WO2020166428A1 - 工具交換装置 - Google Patents

工具交換装置 Download PDF

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Publication number
WO2020166428A1
WO2020166428A1 PCT/JP2020/004065 JP2020004065W WO2020166428A1 WO 2020166428 A1 WO2020166428 A1 WO 2020166428A1 JP 2020004065 W JP2020004065 W JP 2020004065W WO 2020166428 A1 WO2020166428 A1 WO 2020166428A1
Authority
WO
WIPO (PCT)
Prior art keywords
connecting member
output member
operating rod
output
chamber
Prior art date
Application number
PCT/JP2020/004065
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
春名　陽介
Original Assignee
株式会社コスメック
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 株式会社コスメック filed Critical 株式会社コスメック
Publication of WO2020166428A1 publication Critical patent/WO2020166428A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
    • B23B31/1079—Retention by spring or wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/06—Features relating to the removal of tools; Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/12—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for securing to a spindle in general
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • 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 tool changing device.
  • Patent Document 1 Japanese Utility Model Publication No. 5-002887.
  • the conventional technique is configured as follows.
  • the first connecting member of the tool changer is fixed to the tip of the robot arm.
  • the second connecting member of the tool exchanging member is fixed to the tool member.
  • the output member is inserted into the first connecting member so as to be vertically movable.
  • a lock chamber is formed above the piston of the output member, and a release chamber is formed below the piston.
  • a tubular plug portion projects downward from the lower end portion of the first connecting member, and the output rod of the output member is inserted into the tubular hole of the plug portion.
  • a taper outer peripheral surface is formed at the lower end of the output rod so as to taper downward.
  • a plurality of guide holes are pierced through the cylindrical wall of the plug portion in the radial direction at a predetermined distance in the circumferential direction, and the engaging balls are movably inserted into the respective guide holes.
  • the engagement ball can be engaged with the tapered outer peripheral surface.
  • the plug portion can be inserted into a mounting hole formed in the upper portion of the second connecting member.
  • An inner peripheral wall of the mounting hole is formed with a tapered inner peripheral surface which is tapered toward the upper side, and the tapered inner peripheral surface is engageable with the engagement ball.
  • the supply of compressed air from the compressed air source may be stopped in order to ensure worker safety during maintenance or emergency stop.
  • the tool changer cannot perform lock drive and release drive.
  • the tool member is unintentionally removed from the robot arm and falls, and there is a problem that the tool member cannot be easily removed when desired by an operator or a robot.
  • An object of the present invention is to provide a tool changer that can be easily removed and maintained in a mounted state even when the supply of driving fluid is stopped.
  • the first invention has a tool changer configured as follows, for example, as shown in FIGS. 1 to 3.
  • the first connecting member 1 and the second connecting member 2 are attached and detached by the connecting mechanism 6.
  • the pressurized fluid is supplied to and discharged from the release chamber 11.
  • the pressure fluid in the release chamber 11 drives the output member 8 forming a part of the connection mechanism 6 to release in the axial direction in the first connection member 1.
  • the advancing spring 15 is mounted inside the working chamber 14 formed on the opposite side of the release chamber 11 with the output member 8 interposed therebetween.
  • a first operating rod 26 is inserted into the first connecting member 1 so as to be movable in a direction intersecting the axial direction of the output member 8.
  • a wedge portion 29 is formed so as to be inclined with respect to the moving direction of the first operation rod 26.
  • a second operation rod 31 that can be engaged with the wedge portion 29 is engageable with the output member 8.
  • the second operating rod 31 is movably inserted into the first connecting member 1 so as to project into the release chamber 11.
  • the present invention has the following operational effects.
  • the pressure from the drive fluid (pressure fluid) source is used.
  • the supply of fluid may be stopped, and the residual pressure fluid in the supply/discharge passage may also be discharged to the outside. In this case, the pressure fluid cannot actuate the tool changer.
  • the output member can be locked and driven by the advancing spring to maintain the locked state, and the operator, the peripheral device, or the robot arm itself outputs the output signal through the first operating rod and the second operating rod.
  • the member can be easily removed and operated.
  • the connecting mechanism is switched from the locked state to the released state, and as a result, the first connecting member can be easily separated from the second connecting member.
  • the second invention has a tool changer configured as follows, for example, as shown in FIGS. 1 to 3.
  • the above tool changing device is for attaching and detaching the first connecting member 1 and the second connecting member 2, and is configured as follows.
  • the first connecting member 1 has a main body portion 3 and a tubular plug portion 4 projecting from the main body portion 3 to the tip side.
  • a mounting hole 5 into which the plug portion 4 can be inserted is formed in the second connecting member 2.
  • the output member 8 is inserted into the first connecting member 1 so as to be movable in the axial direction.
  • the pressure fluid is supplied to and discharged from the release chamber 11 formed on the base end side of the output member 8.
  • a working chamber 14 is formed on the tip side of the output member 8.
  • the advancing spring 15 mounted in the working chamber 14 biases the output member 8 toward the proximal end side.
  • a plurality of through holes 16 are formed in the cylindrical wall of the plug portion 4 at predetermined intervals in the circumferential direction.
  • An engaging member 17 is movably inserted into the through hole 16.
  • a cam portion 19 formed at the tip of the output member 8 is engageable with the engagement member 17.
  • a receiving surface 20 is formed in the mounting hole 5 so that it can be engaged with the engaging member 17.
  • the first operating rod 26 is inserted into the first connecting member 1 so as to be movable in a direction intersecting the axial direction of the output member 8.
  • a wedge portion 29 is formed so as to be inclined with respect to the moving direction of the first operation rod 26.
  • a second operation rod 31 that is engageable with the wedge portion 29 and engageable with the output member 8 is moved to the first connecting member 1 so as to project into the release chamber 11. Can be inserted.
  • the tool changer in order to ensure the safety of the operator when the tool changer is stopped for some reason, for example, during work due to a malfunction or during maintenance, the tool changer is The supply of the pressure fluid may be stopped, and the residual pressure fluid in the supply/discharge passage may also be discharged to the outside. In this case, the pressure fluid cannot actuate the tool changer.
  • the output member is maintained in the locked state by the advancing spring. Further, the operator, the peripheral device, or the robot arm itself can easily remove and operate the output member via the first operating rod and the second operating rod. By the detaching operation, the tool changing device is switched from the locked state to the released state, and as a result, the first connecting member can be easily separated from the second connecting member.
  • pressure fluid is supplied to and discharged from the working chamber 14.
  • FIG. 1 shows an embodiment of the present invention and is a schematic cross-sectional view showing a released state of a tool changing device.
  • FIG. 2 is a diagram showing a locked state of the tool changer, which is a partial view similar to FIG.
  • FIG. 3 is a view similar to that of FIG. 1 described above, showing a state when the release mechanism is driven by the operation of the detachment mechanism of the tool changer.
  • FIGS. 1 to 3 show an embodiment of the present invention.
  • the case where the tool changer is attached to the tip of the robot arm R is illustrated.
  • the tool changing device attaches and detaches the first connecting member 1 fixed to the robot arm R and the second connecting member 2 fixed to the tool member T.
  • the structure of the tool changer will be described with reference to FIGS.
  • the first connecting member 1 of the tool changing device is fixed to the lower end of the robot arm R.
  • the first connecting member 1 includes a main body portion 3 and a tubular plug portion 4 protruding downward from the main body portion 3 (on the tip side).
  • a mounting hole 5 is formed in the upper part of the second connecting member 2, and the plug portion 4 of the first connecting member 1 can be inserted into the mounting hole 5.
  • a connecting mechanism 6 for mounting and dismounting the first connecting member 1 and the second connecting member 2 is provided across the first connecting member 1 and the second connecting member 2.
  • the connecting mechanism 6 is configured as follows.
  • a cylinder hole 7 is formed in the first connecting member 1 in a vertical direction (axial direction) in a hermetically sealed manner.
  • the piston 9 of the output member 8 is inserted into the cylinder hole 7 so as to be vertically movable (axial direction), and the output rod 10 of the output member 8 is inserted into the cylindrical hole 4a of the plug portion 4.
  • a release chamber 11 is formed above the piston 9.
  • a supply/discharge port 12 for compressed air (pressure fluid) is formed in the body portion 3a of the first connecting member 1, and the supply/discharge port 12 communicates with the release chamber 11 through a supply/discharge passage 13.
  • a spring chamber (working chamber) 14 is formed below the piston 9, and an advance spring 15 is attached to the spring chamber 14.
  • the lower end of the advancing spring 15 contacts the bottom wall of the spring chamber 14, and the upper end of the advancing spring 15 contacts the lower end surface of the piston 9. Therefore, the advancing spring 15 biases the piston 9 upward with respect to the first connecting member 1.
  • the advance springs 15 are arranged in the circumferential direction at predetermined intervals.
  • a plurality of through holes 16 are formed in the peripheral wall of the plug portion 4a at predetermined intervals in the circumferential direction, and engaging balls (engaging members) 17 are movably inserted into the through holes 16.
  • the receiving surface 20 is formed on the inner peripheral wall of the mounting hole 5 of the second connecting member 2 so as to taper upward, and the engaging ball 17 of the first connecting member 1 engages with the receiving surface 20. Is possible.
  • the collet 21 is fitted onto the upper half of the outer peripheral wall of the plug portion 4 described above.
  • the collet 21 has a slit 22 formed in the up-down direction, is configured to be contractible in the radial direction and expandable in the radial direction by its elastic restoring force. Further, an engagement surface 23 is formed in a tapered shape on the outer peripheral wall of the collet 21.
  • the engagement surface 24 is formed in a tapered shape on the inner peripheral wall of the mounting hole 5 of the second connecting member 2 so as to widen upward, and the engagement surface 23 of the collet 21 is formed on the engagement surface 24. Engageable.
  • a guide hole 25 is horizontally formed in the upper wall 3b of the first connecting member 1 described above.
  • the first operating rod 26 is movably inserted into the guide hole 25.
  • the lid member 27 is fixed to the outer peripheral wall of the first connecting member 1 so as to seal the right end portion of the guide hole 25.
  • a return spring 28 is mounted between the lid member 27 and the first operating rod 26, and biases the first operating rod 26 to the left.
  • a guide groove (wedge portion) 29 is formed on the outer peripheral wall of the first operating rod 26 so as to be inclined so as to become deeper toward the right.
  • a housing hole 30 that connects the guide hole 25 and the release chamber 11 is formed in the upper wall 3b of the first connecting member 1 at a right angle (direction intersecting) with the axial direction of the guide hole 25.
  • the second operation rod 31 is inserted into the accommodation hole 30 in a hermetically sealed manner so as to be movable in the vertical direction.
  • the upper end surface 32 of the second operating rod 31 is formed so as to be inclined with respect to the axis of the second operating rod 31 (in the present embodiment, it is formed so as to increase toward the right side). ing).
  • the upper end surface 32 of the second operation rod 31 is inserted into the guide groove 29 of the first operation rod 26, and the upper end surface 32 is slidably engaged with the bottom surface of the guide groove 29.
  • the angle at which the accommodation hole 30 and the guide hole 25 intersect is formed at 90°, but the angle is not limited to this and may be an arbitrary angle.
  • the first operating rod 26 and the second operating rod 31 constitute a disengagement mechanism.
  • the above tool changer operates as follows.
  • the first connecting member 1 When switching from the released state of FIG. 1 to the locked state of FIG. 2, first, as shown in FIG. 1, the first connecting member 1 is lowered by the robot arm R, and the plug portion 4 of the tool changing device is moved to the second state.
  • the engaging surface 23 of the first connecting member 1 is engaged with the locking surface 24 of the second connecting member 2 by inserting it into the mounting hole 5 of the connecting member 2.
  • the output rod 10 is moved upward via the piston 9 by the upward biasing force of the advancing spring 15, and the peripheral wall of the cam groove 19 of the output rod 10 is engaged.
  • the ball 17 is pushed outward in the radial direction.
  • the engagement ball 17 pushes the receiving surface 20 upward, whereby the locking surface 24 of the second connecting member 2 reduces the diameter of the collet 21 of the first connecting member 1.
  • the upper end surface of the second connecting member 2 is received by the lower end surface of the main body portion 3 of the first connecting member 1, and the second connecting member 2 is attached to the first connecting member 1.
  • the tool changer is switched from the released state to the locked state.
  • the tool member T may be removed when the robot arm R is stopped for some reason, for example, during work due to a malfunction or during maintenance.
  • the supply of compressed air from the compressed air source is stopped and the residual compressed air in the supply/discharge path is also discharged to the outside, so the tool change by compressed air Unable to operate the device.
  • the output member 8 is maintained in a state of being moved upward by the biasing force of the advancing spring 15. Further, the first connecting member 1 can be easily separated from the second connecting member 2 by performing the following operations by the worker, the peripheral device, or the robot arm itself.
  • the pressure fluid may be other gas or liquid such as pressure oil instead of the exemplified compressed air.
  • the driving means of the tool changer may be a double-acting cylinder instead of being constituted by a single-acting cylinder. That is, the spring chamber 14 may be replaced with a lock chamber (operating chamber) to which compressed air is supplied and discharged, and the advancing spring 15 may be attached to the lock chamber. That is, the working chamber may be equipped with the advancing spring 15 for supplying and discharging the pressure fluid.
  • the above-mentioned engaging member may be of another shape such as a cylindrical engaging pin instead of the spherical engaging ball 17.
  • the robot may be operated to push the first operating rod 26 against the peripheral member and push the first operating rod 26. Further, instead of driving the output member 8 to be released via the second operating rod 31 by pushing in the first operating rod 26, the release driving is performed by pulling in the first operating rod 26. Good. More specifically, in the above-described embodiment, the guide groove 29 is formed so as to become deeper toward the right side, instead of being formed deeper toward the right side. Further, at this time, the return spring 28 urges the first operating rod 26 to the right instead of urging the lid member 27 to the left.
  • the accommodation hole 30 and the guide hole 25 may be intersected with each other in a state in which the accommodation hole 30 and the guide hole 25 are inclined at a predetermined angle with respect to the orthogonal state, instead of being orthogonal to each other.
  • the output member 8 is formed above the output member (on the tip end side) instead of mounting the advancing spring 15 on the spring chamber (working chamber) 14 formed below the output member (on the base end side).
  • the advancing spring may be attached to the spring chamber.
  • the cam groove 19 may be configured to be inclined so that it widens as it goes upward, instead of being tapered so that it becomes narrower as it goes upward.
  • the above-described disengagement mechanism and the like are provided on the lower wall. Plural pieces may be provided (so that the overall size is reduced to fit in the lower wall).
  • the disengagement mechanism is not limited to the mechanism including the first operation rod 26, the second operation rod 31, and the like, and may be another mechanism, or a part of the disengagement mechanism may be omitted.
  • the return spring 28 may be omitted.
  • connection member 1: 1st connection member, 2: 2nd connection member, 3: main body part, 4: plug part, 5: mounting hole, 6: connection mechanism, 8: output member, 11: release chamber, 14: working chamber (spring Chamber), 15: advancing spring, 16: through hole, 17: engaging member (engaging ball), 19: cam portion (cam groove), 20: receiving surface, 26: first operating rod, 29: wedge portion ( Guide groove), 31: second operation rod.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Gripping On Spindles (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Jigs For Machine Tools (AREA)
PCT/JP2020/004065 2019-02-13 2020-02-04 工具交換装置 WO2020166428A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019023888A JP7127836B2 (ja) 2019-02-13 2019-02-13 工具交換装置
JP2019-023888 2019-02-13

Publications (1)

Publication Number Publication Date
WO2020166428A1 true WO2020166428A1 (ja) 2020-08-20

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Application Number Title Priority Date Filing Date
PCT/JP2020/004065 WO2020166428A1 (ja) 2019-02-13 2020-02-04 工具交換装置

Country Status (2)

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JP (1) JP7127836B2 (enrdf_load_stackoverflow)
WO (1) WO2020166428A1 (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112606090A (zh) * 2020-12-01 2021-04-06 旌德县成宇纸管厂（普通合伙） 一种纸管加工用精准定位装置
CN118478040A (zh) * 2024-05-14 2024-08-13 襄阳蓬达高新科技股份有限公司 一种航空钛合金零件精密加工用数控刀具

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7608959B2 (ja) * 2021-04-22 2025-01-07 Smc株式会社 エンドエフェクタ交換装置
WO2023074105A1 (ja) * 2021-10-26 2023-05-04 ビー・エル・オートテック株式会社 ツール交換装置
JP7655228B2 (ja) 2022-01-07 2025-04-02 Smc株式会社 エンドエフェクタ交換装置
JP2024048226A (ja) * 2022-09-27 2024-04-08 株式会社コスメック 部材交換装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02110491U (enrdf_load_stackoverflow) * 1989-02-22 1990-09-04
JPH0428989U (enrdf_load_stackoverflow) * 1990-06-22 1992-03-09
WO2000027596A1 (fr) * 1998-11-05 2000-05-18 Pascal Kabushiki Kaisha Dispositif de fixation de l'outil pour main de robot
WO2004012902A1 (ja) * 2002-08-06 2004-02-12 Kosmek Ltd. クランプ装置
JP2010105111A (ja) * 2008-10-29 2010-05-13 Nabeya Co Ltd 締結装置
JP2016159377A (ja) * 2015-02-27 2016-09-05 株式会社コスメック 出力装置および出力システム
CN108543674A (zh) * 2018-06-26 2018-09-18 东莞市欧特自动化技术有限公司 一种点胶与组装系统及其点胶方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6405190B2 (ja) 2014-10-10 2018-10-17 株式会社コスメック 出力装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02110491U (enrdf_load_stackoverflow) * 1989-02-22 1990-09-04
JPH0428989U (enrdf_load_stackoverflow) * 1990-06-22 1992-03-09
WO2000027596A1 (fr) * 1998-11-05 2000-05-18 Pascal Kabushiki Kaisha Dispositif de fixation de l'outil pour main de robot
WO2004012902A1 (ja) * 2002-08-06 2004-02-12 Kosmek Ltd. クランプ装置
JP2010105111A (ja) * 2008-10-29 2010-05-13 Nabeya Co Ltd 締結装置
JP2016159377A (ja) * 2015-02-27 2016-09-05 株式会社コスメック 出力装置および出力システム
CN108543674A (zh) * 2018-06-26 2018-09-18 东莞市欧特自动化技术有限公司 一种点胶与组装系统及其点胶方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112606090A (zh) * 2020-12-01 2021-04-06 旌德县成宇纸管厂（普通合伙） 一种纸管加工用精准定位装置
CN118478040A (zh) * 2024-05-14 2024-08-13 襄阳蓬达高新科技股份有限公司 一种航空钛合金零件精密加工用数控刀具

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JP2020131305A (ja) 2020-08-31

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