Fluid Module

Abstract

The object of the present invention is to provide a fluid module in which the cooling water that inevitably leaks out when the tool tray is removed from the main tray is not easy to wet other tools and the like mounted on the tool tray. In the fluid module of the present invention, the tool side unit includes: a protrusion, which is arranged on its upper surface; a longitudinal flow path, which opens on the upper surface of the protrusion and extends along the thickness direction; a movable member, which is arranged in the longitudinal flow path and can move along the thickness direction; and a force-applying member, which applies force to the movable member upward; the main side unit includes: a longitudinal flow path, which opens on the lower surface side and extends along the thickness direction; and a fixing part, which pushes the movable member downward when the tool tray is installed on the main tray, when the tool tray is installed on the main tray, the longitudinal flow path of the main side unit can be connected with the longitudinal flow path of the tool side unit, and when the tool tray is removed from the main tray, the upper surface of the movable member is located at a position lower than the upper surface of the tool side unit.

Description

Technical Field

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

[0002] The robot arm used in industrial equipment such as factories has various tools (end effectors) such as welding tools installed at the front end to perform production operations. As a device for easily replacing such tools, a tool replacement device is known. The tool replacement device includes a main plate installed at the front end of the robot arm and a combination of multiple tool plates on which various tools are installed. Each tool plate is formed in a manner that can be engaged with the main plate. The tool replacement device can easily replace the tool of the robot arm by replacing the tool plate.

[0003] When such a robot arm is equipped with a welding tool as a tool for welding, the temperature of the welding gun is very high, so cooling water must be supplied from the robot arm side to suppress the temperature rise of the welding gun. Therefore, a fluid module is mounted on the tool changing device. The tool changing device uses the fluid module to supply cooling water from the robot arm side, or to recover the used cooling water (see, for example, Japanese Patent Publication No. 2016-34681).

[0004] In the fluid module, when the tool tray is installed on the main tray, a flow path for supplying and recovering cooling water must be formed between the main tray and the tool tray. In addition, in the fluid module, when the tool tray is removed from the main tray, in order to prevent cooling water from leaking, the flow paths of the main tray and the tool tray must be stopped.

[0005] In order to meet the above requirements, the previous fluid module includes, for example, a main side unit arranged on the main tray and a tool side unit arranged on the tool tray. The previous fluid module is configured to form a flow path (longitudinal flow path) connected in the thickness direction (up and down direction) when the tool tray is installed on the main tray. In addition, in the previous fluid module, when the tool tray is removed from the main tray, a mechanism for sealing each longitudinal flow path is provided, and an opening for supplying or recovering cooling water is provided on the outer side of the longitudinal flow path in the thickness direction.

[0006] In addition, as the sealing mechanism, a water stop valve is used, and the water stop valve controls the sealing and releasing of the flow path by moving in the flow path along the thickness direction. The water stop valve operates in a manner to seal the flow path when the tool tray is removed from the main tray. Depending on the timing of its sealing, there is a situation where dripping and the like may inevitably cause the cooling water to leak out. In the previous fluid module, although the cooling water leaked from the opening is a trace amount, it is conducted and moved on the surface of the tool tray due to the movement of the tool tray when the tool tray is stored after being removed or the tilt of the tool tray when it is stored. As a result, there is a risk that the leaked cooling water will wet the tools carried and cause a malfunction.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Application Publication 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 abnormality, and an object of the present invention is to provide a fluid module in which cooling water which inevitably leaks when a tool tray is removed from a main tray is unlikely to wet other tools mounted on the tool tray.

[0012] Technical means of solving problems

[0013] The invention completed in order to solve the above-mentioned problem is a fluid module mounted on a tool replacement device, wherein the tool replacement device comprises: a main plate mounted on a robot arm; and a tool plate mounted on the main plate in a detachable manner for tool installation, wherein the fluid module comprises a plate-like main side unit arranged on the main plate, and a plate-like tool side unit arranged on the tool plate, wherein the tool side unit comprises: a columnar protrusion protruding from its upper surface; a longitudinal flow path opening on the upper surface of the protrusion and extending in the thickness direction; a movable member arranged in the longitudinal flow path and configured to be movable in the thickness direction. The main side unit comprises: a longitudinal flow path which opens on the lower surface side thereof and extends in the thickness direction; and a fixing portion which pushes the movable member relatively downward when the tool tray is mounted on the main tray. When the tool tray is mounted on the main tray, the longitudinal flow path of the main side unit can be connected with the longitudinal flow path of the tool side unit. When the tool tray is removed from the main tray, the movable member watertightly seals the longitudinal flow path of the tool side unit, and the upper surface of the movable member is located below the upper surface of the tool side unit.

[0014] In the fluid module, the upper surface of the movable member is configured to be located below the upper surface of the tool side unit, and a recess is formed above the upper surface of the movable member in a state where the movable member seals the longitudinal flow path watertightly. 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 located below, that is, the tool side unit side, and can be stored in the recess. Therefore, in the fluid module, it is possible to prevent the leaked cooling water from being conducted to the upper surface of the tool side unit and wetting other modules, for example, mounted on the tool tray.

[0015] The side wall constituting the longitudinal flow path of the main side unit and the side wall constituting the longitudinal flow path of the tool side unit may be made of resin. As described above, by making the side wall constituting the longitudinal flow path of the main side unit and the side wall constituting the longitudinal flow path of the tool side unit made of resin, it is possible to achieve weight reduction. In addition, even when the cooling water contains a chemical, the side wall of the flow path is not easily dissolved, so it is excellent in durability.

[0016] The tool side unit further includes: a transverse flow path, which opens on the side surface and is connected to the longitudinal flow path of the tool side unit; and a cover, which is arranged on the side surface and is made of metal and has a plate shape, and the opening of the transverse flow path of the tool side unit is arranged on the cover. As described above, by providing the transverse flow path in the tool side unit and arranging the opening of the transverse flow path in the metal cover, it is easy to ensure the strength for connecting these pipes.

[0017] The tool side unit may further include: a metal rod, which is buried in the side wall of the longitudinal flow path constituting the tool 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 tool 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 for connecting 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 is less than 30°.

[0018] The tool side unit may further include a floating portion movable in the horizontal direction, and an opening of the longitudinal flow path of the tool side unit may be provided in the floating portion. As described above, by providing the opening of the longitudinal flow path of the tool side unit in the floating portion, when the tool tray is mounted on the main tray, the longitudinal flow path of the tool side unit can be easily connected to the longitudinal flow path of the main side unit because the opening of the longitudinal flow path of the tool side unit can be moved in the horizontal direction. The so-called "horizontal direction" here is a direction substantially orthogonal to the "thickness direction (vertical direction)".

[0019] The inner circumferential surface of the upper end of the longitudinal flow path of the tool side unit may be formed into an inverted cone shape that expands toward the opening of the longitudinal flow path. As described above, by forming the side circumferential surface [inner circumferential surface] of the upper end of the longitudinal flow path of the tool side unit into an inverted cone shape that expands toward the opening of the longitudinal flow path, the floating portion can be easily moved in a manner that the longitudinal flow path of the tool side unit is connected to the longitudinal flow path of the main side unit.

[0020] Effects of the Invention

[0021] As described above, when the fluid module of the present invention is detached from the tool tray, the cooling water that inevitably leaks out is unlikely to wet other tools and the like mounted on the tool tray. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 3 It means that it is equipped Figure 2 Schematic perspective view of a tool tray of a 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 along line VII-VII of the tool side unit.

[0029] Figure 8 This means that when the tool disk is installed on the main disk Figure 4 The main side unit and Figure 6 A schematic cross-sectional view of the tool side unit in a mating 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 (fixed part)

[0040] 14a: Columnar part

[0041] 15: First movable member

[0042] 15a: Outer surface

[0043] 15b: Inner circumference

[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 fastener

[0052] 20b: Screw

[0053] 21: Mounting 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 Hood

[0066] 31: Metal Rod

[0067] 31a: Screw hole

[0068] 32: Screw

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

[0070] T: Tool tray DETAILED DESCRIPTION

[0071] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. A fluid module according to one embodiment of the present invention is mounted on a tool changing device.

[0072] [Tool Changer]

[0073] The tool replacement device includes: a main plate installed on the robot arm; and a tool plate installed on the main plate in a detachable manner for installing tools. The main plate and the tool plate are detached and installed by operation, so that various tools can be replaced and installed on the robot arm.

[0074] The attachment and detachment structure of the tool changing device is not particularly limited, and 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.

[0075] [Fluid Module]

[0076] The fluid module includes Figure 1 The plate-shaped main side unit 1 shown, and Figure 2 The plate-shaped tool side unit 2 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 3 The tool side unit 2 is shown in a state where it is arranged on the tool tray T. As described above, the tool side unit 2 is assembled as one of the tools by fixing it to the tool tray T using the mounting screws 21, so that the tool tray T is formed in a disk shape as a whole. The main side unit 1 is also assembled by fixing it to the main tray using the mounting screws 11, so that the main tray is formed in a disk shape as a whole.

[0077] <Master side unit>

[0078] like Figure 4 As shown, the main-side unit 1 includes a first longitudinal flow path 12 , a first lateral flow path 13 , a core rod 14 , a first movable member 15 , and a first urging member 16 .

[0079] In the main side unit 1, a flow path for supplying or recovering cooling water is formed by 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 Six flow paths are formed in the main plate.

[0080] Hereinafter, each structure of the master-side unit 1 will be described in detail.

[0081] (First longitudinal flow path)

[0082] The first longitudinal flow path 12 opens on the lower surface side of the main side unit 1 (having Figure 4 The first longitudinal flow path 12 has an opening 12a) extending in the thickness direction. In addition, the lower end 12c of the first longitudinal flow path 12 is configured such that its inner diameter is smaller than the inner diameter of the upper end.

[0083] A cover 17 is provided at the upper end of the first longitudinal flow path 12 to prevent the cooling water flowing in the first longitudinal flow path 12 from leaking from the upper surface side of the main side unit 1. The cover 17 also serves as a fixing base for the core rod 14 described below.

[0084] The cover 17 is preferably configured in a detachable manner. By configuring 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 not necessary to adopt a structure that can divide 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.

[0085] 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 one flow path. As described above, by providing one cover 17 for one flow path, maintenance of each flow path can be performed independently, so that the maintainability of the main-side unit 1 can be improved.

[0086] The side wall of the first longitudinal flow path 12 constituting the main side unit 1 is preferably made of resin. As described above, by making the side wall made of resin, the main side unit 1 and even the fluid module can be made lighter. In addition, even when the cooling water contains a drug, the side wall of the flow path is not easily dissolved, so the durability of the fluid module is excellent.

[0087] The side walls can also be independently arranged for each flow path, preferably as follows Figure 1 As shown, the first longitudinal flow path 12 and the first transverse flow path 13 described below are integrally formed. That is, the main side unit 1 is preferably formed into a structure in which the first longitudinal flow path 12 and the first transverse flow path 13 are provided in the resin body 18. By making such a structure, the fluid module can be made small and have excellent durability.

[0088] (First cross flow path)

[0089] The first cross flow passage 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.

[0090] The opening 13a of the first transverse flow path 13 is arranged at a height overlapping with the core rod 14 in a side view, that is, at a relatively low position. In addition, 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 in the horizontal direction 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 in the horizontal direction, the main side unit 1 can be made thinner.

[0091] The main side unit 1 may further include a first cover 19 made of metal and in the shape of a plate on the side, and the opening 13a of the first cross flow path 13 of the main side unit 1 may be disposed in the first cover 19. A supply pipe or a recovery pipe of cooling water is connected to the opening 13a of the first cross flow path 13. As described above, by disposing the opening 13a of the first cross flow path 13 of the main side unit 1 in the first cover 19 made of metal, it is easy to ensure the strength for connecting these pipes.

[0092] 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 a manner in which 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, the resin body 18 is not easily broken by screwing the first cover 19 to the metal rod 31 buried in the body 18 as described. Therefore, it is easy to ensure the strength of the fluid module used to connect the supply pipe or recovery pipe of cooling water.

[0093] 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, for example, cylindrical or prism-shaped, and buried in the resin body 18 along the thickness direction. In addition, the metal rod 31 is preferably parallel to the surface of the first cover 19.

[0094] In addition, a screw hole 31a for screwing a screw 32 is formed in the metal rod 31. The screw hole 31a is preferably formed so that the screw 32 can be screwed in the horizontal direction from the position where the screw 32 overlaps with the metal rod 31 of the first cover 19 when viewed from the side of the main side unit 1. Then, the screw 32 passes through the first cover 19 and a part of the body 18 in sequence, and the front end portion is screwed in the screw hole 31a of the metal rod 31, thereby firmly fixing the first cover 19 to the metal rod 31 and the first cover 19.

[0095] With respect to one metal rod 31, there can be one screw 32 or multiple screws 32 ( Figure 5By using a plurality of screws 32 for one metal rod 31, the fixing strength of the first cover 19 can be increased and, for example, loosening of the first cover 19 in the thickness direction can be suppressed.

[0096] The number of metal rods 31 to be buried may be one, but from the viewpoint of improving the fixing strength, it is preferable to use a plurality of metal rods ( Figure 1 There are four in the middle).

[0097] (Mandrel)

[0098] 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 cap 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.

[0099] The core rod 14 also serves as a fixing portion, and when the tool tray is mounted on the main tray, the second movable member 26 of the tool side unit 2 described below is relatively pushed downward. Therefore, the core rod 14 needs to have a certain strength, and is made of metal, for example.

[0100] The gap between the side surface of the core rod 14 and the side surface 12b of the first longitudinal flow path 12 is a flow path for cooling water to flow, so its thickness is appropriately determined according to the diameter of the first longitudinal flow path 12 or the amount of cooling water flowing. The fluid module forms a flow path in a manner that cooling water flows outside the core rod 14, so even if the first transverse flow path 13 is connected to the first longitudinal flow path 12 at a position lower than the upper end of the core rod 14, a flow path for cooling water to flow can be ensured. Therefore, since the flow path in the thickness direction of the fluid module can be shortened, it can be miniaturized.

[0101] The core rod 14 includes a columnar portion 14a. The columnar portion 14a has a side peripheral surface that is watertightly fitted with the inner peripheral surface 15b of the first movable member 15 when the tool disc is removed from the main disc, and extends in the thickness direction.

[0102] 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 other portions of the mandrel 14 (in a manner that the cross-sectional area is larger than other portions 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 addition, an O-ring 41 is provided on the inner peripheral surface 15b of the first movable member 15 that is engaged with the outer side peripheral surface (outer peripheral surface) of the columnar portion 14a, so that the side peripheral surface of the columnar portion 14a and the inner peripheral surface 15b of the first movable member 15 are water-tightly sealed.

[0103] The length of the side circumference of the columnar portion 14a in the central axis direction (length in the thickness direction) is such that when the tool plate is mounted on the main plate, the side circumference of the columnar portion 14a is moved so as to be out of contact with the inner circumference 15b of the first movable member 15 (see Figure 8 That is, the length of the side peripheral surface of the columnar portion 14a in the central axis direction is determined so as to be a length that can supply or recover cooling water from the lower surface side of the main plate by mounting the tool plate on the main plate.

[0104] In the fluid module, the core rod 14 includes a columnar portion 14a having a side circumferential surface, and when the tool disc is removed from the main disc, the side circumferential surface is watertightly fitted with the inner circumferential surface 15b of the first movable member 15 and extends in the thickness direction. That is, when the tool disc is removed from the main disc, the inner circumferential surface 15b of the first movable member 15 contacts and fits with the side circumferential surface of the columnar portion 14a. Therefore, even if impurities contained in the cooling water adhere to the inner circumferential surface 15b of the first movable member 15 that fits with the side circumferential surface of the columnar portion 14a, when the first movable member 15 fits with the columnar portion 14a, the impurities are easily squeezed out by the side circumferential surface of the columnar portion 14a. Therefore, since the fluid module is not easy to sandwich impurities between the inner circumferential surface 15b of the first movable member 15 and the side circumferential surface of the columnar portion 14a, it is not easy for the cooling water to leak out due to impurities when the tool disc is removed from the main disc.

[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. The outer peripheral surface 15a thereof and the side peripheral surface 12b of the first longitudinal flow channel 12 are watertightly sealed and the first movable member 15 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 path 12, and its outer diameter is larger than the inner diameter of the lower end portion 12c of the first longitudinal flow path 12. Therefore, the upper end portion 15c of the first movable member 15 is caught at the lower end portion 12c of the first longitudinal flow path 12 from above, thereby preventing the first movable member 15 from falling downward from the main side unit 1.

[0108] The water sealing 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 way, 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 in a two-stage cylindrical shape with a larger inner diameter at the upper end, and the lower end of the first urging member 16 described below can be fixed at the position where the inner diameter changes.

[0110] (First force applying member)

[0111] The first urging member 16 urges the first movable member 15 downward. Figure 4 The spiral spring is used in this way, and its upper end is fixed to the cover 17 and arranged 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. In addition, 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 in the floating portion 22.

[0115] In the tool side unit 2, a flow path for supplying or recovering cooling water is formed by the protrusion 23, the second longitudinal flow path 24, the second transverse flow path 25, the second movable member 26, and the second force applying member 27. When the tool tray is mounted on the main tray, the flow paths formed in the tool side unit 2 are arranged in a manner that is connected to the flow paths formed in the main side unit 1. That is, the number of flow paths arranged in the tool side unit 2 is the same as the number of flow paths arranged 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 movable mechanism shown, the tool side unit 2 includes: a screw 20a, which is provided in a cylindrical protruding manner on a base 20 as a non-movable part of the tool side unit 2; and a screw 20b, which is screwed into the inner side of the screw 20a. In addition, the floating part 22 has a through hole 22a, and the through hole 22a allows the cylindrical screw 20a to be inserted in a manner covering its outer peripheral surface.

[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 such a diameter, the inner diameter of the through hole 22a is larger than the outer diameter of the screw 20a, so the floating part 22 can move in the horizontal direction within the range of the diameter difference. In addition, the inner diameter of the through hole 22a is smaller than the outer diameter of the head of the screw 20b, so if the floating part 22 is embedded in the cylindrical screw 20a and screwed with the screw 20b, the floating part 22 restricts the movement of the tool side unit 2 in the thickness direction (up and down direction), and the floating part 22 can also be prevented from falling off the base 20. Furthermore, even if the screw 20b is screwed, the horizontal movement of the floating part 22 will not be restrained. As a method of not restraining the horizontal movement of the floating part 22, there is no particular limitation, and examples include a method of adjusting the screwing of the screw 20b, or a method of making the screw 20a higher than the surface of the through hole 22a, etc.

[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 is columnar and is provided to protrude from the upper surface of the tool-side unit 2 .

[0124] The protrusion 23 has an opening 23a on the 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 in a manner of being connected to the flow paths formed in the main side unit 1, respectively, and 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 installed 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 the inner circumferential surface of the second longitudinal flow path 24 that is engaged 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 arranged 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 relatively upward 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 path 24 are formed in the floating portion 22, the opening 23a of the second longitudinal flow path 24 of the tool side unit 2 is disposed in the floating portion 22. As described above, by disposing the opening 23a of the second longitudinal flow path 24 in the floating portion 22, when the tool tray is mounted on the main tray, the opening 23a of the second longitudinal flow path 24 of the tool side unit 2 can be moved in the horizontal direction, so that the second longitudinal flow path 24 of the tool side unit 2 can be easily connected to the first longitudinal flow path 12 of the main side unit 1.

[0130] The second longitudinal flow passage 24 of the tool side unit 2 may be formed such that the inner peripheral surface of the upper end portion 24a is formed into an inverted tapered shape with the diameter expanding toward the opening 23a of the second longitudinal flow passage 24. As described above, by forming the inner peripheral 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 in a manner that it is communicated with the first longitudinal flow passage 12 of the main side unit 1.

[0131] The side wall of the second longitudinal flow path 24 constituting the tool side unit 2, that is, the floating portion 22, is preferably made of resin. As described above, by making the side wall of the resin, the tool side unit 2 and even the fluid module can be made lighter. In addition, even when the cooling water contains a chemical, the side wall of the flow path is not easily dissolved, so the durability of the fluid module is excellent.

[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 path 25 is provided at a height overlapping with the second movable member 26 of the tool side unit 2 in a side view, that is, at a relatively low height position. In addition, the second transverse flow path 25 may extend obliquely upward from the opening 25a to communicate with the second longitudinal flow path 24, but preferably extends in the horizontal direction to communicate with the second longitudinal flow path 24. As described above, by locating the opening 25a at a relatively low height position and extending the second transverse flow path 25 in the horizontal direction, 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, and the opening 25a of the second lateral flow path 25 of the tool side unit 2 may be disposed on the second cover 29. Specifically, the second cover 29 may be disposed on the side of the floating portion 22. A supply pipe or a recovery pipe for cooling water is connected to the opening 25a of the second lateral flow path 25. As described above, by disposing the opening 25a of the second lateral flow path 25 of the tool side unit 2 on the metal second cover 29, it is easy to ensure the strength for connecting 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, which is buried in the side wall (resin floating part 22) constituting the second longitudinal flow path 24 in a manner in which its central axis faces the surface of the second cover 29; and a screw that connects 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, the resin floating part 22 can be made less likely to break by screwing the second cover 29 to the metal rod buried in the floating part 22 as described. 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 in the second longitudinal flow path 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 path 24 of the tool side unit 2 watertightly, and the upper surface of the second movable member 26 is located below the upper surface of the tool side unit 2. Here, the "upper surface of the tool side unit 2" refers to the surface around the protrusion 23.

[0139] As a specific structure of the second movable member 26, the second movable member 26 may be configured as a column having a head, and the head may be connected to the claw portion 28 described below in a manner that seals the second longitudinal flow path 24 from below. Figure 6As shown, the head portion may be set to a tapered shape with a decreasing diameter toward the upper side. By setting the head portion to a tapered shape, the second longitudinal flow path 24 can be easily sealed. There is no particular limitation on the structure for sealing the second longitudinal flow path 24 watertightly, and for example, an O-ring 44 is used at a position in contact with the claw portion 28 in the tapered portion of the head portion.

[0140] The second movable member 26 has a recessed portion on the 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 the head portion thereof 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 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] 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, and more preferably 2 mm. On the other hand, the upper limit of the height difference is preferably 5 mm, and more preferably 4 mm. If the height difference is lower than the lower limit, there is a concern that: the volume of the recess is insufficient, and the accumulation effect of the leaked cooling water is insufficient; or in order 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. On the contrary, 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.

[0143] (Second force applying member)

[0144] 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 In this way, the lower end thereof is fixed to the recessed portion provided at the lower end of the second longitudinal flow path 24 , and the upper end thereof is inserted into the recessed portion of the lower surface of the second movable member 26 to bias the second movable member 26 .

[0145] 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.

[0146] (Claws)

[0147] The claw portion 28 abuts against the first movable member 15 of the master-side unit 1 when the tool tray is mounted on the master tray, thereby pushing the first movable member 15 upward relatively (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.

[0148] like Figure 6 As shown, the claw 28 is, for example, provided in a manner of protruding inwardly around the entire inner circumference of the second longitudinal flow path 24. The shape of the claw 28 is not particularly limited, and in order to easily push the first movable member 15 upward, the upper surface may be a horizontal plane. In addition, the lower surface of the claw 28 may be a shape corresponding to the head of the second movable member 26, so as to 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 a tapered shape that is reduced in diameter upward, the lower surface of the claw 28 may be a tapered shape that is reduced in diameter upward at an angle equal to the cone angle of the head of the second movable member 26.

[0149] <Formation of flow path>

[0150] As described above, when the tool tray is installed 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 disk is mounted on the main disk will be described.

[0151] The core rod 14 of the main side unit 1 protrudes from the opening 12a of the first longitudinal flow path 12 and is fixed. Therefore, when the tool tray is mounted on the main tray, the core rod 14 pushes the second movable member 26 that seals the second longitudinal flow path 24 of the tool side unit 2 watertightly downward. As a result, a flow path is formed between the opening 25a of the second transverse flow path 25 of the tool side unit 2 and the opening 23a of the second longitudinal flow path 24.

[0152] Furthermore, when the tool tray is mounted on the main tray, the tool tray is first inserted into the main tray, and then the outer peripheral surface 15a of the first movable member 15 of the main unit 1 is watertightly fitted with the inner peripheral surface of the second longitudinal flow path 24 of the tool unit 2. Thus, the first longitudinal flow path 12 of the main unit 1 and the second longitudinal flow path 24 of the tool unit 2 are watertightly connected.

[0153] Then insert the tool tray, such as Figure 8As shown, the first movable member 15 is relatively pushed upward by the claw portion 28 in a state of being watertightly fitted with the inner peripheral surface of the second longitudinal flow path 24. When the tool tray is mounted to the main tray, the side peripheral surface of the columnar portion 14a is not in contact with the inner peripheral surface 15b of the first movable member 15 due to the movement of the first movable member 15, so a flow path is formed 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.

[0154] 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.

[0155] Furthermore, when removing the tool tray from the main tray, Figure 6 As shown, the push down 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 urging member 27 and contacts the claw 28 from below to seal the second longitudinal flow path 24.

[0156] 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 28 of the tool unit 2 is released. At this time, the first movable member 15 is pushed downward by the first force applying member 16, and the inner peripheral surface 15b of the first movable member 15 is watertightly fitted with the side peripheral surface of the columnar portion 14a. As a result, the first longitudinal flow path 12 is sealed.

[0157] Therefore, 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, so that cooling water can 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 respectively sealed, so that leakage of cooling water can be suppressed.

[0158] <Advantages>

[0159] In the fluid module, the second movable member 26 is positioned so that the upper surface of the second movable member 26 is located 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 at a position 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 leaking out of the flow path due to dripping or the like falls onto the tool tray located below, that is, the tool side unit 2 side, and can be stored in the recess. Therefore, in the fluid module, it is possible to prevent the leaked cooling water from being conducted to the upper surface of the tool side unit 2 and wetting other modules, for example, mounted on the tool tray.

[0160] [Other embodiments]

[0161] The present invention is not limited to the above-described embodiment, and can be implemented in various modified and improved forms other than the above-described form.

[0162] In the above embodiment, the case where the metal rod is buried in the side wall of the longitudinal flow path constituting the main side unit along the thickness direction has been described, but as long as the central axis of the metal rod faces the surface of the first cover, the burying direction is not limited to the thickness direction. For example, the metal rod may be buried in the horizontal direction. The same applies to the metal rod buried in the side wall of the longitudinal flow path constituting the tool side unit.

[0163] In the above embodiment, the case where the gap between the outer peripheral surface of the mandrel and the inner peripheral surface of the first longitudinal flow path becomes a flow path for cooling water to flow has been described, but the flow path for cooling water to flow is not limited to the above structure. For example, a structure in which a flow path is provided inside the mandrel may also be made. In the case of such a flow path, the mandrel has an opening at the lower end portion for releasing cooling water to the outside or recovering cooling water from the outside, and when the tool disc is removed from the main disc, the opening is sealed, and when the tool disc is installed on the main disc, the opening is connected to the second longitudinal flow path of the tool side unit.

[0164] In the above embodiment, the mandrel includes a columnar portion, and the columnar portion has an outer peripheral surface, and the outer peripheral surface is watertightly fitted with the inner peripheral surface of the first movable member when the tool disk is removed from the main disk, and extends in the thickness direction. However, the mechanism for watertightly sealing the first longitudinal flow path is not limited to the columnar portion. For example, it can be the same structure as the second longitudinal flow path.

[0165] In addition, in the embodiment, the case has been described in which the core rod functions as a fixing portion that pushes the second movable component of the tool side unit relatively downward when the tool disc is installed on the main disc, but the fixing portion that pushes the second movable component of the tool side unit relatively downward may not be used in conjunction with the core rod, that is, the fixing portion may be provided separately from the core rod.

[0166] In addition, in the above embodiment, the case where the main side unit includes the first movable member has been described, but the first movable member is not an essential structural element. For example, when cooling water is supplied from the tool side unit to the main side unit, if there is little water leakage at the main side unit to which the cooling water is supplied, the first movable member may be omitted. In such a case, since the first force applying member is not required, it may be omitted altogether.

[0167] In the above embodiment, the case where the main side unit includes the first transverse flow path has been described, but the first transverse flow path is not an essential structural element. For example, an opening may also be provided on the upper surface of the main side unit, and the first longitudinal flow path may be provided between the opening on the upper surface and the opening on the lower surface of the main side unit.

[0168] Industrial Applicability

[0169] In the fluid module of the present invention, the cooling water that inevitably leaks out when the tool tray is removed from the main tray is unlikely to wet other tools and the like mounted on the tool tray.

Claims

1. A fluid module, mounted on a tool changing device, the tool changing device comprising: The main plate is mounted on the robot arm; and a tool tray, which is detachably mounted on the main tray for installing tools, The fluid module includes a plate-shaped main side unit disposed on the main disk and a plate-shaped tool side unit disposed on the tool disk. The tool side unit comprises: A columnar protrusion protrudes from the upper surface thereof; a longitudinal flow path opening on the upper surface of the protrusion and extending in the thickness direction; a movable member disposed in the longitudinal flow path and configured to be movable along the thickness direction; and a force applying member for applying force upward to the movable member; The main side unit comprises: A longitudinal flow path, opening on the lower surface side thereof, extending in the thickness direction; and The fixing part pushes the movable member relatively downward when the tool tray is mounted on the main tray. When the tool tray is mounted on the main tray, the longitudinal flow path of the main side unit is configured to be communicable with the longitudinal flow path of the tool side unit. When the tool disc is removed from the main disc, the movable component seals the longitudinal flow path of the tool side unit watertightly, and the upper surface of the movable component is located below the upper surface of the tool side unit, and the difference in height position between the upper surface of the tool side unit and the upper surface of the movable component is greater than 2 mm and less than 5 mm. 2 . The fluid module according to claim 1 , wherein 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.

3. The fluid module according to claim 2, wherein the tool-side unit further comprises: a transverse flow path, opening at the side surface and connected to the longitudinal flow path of the tool side unit; and The cover is arranged on the side, is made of metal and is plate-shaped, and An opening of the lateral flow path of the tool-side unit is disposed in the cover.

4. The fluid module according to claim 3, wherein the tool-side unit further comprises: a metal rod embedded in a side wall constituting a longitudinal flow path of the tool side unit in such a manner that a central axis thereof faces a surface of the cover; and Screws are used to connect the metal rod and the cover.

5. The fluid module according to any one of claims 1 to 4, 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 longitudinal flow path of the tool side unit. 6 . The fluid module according to claim 5 , wherein the inner peripheral surface of the upper end portion of the longitudinal flow path of the tool side unit is formed into an inverted cone shape that expands in diameter toward the opening of the longitudinal flow path.

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