Tool Changer

Abstract

The present invention aims to provide a tool changing device that can prevent the connection between a master plate and a tool plate from becoming insufficient even if the supply of fluid connecting the master plate and the tool plate is stopped. One embodiment of the present invention is a tool changing device comprising: a tool plate on which a tool is mounted; and a master plate capable of being attached and detached from the tool plate. The master plate comprises: a plate body having a cylinder chamber and a flow path for supplying and discharging a fluid to and from the cylinder chamber; and a piston member capable of reciprocating within the cylinder chamber by the pressure of the supplied and discharged fluid. The master plate comprises a lock pin, at least a portion of which protrudes into the cylinder chamber to restrict the reciprocating movement of the piston member.

Description

Technical Field

[0001] The invention relates to a tool changing device. Background Art

[0002] Tool changers are used, for example, to replace and attach various tools to a robot arm. This type of tool changer for a robot arm allows a single robot to perform multiple tasks by simply changing tools. This increases the robot's multifunctionality and reduces setup time, facilitating high-variety, low-volume production.

[0003] For example, the tool changing device includes a master plate mounted on the robot side and a tool plate mounted on the tool side. The master plate and tool plate are designed to be removable by fluid such as air, allowing the robot to change to various tools through such removable fluid.

[0004] In such tool changing devices that use fluid, if the fluid supply is stopped while the master plate and tool plate are connected, the master plate and tool plate will no longer be connected, potentially causing serious accidents such as the tool plate falling. To prevent such accidents, an automatic tool changing device has been designed that includes a stopper to prevent the actuator from disengaging (see Japanese Utility Model Publication No. 6-061486).

[0005] The automatic tool changing device described in the publication includes a fixed plate and a tool plate. The fixed plate has an actuator that can be moved forward and backward relative to the tool plate by a working fluid, and a coupling member that can be attached to and detached from the tool plate in conjunction with the movement of the actuator. A stopper is formed in a stepped manner on the front end side of the actuator to limit the actuator from detaching from the coupling member. Furthermore, when the supply of the working fluid is stopped, the coupling member restricts the stopper, thereby limiting the actuator from detaching from the coupling member, thereby preventing the tool plate from falling off.

[0006] In the automatic tool changer, a certain load applied to the tool plate may cause the step of the stopper to exceed the front end of the coupling member, causing the tool plate to fall off. Furthermore, repeated attachment and detachment of the fixing plate and tool plate may cause the step of the stopper to become smooth, making it difficult for the coupling member to restrain the actuator, causing the tool plate to fall off.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Utility Model Application Laid-Open No. 6-061486 Summary of the Invention

[0010] Problems to be solved by the invention

[0011] Therefore, the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a tool changing device capable of preventing the connection state from becoming insufficient even when the supply of a fluid for connecting a mother plate and a tool plate is stopped.

[0012] Technical means to solve the problem

[0013] One embodiment of the present invention is a tool replacement device, comprising: a tool plate for mounting a tool; and a mother plate capable of loading and unloading the tool plate, the mother plate having: a plate body forming a cylinder chamber and a flow path for supplying and discharging a fluid to and from the cylinder chamber; and a piston member capable of reciprocating in the cylinder chamber by the pressure of the supplied and discharged fluid, wherein the mother plate has a locking pin, and the locking pin limits the reciprocating movement of the piston member by at least a portion protruding into the cylinder chamber.

[0014] In the tool changing device, the pressure within the cylinder chamber of the master plate is controlled to cause a piston member to reciprocate, thereby attaching and detaching the master plate from the tool plate to which the tool is mounted. The master plate includes a lock pin that restricts the reciprocating movement of the piston member, thereby limiting attachment and detachment from the tool plate. Therefore, if the pressure within the cylinder chamber cannot be controlled due to, for example, a stop in the supply of fluid, the tool changing device can prevent the master plate and tool plate from becoming insufficiently connected.

[0015] The lock pin can limit the reciprocating movement of the piston member, thereby maintaining the master plate connected to the tool plate. The lock pin can limit the reciprocating movement of the piston member by limiting both the connection and separation of the master plate and the tool plate, but preferably, at least the master plate maintains its connection to the tool plate. This prevents the tool plate from separating from the master plate and falling, for example, if the pressure in the cylinder chamber becomes uncontrollable.

[0016] The lock pin can protrude into the cylinder chamber due to a decrease in fluid pressure. When the master plate is connected to the tool plate, if the pressure of the fluid in the cylinder chamber decreases, the piston member moves toward the side separating the master plate and the tool plate, potentially causing the tool plate to separate from the master plate and fall off. By allowing the lock pin to protrude into the cylinder chamber when the pressure decreases, the movement of the piston member is restricted, thereby preventing the tool plate from separating from the master plate.

[0017] The motherboard may include a housing for accommodating the lock pin, the housing having a pin accommodating chamber for accommodating the lock pin, a pin flow passage for supplying fluid to the pin accommodating chamber, and an elastic member for pressing the lock pin toward the cylinder chamber. The motherboard includes a housing having a pin accommodating chamber for accommodating the lock pin so as to allow for reciprocal movement, a pin flow passage for supplying fluid for reciprocating the lock pin, and an elastic member. This allows the lock pin to be easily and reliably protruded into the cylinder chamber using a relatively simple structure.

[0018] The lock pin can be restricted from protruding into the cylinder chamber by supplying fluid to the pin accommodating chamber. Specifically, when the fluid supply to the pin accommodating chamber is stopped, the lock pin protrudes into the cylinder chamber. This prevents the tool plate from separating from the master plate by allowing the lock pin to protrude into the cylinder chamber if the fluid supply unexpectedly stops due to a malfunction or other cause.

[0019] The fluid supply device for supplying fluid to the cylinder chamber and the fluid supply device for supplying fluid to the pin accommodating chamber can be a common fluid supply device. In this way, a structure is set to be unnecessary for a drive device, a machine, etc. for operating the lock pin, thereby achieving a simple structure.

[0020] Effects of the Invention

[0021] As described above, the tool changing device of the present invention can prevent the connected state from becoming insufficient even if the supply of the fluid for connecting the mother plate and the tool plate is stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic cross-sectional side view showing a connected state of tool plates of a tool changing device according to one embodiment of the present invention.

[0023] Figure 2 Yes Figure 1 A schematic cross-sectional side view of a tool changing device showing a disengaged tool plate.

[0024] Explanation of symbols

[0025] 1: Tool changing device

[0026] 2: Tool Palette

[0027] 2a: Abutment surface (upper surface of tool plate)

[0028] 21: Insert into the recess

[0029] 22: Stopped part

[0030] 22a: Top

[0031] 3: Motherboard

[0032] 3a: Abutment surface (lower surface of motherboard)

[0033] 31: Cylindrical part

[0034] 32: Board body

[0035] 32a: First cylindrical body

[0036] 32b: Second cylindrical body

[0037] 33: Piston component

[0038] 33a: Rod

[0039] 33b: Cam section

[0040] 34: Ball

[0041] 35: Cylinder room

[0042] 35a: Upper cylinder chamber

[0043] 35b: Lower cylinder chamber

[0044] 36: Flange

[0045] 37: Board

[0046] 38: Pin insertion hole

[0047] 4: Locking pin

[0048] 4a, 4b: concave part

[0049] 5: Shell

[0050] 51: Pin Containment Chamber

[0051] 52: Sales and distribution channels

[0052] 53: Elastic component

[0053] 54: Connecting hole

[0054] 55: Cover DETAILED DESCRIPTION

[0055] Tool Changer

[0056] As one embodiment of the present invention Figure 1 、 Figure 2 The tool changing device 1 mainly includes a tool plate 2 for mounting tools and a mother plate 3 for attaching and detaching the tool plate 2. The tool plate 2 has an insertion recess 21 on its upper surface, and the mother plate 3 has a cylindrical portion 31 that can be inserted into the insertion recess 21 and is detachably connected to the tool plate 2.

[0057] The motherboard 3 is mounted on a robot arm (not shown), and a tool (not shown) is mounted on the tool plate 2. The motherboard 3 and the tool plate 2 are attached and detached by operation, thereby enabling various tools (tool plates 2) to be replaced and mounted on the robot arm.

[0058] The motherboard 3 includes a board body 32 having a cylindrical portion 31, a plurality of locking portions held by the board body 32, and a piston member 33 reciprocally mounted on the board body 32. In this embodiment, balls 34 are used as the locking portions.

[0059] The plate body 32 has a cylinder chamber 35 and a flow path (not shown) for fluid flow into and out of the cylinder chamber 35. Specifically, the plate body 32 includes a first tubular body 32a formed by a recessed portion of the inner peripheral wall of the cylinder chamber 35, and a second tubular body 32b fixed to the lower portion (on the tool plate 2 side) of the first tubular body 32a. In other words, in the embodiment described, the plate body 32 is composed of the first tubular body 32a and the second tubular body 32b. Furthermore, the first tubular body 32a and the second tubular body 32b are arranged in a generally cylindrical shape.

[0060] The flow passages include a first flow passage formed in the first cylindrical body 32a and disposed in an upper cylinder chamber 35a on the opposite side (upper side in the figure) of the tool plate 2 connected to a piston member 33 (described later); and a second flow passage for allowing fluid to enter and exit a lower cylinder chamber 35b on the opposite side of the upper cylinder chamber 35a across the piston member 33. The first and second flow passages are connected to a fluid supply device (not shown) within the factory via solenoid valves (not shown).

[0061] The first flow passage supplies fluid to the upper cylinder chamber 35a, causing the piston member 33 to move toward the tool plate 2, which in turn causes the ball 34 to move to the locked position. At this point, the second flow passage discharges fluid from the lower cylinder chamber 35b. Furthermore, the second flow passage supplies fluid to the lower cylinder chamber 35b, causing the piston member 33 to move toward the master plate 3, which in turn causes the ball 34 to disengage. At this point, the first flow passage discharges fluid from the upper cylinder chamber 35a.

[0062] A step portion for mounting the second cylindrical body 32b is provided on the lower surface of the first cylindrical body 32a. The second cylindrical body 32b is fixed to the step portion. The second cylindrical body 32b has: a flange portion 36 that is embedded in the step portion; and a cylindrical portion 31 that protrudes downward from the flange portion 36. Therefore, the cylindrical portion 31 is provided in a manner that protrudes downward more than the first cylindrical body 32a. Moreover, the second cylindrical body 32b is formed with an insertion hole for inserting the rod 33a of the piston member 33 described later. In addition, the first cylindrical body 32a is mounted on a robotic arm, etc.

[0063] Furthermore, the master plate 3 and the tool plate 2 have contact surfaces 3a and 2a that abut against each other when connected. Specifically, the lower surface of the first tubular body 32a and the lower surface of the flange 36 are flush with each other and abut against the upper surface 2a of the tool plate 2 when connected. In other words, in the embodiment described above, the flush surface comprising the lower surface of the first tubular body 32a and the lower surface of the flange 36 of the second tubular body 32b serves as the abutment surface 3a of the master plate 3. When the master plate 3 and the tool plate 2 are connected, 3a and 2a abut against each other.

[0064] The motherboard 3 further includes a plate 37 constituting the upper wall (piston-facing wall) of the cylinder chamber 35. The plate 37 is fixed to the upper surface of the first cylindrical body 32a. Thus, the cylinder chamber 35 is airtightly provided.

[0065] The cylindrical portion 31 is provided with a plurality of retaining holes perpendicular to the axis of the cylindrical portion 31 for retaining the balls 34. These retaining holes retain the balls 34 so that they can be inserted and removed from the side of the cylindrical portion 31. Furthermore, the diameter of the retaining holes on the outside of the cylindrical portion 31 is smaller than that of the balls 34 to prevent the balls 34 from escaping outside the cylindrical portion 31.

[0066] The piston member 33 is mounted on the plate body 32 so as to be reciprocable within the cylindrical portion 31 along the axial direction of the cylindrical portion 31, i.e., in a direction substantially perpendicular to the abutting surface, by the pressure of the cylinder chamber 35. The reciprocating movement of the piston member 33 causes a plurality of balls 34 to enter and exit from the side of the cylindrical portion 31.

[0067] Specifically, the piston member 33 includes a rod 33a inserted into the insertion hole of the second cylindrical portion 31, and a cam portion 33b fixed to the front end (lower end in the figure) of the rod 33a that protrudes from the cylindrical portion 31. The side surface of the cam portion 33b abuts against the ball 34, restricting the movement of the ball 34 toward the inside of the cylindrical portion 31.

[0068] The cam portion 33 b allows the outer surface of the ball 34 to move inwardly relative to the outer surface of the cylindrical portion 31 when the piston member 33 is located at the upper end, thereby preventing the ball 34 from falling into the cylindrical portion 31 .

[0069] Moreover, the side surface of the cam portion 33b is set as an inclined surface that tilts inward as it moves downward in the figure. By moving the piston member 33 downward, the ball 34 is pushed out to the outside of the cylindrical portion 31, and the ball 34 and the locked portion 22 can be obtained. Here, the cam portion 33b has two inclined surfaces with different inclination angles. Regarding the angle between the two inclined surfaces of the cylindrical portion 31 and the axial direction of the cylindrical portion 31, the inclined surface at the bottom of the figure is larger, and the inclined surface at the top is smaller. From the state where the piston member 33 is located at the upper end (refer to Figure 2) starts, the piston member 33 moves downward, whereby the large inclined surface pushes the ball 34 outward, and then, when the piston member 33 reaches the lower end, the small inclined surface restricts the movement of the ball 34 toward the inside of the cylindrical portion 31 (refer to Figure 1 ).

[0070] The tool plate 2 includes a latched portion 22 that, when the cylindrical portion 31 is inserted into the insertion recess 21, pushes the plurality of balls 34 outward perpendicularly from the central axis of the rod 33a, thereby contacting the plurality of balls 34. Specifically, in this embodiment, the latching portion includes the plurality of balls 34 that are held in a position to be retractable from the side of the cylindrical portion 31 by the reciprocating movement of the piston member 33. The latched portion 22 is configured to be latched by the balls 34 that have entered the cylindrical portion 31 when the cylindrical portion 31 is inserted into the insertion recess 21.

[0071] The locked portion 22 has a top surface 22a, and the top surface 22a abuts against at least one ball 34 when the plurality of balls 34 enter the outside of the cylindrical portion 31 in a state where the abutting surface 3a of the plate body 32 and the abutting surface 2a of the tool plate 2 face each other with a gap. The top surface 22a is configured so that when the abutting ball 34 is further advanced toward the outside, the abutting surfaces 2a, 3a abut against each other. Specifically, the top surface 22a is formed so as to be inclined so that the diameter of the insertion recess 21 increases from the top to the bottom of the figure. To be more specific, when the ball 34 is pushed outward by the movement of the piston member 33 in a state where the cylindrical portion 31 is inserted into the insertion recess 21 and the abutting surfaces 2a, 3a are arranged with a predetermined gap therebetween, the top surface 22a abuts against the ball 34, and by further pushing the ball 34 outward from this state, the ball 34 moves along the top surface 22a, and relatively, the tool plate 2 is pulled toward the mother plate 3 side, thereby obtaining Figure 1 The tool plate 2 is shown in its connected state.

[0072] The motherboard 3 has a lock pin 4, which restricts the reciprocating movement of the piston member 33 by at least partially protruding into the upper cylinder chamber 35a of the cylinder chamber 35. Specifically, the first cylindrical body 32a is provided with a pin insertion hole 38 perpendicular to the axis of the piston member 33, through which the lock pin 4 can enter and exit. With at least a portion of the lock pin 4 protruding from the pin insertion hole 38, the reciprocating movement of the piston member 33 within the cylinder chamber 35 is restricted.

[0073] The shape of the lock pin 4 is not particularly limited and can be a prism, a cylinder, or the like, but a cylinder is preferred. This facilitates the shaping of the lock pin 4 and the processing of the pin insertion hole 38. The material of the lock pin 4 is not particularly limited and can be iron, aluminum, stainless steel, or the like.

[0074] Preferably, at least a portion of the lock pin 4 protrudes into the cylinder chamber 35, thereby maintaining the master plate 3 connected to the tool plate 2. In other words, preferably, the lock pin 4 protrudes into the cylinder chamber 35, thereby preventing the master plate 3 from being separated from the tool plate 2. In this embodiment, when the piston member 33 moves toward the tool plate 2 and the master plate 3 and tool plate 2 are connected, the lock pin 4 protrudes into the upper cylinder chamber 35a, thereby restricting the movement of the piston member 33 and maintaining the connection between the master plate 3 and tool plate 2. Specifically, the lock pin 4 protrudes to the upper side of the piston member 33 that has moved to the tool plate 2, restricting the movement of the piston member 33 toward the side opposite to the tool plate 2, thereby preventing the master plate 3 and tool plate 2 from being separated.

[0075] Preferably, the lock pin 4 protrudes into the cylinder chamber by stopping the supply of fluid to the cylinder chamber 35. As described above, by supplying fluid to the upper cylinder chamber 35a and draining the fluid from the lower cylinder 35b, the piston member 33 moves toward the tool plate 2, connecting the master plate 3 and the tool plate 2. Furthermore, by draining the fluid from the upper cylinder chamber 35a and supplying fluid to the lower cylinder 35b, the piston member 33 moves toward the master plate 3, separating the master plate 3 and the tool plate 2. If the supply of fluid is stopped while the master plate 3 and the tool plate 2 are connected, and the pressure of the fluid in the upper cylinder chamber 35a falls below a predetermined pressure, the weight of the tool plate 2 may cause the piston member 33 to move relative to the master plate 3 (the detached side), causing the tool plate 2 to fall off. When the supply of the fluid to the upper cylinder chamber 35a is stopped and the pressure drops, the lock pin 4 protrudes into the upper cylinder chamber 35a, thereby restricting the piston member 33 from moving toward the separation side, thereby preventing the tool plate 2 from separating from the master plate 3.

[0076] Preferably, the motherboard 3 includes a housing 5 for accommodating the lock pin 4 , the housing 5 having a pin accommodation chamber 51 for accommodating the lock pin 4 , a pin flow passage 52 for supplying fluid to the pin accommodation chamber 51 , and an elastic member 53 for pressing the lock pin 4 toward the cylinder chamber.

[0077] The housing 5 can be integrally formed with the motherboard 3 as a part of the motherboard 3, or a housing formed separately from the motherboard 3 can be attached to the motherboard 3. The housing 5 includes a pin accommodation chamber 51 that reciprocally accommodates the lock pin 4, and a pin flow passage 52 that connects the opening connected to the fluid supply device to the pin accommodation chamber 51. Furthermore, the housing 5 includes an elastic member 53 in the pin accommodation chamber 51. This elastic member 53 expands and contracts with the reciprocating movement of the lock pin 4, pressing the lock pin 4 toward the cylinder chamber.

[0078] If the lock pin 4 is cylindrical, the pin accommodation chamber 51 is formed by boring a cylindrical hole in the housing 5 perpendicular to the axis of the piston member 33, with one end opening outward sealed by a cap 55. The pin accommodation chamber 51 houses the lock pin 4 and the elastic member 53 (described later). The housing 5 includes a communication hole 54 that connects the pin accommodation chamber 51 with the pin insertion hole 38 formed in the base plate 3. Preferably, the diameters of the pin insertion hole 38 and the communication hole 54 are equal, so that the inner circumference of the pin insertion hole 38 and the inner circumference of the communication hole 54 are flush. Furthermore, the diameter of the pin accommodation chamber 51 is preferably larger than the diameters of the pin insertion hole 38 and the communication hole 54. Specifically, the lock pin 4 is preferably formed into a generally convex shape, with the portion protruding into the cylinder chamber 35 (hereinafter referred to as the "tip end") having a smaller diameter and the portion housed in the pin accommodation chamber 51 (hereinafter referred to as the "bottom end") having a larger diameter. Thereby, the amount (length) of the lock pin 4 protruding into the cylinder chamber 35 can be easily adjusted.

[0079] Preferably, a recess 4a is formed on the outer circumferential surface of the bottom side of the lock pin 4, and a sealing member such as an O-ring is disposed in this recess 4a. Furthermore, a recess 4b is formed circumferentially on the end surface of the bottom side of the lock pin 4 that contacts the side wall of the pin receiving chamber 51 (the end surface having the front end), and a sealing member is disposed in this recess 4b. Furthermore, preferably, a recess is formed on the inner circumferential surface of the connecting hole 54, and a sealing member is disposed in this recess. This improves the airtightness of the pin receiving chamber 51.

[0080] The pin flow passage 52 connects the opening connected to the fluid supply device with the pin accommodation chamber 51. That is, one end of the pin flow passage 52 opens to the outside of the housing 5 and is used for connection to the fluid supply device. The other end of the pin flow passage 52 opens into the pin accommodation chamber 51. At least a portion of the other end of the pin flow passage 52 opens to the side wall of the pin accommodation chamber 51 on the cylinder chamber 35 side. In this way, fluid can be supplied to the pin flow passage 52 to move the lock pin 4 toward the side of the pin accommodation chamber 51 opposite to the cylinder chamber 35 side (the right side in the figure), thereby restricting the lock pin 4 from protruding toward the cylinder chamber 35 at the front end.

[0081] The elastic member 53 is housed in the pin accommodation chamber 51 along with the lock pin 4. In this embodiment, the elastic member 53 is disposed between the lock pin 4 and the cover 55. The elastic member 53 is not particularly limited as long as it is a flexible member that extends under no load; for example, a coil spring can be used. When the fluid is supplied to the pin accommodation chamber 51, the elastic member 53 is compressed by the bottom of the lock pin 4 under pressure, causing it to contract. When the fluid supply stops, the elastic member 53 expands, pushing the lock pin 4 toward the cylinder chamber 35.

[0082] Preferably, the lock pin 4 is restricted from protruding into the cylinder chamber 35 by supplying fluid to the pin housing chamber 51. Specifically, when the supply of fluid to the pin housing chamber 51 is stopped and the pressure in the cylinder chamber 35 drops, the lock pin 4 protrudes into the cylinder chamber 35. Specifically, when the fluid supply from the fluid supply device is operating normally, the lock pin 4 does not protrude into the cylinder chamber 35, and the master plate 3 can be easily attached to and detached from the tool plate 2. On the other hand, when the fluid supply to the pin housing chamber 51 is no longer adequately supplied due to a problem with the fluid supply device or a leak from a pipe running from the fluid supply device to the tool changing device, the lock pin 4 protrudes into the cylinder chamber 35, and the master plate 3, which is already connected to the tool plate 2, remains connected, becoming inseparable. This ensures safety when the fluid supply is not operating normally.

[0083] Preferably, the fluid supply device that supplies fluid to the cylinder chamber 35 and the fluid supply device that supplies fluid to the pin accommodation chamber 51 are a single fluid supply device. In other words, preferably, a single fluid supply device supplies fluid to both the cylinder chamber 35 and the pin accommodation chamber 51. This simplifies the structure of the system that operates the tool changing device.

[0084] As a structure for supplying fluid to the cylinder chamber 35 and the pin receiving chamber 51 by a single fluid supply device, for example, the following can be employed. As described above, the plate body 32 of the motherboard 3 includes a first flow path for fluid flow into and out of the upper cylinder chamber 35a and a second flow path for fluid flow into and out of the lower cylinder chamber 35b. The first and second flow paths are connected to the fluid supply device via a solenoid valve. By switching the solenoid valve, fluid is supplied to one of the first and second flow paths, and fluid is discharged from the other. The piston member 33 reciprocates within the cylinder chamber 35 due to the pressure difference between the upper cylinder chamber 35a and the lower cylinder chamber 35b. Hereinafter, the fluid piping from the fluid supply device to the solenoid valve is referred to as the main piping, the fluid piping from the solenoid valve to the first flow path is referred to as the first piping, and the fluid piping from the solenoid valve to the second flow path is referred to as the second piping.

[0085] One end of the pipe that supplies fluid to the pin accommodation chamber 51 (hereinafter referred to as the "pin piping") is connected to the main pipe on the upstream side of the solenoid valve, and the other end is connected to the pin flow path 52 of the housing 5. The connection between the main pipe and the pin piping does not use a solenoid valve or the like, but is simply a branch. Thereby, when the motherboard 3 and the tool plate 2 are in a connected state, when the fluid supply to the cylinder chamber 35 can no longer be fully carried out due to the above-mentioned fault, the fluid supply to the pin accommodation chamber 51 can no longer be fully carried out. When the fluid supply to the cylinder chamber 35 becomes insufficient, the pressure in the cylinder chamber 35 drops, and the motherboard 3 can no longer maintain the connection with the tool plate 2, the lock pin 4 protrudes into the cylinder chamber 35 and restricts the movement of the piston member 33. Therefore, the piston member 33 stays at the position where the motherboard 3 and the tool plate 2 are connected. In this way, it is possible to prevent the tool plate 2 from separating from the motherboard 3.

[0086] In the case of configuring a fluid supply device for supplying fluid to the cylinder chamber 35 and another fluid supply device for supplying fluid to the pin receiving chamber 51, it can be configured that a pressure gauge for detecting the pressure in the cylinder chamber 35 is provided in the tool replacement device 1, and when the measured value of the pressure gauge becomes below a specified value, the other fluid supply device stops the supply of fluid.

[0087] <Operation method>

[0088] Next, an operating method of the tool changing device will be described.

[0089] The tool changing device supplies fluid to the upper cylinder chamber 35a in a state in which the contact surface 3a of the plate body 32 and the contact surface 2a of the tool plate 2 face each other with a gap therebetween.

[0090] When fluid is supplied to the upper cylinder chamber 35a, the ball 34 moves toward the outside of the cylindrical portion 31 and presses the top surface 22a, thereby pulling the tool plate 2 toward the mother plate 3 side, and the abutting surfaces 2a and 3a abut, obtaining a connection state between the tool plate 2 and the mother plate 3.

[0091] In the coupled state, if the fluid supply to the cylinder chamber 35 is sufficient, the fluid supply to the pin accommodation chamber 51 is also sufficient, and thus the lock pin 4 does not protrude into the cylinder chamber 35. On the other hand, if the fluid supply to the cylinder chamber 35 becomes insufficient, the fluid supply to the pin accommodation chamber 51 also becomes insufficient, causing the lock pin 4 to protrude into the cylinder chamber 35 and restrict the movement of the piston member 33. Therefore, even if the fluid supply becomes insufficient, the tool changing device can prevent the master plate 3 and tool plate 2 from becoming insufficiently coupled and separating.

[0092] <advantage>

[0093] As described above, the tool changing device 1 includes the lock pin 4, thereby preventing the connection between the master plate 3 and the tool plate 2 from becoming insufficient when the fluid supply during operation is no longer sufficient or the fluid supply device is stopped after the operation is completed.

[0094] Furthermore, the tool replacement device 1 protrudes into the cylinder chamber 35 through the locking pin 4, which can maintain the connection state between the mother plate 3 and the tool plate 2, thereby preventing the tool plate 2 from being separated and falling unexpectedly, thereby preventing damage to the tool plate 2 and the tool installed on the tool plate 2, and improving the safety of the operator.

[0095] <Other Implementation Methods>

[0096] The present invention is not limited to the above-described embodiment, and can be implemented in various modified and improved embodiments other than the above-described embodiment.

[0097] That is, in the above embodiment, the case where the master plate 3 and the tool plate 2 are detachably mounted by the reciprocating movement of the piston member 33 is described, but the master plate 3 and the tool plate 2 may also be detachably mounted by a rotating cam, and the lock pin 4 restricts the rotation of the cam.

[0098] Furthermore, in the above embodiment, the piston member 33 is described as being reciprocated by pressurized air, but other fluids may also be used. Furthermore, while the tool plate 2 is connected by pressurizing the cylinder chamber 35, the present invention is not limited to this. Alternatively, the tool plate 2 may be connected by applying a negative pressure to the cylinder chamber 35.

[0099] Furthermore, while the above embodiment illustrates a structure in which the master plate 3 and the tool plate 2 are connected when the piston member 33 is positioned on the tool plate 2 side, the present invention is not limited thereto. The present invention also encompasses situations in which the tool plate is disengaged (the engaging portion and the engaged portion are disengaged) when the piston member is positioned on the tool plate side, and the tool plate is attached (the engaging portion and the engaged portion are engaged) by moving the piston member away from the tool plate.

[0100] In the above embodiment, the case where the cylindrical portion is substantially cylindrical has been described, but the cylindrical portion may be in a rectangular cylindrical shape or the like.

[0101] Industrial applicability

[0102] As described above, the tool changing device of the present invention can suppress work performed by the tool in a state where the connection between the tool plate and the mother plate is insufficient, and can therefore be preferably used for various works requiring detachable attachment of various tools.

Claims

1. A tool changing device comprising: Tool board, installation tools; as well as Motherboard, capable of loading and unloading the tool board, The motherboard has: a plate body having a cylinder chamber and a flow passage for supplying and discharging a fluid to and from the cylinder chamber; and The piston member can reciprocate in the cylinder chamber by supplying and discharging the pressure of the fluid. The tool changing device is characterized in that The mother plate has a lock pin, at least a portion of which protrudes into the cylinder chamber to restrict the reciprocating movement of the piston member. When the supply of the fluid to the cylinder chamber is stopped, the lock pin protrudes into the cylinder chamber. 2 . The tool changing device according to claim 1 , wherein the reciprocating movement of the piston member is restricted by the lock pin, so that the master plate maintains a coupled state with the tool plate. 3 . The tool changing device according to claim 1 , wherein the locking pin protrudes into the cylinder chamber due to a pressure drop of the fluid.

4. The tool changing device according to claim 1, 2 or 3, wherein The motherboard includes a housing for accommodating the locking pin, The housing has: a pin receiving chamber for receiving the lock pin; a pin flow passage for supplying fluid to the pin accommodation chamber; and The elastic member presses the lock pin toward the cylinder chamber side. 5 . The tool changing device according to claim 4 , wherein the lock pin is restricted from protruding toward the cylinder chamber by supplying fluid to the pin accommodation chamber.

6. The tool changing device according to claim 5, wherein a fluid supply device for supplying fluid to the cylinder chamber and a fluid supply device for supplying fluid to the pin accommodation chamber are a common fluid supply device.

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