201000273 九、發明說明： 【發明所屬之技術領域】 尤其涉及一種應用於 本發明涉及一種夾具更換裝置 機械臂的夾具更換裝置。 【先前技術】 在工業生產中，機械臂越來越多地用來取代工 環境惡劣、勞耗度大、高危險性、重複性大的作業 如鈑金折f或搬運等作業等。機械f在作業過程中y 根據作業内容的不同及針對的產品不同而更換夹且。 傳統地，給機械臂更換夾具通常係人工使用板手 ，刀等工具將夾具從機械臂上拆卸下來，再安裝所需要的 夾具。此種方式費時、費力，制約了工業領域的自動化生 產’尤其會給流水線生產造成生產停頓，降低了生 【發明内容】 有，於此’有必要提供—種能夠實現自動快速更換央 具以提高生產效率的夾具更換裝置。 、-種夾具更換裝置，其用以給機械臂更換夾具，該機 械臂包括-個第六軸。該夾具更換裝置包括—個與該第六 軸相連的本體部、-個固定於該本體部上的更換部、以及 個口疋於4夾具上的連接部。該本體部包括—個收容空 間：-，第：氣體通道、一個第二氣體通道以及一個活塞。 »亥第，氣體通道及该第二氣體通道均與該收容空間相連 〔口亥活塞收谷於δ亥收容空間内。言亥更換冑包括一個側壁 開》又有複數收谷it孔的突台、複數收容於該複數收容通孔 201000273 内的滚珠、以及一個貫通該突台的第一通孔。該第一通孔 與該活塞相對應。該連接部包括一個與該突台相配合的第 二通孔，沿遠離該本體部的方向，該第二通孔的孔壁為逐 漸增大的斜坡以與該複數滾珠緊密接觸。 #與先前技術相比，本發明提供的夾具更換裝置利用向 該第一氣體通道通入氣體推動該活塞壓迫該複數滾珠，從 而使該複數滾珠與該第二通孔的孔壁緊密接觸，以使該更 換部與該連接部吸合，並利用向該第二氣體通道通入氣體 推動該活塞解除該複數滚珠受到的壓ϋ，從而使該更換部 與該連接部分離，最終實現夾具的快速更換。 【實施方式】 下面將結合附圖，對本發明作進一步的詳細說明。 請一併參閱圖ί及圖2,本發明提供的夾具更換裝置 用於給機械臂200更換夾具3〇〇。該機械f 2〇〇包括一 個第五軸202以及一個第六軸2〇4,該第六軸2〇4 第五轴202。 咬丧於这 ^夾具更換農置1〇〇包括一個與該第六轴2〇4 本體部lio、一個更換部120、一個連接部13〇、三個 螺釘140、以及複數第二螺釘15〇。 一 請一併參閱圖1、圖2及圖3,該本體部11() 收容空間112、一個第一氣體通道114、一— 固 -、-個一三個與該第一螺釘14。=道 螺孔⑴、複數與該複數第二螺釘15〇相對應的第 115、以及兩個定位銷117。該第一氣體通道 二二、 ^及该第二 8 201000273 氣體通道116均與該收容空間112相連通。該活塞118收 容於該收容空間112内，該活塞118包括一個本體118a、 一個從該本體118a延伸的圓柱體118b、一個從該圓柱體 118b延伸的圓台118c以及一個套設於該本體部118a上的 止擋部118d。 該更換部120包括一個位於其側壁120a的電訊號母接 頭121、一個突台122、複數滾珠124、一個貫通該突台122 的第一通孔126、三個與該第一螺孔113相對應的第一沉孔 123、複數與該第二螺孔115相對應的第二沉孔125、兩個 與該定位銷117對應的第一定位通孔127以及一個第三氣 體通道129。該突台122的側壁122a開設有複數收容通孔 128。該複數滾珠124收容於該複數收容通孔128内。每個 滾珠124的直徑大於每個收容通孔128沿該突台122徑向 的深度，且該收容通孔128的孔徑小於該滾珠124的直徑。 該第一通孔126與該活塞118相對應。該更換部120藉由 該第一螺釘140依次穿過該第一沉孔123及該第一螺孔113 而固定於該本體部110上。該本體部110與該更換部120 藉由該第二螺釘150依次穿過該第二沉孔125及該第二螺 孔115並從該本體部110伸出而與該第六軸204相連。 該連接部130包括一個位於其側壁132的電訊號公接 頭134、一個第二通孔136、一個第四氣體通道138、兩個 第二定位通孔137、以及複數固定孔139。該電訊號公接頭 134與該電訊號母接頭121相配合。該第二通孔136與該突 台122相配合，沿遠離該第六轴204的方向，該第二通孔 9 201000273 136的孔壁135為逐漸增大的斜坡以與該複數滾珠124緊密 接觸。該第四氣體通道138與該第三氣體通道129相配合。 該第二定位通孔137與該定位銷117及該第一定位通孔127 相對應。該連接部130藉由螺釘（圖未示）穿過該固定孔139 固定於該夾具300上。 使用該夾具更換裝置100給該機械臂200更換夾具300 時，首先，該更換部120與連接部130處於分離狀態（圖3 示），且該連接部130藉由螺釘（圖未示）穿過該固定孔139 固定於該夾具300上。 接著該更換部120與該連接部130處於快速吸合的階 段，請一併參閱圖1、圖2及圖4，該第六軸204帶動該本 體部110及該更換部120朝接近該連接部130的方向運動， 且保證該定位銷117伸入該第二定位通孔137内，此時該 第四氣體通道138與該第三氣體通道129逐漸配合，該電 訊號公接頭134與該電訊號母接頭121逐漸配合，氣體開 始通入該第一氣體通道114内推動該活塞118的本體118a 朝接近該第二通孔136的方向運動，該本體118a帶動該圓 台118c處的大角度圓錐面沿該第二通孔136徑向壓迫該複 數滾珠124，由於係大角度圓錐面壓迫該複數滾珠124，產 生的力度相對較小，因此該更換部120與該連接部130只 是快速吸合。 然後該更換部120與連接部130處於加力吸合階段， 請一併參閱圖1、圖2及圖5，當該電訊號公接頭134與該 電訊號母接頭121完全配合後，該第六軸204停止運動， 201000273 大量氣體繼續通入該第一氣體通道114内推動該活塞118 的本體118a朝接近該第二通孔136的方向運動，此時，該 圓柱體118b與該圓台118(：相接處壓迫該複數滾珠124，由 於該活塞118與每個滾珠124接觸面積變小而加大了給予 該滚珠124的力，從而使該更換部12〇與連接部緊緊 吸合在-起。同時’該第四氣體通道138與該第三氣體通 道129完全配合’且該機械臂2〇〇帶動該夹具3〇〇進行操 作時、’該第四氣體通道138與該第三氣體通道129相連通 可以為夾具200提供動力或者係用作其他辅助功能。 最後該更換部120與連接部13〇處於吸合鎖緊階段， 請參閱圖6,氣體繼續通入該第一氣體通道114内推動該活 塞118的本體118a朝接近該第二通孔136❸方向運動=至 該本體118a受到該止擋部md的阻擒。此時，該圓㈣ U8b的圓柱面壓迫該複數滾珠124，該連接部㈣與該央 具300的重力藉由該複數滾珠124作用在該活塞ιΐ8上， 而且此時即使不通入氣體至該第一氣體通道ιΐ4，該 :厂及該夾具300仍然與該更換部12〇吸合在一起而不會脫 洛·。 料料:該機械臂咖更換夹具時，賴械臂細必 須先將該爽具放置在夾具承載台（圖未示）上，即 該連接部⑽與該更換部m分離開。首先該第二氣體通 通入氣體，該氣體推動該活塞118的本體ma朝 u離以弟一通孔I36的方向運動，此時該滾珠124 p 回該收容通孔128内直至不受到該活塞==著退 11 201000273 該第六軸204帶動該本體部11〇及該更換部12〇朝遠離該 連接部130的方向運動，且使該定位銷117脫離該第二定 位通孔137,該電訊號公接頭134脫離該電訊號母接頭 121，以及該第四氣體通道138脫離該第三氣體通道129。 可以理解，本實施方式中的定位銷117、第一定位通孔 127以及第二定位通孔137並不局限於本實施方式中為兩 個，可以係任意個S，只需要起到定位作用方便該更換部 120與該連接部13〇吸合即可。該第一螺釘14〇、該第一螺 孔113、以及該第一沉孔123並不局限於本實施方式中為三 個，可以係至少兩個，只需要滿足該更換部12〇藉由該第 -螺釘14G依次穿過該第—沉孔123及該第—螺孔ιΐ3而 固定於該本體部11〇上即可。 .本發明提供的夾具更換裳置1〇〇利用向該第一氣體通 道二114通入氣體推動該活塞118遷迫該複數滾珠，從而 使該複數滾珠124與該第二通孔136的孔壁135緊密接觸， 以使該更換部120與該連接部13〇吸合，並利用向該第二 ^體通道m通入氣體推動該活塞118解除該複數滾珠124 文到的屢追，從而使該更換部120與該連接部⑽分離， 最終實現夾具300的快速更換。 綜上所述，本發明確已符合發明專利之要件，遂依法 二出：利申請。惟’以上所述者僅為本發明之較佳實施方 式:自不能以此限制本案之申請專利範圍。舉凡熟悉本案 技藝之人士援依本發明之精神所作之等效修飾或變化，皆 應涵蓋於以下申請專利範圍内。 12 201000273 【圖式簡單說明】 圖1 一為本發明提供的夹具更換裝置與第六轴及央具相連的 立體示意圖。 圖2為圖1中夾具更換裝置的立體分解圖。 圖3為圖1中爽具更換裝置的更換部與連接部分離狀態的 示意圖。 f 4為圖1中夾具更換裝置的更換部與連接部快速吸合狀 態的示意圖。 圖5為圖1中夾具更換裝置的 態的示意圖。 圖6為圖1中夾具更換裝置的 態的示意圖。 更換部與連接部加力吸合狀 更換部與連接部吸合鎖緊狀 【主要元件符號說明】 本體部 110 收容空間 112 第二螺孔 115 定位銷 117 活塞 118 圓柱體 118b 止擋部 118d 側壁 120a、122a、132 第一沉孔 123 第二沉孔 125 夾具更換裝置 100 第一螺孔 113 第一氣體通道 114 第二氣體通道 116 本體 118a 圓台 118c 更換部 120 突台 122 滾珠 124 第一通孔 126 收容通孔128 第一定位通孔127 13 129201000273 連接部 130 第三氣體通道 孔壁 135 電訊號母接頭 第二通孔 136 電訊號公接頭 固定孔 139 第二定位通孔 第一螺釘 140 第四氣體通道 第二螺釘 150 機械臂 第五轴 202 第六軸 夾具 300 121 134 137 138 200 204 14201000273 IX. Description of the Invention: [Technical Field of the Invention] In particular, the present invention relates to a jig replacing device for a jig of a jig changing device. [Prior Art] In industrial production, mechanical arms are increasingly used to replace jobs with harsh industrial conditions, high labor consumption, high risk, and high repetitive operations such as sheet metal folding or handling. The machine f is changed during the operation y according to the content of the job and the product to be replaced. Conventionally, the replacement of the jig for the robot arm is usually performed by manually using a wrench, a tool such as a knife to remove the jig from the arm, and then installing the required jig. This method is time-consuming and laborious, and restricts the automatic production in the industrial field. In particular, it will cause production pauses in the production line and reduce the production. [Inventive content] Yes, it is necessary to provide an automatic quick change of the implement to improve Production efficiency fixture replacement device. A jig replacement device for replacing a jig with a mechanical arm including a sixth shaft. The jig changing device includes a body portion connected to the sixth shaft, a replacement portion fixed to the body portion, and a connecting portion connected to the 4 jig. The body portion includes a receiving space: -, a: gas passage, a second gas passage, and a piston. »Hai Di, the gas passage and the second gas passage are connected to the accommodating space. The 亥 胄 胄 胄 胄 胄 胄 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 》 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 The first through hole corresponds to the piston. The connecting portion includes a second through hole that cooperates with the protruding portion. The wall of the second through hole has a gradually increasing slope to be in close contact with the plurality of balls in a direction away from the body portion. Compared with the prior art, the fixture changing device provided by the present invention pushes the piston to press the plurality of balls by introducing gas into the first gas passage, so that the plurality of balls are in close contact with the hole wall of the second through hole, The replacement portion is brought into contact with the connecting portion, and the piston is released by pushing the gas into the second gas passage to release the compression of the plurality of balls, so that the replacement portion is separated from the connecting portion, and finally the clamp is fast. replace. [Embodiment] Hereinafter, the present invention will be further described in detail with reference to the accompanying drawings. Referring to Fig. 2 and Fig. 2, the jig changing device provided by the present invention is used to replace the jig 3 with the arm 200. The machine f 2 〇〇 includes a fifth shaft 202 and a sixth shaft 2〇4, the sixth shaft 2〇4 and the fifth shaft 202. The jig replacement device includes a body portion lio with the sixth shaft 2〇4, a replacement portion 120, a connecting portion 13A, three screws 140, and a plurality of second screws 15A. Referring to FIG. 1, FIG. 2 and FIG. 3 together, the body portion 11() receives a space 112, a first gas passage 114, a solid-, a one-three and the first screw 14. = a screw hole (1), a plurality 115 of the plurality of second screws 15A, and two positioning pins 117. The first gas passages 22, ^ and the second 8 201000273 gas passages 116 are all in communication with the receiving space 112. The piston 118 is received in the receiving space 112. The piston 118 includes a body 118a, a cylinder 118b extending from the body 118a, a circular table 118c extending from the cylinder 118b, and a sleeve 118a. The upper stop portion 118d. The replacement portion 120 includes a telecommunication female connector 121 on the side wall 120a, a projection 122, a plurality of balls 124, a first through hole 126 extending through the projection 122, and three corresponding to the first screw hole 113. The first counterbore 123, the second counterbore 125 corresponding to the second screw hole 115, the first positioning through hole 127 corresponding to the positioning pin 117, and a third gas passage 129. A plurality of receiving through holes 128 are defined in the side wall 122a of the boss 122. The plurality of balls 124 are received in the plurality of receiving through holes 128. The diameter of each of the balls 124 is greater than the depth of each of the receiving through holes 128 along the radial direction of the projections 122, and the diameter of the receiving through holes 128 is smaller than the diameter of the balls 124. The first through hole 126 corresponds to the piston 118. The replacing portion 120 is fixed to the main body portion 110 by the first screw 140 passing through the first counterbore 123 and the first screw hole 113 in sequence. The body portion 110 and the replacement portion 120 are sequentially connected to the second counterbore 125 and the second screw hole 115 through the second screw 150 and extend from the body portion 110 to be connected to the sixth shaft 204. The connecting portion 130 includes an electrical signal male connector 134 at its side wall 132, a second through hole 136, a fourth gas passage 138, two second positioning through holes 137, and a plurality of fixing holes 139. The electrical signal connector 134 is mated with the electrical female connector 121. The second through hole 136 cooperates with the protruding base 122. In the direction away from the sixth shaft 204, the hole wall 135 of the second through hole 9 201000273 136 is a gradually increasing slope to be in close contact with the plurality of balls 124. . The fourth gas passage 138 cooperates with the third gas passage 129. The second positioning through hole 137 corresponds to the positioning pin 117 and the first positioning through hole 127. The connecting portion 130 is fixed to the clamp 300 through a fixing hole 139 by a screw (not shown). When the jig replacement device 100 is used to replace the jig 300 with the jig 200, first, the replacement portion 120 and the connecting portion 130 are in a separated state (shown in FIG. 3), and the connecting portion 130 is passed through a screw (not shown). The fixing hole 139 is fixed to the jig 300. The replacement part 120 and the connecting part 130 are in a stage of rapid engagement. Referring to FIG. 1 , FIG. 2 and FIG. 4 , the sixth shaft 204 drives the main body 110 and the replacement part 120 toward the connecting part. The direction of movement of 130 is ensured, and the positioning pin 117 is inserted into the second positioning through hole 137. At this time, the fourth gas passage 138 is gradually matched with the third gas passage 129, and the electrical signal connector 134 and the electric signal are The female connector 121 gradually cooperates, and the gas starts to enter the first gas passage 114 to push the body 118a of the piston 118 to move toward the second through hole 136. The body 118a drives the large-angle conical surface at the circular table 118c. The plurality of balls 124 are radially pressed along the second through hole 136. Since the plurality of balls 124 press the plurality of balls 124 to generate a relatively small force, the replacement portion 120 and the connecting portion 130 are only quickly sucked. Then, the replacement portion 120 and the connecting portion 130 are in the energizing and attracting phase. Please refer to FIG. 1 , FIG. 2 and FIG. 5 together. When the electrical signal male connector 134 is fully engaged with the electrical female connector 121, the sixth The shaft 204 stops moving, 201000273 a large amount of gas continues to pass into the first gas passage 114 to push the body 118a of the piston 118 toward the second through hole 136. At this time, the cylinder 118b and the circular table 118 ( The pressing portion 124 presses the plurality of balls 124, and the contact area of the piston 118 with each of the balls 124 becomes smaller, thereby increasing the force given to the balls 124, so that the replacement portion 12〇 and the connecting portion are tightly attracted to each other - At the same time, 'the fourth gas passage 138 is fully engaged with the third gas passage 129' and the mechanical arm 2 〇〇 drives the clamp 3 〇〇 to operate, the fourth gas passage 138 and the third gas passage The 129 phase communication can provide power to the clamp 200 or be used as other auxiliary functions. Finally, the replacement portion 120 and the connecting portion 13 are in the suction locking phase. Referring to FIG. 6, the gas continues to pass into the first gas passage 114. Pushing the piston 118 118a moves toward the second through hole 136 = = until the body 118a is blocked by the stop portion md. At this time, the cylindrical surface of the circle (4) U8b presses the plurality of balls 124, the connecting portion (four) and the centering device The gravity of 300 acts on the piston ι 8 by the plurality of balls 124, and at this time, even if gas is not supplied to the first gas passage ι 4, the factory and the jig 300 are still sucked together with the replacement portion 12 It will not be detached. Material: When the robot arm is replaced, the arm must first be placed on the fixture carrier (not shown), that is, the connection (10) is separated from the replacement part m. First, the second gas is passed through a gas, and the gas pushes the body ma of the piston 118 to move away from the through hole I36. At this time, the ball 124 p is returned to the receiving through hole 128 until the piston is not received. == 退 11 201000 273 The sixth shaft 204 drives the main body portion 11 〇 and the replacement portion 12 运动 to move away from the connecting portion 130 , and the positioning pin 117 is disengaged from the second positioning through hole 137 , the telecommunications The male connector 134 is disengaged from the electrical female connector 121 to The fourth gas passage 138 is separated from the third gas passage 129. It can be understood that the positioning pin 117, the first positioning through hole 127 and the second positioning through hole 137 in the embodiment are not limited to two in the embodiment. Any one of the Ss can be used, and only needs to be positioned to facilitate the replacement of the replacement portion 120 and the connecting portion 13. The first screw 14〇, the first screw hole 113, and the first counterbore 123 It is not limited to three in the present embodiment, and may be at least two, and only the replacement portion 12 is required to pass through the first counterbore 123 and the first screw hole ι 3 through the first screw 14G. It can be fixed to the main body portion 11〇. The clamp replacement device provided by the present invention uses the gas introduced into the first gas passage 2 114 to push the piston 118 to move the plurality of balls, so that the plurality of balls 124 and the second through hole 136 are bored. The 135 is in close contact with the connecting portion 13 and the connecting portion 13 is sucked, and the piston is released by pushing the gas into the second body passage m to release the repeated tracking of the plurality of balls 124. The replacement portion 120 is separated from the connection portion (10), and finally the quick replacement of the jig 300 is achieved. In summary, the present invention has indeed met the requirements of the invention patent, and the second application of the invention is as follows: However, the above description is only a preferred embodiment of the present invention: it is not possible to limit the scope of the patent application in this case. Equivalent modifications or variations made by persons skilled in the art in light of the present invention are intended to be included within the scope of the following claims. 12 201000273 [Simple description of the drawings] Fig. 1 is a perspective view showing the fixture changing device provided by the present invention connected to the sixth shaft and the center device. Figure 2 is an exploded perspective view of the jig changing device of Figure 1. Fig. 3 is a view showing a state in which the replacement portion and the connecting portion of the refreshing device of Fig. 1 are separated. F 4 is a schematic view showing the state in which the replacement portion and the connecting portion of the jig replacing device in Fig. 1 are quickly sucked. Fig. 5 is a schematic view showing the state of the jig replacing device of Fig. 1. Figure 6 is a schematic view showing the state of the jig replacing device of Figure 1. Replacement part and connection part force-increasing contact replacement part and connection part suction lock type [Description of main component symbols] Main body part 110 accommodating space 112 Second screw hole 115 Locating pin 117 Piston 118 Cylinder 118b Stop part 118d Side wall 120a, 122a, 132 first counterbore 123 second counterbore 125 fixture changing device 100 first screw hole 113 first gas passage 114 second gas passage 116 body 118a round table 118c replacement portion 120 boss 122 ball 124 first pass Hole 126 receiving through hole 128 first positioning through hole 127 13 129201000273 connecting portion 130 third gas passage hole wall 135 telecommunication female connector second through hole 136 telecommunication pin fixing hole 139 second positioning through hole first screw 140 Four gas passage second screw 150 robot arm fifth shaft 202 sixth shaft clamp 300 121 134 137 138 200 204 14