made. By selectively supplying pressure air from a supply source (not shown) to these pressure chambers 48 and 50, the piston 42 is moved downward and upward, so that the output rod 38 is pushed out and driven. There is. 2 shows the ejecting drive state, and FIG. 3 shows the retracting drive state. In the push-out drive state, the piston 42 abuts the fastening plate 22 to define the moving end of the output rod 38 on the push-out side, and in the pull-in drive state, the piston 42 abuts the bolt 32 to output the output rod 38. A retracted moving end of 38 is defined.

The air cylinder 36 is provided with a compression coil spring 52 between the mounting plate 18 and the piston 42, which constantly urges the piston 42 downward in FIG. A seal member is appropriately arranged between the members forming the air cylinder 36, and the inside is hermetically sealed so as to prevent air leakage. The output rod 38 is made of steel material having high hardness such as tool steel.

A pair of positioning pins 54 are provided on the fastening plate 22 so as to project in the connecting direction, and a pair of eccentric cams 56 that engage with the output rod 38 are disposed at symmetrical positions around the output rod 38. ing. The pair of eccentric cams 56 has a substantially cylindrical roller shape, and pins 58 are inserted through bearing holes offset from the center, respectively. It is rotatably supported around the pin 58 as an eccentric shaft supported at a right angle. The eccentric cam 56 is made of steel material having high hardness such as tool steel. In the engaged state when the output rod 38 is projected as shown in FIG. 2, the pair of eccentric cams 56 are eccentrically rotated outward while being in contact with the straight portion 38a of the output rod 38. In the non-engaged state in which the output rod 38 is pulled in as shown in 3, the pair of eccentric cams 56 are eccentrically rotated inward until they come into contact with the tapered portion 38b on the tip end side of the output rod 38, as shown in FIG. To be allowed. In addition, when no external force acts on the pair of eccentric cams 56 in a state where the coupling surface 34 faces vertically downward, as shown by the alternate long and short dash line in FIG. Become.

FIG. 4 is a view of the robot side member 12 as viewed from the side of the coupling surface 34. As can be seen from this figure, the outer peripheral surfaces of the pair of eccentric cams 56 have an arbitrary cylindrical roller center. In the cross section, it has a partially spherical shape that is curved with a predetermined curvature so that the central portion bulges outward. Further, on the coupling surface 34, a plurality of connection ports 64 communicated with a plurality of systems (six systems in total in this embodiment) of pneumatic ports 62 are provided at a distance from the pair of positioning pins 54 and the plurality of bolts 26. They are spaced apart from each other in the circumferential direction. In FIG. 5 showing the VV cross section in FIG. 4, the plurality of systems of pneumatic ports 62 are provided with the inlet side opened to the side surface of the intermediate block 20, and the insides of the intermediate block 20 and the fastening plate 22 are provided. It is communicated with the connection port 64 via a pipe line 65 penetrating therethrough. The connection ports 64 are formed in an inverted pyramid shape that widens toward the open end. 4 and 5, the connector block 66 shown by the alternate long and short dash line is integrally provided on the robot side member 12 for connecting electric signals and the like, and is provided with a large number of connection terminals not shown. , And is connected to the other connector block 68 (see FIG. 7) that is integrally arranged on the tool side member 14.

On the other hand, in the tool-side member 14 shown in FIG. 6, the tool-side fastening block 70 and the tool-side mounting plate 72 are integrally configured by fastening bolts 74. The fastening block 70 is provided with a housing hole 78 for housing the output rod 38 and the pair of eccentric cams 56 in the center so as to open to the upper surface in the drawing, that is, the coupled surface 76, and the pair of positioning pins. A pair of positioning holes 80 are formed corresponding to 54. The opening dimension of the accommodation hole 78 is set to be slightly larger than the maximum outer diameter when the eccentric cam 56 is eccentrically rotated inward as shown by the solid line in FIG. The surface is provided with a cam surface 82 that expands in an inverted conical shape from the opening side toward the inside. The cam surface 82 is engaged with the pair of eccentric cams 56 in the state of being connected to the robot side member 12 shown in FIG. 1 so that a tightening force is applied so that the coupled surface 76 and the coupling surface 34 come into close contact with each other. The fastening block 70 is a portion to be acted on, and is made of a steel material having high hardness such as tool steel. Further, the mounting plate 72 is provided with a fitting hole 86 which is continuous from the accommodation hole 78 and opens to the end face 84 on the tool side, and a plurality of female screw holes 88 for fastening with a tool (not shown). It is formed on the end surface 84.

FIG. 7 is a view of the tool-side member 14 viewed from the coupled surface 76 side. On the coupled surface 76, a plurality of systems corresponding to the plurality of connection ports 64 on the coupling surface 34 side are respectively provided. A plurality of connecting projections 92, which are in communication with the respective pneumatic ports 90, are arranged so as to be spaced apart from each other in the circumferential direction. In FIG. 8 showing a section taken along line VIII-VIII in FIG. 7, the pneumatic ports 90 of the plurality of systems are formed such that the inlet side is opened to the side surface of the mounting plate 72 and penetrates the inside of the mounting plate 72. The connecting surface 76 is formed through the formed conduit 94 and the plug 96 made of an elastic body and provided in the fastening block 70 with the conical taper-shaped connecting projection 92 corresponding to the shape of the connecting port 64. It is communicated to the side.

The operation of the tool exchanging connecting device 10 configured as described above will be described below. First, with respect to a tool positioned and placed at a predetermined tool exchange position, the tool side member 14 attached to the tool and the robot side member 12 attached to the robot arm 16 are connected in a connecting direction, specifically, The robot arm 16 is appropriately driven so that the joining surface 34 faces the joined surface 76 in series in the vertical direction shown in FIG. Next, pressure air is supplied into the pressure chamber 50 of the air cylinder 36 via the supply port 46, and the output rod 38 is retracted and driven against the biasing force of the compression coil spring 52. Thus, the pair of eccentric cams 56 is held in a state of being eccentrically rotatable inward. The supply of pressurized air into the pressure chamber 50 may be performed prior to or in parallel with the above-mentioned preparation for connection.

Subsequently, the robot side member 12 is brought close to the tool side member 14 in that state, and the eccentric cams 56 come into contact with the open end of the accommodation hole 78, and the phantom line in FIG. The output rod 38 is fitted into the accommodation hole 78 while being rotated from the state to the solid line state. The left half of FIG. 1 shows this state. After that, the supply port 46 is made to communicate with the atmospheric pressure, and the pressure air is supplied into the pressure chamber 48 of the air cylinder 36 via the supply port 44, and the output rod 38 is ejected and driven. 56 is engaged with the tapered portion 38b of the output rod 38 to be eccentrically rotated outward, and is engaged with the cam surface 82 in the accommodation hole 78. The right half of FIG. 1 shows this state.

When the pair of eccentric cams 56 is engaged with the cam surface 82 in this manner, the cam surface 82 has a pressing force in the upward direction in FIG. 1, that is, a tightening for bringing the coupled surface 76 and the coupling surface 34 into close contact with each other. Force is applied. The eccentric cam 56 is brought into sliding contact with the cam surface 82 within a relatively large rotation angle range, and a large tightening force is gradually applied to the cam surface 82 with the rotation. The amount of eccentricity between the eccentric cam 56 and the pin 58 and the shape of the cam surface 82 are determined so that the eccentric cam 56 is brought into sliding contact with the cam surface 82 within a large rotation angle range.

As a result, the robot-side member 12 and the tool-side member 14 are integrally coupled, and the connection port 64 and the connection projection 92, which communicate with the pneumatic ports 62 and 90 of a plurality of systems in the two members, respectively. In addition to being matched and connected, the terminals of the connector blocks 66 and 68 are electrically connected. When the output rod 38 is completely projected, the pair of eccentric cams 56 are brought into contact with the straight portion 38a of the output rod 38, and the output rod 38 is urged by the compression coil spring 52 in the protruding direction. Therefore, in this engaged state, the coupled state is maintained well even if the air pressure acting on the pressure chamber 48 is reduced or released.

On the other hand, in separating the tool from the robot arm 16, first, pressure air is supplied into the pressure chamber 50 of the air cylinder 36 through the supply port 46, and the output rod 38 is pulled in and driven. , The engagement of the pair of eccentric cams 56 with the cam surfaces 82 is released, and the eccentric cams 56 are held in an inwardly eccentrically rotatable state. In this state, the robot-side member 12 is separated from the tool-side member 14, so that the eccentric cams 56 come into contact with the open ends of the accommodation holes 78 and are rotated inwardly, respectively, while accommodating the accommodation holes. It is extracted together with the output rod 38 from 78. As a result, the pneumatic ports 62 and 90 of the plurality of systems in both members are disconnected, and the robot side member 12 and the tool side member 14 are separated.

Here, since the pair of eccentric cams 56 are configured to eccentrically rotate around the pin 58 perpendicular to the output rod 38 and project toward the outer peripheral side, the eccentric cam 56 and the tool side at the time of connection are connected. It is possible to secure a sufficiently large engagement margin with the member 14, that is, the dimension D in FIG. Further, since the eccentric cams 56 are brought into sliding contact with the cam surface 82 at a relatively large rotation angle, and the tightening force gradually increases with the rotation, the eccentric cam 56 can be rotated with respect to the rotation amount. The change in the tightening force is relatively small, and rotation in the loosening direction due to vibration or shock is less likely to occur, and the decrease in the tightening force is suppressed. For this reason, a stable coupled state can be obtained without being greatly affected by dimensional errors and wear of the engaging portion, and the robot side member 12 and the tool side member 14 are firmly and reliably connected. As a result, it can be applied to a processing device such as a press-fitting machine to which a comparatively high load is applied, and even if vibration or impact is involved, the robot side member 12 and the tool side member 14 Premature rattling and disengagement are prevented.

In particular, in this embodiment, since the fastening block 70 in which the output rod 38, the eccentric cam 56, and the cam surface 82 are formed is made of a steel material having a high hardness such as tool steel, a large load is applied. Also, the bonded state is maintained in good condition. By the way, in the conventional tool exchanging connecting device mainly composed of aluminum alloy, the withstand load is about 100 to 1,000 kg, whereas in the tool exchanging connecting device 10 of the present embodiment, it is 5000 kg. The above load resistance performance was obtained.

Further, since the eccentric cam 56 can be easily disposed on the robot side member 12 on the coupling surface 34 of the fastening plate 22 via the support column 60 and the pin 58, the eccentric cam 56 is different from the conventional example shown in FIG. In addition, compared with the case where the steel balls are held by a leaf spring or the like so as not to fall off, the structure is simple and the cost is low, and there is an advantage that repairs can be performed easily.

Further, the fail-safe function of the compression coil spring 52 improves the safety performance when the air pressure for operating the air cylinder 36 is reduced, and ensures the connected state even when factors such as vibrations compete. Can be maintained.

Although one embodiment of the present invention has been described in detail with reference to the drawings, the present invention can be implemented in other modes.

For example, in the above-described embodiment, the pair of eccentric cams 56 are engaged with the conical cam surface 82, and the outer peripheral surface of the eccentric cam 56 has a partially spherical shape. The number of eccentric cams and the form of engagement with the cam surface can be appropriately changed. For example, as shown in FIG. 9, three eccentric cams 100 each having a perfectly cylindrical outer peripheral surface having no curvature, and an equilateral triangular accommodation hole 102 are provided. And three eccentric cam surfaces 104, which are evenly arranged in the circumferential direction inside, are provided, and the eccentric cam 100 can be rotated and engaged by the protrusion of the output rod 106 having a regular triangular cross section. As shown in FIG. 10, the eccentric cams 100 are evenly arranged at four locations in the circumferential direction, and four cam surfaces 110, which are flat inclined surfaces, are provided in the square accommodation hole 108 and have a cross section. Positive The eccentric cam 100 may be eccentrically rotated by the square output rod 112. In the case of FIG. 9 and FIG. 10, since the eccentric cam 100 and the cam surface 104 or 110 and the output rod 106 or 112 are engaged in line contact with each other, the tightening force that can be applied is greatly increased. In addition, since three or more eccentric cams 100 are evenly arranged in the circumferential direction, rattling hardly occurs and an extremely stable engagement state is obtained.

On the contrary, if an eccentric cam having an outer peripheral surface having a curvature that substantially matches the curvature of the engaging portion of the cam surface 82 is adopted, even in that case, the engagement is performed in a substantially line contact state. It is possible to increase the tightening force that can be applied.

Further, although the cam surface 82 in the above-described embodiment has a conical shape, a cam surface including a concave curved surface corresponding to a partial curved surface in the outer peripheral portion of the eccentric cam 56 is provided so that the eccentric cam 56 can operate. It is also possible to form a substantially surface contact state in a completely engaged state in which it is rotated outward to a predetermined rotation position.

Further, in the above-described embodiment, when the output rod 38 is retracted and driven, the engagement between the output rod 38 and the pair of eccentric cams 56 is released, and the eccentric cam 56 rotates. Although the position is not regulated, the eccentric cam is configured to be rotated inward by the pulling drive of the output rod 38, or the direct eccentric cam is biased inward by some biasing means. It does not matter if it is configured to do so.

Further, although the outer shape of the eccentric cam 56 in the above-described embodiment has a circular shape, a lever portion or a protruding portion that protrudes in the radial direction is provided, and the lever portion or the like mainly protrudes the output rod. The engagement form between the output rod and the eccentric cam can be appropriately changed such that the output rod and the eccentric cam can be rotated by a predetermined rotation angle by being pushed and rotated in the direction.

In the above-described embodiment, the eccentric cam 56 is engaged with the straight portion 38a of the output rod 38 in the state shown in the right half of FIG. 1 in which the output rod 38 is completely projected. However, in the state where the eccentric cam 56 is engaged with the taper portion formed in the axial direction longer than the taper portion 38b, the eccentric cam 56 is completely engaged with the cam surface 82, and the piston 42 on the protruding side is The connection may be completed at an intermediate position before reaching the stroke end. In this case, a constant tightening force is always applied regardless of dimensional error and wear.

Further, in the above-described embodiment, the pneumatic ports 62 and 90 of a plurality of systems are connected by the connection of the robot side member 12 and the tool side member 14, and an electric circuit is provided via the connector blocks 66 and 68. However, other than this, it is also possible to configure so that a supply path for a large capacity current for welding, cooling water, etc. is connected.

Although not illustrated one by one, the present invention can be carried out in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of drawings]

FIG. 1 is a view showing a tool exchanging connection device according to an embodiment of the present invention, and a cross-sectional view illustrating an operating state during connection.

2 is a front view showing a partially cutaway robot-side member of the tool exchanging connection device of FIG. 1. FIG.

FIG. 3 is a cross-sectional view illustrating a state in which an output rod of an air cylinder of the robot-side member of FIG. 2 is driven to retract.

FIG. 4 is a diagram of the robot side member of FIG. 2 viewed from the coupling surface side.

5 is a sectional view taken along line VV in FIG.

6 is a front view showing a part of the tool side member of the tool exchange coupling device of FIG.

FIG. 7 is a view of the tool-side member of FIG. 6 viewed from the surface to be joined.

8 is a sectional view taken along line VIII-VIII in FIG.

FIG. 9 is a schematic view illustrating another embodiment of the tool exchanging coupling device of the present invention, in which eccentric cams, cam surfaces, and output rods have different configurations.

FIG. 10 is a schematic view illustrating another embodiment of the tool changing coupling device of the present invention, in which the number of eccentric cams and the shapes of the cam surfaces and the output rods are different from those of the embodiment of FIG. Is.

FIG. 11 is a cross-sectional view showing an example of a conventional tool changing coupling device.

12 is a cross-sectional view showing a connected state of the conventional example of FIG.

[Explanation of symbols]

 10: Tool exchange coupling device 12: Robot side member 14: Tool side member 16: Robot arm 34: Coupling surface 36: Air cylinder 38, 106, 112: Output rod 48, 50: Pressure chamber 56, 100: Eccentric cam 58 : Pin (eccentric shaft) 76: Joined surface 78, 102, 108: Housing hole 82, 104, 110: Cam surface

Claims (1)

[Scope of utility model registration request] 1. A robot-side member having a coupling surface perpendicular to a coupling direction and attached to the robot arm for selectively coupling a plurality of types of tools performing a predetermined work to the robot arm; A tool exchange coupling device comprising a tool-side member that is attached to each of the plurality of types of tools and that has a coupled surface that is brought into close contact with the coupling surface, and that is integrally coupled to the robot-side member. An air cylinder that is integrally provided on the robot-side member and that selectively pushes and supplies pressure air to a pair of pressure chambers so as to push out and drive the output rod whose tip portion projects toward the coupling surface side; and the output rod. Respectively, the robot-side member is rotatably disposed around an eccentric axis that is orthogonal to the output rod, and the output rod is ejected to drive the output rod. A plurality of eccentric cams that engage with the force rods and are eccentrically rotated outward; and the output rods that are open to the coupled surface side of the tool-side member and that are not driven to project. And a housing hole formed to allow insertion and removal of the plurality of eccentric cams, and an inner peripheral surface of the housing hole that is provided so as to widen from the opening side toward the inside. The inserted eccentric cams are eccentrically rotated outward by the output rod, so that the inserted eccentric cams are engaged with the outer peripheral portions of the eccentric cams, and the coupled surface and the coupling surface come into close contact with each other. And a cam surface for exerting a tightening force as described above.