WO2014156508A1 - 工具交換装置用のマスター装置 - Google Patents
工具交換装置用のマスター装置 Download PDFInfo
- Publication number
- WO2014156508A1 WO2014156508A1 PCT/JP2014/055428 JP2014055428W WO2014156508A1 WO 2014156508 A1 WO2014156508 A1 WO 2014156508A1 JP 2014055428 W JP2014055428 W JP 2014055428W WO 2014156508 A1 WO2014156508 A1 WO 2014156508A1
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- WO
- WIPO (PCT)
- Prior art keywords
- master device
- tool
- insertion portion
- robot
- cam
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0416—Connections means having balls
Definitions
- the present invention relates to a master device for a tool changer that attaches a tool to a robot in a replaceable manner.
- Such a tool changer includes a master device attached to a robot and a tool connection device to which a tool is attached.
- the master device is configured to be connectable to the tool connection device. This will be described more specifically.
- the master device is a device main body having a robot connecting portion connectable to the robot and a frame connected to the robot connecting portion, and a connecting portion connected to the device main body, and connects the master device to the tool connecting device. (For example, refer to patent documents 1).
- the connecting portion includes a cylindrical insertion portion having a plurality of through holes provided at intervals in the circumferential direction, a ball member disposed in the through hole of the insertion portion, and a part of the ball member.
- a switching mechanism is provided that can be switched between a state of protruding from the insertion portion and a state in which a part of the ball member is retracted into the insertion portion.
- the tool connecting device includes a concave or hole-shaped cavity that is open on the outer surface, and a locking part that is disposed around the center of the cavity and protrudes into the cavity.
- the tool changer To attach a tool to a robot using such a tool changer, first insert the insertion part of the master device into the cavity of the tool connection device. Then, the ball member of the master device is locked to the locking portion of the tool connecting device by causing a part of the ball member to protrude outside the insertion portion by the switching mechanism. Thereby, the tool is attached to the robot. Then, when a part of the ball member is retracted into the insertion portion by the switching mechanism, the locking of the ball member of the master device with respect to the locking portion of the tool connection device is released. This removes the tool from the robot. In this way, the tool changer can attach the tool attached to the tool connection device to the robot to which the master device is attached in a replaceable manner.
- the ball member comes into sliding contact or an external force acts from the ball member. Therefore, in order to prevent wear and breakage of the insertion part accompanying the movement of the ball member, the insertion part is made by processing an iron-based metal (processing by cutting or the like) and further quenching the processed metal. It is manufactured.
- the entire insertion portion is made of an iron-based metal, which leads to an increase in weight.
- processing of iron metal that is difficult to cut and quenching of the processed iron metal increase the manufacturing cost. linked.
- the insertion portion is made of a lightweight material such as a resin, but the durability of the insertion portion cannot be sufficiently ensured. Therefore, it becomes a problem that it becomes impossible to prevent the insertion portion from being worn or damaged due to the movement of the ball member.
- an object of the present invention is to provide a master device for a tool changer capable of suppressing weight and manufacturing cost while ensuring durability of an insertion portion.
- the master device for the tool changer of the present invention is A master device for a tool changer that attaches a tool to a robot in a replaceable manner, An apparatus main body having a robot connecting portion connectable to the robot, and a frame connected to the robot connecting portion; A connecting portion connected to the apparatus main body, The connecting portion is a cylindrical insertion portion that can be inserted into a concave or hole-shaped cavity that is open on the outer surface of the tool connection device attached to the tool, and is spaced apart in the circumferential direction.
- An insertion portion having a plurality of through holes formed; A cylindrical receiving member fitted in each of the through holes of the insertion portion; A ball member fitted into each of the receiving members, a part of which is protruded outside the insertion portion; A state in which a part of the ball member is protruded to the outside of the insertion portion so that the ball member can be locked to a locking portion disposed around the center of the cavity of the tool connection device; A switching mechanism capable of switching to a state in which a part of the ball member is retracted into the insertion portion and the ball member cannot be locked to the locking portion;
- the insertion portion is made of light metal or resin,
- the receiving member is made of metal, It is characterized by that.
- the insertion part is Having a first end on the robot connecting portion side and a second end opposite to the first end;
- the switching mechanism is As it moves in the axial direction of the insertion part, the ball member is pushed out of the insertion part as it moves to the second end side of the insertion part, It is configured to release the push against the ball member as it moves to the first end side of the insertion portion,
- the receiving member is An annular receiving member body; A projecting portion projecting from the outer surface of the receiving member main body toward the second end side of the insertion portion, You may do it.
- the receiving member body is While having a first end located on the outer peripheral surface of the insertion portion in a state fitted in the through hole of the insertion portion, and a second end opposite to the first end, It has a return portion that protrudes inward in the circumferential direction from the inner peripheral surface on the first end side, You may do it.
- the receiving member is made of sintered metal, You may do it.
- FIG. 1 is a top perspective view of a master device for a tool changer according to an embodiment of the present invention.
- FIG. 2 is an exploded perspective view of the master device for the tool changer according to the embodiment.
- FIG. 3 is a plan view of the master device for the tool changer according to the embodiment.
- 4 is a cross-sectional view of the master device for the tool changer according to the embodiment, which is a cross-sectional view taken along the line AA of FIG.
- FIG. 5 is a lower perspective view of the master device for the tool changer according to the embodiment.
- 6 is a cross-sectional view of the master device for the tool changer according to the embodiment, which is a cross-sectional view taken along line BB in FIG.
- FIG. 7 is a perspective view of the switching mechanism of the master device for the tool changer according to the embodiment.
- FIG. 8 is a perspective view of a receiving member of the master device for the tool changer according to the embodiment.
- FIG. 9 is a top view of the receiving member of the master device for the tool changer according to the embodiment.
- FIG. 10 is an explanatory diagram of a master device for the tool changer according to the embodiment, and is an explanatory diagram of a state in which the master device is aligned with the tool connection device.
- FIG. 11 is an explanatory diagram of the master device for the tool changer according to the embodiment, and is an explanatory diagram of a state in which the cam portion is moved without inserting the insertion portion into the cavity portion.
- FIG. 10 is an explanatory diagram of a master device for the tool changer according to the embodiment, and is an explanatory diagram of a state in which the cam portion is moved without inserting the insertion portion into the cavity portion.
- FIG. 12 is an explanatory diagram of the master device for the tool changer according to the embodiment, and is an explanatory diagram of a state where the master device is attached to the tool connection device.
- FIG. 13 is a top perspective view of the tool connection device attached to the master device for the tool changer according to the embodiment.
- FIG. 14 is a plan view of the tool connection device attached to the master device for the tool changer according to the embodiment.
- 15 is a cross-sectional view of the tool connection device attached to the master device for the tool changer according to the embodiment, and is a cross-sectional view taken along the line CC of FIG.
- FIG. 16 is an explanatory diagram of a master device for a tool changer according to another embodiment of the present invention.
- a master device for a tool changer (hereinafter simply referred to as a master device) will be described with reference to the accompanying drawings.
- the master device is for a tool changer that attaches a tool to a robot in a replaceable manner.
- the master device can be attached to the robot.
- the master device is configured to be connectable to a tool connection device to which a tool is attached.
- the tool connection device 8 includes a concave or hole-shaped cavity 80 that is open on the outer surface. Further, as shown in FIG. 15, the tool connecting device 8 includes a locking portion 81 that is disposed around the center of the cavity 80 and protrudes into the cavity 80. The tool connection device 8 includes a concave positioned portion 82.
- the tool connection device 8 is formed so that its external appearance has an annular shape. Therefore, the cavity 80 is configured by a space surrounded by the inner periphery of the tool connection device 8.
- the tool connecting device 8 has a first end surface on the side where the tool T is attached and a second end surface opposite to the first end surface (that is, a surface on the side where the master device is attached). And the internal diameter of the tool connection apparatus 8 is set so that it may become small as it becomes a 2nd end surface side from the center part side. Therefore, the locking portion 81 is configured by an inner peripheral portion on the second end side of the tool connection device 8.
- the positioned portion 82 opens to the second surface side of the tool connection device 8.
- a plurality (two in the present embodiment) of the positioned portions 82 are provided at intervals in the circumferential direction of the tool connection device 8.
- a detection object 82a that can be detected by a position detection sensor described later is installed at the bottom of the position determination unit.
- the tool connection device 8 has a concave tool side accommodating portion that can accommodate a module coupled to the tool.
- the tool side accommodating portion is formed so as to open to the second surface side and the outer peripheral side surface of the tool connection device 8. Accordingly, the tool connection device 8 has a tool side cover 83 that covers the open portion of the tool side accommodating portion, as shown in FIG.
- the module is for supplying fluid (air, water, etc.) and power to the tool T, for example.
- a configuration for attaching the tool side cover 83 for example, a notch for arranging the tool side cover 83 and a bolt inserted through the tool side cover 83 are screwed together.
- a screw hole or the like to be formed is formed in the locking portion 81 to reduce the size.
- the master device 1 includes a robot connecting portion 20 that can be connected to the robot R, and a frame 21 that is connected to the robot connecting portion 20, and has a concave shape that opens at least on the outer peripheral surface.
- the apparatus main body 2 having the frame 21 including the receiving portion 210 is provided.
- the master device 1 includes a cover 3 that covers an open portion of the storage unit 210.
- the master device 1 includes a seal member 4 that closes the space between the device main body 2 and the cover 3. Furthermore, the master device 1 includes a connecting portion 5 that is connected to the device main body 2. Further, as shown in FIG. 3, the master device 1 includes a positioning unit 6 that can be fitted into a positioned unit 82 provided in the tool connection device 8, and a position detection sensor disposed in the positioning unit 6. 7.
- the robot connecting portion 20 is formed in a plate shape having a circular shape in plan view. And the robot connection part 20 has the 1st surface facing the robot R, and the 2nd surface on the opposite side to this 1st surface.
- the robot connecting portion 20 has a plurality of first insertion holes 200a,... Formed at intervals around the central portion (see FIG. 6), and the intervals around the central portion.
- a plurality of second insertion holes 200b formed by opening a plurality of second insertion holes 200b formed on the center side with respect to the first insertion hole, and the base plate 200, Are inserted into each of the plurality of first insertion holes 200a, ... or the plurality of second insertion holes 200b, ..., and have a plurality of male screw members 201, ... extending from the first surface.
- the robot coupling portion 20 has a fitting member 202 that can be fitted to a fitted portion Rf2 of a robot flange Rf provided in the robot R.
- FIG. 6 as an example, a screw hole Rf ⁇ b> 1 formed at a position corresponding to the first insertion hole 200 a of the robot coupling portion 20, and a concave fitted portion Rf ⁇ b> 2 into which the fitting member 202 can be fitted.
- the state which the master apparatus 1 is attached to the robot R via the robot flange Rf which has is shown.
- the second insertion hole 200b communicates with a communication hole 212 formed at a position corresponding to the second insertion hole 200b of the frame 21.
- the male screw member 201 includes a first screw member 201a that is inserted into the first insertion hole 200a and a second screw member 201b that is screwed into the second insertion hole 200b.
- the first screw member 201a extends to the first surface side of the robot connecting portion 20 through the first insertion hole 200a.
- the second screw member 201 b is inserted into the communication hole 212 of the frame 21. Further, it is screwed into the second insertion hole 200b. Therefore, in the master device 1, the robot coupling unit 20 and the frame 21 are coupled by the second screw member 201b.
- the 2nd screw member 201b is comprised so that it may not extend to the 1st surface side of the robot connection part 20 in the state currently screwed by the 2nd penetration hole 200b.
- the base plate 200 has a fitting portion 200c into which the connecting portion 5 (a cylinder portion 531 of the switching mechanism 53 described later) is fitted.
- the fitting portion 200c is formed in a concave shape from the second surface of the robot coupling portion 20 toward the first surface side. That is, the fitting part 200c is configured by a recess that opens on the second surface.
- the base plate 200 has an attaching / detaching portion 200d on the first surface side for attaching and detaching the fitting member 202 having a different outer diameter in a replaceable manner.
- the attaching / detaching portion 200d is formed with a screw hole. Therefore, the master device 1 attaches the fitting member 202 to the first surface side of the base plate 200 by screwing the male screw inserted into the fitting member 202 into the screw hole of the attaching / detaching portion 200d. can do.
- the fitting member 202 attached to the detachable portion 203 is fitted into the fitted portion Rf2, and the first screw member 201a is screwed into the screw hole Rf1 of the robot flange Rf.
- the robot connecting portion 20 can be attached to the robot flange Rf. In this way, the master device 1 is connected to the robot R.
- the robot connection part 20 which concerns on this embodiment is connected with the robot flange Rf by the 1st screw member 201a, depending on the position of the screw hole Rf1 of the robot flange Rf, the 2nd screw member 201b. May be extended to the first surface side of the robot connecting portion 20. That is, the robot coupling unit 20 may be configured to be coupled to the robot flange Rf by the second screw member 201b.
- the attaching / detaching part 203 can attach and detach the fitting member 202 having a different outer diameter to the first surface side of the robot connecting part 20 in a replaceable manner. Therefore, the master device 1 can attach the fitting member 202 to the detachable portion 203 after selecting the fitting member 202 having an outer diameter corresponding to the size of the fitted portion Rf2 of the robot flange Rf.
- the robot connecting unit 20 removes the fitting member 202 from the attaching / detaching portion 203, and then the robot R It can also be connected to (robot flange Rf).
- the frame 21 has a thickness in a direction (hereinafter, referred to as a first direction) aligned with the robot coupling unit 20. Further, the frame 21 has a first surface facing the second surface of the robot coupling portion 20 and a second surface opposite to the first surface. The frame 21 has an outer peripheral surface connected to the first surface and the second surface.
- the frame 21 is formed at the center of the frame 21 and has an arrangement hole 211 penetrating from the first surface to the second surface.
- “21a” is attached to the second surface of the frame 21, and “21b” is attached to the outer peripheral surface of the frame 21.
- a plurality of accommodating portions 210 are formed around the center portion of the frame 21 at intervals. That is, the frame 21 has a plurality (three in the present embodiment) of accommodating portions 210.
- each of the plurality of accommodating portions 210,... Is formed so as to accommodate a module (not shown) coupled to the tool T (coupled to the tool T via a module accommodated in the tool side accommodating portion).
- the module accommodated in the accommodating part 210 is a thing for supplying the fluid (air, water, etc.), the electric power, etc. to the tool T, for example.
- the accommodating part 210 opens toward the direction orthogonal to the first direction and the first direction. That is, the accommodating part 210 opens toward the first surface of the frame 21, the second surface 21 a of the frame 21, and the outer peripheral surface 21 b of the frame 21.
- the first surface of the frame 21 faces the second surface of the robot coupling unit 20. Therefore, in the accommodating part 210, the open part on the first surface of the frame 21 is closed by the robot connecting part 20. Therefore, in the apparatus main body 2, the accommodating portion 210 is opened on the second surface 21 a of the frame 21 and the outer peripheral surface 21 b of the frame 21.
- the open end (henceforth the 1st open end 210a) in the 2nd surface 21a side of the frame 21 in the accommodating part 210 is on the 1st surface side of the frame 21 rather than the 2nd surface 21a side of the frame 21.
- an open end (hereinafter referred to as a second open end 210 b) of the housing portion 210 on the outer peripheral surface 21 b side of the frame 21 is positioned inside the frame 21 relative to the outer peripheral surface 21 b of the frame 21.
- the hole diameter of the arrangement hole 211 is set so that the second surface 21 a side of the frame 21 is smaller than the first surface side of the frame 21.
- the cover 3 is continuous with the outer surface of the frame 21 (in this embodiment, the second surface 21 a of the frame 21 and the outer peripheral surface 21 b of the frame 21) in a state in which the cover 3 covers the open portion of the housing portion 210. To do. In addition, the cover 3 covers the open part of the housing part 210, and the outer edge part comes into contact with the first open end 210 a of the housing part 210 and the second open end 210 b of the housing part 210.
- the cover 3 has a side surface 30 having an outer surface continuous with the outer peripheral surface 21b of the frame 21 in a state in which the open portion of the storage portion 210 is covered, and a state in which the cover 3 is orthogonal to the side surface portion 30 and covers the open portion of the storage portion 210 And an upper surface portion 31 having an outer surface continuous with the second surface 21a of the frame 21.
- the side surface 30 is formed in an arc shape.
- the side surface 30 has a first end in the circumferential direction and a second end opposite to the first end.
- the side part 30 has an upper end in the direction orthogonal to the circumferential direction, and a lower end opposite to the upper end.
- “30a” is attached to the first end of the side surface portion 30
- “30b” is attached to the second end of the side surface portion 30
- “30c” is attached to the lower end of the side surface portion 30. It will be attached.
- the first end 30 a and the second end 30 b are in contact with the first open end 210 a of the frame 21. Furthermore, the lower end 30 c of the side surface portion 30 is disposed on the outer edge portion on the second surface of the robot coupling portion 20.
- the upper surface portion 31 has a first end provided at the upper end of the side surface portion 30 and a second end opposite to the first end. Further, the upper surface portion 31 has a pair of side ends in a direction orthogonal to the direction in which the first end and the second end of the upper surface portion 31 are arranged.
- “31a” is attached to the second end of the upper surface portion 31
- “31b” is attached to one side end of the upper surface portion 31, and the other side end of the upper surface portion 31 is attached.
- “31c” is attached.
- the second end 31 a of the upper surface portion 31 abuts on the first open end 210 a of the housing portion 210.
- one side end 31 b of the upper surface portion 31 and the other side end 31 c of the upper surface portion 31 are in contact with the second open end 210 b of the housing portion 210.
- the seal member 4 is formed in an annular shape and is disposed on the second surface of the robot connecting portion 20. That is, the seal member 4 is disposed over the entire outer peripheral edge portion on the second surface of the robot coupling portion 20.
- the seal member 4 is sandwiched between the frame 21 (the second surface 21a of the frame 21) and the cover 3 (the lower end 30c of the side surface portion 30 of the cover 3) when the housing part 210 is covered with the cover 3. Therefore, in the master device 1, the seal member 4 blocks the space between the frame 21 (the second surface 21 a of the frame 21) and the cover 3 (the lower end 30 c of the side surface portion 30 in the cover 3).
- the connecting portion 5 is a cylindrical insertion portion 50 that can be inserted into the cavity portion 80 of the tool connection device 8, and has a plurality of through holes formed at intervals in the circumferential direction. 500,..., An annular receiving member 51 fitted in each of the through holes 500 of the inserting portion 50, and a ball member 52 fitted in each of the receiving members 51, partly Is protruded to the outside of the insertion portion 50, and a part of the ball member 52 is protruded to the outside of the insertion portion 50 so that the ball member 52 is locked to the locking portion 81 of the tool connection device 8. The ball member 52 is retracted into the insertion portion 50 and the ball member 52 is engaged with the engagement portion 81 of the tool connection device 8.
- connection part 5 has the 1st detection part 55 which detects that the switching mechanism 53 is a latching state, and the 2nd detection part 56 which detects that the switching mechanism 53 is a non-locking state.
- the insertion part 50 is made of light metal (for example, aluminum, magnesium, titanium, etc.) or resin (for example, fiber reinforced plastic, engineering plastic (engineering plastic), thermosetting resin, thermoplastic resin, carbon fiber reinforced plastic, etc.).
- resin for example, fiber reinforced plastic, engineering plastic (engineering plastic), thermosetting resin, thermoplastic resin, carbon fiber reinforced plastic, etc.
- the insertion part 50 in this embodiment is comprised with the aluminum which is a light metal).
- the insertion part 50 when the insertion part 50 is comprised with a light metal, it is preferable to employ
- adopt fiber reinforced plastic More preferably, it is a carbon fiber reinforced plastic, More preferably, it is a carbon fiber reinforced plastic containing a phenol-type resin.
- the insertion part 50 has a first end on the robot connecting part 20 side and a second end opposite to the first end.
- the insertion portion 50 has a concave fitting concave portion 501 continuous with the through hole 500.
- the insertion portion 50 has a screw hole 502 formed so as to be connected to the through hole 500 from the first end, and a male screw member 503 to be screwed into the screw hole 502.
- the fitting recess 501 is formed in a concave shape toward the second end side of the insertion portion 50.
- the screw hole 502 is formed so as to be connected from the first end of the insertion portion 50 to the fitting recess 501.
- the receiving member 51 is made of metal (for example, sintered metal, stainless steel, iron-based metal, etc.).
- the receiving member 51 is preferably made of sintered metal. Further, the receiving member 51 according to the present embodiment is made of a sintered metal.
- the receiving member 51 includes an annular receiving member main body 510 and a protruding portion that protrudes from the outer surface of the receiving member main body 510 toward the second end side of the insertion portion 50. 511.
- the receiving member main body 510 has a first end in the axial direction and a second end opposite to the first end.
- the receiving member main body 510 according to the present embodiment has a first end located on the outer peripheral surface of the insertion portion 50 and a second end inserted in the state where the receiving member main body 510 is fitted in the through hole 540b of the insertion portion 50. It is located on the inner peripheral surface of the part 50.
- the receiving member main body 510 has a first end flush with the outer peripheral surface of the insertion portion 50 and a second end of the inner surface of the insertion portion 50 when the receiving member main body 510 is fitted in the through hole 500 of the insertion portion 50. It is formed so as to be flush with the surface.
- the receiving member main body 510 has the return part 510a which protrudes toward the circumferential direction inner side from the internal peripheral surface of the 1st end side.
- the receiving member main body 510 which concerns on this embodiment has a pair of return part 510a, 510a.
- the protruding portion 511 has a screw stop portion 511 a that is formed in a concave shape at a position corresponding to the screw hole 502 of the insertion portion 50 when the receiving member 51 is fitted into the through hole 500 of the insertion portion 50. For this reason, in the connecting portion 5, the male member 503 is inserted into the through-hole 500 of the insertion portion 50, the protruding portion 511 is inserted into the fitting recess 501, and the male screw member 503 is screwed into the screw hole 502.
- the receiving member 51 can be fixed to the insertion portion 50 by abutting against the screw fastening portion 511a.
- the switching mechanism 53 includes a reciprocating body 530 that is disposed in the insertion portion 50 and has a cam portion 530 a that is movable in the axial direction of the insertion portion 50.
- the switching mechanism 53 includes a cylindrical cylinder portion 531 connected to the first end of the insertion portion 50, a pressure receiving portion 532 connected to the reciprocating body 530, and an external force acting on the pressure receiving portion 532 to reciprocate the moving body 530. And a drive source (not shown) for moving in the first direction.
- the insertion portion 50 and the cylinder portion 531 of the switching mechanism 53 are integrally formed, and a receiving portion 540 that is one configuration of the lock mechanism 54 is disposed therein.
- a member in which the cylinder portion 531 and the insertion portion 50 are integrated is referred to as a cylindrical portion.
- the reciprocating body 530 has a shaft portion 530b extending from the cam portion 530a. And the cam part 530a of the reciprocating body 530 moves the ball members 52,... To the outside of the insertion part 50 as it moves in one direction (hereinafter referred to as the first direction) in the axial direction of the insertion part 50. The ball members 52,... Are released as they move in the second direction opposite to the first direction.
- the cam portion 530a has a first end on the robot connecting portion 20 side and a second end opposite to the first end. And the cam part 530a has the concave cam side recessed part 530aa formed in the 1st end side (side facing the receiving part 540).
- the cam-side recess 530aa forms a ring around the center of the cam portion 530a.
- the cam-side recess 530aa is formed on the center side of the cam portion 530a. Therefore, a portion outside the cam side recess 530aa in the cam portion 530a (a dimension from the cam side recess 530aa to the outer peripheral portion) is a portion inside the cam side recess 530aa in the cam portion 530a (from the cam side recess 530aa to the center portion). Thickness).
- the outer peripheral surface 530c of the cam portion 530a includes a fail safe portion 530cc formed between the first end of the cam portion 530a and the second end of the cam portion 530a. This will be described more specifically.
- the outer peripheral surface 530c of the cam portion 530a includes a first tapered portion 530ca formed on the first end side of the cam portion 530a, a second tapered portion 530cb formed on the second end side of the cam portion 530a, and the first A fail-safe portion 530cc formed between the tapered portion 530ca and the second tapered portion 530cb.
- the first taper portion 530ca is formed so that the outer shape becomes smaller toward the first end side of the cam portion 530a.
- 2nd taper part 530cb is formed so that an external shape may become large as it becomes the 2nd end side of the cam part 530a.
- the fail-safe portion 530cc can be formed by being formed in a cylindrical shape, or can be formed by a dent that is curved toward the inside and is formed over the entire circumference of the cam portion 530a. Further, the fail-safe portion 530cc is formed so as to be fitted to each of the ball members 52,.
- the cam portion 530a moves in the first direction, first, the first taper portion 530ca contacts the ball members 52,. Thereby, the ball members 52,... Begin to be pushed out of the insertion portion 50.
- the cam portion 530a further moves in the first direction, the second taper portion 530cb comes into contact with the ball members 52,. Thereby, each of the ball members 52,... Protrudes from the insertion portion 50, and each of the ball members 52,. Further, the cam portion 530a moves in the second direction to release the pushing of each of the plurality of ball members 52,.
- the cylinder portion 531 is located at a location away from the receiving portion 540 (see FIG. 11). .
- the cam part 530a is moved to one direction side in the axial direction of the insertion part 50 after the insertion part 50 is inserted into the cavity part 80, the cylinder part 531 is located at a place away from the receiving part 540. .
- the shaft portion 530b of the reciprocating body 530 is inserted into the receiving portion 540.
- the cylinder portion 531 is formed integrally with the insertion portion 50. Therefore, the cylinder part 531 is also comprised with the same light metal or resin as the insertion part 50. FIG. Further, the cylinder portion 531 is formed so that the outer diameter is larger than the outer diameter of the insertion portion 50.
- the connecting portion 5 is connected to the apparatus main body 2 by fixing the frame 21 on the robot connecting portion 20.
- the pressure receiving portion 532 is formed in a plate shape having a thickness. Moreover, the pressure receiving part 532 is formed so that a planar view shape may be circular. The pressure receiving portion 532 is disposed on the other side with the receiving portion 540 as a boundary. An annular seal member S ⁇ b> 2 is disposed between the outer peripheral surface of the pressure receiving portion 532 and the inner peripheral surface of the insertion portion 50.
- the switching mechanism 53 has one space (with the pressure receiving portion 532 as a boundary) defined as an internal space defined by the inner peripheral surface of the insertion portion 50, the receiving portion 540, and the second surface of the robot connecting portion 20.
- a first space D1 partitioned into a first space D1 and the other space (hereinafter referred to as a second space D2) with the pressure receiving portion 532 as a boundary.
- the driving source is connected to a first flow path (not shown) for flowing gas into one space D1 and a second flow path (not shown) for flowing air into the other space D2.
- a first flow path for flowing gas into one space D1
- a second flow path for flowing air into the other space D2.
- an air compressor or the like can be employed as the drive source.
- the lock mechanism 54 is a receiving portion 540 disposed in the apparatus main body 2 (cylindrical portion), and is a receiving portion 540 aligned with the cam portion 530a of the reciprocating body 530 in the axial direction of the insertion portion 50.
- An urging member 541 disposed between the cam portion 530a of the reciprocating body 530 and the receiving portion 540, and urges the reciprocating body 530 toward one direction side in the axial direction of the insertion portion 50. And an urging member 541.
- the receiving part 540 has a concave receiving part side recessed part 540a formed in a part facing the cam part 530a.
- a through hole 540 b is formed at the center of the receiving portion 540.
- a plurality of receiving-side recesses 540a are formed around the through-hole 540b at intervals.
- three receiving side recesses 540a are formed (see FIG. 3).
- An annular seal member S ⁇ b> 1 is disposed in a portion that defines the through hole 540 b in the receiving portion 540. Therefore, in the switching mechanism 53, the shaft portion 530b is in pressure contact with the seal member S1 of the receiving portion 540. As a result, the gap between the shaft portion 530b and the receiving portion 540 is closed by the seal member S1.
- the biasing member 541 employs a coil spring.
- the cam-side recess 530aa is disposed in each of the three cam-side recesses 530aa. Therefore, the switching mechanism 53 has three urging members 541. And each urging
- the cam portion 530a and the receiving portion 540 are spaced apart from the bottom of the cam-side recess 530aa and the bottom of the receiving-side recess 540a when the cam portion 530a is closest to the receiving portion 540.
- the force member 541 is configured to be larger than 1/3 of the free length.
- the cam portion 530a and the receiving portion 540 are the distance between the bottom of the cam-side recess 530aa and the bottom of the receiving-side recess 540a when the cam portion 530a is farthest from the receiving portion 540. Is configured to be smaller than the free length of the biasing member 541.
- the first detection unit 55 is disposed at the insertion unit 50 (in the present embodiment, a midway position between the first end and the second end of the insertion unit 50). If demonstrating it more concretely, the 1st detection part 55 will be arrange
- the first detection unit 55 is disposed at a position adjacent to the second taper portion 530cb of the cam portion 530a in which the ball members 52,... Are pushed out of the insertion portion 50 by the fail safe portion 530cc. Therefore, the cam portion 530a continues to move further from the position where the ball members 52,... Are pushed out of the insertion portion 50 by the fail safe portion 530cc, and the cam portion 530a (second taper portion 530cb) is the first detection portion. When the position deviates from the position corresponding to 55, the first detection unit 55 is in a state where the cam unit 530a is not detected.
- the 1st detection part 55 is arrange
- the 1st detection part 55 is comprised so that it can detect that the cam part 530a is pushing the ball member 52 to the outer side of the insertion part 50.
- the 1st detection part 55 can be comprised with the proximity sensor etc. which can detect that the cam part 530a approached the said 1st detection part 55.
- FIG. 1st detection part 55 can be comprised with the proximity sensor etc. which can detect that the cam part 530a approached the said 1st detection part 55.
- the second detection unit 56 is disposed in the switching mechanism 53 (in this embodiment, a position aligned with the cam unit 530a in the axial direction of the insertion unit 50).
- the 2nd detection part 56 is arrange
- FIG. Therefore, the second detection unit 56 can detect that the cam unit 530a has moved to the first end side of the insertion unit 50 (the other direction side in the axial direction of the insertion unit 50). That is, the second detection unit 56 can detect that the cam unit 530a is in a state of releasing the pushing out of the ball member 52.
- the 2nd detection part 56 can be comprised with the proximity sensor etc. which can detect that the cam part 530a approached the said 2nd detection part 56.
- the positioning portion 6 is formed in a pin shape extending outward from the apparatus main body 2 (the second surface 21 a of the frame 21).
- a plurality (two in this embodiment) of positioning units 6 are arranged around the center of the apparatus main body 2 at intervals. Further, the pair of positioning units 6 and 6 are arranged at positions shifted from each other from a symmetrical position via the central part of the apparatus main body 2.
- the position detection sensor 7 is provided in each of the pair of positioning units 6 and 6. Therefore, the master device 1 according to the present embodiment includes a pair of position detection sensors 7. Further, the position detection sensor 7 is provided in the position determination units 6 and 6. Further, the position detection sensor 7 is configured to detect the distance from the distal end portion of the positioning portion 6 to the detected body 82 a installed at the bottom of the positioned portion 82 of the tool connection device 8.
- the master device 1 according to the present embodiment is as described above. Then, operation
- the cam portion 530a is moved to the receiving portion 540 side as shown in FIG. Accordingly, a part of the ball member 52 is retracted into the insertion portion 50, so that the ball member 52 cannot be locked to the locking portion 81.
- the position of the positioning unit 6 of the master device 1 is made to correspond to the position of the positioned unit 82 of the tool connection device 8. Furthermore, the master device 1 can be coupled to the tool connection device 8 while confirming the distance from the tip of the position determination unit 6 detected by each position detection sensor 7 to the bottom of the position determination unit 82 of the tool connection device 8. Make a posture. Then, the insertion portion 50 of the master device 1 is inserted into the hollow portion 80 of the tool connection device 8.
- the cam portion 530a is moved away from the receiving portion 540 by sending air into the second space D2. Accordingly, each ball member 52 is pushed out of the insertion portion 50 by the cam portion 530a. Thereby, a part of the ball member 52 protrudes outside the insertion portion 50. Accordingly, the ball member 52 of the master device 1 is locked to the locking portion 81 of the tool connection device 8.
- the cam portion 530a of the reciprocating body 530 stops at a location adjacent to the first detection portion 55. Thereby, only the 1st detection part 55 will be in the state which is detecting the cam part 530a. Therefore, it can be understood that the switching mechanism 53 is in the locked state by confirming the state in which only the first detection unit 55 is detecting the cam portion 530a.
- the cam portion 530a of the reciprocating body 530 stops at a location deviating from a location adjacent to the first detection portion 55.
- the 1st detection part 55 and the 2nd detection part 56 will be in the state which has not detected the cam part 530a. Accordingly, by confirming that the first detection unit 55 and the second detection unit 56 do not detect the cam unit 530a, it is possible to grasp that the master device 1 and the tool connection device 8 are not normally connected. Can do.
- the 2nd detection part 56 detects the cam part 530a which moved to the 2nd end side of the insertion part 50.
- the second detection unit 56 detects that the cam unit 530a is in a state where the pushing out of the ball member 52 is released. Therefore, it can be grasped that the switching mechanism 53 is in the non-locking state by confirming the state where only the second detection unit 56 is detecting the cam portion 530a.
- the tool T can be removed from the robot R by pulling out the insertion portion 50 of the master device 1 from the cavity 80 of the tool connection device 8.
- the insertion portion 50 is made of a light metal (in this embodiment, aluminum). Therefore, the master device 1 can suppress the weight of the insertion unit 50. Moreover, as for the master apparatus 1, while the insertion part 50 is comprised with a light metal, the receiving member 51 is comprised with a metal (this embodiment sintered metal). Therefore, the master device 1 can reinforce the portion of the connecting portion 5 with which the ball member 52 abuts. Therefore, the master device 1 can reduce the weight without impairing the durability.
- the master device 1 the inertia generated when operating the robot R can be reduced by reducing the weight. Therefore, the master device 1 can also improve the operability of the robot R.
- the master apparatus 1 can perform processes, such as cutting, easily.
- the receiving member 51 is arrange
- the master device 1 can have an excellent effect that the weight and the manufacturing cost can be suppressed.
- the master device 1 includes a receiving member 51 main body in which the receiving member 51 is annular, and a protruding portion 511 that protrudes from the outer surface of the receiving member 51 main body toward the second end side of the insertion portion 50. Therefore, in the master device 1, the portion of the receiving member 51 where the protruding portion 511 is formed is thick.
- the receiving member 51 is pressed toward the second end side of the insertion portion 50 by the ball member 52.
- the ball member since the portion where the protruding portion 511 is formed is thick, the ball member It is also possible to prevent damage due to the pressing of 52.
- the receiving member 51 main body has the return part 510a. Therefore, when the master device 1 moves the switching mechanism 53 to the second end side of the insertion portion 50 to push the ball member 52 out of the insertion portion 50, the ball member 52 contacts the return portion 510a. Touch. Therefore, the master device 1 can reliably prevent the ball member 52 from dropping out of the insertion portion 50.
- the receiving member 51 is made of sintered metal. Therefore, the master device 1 can make the receiving member 51 a molded product. Therefore, when manufacturing the receiving member 51, the master device 1 can suppress an increase in manufacturing cost by performing processing or the like by cutting.
- the master device 1 is a frame 21 connected to the robot connecting portion 20, and includes a device body 2 having a frame 21 including a concave containing portion 210 that is open at least on the outer peripheral surface, and the opening of the containing portion 210.
- a cover 3 that covers the part, and the housing part 210 is formed so as to be able to house a module connected to the tool T so that the tool T exhibits its function, and the cover 3 covers the open part of the housing part 210.
- the outer surface is formed so as to be continuous with the outer surface of the frame 21.
- the master device 1 can store the module corresponding to the tool T in the storage unit 210.
- the master device 1 includes a cover 3 that covers an open portion of the accommodating portion 210. Therefore, the master device 1 can also cover the housing part 210 that does not house the module with the cover 3. And if the master apparatus 1 covers the open part of the accommodating part 210 with the cover 3, the outer peripheral surface of this cover 3 will continue with the outer peripheral surface of the flame
- the cover 3 is formed such that the outer peripheral edge abuts the device main body 2, the seal member 4 is disposed around the open portion of the housing portion 210, and covers the open portion of the housing portion 210. And the apparatus main body 2. Therefore, when the master apparatus 1 attaches the cover 3 to the apparatus main body 2, the cover 3 comes into contact with the seal member 4. Thereby, the master device 1 can prevent foreign matter from entering the housing portion 210.
- the robot connecting portion 20 includes a plurality of male screw members 201 a that are inserted into the first insertion holes 200 a of the base plate 200 or the second insertion holes 200 b, respectively.
- 201a extends from the first surface and is configured to be screwable into a screw hole Rf1 of a robot flange Rf provided in the robot R.
- the master device 1 when the master device 1 is connected to the robot R (robot flange Rf), whether the male screw member 503 is inserted into the first insertion hole 200a or the male screw member 503 is inserted into the second insertion hole 200b. Can be selected. Therefore, the master device 1 can change the arrangement of the male screw members 503 according to the arrangement of the screw holes Rf1 of the robot flange Rf. Thereby, the versatility of the master apparatus 1 increases.
- the master device 1 has a fitting member 202 in which the robot connecting portion 20 can be fitted to a fitted portion of a robot flange Rf provided in the robot R, and the base plate 200 has a different outer diameter on the first surface side.
- An attachment / detachment portion 203 that attaches / detaches the fitting member 202 in a replaceable manner is provided.
- the master device 1 can detachably attach / detach the fitting member 202 having a different outer diameter to the first surface side of the base plate 200 by the attaching / detaching portion 203, and the robot flange Rf provided in the robot R can be fitted.
- the fitting member 202 can be exchanged according to the size of the part.
- the master apparatus 1 can connect the robot connection part 20 to the robot flange Rf, without attaching the fitting member 202 to the attachment / detachment part 203, when the fitting member 202 is not required, versatility is further improved. Rise.
- the master device 1 includes a positioning unit 6 that can be fitted to a positioned unit 82 provided in a tool connecting device 8 that is attached to the tool T, and a position detection sensor 7 that is built in the positioning unit 6. Is provided.
- the master device 1 can easily grasp the position of the position detection sensor 7 by confirming the position of the position detection sensor 7 by confirming the position of the position determination unit 6. For this reason, the master device 1 can easily grasp the information detected by the position detection sensor 7 in association with the actual posture of the master device 1.
- the master device 1 can have an excellent effect that the connecting operation to the tool connection device 8 can be easily performed.
- the master device 1 since the master device 1 includes the position detection sensor 7 in the positioning unit 6, it is not necessary to secure a space for installing the position detection sensor 7 in the device body 2 (frame 21). Therefore, the master device 1 can be reduced in size as compared with the case where the position detection sensor 7 is installed in the device main body 2, and the processing cost can be reduced.
- the master device 1 is formed in a pin shape in which the positioning portion 6 can be inserted into the recessed positioned portion 82.
- the positioning unit 6 is formed in a pin shape that extends from the frame 21 to the outside, the master device 1 can easily check the position of the positioning unit 6. Therefore, the position of the position detection sensor 7 can be easily grasped.
- each of the plurality of positioning units 6 is arranged around the center portion of the frame 21 with a space between each other, and the position detection sensor 7 is connected to at least one of the plurality of positioning units 6. Decorated.
- the master device 1 prevents the master device 1 and the tool connection device 8 from rotating relatively by fitting each of the plurality of positioning portions 6 to the individual positioned portions 82. can do.
- the lock mechanism 53 is a receiving portion 540 disposed in the device main body 2, and is a receiving portion that is aligned with the cam portion 530 a of the reciprocating body 530 in the axial direction of the insertion portion 50.
- Urging member 541 disposed between 540 and the reciprocating body 530 and the receiving portion 540, and urging the reciprocating body 530 toward one direction side in the axial direction of the insertion portion 50. And a biasing member 541.
- the cam portion 530a is urged in the first direction by the urging member 541 of the lock mechanism 53. Therefore, the master device 1 can prevent the cam portion 530a in a state where the ball member 52 is pushed out of the insertion portion 50 from being inadvertently moved in the second direction. Thereby, in the master device 1, the state in which the ball member 52 is locked to the locking portion 81 of the tool connection device 8 is maintained, and the tool connection device 8 is prevented from being accidentally dropped from the master device 1. Is done.
- the master device 1 is disposed between the receiving portion 540 in which the biasing member 541 is disposed in the device main body 2 and the reciprocating body 530. Therefore, in the master device 1, a space for arranging the urging member 541 is secured in the device main body 2. Thereby, the master apparatus 1 can make thickness (dimension in the axial center direction of the insertion part 50) small.
- the master device 1 can have an excellent effect that it can be downsized while preventing the connection to the tool connection device 8 from being inadvertently released.
- the master device 1 can bring the center of gravity of the tool connection device 8 closer to the connecting portion 5 by reducing the thickness. Therefore, the master device 1 can also improve the performance of the robot R by reducing the inertia generated when operating the robot R.
- the cam portion 530 a of the reciprocating body 530 has a concave cam-side concave portion 530 aa formed in a portion facing the receiving portion 540, and a part of the biasing member 541 is the cam It arrange
- the master apparatus 1 can arrange
- the receiving portion 540 has a concave receiving portion-side recess 540a formed at a portion facing the cam portion 530a, and a part of the biasing member 541 is in the receiving portion-side recess 540a. Placed in.
- the master device 1 can arrange a part of the urging member 541 in the receiving portion 540, the thickness of the master device 1 can be further reduced.
- the cam portion 530a and the receiving portion 540 are formed so that the cam portion 530a is closest to the receiving portion 540 and the bottom portion of the cam side recessed portion 530aa and the receiving portion side recessed portion 540a are The distance from the bottom is configured to be larger than 1/3 of the free length of the biasing member 541.
- the master device 1 may prevent the biasing member 541 from being completely compressed (so as to eliminate the contraction allowance) even when the reciprocating body 530 is brought closest to the bottom of the insertion portion 50. it can. Thereby, the master apparatus 1 can prevent the abrasion by the wire materials of the biasing member 541 contacting. Moreover, the master apparatus 1 can suppress the stress which generate
- the cam portion 530a and the receiving portion 540 are configured such that the cam portion 530a is farthest from the receiving portion 540 and the bottom portion of the cam-side recessed portion 530aa and the receiving portion-side recessed portion are provided.
- the distance from the bottom of 540a is configured to be smaller than the free length of the biasing member 541.
- the biasing member 541 does not completely extend (the state in which the allowance for extension is lost), but the biasing member. 541 is in a state where an urging force is applied to the cam portion 530a. Thereby, the master apparatus 1 can restrain the generation
- the outer peripheral surface of the cam portion 530a includes a fail safe portion 530cc, and the fail safe portion 530cc is formed so as to be able to be fitted to each of the ball members 52.
- the master device 1 is a first detection unit 55 that detects that the switching mechanism 53 is in a locked state, and the first detection unit 55 and the switching mechanism 53 that are disposed in the insertion unit 50 are not engaged.
- a second detection unit 56 that detects a stop state and has at least one of the second detection units 56 disposed in the switching mechanism 53.
- connection part 5 When the connection part 5 is provided with the 1st detection part 55, this 1st detection part 55 is arrange
- the connecting unit 5 includes the second detection unit 56, the second detection unit 56 is disposed in the switching mechanism 53. Therefore, the master device 1 does not need to secure a space for arranging the first detection unit 55 and the second detection unit 56 in the device main body 2.
- connection unit 5 includes the first detection unit 55
- connection unit 5 includes the second detection unit 56
- connection unit 5 includes the first detection unit 55 and the second detection unit 56.
- the apparatus main body 2 can be made small in any case including the case.
- the master device 1 can achieve an excellent effect that the size can be reduced while the state of the switching mechanism 53 can be confirmed.
- the connecting unit 5 includes a first detection unit 55 and a second detection unit 56. Therefore, the master device 1 confirms that the first detection unit 55 and the second detection unit 56 do not detect the cam unit 530a, so that each ball member 52 pushed out of the insertion unit 50 is used as a tool. It can be grasped that the connection device 8 is not locked to the locking portion 81.
- the insertion part 50 of the master device 11 is not inserted into the hollow part 80 of the tool connection device 8, and each ball member 52 is easily pushed out of the insertion part 50 (so-called miscatch). Can be confirmed.
- the master device 1 can be reduced in size while being able to confirm the state of the switching mechanism 53 more reliably.
- the master device 1 is configured such that the first detection unit 55 detects that the cam unit 530a has moved to one direction side in the axial direction of the insertion unit 50, and the second detection unit 56 includes the cam
- the cam portion 530a is arranged at a position aligned in the axial direction of the insertion portion 50 and the cam portion 530a is configured to detect that the cam portion 530a has moved to the other direction side in the axial direction of the insertion portion 50.
- the first detection unit 55 is disposed in the insertion unit 50, and the second detection unit 56 is disposed in the switching mechanism 53.
- the master apparatus 1 does not need to ensure a space for arranging the first detection unit 55 and the second detection unit 56 in the apparatus main body 2. Therefore, it is possible to reduce the size of the master device 1 by reducing the size of the device body 2.
- the master device for the tool changer according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.
- the cover 3 can naturally cover the open part of the accommodating part 210 in which the module is not accommodated, but the open part of the accommodating part 210 in which the module is accommodated is covered. It can also be covered.
- the cover 3 may cover the open part of the housing part 210 in cooperation with the module housed in the housing part 210. More specifically, for example, when the module housed in the housing portion 210 includes a connector for connecting to an external device, the cover 3 cooperates with the connector to support the housing 210.
- the open part may be covered.
- the sealing member 4 closed the space
- the sealing member 4 also closes between the first open end 210a of the frame 21 and the second end of the cover 3 and between the first open end 210a of the frame 21 and each side end of the cover 3. It may be.
- the master apparatus 1 was equipped with a pair of position determination part 6, it is not limited to this, For example, it is made to provide two or more position determination parts 6. May be. Moreover, when doing in this way, the position detection sensor 7 may be internally equipped in all the position determination parts 6, and may be included in the one part position determination part 6. FIG.
- the positioning part 6 was formed in the pin shape extended toward outward from the apparatus main body 2 (2nd surface 21a of the flame
- it may be a concave shape that opens outside the apparatus body 2 (on the second surface 21a of the frame 21).
- the master device 1 can easily visually confirm the position of the pin-shaped position determining portion 82. Therefore, the master device 1 can easily grasp the position of the position detection sensor 7 by easily confirming the position of the positioned portion 82.
- the position detection sensor 7 is provided at the bottom of the position determination unit 6 and the position determination unit 82 of the tool connection device 8 is formed in a pin shape that can be fitted to the position determination unit 6. There is a need to.
- the to-be-positioned part 82 of the tool connection apparatus 8 was comprised by the non-penetrating hole, it is not limited to this,
- the to-be-positioned part 82 is a tool connection. You may be comprised by the hole penetrated from the 1st surface of the apparatus 8 to the 2nd surface of the tool connection apparatus 8. FIG.
- the position detection sensor 7 of the master device 1 is caused to detect the distance from the tip of the positioning unit 6 to the tool T (the part surrounded by the through hole in the tool T).
- the receiving member 51 came to have the protrusion part 511, it is not limited to this, The receiving member 51 can also be made not to have the protrusion part 511. .
- the urging member 541 was arrange
- the reciprocating body 530 has a shaft portion 530b extending from the cam portion 530a, and the receiving portion 540 is provided in a portion of the apparatus main body 2 aligned with the shaft portion 530b in the axial direction of the insertion portion 50.
- the member 541 may be disposed between the reciprocating body 530 and the receiving portion 540.
- the urging member 541 is housed in the shaft portion 530b, a space for arranging the urging member 541 is secured in the apparatus main body 2, and the thickness (insertion) of the master device 1 is secured.
- the dimension in the axial direction of the insertion portion 50 can be reduced.
- the first detection unit 55 and the second detection unit 56 may be used for an interlock circuit.
- connection part 5 came to have the 1st detection part 55 and the 2nd detection part 56, it is not limited to this,
- the 1st detection part 55 is used. Only the second detection unit 56 may be provided.
- connection unit 5 includes only the first detection unit 55
- the switching mechanism 53 is in the non-locked state by confirming that the first detection unit 55 is not detecting the cam unit 530 a. You may make it grasp
- the connecting portion 5 includes only the second detection portion 56
- the switching mechanism 53 is in the locked state by confirming that the second detection portion 56 is not detecting the cam portion 530a. You may make it grasp
- the connecting portion 5 has the first detection portion 55 and the second detection portion 56.
- the cam portion 530a is formed with the three cam-side recesses 530aa.
- the present invention is not limited to this.
- the cam-side recess 530aa is around the central portion of the cam portion 530a. It may be formed in an annular shape and formed on the central portion side of the cam portion 530a.
- the portion of the cam portion 530a outside the cam side recess 530aa is thicker than the portion of the cam portion 530a inside the cam side recess 530aa. Therefore, in the master device 1 having the above configuration, the thickness can be reduced, and deformation of the reciprocating body 530 can be prevented.
- second detection part, 80 ... hollow part, 81 ... Locking portion, 82 ... Positioned portion, 82a ... Detected body, 83 ... Tool side cover, 200 ... Base plate, 200a ... First insertion hole, 200b ... Second insertion hole, 200c ... Fitting portion, 200d
- Detachable part 201 male screw member 201a first screw member 01b ... second screw member, 202 ... fitting member, 203 ... detachable portion, 210 ... accommodating portion, 210a ... open end, 210b ... open end, 211 ... arrangement hole, 212 ... communication hole, 500 ... through hole, 501 ... Fitting recess, 502 ... screw hole, 503 ... male screw member, 510 ...
- receiving member main body 510a ... return portion, 511 ... projecting portion, 511a ... screw stop portion, 530 ... reciprocating member, 530a ... cam portion, 530aa ... cam Side recess, 530b ... shaft, 530c ... outer peripheral surface, 530ca ... first taper, 530cb ... second taper, 530cc ... fail safe, 531 ... cylinder, 532 ... pressure receiving, 540 ... receiving, 540a ... Receiving side recess, 540b ... through hole, 541 ... biasing member, D1 ... space, D2 ... space, R ... robot, Rf ... robot flange, Rf1 ... screw hole, Rf2 ... mated part, 1 ... seal member, S2 ... seal member, T ... tool
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Abstract
Description
ツールをロボットに交換可能に取り付ける工具交換装置用のマスター装置であって、
前記ロボットに連結可能なロボット連結部と、該ロボット連結部に連結されるフレームとを有する装置本体と、
該装置本体に連結される連結部とを備え、
該連結部は、前記ツールに取り付けられているツール接続装置の外面上で開放した凹状又は穴状の空洞部に挿込可能な筒状の挿込部であって、周方向で間隔を空けて形成される複数の貫通穴を有する挿込部と、
該挿込部の貫通穴のそれぞれに嵌め込まれる筒状の受部材と、
該受部材のそれぞれに嵌め込まれるボール部材であって、一部が前記挿込部の外部に突出可能なボール部材と、
該ボール部材の一部を前記挿込部の外部に突出させて当該ボール部材を前記ツール接続装置の空洞部の中心回りに配置された係止部に係止可能にした状態と、
前記ボール部材の一部を前記挿込部内に退避させて当該ボール部材を前記係止部に係止不能にした状態とに切替可能な切替機構とを有し、
前記挿込部は、軽金属又は樹脂で構成され、
前記受部材は、金属で構成されている、
ことを特徴とする。
前記挿込部は、
前記ロボット連結部側の第一端と該第一端とは反対側の第二端とを有し、
前記切替機構は、
前記挿込部の軸線方向で移動するとともに、前記挿込部の第二端側に移動するに伴い前記ボール部材を前記挿込部の外部に押し出し、
前記挿込部の第一端側に移動するに伴い前記ボール部材に対する押し出しを解除するように構成され、
前記受部材は、
環状の受部材本体と、
該受部材本体の外面から挿込部の第二端側に向けて突出する突出部とを有する、
ようにしてもよい。
前記受部材本体は、
前記挿込部の貫通穴に嵌め込まれている状態で該挿込部の外周面上に位置する第一端と、該第一端とは反対側の第二端とを有するとともに、
第一端側の内周面から周方向内側に向けて突出する返り部を有する、
ようにしてもよい。
前記受部材は、焼結金属によって構成される、
ようにしてもよい。
Claims (4)
- ツールをロボットに交換可能に取り付ける工具交換装置用のマスター装置であって、前記ロボットに連結可能なロボット連結部と、該ロボット連結部に連結されるフレームとを有する装置本体と、
該装置本体に連結される連結部とを備え、
該連結部は、前記ツールに取り付けられているツール接続装置の外面上で開放した凹状又は穴状の空洞部に挿込可能な筒状の挿込部であって、周方向で間隔を空けて形成される複数の貫通穴を有する挿込部と、
該挿込部の貫通穴のそれぞれに嵌め込まれる筒状の受部材と、
該受部材のそれぞれに嵌め込まれるボール部材であって、一部が前記挿込部の外部に突出可能なボール部材と、
該ボール部材の一部を前記挿込部の外部に突出させて当該ボール部材を前記ツール接続装置の空洞部の中心回りに配置された係止部に係止可能にした状態と、
前記ボール部材の一部を前記挿込部内に退避させて当該ボール部材を前記係止部に係止不能にした状態とに切替可能な切替機構とを有し、
前記挿込部は、軽金属又は樹脂で構成され、
前記受部材は、金属で構成されている、
ことを特徴とする工具交換装置用のマスター装置。 - 前記挿込部は、前記ロボット連結部側の第一端と該第一端とは反対側の第二端とを有し、
前記切替機構は、前記挿込部の軸線方向で移動するとともに、前記挿込部の第二端側に移動するに伴い前記ボール部材を前記挿込部の外部に押し出し、前記挿込部の第一端側に移動するに伴い前記ボール部材に対する押し出しを解除するように構成され、
前記受部材は、環状の受部材本体と、
該受部材本体の外面から挿込部の第二端側に向けて突出する突出部とを有する、
請求項1に記載の工具交換装置用のマスター装置。 - 前記受部材本体は、
前記挿込部の貫通穴に嵌め込まれている状態で該挿込部の外周面上に位置する第一端と、該第一端とは反対側の第二端とを有するとともに、
第一端側の内周面から周方向内側に向けて突出する返り部を有する、
請求項1又は2に記載の工具交換装置用のマスター装置。 - 前記受部材は、焼結金属によって構成される、
請求項1乃至3のいずれか1項に記載の工具交換装置用のマスター装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480016346.9A CN105189052A (zh) | 2013-03-29 | 2014-03-04 | 工具更换装置用的主装置 |
KR1020157024481A KR102173420B1 (ko) | 2013-03-29 | 2014-03-04 | 공구 교환 장치용의 마스터 장치 |
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JP2013073760A JP2014198347A (ja) | 2013-03-29 | 2013-03-29 | 工具交換装置用のマスター装置 |
JP2013073769A JP6175646B2 (ja) | 2013-03-29 | 2013-03-29 | 工具交換装置用のマスター装置 |
JP2013-073765 | 2013-03-29 | ||
JP2013073765A JP6150042B2 (ja) | 2013-03-29 | 2013-03-29 | 工具交換装置用のマスター装置 |
JP2013-073769 | 2013-03-29 | ||
JP2013-073760 | 2013-03-29 | ||
JP2013097682A JP2014217909A (ja) | 2013-05-07 | 2013-05-07 | 工具交換装置用のマスター装置 |
JP2013-097682 | 2013-05-07 | ||
JP2013-126065 | 2013-06-14 | ||
JP2013126065A JP6026960B2 (ja) | 2013-06-14 | 2013-06-14 | 工具交換装置用のマスター装置 |
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Cited By (5)
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WO2016133877A3 (en) * | 2015-02-16 | 2016-10-13 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
US20170144230A1 (en) * | 2015-11-24 | 2017-05-25 | GIMATIC S.r.l. | Tool changing device |
US9981391B2 (en) | 2015-02-16 | 2018-05-29 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
CN110524565A (zh) * | 2019-09-19 | 2019-12-03 | 广西玉柴机器股份有限公司 | 一种抓取适配板的机械手装置 |
USD898879S1 (en) | 2017-05-01 | 2020-10-13 | Norgren Automation Solutions, Llc | Modular tooling coupler |
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JP6708352B2 (ja) * | 2016-04-28 | 2020-06-10 | ニッタ株式会社 | 工具交換装置及び工具交換システム |
JP2021079519A (ja) * | 2019-11-22 | 2021-05-27 | セイコーエプソン株式会社 | ロボットシステムおよびツール交換方法 |
CN116619080B (zh) * | 2023-05-31 | 2024-04-16 | 重庆顺多利机车有限责任公司 | 精密机加工产品工序中快速更换夹具的方法 |
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CN110524565A (zh) * | 2019-09-19 | 2019-12-03 | 广西玉柴机器股份有限公司 | 一种抓取适配板的机械手装置 |
Also Published As
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KR102173420B1 (ko) | 2020-11-03 |
KR20150135257A (ko) | 2015-12-02 |
CN105189052A (zh) | 2015-12-23 |
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