CN117751026A - Tool changing device - Google Patents
Tool changing device Download PDFInfo
- Publication number
- CN117751026A CN117751026A CN202280053739.1A CN202280053739A CN117751026A CN 117751026 A CN117751026 A CN 117751026A CN 202280053739 A CN202280053739 A CN 202280053739A CN 117751026 A CN117751026 A CN 117751026A
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- CN
- China
- Prior art keywords
- tool
- cylinder chamber
- lock pin
- piston
- tray
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 239000012530 fluid Substances 0.000 claims description 24
- 230000002401 inhibitory effect Effects 0.000 abstract 1
- 238000003780 insertion Methods 0.000 description 26
- 230000037431 insertion Effects 0.000 description 26
- 230000002093 peripheral effect Effects 0.000 description 15
- 239000003566 sealing material Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000002265 prevention Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000009751 slip forming Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention provides a tool replacing device capable of inhibiting a tool tray from being accidentally separated from a main tray. One embodiment of the present invention is a tool changing device including: a master plate including a cylinder chamber and a piston member reciprocally movable in the cylinder chamber; and a tool plate that is attached to and detached from the main plate by the reciprocating movement of the piston member, wherein the main plate includes a lock pin that is withdrawn into the cylinder chamber to restrict the reciprocating movement of the piston member.
Description
Technical Field
The present invention relates to a tool changing device.
Background
Among the robot arms are robot arms including tool changing devices to enable changing of various tools (tools). The tool replacing device for the mechanical arm can perform a plurality of operations by replacing tools by one robot, so that the multifunction of the robot or the shortening of the servicing time can be realized, and the device can contribute to a plurality of varieties, a small quantity of production and the like.
As an example, the tool changer includes a main disc attached to a robot side and a tool disc to which a tool is attached. The main plate and the tool plate are configured to be detachable by a fluid such as air, and the robot can perform work by using various tools by the detachment.
In such a fluid-using tool exchange device, when the main disk and the tool disk are in a coupled state, if the supply of fluid is stopped, the main disk and the tool disk cannot be maintained in the coupled state, and there is a concern that accidents such as dropping of the tool disk may occur. As a device for preventing such an accident, an automatic tool changer including a stopper for restricting the disengagement of an actuator has been studied (see japanese patent laid-open No. 6-061486).
The automatic tool changer described in the above publication includes a fixed plate (main plate) and a tool plate (tool plate), and the fixed plate includes an actuator (pressure cylinder) that is movable relative to the tool plate by a fluid, and a coupling member that is attachable to and detachable from the tool plate in conjunction with an operation of the actuator. A stopper portion is formed in a stepped shape on a front end side of the actuator to restrict the actuator from being released from the coupling member. In addition, when the supply of the fluid is stopped, the stopper restricts the actuator from being disengaged from the coupling member, so that the tool tray can be prevented from being disengaged.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 6-061486
Disclosure of Invention
Problems to be solved by the invention
In the automatic tool changer, for example, in a factory or the like where the robot arm is operated, when fluid is not supplied for a long period of time between an operation end time and a next operation start time, a load is continuously applied to a stopper portion of the actuator, and there is a concern that the tip of the coupling member passes over a step of the stopper portion and the tool tray is separated.
In preventing detachment by means for attaching and detaching the fixed disk to and from the tool disk, for example, in teaching operations for learning the robot arm, if an operator erroneously instructs detachment of the tool disk, the tool disk may not be prevented from being detached.
In view of the above, an object of the present invention is to provide a tool changer capable of suppressing accidental detachment of a tool tray from a main tray.
Technical means for solving the problems
One embodiment of the present invention is a tool changing device including: a master plate including a cylinder chamber and a piston member reciprocally movable in the cylinder chamber; and a tool plate that is attached to and detached from the main plate by the reciprocating movement of the piston member, wherein the main plate includes a lock pin that is withdrawn into the cylinder chamber to restrict the reciprocating movement of the piston member.
ADVANTAGEOUS EFFECTS OF INVENTION
The tool changer of the present invention can suppress accidental detachment of a tool tray from a main tray.
Drawings
Fig. 1 is a schematic cross-sectional side view showing a state of connection between a master and a tool tray in a tool changer according to an embodiment of the present invention.
Fig. 2 is a schematic cross-sectional side view showing a state in which a main disc and a tool disc are separated from each other in the tool changer of fig. 1.
Fig. 3 is a partial enlarged view showing a lock pin of the tool changer of fig. 1.
Fig. 4 is a partial enlarged view showing a state in which the lock pin of fig. 3 enters the cylinder chamber.
Fig. 5 is a partially enlarged view showing a lock pin different from the lock pin of fig. 3.
Fig. 6 is a partial enlarged view showing a state in which the lock pin of fig. 5 enters the cylinder chamber.
Detailed Description
One embodiment of the present invention is a tool exchange device including: a master plate including a cylinder chamber and a piston member reciprocally movable in the cylinder chamber; and a tool plate that is attached to and detached from the main plate by the reciprocating movement of the piston member, wherein the main plate includes a lock pin that is withdrawn into the cylinder chamber to restrict the reciprocating movement of the piston member.
The tool changer includes a lock pin that can be withdrawn into the cylinder chamber. The lock pin enters the cylinder chamber, and the reciprocating movement of the piston member is restricted. Since the movement of the piston member to the side where the tool tray is disengaged is restricted, it is possible to suppress accidental disengagement of the tool tray from the main tray. Further, since the lock pin is not a member for connecting the master and the tool tray, but is a separate member for restricting movement of the piston member to the release side, even when an operator erroneously instructs to release the tool tray during teaching work or the like, the tool tray can be prevented from being released.
The locking pin is preferably withdrawn into the cylinder chamber by manual operation. This makes it possible to simplify the tool changer, thereby improving the stability of the operation and reducing the cost.
Preferably, the lock pin includes a screw member and a piston lock member screwed to the screw member, and the lock pin is configured to withdraw the piston lock member into the cylinder chamber by rotating the screw member. Thereby, the lock pin can be easily operated.
Preferably, a resilient member is included, which allows the latch to enter or exit the cylinder chamber. Thereby, the lock pin can be easily operated.
Preferably, the piston member is movable back and forth by supply of the fluid, and the lock pin is inserted into the cylinder chamber when the supply of the fluid is stopped. For example, when the tool changer is not operated for a long period of time between the end time of the operation in a factory or the like where the robot arm is operated and the start time of the next operation, the operation is preferably interrupted in a state where the tool tray is separated from the main tray, but the operation may be interrupted for a long period of time by connecting the tool tray to the main tray according to the status of the equipment or the like. In this state, there is a possibility that back pressure from an air-driven machine such as a cylinder used in other equipment is applied to the solenoid valve exhaust port side for the tool changer, and the piston member moves in the disengaging direction to disengage the tool tray. By having the lock pin enter the cylinder chamber when not in operation, accidental disengagement of the tool tray can be suppressed.
[ detailed description of embodiments for carrying out the invention ]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The drawings are for reference, and the shape, scale, etc. of each structure (each member) may be different from actual ones. In the following description, "upper side" means a master side in the tool exchange device, and "lower side" means an opposite side (tool tray side) of the master side.
< first embodiment >, first embodiment
As shown in fig. 1 and 2, a tool changer 1 according to an embodiment of the present invention mainly includes a tool tray 2 to which a tool (not shown) is attached and a main tray 3 to which the tool tray 2 is detachable. The tool tray 2 is a substantially cylindrical member, and an insertion hole 21 is formed in a center portion thereof. The main disk 3 includes a cylindrical portion 37a that can be inserted into the insertion hole 21. The tool tray 2 and the main tray 3 are configured to be detachable.
The master 3 is mounted on a robot arm (not shown), for example, and a tool is mounted on the tool tray 2. The robot arm is capable of changing various tools (tool trays 2) by attaching and detaching a plurality of tool trays 2 equipped with different tools to and from the master tray 3.
[ Main dish ]
The master 3 includes a master body 32 in which a cylinder chamber 35 is formed, a piston member 33 mounted so as to be reciprocable in the cylinder chamber 35, and a locking member that moves in a direction substantially orthogonal to a direction of the reciprocation of the piston member 33 by the reciprocation of the piston member 33. Furthermore, the main disk 3 includes a lock pin 4 described below. In the present embodiment, a plurality of balls 34 are used as the locking members.
A flow passage (not shown) through which fluid flows into and out of the cylinder chamber 35 is formed in the master body 32. The main disk body 32 includes: a first tubular body 36 having a through hole formed therein to form a side wall of the cylinder chamber 35; and a second tubular body 37 fixed to a lower side of the through hole of the first tubular body 36. A part of the second cylindrical body 37 constitutes a cylindrical portion 37a. The upper portion of the through hole of the first tubular body 36 is sealed by a cover 38. That is, in the present embodiment, the main disk body 32 includes the first cylindrical body 36 and the second cylindrical body 37, and the cylinder chamber 35 includes the through hole of the first cylindrical body 36, the lower surface of the lid 38, and the upper surface of the second cylindrical body 37. The first cylindrical body 36 and the second cylindrical body 37 are each provided in a substantially cylindrical shape. The fluid is not particularly limited, and for example, air may be used.
The flow passage is formed in the first cylindrical body 36. The cylinder chamber 35 is divided into an upper cylinder chamber 35a and a lower cylinder chamber 35b by a piston member 33 described below. The flow passage includes a first flow passage through which the fluid flows in and out of the upper cylinder chamber 35a, and a second flow passage through which the fluid flows in and out of the lower cylinder chamber 35b on the opposite side through the upper cylinder chamber 35a and the piston member 33. The first and second flow passages are connected to a fluid supply device (not shown) in the factory via solenoid valves (not shown).
The first flow passage supplies fluid to the upper cylinder chamber 35a to move the piston member 33 toward the tool plate 2. By the piston member 33 moving to the tool tray 2 side, the ball 34 moves to connect the tool tray 2 to the main tray 3 side (the outside of the tubular member 37 a). At this time, the second flow path discharges the fluid in the lower cylinder chamber 35b. The second flow passage is configured to supply fluid to the lower cylinder chamber 35b to move the piston member 33 toward the main disc 3. By the piston member 33 moving to the main disc 3 side, the ball 34 moves to disengage the tool disc 2 from the main disc 3 side (inside of the tubular member 37 a). At this time, the first flow passage discharges the fluid in the upper cylinder chamber 35 a.
A step for fitting the second cylindrical body 37 is provided on the lower surface of the first cylindrical body 36. The second cylinder 37 is fixed to the step. The second cylindrical body 37 includes a flange 37b fitted to the step portion, and a cylindrical portion 37a protruding downward from the flange 37 b. Therefore, the cylindrical portion 37a protrudes downward from the first cylindrical body 36. The second cylindrical body 37 is formed with an insertion hole through which the rod 33a of the piston member 33 is inserted.
The main disc 3 and the tool disc 2 include an abutment surface 3a and an abutment surface 2a that abut against each other in a coupled state. Specifically, the lower surface of the first cylindrical body 36 and the lower surface of the flange 37b are disposed on the same plane, and in the coupled state, are in contact with the contact surface 2a of the tool tray 2. That is, in the present embodiment, the surface on the same plane including the lower surface of the first tubular body 36 and the lower surface of the flange portion 37b of the second tubular body 37 becomes the contact surface 3a of the master 3, and the contact surfaces 3a and 2a of the master 3 and the tool plate 2 are in close contact with each other in the coupled state.
The plurality of holding holes 37c of the holding ball 34 are provided through the cylindrical portion 37a in a direction perpendicular to the axis of the cylindrical portion 37a. The plurality of balls 34 are arranged at substantially equal intervals in the circumferential direction of the holding hole 37 c. The holding hole 37c holds the ball 34 so that the ball can be withdrawn from the side surface of the cylindrical portion 37a. The diameter of the holding hole 37c outside the cylindrical portion 37a is set smaller than the diameter of the ball 34, preventing the ball 34 from falling out of the cylindrical portion 37a.
The piston member 33 is provided so as to be reciprocally movable along the axial direction of the cylindrical portion 37a, that is, in a direction substantially perpendicular to the abutment surface 3a and the abutment surface 2a by the pressure of the fluid in the cylinder chamber 35. By the reciprocating movement of the piston member 33, the plurality of balls 34 are withdrawn from the side surface of the cylindrical portion 37a.
Specifically, the piston member 33 includes a rod 33a inserted through the insertion hole of the second cylindrical portion 37a, and a cam portion 33b fixed to a front end (lower end portion) of the rod 33a protruding to the cylindrical portion 37a. The side surface of the cam portion 33b abuts against the ball 34, and the movement of the ball 34 to the inside of the cylindrical portion 37a is restricted.
The cam portion 33b allows the ball 34 to move to the inside of the outer surface of the cylindrical portion 37a when the piston member 33 is located above, and prevents the ball 34 from falling off to the inside of the cylindrical portion 37a.
The side surface of the cam portion 33b forms an inclined surface inclined downward and inward, and the movement of the piston member 33 downward pushes the ball 34 out of the cylindrical portion 37a, thereby obtaining a locked state of the ball 34 and the locked portion 22 of the tool tray 2 described below.
The cam portion 33b has two inclined surfaces having different inclination angles. The angle formed by the two inclined surfaces and the cylindrical portion 37a in the axial direction is large in the lower inclined surface and small in the upper inclined surface which is continuous. When the piston member 33 is moved downward from the state where the piston member 33 is positioned upward (see fig. 2), the ball 34 is pushed outward by the large inclined surface, and thereafter, when the piston member 33 reaches the lowermost position, the movement of the ball 34 toward the inside of the cylindrical portion 37a is restricted by the small inclined surface (see fig. 1).
A substantially disc-shaped rod top surface 33c is formed on an upper portion of the rod 33a of the piston member 33. The rod top surface 33c divides the cylinder chamber 35 into an upper cylinder chamber 35a and a lower cylinder chamber 35b.
[ tool tray ]
The tool tray 2 has an insertion hole 21, and the insertion hole 21 has a locked portion 22 of the locking ball 34. Specifically, the locked portion 22 is a recess formed in the surface of the insertion hole 21, and the recess is continuously formed in the circumferential direction.
In order to connect the tool disk 2 to the main disk 3, the cylindrical portion 37a is inserted into the insertion hole 21, and the piston member 33 is moved downward. The balls 34 are pushed out of the cylindrical portion 37a by the cam portion 33b, and a part of the balls enter the engaged portion 22.
The locked portion 22 includes, in a cross-sectional view through the axis of the insertion hole 21, a locked portion side surface 22a parallel to the axis of the insertion hole 21, a locked portion bottom surface 22b substantially orthogonal to the axis of the insertion hole 21, and a locked portion top surface 22c inclined with respect to the axis of the insertion hole 21. That is, the locked portion top surface 22c is formed so as to expand in diameter from the upper side toward the lower side of the tool tray 2. In other words, the locked portion top surface 22c is formed so that the diameter of the insertion hole 21 increases from the upper side toward the lower side, and is connected to the locked portion side surface 22a.
When the ball 34 enters the outside of the cylindrical portion 37a with the contact surface 3a of the main disc body 32 and the contact surface 2a of the tool disc 2 facing each other with a gap therebetween, the ball 34 contacts the engaged portion top surface 22c. When the ball 34 further enters the outside, the ball 34 pulls the tool tray 2 toward the main tray 3 along the inclined locked portion top surface 22c, and the contact surface 2a of the tool tray 2 and the contact surface 3a of the main tray 3 are brought into close contact with each other, thereby obtaining a coupled state of the tool tray 2.
(locking pin)
As shown in fig. 3 and 4, a lock pin 4 is provided in the main plate 3, and the lock pin 4 is withdrawn into the cylinder chamber 35 to restrict the reciprocating movement of the piston member 33. The lock pin 4 of the present embodiment includes a piston lock member 41 having a front end portion that enters the cylinder chamber 35, and a screw member 42 for withdrawing the piston lock member 41 toward the cylinder chamber 35.
A lock pin hole 36a for receiving the lock pin 4 is formed through the first cylindrical body 36 of the main disc 3 so as to be perpendicular to the axis of the piston member 33. The lock pin 4 is configured such that the screw member 42 is rotated in the lock pin hole 36a to withdraw the piston lock member 41 into the cylinder chamber 35. The reciprocating movement of the piston member 33 in the cylinder chamber 35 is restricted by the leading end portion of the piston lock member 41 entering the cylinder chamber 35. In the present embodiment, the piston lock 4 restricts the forward movement (movement toward the side where the tool disc 2 is separated) of the piston member 33.
The screw member 42 includes a disk-shaped base portion 42a and a cylindrical screw portion 42b standing on the base portion 42a. A male screw is formed on the outer periphery of the screw portion 42b. The piston lock member 41 is a rod-shaped member. The piston lock member 41 includes a cylindrical root portion 41a having a relatively large area in cross section, and a front end portion 41b having a smaller area in cross section than the root portion 41a and a substantially rectangular shape in cross section. A female screw hole 41c is formed in the root portion 41a, and the female screw hole 41c is formed with a female screw.
The lock pin 4 can expand and contract the entire length by screwing the male screw formed in the screw portion 42b of the screw member 42 into the female screw hole 41c formed in the root portion 41a of the piston lock member 41, and rotating the screw member 42 relative to the piston lock member 41.
The lock pin hole 36a formed in the first tubular body 36 communicates the outer peripheral side wall of the first tubular body 36 with the inner peripheral side wall (side wall of the cylinder chamber 35) of the first tubular body 36. A tray recess 36b is formed in the outer peripheral side wall of the first cylindrical body 36, and the tray recess 36b is used for fitting the anti-slip tray 5 for preventing the lock pins 4 from slipping off the main tray 3. The drop-preventing plate 5 is fixed to the plate recess 36b by a bolt 6. The escape prevention disc 5 is formed such that its outer surface is substantially flush with the outer peripheral surface (outer surface) of the first tubular body 36.
The lock pin hole 36a is formed from the outer peripheral side wall toward the inner peripheral side wall of the first cylindrical body 36, and includes a first portion 36c having a relatively large cross-sectional area and formed in a substantially cylindrical shape, a second portion 36d having a cross-sectional area smaller than the first portion 36c and formed in a substantially cylindrical shape, and a third portion 36e having a cross-sectional area smaller than the second portion 36d and formed in a substantially square cylindrical shape.
The first portion 36c receives the base portion 42a of the screw member 42. A sealing material 7 such as an O-ring is provided on the outer periphery of the base portion 42a to prevent the fluid in the cylinder chamber 35 from leaking to the outside. A tool engaging groove (not shown) for engaging with a tool (not shown) such as a straight screwdriver is formed in a surface opposite to a surface on which the screw portion 42b of the base portion 42a stands. A tool hole 5a is formed in the escape prevention plate 5 so that the tool can be engaged with the engagement groove.
The second portion 36d movably accommodates the root portion 41a of the piston lock member 41. The root portion 41a is screwed with the screw portion 42b of the screw member 42. The second portion 36d is smaller in diameter than the first portion 36c, thus restricting the movement of the base portion 42a to the cylinder chamber 35 side.
The third portion 36e movably accommodates the front end portion 41b of the piston lock member 41. In order to extend the piston lock 4 in the contracted state, the screw member 42 is rotated in one direction (for example, counterclockwise) by the tool. In order to retract the piston lock 4 in the extended state, the screw member 42 is rotated in the opposite direction (e.g., clockwise) of the one direction by the tool. Here, since the cross section of the front end portion 41b is formed in a substantially rectangular shape and the third portion 36e is formed in a square cylindrical shape, the piston lock member 41 can be restrained from rotating together with the screw member 42. Therefore, the certainty of the telescopic piston lock member 41 can be improved. Further, since the cross-sectional area of the third portion 36e is smaller than that of the second portion 36d, the movement of the root portion 41a to the cylinder chamber 35 side is restricted. Therefore, the piston lock 4 can be prevented from being reduced due to the release of the female screw hole 41c of the piston lock member 41 from the screw portion 42b.
[ advantage ]
By allowing the lock pin 4 to enter the cylinder chamber 35 when the arm is not operated for a long period of time, the piston member 33 can be moved to the side where the tool disc 2 is disengaged by suppressing a decrease in the fluid pressure in the cylinder chamber 35. Further, when teaching work of the robot arm is performed, the lock pin 4 is previously introduced into the cylinder chamber 35, and even if a teaching operator malfunctions, the piston member 33 can be prevented from moving to the side where the tool disc 2 is separated. As described above, the tool changing device 1 includes the lock pins 4, and thus, accidental detachment of the tool tray 2 from the main tray 3 can be effectively suppressed.
< second embodiment >
Next, a tool changer according to another embodiment of the present invention will be described. The same reference numerals are given to the same configurations as those of the tool changer 1, and the description thereof will be omitted.
As shown in fig. 5 and 6, a lock pin 40 is provided in the main plate 30 of the tool changer 10, and the lock pin 40 restricts the reciprocating movement of the piston member 33 by entering the cylinder chamber 35. The lock mechanism of the tool changer 10 according to the present embodiment, which suppresses accidental detachment of the tool tray 2 from the main tray 30, includes the lock pin 40, the elastic member, and the lock shaft 8. In the present embodiment, a coil spring 9 is used as the elastic member.
The lock pin hole 361a for housing the lock pin 40 is provided in the first cylindrical body 361 of the main plate 30 so as to be perpendicular to the axis of the piston member 33. The reciprocating movement of the piston member 33 in the cylinder chamber 35 is restricted by the front end portion 40a of the lock pin 40 entering the cylinder chamber 35.
The lock pin 40 includes a substantially cylindrical front end portion 40a that enters the cylinder chamber 35, a substantially circular plate-shaped base portion 40b having a diameter larger than that of the front end portion 40a and on which the front end portion 40a stands, and a substantially cylindrical rear end portion 40c that stands on a surface opposite to a surface on which the front end portion 40a of the base portion 40b stands. The diameter of the rear end portion 40c is substantially the same as the diameter of the front end portion 40a. The diameter of the rear end portion 40c may also be different from the diameter of the front end portion 40a.
Two insertion holes 40d, 40e through which the lock shaft 8 is inserted are formed in the rear end portion 40c. The two insertion holes 40d and 40e are formed in parallel along the axial direction of the lock pin 40. The insertion holes 40d and 40e are formed so that the axial direction is orthogonal to the axial direction of the lock pin 40.
The lock pin hole 361a formed in the first cylinder 361 communicates the outer peripheral side wall of the first cylinder 361 with the inner peripheral side wall (side wall of the cylinder chamber 35) of the first cylinder 361. A disk recess 361b is formed in the outer peripheral side wall of the first cylindrical body 361, and the disk recess 361b is used for fitting the drop-preventing disk 50 for preventing the lock pins 40 from dropping from the main disk 3. The drop-preventing tray 50 is fixed to the tray recess 361b by the bolts 6.
The release preventing plate 50 is formed with a lock pin hole 50a through which the rear end portion 40c of the lock pin 40 is inserted. A part of the drop-off prevention plate 50 is formed thick, and a lock pin hole 50a is formed in the thick portion 50 b. The outer surface of the thick portion 50b protrudes from the outer peripheral surface (outer surface) of the first cylindrical body 361. The surface opposite to the outer peripheral surface of the thick portion 50b is located in the lock pin hole 361 a. That is, a part of the thick portion 50b is formed in a cylindrical shape and fitted into the lock pin hole 361 a. A sealing material 7 such as an O-ring for preventing the fluid in the cylinder chamber 35 from leaking to the outside is provided in the fitting portion. The sealing material 7 is also provided at the rear end portion 40c of the lock pin 40 inserted through the lock pin hole 50a.
The thick portion 50b is formed with a shaft hole 50c through which the lock shaft 8 is inserted. The shaft hole 50c is formed such that its axial direction is orthogonal to the axial direction of the lock pin hole 50a. The diameter of the shaft hole 50c is substantially the same as the diameters of the insertion holes 40d and 40e of the lock pin 40. The lock pin 40 is restricted from being accidentally moved by inserting the lock shaft 8 through the shaft hole 50c, the insertion holes 40d, and the insertion holes 40e.
The latch hole 361a is formed from the outer peripheral side wall toward the inner peripheral side wall of the first cylindrical body 361, and includes a first portion 361c having a relatively large cross-sectional area and formed in a substantially cylindrical shape, and a second portion 361d having a cross-sectional area smaller than the first portion 36c and formed in a substantially cylindrical shape.
The first portion 361c movably receives the base portion 40b of the locking pin 40. A sealing material 7 such as an O-ring is provided on the outer periphery of the base portion 40b to prevent the fluid in the cylinder chamber 35 from leaking to the outside. Further, a coil spring 9 is disposed in the first portion 361 c.
The second portion 361d movably accommodates the front end portion 40a of the lock pin 40. The second portion 361d is smaller in diameter than the first portion 361c, and therefore the movement of the base portion 40b to the cylinder chamber 35 side is restricted. A step 361e is provided at the boundary between the first portion 361c and the second portion 361d. A coil spring 9 is disposed between the step 361e and the base portion 40b.
The coil spring 9 pushes the base portion 40b toward the outer peripheral side wall side of the first cylinder 361. That is, the coil spring 9 biases the lock pin 40 to prevent the lock pin 40 from entering the cylinder chamber 35. In this state, the lock pin 40 can be prevented from being accidentally inserted into the cylinder chamber 35 by engaging the lock shaft 8 with the insertion hole 40d on the tip end portion 40a side of the two insertion holes 40d, 40e and the shaft hole 50c of the anti-slip plate 50.
In order to draw the lock pin 40 into the cylinder chamber 35, the lock shaft 8 is pulled out from the insertion hole 40d on the front end portion 40a side, and the rear end portion 40c of the lock pin 40 is pushed toward the first cylinder 361. The other insertion hole 40e (on the rear end portion 40c side) of the two insertion holes 40d, 40e is aligned with the shaft hole 50c in position, and the lock shaft 8 is engaged with these holes. Thereby, the front end portion 40a of the lock pin 40 enters the cylinder chamber 35.
[ advantage ]
The lock mechanism of the present embodiment can allow the lock pin 40 to enter the cylinder chamber 35 without using a tool or the like, and thus can easily perform an operation for suppressing the disengagement of the tool tray 2 from the main tray 3.
< other embodiments >
The present invention is not limited to the above-described embodiments, and may be implemented with various modifications and improvements other than the above-described embodiments.
In the above embodiment, the description has been made of the form in which the main disk and the tool disk are detachable by the reciprocating movement of the piston member, but the main disk and the tool disk may be detachable by a cam that rotates, and the lock pin may restrict the rotation of the cam.
In the above embodiment, the description has been made of the mode in which the tool tray is connected by pressurizing the upper cylinder chamber, but the present invention is not limited to this, and the tool tray may be connected by setting the upper cylinder chamber to a negative pressure.
Further, in the above embodiment, the structure in which the connection state between the master and the tool disc is obtained when the piston member is located on the tool disc side has been described, but the present invention is not limited to this. The structure that becomes the disengaged state of the tool tray (the locked state of the locked member and the locked member) when the piston member is located on the tool tray side and becomes the coupled state of the tool tray (the locked state of the locked member and the locked member) by the movement of the piston member to the side away from the tool tray is also within the intended scope of the present invention.
In the above embodiment, the description has been made of a substantially cylindrical form such as a master, a tool tray, and a cylindrical portion, but the shape of the master and the like is not particularly limited.
In the above embodiment, the description has been made of the configuration in which two inclined surfaces are formed on the side surface of the cam portion of the piston member, but the number of inclined surfaces formed on the cam portion may be one or three or more, or may be a curved inclined surface.
The lock pin is not limited to a manually operated lock pin, and may be operated using a fluid, a solenoid, a motor, or the like.
In the above embodiment, the mode in which the coil spring pushes the lock pin toward the outer peripheral side wall side of the master has been described, but the coil spring may push the lock pin toward the inner side (cylinder chamber side) of the master.
Industrial applicability
The tool changer of the present invention can suppress unexpected detachment of a tool tray from a main tray, and thus can be suitably used for a robot arm or the like for various tools to be replaced.
Description of symbols
1. 10: tool changing device
2: tool tray
2a: abutment surface (upper surface of tool tray)
21: insertion hole
22: locked part
22a: side surface of the locked part
22b: bottom surface of the locked part
22c: top surface of blocked part
3. 30: main disk
3a: abutment surface (lower surface of main disk)
32: main disk body
33: piston component
33a: rod
33b: cam part
33c: top surface of rod
34: ball with ball body
35: cylinder chamber
35a: upper side pressure cylinder chamber
35b: lower side pressure cylinder chamber
36. 361: first cylinder
36a, 361a: hole for lock pin
36b, 361b: concave part for disk
36c, 361c: first part
36d, 361d: second part
36e: third part
361e: step part
37: second cylinder
37a: cylindrical part
37b: flange part
37c: retaining hole
38: cover part
4. 40: lock pin
40a: front end part
40b: base portion
40c: rear end portion
40d, 40e: insertion hole
41: piston locking member
41a: root portion
41b: front end part
41c: hole for female thread
42: screw component
42a: base portion
42b: screw portion
5. 50: anti-drop disc
5a: hole for tool
50a: hole for lock pin
50b: thick wall part
50c: shaft hole
6: bolt
7: sealing material
8: lock shaft
9: coil spring
Claims (5)
1. A tool changing device comprising:
a master plate including a cylinder chamber and a piston member reciprocally movable in the cylinder chamber; and
A tool disk which is attached to and detached from the main disk by the reciprocating movement of the piston member,
the master disk includes a lock pin that is withdrawn into the cylinder chamber in order to limit the back and forth movement of the piston member.
2. The tool changing device of claim 1, wherein the lock pin is withdrawn into the cylinder chamber by manual operation.
3. The tool changing device according to claim 1 or 2, wherein the lock pin includes a screw member and a piston lock member screwed to the screw member, the lock pin being configured in such a manner that the piston lock member is withdrawn into the cylinder chamber by rotating the screw member.
4. The tool changing device according to claim 1 or 2, comprising a resilient member that causes the lock pin to enter or exit with respect to the cylinder chamber.
5. The tool changing device according to any one of claims 1 to 4, wherein the piston member is reciprocally movable by supply of fluid, and the lock pin enters the cylinder chamber when the supply of fluid is stopped.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021174862 | 2021-10-26 | ||
| JP2021-174862 | 2021-10-26 | ||
| PCT/JP2022/032196 WO2023074105A1 (en) | 2021-10-26 | 2022-08-26 | Tool changer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117751026A true CN117751026A (en) | 2024-03-22 |
Family
ID=86157723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202280053739.1A Pending CN117751026A (en) | 2021-10-26 | 2022-08-26 | Tool changing device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7306589B1 (en) |
| KR (1) | KR20240033016A (en) |
| CN (1) | CN117751026A (en) |
| WO (1) | WO2023074105A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024252501A1 (en) * | 2023-06-05 | 2024-12-12 | ビー・エル・オートテック株式会社 | Master plate and tool exchange device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60123288A (en) * | 1983-12-07 | 1985-07-01 | 株式会社東芝 | Gripper, finger thereof can be exchanged |
| JPH0713991Y2 (en) * | 1991-09-23 | 1995-04-05 | 株式会社ハーモ | Attachment attachment / detachment device |
| JP3212150B2 (en) | 1992-08-07 | 2001-09-25 | 株式会社日立製作所 | Semiconductor device |
| JP2600326Y2 (en) * | 1993-11-12 | 1999-10-12 | 株式会社コガネイ | Fastening device |
| JP4936329B2 (en) * | 2007-07-20 | 2012-05-23 | 株式会社スター精機 | Robot arm coupling device |
| JP7127836B2 (en) * | 2019-02-13 | 2022-08-30 | 株式会社コスメック | tool changer |
-
2022
- 2022-08-26 KR KR1020247004752A patent/KR20240033016A/en unknown
- 2022-08-26 WO PCT/JP2022/032196 patent/WO2023074105A1/en active Application Filing
- 2022-08-26 JP JP2022571229A patent/JP7306589B1/en active Active
- 2022-08-26 CN CN202280053739.1A patent/CN117751026A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| KR20240033016A (en) | 2024-03-12 |
| WO2023074105A1 (en) | 2023-05-04 |
| JPWO2023074105A1 (en) | 2023-05-04 |
| JP7306589B1 (en) | 2023-07-11 |
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