Mechanical automatic tool changing mechanism and method for end axis of robot arm

Abstract

The present invention is a mechanical automatic tool changing mechanism and method of a robot arm end shaft, in which a first connecting plate is fixed or extended on a robot arm end shaft, and a plurality of selectable second connecting plates are provided on a plurality of tool changing seats, and each of the aforementioned tool changing seats has a third force to fix the second connecting plate. The robot arm end shaft drives the first connecting plate to selectively combine with any of the aforementioned second connecting plates along a second direction. The robot arm end shaft drives the first connecting plate and the combined second connecting plate along the first direction away from the tool changing seat or toward the empty tool changing seat, and the first direction and the second direction have an angle; during the process of the second connecting plate moving toward the empty tool changing seat, before the robot arm end shaft drives the first connecting plate to separate from the second connecting plate, the third force acts on the second connecting plate to limit the movement of the second connecting plate along the first direction and the second direction.

Description

Technical Field

[0001] The present invention relates to a mechanical automatic tool changing mechanism and method for a distal end shaft of a robot arm, particularly a mechanism and method in which the distal end shaft of the robot arm can approach a tool changer along a second direction. In conjunction with an automatic release and latching mechanism, a tool can be removed from or attached to the tool changer in a first direction that is angled (e.g., 90 degrees) relative to the second direction. During tool replacement, a third force-applying member maintains the stability of the tool change process and stably secures the tool in the tool changer while the tool is stationary. Background Art

[0002] When machining a workpiece, the tool may need to be replaced due to tool wear or due to differences in the machining area. Currently, most automated machining tools use automated tool changing mechanisms.

[0003] One such automated tool-changing mechanism, such as Taiwan Invention Patent Publication No. 202126425, "Impact-Free Tool Changing Device," utilizes a rotatable tool-locking arm with tool-locking blocks positioned at opposite ends. These blocks automatically engage or disengage the tool horizontally via elastic force-applying members for tool change. Furthermore, the tool-locking arm in this embodiment has a low degree of freedom of movement.

[0004] Another Chinese invention patent, published as CN111201116A, is titled "Rapid Robotic Arm Tool Changer." This patent utilizes a robotic arm to change tools, thereby increasing the flexibility of tool changes. However, during the tool change process, the robotic arm's connecting plate moves horizontally in one direction to engage the tool connecting plate, and then moves the tool connecting plate horizontally out of the tool changing station along the same direction. This tool change method requires a larger space.

[0005] There are also previous patent applications such as PCT International Patent Application Publication No. WO2020249465A1 "TOOL CHANGER FOR COLLABORATIVE ROBOTS, A ROBOT TOOL CHANGER SYSTEM AND A METHOD FOR CONNECTING A TOOL TO A ROBOT ARM" and German Patent Application Publication No. GB2292365A "Automatic Toolchanger". The above-mentioned previous applications use a robotic arm to connect to the tool connecting plate on the tool changing seat from above the tool changing seat, and then drive the tool connecting plate horizontally to separate from the tool changing seat, thereby enabling tool changing in a smaller space. In the above-mentioned WO2020249465A1, when the second tool replacement component (symbol 14 of the case) enters or leaves the device bracket (symbol 44 of the case), the device bracket (symbol 44 of the case) does not have any additional force acting on the second tool replacement component (symbol 14 of the case). Therefore, the second tool replacement component (symbol 14 of the case) may accidentally fall off from the first tool replacement component (symbol 12 of the case) due to factors such as vibration or unstable clamping. At the same time, when the second tool replacement component (symbol 14 of the case) stays in the device bracket (symbol 44 of the case), there is no auxiliary external force acting on the second tool replacement component (symbol 14 of the case), so that the second tool replacement component (symbol 14 of the case) is not very firmly fixed in the device bracket (symbol 44 of the case). In the above-mentioned case No. GB2292365A, a cylinder (symbol 3 of the case) and a cam (symbol 4 of the case) are provided in the first unit (symbol 1 of the case), and a protrusion (symbol 5 of the case) of the cam (symbol 4 of the case) is used to block a coupling pin (symbol 20 of the case) of the second unit (symbol 2 of the case) to prevent the second unit (symbol 2 of the case) from accidentally falling. Since the cylinder (symbol 3 of the case) is used to drive the cam (symbol 4 of the case), the volume of the first unit is too large.

[0006] Another example is U.S. Patent No. 11130243B2, "Tool coupler, tool changer, tool mounter, and tool change system having the same." This patent utilizes magnetic modules 40 and 70 to connect the coupling base 20 and the exchange base 50 of a tool 3, but lacks a snap-fit ​​mechanism. For example, to return the tool 3 to a structure 4 such as a wall or shelf, a mounting member 80 can be used to contact the structure 4, allowing the exchange base 50 to continue moving and disengage from the coupling base 20. Consequently, while the tool 3 is operating through the coupling base 20 and the exchange base 50, it is possible for the coupling base 20 to fall off due to collision with an obstacle. Summary of the Invention

[0007] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a mechanical automatic tool changing mechanism for the end axis of a robot arm.

[0008] The present invention provides a mechanical automatic tool changing mechanism for a robot arm end shaft, comprising a first connecting plate, a plurality of second connecting plates and a plurality of tool changing seats, wherein:

[0009] The first connecting plate is fixed or formed on a shaft at the end of a robot arm. The first connecting plate is provided with a protrusion, which is provided with a first guide hole along a third direction. A first ejector pin is disposed within the first guide hole, and the first ejector pin has a first acting force. The second connecting plate is provided for securing a plurality of tool parts, and each second connecting plate is provided with a groove corresponding to the protrusion. Each second connecting plate is provided with a second ejector pin that is movable in the third direction. Each second connecting plate is also provided with a movable guide lock that links the second ejector pin to extend or retract into the groove. Each tool changer includes a third force-applying member and at least one protrusion. Each second connecting plate is fixed to one of the tool changers or can be selectively removed from the tool changer.

[0010] The robot arm end shaft drives the first connecting plate to selectively contact any of the aforementioned second connecting plates along a second direction, so that the protrusion matches the groove. The first direction and the second direction form an angle. The robot arm end shaft pulls the first connecting plate and the second connecting plate along the first direction away from the aforementioned tool changer. The guide lock applies a second force to overcome the first force and drive the second ejector pin to push the first ejector pin, so that the second ejector pin extends into the first guide hole, thereby coupling the first connecting plate to the second connecting plate. Alternatively, the robot arm end shaft drives the first connecting plate and the second connecting plate to move toward the aforementioned tool changer along the first direction. The protrusion pushes the guide lock to overcome the second force. The first ejector pin pushes the second ejector pin with the first force, so that the second ejector pin disappears into the groove. At the same time, the third force applying member applies a third force to fix the second connecting plate, and the first connecting plate moves away from the second connecting plate along the second direction.

[0011] Furthermore, the first connecting plate includes a first periphery and a first contact surface, the first connecting plate is provided with a first matching portion, each of the aforementioned second connecting plates includes a second periphery and a second contact surface, and each of the aforementioned second connecting plates is provided with a second matching portion corresponding to the first matching portion. Furthermore, the first matching portion is at least one fixing column, the aforementioned fixing column is located on the first contact surface, each fixing column is tapered toward the second contact surface, and the aforementioned second matching portion is at least one positioning hole, the positioning hole is located on the second contact surface. Alternatively, the first matching portion is an annular groove, the annular groove is located at the intersection of the first periphery and the first contact surface, the aforementioned second matching portion is a flange, the flange is located at the intersection of the second periphery and the second contact surface, and the protrusion has a chamfer.

[0012] Furthermore, the third force-applying member includes a first clamp, a second clamp and a force-applying unit, the first clamp and the second clamp define a accommodating portion, the accommodating portion includes a movable port, each accommodating portion of the aforementioned tool changer respectively accommodates the aforementioned second connecting plate, the first clamp and the second clamp move relative to each other on a first plane, the first plane is composed of the second direction and the third direction, the first clamp has a first clamping end, the second clamp has a second clamping end, the movable port is a gap defined by the distance between the first clamping end and the second clamping end, the force-applying unit acts on the first clamp and / or the second clamp, and the third force is a first plane clamping force of the first clamping end and the second clamping end on the first plane. Furthermore, the second connecting plate includes a second periphery, the second periphery has a guide groove recessed along the first plane, the first clamping end of the first clamp is provided with a rotatable first roller, and the second clamping end of the second clamp is provided with a rotatable second roller, and the first roller and the second roller clamp the guide groove on the first plane.

[0013] Furthermore, the first acting force, the second acting force and the third acting force are an elastic force or a magnetic force.

[0014] Furthermore, the third force-applying member is a magnetic member, and each of the aforementioned second connecting plates includes a magnetic induction member. The third force is a magnetic force of the magnetic member. The third force acts on the magnetic induction member, causing the aforementioned tool changer to fix the aforementioned second connecting plates via the third force. Furthermore, the magnetic member or the magnetic induction member is positionally adjustable to change the third force. For example, each of the aforementioned second connecting plates is provided with a receiving groove corresponding to the magnetic member, the receiving groove including a threaded section and a straight slot section. The magnetic induction member has a through-hole, and an adjustment screw passes through the through-hole and screws into the threaded section, allowing the magnetic induction member to adjust its position within the straight slot section.

[0015] Furthermore, the second connecting plate is provided with at least one guide lock groove to accommodate the guide lock and a second force-applying member, the guide lock is provided with a recessed portion and a guide inclined surface, and the second ejector pin is provided with a second ejector inclined surface corresponding to the guide inclined surface. When the second connecting plate is away from the tool changer, the second force-applying member applies the second force to drive the guide lock, and through the cooperation between the guide inclined surface and the second ejector inclined surface, the second ejector pin extends out of the groove, overcomes the first force and extends into the first guide hole; when the second connecting plate contacts the tool changer, the protrusion penetrates the guide lock groove, and the protrusion pushes the guide lock to move and overcome the second force. The first ejector pin is pushed by the first force to move the second ejector pin toward the recessed portion, so that the second ejector pin is disengaged from the first guide hole and hidden in the groove.

[0016] Furthermore, a first force-applying member is provided in the first guide hole, and the first force-applying member applies the first force to the first ejector pin. The first force-applying member is a magnetic member or an elastic member, and the second force-applying member is a magnetic member or an elastic member.

[0017] Furthermore, the first connecting plate is provided with a first terminal portion and a second guide hole, and a power line and a signal line of the end shaft of the robot arm are connected to the first terminal portion via the second guide hole; the second connecting plate is provided with a second terminal portion, and the second terminal portion is electrically connected to the tool part. By connecting the first terminal portion to the second terminal portion, power and / or control signals can be transmitted between the end shaft of the robot arm and the tool part.

[0018] Furthermore, the first connecting plate is provided with a first connecting hole, the second connecting plate is provided with a second connecting hole, a first pipe joint is connected to the first connecting hole of the first connecting plate, and a second pipe joint is connected to the second connecting hole of the second connecting plate. When the first connecting plate is combined with the second connecting plate, the first pipe joint and the second pipe joint are connected through the first connecting hole and the second connecting hole, and the first connecting hole and / or the second connecting hole are further provided with a sealing member.

[0019] The present invention provides a method for mechanical automatic tool changing of a robot arm end shaft, comprising the following steps:

[0020] A first connecting plate is fixed or extended on the end shaft of a robot arm. A plurality of selectable second connecting plates are set on a plurality of tool changers, and each of the aforementioned tool changers has a third acting force. The first connecting plate is driven by the end shaft of the robot arm to selectively combine with any of the aforementioned second connecting plates along a second direction. The first connecting plate and the combined second connecting plate are driven by the end shaft of the robot arm to move away from the tool changer or toward the empty tool changer along a first direction, and the first direction and the second direction have an angle. During the process of the second connecting plate moving toward the empty tool changer, before the end shaft of the robot arm drives the first connecting plate to disengage from the second connecting plate, the third acting force is applied to the second connecting plate to limit the movement of the second connecting plate along the first direction and the second direction.

[0021] Furthermore, the angle is between 10 degrees and 170 degrees.

[0022] Furthermore, the third acting force is a first-plane clamping force applied to the second connecting plate in the first plane, the first plane being defined by the first direction and a third direction, the third direction being perpendicular to both the first and second directions. When the second connecting plate is resting on the tool changer, the first-plane clamping force has a component directed toward the tool changer, causing the second connecting plate to abut against the tool changer.

[0023] Furthermore, the third acting force is a magnetic force. When the second connecting plate is parked on the tool changer, the magnetic force attracts the second connecting plate to be close to the tool changer.

[0024] The above technical features can achieve the following effects:

[0025] 1. Specifically, the present invention can achieve precise mechanical automatic tool changing through the cooperation of the first acting force, the second acting force and the third acting force.

[0026] 2. During the process of the robot arm's end shaft removing or inserting the second connecting plate from the tool changer via the first connecting plate, the third force is constantly applied to the second connecting plate, thereby preventing the second connecting plate from accidentally falling off during the process of not being completely removed from or inserted into the tool changer.

[0027] 3. When the second connecting plate stays on the tool changer, the third force can be applied to the second connecting plate, so that the second connecting plate is pressed against the tool changer and stably fixed in the tool changer.

[0028] 4. Through the corresponding grooves and protrusions on the first connecting plate and the second connecting plate, as well as the corresponding first matching parts and the second matching parts, the first connecting plate and the second connecting plate can be accurately aligned.

[0029] 5. The first acting force, the second acting force and the third acting force may use contact elastic force or non-contact magnetic force.

[0030] 6. The second connecting plate and the first connecting plate are connected to each other by inserting the second ejector pin into the first guide hole. This connection is a structural connection. Compared with the method of relying solely on magnetic connection, the structural connection between the second connecting plate and the first connecting plate of the present invention will not have the disadvantage of accidental separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a three-dimensional appearance diagram of the robot arm end shaft combined with the first connecting plate according to the first embodiment of the present invention.

[0032] Figure 2A This is a three-dimensional appearance diagram of the robot arm end shaft driving the first connecting plate to correspond to the second connecting plate on the tool change seat according to the first embodiment of the present invention.

[0033] Figure 2B This is a plan view of the second connecting plate fixed to the tool changer in the first embodiment of the present invention.

[0034] Figure 3 This is a three-dimensional appearance diagram of the robot arm end shaft driving the first connecting plate to connect to the second connecting plate on the tool changer seat according to the first embodiment of the present invention.

[0035] Figure 4 This is a three-dimensional appearance diagram of the robot arm end shaft driving the first connecting plate to connect to the second connecting plate and remove it from the tool changer according to the first embodiment of the present invention.

[0036] Figure 5 FIG1 is a three-dimensional appearance diagram of the first connecting plate from one viewing angle according to the first embodiment of the present invention.

[0037] Figure 6 This is a three-dimensional appearance diagram of the first connecting plate from another perspective of the first embodiment of the present invention.

[0038] Figure 7 FIG. 4 is a side view of the first connecting plate according to the first embodiment of the present invention.

[0039] Figure 8 for Figure 5 sectional view of .

[0040] Figure 9 for Figure 5 sectional view of .

[0041] Figure 10A FIG1 is a three-dimensional appearance diagram of the second connecting plate from one viewing angle according to the first embodiment of the present invention.

[0042] Figure 10B for Figure 10A sectional view of .

[0043] Figure 11 This is a three-dimensional appearance diagram of the second connecting plate from another perspective of the first embodiment of the present invention.

[0044] Figure 12 FIG. 4 is a side view of the second connecting plate according to the first embodiment of the present invention.

[0045] Figure 13 for Figure 10A sectional view of .

[0046] Figure 14 for Figure 10A sectional view of .

[0047] Figure 15 This is a three-dimensional appearance diagram of the tool changer according to the first embodiment of the present invention.

[0048] Figure 16 This is a side view of the tool changer according to the first embodiment of the present invention.

[0049] Figure 17 for Figure 16 sectional view of .

[0050] Figure 18 for Figure 16 sectional view of .

[0051] Figure 19 This is a schematic diagram of the first embodiment of the present invention, in which when the end shaft of the robot arm drives the first connecting plate to contact the second connecting plate in the tool changer, the first connecting plate and the second connecting plate can be precisely docked through matching protrusions and grooves, and matching first matching parts and second matching parts.

[0052] Figure 20 This is a schematic diagram of the first embodiment of the present invention, when the end shaft of the robot arm drives the first connecting plate to contact the second connecting plate in the tool changer, the second push pin on the second connecting plate corresponds to the first push pin on the first connecting plate, and the second push pin has not yet extended into the first guide hole.

[0053] Figure 21 This is a schematic diagram of the working relationship between the first force of the first force-applying member, the second force of the second force-applying member and the third force of the third force-applying member when the end shaft of the robot arm drives the first connecting plate to contact the second connecting plate in the tool changer in the first embodiment of the present invention.

[0054] Figure 22 This is a schematic diagram of the first embodiment of the present invention, when the end shaft of the robot arm drives the second connecting plate to separate from the tool changing seat, the second ejector pin extends into the first guide hole to connect the first connecting plate to the second connecting plate.

[0055] Figure 23This is a schematic diagram of the first embodiment of the present invention, in which when the end shaft of the robot arm drives the second connecting plate to disengage from the tool changing seat, the second force of the second force-applying member overcomes the force of the spring on the second ejector pin and overcomes the first force of the first force-applying member, causing the second ejector pin to extend into the first guide hole.

[0056] Figure 24 This is a three-dimensional appearance diagram of the first connecting plate and the second connecting plate according to the second embodiment of the present invention that can be correspondingly combined.

[0057] Figure 25 This is a three-dimensional appearance diagram from one viewing angle when the second connecting plate of the third embodiment of the present invention is fixed to the tool changer and the first connecting plate is correspondingly combined with the second connecting plate.

[0058] Figure 26 This is a three-dimensional appearance diagram from another perspective when the second connecting plate of the third embodiment of the present invention is fixed to the tool changer and the first connecting plate is correspondingly combined with the second connecting plate.

[0059] Figure 27 for Figure 25 sectional view of .

[0060] Figure 28 for Figure 25 sectional view of .

[0061] Figure 29 This is a three-dimensional appearance diagram of a first pipe joint and a second pipe joint connected to each other by a first connecting plate and a second connecting plate according to a fourth embodiment of the present invention.

[0062] Figure 30 This is a schematic diagram of a fourth embodiment of the present invention, in which the first pipe joint and the second pipe joint are connected through the first connecting hole and the second connecting hole, and a sealing member is disposed between the first connecting plate and the second connecting plate.

[0063] Figure 31 This is a schematic diagram of a fourth embodiment of the present invention, in which the second pipe joint is inserted from the second connecting hole and extends into the first connecting hole to connect with the first pipe joint, and a sealing member is disposed in the first connecting hole to surround the second pipe joint.

[0064] Explanation of reference numerals: A-end shaft of robot arm; 1-first connecting plate; 11-first periphery; 12-first contact surface; 13-projection; 131-first guide hole; 132-sleeve; 14-first matching portion; 15-fixing ring; 16-fixing hole; 17-first force-applying member; 18-first ejector pin; 181-first ejector pin flange; 19A-first terminal portion; 19B-second guide hole; 2-tool changer; 21-third force-applying member; 211-first clamping member; 2111-first clamping end; 212- Second clamping member; 2121 - second clamping end; 213 - accommodating portion; 214 - movable port; 215 - first roller; 216 - second roller; 217 - force-applying unit; 218 - accommodating groove; 22 - boss; 3 - second connecting plate; 31 - second periphery; 311 - guide groove; 32 - second contact surface; 33 - groove; 34 - second mating portion; 35 - guide lock groove; 351 - opening; 36 - second force-applying member; 37 - guide lock; 371 - recessed portion; 372 - guide slope; 38 - second ejector pin ;381-second ejector bevel;382-blocking piece;39-spring;30-second terminal portion;D1-first direction;D2-second direction;F1-first force;F2-second force;F3-third force;F31-force component;1A-first connecting plate;11A-first periphery;12A-first contact surface;13A-protrusion;131A-chamfer;14A-first matching portion;3A-second connecting plate;31A-second periphery;32A-second contact surface;33A-groove;34A -Second mating part; 1B-First connecting plate; 11B-First force-applying member; 2B-Tool changing seat; 21B-Third force-applying member; 3B-Second connecting plate; 31B-Second force-applying member; 32B-Magnetic induction member; 321B-Perforation; 33B-Receiving groove; 331B-Threaded section; 332B-Straight groove section; 34B-Adjusting screw; 1C-First connecting plate; 11C-First connecting hole; 3C-Second connecting plate; 31C-Second connecting hole; 4C-First pipe joint; 5C-Second pipe joint; 6C-Sealing member. DETAILED DESCRIPTION

[0065] In view of the above technical features, three feasible but not limited embodiments of the mechanical automatic tool changing mechanism and method for the end axis of the robot arm of the present invention are listed below.

[0066] See Figure 1 As shown, the automatic tool changing mechanism of the first embodiment of the present invention is implemented by a robot arm end shaft A. Specifically, the robot arm end shaft A is fixedly coupled to a first connecting plate 1, or the first connecting plate 1 extends from the robot arm end shaft A. For example, the first connecting plate 1 can be formed on the robot arm end shaft A. In this embodiment, the first connecting plate 1 is locked to the robot arm end shaft A. Figures 2A to 4As shown, the end axis A of the robot arm is used to change tools in a tool magazine by means of a first connecting plate 1. The tool magazine has a plurality of tool change seats 2, such as Figures 2A to 4 As shown, taking one tool changer 2 as an example, a second connecting plate 3 is mounted on the tool changer 2, and a tool, such as a machining tool, is secured to the second connecting plate 3 (the tool can be coupled to the second connecting plate 3 using conventional tool change mechanisms, and therefore is not shown). The robot arm's distal end axis A is operated along a second direction D2 toward the tool changer 2, causing the first connecting plate 1 to couple with the second connecting plate 3. The robot arm's distal end axis A then removes the second connecting plate 3, coupled to the first connecting plate 1, from the tool changer 2 along a first direction D1. Further, in this embodiment of the present invention, a third direction D3 is provided that is perpendicular to both the first and second directions D1, D2, and defines a first plane. While the angle between the first and second directions D1 in this embodiment is 90 degrees, the angle between the first and second directions D2 is not limited to 90 degrees and can range from 10 to 170 degrees. The first direction D1 , the second direction D2 , the third direction D3 and the first plane described in the embodiments of the present invention are only used to assist in describing the spatial positions and directions of the embodiments and are not intended to limit the scope of protection of the present invention.

[0067] See also Figures 5 to 7 As shown, the first connecting plate 1 includes a first periphery 11 and a first contact surface 12, and a protrusion 13 and a first matching portion 14 are provided on the first contact surface 12. The protrusion 13 protrudes along the transverse direction D11. In the embodiment of the present invention, the first matching portion is two fixing columns, and the fixing columns are tapered protrusions. The first connecting plate 1 further has a fixing ring 15 located on the opposite side of the first contact surface 12, and the first connecting plate 1 has a through fixing hole 16, so as to pass through the fixing ring 15 and the end axis A of the robot arm (such as Figure 1 As shown), the first connecting plate 1 is fixed to the end shaft A of the robot arm by screwing the first connecting plate 1 into the fixing hole 16, for example. Figure 8 and Figure 9As shown, the protrusion 13 is provided with a first guide hole 131 along the third direction 3, and a first force-applying member 17 is provided in the middle section of the first guide hole 131. In this embodiment, the first force-applying member 17 is an elastic member. A first ejector pin 18 is provided at each of the two opposite ends of the first guide hole 131. The first ejector pin 18 abuts against the first force-applying member 17, so that the first force-applying member 17 provides the first ejector pin 18 with a first acting force F1. The end of the first ejector pin 18 is provided with an ejector flange 181. A sleeve 132 is fixed at each end of the first guide hole 131. The ejector flange 181 abuts against the sleeve 132, so that the first ejector pin 18 does not fall out of the first guide hole 131. A first terminal portion 19A and a second guide hole 19B are also provided on the first connecting plate 1, so that the end axis A of the robot arm (such as Figure 1 A power line and a signal line (as shown) can be connected to the first terminal portion 19A through the second guide hole 19B.

[0068] See also Figures 10A to 12 As shown, the second connecting plate 3 includes a second peripheral edge 31 and a second contact surface 32. The second peripheral edge 31 is recessed with a guide groove 311 along the first plane. The second contact surface 32 corresponds to the protrusion 13 (as shown in FIG. Figure 5 As shown in FIG) is provided with a groove 33, and corresponds to the first matching portion 14 (as shown in FIG) Figure 5 (as shown) is provided with a second matching portion 34. In the embodiment of the present invention, the second matching portion 34 is configured as a positioning hole corresponding to the fixing column. In this embodiment, the guide groove 311 gradually decreases in width from the second periphery 31 toward the groove 33, and the guide groove 311 is approximately a right angle in the cross section in the second direction D2. Figure 11 and Figures 13 and 14As shown, the two opposite sides of the second connecting plate 3 are provided with a concave guide lock groove 35 in the first direction D1. The guide lock groove 35 has an opening 351 in the second peripheral edge 31. A second force-applying member 36 and a guide lock 37 are sequentially provided in the guide lock groove 35. In this embodiment, the second force-applying member 36 is an elastic member such as a spring. The guide lock 37 has a concave portion 371 and a guide inclined surface 372. The second connecting plate 3 is provided with a plurality of guide grooves 371 and a plurality of guide grooves 372 in the third direction D3. A second ejector pin 38 is inserted into the second connecting plate 3. Specifically, the second ejector pin 38 has a second ejector inclined surface 381 corresponding to the guide inclined surface 372 of the guide lock 37. A spring 39 is sleeved on the second ejector pin 38. The spring 39 provides a force to retract the second ejector pin 38 into the second connecting plate 3. A stopper 382 is provided on the end of the second ejector pin 38 away from the groove 33. The stopper 382 abuts against the guide lock groove 35 to limit the second ejector pin 38 from protruding beyond the limit position of the groove 33. The second force applying member 36 provides a second force F2, which allows the second ejector pin 38 to extend out of the groove 33 through the cooperation between the guide inclined surface 372 and the second ejector inclined surface 381. Figure 10A and Figure 10B A second terminal portion 30 is provided on the second connecting plate 3. The second terminal portion 30 is used to contact the first terminal portion 19A of the first connecting plate 1. The second terminal portion 30 is also used to electrically connect the tool.

[0069] See also Figure 15 and Figure 16 As shown, the tool changer 2 is provided with a third force applying member 21 which can provide a third force F3 and corresponding to the guide lock groove 35 (as shown in FIG. Figure 11 and Figure 13 As shown in FIG, a protruding column 22 is provided. In this embodiment, the third force-applying member 21 includes a first clamping member 211 and a second clamping member 212. The exposed portions of the first clamping member 211 and the second clamping member 212 define an accommodating portion 213. The accommodating portion 213 includes a movable port 214. The first clamping member 211 and the second clamping member 212 can move relative to each other on the aforementioned first plane. The first clamping member 211 has a first clamping end 2111, and the second clamping member 212 has a second clamping end 2121. The movable port 214 is a gap defined by the distance between the first clamping end 2111 and the second clamping end 2121. The first clamping end 2111 is provided with a rotatable first roller 215, and the second clamping end 2121 is provided with a rotatable second roller 216. Please refer to FIG. Figure 17 and Figure 18As shown, the first clamping member 211 is pivotally connected to the tool changer 2 by a first pin 2112, and a first force-bearing member 2113 is provided at the other end of the first clamping member 211 away from the first clamping end 2111. The second clamping member 212 is pivotally connected to the tool changer 2 by a second pin 2122, and a second force-bearing member 2123 is provided at the other end of the second clamping member 212 away from the second clamping end 2121. The third force-applying member 21 further includes a force-applying unit 217, as shown in FIG. Figure 17 The force-applying unit 217 shown is a spring, and the tool changer 2 is provided with a receiving groove 218 along the third direction D3. The spring is accommodated in the receiving groove 218. The above-mentioned third force F3 is applied to a first push member 2114 and a second push member 2124 through the force-applying unit 217. The first push member 2114 and the second push member 2124 then apply force to the first clamp 211 and / or the second clamp 212, so that the first clamp 211 and the second clamp 212 have a first plane clamping force toward the receiving portion 213. In this embodiment, the first plane clamping force is applied on the aforementioned first plane.

[0070] See also Figure 2A As shown, when the second connecting plate 3 is disposed on the tool changer 2, the receiving portion 213 of the tool changer 2 can accommodate the second connecting plate 3, and the first roller 215 and the second roller 216 clamp the guide groove 311 in the first direction D1 and firmly clamp the second connecting plate 3 through the third force F3. Figures 19 to 21 As shown, when the second connecting plate 3 is arranged on the tool changer 2, the protrusion 22 of the tool changer 2 will extend into the guide lock groove 35 of the second connecting plate 3 and push against the guide lock 37 to overcome the second force F2, so that the second ejector pin 38 is located in the recessed portion 371 and retracted into the second connecting plate 3; when the end axis A of the robot arm (such as Figure 1 When the first connecting plate 1 is driven to approach the second connecting plate 3, the first contact surface 12 of the first connecting plate 1 is abutted against the second contact surface 32 of the second connecting plate 3 through the matching protrusion 13 and the groove 33, and the matching first matching portion 14 and the second matching portion 34, and the second ejector pin 38 is aligned with the first guide hole 131 on the protrusion 13.

[0071] See also Figures 22 to 23 As shown, when the end axis A of the robot arm (such as Figure 1When the first connecting plate 1 and the second connecting plate 3 are pulled out of the aforementioned tool changer 2 along the first direction D1, the second connecting plate 3 will be separated from the protruding column 22 of the tool changer 2, so that the second force-applying member 36 will apply the second force F2 to the guide lock 37 again. The second force F2 is greater than the force applied by the spring 39 to the second ejector pin 38 and the first force F1 applied by the first force-applying member 17 to the above-mentioned first ejector pin 18. Therefore, by utilizing the cooperation between the guiding inclined surface 372 of the guide lock 37 and the second ejector inclined surface 381 of the second ejector pin 38, the second ejector pin 38 will extend out of the groove 33 and extend into the first guide hole 131, thereby combining the first connecting plate 1 to the second connecting plate 3, and when the first connecting plate 1 is combined with the second connecting plate 3, the second terminal portion 30 is connected by the first terminal portion 19A, and the end axis A of the robot arm (as shown) Figure 1 As shown) and the tool can transmit power and / or control signals. In contrast, when the second connecting plate 3 is to be removed from the first connecting plate 1, the end axis A of the robot arm (as shown) is used. Figure 1 As shown in FIG2 , the first connecting plate 1 and the second connecting plate 3 are driven to move along the first direction D1 toward the aforementioned tool changer 2. At this time, the protrusion 22 extends from the opening 351 of the guide lock groove 35 into the guide lock groove 35 and pushes the guide lock 37 to overcome the second force F2, so that the second force F2 no longer acts on the second ejector pin 38. Therefore, the first ejector pin 18 will push the second ejector pin 38 by the first force F1, and the force applied to the second ejector pin 38 by the spring 39 will cause the second ejector pin 38 to be hidden in the groove 33, thereby releasing the connection between the first connecting plate 1 and the second connecting plate 3, so that the end axis A of the robot arm (as shown in FIG2 ) is Figure 1 As shown in FIG. 1 , the first connecting plate 1 can be driven away from the second connecting plate 3 along the second direction D2. By the above operation, the first force F1, the second force F2 and the third force F3 cooperate with each other to achieve precise mechanical automatic tool change. Figure 2B As shown, when the second connecting plate 3 is parked on the tool changer 2, the third force F3 has a component F31 in the first direction D1. The component F31 is directed toward the tool changer 2, so that the second connecting plate 3 can be pressed against the tool changer 2, limiting the movement of the second connecting plate 3 along the first direction D1 and the second direction D2. Figure 2A and Figure 2BDuring the tool changing process, when the first connecting plate 1 brings the second connecting plate 3 away from the tool changing seat 3, before the second connecting plate 3 completely leaves the tool changing seat 2, the third force F3 is always tightly clamped on the second connecting plate 3 to prevent the second connecting plate 3 from falling during the tool changing process; when the first connecting plate 1 brings the second connecting plate 3 into the tool changing seat 2, after the second connecting plate 3 begins to contact the tool changing seat 2, the third force F3 is also always tightly clamped on the second connecting plate 3 to prevent the second connecting plate 3 from falling during the tool changing process.

[0072] See also Figure 24 FIG. 2 shows an automatic tool changing mechanism according to a second embodiment of the present invention, which operates in a manner substantially similar to the first embodiment. The difference lies in that this embodiment comprises a first connecting plate 1A and a second connecting plate 3A coupled to the first connecting plate 1A. The first connecting plate 1A comprises a first peripheral edge 11A and a first contact surface 12A. The first contact surface 12A is provided with a protrusion 13A and a first mating portion 14A. The protrusion 13A has a chamfer 131A. The first mating portion 14A is an annular groove located at the junction of the first peripheral edge 11A and the first contact surface 12A. The second connecting plate 3A comprises a second peripheral edge 31A and a second contact surface 32A. The second contact surface 32A is provided with a groove 33A corresponding to the protrusion 13A and a second mating portion 34A corresponding to the first mating portion 14A. The second mating portion 34A is a flange facing the annular groove. In this embodiment, the first connecting plate 1A and the second connecting plate 3A can be precisely docked by the chamfer 131A on the protruding portion 13A, and the first matching portion 14A and the second matching portion 34A are formed into corresponding annular grooves and flanges.

[0073] See also Figure 25 and Figure 26 The third embodiment of the automatic tool changing mechanism of the present invention is shown in FIG. 1 . The operation method is substantially the same as that of the first embodiment, and the tool changing is performed by the cooperation of the first force F1, the second force F2 and the third force F3. The difference is that the present embodiment is implemented by a first connecting plate 1B, a tool changing seat 2B and a second connecting plate 3B. Figure 27 and Figure 28As shown, the first connecting plate 1B has a first force applying member 11B to provide the first force F1, the second connecting plate 3B has a second force applying member 31B to provide the second force F2, and the tool changer 2B has a third force applying member 21B to provide the third force F3. The third force-applying member 21B is a magnetic member, and a corresponding magnetic induction member 32B is provided on the second connecting plate 3B. The third action F3 is a magnetic force of the magnetic member, and the magnetic member or the magnetic induction member 32B is positionally adjustable to change the magnitude of the third action F3. Specifically, the second connecting plate 3B is provided with a receiving groove 33B corresponding to the magnetic member, and the receiving groove 33B includes a threaded section 331B and a straight slot section 332B. The magnetic induction member 32B has a through hole 321B, and an adjusting screw 34B passes through the through hole 321B and is screwed into the threaded section 331B to adjust the position of the magnetic induction member 32B in the straight slot section 332B. The smaller the distance between the magnetic induction member 32B and the magnetic member, the greater the third action F3. The third force F3 acts on the magnetically sensitive member 32B, enabling the tool changer 2B to secure the second connecting plate 3B. The magnitude of the third force F3 can be adjusted, for example, based on the weight of the tool attached to the second connecting plate 3B, to prevent excessive or insufficient resistance when the first connecting plate 1B removes the second connecting plate 3B from the tool changer 2B. The third force F3 maintains a force on the second connecting plate 3B until the second connecting plate 3B completely leaves the tool changer 2B during the tool change process, preventing the second connecting plate 3B from falling. Similarly, once the second connecting plate 3B enters the tool changer 2B, the third force F3 maintains a force on the second connecting plate 3B, preventing the second connecting plate 3B from falling during the tool change process. Furthermore, in this embodiment, the first force-applying member 11B comprises two repelling magnetic members, and the second force-applying member 31B also comprises two repelling magnetic members. That is, in this embodiment, the first force F1 , the second force F2 and the third force F3 are provided by magnetic force.

[0074] See also Figure 29 FIG. 4 shows an automatic tool changing mechanism according to a fourth embodiment of the present invention. The operation method is substantially the same as that of the first embodiment. The difference is that the present embodiment has a first connecting plate 1C and a second connecting plate 3C. The first connecting plate 1C is connected to a first pipe joint 4C, and the second connecting plate 3C is connected to a second pipe joint 5C. Figure 30 and Figure 31As shown, specifically, the first connecting plate 1C is provided with a first connecting hole 11C, the second connecting plate 3C is provided with a second connecting hole 31C, the first pipe joint 4C is connected to the first connecting hole 11C of the first connecting plate 1, and the second pipe joint 5C is connected to the second connecting hole 31C of the second connecting plate 3C. When the first connecting plate 1C is combined with the second connecting plate 3C, the first pipe joint 4C and the second pipe joint 5C are connected through the first connecting hole 11C and the second connecting hole 31C, and a sealing member 6C is further provided in the first connecting hole 11C and / or the second connecting hole 31C, for example Figure 30 In the embodiment, the first pipe joint 4C is inserted into the first connecting hole 11C, the second pipe joint 5C is inserted into the second connecting hole 31C, and the sealing member 6C is provided between the first connecting plate 1C and the second connecting plate 3C, or as Figure 31 In the embodiment, the first pipe connector 4C is inserted into the first connecting hole 11C, and the second pipe connector 5C is inserted from the second connecting hole 31C and extends into the first connecting hole 11C to connect with the first pipe connector 4C. The seal 6C is positioned in the first connecting hole 11C and surrounds the second pipe connector 5C. Thus, the first pipe connector 4C can be connected to an air compressor or an oil press, for example, and the second pipe connector 5C can be connected to a nozzle, for example, to serve as an air / oil pressure line for conveying air or oil during the machining process.

[0075] The above description is only illustrative of the present invention and not restrictive. Those skilled in the art will understand that many modifications, changes or equivalents may be made without departing from the spirit and scope defined by the claims, and all of them will fall within the scope of protection of the present invention.

Claims

1. A mechanical automatic tool changing mechanism for the end axis of a robot arm, characterized in that: Includes: A first connecting plate is fixed to a shaft at the end of a robot arm, the first connecting plate is provided with a protrusion, the protrusion is provided with a first guide hole along a third direction, a first ejector pin is provided in the first guide hole, and the first ejector pin has a first acting force; a plurality of second connecting plates for securing a plurality of tool parts, each of the second connecting plates being provided with a groove corresponding to the protrusion, each of the second connecting plates being provided with a second ejector pin movable in the third direction, and each of the second connecting plates being provided with a movable guide lock, the guide lock being provided to cause the second ejector pin to extend or retract into the groove; A plurality of tool changers, each tool changer comprising a third force applying member and at least one protruding column, each of the second connecting plates being fixed to one of the tool changers or being selectively separated from the tool changer; The robot arm end shaft drives the first connecting plate to selectively contact any of the second connecting plates along a second direction, so that the protrusion matches the groove. The robot arm end shaft pulls the first connecting plate and the second connecting plate away from the tool changer along a first direction, wherein the first direction and the second direction form an included angle. The guide lock applies a second force to overcome the first force and drive the second ejector pin to push the first ejector pin, so that the second ejector pin extends into the first guide hole, thereby coupling the first connecting plate to the second connecting plate. The end shaft of the robot arm drives the first connecting plate and the second connecting plate to move toward the aforementioned tool changer along the first direction. The protruding column pushes the guide lock to overcome the second force. The first ejector pin pushes the second ejector pin by the first force, so that the second ejector pin is hidden in the groove. The third force-applying member applies a third force to fix the second connecting plate, and the first connecting plate moves away from the second connecting plate along the second direction.

2. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 1, characterized in that: The first connecting plate includes a first periphery and a first contact surface, and is provided with a first matching portion. Each of the second connecting plates includes a second periphery and a second contact surface, and is provided with a second matching portion corresponding to the first matching portion.

3. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 2, characterized in that: The first matching portion is at least one fixing column located on the first contact surface. Each fixing column is tapered toward the second contact surface. The second matching portion is at least one positioning hole located on the second contact surface.

4. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 2, characterized in that: The first matching portion is an annular groove located at the junction of the first periphery and the first contact surface. The second matching portion is a flange located at the junction of the second periphery and the second contact surface. The protrusion has a chamfer.

5. The mechanical automatic tool changing mechanism of the robot arm end axis according to claim 1, characterized in that: The third force-applying member includes a first clamp, a second clamp and a force-applying unit. The first clamp and the second clamp define a receiving portion, and the receiving portion includes a movable port. Each receiving portion of the aforementioned tool changer respectively accommodates an aforementioned second connecting plate. The first clamp and the second clamp move relative to each other on a first plane, and the first plane is composed of the second direction and the third direction. The first clamp has a first clamping end, and the second clamp has a second clamping end. The movable port is a gap defined by the distance between the first clamping end and the second clamping end. The force-applying unit acts on the first clamp and / or the second clamp, and the third force is a first plane clamping force of the first clamping end and the second clamping end on the first plane.

6. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 5, characterized in that: The second connecting plate includes a second periphery, the second periphery has a guide groove recessed along the first plane, the first clamping end of the first clamp is provided with a rotatable first roller, the second clamping end of the second clamp is provided with a rotatable second roller, the first roller and the second roller clamp the guide groove on the first plane.

7. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 1, characterized in that: The first acting force, the second acting force and the third acting force are an elastic force or a magnetic force.

8. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 1, characterized in that: The third force-applying member is a magnetic member. Each of the aforementioned second connecting plates includes a magnetic induction member. The third force is a magnetic force of the magnetic member. The third force acts on the magnetic induction member, so that the aforementioned tool changer fixes the aforementioned second connecting plate by the third force.

9. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 8, characterized in that: The position of the magnetic component or the magnetic induction component can be adjusted to change the third acting force.

10. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 9, characterized in that: Each of the aforementioned second connecting plates is provided with a receiving groove corresponding to the magnetic part, and the receiving groove includes a threaded section and a straight slot section. The magnetic sensitive part has a through hole, and an adjustment screw passes through the through hole and screws into the threaded section to adjust the position of the magnetic sensitive part in the straight slot section.

11. The mechanical automatic tool changing mechanism of the robot arm end axis according to any one of claims 1 to 10, characterized in that: The aforementioned second connecting plate is provided with at least one guide lock groove to accommodate the aforementioned guide lock and a second force-applying member, the aforementioned guide lock is provided with a recessed portion and a guide inclined surface, and the second ejector pin is provided with a second ejector inclined surface corresponding to the guide inclined surface. When the aforementioned second connecting plate is away from the aforementioned tool changer, the second force-applying member applies the second force to drive the guide lock, and through the cooperation between the guide inclined surface and the second ejector inclined surface, the second ejector pin extends out of the groove, overcomes the first force and extends into the first guide hole; when the aforementioned second connecting plate contacts the aforementioned tool changer, the protrusion penetrates the aforementioned guide lock groove, and the protrusion pushes the guide lock to move and overcome the second force. The first ejector pin is pushed by the first force to move the second ejector pin toward the recessed portion, so that the second ejector pin is disengaged from the first guide hole and hidden in the groove.

12. The mechanical automatic tool changing mechanism of the robot arm end shaft according to claim 11, characterized in that: A first force applying member is provided in the first guide hole, and the first force applying member applies the first force to the first ejector pin. The first force applying member is a magnetic member or an elastic member, and the second force applying member is a magnetic member or an elastic member.

13. The mechanical automatic tool changing mechanism of the robot arm end axis according to any one of claims 1 to 10, characterized in that: The first connecting plate is provided with a first terminal portion and a second guide hole, and a power line and a signal line of the end shaft of the robot arm are connected to the first terminal portion through the second guide hole; the second connecting plate is provided with a second terminal portion, and the second terminal portion is electrically connected to the tool part. By connecting the first terminal portion to the second terminal portion, power and / or control signals can be transmitted between the end shaft of the robot arm and the tool part.

14. The mechanical automatic tool changing mechanism of the robot arm end axis according to any one of claims 1 to 10, characterized in that: The first connecting plate is provided with a first connecting hole, the second connecting plate is provided with a second connecting hole, a first pipe joint is connected to the first connecting hole of the first connecting plate, and a second pipe joint is connected to the second connecting hole of the second connecting plate. When the first connecting plate is combined with the second connecting plate, the first pipe joint and the second pipe joint are connected through the first connecting hole and the second connecting hole. The first connecting hole and / or the second connecting hole are also provided with a sealing member.

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