WO2019225126A1 - Dispositif d'échange d'outils, unité maître et unité d'outil - Google Patents

Dispositif d'échange d'outils, unité maître et unité d'outil Download PDF

Info

Publication number
WO2019225126A1
WO2019225126A1 PCT/JP2019/010611 JP2019010611W WO2019225126A1 WO 2019225126 A1 WO2019225126 A1 WO 2019225126A1 JP 2019010611 W JP2019010611 W JP 2019010611W WO 2019225126 A1 WO2019225126 A1 WO 2019225126A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
hole
master
unit
ball
Prior art date
Application number
PCT/JP2019/010611
Other languages
English (en)
Japanese (ja)
Inventor
悠 竹林
翔太 森口
Original Assignee
株式会社コガネイ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社コガネイ filed Critical 株式会社コガネイ
Priority to JP2020521051A priority Critical patent/JP7196166B2/ja
Publication of WO2019225126A1 publication Critical patent/WO2019225126A1/fr

Links

Images

Classifications

    • 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

Definitions

  • the present invention relates to a technique of a tool changer provided with a master unit attached to a moving member and a tool unit detachably attached to the master unit.
  • a tool changer is used to attach a tool unit to which a tool for gripping or processing a workpiece is attached to a moving member such as a robot arm.
  • the tool changer is also called a tool changer, and includes a master unit attached to a moving member and a tool unit detachably attached to the master unit.
  • a plurality of tool units each having a tool attached thereto are arranged on the support base, and any one of the tool units is automatically mounted on the master unit in accordance with an operation on the workpiece such as processing or conveyance.
  • This automatic attachment / detachment apparatus has an apparatus main body as a master unit and a connection part as a tool unit.
  • the apparatus main body is attached to a moving member such as a robot arm, and the connecting portion is detachably attached to the apparatus main body.
  • All of the multiple connection parts can be mounted on the main body, and the tool support base is equipped with a connection part with a hand for gripping the workpiece and a connection part with a tool for processing the work.
  • One of the connecting portions that is, the tool unit is attached to the apparatus main body according to the operation by the robot arm.
  • a cylindrical member having a plurality of steel balls is provided in the apparatus main body, and an engagement surface that engages with the steel balls is provided in the connection portion.
  • a piston rod is provided on the apparatus main body, and a taper surface for projecting the steel ball toward the engagement surface is provided on the piston rod.
  • the piston rod is driven by the piston.
  • the apparatus main body is provided with a head cover and a rod cover, and a pneumatic chamber, that is, a pressurizing chamber, is formed between the head cover and the piston and between the rod cover and the piston, respectively.
  • the piston rod passes through the rod cover, the cylindrical member provided with the steel ball is disposed on the outer surface of the rod cover, and the cylindrical member is attached to the apparatus main body by a plurality of bolts that penetrate the flange portion.
  • the cylindrical member holding the steel ball is attached to the apparatus main body by the plurality of bolts penetrating the flange portion, the diameter of the apparatus main body cannot be reduced.
  • an annular member having an engagement surface is attached to the connection portion by a plurality of bolts, and the automatic attachment / detachment device composed of the apparatus main body and the connection portion cannot be reduced in size.
  • the automatic attachment / detachment device becomes large, its weight increases. If the automatic attachment / detachment device becomes large and heavy, the automatic attachment / detachment device cannot be moved quickly by an industrial robot arm, etc. It was not possible to move the work quickly.
  • An object of the present invention is to achieve miniaturization of the master unit and the tool unit constituting the tool changer, and to reduce the size and weight of the tool changer.
  • Another object of the present invention is to enable a tool changer to be moved quickly by a moving member by reducing the size and weight of the tool changer.
  • the tool changer of the present invention is a tool changer comprising a tool unit to which a tool is attached and a master unit to which the tool unit is detachably attached, wherein the master unit includes an attachment surface, and the attachment surface A mounting surface that faces the mounting surface, a small-diameter hole that opens in the mounting surface, a large-diameter hole that opens in the mounting surface and communicates with the small-diameter hole, and a first hole formed between the large-diameter hole and the small-diameter hole.
  • a master block having a step surface, a cylindrical portion in which a plurality of balls are mounted and press-fitted into the small-diameter hole, and a tip projects from the mounting surface, and a flange portion abutted against the first step surface,
  • a ball holder attached to the master block; a ball driving unit provided at a tip; and a reciprocating motion in the axial direction in the large-diameter hole;
  • a piston that forms a first pressurizing chamber, and a head cover that is attached to the large-diameter hole and forms a second pressurizing chamber with the piston, wherein the tool unit is the master An abutting surface that is abutted against the mounting surface of the block; a tip surface that faces the abutting surface and to which the tool is attached; an insertion hole that opens in the abutting surface and into which the ball holder is inserted; and the tip A tool block having a receiving hole opened in a surface and having a diameter larger than the insertion hole, and
  • the master unit of the present invention is a master unit to which a tool unit to which a tool is attached is detachably mounted, and includes a mounting surface, a mounting surface facing the mounting surface, and a small-diameter hole opening in the mounting surface.
  • the first position pushes the ball outward in the radial direction via the ball driving unit.
  • the ball holder is fixed to the master block by press-fitting the cylindrical portion into the small-diameter hole.
  • the tool unit of the present invention is a tool unit to which a tool is attached and is detachably attached to the master unit, the abutting surface being abutted against the mounting surface of the master unit, and the abutting surface facing the abutting surface.
  • the master unit has a master block and a ball holder, the flange portion of the ball holder is abutted against the step surface, and the cylindrical portion is press-fitted into a small-diameter hole formed in the master block.
  • the ball holder is fixed to the master block by pressing the cylindrical portion into the small diameter hole. Therefore, the master block can be made smaller and lighter than when the flange portion is fixed to the master block with the bolt.
  • the tool unit has a tool block and an engagement ring, and the engagement ring is inserted into the accommodation hole from the front end surface side of the tool block and is abutted against the step surface. Since the engagement ring is press-fitted into the tool block, the tool block can be made smaller and lighter than when the engagement ring is fixed with a bolt.
  • the tool unit can be reduced in size and weight by reducing the size and weight of the master unit and the tool unit, so the moving member such as the robot arm to which the tool changer is attached can be moved at high speed.
  • the production efficiency of mass-produced products can be greatly improved.
  • FIG. 2 is a cross-sectional view taken along line AA in FIG. It is a bottom view which shows the mounting surface of the master block shown by FIG. It is sectional drawing which shows the part similar to FIG. 2 in the middle of attaching the tool unit to a master unit. It is sectional drawing which shows the part similar to FIG. 2 in the state which completed mounting
  • FIG. 5 is a plan view of FIG. 4.
  • FIG. 7 is a sectional view taken along line BB in FIG. 6.
  • FIG. 7 is a pneumatic piping diagram connected between the supply / discharge port and the air supply source shown in FIG. 6.
  • FIG. 6 is a sectional view taken along line CC in FIG. 5.
  • A is sectional drawing which shows the packing with which a packing mounting hole is mounted
  • B is sectional drawing which shows the packing with which the packing mounting hole was mounted
  • the tool changer 10 includes a master unit 11 and a tool unit 12, and the tool unit 12 is detachably attached to the master unit 11.
  • the master unit 11 has a substantially cylindrical master block 13 and is attached to an arm of an industrial robot.
  • the master block 13 is made of an aluminum alloy.
  • the outer peripheral surface of the master block 13 is formed by an arc surface 14a and a flat connector mounting surface 14b.
  • the upper surface is an attachment surface 15 attached to a robot arm or the like, and the lower surface facing the attachment surface 15 is an attachment surface 16 on which the tool unit 12 is attached.
  • the master unit 11 is attached to a moving member such as a robot arm for moving a tool.
  • each screw hole 17 is provided at the same radial position from the central axis O of the master block 13 at intervals of 90 degrees in the circumferential direction.
  • four bolt attachment holes 18 are opened in the attachment surface 15 and provided in the master block 13.
  • Each bolt mounting hole 18 is a stepped hole, and is provided at the same radial position from the central axis O at intervals of 90 degrees in the circumferential direction.
  • the master unit 11 is attached to the moving member by the screw hole 17 or the bolt attachment hole 18.
  • positioning holes 19a and 19b into which positioning pins provided on the robot arm are inserted are formed in the mounting surface 15 and formed in the master block 13. ing.
  • the tool unit 12 has a substantially annular tool block 21, and a tool for gripping or processing a workpiece is attached to the tool unit 12.
  • tools include pneumatic chucks, air drills, and electric drills.
  • the pneumatic chuck grips a workpiece by opening and closing the finger member with air pressure. Air drills and electric drills drill holes in workpieces.
  • the tool block 21 is made of an aluminum alloy.
  • the outer peripheral surface of the tool block 21 is formed by an arc surface 22a and a flat connector mounting surface 22b.
  • the upper surface is an abutting surface 23 that abuts against the master unit 11, and the lower surface that faces the abutting surface 23 is a tip surface 24 to which a tool is attached.
  • four bolt mounting holes 25 are provided through the tool block 21, and each bolt mounting hole 25 is a stepped hole and is located at the same radial position from the central axis O of the tool block 21. They are shifted 90 degrees in the circumferential direction.
  • a signal line such as a sensor switch provided in the pneumatic actuator is connected to a connector attached to the connector attachment surface 22b.
  • an electric device such as an electric driver is connected to the tool unit 12
  • an output signal line such as an encoder provided in the electric device or a drive signal line of a motor attached to the electric device is attached to the connector attachment surface 22b. Connected to the connector.
  • the positioning pins 26a and 26b are made of steel, and the central axes O1 and O2 are shifted by 180 degrees in the circumferential direction about the central axis O.
  • Each positioning pin 26a, 26b has fitting portions 27a, 27b protruding from the master block 13, and the fitting portions 27a, 27b are inclined so that the distal end surface is thinner than the base end portion, The entire surface is a tapered surface.
  • Positioning holes 28 a and 28 b into which the positioning pins 26 a and 26 b are inserted are provided in the tool block 21.
  • Bushings 29a and 29b made of steel are attached to the large diameter portions of the positioning holes 28a and 28b.
  • the fitting portion 27a of the positioning pin 26a is fitted into the fitting hole 29c of the bush 29a, and the positioning pin 26b is fitted.
  • the joint portion 27b is fitted into the fitting hole 29d of the bush 29b.
  • the positioning pins 26a and 26b can be easily removed from the positioning holes 28a and 28b, and the tool unit 12 can be easily detached from the master unit 11. .
  • one positioning pin 26a is a first positioning pin and the other pin 26b is a second positioning pin, as shown in FIG. 3, the proximal end portion side of the fitting portion 27a of the first positioning pin 26a is used.
  • the cross section is circular.
  • the cross section of the base end side of the fitting portion 27b of the second positioning pin 26b is substantially rhombus and has four flat surfaces 30.
  • R be a radial line perpendicular to the central axis O and perpendicular to the central axis O1 of the positioning pin 26a.
  • the radial line R is also orthogonal to the central axis O2 of the positioning pin 26b, and the two flat surfaces 30 adjacent to each other centering on the radial line R intersect.
  • the distance d of the base end portion of the fitting portion 27b in the direction of the radial line R is set shorter than the diameter D of the base end portion of the fitting portion 27b in the direction perpendicular to the radial direction line R.
  • the diameter D coincides with the inner diameter of the fitting hole 29d on the abutting surface 23 side, and the distance d is slightly smaller than the inner diameter of the fitting hole 29d on the abutting surface 23 side.
  • the distance d is set to be about 0.1 mm smaller than the diameter D.
  • a gap corresponding to the difference (Dd) is formed between the fitting portion 27b of the second positioning pin 26b and the fitting hole 29d.
  • the gap is formed in a direction along a radial line R that intersects the central axis O of the piston 41 and the central axis O1 of the first positioning pin 26a.
  • the diameter of the circular arc part 30a in which the notch surface 30 is not provided is the same diameter as the fitting hole 29d. That is, even if there is a dimensional error in the radial direction between the central axis O1 of the first positioning pin 26a and the central axis O2 of the second positioning pin 26b, the first positioning pin 26a is used as a reference.
  • the second positioning pin 26b moves in the direction of the radial line R.
  • a small-diameter hole 31 is formed in the master block 13 so as to open in the mounting surface 16.
  • a large-diameter hole 32 having an inner diameter larger than that of the small-diameter hole 31 is formed in the master block 13 so as to open in the mounting surface 15.
  • the large diameter hole 32 is coaxial with the small diameter hole 31 and communicates with the small diameter hole 31.
  • a first step surface 33 is formed between the small diameter hole 31 and the large diameter hole 32.
  • a ball holder 34 is attached to the master block 13.
  • the ball holder 34 includes a cylindrical portion 35 and a flange portion 36, and the cylindrical portion 35 protrudes from the mounting surface 16.
  • a plurality of ball support holes 37 penetrating radially between the inner surface 35 a and the outer surface 35 b of the cylindrical portion 35 are formed in the cylindrical portion 35.
  • Each ball support hole 37 is a tapered surface inclined such that the inner diameter increases from the outer surface 35b toward the inner surface 35a.
  • the central axis of each ball support hole 37 is provided on the same plane parallel to the mounting surface 16.
  • a ball 38 made of steel is held in each ball support hole 37.
  • the ball holder 34 is fixed to the master block 13 by press-fitting the cylindrical portion 35 into the small diameter hole 31.
  • the ball holder 34 is inserted into the large diameter hole 32 from the attachment surface 15 side where the large diameter hole 32 is opened, and then the cylindrical portion 35 is press-fitted into the small diameter hole 31.
  • a large-diameter hole 32 having a diameter larger than the diameter of the flange portion 36 opens in the mounting surface 15 and the ball holder 34 is inserted from the mounting surface 15 side. Therefore, the ball holder 34 can be easily inserted from the mounting surface 15 side. can do. Therefore, the cylindrical portion 35 of the ball holder 34 can be easily press-fitted into the small diameter hole 31.
  • the ball holder 34 is fixed to the master block 13 by press-fitting, the diameters of the master block 13 and the flange portion 36 are smaller than when the flange portion 36 is fixed to the master block 13 with bolts.
  • the master unit 11 can be made lightweight. As a result, the tool changer 10 can be reduced in size and weight, and the tool changer 10 can be quickly moved at a high speed by a moving member such as a robot arm.
  • the piston 41 is incorporated in the large-diameter hole 32 so as to reciprocate in the axial direction.
  • a rod portion 42 made of a steel material is integrally provided on the tip end side of the piston 41, and a ball driving portion 43 is attached to the rod portion 42.
  • the central axis of the rod part 42 coincides with the central axis O of the master block 13.
  • the rod portion 42 and the ball driving portion 43 are inserted into the cylindrical portion 35 of the ball holder 34, and the gap between the rod portion 42 and the cylindrical portion 35 is sealed by a seal member 40.
  • a first pressurizing chamber 44 is formed between the piston 41 and the flange portion 36.
  • the head cover 45 is attached to the attachment surface 15 side of the large diameter hole 32.
  • the head cover 45 is fixed to the master block 13 by a retaining ring 46, and the retaining ring 46 is attached to an annular groove formed in the large diameter hole 32.
  • a second pressurizing chamber 47 is formed between the head cover 45 and the piston 41.
  • a compression coil spring 48 is mounted between the head cover 45 and the piston 41, and the compression coil spring 48 biases the piston 41 in a direction toward the tip surface of the ball holder 34, that is, in a forward direction.
  • the O-ring 52 seals between the stepped surface 33 and the flange portion 36 and prevents the compressed air supplied to the first pressurizing chamber 44 from leaking from between the ball holder 34 and the master block 13. .
  • the piston 41 is provided with a seal member 53.
  • a seal member 54 is provided on the head cover 45 in order to seal between the outer peripheral surface of the head cover 45 and the large diameter hole 32.
  • the ball drive unit 43 includes a small-diameter distal end 43a whose outer peripheral surface is parallel to the central axis O, and a drive surface 43b whose diameter gradually increases from the distal end 43a toward the base end on the rod portion 42 side. Have. Furthermore, the ball drive unit 43 has a lock surface 43d that gradually increases in diameter from the drive surface 43b toward the base end via the large diameter portion 43c toward the base end.
  • the piston 41 is driven to the retreat limit position and is in contact with the head cover 45. At this time, the tip end portion 43 a and the drive surface 43 b of the ball drive portion 43 are in contact with the ball 38, and the ball 38 is prevented from falling into the cylindrical portion 35.
  • the insertion hole 55 is formed in the tool block 21 so as to open to the abutting surface 23.
  • An accommodation hole 56 having an inner diameter larger than that of the insertion hole 55 is formed in the tool block 21 so as to open to the distal end surface 24.
  • the accommodation hole 56 is coaxial with the insertion hole 55 and communicates with the insertion hole 55.
  • a second step surface 57 is formed between the insertion hole 55 and the accommodation hole 56.
  • An engagement ring 58 made of steel is attached to the tool block 21. The engagement ring 58 is fixed to the tool block 21 by press-fitting the engagement ring 58 into the accommodation hole 56.
  • the engagement ring 58 When the engagement ring 58 is attached to the tool block 21, the engagement ring 58 is press-fitted into the accommodation hole 56 from the distal end side portion 56 a of the accommodation hole 56 and is abutted against the step surface 57. Since the distal end side portion 56a has a larger diameter than the accommodation hole 56, the engagement ring 58 can be easily inserted into the distal end side portion 56a, and the press-fitting operation of the engagement ring 58 into the accommodation hole 56 can be performed. It can be done easily.
  • the diameter of the engagement ring 58 is made smaller than that when the engagement ring 58 is fixed to the tool block 21 with a bolt.
  • the tool unit 12 can be reduced in weight.
  • the tool changer 10 can be reduced in size and weight, and the tool changer 10 can be quickly moved at a high speed by a moving member such as a robot arm.
  • the engagement ring 58 has a ball guide surface 58b on the abutting surface 23 side and a ball engagement surface 58c on the opposite side through a small diameter portion 58a.
  • the ball guide surface 58b has a tapered shape inclined so as to have a small diameter toward the ball engaging surface 58c
  • the ball engaging surface 58c has a tapered shape inclined so as to have a small diameter toward the ball guide surface 58b.
  • the ball guide surface 58b and the ball engagement surface 58c have opposite inclination directions.
  • the ball 38 is It is in contact with the distal end portion 43 a and the drive surface 43 b of the drive portion 43, and does not protrude outward in the radial direction from the outer surface 35 b of the cylindrical portion 35.
  • the ball 38 is movable radially outward. Under this state, the tool unit 12 and the master unit 11 are brought close to each other so that the fitting portions 27a and 27b are fitted to the bushes 29a and 29b, and the cylindrical portion 35 of the ball holder 34 is fitted to the engagement ring.
  • the abutting surface 23 of the tool block 21 is abutted against the mounting surface 16 of the master block 13 as shown in FIG. 4. Even when a part of the ball 38 protrudes radially outward from the ball support hole 37 when the cylindrical portion 35 is inserted into the engagement ring 58, the ball 38 is radially inward by the ball guide surface 58b. Guided.
  • the fitting between the fitting portion 27a of the positioning pin 26a and the fitting hole 29c causes the master block 13 to A reference position with the tool block 21 is set. Then, the machining error is absorbed by the radial movement of the positioning pin 26b in the gap, and the master block 13 and the tool block 21 can be easily combined.
  • the gap is formed by providing the notch surface 30 in the positioning pin 26b. However, a similar gap may be formed by notching a part of the fitting hole 29d. good.
  • FIG. 7 is a cross-sectional view taken along the line BB in FIG. 6 and shows a first supply / exhaust port 61 communicating with the first pressurizing chamber 44 and a second supply / exhaust port communicating with the second pressurizing chamber 47.
  • 62 is formed in the master block 13.
  • the supply / exhaust pipes 61a, 62b connected to the respective supply / exhaust ports 61, 62 are connected to an electromagnetic valve 63, and an air pressure supply source is connected to the supply port of the electromagnetic valve 63. 64 is connected.
  • tool-side air flow paths 65 to 68 are formed in the tool block 21.
  • Master side air flow paths 71 to 74 communicating with the respective tool side air flow paths 65 to 68 are formed in the master block 13 as indicated by broken lines in FIG. 9 is a cross-sectional view taken along the line CC in FIG. 6, and shows an air flow path 66 formed in the tool block 21 and an air flow path 72 formed in the master block 13 and communicating with the air flow path 66. ing.
  • a packing attachment hole 75 is formed at the end on the tool side, that is, the communication end of the air flow path 72 on the master side, and the packing 76 is attached to the cylindrical packing attachment hole 75.
  • packing attachment holes 75 are formed in the communication end portions of the other air flow channels 71, 73, 74 on the master side, and a packing 76 is attached to each packing attachment hole 75.
  • FIG. 10A is a cross-sectional view showing a state before the packing 76 is attached to the packing attachment hole 75
  • FIG. 10B shows a state where the packing 76 is attached to the packing attachment hole 75.
  • FIG. The outer peripheral surface of the packing 76 has a small diameter portion 77 having substantially the same diameter as the packing mounting hole 75 and a pressure contact portion 78 having a larger diameter than this.
  • the pressure contact portion 78 is provided on the base end side of the packing 76.
  • the tip of the packing 76 is a sharp protruding portion 79, and when the packing 76 is mounted in the packing mounting hole 75, it protrudes from the mounting surface 16 of the master block 13 as shown in FIG.
  • the projecting portion 79 is crushed in the axial direction by the abutting surface 23 of the tool block 21 and is brought into close contact with the abutting surface 23.
  • the packing 76 is elastically deformed so that the proximal end side is largely contracted, and is elastically deformed so that the protruding portion 79 at the distal end is contracted in the axial direction. Air leakage is prevented.
  • FIG. 9 shows the master unit 11 in which the packing 76 is mounted on the master block 13, but when the packing mounting hole 75 is formed in the tool block 21, the packing 76 is mounted on the tool block 21.
  • the packing 76 is provided on one of the master block 13 and the tool block 21.
  • FIG. 11 shows a state in which a tool as a tool, that is, a chuck 81 is attached to the tool unit 12.
  • the chuck 81 is attached to an adapter 82, and the adapter 82 is attached to the distal end surface 24 of the tool block 21 by a bolt (not shown) attached to the bolt attachment hole 25 shown in FIG.
  • the chuck 81 has a cylinder 84 in which a piston 83 is incorporated so as to be able to reciprocate.
  • a finger member 85 provided on the cylinder 84 so as to be opened and closed is driven to open and close by the reciprocating movement of the piston 83.
  • a forward pressure chamber 86 and a backward pressure chamber 87 are provided on both sides of the piston 83.
  • the pipe 88 connected to the cylinder 84 communicates with the pressure chamber 86 for forward movement, and the pipe 89 connected to the cylinder 84 communicates with the pressure chamber 87 for backward movement.
  • the pipe 88 communicates with the port 65 a of the air flow path 65, and the pipe 89 communicates with the port 66 a of the air flow path 66.
  • the tool-side air flow path 65 communicates with the master-side air flow path 71, and a port 71 a of the air flow path 71 is opened on the outer peripheral surface of the master block 13.
  • the tool-side air flow channel 66 communicates with the master-side air flow channel 72, and the port 72 a of the air flow channel 72 is open to the outer peripheral surface of the master block 13.
  • the pipe 91 connected to the master block 13 communicates with the port 71a
  • the pipe 92 connected to the master block 13 communicates with the port 72a.
  • An electromagnetic valve 63a is provided between the pipes 91 and 92 and the air pressure supply source 64a.
  • the compressed air is supplied from the port 65a to the forward pressure chamber 86 through the pipe 88.
  • the compressed air is supplied from the port 66a to the pressure chamber 87 for retraction by the pipe 89.
  • the finger member 85 When compressed air is supplied to the pressure chamber 87 for retraction, the finger member 85 is closed, and the object to be conveyed (not shown) can be gripped by the finger member 85.
  • the finger member 85 When compressed air is supplied to the pressure chamber 86 for advancing, the finger member 85 is opened, and the object to be transported that has been gripped is separated from the finger member 85.
  • the finger member 85 When a compression coil spring is incorporated in the forward pressure chamber 86, the finger member 85 can be opened and closed by supplying and discharging compressed air to the backward pressure chamber 87. In that case, the pipe 88 is not used.
  • Compressed air can be supplied to other tools also in the air flow paths 73 and 74 provided on the master side in communication with the air flow paths 67 and 68 on the tool side, respectively.
  • the tool unit 12 is configured such that the tool is attached to the tip surface as described above, and a plurality of tool units each having various tools attached thereto are arranged on a support base (not shown).
  • a master unit 11 is attached to the robot hand in advance, and a specific tool unit is attached to the master unit in accordance with work performed by the robot.
  • the robot arm to which the tool unit is attached performs various operations by moving the tool changer 10.
  • the tool changer 10 is reduced in size and weight, and the robot arm can move the tool changer 10 at high speed.
  • the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the scope of the invention.
  • a tool not only air pressure but also a tool that uses electric power as a drive source such as an electric drill can be attached to the tool unit.
  • the tool changer is used to attach a tool unit to which a tool is attached to a moving member such as a robot arm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'échange d'outils, qui est pourvu d'une unité maître (11) et d'une unité d'outil (12) montée de façon amovible sur l'unité maître (11), et qui est conçu de telle sorte qu'un support de billes (34) est fixé à un bloc maître (13). Le support de billes (34) fait saillie à partir d'une surface de montage (16), et est pourvu d'une partie de bride (36) qui entre en contact avec une surface de différence de pas (33) et d'une partie cylindrique (35) sur laquelle des billes (38) sont montées. Un piston (41) pourvu d'une partie d'entraînement de bille (43) est agencé de manière à pouvoir effectuer un mouvement de va-et-vient dans la direction axiale dans un trou de grand diamètre (32). Une bague de mise en prise (58) est ajustée dans un trou de réception (56) dans un bloc d'étanchéité (21), et une surface de mise en prise de bille (58c) est disposée sur la bague de mise en prise (58).
PCT/JP2019/010611 2018-05-22 2019-03-14 Dispositif d'échange d'outils, unité maître et unité d'outil WO2019225126A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020521051A JP7196166B2 (ja) 2018-05-22 2019-03-14 ツール交換装置、マスターユニットおよびツールユニット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018097500 2018-05-22
JP2018-097500 2018-05-22

Publications (1)

Publication Number Publication Date
WO2019225126A1 true WO2019225126A1 (fr) 2019-11-28

Family

ID=68617058

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/010611 WO2019225126A1 (fr) 2018-05-22 2019-03-14 Dispositif d'échange d'outils, unité maître et unité d'outil

Country Status (2)

Country Link
JP (1) JP7196166B2 (fr)
WO (1) WO2019225126A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59173505U (ja) * 1983-05-07 1984-11-20 富士精工株式会社 ハイドロリツクホルダ
US5002500A (en) * 1990-03-02 1991-03-26 General Motors Corporation Quick connect/disconnector for high amperage current
JPH04183585A (ja) * 1990-11-14 1992-06-30 B L Oototetsuku Kk ロボットアームカップリング装置
JPH052887U (ja) * 1991-03-20 1993-01-19 ビー・エル・オートテツク株式会社 工具交換装置におけるエアジヨイント構造
JPH07290389A (ja) * 1994-04-22 1995-11-07 Citizen Watch Co Ltd ハンド交換装置
JP2016124070A (ja) * 2014-12-27 2016-07-11 ユキワ精工株式会社 チャック装置
JP2018118333A (ja) * 2017-01-24 2018-08-02 株式会社近藤製作所 自動工具交換装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59173505U (ja) * 1983-05-07 1984-11-20 富士精工株式会社 ハイドロリツクホルダ
US5002500A (en) * 1990-03-02 1991-03-26 General Motors Corporation Quick connect/disconnector for high amperage current
JPH04183585A (ja) * 1990-11-14 1992-06-30 B L Oototetsuku Kk ロボットアームカップリング装置
JPH052887U (ja) * 1991-03-20 1993-01-19 ビー・エル・オートテツク株式会社 工具交換装置におけるエアジヨイント構造
JPH07290389A (ja) * 1994-04-22 1995-11-07 Citizen Watch Co Ltd ハンド交換装置
JP2016124070A (ja) * 2014-12-27 2016-07-11 ユキワ精工株式会社 チャック装置
JP2018118333A (ja) * 2017-01-24 2018-08-02 株式会社近藤製作所 自動工具交換装置

Also Published As

Publication number Publication date
JPWO2019225126A1 (ja) 2021-06-10
JP7196166B2 (ja) 2022-12-26

Similar Documents

Publication Publication Date Title
KR100415483B1 (ko) 클램프장치
US8146900B2 (en) Positioning and clamping apparatus
US4550922A (en) Workholder
WO2019225126A1 (fr) Dispositif d'échange d'outils, unité maître et unité d'outil
US7370570B2 (en) Fluid pressure cylinder
KR20210047310A (ko) 작업편을 가공하기 위한 장치
US20230219238A1 (en) End-effector exchange device
JP5808226B2 (ja) 工作機械のワークの機内搬送装置
US4685687A (en) Workholder
JP3452646B2 (ja) 自動ハンド交換装置
CN213827358U (zh) 柔性自动化电加工生产线用套筒类工件随行夹具
KR102376454B1 (ko) Cnc 초소형 복합자동선반 스핀들의 척킹장치
JP2568012B2 (ja) チャック装置
WO2022131092A1 (fr) Combinaison d'arbre principal et de support, support et machine-outil
CN110434664B (zh) 一种用于薄壁件的自动化加工系统
KR20240024681A (ko) 이송용 로봇의 플로팅 조인트
JPH10328965A (ja) 工作物取付け装置及びこの装置を用いた加工システム
EP0218756A1 (fr) Porte-outil
JPH0746410Y2 (ja) 旋盤用コレットチャック装置
TWM498658U (zh) 應用於加工機具之夾爪
US20200180046A1 (en) Device for securely attaching a drilling device to a drill plate including an expandable collet with balls
JPH1086004A (ja) 流体供給装置
JP2024057181A (ja) エア圧送組付装置
JPS59219125A (ja) ボルト外し工具
TW202112485A (zh) 更換裝置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19808384

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020521051

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19808384

Country of ref document: EP

Kind code of ref document: A1