Fluid Module

Abstract

The object of the present invention is to provide a fluid module that is less likely to leak cooling water when a tool disc is removed from a main disc and that can be miniaturized. In the fluid module of the present invention, the main side unit includes: a longitudinal flow path that opens on its lower surface side; a transverse flow path that opens on its side side and is connected to the longitudinal flow path; a core rod, the front end of which protrudes from the opening of the longitudinal flow path; a movable member that is configured to be movable along the thickness direction of the longitudinal flow path; and a force-applying member that applies force downward to the movable member. The tool side unit includes: a longitudinal flow path that opens on its upper surface side; and a claw that pushes the movable member relatively upward. When the tool disc is installed on the main disc, the longitudinal flow path of the tool side unit is watertightly fitted with the outer peripheral surface of the movable member and can be connected to the longitudinal flow path of the main side unit. The core rod includes a columnar portion having a side peripheral surface. When the tool disc is removed from the main disc, the side peripheral surface is watertightly fitted with the inner peripheral surface of the movable member and extends along the thickness direction.

Description

Technical Field

[0001] The present invention relates to a fluid module. Background Art

[0002] Robotic arms used in industrial equipment such as factories have various tools (end effectors) such as welding equipment mounted on their front ends to perform production operations. A tool changer is known as a device for easily replacing such tools. The tool changer comprises a main tray mounted on the front end of the robotic arm and a combination of multiple tool trays, each of which has various tools mounted on it. Each tool tray is formed so as to be engageable with the main tray. By replacing the tool trays, the tool changer can easily replace the tools of the robotic arm.

[0003] When welding is performed on a robot arm equipped with a welding tool, for example, the welding torch heats up very high, requiring cooling water to be supplied from the robot arm to suppress the temperature rise. Therefore, the tool changer is equipped with a fluid module. The tool changer uses this fluid module to supply cooling water from the robot arm or to recover used cooling water (see, for example, Japanese Patent Application Publication No. 2016-34681).

[0004] In a fluid module, when a tool tray is mounted on a main tray, a flow path for supplying and recovering cooling water must be formed between the main tray and the tool tray. Furthermore, when the tool tray is removed from the main tray, the flow paths in both the main tray and the tool tray must be sealed to prevent cooling water from leaking.

[0005] In order to meet the above requirements, the previous fluid module includes, for example, a main side unit provided on the main disk and a tool side unit provided on the tool disk. The previous fluid module is constructed in such a way that a flow path (longitudinal flow path) connected in the thickness direction (up and down direction) is formed when the tool disk is installed on the main disk. In addition, in the previous fluid module, when the tool disk is removed from the main disk, a mechanism for sealing each longitudinal flow path is provided, and an opening for supplying or recovering cooling water is provided on the outside of the longitudinal flow path in the thickness direction. Therefore, in the previous fluid module, the flow path in the thickness direction tends to become longer and tends to be larger.

[0006] Furthermore, a water stop valve is used as the sealing mechanism. This valve controls the sealing and release of the flow path by moving along the thickness direction within the flow path. When the water stop valve operates to seal the flow path, if impurities contained in the cooling water are trapped between the water stop valve and the side wall of the flow path, the cooling water may not be fully stopped, and the cooling water may leak when the tool tray is removed from the main tray.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Application Laid-Open No. 2016-34681 Summary of the Invention

[0010] Problems to be solved by the invention

[0011] The present invention has been made in view of such a malfunction, and an object of the present invention is to provide a fluid module that is less likely to leak cooling water when a tool tray is removed from a main tray and that can be downsized.

[0012] Technical means to solve the problem

[0013] The invention completed in order to solve the above-mentioned problem is a fluid module, which is mounted on a tool changing device, and the tool changing device includes: a main disk, which is installed on a robot arm; and a tool disk, which is installed on the main disk in a detachable manner for tool installation, and the fluid module includes a plate-shaped main side unit arranged on the main disk, and a plate-shaped tool side unit arranged on the tool disk, and the main side unit includes: a longitudinal flow path, which opens on its lower surface side and extends along the thickness direction; a transverse flow path, which opens on its side side and is connected to the longitudinal flow path; a core rod, the front end of which protrudes from the opening of the longitudinal flow path and is fixed in a manner of creating a gap between the side circumference of the longitudinal flow path; a movable component, which is cylindrical in shape and located between the longitudinal flow path and the core rod when viewed from above, and its outer circumference and the core rod are connected. The side surfaces of the longitudinal flow path are maintained water-tight and can be moved along the thickness direction; and a force-applying member applies force downward to the movable member, and the tool side unit includes: a longitudinal flow path, which is open on its upper surface side and extends along the thickness direction; and a claw portion, which abuts against the movable member when the tool disc is installed on the main disc, thereby pushing the movable member relatively upward, and when the tool disc is installed on the main disc, the longitudinal flow path of the tool side unit is water-tightly fitted with the outer peripheral surface of the movable member and can be connected with the longitudinal flow path of the main side unit, and the core rod includes a columnar portion with a side peripheral surface, and when the tool disc is removed from the main disc, the side peripheral surface is water-tightly fitted with the inner peripheral surface of the movable member and extends along the thickness direction.

[0014] The core rod of the fluid module includes a columnar portion having a side surface. When the tool disc is removed from the main disc, the side surface is watertightly fitted with the inner surface of the movable member and extends in the thickness direction. That is, when the tool disc is removed from the main disc, the inner surface of the movable member contacts and fits with the side surface (outer surface) of the columnar portion. Therefore, even if impurities contained in the cooling water adhere to the inner surface of the movable member that fits with the side surface of the columnar portion, the impurities are easily squeezed out by the side surface of the columnar portion when the movable member fits with the columnar portion. Therefore, since the fluid module is not prone to impurities being sandwiched between the inner surface of the movable member and the side surface of the columnar portion, leakage of cooling water caused by impurities is not likely to occur when the tool disc is removed from the main disc. In addition, the fluid module forms a flow path in which the cooling water flows outside the core rod. Therefore, in the fluid module, even if the transverse flow path is connected to the longitudinal flow path at a position lower than the upper end of the core rod, a flow path for the cooling water to flow can be ensured. Therefore, the fluid module can be miniaturized because the flow path in the thickness direction can be shortened.

[0015] The side walls forming the longitudinal flow path of the master-side unit and the side walls forming the longitudinal flow path of the tool-side unit can be made of resin. As described above, by making the side walls forming the longitudinal flow path of the master-side unit and the side walls forming the longitudinal flow path of the tool-side unit into resin, weight reduction can be achieved. Furthermore, even when the cooling water contains chemicals, the side walls of the flow path are less likely to dissolve, thereby achieving excellent durability.

[0016] The primary-side unit may further include a metal, plate-shaped cover on the side surface, and the opening of the primary-side unit's cross-flow passage may be disposed in the cover. A cooling water supply pipe or recovery pipe is connected to the opening of the cross-flow passage. As described above, by disposing the opening of the primary-side unit's cross-flow passage in the metal cover, it is easier to ensure the strength required to connect these pipes.

[0017] The main side unit further includes: a metal rod, which is buried in the side wall of the longitudinal flow path constituting the main side unit in such a manner that its central axis faces the surface of the cover; and a screw, which connects the metal rod and the cover. As described above, by screwing the cover to the metal rod buried in the side wall of the longitudinal flow path constituting the main side unit, the side wall constituting the longitudinal flow path can be made less likely to break. Therefore, it is easy to ensure the strength of the supply pipe or recovery pipe used to connect the cooling water. Furthermore, the so-called "the central axis of the metal rod faces the surface of the cover" refers to a state in which the central axis of the metal rod is parallel to the surface of the cover or the angle formed therebetween is 30° or less.

[0018] The tool-side unit may further include a horizontally movable floating portion, with an opening for the longitudinal flow path of the tool-side unit provided on the floating portion. As described above, by providing the opening for the longitudinal flow path of the tool-side unit on the floating portion, when the tool tray is mounted on the main tray, the opening for the longitudinal flow path of the tool-side unit can be moved horizontally, thereby easily connecting the longitudinal flow path of the tool-side unit with the longitudinal flow path of the main tray. The "horizontal direction" herein refers to a direction substantially perpendicular to the "thickness direction (vertical direction)" described above.

[0019] The side circumferential surface at the upper end of the longitudinal flow path of the tool-side unit may be formed into an inverted tapered shape, with the diameter increasing toward the opening of the longitudinal flow path. As described above, by forming the side circumferential surface at the upper end of the longitudinal flow path of the tool-side unit into an inverted tapered shape, with the diameter increasing toward the opening of the longitudinal flow path, the floating portion can be easily moved so that the longitudinal flow path of the tool-side unit communicates with the longitudinal flow path of the master-side unit.

[0020] Effects of the Invention

[0021] As described above, the fluid module of the present invention is less likely to leak cooling water when the tool tray is removed from the main tray, and can be miniaturized. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic perspective view showing a primary-side unit of a fluid module according to one embodiment of the present invention.

[0023] Figure 2 This is a schematic perspective view showing a tool-side unit of a fluid module according to one embodiment of the present invention.

[0024] Figure 3 It means it is equipped Figure 2 Schematic perspective view of the tool tray of the tool side unit.

[0025] Figure 4 yes Figure 1 Schematic cross-sectional view of the main side unit along line IV-IV.

[0026] Figure 5 yes Figure 1 Schematic cross-sectional view of the main side unit under line VV.

[0027] Figure 6 yes Figure 2 Schematic cross-sectional view of the tool side unit along line VI-VI.

[0028] Figure 7 yes Figure 2 Schematic cross-sectional view of the tool side unit taken along line VII-VII.

[0029] Figure 8 This means that the tool disk is installed on the main disk. Figure 4 The main side unit and Figure 6 Schematic cross-sectional view of the tool side unit in a fitted state.

[0030] [Explanation of Symbols]

[0031] 1: Main side unit

[0032] 11: Install the screws

[0033] 12: First longitudinal flow path

[0034] 12a: Opening

[0035] 12b: Side surface

[0036] 12c: lower end

[0037] 13: First cross flow path

[0038] 13a: Opening

[0039] 14: Mandrel

[0040] 14a: Columnar part

[0041] 15: First movable member

[0042] 15a: Outer surface

[0043] 15b: Inner surface

[0044] 15c: Upper end

[0045] 16: First force applying member

[0046] 17: Cover

[0047] 18: Ontology

[0048] 19: First Shield

[0049] 2: Tool side unit

[0050] 20: Abutment

[0051] 20a: Screw

[0052] 20b: Screw

[0053] 21: Install the screws

[0054] 22: Floating part

[0055] 22a: Through hole

[0056] 23: Protrusion

[0057] 23a: Opening

[0058] 24: Second longitudinal flow path

[0059] 24a: Upper end

[0060] 25: Second cross flow path

[0061] 25a: Opening

[0062] 26: Second movable member

[0063] 27: Second force-applying member

[0064] 28: Claws

[0065] 29: Second Shield

[0066] 31: Metal Rod

[0067] 31a: Screw hole

[0068] 32: Screw

[0069] 41, 42, 43, 44: O-rings

[0070] T: Tool tray DETAILED DESCRIPTION

[0071] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings as appropriate.

[0072] A fluid module according to one embodiment of the present invention is mounted on a tool changing device.

[0073] [Tool Changer]

[0074] The tool changing device includes a main tray mounted on the robot arm and a tool tray detachably mounted on the main tray for tool installation. By operating the main tray and the tool tray, various tools can be replaced and installed on the robot arm.

[0075] The attachment and detachment structure of the tool changing device is not particularly limited. For example, the tool tray may have an insertion recess on its upper surface, and the main tray may have a cylindrical portion that can be inserted into the insertion recess.

[0076] [Fluid Module]

[0077] The fluid module includes Figure 1 The plate-shaped main side unit 1 shown, and Figure 2 The plate-shaped tool side unit 2 is shown. The main side unit 1 is arranged on the main tray. In addition, the tool side unit 2 is arranged on the tool tray. Figure 3The tool-side unit 2 is shown with the tool tray T mounted thereon. As described above, the tool-side unit 2 is assembled as one of the tools by being fixed to the tool tray T with the mounting screws 21, thereby forming the tool tray T in a disk shape. Similarly, the master-side unit 1 is assembled by being fixed to the main tray with the mounting screws 11, thereby forming the main tray in a disk shape.

[0078] <Master unit>

[0079] like Figure 4 As shown, the main-side unit 1 includes a first longitudinal flow path 12 , a first transverse flow path 13 , a core rod 14 , a first movable member 15 , and a first urging member 16 .

[0080] In the main side unit 1, the flow path for supplying or recovering cooling water is composed of the first longitudinal flow path 12, the first transverse flow path 13, the core rod 14, the first movable member 15 and the first force-applying member 16. The number of flow paths for supplying or recovering cooling water can be appropriately determined according to the type or number of tools that need to be cooled. Furthermore, the cooling water supplied from the main disk side to the tool disk side is usually recovered to the main disk side, so the number of flow paths is preferably two or more, and more preferably an even number. For example, in Figure 1 There are six flow paths in the main plate.

[0081] Hereinafter, each structure of the master-side unit 1 will be described in detail.

[0082] (First longitudinal flow path)

[0083] The first longitudinal flow path 12 opens on the lower surface side of the main side unit 1 (having Figure 4 The opening 12a) extends in the thickness direction. In addition, the lower end portion 12c of the first longitudinal flow path 12 is configured such that its inner diameter is smaller than that of the upper end portion.

[0084] A cover 17 is provided at the upper end of the first longitudinal flow channel 12 to prevent the cooling water flowing in the first longitudinal flow channel 12 from leaking from the upper surface of the main unit 1. The cover 17 also serves as a fixing base for the core rod 14 described below.

[0085] The cover 17 is preferably constructed in a detachable manner. By constructing the cover 17 in a detachable manner, the core rod 14 or the first movable member 15 can be easily cleaned or replaced. In the case described above, when the cover 17 is removed from the main side unit 1, the upper surface side of the main side unit 1, that is, the upper end of the first longitudinal flow path 12 is open, and the first movable member 15 described below can be inserted into the first longitudinal flow path 12 from the upper surface side of the main side unit 1. As described above, by providing the cover 17, it is unnecessary to adopt a structure that can, for example, split the main side unit 1 into upper and lower parts in order to insert the first movable member 15 into the first longitudinal flow path 12, and the main side unit 1 can be easily miniaturized.

[0086] In addition, the cover 17 may be formed integrally with a plurality of flow paths, but is preferably Figure 1 As shown, one cover 17 is provided for each flow path. As described above, by providing one cover 17 for each flow path, maintenance of each flow path can be performed independently, thereby improving the maintainability of the main-side unit 1.

[0087] The sidewalls forming the first longitudinal flow path 12 of the primary-side unit 1 are preferably made of resin. As described above, using resin for the sidewalls allows for lightweighting of the primary-side unit 1 and, consequently, the fluid module. Furthermore, even when the cooling water contains chemicals, the sidewalls of the flow path are less susceptible to dissolution, resulting in excellent durability of the fluid module.

[0088] The side walls can also be independently provided for each flow path, preferably as follows Figure 1 As shown, the main unit 1 is integrally formed with the first longitudinal flow path 12 and the first transverse flow path 13, described below, and also serves as a side wall. Specifically, the main unit 1 is preferably constructed with the first longitudinal flow path 12 and the first transverse flow path 13 provided within the resin body 18. This structure allows the fluid module to be compact and provide excellent durability.

[0089] (First cross flow path)

[0090] The first cross flow path 13 opens on the side surface of the main side unit 1 (having Figure 4 The opening 13a) is connected to the first longitudinal flow path 12.

[0091] The opening 13a of the first transverse flow path 13 is positioned at a height that overlaps the core rod 14 when viewed from the side, i.e., at a relatively low position. Alternatively, the first transverse flow path 13 may extend obliquely downward from the opening 13a to communicate with the first longitudinal flow path 12, but preferably extends horizontally to communicate with the first longitudinal flow path 12. As described above, by positioning the opening 13a and extending the first transverse flow path 13 horizontally, the main-side unit 1 can be made thinner.

[0092] The main unit 1 may further include a metal, plate-shaped first cover 19 on the side, and the opening 13a of the first cross flow passage 13 of the main unit 1 may be disposed in the first cover 19. A cooling water supply pipe or a cooling water return pipe is connected to the opening 13a of the first cross flow passage 13. As described above, by disposing the opening 13a of the first cross flow passage 13 of the main unit 1 in the metal first cover 19, it is easier to ensure the strength required to connect these pipes.

[0093] The structure for fixing the first cover 19 to the side of the main side unit 1 is not particularly limited. As the fixing structure, the main side unit 1 may further include: a metal rod 31, which is buried in the side wall (resin body 18 of the main side unit 1) constituting the first longitudinal flow path 12 in such a manner that its central axis faces the surface of the first cover 19; and a screw 32, which connects the metal rod 31 and the first cover 19. The screw 32 fixes the first cover 19 to the metal rod 31 via the body 18. In particular, when the body 18 of the main side unit 1 is made of a lightweight resin, by screwing the first cover 19 to the metal rod 31 buried in the body 18 as described above, the resin body 18 is not easily broken. Therefore, it is easy to ensure the strength of the fluid module used to connect the supply pipe or recovery pipe of cooling water.

[0094] use Figure 5 A specific structural example will be described, but the structure of fixing the first cover 19 to the side surface of the main side unit 1 is not limited to this. Figure 5 As shown, the metal rod 31 may be cylindrical or prismatic, for example, and embedded in the resin body 18 along the thickness direction.

[0095] Furthermore, the metal rod 31 is formed with a screw hole 31a for screwing a screw 32. The screw hole 31a is preferably formed so that the screw 32 can be screwed horizontally from a position where it overlaps with the metal rod 31 of the first cover 19 when viewed from the side of the main unit 1. The screw 32 then passes through a portion of the first cover 19 and the main body 18 in this order, with the tip of the screw 32 screwed into the screw hole 31a of the metal rod 31, thereby securely fixing the first cover 19 to the metal rod 31 and the first cover 19.

[0096] With respect to one metal rod 31, there can be one screw 32 or multiple screws 32 ( Figure 5 By using a plurality of screws 32 for one metal rod 31, the fixing strength of the first cover 19 is increased and, for example, loosening of the first cover 19 in the thickness direction can be suppressed.

[0097] In addition, the number of metal rods 31 to be embedded may be one, but from the viewpoint of improving the fixing strength, it is preferably a plurality of ( Figure 1 There are four in the middle).

[0098] (Mandrel)

[0099] The tip of the core rod 14 protrudes from the opening 12a of the first longitudinal flow channel 12. The other end (the end opposite to the protruding end) of the core rod 14 is fixed to the cover 17 so as to form a gap between the core rod 14 and the inner peripheral surface (inner peripheral surface) 12b of the first longitudinal flow channel 12.

[0100] The core rod 14 also serves as a fixing portion, and when the tool tray is mounted on the main tray, it pushes the second movable member 26 of the tool side unit 2 described below relatively downward. Therefore, the core rod 14 needs to have a certain strength and is made of metal, for example.

[0101] The gap between the side surface of the core rod 14 and the side surface 12b of the first longitudinal flow channel 12 is a flow channel for cooling water to flow, so its thickness is appropriately determined according to the diameter of the first longitudinal flow channel 12 and the amount of cooling water flowing.

[0102] The core rod 14 includes a columnar portion 14a having a side peripheral surface that is fitted watertightly with the inner peripheral surface 15b of the first movable member 15 when the tool disk is removed from the main disk, and extending in the thickness direction.

[0103] use Figure 4 A specific structural example of the columnar portion 14a will be described, but the structure of the columnar portion 14a is not limited thereto. Figure 4 As shown, the columnar portion 14a is formed at the front end of the mandrel 14 in a manner that is thicker than the other parts of the mandrel 14 (in a manner that the cross-sectional area is larger than the other parts of the mandrel 14). The side circumference of the columnar portion 14a is in a state where the tool disc is removed from the main disc ( Figure 4 In a state (in which the inner circumferential surface 15b of the first movable member 15 is engaged with the outer side circumferential surface (outer circumferential surface) of the columnar portion 14a, an O-ring 41 is provided on the inner circumferential surface 15b of the first movable member 15 that is engaged with the outer side circumferential surface (outer circumferential surface) of the columnar portion 14a, thereby water-sealing the side circumferential surface of the columnar portion 14a and the inner circumferential surface 15b of the first movable member 15.

[0104] The length of the side surface of the columnar portion 14a in the direction of the central axis (length in the thickness direction) is such that the side surface of the columnar portion 14a is not in contact with the inner surface 15b of the first movable member 15 by the movement of the first movable member 15 when the tool plate is mounted on the main plate (see Figure 8 That is, the length of the side circumference of the columnar portion 14a in the central axis direction is determined so that the tool tray is mounted on the main tray and cooling water can be supplied or recovered from the lower surface side of the main tray.

[0105] (First movable member)

[0106] The first movable member 15 is cylindrical and located between the first longitudinal flow channel 12 and the core rod 14 in a plan view. It maintains a watertight seal between its outer peripheral surface 15a and the side peripheral surface 12b of the first longitudinal flow channel 12 and is movable in the thickness direction.

[0107] The upper end portion 15c of the first movable member 15 is located above the lower end portion 12c of the first longitudinal flow passage 12, and its outer diameter is larger than the inner diameter of the lower end portion 12c of the first longitudinal flow passage 12. Therefore, by engaging the upper end portion 15c of the first movable member 15 with the lower end portion 12c of the first longitudinal flow passage 12 from above, the first movable member 15 is prevented from falling downward from the main-side unit 1.

[0108] The water-tight structure between the outer peripheral surface 15a of the first movable member 15 and the side peripheral surface 12b of the first longitudinal flow path 12 is not particularly limited. For example, Figure 4 In this manner, the O-ring 42 provided on the side peripheral surface 12 b of the first longitudinal flow channel 12 is used.

[0109] The inner peripheral surface 15b of the first movable member 15 is formed into a two-stage cylindrical shape with a larger inner diameter at the upper end. The lower end of the first urging member 16 described below can be fixed at the position where the inner diameter changes.

[0110] (First biasing member)

[0111] The first urging member 16 urges the first movable member 15 downward. Figure 4 The coil spring is used in this manner, with its upper end fixed to the cover 17 and disposed so as to surround the core rod 14 , and its lower end biases the upper surface of the first movable member 15 downward.

[0112] The urging force of the first urging member 16 (restoring force of the coil spring) is adjusted so that the inner circumference 15b of the first movable member 15 can be fixed in a state of watertight engagement with the side circumference of the columnar portion 14a of the core rod 14 when the tool disc is removed from the main disc.

[0113] <Tool side unit>

[0114] like Figure 6 As shown, the tool side unit 2 includes a floating portion 22. The tool side unit 2 includes a protrusion 23, a second longitudinal flow path 24, a second lateral flow path 25, a second movable member 26, a second urging member 27, and a claw 28 on the floating portion 22.

[0115] In the tool-side unit 2, the protrusion 23, the second longitudinal flow path 24, the second transverse flow path 25, the second movable member 26, and the second biasing member 27 form a flow path for supplying or recovering cooling water. When the tool tray is mounted on the main tray, the flow paths formed in the tool-side unit 2 are arranged so as to communicate with the flow paths formed in the main-side unit 1. In other words, the number of flow paths provided in the tool-side unit 2 is the same as that provided in the main-side unit 1.

[0116] Hereinafter, each structure of the tool-side unit 2 will be described in detail.

[0117] (Floating part)

[0118] The floating portion 22 is configured to be movable in the horizontal direction.

[0119] The movable mechanism of the floating portion 22 is not particularly limited, and may be, for example, Figure 7 That's how it's constructed. Figure 7 In the illustrated movable mechanism, the tool-side unit 2 includes a screw 20a protruding cylindrically from a base 20, the immovable portion of the tool-side unit 2, and a screw 20b threadedly engaged with the inner side of the screw 20a. Furthermore, the floating portion 22 has a through-hole 22a into which the cylindrical screw 20a is inserted, covering its outer circumference.

[0120] The inner diameter of the through-hole 22a is larger than the outer diameter of the screw 20a and smaller than the outer diameter of the head of the screw 20b. If the inner diameter of the through-hole 22a is set to this diameter, it is larger than the outer diameter of the screw 20a, allowing the floating portion 22 to move horizontally within the range of the diameter difference. Furthermore, since the inner diameter of the through-hole 22a is smaller than the outer diameter of the head of the screw 20b, if the floating portion 22 is inserted into the cylindrical screw 20a and secured with the screw 20b, the floating portion 22 restricts movement in the thickness direction (vertical direction) of the tool-side unit 2, thereby preventing the floating portion 22 from falling off the base 20. Furthermore, even when secured with the screw 20b, the horizontal movement of the floating portion 22 is not restricted. Methods for preventing the horizontal movement of the floating portion 22 are not particularly limited, and examples include adjusting the screwing of the screw 20b or raising the screw 20a above the surface of the through-hole 22a.

[0121] The difference between the inner diameter of the through hole 22a and the outer diameter of the screw 20a can be appropriately determined according to the required movable amount, and can be set to, for example, 1 mm to 5 mm. That is, the movable amount of the floating portion 22 is preferably 1 mm to 5 mm.

[0122] (Protrusion)

[0123] The protrusion 23 has a columnar shape and is provided so as to protrude from the upper surface of the tool-side unit 2 .

[0124] The protrusion 23 has an opening 23a on its upper surface, which constitutes the opening of the second longitudinal flow path 24 described below. As described above, when the tool tray is mounted on the main tray, the flow paths formed in the tool-side unit 2 are arranged so as to communicate with the flow paths formed in the main-side unit 1. Therefore, the protrusion 23 is arranged at a position corresponding to the flow path formed in the main-side unit 1 when the tool tray is mounted on the main tray.

[0125] (Second longitudinal flow path)

[0126] The second longitudinal flow path 24 extends in the thickness direction from the opening 23a of the protruding portion 23. That is, the second longitudinal flow path 24 opens on the upper surface side of the tool-side unit 2 and extends in the thickness direction.

[0127] The inner diameter of the second longitudinal flow path 24 is determined in such a manner that it can be engaged with the first movable member 15 of the main side unit 1. In addition, an O-ring 43 is provided on the inner circumferential surface of the second longitudinal flow path 24 engaged with the first movable member 15. With the above structure, when the tool disk is mounted on the main disk, the second longitudinal flow path 24 of the tool side unit 2 is watertightly engaged with the outer circumferential surface of the first movable member 15. Furthermore, the first movable member 15 is pushed upward by the claw portion 28 described below formed on the inner circumferential surface of the second longitudinal flow path 24, so that the inner circumferential surface of the second longitudinal flow path 24 that engages with the first movable member 15 is the inner circumferential surface that is higher than the claw portion 28. Therefore, the O-ring 43 is provided at a position higher than the claw portion 28.

[0128] When the tool tray is mounted on the main tray, the second longitudinal flow path 24 of the tool-side unit 2 pushes the first movable member 15 upward relatively via the claw portion 28 and can communicate with the first longitudinal flow path 12 of the main-side unit 1 .

[0129] As described above, since the protrusion 23 and the second longitudinal flow passage 24 are formed on the floating portion 22, the opening 23a of the second longitudinal flow passage 24 of the tool-side unit 2 is disposed on the floating portion 22. As described above, by disposing the opening 23a of the second longitudinal flow passage 24 on the floating portion 22, the opening 23a of the second longitudinal flow passage 24 of the tool-side unit 2 can be moved in the horizontal direction when the tool tray is mounted on the main tray, thereby easily connecting the second longitudinal flow passage 24 of the tool-side unit 2 to the first longitudinal flow passage 12 of the main unit 1.

[0130] The second longitudinal flow passage 24 of the tool-side unit 2 may have an inner circumferential surface of the upper end portion 24a formed into an inverted tapered shape, with the diameter increasing toward the opening 23a of the second longitudinal flow passage 24. As described above, by forming the inner circumferential surface of the upper end portion 24a into an inverted tapered shape, the second longitudinal flow passage 24 of the tool-side unit 2 can be easily moved so as to communicate with the first longitudinal flow passage 12 of the master-side unit 1.

[0131] The sidewalls of the second longitudinal flow path 24 of the tool-side unit 2, or the floating portion 22, are preferably made of resin. As described above, using resin for the sidewalls allows for lightweighting of the tool-side unit 2 and, consequently, the fluid module. Furthermore, even when the cooling water contains chemicals, the sidewalls of the flow path are less susceptible to dissolution, resulting in excellent durability of the fluid module.

[0132] (Second cross flow path)

[0133] The second lateral flow path 25 opens on the side surface of the tool side unit 2 (having Figure 6 The opening 25a) is connected to the second longitudinal flow path 24.

[0134] The opening 25a of the second transverse flow passage 25 is positioned at a height that overlaps with the second movable member 26 of the tool-side unit 2 when viewed from the side, i.e., at a relatively low height. Furthermore, the second transverse flow passage 25 can, for example, extend obliquely upward from the opening 25a to communicate with the second longitudinal flow passage 24, but preferably extends horizontally to communicate with the second longitudinal flow passage 24. As described above, by positioning the opening 25a at a relatively low height and extending the second transverse flow passage 25 horizontally, the tool-side unit 2 can be made thinner.

[0135] The tool-side unit 2 may further include a metal, plate-shaped second cover 29 on the side surface. The opening 25a of the second transverse flow passage 25 of the tool-side unit 2 may be disposed in the second cover 29. Specifically, the second cover 29 may be disposed on the side surface of the float 22. A cooling water supply pipe or recovery pipe is connected to the opening 25a of the second transverse flow passage 25. As described above, by disposing the opening 25a of the second transverse flow passage 25 of the tool-side unit 2 in the metal second cover 29, it is easier to ensure the strength required to connect these pipes.

[0136] The structure for fixing the second cover 29 to the side of the tool side unit 2 is not particularly limited. As the fixing structure, the tool side unit 2 may further include: a metal rod, the center axis of which is buried in the side wall (resin floating part 22) constituting the second longitudinal flow path 24 in a manner facing the surface of the second cover 29; and a screw connecting the metal rod and the second cover 29. The screw fixes the second cover 29 to the metal rod via the floating part 22. In particular, when the floating part 22 of the tool side unit 2 is made of a lightweight resin, by screwing the second cover 29 to the metal rod buried in the floating part 22 as described above, the resin floating part 22 can be made less likely to break. Therefore, it is easy to ensure the strength of the fluid module used to connect the supply pipe or recovery pipe of cooling water. As a specific structure, it can be set to the same structure as the structure of the first cover 19 for fixing the main side unit 1.

[0137] (Second movable member)

[0138] The second movable member 26 is disposed within the second longitudinal flow passage 24 and is movable in the thickness direction. When the tool tray is removed from the main tray, the second movable member 26 seals the second longitudinal flow passage 24 of the tool-side unit 2 watertightly, and the upper surface of the second movable member 26 is positioned below the upper surface of the tool-side unit 2. The "upper surface of the tool-side unit 2" herein refers to the surface surrounding the protrusion 23.

[0139] As a specific structure of the second movable member 26, the second movable member 26 can be set to a columnar shape with a head, and the head can be connected to the claw portion 28 described below in a manner such as sealing the second longitudinal flow path 24 from below. Figure 6 As shown, the head portion can be formed into a tapered shape with a decreasing diameter toward the upper side. By forming the head portion into a tapered shape, the second longitudinal flow path 24 can be easily sealed. The structure for watertightly sealing the second longitudinal flow path 24 is not particularly limited, and an example thereof is a structure using an O-ring 44 at the position where the claw portion 28 contacts the tapered portion of the head portion.

[0140] The second movable member 26 has a recessed portion on its lower surface into which a second urging member 27 described below can be inserted. By inserting the second urging member 27 into the recessed portion, the upper end of the second urging member 27 described below can be fixed.

[0141] The second movable member 26 is in a state where its head portion has moved to a position where it does not come into contact with the claw portion 28 (see Figure 8 ), its outer diameter becomes smaller than the inner diameter of the second longitudinal flow path 24. That is, when the head portion moves to a position where it is not in contact with the claw portion 28, a flow path for cooling water to flow is formed between the inner circumferential surface of the second longitudinal flow path 24 and the outer circumferential surface of the second movable member 26, and cooling water is supplied or recovered from the opening 23a of the second longitudinal flow path 24.

[0142] In the fluid module, the upper surface of the second movable member 26 is positioned below the upper surface of the tool side unit 2, and the second movable member 26 seals the second longitudinal flow path 24 watertightly (see Figure 6 ), a recess is formed above the upper surface of the second movable member 26. When the tool tray is removed from the main tray, a small amount of cooling water that leaks out of the flow path due to dripping or the like falls onto the tool tray below, i.e., the tool-side unit 2, and is thereby accumulated in the recess. Therefore, in the fluid module, leaked cooling water is prevented from flowing onto the upper surface of the tool-side unit 2 and wetting other modules mounted on the tool tray, for example.

[0143] The lower limit of the height difference (height difference) between the upper surface of the tool-side unit 2 and the upper surface of the second movable member 26 is preferably 1 mm, more preferably 2 mm. On the other hand, the upper limit of the height difference is preferably 5 mm, more preferably 4 mm. If the height difference is lower than the lower limit, there are concerns that: the volume of the recess is insufficient, and the accumulation effect of leaked cooling water is insufficient; or to ensure the volume of the recess, the height of the protrusion 23 must be increased, resulting in an increase in the size of the tool-side unit 2. Conversely, if the height difference exceeds the upper limit, there is a concern that the second longitudinal flow path 24 must be extended, resulting in an increase in the size of the tool-side unit 2.

[0144] (Second urging member)

[0145] The second urging member 27 urges the second movable member 26 upward. As the second urging member 27, for example, a coil spring such as Figure 6 Thus, the lower end thereof is fixed to the recess provided at the lower end of the second longitudinal flow path 24 , and the upper end thereof is inserted into the recess of the lower surface of the second movable member 26 to bias the second movable member 26 .

[0146] The applying force of the second applying member 27 (restoring force of the coil spring) is adjusted so that when the tool disc is removed from the main disc, the head of the second movable member 26 contacts the claw portion 28 from below, thereby fixing the second longitudinal flow path 24 in a watertight sealed state.

[0147] (Claws)

[0148] The claw portion 28 abuts against the first movable member 15 of the master unit 1 when the tool tray is mounted on the master tray, thereby pushing the first movable member 15 upward (see FIG. Figure 8 ) In addition, the claw portion 28 seals the second longitudinal flow path 24 watertightly by abutting against the head portion of the second movable member 26 from above as described above.

[0149] like Figure 6 As shown, the claw portion 28 is provided, for example, on the entire inner circumference of the second longitudinal flow path 24 in a manner protruding inward. The shape of the claw portion 28 is not particularly limited. In order to facilitate pushing the first movable member 15 upward, the upper surface may be a horizontal surface. In addition, the lower surface of the claw portion 28 may be a shape corresponding to the head of the second movable member 26 so that it can be connected to the head of the second movable member 26 and easily seal the second longitudinal flow path 24. For example, when the head of the second movable member 26 is tapered and narrows toward the top, the lower surface of the claw portion 28 may be tapered and narrows toward the top at an angle equal to the cone angle of the head of the second movable member 26.

[0150] <Formation of flow path>

[0151] As described above, when the tool tray is mounted on the main tray, the first longitudinal flow path 12 of the main side unit 1 is connected to the second longitudinal flow path 24 of the tool side unit 2, forming a flow path connecting the opening 13a of the first transverse flow path 13 of the main side unit 1 and the opening 25a of the second transverse flow path 25 of the tool side unit 2. Figure 8 The formation of the flow path when the tool tray is mounted on the main tray will be described.

[0152] The core rod 14 of the master-side unit 1 protrudes from the opening 12a of the first longitudinal flow passage 12 and is fixed thereto. Therefore, when the tool tray is mounted on the master tray, the core rod 14 pushes downward relative to the second movable member 26, which watertightly seals the second longitudinal flow passage 24 of the tool-side unit 2. This forms a flow passage between the opening 25a of the second transverse flow passage 25 of the tool-side unit 2 and the opening 23a of the second longitudinal flow passage 24.

[0153] When the tool tray is mounted on the main tray, the tool tray is first inserted into the main tray. Then, the outer peripheral surface 15a of the first movable member 15 of the master unit 1 and the inner peripheral surface of the second longitudinal flow passage 24 of the tool unit 2 are watertightly engaged. This connects the first longitudinal flow passage 12 of the master unit 1 and the second longitudinal flow passage 24 of the tool unit 2 in a watertight manner.

[0154] Then insert the tool tray, as shown Figure 8 As shown, the first movable member 15 is relatively pushed upward by the claw portion 28 while being watertightly engaged with the inner circumference of the second longitudinal flow path 24. When the tool tray is mounted on the main tray, the side circumference of the columnar portion 14a is no longer in contact with the inner circumference 15b of the first movable member 15 due to the movement of the first movable member 15, thereby forming a flow path between the opening 13a of the first transverse flow path 13 of the main-side unit 1 and the opening 12a of the first longitudinal flow path 12.

[0155] As described above, the first longitudinal flow path 12 of the main side unit 1 and the second longitudinal flow path 24 of the tool side unit 2 are watertightly connected, and the first movable component 15 and the second movable component 26 that seal the first longitudinal flow path 12 and the second longitudinal flow path 24 respectively are moved to release the seal, thereby forming a flow path connecting the opening 13a of the first transverse flow path 13 of the main side unit 1 and the opening 25a of the second transverse flow path 25 of the tool side unit 2.

[0156] Furthermore, when removing the tool tray from the main tray, Figure 6 As shown, the downward push of the second movable member 26 of the tool side unit 2 by the core rod 14 of the master side unit 1 is released. At this time, the second movable member 26 is pushed upward by the second biasing member 27 and contacts the claw 28 from below to seal the second longitudinal flow path 24.

[0157] When the tool tray is removed from the main tray, the upward push of the first movable member 15 of the main unit 1 by the claw portion 28 of the tool unit 2 is released. At this point, the first movable member 15 is pushed downward by the first biasing member 16, and the inner circumferential surface 15b of the first movable member 15 is watertightly engaged with the side circumferential surface of the columnar portion 14a. This seals the first longitudinal flow path 12.

[0158] Therefore, when the tool tray is mounted on the main tray, the first longitudinal flow path 12 of the master-side unit 1 and the second longitudinal flow path 24 of the tool-side unit 2 communicate, allowing cooling water to be supplied and recovered between the main tray and the tool tray. On the other hand, when the tool tray is removed from the main tray, the first longitudinal flow path 12 and the second longitudinal flow path 24 are sealed, respectively, preventing cooling water from leaking out.

[0159] Advantages

[0160] In the fluid module, the core rod 14 includes a columnar portion 14a having a side surface. When the tool tray is removed from the main tray, the side surface engages watertightly with the inner surface 15b of the first movable member 15 and extends along the thickness direction. Specifically, when the tool tray is removed from the main tray, the inner surface 15b of the first movable member 15 contacts and engages with the side surface of the columnar portion 14a. Therefore, even if impurities contained in the cooling water adhere to the inner surface 15b of the first movable member 15, which engages with the side surface of the columnar portion 14a, these impurities are easily squeezed out by the side surface of the columnar portion 14a when the first movable member 15 engages with the columnar portion 14a. Therefore, since the fluid module is less likely to trap impurities between the inner surface 15b of the first movable member 15 and the side surface of the columnar portion 14a, leakage of cooling water caused by these impurities is less likely to occur when the tool tray is removed from the main tray. Furthermore, the fluid module is designed so that the cooling water flows outside the core rod 14. Therefore, even if the first transverse flow path 13 of the fluid module connects to the first longitudinal flow path 12 at a position lower than the upper end of the core rod 14, a flow path for the cooling water can still be ensured. Consequently, the fluid module can be made smaller because the flow path in the thickness direction can be shortened.

[0161] [Other embodiments]

[0162] The present invention is not limited to the above-described embodiment, and can be implemented in various forms with various changes and improvements added thereto in addition to the above-described forms.

[0163] While the above embodiment describes a case where the metal rod is embedded in the sidewall of the longitudinal flow path of the master-side unit along the thickness direction, the embedding direction is not limited to the thickness direction as long as the central axis of the metal rod faces the surface of the first cover. For example, the metal rod can also be embedded in the horizontal direction. The same applies to the metal rod embedded in the sidewall of the longitudinal flow path of the tool-side unit.

[0164] In the above embodiment, the tool side unit includes a protrusion, but the protrusion is not an essential component and may be omitted. In this case, the opening of the longitudinal flow path of the tool side unit may be provided on the upper surface of the tool side unit, for example.

[0165] In the above embodiment, a configuration has been described in which the upper end of the second movable member of the tool-side unit is located below the upper surface of the tool-side unit. However, for example, the upper end of the second movable member may be located flush with the upper surface of the tool-side unit. A fluid module having such a configuration is also within the scope of the present invention.

[0166] Furthermore, while the above embodiments describe a case where the tool-side unit includes a second movable member, this is not an essential structural element. For example, when cooling water is supplied from the master-side unit to the tool-side unit, the second movable member may be omitted if water leakage at the tool-side unit is minimal. In such cases, the second biasing member is also unnecessary and can be omitted altogether.

[0167] In the above embodiment, the tool-side unit includes a second transverse flow passage. However, this second transverse flow passage is not an essential structural element. For example, an opening may also be provided on the bottom surface of the tool-side unit, and a second longitudinal flow passage may be provided between the opening on the top surface and the opening on the bottom surface of the tool-side unit.

[0168] Industrial applicability

[0169] The fluid module of the present invention is less likely to leak cooling water when the tool tray is removed from the main tray, and can be miniaturized.

Claims

1. A fluid module mounted on a tool changing device, the tool changing device comprising: Main disk, installed on the robotic arm; and a tool tray, which is detachably mounted on the main tray for tool installation. The fluid module includes a plate-shaped master-side unit disposed on the master disk and a plate-shaped tool-side unit disposed on the tool disk. The main side unit comprises: a longitudinal flow path opening on the lower surface side thereof and extending in the thickness direction; A transverse flow path, opened at a side surface thereof, communicating with the longitudinal flow path; a core rod, the front end of which protrudes from the opening of the longitudinal flow path and is fixed in a manner to create a gap between the core rod and the side peripheral surface of the longitudinal flow path; a movable member having a cylindrical shape located between the longitudinal flow path and the core rod in a plan view, and configured to maintain a watertight seal between its outer peripheral surface and the side peripheral surface of the longitudinal flow path and to be movable in the thickness direction; and a force applying member for applying force downward to the movable member; The tool side unit comprises: A longitudinal flow path opening on the upper surface side thereof and extending in the thickness direction; and The claw portion abuts against the movable member when the tool disk is mounted on the main disk, thereby pushing the movable member upward relatively. When the tool tray is mounted on the main tray, the longitudinal flow path of the tool side unit is configured to fit watertightly with the outer peripheral surface of the movable member and to be communicable with the longitudinal flow path of the main side unit. The core rod includes a columnar portion having a side peripheral surface, which contacts and watertightly fits with the inner peripheral surface of the movable member when the tool disc is removed from the main disc, and extends in the thickness direction. The mandrel is fixed, The side walls constituting the longitudinal flow path of the master side unit and the side walls constituting the longitudinal flow path of the tool side unit are made of resin. The main side unit further includes a metal plate-shaped cover on the side. The opening of the lateral flow path of the main-side unit is disposed in the cover.

2. The fluid module according to claim 1, wherein the primary side unit further comprises: a metal rod embedded in a side wall constituting the longitudinal flow path of the main-side unit in such a manner that its central axis faces the surface of the cover; and Screws are used to connect the metal rod and the cover.

3. The fluid module according to claim 1 or 2, wherein the tool side unit further comprises a floating portion movable in a horizontal direction, The floating portion is provided with an opening of the vertical flow path of the tool-side unit. 4 . The fluid module according to claim 3 , wherein a side peripheral surface of an upper end portion of the longitudinal flow path of the tool-side unit is formed into an inverted tapered shape that expands in diameter toward an opening of the longitudinal flow path.

Images