KR20240019069A - tool changer - Google Patents

Abstract

A tool exchange device according to one embodiment of the present invention is a tool exchange device including a master plate attached to a robot arm and a tool plate to which a tool is attached and detachably mounted on the master plate, the master plate and Among the tool plates, one plate has an insertion concave portion on one surface, and the other plate has a column-shaped portion that is detachable from the one plate and is inserted into the insertion concave portion in a connected state, and the one plate has a column-shaped portion that is inserted into the insertion concave portion in a connected state. further comprising a spring member that maintains the connected state of the plate and the other plate, wherein the column-shaped portion is recessed in a side of the column-shaped portion in the central axis direction more than the side surface of the top of the column-shaped portion, and in the connected state, the spring member It is provided with a notch that engages, and the spring member presses the column-shaped portion in the direction of its central axis in the connected state.

Description

tool changer

The present invention relates to a tool changing device.

Robot arms used in industrial facilities such as factories carry out production work by attaching various tools (end effectors) such as welding tools to the tip. A tool exchange device is known as a device to facilitate the exchange of such tools. This tool exchange device consists of a combination of a master plate attached to the tip of the robot arm and a plurality of tool plates each equipped with various tools. This master plate and tool plate are installed so that they can be attached and detached, and by this attachment and detachment, the robot can be exchanged for various tools.

As such a tool exchange device, it is already known that the attachment and detachment is achieved by moving a plurality of balls in and out (see, for example, International Publication No. 2017/212790). This tool exchange device is provided with a piston member, and an upper and lower cylinder chamber installed above and below the piston member. The tool exchange device moves the piston member by supplying or discharging fluid (air) to the upper cylinder chamber and the lower cylinder chamber. The movement of the piston member controls the movement of the plurality of balls, and the master plate and the tool plate can be attached and detached.

International Publication No. 2017/212790

In the conventional tool exchange device, the supply of air is essential to move the piston member, and it can only be used on robot arms capable of supplying air. Additionally, it is necessary to drag the air pipe of the robot arm to the outside for air supply.

The present invention was made in consideration of these circumstances, and its purpose is to provide a tool exchange device that can easily attach and detach a master plate and a tool plate without requiring the supply of fluid.

A tool exchange device according to one embodiment of the present invention is a tool exchange device including a master plate attached to a robot arm and a tool plate to which a tool is attached and detachably mounted on the master plate, the master plate and Among the tool plates, one plate has an insertion concave portion on one surface, and the other plate is detachable from the one plate and is inserted into the insertion concave portion in a connected state. It has a column-shaped portion, and further includes a spring member that maintains the connection state of the one plate and the other plate, wherein the column-shaped portion is located at a side of the column-shaped portion and is centered more than a side surface of the top portion of the column-shaped portion. It is recessed in the axial direction and has a notch to which the spring member engages in the connected state, and the spring member presses the column-shaped portion in the direction of its central axis in the connected state.

The tool exchange device of the present invention can easily attach and detach the master plate and tool plate even without supplying fluid.

[Figure 1] Figure 1 is a schematic perspective view of a tool changing device according to one embodiment of the present invention.
[Figure 2] Figure 2 is a schematic side view of the tool changing device of Figure 1.
[Figure 3] Figure 3 is a schematic side view showing a state in which the master plate and the tool plate are separated in the tool exchange device of Figure 1.
[Figure 4] Figure 4 is a schematic perspective view showing the master plate of the tool exchange device of Figure 1.
[Figure 5] Figure 5 is a schematic bottom view of the master plate of Figure 4.
[Figure 6] Figure 6 is a schematic plan view of the lower master body of Figure 4.
[Figure 7] Figure 7 is a schematic perspective view showing the tool plate of the tool exchange device of Figure 1.
[Figure 8] Figure 8 is a schematic side view of the tool plate of Figure 7.
[Figure 9] Figure 9 is a schematic perspective view showing a spring member used in the tool exchange device of Figure 1.
[Figure 10] Figure 10 is a schematic perspective view showing a state in which a spring member is attached to the lower master body of Figure 6.
[Figure 11] Figure 11 is a schematic perspective view for explaining the connection state of the spring member to the notch in the connected state of the tool exchange device of Figure 1.
[Figure 12] Figure 12 is a schematic perspective view of a tool changing device according to an embodiment different from Figure 1.
[Figure 13] Figure 13 is a schematic bottom view showing the master plate of the tool exchange device of Figure 12.
[Figure 14] Figure 14 is a schematic perspective view showing the tool plate of the tool exchange device of Figure 12.
[Figure 15] Figure 15 is a schematic cross-sectional view taken along line XV-XV of the tool changer of Figure 12.
[Figure 16] Figure 16 is a schematic perspective view of a tool changing device according to an embodiment different from Figures 1 and 12.
[Figure 17] Figure 17 is a schematic side view of the tool changing device of Figure 16.
[Figure 18] Figure 18 is a schematic side view showing the master plate of the tool changer of Figure 16.

[Description of embodiments of the present invention]

First, embodiments of the present invention will be listed and described.

A tool exchange device according to one embodiment of the present invention is a tool exchange device including a master plate attached to a robot arm and a tool plate to which a tool is attached and detachably mounted on the master plate, the master plate and Among the tool plates, one plate has an insertion concave portion on one surface, and the other plate has a column-shaped portion that is detachable from the one plate and is inserted into the insertion concave portion in a connected state, and the one plate has a column-shaped portion that is inserted into the insertion concave portion in a connected state. further comprising a spring member that maintains the connected state of the plate and the other plate, wherein the column-shaped portion is recessed in a side of the column-shaped portion in the central axis direction more than the side surface of the top of the column-shaped portion, and in the connected state, the spring member It is provided with a notch that engages, and the spring member presses the column-shaped portion in the direction of its central axis in the connected state.

In the tool changing device, among the master plate and the tool plate, one plate has an insertion concave portion on one surface, and the other plate has a column-shaped portion inserted into the insertion concave portion. In addition, in the tool changing device, the column-shaped portion has a notch on a side, and when the master plate and the tool plate are connected, a spring member engages with the notch to press the column-shaped portion in the central axis direction. For this reason, in the tool changer, the connected state of the master plate and the tool plate is maintained because the spring member suppresses the vertical movement of the column-shaped portion in the connected state. Meanwhile, in the tool exchange device, by expanding the spring member in an outward direction of the column-shaped portion, the engagement with the notch is eliminated, and the master plate and the tool plate can be easily separated. Accordingly, the tool exchange device can easily attach and detach the master plate and the tool plate without requiring the supply of fluid.

The column-shaped portion has a pair of opposing notches with a central axis interposed therebetween, a pair of side walls wherein the notches extend from a side surface of the column-shaped portion in a central axis direction, and the center of the pair of side walls. It is sufficient as long as it is provided with a bottom wall connecting the end edges of the shaft side, and the gap between the pair of side walls narrows toward the bottom wall. By providing a pair of notches in this way, the coupling of the spring member can be maintained stably while absorbing tolerances of components such as the spring member.

The spring member may be a leaf spring, and may have a flat portion parallel to the central axis of the column-shaped portion, and the width of the flat portion may be larger than the gap between the pair of side walls at the bottom wall. By using the leaf spring as the spring member in this way, the spring member is fixed by supporting both ends of the flat portion with a pair of side walls, so that the vertical movement of the column-shaped portion can be suppressed more stably.

The one plate has a window portion through which a portion of the spring member is exposed in the connected state, and presses the portion of the spring member in the direction from the outside of the window portion to the inside to press the portion of the spring member into the notch of the spring member. It would be good to unbind it. In this way, a window portion is formed in which a portion of the spring member is exposed while connected to the one plate, and the portion of the spring member is pressed from the outside to the inside of the window portion, thereby releasing the coupling of the spring member to the notch. By configuring the master plate and the tool plate, the master plate and the tool plate can be more easily separated.

The top portion of the pillar-shaped portion may be provided with a tapered portion whose diameter increases downward from the top surface. By forming a tapered portion whose diameter increases downward from the top surface at the top of the column-shaped portion in this way, the spring member can be spread and widened along the tapered portion when inserting the column-shaped portion into the insertion concave portion. It can be easily coupled to the notch. On the other hand, once the spring member is coupled to the notch, the lower side of the tapered portion is enlarged, so it is difficult for the spring member to fall upward, and vertical movement of the column-shaped portion can be stably suppressed. there is.

The master plate and the tool plate may each be provided with a communication connector inside each other that is electrically connected to each other in a connected state. By installing communication connectors that are electrically connected to each other in the connected state inside each of the master plate and the tool plate, communication connection between the master plate and the tool plate can be easily secured.

In addition, in the present invention, “upward” refers to a direction toward the top of the column-shaped portion, and “downward” refers to the opposite direction, but does not limit the direction of the tool changing device. In other words, the tool changer can be used upside down.

[Details of embodiments of the present invention]

A tool changing device according to each embodiment of the present invention will be described with reference to the drawings.

[First Embodiment]

The tool changer 1 shown in FIGS. 1 to 3 includes a master plate 10 attached to the robot arm, and a tool plate 20 that is detachably mounted on the master plate 10 and to which a tool is attached. It is a tool changing device. Figures 1 and 2 show an attached state in which the tool plate 20 is mounted on the master plate 10, and Figure 3 shows a state in which the master plate 10 and the tool plate 20 are separated.

The tool exchange device 1 includes a master plate 10 and a tool plate 20, where one plate (master plate 10) has an insertion concave portion 11 on one side, and the other plate (The tool plate 20) is detachable from one of the plates and has a column-shaped portion 21 that is inserted into the insertion concave portion 11 in the connected state. Additionally, the tool exchange device 1 further includes a spring member 30 that maintains the connection between one plate and the other plate, that is, the master plate 10 and the tool plate 20.

The size and weight of the master plate 10 and the tool plate 20 are not particularly limited, but can be, for example, a maximum width of 200 mm or less and a weight of 3 kg or less. By keeping the size and weight of the master plate 10 and the tool plate 20 below the upper limit, the master plate 10 and the tool plate 20 can be more easily attached and detached.

<Master Plate>

As shown in Figure 4, the master plate 10 is disk-shaped and includes a lower master body 10a and an upper master body 10b that covers the upper part of the lower master body 10a. The lower master body 10a and the upper master body 10b are coupled by fastening with screws, for example.

As shown in Figure 5, the insertion hole 11a of the insertion concave portion 11 into which the columnar portion 21 described later is inserted is the same shape as the bottom surface of the columnar portion 21 and is circular with the same diameter. am. By making the insertion hole 11a the same shape and the same diameter as the bottom surface of the columnar portion 21, it is possible to suppress the columnar portion 21 from moving relative to the master plate 10 in the connected state. Therefore, the master plate 10 and the tool plate 20 can be stably connected.

As shown in Fig. 4, the master plate 10 may be provided with a convex portion 12 on the other side, that is, on the top side of the upper master body 10b. The convex portion 12 has a space therein, and the space constitutes the bottom of the insertion concave portion 11. The space is formed so that the top portion 21a of the columnar portion 21 is coupled, and fixes the top portion 21a of the columnar portion 21 in the connected state. Accordingly, the master plate 10 and the tool plate 20 can be connected more stably.

The master plate 10 has a column-shaped rotation stop 13 that penetrates one of the surfaces, that is, the bottom surface of the lower master body 10a, and protrudes downward and into the lower master body 10a. . The rotation stopper 13 is inserted into the coupling hole 23 formed on the top surface of the tool plate 20, which will be described later, in the connected state, and suppresses relative rotation of the master plate 10 and the tool plate 20. . Additionally, the rotation stopper 13 also functions as a member that prevents the spring member 30 from rotating. Additionally, in FIGS. 4 and 5, the rotation stopper 13 has a cylindrical shape, but the shape of the rotation stopper 13 is not limited to a cylindrical shape.

The master plate 10 can accommodate the spring member 30 therein. Specifically, as shown in Figure 6, a groove 14 for receiving the spring member 30 is formed in the lower master body 10a.

Additionally, as shown in FIG. 4, the master plate 10 has a window portion 15 through which a portion of the spring member 30 is exposed in the connected state.

<Tool plate>

As shown in Fig. 7, the tool plate 20 includes a disc-shaped tool body 20a and a columnar portion 21 protruding from one of the surfaces of the disk-shaped tool body 20a. The columnar portion 21 is inserted into the insertion concave portion 11 of the master plate 10 in the connected state as described above. In the tool plate 20 shown in Fig. 7, the column-shaped portion 21 is cylindrical. Hereinafter, the case where the column-shaped portion 21 is cylindrical will be described as an example, but the column-shaped portion 21 is not limited to a cylindrical shape.

When the master plate 10 is attached to the robot arm by a plurality of bolts arranged in a circumferential shape, the columnar portion 21 has a circumference defined by the plurality of bolts. ) is preferably formed on the inside. That is, the column-shaped portion 21 has a smaller diameter than the circumference of the plurality of bolt holes 16 (see FIG. 4) formed circumferentially in the master plate 10 and is installed inside the circumference. desirable. When the column-shaped portion 21 is located outside the circumference, the diameter of the tool changer 1 (diameter of the upper master body 10b and the tool body 20a) becomes larger than the diameter of the attachment portion to the robot arm. There is a risk that handleability may deteriorate.

Additionally, it is more preferable that the column-shaped portion 21 is installed in the center of the tool plate 20. That is, it is desirable that the central axis of the columnar portion 21 and the central axis of the tool plate 20 coincide. In this case, also for the insertion concave portion 11 formed in the master plate 10 into which the columnar portion 21 can be inserted, the central axis of the insertion concave portion 11 coincides with the central axis of the master plate 10. .

The columnar portion 21 is provided with a pair of notches 22 on its side facing each other with its central axis interposed therebetween. The notch 22 is recessed in the central axis direction rather than the side surface of the top portion 21a of the columnar portion 21, and engages the spring member 30 in the connected state.

The notch 22 includes a pair of side walls (first side wall 22a and second side wall 22b) extending in the central axis direction from the side surface of the columnar portion 21, and the center of the pair of side walls. It is provided with a bottom wall (22c) connecting the end edges of the shaft side. In the tool exchange device 1, the first side wall 22a located on the top 21a side of the columnar portion 21 is formed of a plane parallel to the top surface of the columnar portion 21, and the columnar portion 21 has a The second side wall 22b located on the bottom side of (21) is inclined so that the central axis side approaches the top portion 21a of the column-shaped portion 21. That is, the gap between the pair of side walls narrows toward the bottom wall 22c. Additionally, the bottom wall 22c is composed of a plane perpendicular to the top surface.

By forming a pair of notches 22 in this way, the coupling of the spring member 30 can be maintained stably while absorbing tolerances of components such as the spring member 30. Specifically, since the gap between the pair of side walls is wide at the entrance of the notch 22, it is easy to couple the spring member 30 to the notch 22 even if there is a component tolerance or positional misalignment in the spring member 30. . Since the spring member 30 is pressed in the central axis direction as will be described later, the coupled spring member 30 is guided by the pair of side walls toward the bottom wall 22c, and along the pair of side walls Because the gap between is narrowed, the spring member 30 can eventually be inserted and fixed by the pair of side walls.

The inclination angle of the second side wall 22b is preferably 0.1 degrees or more and 10 degrees or less. If the inclination angle is less than the lower limit, the effect of guiding the spring member 30 to the bottom wall 22c may be insufficient. In particular, when the inclination angle is 0 degrees or less, a gap occurs between the pair of side walls and the spring member 30, and the connection between the master plate 10 and the tool plate 20 is insufficient, leading to a risk of vertical movement. There is. Conversely, if the inclination angle exceeds the upper limit, the column-shaped portion 21 is likely to move up and down due to a displacement of the spring member 30 with respect to the outside of the central axis, such as when the tool changer 1 vibrates. There is a risk that the master plate 10 and the tool plate 20 may be separated. In addition, in the tool exchange device 1, the case where the second side wall 22b located on the bottom side of the column-shaped portion 21 has an inclination has been described, but instead of the second side wall 22b, a column The first side wall 22a located on the top 21a side of the shaped portion 21 may be inclined so that the central axis side approaches the bottom side of the column-shaped portion 21, or the first side wall 22a and the first side wall 22a Both sides of the two side walls 22b may be provided with the above-mentioned slope.

The lower limit of the depth of the notch 22 (distance from the side surface of the columnar portion 21 to the bottom wall 22c) is preferably 1.5 cm, and more preferably 3.5 cm. On the other hand, the upper limit of the depth of the notch 22 is preferably 7 cm, and more preferably 5 cm. If the depth of the notch 22 is less than the above lower limit, there is a risk that the spring member 30 may not be stably coupled. Conversely, if the depth of the notch 22 exceeds the upper limit, it is necessary to greatly widen the spring member 30 in order to couple the spring member 30. Since a large force is required to greatly widen the spring member 30, there is a risk that it may become difficult to couple the spring member 30 to the notch 22.

The width of the notch 22 (the width of the bottom wall 22c with respect to the central axis direction of the columnar portion 21) is the same as or slightly narrower than the width of the spring member 30. By taking the width of the notch 22 in this way, it is possible to suppress the columnar portion 21 and, by extension, the tool plate 20 from moving up and down.

The top portion 21a of the columnar portion 21 may be provided with a tapered portion 21b whose diameter increases downward from the top surface. By forming a tapered portion 21b whose diameter increases downward from the top surface in this way on the top portion 21a of the column-shaped portion 21, the column-shaped portion 21 is inserted into the insertion concave portion 11 of the master plate 10. Since the spring member 30 can be spread and widened along the tapered portion 21b when doing so, the spring member 30 can be easily coupled to the notch 22. On the other hand, once the spring member 30 is coupled to the notch 22, the lower portion of the tapered portion 21b is enlarged, so it is difficult for the spring member 30 to fall upward and the column-shaped portion 21 is stably moved up and down. movement can be suppressed.

The tool plate 20 has a coupling hole 23 formed on its top surface. This engaging hole (23) engages with the rotation stop portion (13) of the master plate (10) in the engaged state.

<Spring member>

The spring member 30 is a leaf spring as shown in Figure 9. The spring member 30 includes a first circular arc portion 31 that generates pressure in the central axis direction, and a pair of flat portions 32 that are formed to contact the bottom wall 22c of the notch 22 and provide pressure, A pair of second arc portions (33) located on the opposite side of the first arc portion (31) with a pair of flat portions (32) in between, with one end sides facing each other and approaching each other, and a first arc portion ( 31), a pair of first connecting portions 34 respectively connecting both ends of the pair of flat portions 32 and one end of the pair of flat portions 32, the other end of the pair of flat portions 32 and a pair of second connecting portions. It is provided with a pair of second connection parts 35 that respectively connect the other ends of the circular arc part 33.

The curvature radii of the first arc portion 31 and the second arc portion 33 are equal. A pair of flat portions 32 are arranged opposite each other, and the gap between them is narrower than the diameter of the first arc portion 31 (twice the radius of curvature). Additionally, the first connection part 34 and the second connection part 35 are made of a flat plate. That is, the spring member 30 shown in Fig. 9 as a whole has a circular shape with a pair of flat portions 32 narrowed inward.

The spring member 30 has a concave portion 36 at the center of the first arc portion 31 that engages with the rotation stop portion 13 provided on the lower master body 10a. Additionally, the pair of second arc portions 33 is provided with a winding portion 33a wound around the outside of the arc on one end side that faces each other and is close to each other. Additionally, the winding portion 33a and the concave portion 36 are located in opposing positions with the central axis of the spring member 30 interposed therebetween.

10 shows a state in which the spring member 30 is accommodated in the lower master body 10a. The spring member 30 is arranged so that the first arcuate portion 31 and the second arcuate portion 33 are exposed from the window portion 15 of the master plate 10. In particular, the winding portion 33a of the second arc portion 33 protrudes outward from the side surface of the master plate 10 (see Fig. 5).

The first connection portion 34 and the second connection portion 35 are disposed along the groove 14 of the lower master body 10a, and the concave portion 36 of the spring member 30 is located on the inner side of the lower master body 10a. It is arranged to surround the rotation stop 13 protruding. Their arrangement can prevent the spring member 30 from rotating within the lower master body 10a.

The pair of flat portions 32 are located inside the side surface of the insertion concave portion 11 (see Fig. 5). Additionally, the pair of flat portions 32 face each other across the central axis of the insertion concave portion 11.

The width of the pair of flat portions 32 is larger than the gap between the pair of side walls at the bottom wall 22c provided by the notch 22 of the tool plate 20, and the width of the pair of side walls is greater than the distance between the pair of side walls at the inlet of the notch 22. is less than the spacing of the side walls of the pair. If the width of the flat portion 32 is taken in this way, the pair of side walls support both ends of the flat portion 32, thereby fixing the spring member 30, thereby suppressing the vertical movement of the column-shaped portion 21 more stably. can do.

Figure 11 shows a state in which the master plate 10 and the tool plate 20 are connected. Also, in FIG. 11, the upper master body 10b is not shown in the drawing in order to explain the state of the spring member 30. As shown in Figure 11, the tool changer 1 has a spring member 30 coupled to the notch 22 in the connected state. Accordingly, the spring member 30 presses the column-shaped portion 21 in the direction of its central axis in the connected state. Specifically, at a position where the width of the flat portion 32 of the spring member 30 is equal to the gap between the pair of side walls constituting the notch 22, the flat portion 32 is separated by the pair of side walls. The edges on both sides are inserted and fixed.

<Attachment and detachment operation of the tool exchange device>

In the tool changing device 1, the operation of connecting and separating the master plate 10 and the tool plate 20 will be described.

(connection operation)

In the tool exchange device 1, the master plate 10 and the tool plate 20 can be connected by performing the alignment process and the insertion process in this order.

First, in the alignment process, the column-shaped portion 21 of the tool plate 20 is inserted into the insertion concave portion 11 of the master plate 10, and the master is inserted into the engaging hole 23 of the tool plate 20. The master plate 10 and the tool plate 20 are aligned so that the rotation stop 13 protruding downward from the plate 10 is inserted.

Next, in the above insertion process, the columnar portion 21 is press-fitted into the insertion concave portion 11 until the bottom surface of the master plate 10 and the top surface of the tool plate 20 come into contact. At this time, since the tapered portion 21b is formed on the top portion 21a of the columnar portion 21, a pair of flat portions of the spring member 30 located inside the side surface of the insertion concave portion 11 ( 32) follows the diameter expanded downward of the tapered portion 21b and widens outward of the central axis. When the columnar portion 21 is further pressed into the insertion concave portion 11, the pair of flat portions 32 reach the notch 22 of the columnar portion 21. Since the pair of flat portions 32 are expanded toward the outside of the central axis, pressure in the central axis direction is applied, and the pair of flat portions 32 are coupled to the notch 22 by this force.

And, the pair of flat portions 32 are positioned at a position where the width of the flat portions 32 of the spring member 30 is equal to the gap between the pair of side walls constituting the notch 22. Both edges of the flat portion 32 are fixed in an inserted state, and the spring member 30 presses the columnar portion 21 in the central axis direction. In addition, since the first side wall 22a of the notch 22 located on the top 21a side of the columnar portion 21 is composed of a plane parallel to the top surface of the columnar portion 21, the tool plate ( When an attempt is made to pull out the master plate 10 20, the flat portion 32 of the spring member 30 collides with the first side wall 22a on the top portion 21a side, so the tool plate 20 cannot be pulled out. That is, the tool plate 20 is connected to and fixed to the master plate 10.

(Separation operation)

In the tool exchange device 1, the master plate 10 and the tool plate 20 can be separated by performing the spring member pressurizing process and the removal process in this order.

In the spring member pressing process, the winding portion 33a, which is a part of the spring member 30, is pressed from the outside to the inside of the window portion 15, thereby releasing the engagement of the spring member 30 with the notch 22. To explain in detail, when the winding portion 33a of the spring member 30 is pressed from the outside to the inside of the window portion 15, a force is applied to the pair of flat portions 32 in the direction outside the central axis, The distance increases. Then, when the separation distance between the pair of flat parts 32 becomes larger than the maximum diameter of the top part 21a of the column-shaped part 21, the engagement of the spring member 30 with the notch 22 is released.

When the winding portion 33a is pressed from the outside to the inside of the window portion 15, the winding portion 33a exerts a force to extrude the entire spring member 30 from the side of the master plate 10 on the opposite side. It works. However, there is a concave portion 36 at a position opposite to the winding portion 33a across the central axis of the spring member 30, and this concave portion 36 is arranged to surround the rotation stop portion 13. Therefore, the entire spring member 30 is suppressed from being extruded from the side of the master plate 10 by the combination of the concave portion 36 and the rotation stop portion 13. In other words, all of the pressing force acts as a force to extrude the pair of flat portions 32 in the direction outward of the central axis.

In the tool exchange device 1, a configuration is formed in which the engagement of the spring member 30 with the notch 22 is released by pressing a part of the spring member 30 in the direction from the outside to the inside of the window portion 15. By doing so, the master plate 10 and the tool plate 20 can be more easily separated.

Next, in the above removal process, the tool plate 20 is removed from the master plate 10. This extraction process is performed in a state in which the spring member 30 is uncoupled from the notch 22 by pressing the winding portion 33a in the spring member pressing process. Since the engagement of the spring member 30 with the notch 22 is released, the tool plate 20 can be easily separated from the master plate 10.

<Advantage>

The tool exchange device (1) includes a master plate (10) provided with an insertion concave portion (11) on one side, and a column-shaped portion (21) into which the tool plate (20) is inserted into the insertion concave portion (11). It is equipped with In addition, the tool exchange device 1 has a column-shaped portion 21 provided with a notch 22 on the side, and the spring member 30 has a notch in the connected state of the master plate 10 and the tool plate 20. By engaging with (22), the column-shaped portion (21) is pressed in the direction of its central axis. For this reason, in the tool changing device 1, since the spring member 30 suppresses the vertical movement of the columnar portion 21 in the connected state, the connected state of the master plate 10 and the tool plate 20 maintain. On the other hand, in the tool exchange device 1, the engagement state with the notch 22 is eliminated by expanding the spring member 30 in the outer direction of the column-shaped portion 21, and the master plate 10 and the tool plate 20 ) can be easily separated. Therefore, the tool exchange device 1 can easily attach and detach the master plate 10 and the tool plate 20 without requiring the supply of fluid.

[Second Embodiment]

The tool changer 2 shown in FIGS. 12 to 15 includes a master plate 40 attached to the robot arm, and a tool plate 50 that is detachably mounted on the master plate 40 and onto which a tool is attached. As a tool exchange device, among the master plate 40 and the tool plate 50, one plate, the master plate 40, has an insertion concave portion 11 on one surface, and the other plate, a tool plate ( 50) is detachable from the master plate 40 and has a column-shaped portion 21 that is inserted into the insertion concave portion 11 in the connected state, and the connection state of the master plate 40 and the tool plate 50 is maintained. It is further provided with a holding spring member 30, and the column-shaped portion 21 is recessed on its side in the central axis direction rather than the side surface of the top portion 21a of the column-shaped portion 21, and in the connected state, the spring member ( 30) is provided with a notch 22 to which it engages, and the spring member 30 presses the column-shaped portion 21 in the direction of its central axis in the connected state. In addition, the tool exchange device 2 has a communication connector (master side communication connector 41 and tool side communication connector 51) through which the master plate 40 and the tool plate 50 are electrically connected to each other in the connected state. is provided inside each.

Since the tool changing device 2 can be configured in the same way as the first embodiment except for providing the communication connector, the same reference numerals are given and detailed description is omitted. Below, the communication connector will be described.

<Connector for communication>

As shown in Fig. 14, the tool-side communication connector 51 is disposed in a concave portion formed on the top surface of the column-shaped portion 21. The concave portion preferably has a tapered portion at its entrance whose diameter increases toward the top surface. By forming the tapered portion in the concave portion in this way, when the master plate 40 and the tool plate 50 are connected, the master communication connector 41 can be easily guided into the concave portion. It is desirable that the central axis of the column-shaped portion 21 and the central axis of the tool-side communication connector 51 coincide.

The master side communication connector 41 is disposed within the insertion concave portion 11, as shown in FIG. 13. As described above, when the master plate 40 and the tool plate 50 are connected, the master side communication connector 41 and the tool side communication connector 51 are electrically connected to each other. In other words, as shown in Figure 15, the master side communication connector 41 is composed of a plurality of male terminals (male), and the tool side communication connector 51 is composed of a plurality of female terminals, and the connection In this state, the corresponding male terminal is aligned so that it is plugged into the corresponding female terminal.

Additionally, the master plate 40 is provided with a master side connection terminal 42 for extracting signals from the master side communication connector 41. The location of the master side connection terminal 42 is not particularly limited, but may be placed on the side of the master plate 40, for example. Similarly, the tool plate 50 is provided with a tool-side connection terminal 52 for extracting signals from the tool-side communication connector 51. The position of the tool side connection terminal 52 is not particularly limited, but may be placed on the side of the tool plate 50, for example.

In the tool changing device 2, the wiring connecting the master side communication connector 41 and the master side connection terminal 42 and the wiring connecting the tool side communication connector 51 and the tool side connection terminal 52 are each connected to the master side. It is accommodated inside the plate 40 and the tool plate 50 and does not pass through the outside. Therefore, it is possible to prevent the wiring from becoming an obstacle to the operation of the tool.

<Advantage>

In the tool exchange device 2, a master-side communication connector 41 and a tool-side communication connector 51, which are electrically connected to each other in the connected state, are installed inside each of the master plate 40 and the tool plate 50. By installing it, communication connection between the master plate 40 and the tool plate 50 can be easily secured.

[Third Embodiment]

The tool exchange device 3 shown in FIGS. 16 to 18 includes a master plate 60 attached to the robot arm, and a tool plate 70 that is detachably mounted on the master plate 60 and to which a tool is attached. In the tool exchange device, among the master plate 60 and the tool plate 70, one plate, the master plate 60, has an insertion concave portion on one surface, and the other plate, the tool plate 70, is a master plate. It has a column-shaped portion that is detachable from the plate 60 and is inserted into the insertion concave portion in a connected state, and further includes a spring member 30 that maintains the connected state of the master plate 60 and the tool plate 70. And, the column-shaped portion has a notch on its side that is recessed in the central axis direction rather than the side surface of the top of the column-shaped portion, and which engages the spring member 30 in the connected state, and the spring member 30 is connected in the connected state. The column-shaped portion is pressed in the direction of its central axis. In addition, the tool exchange device 3 includes an airport module 80 that distributes air between the master plate 60 and the tool plate 70, and the master plate 60 and the tool plate. It is further provided with a holder (90) for storing (70).

<Master Plate>

The master plate 60 is provided with three safety pins 61 and a harness 62 extending from the master side connection terminal 42. Since the other configurations of the master plate 60 are the same as those of the first or second embodiments, they are given the same reference numerals and detailed descriptions are omitted.

(safety pin)

The safety pin 61 is arranged to surround the winding portion 33a of the spring member 30. Specifically, two safety pins 61 are arranged horizontally apart from each other on the upper master body 10b of the winding section 33a, and the other safety pin 61 is located directly on the winding section 33a. It is disposed on the lower master body 10a below, and protrudes outward from the upper master body 10b or the lower master body 10a, respectively.

The three safety pins 61 are, for example, when the vicinity of the winding portion 33a is in contact with the wall, the winding portion 33a is pushed toward the center of the master plate 60, causing the spring member 30 to open, and the master plate 60 ) and the tool plate 70 are separated.

Accordingly, the protruding length of the three safety pins 61 is determined to ensure that the master plate 60 and the tool plate 70 are not separated even when the winding portion 33a is press-fitted. In the master plate 60 of the tool changer 3, as shown in Fig. 18, the protruding length of the three safety pins 61 is equal to or slightly shorter than the protruding length of the winding portion 33a. . If the protruding length of the safety pin 61 is shorter than this, there is a risk that the unexpected situation described above may occur. Conversely, if the protruding length of the safety pin 61 is longer than this, there is a risk that it may be difficult to intentionally separate the master plate 60 and the tool plate 70.

Additionally, the number and arrangement of the safety pins 61 are not limited to the above configuration and can be set appropriately as long as the purpose is achieved.

(harness)

As described above, one end of the harness 62 is connected to the master connection terminal 42, and the other end is connected to the connector 62a. A signal wire passes through the inside of the harness 62, and electrically connects the master side connection terminal 42 and the connector 62a.

The length of the harness 62 is set to an appropriate length so that the connector 62a can be connected to the electrical connection point when the tool changer 3 is attached to the robot arm. Additionally, the harness 62 is flexible and can facilitate connection of the connector 62a.

In the tool changer 3, the case where only the master plate 60 is provided with the harness 62 has been described, but the harness 62 may be installed to extend from the tool side connection terminal 52, or may be connected to the master side. It may be configured to extend from each of the terminal 42 and the tool side connection terminal 52.

<Tool plate>

Since the configuration of the tool plate 70 is the same as that of the first or second embodiment, the same reference numeral is assigned and detailed description is omitted.

<Spring member>

Since the configuration of the spring member 30 is the same as that of the first embodiment, the same reference numerals are used and detailed description is omitted.

<Airport module>

The airport module 80 includes a master airport 81 installed on the master plate 60 and a tool airport 82 installed on the tool plate 70.

As shown in Figure 18, the master airport 81 has a concave portion 81a for connecting an external air piping and a connection convex portion 81b for connecting to the tool airport 82. ), and a pipe (not shown in the drawing) through which air can flow is installed between the concave portion 81a and the connecting convex portion 81b.

Similarly, the tool airport 82 has a recessed portion 82a for connecting an external air piping and a connection recessed portion (not shown in the drawing) for connecting to the master airport 81. A pipe (not shown in the drawing) through which air can circulate is provided between the portion 82a and the connection concave portion.

When the master plate 60 and the tool plate 70 are connected, the airport module 80 is located between the concave portion 81a of the master airport 81 and the concave portion 82a of the tool airport 82. Piping is constructed to distribute air.

The tool changer 3 itself does not require air to connect the master plate 60 and the tool plate 70, for example, but by providing the air port module 80, the tool changer ( Through 3), air can be easily supplied to a device that needs to be supplied with air or to a device that replaces the tool exchange device 3.

<Stand>

The holder 90 includes a support portion 91 and a wall portion 92 installed vertically from the support portion 91.

The support portion 91 has a flat plate shape, is coupled to the tool plate 70, and has a U-shaped groove 91a to support it. The support portion 91 may be provided with a clamp mechanism capable of fixing the tool plate 70. By installing a clamp mechanism on the support portion 91 in this way, the tool plate 70 can be stably supported.

As the clamp mechanism, for example, an electromagnetic holder or a linear solenoid can be used by mounting it on the support portion 91. When each tool plate 70 is fixed to the support portion 91, suction is performed by an electromagnetic holder or position is fixed by a linear solenoid, and control is performed to release this when the tool is exchanged.

Additionally, a clamp using a spring or the like may be used. In this case, for example, the clamp is installed so as to face the surface of the support portion 91. The clamp is configured to clamp the tool plate 70 between the support portion 91 by inserting it from a specific direction. And, tool exchange can be performed by removing in the direction opposite to the above-mentioned specific direction. In this case, there is no need to perform control operations for fixing/unlocking.

The wall portion 92 is installed vertically from the support portion 91 and has a flat plate shape. The master plate 60 can be pressed against the wall portion 92.

The wall portion 92 is provided with a notch 92a into which three safety pins 60 engage when the tool plate 70 is coupled to the support portion 91 and the master plate 60 is connected to the tool plate 70. there is. Since the holder 90 is provided with this notch 92a, when the master plate 60 connected to the tool plate 70 is pressed against the wall portion 92, the winding portion 33a of the spring member 30 is pressed into the master plate 60. The plate 60 can be separated from the tool plate 70. Therefore, when exchanging tools, it is possible to replace the master plate 60 and the tool plate 70 separately or to replace them as one piece.

Alternatively, in order to separate the master plate 60 and the tool plate 70, the wall portion 92 may be provided with a moving mechanism that can move the actual position on the support portion 91. In this configuration, the master plate 60 and the tool plate 70 can be separated by moving the wall portion 92 and pressing it against the master plate 60.

[Other embodiments]

The present invention is not limited to the above-described embodiments, and can be implemented in various embodiments other than the above-mentioned embodiments with various changes and improvements.

In the above embodiment, the case where one plate is a master plate and the other plate is a tool plate has been described, but one plate may be a tool plate and the other plate may be a master plate. That is, in the tool exchange device, a tool plate has an insertion concave portion on one side, a master plate is detachable from the tool plate and has a column-shaped portion inserted into the insertion concave portion in a connected state, and a tool plate and A spring member that maintains the connected state of the master plate may be further provided.

In the above embodiment, the case where the master plate and the tool plate are cylindrical has been described, but the master plate and the tool plate are not limited to the cylindrical shape, and their shapes can be appropriately selected according to the purpose of the tool. Additionally, it is not necessary for the master plate and tool plate to have the same shape.

In the above embodiment, the case where the columnar portion is provided with a pair of opposing notches with their central axis in between has been described. However, the configuration of the notches is not limited to this, and for example, one notch surrounds the columnar portion. It may be formed as follows.

Additionally, the shape of the notch is not limited to a shape including a pair of side walls parallel to the top surface of the columnar portion and a bottom wall connecting the pair of side walls. Any shape can be adopted as long as the side surface of the pillar-shaped part is recessed in the central axis direction rather than the side surface of the top of the pillar-shaped part, and the spring member can be coupled in the connected state.

In the above embodiment, the case where the spring member is a leaf spring has been described, but it is not limited to a leaf spring as long as it can press the column-shaped portion in the central axis direction in the connected state. For example, a spring made of wire. Even if it is, it’s okay. Additionally, the shape of the spring member is not limited to the shape of the above embodiment, and other shapes can be adopted.

In the above embodiment, a method of releasing the coupling of the spring member to the notch is provided by installing a window portion in which a portion of the spring member is exposed in the connected state, and pressing a portion of the spring member in the direction from the outside of the window portion to the inside. Although described, the method of releasing the coupling of the spring member to the notch is not limited to this. For example, a dedicated release mechanism may be provided to expand the spring member in the direction outside the central axis.

In the second embodiment, the configuration in which the tool-side communication connector is disposed in the concave portion provided on the top surface of the pillar-shaped portion has been described, but the arrangement position of the communication connector is not limited to this. As long as they can be electrically connected to each other in the connected state, the placement position of each communication connector is not limited.

The tool exchange device of the present invention can easily attach and detach the master plate and tool plate even without supplying fluid.

1, 2, 3 tool changer
10 master plate
10a lower master body
10b upper master body
11 Insertion recess
11a insertion hole
12 Convex portion
13 Rotation stop
14 home
15 prostitute
16 bolt hole
20 tool plate
20a tool body
21 Columnar part
21a summit
21b tapered part
22 notch
22a first side wall
22b second side wall
22c low wall
23 coupling hole
30 spring member
31 1st arc section
32 flat part
33 2nd arc section
33a winding unit
34 1st connection part
35 2nd connection part
36 recess
40 master plate
41 Master side communication connector
42 Master side connection terminal
50 tool plate
51 Connector for tool side communication
52 Tool side connection terminal
60 master plate
61 safety pin
62 harness
62a connector
70 tool plate
80 Airport Module
81 Master Airport
81a recess
81b connection convex portion
82 Tool Airport
82a recess
90 stand
91 support
91a U-shaped groove
92 wall
92a notch

Claims (6)

A tool exchange device comprising a master plate attached to a robot arm and a tool plate that is removably mounted on the master plate and to which a tool is attached. )as,
Of the master plate and the tool plate, one plate has an insertion concave portion on one surface, and the other plate is detachable from the one plate and has an insertion concave portion in a connected state. It is provided with a pillar-shaped part inserted into the part,
Further comprising a spring member that maintains the connection between the one plate and the other plate,
The column-shaped portion has a notch on its side that is recessed in the central axis direction rather than the side surface of the top portion of the column-shaped portion, and into which the spring member engages in the connected state,
The spring member presses the column-shaped portion in the direction of its central axis in the connected state.
Tool changer. According to paragraph 1,
The column-shaped portion has a pair of opposing notches with their central axes interposed,
The notch is
a pair of side walls extending in the central axis direction from the side surfaces of the column-shaped portion;
It is provided with a bottom wall connecting the end edges of the pair of side walls on the central axis side,
The gap between the pair of side walls narrows toward the bottom wall.
Tool changer. According to paragraph 2,
The spring member is a leaf spring,
It has a flat portion parallel to the central axis of the column-shaped portion,
The width of the flat portion is greater than the gap between the pair of side walls at the bottom wall.
Tool changer. According to any one of claims 1 to 3,
The one plate has a window portion through which a portion of the spring member is exposed when the plate is connected,
By pressing a portion of the spring member from the outside to the inside of the window portion, the coupling of the spring member to the notch is released.
Tool changer. According to any one of claims 1 to 3,
A tool exchange device wherein the top portion of the column-shaped portion has a tapered portion whose diameter increases downward from the top surface. According to any one of claims 1 to 3,
A tool exchange device wherein the master plate and the tool plate each have a communication connector inside them that is electrically connected to each other in a connected state.